MR-J5-G/MR-J5W-G
Mitsubishi Electric AC Servo System
User's Manual
(Introduction)
-MR-J5-_G_
-MR-J5W_-_G
SAFETY INSTRUCTIONS
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in
medium or slight injury.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
(Please read the instructions carefully before using the equipment.)
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read
through this manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full
knowledge of the equipment, safety information and instructions.
In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into
"POINT".
After reading this guide, keep it accessible to the operator.
1
[Installation/wiring]
WARNING
● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring
and/or inspection.
● To prevent an electric shock, ground the servo amplifier.
● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
● To prevent an electric shock, mount the servo amplifier before wiring.
● To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the
symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
● To prevent an electric shock, do not touch the conductive parts.
[Setting/adjustment]
WARNING
● To prevent an electric shock, do not operate the switches with wet hands.
[Operation]
WARNING
● To prevent an electric shock, do not operate the switches with wet hands.
[Maintenance]
WARNING
● To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
● To prevent an electric shock, do not operate the switches with wet hands.
DISPOSAL OF WASTE
Please dispose this product, battery (primary battery) and other options according to your local laws and regulations.
2
ABOUT THE MANUAL
(3) Rotary Servo Motor User's Manual
(4) Linear Servo Motor User's Manual
(5) Direct Drive Motor User's Manual
(6) MR-J5 Partner Encoder
User's Manual
(7) MR-J5 User's Manual
(Function)
(9) MR-J5 User's Manual
(Adjustment)
(11) MR-J5 User's Manual
(Object Dictionary)
(12) MR-J5 User's Manual
(Troubleshooting)
The manual is necessary when installing the products,
wiring, using options, and the like.
The manual is necessary for operation of servo amplifiers.
The manual is necessary for adjustment of operation status.
The manual is necessary when looking up details of each
function.
(1) MR-J5-G/MR-J5W-G
User's Manual
(Introduction) (this manual)
(2) MR-J5 User's Manual
(Hardware)
(8) MR-J5 User's Manual
(Communication Function)
The manual is necessary for using communication functions.
(10) MR-J5-G/MR-J5W-G
User's Manual
(Parameters)
The manual is necessary for specifying the causes of alarms
and warnings.
Use this servo safely with preparation of the following related manuals as necessary if you use the servo for the first time.
No. Manual name Manual No.
(1) MR-J5-G/MR-J5W-G User's Manual (Introduction) SH(NA)030294ENG
(2) MR-J5 User's Manual (Hardware) SH(NA)030298ENG
(3) Rotary Servo Motor User's Manual (HK series) SH(NA)030314ENG
(4) Linear Servo Motor User's Manual SH(NA)030316ENG
(5) Direct Drive Motor User's Manual SH(NA)030318ENG
(6) MR-J5 Partner's Encoder User's Manual SH(NA)030320ENG
(7) MR-J5 User's Manual (Function) SH(NA)030300ENG
(8) MR-J5 User's Manual (Communication Function) SH(NA)030302ENG
(9) MR-J5 User's Manual (Adjustment) SH(NA)030306ENG
(10) MR-J5-G/MR-J5W-G User's Manual (Parameters) SH(NA)030308ENG
(11) MR-J5 User's Manual (Object Dictionary) SH(NA)030304ENG
(12) MR-J5 User's Manual (Troubleshooting) SH(NA)030312ENG
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
-4
kg•m2)] 5.4675 [oz•inch2]
3
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
CHAPTER 1 SPECIFICATIONS 6
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MR-J5W2-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-J5W3-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
MR-J5W_-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
CHAPTER 2 FUNCTION 16
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CHAPTER 3 STRUCTURE 24
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
CN1A/CN1B connector LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Display LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
CHAPTER 4 STARTUP 34
4.1 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 50
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.2 Parts having life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARD 53
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of
Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.4 Status of general-purpose AC servo products for compliance with the China RoHS directive . . . . . . . . 56
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
CONTENTS
5
1 SPECIFICATIONS
Precautions
CC-Link IE TSN authentication class
Serial number
Model
Capacity
Applicable power supply
Rated output
Standard, manual number
Ambient temperature
IP rating
KC certification number
The year and month of manufacture
Country of origin
• MR-J5-_G_-RJ will be available in the future.
• The use of MR Configurator2 via network will be available in the future.
1.1 Outline
MR-J5_-_G_ operates in the Ethernet open network (communication speed of up to 1 Gbps).
One MR-J5W_-_G servo amplifier can drive two or three servo motors. The footprint of one MR-J5W_-_G servo amplifier is
considerably smaller than that of two or three MR-J5-_G_ servo amplifiers.
Restrictions on using servo amplifiers
Item MR-J5-_G_ MR-J5W2-_G MR-J5W3-_G
Maximum PDO size Default size
Adaptive filter Available for one axis.
A/B-phase pulse output Not outputted if the communication
cycle is 62.5 μs.
1.2 Model designation
Not outputted if the communication
cycle is 125 μs.
Rating plate
The following shows an example of the rating plate for explanation of each item.
6
1 SPECIFICATIONS
1.1 Outline
Model
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
-RJ
MR - - 6 0 G J-RJ5
Special specification
Series
Symbol Special specification
Rated output
None Standard
Rated output [kW]
Symbol
Load-side encoder A/B/Z-phase input compatible
CC-Link IE TSN interface
22 0.2
44 0.4
77 0.75
1010 1
222 0.2
444 0.4
0.2
0.4
0.75
1
0.2
0.4
-
-
-
-
0.2
0.4
MR - - 4 4 GJ5W2
W2 2
W3 3
Series
Number of axes CC-Link IE TSN interface
Number
of axes
Rated output
Symbol
Rated output [kW]
Symbol
A-axis B-axis
C-axis
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
■MR-J5-_G_
■MR-J5W_-_G
1
1 SPECIFICATIONS
1.2 Model designation
7
1.3 Servo amplifier standard specifications
MR-J5-_G_
Model: MR-J5- 10G 20G 40G 60G 70G 100G 200G 350G
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current [A] 1.3 1.8 2.8 3.2 5.8 6.0 11.0 17.0
Main circuit power
supply input
Control circuit power
supply input
Interface power supply Voltage 24 V DC ±10 %
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle
Communication function USB Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
Compliance with global
standards
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20)
Close mounting
Mass [kg] 0.8 1.0 1.4 2.2
*2
Voltage/
Frequency
Rated current [A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity [kVA] Refer to "Power supply capacity and generated loss" in the following manual.
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Voltage/
Frequency
Rated current [A] 0.2
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power consumption [W] 30
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Current capacity [A] 0.3 (including CN8 connector signals)
Authentication class Class B
CE marking LVD: EN 61800-5-1, EMC: EN 61800-3 MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 61800-5-1
3-phase power supply input Possible
1-phase power supply input Possible Impossible
At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase or 1-phase
200 V AC to 240 V AC,
50 Hz/60 Hz
At DC input 283 V DC to 340 V DC
*3
At AC input 3-phase or 1-phase 170 V AC to 264 V AC 3-phase or 1-phase
At DC input 241 V DC to 374 V DC
At AC input 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC input 283 V DC to 340 V DC
At AC input 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
*5
0.9 1.5 2.6 3.2 3.8 5.0 10.5 16.0
170 V AC to 264 V AC
*4
Within ±5 %
MR-J5 User's Manual (Hardware)
following manual.
MR-J5 User's Manual (Hardware)
Within ±5 %
following manual.
MR-J5 User's Manual (Hardware)
*1
31.25 μs, 62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control error protection
*4
3-phase
200 V AC
to 240 V
AC, 50
Hz/60 Hz
3-phase
170 V AC
to 264 V
AC
8
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
*1 This value is 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 amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective
load ratio.
*3 This current value is applicable when a 3-phase power supply is used.
*4 If using 1-phase power supply in combination with the servo motor of 750 W or higher, operate the servo amplifier at 75 % or less of the
effective load ratio.
*5 The command communication cycle depends on the controller specifications and the number of the connected axes.
1
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
9
MR-J5W2-_G
Model: MR-J5W2- 22G 44G 77G 1010G
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current (each axis) [A] 1.8 2.8 5.8 6.0
Main circuit power
supply input
Control circuit power
supply input
Interface power supply Voltage 24 V DC ±10 %
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle
Communication function USB Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
Compliance with global
standards
Structure (IP rating) Natural cooling, open
Close mounting
Mass [kg] 1.5 1.9
*2
*1 This value is 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 amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective
load ratio.
*3 This current value is applicable when a 3-phase power supply is used.
*4 The command communication cycle depends on the controller specifications and the number of the connected axes.
Voltage/
Frequency
Rated current [A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity [kVA] Refer to "Power supply capacity and generated loss" in the following manual.
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Voltage/
Frequency
Rated current [A] 0.4
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power consumption [W] 55
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Current capacity [A] 0.35 (including CN8 connector signals)
Authentication class Class B
CE marking LVD: EN 61800-5-1, EMC: EN 61800-3 MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 61800-5-1
At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase 200 V AC to
240 V AC, 50 Hz/60
Hz
At DC input 283 V DC to 340 V DC
*3
At AC input 3-phase or 1-phase 170 V AC to 264 V AC 3-phase 170 V AC to
At DC input 241 V DC to 374 V DC
At AC input 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC input 283 V DC to 340 V DC
At AC input 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
*4
2.9 5.2 7.5 9.8
264 V AC
Within ±5 %
MR-J5 User's Manual (Hardware)
following manual.
MR-J5 User's Manual (Hardware)
Within ±5 %
following manual.
MR-J5 User's Manual (Hardware)
*1
62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control error protection
Force cooling, open (IP20)
(IP20)
Possible
10
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
MR-J5W3-_G
Model: MR-J5W3- 222G 444G
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current (each axis) [A] 1.8 2.8
Main circuit power
supply input
Control circuit power
supply input
Interface power supply Voltage 24 V DC ±10 %
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle
Communication function USB Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Available only on axes A and B (A/B-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
Compliance with global
standards
Structure (IP rating) Force cooling, open (IP20)
Close mounting
Mass [kg] 1.8
*2
Voltage/
Frequency
Rated current [A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity [kVA] Refer to "Power supply capacity and generated loss" in the following manual.
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Voltage/
Frequency
Rated current [A] 0.4
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power consumption [W] 55
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Current capacity [A] 0.45 (including CN8 connector signals)
Authentication class Class B
CE marking LVD: EN 61800-5-1, EMC: EN 61800-3 MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 61800-5-1
At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC input 283 V DC to 340 V DC
*3
At AC input 3-phase or 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
At AC input 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC input 283 V DC to 340 V DC
At AC input 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
*4
4.3 7.8
Within ±5 %
MR-J5 User's Manual (Hardware)
following manual.
MR-J5 User's Manual (Hardware)
Within ±5 %
following manual.
MR-J5 User's Manual (Hardware)
*1
125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control error protection
Possible
*1 This value is 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 amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective
load ratio.
*3 This current value is applicable when a 3-phase power supply is used.
*4 The command communication cycle depends on the controller specifications and the number of the connected axes.
1
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
11
Functional safety
• The functional safety is not available for MR-J5W_-_G servo amplifiers.
Item Specifications
Functional safety STO (IEC/EN 61800-5-2)
Safety performance Standards certified by CB EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
Response performance 8 ms or less (STO input off → energy shut off)
Test pulse input (STO)
Mean time to dangerous
failure (MTTFd)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous
Failure per Hour (PFH)
*1
*1 A test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-
diagnose.
Test pulse interval: 1 Hz to 25 Hz, test pulse off time: Up to 1 ms
MTTFd ≥ 100 [years] (314a)
-9
PFH = 6.4 × 10
[1/h]
Environment
Item Operation Transportation Storage
Ambient
temperature
Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude/
atmospheric
pressure
Vibration resistance When there is continuous vibration:
*1 Refer to "Restrictions on using this product at an altitude exceeding 1000 m and up to 2000 m above sea level" in the following manual
for using the product at an altitude exceeding 1000 m above sea level.
MR-J5 User's Manual (Hardware)
0 ˚C to 60 ˚C (non-freezing)
Class 3K3 (IEC 60721-3-3)
Altitude: 2000 m or less
10 Hz to 57 Hz, displacement amplitude
0.075 mm
57 Hz to 150 Hz, acceleration amplitude
2
9.8 m/s
Class 3M1 (IEC 60721-3-3)
When there is continuous vibration:
10 Hz to 55 Hz, acceleration amplitude 5.9
2
m/s
*1
-25 ˚C to 70 ˚C (non-freezing)
Class 2K3 (IEC 60721-3-2)
Transportation conditions: Must be
transported by ground/sea, or air at an
atmospheric pressure of 700 hPa or more.
2 Hz to 8 Hz, displacement amplitude (half
amplitude) 7.5 mm
8 Hz to 200 Hz, acceleration amplitude 20
2
m/s
Class 2M3 (IEC 60721-3-2)
-25 ˚C to 70 ˚C (non-freezing)
Class 1K3 (IEC 60721-3-1)
Atmospheric pressure: 700 hPa to 1060
hPa
(equivalent to the altitude of -400 m to 3000
m.)
2 Hz to 9 Hz, displacement amplitude (half
amplitude) 1.5 mm
9 Hz to 200 Hz, acceleration amplitude 5
2
m/s
Class 1M2 (IEC 60721-3-1)
12
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
1.4 Function block diagram
UU
U
L11
L21
N-CD
L3
L2
L1
MCMCCB
U
V
W
U
V
W
P3 P4 P+
+
+
B
RA B1
B2
CN4
M
CN2
CN8
*1
CN2L
*3
CN5
USB
USB
CN1A
CN1B
D/A
CN3CN6
Power factor improving
DC reactor
Regenerative
option
Servo amplifier Servo motor
Diode stack
Dynamic brake
circuit
Relay
Current
detector
Power
supply
Regenerative
TR
Charge
light
Cooling fan
*2
Electromagnetic
brake
Control
circuit
power supply
STO
circuit
STO
switch
Encoder
Overcurrent
protection
Base
amplifier
Voltage
detection
Current
detection
Stepdown
circuit
Control engine
Battery
*4
I/F control
External encoder
Personal
computer
Analog monitor
(2 channels)
Digital I/O
control
Controller or
servo
amplifier
Controller or
servo
amplifier
24 V DC
The following shows the function block diagram of this servo amplifier.
MR-J5-_G_
1
*1 The built-in regenerative resistor is not provided for MR-J5-10G.
*2 Servo amplifiers with the rated output symbol of 70 (MR-J5-70G) or greater have a cooling fan.
*3 This is for the MR-J5-_G-RJ servo amplifier. MR-J5-_G servo amplifier does not have CN2L connector.
*4 To configure the absolute position detection system by using a direct drive motor, the battery is required. When the absolute position
detection system is to be configured by using the HK series servo motor, the battery is not required.
1 SPECIFICATIONS
1.4 Function block diagram
13
MR-J5W_-_G
U
V
W
U
V
W
U
V
W
M
E
M
E
M
E
CNP1
TRM (A)
CNP2
P+ C D
MCCB MC
CNP2
CNP3A
CN2ACNP3B
CN2B
CNP3CCN2CCN4
CN3CN6 CN5
USB
MR-BT6VCASE
L1
L2
L3
L11
L21
CN8CN1ACN1B
+
+
U
U U
*1
CNP1
P4N-
*2
Regenerative option
Diode
stack
Built-in
regenerative
resistor
A-axis
servo motor
Relay
Regenerative
TR
A-axis
output
Current
detector
Power
supply
Charge
light
Dynamic
brake circuit A
A-axis
F/B
Cooling fan
STO circuit
Control
circuit
power
supply
B-axis
servo motor
Base
amplifier
Current
detection A
Overvoltage
Overcurrent
A
B-axis
output
Control engine
STO switch
B-axis
F/B
Controlling B-axis
Controller or
servo amplifier
C-axis
servo motor
Controlling C-axis
C-axis
output
I/F
control
Controller or
servo amplifier
C-axis
F/B
Stepdown
circuit
Battery case
+ battery
Analog
output
Digital I/O
control
Personal
computer
The following is an example using MR-J5W3-_G.
*1 The MR-J5W2-22G has no cooling fan.
*2 To configure the absolute position detection system by using a direct drive motor, the battery is required. When the absolute position
detection system is to be configured by using the HK series servo motor, the battery is not required.
14
1 SPECIFICATIONS
1.4 Function block diagram
1.5 Configuration including peripheral equipment
CN5
P+
C
L11
L21
P3
P4
MR Configurator2
CN6
CN8
CN3
CN2
W
V
U
L1
L2
L3
*1
(MC)
CN2L
*2
RS T
(FR-BSF01)
(FR-HEL)
(MCCB)
CN1B
CN1A
Power supply
Controller or
servo amplifier
Molded-case
circuit breaker
Controller or
servo amplifier
Personal
computer
Magnetic
contactor
Line noise filter
Analog monitor
Safety relay
Junction terminal block
Power factor
improving
DC reactor
Servo motor
Regenerative
option
• Do not connect these connectors to other than specified network. Otherwise, a malfunction may occur.
• Equipment other than the servo amplifier and servo motor is optional or recommended products.
The following is an example using MR-J5-20G-RJ.
1
*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
*2 This is for the MR-J5-_G-RJ servo amplifier. MR-J5-_G servo amplifier does not have CN2L connector. If using MR-J5-_G-RJ servo
amplifier in the linear servo system, connect an external encoder to this connector. Refer to the following for the compatible external
encoders.
Page 24 Parts identification
1 SPECIFICATIONS
1.5 Configuration including peripheral equipment
15
2 FUNCTION
2.1 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed
explanation field.
Control mode
Subcategory Function Description Detailed explanation
CiA 402 control mode Cyclic synchronous position mode
(csp)
Cyclic synchronous velocity mode
(csv)
Cyclic synchronous torque mode
(cst)
Homing mode (hm)/homing Operation is performed in the homing mode. Or it
Test operation Test operation mode For Jog operation, positioning operation, motor-less
Drive motor
Operation is performed in the cyclic synchronous position
mode.
Operation is performed in the cyclic synchronous velocity
mode.
Operation is performed in the cyclic synchronous torque
mode.
performs a homing.
operation, DO forced output and program operation, MR
Configurator2 is necessary.
Refer to "Control mode" in the
following manual.
MR-J5 User's Manual
(Function)
Page 43 Test operation
Subcategory Function Description Detailed explanation
Universal drive Linear servo motor The linear servo system can be configured using a linear
Direct drive motor The direct drive servo system can be configured to drive
Encoder High-resolution encoder High-resolution encoder of 67108864 pulses/rev is used
Batteryless absolute position
encoder
servo motor and a linear encoder.
a direct drive motor.
for the encoder of the rotary servo motor.
The rotation position of the servo motor can be backed up
without the battery. Using the servo motor with this
encoder can configure the absolute value detection
system without the battery.
Refer to "When using linear
servo motor" in the following
manual.
MR-J5 User's Manual
(Hardware)
Refer to "When using direct
drive motor" in the following
manual.
MR-J5 User's Manual
(Hardware)
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)
Network
Subcategory Function Description Detailed explanation
Open network
(CC-Link line)
Common protocol SLMP This function supports SLMP (SeamLess Message
Remote maintenance Parameter automatic setting This function delivers the settings of the servo
CC-Link IE TSN communication The servo amplifier is connected to equipment such as a
controller through CC-Link IE TSN.
Protocol). Servo parameter settings and monitoring are
available.
parameters and others from the controller.
MR-J5 User's Manual
(Communication Function)
16
2 FUNCTION
2.1 Function list
Position detection
Subcategory Function Description Detailed explanation
Control method Semi closed loop system Semi closed loop system can be configured using the
motor encoder.
Absolute position Absolute position detection system Once homing is performed, homing at every power-on is
unnecessary.
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)
Operation function
Subcategory Function Description Detailed explanation
Stop function Quick Stop Stops the servo motor with a specified method and
switches to the servo-off status.
Halt Stops the servo motor as maintaining the servo-on status. Refer to "Halt" in the following
Stroke limit function The travel interval of the servo motor can be limited with
LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end).
Travel intervals can be limited with FLS (Upper stroke
limit) and RLS (Lower stroke limit) via a controller.
Software position limit Limits travel intervals by address, using servo
parameters. A function equivalent to the stroke limit
function can be set with the servo parameter.
Command generation Rotation/travel direction selection Servo motor rotation direction can be set without
changing the command polarity.
Electronic gear Positioning control is performed with the value obtained
by multiplying the position command from the upper
controller by a set electronic gear ratio.
Acceleration/deceleration function Set the time constant of acceleration and deceleration. Refer to "Acceleration/
Torque limit Limits the servo motor torque. Refer to "Torque limit" in the
Speed limit Servo motor speed in the torque control mode can be
limited to any value.
Refer to "Quick stop" in the
following manual.
MR-J5 User's Manual
(Function)
manual.
MR-J5 User's Manual
(Function)
Refer to "Stroke limit function"
in the following manual.
MR-J5 User's Manual
(Function)
Refer to "Software position
limit" in the following manual.
MR-J5 User's Manual
(Function)
Refer to "Rotation/travel
direction selection" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Electronic gear
function" in the following
manual.
MR-J5 User's Manual
(Function)
deceleration function" in the
following manual.
MR-J5 User's Manual
(Function)
following manual.
MR-J5 User's Manual
(Function)
Refer to "Speed limit" in the
following manual.
MR-J5 User's Manual
(Function)
2
2 FUNCTION
2.1 Function list
17
Control function
Subcategory Function Description Detailed explanation
Vibration suppression Advanced vibration suppression
control II
Machine resonance suppression
filter
Shaft resonance suppression filter When a load is mounted to the servo motor shaft,
Robust filter Improves a disturbance response when a response
Slight vibration suppression control Suppresses vibration of ±1 pulse generated at each servo
Tracking control Lost motion compensation function Improves the response delay generated when the
Path tracking model adaptive control Tracking error in a small reciprocating motion can be
This function suppresses vibration and residual vibration
at an arm end.
Decreases the gain of the specific frequency to suppress
the resonance of the mechanical system.
resonance by shaft torsion during driving may generate a
mechanical vibration at high frequency. The shaft
resonance suppression filter suppresses the vibration.
performance cannot be increased because of a large load
to motor inertia ratio, such as a roll feed axis.
motor stop.
machine moving direction is reversed.
reduced.
Refer to "Advanced vibration
suppression control II" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Machine resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Shaft resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Robust filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Slight vibration
suppression control" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Lost motion
compensation function" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Path tracking model
adaptive control" in the
following manual.
MR-J5 User's Manual
(Adjustment)
18
2 FUNCTION
2.1 Function list
Adjustment function
Subcategory Function Description Detailed explanation
Automatic adjustment Quick tuning Automatically adjusts the gain at servo-on in a short time
without acceleration/deceleration operation of the servo
motor. The response without overshoot can be received.
Therefore, gain adjustment can be omitted.
Auto tuning Automatically adjusts the gain to an optimum value even
if the load applied to the servo motor shaft varies.
One-touch tuning Gain adjustment is performed just by pressing buttons on
the servo amplifier or by clicking a button on MR
Configurator2. Also, the one-touch tuning can be
performed via a network.
Custom adjustment Model adaptive control Achieves a high response and stable control according
the ideal model. The two-degrees-of-freedom model
adaptive control enables the response to be adjusted to
the command and to disturbance separately. This
function can also be disabled.
Gain switching function You can switch gains during rotation and during stop, and
can use an input device to switch gains during operation.
This function supports the gain switching by rotation
direction and the 3-step gain switching. This enables the
gains to be switched in more detail.
Adjustment support Machine analyzer Analyzes the frequency characteristic of the mechanical
system by simply connecting an MR Configurator2
installed personal computer and the servo amplifier.
Refer to "Quick tuning" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Adjustment function
types" in the following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "One-touch tuning" in
the following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Model adaptive
control" in the following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Gain switching
function" in the following
manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Adjustment functions
available in combination with
MR Configurator2" in the
following manual.
MR-J5 User's Manual
(Adjustment)
2
2 FUNCTION
2.1 Function list
19
I/O, monitor
Subcategory Function Description Detailed explanation
DI/DO Input signal selection (device
selection)
Output signal selection (device
setting)
Output signal (DO) forced output Output signals can be forcibly switched on/off
A/B/Z-phase output Encoder and linear encoder positions can be output in the
LED Status display The servo status is shown on the 7-segment LED display. Page 28 Switch setting and
Analog input/output Analog monitor Outputs the servo status in voltage in real time. Refer to "Monitor" in the
Monitor Power monitoring function Calculates the running power and the regenerative power
The input devices including LSP (forward rotation stroke
end) can be assigned to certain pins of the connector.
The output devices including MBR (Electromagnetic
brake interlock) can be assigned to certain pins of the
connector.
independently of the servo status. Use this function for
checking output signal wiring and others.
A/B/Z-phase signal.
from the data in the servo amplifier such as speed and
current. Power consumption and others are displayed on
MR Configurator2.
Refer to "I/O device" in the
following manual.
MR-J5 User's Manual
(Function)
Page 48 Output signal
(DO) forced output
Refer to "ABZ phase pulse
output function" in the following
manual.
MR-J5 User's Manual
(Function)
display of the servo amplifier
following manual.
MR-J5 User's Manual
(Function)
Option
Subcategory Function Description Detailed explanation
Regenerative
performance
Simple converter Servo amplifiers can be used in a common DC bus
connection. The effective utilization of the regenerative
power contributes to energy-conservation. In addition,
molded-case circuit breaker and magnetic contactor can
be decreased.
Regenerative option Use a regenerative option when the built-in regenerative
resistor of the servo amplifier does not have sufficient
regenerative capacity for a large regenerative power
generated.
Refer to "Simple converter" in
the following manual.
MR-J5 User's Manual
(Hardware)
Refer to "Regenerative option"
in the following manual.
MR-J5 User's Manual
(Hardware)
Engineering tool
Subcategory Function Description Detailed explanation
Setup software MR Configurator2 Servo parameter setting, test operation, monitoring, and
others can be performed with a personal computer.
4 STARTUP
20
2 FUNCTION
2.1 Function list
Protective functions
Subcategory Function Description Detailed explanation
Alarm Alarm function When an error occurs during operation, the
Alarm history clear Clears alarm histories. Refer to "Alarm history" in the
Power error detection Disconnection detection function Detects a disconnection in the main circuit power supply
Coasting distance
reduction
Drop protection Electromagnetic brake interlock
Braking protection Dynamic brake Shorts between U, V, and W phases, and operates the
Forced stop deceleration function Decelerates the servo motor to a stop at EM2 off and
function
Vertical axis freefall prevention
function
corresponding alarm or warning is displayed. When an
alarm occurs, ALM (Malfunction) turns off and stops the
servo motor. When a warning occurs, WNG (Warning) will
turn on. However, depending on the warning, the servo
motor stops or continues operation.
input and the servo motor power supply output.
alarm occurrence.
Operates the electromagnetic brake at servo off and error
occurrence, and prevents vertical axis from dropping.
Avoids machine damage by pulling up the mechanical
backlash of an electromagnetic brake.
brake during the power shut-off and alarm occurrence.
Refer to "Alarm function" in the
following manual.
MR-J5 User's Manual
(Function)
following manual.
MR-J5 User's Manual
(Function)
Refer to "Disconnection
detection function" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Forced stop
deceleration function" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Electromagnetic brake
interlock function" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Vertical axis freefall
prevention function" in the
following manual.
MR-J5 User's Manual
(Function)
2
Functional safety
Subcategory Function Description Detailed explanation
Single servo amplifier
function
STO function This amplifier complies with the STO function as
functional safety of IEC/EN 61800-5-2. A safety system
for the equipment can be configured easily.
Refer to "When using STO
function" in the following
manual.
MR-J5 User's Manual
(Hardware)
Instantaneous power failure measures
Subcategory Function Description Detailed explanation
Tough drive SEMI-F47 function This function enables to avoid triggering [AL. 010
Undervoltage] using the electrical energy charged in the
capacitor in case that an instantaneous power failure
occurs during operation. Use a 3-phase power supply for
the input power supply of the servo amplifier. Using a 1phase 200 V AC for the input power supply will not
comply with SEMI-F47 standard.
Tough drive function This function makes the equipment continue operating
even under the condition that an alarm occurs. The tough
drive function includes two types: the vibration tough
drive and the instantaneous power failure tough drive.
Refer to "Compliance with
SEMI-F47 standard" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Tough drive function"
in the following manual.
MR-J5 User's Manual
(Function)
2 FUNCTION
2.1 Function list
21
Diagnostics
Subcategory Function Description Detailed explanation
Drive data diagnosis Drive recorder This function continuously monitors the servo status and
Graph function This function obtains the servo status in the graph. Refer to "Graph function" in the
Failure diagnosis Encoder communication diagnosis
function
Life diagnosis Servo amplifier life diagnosis
function
Motor life diagnosis function Predicts failures of the equipment and the servo motor
Machine diagnosis function From the data in the servo amplifier, this function
System diagnosis System configuration information Using MR Configurator2, information such as servo
records the state transition before and after an alarm for a
fixed period of time. The recorded data can be checked
by the Waveform-Display button on the drive recorder
window of MR Configurator2 being clicked. However, the
drive recorder is not available when:
• The graph function of MR Configurator2 is being used.
• The machine analyzer function is being used.
• [Pr. PF21] is set to "-1".
• The controller is not connected (except the test
operation mode).
• An alarm related to the controller is occurring.
The long-term sampling is supported and various alarms
can be handled.
The graph can be obtained by the trigger synchronized
with the multi axes via a network.
Diagnoses with MR Configurator2 whether the encoder
communication error is caused by the circuit malfunction
of the servo amplifier or by the malfunction of the cables/
encoder.
You can check the cumulative energization time, the
number of on/off times of the inrush relay, and the
number of usage time of dynamic brake. Gives an
indication of the replacement time for parts of the servo
amplifier including a capacitor and a relay before they
malfunction. MR Configurator2 is required for this
function.
based on the machine total travel distance. This function
gives an indication of replacement time for servo motor.
estimates the friction and vibrational component of the
drive system in the equipment and recognizes an error in
the machine parts, including a ball screw and bearing.
This function automatically sets the threshold used for
detecting the error of machine parts, including a ball
screw and bearing. This function outputs the warning
when the friction, vibrational component, and total
revolution of servo motor are out of set threshold. The
error in the machine parts including a ball screw and
bearing can be detected automatically.
This function estimates the friction of gear and loosening
of belt drive function (decrease in the belt tension), and
detects the error in the gear and belt.
amplifier model, connected servo motor, and encoder can
be monitored.
Refer to "Drive recorder" in the
following manual.
MR-J5 User's Manual
(Function)
following manual.
MR-J5 User's Manual
(Function)
Refer to "Encoder
communication diagnosis
function" in the following
manual.
MR-J5 User's Manual
(Function)
Refer to "Servo amplifier life
diagnosis function" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Machine diagnosis" in
the following manual.
MR-J5 User's Manual
(Function)
Refer to "System configuration
display" in the following manual.
MR-J5 User's Manual
(Function)
History
Subcategory Function Description Detailed explanation
Alarm history This function saves the information of alarm occurred in
servo amplifier. The information is saved in chronological
order and used for the investigation of alarm cause, and
others.
2 FUNCTION
22
2.1 Function list
Refer to "Alarm history" in the
following manual.
MR-J5 User's Manual
(Function)
2.2 Security
To completely prevent unauthorized access to the system from external devices, user also must take measures. Mitsubishi
Electric Corporation cannot be held responsible for any problems caused by the unauthorized access.
2
2 FUNCTION
2.2 Security
23
3 STRUCTURE
RUN
MS
ERR
NS
SFTY
(1)
(3)
(4)
(2)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(19)(18)
(14)
(15)
(16)
(20)
(17)
Inside of the display cover
Side
Bottom
3.1 Parts identification
MR-J5-350G or less
The following figure is the MR-J5-10G-RJ.
No. Name Application Detailed explanation
(1) Display section The 3-digit, 7-segment LED display shows the servo status and
(2) Network status display LED Displays each network status.
(3) Rotary switches (SW1/SW2) Set the address of the servo amplifier.
(4) DIP switch (SW3) To change the mode to the test operation mode, set the switch.
(5) Ethernet cable connector (CN1A) Connect the controller, servo amplifier or each network connected
(6) Ethernet cable connector (CN1B) Connect the servo amplifier or each network connected device.
(7) USB communication connector (CN5) Connect with a personal computer.
(8) Analog monitor connector (CN6) Outputs the analog monitor. Refer to "Connectors and pin
(9) STO input signal connector (CN8) Connect an external safety relay to use the STO function. Refer to "When using STO
3 STRUCTURE
24
3.1 Parts identification
alarm number.
(SW3-1)
device.
Page 28 Switch setting and
display of the servo amplifier
Page 32 CN1A/CN1B
connector LED
assignment" in the following
manual.
MR-J5 User's Manual
(Hardware)
function" in the following manual.
MR-J5 User's Manual
(Hardware)
No. Name Application Detailed explanation
(10) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin
assignment" in the following
manual.
MR-J5 User's Manual
(Hardware)
(11) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 25 CN2/CN2L
*1
External encoder connector (CN2L) Connect the external encoder.
(12)
(13) Battery connector (CN4) To configure the absolute position detection system by using a
(14) Main circuit power connector (CNP1)
(15) Control circuit power connector (CNP2)
(16) Servo motor power output connector
(17) Charge light When the main circuit is charged, this light is up. While the light is
(18) Battery holder Install the battery for absolute position data backup. Refer to "Dimensions" in the
(19) Protective earth (PE) terminal Connect this terminal to the protective earth (PE) of the cabinet. Refer to "Explanation of power
(20) Rating plate Displays the model, capacity, and others. Page 6 Rating plate
(CNP3)
*2
direct drive motor, connect the battery for absolute position data
backup.
*2
Connect the input power supply. Refer to "Explanation of power
*2
Connect the control circuit power supply and regenerative option.
Connect the servo motor.
up, do not change the wire connection and the like.
Refer to "Absolute position
detection system" in the following
manual.
MR-J5 User's Manual
(Hardware)
supply system" in the following
manual.
MR-J5 User's Manual
(Hardware)
following manual.
MR-J5 User's Manual
(Hardware)
supply system" in the following
manual.
MR-J5 User's Manual
(Hardware)
*1 This is for the MR-J5-_G-RJ servo amplifier. The MR-J5-_G servo amplifier does not have the CN2L connector.
*2 For the terminal name/assignment, refer to "Dimensions" in the following manual.
MR-J5 User's Manual (Hardware)
3
■CN2/CN2L
By using CN2L connector, the external encoder of A/B/Z-phase differential output type can be connected. The following table
shows the communication method of the encoder compatible with MR-J5-_G_ and MR-J5-_G_-RJ servo amplifiers.
Operation mode External encoder
communication method
Linear servo system Two-wire type CN2
Four-wire type
A/B/Z-phase differential output method CN2L
*1 The MR-J4THCBL03M branch cable is required.
*2 Connect a thermistor to CN2.
Connector
MR-J5-_G_ MR-J5-_G_-RJ
*1
CN2
*1
*2
3 STRUCTURE
3.1 Parts identification
25
MR-J5W_-_G
RUN
MS
ERR
NS
SFTY
(1)
(2)
(3)
(4)
(12)
(13)
(14)
(15)
(16)
(17)
(18)
(19)
(20)
(21)
(10)
(5)
(6)
(7)
(22)
(11)
(8)
(9)
Top
Inside of the display cover
Side
No. Name Application Detailed explanation
(1) Display section The 3-digit, 7-segment LED display shows the servo status and
(2) Rotary switches (SW1/SW2) Set the address of the servo amplifier.
(3) DIP switch (SW3) Consists of the test operation switch and control axis deactivation
(4) Network status display LED Displays each network status.
(5) Main circuit power connector (CNP1) Connect the input power supply. Refer to "Explanation of power
(6) Control circuit power connector (CNP2) Connect the control circuit power supply and regenerative option.
(7) A-axis servo motor power connector
(CNP3A)
(8) B-axis servo motor power connector
(CNP3B)
*1
C-axis servo motor power connector
(9)
(CNP3C)
(10) Charge light When the main circuit is charged, this light is up. While the light is
(11) Protective earth (PE) terminal Protective earth terminal Refer to "Explanation of power
(12) Ethernet cable connector (CN1A) Connect the controller, servo amplifier or each network connected
(13) Ethernet cable connector (CN1B) Connect the servo amplifier or each network connected device.
(14) USB communication connector (CN5) Connect with a personal computer.
(15) STO input signal connector (CN8) The connector is not available for the STO function. Do not
alarm number.
switch.
Connect the A-axis servo motor.
Connect the B-axis servo motor.
Connect the C-axis servo motor.
up, do not change the wire connection and the like.
device.
remove the short-circuit connector.
Page 28 Switch setting and
display of the servo amplifier
supply system" in the following
manual.
MR-J5 User's Manual
(Hardware)
supply system" in the following
manual.
MR-J5 User's Manual
(Hardware)
Page 32 CN1A/CN1B
connector LED
26
3 STRUCTURE
3.1 Parts identification
No. Name Application Detailed explanation
(16) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin
assignment" in the following
manual.
MR-J5 User's Manual
(Hardware)
(17) A-axis encoder connector (CN2A) Connect the A-axis servo motor encoder or external encoder. Page 27 CN2_
(18) B-axis encoder connector (CN2B) Connect the B-axis servo motor encoder or external encoder.
*1
C-axis encoder connector (CN2C) Connect the C-axis servo motor encoder or external encoder.
(19)
(20) Battery connector (CN4) To configure the absolute position detection system by using a
direct drive motor, connect the battery for absolute position data
backup.
(21) Analog monitor connector (CN6) Outputs the analog monitor. Refer to "Connectors and pin
(22) Rating plate Displays the model, capacity, and others. Page 6 Rating plate
Refer to "Absolute position
detection system" in the following
manual.
MR-J5 User's Manual
(Hardware)
assignment" in the following
manual.
MR-J5 User's Manual
(Hardware)
*1 For the MR-J5 3-axis servo amplifier
■CN2_
The following table shows the communication method of the external encoder compatible with MR-J5W2-_G and MR-J5W3-
_G servo amplifiers.
Operation mode External encoder
communication method
Linear servo system Two-wire type CN2A
Four-wire type
A/B/Z-phase differential output method
Connector
MR-J5W2-_G MR-J5W3-_G
CN2B
*1
*1
CN2A
CN2B
CN2C
*1
*1
*1
3
*1 The MR-J4THCBL03M branch cable is required.
3 STRUCTURE
3.1 Parts identification
27
3.2 Switch setting and display of the servo amplifier
RUN
MS
ERR
NS
SFTY
1
ON
2
3-digit, 7-segment LED DIP switch (SW3)
For manufacturer setting (SW3-2)
Test operation select switch (SW3-1)
Rotary switch (upper) (SW1) Rotary switch (lower) (SW2)
RUN
MS
ERR
NS
SFTY
1ON2 3 4
3-digit, 7-segment LED DIP switch (SW3)
For manufacturer setting
Disabling control axis switch for B-axis (SW3-3)
Disabling control axis switch for A-axis (SW3-2)
Test operation select switch (SW3-1)
Rotary switch (lower) (SW2)Rotary switch (upper) (SW1)
RUN
MS
ERR
NS
SFTY
1ON2 3 4
3-digit, 7-segment LED DIP switch (SW3)
Disabling control axis switch for C-axis (SW3-4)
Disabling control axis switch for B-axis (SW3-3)
Disabling control axis switch for A-axis (SW3-2)
Test operation select switch (SW3-1)
Rotary switch (lower) (SW2)Rotary switch (upper) (SW1)
Switching to the test operation mode and setting network are enabled with switches on the servo amplifier. You can check the
network communication status and alarm status on the display of servo amplifier.
Switches
Always use an insulated screw driver to operate the rotary switches (SW1/SW2) and DIP switches (SW3). Do not use a metal
screw driver. If the metal screw driver contacts with the conductive areas, the switches may malfunction.
If all the DIP switches (SW3) are turned "ON (up)", the operation mode will be switched to the manufacturer setting mode and
"OFF" will be displayed. The servo amplifier cannot be used in this mode. Thus, set the DIP switches (SW3) correctly
according to this section.
To apply the settings of all switches, cycle the control circuit power supply or reset the software.
The following explains the rotary switches (SW1/SW2) and DIP switches (SW3).
Switch identification
■1-axis servo amplifier
■2-axis servo amplifier
■3-axis servo amplifier
3 STRUCTURE
28
3.2 Switch setting and display of the servo amplifier
Test operation select switch (SW3-1)
*1
Servo amplifier power on
Controller not connected
Controller power on
(Network communication start)
Controller not connected
(Initialization communication in progress)
Controller is connected
Controller power off
To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the test operation select switch enables the test
operation mode. In the test operation mode, the functions such as JOG operation, positioning operation, and machine
analyzer are available with MR Configurator2.
Page 43 Test operation
Disabling control axis switches (SW3-2, SW3-3, and SW3-4)
Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo motor will become in
the disabled-axis state and will not be recognized by the controller.
Rotary switches (SW1/SW2)
The IP address of the servo amplifier can be set with the rotary switches (SW1/SW2). SW1 indicates an upper digit and SW2
indicates a lower digit of a hexadecimal. The initial setting is 01h.
To apply the settings of the rotary switches, set "0" (The rotary switch is used.) in [Pr. NPA01 IP address setting]. To set the
address without using the rotary switches, turn them to 0 and use an engineering tool.
For how to set IP addresses, refer to IP address setting function" in the following manual.
MR-J5 User's Manual (Communication Function)
7-segment LED
The network connection status, servo status, and alarm/warning occurrence statuses can be checked on 7 segment LED
display.
3
Display sequence
The following shows the display sequence of the 7-segment LED display from the power-on. After the completion of system
check and start of servo amplifier, the network connection status will be displayed.
*1 The segment of the last 2 digits shows the network address.
Page 30 When the network is connected
3 STRUCTURE
3.2 Switch setting and display of the servo amplifier
29
Alarm display
Network status Blank Status display Alarm No. Alarm detail Blank
After 1.6 s After 0.2 s After 0.8 s After 0.8 s After 0.8 s
Status display
(1 digit)
Alarm detail
(1 digit)
Alarm No. (3 digits)
After 0.2 s
: Indicates that an alarm is occurring.
Network status Blank Status display Alarm No. Alarm detail Blank
After 1.6 s After 0.2 s After 0.8 s After 0.8 s After 0.8 s
A-axis status
(1 digit)
Alarm No. (3 digits) Alarm detail
(1 digit)
After 0.2 s
: Indicates that an alarm is occurring.
Status display Alarm No. Alarm detail Blank
After 0.8 s After 0.8 s After 0.8 s
After 0.2 s
B-axis status
(1 digit)
Alarm No. (3 digits) Alarm detail
(1 digit)
Servo status
Off: Indicates ready-off and servo-off status.
Blinking: Indicates ready-on and servo-off status.
On: Indicates ready-on and servo-on status.
B-axis servo status
A-axis servo status
Off: Indicates ready-off and servo-off status.
Blinking: Indicates ready-on and servo-off status.
On: Indicates ready-on and servo-on status.
C-axis servo status
B-axis servo status
A-axis servo status
Off: Indicates ready-off and servo-off status.
Blinking: Indicates ready-on and servo-off status.
On: Indicates ready-on and servo-on status.
When an alarm/warning occurs, alarm status is displayed following the network connection status. For example, the following
shows when [AL. 032.2 Overcurrent] is occurring.
■1-axis servo amplifier
■2-axis servo amplifier
When the network is connected
The following shows the network connection status. The servo status is displayed with the decimal points.
1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier
The last 2 digits shows the address for network.
Network Address
CC-Link IE TSN The network address is displayed in hexadecimal.
30
3 STRUCTURE
3.2 Switch setting and display of the servo amplifier
When the network is not connected
Network status
C-axis network status
B-axis network status
A-axis network status
The network connection status is displayed for each axis.
1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier
B-axis network status
A-axis network status
The 7-segment LED display shows as follows during initialization.
Display Status Description
Controller not connected Indicates that the servo amplifier is not connected to the controller.
Data not linked Indicates that initial communication for CC-Link IE TSN is in progress.
3
Cyclic communication in
progress
Cyclic communication
being stopped
Indicates the Pre-Operational state shown in the state transition diagram of the NMT
state machine.
Indicates the Safe-Operational state shown in the state transition diagram of the NMT
state machine.
Indicates that the servo amplifier is in the state of the reserved station.
3 STRUCTURE
3.2 Switch setting and display of the servo amplifier
31
Other status display
Red (L ER)
Green (LINK)
Red (L ER)
Green (LINK)
Display Status Description
Test operation mode The test operation mode was set.
CPU error A CPU watchdog error has occurred.
This is for manufacturer setting.
Initialization in process Indicates that parameters and others are being initialized.
IP address setting in
progress
Indicates that the IP address is being set via network.
CN1A/CN1B connector LED
The following shows the LED display of the CN1A and CN1B connectors.
LED Name Lighting status Description
L ER (CN1A/CN1B) Line error status Lit Erroneous data is being received.
LINK (CN1A/CN1B) Link status Lit Linking up
32
3 STRUCTURE
3.2 Switch setting and display of the servo amplifier
Display LED
RUN
MS
ERR
NS
SFTY
The LED displays (RUN MS/ERR NS) indicate the network status of the servo amplifier.
LED Description
RUN
MS
(green)
ERR
NS
(red)
SFTY
(green)
Off: Indicates that an alarm is occurring.
On: Indicates that the servo amplifier is on.
Off: Indicates that no alarm or warning is occurring.
Blinking: Indicates that a warning is occurring.
On: Indicates that an alarm is occurring.
Off: Indicates that the functional safety cannot be activated.
On: Indicates that the functional safety can be activated.
3
3 STRUCTURE
3.2 Switch setting and display of the servo amplifier
33
4 STARTUP
CN5
Servo amplifier
Personal computer
USB cable
MR-J3USBCBL3M
(option)
To USB
connector
• MR-J5_-_G_ servo amplifiers can only be set with MR Configurator2 version 1.100E or later.
• This chapter explains how to start up, by using MR Configurator2 with software version 1.100E.
• Before starting operation, check the servo parameters. Depending on the machine, unexpected operation
may occur.
When using a linear servo motor, replace the wordings of the sentence as follows.
• Load to motor inertia ratio → Load to motor mass ratio
• Torque → Thrust
Servo parameter setting method
• Servo parameter may be changed by the controller via a network. In this case, take measures such as not
turning the power on or not connecting the network cable to the controller, so that the servo parameter
setting does not change.
MR Configurator2 is the software which performs the servo parameter setting, graph measurement/display, test operation,
and others. This chapter describes the procedure for connecting the personal computer with MR Configurator2 installed and
the servo amplifier, and starting up the servo amplifier. For details on how to use MR Configurator2, refer to Help of MR
Configurator2.
1. Connect the servo amplifier and personal computer via a USB cable. Switch on control circuit power supply of the servo
amplifier.
34
4 STARTUP
2. Start MR Configurator2 and create a new project. For the connection setting, select USB. Select a servo amplifier model.
3. Selecting the parameter from the project tree opens the parameter setting screen.
4
4 STARTUP
35
4. From the display selection tree on the parameter setting screen, select the group of servo parameter to be set.
5. After changing the servo parameter, click "Selected Items Write" or "Axis Writing".
36
4 STARTUP
6. The servo parameter with * and ** before the abbreviation is enabled by cycling the power or software reset. Click
Software Reset of MR Configurator2 to perform the software reset.
4
4 STARTUP
37
4.1 Switching power on for the first time
• For the controller settings, refer to controller manuals.
• For the gain adjustment, refer to the following.
MR-J5 User's Manual (Adjustment)
When switching the power on for the first time, make a startup according to the procedures shown below.
Procedure Description Reference
1. Installation and wiring
2. Test operation of the servo
motor alone in test operation
mode
3. Equipment configuration
setting
4. Controller-related setting
5. Operation by controller
command
6. Actual operation
Install and wire the servo amplifier and servo motor. MR-J5 User's Manual
With the servo motor disconnected from the machine, operate the servo motor at
the lowest speed possible, and check whether the servo motor operates
correctly.
Perform each parameter setting according to the equipment configuration. Page 40 Equipment
Perform necessary settings according to commands from the controller. Page 40 Controller-
Operate the servo motor at the lowest speed possible by giving commands to
the servo amplifier from the controller, and check whether the servo motor
operates correctly.
(Hardware)
Page 39 Test operation
of the servo motor alone in
test operation mode
configuration setting
related setting
Page 41 Operation by
controller command
38
4 STARTUP
4.1 Switching power on for the first time
Test operation of the servo motor alone in test operation mode
RUN
MS
ERR
NS
SFTY
1ON2
Set SW3-1 to "ON (up)".
Test operation status display
• If the servo motor operates abnormally, stop the servo motor with EM2 (Forced stop 2).
Check that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use
the test operation mode and check whether the servo motor operates correctly. This section describes how to check the servo
motor operation in the JOG operation. The test operation also includes the positioning operation and program operation.
Page 43 Test operation
In the linear servo motor control mode, the JOG operation cannot be performed. Check whether the motor operates correctly
using the positioning operation and others.
Page 44 Motor driving by test operation
1. Turn off the power.
2. Turn "ON (up)" the test operation select switch (SW3-1).
4
3. Turn on the power supply of the servo amplifier. Once initialization is complete, the display will change as follows.
This figure shows the 1-axis servo amplifier.
4. Open the JOG operation screen of MR Configurator2.
4 STARTUP
4.1 Switching power on for the first time
39
5. Inputting the motor speed and acceleration/deceleration time constants, and clicking "Forward CCW" or "Reverse CW"
enable the servo motor to operate. The servo motor operates only while the button is being clicked. Give a low-speed
command at first and check the operation.
6. After the test operation is complete, turn off the power and "OFF (down)" the test operation select switch (SW3-1).
Equipment configuration setting
Set the each servo parameter according to the equipment configuration. Refer to the following for details.
MR-J5 User's Manual (Function)
Item Description
Rotation/travel direction selection To change the rotation/travel direction (POL), change the servo parameter.
Stroke limit function Limit switches can be used to limit travel intervals of the servo motor. Perform
the setting according to the connection method of limit switch.
In-position setting Positioning completion status can be checked with in-position. Set this as
Forced stop deceleration function Stops the servo motor at EM2 (Forced stop 2) off. Set the deceleration time
Vertical axis freefall prevention function For vertical axes, this function pulls up the shaft slightly. When using the servo
necessary.
constant and others.
motor with the electromagnetic brake on vertical axis, perform setting as
required.
Controller-related setting
Refer to the applicable network instruction manual for the network connection setting.
Network Reference manual
CC-Link IE TSN MR-J5 User's Manual (Communication Function)
Set the servo parameter using the controller according to the control mode to be used.
Item Description Reference
Network standard mode Operates in the modes such as csp/csv/cst
specified in CiA 402.
Set each servo parameter that is necessary for the operation by the controller command.
Item Description Reference
Electronic gear setting Perform the settings related to the controller
command unit and amplifier command unit.
Homing To perform homing with the function of the amplifier
without using the homing function of the controller,
perform the necessary settings.
Refer to "Control mode" in the following manual.
MR-J5 User's Manual (Function)
Refer to "Electronic gear function" in the following
manual.
MR-J5 User's Manual (Function)
Refer to "Control mode" in the following manual.
MR-J5 User's Manual (Function)
40
4 STARTUP
4.1 Switching power on for the first time
Operation by controller command
Confirm that the servo motor operates correctly under the commands from the controller. Give a low-speed command at first
and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check
the input signal.
1. Open the batch display screen in MR Configurator2. Confirm that there is no error in the items such as servo motor
speed and load ratio.
2. Open the I/O monitor screen. Confirm that there is no error in the I/O signal.
4
4 STARTUP
4.1 Switching power on for the first time
41
4.2 Instructions on startup
Instructions for power-on
• In the absolute position detection system using a rotary servo motor, powering on the servo amplifier for the first time
triggers [AL. 025 Absolute position erased]. Thus, the servo amplifier will not be brought into the servo-on state. Shut off the
power once, and cycle the power to deactivate the alarm.
• If the power is switched on while the servo motor is rotated by an external force, an alarm may occur. Make sure that the
servo motor is not operating before switching on the power. Also refer to the manuals of servo motor and encoder for
details.
Stop
If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor. If the servo
motor is operated by the network command, the servo motor may be stopped by the controller command.
Operation/command Stopping condition
Alarm occurrence The servo motor decelerates to a stop. There are also alarms that activate and stop the dynamic brake. Refer to the
EM2 (Forced stop 2) off The servo motor decelerates to a stop. [AL. 0E6 Servo forced stop warning] occurs. In the torque mode, EM2 functions the
STO (STO1 and STO2) off The base circuit is shut off and the dynamic brake operates to stop the servo motor.
Limit switch off If LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), FLS (Upper stroke limit), or RLS (Lower stroke
following for the details of alarm.
MR-J5 User's Manual (Troubleshooting)
same as EM1.
limit) is turned off, the servo motor will stop slowly and become in the servo-lock state. Operation in the opposite direction
is possible.
Instructions for network disconnection
To turn off the system power and disconnect the servo amplifier from the network, specific procedures may be required. For
details, refer to "Establishing and disconnecting the communication" in the following manual.
MR-J5 User's Manual (Communication Function)
4.3 Troubleshooting at startup
Investigation by using MR Configurator2.
By using MR Configurator2, the cause of the servo motor failures to rotate can be investigated.
The cause of the servo motor failures to rotate is acquired from the servo amplifier of the target axis, and is displayed on "No
Motor Rotation". Blank is displayed when no cause exists. "- - - -" is displayed when the cause of no motor rotation is off-line
or the cause cannot be acquired.
42
4 STARTUP
4.2 Instructions on startup
4.4 Duplicate setting
Precautions
The parameter of the servo amplifier of which the setting is completed can be copied to the other servo amplifier. Use this
function when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up
multiple devices with the same configuration.
Restrictions
■The following data are not duplicated. Set them as required after the duplication.
Item Description
Homing The information of the home position is not duplicated. Execute homing again.
Mechanical life diagnosis Mechanical life diagnosis information may not be duplicated. Refer to
"Machine diagnosis" in the following manual, and perform required settings.
MR-J5 User's Manual (Function)
■The following data are not duplicated.
• Alarm history data
• Drive recorder data
Duplication using MR Configurator2
1. The data set in MR Configurator2 can be saved as a project.
2. To copy the project to a different servo amplifier, open the project and then connect the servo amplifier and a personal
computer via a USB cable. Switch on control circuit power supply of the servo amplifier.
4
3. Write the required data in MR Configurator2. After the writing is completed, cycle the power or reset the software, as
necessary.
4.5 Test operation
Using the test operation function enables the machine operation to be checked before the actual operation. With a personal
computer and MR Configurator2, the JOG operation, positioning operation, output signal forced output, program operation,
and others can be used.
• The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this
mode with the machine. Use the servo motor alone.
Execution method
Test operation mode is enabled by MR Configurator2. To set to the normal operation mode again after executing the test
operation mode, cycle the power or reset the software.
• Perform the test operation after the forced stop has been released. For details of the forced stop, refer to "Forced stop
deceleration function" in the following manual.
MR-J5 User's Manual (Function)
4 STARTUP
4.4 Duplicate setting
43
Test operation mode
RUN
MS
ERR
NS
SFTY
1ON2
Set SW3-1 to "ON (up)".
Test operation status display
(1)
(2)
(3)
Setting the servo amplifier to the test operation mode enables the test operation while a personal computer and the servo
amplifier are connected via a USB cable.
1. Turn off the power.
2. Turn "ON (up)" the test operation select switch (SW3-1).
3. Turn on the power supply of the servo amplifier. When initialization is completed, the display shows as follows.
4. Use MR Configurator2 to perform the test operation.
Page 44 Motor driving by test operation
5. After the test operation is completed, turn off the power and "OFF (down)" the test operation select switch (SW3-1).
Motor driving by test operation
JOG operation
The JOG operation can be performed when there is no command from the controller. The motor can be operated at the
specified speed. Operate on the jog operation screen of MR Configurator2.
■ Motor operation setting (1)
Set the motor speed and acceleration/deceleration time constants during JOG operation. When changing the speed to the
permissible speed, set the speed in [Pr. PA 28.4 Speed range limit selection].
■ Limit switch automatic ON (2)
JOG operation can be performed when the limit switch is not connected. Perform the operation carefully not to collide with the
machine.
■ Operation (3)
The servo motor can be started (CCW/CW), paused, stopped, and forcibly stopped. Clicking "Start" starts the operation.
When "Rotation only while the CCW or CW button is being pushed" is selected, operation will continue until clicking "Stop" or
"Forced stop" after clicking "Forward CCW" and "Reverse CW".
44
4 STARTUP
4.5 Test operation
Positioning operation
(1)
(2)
(3)
(4)
(5)
(6)
Positioning operation can be performed without the controller. Perform on the positioning operation screen of MR
Configurator2.
■ Motor operation setting (1)
Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When
changing the speed to the permissible speed, set the speed in [Pr. PA 28.4 Speed range limit selection].
■Limit switch (2)
Select "Limit switch automatic ON" to perform the positioning operation when the limit switch is not connected. Perform the
operation carefully not to collide with the machine.
4
■Move until Z-phase signal (3)
When "Z-phase signal movement" is selected, the servo motor moves until the first Z-phase signal after positioning operation.
■Operation (4)
The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the
operation in the specified operation condition.
■Repeat operation (5)
Selecting "Make the repeated operation valid" enables the repeat operation. Selecting "Make the aging function valid" enables
the continuous operation until clicking "Stop" or "Forced stop". Set the repeat pattern, the dwell time, and the number of
operations.
■Operation status (6)
The operation status during the repeat operation, and the number of operations are displayed.
4 STARTUP
4.5 Test operation
45
Program operation
(1)
(2)
(3)
Combined positioning operation can be performed with multiple operation patterns, without using a controller. Perform this
operation on the program operation screen of MR Configurator2. For details, refer to Help of MR Configurator2.
1. Open the program operation screen of MR Configurator2.
No. Item Screen operation
(1) Program display Displays the program. To edit the display item, click "Program Edit".
(2) Operation Operation start, pause, stop, and forced stop can be operated. Clicking "Operation Start" starts the operation.
(3) Repeat execution Displays the number of execution times. Selecting "Aging function" enables to repeat the operation program.
2. Clicking "Program Edit" in the program operation screen opens the program edit screen.
Input the program and click "OK". For program commands, refer to Help of MR Configurator2.
46
4 STARTUP
4.5 Test operation
Motor-less operation
• The motor-less operation cannot be used in the linear servo motor control mode or DD motor control mode.
Without connecting the servo motor to the servo amplifier, output signals can outputted and status display can be provided in
response to the controller command, as if the servo motor is actually running. This operation can be used to check the
sequence of a controller. Use this operation after the forced stop has been released. Use this operation with the servo
amplifier connected to the controller.
To perform the motor-less operation, set [Pr. PC05.0 Motor-less operation selection] to "1" (enabled). To terminate the motor-
less operation, set [Pr. PC05.0] to "0" (disabled).
Load conditions
The operation is performed in the following conditions. Note that the conditions may differ from those of actual machines.
Load item Condition
Load torque 0
Load to motor inertia ratio [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]
Alarm
In the motor-less operation, some alarms and warnings are not generated. Examples of the alarms which do not occur are
shown as follows.
• [AL. 016 Encoder initial communication error 1]
• [AL. 01E Encoder initial communication error 2]
• [AL. 01F Encoder initial communication error 3]
• [AL. 020 Encoder normal communication error 1]
• [AL. 021 Encoder normal communication error 2]
• [AL. 025 Absolute position erased]
• [AL. 092 Battery cable disconnection warning]
• [AL. 09F Battery warning]
4
4 STARTUP
4.5 Test operation
47
Output signal (DO) forced output
Output signals can be switched on/off forcibly regardless of the servo status. Use this function for checking output signal
wiring and others. Operate this function on the DO forced output screen of MR Configurator2.
Clicking each signal on/off enables the operation of output signal on/off. After checking, click "Test Operation Mode Cancel"
and terminate the output signal (DO) forced output.
48
4 STARTUP
4.5 Test operation
4.6 Servo amplifier setting initialization
CN5
Servo amplifier
Personal computer
USB cable
MR-J3USBCBL3M
(option)
To USB
connector
Using the engineering tool (MR Mode Change packed with MR Configurator2) enables to initialize the setting of the servo
amplifier.
However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not
initialized.
• The storage area of the servo amplifier has a life. Do not use this function frequently.
• Execute the initialization with the servo amplifier disconnected from the network and directly connected to
MR Mode Change via a USB cable.
Initialization procedure by MR Mode Change
Open MR Mode Change, and connect a servo amplifier and a personal computer with a USB cable. Switch on control circuit
power supply of the servo amplifier.
4
Confirm that "Reset to factory settings" is selected, and click "Write". After the writing is completed, cycle the power or reset
the software.
Cycling the power or resetting the software initializes the setting of the servo amplifier at start-up. Confirm that the initialization
has completed by reading the setting of the servo amplifier.
4 STARTUP
4.6 Servo amplifier setting initialization
49
5 MAINTENANCE, INSPECTION AND PARTS
Precautions
REPLACEMENT
5.1 Inspection items
• To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or
modified products are not covered under warranty.
• For repair and parts replacement, contact your local sales office.
• To prevent a malfunction, do not perform an insulation resistance test (megger test) on the servo amplifier.
Periodic inspection
Perform the following inspections.
• Check for loose terminal block screws. Retighten any loose screws.
• Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions
especially when the servo motor is movable.
• Check that the connector is securely connected to the servo amplifier.
• Check that the wires are not coming out from the connector.
• Check for dust accumulation on the servo amplifier.
• Check for unusual noise generated from the servo amplifier.
• Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a
power is shut off by the emergency stop switch.
50
5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT
5.1 Inspection items
5.2 Parts having life
The life of the following parts is listed below. However, the life varies depending on operating methods and environment. If any
fault is found in the parts, they must be replaced immediately regardless of their life. For parts replacement, please contact
your local sales office.
Part name Guideline of life
Smoothing capacitor 10 years
Relay Total number of times of power-on, forced stop by EM1 (Forced stop 1), and
sudden stop command from controller: 100,000
Cooling fan 50,000 hours to 70,000 hours (7 years to 8 years)
Absolute position battery Refer to "Absolute position detection system" in the following manual.
MR-J5 User's Manual (Hardware)
Smoothing capacitor
The characteristic of the smoothing capacitor is deteriorated due to ripple currents, or others. 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 air-conditioned environment (ambient temperature of 40 °C or less for use at the maximum 1000 m
above sea level, 30 °C or less for over 1000 m and up to 2000 m).
Relays
Contact faults occur due to contact wear arisen from switching currents. Relays will reach the end of their lives when the total
number times of power-on, forced stop by EM1 (Forced stop 1), and a sudden stop command from the controller reaches
100,000. However, the lives of relays may depend on the power supply capacity.
5
Servo amplifier cooling fan
The cooling fan bearings will reach the end of their lives in 50,000 hours to 70,000 hours. Therefore, the cooling fan must be
replaced in seven to eight years for continuous operation as a guideline. If unusual noise or vibration is found during
inspection, the cooling fan must also be replaced. The life has been calculated in an environment which contains no corrosive
gas, flammable gas, oil mist, or dust. The average annual ambient temperature was 40 ˚C.
5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT
5.2 Parts having life
51
5.3 Replacing fan unit
The internal circuits of the servo amplifier may be damaged by static electricity. Take the following precautions.
• Ground human body and work bench.
• Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
The fan unit is composed of a cooling fan and its cover.
List of applicable fan units
Servo amplifier Fan units
MR-J5-70G/MR-J5-100G MR-J5-FAN1
MR-J5-200G/MR-J5-350G MR-J5-FAN2
MR-J5W2-44G MR-J5W-FAN1
MR-J5W3-222G/MR-J5W3-444G MR-J5W-FAN2
MR-J5W2-77G/MR-J5W2-1010G MR-J5W-FAN3
Replacement procedure
For the replacement procedure of fan units, refer to "Replacement procedure of fan units" in the following manual.
MR-J5 User's Manual (Hardware)
52
5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT
5.3 Replacing fan unit
6 COMPLIANCE WITH GLOBAL STANDARD
6.1 Compliance with global standards
Refer to the following manual for the compliance with global standards.
MELSERVO-J5 Series Safety Instructions and Precautions for AC Servos (IB(NA)0300391)
6.2 Handling of AC servo amplifier batteries for the
United Nations Recommendations on the
Transport of Dangerous Goods
The Rev. 15 (2007) of United Nations Recommendations on the Transport of Dangerous Goods (hereinafter
Recommendations of the United Nations) was published. To reflect the Recommendations, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization
(ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization
(IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC servo batteries.
The above change will not affect the function and performance of the product.
Target model
6
■Battery (cell)
Model Option model Type Lithium content Mass of battery Remark
ER6 MR-J3BAT Cell 0.65 g 16 g Each battery (cell) with more than 0.3 grams of the
ER17330 MR-BAT Cell 0.48 g 13 g
A6BAT Cell 0.48 g 13 g
lithium content must be handled as dangerous goods
(Class 9) depending on packaging requirements.
■Battery unit (assembled)
Model Option model Type Lithium content Mass of battery Remark
ER6 MR-J2M-BT Assembled
battery
(Seven cells)
CR17335A MR-BAT6V1 Assembled
battery (Two
cells)
MR-BAT6V1SET(-A) Assembled
battery (Two
cells)
MR-BAT6V1BJ Assembled
battery (Two
cells)
4.55 g 112 g The assembled battery with more than two grams of the
lithium content must be handled as dangerous goods
(Class 9) regardless of packaging requirements.
1.20 g 34 g Each battery (cell) with more than 0.3 grams of the
lithium content must be handled as dangerous goods
(Class 9) depending on packaging requirements.
1.20 g 34 g
1.20 g 34 g
Purpose
Safer transportation of lithium metal batteries
Change in regulations
The following points have been changed for lithium metal batteries transportation by sea or air based on the IATA Dangerous
Goods Regulations 54th edition effective January 1, 2013 in addition to the revision of the Recommendations of the United
Nations Rev. 15 and the ICAO-TI 2009-2010 Edition. For lithium metal batteries, battery cells alone are classified as UN3090,
and batteries assembled or packed with equipment are classified as UN3091.
6 COMPLIANCE WITH GLOBAL STANDARD
6.1 Compliance with global standards
53
■Transportation of lithium metal batteries alone
Ex.
* UN number (s)
** Telephone number for additional information
Example of Mitsubishi Electric label with battery illustration
(Available from January 1, 2017)
Packaging requirements Classification Main requirements
Eight cells or fewer per package with one gram or less of lithium
content per cell
Two or fewer assembled batteries per package with two grams or
less of lithium content per battery
More than eight cells per package with one gram or less of
lithium content per cell
More than two assembled batteries per package with two grams
or less of lithium content per battery
Cells with more than one gram of lithium content per cell UN3090 PI968 Section IA The package must comply with Class 9 Packages and be
Assembled batteries with more than two grams of lithium content
per battery
UN3090 PI968 Section The package must pass a 1.2 m drop test, and the handling
label with battery illustration (size: 120 × 110 mm) must be
attached on the package.
UN3090 PI968 Section IB The package must pass a 1.2 m drop test, and the handling
label with battery illustration (size: 120 × 110 mm) must be
attached on the package.
The batteries must be handled according to Class 9
Dangerous Goods Regulations -e.g., attaching the Class 9
hazard label.
handled according to Class 9 Dangerous Goods
Regulations -e.g., attaching the Class 9 hazard label.
■Transportation of lithium metal batteries packed with or contained in equipment
• For batteries packed with equipment, follow the necessary requirements of UN3091 PI969. Batteries are classified into
either Section II/Section I depending on the lithium content/packaging requirements.
• For batteries assembled in equipment, follow the necessary requirements of UN3091 PI970. Batteries are classified into
either Section II/Section I depending on the lithium content/packaging requirements. The special handling may be
unnecessary depending on the number of batteries and gross mass per package.
Mitsubishi Electric label with battery illustration
■Details of the package change
The following caution has been added to the packages of the corresponding batteries.
"Containing lithium metal battery. Regulations apply for transportation."
■Transportation precaution for customers
For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or
battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric
is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for
Dangerous Goods is required, and the package must be compliant with Class 9 Packages. Documentations like the handling
label in the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation. Please attach
the documentations to the packages and the outer package.
The requirements of the IATA Dangerous Goods Regulations are subject to change according to the annual revision. When
customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to
check the latest version of the IATA Dangerous Goods Regulations.
54
6 COMPLIANCE WITH GLOBAL STANDARD
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods
6.3 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained
here.
• This mark is valid only in EU.
This mark is in accordance with the directive 2006/66/EC Article 20 "Information for end-users" and Annex .
MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be
recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from household
waste.
If a chemical symbol is shown beneath the above symbol, a heavy metal of the corresponding chemical symbol is contained in
the battery or the accumulator with the following standard concentration or more.
This will be indicated as follows.
Hg: mercury (0.0005 %), Cd: cadmium (0.002 %), Pb: lead (0.004 %)
In the European Union, there are separate collection systems for used batteries and accumulators. Batteries and
accumulators must be disposed properly.
Help us to conserve the environment we live in.
6
6 COMPLIANCE WITH GLOBAL STANDARD
6.3 Symbol for the new EU Battery Directive
55
6.4 Status of general-purpose AC servo products for
电子信息产品污染控制管理办法
电器电子产品有害物质限制使用管理办法
compliance with the China RoHS directive
Outline
The China RoHS directive: (Management Methods for Controlling Pollution by Electronic
Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China
RoHS directive: (Management Methods for the Restriction of the Use of
Hazardous Substances in Electrical and Electronic Products). The succeeding China RoHS directive has been in effect since
July 1, 2016.
The China RoHS directive restricts the same six hazardous substances (lead, mercury, cadmium, hexavalent chromium,
polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) as EU RoHS 2 s and other hazardous
substances specified by the State (currently no applicable substances).
Status of our products for compliance with the China RoHS directive
The following table shows the logo types for the environmental protection use period, and whether the six hazardous
substances are contained in our products or not. This table was created based on the standard SJ/T11364.
Part name Hazardous substance (substance/threshold/standard)
Lead
(Pb)
Threshold of cadmium: 0.01 wt% (100 ppm), Threshold of
substances other than cadmium: 0.1 wt% (1000 ppm)
Servo amplifier
Servo system
controller
Servo motor Bracket
Cable product Cable Including
Optional unit Mounting board
Mounting board
Heat sink
Resin cabinet
Plate and screw
Mounting board
Resin cabinet
Core and cable
Connector
Resin cabinet
Plate and screw
Mercury
(Hg)
Cadmium
(Cd)
Hexavalent
chromium
(Cr(VI))
*1
PBB PBDE
Logo for
environmental
protection use
*2
period
Remark
connector set
*1 : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of
GB/T26572.
: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit
requirement of GB/T26572.
*2 Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product" [SJ/T11364-
2014]
Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.
Keep safety and follow usage precautions for the product, and use the product within a limited number of years from the production date.
Thereby, any of the hazardous substances in the product does not cause environmental pollution, or seriously affect human health or property.
Indicates that no certain hazardous substance is contained in the product.
56
6 COMPLIANCE WITH GLOBAL STANDARD
6.4 Status of general-purpose AC servo products for compliance with the China RoHS directive
Difference between the China RoHS directive and the EU RoHS directive
部件名称 有害物质 (物质名称/阈值/基准)
*1
环境保护
使用期限
标识
*2
备注
铅
(Pb)
汞
(Hg)
镉
(Cd)
六价铬
(Cr(VI))
PBB PBDE
阈值: 镉: 0.01wt% (100ppm)、镉以外: 0.1wt% (1000ppm)
伺服放大器
伺服系统控
制器
电路板组件
散热片
树脂壳体
金属板、螺丝
托架伺服电机
电路板组件
树脂壳体
铁心、电线
电缆加工品 电线 包括连接器
组件
连接器
选件模块 电路板组件
树脂壳体
金属板、螺丝
*1: 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。
: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。
*2 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示
该标志表示在中国制造/销售的产品中含有特定有害物质。
只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财产产生深刻的影响。
该标志表示制造的产品中不含有特定有害物质。
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the
EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "")
in the China RoHS directive.
The following shows some restriction exemptions and their examples according to the EU RoHS directive.
• Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to 0.35 % lead by
weight, lead as an alloying element in aluminum containing up to 0.4 % lead by weight, and copper alloy containing up to 4
% lead by weight, e.g. brass-made insert nuts
• Lead in high melting temperature type solders (i.e. lead-based alloys containing 85 % by weight or more lead)
• Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors, e.g.
piezoelectronic devices
• Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors
Status of our products for compliance with the China RoHS directive (Chinese)
The following shows the table in Chinese according to "Management Methods for the Restriction of the Use of Hazardous
Substances in Electrical and Electronic Products".
Page 56 Status of our products for compliance with the China RoHS directive
6
6 COMPLIANCE WITH GLOBAL STANDARD
6.4 Status of general-purpose AC servo products for compliance with the China RoHS directive
57
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date *Manual number Description
July 2019 SH(NA)-030294ENG-A First edition
This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held
responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2019 MITSUBISHI ELECTRIC CORPORATION
58
WARRANTY
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen
during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the
Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on
request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be
required after a defective unit are repaired or replaced.
[Term]
For terms of warranty, please contact your local FA center.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed
to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
2. a failure caused by any alteration, etc. to the Product made on your side without our approval
3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained
and replaced
5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
8. any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair
work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any
failure or malfunction occurs.
(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
59
TRADEMARKS
SH(NA)-030294ENG-A
MELSERVO, CC-Link IE, and GOT are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/
or other countries.
Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
All other product names and company names are trademarks or registered trademarks of their respective companies.
60
SH(NA)-030294ENG-A(1907)MEE
Specifications are subject to change without notice.
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
MODEL:
MODEL CODE:
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