Mitsubishi MR-J3-10B, MR-J3-60B, MR-J3-20B, MR-J3-40B, MR-J3-70B Instruction Manual
...
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
C
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
N(
) (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
2
HF-SP121
201 HF-SP202 352
HF-SP2024
3524 HC-UP202 to 502
X: 24.5 m/s
2
Y: 49 m/s2
HF-SP301 421 HF-SP502 702
HF-SP5024
7024
X: 24.5 m/s
2
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
2
Y: 29.4 m/s2
(Note)
Vibration
[m/s
2
] 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.
U
Servo Motor
M
V
W
U
V
W
U
M
V
W
U
V
W
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
RA
DOCOM
DICOM
24VDC
RA
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
M
(b) MR-J3-DU30KB(4) or more
NFB MC
24VDC
power
supply
Control box
No-fuse
breaker
Magnetic
contactor
Converter
unit
Servvo
motor
M
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
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of
the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the 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
(c) Use the EMC filter for noise reduction.
(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.
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).
(2) Installation
Install a cooling fan of 100CFM (2.8m
3
/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
20
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)
T
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
1
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
2
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
3
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
4
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
5
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
6
MEMO
1 - 1
1. FUNCTIONS AND CONFIGURATION
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( )
DC
Encoder
Current
detection
CN5
NFB MC
L
1
L2
L
3
L
11
L21
B2
U
V
W
B1
USB
USB
Power factor
improving DC
reactor
Regenerative
option
MR-J3BAT
P
1
P
2
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( )
U
V
W
M
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
N
C
Encoder
Current
detection
CN5
NFB MC
L
1
L2
L
3
L
11
L21
B2
U
V
W
B1
USB
USB
Power factor
improving DC
reactor
Regenerative
option
MR-J3BAT
P
1
P
2
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
P
U
V
W
M
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
N
C
Encoder
Current
detection
CN5
NFB MC
L
1
L2
L
3
L
11
L21
B2
U
V
W
B1
USB
USB
Power factor
improving DC
reactor
Regenerative
option
MR-J3BAT
P
1
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
P
U
V
W
M
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
5%
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
5%
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
5%
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
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)
[ ]
(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
Rating plate
MR-J3-200B 350B
MR-J3-100B or less
Rating plate
MR-J3-700B(4)
Rating plate
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