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 softwareÂinstalled 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
RegeneÂrative
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
ElectroÂmagnetic
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
RegeneÂrative
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
ElectroÂmagnetic
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
RegeneÂrative
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
ElectroÂmagnetic
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 softwareÂinstalled 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
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to
the models with electromagnetic brakes.
Servo motors
Servo amplifier
MR-J3-10A (1) 053 13 053 13
MR-J3-20A (1) 23 23
MR-J3-40A (1) 43 43
MR-J3-60A 51 52 52
MR-J3-70A 73 73 72
MR-J3-100A 81 102 102
MR-J3-200A 121 201 152 202 103
MR-J3-350A 301 352 203 202 202
MR-J3-500A 421 502 353
MR-J3-700A 702
MR-J3-11KA
MR-J3-15KA
MR-J3-22KA
HF-MP
HF-KP
1000r/min 2000r/min
HF-SP
HC-RP HC-UP HC-LP
152 152
153
503
352
302
502
Servo motors
Servo amplifier
MR-J3-500A 502
MR-J3-700A 601 701M 702
MR-J3-11KA 801 12K1 11K1M 11K2
MR-J3-15KA 15K1 15K1M 15K2
MR-J3-22KA 20K1 25K1 22K1M 22K2
HA-LP
1000r/min 1500r/min 2000r/min
Servo motors
Servo amplifier
MR-J3-60A4 524
MR-J3-100A4 1024
MR-J3-200A4 1524 2024
MR-J3-350A4 3524
MR-J3-500A4 5024
MR-J3-700A4 7024 6014 701M4
MR-J3-11KA4 8014 12K14 11K1M4 11K24
MR-J3-15KA4 15K14 15K1M4 15K24
MR-J3-22KA4 20K14 22K1M4 22K24
HF-SP
HA-LP
1000r/min 1500r/min 2000r/min
1 - 10
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-J3-100A or less
Fixed part
(2 places)
MODE UP DOWN SET
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
DOWN
MODE
Main circuit power supply connector (CNP1)
Connect the input power supply.
USB communication connector (CN5)
Connect with the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
UP
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Detailed
Explanation
Chapter 6
Chapter 6
Section 3.1
Section 3.3
Section 12.8
Section 3.2
Section 3.4
RS-422 communication connector (CN3)
Connect with the personal computer.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Servo motor power connector (CNP3)
Connect the servo motor.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains the battery for absolute position data backup.
Rating plate
Protective earth (PE) terminal ( )
Ground terminal.
Section 12.8
Chapter 13
Section 3.1
Section 3.3
Section 3.2
Section 3.4
Section 3.1
Section 3.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 14.3
Section 1.5
Section 3.1
Section 3.3
1 - 11
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-60A4
MR-J3-100A4
Fixed part
(3 places)
MO UP DO SET
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
DOWN
MODE
Main circuit power supply connector (CNP1)
Connect the input power supply.
USB communication connector (CN5)
Connect with the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
UP
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Detailed
Explanation
Chapter 6
Chapter 6
Section 3.1
Section 3.3
Section 12.8
Section 3.2
Section 3.4
RS-422 communication connector (CN3)
Connect with the personal computer.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Servo motor power connector (CNP3)
Connect the servo motor.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Battery holder
Contains the battery for absolute position data backup.
Rating plate
Protective earth (PE) terminal ( )
Ground terminal.
Section 12.8
Chapter 13
Section 3.1
Section 3.3
Section 3.2
Section 3.4
Section 3.1
Section 3.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 14.3
Section 1.5
Section 3.1
Section 3.3
1 - 12
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-200A
MR-J3-350A
MO UP DO SET
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
Main circuit power supply connector (CNP1)
Connect the input power supply.
RS-422 communication connector (CN3)
Connect with the personal computer.
USB communication connector (CN5)
Connect with the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
UP
DOWN SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Detailed
Explanation
Chapter 6
Chapter 6
Section 3.1
Section 3.3
Section 12.8
Chapter 13
Section 12.8
Section 3.2
Section 3.4
Fixed part
(3 places)
Cooling fan
I/O signal connector (CN1)
Used to connect digital I/O signals.
Servo motor power connector (CNP3)
Connect the servo motor.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains the battery for absolute position data backup.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal ( )
Ground terminal.
Rating plate
Section 3.2
Section 3.4
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 14.3
Section 3.1
Section 3.3
Section 1.5
1 - 13
1. FUNCTIONS AND CONFIGURATION
(4) MR-J3-200A4
MODE UP DOWN SET
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
DOWN
MODE
Main circuit power supply connector (CNP1)
Connect the input power supply.
USB communication connector (CN5)
Connect with the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
UP
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Detailed
Explanation
Chapter 6
Chapter 6
Section 3.1
Section 3.3
Section 12.8
Section 3.2
Section 3.4
Fixed part
(3 places)
Cooling fan
RS-422 communication connector (CN3)
Connect with the personal computer.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
Servo motor power connector (CNP3)
Connect the servo motor.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains the battery for absolute position data backup.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal ( )
Ground terminal.
Rating plate
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 14.3
Section 3.1
Section 3.3
Section 1.5
1 - 14
1. FUNCTIONS AND CONFIGURATION
(5) MR-J3-350A4
MR-J3-500A(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
Detailed
Explanation
Chapter 6
MODE UP DOWN SET
Cooling fan
DOWN
MODE
Analog monitor connector (CN6)
Outputs the analog monitor.
USB communication connector (CN5)
Connect with the personal computer.
RS-422 communication connector (CN3)
Connect with the personal computer.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Battery unit holder
Contains the battery for absolute position data backup.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
UP
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Chapter 6
Section 3.2
Section 3.4
Section 12.8
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 14.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 3.1
Section 3.3
Fixed part
(4 place)
DC reactor terminal block (TE3)
Used to connect the DC reactor.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Protective earth (PE) terminal ( )
Ground terminal.
Rating plate
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 1.5
1 - 15
1. FUNCTIONS AND CONFIGURATION
(6) MR-J3-700A(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
Detailed
Explanation
Chapter 6
MODE UP DOWN SET
Cooling fan
Fixed part
(4 place)
MODE
USB communication connector (CN5)
Connect with the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
RS-422 communication connector (CN3)
Connect with the personal computer.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Battery unit holder
Contains the battery for absolute position data backup.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
DC reactor terminal block (TE3)
Used to connect the DC reactor.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Protective earth (PE) terminal ( )
Ground terminal.
UP
DOWN SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Chapter 6
Section 12.8
Section 3.2
Section 3.4
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 14.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Rating plate
Section 1.5
1 - 16
1. FUNCTIONS AND CONFIGURATION
(7) MR-J3-11KA(4) to MR-J3-22KA(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
Name/Application
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
Detailed
Explanation
Chapter 6
Cooling fan
Fixed part
(4 place)
MO UP DO SET
MODE UP
USB communication connector (CN5)
Connect with the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
RS-422 communication connector (CN3)
Connect with the personal computer.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Battery unit holder
Contains the battery for absolute position data backup.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Rating plate
DOWN SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Chapter 6
Section 12.8
Section 3.2
Section 3.4
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 14.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 1.5
Main circuit terminal block control circuit protective
earth (TE)
Used to connect the input power supply, servo motor,
regenerative option and ground.
Section 3.1
Section 3.3
Section 12.2
1 - 17
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
WARNING
(1) For MR-J3-350A4
Removal of the front cover
MR-J3-500A(4) MR-J3-700A(4)
Before removing or reinstalling the front cover, make sure that the charge lamp is
off more than 15 minutes after power off. Otherwise, you may get an electric shock.
A)
A)
Hold the ends of lower side of the front cover with
both hands.
Pull up the cover, supporting at point
A)
.
Pull out the front cover to remove.
1 - 18
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Front cover
setting tab
A)
A)
Insert the front cover setting tabs into the sockets of
servo amplifier (2 places).
Setting tab
Push the setting tabs until they click.
Pull up the cover, supporting at point
A)
.
1 - 19
k
1. FUNCTIONS AND CONFIGURATION
(2) For MR-J3-11KA(4) to MR-J3-22KA(4)
Removal of the front cover
C)
B)
A)
1) Press the removing knob on the lower side of the
front cover ( A) and B) ) and release the
installation hook.
2) Press the removing knob of C) and release the
external hook.
Reinstallation of the front cover
C)
B)
D
A)
3) Pull it to remove the front cover.
(Note1)
(Note1)
(Note2)
1) Fit the front cover installation hooks on the
sockets of body cover ( A) to B) ) to reinstall it.
Note 1. The fan cover can be locked with enclosed screws (M4 40).
2. By drilling approximately
14).
4 of a hole on the front cover, the front cover can be locked on the body with an enclosed screw (M4
1 - 20
Installation hoo
2) Push the front cover until your hear the clicking
noise of the installation hook.
1. FUNCTIONS AND CONFIGURATION
1.8 Configuration including auxiliary equipment
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
(1) MR-J3-100A or less
(a) For 3-phase or 1-phase 200V to 230VAC
R S T
(Note3)
power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BLF)
(Note2)
CN6
Servo amplifier
CN5
CN3
Analog monitor
Personal
computer
MR Configurator
CN1
CN2
CN4
(Note1)
Battery unit
MR-J3BAT
(Note2)
Power factor
improving DC
reactor
(FR-BEL)
L
1
L2
L
3
P
1
P
2
PC
U
V
W
Regenerative
option
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used.
3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70A or less.
For 1-phase 200V to 230VAC, connect the power supply to L
refer to section 1.3.
L
11
L
21
and leave L3 open. For the specification of power supply,
1 L2
1 - 21
Junction terminal block
Servo motor
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
(Note3)
power supply
No-fuse breaker
(NFB) or fuse
R S
Magnetic
contactor
(MC)
Power factor
improving
reactor
(FR-BAL)
Line noise filter
(FR-BLF)
CN6
L
1
L
2
PC
Servo amplifier
(Note 2)
U
V
W
CN5
CN3
CN1
CN2
CN4
(Note 1)
Battery unit
MR-J3BAT
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
Servo motor
Regenerative
option
L
11
L
21
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The power factor improving DC reactor cannot be used.
3. For the specification of power supply, refer to section 1.3.
1 - 22
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-60A4
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
MR-J3-100A4
R S T
Magnetic
contactor
(MC)
(Note 2)
Line noise filter
(FR-BSF01)
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-H)
CN6
Servo amplifier
Analog monitor
Personal
MR Configurator
computer
CN5
CN3
L
1
L
2
L
3
CN1
Junction terminal block
CN2
P
1
P
2
CN4
(Note 1)
Battery unit
MR-J3BAT
Servo motor
P
C
Regenerative
L
11
option
WVU
L21
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P
3. For the specification of power supply, refer to section 1.3.
1 - 23
1-P2.
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-200A
(Note4)
power supply
No-fuse breaker
(NFB) or fuse
MR-J3-350A
R S T
Magnetic
contactor
(MC)
(Note3)
Line noise filter
(FR-BSF01)
(Note2)
Power factor
improving DC
reactor
(FR-BEL)
L11
L
(Note2)
Servo amplifier
L
1
L
2
L3
P1
P2
Regenerative
option
21
P
C
CN6
CN5
CN3
CN1
CN2
CN4
(Note1)
Battery unit
MR-J3BAT
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
U
V
W
Servo motor
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P
3. For MR-J3-350A, use FR-BLF.
4. For the specification of power supply, refer to section 1.3.
1 - 24
1-P2.
1. FUNCTIONS AND CONFIGURATION
(4) MR-J3-200A4
(Note 3)
Power supply
R S T
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BSF01)
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-H)
(Note 2)
CN6
Servo amplifier
L1
L
2
L
3
P1
P
2
L
11
L
22
Regenerative
option
P
C
CN5
CN3
CN1
CN2
Analog monitor
MR Configurator
Junction terminal block
Personal
computer
CN4
(Note 1)
Battery unit
MR-J3BAT
UV W
Servo motor
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P
3. For the specification of power supply, refer to section 1.3.
1-P2.
1 - 25
1. FUNCTIONS AND CONFIGURATION
(5) MR-J3-350A4
(Note3)
power supply
MR-J3-500A(4)
R S T
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BLF)
L3
L2
L1
(Note2)
Servo amplifier
(Note1)
Battery unit
MR-J3BAT
21
11
L
L
CN6
CN5
CN3
CN1
CN2
CN4
1
P
2
P
(Note2)
Power factor
improving DC
reactor
(FR-BEL)
Analog monitor
MR Configurator
Personal
computer
Junction terminal block
CP
Regenerative
option
UVW
Servo motor
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P
3. For the specification of power supply, refer to section 1.3.
1 - 26
1-P2.
1. FUNCTIONS AND CONFIGURATION
(6) MR-J3-700A(4)
(Note3)
power supply
R S T
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BLF)
(Note2)
11
L
(Note2)
Power factor
improving DC
reactor
(FR-BEL)
3
L
2
L
L1
CN6
Servo amplifier
CN5
(Note1)
Battery unit
MR-J3BAT
21
L
P2
P1
CN3
CN1
CN2
CN4
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
CP
Regenerative
option
UVW
Servo motor
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P
3. For the specification of power supply, refer to section 1.3.
1-P2.
1 - 27
1. FUNCTIONS AND CONFIGURATION
(7) MR-J3-11KA(4) to MR-J3-22KA(4)
(Note3)
power supply
R S T
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BLF)
Power factor
improving DC
reactor
(FR-BEL)
L21
L
11
Servo amplifier
CN6
CN5
(Note2)
L3
L2
L
1
(Note2)
P
1
P
(Note1)
Battery unit
MR-J3BAT
CP
CN3
CN1
CN2
CN4
UVW
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
Regenerative
option
Servo motor
Note 1. The battery unit(option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P
3. For the specification of power supply, refer to section 1.3.
1 - 28
1-P2.
2. INSTALLATION
2. INSTALLATION
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For details
of the environmental condition, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other
CAUTION
2.1 Installation direction and clearances
conductive matter or oil and other combustible matter from entering the servo
amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
The equipment must be installed in the specified direction. Otherwise, a fault may
CAUTION
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
(1) 7kW or less
(a) Installation of one servo amplifier
Control box
40mm
or more
Servo
amplifier
10mm or
more
40mm
or more
10mm or
more
Wiring
allowance
80mm
Control box
Top
Bottom
2 - 1
2. INSTALLATION
(b) Installation of two or more servo amplifiers
POINT
Mounting closely is available for a combination of servo amplifiers of 3.5kW or
less in 200V or 100V class.
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo
amplifiers in consideration of mounting tolerances.
In this case, make circumference temperature into 0 to 45
Control box
, or use it at 75% or a smaller effective load ratio.
Control box
100mm or more
10mm
or more
30mm
or more
40mm or more
Leaving clearance
(2) 11kW or more
(a) Installation of one servo amplifier
10mm
or more
40mm or more
Servo amplifier
30mm
or more
30mm
or more
10mm
or more
Control boxControl box
Wiring
allowance
80mm
100mm or more
1mm 1mm
30mm
or more
40mm or more
Mounting closely
Top
Bottom
120mm
or more
2 - 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm or more
10mm or more
30mm
or more
120mm or more
30mm
or more
(3) Others
When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo
amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box
or a fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box.
2.3 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress
are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring
cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring
cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large
as possible. Refer to section 11.4 for the flexing life.
2 - 3
2. INSTALLATION
2.4 Inspection items
Before starting maintenance and/or inspection, make sure that the charge lamp is
off more than 15 minutes after power-off. Then, confirm that the voltage is safe in
WARNING
the tester or the like. Otherwise, you may get an electric shock.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.
POINT
Do not test the servo amplifier with a megger (measure insulation resistance), or
it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically:
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
2.5 Parts having service lives
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the operating
method and environmental conditions. For parts replacement, please contact your sales representative.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on and number of emergency
stop times : 100,000 times
Servo amplifier
Relay
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to section 14.2
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in
10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their
life when the cumulative number of power-on and emergency stop times is 100,000, which depends on
the power supply capacity.
(c) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the
fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
2 - 4
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, switch power off, then wait for more than 15 minutes, and
after the charge lamp has gone off, make sure that the voltage is safe in the tester
or like. Otherwise, you may get an electric shock.
WARNING
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the emergency stop (EMG) and other protective circuits.
Servo Amplifier
DOCOM
DICOM
24VDC
Servo amplifier
24VDC
DOCOM
DICOM
CAUTION
Control output
signal
RA
Control output
signal
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
3 - 1
3. SIGNALS AND WIRING
3.1 Input power supply circuit
When the servo amplifier has become faulty, switch power off on the servo
amplifier power side. Continuous flow of a large current may cause a fire.
Use the trouble signal to switch power off. Otherwise, a regenerative transistor
CAUTION
fault or the like may overheat the regenerative resistor, causing a fire.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as alarm
occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply to MR-J3-10A to MR-J3-350A
3-phase
200 to
230VAC
Emergency
RA
stop
NFB MC
(Note 1)
(Note 2)
OFF
CNP1
CNP2
ON
MC
Servo amplifier
L
1
L2
L
3
N
P1
P2
P
C
D
L11
L
21
CNP3
U
V
W
PE
CN2
MC
SK
(Note 5)
(Note 3)
Encoder cable
Servo motor
2
U
V
W
3
4
1
Motor
M
Encoder
CN1
Emergency stop
(Note 4)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface.
For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
Servo-on
EMG
SON
DOCOM
CN1
DOCOM
DICOM
ALM
24VDC
RA
Trouble
(Note 4)
3 - 2
3. SIGNALS AND WIRING
(2) For 1-phase 200 to 230VAC power supply to MR-J3-10A to MR-J3-70A
1-phase
200 to
230VAC
Emergency
stop
RA
NFB MC
(Note 1)
(Note 2)
OFF
CNP1
CNP2
ON
MC
Servo amplifier
L
1
L2
L
3
N
P1
P2
P
C
D
L11
L
21
CNP3
U
V
W
PE
CN2
MC
SK
(Note 5)
Encoder cable
(Note 3)
Servo motor
2
U
V
W
3
4
1
Motor
M
Encoder
(Note 4)
Emergency stop
Servo-on
CN1
EMG
SON
DOCOM
CN1
DOCOM
DICOM
ALM
24VDC
RA
Trouble
(Note 4)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
3 - 3
3. SIGNALS AND WIRING
(3) For 1-phase 100 to 120VAC power supply to MR-J3-10A1 to MR-J3-40A1
1-phase
100 to
120VAC
Emergency
stop
RA
NFB MC
(Note 1)
(Note 2)
OFF
CNP1
Blank
CNP2
ON
MC
Servo amplifier
L
1
L
2
N
P1
P2
P
C
D
L
11
L21
CNP3
U
V
W
PE
CN2
MC
SK
(Note 5)
(Note 3)
Encoder cable
Servo motor
2
U
V
W
3
4
1
Motor
M
Encoder
CN1
DOCOM
DICOM
ALM
24VDC
RA
(Note 4)
Emergency stop
Servo-on
CN1
EMG
SON
DOCOM
Note 1. Always connect P1-P2. (Factory-wired.) The power factor improving DC reactor cannot be used.
2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
Trouble
(Note 4)
3 - 4
3. SIGNALS AND WIRING
(4) MR-J3-60A4 to MR-J3-200A4
(Note 6)
Stepdown
transformer
NFB MC
3-phase
380 to
480VAC
RA
Emergency
stop
(Note 1)
(Note 2)
OFF
Servo amplifier
CNP1
L
1
L2
L
3
N
P1
P
2
CNP2
P
C
D
L
11
L
21
ON
MC
CNP3
U
V
W
PE
CN2
MC
SK
(Note 5)
(Note 3)
Encoder cable
Servo motor
2
U
V
W
3
4
1
Motor
M
Encoder
(Note 4)
Emergency stop
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
RA
Trorble
(Note 4)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
3 - 5
3. SIGNALS AND WIRING
(5) MR-J3-500A
3-phase
200 to
230VAC
MR-J3-700A
NFB MC
RA
(Note 2)
Emergency
stop
(Note 1)
OFF
TE1
L
L
L
P
C
TE2
L
L21
TE3
N
P1
P
1
2
3
11
2
ON
MC
Servo amplifier
Built-in
regenerative
resistor
CN2
U
V
W
PE
MC
SK
(Note 5)
(Note 3)
Encoder cable
Servo motor
2
U
V
W
3
4
1
Motor
M
Encoder
(Note 4)
Emergency stop
Servo-on
CN1
EMG
SON
DOCOM
CN1
DOCOM
DICOM
ALM
24VDC
RA
Trouble
(Note 4)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
3 - 6
3. SIGNALS AND WIRING
(6) MR-J3-350A4 to MR-J3-700A4
RA
(Note 6)
Stepdown
transformer
NFB MC
3-phase
380 to
480VAC
Emergency
stop
(Note 2)
(Note 1)
OFF
TE1
L
L
L
P
C
TE2
L
L21
TE3
N
P
P
1
2
3
11
1
2
ON
MC
Servo amplifier
Built-in
regenerative
resistor
U
V
W
PE
CN2
MC
SK
(Note 5)
(Note 3)
Encoder cable
(Note 7)
Power supply
of Cooling fan
Servo motor
2
U
V
W
3
4
1
Motor
M
Encoder
BU
BV
Cooling fan
Trouble
(Note 4)
(Note 4)
Emergency stop
Servo-on
CN1
EMG
SON
DOCOM
CN1
DOCOM
DICOM
ALM
24VDC
RA
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. When using the regenerative option, refer to section 12.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
7. A cooling fan is attached to the HA-LP6014 and the HA-LP701N4 servo motors. For power supply specification of the cooling
fan, refer to section 3.10.2 (3) (b).
3 - 7
3. SIGNALS AND WIRING
(7) MR-J3-11KA to MR-J3-22KA
Servo motor
thermal relay
RA2
Trouble
RA1
Emergency
stop
OFF
ON
MC
MC
SK
3-phase
200 to
230VAC
NFB MC
Regenerative
resistor
Servo amplifier
TE
1
L
L
2
L3
C
(Note 2)
P
(Note 1)
P
1
L
11
L
21
U
V
W
PE
CN2
Dynamic
break
(Note 5)
(Note 3)
Encoder cable
24VDC
power supply
U
V
W
Servo motor
M
Encoder
Cooling fan
BU
BV
BW
OHS2OHS1
Servo motor
thermal relay
(Note 6)
+
RA2
-
CN1
DOCOM
DICOM
ALM
24VDC
RA1
Trouble
(Note 4)
(Note 4)
Emergency stop
Servo-on
CN1
EMG
SON
DOCOM
Note 1. Always connect P-P1. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. When using the regenerative option, refer to section 12.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
5. Refer to section 3.10.
6. Cooling fan power supply of the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
3 - 8
3. SIGNALS AND WIRING
(8) MR-J3-11KA4 to MR-J3-22KA4
Servo motor
thermal relay
RA2
(Note 8)
Stepdown
transformer
NFB MC
3-phase
380 to
480VAC
Regenerative
resistor
Trouble
RA1
Emergency
stop
TE
L
1
L2
L
3
C
P
P
1
L
11
L
21
OFF
Servo amplifier
(Note 2)
(Note 1)
ON
MC
U
V
W
PE
MC
SK
Dynamic
break
(Note 5)
U
V
W
(Note 7)
Cooling fan
power supply
Servo motor
M
CN2
(Note 3)
Encoder cable
Encoder
BU
BV
BW
Cooling fan
OHS2OHS1
(Note 4)
Emergency stop
Servo-on
CN1
EMG
SON
DOCOM
CN1
DOCOM
DICOM
ALM
24VDC
power supply
24VDC
RA1
RA2
Trouble
Servo motor
thermal relay
(Note 4)
Note 1. Always connect P-P1. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13.
2. When using the regenerative option, refer to section 12.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
5. Refer to section 3.10.
6. There is no BW if HA-LP11K24 is used.
7. For the cooling fan power supply, refer to section 3.10.2 (3) (b).
8. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
(Note 6)
3 - 9
3. SIGNALS AND WIRING
3.2 I/O Signal connection example
3.2.1 Position control mode
(Note 12)
Positioning module
QD75D
CLEARCOM
RDYCOM
PULSE F+
PULSE FÂPULSE R+
PULSE R-
PG0 COM
(Note 3, 5) Emergency stop
Servo-on
Reset
Proportion control
Torque limit selection
Forward rotation stroke end
(Note 5)
Reverse rotation stroke end
Upper limit setting
Analog torque limit
+10V/max. torque
(Note 9)
MR Configurator
CLEAR
REDY
PG05
Personal
computer
(Note 4)
24VDC
power
supply
14
13
12
11
15
16
17
18
9
10
(Note 11)
10m max. (Note 8)
+
-
10m max.
2m max.
(Note 10)
USB cable
(option)
DICOM
DOCOM
CR
RD
PP
PG
NP
NG
LZ
LZR
LG
SD
EMG
SON
RES
PC
TL
LSP
LSN
DOCOM
P15R
TLA
LG 28
SD
Servo amplifier
(Note 7)
(Note 7)
CN1
20
46
41
49
10
11
35
36
Plate
(Note 7)
CN1
42
15
19
17
18
43
44
47
27
Plate
CN5
CN1
8
9
3
Plate
(Note 7)
CN6
1
DICOM
21
48 ALM
23 ZSP
25 TLC
24 INP
4LA
5LAR
6LB
7LBR
34 LG
33 OP
P15R
1
SD
3MO1
1LG
2MO2
2m max.
2m max.
(Note 2)
RA1
RA2
RA3
RA4
10m max.
Control common
Encoder Z-phase pulse
(open collector)
A
10k
A
10k
Trouble (Note 6)
Zero speed
Limiting torque
In-position
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Analog monitor
Max. +1mA meter
(Note12)
(Note 1)
3 - 10
r
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to
the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. Supply 24VDC
used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the
current value necessary for the interface.
5. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the opencollector system. It is 10m or less in the differential line driver
system.
9. Use MRZJW3-SETUP 211E.
10. RS-422 can also be used to connect the servo amplifier and personal computer.
10% 300mA current for interfaces from the outside. 300mA is the value applicable when all I/O signals are
Personal computer
RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)
Servo amplifie
CN3
To RS-232C connector
11. This connection is not required for the QD75D. Depending on the used positioning module, however, it is recommended to
connect the LG and control common terminals of the servo amplifier to enhance noise immunity.
12. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 11
r
3. SIGNALS AND WIRING
3.2.2 Speed control mode
(Note 12)
(Note 3, 5) Emergency stop
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation start
Reverse rotation start
Forward rotation stroke end
(Note 5)
Reverse rotation stroke end
Upper limit setting
(Note 11) Analog speed command
10V/rated speed
Upper limit setting
(Note 8) Analog torque limit
+10V/max. torque
(Note 9)
MR Configurator
Personal
computer
(Note 4)
24VDC
power
supply
10m max.
+
-
2m max.
(Note 10)
USB cable
(option)
DICOM
DOCOM
EMG
SON
RES
SP1
SP2
ST1
ST2
LSP
LSN
DOCOM
P15R
VC
LG
TLA
SD
Servo amplifier
(Note 7)
(Note 7)
CN1
20
46
42
15
19
41
16
17
18
43
44
47
1
2
28
27
Plate
CN5
Plate
(Note 7)
CN1
DICOM
21
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
8LZ
9LZR
4LA
5LAR
6LB
7LBR
34 LG
33 OP
1P15R
SD
CN6
3MO1
1LG
2MO2
(Note 1)
10m max.
2m max.
2m max.
(Note 2)
RA1
RA2
RA3
RA4
RA5
Control common
Encoder Z-phase pulse
(open collector)
10k
10k
Trouble (Note 6)
Zero speed
Limiting torque
Speed reached
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Analog monitor
Max. +1mA meter
(Note 12)
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to
the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. Supply 24VDC
10% 300mA current for interfaces from the outside. 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. Refer to section 3.8.2 (1) that gives the
current value necessary for the interface.
5. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition.
7. The pins with the same signal name are connected in the servo amplifier.
8. By setting parameters No.PD03 to PD08, PD09 to PD12 to make TL available, TLA can be used.
9. Use MRZJW3-SETUP 211E.
10. RS-422 can also be used to connect the servo amplifier and personal computer.
Personal computer
RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)
Servo amplifie
CN3
To RS-232C connector
11. Use an external power supply when inputting a negative voltage.
12. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 12
3. SIGNALS AND WIRING
3.2.3 Torque control mode
(Note 10)
(Note 3) Emergency stop
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation selection
Reverse rotation selection
Upper limit setting
Analog torque command
8V/max. torque
Upper limit setting
(Note 9) Analog speed limit
0 to 10V/rated speed
(Note 7)
MR Configurator
Personal
computer
(Note 4)
24VDC
power
supply
10m max.
+
-
2m max.
(Note 8)
USB cable
(option)
DICOM
DOCOM
EMG
SON
RES
SP1
SP2
RS1
RS2
DOCOM
P15R
TC
LG
VLA
SD
Servo amplifier
(Note 6)
(Note 6)
CN1
20
46
42
15
19
41
16
18
17
47
1
27
28
2
Plate
CN5
CN1
Plate
(Note 6)
DICOM
21
48 ALM
23 ZSP
25 VLC
49 RD
8LZ
LZR
9
4LA
5LAR
6LB
7LBR
34 LG
33 OP
1P15R
SD
CN6
3MO1
1LG
2MO2
(Note 1)
(Note 2)
10m max.
2m max.
2m max.
RA1
RA2
RA3
RA4
Trouble (Note 5)
Zero speed
Limiting speed
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Control common
Encoder Z-phase pulse
(open collector)
10k
Analog monitor
Max. +1mA meter
10k
(Note 10)
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) servo amplifier to
the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. Supply 24VDC
10% 300mA current for interfaces from the outside. 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. Refer to section 3.8.2 (1) that gives the
current value necessary for the interface.
5. Trouble (ALM) turns on in normal alarm-free condition.
6. The pins with the same signal name are connected in the servo amplifier.
7. Use MRZJW3-SETUP 211E.
8. RS-422 can also be used to connect the servo amplifier and personal computer.
Personal computer
RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)
Servo amplifier
CN3
To RS-232C connector
9. Use an external power supply when inputting a negative voltage.
10. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 13
3. SIGNALS AND WIRING
3.3 Explanation of power supply system
3.3.1 Signal explanations
Abbreviation
L1
L
2
L
3
P1
P
2
P
C
D
L11
L
21
U
V
W
N
POINT
For the layout of connector and terminal block, refer to outline drawings in
chapter 10.
Connection Target
(Application)
Main circuit power
supply
Power factor
improving DC
reactor
Regenerative
option
Control circuit
power supply
Servo motor
power
Return converter
Brake unit
Protective earth
(PE)
Description
Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply,
connect the power supply to L
Power supply
3-phase 200V to 230VAC, 50/60Hz L1 L2 L3
1-phase 200V to 230VAC, 50/60Hz L1 L2
1-phase 100V to 120VAC, 50/60Hz L1 L2
Power supply
3-phase 380V to 480VAC, 50/60Hz L1 L2 L3
1) MR-J3-700A or less
When not using the power factor improving DC reactor, connect P
When using the power factor improving DC reactor, disconnect the wiring across P
connect the power factor improving DC reactor across P
2) MR-J3-11KA(4) to 22KA(4)
MR-J3-11KA(4) to 22KA(4) do not have P
When not using the power factor improving reactor, connect P
When using the power factor improving reactor, connect it across P-P
Refer to section 12.13.
1) MR-J3-350A or less
When using servo amplifier built-in regenerative resistor, connect between P-D terminals.
(Wired by default)
When using regenerative option, disconnect between P-D terminals and connect
regenerative option to P terminal and C terminal.
2) MR-J3-350A4
MR-J3-350A4
500A(4) 700A(4)
500A(4) 700A(4) do not have D terminal.
When using servo amplifier built-in regenerative resistor, connect P terminal and C terminal.
(Wired by default)
When using regenerative option, disconnect P terminal and C terminal and connect
regenerative option to P terminal and C terminal.
3) MR-J3-11KA(4) to 22KA(4)
MR-J3-11KA(4) to 22KA(4) do not have D terminal.
When not using the power supply return converter and the brake unit, make sure to connect
the regenerative option to P terminal and C terminal.
Refer to section 12.2 to 12.5.
Supply the following power to L11 L21.
Power supply
1-phase 200V to 230VAC, 50/60Hz L11 L21
1-phase 100V to 120VAC, 50/60Hz L11 L21
1-phase 380V to 480VAC, 50/60Hz L11 L21
Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or
close the motor power line. Otherwise, a malfunction or faulty may occur.
When using return converter/brake unit, connect to P terminal and N terminal.
Do not connect to servo amplifier MR-J3-350A or less.
For details, refer to section 12.3 to 12.5.
Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control
box to perform grounding.
1, L2, and keep L3 open.
Servo amplifier
Servo amplifier
MR-J3-200A4 or less
Servo amplifier
2 terminal.
MR-J3-10A
to 22KA
MR-J3-
10A to
70A
MR-J3-
100A to
22KA
10A1 to
MR-J3-60A4 to 22KA4
1-P2. (Factory-wired.)
1-P2.
1-P. (Factory-wired)
1.
MR-J3-10A1
to 40A1
MR-J3-60A4
to 22KA4
MR-J3-
40A1
1-P2 and
3 - 14
3. SIGNALS AND WIRING
3.3.2 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main
circuit power supply (three-phase: L
, L2, L3, single-phase: L1, L2). Configure up an external sequence to
1
switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L
11, L21 simultaneously with the main circuit power supply or
before switching on the main circuit power supply. If the main circuit power supply is not on, the display
shows the corresponding warning. However, by switching on the main circuit power supply, the warning
disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power supply is
switched on. Therefore, when SON is switched on simultaneously with the main circuit power supply, the
base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further about 5ms,
making the servo amplifier ready to operate. (Refer to paragraph (2) of this section.)
4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart
Servo-on (SON) accepted
Main circuit
Control circuit
Power supply
Base circuit
Servo-on
(SON)
Reset
(RES)
Ready
(RD)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(1.5 to 2s)
10ms
95ms
10ms5ms
Power-on timing chart
10ms
10ms5ms
95ms
5ms 10ms
3 - 15
3. SIGNALS AND WIRING
(3) Emergency stop
CAUTION
Provide an external emergency stop circuit to ensure that operation can be
stopped and power switched off immediately.
Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop.
When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this
time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input during
an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop,
always shut off the run command.
Servo amplifier
24VDC
(Note)
Emergency stop
DICOM
DOCOM
EMG
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 16
r
3. SIGNALS AND WIRING
3.3.3 CNP1, CNP2, CNP3 wiring method
POINT
Refer to Table 12.1 in section 12.11 for the wire sizes used for wiring.
MR-J3-500A or more does not have these connectors.
Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3.
(1) MR-J3-100A or less
(a) Servo amplifier power supply connectors
(Note)
Servo amplifier power supply connectors
Connector for CNP1
54928-0670 (Molex)
<Applicable cable example>
Cable finish OD: to 3.8mm
Connector for CNP2
54927-0520 (Molex)
Connector for CNP3
54928-0370 (Molex)
Servo amplifie
CNP1
CNP2
CNP3
Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are recommended.
For CNP1: 51241-0600 (connector), 56125-0128 (terminal)
For CNP2: 51240-0500 (connector), 56125-0128 (terminal)
For CNP3: 51241-0300 (connector), 56125-0128 (terminal)
Crimping tool: CNP57349-5300
<Connector applicable cable example>
Cable finish OD: to
3.8mm
(b) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath
Core
8 to 9mm
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid
a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as
it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires
together.
Cable size Bar terminal type
[mm2] AWG For 1 cable (Note 1) For 2 cable
Crimping tool (Note 2)
1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK
Variocrimp 4 206-204
2/2.5 14 AI2.5-10BU
Note 1. Maker: Phoenix Contact
2. Maker: WAGO Japan
3 - 17
3. SIGNALS AND WIRING
(2) MR-J3-200A
MR-J3-350A
(a) Servo amplifier power supply connectors
Servo amplifier power supply connectors
Connector for CNP1
PC4/6-STF-7.62-CRWH
(phoenix contact)
<Applicable cable example>
Cable finish OD: to 5mm
Connector for CNP3
PC4/3-STF-7.62-CRWH
(phoenix contact)
<Applicable cable example>
Cable finish OD: to 3.8mm
Connector for CNP2
54927-0520 (Molex)
Servo amplifier
CNP1
CNP3
CNP2
(b) Termination of the cables
1) CNP1
CNP3
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath
7mm
Core
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid
a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as
it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires
together.
Cable size Bar terminal type
[mm2] AWG For 1 cable For 2 cables
1.25/
1.5
2.0/
2.5
3.5 12 AI4-10GY
16 AI1.5-8BK AI-TWIN2
14 AI2.5-8BU AI-TWIN2
1.5-8BK
2.5-10BU
Crimping tool Maker
CRIMPFOX-ZA3 Phoenix Contact
2) CNP2
CNP2 is the same as MR-J3-100A or smaller capacities. Refer to (1) (b) of this section.
3 - 18
3. SIGNALS AND WIRING
(3) MR-J3-200A4
MR-J3-350A4
(a) Servo amplifier power supply connectors
Servo amplifier power supply connectors
<Applicable cable example>
Cable finish OD: 4.1mm or less
Connector for CNP1
721-207/026-000(Plug)
(WAGO JAPAN)
Connector for CNP2
721-205/026-000(Plug)
(WAGO JAPAN)
Connector for CNP3
721-203/026-000(Plug)
(WAGO JAPAN)
Servo amplifier
CNP1
CNP2
CNP3
(b) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath
Core
8 to 9mm
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid
a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as
it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires
together.
Cable size Bar terminal type
[mm2] AWG For 1 cable (Note 1) For 2 cable
1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK
2/2.5 14 AI2.5-10BU
Note 1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO JAPAN
Crimping tool (Note 2)
Variocrimp 4 206-204
3 - 19
3. SIGNALS AND WIRING
(4) Insertion of cable into Molex and WAGO JAPAN connectors
Insertion of cable into 54928-0610, 54927-0510, 54928 (Molex) connectors and 721-207/026-000, 721-205/
026-000 and 721-203/026-000 (WAGO JAPAN) connectors are as follows.
The following explains for Molex, however use the same procedures for inserting WAGO JAPAN
connectors as well.
POINT
It may be difficult for a cable to be inserted to the connector depending on
wire size or bar terminal configuration. In this case, change the wire type or
correct it in order to prevent the end of bar terminal from widening, and then
insert it.
How to connect a cable to the servo amplifier power supply connector is shown below.
(a) When using the supplied cable connection lever
1) The servo amplifier is packed with the cable connection lever.
a) 54932-0000 (Molex)
[Unit: mm]
20.6
10
Approx. 3 4.9
7.7
4.7
b) 231-131 (WAGO JAPAN)
1.3
1.5
3.46.5
Approx. 4.9
MXJ
54932
Approx. 7.7
Approx.3.4
[Unit: mm]
3.4
4.9
20.3
10
3
7.6
16
17.5
6.5
3 - 20
3. SIGNALS AND WIRING
2) Cable connection procedure
Cable connection lever
1) Attach the cable connection lever to the housing.
(Detachable)
2) Push the cable connection lever in the direction
of arrow.
3) Hold down the cable connection lever and insert
the cable in the direction of arrow.
4) Release the cable connection lever.
3 - 21
A
3. SIGNALS AND WIRING
(b) Inserting the cable into the connector
1) Applicable flat-blade screwdriver dimensions
Always use the screwdriver shown here to do the work.
pprox.R0.3
0.6
Approx.R0.3
Approx.22
[Unit: mm]
3
3 to 3.5
2) When using the flat-blade screwdriver - part 1
1) Insert the screwdriver into the square hole.
Insert it along the top of the square hole to insert it smoothly.
2) If inserted properly, the screwdriver is held.
3) With the screwdriver held, insert the cable in the direction
of arrow. (Insert the cable as far as it will go.)
4) Releasing the screwdriver connects the cable.
3 - 22
3. SIGNALS AND WIRING
3) When using the flat-blade screwdriver - part 2
1) Insert the screwdriver into the
square window at top of the
connector.
4) Releasing the screwdriver connects the cable.
2) Push the screwdriver in the
direction of arrow.
3) With the screwdriver pushed, insert the cable in the
direction of arrow. (Insert the cable as far as it will go.)
(5) How to insert the cable into PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH connector
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the
cable does not come off. (Tightening torque: 0.5 to 0.6N m(4.425 to 5.31 lb in)) Before inserting the cable
into the opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm
2
or less, two cables may be inserted into one opening.
Cable
Opening
To loosen.
Servo amplifier
power supply connector
To tighten.
Flat-blade screwdriver SZS 0.6 3.5
(phoenix contact)
3 - 23
3. SIGNALS AND WIRING
3.4 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable connector
wiring section.
Refer to (2) of this section for CN1 signal assignment.
(1) Signal arrangement
The servo amplifier front view shown is that of the MR-J3-20A or less. Refer to chapter 10 Outline Drawings
for the appearances and connector layouts of the other servo amplifiers.
CN2
4
MRR
2
LG
1
P5
MR
8
MDR
6
3
10
5
MD
9
BAT
7
The 3M make connector is shown.
When using any other connector,
refer to section 12.1.2.
CN5 (USB connector)
Refer to section 12.8.
L1
2
L
L3
N
P
1
P2
P
C
D
L
11
L21
U
V
W
CN5
CN6CN3CN1CN2
The frames of the CN1 connectors is
connected to the PE (earth) terminal
in the amplifier.
CN3 (RS-422 connector)
Refer to section 13.1.
CN6
3
MO1
2
MO2
1
LG
2
4
6
8
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25 50
CN1
1
3
5
7
9
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
3 - 24
3. SIGNALS AND WIRING
(2) CN1 signal assignment
The signal assignment of connector changes with the control mode as indicated below;
For the pins which are given parameter No.s in the related parameter column, their signals can be changed
using those parameters.
Pin No.
1 P15R P15R P15R P15R P15R P15R
2 I /VC VC VC/VLA VLA VLA/
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/ /PP
11 I PG PG/ /PG
12 OPC OPC/ /OPC
13
14
15 I SON SON SON SON SON SON PD03
16 I /SP2 SP2 SP2/SP2 SP2 SP2/ PD04
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD05
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD06
19 I RES RES RES RES RES RES PD07
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22 O INP INP/SA SA SA/ /INP PD13
23 O ZSP ZSP ZSP ZSP ZSP ZSP PD14
24 O INP INP/SA SA SA/ /INP PD15
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD16
26
27 I TLA
28 LG LG LG LG LG LG
29
30 LG LG LG LG LG LG
31
32
33 O OP OP OP OP OP OP
34 LG LG LG LG LG LG
35 I NP NP/ /NP
36 I NG NG/ /NG
37
38
39
40
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD08
42 I EMG EMG EMG EMG EMG EMG
43 I LSP LSP LSP LSP/ /LSP PD10
44 I LSN LSN LSN LSN/ /LSN PD11
45 I LOP LOP LOP LOP LOP LOP PD12
(Note 1)
I/O
P P/S S S/T T T/P
(Note 2) I/O Signals in Control Modes
(Note 3)
TLA
(Note 3)
TLA
(Note 3)
TLA/TC
Related
Parameter No.
TC TC/TLA
3 - 25
3. SIGNALS AND WIRING
Pin No.
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD PD18
50
Note 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control changeover mode,
S/T: Speed/torque control changeover mode, T/P: Torque/position control changeover mode
3. TLA can be used when TL is made usable by setting the parameter No. PD03 to PD08/PD10 to PD12.
(Note 1)
I/O
P P/S S S/T T T/P
(Note 2) I/O Signals in Control Modes
Related
Parameter No.
(3) Explanation of abbreviations
Abbreviation Signal Name Abbreviation Signal Name
SON Servo-on TLC Limiting torque
LSP Forward rotation stroke end VLC Limiting speed
LSN Reverse rotation stroke end RD Ready
CR Clear ZSP Zero speed
SP1 Speed selection 1 INP In-position
SP2 Speed selection 2 SA Speed reached
PC Proportion control ALM Trouble
ST1 Forward rotation start WNG Warning
ST2 Reverse rotation start BWNG Battery warning
TL Torque limit selection OP Encoder Z-phase pulse (open collector)
RES Reset MBR Electromagnetic brake interlock
EMG Emergency stop LZ
LOP Control selection LZR
VC Analog speed command LA
VLA Analog speed limit LAR
TLA Analog torque limit LB
TC Analog torque command LBR
RS1 Forward rotation selection DICOM Digital I/F power supply input
RS2 Reverse rotation selection OPC Open collector power input
PP DOCOM Digital I/F common
NP P15R 15VDC power supply
PG LG Control common
NG
Forward/reverse rotation pulse train
SD Shield
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
3 - 26
3. SIGNALS AND WIRING
3.5 Signal explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status.
: Denotes that the signal may be used by setting the corresponding parameter No. PD03 to PD08, PD10 to
PD12, PD13 to PD16, PD18.
The pin No.s in the connector pin No. column are those in the initial status.
(1) I/O devices
(a) Input devices
Connec-
Device Symbol
Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo
Reset RES CN1-19 Turn RES on for more than 50ms to reset the alarm.
Forward rotation
stroke end
Reverse rotation
stroke end
LSP CN1-43
LSN CN1-44
tor pin
No.
Functions/Applications
amplifier ready to operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor.
Set "
4 " in parameter No. PD01 to switch this signal on
(keep terminals connected) automatically in the servo
amplifier.
Some alarms cannot be deactivated by the reset (RES). Refer to
section 9.1.
Turning RES on in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when "
No. PD20.
This signal is not designed to make a stop. Do not turn it ON during
operation.
To start operation, turn LSP/LSN on. Turn it off to bring the motor to
a sudden stop and make it servo-locked.
Set "
1 " in parameter No. PD20 to make a slow stop.
(Refer to section 5.4.3.)
(Note) Input signals Operation
LSP LSN
1 1
0 1
1 0
0 0
Note. 0: off
1: on
Set parameter No. PD01 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier:
Parameter No. PD01
4 Automatic ON
8 Automatic ON
C Automatic ON Automatic ON
When LPS or LSN turns OFF, an external stroke limit warning (AL.
99) occurs, and Warning (WNG) turns OFF. However, when using
WNG, set the parameter No. PD13 to PD16/PD18 to make it usable.
CCW
direction
1 " is set in parameter
CW
direction
Status
LSP LSN
I/O
division
DI-1
DI-1
DI-1
Control
mode
PST
3 - 27
3. SIGNALS AND WIRING
Connec-
Device Symbol
External torque
limit selection
Internal
torque limit
selection
Forward rotation
start
Reverse rotation
start
Forward rotation
selection
Reverse rotation
selection
TL1 When using this signal, make it usable by making the setting of
ST1 CN1-17
ST2 CN1-18
RS1 CN1-18
RS2 CN1-17
tor pin
No.
TL CN1-18 Turn TL off to make Forward torque limit (parameter No. PA11) and
Functions/Applications
Reverse torque limit (parameter No. PA12) valid, or turn it on to
make Analog torque limit (TLA) valid.
For details, refer to section 3.6.1 (5).
parameter No. PD03 to PD08, PD10 to PD12.
For details, refer to section 3.6.1 (5).
Used to start the servo motor in any of the following directions:
(Note) Input signals
ST2 ST1
0 0 Stop (servo lock)
0 1 CCW
1 0 CW
1 1 Stop (servo lock)
Note. 0: off
1: on
If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the parameter
No. PC02 setting and servo-locked.
When "
servo-locked after deceleration to a stop.
Used to select any of the following servo motor torque generation
directions:
(Note) Input signals
RS2 RS1
0 0 Torque is not generated.
1 1 Torque is not generated.
1 " is set in parameter No. PC23, the servo motor is not
0 1
1 0
Note. 0: off
1: on
Servo motor starting direction
Torque generation direction
Forward rotation in driving mode / reverse
rotation in regenerative mode
Reverse rotation in driving mode / forward
rotation in regenerative mode
division
DI-1
DI-1
DI-1
DI-1
I/O
Control
mode
PST
3 - 28
3. SIGNALS AND WIRING
Connec-
Device Symbol
Speed selection 1 SP1 CN1-41 <Speed control mode>
Speed selection 2 SP2 CN1-16
Speed selection 3 SP3
tor pin
No.
Used to select the command speed for operation.
When using SP3, make it usable by making the setting of parameter
No. PD03 to PD08, PD10 to PD12.
(Note) Input
signals
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
0 0 1
0 1 0
0 1 1
1 0 0
1 0 1
1 1 0
1 1 1
Note. 0: off
1: on
<Torque control mode>
Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of parameter
No. PD03 to PD08, PD10 to PD12.
(Note) Input
signals
SP3 SP2 SP1
0 0 0 Analog speed limit (VLA)
0 0 1 Internal speed limit 1 (parameter No. PC05)
0 1 0 Internal speed limit 2 (parameter No. PC06)
0 1 1 Internal speed limit 3 (parameter No. PC07)
1 0 0 Internal speed limit 4 (parameter No. PC08)
1 0 1 Internal speed limit 5 (parameter No. PC09)
1 1 0 Internal speed limit 6 (parameter No. PC10)
1 1 1 Internal speed limit 7 (parameter No. PC11)
Note. 0: off
1: on
Functions/Applications
Speed command
Internal speed command 1 (parameter No. PC05)
Internal speed command 2 (parameter No. PC06)
Internal speed command 3 (parameter No. PC07)
Internal speed command 4 (parameter No. PC08)
Internal speed command 5 (parameter No. PC09)
Internal speed command 6 (parameter No. PC10)
Internal speed command 7 (parameter No. PC11)
Speed limit
division
I/O
DI-1
DI-1
DI-1
Control
mode
P S T
3 - 29
3. SIGNALS AND WIRING
Connec-
Device Symbol
Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional
Emergency stop EMG CN1-42 Turn EMG off (open between commons) to bring the motor to an
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulses on its
Electronic gear
selection 1
Electronic gear
selection 2
Gain changing CDP When using this signal, make it usable by the setting of parameter
CM1 When using CM1 and CM2, make them usable by the setting of
CM2
tor pin
No.
integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position shift.
When the servo motor shaft is to be locked mechanically after
positioning completion (stop), switching on the proportion control
(PC) upon positioning completion will suppress the unnecessary
torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control (PC) and torque control (TL) at the same time to
make the torque less than the rated by the analog torque limit.
emergency stop state, in which the base circuit is shut off and the
dynamic brake is operated.Turn EMG on (short between commons)
in the emergency stop state to reset that state.
leading edge. The pulse width should be 10ms or more.
The delay amount set in parameter No. PB03 (position command
acceleration/deceleration time constant) is also cleared.When the
parameter No. PD22 setting is "
cleared while CR is on.
parameters No. PD03 to PD08, PD10 to PD12.
The combination of CM1 and CM2 gives you a choice of four
different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.
(Note) Input signals
CM2 CM1
0 0 Parameter No. PA06
0 1 Parameter No. PC32
1 0 Parameter No. PC33
1 1 Parameter No. PC34
Note. 0: off
1: on
No. PD03 to PD08, PD10 to PD12.
Turn CDP on to change the load inertia moment ratio and gain
values into the parameter No. PB29 to PB32 values.
Functions/Applications
1 ", the pulses are always
Electronic gear molecule
I/O
division
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
Control
mode
PST
3 - 30
3. SIGNALS AND WIRING
Connec-
Device Symbol
Control change LOP CN1-45
Second
acceleration/decel
eration selection
ABS transfer
mode
ABS request ABSR CN1-18 ABS request device.
STAB2
ABSM CN1-17 ABS transfer mode request device.
tor pin
No.
<Position/speed control change mode>
Used to select the control mode in the position/speed control change
mode.
(Note) LOP Control mode
0 Position
1 Speed
Note. 0: off
1: on
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.
(Note) LOP Control mode
0 Speed
1 Torque
Note. 0: off
1: on
<Torque/position control mode>
Used to select the control mode in the torque/position control change
mode.
(Note) LOP Control mode
0 Torque
1 Position
Note. 0: off
1: on
When using this signal, set the parameter No. PD03 to PD08/PD10
to PD12 to make it usable.
This signal allows selection of the acceleration/deceleration time
constant at servo motor rotation in the speed control mode or torque
control mode. The S-pattern acceleration/deceleration time constant
is always uniform.
(Note) STAB2 Acceleration/deceleration time constant
0
1
Note. 0: off
1: on
The CN1-17 pin acts as ABSM only during absolute position data
transfer. (Refer to chapter 14.)
The CN1-18 pin acts as ABSR only during absolute position data
transfer. (Refer to chapter 14.)
Functions/Applications
Acceleration time constant
(parameter No. PC10)
Deceleration time constant
(parameter No. PC11)
Acceleration time constant 2
(parameter No. PC30)
Deceleration time constant 2
(parameter No. PC31)
I/O
division
DI-1
DI-1
DI-1
DI-1
Control
mode
PST
Refer to
Functions/
Appli-
cations.
3 - 31
3. SIGNALS AND WIRING
(b) Output devices
Connec-
Device Symbol
Trouble ALM CN1-48 ALM turns off when power is switched off or the protective circuit is
Dynamic brake
interlock
Ready RD CN1-49 RD turns on when the servo is switched on and the servo amplifier is
In position INP INP turns on when the number of droop pulses is in the preset in-
Speed reached SA
Limiting speed VLC VLC turns on when speed reaches the value limited using any of the
Limiting torque TLC
tor pin
No.
activated to shut off the base circuit.Without alarm occurring, ALM
turns on within 1.5s after power-on.
DB When using the signal, make it usable by the setting of parameter
No.PD13 to PD18.
DB turns off simultaneously when the dynamic brake is operated.
When using the external dynamic brake on the servo amplifier of 11
kW or more, this device is required. (Refer to section 12.6)
For the servo amplifier of 7kw or less, it is not necessary to use this
device.
ready to operate.
CN1-24
position range. The in-position range can be changed using
parameter No. PA10.
When the in-position range is increased, may be kept connected
during low-speed rotation.
INP turns on when servo on turns on.
SA turns off when servo on (SON) turns off or the servomotor speed
has not reached the preset speed with both forward rotation start
(ST1) and reverse rotation start (ST2) turned off. SA turns on when
the servomotor speed has nearly reached the preset speed. When
the preset speed is 20r/min or less, SA always turns on.
CN1-25
internal speed limits 1 to 7 (parameter No. PC05 to PC11) or the
analog speed limit (VLA) in the torque control mode. VLC turns off
when servo on (SON) turns off.
TLC turns on when the torque generated reaches the value set to the
Forward torque limit (parameter No. PA11), Reverse torque limit
(parameter No. PA12) or analog torque limit (TLA).
Functions/Applications
I/O
division
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
Control
mode
PST
3 - 32
3. SIGNALS AND WIRING
Connec-
Device Symbol
Zero speed ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or
tor pin
No.
Functions/Applications
less. Zero speed can be changed using parameter No. PC17.
Example
Zero speed is 50r/min
I/O
division
DO-1
Control
mode
PST
Forward
rotation
direction
Servo motor
speed
Reverse
rotation
direction
zero speed
(ZSP)
OFF level
70r/min
ON level
50r/min
0r/min
ON level
50r/min
OFF level
70r/min
ON
OFF
1)
3)
2)
4)
20r/min
(Hysteresis width)
Parameter
No. PC17
Parameter
No. PC17
20r/min
(Hysteresis width)
ZSP turns on 1) when the servo motor is decelerated to 50r/min, and
ZSP turns off 2) when the servo motor is accelerated to 70r/min
again.
ZSP turns on 3) when the servo motor is decelerated again to
50r/min, and turns off 4) when the servo motor speed has reached Â70r/min.
The range from the point when the servo motor speed has reached
ON level, and ZSP turns on, to the point when it is accelerated again
and has reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for the MR-J3-A servo amplifier.
Electromagnetic
brake interlock
MBR
Set the parameter No. PD13 to PD16/PD18 or parameter No. PA04
to make this signal usable. Note that ZSP will be unusable.
MBR turns off when the servo is switched off or an alarm occurs.
Warning WNG To use this signal, assign the connector pin for output using
parameter No. PD13 to PD16, PD18. The old signal before
assignment will be unusable.
When warning has occurred, WNG turns on. When there is no
warning, WNG turns off within about 1.5s after power-on.
Battery warning BWNG To use this signal, assign the connector pin for output using
parameter No. PD13 to PD16, PD18. The old signal before
assignment will be unusable.
BWNG turns on when battery cable breakage warning (AL. 92) or
battery warning (AL. 9F) has occurred.
When there is no battery warning, BWNG turns off within about 1.5s
after power-on.
DO-1
DO-1
DO-1
3 - 33
3. SIGNALS AND WIRING
Connec-
Signal Symbol
Alarm code
Variable gain
selection
Absolute position
erasing
ABS transmission
data bit 0
ABS transmission
data bit 1
ABS transmission
data ready
ACD 0 CN1-24
ACD 1 CN1-23
ACD 2 CN1-22
(Note) Alarm code
CN1-
88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error
AL.19 Memory error 3
AL.37 Parameter error
AL.30 Regenerative error
0 1 0 AL.10 Undervoltage
AL.45 Main circuit device overheat
AL.50 Overload 1
AL.24 Main circuit error
AL.31 Overspeed
AL.16 Encoder error 1
AL.1A Monitor combination error
AL.20 Encoder error 2
Note. 0: off
ABSB0 CN1-22 Outputs ABS transmission data bit 0. CN1-22 acts as ABSB0 only
ABSB1 CN1-23 Outputs ABS transmission data bit 1. CN1-23 acts as ABSB1 only
CDPS CDPS is on during gain changing. DO-1
ABSV ABSV turns on when the absolute position is erased. DO-1
ABST CN1-25 Outputs ABS transmission data ready. CN1-25 acts as ABST only
tor pin
No.
Functions/Applications
To use this signal, set "
This signal is output when an alarm occurs. When there is no alarm,
respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below:
CN1-
22
23
0 0 0
0 0 1
0 1 1
1 0 0
1 0 1
1 1 0
1: on
during ABS transmission data transmission. (Refer to chapter 14.)
during ABS transmission data transmission. (Refer to chapter 14.)
during ABS transmission data transmission. (Refer to chapter 14.)
1 " in parameter No. PD24.
CN1-
Alarm
display
24
AL.8A
AL.8E Serial communication error
AL.33 Overvoltage
AL.46 Servo motor overheat
AL.47 Cooling fan alarm
AL.51 Overload 2
AL.32 Overcurrent
AL.35
AL.52 Error excessive
AL.25 Absolute position erase
Serial communication
timeout
Command pulse frequency
alarm
Name
division
I/O
DO-1
DO-1
DO-1
DO-1
Control
mode
PST
3 - 34
3. SIGNALS AND WIRING
(2) Input signals
Connec-
Signal Symbol
Analog torque
limit
Analog torque
command
Analog speed
command
Analog speed limit VLA
Forward rotation
pulse train
Reverse rotation
pulse train
TLA To use this signal in the speed control mode, set any of parameters
tor pin
No.
CN1-27
No. PD13 to PD16, PD18 to make TL available.
When the analog torque limit (TLA) is valid, torque is limited in the
full servo motor output torque range. Apply 0 to
LG. Connect the positive terminal of the power supply to TLA.
Maximum torque is generated at
Resolution:10bit
TC
CN1-2
VC Apply 0 to 10VDC across VC-LG. Speed set in parameter No. PC12
CN1-10
PP
CN1-35
NP
CN1-11
PG
CN1-36
NG
Used to control torque in the full servo motor output torque range.
Apply 0 to
8V. (Refer to section 3.6.3 (1).)
The torque at
is provided at
Resolution:14bit or equivalent
Apply 0 to 10VDC across VLA-LG. Speed set in parameter No.
PC12 is provided at
Used to enter a command pulse train.
In the open collector system (max. input frequency 200kpps):
Forward rotation pulse train across PP-DOCOM
Reverse rotation pulse train across NP-DOCOM
In the differential receiver system (max. input frequency 1Mpps):
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using
parameter No. PA13.
8VDC across TC-LG. Maximum torque is generated at
Functions/Applications
10VDC across TLA-
10V. (Refer to section 3.6.1 (5).)
8V input can be changed using parameter No. PC13.
10V. (Refer to section 3.6.2 (1).)
10V (Refer to section 3.6.3 (3).).
(3) Output signals
Connect
Signal Symbol
Encoder Z-phase
pulse
(Open collector)
Encoder A-phase
pulse
(Differential line
driver)
Encoder B-phase
pulse
(Differential line
driver)
Encoder Z-phase
pulse
(Differential line
driver)
Analog monitor 1 MO1 CN6-3 Used to output the data set in parameter No. PC14 to across MO1-
Analog monitor 2 MO2 CN6-2 Used to output the data set in parameter No. PC15 to across MO2-
OP CN1-33 Outputs the zero-point signal of the encoder. One pulse is output per
LA
LAR
LB
LBR
LZ
LZR
or pin
No.
CN1-4
CN1-5
CN1-6
CN1-7
CN1-8
CN1-9
servo motor revolution. OP turns on when the zero-point position is
reached. (Negative logic)
The minimum pulse width is about 400
using this pulse, set the creep speed to 100r/min. or less.
Outputs pulses per servo motor revolution set in parameter No. PA15
in the differential line driver system. In CCW rotation of the servo
motor, the encoder B-phase pulse lags the encoder A-phase pulse
by a phase angle of
The relationships between rotation direction and phase difference of
the A- and B-phase pulses can be changed using parameter No.
PC19.
The same signal as OP is output in the differential line driver system. DO-2
LG in terms of voltage. Resolution 10 bits
LG in terms of voltage. Resolution 10 bits
Functions/Applications
s. For home position return
/2.
I/O
division
Analog
input
Analog
input
Analog
input
Analog
input
DI-2
I/O
division
DO-2
DO-2
Analog
output
Analog
output
Control
mode
PST
Control
mode
PST
3 - 35
3. SIGNALS AND WIRING
(4) Communication
POINT
Refer to chapter 13 for the communication function.
Connec-
Signal Symbol
RS-422 I/F SDP
SDN
RDP
RDN
tor pin
No.
CN3-5
CN3-4
CN3-3
CN3-6
Terminals for RS-422 communication. (Refer to chapter 13.)
Functions/Applications
(5) Power supply
Connec-
Signal Symbol
Digital I/F power
supply input
Open collector
power input
Digital I/F
common
15VDC power
supply
Control common LG CN1-3
Shield SD Plate Connect the external conductor of the shield cable.
DICOM CN1-20
OPC CN1-12 When inputting a pulse train in the open collector system, supply
DOCOM CN1-46
P15R CN1-1 Outputs 15VDC to across P15R-LG. Available as power for TC,
tor pin
No.
CN1-21
CN1-47
CN1-28
CN1-30
CN1-34
CN3-1
CN3-7
CN6-1
Used to input 24VDC (300mA) for I/O interface. The power supply
capacity changes depending on the number of I/O interface points to
be used.
Connect the positive terminal of the 24VDC external power supply.
24VDC
this terminal with the positive (
Common terminal for input signals such as SON and EMG. Pins are
connected internally.
Separated from LG.
TLA, VC, VLA.
Permissible current: 30mA
Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1, MO2
and P15R.
Pins are connected internally.
10%
Functions/Applications I/O division
) power of 24VDC.
division
I/O
Control
mode
PST
Control
mode
PST
3 - 36
3. SIGNALS AND WIRING
3.6 Detailed description of the signals
3.6.1 Position control mode
(1) Pulse train input
(a) Input pulse waveform selection
Command pulses may be input in any of three different forms, for which positive or negative logic can
be chosen. Set the command pulse train form in parameter No. PA13. Refer to section 5.1.10 for
details.
(b) Connections and waveforms
1) Open collector system
Connect as shown below:
Servo amplifier
24VDC
OPC
DOCOM
PP
NP
SD
Approx.
1.2k
Approx.
1.2k
The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No. PA13 has been set to 0010). Their relationships with
transistor ON/OFF are as follows:
Forward rotation
pulse train
(transistor)
Reverse rotation
pulse train
(transistor)
Forward rotation command Reverse rotation command
(ON)(OFF)
(OFF)
(ON)(OFF)
(ON) (OFF) (ON) (OFF) (ON)
(OFF)
3 - 37
A
3. SIGNALS AND WIRING
2) Differential line driver system
Connect as shown below:
The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No. PA13 has been set to 0010).
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.
Servo amplifier
Approx.
100
PP
PG
(Note)
NP
NG
SD
Approx.
100
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation command Reverse rotation command
(2) In-position (INP)
INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range (parameter No. PA10). INP turns on when low-speed operation is performed with a large value set as
the in-position range.
Servo-on (SON)
larm
ON
OFF
Yes
No
Droop pulses
In position (INP)
ON
OFF
In-position range
3 - 38
3. SIGNALS AND WIRING
(3) Ready (RD)
Servo-on (SON)
ON
OFF
Alarm
Ready (RD)
Yes
No
ON
OFF
100ms or less 10ms or less 10ms or less
(4) Electronic gear switching
The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the
parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if any
shock occurs at this change, use position smoothing (parameter No. PB03) to relieve shock.
(Note) External input signal
CM2
0
0
1
1
Note. 0: off
1: on
CM1
0 Parameter No. PA06
1 Parameter No. PC32
0 Parameter No. PC33
1 Parameter No. PC34
Electronic gear molecule
(5) Torque limit
CAUTION
If the torque limit is canceled during servo lock, the servomotor may suddenly
rotate according to position deviation in respect to the command position.
(a) Torque limit and torque
By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit),
torque is always limited to the maximum value during operation. A relationship between the limit value
and servo motor torque is shown below.
CW direction Max. torque CCW direction
Torque
[%]
Torque limit value in
parameter No. PA12
0 100100
Torque limit value in
parameter No. PA11
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of
the servo motor is shown below. Torque limit values will vary about 5% relative to the voltage depending
on products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore, use
this function at the voltage of 0.05V or more.
100
5%
Torque limit value [%]
0
010
0.05
TLA application voltage [V]
TLA application voltage vs.
torque limit value
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
2k
Japan resistor
RRS10 or equivalent
2k
Servo amplifier
(Note)
TL
DOCOM
P15R
TLA
LG
SD
3 - 39
3. SIGNALS AND WIRING
(b) Torque limit value selection
As shown below, the forward torque limit (parameter No. PA11), or reverse torque limit (parameter No.
PA12) and the analog torque limit (TLA) can be chosen using the external torque limit selection (TL).
When internal torque limit selection (TL1) is made usable by parameter No. PD03 to PD08, PD10 to
PD12, internal torque limit 2 (parameter No. PC35) can be selected. However, if the parameter No.
PA11 and parameter No. PA12 value is less than the limit value selected by TL/TL1, the parameter No.
PA11 and parameter No. PA12 value is made valid.
(Note) External Input Signals Validated Torque Limit Values
TL1 TL
0 0 Parameter No. PA11 Parameter No. PA12
0 1
1 0
1 1
Note. 0: off
1: on
(c) Limiting torque (TLC)
TLC turns on when the servo motor torque reaches the torque limited using the forward torque limit,
reverse torque limit or analog torque limit.
Limit Value Status
TLA
TLA
Parameter No. PC35
Parameter No. PC35
TLA Parameter No. PC35 Parameter No. PC35 Parameter No. PC35
TLA
Parameter No. PA11
Parameter No. PA12
Parameter No. PA11
Parameter No. PA12
Parameter No. PA11
Parameter No. PA12
Parameter No. PA11
Parameter No. PA12
Parameter No. PC35 TLA TLA
CCW driving/CW
regeneration
Parameter No. PA11 Parameter No. PA12
TLA TLA
Parameter No. PA11 Parameter No. PA12
Parameter No. PC35 Parameter No. PC35
CW driving/CCW
regeneration
3 - 40
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3. SIGNALS AND WIRING
3.6.2 Speed control mode
(1) Speed setting
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of
the analog speed command (VC). A relationship between the analog speed command (VC) applied
voltage and the servo motor speed is shown below:
The maximum speed is achieved at
PC12.
10V. The speed at 10V can be changed using parameter No.
Speed[r/min]
-10
CW direction
Rated speed [r/min]
CCW direction
0+10
VC applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the rotation direction according to forward rotation start (ST1) and reverse
rotation start (ST2) combination:
(Note 1) External input signals (Note 2) Rotation direction
ST2 ST1
0 0
0 1 CCW CW CCW
1 0 CW
1 1
Note 1. 0: off
1: on
2. If the torque limit is canceled during servo lock, the servomotor may suddenly rotate according to position deviation in respect to
the command position.
Polarity 0V Polarity
Stop
(Servo lock)
Stop
(Servo lock)
Analog speed command (VC)
Stop
(Servo lock)
Stop
(No servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
CCW CW
Stop
(Servo lock)
Internal speed
commands
Stop
(Servo lock)
Stop
(Servo lock)
Generally, make connection as shown below:
Servo amplifie
ST1
(Note)
ST2
DOCOM
2k
Japan resistor
RRS10 or equivalent
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
2k
P15R
VC
LG
SD
3 - 41
3. SIGNALS AND WIRING
(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1
(SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
SP2 SP1
0 0 Analog speed command (VC)
0 1 Internal speed command 1 (parameter No. PC05)
1 0 Internal speed command 2 (parameter No. PC06)
1 1 Internal speed command 3 (parameter No. PC07)
Note. 0: off
1: on
Speed command value
By making speed selection 3 (SP3) usable by setting of parameter No.PD03 to PD08/PD10 to PD12,
you can choose the speed command values of analog speed command (VC) and internal speed
commands 1 to 7.
(Note) External input signals
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
0 0 1 Internal speed command 1 (parameter No. PC05)
0 1 0 Internal speed command 2 (parameter No. PC06)
0 1 1 Internal speed command 3 (parameter No. PC07)
1 0 0 Internal speed command 4 (parameter No. PC08)
1 0 1 Internal speed command 5 (parameter No. PC09)
1 1 0 Internal speed command 6 (parameter No. PC10)
1 1 1 Internal speed command 7 (parameter No. PC11)
Note. 0: off
1: on
Speed command value
The speed may be changed during rotation. In this case, the values set in parameters No. PC10, PC11
and 12 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.
(2) Speed reached (SA)
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command
or analog speed command.
Internal speed
Set speed selection
Internal speed
command 1
command 2
(3) Torque limit
As in section 3.6.1 (5).
Start (ST1,ST2)
Servo motor speed
Speed reached (SA)
ON
OFF
ON
OFF
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r
3. SIGNALS AND WIRING
3.6.3 Torque control mode
(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by the
servo motor is shown below.
The maximum torque is generated at
parameter No. PC13.
8V. Note that the torque at 8V input can be changed with
Rated speed [r/min]
Speed[r/min]
-10
CW direction
0+10
VC applied voltage [V]
Rated speed
CCW direction
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low (
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals Rotation direction
RS2 RS1
0 0 Torque is not generated. Torque is not generated.
CCW (reverse rotation in
0 1
1 0
1 1 Torque is not generated.
Note. 0: off
1: on
driving mode/forward
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
Polarity 0V Polarity
Generally, make connection as shown below:
Forward rotation (CCW)
Reverse rotation (CW)
0.05 to 0.05V) and the actual speed is close to the
Torque control command (TC)
CW (forward rotation in
driving mode/reverse rotation
Torque is not
generated.
Servo amplifie
in regenerative mode)
CCW (reverse rotation in
driving mode/forward rotation
in regenerative mode)
Torque is not generated.
RS1
(Note)
RS2
DOCOM
8 to 8V
TC
LG
SD
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 43
r
3. SIGNALS AND WIRING
(b) Analog torque command offset
Using parameter No. PC38, the offset voltage of
voltage as shown below.
Max. torque
Generated torque
999 to 999mV can be added to the TC applied
Parameter No. PC38 offset range
999 to 999mV
0
TC applied voltage [V]
8( 8)
(2) Torque limit
By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque
is always limited to the maximum value during operation. A relationship between limit value and servo
motor torque is as in section 3.6.1 (5). Note that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No. PC05 to PC11 (internal speed limits 1 to 7) or
the value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable. Make
the set value more than 100r/min greater than the desired speed limit value.
Speed[r/min]
-10
CW direction
Rated speed [r/min]
CCW direction
0+10
VC applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the limit direction according to forward rotation selection (RS1) and reverse
rotation selection (RS2) combination:
(Note) External input signals Speed limit direction
Internal speed
commands
RS1 RS2
1 0 CCW CW CCW
0 1 CW CCW CW
Note. 0: off
1: on
Analog speed limit (VLA)
Polarity Polarity
Generally, make connection as shown below:
Servo amplifie
SP1
(Note)
SP2
DOCOM
2k
Japan resistor
RRS10 or equivalent
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
2k
P15R
VLA
LG
SD
3 - 44
3. SIGNALS AND WIRING
(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection
1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed
limit command (VLA), as indicated below.
(Note) Input signals
SP3 SP2 SP1
0 0 0 Analog speed limit (VLA)
0 0 1 Internal speed limit 1 (parameter No. PC05)
0 1 0 Internal speed limit 2 (parameter No. PC06)
0 1 1 Internal speed limit 3 (parameter No. PC07)
1 0 0 Internal speed limit 4 (parameter No. PC08)
1 0 1 Internal speed limit 5 (parameter No. PC09)
1 1 0 Internal speed limit 6 (parameter No. PC10)
1 1 1 Internal speed limit 7 (parameter No. PC11)
Note. 0: off
1: on
Speed limit value
When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with
the ambient temperature.
(c) Limiting speed (VLC)
VLC turns on when the servo motor speed reaches the speed limited using any of the internal speed
limits 1 to 7 or the analog speed limit (VLA).
3 - 45
3. SIGNALS AND WIRING
3.6.4 Position/speed control change mode
Set "
1 " in parameter No. PA01 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode from
an external contact. Relationships between LOP and control modes are indicated below:
(Note) LOP Servo control mode
0 Position control mode
1 Speed control mode
Note. 0: off
1: on
The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo
motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced
to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below:
Servo motor speed
Position
control mode
Zero speed
level
Speed
control mode
Position
control mode
Zero speed (ZSP)
Control change (LOP)
Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot be changed.
(2) Torque limit in position control mode
As in section 3.6.1 (5).
ON
OFF
ON
OFF
(Note)(Note)
3 - 46
3. SIGNALS AND WIRING
(3) Speed setting in speed control mode
(a) Speed command and speed
The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed
set in the applied voltage of the analog speed command (VC). A relationship between analog speed
command (VC) applied voltage and servo motor speed and the rotation directions determined by the
forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section 3.6.2.
Generally, make connection as shown below:
Servo amplifier
ST1
(Note)
ST2
DOCOM
2k
Japan resistor
RRS10 or equivalent
2k
P15R
VC
LG
SD
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1
(SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
SP2 SP1
0 0 Analog speed command (VC)
0 1 Internal speed command 1 (parameter No. PC05)
1 0 Internal speed command 2 (parameter No. PC06)
1 1 Internal speed command 3 (parameter No. PC07)
Note. 0: off
1: on
Speed command value
By making speed selection 3 (SP3) usable by setting of parameter No.PD03 to PD08/PD10 to PD12,
you can choose the speed command values of analog speed command (VC) and internal speed
commands 1 to 7.
(Note) External input signals
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
0 0 1 Internal speed command 1 (parameter No. PC05)
0 1 0 Internal speed command 2 (parameter No. PC06)
0 1 1 Internal speed command 3 (parameter No. PC07)
1 0 0 Internal speed command 4 (parameter No. PC08)
1 0 1 Internal speed command 5 (parameter No. PC09)
1 1 0 Internal speed command 6 (parameter No. PC10)
1 1 1 Internal speed command 7 (parameter No. PC11)
Note. 0: off
1: on
Speed command value
The speed may be changed during rotation. In this case, the values set in parameters No. PC01 and
PC02 are used for acceleration/deceleration.
When the internal speed command 1 is used to command the speed, the speed does not vary with the
ambient temperature.
(c) Speed reached (SA)
As in section 3.6.2 (2).
3 - 47
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