Mitsubishi Electronics MR-J3-D01, MR-J3-T User Manual

General-Purpose AC Servo

J3 Series

Built-in Positioning Function

MODEL

MR-J3- T
MR-J3-D01

SERVO AMPLIFIER
INSTRUCTION MANUAL
(General-Purpose Interface)

E

Safety Instructions

(Always read these instructions before using the equipment.)

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

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical

damage.

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 - 1

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P(
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 servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you

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

shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric

shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area

are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the

power is off. The servo amplifier is charged and you may get an electric shock.

) and N( ) is safe with a voltage tester and others.

2. To prevent fire, note the following:

CAUTION

Install the servo amplifier, 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 servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
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 servo amplifier 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 servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.

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

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts

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

matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.

Servo amplifier Servo motor

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

Ambient
temperature

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

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-SP301 421 HF-SP502 702

(Note)
Vibration

Note. Except the servo motor with reduction gear.

Environment

In
operation

In storage

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

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

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

HF-MP series HF-KP series X
HF-SP51 81 HF-SP52 to 152
HF-SP524 to 1524 HC-RP Series

152

3524 HC-UP202 to 502

7024

2

[m/s

] 5.9 or less

HC-UP72
HF-SP121 201 HF-SP202 352
HF-SP2024

HF-SP5024

HA-LP601 to 12K1 HA-LP701M to 15K1M
HA-LP502 to 22K2 HA-LP6014 to 12K14
HA-LP701M4 to 15K1M4 HA-LP11K24 to 22K24

HA-LP15K1 to 25K1 HA-LP37K1M
HA-LP15K14 to 20K14 HA-LP22K1M4

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.

A - 3

Conditions

Y: 49

X

Y: 24.5

X: 24.5 Y: 49

X: 24.5 Y: 29.4

HC-LP52 to 152 X: 9.8 Y: 24.5

HC-LP202 to 302 X: 19.6 Y: 49

X: 11.7 Y: 29.4

X

Y: 9.8

CAUTION

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 operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the

servo motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)

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

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

M

W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in

the specified direction. Otherwise, the forced stop (EMG) and other protective circuits may not operate.

Servo amplifier

or MR-J3-D01

DOCOM

(DOCOMD)

DICOM

(DICOMD)

Control

output

signal

24VDC

RA

Servo amplifier

or MR-J3-D01

DOCOM

(DOCOMD)

DICOM

(DICOMD)

Control

output

signal

24VDC

RA

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.

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

off immediately.

A - 4

(4) Usage

CAUTION

Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an

accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by

electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used

for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor

are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION

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

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

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

Servo motor

Electromagnetic brake

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).

Circuit must be
opened during
forced stop (EMG).

EMGRA

24VDC

A - 5

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.

(7) General instruction

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

A - 6

About processing of waste

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

FOR MAXIMUM SAFETY

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

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

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

medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

These products have been manufactured under strict quality control. However, when installing the product

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

EEP-ROM life

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

Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes

Precautions for Choosing the Products

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

A - 7

COMPLIANCE WITH EC DIRECTIVES

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

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

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment.
This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply
with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation
Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low
voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J3-10T to MR-J3-22KT
MR-J3-10T1 to MR-J3-40T1
MR-J3-60T4 to MR-J3-22KT4
Servo motor :HF-MP
HF-KP
HF-SP
HF-SP
HC-RP
HC-UP
HC-LP
HA-LP
HA-LP

Note. For the latest information of compliance, contact Mitsubishi.

(Note)
4 (Note)

(Note)
4 (Note)

A - 8

(2) Configuration

The control circuit provide safe separation to the main circuit in the servo amplifier.

Control box

Reinforced
insulating type

24VDC

No-fuse
breaker

NFB

Magnetic
contactor

MC

power
supply

Servo
amplifier

Servo
motor

M

(3) Environment

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

(4) Power supply

(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of

overvoltage category III set forth in IEC60664-1. However, when using the neutral point of 400V class
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 (terminal marked

the servo amplifier to the protective earth (PE) of the control box.

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

Always connect the cables to the terminals one-to-one.

) of

).

PE terminals

PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals

(terminal marked

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

(6) Wiring

(a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals

provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

A - 9

(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 13.1)

(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 13.10.
Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and
other device by double insulation or reinforced insulation, or install a transformer between the main
power supply and servo amplifier.
Note. Type A: AC and pulse detectable

Type B: Both AC and DC detectable

(b) The sizes of the cables described in section 13.9 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 servo amplifier has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines
(IB(NA)67310).

A - 10

CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J3-10T to MR-J3-22KT
MR-J3-10T1 to MR-J3-40T1
MR-J3-60T4 to MR-J3-22KT4
Servo motor :HF-MP
HF-KP
HF-SP
HF-SP
HC-RP
HC-UP
HC-LP
HA-LP
HA-LP

Note. For the latest information of compliance, contact Mitsubishi.

(2) Installation

Install a cooling fan of 100CFM (2.8m
cooling of at least equivalent capability.

(3) Short circuit rating: SCCR (Short Circuit Current rating)

This servo amplifier conforms to the circuit whose peak current is limited to 100kA or less. Having been
subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to
the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15
minutes after power-off.

(Note)
4 (Note)

(Note)
4 (Note)

3

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

Servo amplifier

MR-J3-10T 20T 1

MR-J3-40T 60T(4) 10T1 20T1 2

MR-J3-70T 3

MR-J3-40T1 4

MR-J3-100T(4) 5

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

MR-J3-350T4 500T(4) 700T(4) 10

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

Discharge time

[min]

A - 11

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(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).

(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 are required if you use the
General-Purpose AC servo MR-J3-T for the first time. Always purchase them and use the MR-J3-T safely.

Relevant manuals

Manual name Manual No.

MELSERVO-J3 Series To Use the AC Servo Safely IB(NA)0300077

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

EMC Installation Guidelines IB(NA)67310

<<About the wires used for wiring>>

Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40°C
(104

).

A - 12

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -38

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

1.1.1 Function block diagram ..................................................................................................................... 1 - 2

1.1.2 System configuration ......................................................................................................................... 1 - 5

1.2 Servo amplifier standard specifications ................................................................................................... 1 - 7

1.3 Function list ............................................................................................................................................. 1 -11

1.4 Model code definition .............................................................................................................................. 1 -13

1.4.1 Servo amplifier ................................................................................................................................. 1 -13

1.4.2 MR-J3-D01 extension I/O unit ......................................................................................................... 1 -14

1.5 Combination with servo motor ................................................................................................................ 1 -15

1.6 Structure .................................................................................................................................................. 1 -16

1.6.1 Parts identification ............................................................................................................................ 1 -16

1.6.2 Removal and reinstallation of the front cover .................................................................................. 1 -22

1.6.3 Installation and removal of MR-J3-D01 ........................................................................................... 1 -25

1.7 Configuration including auxiliary equipment .......................................................................................... 1 -30

2. INSTALLATION 2 - 1 to 2 - 4

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

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

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

2.4 Inspection items ....................................................................................................................................... 2 - 4

2.5 Parts having service lives ........................................................................................................................ 2 - 4

3. SIGNALS AND WIRING 3 - 1 to 3 -68

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

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

3.2.1 Positioning operation using the point table...................................................................................... 3 -10

3.2.2 BCD input positioning operation with the digital switch .................................................................. 3 -12

3.2.3 BCD input positioning operation with the programmable controller ............................................... 3 -15

3.3 Explanation of power supply system ...................................................................................................... 3 -18

3.3.1 Signal explanations .......................................................................................................................... 3 -18

3.3.2 Power-on sequence ......................................................................................................................... 3 -19

3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -21

3.4 Connectors and signal arrangements .................................................................................................... 3 -29

3.5 Signal (device) explanation ..................................................................................................................... 3 -32

3.5.1 Devices ............................................................................................................................................. 3 -32

3.5.2 Input signals ..................................................................................................................................... 3 -39

3.5.3 Output signals................................................................................................................................... 3 -40

3.5.4 Power supply .................................................................................................................................... 3 -40

3.6 Detailed description of signals (devices) ................................................................................................ 3 -41

3.6.1 Forward rotation start

3.6.2 Movement finish

reverse rotation start temporary stop/restart ........................................... 3 -41

rough match in position .................................................................................... 3 -42

3.6.3 Torque limit ....................................................................................................................................... 3 -44

3.7 Alarm occurrence timing chart ................................................................................................................ 3 -46

1

3.8 Interface ................................................................................................................................................... 3 -47

3.8.1 Internal connection diagram ............................................................................................................ 3 -47

3.8.2 Detailed description of interfaces ..................................................................................................... 3 -48

3.8.3 Source I/O interfaces ....................................................................................................................... 3 -50

3.9 Treatment of cable shield external conductor ........................................................................................ 3 -51

3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -52

3.10.1 Connection instructions .................................................................................................................. 3 -52

3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -53

3.11 Servo motor with electromagnetic brake .............................................................................................. 3 -63

3.11.1 Safety precautions ......................................................................................................................... 3 -63

3.11.2 Timing charts .................................................................................................................................. 3 -64

3.11.3 Wiring diagrams (HF-MP series

HF-KP series servo motor)...................................................... 3 -66

3.12 Grounding .............................................................................................................................................. 3 -68

4. OPERATION 4 - 1 to 4 -64

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

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

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

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

4.2 Startup ...................................................................................................................................................... 4 - 4

4.2.1 Power on and off procedures ............................................................................................................ 4 - 4

4.2.2 Stop .................................................................................................................................................... 4 - 4

4.2.3 Test operation.................................................................................................................................... 4 - 5

4.2.4 Parameter setting .............................................................................................................................. 4 - 6

4.2.5 Point table setting .............................................................................................................................. 4 - 7

4.2.6 Actual operation ................................................................................................................................ 4 - 7

4.3 Servo amplifier display ............................................................................................................................. 4 - 8

4.4 Operation mode and selection method .................................................................................................. 4 -10

4.5 Automatic operation mode ...................................................................................................................... 4 -11

4.5.1 What is the automatic operation mode? .......................................................................................... 4 -11

4.5.2 Automatic operation using point table ............................................................................................. 4 -13

4.5.3 Automatic operation by BCD (3 digits

4.5.4 Automatic operation by BCD (3 digits

2) input with the MR-DS60 digital switch ....................... 4 -25

2) input with the programmable controller ..................... 4 -28

4.6 Manual operation mode .......................................................................................................................... 4 -31

4.6.1 JOG operation .................................................................................................................................. 4 -31

4.6.2 Manual pulse generator ................................................................................................................... 4 -32

4.7 Manual home position return mode ........................................................................................................ 4 -34

4.7.1 Outline of home position return ........................................................................................................ 4 -34

4.7.2 Dog type home position return ......................................................................................................... 4 -37

4.7.3 Count type home position return ..................................................................................................... 4 -39

4.7.4 Data setting type home position return ............................................................................................ 4 -41

4.7.5 Stopper type home position return .................................................................................................. 4 -42

4.7.6 Home position ignorance (servo-on position defined as home position) ....................................... 4 -44

4.7.7 Dog type rear end reference home position return ......................................................................... 4 -45

4.7.8 Count type front end reference home position return ..................................................................... 4 -47

4.7.9 Dog cradle type home position return ............................................................................................. 4 -49

4.7.10 Dog type first Z-phase reference home position return ................................................................ 4 -51

4.7.11 Dog type front end reference home position return method ......................................................... 4 -53

2

4.7.12 Dogless Z-phase reference home position return method ........................................................... 4 -55

4.7.13 Home position return automatic return function ............................................................................ 4 -57

4.7.14 Automatic positioning function to the home position ..................................................................... 4 -58

4.8 Roll feed display function in roll feed mode ............................................................................................ 4 -59

4.9 Absolute position detection system ........................................................................................................ 4 -60

5. PARAMETERS 5 - 1 to 5 -46

5.1 Basic setting parameters (No.PA ) .................................................................................................... 5 - 2

5.1.1 Parameter list .................................................................................................................................... 5 - 2

5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3

5.1.3 Selection of command system .......................................................................................................... 5 - 3

5.1.4 Selection of regenerative option ....................................................................................................... 5 - 4

5.1.5 Using absolute position detection system ........................................................................................ 5 - 5

5.1.6 Follow-up for absolute value command system in incremental system .......................................... 5 - 5

5.1.7 Feeding function selection ................................................................................................................ 5 - 6

5.1.8 Electronic gear................................................................................................................................... 5 - 6

5.1.9 Auto tuning ........................................................................................................................................ 5 - 8

5.1.10 In-position range .............................................................................................................................. 5 - 9

5.1.11 Torque limit ...................................................................................................................................... 5 - 9

5.1.12 Selection of servo motor rotation direction .................................................................................... 5 -10

5.1.13 Encoder output pulse ..................................................................................................................... 5 -10

5.2 Gain/filter parameters (No.PB

) ......................................................................................................... 5 -12

5.2.1 Parameter list ................................................................................................................................... 5 -12

5.2.2 Detail list ........................................................................................................................................... 5 -13

5.3 Extension setting parameters (No.PC

) ............................................................................................ 5 -20

5.3.1 Parameter list ................................................................................................................................... 5 -20

5.3.2 Detail list ........................................................................................................................................... 5 -21

5.3.3 S-pattern acceleration/deceleration ................................................................................................. 5 -27

5.3.4 Alarm history clear ............................................................................................................................ 5 -27

5.3.5 Rough match output ......................................................................................................................... 5 -27

5.3.6 Software limit .................................................................................................................................... 5 -28

5.4 I/O setting parameters (No.PD

) ....................................................................................................... 5 -28

5.4.1 Parameter list ................................................................................................................................... 5 -28

5.4.2 Detail list ........................................................................................................................................... 5 -29

5.5 Option unit parameters (No.Po

) ....................................................................................................... 5 -37

5.5.1 Parameter list ................................................................................................................................... 5 -37

5.5.2 Detail list ........................................................................................................................................... 5 -38

5.5.3 Analog monitor ................................................................................................................................. 5 -44

6. MR Configurator 6 - 1 to 6 -26

6.1 Specifications ........................................................................................................................................... 6 - 1

6.2 System configuration ............................................................................................................................... 6 - 2

6.3 Station selection ....................................................................................................................................... 6 - 4

6.4 Parameters ............................................................................................................................................... 6 - 5

6.5 Point table ................................................................................................................................................. 6 - 7

6.6 Device assignment method ..................................................................................................................... 6 - 9

6.7 Test operation ......................................................................................................................................... 6 -13

6.7.1 Jog operation .................................................................................................................................... 6 -13

6.7.2 Positioning operation ........................................................................................................................ 6 -15

3

6.7.3 Motor-less operation ........................................................................................................................ 6 -18

6.7.4 Output signal (DO) forced output ..................................................................................................... 6 -19

6.7.5 Single-step feed ............................................................................................................................... 6 -20

6.8 Alarm ....................................................................................................................................................... 6 -23

6.8.1 Alarm display .................................................................................................................................... 6 -23

6.8.2 Batch display of data at alarm occurrence ...................................................................................... 6 -24

6.8.3 Alarm history ..................................................................................................................................... 6 -26

7. PARAMETER UNIT (MR-PRU03) 7 - 1 to 7 -20

7.1 External appearance and key explanations ............................................................................................ 7 - 2

7.2 Specifications ........................................................................................................................................... 7 - 3

7.3 Outline dimension drawings..................................................................................................................... 7 - 3

7.4 Connection with servo amplifier ............................................................................................................... 7 - 4

7.4.1 Single axis ......................................................................................................................................... 7 - 4

7.4.2 Multidrop connection ......................................................................................................................... 7 - 5

7.5 Display ...................................................................................................................................................... 7 - 7

7.5.1 Outline of screen transition ............................................................................................................... 7 - 7

7.5.2 MR-PRU03 parameter unit setting ................................................................................................... 7 - 8

7.5.3 Monitor mode (status display) ........................................................................................................... 7 - 9

7.5.4 Alarm/diagnostic mode .................................................................................................................... 7 -11

7.5.5 Parameter mode ............................................................................................................................... 7 -13

7.5.6 Point table mode .............................................................................................................................. 7 -14

7.5.7 Test operation mode ........................................................................................................................ 7 -15

7.6 Error message list ................................................................................................................................... 7 -19

8. GENERAL GAIN ADJUSTMENT 8 - 1 to 8 -12

8.1 Different adjustment methods .................................................................................................................. 8 - 1

8.1.1 Adjustment on a single servo ampli fier ............................................................................................. 8 - 1

8.1.2 Adjustment using MR Configurator ................................................................................................... 8 - 2

8.2 Auto tuning ............................................................................................................................................... 8 - 3

8.2.1 Auto tuning mode .............................................................................................................................. 8 - 3

8.2.2 Auto tuning mode operation .............................................................................................................. 8 - 4

8.2.3 Adjustment procedure by auto tuning ............................................................................................... 8 - 5

8.2.4 Response level setting in auto tuning mode .................................................................................... 8 - 6

8.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 8 - 7

8.4 Interpolation mode .................................................................................................................................. 8 -11

8.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 8 -12

9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-16

9.1 Function block diagram ............................................................................................................................. 9- 1

9.2 Adaptive filter

.......................................................................................................................................... 9- 1

9.3 Machine resonance suppression filter ...................................................................................................... 9- 4

9.4 Advanced vibration suppression control .................................................................................................. 9- 6

9.5 Low-pass filter .......................................................................................................................................... 9-10

9.6 Gain changing function ............................................................................................................................ 9-10

9.6.1 Applications ....................................................................................................................................... 9-10

9.6.2 Function block diagram ..................................................................................................................... 9-11

9.6.3 Parameters ........................................................................................................................................ 9-12

4

9.6.4 Gain changing operation ................................................................................................................... 9-14

10. TROUBLESHOOTING 10- 1 to 10-14

10.1 Trouble at start-up ................................................................................................................................. 10- 1

10.2 When alarm or warning has occurred .................................................................................................. 10- 2

10.2.1 Alarms and warning list .................................................................................................................. 10- 2

10.2.2 Remedies for alarms ...................................................................................................................... 10- 3

10.2.3 Remedies for warnings ................................................................................................................. 10-11

10.3 Point table error .................................................................................................................................... 10-13

10.4 MR-DP60 external digital display error ............................................................................................... 10-13

11. OUTLINE DRAWINGS 11- 1 to 11-12

11.1 Servo amplifier ...................................................................................................................................... 11- 1

11.2 MR-J3-D01 extension IO unit .............................................................................................................. 11-10

11.3 Connector ............................................................................................................................................. 11-11

12. CHARACTERISTICS 12- 1 to 12-10

12.1 Overload protection characteristics ...................................................................................................... 12- 1

12.2 Power supply equipment capacity and generated loss ....................................................................... 12- 3

12.3 Dynamic brake characteristics .............................................................................................................. 12- 6

12.3.1 Dynamic brake operation ............................................................................................................... 12- 6

12.3.2 The dynamic brake at the load inertia moment ............................................................................. 12- 9

12.4 Cable flexing life ................................................................................................................................... 12-10

12.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 12-10

13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-98

13.1 Cable/connector sets ............................................................................................................................ 13- 1

13.1.1 Combinations of cable/connector sets .......................................................................................... 13- 1

13.1.2 Encoder cable/connector sets ....................................................................................................... 13- 8

13.1.3 Motor power supply cables ........................................................................................................... 13-17

13.1.4 Motor brake cables ........................................................................................................................ 13-18

13.2 Regenerative options ........................................................................................................................... 13-19

13.3 FR-BU2-(H) brake unit ......................................................................................................................... 13-33

13.3.1 Selection ........................................................................................................................................ 13-34

13.3.2 Brake unit parameter setting ......................................................................................................... 13-34

13.3.3 Connection example ..................................................................................................................... 13-35

13.3.4 Outline dimension drawings .......................................................................................................... 13-42

13.4 Power regeneration converter ............................................................................................................. 13-44

13.5 Power regeneration common converter .............................................................................................. 13-47

13.6 External dynamic brake ....................................................................................................................... 13-55

13.7 Battery MR-J3BAT ............................................................................................................................... 13-60

13.8 Heat sink outside mounting attachment (MR-J3ACN) ........................................................................ 13-61

13.9 Selection example of wires .................................................................................................................. 13-63

13.10 No-fuse breakers, fuses, magnetic contactors ................................................................................. 13-68

13.11 Power factor improving DC reactor ................................................................................................... 13-69

13.12 Power factor improving reactors ........................................................................................................ 13-71

13.13 Relays (recommended) ..................................................................................................................... 13-72

5

13.14 Surge absorbers (recommended) ..................................................................................................... 13-73

13.15 Noise reduction techniques ............................................................................................................... 13-74

13.16 Leakage current breaker.................................................................................................................... 13-81

13.17 EMC filter (recommended) ................................................................................................................ 13-83

13.18 MR-HDP01 manual pulse generator ................................................................................................. 13-88

13.19 MR-DS60 6-digit digital switch........................................................................................................... 13-90

13.20 External digital display (MR-DP60) ................................................................................................... 13-93

13.21 Junction terminal block PS7DW-20V14B-F (recommended) ........................................................... 13-95

13.22 Junction terminal block MR-TB50 ..................................................................................................... 13-97

14. COMMUNICATION FUNCTION 14- 1 to 14-50

14.1 Configuration ......................................................................................................................................... 14- 1

14.2 Communication specifications .............................................................................................................. 14- 3

14.2.1 Communication overview ............................................................................................................... 14- 3

14.2.2 Parameter setting ........................................................................................................................... 14- 4

14.3 Protocol ................................................................................................................................................. 14- 5

14.3.1 Transmission data configuration .................................................................................................... 14- 5

14.3.2 Character codes ............................................................................................................................. 14- 6

14.3.3 Error codes ..................................................................................................................................... 14- 7

14.3.4 Checksum ....................................................................................................................................... 14- 7

14.3.5 Time-out operation ......................................................................................................................... 14- 8

14.3.6 Retry operation ............................................................................................................................... 14- 8

14.3.7 Initialization ..................................................................................................................................... 14- 9

14.3.8 Communication procedure example.............................................................................................. 14- 9

14.4 Command and data No. list ................................................................................................................. 14-10

14.4.1 Read commands ........................................................................................................................... 14-10

14.4.2 Write commands ........................................................................................................................... 14-15

14.5 Detailed explanations of commands ................................................................................................... 14-18

14.5.1 Data processing ............................................................................................................................ 14-18

14.5.2 Status display ................................................................................................................................ 14-20

14.5.3 Parameters .................................................................................................................................... 14-21

14.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 14-24

14.5.5 Device ON/OFF ............................................................................................................................. 14-29

14.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 14-30

14.5.7 Input devices ON/OFF (test operation) ........................................................................................ 14-31

14.5.8 Test operation mode ..................................................................................................................... 14-32

14.5.9 Alarm history .................................................................................................................................. 14-39

14.5.10 Current alarm .............................................................................................................................. 14-40

14.5.11 Point table .................................................................................................................................... 14-41

14.5.12 Servo amplifier group designation .....................................................................................

......... 14-48

14.5.13 Other commands ......................................................................................................................... 14-49

APPENDIX App.- 1 to App.- 5

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

App. 2 Signal layout recording paper ........................................................................................................App.- 4

App. 3 Change of connector sets to the RoHS compatible products .......................................................App.- 5

App. 4 MR-J3-200T-RT servo amplifier.....................................................................................................App.- 6

App. 5 Selection example of servo motor power cable .......................................................................... App.-10

6

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

This servo has the function to perform positioning operation by merely setting the position data (target
positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting
them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning
system or to simplify a system, for example.
There are 255 points of point tables.
All servo motors are equipped with an absolute position encoder as standard. An absolute position detection
system can be configured by merely adding a battery to the servo amplifier. Once the home position has been
set, home position return is not required at power on, alarm occurrence, etc.
The MR-J3-T is made easier to use and higher in function by using it with the MR Configurator.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.1.1 Function block diagram

The function block diagram of this servo is shown below.
(1) MR-J3-350T or less

MR-J3-200T4 or less

Power factor
improving DC
reactor

Regenerative
option

(Note 2)
Power
supply

Servo amplifier

NFB MC

Diode
stack

L

Relay

1

L2

L3

(MR-J3-70T or more)

L

11

L21

Current
control

Speed
control

Model adaptive control

Position
control

Position
command
creation

CN6

DI/O Control
Servo on
Start
Failure, etc

1

P

2

P

(Note 3) Cooling fan

Control

circuit
power
supply

Position

No.

data

1

1000

2

2000

3

4000

4

500

5

1000

6

2000
1000

7
8

1000 1000
1000

255 2000

Personal

computer

USB

P( )

CHARGE

lamp

Base

amplifier

Speed

1000
2000
2000
2000
2000
1000
1000

1000
2000

USB

Controller

RS-422

N( )

D

C

(Note1)

Regene­rative
TR

Voltage

detection

Point table

Acceleration
time
constant

Deceleration
time
constant

80

100

70
60
80
80 80 0 0

80
100
100

80

RS-422

CN3CN5

DI/O Control

Analog input

Analog output

Current

detector

Dynamic

brake

Dwell

Current

detection

Auxiliary

M code

0
1

99

5
7

2
20
27
99

Overcurrent

protection

80 0 0

100 0 0

60 500 1
70 1000 1
80 0 0

80 0 0
100 0 0
100 0 0

80 0 0

CN10 CN20 CN30

Servo motor

U

V

W

B1

B2

U

V

W

M

Electro­magnetic
brake

CN2

Encoder

MR-J3BAT

CN4

Optional battery
(for absolute position
detection system)

MR-J3-D01

Digital display

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

2. For 1-phase 200 to 230VAC, connect the power supply to L
There is no L

3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.

1, L2 and leave L3 open.

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

1 - 2

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-350T4

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

Power factor
improving DC
reactor

Regenerative
option

(Note)
Power
supply

NFB MC

Servo amplifier

Diode
stack

1

2

3

11

21

Model adaptive control

Relay

Current
control

Speed
control

Position
control

Position
command
creation

L

L

L

L

L

P1 P2

Control

circuit
power

supply

No.

1
2
3
4
5
6
7
8

255 2000

CHARGE

lamp

Cooling fan

Base

amplifier

Position
data

1000
2000
4000

500
1000
2000
1000

Speed

1000
2000
2000
2000
2000
1000
1000

1000 1000

1000

1000

2000

Regene­rative
TR

Acceleration
time
constant

80

100

70
60
80 80
80
80

100
100

80

RS-422USB

NCP

Voltage

detection

Point table

Deceleration
time
constant

100

100
100

Current

detector

Dynamic

Overcurrent

protection

80

Dwell

0

detection

Auxiliary

0

60

500

70

1000

0

80

0

80 0 0

0
0

80

0

brake

Current

0
0
1
1
0

0

0
0
0

M code

0
1

99

5
7

2
20
27
99

Servo motor

U

V

W

U

V

M

W

B1

B2

Electro­magnetic
brake

CN2CN4

Encoder

MR-J3BAT

Optional battery
(for absolute position
detection system)

CN6

Personal
computer

DI/O Control
Servo on
Start
Failure, etc

Note. Refer to section 1.2 for the power supply specification.

USB

Controller

RS-422

CN3CN5

1 - 3

CN10 CN20 CN30

DI/O Control

Analog input

Analog output

MR-J3-D01

Digital display

1. FUNCTIONS AND CONFIGURATION

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

Power factor
improving DC
reactor

Regenerative
option

(Note)
Power
supply

NFB MC

Servo amplifier

Diode

Thyristor

stack

L

1

L2

L3

L11

L21

Current
control

Speed
control

Model adaptive control

Position
control

Position
command
creation

CP

Regene­rative
TR

N

P

1

CHARGE

lamp

Cooling fan

Control

circuit
power
supply

Base

amplifier

Voltage

detection

Point table

Speed

Acceleration
time
constant

Position

No.

data

1

1000 1000 80 80 0 0

2

2000 2000 100 100 0 0

3

4000 2000 70 60 500 1

4

500 2000 60 70 1000 1

5

1000 2000 80 80 0 0

6

2000 1000 80 80 0 0

7

1000 1000 80 80 0 0

8

1000 1000 100 100 0 0

Deceleration
time
constant

1000 1000 100 100 0 0

255 2000 2000 80 80 0 0

RS-422USB

Current

detector

Overcurrent

protection

Dwell

Current

detection

Auxiliary

M code

0
1

99

5
7

2
20
27
99

Servo motor

U

V

W

B1

B2

U

V

W

M

Electro­magnetic
brake

CN2

Encoder

MR-J3BAT

CN4

Optional battery
(for absolute position
detection system)

CN6

Personal

Computer
DI/O Control
Servo on
Start
Failure, etc

USB

Controller

RS-422

Note. Refer to section 1.2 for the power supply specification.

CN3CN5

1 - 4

CN10 CN20 CN30

DI/O Control

Analog input

Analog output

MR-J3-D01

Digital display

1. FUNCTIONS AND CONFIGURATION

1.1.2 System configuration

This section provides operations using this servo.
The configuration can be freely arranged as any system from a single axis system to an up to 32-axis system.
In addition, the optimum device to each system can be assigned to the connector pin of the I/F part. (Refer to
section 3.4.) To change or assign devices, it is necessary to set parameter No. PD06 to 11 and Po02 to 09. Set
the following values to the point table.

Name Setting range Unit

0.001[mm]

Position data 999999 to 999999

Servo motor speed 0 to max. speed [r/min]
Acceleration time constant 0 to 20000 [ms]
Deceleration time constant 0 to 20000 [ms]
Dwell 0 to 20000 [ms]
Auxiliary function 0 to 3

0.01[mm]

0.1[mm]
1[mm]

There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are
occupied.

(1) Operation by external input signals

(a) Definition

The following shows a configuration example when all devices are controlled by external input signals.
The signals consist of the I/O signals in the factory setting.

(b) Configuration

The following shows a configuration diagram when external I/O signals are used.

External I/O

signal

MR-J3- T MR-J3-D01

CN20

CN5
CN3

CN30

CN1

CN10

CN6

CNP3

CN2

1 - 5

1. FUNCTIONS AND CONFIGURATION

(2) Operation by external input signals and communication

(a) Definition

The data change and selection of point tables, change of parameters and confirmation of the monitor
can be performed through communication. The forward rotation start (ST1) or reverse rotation direction
(ST2) is input from the external I/O. This system is used when the position data and speed setting, the
parameter change and others are performed on a host personal computer, etc.

(b) Configuration

1) Connect a servo amplifier to a personal computer with USB.

MR Configurator

Personal
Computer

MR-J3- T MR-J3-D01

USB

CNP3

CN2

External I/O

signal

CN5
CN3

CN1

CN6

CN20

CN30

CN10

2) Connect two or more (maximum 32) servo amplifiers to a personal computer with RS-422.

RS-232C/RS-422 converter
(This should be

MR Configurator

prepared by the customer.

Personal
Computer

RS-232C

)

MR-J3- T MR-J3-D01

CN5
CN3

CN1

CN20

CN30

RS-422

MR-J3- T MR-J3-D01

CN5
CN3

CN1

To the next axis

CN20

CN30

CNP3

External I/O

signal

CN2

CN6

CN10

CNP3

CN2

External I/O

signal

CN6

CN10

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.2 Servo amplifier standard specifications

(1) 200V class, 100V class

Servo amplifier

BCD input

RS-422

communication

MR-J3-

Position
command
input
Speed
command
input

System
Position

command
input
Speed
command
input

System

Item

Voltage/frequency

Permissible voltage fluctuation
Permissible frequency

fluctuation

Power supply

Power supply capacity Refer to section 12.2
Inrush current Refer to section 12.5

Control circuit
power supply

MR-J3- T
Interface power
supply

MR-J3-D01
Interface power
supply

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

Protective functions

Point table
number
input

Position

Command system

command
data input

Automatic
operation
mode

Manual
operation

Operation mode

mode

Voltage,
frequency
Permissible
voltage fluctuation
Permissible
frequency
fluctuation
Input 30W 45W 30W
Inrush current Refer to section 12.5
Voltage 24VDC
Power supply
capacity
Voltage 24VDC
Power supply
capacity

Operational
specifications
Position command
input
Speed command
input

System

Point table
Automatic

continuous
operation

Jog
Manual pulse

generator

10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1

3-phase or 1-phase 200 to

230VAC, 50/60Hz

3-phase or 1-phase 200 to

230VAC: 170 to 253VAC

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

1-phase 170 to 253VAC

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay),
servo motor overheat protection, encoder error protection, regenerative brake error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
Positioning by specifying the point table No. (255 points)

Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]

Acceleration/deceleration time is set in point table.
S-pattern acceleration/deceleration time constant is set in parameter No. PC13.
Signed absolute value command system, incremental value command system, signed absolute
value command/incremental value command specifying system
Digital switch or contact input of 6-digit BCD with symbol
1-point feed length setting range:

The motor speed and acceleration/deceleration time of the point table No.1 to 15 is selected by
contact input.
S-pattern acceleration/deceleration time constant is set in parameter No.PC13.
Signed absolute value command system, incremental value command system, signed absolute
value command/incremental value command specifying system

Positioning command data setting by RS-422 communication
1-point feed length setting range:

The motor speed and acceleration/deceleration time is set via RS-422 communication.
S-pattern acceleration/deceleration time constant is set in parameter No. PC13.

Signed absolute value command system, incremental value command system, signed absolute
value command/incremental value command specifying system
Point table number input, position data input system
Positioning operation is performed once in accordance with the position and speed commands.
Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255
points)

Jog operation is performed in accordance with the parameter-set speed command by contact input
or through RS-422 communication function.
Manual feed is made by manual pulse generator.
Command pulse multiplication:

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

3-phase 170 to 253VAC

Within

5%

Within

5%

10%

(Note 1) 150mA or more

10%

(Note 3) 800mA or more

1[ m] to 999.999[mm].

1[ m] to 999.999[mm].

1, 10 or 100 is selected using parameter.

1-phase 100V to

120VAC, 50/60Hz

1-phase 85 to

132VAC

1-phase 100 to

120VAC, 50/60Hz

1-phase 85 to

132VAC

1 - 7

1. FUNCTIONS AND CONFIGURATION

Servo amplifier

Item

Dog type

Count type

Data setting type

Stopper type
Home position

ignorance
(Servo-on position
as home position)

Dog type rear end
Home
position
return
mode

Operation mode

Automatic positioning to home
position

Other functions

Structure

Ambient
temperature

Ambient
humidity

Environment

Ambient
Altitude Max. 1000m above sea level

Vibration 5.9 [m/s2] or less

Mass

Note 1. 150mA is the value applicable when all I/O signals of the servo amplifier 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

113

3. 800mA is the value applicable when all I/O signals of the MR-J3-D01 are used. The current capacity can be decreased by

reducing the number of I/O points.

reference

Count type front

end reference

Dog cradle type

Dog type last

Z-phase reference

Dog type front end

reference

Dogless

Z-phase reference

In operation

In storage

In operation

In storage

[kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0

[lb] 1.8 1.8 2.2 2.2 3.1 3.1 4.63 50.7 10.1 13.7 39.7 39.7 41.9 1.8 1.8 2.2

) or at 75% or smaller effective load ratio.

MR-J3-

10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1

Home position return is made starting with Z-phase pulse after passage of proximity dog.
Home position address may be set. Home position shift distance may be set. Home position return
direction may be selected.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made by counting encoder pulses after contact with proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made without dog.
Home position may be set at any position by manual operation, etc. Home position address may be
set.
Home position return is made by pressing machine part against stroke end.
Home position address may be set. Home position return direction may be set.
Position where servo-on (SON) is switched on is defined as home position.
Home position address may be set.

Home position return is made with respect to the rear end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the first Z-phase
pulse.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the last Z-phase
pulse.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made to the dog front end with respect to the front end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the first Z-phase to the Z-phase.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
High-speed automatic return to a defined home position.

Absolute position detection, backlash function
Overtravel prevention using external limit switch
Software stroke limit
Override by analog input

Self-cooled, open

[

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

[ ] (Note 2) 32 to 131 (non-freezing)

] 20 to 65 (non-freezing)

[
[ ] 4 to 149 (non-freezing)

(IP00)

90%RH or less (non-condensing)

Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt

Force-cooling, open (IP00)

Self-cooled, open

(IP00)

(32 to

1 - 8

1. FUNCTIONS AND CONFIGURATION

(2) 400V class

Item

Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz
Permissible voltage fluctuation 3-phase 323 to 528VAC
Permissible frequency
fluctuation
Power supply capacity Refer to section 12.2

Power supply

Inrush current Refer to section 12.5

Control circuit
power supply

MR-J3- T
Interface power
supply

MR-J3-D01
Interface power
supply

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

Protective functions

Point table
number
input

Position

Command system

command
data input

Automatic
operation
mode

Manual
operation

Operation mode

mode

Servo amplifier

MR-J3-

Voltage,

frequency

Permissible

voltage fluctuation

Permissible

frequency

fluctuation

Input 30W 45W

Inrush current Refer to section 12.5

Voltage 24VDC

Power supply

capacity

Voltage 24VDC

Power supply

capacity

Operational

specifications

Position command

input

Speed command

input

System

Position
command
input
Speed
command
input

BCD input

System
Position

command
input
Speed
command

RS-422

input

communication

System

Point table

Automatic

continuous

operation

Jog

Manual pulse

generator

60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4

Within

5%

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

1-phase 323 to 528VAC

Within

5%

10%

(Note 1) 150mA or more

10%

(Note 2) 800mA or more

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay),
servo motor overheat protection, encoder error protection, regenerative brake error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
Positioning by specifying the point table No. (255 points)

Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]

Acceleration/deceleration time is set in point table.
S-pattern acceleration/deceleration time constant is set in parameter No. PC13.
Signed absolute value command system, incremental value command system, signed absolute
value command/incremental value command specifying system
Digital switch or contact input of 6-digit BCD with symbol
1-point feed length setting range:

The motor speed and acceleration/deceleration time of the point table No.1 to 15 is selected by
contact input.
S-pattern acceleration/deceleration time constant is set in parameter No.PC13.
Signed absolute value command system, incremental value command system, signed absolute
value command/incremental value command specifying system

Positioning command data setting by RS-422 communication
1-point feed length setting range:

The motor speed and acceleration/deceleration time is set via RS-422 communication.
S-pattern acceleration/deceleration time constant is set in parameter No. PC13.

Signed absolute value command system, incremental value command system, signed absolute
value command/incremental value command specifying system
Point table number input, position data input system
Positioning operation is performed once in accordance with the position and speed commands.
Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255
points)

Jog operation is performed in accordance with the parameter-set speed command by contact input
or through RS-422 communication function.
Manual feed is made by manual pulse generator.
Command pulse multiplication:

1[ m] to 999.999[mm].

1[ m] to 999.999[mm].

1, 10 or 100 is selected using parameter.

1 - 9

1. FUNCTIONS AND CONFIGURATION

Servo amplifier

Item

Dog type

Count type

Data setting type

Stopper type

Home position

ignorance

(Servo-on

position as home

position)

Home
position
return
mode

Operation mode

Automatic positioning to home
position

Other functions

Structure

Ambient
temperature

Ambient
humidity

Environment

Ambient
Altitude Max. 1000m above sea level

Vibration 5.9 [m/s2] or less

Mass

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

reducing the number of I/O points.

2. 800mA is the value applicable when all I/O signals of the MR-J3-D01 are used. The current capacity can be decreased by

reducing the number of I/O points.

Dog type rear end

reference

Count type front

end reference

Dog cradle type

Dog type last Z-

phase reference

Dog type front

end reference

Dogless Z-phase

reference

In operation

In storage

In operation

In storage

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

[lb] 3.75 3.75 4.63 10.1 10.1 13.7 39.7 39.7 42.9

MR-J3-

60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4

Home position return is made starting with Z-phase pulse after passage of proximity dog.
Home position address may be set. Home position shift distance may be set. Home position
return direction may be selected.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made by counting encoder pulses after contact with proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made without dog.
Home position may be set at any position by manual operation, etc. Home position address may
be set.
Home position return is made by pressing machine part against stroke end.
Home position address may be set. Home position return direction may be set.

Position where servo-on (SON) is switched on is defined as home position.
Home position address may be set.

Home position return is made with respect to the rear end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the first Z-phase
pulse.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the last Z-phase
pulse.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made to the dog front end with respect to the front end of a proximity
dog.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the first Z-phase to the Z-phase.
Home position address may be set. Home position shift value may be set. Home position return
direction may be set.
High-speed automatic return to a defined home position.

Absolute position detection, backlash function
Overtravel prevention using external limit switch
Software stroke limit
Override by analog input

Self-cooled, open

[

] 0 to 55 (non-freezing)

[ ] 32 to 131 (non-freezing)

] 20 to 65 (non-freezing)

[
[ ] 4 to 149 (non-freezing)

(IP00)

90%RH or less (non-condensing)

Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt

Force-cooling, open (IP00)

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.3 Function list

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

Function Description Reference

Select the required ones from among 31 preset point tables and perform

Positioning by automatic operation

Varied speed operation

Automatic continuous positioning
operation

Home position return

High-resolution encoder

Absolute position detection system

Gain changing function

Advanced vibration suppression
control

Adaptive filter

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Slight vibration suppression
control

Electronic gear

Auto tuning

S-pattern
acceleration/deceleration time
constant

Regenerative option

Brake unit

operation in accordance with the set values.
Use the external input signal or communication function to choose the point
tables.
Servo motor speed can be varied continuously until the preset moving
distance is reached. (Max. set speeds: 255 speeds)
By merely choosing one point table and starting operation, positioning can
be executed continuously in accordance with several point tables.
Dog type, count type, data setting type, stopper type, home position
ignorance, dog type rear end reference, count type front end reference, dog
cradle type
High-resolution encoder of 262144 pulses/rev is used as a servo motor
encoder.
By merely setting the home position once, home position return need not be
done at each power on.
You can switch between gains during rotation and gains during stop or use
an input device to change gains during operation.
This function suppresses vibration at the arm end or residual vibration.

Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system
response is increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting a MR Configurator-installed personal computer and servo
amplifier.
MR Configurator is necessary for this function.
Can simulate machine motions on a personal computer screen on the basis
of the machine analyzer results.
MR Configurator is necessary for this function.
Personal computer changes gains automatically and searches for
overshoot-free gains in a short time.
MR Configurator is necessary for this function.
Suppresses vibration of 1 pulse produced at a servo motor stop. Parameters No.

The electronic gear is used to make adjustment so that the servo amplifier
setting matches the machine moving distance. Also, changing the electronic
gear value allows the machine to be moved at any multiplication ratio to the
moving distance using the servo amplifier.
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies.
Acceleration/deceleration can be made smoothly.

Used when the built-in regenerative resistor of the servo amplifier does not
have sufficient regenerative capability for the regenerative power generated.
Used when the regenerative option cannot provide enough regenerative
power.
Can be used with the servo amplifier of 5kW or more.

Section 4.5

Section 4.5.2
(2)(c)
Section 4.5.2
(2)(c)

Section 4.7

Section 4.9

Section 9.6

Section 9.4

Section 9.2

Section 9.5

PB24

Parameter No.
PA06, PA07

Section 8.2

Parameters No.
PC13

Section 13.2

Section 13.3

1 - 11