Servo Amplifier
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
Instruction Manual
(General-Purpose Interface)
01072007
SH(NA)030038
Version ES
MR-J3-첸A
INDUSTRIAL AUTOMATION
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor 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".
WARNING
CAUTION
Note that the CAUTION level may lead to a serious consequence according to 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:
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
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
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 installation guide, always keep it accessible to the operator.
.
.
A - 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier 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 even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A - 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Ambient
temperature
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Ambient
In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
humidity
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
(Note)
Vibration
Note. Except the servo motor with reduction gear.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
Environment
During
operation
In storage
In storage 90%RH or less (non-condensing)
[ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
2
[m/s
] 5.9 or less
Servo amplifier Servo motor
HF-MP Series
HF-KP Series
HF-SP 52 to 152
HF-SP 51
HC-RP Series
HC-UP 72
HF-SP 202
HF-SP 121
HC-UP 202 to 502
HF-SP 301
HF- SP 502
HA-LP601 to12K1
HA-LP701M to 15K1M
HA-LP502 to 22K2
HA-LP8014
HA-LP11K1M4
HA-LP11K24 to 22K24
HA-LP15K1 to 25K1 HA-LP22K1M
HA-LP15K14
81
152
352
201
421
702
12K14
15K1M14
20K14 HA-LP22K1M4
X
Y : 49
Y : 24.5
X
X : 24.5
Y : 49
X : 24.5
Y : 29.5
X : 11.7
Y : 29.4
X
Y : 9.8
A - 3
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
Servo Amplifier
U
V
W
Servo Motor
U
V
W
Servo MotorServo Amplifier
U
M
V
W
U
V
M
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the emergency stop (EMG) and other protective circuits may not
operate.
Servo
Amplifier
DOCOM
DICOM
Control
output
signal
24VDC
RA
Servo
Amplifier
DOCOM
DICOM
Control
output
signal
24VDC
RA
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
A - 4
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
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 service life and mechanical structure (e.g. where a ballscrew 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.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals
but also by an external emergency stop (EMG).
Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).
Servo motor
Electromagnetic brake
Circuit must be
opened during
emergency stop (EMG).
EMGRA
24VDC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and 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 Specifications
and Instruction Manual.
A - 6
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
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 servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
A - 7
COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January,
1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the
EC directives require that products to be sold should meet their fundamental safety requirements and carry the
CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have
been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment.
This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply
with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation
Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low
voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J3-10A to MR-J3-22KA
MR-J3-10A1 to MR-J3-40A1
MR-J3-11KA4 to MR-J3-22KA4
Servo motor :HF-MP
HF-KP
HF-SP
HC-RP
HC-UP
HC-LP
HA-LP
HA-LP
(2) Configuration
The control circuit provide safe separation to the main circuit in the servo amplifier.
4
Control box
No-fuse
breaker
NFB
Magnetic
contactor
MC
A - 8
Reinforced
insulating type
24VDC
power
supply
Servo
amplifier
Servo
motor
M
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose,
install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).
(4) Power supply
(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of
overvoltage category III set forth in IEC60664-1. However, when using the neutral point of 400V system
for single phase supply, a reinforced insulating transformer is required in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-
reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked
) of the
servo amplifier to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals
provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options. (Refer to section 12.1)
A - 9
(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 12.12.
Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and
other device by double insulation or reinforced insulation, or install a transformer between the main
power supply and servo amplifier.
Note. Type A: AC and pulse detectable
(b) The sizes of the cables described in section 12.11 meet the following requirements. To meet the other
(c) Use the EMC filter for noise reduction.
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines
(IB(NA)67310).
Type B: Both AC and DC detectable
requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
A - 10
CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J3-10A to MR-J3-22KA
MR-J3-10A1 to MR-J3-40A1
MR-J3-11KA4 to MR-J3-22KA4
Servo motor :HF-MP
HF-KP
HF-SP
HC-RP
HC-UP
HC-LP
HA-LP
HA-LP
(2) Installation
Install a fan of 100CFM (2.8m
at least equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having been
subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to
the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15
minutes after power-off.
Servo amplifier
MR-J3-10A 20A 1
MR-J3-40A 60A(4) 10A1 20A1 2
MR-J3-70A 3
MR-J3-40A1 4
MR-J3-100A(4) 5
MR-J3-200A(4) 350A 9
MR-J3-350A4 500A(4) 700A(4) 10
MR-J3-11KA(4) 4
MR-J3-15KA(4) 6
MR-J3-22KA(4) 8
4
3
/min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of
Discharge time
[min]
A - 11
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
This servo amplifier is UL/C-UL-listed when using the fuses indicated in the following table. When the servo
amplifier must comply with the UL/C-UL Standard, be sure to use these fuses.
Servo amplifier
MR-J3-10A (1) 20A 10
MR-J3-40A 20A1 15 MR-J3-100A4 15
MR-J3-60A to
100A 40A1
MR-J3-200A 40 MR-J3-500A4 T 50 AC600
MR-J3-350A 70 AC250 MR-J3-700A4 65
MR-J3-500A 125 MR-J3-11KA4 100
MR-J3-700A 150 MR-J3-15KA4 150
MR-J3-11KA 200 MR-J3-22KA4 175
MR-J3-15KA 250
MR-J3-22KA
Class Current [A] Voltage [V]
T
Fuse Fuse
20
350
Servo amplifier
MR-J3-60A4 10
MR-J3-200A4 25
MR-J3-350A4 35
Class Current [A] Voltage [V]
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to "CONFORMANCE WITH
UL/C-UL STANDARD" in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
A - 12
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the
General-Purpose AC servo MR-J3-A for the first time. Always purchase them and use the MR-J3-A safely.
Relevant manuals
Manual name Manual No.
MELSERVO-J3 Series To Use the AC Servo Safely IB(NA)0300077
MELSERVO Servo Motor Instruction Manual Vol.2 SH(NA)030041
EMC Installation Guidelines IB(NA)67310
A - 13
MEMO
A - 14
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28
1.1 Introduction ............................................................................................................................................... 1 - 1
1.2 Function block diagram............................................................................................................................ 1 - 2
1.3 Servo amplifier standard specifications................................................................................................... 1 - 5
1.4 Function list .............................................................................................................................................. 1 - 7
1.5 Model code definition ............................................................................................................................... 1 - 8
1.6 Combination with servo motor ................................................................................................................1 -10
1.7 Structure .................................................................................................................................................. 1 -11
1.7.1 Parts identification ............................................................................................................................ 1 -11
1.7.2 Removal and reinstallation of the front cover.................................................................................. 1 -18
1.8 Configuration including auxiliary equipment .......................................................................................... 1 -21
2. INSTALLATION 2 - 1 to 2 - 4
2.1 Installation direction and clearances .......................................................................................................2 - 1
2.2 Keep out foreign materials ....................................................................................................................... 2 - 3
2.3 Cable stress ............................................................................................................................................. 2 - 3
2.4 Inspection items .......................................................................................................................................2 - 4
2.5 Parts having service lives ........................................................................................................................ 2 - 4
3. SIGNALS AND WIRING 3 - 1 to 3 -74
3.1 Input power supply circuit ........................................................................................................................ 3 - 2
3.2 I/O Signal connection example............................................................................................................... 3 -10
3.2.1 Position control mode....................................................................................................................... 3 -10
3.2.2 Speed control mode ......................................................................................................................... 3 -12
3.2.3 Torque control mode ........................................................................................................................ 3 -13
3.3 Explanation of power supply system ...................................................................................................... 3 -14
3.3.1 Signal explanations ..........................................................................................................................3 -14
3.3.2 Power-on sequence .........................................................................................................................3 -15
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................3 -17
3.4 Connectors and signal arrangements ....................................................................................................3 -24
3.5 Signal explanations ................................................................................................................................. 3 -27
3.6 Detailed description of the signals.......................................................................................................... 3 -37
3.6.1 Position control mode....................................................................................................................... 3 -37
3.6.2 Speed control mode ......................................................................................................................... 3 -41
3.6.3 Torque control mode ........................................................................................................................ 3 -43
3.6.4 Position/speed control change mode ..............................................................................................3 -46
3.6.5 Speed/torque control change mode ................................................................................................3 -48
3.6.6 Torque/position control change mode ............................................................................................. 3 -50
3.7 Alarm occurrence timing chart................................................................................................................ 3 -51
3.8 Interfaces .................................................................................................................................................3 -52
3.8.1 Internal connection diagram ............................................................................................................ 3 -52
3.8.2 Detailed description of interfaces..................................................................................................... 3 -53
3.8.3 Source I/O interfaces ....................................................................................................................... 3 -56
3.9 Treatment of cable shield external conductor ........................................................................................3 -57
1
3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -58
3.10.1 Connection instructions.................................................................................................................. 3 -58
3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -59
3.11 Servo motor with electromagnetic brake.............................................................................................. 3 -69
3.11.1 Safety precautions ......................................................................................................................... 3 -69
3.11.2 Setting............................................................................................................................................. 3 -69
3.11.3 Timing charts .................................................................................................................................. 3 -70
3.11.4 Wiring diagrams (HF-MP series
3.12 Grounding.............................................................................................................................................. 3 -74
4. STARTUP 4 - 1 to 4 -16
4.1 Switching power on for the first time ....................................................................................................... 4 - 1
4.1.1 Startup procedure.............................................................................................................................. 4 - 1
4.1.2 Wiring check ......................................................................................................................................4 - 2
4.1.3 Surrounding environment.................................................................................................................. 4 - 3
4.2 Startup in position control mode .............................................................................................................. 4 - 4
4.2.1 Power on and off procedures............................................................................................................ 4 - 4
4.2.2 Stop.................................................................................................................................................... 4 - 4
4.2.3 Test operation.................................................................................................................................... 4 - 5
4.2.4 Parameter setting ..............................................................................................................................4 - 6
4.2.5 Actual operation ................................................................................................................................ 4 - 6
4.2.6 Trouble at start-up ............................................................................................................................. 4 - 7
4.3 Startup in speed control mode................................................................................................................. 4 - 9
4.3.1 Power on and off procedures............................................................................................................ 4 - 9
4.3.2 Stop.................................................................................................................................................... 4 - 9
4.3.3 Test operation................................................................................................................................... 4 -10
4.3.4 Parameter setting .............................................................................................................................4 -11
4.3.5 Actual operation ............................................................................................................................... 4 -11
4.3.6 Trouble at start-up ............................................................................................................................ 4 -12
4.4 Startup in torque control mode ...............................................................................................................4 -13
4.4.1 Power on and off procedures........................................................................................................... 4 -13
4.4.2 Stop................................................................................................................................................... 4 -13
4.4.3 Test operation .................................................................................................................................. 4 -14
4.4.4 Parameter setting .............................................................................................................................4 -15
4.4.5 Actual operation ............................................................................................................................... 4 -15
4.4.6 Trouble at start-up ............................................................................................................................ 4 -16
HF-KP series servo motor) ..................................................... 3 -72
5. PARAMETERS 5 - 1 to 5 -50
5.1 Basic setting parameters (No.PA ).................................................................................................... 5 - 1
5.1.1 Parameter list ....................................................................................................................................5 - 1
5.1.2 Parameter write inhibit ......................................................................................................................5 - 2
5.1.3 Selection of control mode ................................................................................................................. 5 - 2
5.1.4 Selection of regenerative option ....................................................................................................... 5 - 3
5.1.5 Using absolute position detection system ........................................................................................ 5 - 4
5.1.6 Using electromagnetic brake interlock (MBR).................................................................................. 5 - 4
5.1.7 Number of command input pulses per servo motor revolution........................................................ 5 - 5
5.1.8 Electronic gear................................................................................................................................... 5 - 6
2
5.1.9 Auto tuning .......................................................................................................................................5 -10
5.1.10 In-position range ............................................................................................................................ 5 -11
5.1.11 Torque limit..................................................................................................................................... 5 -12
5.1.12 Selection of command pulse input form ........................................................................................ 5 -13
5.1.13 Selection of servo motor rotation direction.................................................................................... 5 -14
5.1.14 Encoder output pulse ..................................................................................................................... 5 -14
5.2 Gain/filter parameters (No. PB
5.2.1 Parameter list ...................................................................................................................................5 -16
5.2.2 Detail list ........................................................................................................................................... 5 -17
5.2.3 Position smoothing ........................................................................................................................... 5 -25
5.3 Extension setting parameters (No. PC
5.3.1 Parameter list ...................................................................................................................................5 -26
5.3.2 List of details..................................................................................................................................... 5 -28
5.3.3 Analog monitor .................................................................................................................................5 -38
5.3.4 Alarm history clear............................................................................................................................ 5 -40
5.4 I/O Setting parameters (No. PD
5.4.1 Parameter list ...................................................................................................................................5 -41
5.4.2 List of details..................................................................................................................................... 5 -42
5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ................................... 5 -50
6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -20
)....................................................................................................... 5 -16
) .......................................................................................... 5 -26
)..................................................................................................... 5 -41
6.1 Overview................................................................................................................................................... 6 - 1
6.2 Display sequence..................................................................................................................................... 6 - 2
6.3 Status display ...........................................................................................................................................6 - 3
6.3.1 Display transition ............................................................................................................................... 6 - 3
6.3.2 Display examples .............................................................................................................................. 6 - 4
6.3.3 Status display list............................................................................................................................... 6 - 5
6.3.4 Changing the status display screen.................................................................................................. 6 - 6
6.4 Diagnostic mode ...................................................................................................................................... 6 - 7
6.5 Alarm mode .............................................................................................................................................. 6 - 9
6.6 Parameter mode .....................................................................................................................................6 -10
6.6.1 Parameter mode transition............................................................................................................... 6 -10
6.6.2 Operation example ...........................................................................................................................6 -11
6.7 External I/O signal display ...................................................................................................................... 6 -13
6.8 Output signal (DO) forced output............................................................................................................ 6 -16
6.9 Test operation mode ............................................................................................................................... 6 -17
6.9.1 Mode change.................................................................................................................................... 6 -17
6.9.2 Jog operation.................................................................................................................................... 6 -18
6.9.3 Positioning operation........................................................................................................................ 6 -19
6.9.4 Motor-less operation ........................................................................................................................ 6 -20
7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -12
7.1 Different adjustment methods.................................................................................................................. 7 - 1
7.1.1 Adjustment on a single servo amplifier............................................................................................. 7 - 1
7.1.2 Adjustment using MR Configurator................................................................................................... 7 - 2
7.2 Auto tuning ............................................................................................................................................... 7 - 3
7.2.1 Auto tuning mode .............................................................................................................................. 7 - 3
3
7.2.2 Auto tuning mode operation.............................................................................................................. 7 - 4
7.2.3 Adjustment procedure by auto tuning............................................................................................... 7 - 5
7.2.4 Response level setting in auto tuning mode .................................................................................... 7 - 6
7.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 7 - 7
7.4 Interpolation mode .................................................................................................................................. 7 -10
7.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 7 -11
8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 1 to 8 -16
8.1 Function block diagram............................................................................................................................ 8 - 1
8.2 Adaptive filter
8.3 Machine resonance suppression filter..................................................................................................... 8 - 4
8.4 Advanced vibration suppression control ................................................................................................. 8 - 6
8.5 Low-pass filter ......................................................................................................................................... 8 -10
8.6 Gain changing function ...........................................................................................................................8 -10
8.6.1 Applications ...................................................................................................................................... 8 -10
8.6.2 Function block diagram ....................................................................................................................8 -11
8.6.3 Parameters ....................................................................................................................................... 8 -12
8.6.4 Gain changing operation ..................................................................................................................8 -14
9. TROUBLESHOOTING 9 - 1 to 9 - 10
........................................................................................................................................ 8 - 1
9.1 Alarms and warning list ............................................................................................................................ 9 - 1
9.2 Remedies for alarms ................................................................................................................................ 9 - 2
9.3 Remedies for warnings ............................................................................................................................ 9 - 8
10. OUTLINE DRAWINGS 10- 1 to 10- 12
10.1 Servo amplifier ......................................................................................................................................10- 1
10.2 Connector for CN1 ............................................................................................................................... 10-10
11. CHARACTERISTICS 11- 1 to 11 - 10
11.1 Overload protection characteristics ...................................................................................................... 11- 1
11.2 Power supply equipment capacity and generated loss .......................................................................11- 3
11.3 Dynamic brake characteristics.............................................................................................................. 11- 6
11.3.1 Dynamic brake operation............................................................................................................... 11- 6
11.3.2 The dynamic brake at the load inertia moment............................................................................. 11- 8
11.4 Encoder cable flexing life...................................................................................................................... 11- 9
11.5 Inrush currents at power-on of main circuit and control circuit ...........................................................11-10
12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12 -80
12.1 Cable/connector sets ............................................................................................................................ 12- 1
12.1.1 Combinations of cable/connector sets ..........................................................................................12- 2
12.1.2 Encoder cable/connector sets .......................................................................................................12- 9
12.1.3 Motor power supply cables ........................................................................................................... 12-18
12.1.4 Motor brake cables........................................................................................................................ 12-20
12.2 Regenerative options ...........................................................................................................................12-22
12.3 Brake unit ............................................................................................................................................. 12-33
4
12.4 Power regeneration converter ............................................................................................................. 12-36
12.5 Power regeneration common converter .............................................................................................. 12-39
12.6 External dynamic brake ....................................................................................................................... 12-47
12.7 Junction terminal block MR-TB50 ....................................................................................................... 12-52
12.8 MR Configurator ...................................................................................................................................12-54
12.9 Battery unit MR-J3BAT ........................................................................................................................ 12-57
12.10 Heat sink outside mounting attachment (MR-J3ACN)...................................................................... 12-58
12.11 Recommended wires ......................................................................................................................... 12-60
12.12 No-fuse breakers, fuses, magnetic contactors ................................................................................. 12-64
12.13 Power factor improving DC reactor ...................................................................................................12-65
12.14 Power factor improving reactors........................................................................................................ 12-66
12.15 Relays (recommended) ..................................................................................................................... 12-67
12.16 Surge absorbers (recommended) .....................................................................................................12-68
12.17 Noise reduction techniques ............................................................................................................... 12-68
12.18 Leakage current breaker.................................................................................................................... 12-74
12.19 EMC filter (recommended) ...............................................................................................................12-76
13. COMMUNICATION FUNCTION 13- 1 to 13-32
13.1 Configuration ......................................................................................................................................... 13- 1
13.2 Communication specifications .............................................................................................................. 13- 3
13.2.1 Communication overview............................................................................................................... 13- 3
13.2.2 Parameter setting ...........................................................................................................................13- 4
13.3 Protocol ................................................................................................................................................. 13- 5
13.3.1 Transmission data configuration....................................................................................................13- 5
13.3.2 Character codes .............................................................................................................................13- 6
13.3.3 Error codes ..................................................................................................................................... 13- 7
13.3.4 Checksum....................................................................................................................................... 13- 7
13.3.5 Time-out operation ......................................................................................................................... 13- 8
13.3.6 Retry operation............................................................................................................................... 13- 8
13.3.7 Initialization .....................................................................................................................................13- 9
13.3.8 Communication procedure example.............................................................................................. 13- 9
13.4 Command and data No. list .................................................................................................................13-10
13.4.1 Read commands ...........................................................................................................................13-10
13.4.2 Write commands ...........................................................................................................................13-14
13.5 Detailed explanations of commands ................................................................................................... 13-16
13.5.1 Data processing ............................................................................................................................ 13-16
13.5.2 Status display ................................................................................................................................ 13-18
13.5.3 Parameters.................................................................................................................................... 13-19
13.5.4 External I/O signal statuses (DI0 diagnosis) ................................................................................ 13-22
13.5.5 Input device ON/OFF .................................................................................................................... 13-24
13.5.6 Disable/enable of I/O devices (DIO) .............................................................................................13-25
13.5.7 Input devices ON/OFF (test operation) ........................................................................................ 13-25
13.5.8 Test operation mode .....................................................................................................................13-26
13.5.9 Output signal pin ON/OFF output signal (DO) forced output....................................................... 13-29
13.5.10 Alarm history ............................................................................................................................... 13-30
13.5.11 Current alarm .............................................................................................................................. 13-31
13.5.12 Other commands......................................................................................................................... 13-32
5
14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-62
14.1 Outline ................................................................................................................................................... 14- 1
14.1.1 Features.......................................................................................................................................... 14- 1
14.1.2 Restrictions..................................................................................................................................... 14- 1
14.2 Specifications ........................................................................................................................................ 14- 2
14.3 Battery installation procedure ............................................................................................................... 14- 3
14.4 Standard connection diagram............................................................................................................... 14- 4
14.5 Signal explanation................................................................................................................................. 14- 5
14.6 Startup procedure .................................................................................................................................14- 6
14.7 Absolute position data transfer protocol ............................................................................................... 14- 7
14.7.1 Data transfer procedure .................................................................................................................14- 7
14.7.2 Transfer method .............................................................................................................................14- 8
14.7.3 Home position setting.................................................................................................................... 14-17
14.7.4 Use of servo motor with electromagnetic brake........................................................................... 14-19
14.7.5 How to process the absolute position data at detection of stroke end ........................................ 14-20
14.8 Examples of use................................................................................................................................... 14-21
14.8.1 MELSEC FX(2N)-32MT (FX(2N)-1PG) ........................................................................................14-21
14.8.2 MELSEC A1SD75 ......................................................................................................................... 14-33
14.8.3 MELSEC QD75 ............................................................................................................................. 14-46
14.9 Absolute position data transfer errors .................................................................................................14-55
14.9.1 Corrective actions.......................................................................................................................... 14-55
14.9.2 Error resetting conditions .............................................................................................................. 14-57
14.10 Communication-based ABS transfer system .................................................................................... 14-58
14.10.1 Serial communication command ................................................................................................14-58
14.10.2 Absolute position data transfer protocol..................................................................................... 14-58
14.11 Confirmation of absolute position detection data.............................................................................. 14-62
APPENDIX App- 1 to App- 5
App 1. Parameter list...................................................................................................................................App- 1
App 2. Signal layout recording paper .........................................................................................................App- 3
App 3. Status display block diagram ..........................................................................................................App- 4
App 4. Change of connector sets to the RoHS compatible products........................................................App- 5
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J3 series general-purpose AC servo is based on the MELSERVO-J2-Super series
and has further higher performance and higher functions.
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it
is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
As this new series has the USB or RS-422 serial communication function, a servo configuration softwareinstalled personal computer or the like can be used to perform parameter setting, test operation, status display
monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J3 series servo motor is equipped with an absolute position encoder which has the resolution
of 262144 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2-Super series.
Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes
home position return unnecessary at power-on or alarm occurrence by setting a home position once.
(1) Position control mode
An up to 1Mpps high-speed pulse train is used to control the speed and direction of a motor and execute
precision positioning of 262144 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so a
smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the
main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value
can be changed to any value with an external analog input or the parameter.
(2) Speed control mode
An external analog speed command (0 to
speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external analog
speed command.
(3) Torque control mode
An external analog torque command (0 to
control the torque output by the servo motor.
To protect misoperation under no load, the speed limit function (external or internal setting) is also available
for application to tension control, etc.
10VDC) or parameter-driven internal speed command (max. 7
8VDC) or parameter-driven internal torque command is used to
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J3-350A or less
Power factor
improving DC
reactor
Regenerative
option
(Note 2)
Power
supply
NFB MC
Servo amplifier
Diode
stack
Relay
L1
L
2
L3
(MR-J3-70A or more)
L
11
L
21
Pulse
input
P1 P2
Cooling fan
(Note 3)
Control
circuit
power
supply
Model position
control
P
C
CHARGE
lamp
Base
amplifier
Model speed
D
Regenerative
TR
control
N
(Note1)
Voltage
detection
Current
detector
Overcurrent
protection
Virtual
motor
Dynamic
brake
detection
Virtual
encoder
Current
U
V
W
CN2
Servo motor
U
V
W
B1
B2
Encoder
M
Electromagnetic
brake
Model
position
Actual position
control
A/D
Model
speed
Actual speed
control
USB
I/F
Analog
(2 channels)
CN1
D I/O control
Servo on
Start
CN5
Personal
computer
USB
Failure, etc.
Note 1. The built-in regenerative resistor is not provided for the MR-J3-10A (1).
2. For 1-phase 200 to 230VAC, connect the power supply to L
There is no L
3. Servo amplifiers MR-J3-70A or greater have a cooling fan.
3 for 1-phase 100 to 120VAC power supply. For the specification of power supply, refer to section 1.3.
1, L2 and leave L3 open.
1 - 2
Model torque
Current
control
RS-422
CN3
Controller
RS-422
D/A
CN6
Analog monitor
(2 channels)
MR-J3BAT
CON1
Optional battery
(for absolute position
detection system)
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-350A4
NFB MC
(Note)
Power
supply
MR-J3-500A(4) MR-J3-700A(4)
Servo amplifier
Diode
stack
L
L
Relay
1
2
L3
L
11
L21
Power factor
improving DC
reactor
P
1
Control
circuit
power
supply
P
2
Regenerative
option
P
CHARGE
lamp
Cooling f
amplifier
Regenerative
TR
Base
an
C
N
Voltage
detection
Current
detector
Overcurrent
protection
Dynamic
brake
Current
detection
U
V
W
CN2
Servo motor
U
V
W
B1
B2
Encoder
M
Electromagnetic
brake
Pulse
input
Analog
(2 channels)
Model position
control
Model
position
Actual position
control
CN1
D I/O control
Servo on
Start
Failure, etc.
I/F
Model speed
control
Model
speed
Actual speed
control
USB RS-422 D/AA/D
CN5 CN3 CN6
Personal
computer Controller
USB RS-422
Virtual
motor
Current
control
Virtual
encoder
Model
torque
Analog monitor
(2 channels)
MR-J3BAT
CN4
Optional battery
(for absolute position
detection system)
Note. For the specification of power supply, refer to section 1.3.
1 - 3
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-11KA(4) to 22KA(4)
Power factor
improving DC
reactor
Regenerative
option
(Note)
Power
supply
NFB MC
Servo amplifier
Diode
Thyristor
stack
L
1
L
2
L3
L11
L
21
Pulse input
1
PC
CHARGE
lamp
Cooling fan
Control
circuit
power
supply
Base
amplifier
Model position
control
NP
Regenerative
TR
Voltage
detection
Model speed
control
Overcurrent
protection
Virtual
motor
Current
detector
Current
detection
Virtual
encoder
U
V
W
CN2
Servo motor
U
V
M
W
B1
Electromagnetic
brake
B2
Encoder
Model
position
Actual position
Model speed
control
I/F
CN1
Analog
(2 channels)
D I/O control
Servo on
Start
Failure, etc.
Personal
computer
USB RS-422
Note. For the specification of power supply, refer to section 1.3.
Model
speed
Model
torque
Current
control
control
USB RS-422 D/AA/D
CN5 CN3 CN6
Controller
Analog monitor
(2 channels)
MR-J3BAT
CN4
Optional battery
(for absolute position
detection system)
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
(1) 200VAC class, 100VAC class
Servo Amplifier
Item
Voltage/frequency
Permissible voltage fluctuation
Permissible frequency fluctuation Within 5%
Power supply
Power supply capacity Refer to section 11.2
Inrush current Refer to section 11.5
Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage
Control circuit
power supply
Interface power
supply
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in External option Built-in
Protective functions
Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector)
Command pulse multiplying factor Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000
In-position range setting 0 to 10000 pulse (command pulse unit)
mode
Error excessive 3 revolutions
Position control
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed command input 0 to 10VDC / Rated speed
Speed fluctuation ratio
mode
Speed control
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Torque
control
mode
Structure
Ambient
temperature
humidity
Ambient
Environment
Altitude Max. 1000m above sea level
Vibration 5.9 [m/s2] or less
Mass
Note 1. 300mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45
or smaller effective load ratio.
fluctuation
Permissible frequency
fluctuation
Input 30W 45W 30W
Inrush current Refer to section 11.5
Voltage, frequency 24VDC 10%
Power supply capacity (Note 1) 300mA or more
Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k )
Speed limit Set by parameter setting or external analog input (0 to
operation
In storage
In operation Ambient
In storage
MR-J3-
10A 20A 40A 70A 100A 200A 350A 500 A 700 A 11KA 15KA 22KA 10A1 20A1 40A1
3-phase or 1-phase 200
to 230VAC, 50/60Hz
3-phase or 1-phase 200
to 230VAC: 170 to
253VAC
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal
relay), servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
0.2% max.(ambient temperature 25 10 ) for external speed setting only
Self-cooled, open
[ ] (Note 2) 0 to 55 (non-freezing) During
] 32 to 131 (non-freezing)
[
[ ] 20 to 65 (non-freezing)
[
] 4 to 149 (non-freezing)
[kg] 0.8 0.8 1.0 1.4 1.4 2.3 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0
[lb] 1.8 1.8 2.2 3.1 3.1 5.071 5.071 10.1 13.7 39.68 39.68 41.88 1.8 1.8 2.2
(IP00)
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
3-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC
1-phase 170 to 253VAC
Within
5%
0.01% or less (load fluctuation 0 to 100%)
0% or less (power fluctuation
Force-cooling, open (IP00)
10%)
10VDC/Rated speed)
1-phase 100V to
120VAC, 50/60Hz
1-phase 85 to
132VAC
1-phase 100 to
120VAC, 50/60Hz
1-phase 85 to
132VAC
Self-cooled, open
(IP00)
or at 75%
1 - 5
1. FUNCTIONS AND CONFIGURATION
(2) 400VAC class
Servo Amplifier
MR-J3-
Item
Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz
Permissible voltage fluctuation 3-phase 323 to 528VAC
Permissible frequency fluctuation Within 5%
Power supply capacity Refer to section 11.2
Inrush current Refer to section 11.5
Power supply
Control circuit
power supply
supply
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in External option
Protective functions
Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector)
Command pulse multiplying factor Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000
In-position range setting 0 to 10000 pulse (command pulse unit)
mode
Error excessive 3 revolutions
Position control
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed command input 0 to 10VDC / Rated speed
Speed fluctuation ratio
mode
Speed control
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
control
mode
Structure
Mass
Note. 300mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k ) Torque
Speed limit Set by parameter setting or external analog input (0 to
Ambient
temperature
humidity
Environment
Ambient
Altitude Max. 1000m above sea level
Vibration 5.9 [m/s2] or less
I/O points.
Voltage/frequency 1-phase 380 to 480VAC, 50/60Hz
Permissible voltage
fluctuation
Permissible frequency
fluctuation
Input 30W 45W
Inrush current Refer to section 11.5
Voltage, frequency 24VDC 10% Interface power
Power supply capacity (Note) 300mA or more
operation
In storage
In operation Ambient
In storage
60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4
1-phase 323 to 528VAC
Within
5%
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal
relay), servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
0.01% or less (load fluctuation 0 to 100%)
0.2% max.(ambient temperature 25 10 ) for external speed setting only
Self-cooled, open
[ ] (Note 2) 0 to 55 (non-freezing) During
] 32 to 131 (non-freezing)
[
[ ] 20 to 65 (non-freezing)
[
] 4 to 149 (non-freezing)
[kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19
[lb] 3.75 3.75 4.63 10.14 10.14 13.67 39.68 39.68 41.88
(IP00)
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
0% or less (power fluctuation
Force-cooling, open (IP00)
10%)
10VDC/Rated speed)
1 - 6
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description
Position control mode This servo is used as position control servo. P
Speed control mode This servo is used as speed control servo. S
Torque control mode This servo is used as torque control servo. T
Position/speed control change
mode
Speed/torque control change
mode
Torque/position control
change mode
High-resolution encoder
Absolute position detection
system
Gain changing function
Advanced vibration
suppression control
Adaptive filter
Low-pass filter
Machine analyzer function
Machine simulation
Gain search function
Slight vibration suppression
control
Electronic gear Input pulses can be multiplied by 1/50 to 50. P
Auto tuning
Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. PB03
S-pattern acceleration/
deceleration time constant
Regenerative option
Using external input signal, control can be switched between
position control and speed control.
Using external input signal, control can be switched between
speed control and torque control.
Using external input signal, control can be switched between
torque control and position control.
High-resolution encoder of 262144 pulses/rev is used as a
servo motor encoder.
Merely setting a home position once makes home position
return unnecessary at every power-on.
You can switch between gains during rotation and gains
during stop or use an external signal to change gains during
operation.
This function suppresses vibration at the arm end or residual
vibration.
Servo amplifier detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical
vibration.
Suppresses high-frequency resonance which occurs as servo
system response is increased.
Analyzes the frequency characteristic of the mechanical
system by simply connecting a servo configuration softwareinstalled personal computer and servo amplifier.
MR Configurator MRZJW3-SETUP221E is necessary for this
function.
Can simulate machine motions on a personal computer
screen on the basis of the machine analyzer results.
MR Configurator MRZJW3-SETUP221E is necessary for this
function.
Personal computer changes gains automatically and
searches for overshoot-free gains in a short time.
MR Configurator MRZJW3-SETUP221E is necessary for this
function.
Suppresses vibration of 1 pulse produced at a servo motor
stop.
Automatically adjusts the gain to optimum value if load
applied to the servo motor shaft varies. Higher in
performance than MR-J2-Super series servo amplifier.
Speed can be increased and decreased smoothly. S, T Parameter No. PC03
Used when the built-in regenerative resistor of the servo
amplifier does not have sufficient regenerative capability for
the regenerative power generated.
(Note)
Control mode
P/S Section 3.6.4
S/T Section 3.6.5
T/P Section 3.6.6
P, S, T
P Chapter 14
P, S Section 8.6
P Section 8.4
P, S, T Section 8.2
P, S, T Section 8.5
P
P
P
P Parameters No. PB24
P, S Chapter 7
P, S, T Section 12.2
Reference
Section 3.2.1
Section 3.6.1
Section 4.2
Section 3.2.2
Section 3.6.2
Section 4.3
Section 3.2.3
Section 3.6.3
Section 4.4
Parameters
No. PA06, PA07
1 - 7
1. FUNCTIONS AND CONFIGURATION
Function Description
Brake until
Return converter
Alarm history clear Alarm history is cleared. P, S, T Parameter No. PC18
Restart after instantaneous
power failure
Command pulse selection
Input signal selection
Torque limit Servo motor torque can be limited to any value. P, S
Speed limit Servo motor speed can be limited to any value. T
Status display Servo status is shown on the 5-digit, 7-segment LED display P, S, T Section 6.3
External I/O signal display
Output signal (DO)
forced output
Automatic VC offset
Test operation mode
Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No. PC14
MR Configurator
Alarm code output
Amplifier diagnosis function
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J3-500A
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J3-500A
If the input power supply voltage had reduced to cause an
alarm but has returned to normal, the servo motor can be
restarted by merely switching on the start signal.
Command pulse train form can be selected from among four
different types.
Forward rotation start, reverse rotation start, servo-on (SON)
and other input signals can be assigned to any pins.
ON/OFF statuses of external I/O signals are shown on the
display.
Output signal can be forced on/off independently of the servo
status.
Use this function for output signal wiring check, etc.
Voltage is automatically offset to stop the servo motor if it
does not come to a stop at the analog speed command (VC)
or analog speed limit (VLA) of 0V.
JOG operation
DO forced output.
However, MR Configurator MRZJW3-SETUP221E is
necessary for positioning operation.
Using a personal computer, parameter setting, test operation,
status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number is
output in 3-bit code.
The DI/DO signals, analog monitor input I/F, analog monitor
output, command pulse I/F and encoder pulse output are
checked. The diagnosis cable (MR-J3ACHECK) and MR
Configurator MRZJW3-SETUP211E are necessary for this
function.
positioning operation motor-less operation
MR-J3-700A.
MR-J3-700A.
(Note)
Control mode
P, S, T Section 12.3
P, S, T Section 12.4
S Parameter No. PC22
P Section 5.1.12
P, S, T
P, S, T Section 6.7
P, S, T Section 6.8
S, T Section 6.4
P, S, T Section 6.9
P, S, T Section 12.8
P, S, T Section 9.1
P, S, T Section 12.8 (2)(C)
Reference
Parameters
No. PD03 to PD08,
PD10 to PD12
Section 3.6.1 (5)
Section 5.1.11
Section 3.6.3 (3)
Parameter
No. PC05 to PC11
1.5 Model code definition
(1) Rating plate
MITSUBISHI
MODEL
MR-J3-10A
POWER :
INPUT :
OUTPUT :
SERIAL :
100W
0.9A 3PH+1PH200-230V 50Hz
3PH+1PH200-230V 60Hz
1.3A 1PH 230V 50/60Hz
170V 0-360Hz 1.1A
A34230001
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
AC SERVO
PASSED
1 - 8
Model
Capacity
Applicable power supply
Rated output current
Serial number
1. FUNCTIONS AND CONFIGURATION
(2) Model
MR J3 A
Series
With no regenerative resistor
Symbol
-PX
Power supply
Symbol
None
(Note 1)
(Note 2)
1
4
Note 1. 1-phase 200V to 230V is
supported by 750W or less.
2. 1-phase 100V to 120V is
supported by 400W or less.
General purpose interface
Rated output
Symbol
10
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22
Description
Indicates a servo
amplifier of 11 to 22kW
that does not use a
regenerative resistor as
standard accessory.
Power supply
3-phase or 1-phase 200
to 230VAC
1-phase 100 to 120VAC
3-phase 380 to 480VAC
Rated
output [kW]
0.1
MR-J3-100A or less MR-J3-60A4 100A4
Rating plate
MR-J3-200A 350A
Rating plate
MR-J3-350A4 500A(4) MR-J3-700A(4)
Rating plate
MR-J3-200A4
Rating plate
Rating plateRating plate
MR-J3-11KA(4) to 22KA(4)
Rating plate
1 - 9
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