Mitsubishi MR-J3-10B, MR-J3-60B, MR-J3-20B, MR-J3-40B, MR-J3-70B Instruction Manual

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J3 Series MR-J3- B Servo Amplifier Instruction Manual C

General-Purpose AC Servo

J3 Series

SSCNET Compatible

MODEL

MR-J3- B

SERVO AMPLIFIER INSTRUCTION MANUAL

A - 1

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

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 to personnel or may cause physical

damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols:

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

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

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive

unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P(

) and

) (L and L

for drive unit 30kW or more)

is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not.

Connect the converter unit, servo amplifier (drive unit) and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the converter unit, servo amplifier (drive unit) and servo motor until they have been

installed. Otherwise, you may get an electric shock.

Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric

shock.

During power-on or operation, do not open the front cover. You may get an electric shock. Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. High-

voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The servo

amplifier (drive unit) is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

Install the converter unit, servo amplifier (drive unit), servo motor and regenerative resistor on

incombustible material. Installing them directly or close to combustibles will lead to a fire.

Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the converter unit, servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the converter unit, servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the converter unit, servo amplifier (drive unit) malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the instruction manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

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

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the converter unit and servo amplifier (drive unit) heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

A - 3

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their weights.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The servo amplifier may drop.

Install the converter unit and servo amplifier (drive unit) in a load-bearing place in accordance with the Instruction Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The converter unit, servo amplifier (drive unit), and servo motor must be installed in the specified direction.

Leave specified clearances between the converter unit, servo amplifier (drive unit), and control enclosure walls or other equipment.

Do not install or operate the converter unit, servo amplifier (drive unit), and servo motor which has been damaged or has any parts missing.

When you keep or use it, please fulfill the following environmental conditions.

Conditions

Environment

Converter unit servo amplifier (drive unit) Servo motor

[] 0 to 55 (non-freezing) 0 to 40 (non-freezing)

During operation

[

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

[] 20 to 65 (non-freezing) 15 to 70 (non-freezing)

Ambient temperature

In storage

[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

Ambient humidity

In storage 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

HF-MP series HF-KP series X, Y: 49 m/s2

HF-SP51 81 HF-SP52 to 152

HF-SP524 to 1524 HC-RP Series

HC-UP72

152

X, Y: 24.5 m/s

HF-SP121

201 HF-SP202 352

HF-SP2024

3524 HC-UP202 to 502

X: 24.5 m/s

Y: 49 m/s2

HF-SP301 421 HF-SP502 702

HF-SP5024

7024

X: 24.5 m/s

Y: 29.4 m/s2

HC-LP52 to 152 X: 9.8 m/s2 Y: 24.5 m/s2

HC-LP202 to 302 X: 19.6 m/s2 Y: 49 m/s2

HA-LP601 to 12K1 HA-LP701M to 15K1M

HA-LP502 to 22K2 HA-LP6014

12K14

HA-LP701M4

15K1M4 HA-LP11K24 to 22K24

X: 11.7 m/s

Y: 29.4 m/s2

(Note) Vibration

[m/s

] 5.9 or less

HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M

HA-LP30K2

37K2 HA-LP15K14 to 37K14

HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24

X, Y: 9.8 m/s2

Note. Except the servo motor with reduction gear.

A - 4

CAUTION

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the converter unit, servo amplifier (drive unit), and servo motor.

Do not drop or strike converter unit, servo amplifier (drive unit), or servo motor. Isolate from all impact

loads.

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during

operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo

motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder

may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF (-H) option) between the

servo motor and servo amplifier (drive unit).

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)

directly. Do not let a magnetic contactor, etc. intervene.

Servo Motor

Servo Amplifier

(drive unit)

Servo Motor

Servo Amplifier

(drive unit)

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbing diode installed on the DC output signal relay of the servo amplifier (drive unit) must be wired in the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.

Control

output

signal

Control

output

signal

DOCOM

DICOM

24VDC

DOCOM

DICOM

24VDC

Servo Amplifier

(drive unit)

Servo Amplifier

(drive unit)

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

A - 5

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the converter unit and servo amplifier (drive unit).

Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or break a converter unit and servo amplifier (drive unit).

Use the converter unit and servo amplifier (drive unit) with the specified servo motor.

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

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

A - 6

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EM1).

EM1RA

24VDC

Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR).

Electromagnetic brake

Servo motor

Circuit must be opened during forced stop (EM1).

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before

restarting operation.

When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier (drive unit) will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please consult our sales representative.

(7) General instruction

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

A - 7

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not

been designed or manufactured to be incorporated in a device or system used in purposes related to

human life. Before using the products for special purposes such as nuclear power, electric power, aerospace,

medicine, passenger movement vehicles or under water relays, contact Mitsubishi. These products have been manufactured under strict quality control. However, when installing the product

where major accidents or losses could occur if the product fails, install appropriate backup or failsafe

functions in the system.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit, servo amplifier (drive unit) and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

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

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

A - 8

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January,

1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment.

This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply

with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation

Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low

voltage directive.

This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the converter unit, servo amplifiers (drive unit) need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE (1) Converter unit, servo amplifiers (drive unit), and servo motors used

Use the converter unit, servo amplifiers (drive unit), and servo motors which comply with the standard

model.

Converter unit series :MR-J3-CR55K MR-J3-CR55K4 Servo amplifier (drive unit) series :MR-J3-10B to MR-J3-22KB MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-22KB4 MR-J3-DU30KB to MR-J3-DU37KB MR-J3-DU30KB4 to MR-J3-DU55KB4 Servo motor series :HF-MP HF-KP HF-SP

(Note)

HF-SP

4 (Note) HC-RP HC-UP HC-LP HA-LP

(Note)

HA-LP

4 (Note)

Note. For compliance conditions, refer to Section 1.1 of the Servo Motor Instruction Manual (Vol.2) (SH(NA)030041).

A - 9

(2) Configuration

The control circuit provide safe separation to the main circuit in the converter unit and servo amplifier (drive unit).

(a) MR-J3-22KB(4) or less

NFB MC

24VDC

power

supply

Servo

amplifier

Reinforced

insulating type

Control box

Serve motor

No-fuse breaker

Magnetic

contactor

(b) MR-J3-DU30KB(4) or more

NFB MC

24VDC

power

supply

Control box

No-fuse breaker

Magnetic contactor

Converter

unit

Servvo

motor

Drive

unit

Reinforced insulating type

(3) Environment

Operate the converter unit and servo amplifier (drive unit) at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(4) Power supply

(a) This converter unit and servo amplifier (drive unit) can be supplied from star-connected supply with

earthed neutral point of overvoltage category III set forth in IEC60664-1. However, when using the neutral point of 400V system for single phase supply, a reinforced insulating transformer is required in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-

reinforced in I/O.

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked

) of the

converter unit and servo amplifier (drive unit) to the protective earth (PE) of the control box.

A - 10

(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the

cables to the terminals one-to-one.

PE terminals

the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring

(a) The cables to be connected to the terminal block of the converter unit and servo amplifier (drive unit)

must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard

compliant power connector sets are available from us as options. (Refer to section 11.1)

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in section 11.12 (Section 13.9.5 for 30kW or more). Use a type B (Note) breaker. When it is not used, provide insulation between the converter unit, servo amplifier (drive unit) and other device by double insulation or reinforced insulation, or install a transformer between the main power supply, converter unit and servo amplifier (drive unit). Note. Type A: AC and pulse detectable

Type B: Both AC and DC detectable

(b) The sizes of the cables described in section 11.8 meet the following requirements. To meet the other

requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient temperature: 40 (104) [°C (°F)] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray

(8) Performing EMC tests

When EMC tests are run on a machine/device into which the converter unit and servo amplifier (drive unit) has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC directive guidelines on the converter unit and servo amplifier (drive unit), refer to the EMC Installation Guidelines(IB(NA)67310).

A - 11

CONFORMANCE WITH UL/C-UL STANDARD

(1) Converter unit, servo amplifiers (drive unit) and servo motors used

Use the converter unit, servo amplifiers (drive unit) and servo motors which comply with the standard model.

(Note) HF-SP

4 (Note) HC-RP HC-UP HC-LP HA-LP

(Note) HA-LP

4 (Note)

Note. For compliance conditions, refer to Section 1.1 of the Servo Motor Instruction Manual (Vol.2) (SH(NA)030041).

(2) Installation

Install a cooling fan of 100CFM (2.8m

/min) air flow 4 in (10.16 cm) above the servo amplifier (drive unit) or

provide cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier (drive unit) conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to the above circuit.

A - 12

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes (more than 20 minutes in case drive unit is 30kW or more) after power-off.

Servo amplifier Discharge time [min]

MR-J3-10B 20B 1

MR-J3-40B 60B(4) 10B1 20B1 2

MR-J3-70B 3

MR-J3-40B1 4

MR-J3-100B(4) 5

MR-J3-200B(4) 350B 9

MR-J3-350B4 500B(4) 700B(4) 10

MR-J3-11KB(4) 4 MR-J3-15KB(4) 6 MR-J3-22KB(4) 8

Converter unit Drive unit Discharge time [min]

MR-J3-DU30KB

MR-J3-CR55K

MR-J3-DU37KB

MR-J3-DU30KB4

MR-J3-DU37KB4

MR-J3-CR55K4

MR-J3-DU45KB4

MR-J3-DU55KB4

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products. This servo amplifier is UL/C-UL-listed when using the fuses indicated in the following table. When the servo amplifier must comply with the UL/C-UL Standard, be sure to use these fuses.

Fuse Fuse

Servo amplifier

(drive unit)

Class Current [A]

Voltage

AC [V]

Servo amplifier

(drive unit)

Class Current [A]

Voltage

AC [V] MR-J3-10B(1) 20B 10 MR-J3-60B4 10 MR-J3-40B 20B1 15 MR-J3-100B4 15 MR-J3-60B to 100B 40B1 20 MR-J3-200B4 25 MR-J3-200B 40 MR-J3-350B4 35 MR-J3-350B 70 MR-J3-500B4 50 MR-J3-500B 125 MR-J3-700B4 65 MR-J3-700B 150 MR-J3-11KB4 T 100 600 MR-J3-11KB 200 MR-J3-15KB4 150 MR-J3-15KB 250 MR-J3-22KB4 175 MR-J3-22KB 350 MR-J3-DU30KB4 (Note) 250 MR-J3-DU30KB (Note) 500 MR-J3-DU37KB4 (Note) 300 MR-J3-DU37KB (Note)

600

250

MR-J3-DU45KB4 (Note) 400

MR-J3-DU55KB4 (Note) 450

Note. Prospect approved in the near future.

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual (Vol.2).

A - 13

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use the General-Purpose AC servo MR-J3-B for the first time. Always purchase them and use the MR-J3-B safely.

Relevant manuals

Manual name Manual No.

MELSERVO-J3 Series To Use the AC Servo Safely

Enclosed in converter unit and servo amplifier (drive unit).

IB(NA)0300077

MELSERVO Servo Motor Instruction Manual Vol.2 SH(NA)030041

EMC Installation Guidelines IB(NA)67310

Details of MR-J3-DU30KB(4) to MR-J3-DU55KB4 are described in chapter 13 of this INSTRUCTION MANUAL. For the products of 30kW or more, refer to chapter 13.

A - 14

MEMO

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28

1.1 Introduction ............................................................................................................................................... 1 - 1

1.2 Function block diagram............................................................................................................................ 1 - 2

1.3 Servo amplifier standard specifications................................................................................................... 1 - 5

1.4 Function list .............................................................................................................................................. 1 - 7

1.5 Model code definition ...............................................................................................................................1 - 8

1.6 Combination with servo motor ................................................................................................................ 1 -10

1.7 Structure .................................................................................................................................................. 1 -11

1.7.1 Parts identification ............................................................................................................................1 -11

1.7.2 Removal and reinstallation of the front cover.................................................................................. 1 -18

1.8 Configuration including auxiliary equipment........................................................................................... 1 -21

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances .......................................................................................................2 - 1

2.2 Keep out foreign materials ....................................................................................................................... 2 - 3

2.3 Cable stress ............................................................................................................................................. 2 - 3

2.4 SSCNET

cable laying............................................................................................................................ 2 - 4

2.5 Inspection items .......................................................................................................................................2 - 6

2.6 Parts having service lives ........................................................................................................................ 2 - 6

3. SIGNALS AND WIRING 3 - 1 to 3 -52

3.1 Input power supply circuit ........................................................................................................................ 3 - 2

3.2 I/O signal connection example ...............................................................................................................3 -10

3.3 Explanation of power supply system ......................................................................................................3 -12

3.3.1 Signal explanations .......................................................................................................................... 3 -12

3.3.2 Power-on sequence .........................................................................................................................3 -13

3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................3 -14

3.4 Connectors and signal arrangements ....................................................................................................3 -23

3.5 Signal (device) explanations................................................................................................................... 3 -24

3.6 Alarm occurrence timing chart ................................................................................................................ 3 -27

3.7 Interfaces .................................................................................................................................................3 -28

3.7.1 Internal connection diagram ............................................................................................................ 3 -28

3.7.2 Detailed description of interfaces..................................................................................................... 3 -29

3.7.3 Source I/O interfaces ....................................................................................................................... 3 -31

3.8 Treatment of cable shield external conductor ........................................................................................3 -32

3.9 SSCNET

cable connection .................................................................................................................. 3 -33

3.10 Connection of servo amplifier and servo motor ...................................................................................3 -35

3.10.1 Connection instructions.................................................................................................................. 3 -35

3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -36

3.11 Servo motor with electromagnetic brake.............................................................................................. 3 -46

3.11.1 Safety precautions ......................................................................................................................... 3 -46

3.11.2 Timing charts.................................................................................................................................. 3 -47

3.11.3 Wiring diagrams (HF-MP series

HF-KP series servo motor) ..................................................... 3 -49

3.12 Grounding.............................................................................................................................................. 3 -50

3.13 Control axis selection............................................................................................................................ 3 -51

4. STARTUP 4 - 1 to 4 -10

4.1 Switching power on for the first time ....................................................................................................... 4 - 1

4.1.1 Startup procedure.............................................................................................................................. 4 - 1

4.1.2 Wiring check ......................................................................................................................................4 - 2

4.1.3 Surrounding environment.................................................................................................................. 4 - 3

4.2 Start up .....................................................................................................................................................4 - 4

4.3 Servo amplifier display.............................................................................................................................4 - 5

4.4 Test operation ..........................................................................................................................................4 - 7

4.5 Test operation mode ................................................................................................................................ 4 - 8

4.5.1 Test operation mode in MR Configurator ......................................................................................... 4 - 8

4.5.2 Motorless operation in controller...................................................................................................... 4 -10

5. PARAMETERS 5 - 1 to 5 -26

5.1 Basic setting parameters (No.PA )..................................................................................................... 5 - 1

5.1.1 Parameter list ....................................................................................................................................5 - 1

5.1.2 Parameter write inhibit ......................................................................................................................5 - 2

5.1.3 Selection of regenerative option .......................................................................................................5 - 3

5.1.4 Using absolute position detection system ........................................................................................5 - 4

5.1.5 Forced stop input selection............................................................................................................... 5 - 4

5.1.6 Auto tuning ........................................................................................................................................ 5 - 5

5.1.7 In-position range................................................................................................................................ 5 - 6

5.1.8 Selection of servo motor rotation direction ....................................................................................... 5 - 7

5.1.9 Encoder output pulse ........................................................................................................................5 - 7

5.2 Gain/filter parameters (No. PB

) ......................................................................................................... 5 - 9

5.2.1 Parameter list ....................................................................................................................................5 - 9

5.2.2 Detail list ........................................................................................................................................... 5 -10

5.3 Extension setting parameters (No. PC

) ...........................................................................................5 -17

5.3.1 Parameter list ...................................................................................................................................5 -17

5.3.2 List of details..................................................................................................................................... 5 -18

5.3.3 Analog monitor .................................................................................................................................5 -21

5.3.4 Alarm history clear............................................................................................................................ 5 -23

5.4 I/O setting parameters (No. PD

)....................................................................................................... 5 -24

5.4.1 Parameter list ...................................................................................................................................5 -24

5.4.2 List of details..................................................................................................................................... 5 -25

6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12

6.1 Different adjustment methods.................................................................................................................. 6 - 1

6.1.1 Adjustment on a single servo amplifier............................................................................................. 6 - 1

6.1.2 Adjustment using MR Configurator................................................................................................... 6 - 2

6.2 Auto tuning ............................................................................................................................................... 6 - 3

6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3

6.2.2 Auto tuning mode operation.............................................................................................................. 6 - 4

6.2.3 Adjustment procedure by auto tuning............................................................................................... 6 - 5

6.2.4 Response level setting in auto tuning mode .................................................................................... 6 - 6

6.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 6 - 7

6.4 Interpolation mode ..................................................................................................................................6 -11

6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 6 -12

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -16

7.1 Function block diagram............................................................................................................................ 7 - 1

7.2 Adaptive filter

......................................................................................................................................... 7 - 1

7.3 Machine resonance suppression filter..................................................................................................... 7 - 4

7.4 Advanced vibration suppression control ................................................................................................. 7 - 6

7.5 Low-pass filter ......................................................................................................................................... 7 -10

7.6 Gain changing function ...........................................................................................................................7 -10

7.6.1 Applications ......................................................................................................................................7 -10

7.6.2 Function block diagram ....................................................................................................................7 -11

7.6.3 Parameters ....................................................................................................................................... 7 -12

7.6.4 Gain changing operation ..................................................................................................................7 -14

8. TROUBLESHOOTING 8 - 1 to 8 -10

8.1 Alarms and warning list............................................................................................................................ 8 - 1

8.2 Remedies for alarms................................................................................................................................ 8 - 2

8.3 Remedies for warnings ............................................................................................................................8 - 8

9. OUTLINE DRAWINGS 9 - 1 to 9 -12

9.1 Servo amplifier ......................................................................................................................................... 9 - 1

9.2 Connector ................................................................................................................................................9 -10

10. CHARACTERISTICS 10- 1 to 10-10

10.1 Overload protection characteristics ...................................................................................................... 10- 1

10.2 Power supply equipment capacity and generated loss .......................................................................10- 3

10.3 Dynamic brake characteristics.............................................................................................................. 10- 6

10.3.1 Dynamic brake operation............................................................................................................... 10- 6

10.3.2 The dynamic brake at the load inertia moment............................................................................. 10- 8

10.4 Cable flexing life .................................................................................................................................... 10- 9

10.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 10-10

11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-88

11.1 Cable/connector sets ............................................................................................................................ 11- 1

11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 2

11.1.2 Encoder cable/connector sets .......................................................................................................11- 8

11.1.3 Motor power supply cables ...........................................................................................................11-17

11.1.4 Motor brake cables........................................................................................................................ 11-18

11.1.5 SSCNET

cable ...........................................................................................................................11-19

11.2 Regenerative options ...........................................................................................................................11-21

11.3 FR-BU2-(H) Brake unit......................................................................................................................... 11-34

11.3.1 Selection ........................................................................................................................................ 11-35

11.3.2 Brake unit parameter setting......................................................................................................... 11-35

11.3.3 Connection example .....................................................................................................................11-36

11.3.4 Outline dimension drawings.......................................................................................................... 11-43

11.4 Power regeneration converter .............................................................................................................11-45

11.5 Power regeneration common converter .............................................................................................. 11-48

11.6 External dynamic brake .......................................................................................................................11-56

11.7 Junction terminal block PS7DW-20V14B-F (recommended)............................................................. 11-61

11.8 MR Configurator ...................................................................................................................................11-63

11.9 Battery MR-J3BAT ...............................................................................................................................11-64

11.10 Heat sink outside mounting attachment (MR-J3ACN)...................................................................... 11-65

11.11 Recommended wires .........................................................................................................................11-67

11.12 No-fuse breakers, fuses, magnetic contactors ................................................................................. 11-71

11.13 Power factor improving DC reactor ...................................................................................................11-71

11.14 Power factor improving AC reactors .................................................................................................11-73

11.15 Relays (recommended) .....................................................................................................................11-74

11.16 Surge absorbers (recommended) .....................................................................................................11-75

11.17 Noise reduction techniques ...............................................................................................................11-75

11.18 Leakage current breaker....................................................................................................................11-82

11.19 EMC filter (recommended) ................................................................................................................ 11-84

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6

12.1 Features ................................................................................................................................................ 12- 1

12.2 Specifications ........................................................................................................................................12- 2

12.3 Battery installation procedure ............................................................................................................... 12- 3

12.4 Confirmation of absolute position detection data................................................................................. 12- 5

13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13- 1 to 13-100

13.1. Functions and menus........................................................................................................................... 13- 1

13.1.1 Function block diagram ..................................................................................................................13- 2

13.1.2 Packing list .....................................................................................................................................13- 4

13.1.3 Standard specifications.................................................................................................................. 13- 5

13.1.4 Model definition ..............................................................................................................................13- 8

13.1.5 Combinations of converter units, drive unit and servo motors ..................................................... 13- 9

13.1.6 Parts identification .........................................................................................................................13-10

13.1.7 Removal and reinstallation of the terminal block cover ...............................................................13-13

13.1.8 Servo system with auxiliary equipment ........................................................................................13-19

13.2 Installation ............................................................................................................................................ 13-20

13.2.1 Installation direction and clearances ............................................................................................13-21

13.2.2 Inspection ......................................................................................................................................13-22

13.3 Signals and wiring ................................................................................................................................ 13-23

13.3.1 Magnetic contactor control connector (CNP1) .............................................................................13-24

13.3.2 Input power supply circuit ............................................................................................................. 13-26

13.3.3 Terminal ......................................................................................................................................... 13-31

13.3.4 How to use the connection bars ...................................................................................................13-32

13.3.5 Connectors and signal arrangements .......................................................................................... 13-33

13.3.6 Converter unit signal (device) explanations .................................................................................13-35

13.3.7 Timing chart...................................................................................................................................13-37

13.3.8 Servo motor side details ............................................................................................................... 13-45

13.4 Display section and operation section of the converter unit ...............................................................13-47

13.4.1 Display flowchart ...........................................................................................................................13-47

13.4.2 Status display mode...................................................................................................................... 13-48

13.4.3 Diagnostic mode............................................................................................................................ 13-49

13.4.4 Alarm mode ...................................................................................................................................13-51

13.4.5 Parameter mode ........................................................................................................................... 13-52

13.5. Parameters for converter unit .............................................................................................................13-53

13.5.1 Parameter list ................................................................................................................................13-53

13.5.2 List of details.................................................................................................................................. 13-54

13.6 Troubleshooting ...................................................................................................................................13-55

13.6.1 Converter unit................................................................................................................................ 13-55

13.6.2 Drive unit........................................................................................................................................13-60

13.7 Outline drawings ..................................................................................................................................13-62

13.7.1 Converter unit (MR-J3-CR55K(4))................................................................................................13-62

13.7.2 Drive unit........................................................................................................................................13-63

13.8 Characteristics...................................................................................................................................... 13-65

13.8.1 Overload protection characteristics ..............................................................................................13-65

13.8.2 Power supply equipment capacity and generated loss ............................................................... 13-66

13.8.3 Dynamic brake characteristics...................................................................................................... 13-67

13.8.4 Inrush currents at power-on of main circuit and control circuit ....................................................13-69

13.9 Options .................................................................................................................................................13-70

13.9.1 Cables and connectors .................................................................................................................13-70

13.9.2 Regenerative option ......................................................................................................................13-73

13.9.3 External dynamic brake ................................................................................................................13-77

13.9.4 Recommended wires ....................................................................................................................13-80

13.9.5 No-fuse breakers, fuses, magnetic contactors............................................................................. 13-81

13.9.6 Power factor improving DC reactor ..............................................................................................13-82

13.9.7 Line noise filter (FR-BLF) ..............................................................................................................13-83

13.9.8 Leakage current breaker............................................................................................................... 13-84

13.9.9 EMC filter (recommended)............................................................................................................ 13-86

13.9.10 FR-BU2-(H) Brake Unit ............................................................................................................... 13-88

APPENDIX App- 1 to App- 4

App 1. Parameter list...................................................................................................................................App- 1

App 2. Signal layout recording paper .........................................................................................................App- 3

App 3. Twin type connector : Outline drawing for 721-2105/026-000 (WAGO)........................................App- 3

App 4. Change of connector sets to the RoHS compatible products ........................................................App- 4

MEMO

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J3 series general-purpose AC servo has further higher performance and higher functions compared to the current MELSERVO-J2-Super series. The MR-J3-B servo amplifier connects to servo system controller and others via high speed synchronous network and operates by directly reading position data. The rotation speed/direction control of servo motor and the high accuracy positioning are executed with the data from command module. SSCNET

equipped by the MR-J3-B servo amplifier greatly improved its communication speed and noise tolerance by adopting optical communication system compared to the current SSCNET. For wiring distance, 50m of the maximum distance between electrodes is also offered. The torque limit with clamping circuit is put on the servo amplifier in order to protect the power transistor of main circuit from the overcurrent caused by rapid acceleration/deceleration or overload. In addition, torque limit value can be changed to desired value with parameter. As this new series has the USB communication function, a MR Configurator-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J3 series servo motor is equipped with an absolute position encoder which has the resolution of 262144 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2-Super series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J3-350B or less

MR-J3-200B4 or less

Base

amplifier

CN4

N( )

Encoder

Current

detection

CN5

NFB MC

L21

USB

Power factor improving DC reactor

Regenerative

option

MR-J3BAT

D/A

Position command input

(Note 1)

(Note 2) Power supply

CHARGE

lamp

Regenerative TR

Current

detector

Dynamic

brake

Electromagnetic brake

Servo motorServo amplifier

Optional battery (for absolute position detection system)

Overcurrent

protection

Voltage

detection

Virtual

encoder

Virtual

motor

Model torque

Personal computer

Actual speed

control

Actual position

control

(Note 3)Cooling fan

Control

circuit power

supply

Model position

control

Model position

Model speed

CN2

P( )

Model speed

control

Current

control

I/F Control

CN1BCN1A

Controller or

servo amplifier

Servo amplifier

or cap

Analog monitor

(2 channels)

CN3

Digital I/O

control

Diode

stack

Relay

Note 1. The built-in regenerative resistor is not provided for the MR-J3-10B (1).

2. For 1-phase 200 to 230VAC, connect the power supply to L

1, L2 and leave L3 open.

There is no L

3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.

3. Servo amplifiers MR-J3-70B or greater have a cooling fan.

1 - 3

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-350B4

MR-J3-500B(4) MR-J3-700B(4)

Base

amplifier

CN4

Encoder

Current

detection

CN5

NFB MC

L21

USB

Power factor improving DC reactor

Regenerative

option

MR-J3BAT

D/A

Position command input

(Note) Power supply

CHARGE

lamp

Regenerative TR

Current

detector

Dynamic

brake

Electromagnetic brake

Servo motorServo amplifier

Optional battery (for absolute position detection system)

Overcurrent

protection

Voltage

detection

Virtual

encoder

Virtual

motor

Model torque

Personal computer

Actual speed

control

Actual position

control

Cooling fan

Control

circuit power supply

Model position

control

Model position

Model speed

CN2

Model speed

control

Current

control

I/F Control

CN1BCN1A

Controller or

servo amplifier

Servo amplifier

or cap

Analog monitor

(2 channels)

CN3

Digital I/O

control

Diode

stack

Relay

Note. Refer to section 1.3 for the power supply specification.

1 - 4

1. FUNCTIONS AND CONFIGURATION

(3) MR-J3-11KB(4) to 22KB(4)

Cooling fan

Base

amplifier

CN4

Encoder

Current

detection

CN5

NFB MC

L21

USB

Power factor improving DC reactor

Regenerative

option

MR-J3BAT

D/A

Position command input

(Note) Power supply

CHARGE

lamp

Regenerative TR

Current

detector

Dynamic

brake

Electromagnetic brake

Servo motorServo amplifier

Optional battery (for absolute position detection system)

Overcurrent

protection

Voltage

detection

Virtual

encoder

Virtual

motor

Model torque

Personal computer

Actual speed

control

Actual position

control

Control

circuit power supply

Model position

control

Model position

Model speed

CN2

Model speed

control

Current

control

I/F Control

CN1BCN1A

Controller or

servo amplifier

Servo amplifier

or cap

Analog monitor

(2 channels)

CN3

Digital I/O

control

Diode

stack

Thyristor

Note. Refer to section 1.3 for the power supply specification.

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

(1) 200V class, 100V class

Servo Amplifier

MR-J3-

Item

10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1

Voltage/frequency

3-phase or 1-phase 200

to 230VAC, 50/60Hz

3-phase 200 to 230VAC, 50/60Hz

1-phase 100V to

120VAC, 50/60Hz

Permissible voltage fluctuation

3-phase or 1-phase 200

to 230VAC: 170 to

253VAC

3-phase 170 to 253VAC

1-phase 85 to

132VAC

Permissible frequency fluctuation Within 5% Power supply capacity Refer to section 10.2

Power supply

Inrush current Refer to section 10.5

Voltage, frequency

1-phase 200 to 230VAC, 50/60Hz

1-phase 100 to

120VAC, 50/60Hz Permissible voltage fluctuation

1-phase 170 to 253VAC

1-phase 85 to

132VAC

Permissible frequency fluctuation

Within

Input 30W 45W 30W

Control circuit power supply

Inrush current Refer to section 10.5 Voltage, frequency

24VDC

10%

Interface power supply

Power supply capacity

(Note 1) 150mA or more

Control System Sine-wave PWM control, current control system Dynamic brake Built-in External option Built-in

Protective functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection.

Structure

Self-cooled, open

(IP00)

Force-cooling, open (IP00)

Self-cooled, open

(IP00)

[ ] (Note 2) 0 to 55 (non-freezing) During

operation

[

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

Ambient temperature

In storage

[

] 4 to 149 (non-freezing)

In operation Ambient

humidity

In storage

90%RH or less (non-condensing)

Ambient

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude Max. 1000m above sea level

Environment

Vibration 5.9 [m/s2] or less

[kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.3 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0

Mass

[lb] 1.8 1.8 2.2 2.2 3.1 3.1 5.071 5.071 10.1 13.7 39.68 39.68 41.88 1.8 1.8 2.2

Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45

or at 75% or

smaller effective load ratio.

1 - 6

1. FUNCTIONS AND CONFIGURATION

(2) 400V class

Servo Amplifier

MR-J3-

Item

60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4

Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency fluctuation

Within

Power supply capacity Refer to section 10.2

Power supply

Inrush current Refer to section 10.5

Voltage, frequency

1-phase 380 to 480VAC, 50/60Hz

Permissible voltage fluctuation

1-phase 323 to 528VAC

Permissible frequency fluctuation

Within

Input 30W 45W

Control circuit power supply

Inrush current Refer to section 10.5 Voltage,

frequency

24VDC

10%

Interface power supply

Power supply capacity

(Note1) 150mA

Control System Sine-wave PWM control, current control system Dynamic brake Built-in External option

Protective functions

Structure

Self-

cooled,

open

(IP00)

Force-cooling, open (IP00)

[ ]

(Note2) 0 to

55 (non-freezing) During

operation

[

]

32 to

131 (non-freezing)

[ ]

20 to 65 (non-freezing)

Ambient temperature

In storage

[

]

4 to 149 (non-freezing)

In operation Ambient

humidity

In storage

90%RH or less (non-condensing)

Ambient

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude Max. 1000m above sea level

Environment

Vibration 5.9 [m/s2] or less

[kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19

Mass

[lb] 3.75 3.75 4.63 10.14 10.14 13.67 39.68 39.68 41.88

Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45

or at 75% or

smaller effective load ratio.

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description Reference

High-resolution encoder

High-resolution encoder of 262144 pulses/rev is used as a servo motor

encoder. Absolute position detection system

Merely setting a home position once makes home position return

unnecessary at every power-on.

Chapter 12

Gain changing function

You can switch between gains during rotation and gains during stop or use

an external signal to change gains during operation.

Section 7.6

Advanced vibration suppression control

This function suppresses vibration at the arm end or residual vibration. Section 7.4

Adaptive filter

Servo amplifier detects mechanical resonance and sets filter characteristics

automatically to suppress mechanical vibration.

Section 7.2

Low-pass filter

Suppresses high-frequency resonance which occurs as servo system

response is increased.

Section 7.5

Machine analyzer function

Analyzes the frequency characteristic of the mechanical system by simply

connecting a servo configuration software-installed personal computer and

servo amplifier.

MR Configurator is necessary for this function.

Machine simulation

Can simulate machine motions on a personal computer screen on the basis

of the machine analyzer results.

MR Configurator is necessary for this function.

Gain search function

Personal computer changes gains automatically and searches for overshoot-

free gains in a short time.

MR Configurator is necessary for this function. Slight vibration suppression control

Suppresses vibration of

1 pulse produced at a servo motor stop. Parameters No. PB24

Auto tuning

Automatically adjusts the gain to optimum value if load applied to the servo

motor shaft varies. Higher in performance than MR-J2-Super series servo

amplifier.

Chapter 6

Brake until

Used when the regenerative option cannot provide enough regenerative

power.

Can be used the 5kW or more servo amplifier.

Section 11.3

Return converter

Used when the regenerative option cannot provide enough regenerative

power.

Can be used the 5kW or more servo amplifier.

Section 11.4

Regenerative option

Used when the built-in regenerative resistor of the servo amplifier does not

have sufficient regenerative capability for the regenerative power generated.

Section 11.2

Alarm history clear Alarm history is cleared. Parameter No. PC21 Output signal (DO) forced output

Output signal can be forced on/off independently of the servo status.

Use this function for output signal wiring check, etc.

Section 4.5.1 (1) (d)

Test operation mode

JOG operation

positioning operation DO forced output.

However, MR Configurator is necessary for positioning operation.

Section 4.5

Analog monitor output Servo status is output in terms of voltage in real time. Parameter No. PC09

MR Configurator

Using a personal computer, parameter setting, test operation, status display,

etc. can be performed.

Section 11.8

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Rating plate

MR-J3-10B

AC SERVO

POWER : INPUT :

OUTPUT: SERIAL :

100W

0.9A 3PH+1PH200-230V 50Hz

1.3A 1PH 200-230V 50/60Hz 170V 0-360Hz 1.1A

3PH+1PH200-230V 60Hz

A34230001

Model Capacity

Applicable power supply

Serial number

Rated output current

1 - 9

1. FUNCTIONS AND CONFIGURATION

(2) Model

Power supply

MR J3 B

Series

Symbol Description

-PX

Indicates a servo amplifier of 11 to 22kw that does not use a regenerative resistor as standard accessory.

With no regenerative resistor

Symbol Power supply

3-phase or 1-phase 200 to 230VAC

1-phase 100 to 120VAC

(Note 1)

None

(Note 2)

1 4 3-phase 380 to 480VAC

Note 1. 1-phase 200V to 230V is supported by 750W or less.

2. 1-phase 100V to 120V is supported by 400W or less.

SSCNET compatible

Rated output

Rated output [kW]

Symbol

10 0.1 20 0.2 40 0.4 60 0.6

70 0.75 100 1 200 2 350 3.5 500 5 700 7

11K 11 15K 15 22K 22

Rating plate

MR-J3-60B4 100B4

Rating plate

MR-J3-200B4

MR-J3-11KB(4) to 22KB(4)

Rating plate

MR-J3-350B4 500B(4)

Rating plate

MR-J3-200B 350B

MR-J3-100B or less

Rating plate

MR-J3-700B(4)

Rating plate

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes.

Servo motors

HF-SP

Servo amplifier

HF-MP

HF-KP

1000r/min 2000r/min

HC-RP HC-UP HC-LP

MR-J3-10B (1) 053 13 053 13 MR-J3-20B (1) 23 23 MR-J3-40B (1) 43 43

MR-J3-60B 51 52 52

MR-J3-70B 73 73 72 MR-J3-100B 81 102 102 MR-J3-200B 121 201 152 202 103

153

152 152 MR-J3-350B 301 352 203 202 202 MR-J3-500B 421 502 353

503

352

502

302 MR-J3-700B 702 MR-J3-11KB MR-J3-15KB MR-J3-22KB

Servo motors HA-LP

Servo amplifier

1000r/min 1500r/min 2000r/min

MR-J3-500B 502

MR-J3-700B 601 701M 702 MR-J3-11KB 801 12K1 11K1M 11K2 MR-J3-15KB 15K1 15K1M 15K2 MR-J3-22KB 20K1 25K1 22K1M 22K2

Servo motors

HA-LP

Servo amplifier

HF-SP

1000r/min 1500r/min 2000r/min

MR-J3-60B4 524

MR-J3-100B4 1024 MR-J3-200B4 1524 2024 MR-J3-350B4 3524 MR-J3-500B4 5024 MR-J3-700B4 7024 6014 701M4 MR-J3-11KB4 8014 12K14 11K1M4 11K24 MR-J3-15KB4 15K14 15K1M4 15K24 MR-J3-22KB4 20K14 22K1M4 22K24

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification

(1) MR-J3-100B or less

ON 4F

SW1

SW2

Fixed part (2 places)

Used to set the axis No. of servo amplifier.

Rotary axis setting switch (SW1)

SW2

Test operation select switch (SW2-1)

Used to perform the test operation mode by using MR Configurator.

Spare (Be sure to set to the "Down" position).

Detailed

Explanation

Section 3.13

Section 3.2 Section 3.4

SW1

Section 3.13

Name/Application

Display The 3-digit, seven-segment LED shows the servo status and alarm number.

Main circuit power supply connector (CNP1) Connect the input power supply.

USB communication connector (CN5) Connect the personal computer.

I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output.

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier.

SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap.

Servo motor power connector (CNP3) Connect the servo motor.

Encoder connector (CN2) Used to connect the servo motor encoder.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Battery holder Contains the battery for absolute position data backup.

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Chapter 4

Section 3.1 Section 3.3

Section 11.8

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.4

Section 11.1

Section 11.9

Chapter 12

Section 12.3

Section 3.1 Section 3.3

Section 1.5

TEST

1 - 12

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-60B4

MR-J3-100B4

Used to set the axis No. of servo amplifier.

Rotary axis setting switch (SW1)

SW2

Test operation select switch (SW2-1)

Used to perform the test operation mode by using MR Configurator.

Spare (Be sure to set to the "Down" position).

Detailed

Explanation

Section 3.13

Section 3.2 Section 3.4

ON 4F

SW1

SW2

TEST

Section 3.13

Name/Application

Display The 3-digit, seven-segment LED shows the servo status and alarm number.

Main circuit power supply connector (CNP1) Connect the input power supply.

USB communication connector (CN5) Connect the personal computer.

I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output.

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier.

SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap.

Servo motor power connector (CNP3) Connect the servo motor.

Encoder connector (CN2) Used to connect the servo motor encoder.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Battery holder Contains the battery for absolute position data backup.

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Chapter 4

Section 3.1 Section 3.3

Section 11.8

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.4

Section 11.1

Section 11.9

Chapter 12

Section 12.3

Section 3.1 Section 3.3

Section 1.5

Fixed part (3 places)

1 - 13

1. FUNCTIONS AND CONFIGURATION

(3) MR-J3-200B

MR-J3-350B

ON 4F

SW1

SW2

TEST

Fixed part (3 places)

Cooling fan

Used to set the axis No. of servo amplifier.

Rotary axis setting switch (SW1)

SW2

Test operation select switch (SW2-1)

Used to perform the test operation mode by using MR Configurator.

Spare (Be sure to set to the "Down" position).

Detailed

Explanation

Section 3.13

Section 3.2 Section 3.4

SW1

Section 3.13

Name/Application

Display The 3-digit, seven-segment LED shows the servo status and alarm number.

Main circuit power supply connector (CNP1) Connect the input power supply.

USB communication connector (CN5) Connect the personal computer.

I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output.

SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier.

SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap.

Servo motor power connector (CNP3) Connect the servo motor.

Encoder connector (CN2) Used to connect the servo motor encoder.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Battery holder Contains the battery for absolute position data backup.

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Chapter 4

Section 3.1 Section 3.3

Section 11.8

Section 3.2 Section 3.4

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

Section 3.1 Section 3.3

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.4

Section 11.1

Section 11.9

Chapter 12

Section 12.3

Section 3.1 Section 3.3

Section 1.5

1 - 14

1. FUNCTIONS AND CONFIGURATION

(4) MR-J3-200B4

ON 4F

SW1

SW2

TEST

Fixed part (3 places)

Cooling Fan

Used to set the axis No. of servo amplifier.

Rotary axis setting switch (SW1)

SW2

Test operation select switch (SW2-1)

Used to perform the test operation mode by using MR Configurator.

Spare (Be sure to set to the "Down" position).

Detailed

Explanation

Section 3.13

Section 3.2 Section 3.4

SW1

Section 3.13

Name/Application

Display The 3-digit, seven-segment LED shows the servo status and alarm number.

Main circuit power supply connector (CNP1) Connect the input power supply.

USB communication connector (CN5) Connect the personal computer.

I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output.

SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier.

SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap.

Servo motor power connector (CNP3) Connect the servo motor.

Encoder connector (CN2) Used to connect the servo motor encoder.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Battery holder Contains the battery for absolute position data backup.

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Chapter 4

Section 3.1 Section 3.3

Section 11.8

Section 3.2 Section 3.4

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

Section 3.1 Section 3.3

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.4

Section 11.1

Section 11.9

Chapter 12

Section 12.3

Section 3.1 Section 3.3

Section 1.5

1 - 15

1. FUNCTIONS AND CONFIGURATION

(5) MR-J3-350B4

MR-J3-500B(4)

POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.