Mitsubishi Electric J4 MR-J4-DU, B4-RJ100 Instruction Manual

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General-Purpose AC Servo

SSCNET III/H Interface Drive Unit Instruction Manual

-MR-J4-DU_B4-RJ100

SAFETY INSTRUCTIONS

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 minor or moderate injury or property damage.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

(Please read the instructions carefully before using the equipment.)

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read

through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you

have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Note that the CAUTION level may lead to a serious consequence depending on conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified

into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

[To prevent electric shock, note the following]

WARNING

● Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the converter unit.

● Ground the converter unit, drive unit, and servo motor securely.

● Any person who is involved in wiring and inspection should be fully competent to do the work.

● Do not attempt to wire the converter unit, drive unit, and servo motor until they have been installed.

Otherwise, it may cause an electric shock.

● Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

● The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric

shock.

● During power-on or operation, do not open the front cover of the converter unit and the drive unit. Otherwise, it may cause an electric shock.

● Do not operate the converter unit and the drive unit with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

● Except for wiring or periodic inspection, do not remove the front cover of the converter unit and the drive unit even if the power is off. The converter unit and the drive unit are charged, and you may get an electric shock.

● To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the converter unit and the drive unit to the protective earth (PE) of the cabinet.

● To avoid an electric shock, insulate the connections of the power supply terminals.

[To prevent fire, note the following]

CAUTION

● Install the converter unit, the drive unit, the servo motor, and the regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire.

● Be sure to connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the converter unit, in order to configure a circuit that shuts off the power supply by the magnetic contactor. If the magnetic contactor is not connected, a continuous flow of a large current may cause smoke or a fire when the converter unit or the drive unit malfunctions.

● Be sure to connect a magnetic contactor for each converter unit between the power supply and the power supply (L1/L2/L3) of the converter unit, in order to configure a circuit that shuts off the power supply by the magnetic contactor. If a molded-case circuit breaker or fuse is not connected, a continuous flow of a large current may cause smoke or a fire when the converter unit malfunctions.

● When using the regenerative resistor, shut the power off with an alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

● Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, the drive unit, and the servo motor.

[To prevent injury, note the following]

CAUTION

● Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc.

● Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.

● Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.

● The heat sink of the converter unit and drive unit, the regenerative resistor, the servo motor, etc. may

be hot while power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

[Additional instructions]

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire,

etc.

[Transportation and installation]

CAUTION

● Transport the products correctly according to their mass.

● Use the eyebolts of the converter unit and of the drive unit only for transporting. Do not use the

eyebolts for transporting with the converter unit and the drive unit mounted on a machine.

● Do not overtighten the eyebolts of the converter unit and of the drive unit. Tightening too hard may damage the tap.

● Stacking in excess of the specified number of product packages is not allowed.

● Do not hold the front cover, cables, or connectors when carrying the converter unit and drive unit.

Otherwise, it may drop.

● Install the converter unit, the drive unit, and the servo motor in a load-bearing place in accordance with the Instruction Manual.

● Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.

● The equipment must be installed in the specified direction.

● Maintain specified clearances between the converter unit/drive unit and the inner surfaces of a control

cabinet or other equipment.

● Do not install or operate the converter unit, the drive unit, and the servo motor which have been damaged or have any parts missing.

● Do not block the intake and exhaust areas of the converter unit and the drive unit. Otherwise, it may cause a malfunction.

● Do not drop or apply heavy impact on the converter units, the drive units, and the servo motors. Otherwise, it may cause injury, malfunction, etc.

● Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.

● When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Ambient humidity

Vibration resistance

Operation

Ambience

Altitude

Storage

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

2000 m or less above sea level (Contact your local sales office for the altitude for options.)

● When the equipment has been stored for an extended period of time, contact your local sales office.

● When handling the converter unit and the drive unit, be careful with the sharp edges of the converter

unit and drive unit.

● The converter unit and the drive unit must be installed in a metal cabinet.

● When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are

used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.

● To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

5 %RH to 90 %RH (non-condensing)

, at 10 Hz to 55 Hz (X, Y, Z axes)

5.9 m/s

[Wiring]

Servo motor

Drive unit

Servo motor

Drive unit

DOCOM

Control output signal

24 V DC

Converter unit

Drive unit

For sink output interface

DOCOM

24 V DC

Converter unit

Drive unit

For source output interface

CAUTION

● Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

● Make sure to connect the cables and connectors by using the fixing screws and the locking

mechanism. Otherwise, the cables and connectors may be disconnected during operation.

● Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the drive unit output side.

● To avoid a malfunction of the servo motor, connect the wires to the correct phase terminals (U/V/W) of the drive unit and the servo motor.

● Connect the drive unit power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

● The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.

● Install the surge absorbing diode to the DC relay for control output signals in the converter unit and the drive unit in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

● When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.

● Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the drive unit may cause a malfunction.

● To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off.

● To prevent malfunction, avoid bundling the power lines (input/output) of the converter unit and the signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

[Test run and adjustment]

CAUTION

● When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

● Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.

● Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

● Do not get close to moving parts during the servo-on status.

[Usage]

CAUTION

● For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

● Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty.

● Before resetting an alarm, make sure that the run signal of the drive unit is off to prevent a sudden restart. Otherwise, it may cause an accident.

● Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the converter unit and the drive unit.

● Do not burn or destroy the converter unit and the drive unit. Doing so may generate a toxic gas.

● Use the converter unit and the drive unit with the specified servo motor.

● Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, it may

cause an electric shock, fire, injury, etc.

● The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

● For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

● If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

[Corrective actions]

Servo motor

Electromagnetic brake

Contacts must be opened with the emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

24 V DC

CAUTION

● Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.

● If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

● Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

● When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.

● If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the converter unit and drive unit, and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.

● Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

● To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural

disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

[Maintenance, inspection and parts replacement]

CAUTION

● Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

● It is recommended that the converter unit and the drive unit be replaced every 10 years when it is used in general environment.

● When using a converter unit or a drive unit whose power has not been turned on for a long time, contact your local sales office.

[General instruction]

● To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

DISPOSAL OF WASTE

• Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM LIFE

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of

the following operations exceeds 100,000, the converter unit and the drive unit may malfunction when the EEP-ROM reaches

the end of its useful life.

• Write to the EEP-ROM due to parameter setting changes

• Write to the EEP-ROM due to device changes

STO FUNCTION OF THE DRIVE UNIT

When using the STO function of the drive unit, refer to chapter 13 of “MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

For the MR-J3-D05 safety logic unit, refer to app. 5 of “MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

COMPLIANCE WITH GLOBAL STANDARDS

For compliance with global standards, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

ABOUT THE MANUALS

You must have this Instruction Manual and the following manuals to use this servo. Be sure to prepare all the instruction

manuals necessary to use the servo safely.

Relevant manuals

Manual name Manual No.

MELSERVO MR-J4-_B(-RJ) Servo Amplifier Instruction Manual SH(NA)030098

MELSERVO MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual SH(NA)030145

MELSERVO-J4 Servo amplifier Instruction Manual (Troubleshooting) SH(NA)030108

MELSERVO MR-D30 Instruction Manual

MELSERVO Servo Motor Instruction Manual (Vol. 3) SH(NA)030099

EMC Installation Guidelines IB(NA)67310

*1 It is necessary for using an MR-D30 functional safety unit.

This Instruction Manual does not describe the following items. Refer to the section of the detailed explanation field for details.

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-CR55K_/

MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

Normal gain adjustment

Special adjustment functions

Dimensions MR-J4-DU_B_ chapter 7

Absolute position detection system

SH(NA)030131

MR-J4-_B_ chapter 6

MR-J4-_B_ chapter 7

MR-J4-_B_ chapter 12

*1 For parallel drive systems, the one-touch tuning is unavailable. *2 A combination of the MR-CV55K4_ power regeneration converter unit and drive unit does not comply with SEMI-F47 standard. For the

advanced vibration suppression control II and the adaptive filter II, "Automatic setting” is invalid. Only "Manual setting" is valid.

*3 For absolute position detection systems, connect an optional battery to only the drive unit of the encoder master servo amplifier. Do not

connect the optional battery to the drive units of the encoder slave servo amplifiers.

CABLES USED FOR WIRING

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 .

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 [N.m] 141.6 [oz.inch]

-4

Moment of inertia 1 [(× 10

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

Temperature N [] × 9/5 + 32 N []

kg.m2)] 5.4675 [oz.inch2]

SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

EEP-ROM LIFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

STO FUNCTION OF THE DRIVE UNIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

COMPLIANCE WITH GLOBAL STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

ABOUT THE MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

CABLES USED FOR WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

CHAPTER 1 FUNCTIONS AND CONFIGURATION 12

1.1 Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

1.3 Combinations of power regeneration converter units, drive units, and servo motors . . . . . . . . . . . . . . . 13

1.4 Compatible controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

CHAPTER 2 INSTALLATION 16

2.1 Installation direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

CHAPTER 3 SIGNALS AND WIRING 20

3.1 Connection example of power circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

3.2 Alarm occurrence timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

When you use the forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

When you do not use the forced stop deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.3 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

CHAPTER 4 STARTUP 32

4.1 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

4.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

CHAPTER 5 PARAMETERS 35

CHAPTER 6 TROUBLESHOOTING 41

6.1 Troubleshooting for MR-CV_ power regeneration converter unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

6.2 Troubleshooting for drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

CHAPTER 7 CHARACTERISTICS 55

7.1 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

7.2 Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

7.3 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

7.4 Inrush currents at power-on of main circuit/control circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Inrush currents of the power regeneration converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Inrush current of the drive unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

CHAPTER 8 OPTIONS AND PERIPHERAL EQUIPMENT 61

8.1 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Using the parallel drive system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

How to select the model name of the servo amplifier registered. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.2 AC reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3 External dynamic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

CHAPTER 9 USING STO FUNCTION 72

CHAPTER 10 APPLICATION OF FUNCTIONS 74

10.1 Compatible with MR-D30 functional safety unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

CHAPTER 11 APPENDIX 78

11.1 Analog monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

CONTENTS

1 FUNCTIONS AND CONFIGURATION

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-DU_B_" means "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

Function block diagram MR-J4-DU_B_ section 3.1

Standard specifications MR-J4-DU_B_ section 1.4

Structure

*1 Do not connect an external encoder to the CN2L connector of the MR-J4-DU_B4-RJ100 drive unit.

1.1 Description

This Instruction Manual describes MR-J4-DU_B4-RJ100 drive units and MR-CV55K4_ power regeneration converter units

compatible with parallel drive systems.

Parallel drive systems drive a servo motor with multiple MR-J4-DU_B4-RJ100 drive units and MR-CV55K4_ power

regeneration converter units connected. The encoder cables are wired by the daisy chain method. Delivering the encoder

information to all servo amplifiers, from encoder master servo amplifiers to encoder slave servo amplifiers, ensures reduced

wiring. A encoder distribution unit is not required.

The following shows a system that drives a servo motor with four MR-J4-DU_B4-RJ100 drive units and four MR-CV55K4_

power regeneration converter units connected. For the number of drive units required to be connected to one servo motor,

refer to the following. Page 13 Combinations of power regeneration converter units, drive units, and servo motors

MR-J4-DU_B_ sections 3.2 and 5.1

Servo system controller

SSCNET III/H

Encoder master servo amplifier

Power regeneration converter unit 1

Drive unit 1

Power regeneration converter unit 2

Servo motor

Drive unit 2

Power regeneration converter unit 3

Drive unit 3

Encoder slave servo amplifier 3Encoder slave servo amplifier 2Encoder slave servo amplifier 1

Power regeneration converter unit 4

Drive unit 4

1 FUNCTIONS AND CONFIGURATION

1.1 Description

1.2 Model designation

Serial number Model Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin

TOKYO 100-8310, JAPAN MADE IN JAPAN

DATE:

2017-12

MR-J4-DU55KB4-RJ100

SER. A7Z001001

AC SERVO

POWER INPUT OUTPUT STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300228 Max. Surrounding Air Temp.: 55°C IP20 (Terminal block IP00)

: 55kW : DC513-648V 113.7A : 3PH323V 0-360Hz 143.0A

MSIP-REI-MEK-TC301A013G52 BC343U843

This section describes MR-J4-DU_B4-RJ100 drive units only. For MR-CV55K4_power regeneration converter

units, refer to section 1.2 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Rating plate

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

Model

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

-MR - J 4 DU KB 4 - R J 15500

Series

Indicates drive unit

Rated output

Symbol Rated output [kW]

45K 55K

Interface

Symbol Interface

SSCNET III/H

45 55

Special specifications

Symbol Special specifications

-RJ100

Power supply

Symbol Power supply

Compatible with parallel drive system

3-phase 380 V AC to 480 V AC

1.3 Combinations of power regeneration converter

units, drive units, and servo motors

Power regeneration converter unit Drive unit Rotary servo motor

Two units of MR-CV55K4 Two units of MR-J4-DU55KB4-RJ100 HG-JR110K24W0C

Four units of MR-CV55K4 Four units of MR-J4-DU45KB4-RJ100 HG-JR150K24W0C

HG-JR180K24W0C

Four units of MR-CV55K4 Four units of MR-J4-DU55KB4-RJ100 HG-JR200K24W0C

HG-JR220K24W0C

1 FUNCTIONS AND CONFIGURATION

1.2 Model designation

1.4 Compatible controller

Motion controller Operating system Remark

Q173DSCPU SW8DNC-SV22S87QJ Special operating system

Q172DSCPU SW8DNC-SV22S87QL Special operating system

*1 Motion controllers with a special operating system can be used. Motion controllers with a standard operating system cannot drive

ultrahigh capacity servo motors. For details, contact your local sales office.

1.5 Function list

For the drive unit functions not mentioned in this section, refer to section 1.5 in "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

Function Description Detailed explanation

Advanced vibration suppression control II

Adaptive filter II For parallel drive systems, "Automatic setting" is invalid. Only "Manual setting" is valid.

Scale measurement function For parallel drive systems, the scale measurement function is unavailable. 

J3 compatibility mode For parallel drive systems, the J3 compatibility mode is unavailable. 

Machine analyzer function For parallel drive systems, the machine analyzer function is unavailable. 

Test operation mode For parallel drive systems, the test operation mode is unavailable. 

Linear servo system For parallel drive systems, the linear servo system is unavailable. 

Direct drive servo system For parallel drive systems, the direct drive servo system is unavailable. 

Fully closed loop system For parallel drive systems, the fully closed loop system is unavailable. 

One-touch tuning For parallel drive systems, the one-touch tuning is unavailable. 

SEMI-F47 function A combination of the MR-CV55K4_ power regeneration converter unit and drive unit does not

Tough drive function The tough drive function includes two types: the vibration tough drive and the instantaneous

STO function This function is a functional safety that complies with IEC/EN 61800-5-2. You can create a

Power monitoring function When checking the power in the parallel drive system, use the servo system controller. This

MR-D30 functional safety unit By using MR-D30 together, the safety observation function can be expanded. STO, SS1, SS2,

MR-J3-D05 safety logic unit For parallel drive systems, the MR-J3-D05 safety logic unit is unavailable. 

MR-CR_ resistance regeneration converter unit

For parallel drive systems, "Automatic setting" is invalid. Only "Manual setting" is valid. This function suppresses vibration and residual vibration at an arm end.

The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

comply with SEMI-F47 standard.

power failure tough drive. For parallel drive systems, only the vibration tough drive is available. This function makes the equipment continue operating even under the condition that an alarm occurs.

safety system for the equipment easily.

function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. In the SSCNET III/H system, the data are sent to a servo system controller for analyzing and displaying the power consumption on a display.

SOS, SLS, SSM, and SBC can be used.

For parallel drive systems, the MR-CR_ resistance regeneration converter unit is unavailable. 

Page 35 PARAMETERS

Page 72 USING STO

FUNCTION



Page 74 APPLICATION

OF FUNCTIONS

1 FUNCTIONS AND CONFIGURATION

1.4 Compatible controller

1.6 Configuration including peripheral equipment

The diagram shows a system that drives a servo motor with four MR-J4-DU_B4-RJ100 drive units and four MR-CV55K4_

power regeneration converter units connected.

Servo system

controller

SSCNET III/H

Encoder slave servo amplifier 1

Magnetic contactor (MC)

AC reactor (MR-AL-55K4-L)

Molded-case circuit breaker (MCCB)

Drive unit 1

*2, *5

Encoder master servo amplifier

Power regeneration converter unit 1

*7 *7 *7 *7

Magnetic contactor (MC)

AC reactor (MR-AL-55K4-L)

Molded-case circuit breaker (MCCB)

Power supply 3-phase 380 V AC to 480 V AC

Power regeneration converter unit 2

*4 *4 *4

Power supply 3-phase 380 V AC to 480 V AC

Drive unit 2

*2, *5

Encoder slave servo amplifier 2

Power regeneration converter unit 3

Magnetic contactor (MC)

AC reactor (MR-AL-55K4-L)

Molded-case circuit breaker (MCCB)

Power supply 3-phase 380 V AC to 480 V AC

Drive unit 3

*2, *5

Encoder slave servo amplifier 3

Power regeneration converter unit 4

Magnetic contactor (MC)

AC reactor (MR-AL-55K4-L)

Molded-case circuit breaker (MCCB)

Power supply 3-phase 380 V AC to 480 V AC

Fit a cap (standard accessory) on the unused connector.

Drive unit 4

*2, *5

Dynamic brake (DBU-P55K-4-B)

Servo motor

Dynamic brake (DBU-P55K-4-B)

*1 Connect the grounding wire of the servo motor to only the first drive unit. If the grounding wire of the servo motor is connected to two or

more drive units, the circulating current may pass through the grounding wire depending on wiring conditions. When connecting grounding wires to two or more drive units, be sure to twist the wires of the drive unit power outputs (U/V/W) for safety reasons.

*2 For the power supply, one molded-case circuit breaker, one AC reactor (MR-AL-55K4-L), and one magnetic contactor are required for

each power regeneration converter unit.

*3 Since the system is connected via SSCNET III/H, use a servo amplifier near the Motion controller as an encoder master servo amplifier,

and use the remaining servo amplifiers as encoder slave servo amplifiers. Connect the encoder master servo amplifier and slave servo

amplifiers in series to the same SSCNET III/H system. *4 The encoder cables between drive units should be within 5 m. *5 Supply power to all the servo amplifiers (power regeneration converter units and drive units) from the same power source. If power is

supplied from different power sources, a difference may be generated between outputs of the encoder master servo amplifier and

encoder slave servo amplifiers. This may cause the servo motor to operate unpredictably. *6 Even if an AC reactor is installed on the power regeneration converter unit, the functions operate normally. *7 Switch on the control circuit power supplies of all the servo amplifiers (power regeneration converter units and drive units)

simultaneously. *8 Stop all the drive units with the emergency stop of the controller if an alarm occurs.

1 FUNCTIONS AND CONFIGURATION

1.6 Configuration including peripheral equipment

2 INSTALLATION

WARNING

• To prevent electric shock, ground each equipment securely.

CAUTION

• Stacking in excess of the specified number of product packages is not allowed.

• Do not hold the front cover, cables, or connectors when carrying the converter unit and drive unit. Otherwise, it may drop.

• Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire.

• Install the converter unit, the drive unit, and the servo motor in a load-bearing place in accordance with the Instruction Manual.

• Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.

• Use the equipment within the specified environment. For the environment, refer to section 1.4 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

• Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit and the drive unit.

• Do not block the intake and exhaust areas of the converter unit and the drive unit. Otherwise, it may cause a malfunction.

• Do not drop or apply heavy impact on the converter units, the drive units, and the servo motors. Otherwise, it may cause injury, malfunction, etc.

• Do not install or operate the converter unit and the drive unit which have been damaged or have any parts missing.

• When the equipment has been stored for an extended period of time, contact your local sales office.

• When handling the converter unit and the drive unit, be careful with the sharp edges of the converter unit and drive unit.

• The converter unit and the drive unit must be installed in a metal cabinet.

• When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-

CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

Keeping out of foreign materials MR-J4-DU_B_ section 2.2

Encoder cable stress MR-J4-_B_ section 2.3

SSCNET III cable laying MR-J4-_B_ section 2.4

Inspection items MR-J4-DU_B_ section 2.3

Parts having service life MR-J4-DU_B_ section 2.4

Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level MR-J4-DU_B_ section 2.5

2 INSTALLATION

2.1 Installation direction and clearances

Cooling fan

exhaust 80 mm or more

SideFront

100 mm or more

120 mm or more

Drive unitConverter unit Drive unitConverter unit

30 mm

Top

Bottom

CAUTION

• The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.

• Maintain specified clearances between the converter unit/drive unit and the inner surfaces of a control cabinet or other equipment. Otherwise, it may cause a malfunction.

Installation

Make sure to connect a drive unit to the right side of a power regeneration converter unit. Since the units require a cooling

mechanism outside the cabinet, an opening must be provided in each mounting surface as shown below.

The TE2-1 terminal block of the drive unit and the TE2 terminal block of the power regeneration converter unit are connected

using a bus bar. Thus, remove the supplied cover on the right side of the power regeneration converter unit.

■Clearance between sets of combined power regeneration converter units and drive units mounted side by side

*1 A clearance of at least 120 mm is required. Leave a clearance, taking into consideration the flexibility of the cable.

2.1 Installation direction and clearances

2 INSTALLATION

■Clearance between sets of combined power regeneration converter units and drive units mounted above each other

220 mm or more

Cooling fan exhaust

Top

Cooling

100 mm or more

Drive unitConverter unit

30 mm

Drive unitConverter unit

80 mm or more

220 mm or more

fan exhaust

120 mm

30 mm

*1 Take measures, such as installing a shield, to prevent cooling fan exhaust of the lower unit from affecting the cooling fan on the upper

unit.

*2 A clearance of at least 120 mm is required. Leave a clearance, taking into consideration the flexibility of the cable.

or more

Side

Bottom

2 INSTALLATION

2.1 Installation direction and clearances

Mounting hole process drawing

Power regeneration

converter unit

Opening

Drive unit

Opening

380

360 ± 0.5 10(10)

342 19

(19)

4-M5 screw

(W10)

(W8)

W10

(W3)

360 ± 0.5 10(10)

342 19(19)

(W5)

4-M5 screw

Unit Variable dimensions [mm]

W1 W2 W3 W4 W5 W6 W7 W8 W9 W10

Power regeneration converter unit

Drive unit MR-J4-DU45KB4-RJ100

MR-CV55K4 300 180



0.5

300 260

MR-J4-DU55KB4-RJ100

60 282 9 

20 281 9.5



0.5

2 INSTALLATION

2.1 Installation direction and clearances

3 SIGNALS AND WIRING

Servo motor

Drive unit

Servo motor

Drive unit

WARNING

• Any person who is involved in wiring should be fully competent to do the work.

• Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the converter unit.

• Ground the converter unit, drive unit, and servo motor securely.

• Do not attempt to wire the converter unit, drive unit, and servo motor until they have been installed. Otherwise, it may cause an electric shock.

• The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

• To avoid an electric shock, insulate the connections of the power supply terminals.

CAUTION

• Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

• Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.

• Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.

• The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

Converter unit

Drive unit

DOCOM

Control output signal

For sink output interface

• Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the converter unit and the drive unit.

• Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) with the power line of the servo motor.

• Do not modify the equipment.

• Connect the drive unit power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

• Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the drive unit may cause a malfunction.

• Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

24 V DC

Converter unit

Drive unit

24 V DC

DOCOM

Control output signal

For source output interface

3 SIGNALS AND WIRING

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-

CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

I/O signal connection example MR-J4-_B_ section 3.2

Explanation of power supply system MR-J4-DU_B_ sections 3.3 and 5.2

Connectors and pin assignment MR-J4-DU_B_ sections 3.3 and 5.2

Signal (device) explanations MR-J4-_B_ section 3.5

Forced stop deceleration function MR-J4-_B_ section 3.6

Interface MR-J4-DU_B_ section 3.3

SSCNET III cable connection MR-J4-_B_ section 3.9

3.1 Connection example of power circuit

WARNING

• Insulate the connections of the power supply terminals. Otherwise, an electric shock may occur.

CAUTION

• Be sure to connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the power regeneration converter unit, in order to configure a circuit that shuts off the power supply by the power regeneration converter unit. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the power regeneration converter unit or the drive unit malfunctions.

• Use ALM (Malfunction) to shut the power off. Not doing so may cause a fire when the power regeneration converter unit malfunctions and causes the AC reactor to overheat.

• The power regeneration converter unit has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for the input power supply.

• Check the power regeneration converter unit model, and then input proper voltage to the power regeneration converter unit power supply. If input voltage exceeds the upper limit, the power regeneration converter unit and the drive unit will break down.

For drive units, EM2 has the same function as EM1 in the torque control mode.

Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power

supply is shut off, an optical module does not operate, and optical transmission of SSCNET III/H

communication is interrupted. Therefore, the next servo amplifiers and drive units show "AA" on the display

and shut off the base circuit, stopping the servo motor with the dynamic brake.

For the magnetic contactor control connector (CN23), refer to section 3.3 in "MR-CV_/MR-CR55K_/MR-J4-

DU_(-RJ) Instruction Manual".

If the control axis No. is not be set correctly, or an SSCNET III cable is not be connected, the relay may switch

on and off repeatedly. Check the control axis No. setting and SSCNET III cable connection.

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

Connection example of encoder master servo amplifier

Drive unit

malfunction

*10

RA1

Operation ready

OFF/ON

Emergency

stop switch

MCCB Power supply 3-phase 380 V AC to 480 V AC

*16

Power regeneration

converter unit 1

MR-CV55K4

1MC1

MC2

CN23

TE3

CN4

1BAT

2LG

CN40A

CN1A

CN1B

CN4

CN2L

CN2

L+

L-

reactor

*14

L11

L21

L+

L-

Protection

coordination

cable

*11

Main circuit

power supply

Encoder

Servo motor

Cooling

fan

Dynamic

brake

(optional)

CN3

CN8

MR-ENE4CBL_M-H-MTH

*19

To CN1A on drive unit 2 of encoder slave servo amplifier 1

To CN2 on drive unit 2 of encoder slave servo amplifier 1

TE2-2

TE2-1

TE1

Servo system

controller

TE3

TE1

L11

L21

MCCB

Encoder master servo amplifier

Step-down transformer

*15

*13

*2, *17

*10

*12

MR-J4CN2CBL_M-H

SSCNET III cable

SSCNET III

cable

Bus bar

24 V DC

RA3

RA1

EM2

Plate

DICOM10

ALM15

DOCOM

*18

5 DICOM

Drive unit 1

MR-J4-DU_KB4-RJ100

Power supply

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

*1 To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 (Forced stop 2) in the drive unit when the main

circuit power is turned off.

*2 Always match the phases of the power supply connected to L11 and L21 on the power regeneration converter unit and the drive unit with

the phases connected to L1 and L2. Otherwise, the drive unit and the power regeneration converter unit may malfunction.

*3 Always supply power to the cooling fan terminal. For specifications of the cooling fan power supply and how to detect a failure, refer to

"Servo Motor Instruction Manual (Vol. 3)".

*4 Connect the grounding wire from the servo motor to the protective earth (PE) terminal of the drive unit. Put the grounding wires of the

drive unit and the power regeneration converter unit together into one on the protective earth (PE) terminal of the cabinet, and then connect to the ground. Connect the grounding wire of the servo motor to only the drive unit of the encoder master servo amplifier. If the grounding wire of the servo motor is connected to two or more drive units, the circulating current may pass through the grounding wire depending on wiring conditions. When connecting grounding wires to two or more drive units, be sure to twist the wires of the drive unit power outputs (U/V/W).

*5 Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80

ms or less.

*6 For absolute position detection systems, connect an optional battery to only the drive unit of the encoder master servo amplifier. Do not

connect the optional battery to the drive units of the encoder slave servo amplifiers.

*7 Use an external dynamic brake (option) together. Failure to do so will cause an accident, such as machine collision because the servo

motor does not stop immediately but coasts at emergency stop. For wiring of the dynamic brake, refer to the following. Page 69 External dynamic brake

*8 Encoder signals are distributed to all the drive units in the system via each drive unit. *9 This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual. *10 Configure a sequence that will shut off the main circuit power when an alarm occurs. *11 Configure a circuit to simultaneously turn on or off EM2 (Forced stop 2) in the drive units of the encoder master servo amplifier and

encoder slave servo amplifiers. *12 When not using the STO function, always attach the short-circuit connector supplied with the drive unit. *13 If the wire size used for the branch circuit is smaller than that used for L1, L2, and L3, install an overcurrent protection device (molded-

case circuit breaker, fuse, or others) to protect the circuit. *14 Even if an AC reactor is installed on the power regeneration converter unit, the functions operate normally. *15 A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. *16 Supply power to all the servo amplifiers (power regeneration converter units and drive units) from the same power source. If power is

supplied from different power sources, a difference may be generated between outputs of the encoder master servo amplifier and that of

encoder slave servo amplifiers. This may cause the servo motor to operate unpredictably. *17 Switch on the control circuit power supplies of all the servo amplifiers (power regeneration converter units and drive units)

simultaneously. *18 The dynamic brake must be controlled by the drive unit of the encoder master servo amplifier. Assign DB (Dynamic brake interlock) in

[Pr. PD07] to [Pr. PD09]. *19 The encoder cable has a thermistor signal wire. Wiring the thermistor signal is unnecessary.

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

Connection example of encoder slave servo amplifier

This example is the connection for the encoder slave servo amplifier 1.

Step-down transformer

Power supply 3-phase 380 V AC to 480 V AC

Drive unit

malfunction

RA2

*10

Emergency

stop switch

Operation ready

OFF/ON

Encoder slave servo amplifier 1

Power regeneration

*15

MCCB

*16

reactor

*14

converter unit 2

TE1

*20

MR-CV55K4

TE2-2

L+

L-

Bus bar

Drive unit 2

MR-J4-DU_KB4-RJ100

TE2-1

L+

L-

CN8

CN3

*12

DICOM10

CN23

1MC1

CN4

Protection

coordination

cable

CN40A

Plate

MC2

*13

*2, *17

TE3

L11

ALM15

5 DICOM

DOCOM

EM2

RA2

24 V DC

Main circuit

power supply

*10

*11

L21

To CN1A on drive unit 3 of encoder slave servo amplifier 2

To CN2 on drive unit 3 of encoder slave servo amplifier 2

To CN2L on drive unit 1 of encoder master servo amplifier

*5, *8

To CN1B on drive unit 1 of encoder master servo amplifier

SSCNET III

cable

CN1A

CN4

1BAT

2LG

CN1B

SSCNET III cable

MR-J4CN2CBL_M-H

CN2L

MR-J4CN2CBL_M-H

CN2

Servo motor

To drive unit 3 of encoder slave

servo amplifier 2

To drive unit 4 of encoder slave servo amplifier 3

Dynamic

brake

TE1

*13

*2, *17

TE3

L11

L21

(optional)

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

*1 To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 (Forced stop 2) in the drive unit when the main

circuit power is turned off. *2 Always match the phases of the power supply connected to L11 and L21 on the power regeneration converter unit and the drive unit with

the phases connected to L1 and L2. Otherwise, the drive unit and the power regeneration converter unit may malfunction. *3 Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80

ms or less. *4 Connect the grounding wire from the servo motor to the protective earth (PE) terminal of the drive unit. Put the grounding wires of the

drive unit and the power regeneration converter unit together

into one on the protective earth (PE) terminal of the cabinet, and then connect to the ground. Connect the grounding wire of the servo

motor to only the drive unit of the encoder master servo amplifier. If the grounding wire of the servo motor is connected to two or more

drive units, the circulating current may pass through the grounding wire depending on wiring conditions. When connecting grounding

wires to two or more drive units, be sure to twist the wires of the drive unit power outputs (U/V/W). *5 This is for connecting four drive units and four power regeneration converter units to the servo motor. *6 For the absolute position detection system, connect an optional battery to only the drive unit of the encoder master servo amplifier. Do

not connect the optional battery to the drive units of the encoder slave servo amplifiers. *7 Use an external dynamic brake (option) together. Failure to do so will cause an accident, such as machine collision because the servo

motor does not stop immediately but coasts at emergency stop. For wiring of the dynamic brake, refer to the following.

Page 69 External dynamic brake *8 Encoder signals are distributed to all the drive units in the system via each drive unit. *9 This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B_(-RJ) Servo Amplifier Instruction

supplied from different power sources, a difference may be generated between outputs of the encoder master servo amplifier and that of

simultaneously.

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

3.2 Alarm occurrence timing chart

Power regeneration converter unit 4

Drive unit 4

Encoder slave servo amplifier 3

Power regeneration converter unit 3

Drive unit 3

Encoder slave servo amplifier 2

Power regeneration converter unit 2

Drive unit 2

Encoder slave servo amplifier 1

SSCNET III/H

Servo system controller

Power regeneration converter unit 1

Drive unit 1

Encoder master servo amplifier

Servo motor

Alarm non-occurrence axis Alarm occurrence axis Alarm non-occurrence axis Alarm non-occurrence axis

Alarm occurrence

CAUTION

• When an alarm has occurred, remove its cause, make sure that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting operation.

When SSCNET III/H communication is shut off, the servo motor stops with the dynamic brake.

In the torque control mode, the forced stop deceleration function is unavailable.

This section describes MR-J4-DU_B4-RJ100 drive units only. For MR-CV55K4_power regeneration converter

units, refer to section 3.3 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from the servo system

controller. However, the alarm cannot be deactivated unless its cause is removed.

Timing charts in this section show that an alarm occurs in any axis in the four axis of the parallel drive system.

3 SIGNALS AND WIRING

3.2 Alarm occurrence timing chart

When you use the forced stop deceleration function

Set [Pr. PA04] to "2 _ _ _" (initial value).

Time constant setting

When you use the forced stop deceleration function, set the same value in the forced stop deceleration time constant [Pr.

PC24] of the drive unit and the rapid stop deceleration time set with the Motion controller.

■Difference between the deceleration time constant and the deceleration time

The following shows the difference between the forced stop deceleration time constant and the rapid stop deceleration time.

• Forced stop deceleration time constant (Drive unit)

The time for the servo motor to stop from the rated speed

[r/min]

Servo motor rated speed

Command speed

[ms]

Time required for the

servo motor to stop

Forced stop deceleration

time constant [Pr. PC24]

• Rapid stop deceleration time (Motion controller)

Time for the servo motor to stop from the speed limit value of the Motion controller

Speed limit value

Command speed

[pulse/s]

[ms]

Time required for the

servo motor to stop

Rapid stop deceleration time

3 SIGNALS AND WIRING

3.2 Alarm occurrence timing chart

■Formula for calculating the rapid stop deceleration time

Rapid stop deceleration time [ms] =

Forced stop deceleration time constant [ms] × Speed limit value [pulse/s]

× 60 [s]

Servo motor rated speed [r/min] × 4194304 [pulse]

Rapid stop deceleration time [ms] =

1000 × 2097152 × 60

2000 × 4194304

= 15 [ms]

*1 In addition to [pulse/s], [mm/min], [inch/min], and [degree/min] are used for the control unit of the Motion controller. When a control unit

other than [pulse/s] is used, convert the unit into [pulse/s] to calculate the rapid stop deceleration time.

■Setting example of the rapid stop deceleration time

Condition

Servo motor rated speed: 2000 [r/min] (Depends on the servo motor)

Speed limit value: 2097152 [pulse/s] (Depends on users, setting by the motion controller)

Forced stop deceleration time constant: 1000 [ms] (Depends on users, setting by the drive unit)

Therefore, set the rapid stop deceleration time of the motion controller to 1 ms.

If an alarm subject to the forced stop deceleration function occurs

The following timing chart shows that an alarm occurs in any axis in the parallel drive system.

Alarm occurrence

Model speed command is 0, and the speed is equal to or less than zero speed

Servo motor speed

Alarm occurrence axis

Alarm non-occurrence axis

Base circuit (Energy supply to the servo motor)

Drive unit display

ALM (Malfunction)

Servo motor speed

Base circuit (Energy supply to the servo motor)

Drive unit display

ALM (Malfunction)

0 r/min

OFF

ON (no alarm)

OFF (alarm)

0 r/min

OFF

ON (no alarm)

OFF (alarm)

No alarm

The command from the controller is not received.

Alarm No.No alarm

The command from the controller is not received.

Alarm E7

Model speed command is 0, and the speed is equal to or less than zero speed

*1 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3 SIGNALS AND WIRING

3.2 Alarm occurrence timing chart

If an alarm not subject to the forced stop deceleration function occurs

OFF

0 r/min

Braking by the dynamic brake

OFF

0 r/min

ON (no alarm)

OFF (alarm)

Base circuit (Energy supply to the servo motor)

Drive unit display

Servo motor speed

ALM (Malfunction)

ON (no alarm)

OFF (alarm)

Drive unit display

Servo motor speed

ALM (Malfunction)

Alarm occurrence axis

Alarm non-occurrence axis

Alarm occurrence

Alarm No.No alarm

No alarm

When the dynamic brake is used, a brake operation delay time occurs. For details, refer to the specifications

of the magnetic contactor you use.

The following timing chart shows that an alarm occurs in any axis in the parallel drive system.

3.2 Alarm occurrence timing chart

3 SIGNALS AND WIRING

When SSCNET III/H communication is shut off

Axis in which SSCNET III/H communication shut-off has not occurred

Occurrence of SSCNET III/H communication shut-off

OFF

0 r/min

Axis in which SSCNET III/H communication shut-off has occurred

OFF

0 r/min

Base circuit (Energy supply to the servo motor)

ON (no alarm)

OFF (alarm)

ON (no alarm)

OFF (alarm)

Drive unit display

Servo motor speed

ALM (Malfunction)

Base circuit (Energy supply to the servo motor)

Drive unit display

Servo motor speed

ALM (Malfunction)

Braking by the dynamic brake

No alarm

Braking by the dynamic brake

No alarm

When an SSCNET III/H communication shut-off occurs in a servo amplifier, the servo amplifier and

subsequent servo amplifiers show "AA" on the display.

When you do not use the forced stop deceleration function

Set [Pr. PA04] to "0 _ _ _". The operation status of the servo motor during an alarm is the same as that of when the forced stop

deceleration function is used. Page 27 When you use the forced stop deceleration function

3 SIGNALS AND WIRING

3.2 Alarm occurrence timing chart

3.3 Grounding

Converter

unit

Drive

unit

Converter

unit

Drive

unit

Converter

unit

Drive

unit

Converter

unit

Drive

unit

Copper bar

Converter

unit

Drive

unit

Other device

Converter

unit

Drive

unit

Other

device

Good example Bad example

WARNING

• Ground the power regeneration converter unit, drive unit, and servo motor securely.

• To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the power regeneration converter unit and the drive unit to the protective earth (PE) of the cabinet.

For items other than the ones described in this section, refer to section 3.3 in "MR-CV_/MR-CR55K_/MR-J4-

DU_(-RJ) Instruction Manual".

Capacitances exist between input/output lines of the servo and other lines or the ground, and in the servo motor, through

which a leakage current flows. For a servo with a large capacity, a leakage current including a high-frequency of several 100

mA may flow.

Note the following.

• To prevent an electric shock, be sure to ground the drive unit, power regeneration converter unit, and servo motor.

• To lower the impedance of the grounding wire, use the wire of the size equal to or greater than that shown in section 8.4 in

"MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual", and make the wire as short as possible. Stranded wires or

braided wires are helpful to lower impedance.

• Prevent multiple points from being grounded. Ground one point. Grounding multiple points may generate a potential

difference between the grounded points by the impedance of the grounding wires. If the units cannot be grounded to one

point, connect the grounding wires to a copper bar and ground it to one point.

• Leakage currents including high-frequency components flow through the grounding wires of the drive unit, power

regeneration converter unit, and servo motor. Route the grounding wires of noise-sensitive devices separately.

• Route the grounding wires as far away from the input/output lines of noise-sensitive devices as possible, and run the

grounding wires in parallel to each other as short as possible.

• Connect the grounding wire from the servo motor to the protective earth (PE) terminal of the drive unit. Put the grounding

wires of the drive unit and the power regeneration converter unit together into one on the protective earth (PE) terminal of

the cabinet, and then connect to the ground. Connect the grounding wire of the servo motor to only the drive unit of the

encoder master servo amplifier. If the grounding wire of the servo motor is connected to two or more drive units, the

circulating current may pass through the grounding wire depending on wiring conditions. When connecting grounding wires

to two or more drive units, be sure to twist the wires of the drive unit power outputs (U/V/W).

3 SIGNALS AND WIRING

3.3 Grounding

4 STARTUP

WARNING

• When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

• Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

CAUTION

• Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.

• The heat sink of the power regeneration converter unit and drive unit, and the servo motor, etc. may be hot while power is on and for some time after poweroff. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

• During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

• Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

For parallel drive systems, test operation cannot be performed with MR Configurator2. Perform test operation

with the controller.

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-

CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

Switch setting and display of the drive unit MR-J4-_B_ section 4.3

Switch setting and operation section of power regeneration converter unit MR-J4-DU_B_ section 3.4

4 STARTUP

4.1 Switching power on for the first time

Start up the parallel drive system in the following procedure. Once settings are made, they do not need to be reset. When

changes are made to the system settings of the Motion controller, and the drive unit is replaced, start up the system in the

following procedure again.

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-CR55K_/

MR-J4-DU_(-RJ) Instruction Manual".

Setting classification

Servo amplifier

Controller

Servo amplifier

Step Description Reference

1. Wiring check

2. Surrounding environment

check

3. Controller setting

4. Controller power on

5. System setting

6. Servo data setting

7. Controller reset

8. MR-CV55K4_ power

Check whether the power regeneration converter unit, drive unit, and servo motor are wired correctly.

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

Make the controller settings (normal and the following settings specific to the parallel drive system).



The parallel drive system is identified as the one axis of the servo amplifier in the SSCNET configuration of MT Developer2. Set the system settings with the encoder master servo amplifier. When the system is set with the encoder slave servo amplifier, an error may occur.

Set the following servo parameters with MR Configurator2 of MT Developer2. Set the servo parameter for the drive unit of the encoder master servo amplifier.

• [Pr. PA02 Regenerative option]

• [Pr. PA17 Servo motor series setting]

• [Pr. PA18 Servo motor type setting]

• [Pr. PC04 Function selection C-1]

• [Pr. PF37 Parallel drive - Encoder ID setting 1]

• [Pr. PF40 Parallel drive - Servo motor side system setting]

• [Pr. PF41 Function selection F-12]

• [Pr. PF42 Function selection F-13]



Set the converter setting rotary switch (SW1) to "0". 

MR-J4-DU_B_ section 3.4

MR-J4-_B_ section 4.1.3



Chapter 5

regeneration converter unit

setting

9. Axis number setting of the

drive unit

10. Drive unit and Converter unit

power on

11. Drive unit and Converter unit

power off

12. Drive unit and Converter unit

power on

Check the control axis No. set with the auxiliary axis number setting switches (SW2-3 and SW2-4) and the axis selection rotary switch (SW1) match the control axis No. set with the servo system controller.

The 3-digit, 7-segment LED of the drive unit displays the following. Encoder master servo amplifier: 16 Encoder slave servo amplifier: 16 [AL. 16 Encoder initial communication error 1] will occur because the servo parameters set for the encoder master servo amplifier via the controller (MT Developer 2) are not applied. Apply the servo parameters to the drive unit in the next step.

Enable the servo parameters set for the encoder master amplifier via the controller (MT Developer 2).

The startup is completed. The 3-digit, 7-segment LED of the drive unit displays the following. Encoder master servo amplifier: b## Encoder slave servo amplifier: b.## "##" means each axis number. The decimal point in the 2nd digit is lit on the 3-digit, 7-segment LED display of the drive unit set for the encoder slave servo amplifier.

MR-J4-_B_ section 4.3.1 (3)



4 STARTUP

4.1 Switching power on for the first time

4.2 Startup

Startup of the MR-J4-DU_B4-RJ100 is the same as that of the MR-J4-_B_(-RJ). For details, refer to section 4.2 in "MR-J4-

_B_(-RJ) Servo Amplifier Instruction Manual".

The power regeneration converter unit shows "C" (ready-off) on the display at power-on.

When an alarm occurs or EM1 (Forced stop) is disabled in the power regeneration converter unit, the operation will stop.

4 STARTUP

4.2 Startup

5 PARAMETERS

CAUTION

• Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

• Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the drive unit.  Changing the values of the parameters for manufacturer setting  Setting a value out of the range  Changing the fixed values in the digits of a parameter

• When you write parameters with the controller, make sure that the control axis No. of the drive unit is set correctly. Otherwise, the parameter settings of another axis may be written, possibly causing the drive unit to be an unexpected condition.

When you connect the drive unit to a servo system controller, servo parameter values of the servo system

controller will be written to each parameter.

Setting may not be made to some parameters and their ranges depending on the servo system controller

model, drive unit software version, and MR Configurator2 software version. For details, refer to the servo

system controller user's manual.

The parameter whose symbol is preceded by * is enabled with the following conditions.

• *: After setting the parameter, cycle the power or reset the controller.

• **: After setting the parameter, cycle the power.

Set a value to each "x" in the "Setting digit" columns.

Do not change parameters during servo-on.

Be sure to set the same setting in parameters of the encoder master servo amplifier and those of the encoder

slave servo amplifiers.

When the parameters are written with MR Configurator2, be sure to be connected via the motion controller. If

parameters are written with MR Configurator2 by directly connecting to the USB port on the drive unit,

parameters in the drive unit and the controller cannot be updated correctly.

For the advanced vibration suppression control II (vibration suppression control tuning) and the adaptive filter

II (adaptive tuning), "Automatic setting" is invalid. Only "Manual setting" is valid.

The following shows parameter settings exclusively for the driver unit. Other parameters are the same as those of MR-J4-

_B_(-RJ). Refer to chapter 5 in "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

[Pr. PA01 Operation mode (**STY)]

For parallel drive systems, the operation mode selection and J3 compatibility mode are unavailable. Do not change those

parameters.

Setting digit Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ Operation mode selection

0: Standard control mode 1: Fully closed loop control mode 4: Linear servo motor control mode 6: DD motor control mode Setting any value other than "0” will trigger [AL. 37 Parameter error].

_ x _ _ For manufacturer setting 0h

x _ _ _ Compatibility mode selection

For parallel drive systems, the J3 compatibility mode is unavailable. Do not set this digit to "0". 0: J3 compatibility mode 1: J4 mode

5 PARAMETERS

[Pr. PA02 Regenerative option (**REG)]

For parallel drive systems, the regenerative option is unavailable. Set "0700" to this parameter.

Setting digit Explanation Initial value

_ _ x x Regenerative option selection

00: Regenerative option is not used, or when you use a regenerative option, set the regenerative option with the converter

unit.

When using the drive unit with the converter unit, set this value regardless of whether or not the regenerative option and

brake unit are used.

_ x _ _ Converter unit selection

For parallel drive systems, the MR-CR_ is unavailable. Do not set this digit to "0". 0: MR-CR_ 7: MR-CV_ Setting a value other than "0" or "7" will trigger [AL. 37].

x _ _ _ Protection coordination mode selection between converter and drive unit

For parallel drive systems, do not set this digit to "Protection coordination mode disabled (stand-alone drive) (4 _ _ _ )". 0: Protection coordination mode enabled 4: Protection coordination mode disabled (stand-alone drive)

00h

[Pr. PA17 Servo motor series setting (**MSR)]

Select any servo motor with [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. Refer to the following table for

settings.

Motor series Servo motor [Pr. PA17] [Pr. PA18]

HG-JR HG-JR110K24W0C 0132h A102h

HG-JR150K24W0C 0132h A502h

HG-JR180K24W0C 0132h A802h

HG-JR200K24W0C 0132h B002h

HG-JR220K24W0C 0132h B202h

Initial value [unit]: 0000h

[Pr. PA18 Servo motor type setting (**MTY)]

Select any servo motor with [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA17] at a time. Refer to the table of [Pr. PA17] for

settings.

Initial value [unit]: 0000h

[Pr. PA20 Tough drive setting (*TDS)]

Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation.

You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr. PD07] to [Pr. PD09].

Setting digit Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ Vibration tough drive selection

0: Disabled 1: Enabled Selecting "1" enables to suppress vibrations by automatically changing the setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceeds the value of the oscillation level set in [Pr. PF23]. For details, refer to section 7.3 in "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

_ x _ _ SEMI-F47 function selection

A combination of the MR-CV55K4_ power regeneration converter unit and drive unit does not comply with SEMI-F47 standard. 0: Disabled 1: Enabled When "MR-CV_ ( _ 7 _ _ )" is selected in "Converter unit selection" of [Pr. PA02], setting "Enabled ( _ 1 _ _ )" in this parameter will trigger [AL. 37 Parameter error].

x _ _ _ For manufacturer setting 0h

5 PARAMETERS

[Pr. PA21 Function selection A-3 (*AOP3)]

Setting digit Explanation Initial value

_ _ _ x One-touch tuning function selection

For parallel drive systems, the one-touch tuning is unavailable. The parameter setting is invalid. 0: Disabled 1: Enabled

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

[Pr. PB01 Adaptive tuning mode (adaptive filter II) (FILT)]

Set the adaptive tuning.

Setting digit Explanation Initial value

_ _ _ x Filter tuning mode selection

Select the adjustment mode of the machine resonance suppression filter 1. For parallel drive systems, "Automatic setting (_ _ _ 1)" is invalid. 0: Disabled 1: Automatic setting 2: Manual setting

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ Tuning accuracy selection

0: Standard 1: The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

[Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)]

Set the vibration suppression control tuning.

Setting digit Explanation Initial value

_ _ _ x Vibration suppression control 1 tuning mode selection

Select the tuning mode of the vibration suppression control 1. For parallel drive systems, "Automatic setting (_ _ _ 1)" is invalid. 0: Disabled 1: Automatic setting 2: Manual setting

_ _ x _ Vibration suppression control 2 tuning mode selection

Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24 Function selection A-4]. For parallel drive systems, "Automatic setting (_ _ 1 _)" is invalid. 0: Disabled 1: Automatic setting 2: Manual setting

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

[Pr. PC04 Function selection C-1 (**COP1)]

Select an encoder cable communication method.

Setting digit Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ Encoder cable communication method selection

For parallel drive systems, the two-wire type is unavailable. Set this digit to "1". 0: Two-wire type 1: Four-wire type

5 PARAMETERS

[Pr. PC24 Forced stop deceleration time constant (RSBR)]

Set a deceleration time constant for the forced stop deceleration function.

Set the time taken from the rated speed to 0 r/min in a unit of ms. Setting "0" will be 100 ms.

Dynamic brake

Rated speed

Servo motor speed

Forced stop deceleration

deceleration

0 r/min

[Pr. PC24]

[Precautions]

• If the servo motor torque is saturated at the maximum torque during a forced stop deceleration because the set time is too

short, the time to stop will be longer than the set time constant.

• [AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set

value.

• After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or

if the control circuit power supply is cut, dynamic braking will start regardless of the deceleration time constant setting.

• Set the time the same as the rapid stop deceleration time set with the controller. If a shorter time is set, [AL. 52 Error

excessive] may occur. For the setting method, refer to the following.

Page 27 Time constant setting

Initial value [unit]: 100 [ms]

Setting range: 0 to 20000

[Pr. PF03 Function selection F-5 (*FOP5)]

Setting digit Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ Protection coordination mode function between converter and drive unit selection

For parallel drive systems, set this digit to "0". 0: Disabled 1: Enabled When "Enabled ( _ 1 _ _ )" is selected in this parameter, the setting value in "Protection coordination mode selection between converter and drive unit" of [Pr. PA02] is enabled.

x _ _ _ For manufacturer setting 0h

[Pr. PF07 Function selection F-6 (*FOP6)]

Setting digit Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ Magnetic contactor shut-off selection at STO input

For parallel drive systems, the magnetic contactor turns off when STO is inputted (when [AL. 95] has occurred). The setting value of "1" is disabled. 0: The magnetic contactor is turned off when STO is inputted (when [AL. 95] has occurred). 1: The magnetic contactor is kept on when STO is inputted (when [AL. 95] has occurred).

x _ _ _ Magnetic contactor shut-off selection at forced stop input

For parallel drive systems, the magnetic contactor turns off when the forced stop is inputted (when [AL. E6] has occurred). 0: Turns the magnetic contactor off when the forced stop is input (when [AL. E6] has occurred). 1: Keeps the magnetic contactor on when the forced stop is input (when [AL. E6] has occurred).

5 PARAMETERS

[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (CVAT)]

A combination of the MR-CV55K4_ power regeneration converter unit and drive unit does not comply with SEMI-F47

standard. The parameter setting is invalid.

Initial value [unit]: 200 [ms]

[Pr. PF37 Parallel drive - Encoder ID setting 1 (**ENID1)]

Set a servo motor-side encoder ID. Setting an encoder ID switches encoder communication types. Setting any value other

than the following will trigger [AL. 37 Parameter error].

When the MR-D30 functional safety unit is mounted on the encoder master servo amplifier

Setting value

0444 HG-JR110K24W0C

When the MR-D30 functional safety unit is not mounted on the encoder master servo amplifier

Setting value

0044 HG-JR110K24W0C

Servo motor

HG-JR150K24W0C HG-JR180K24W0C HG-JR200K24W0C HG-JR220K24W0C

Servo motor

HG-JR150K24W0C HG-JR180K24W0C HG-JR200K24W0C HG-JR220K24W0C

Initial value [unit]: 0000h

[Pr. PF40 Parallel drive - Servo motor side system setting (**EMS)]

Set the servo motor-side encoder slave servo amplifiers.

Setting digit Explanation Initial value

_ _ x x Control axis No. setting of the encoder master servo amplifier

Set the control axis No. of the encoder master servo amplifier in hexadecimal. When "00" is set, the parameter setting is invalid.

x x _ _ The number setting of the encoder master servo amplifier

Set the number of encoder slave servo amplifiers. When "00" is set, the parameter setting is invalid.

00h

Setting example:

If the control axis No. of the encoder master servo amplifier is 17 (11h), and three encoder slave servo amplifiers are used, set

"0311".

[Pr. PF41 Function selection F-12 (*FOP12)]

Enable/disable [AL. 46 Servo motor overheat] detection. For servo motors without a thermistor, [AL. 46 Servo motor overheat]

detection is disabled regardless of the setting. When [AL. 46 Servo motor overheat] detection is enabled, temperature

monitoring is also enabled regardless of the setting of [Pr. PF42 Parallel drive - Temperature monitor setting].

Setting digit Explanation Initial value

_ _ _ x (HEX)

_ _ _ x (BIN)

Encoder master servo amplifier - Motor thermistor setting 0: [AL. 46 Servo motor overheat] detection enabled 1: [AL. 46 Servo motor overheat] detection disabled

5 PARAMETERS

[Pr. PF42 Function selection F-13 (*FOP13)]

Enable/disable temperature monitoring. For servo motors without a thermistor, temperature monitoring is disabled regardless

of the set value. When [AL. 46 Servo motor overheat] detection is enabled in [Pr. PF41 Parallel drive - Motor thermistor

setting], temperature monitoring is also enabled regardless of the setting of [Pr. PF42 Parallel drive - Temperature monitor

setting].

Setting digit Explanation Initial value

_ _ _ x (HEX)

_ _ _ x (BIN)

Encoder master servo amplifier - Temperature monitor setting 0: Temperature monitoring enabled 1: Temperature monitoring disabled

5 PARAMETERS

6 TROUBLESHOOTING

• The forced stop deceleration does not function for alarms not subject to the forced stop deceleration

function.

For parallel drive systems, if [AL. 34 SSCNET receive error 1] or [AL. 36 SSCNET receive error 2] occurs, the servo motor

stops with the dynamic brake (DB), not with forced stop deceleration (SD).

6.1 Troubleshooting for MR-CV_ power regeneration

converter unit

When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to

remove the failure.

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)

When an alarm occurs, ALM (Malfunction) will turn off.

Explanation for the lists

No./Name

Indicates each No./Name of alarms or warnings.

Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked  in the alarm

deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated

by alarm reset, CPU reset, or power cycling.

Alarm deactivation Explanation

Alarm reset 1. Turn on RES (Reset) with an input device.

2. Input the servo-on command for the drive unit connected with the protection coordination cable.

CPU reset Reset the controller itself.

Power cycling Turn the power off and on again.

*1 Deactivate the alarm in servo-off status. If the alarm is deactivated in servo-on status, [AL. 1B Converter error] will occur. *2 If the protection coordination cable is not connected, the alarm cannot be deactivated by CPU reset.

6 TROUBLESHOOTING

6.1 Troubleshooting for MR-CV_ power regeneration converter unit

Alarm list

No. Name Alarm deactivation

Alarm reset CPU reset Power cycling

61 Overcurrent 

62 Frequency error 

66 Process error 

67 Open phase 

68 Watchdog 

69 Ground fault 

6A MC drive circuit error 

6B Inrush current suppression circuit error 

6C Main circuit error 

6E_

70 Converter forced stop error 

71 Undervoltage 

72 Cooling fan error 

73 Regenerative error 

75 Overvoltage 

76 Switch setting error 

77 Main circuit device overheat 

7E Overload 1 

7F Overload 2 

*1 Digits of "_” may be displayed. Remedies for the alarm is the same as those for [AL. 6E]. *2 After resolving the source of trouble, cool the equipment for approximately 30 minutes.

Board error 



Warning list

No. Name

E9 Instantaneous power failure warning

EA External forced stop warning

EB Excessive regeneration warning

EC Overload warning

EE Cooling fan speed reduction warning

6 TROUBLESHOOTING

6.1 Troubleshooting for MR-CV_ power regeneration converter unit

6.2 Troubleshooting for drive unit

[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm

history.

When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or warning is

displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)

When an alarm occurs, ALM (Malfunction) will turn off.

Explanation for the lists

No./Name/Detail No./Detail name

Indicates the No./name/detail No./detail name of alarms or warnings.

Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic

brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method

column, the servo motor stops with the dynamic brake without forced stop deceleration.

Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked  in the alarm

deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated

by alarm reset, CPU reset, or power cycling.

Alarm deactivation Explanation

Alarm reset 1. Error reset command from the controller

2. Click "Occurred Alarm Reset" in the "Alarm Display" window of MR Configurator2.

CPU reset Reset the controller itself.

Power cycling Turn the power off and on again.

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm list

Alarm Details Stop

No. Name No. Name Alarm

10 Undervoltage 10.1 Voltage drop in the control circuit power EDB 

10.2 Voltage drop in the main circuit power SD 

11 Switch setting error 11.1 Axis number setting error/station number

setting error

11.2 Disabling control axis setting error DB 

12 Memory error 1 (RAM) 12.1 RAM error 1 DB 

12.2 RAM error 2 DB 

12.3 RAM error 3 DB 

12.4 RAM error 4 DB 

12.5 RAM error 5 DB 

12.6 RAM error 6 DB 

13 Clock error 13.1 Clock error 1 DB 

13.2 Clock error 2 DB 

13.3 Clock error 3 DB 

14 Control process error 14.1 Control process error 1 DB 

14.2 Control process error 2 DB 

14.3 Control process error 3 DB 

14.4 Control process error 4 DB 

14.5 Control process error 5 DB 

14.6 Control process error 6 DB 

14.7 Control process error 7 DB 

14.8 Control process error 8 DB 

14.9 Control process error 9 DB 

14.A Control process error 10 DB 

14.B Control process error 11 DB 

14.C Control process error 12 DB 

14.D Control process error 13 DB 

15 Memory error 2 (EEP-ROM) 15.1 EEP-ROM error at power on DB 

15.2 EEP-ROM error during operation DB 

15.4 Home position information read error DB 

method

DB 

Alarm deactivation

reset

CPU reset

Power cycling

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

16 Encoder initial communication error 116.1 Encoder initial communication - Receive

data error 1

16.2 Encoder initial communication - Receive

16.3 Encoder initial communication - Receive

16.4 Encoder initial communication - Encoder

16.5 Encoder initial communication -

16.6 Encoder initial communication -

16.7 Encoder initial communication -

16.8 Encoder initial communication -

16.A Encoder initial communication - Process

16.B Encoder initial communication - Process

16.C Encoder initial communication - Process

16.D Encoder initial communication - Process

16.E Encoder initial communication - Process

16.F Encoder initial communication - Process

17 Board error 17.1 Board error 1 DB 

17.3 Board error 2 DB 

17.4 Board error 3 DB 

17.5 Board error 4 DB 

17.6 Board error 5 DB 

17.7 Board error 7 DB 

17.8 Board error 6

17.9 Board error 8 DB 

19 Memory error 3 (Flash-ROM) 19.1 Flash-ROM error 1 DB 

19.2 Flash-ROM error 2 DB 

19.3 Flash-ROM error 3 DB 

1A Servo motor combination error 1A.1 Servo motor combination error 1 DB 

1A.2 Servo motor control mode combination

1A.4 Servo motor combination error 2 DB 

1B Converter error 1B.1 Converter unit error DB 

1E Encoder initial communication error 21E.1 Encoder malfunction DB 

1E.2 Load-side encoder malfunction DB 

1F Encoder initial communication error 31F.1 Incompatible encoder DB 

1F.2 Incompatible load-side encoder DB 

data error 2

data error 3

malfunction

Transmission data error 1

Transmission data error 2

Transmission data error 3

Incompatible encoder

error 1

error 2

error 3

error 4

error 5

error 6

error

method

DB 

EDB 

DB 

Alarm deactivation

reset

CPU reset

Power cycling

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

20 Encoder normal communication

error 1

21 Encoder normal communication

error 2

24 Main circuit error 24.1 Ground fault detected at hardware

25 Absolute position erased 25.1 Servo motor encoder - Absolute position

27 Initial magnetic pole detection error 27.1 Initial magnetic pole detection - Abnormal

28 Linear encoder error 2 28.1 Linear encoder - Environment error EDB 

2A Linear encoder error 1 2A.1 Linear encoder error 1-1 EDB 

2B Encoder counter error 2B.1 Encoder counter error 1 EDB 

20.1 Encoder normal communication Receive data error 1

20.2 Encoder normal communication Receive data error 2

20.3 Encoder normal communication Receive data error 3

20.5 Encoder normal communication Transmission data error 1

20.6 Encoder normal communication Transmission data error 2

20.7 Encoder normal communication Transmission data error 3

20.9 Encoder normal communication Receive data error 4

20.A Encoder normal communication Receive data error 5

21.1 Encoder data error 1 EDB 

21.2 Encoder data update error EDB 

21.3 Encoder data waveform error EDB 

21.4 Encoder non-signal error EDB 

21.5 Encoder hardware error 1 EDB 

21.6 Encoder hardware error 2 EDB 

21.9 Encoder data error 2 EDB 

detection circuit

24.2 Ground fault detected by software detection function

erased

25.2 Scale measurement encoder - Absolute position erased

termination

27.2 Initial magnetic pole detection - Time out error

27.3 Initial magnetic pole detection - Limit switch error

27.4 Initial magnetic pole detection Estimated error

27.5 Initial magnetic pole detection - Position deviation error

27.6 Initial magnetic pole detection - Speed deviation error

27.7 Initial magnetic pole detection - Current error

2A.2 Linear encoder error 1-2 EDB 

2A.3 Linear encoder error 1-3 EDB

2A.4 Linear encoder error 1-4 EDB 

2A.5 Linear encoder error 1-5 EDB 

2A.6 Linear encoder error 1-6 EDB 

2A.7 Linear encoder error 1-7 EDB 

2A.8 Linear encoder error 1-8 EDB 

2B.2 Encoder counter error 2 EDB 

method

EDB 

DB 

DB 

DB 

DB 

Alarm deactivation

reset



CPU reset

Power cycling

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

30 Regenerative error 30.1 Regeneration heat error DB 

30.2 Regeneration signal error DB 

30.3 Regeneration feedback signal error DB 

method

Alarm deactivation

reset

CPU reset



Power cycling



31 Overspeed 31.1 Abnormal motor speed SD 

32 Overcurrent 32.1 Overcurrent detected at hardware

DB 

detection circuit (during operation)

32.2 Overcurrent detected at software

DB 

detection function (during operation)

32.3 Overcurrent detected at hardware

DB 

detection circuit (during a stop)

32.4 Overcurrent detected at software

DB 

detection function (during a stop)

33 Overvoltage 33.1 Main circuit voltage error EDB 

34 SSCNET receive error 1 34.1 SSCNET receive data error DB 



34.2 SSCNET connector connection error DB 

34.3 SSCNET communication data error DB 

34.4 Hardware error signal detection DB 

34.5 SSCNET receive data error (safety

DB 

observation function)

34.6 SSCNET communication data error

DB 

(safety observation function)

35 Command frequency error 35.1 Command frequency error SD 

36 SSCNET receive error 2 36.1 Continuous communication data error DB 

36.2 Continuous communication data error

DB 

(safety observation function)

37 Parameter error 37.1 Parameter setting range error DB 

37.2 Parameter combination error DB 

37.3 Point table setting error DB 

39 Program error 39.1 Program error DB 

39.2 Instruction argument external error DB 

39.3 Register No. error DB 

39.4 Non-correspondence instruction error DB 

3A Inrush current suppression circuit

3A.1 Inrush current suppression circuit error EDB 

error

3D Parameter setting error for driver

communication

3D.1 Parameter combination error for driver

communication on slave

3D.2 Parameter combination error for driver

DB 

communication on master

3E Operation mode error 3E.1 Operation mode error DB 

3E.6 Operation mode switch error DB 

3E.8 MR-D30 combination error DB 

42 Servo control error

(for linear servo motor and direct drive motor)

42.1 Servo control error by position deviation EDB

42.2 Servo control error by speed deviation EDB

42.3 Servo control error by torque/thrust

EDB

*4 *4



deviation

Fully closed loop control error (for fully closed loop control)

42.8 Fully closed loop control error by position deviation

42.9 Fully closed loop control error by speed

EDB

*4 *4



deviation

42.A Fully closed loop control error by position

EDB

*4 *4



deviation during command stop

45 Main circuit device overheat 45.1 Main circuit device overheat error 1 SD 

45.2 Main circuit device overheat error 2 SD 



6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

46 Servo motor overheat 46.1 Abnormal temperature of servo motor 1 SD 

46.2 Abnormal temperature of servo motor 2 SD 

46.3 Thermistor disconnected error SD 

46.4 Thermistor circuit error SD 

46.5 Abnormal temperature of servo motor 3 DB 

46.6 Abnormal temperature of servo motor 4 DB 

method

Alarm deactivation

reset

CPU reset



Power cycling



47 Cooling fan error 47.1 Cooling fan stop error SD 

47.2 Cooling fan speed reduction error SD 

50 Overload 1 50.1 Thermal overload error 1 during

SD 



operation

50.2 Thermal overload error 2 during

SD 



operation

50.3 Thermal overload error 4 during

SD 



operation

50.4 Thermal overload error 1 during a stop SD 

50.5 Thermal overload error 2 during a stop SD 

50.6 Thermal overload error 4 during a stop SD 

51 Overload 2 51.1 Thermal overload error 3 during

DB 



operation

51.2 Thermal overload error 3 during a stop DB 



52 Error excessive 52.1 Excess droop pulse 1 SD 

52.3 Excess droop pulse 2 SD 

52.4 Error excessive during 0 torque limit SD 

52.5 Excess droop pulse 3 EDB 

54 Oscillation detection 54.1 Oscillation detection error EDB 

56 Forced stop error 56.2 Over speed during forced stop EDB 

56.3 Estimated distance over during forced

EDB 

stop

56.4 Forced stop starting error EDB 

61 Operation error 61.1 Point table setting error DB 

63 STO timing error 63.1 STO1 off DB 

63.2 STO2 off DB 

63.5 STO by functional safety unit DB 

64 Functional safety unit setting error 64.1 STO input error DB 

64.2 Compatibility mode setting error DB 

64.3 Operation mode setting error DB 

65 Functional safety unit connection

error

65.1 Functional safety unit communication error 1

65.2 Functional safety unit communication

SD 

error 2

65.3 Functional safety unit communication

SD 

error 3

65.4 Functional safety unit communication

SD 

error 4

65.5 Functional safety unit communication

SD 

error 5

65.6 Functional safety unit communication

SD 

error 6

65.7 Functional safety unit communication

SD 

error 7

65.8 Functional safety unit shut-off signal error 1DB 

65.9 Functional safety unit shut-off signal error 2DB 

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

66 Encoder initial communication error

(safety observation function)

67 Encoder normal communication

error 1 (safety observation function)

68 STO diagnosis error 68.1 Mismatched STO signal error DB 

69 Command error 69.1 Forward rotation-side software limit

66.1 Encoder initial communication - Receive data error 1 (safety observation function)

66.2 Encoder initial communication - Receive data error 2 (safety observation function)

66.3 Encoder initial communication - Receive data error 3 (safety observation function)

66.7 Encoder initial communication Transmission data error 1 (safety observation function)

66.9 Encoder initial communication - Process error 1 (safety observation function)

67.1 Encoder normal communication Receive data error 1 (safety observation function)

67.2 Encoder normal communication Receive data error 2 (safety observation function)

67.3 Encoder normal communication Receive data error 3 (safety observation function)

67.4 Encoder normal communication Receive data error 4 (safety observation function)

67.7 Encoder normal communication Transmission data error 1 (safety observation function)

detection - Command excess error

69.2 Reverse rotation-side software limit detection - Command excess error

69.3 Forward rotation stroke end detection Command excess error

69.4 Reverse rotation stroke end detection Command excess error

69.5 Upper stroke limit detection - Command excess error

69.6 Lower stroke limit detection - Command excess error

method

DB 

SD 

Alarm deactivation

reset

CPU reset

Power cycling

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

70 Load-side encoder initial

communication error 1

71 Load-side encoder normal

communication error 1

72 Load-side encoder normal

communication error 2

70.1 Load-side encoder initial communication

- Receive data error 1

70.2 Load-side encoder initial communication

70.3 Load-side encoder initial communication

70.4 Load-side encoder initial communication

70.5 Load-side encoder initial communication

70.6 Load-side encoder initial communication

70.7 Load-side encoder initial communication

70.8 Encoder initial communication -

70.A Load-side encoder initial communication

70.B Load-side encoder initial communication

70.C Load-side encoder initial communication

70.D Load-side encoder initial communication

70.E Load-side encoder initial communication

70.F Load-side encoder initial communication

71.1 Load-side encoder normal

71.2 Load-side encoder normal

71.3 Load-side encoder normal

71.5 Load-side encoder normal

71.6 Load-side encoder normal

71.7 Load-side encoder normal

71.9 Load-side encoder normal

71.A Load-side encoder normal

72.1 Load-side encoder data error 1 EDB 

72.2 Load-side encoder data update error EDB 

72.3 Load-side encoder data waveform error EDB 

72.4 Load-side encoder non-signal error EDB 

72.5 Load-side encoder hardware error 1 EDB 

72.6 Load-side encoder hardware error 2 EDB 

72.9 Load-side encoder data error 2 EDB 

- Receive data error 2

- Receive data error 3

- Encoder malfunction

- Transmission data error 1

- Transmission data error 2

- Transmission data error 3

Incompatible encoder

- Process error 1

- Process error 2

- Process error 3

- Process error 4

- Process error 5

- Process error 6

communication - Receive data error 1

communication - Receive data error 2

communication - Receive data error 3

communication - Transmission data error 1

communication - Transmission data error 2

communication - Transmission data error 3

communication - Receive data error 4

communication - Receive data error 5

method

DB 

EDB 

Alarm deactivation

reset

CPU reset

Power cycling

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

74 Option card error 1 74.1 Option card error 1 DB 

74.2 Option card error 2 DB 

74.3 Option card error 3 DB 

74.4 Option card error 4 DB 

74.5 Option card error 5 DB 

75 Option card error 2 75.3 Option card connection error EDB 

75.4 Option card disconnected DB 

79 Functional safety unit diagnosis

error

7A Parameter setting error (safety

observation function)

7B Encoder diagnosis error (safety

observation function)

7C Functional safety unit

communication diagnosis error (safety observation function)

7D Safety observation error 7D.1 Stop observation error DB 

82 Master-slave operation error 1 82.1 Master-slave operation error 1 EDB 

84 Network module initialization error 84.1 Network module undetected error DB 

85 Network module error 85.1 Network module error 1 SD 

86 Network communication error 86.1 Network communication error 1 SD 

8A USB communication time-out error/

serial communication time-out error/ Modbus RTU communication timeout error

79.1 Functional safety unit power voltage error DB 

79.2 Functional safety unit internal error DB 

79.3 Abnormal temperature of functional safety unit

79.4 Servo amplifier error SD 

79.5 Input device error SD 

79.6 Output device error SD 

79.7 Mismatched input signal error SD 

79.8 Position feedback fixing error DB 

7A.1 Parameter verification error (safety

observation function)

7A.2 Parameter setting range error (safety

observation function)

7A.3 Parameter combination error (safety

observation function)

7A.4 Functional safety unit combination error

(safety observation function)

7B.1 Encoder diagnosis error 1 (safety

observation function)

7B.2 Encoder diagnosis error 2 (safety

observation function)

7B.3 Encoder diagnosis error 3 (safety

observation function)

7B.4 Encoder diagnosis error 4 (safety

observation function)

7C.1 Functional safety unit communication

setting error (safety observation function)

7C.2 Functional safety unit communication

data error (safety observation function)

7D.2 Speed observation error DB 

84.2 Network module initialization error 1 DB 

84.3 Network module initialization error 2 DB 

85.2 Network module error 2 SD 

85.3 Network module error 3 SD 

86.2 Network communication error 2 SD 

86.3 Network communication error 3 SD 

86.4 Network communication error 4 SD 

8A.1 USB communication time-out error/serial

communication time-out error

8A.2 Modbus RTU communication time-out

error

method

SD 

DB 

SD 

SD 

Alarm deactivation

reset

CPU reset







Power cycling

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Alarm Details Stop

No. Name No. Name Alarm

8D CC-Link IE communication error 8D.1 CC-Link IE communication error 1 SD 

8D.2 CC-Link IE communication error 2 SD 

8D.3 Master station setting error 1 DB 

8D.5 Master station setting error 2 DB 

8D.6 CC-Link IE communication error 3 SD 

8D.7 CC-Link IE communication error 4 SD 

8D.8 CC-Link IE communication error 5 SD 

8D.9 Synchronization error 1 SD 

8D.A Synchronization error 2 SD 

8E USB communication error/Serial

communication error/Modbus RTU communication error

88888 Watchdog 8888._ Watchdog DB 

8E.1 USB communication receive error/serial

communication receive error

8E.2 USB communication checksum error/

serial communication checksum error

8E.3 USB communication character error/

serial communication character error

8E.4 USB communication command error/

serial communication command error

8E.5 USB communication data number error/

serial communication data number error

8E.6 Modbus RTU communication receive

error

8E.7 Modbus RTU communication message

frame error

8E.8 Modbus RTU communication CRC error SD 

method

SD 

Alarm deactivation

reset

CPU reset

Power cycling

*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes. *2 The following shows three stop methods of DB, EDB, and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.) Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs; [AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888] SD: Forced stop deceleration EDB: Electronic dynamic brake stop (available with specified servo motors only) Refer to the following table for the specified servo motors. For other than the specified servo motors, the stop method of DB is applied.

series Servo motor

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43

HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43

HG-SR HG-SR51/HG-SR52

HG-AK HG-AK0136/HG-AK0236/HG-AK0336

*3 This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB with [Pr. PA04]. *4 The alarm can be canceled with the following settings:

When the fully closed loop control mode is selected: Set [Pr. PE03] to "1 _ _ _".

When a linear servo motor or a direct drive motor is used: Set [Pr. PL04] to "1 _ _ _". *5 In some controller communication status, the alarm factor may not be removed. *6 This alarm occurs only in the J3 compatibility mode. *7 Reset alarms while all the safety observation functions have stopped.

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Warning list

Warning Details Stop

No. Name No. Name

90 Home position return incomplete warning 90.1 Home position return incomplete 

90.2 Home position return abnormal termination 

90.5 Z-phase unpassed 

91 Servo amplifier overheat warning

92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection warning 

93 ABS data transfer warning 93.1 Magnetic pole detection incomplete warning at ABS data transfer

95 STO warning 95.1 STO1 off detection DB

96 Home position setting warning 96.1 In-position warning at home positioning 

97 Positioning specification warning 97.1 Program operation disabled warning 

98 Software limit warning 98.1 Forward rotation-side software stroke limit reached 

99 Stroke limit warning 99.1 Forward rotation stroke end off

9A Optional unit input data error warning 9A.1 Optional unit input data sign error 

9B Error excessive warning 9B.1 Excess droop pulse 1 warning 

9C Converter warning 9C.1 Converter unit warning 

9D CC-Link IE warning 1 9D.1 Station number switch change warning 

9E CC-Link IE warning 2 9E.1 CC-Link IE communication warning 

9F Battery warning 9F.1 Low battery 

E0 Excessive regeneration warning E0.1 Excessive regeneration warning 

E1 Overload warning 1 E1.1 Thermal overload warning 1 during operation 

E2 Servo motor overheat warning E2.1 Servo motor temperature warning 

91.1 Main circuit device overheat warning 

92.3 Battery degradation 

request

95.2 STO2 off detection DB

95.3 STO warning 1 (safety observation function) DB

95.4 STO warning 2 (safety observation function) DB

95.5 STO warning 3 (safety observation function) DB

96.2 Command input warning at home positioning 

96.3 Servo off warning at home positioning 

96.4 Magnetic pole detection incomplete warning at home positioning 

97.2 Next station position warning 

98.2 Reverse rotation-side software stroke limit reached 

99.2 Reverse rotation stroke end off

99.4 Upper stroke limit off

99.5 Lower stroke limit off

9A.2 Optional unit BCD input data error 

9B.3 Excess droop pulse 2 warning 

9B.4 Error excessive warning during 0 torque limit 

9D.2 Master station setting warning 

9D.3 Overlapping station number warning 

9D.4 Mismatched station number warning 

9F.2 Battery degradation warning 

E1.2 Thermal overload warning 2 during operation 

E1.3 Thermal overload warning 3 during operation 

E1.4 Thermal overload warning 4 during operation 

E1.5 Thermal overload warning 1 during a stop 

E1.6 Thermal overload warning 2 during a stop 

E1.7 Thermal overload warning 3 during a stop 

E1.8 Thermal overload warning 4 during a stop 

method

*2 *3



*4 *5

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

Warning Details Stop

No. Name No. Name

E3 Absolute position counter warning E3.1 Multi-revolution counter travel distance excess warning 

E3.2 Absolute position counter warning 

E3.4 Absolute positioning counter EEP-ROM writing frequency

warning

E3.5 Encoder absolute positioning counter warning 

E4 Parameter warning E4.1 Parameter setting range error warning 

E5 ABS time-out warning E5.1 Time-out during ABS data transfer 

E5.2 ABSM off during ABS data transfer 

E5.3 SON off during ABS data transfer 

E6 Servo forced stop warning E6.1 Forced stop warning SD

E6.2 SS1 forced stop warning 1 (safety observation function) SD

E6.3 SS1 forced stop warning 2 (safety observation function) SD

E7 Controller forced stop warning E7.1 Controller forced stop input warning SD

E8 Cooling fan speed reduction warning E8.1 Decreased cooling fan speed warning 

E8.2 Cooling fan stop 

E9 Main circuit off warning E9.1 Servo-on signal on during main circuit off DB

E9.2 Bus voltage drop during low speed operation DB

E9.3 Ready-on signal on during main circuit off DB

E9.4 Converter unit forced stop DB

EA ABS servo-on warning EA.1 ABS servo-on warning 

EB The other axis error warning EB.1 The other axis error warning DB

EC Overload warning 2 EC.1 Overload warning 2 

ED Output watt excess warning ED.1 Output watt excess warning 

F0 Tough drive warning F0.1 Instantaneous power failure tough drive warning 

F0.3 Vibration tough drive warning 

F2 Drive recorder - Miswriting warning F2.1 Drive recorder - Area writing time-out warning 

F2.2 Drive recorder - Data miswriting warning 

F3 Oscillation detection warning F3.1 Oscillation detection warning 

F4 Positioning warning F4.4 Target position setting range error warning 

F4.6 Acceleration time constant setting range error warning 

F4.7 Deceleration time constant setting range error warning 

F4.9 Home position return type error warning 

F5 Simple cam function - Cam data miswriting warning F5.1 Cam data - Area writing time-out warning 

F5.2 Cam data - Area miswriting warning 

F5.3 Cam data checksum error 

F6 Simple cam function - Cam control warning F6.1 Cam axis current value per cycle restoration failed 

F6.2 Cam axis feed current value restoration failed 

F6.3 Cam unregistered error 

F6.4 Cam control data setting range error 

F6.5 Cam No. external error 

F6.6 Cam control inactive 

F7 Machine diagnosis warning F7.1 Vibration failure prediction warning 

F7.2 Friction failure prediction warning 

F7.3 Total travel distance failure prediction warning 

method

*2 *3



*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes. *2 The following shows two stop methods of DB and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6.

SD: Forced stop deceleration *3 This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. *4 For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected with [Pr. PD30]. *5 For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected with [Pr. PD12]. (I/O mode only)

6 TROUBLESHOOTING

6.2 Troubleshooting for drive unit

7 CHARACTERISTICS

0.1

100

1000

0 100 200 300 400

Load ratio [%]

HG-JR110K24W0C HG-JR150K24W0C HG-JR180K24W0C HG-JR200K24W0C HG-JR220K24W0C

Operation time [s]

Operating

Servo-lock

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Item Detailed explanation

Cable bending life MR-J4-_B_ section 10.4

7.1 Overload protection characteristics

This section describes MR-J4-DU_B4-RJ100 drive units only. MR-CV55K4 power regeneration converter

units, refer to section 3.5 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

An electronic thermal is built in the drive unit to protect the servo motor, drive unit, and servo motor power wires from

overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown

in the following figure. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to

machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis, it is recommended that the unbalanced torque of

the machine be kept at 70% or lower of the motor's rated torque.

The drive unit has the servo motor overload protective function. (The servo motor overload current (full load current) is set on

the basis of 120% rated current of the drive unit.)

*1 This graph shows electronic thermal protection characteristics for a load ratio of up to 456%. For the maximum load ratio, refer to

maximum currents in "Servo Motor Instruction Manual (Vol. 3)".

7 CHARACTERISTICS

7.1 Overload protection characteristics

7.2 Power supply capacity and generated loss

Generated heat of the power regeneration converter unit and drive unit

The following tables indicate the generated loss under rated load and the power supply capacity per combination of the power

regeneration converter unit and drive unit.

Power regeneration converter unit

MR-CV55K4 78 596 164 30 12.0

Power supply capacity [kVA]

Generated heat of power regeneration converter unit [W] Area required for

At rated output At rated output

[Generated heat in the cabinet when cooled outside the cabinet]

With servo-off

heat dissipation

]

Drive unit Generated heat of drive unit [W] Area required for heat

At rated output At rated output

[Generated heat in the cabinet when cooled outside the cabinet]

MR-J4-DU45KB4-RJ100 1110 216 30 22.2

MR-J4-DU55KB4-RJ100 1440 216 30 28.8

With servo-off

dissipation [m

]

The power supply capacity and generated heat for parallel drive systems are obtained by multiplying the listed values by the

number of sets of combined power regeneration converter units and drive units required to drive a servo motor. The power

supply capacity will be lower than the listed values when the output wattage of the servo motor driven by the drive unit

connected to the power regeneration converter unit is lower than the converter capacity.

The servo motor requires 2 times to 3 times greater instantaneous power for acceleration, and therefore, use the power

supply which ensures that the voltage lies within the permissible voltage fluctuation at the main circuit power supply terminals

(L1/L2/L3) of the power regeneration converter unit. The power supply capacity will vary according to the power supply

impedance.

The actual generated heat falls within the ranges at rated output and at servo-off according to the frequencies of use during

operation. When designing an enclosed cabinet, use the values in the table, considering the worst operating conditions.

7 CHARACTERISTICS

7.2 Power supply capacity and generated loss

Heat dissipation area for an enclosed type cabinet

A =

K•T

(Inside the cabinet)

Air flow

(Outside the cabinet)

The enclosed type cabinet (hereafter called the cabinet) which will contain the power regeneration converter unit and drive unit should be designed to ensure that its temperature rise is within +10  at the ambient temperature of 40 . Calculate the necessary cabinet dissipation area (allowing a margin of approximately 5  for the ambient temperature of 55  maximum)

with the following equation.

A: Heat dissipation area [m2]

P: Loss generated in the cabinet [W]

T: Difference between internal and ambient temperatures []

K: Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with the equation, assume that P is the sum of all losses generated in the cabinet.

Refer to the following for the generated heat of the power regeneration converter unit and drive unit. Page 56 Generated heat of the power regeneration converter unit and drive unit

"A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra

amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the

cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore,

arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. The following lists the cabinet dissipation area (guideline) when the converter unit and drive unit are operated at the ambient temperature of 40  under

rated load. Page 56 Generated heat of the power regeneration converter unit and drive unit

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the temperature slope

inside and outside the cabinet will be steeper.

7 CHARACTERISTICS

7.2 Power supply capacity and generated loss

7.3 Dynamic brake characteristics

Dynamic brake

time constant τ

Time

OFF

EM1 (Forced stop 1)

Machine speed

+  1 +

max

= •

CAUTION

• The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of

usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop

once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 frequently in other than

emergency.

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 following equation to calculate an approximate coasting distance to a stop.

max

: Machine's fast feed speed [mm/min]

: Moment of inertia of the servo motor [× 10-4 kg•m2]

: Load moment of inertia converted into equivalent value on servo motor shaft [× 10-4 kg•m2]

: Dynamic brake time constant [s]

: Delay time of control section [s]

The dynamic brake time constant  varies with the servo motor and machine operation speeds.

Page 59 Dynamic brake time constant

A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting

distance calculated with the following equation.Page 59 Dynamic brake time constant

: Maximum coasting distance [mm]

There are delays caused by multiple drive units being in the process of stopping the servo motor with the dynamic brake, by a magnetic contactor built into the external dynamic brake (about 100 ms in total), and by external relays.

7 CHARACTERISTICS

7.3 Dynamic brake characteristics

Dynamic brake time constant

100

120

140

160

180

200

0 500 1000 1500 2000 2500 3000

HG-JR110K24W0C

HG-JR150K24W0C

HG-JR220K24W0C

HG-JR200K24W0C

HG-JR180K24W0C

Speed [r/min]

Time constant τ

[ms]

The following shows dynamic brake time constant .

Permissible load to motor inertia when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value,

the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo

motor.

Servo motor Load to motor inertia ratio

HG-JR110K24W0C 10

HG-JR150K24W0C 10

HG-JR180K24W0C 10

HG-JR200K24W0C 10

HG-JR220K24W0C 10

7 CHARACTERISTICS

7.3 Dynamic brake characteristics

7.4 Inrush currents at power-on of main circuit/control

circuit

Since large inrush currents flow in the power supplies, be sure to use molded-case circuit breakers and magnetic contactors.

(Refer to section 8.5 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".)

Be sure to install a molded-case circuit breaker and a magnetic contactor for each combination of the power regeneration

converter unit and drive unit. When circuit protectors are used, it is recommended that the inertia delay type, which is not

tripped by an inrush current, be used.

Inrush currents of the power regeneration converter

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

Power regeneration converter unit Inrush current (A0-P)

Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)

MR-CV55K4 42 A (attenuated to approx. 20 A in 66 ms) 15 A (attenuated to approx. 2 A in 7 ms)

Inrush current of the drive unit

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

Drive unit Inrush current (A0-P)

Control circuit power supply (L11/L21)

MR-J4-DU45KB4-RJ100 MR-J4-DU55KB4-RJ100

27 A (attenuated to approx. 2 A in 45 ms)

7 CHARACTERISTICS

7.4 Inrush currents at power-on of main circuit/control circuit

8 OPTIONS AND PERIPHERAL EQUIPMENT

WARNING

• Before connecting any option or peripheral equipment, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the converter unit.

CAUTION

• Use the specified peripheral equipment and options to prevent a malfunction or a fire.

We recommend using HIV wires to wire the converter units, drive units, options, and peripheral equipment.

Therefore, the recommended wire sizes may be different from those of the wires used for the previous

converter units, drive units and others.

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-

CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

Cable/connector sets MR-J4-DU_B_ section 8.1

Junction terminal block PS7DW-20V14B-F (recommended) MR-J4-_B_ section 11.6

Battery

Selection example of wires MR-J4-DU_B_ section 8.4

Molded-case circuit breakers, fuses, magnetic contactors MR-J4-DU_B_ section 8.5

Relay (recommended) MR-J4-_B_ section 11.13

Noise reduction techniques MR-J4-DU_B_ section 8.8

Earth-leakage current breaker MR-J4-DU_B_ section 8.9

EMC filter (recommended) MR-J4-DU_B_ section 8.10

MR-DCBAR_ bus bar MR-J4-DU_B_ section 8.12

MR-J4-_B_ section 11.8

*1 For absolute position detection systems, connect an optional battery to only the drive unit of the encoder master servo amplifier. Do not

connect the optional battery to the drive units of the encoder slave servo amplifiers.

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.1 MR Configurator2

The MR-J4-DU_B4-RJ100 drive unit can be used with MR Configurator2 with software version 1.60N or later.

This section provides descriptions specific to the parallel drive system. For other details, refer to section 11.7 in "MR-J4-_B_(-

RJ) Servo Amplifier Instruction Manual".

Restrictions

For parallel drive systems, the following functions are unavailable.

Item Description

Test operation Jog mode, positioning mode, motor-less operation, DO forced output, and program operation, test mode information

Adjustment One-touch tuning and machine analyzer

Using the parallel drive system

To use the parallel drive system, the model name of a servo amplifier must be registered in MR Configurator2. Register the

model name in the following procedure.

1. Start MR Configurator2, click "Tools" in the menu bar, and then click "Update Parameter Setting Range".

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.1 MR Configurator2

2. Select "Register a new model from a file.", and click "Next" in "Update Parameter Setting Range" window.

3. Click "Browse".

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.1 MR Configurator2

4. Select "J4B-S100_en.rng" stored in "C:\Melservo\MR2\mfr\en", and click "Open" in "Open File" window.

5. Check that "J4B-S100_en.rng" is selected, and click "Next" in "Update Parameter Setting Range" window.

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.1 MR Configurator2

6. Check that reading has been completed without error, and click "Save".

7. The model name of the servo amplifier has been registered. Click "End".

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.1 MR Configurator2

How to select the model name of the servo amplifier registered

When creating a project, select "MR-J4-B-RJ100" in "Model".

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.1 MR Configurator2

8.2 AC reactor

Always connect one AC reactor to one power regeneration converter unit. The AC reactor generates heat of 100  higher than the ambient temperature. Fully consider heat dissipation, installation

position, wires used, etc., before installing the AC reactor.

Magnetism generated from the AC reactor may affect other devices. Leave a clearance of 100 mm or more around wires so

that they do not contact the AC reactor.

Specifications

Model MR-AL-55K4-L

Rated capacity [kW] 55

Rated voltage 380 V AC to 480 V AC (power fluctuation ratio: within ±10%)

Rated current [A] 106

Frequency 50 Hz/60 Hz (frequency fluctuation: within ±3%)

Environment Ambient

temperature

Ambient humidity

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

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/s

Loss [W] 330

Mass [kg] 56

Operation 0  to 55  (non-freezing)

Storage -20  to 65  (non-freezing)

Operation 5 %RH to 90 %RH (non-condensing)

Storage

or less

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.2 AC reactor

DIMENSIONS

55 5510

200

31320344

275

200

248.7

271.7

248.7

271.7

310 344

[Unit: mm]

Mounting screw size: M8 Mass: 56 [kg]

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.2 AC reactor

8.3 External dynamic brake

CAUTION

• Use an external dynamic brake for this drive unit. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to the following.

Page 41 TROUBLESHOOTING

For drive units, EM2 has the same function as EM1 in the torque control mode.

Configure a sequence which switches off the magnetic contactor of the external dynamic brake after (or as

soon as) servo-on command has been turned off at a power failure or a malfunction.

For the braking time taken when the external dynamic brake is operated, refer to the following. Page 58 Dynamic brake characteristics

The external dynamic brake is rated for a short duration. Do not use it very frequently.

The specifications of the input power supply for external dynamic brake are the same as those of the

converter unit control circuit power supply.

When an alarm, [AL. E6 Servo forced stop warning], or [AL. E7 Controller forced stop warning] occurs, or the

power is turned off, the external dynamic brake will operate. Do not use external dynamic brake to stop in a

normal operation as it is the function to stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of

usage times of the external dynamic brake is 1000 times while the machine decelerates from the rated speed

to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 frequently in other than

emergency.

Specifications

Model DBU-P55K-4-B

Rated capacity [kW] 55

Rated voltage 380 V AC to 480 V AC, power fluctuation ±10% or less

Frequency 50 Hz/60 Hz, frequency fluctuation ±3% or less

Load to motor inertia ratio 15 times or less

Environment Ambient

temperature

Ambient humidity

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

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/s

Mass [kg] 25

Operation 0  to 55  (non-freezing)

Storage -10  to 65  (non-freezing)

Operation 5 %RH to 90 %RH (non-condensing)

Storage

or less

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.3 External dynamic brake

Connection example

Drive unit

malfunction

RA1

Operation ready

OFF/ON

Emergency

stop switch

MCCB

Power

regeneration

converter unit 1

L+

L-

reactor

L+

L-UV

Encoder master servo amplifier

Step-down transformer

MC1

MC2

L11

Drive unit 1

ALM

DICOM

DOCOM

EM2

Main circuit power supply

24 V DC

RA1

RA3

Dynamic

brake 1

14 13UV

Dynamic

brake 3

14 13UV

Dynamic

brake 4

14 13UV

Dynamic

brake 2

14 13UV

Drive

unit 2

Drive

unit 3

Drive

unit 4

L21

L11

L21

Servo

motor

RA3

Dynamic brake

interlock

Use the following wires to connect the dynamic brake.

External dynamic brake Wire [mm2]

U/V/W Except U/V/W

DBU-P55K-4-B 14 (AWG 6) 2 (AWG 14)

*1 Selection conditions of wire size are as follows.

Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair

*1 Assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09]. *2 Terminals 13 and 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13 and 14 will open. Therefore,

configure an external sequence to prevent servo-on. *3 The dynamic brake must be controlled by the drive unit of the encoder master servo amplifier. *4 If the wire size used for the branch circuit is smaller than that used for L1, L2, and L3, install an overcurrent protection device (molded-

case circuit breaker, fuse, or others) to protect the circuit. *5 This is for connecting four drive units and four power regeneration converter units to the servo motor. *6 To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 (Forced stop 2) when the main circuit power is

turned off. *7 A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. *8 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic

contactor.

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.3 External dynamic brake

DIMENSIONS

17.5 17.5

365

φ10

530

550

280 400

6057

58.5

27.5

488 31

300

256.5 261

320.4

2.3

a b 13 14

Terminal block TE1

TE2

Screw size: M3.5 Screw size: M5

Mounting screw size: M8 Mass: 25 [kg]

[Unit: mm]

8 OPTIONS AND PERIPHERAL EQUIPMENT

8.3 External dynamic brake

9 USING STO FUNCTION

Servo system controller

Power supply

Encoder master servo amplifier

Power supply

Encoder slave servo amplifier 1

Power supply

Encoder slave servo amplifier 2

Power supply

Encoder slave servo amplifier 3

TOFB (from the encoder master servo amplifier and the respective encoder slave servo amplifiers)

SSCNET III/H

STO1 STO2

Safety controller

Emergency stop switch or others

For items other than the ones described in this chapter, refer to chapter 13 in "MR-J4-_B_(-RJ) Servo

Amplifier Instruction Manual".

Wiring example

In the parallel drive system, multiple drive units drive one servo motor. Wire the STO signal to all the drive units.

The following shows a system that drives a servo motor with four MR-J4-DU_B4-RJ100 drive units and four MR-CV_ power

regeneration converter units connected. For the number of drive units required to be connected to one servo motor, refer to

the following. Page 13 Combinations of power regeneration converter units, drive units, and servo motors

*1 For parallel drive systems, the magnetic contactor turns off when STO is inputted (when [AL. 95] has occurred). The setting of [Pr. PF07

Magnetic contactor shut-off selection at STO input (_ x _ _)] is invalid.

9 USING STO FUNCTION

MEMO

9 USING STO FUNCTION

10 APPLICATION OF FUNCTIONS

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Item Detailed explanation

Master-slave operation function MR-J4-_B_ section 17.2

10.1 Compatible with MR-D30 functional safety unit

For items other than the ones described in this section, refer to "MR-D30 Instruction Manual".

Set "Using STO/SS1/SBC without executing position/speed observation (SLS/SSM/SOS/SS2) (_ _ 0 _)" or

"Executing position/speed observation without the servo motor with functional safety (_ _ 2 _)" in [Pr. PSA02]

of the encoder slave servo amplifiers. Setting "Executing position/speed observation with the servo motor with

functional safety (_ _ 1 _)" in [Pr. PSA02] of the encoder slave servo amplifiers will trigger [AL. 7B.1 Encoder

diagnosis error 1 (safety observation function)].

Description

When using the safety observation function in the parallel drive system, use the I/O device of MR-D30.

Compatibility of safety observation function

Safety observation function Safety observation function control by I/O device

STO Category 4, PL e, SIL 3

SS1

SBC

SLS Category 4, PL e, SIL 3

SSM

SS2 Category 4, PL e, SIL 3

SOS

*1 To meet Category 4, PL e, SIL 3 for input signals, a diagnosis using test pulses is required. Refer to section 4.1 in "MR-D30 Instruction

Manual" for detailed conditions.

10 APPLICATION OF FUNCTIONS

10.1 Compatible with MR-D30 functional safety unit

Safety observation function control by I/O device

STOS of each encoder slave servo amplifier

SLS1S

Safety switch

Duplicated signal lines

Single signal lines

SLS1C

Servo motor with functional safety

MR-D30 functional safety unit

Encoder master servo amplifier

MR-D30 functional safety unit

Encoder slave servo amplifier

MR-D30 functional safety unit

Encoder slave servo amplifier

MR-D30 functional safety unit

Encoder slave servo amplifier

Safety controller MELSEC-WS series

WSO-CPU0/WS0-XTIO

STOS

STOC

A configuration example of the parallel drive system is shown in the following. With each MR-J4-DU_B4-RJ100 drive unit

connected to MR-D30, the servo amplifier complies with safety level Category 4, PL e, SIL 3.

10 APPLICATION OF FUNCTIONS

10.1 Compatible with MR-D30 functional safety unit

Connection diagram

0 V

24 V 0 V

A1 (24V)

A2 (0V)

FLEXB US+

WS0-XTIO

Application

MR-J4-DU_B4-RJ100

MR-D30

Encoder master servo amplifier

MR-J4-DU_B4-RJ100

MR-D30

Encoder slave servo amplifier

MR-J4-DU_B4-RJ100

MR-D30

Encoder slave servo amplifier

MR-J4-DU_B4-RJ100

MR-D30

Encoder slave servo amplifier

24 V

Servo motor with functional safety

STOC

SLS1C

STOS

SLS1S

WS0-CPU0

A1 (24V)

A2 (0V)

Safety controller MELSEC-WS series

CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO

Connecting safety controller and MR-D30

With MR-D30 used, the servo amplifier complies with safety level Category 4, PL e, SIL 3.

• Install MR-D30 in each MR-J4-DU_B4-RJ100 drive unit.

• Connect the wire for STO command (STOC) to each drive unit (the encoder master servo amplifier and each encoder slave

servo amplifier).

• To execute speed observation, use the encoder master servo amplifier. Connect the wires of the duplicated SLS1C (SLS1

command), which is outputted from the safety controller, to the encoder master servo amplifier.

• After the encoder master servo amplifier becomes STO status in the speed observation, the command is processed in the

safety controller (delayed by the input filter, input process, output process, etc.) and in the MR-D30 (taking 15 ms), and then

the encoder slave servo amplifiers become STO status.

*1 When the motor speed exceeds the observation speed, the encoder master servo amplifier becomes STO status. Make STO status of

the encoder slave servo amplifiers by the safety controller output. When STO is activated by an error in the speed observation, connect the wires for the duplicated STOS (STO output) of the encoder master servo amplifier to the safety controller. Connect the selected status monitor of the safety observation function (for example, SLS1S) to the safety controller. When an STOS signal of the encoder master servo amplifier is detected, input the duplicated STOC (STO command) from the safety controller to each encoder slave servo amplifier (and also to the encoder master servo amplifier, according to the circuit configuration).

10 APPLICATION OF FUNCTIONS

10.1 Compatible with MR-D30 functional safety unit

Details of MR-D30

DI_A(STOC)

DI_B(STOC)

DI_A(SLS1C)

DI_B(SLS1C)

DICOMA

DICOMB

DO24VA

DO24VB

DO_A(STOS)

DO_B(STOS)

DO_B(SLS1S)

MR-D30

Encoder master servo amplifier

STO command 1

To 0 V

To 24 V

STO command 2

SLS1 command 1

SLS1 command 2

STO output 1

STO output 2

SLS1 output

DI_A(STOC)

DI_B(STOC)

DICOMA

DICOMB

DO24VA

DO24VB

DO_A(STOS)

DO_B(STOS)

MR-D30

Encoder slave servo amplifier

STO command 1

To 0 V

To 24 V

STO command 2

STO output

10 APPLICATION OF FUNCTIONS

10.1 Compatible with MR-D30 functional safety unit

11 APPENDIX

The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for

details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-

CR55K_/MR-J4-DU_(-RJ) Instruction Manual".

Item Detailed explanation

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

Symbol for the new EU Battery Directive MR-J4-_B_ app. 3

Compliance with global standards MR-J4-DU_B_

EC declaration of conformity MR-J4-DU_B_

Servo amplifier harmonic suppression measures MR-J4-_B_ app. 7

SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service MR-J4-_B_ app. 10

Special specifications MR-J4-DU_B_

Optional data monitor function MR-J4-_B_ app. 14

STO function with SIL 3 certification MR-J4-_B_ app. 15

Status of general-purpose AC servo products for compliance with the China RoHS directive MR-J4-DU_B_

11.1 Analog monitor

MR-J4-_B_ app. 2

For items other than the ones described in this section, refer to app. 11 in "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Values of the maximum current command (maximum torque) when the analog monitor is ±8 V are listed.

The following maximum torques are not nominal values, but are values with a sufficient margin considering servo motor

variations.

The current command (torque) outputs the maximum current command (maximum torque) at ±8 V. The maximum current

command (maximum torque) may not match the rated current/maximum current ratio since it is created from the torque

current in the drive unit.

Servo motor Drive unit Maximum current command (maximum

torque) [%]

HG-JR110K24W0C Two units of MR-J4-DU55KB4-RJ100 380

HG-JR150K24W0C Four units of MR-J4-DU45KB4-RJ100 456

HG-JR180K24W0C Four units of MR-J4-DU45KB4-RJ100 394

HG-JR200K24W0C Four units of MR-J4-DU55KB4-RJ100 439

HG-JR220K24W0C Four units of MR-J4-DU55KB4-RJ100 390

11 APPENDIX

11.1 Analog monitor

MEMO

11 APPENDIX

11.1 Analog monitor

REVISIONS

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

Revision Date *Manual Number Description

May 2018 SH(NA)-030280ENG-A First edition

Japanese manual number: SH-030279-A

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.

 2018 MITSUBISHI ELECTRIC CORPORATION

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] The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by

you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work. [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 hardwa

or software problem

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

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

ned

and replaced

any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuatio

n 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

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 General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

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

(2)

Our General-Purpose 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 tre

atments, 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.

TRADEMARKS

SH(NA)-030280ENG-A

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

All other product names and company names are trademarks or registered trademarks of their respective companies.

SH(NA)-030280ENG-A(1805)MEE MODEL: MODEL CODE:

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

Specifications are subject to change without notice.

Mitsubishi Electric J4 MR-J4-DU, B4-RJ100 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY INSTRUCTIONS

DISPOSAL OF WASTE

EEP-ROM LIFE

STO FUNCTION OF THE DRIVE UNIT

COMPLIANCE WITH GLOBAL STANDARDS

ABOUT THE MANUALS

CABLES USED FOR WIRING

U.S. CUSTOMARY UNITS

CONTENTS

1 FUNCTIONS AND CONFIGURATION

1.1 Description

1.2 Model designation

1.5 Function list

1.4 Compatible controller

1.6 Configuration including peripheral equipment

2 INSTALLATION

2.1 Installation direction and clearances

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

3.2 Alarm occurrence timing chart

When you use the forced stop deceleration function

When you do not use the forced stop deceleration function

3.3 Grounding

4 STARTUP

4.1 Switching power on for the first time

4.2 Startup

5 PARAMETERS

Explanation for the lists

6 TROUBLESHOOTING

6.1 Troubleshooting for MR-CV_ power regeneration converter unit

Alarm list

Warning list

Explanation for the lists

6.2 Troubleshooting for drive unit

Alarm list

Warning list

7 CHARACTERISTICS

7.1 Overload protection characteristics

7.2 Power supply capacity and generated loss

7.3 Dynamic brake characteristics

Inrush currents of the power regeneration converter

Inrush current of the drive unit

7.4 Inrush currents at power-on of main circuit/control circuit

8 OPTIONS AND PERIPHERAL EQUIPMENT

Restrictions

Using the parallel drive system

8.1 MR Configurator2

How to select the model name of the servo amplifier registered

8.2 AC reactor

8.3 External dynamic brake

9 USING STO FUNCTION

Description

10 APPLICATION OF FUNCTIONS

10.1 Compatible with MR-D30 functional safety unit

Connection diagram

11 APPENDIX

11.1 Analog monitor

REVISIONS

WARRANTY

TRADEMARKS