How it Works
Mitsubishi
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MR-J4-11KGF
Instruction Manual
646 pgs60.47 Mb0
Table of contents
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Mitsubishi MR-J4-10GF, MR-J4-100GF, MR-J4-70GF, MR-J4-20GF, MR-J4-200GF Instruction Manual

...
General-Purpose AC Servo
CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode)
-MR-J4-_GF_
-MR-J4-_GF_-RJ

SAFETY PRECAUTIONS

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 minor or moderate injury or property damage.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read
through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you
have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
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 Instruction Manual, keep it accessible to the operator.
1
[To prevent electric shock, note the following]
WARNING
● Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
● Ground the servo amplifier and servo motor securely.
● 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, it
may cause an electric shock.
● Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
● The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
● During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause 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 and periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get an electric shock.
● To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
● To avoid an electric shock, insulate the connections of the power supply terminals.
[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 smoke or a fire.
● Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.
● Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded­case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.
● When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
● Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.
2
[To prevent injury, note the following]
CAUTION
● Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc.
● Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.
● Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.
● The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is
on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.
3
[Additional instructions]
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire,
etc.
[Transportation and installation]
CAUTION
● Transport the products correctly according to their mass.
● Stacking in excess of the specified number of product packages is not allowed.
● Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may
drop.
● Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.
● Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
● The equipment must be installed in the specified direction.
● Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet
or other equipment.
● Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing.
● Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
● Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause injury, malfunction, etc.
● Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
● When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Ambient humidity
Vibration resistance
Operation
Storage
Operation
Storage
Ambience
Altitude
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
2000 m or less above sea level (Contact your local sales office for the altitude for options.)
0 °C to 55 °C (non-freezing)
-20 °C to 65 °C (non-freezing)
5 %RH to 90 %RH (non-condensing)
2
, at 10 Hz to 55 Hz (X, Y, Z axes)
5.9 m/s
● When the product has been stored for an extended period of time, contact your local sales office.
● When handling the servo motor, be careful with the sharp edges of the servo motor.
● The servo amplifier must be installed in a metal cabinet.
● When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are
used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.
● To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.
4
[Wiring]
24 V DC
RA
DOCOM
Control output signal
Servo amplifier
For sink output interface
24 V DC
RA
DOCOM
Control output signal
Servo amplifier
For source output interface
CAUTION
● Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
● Make sure to connect the cables and connectors by using the fixing screws and the locking
mechanism. Otherwise, the cables and connectors may be disconnected during operation.
● Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side.
● To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.
● Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
● The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.
● The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.
Servo motor
U
V
W
Servo motorServo amplifier
U
M
V
W
U
V
M
W
● When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.
● Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
● Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier.
● To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.
[Test run and adjustment]
CAUTION
● When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.
● Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
● Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.
● Do not get close to moving parts during the servo-on status.
5
[Usage]
CAUTION
● Provide an external emergency stop circuit to stop the operation and shut the power off immediately.
● For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
● Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty.
● Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident.
● Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier.
● Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.
● Use the servo amplifier with the specified servo motor.
● Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
● 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 incorrect wiring, 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.
● If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.
6
[Corrective actions]
Servo motor
Electromagnetic brake
B
U
RA
Contacts must be opened with the emergency stop switch.
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
24 V DC
CAUTION
● Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.
● If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
● Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
● When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.
● If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.
● Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
● After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.
[Maintenance, inspection and parts replacement]
CAUTION
● Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.
● It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.
● When using the servo amplifier that has not been energized for an extended period of time, contact your local sales office.
[General instruction]
● To illustrate details, the equipment in the diagrams of this 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 Instruction Manual.
7

DISPOSAL OF WASTE

• Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

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 may malfunction 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

STO FUNCTION OF THE SERVO AMPLIFIER

When using the STO function of the servo amplifier, refer to the following. Page 453 USING STO FUNCTION
For the MR-J3-D05 safety logic unit, refer to the following. Page 586 MR-J3-D05 Safety logic unit

COMPLIANCE WITH GLOBAL STANDARDS

For the compliance with global standards, refer to the following. Page 572 Compliance with global standards
8

ABOUT THE MANUALS

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo
safely.
Relevant manuals
Manual name Manual No.
MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) SH(NA)030221ENG
MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (CC-Link IE Field Network Basic) SH(NA)030273ENG
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG
MELSERVO MR-D30 Instruction Manual
MELSERVO Servo Motor Instruction Manual (Vol. 3)
MELSERVO Linear Servo Motor Instruction Manual
MELSERVO Direct Drive Motor Instruction Manual
MELSERVO Linear Encoder Instruction Manual
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
*1 It is necessary for using an MR-D30 functional safety unit. *2 It is necessary for using a rotary servo motor. *3 It is necessary for using a linear servo motor. *4 It is necessary for using a direct drive motor. *5 It is necessary for using a fully closed loop system.
*1
*2
*3
*4
*3*5
SH(NA)030132ENG
SH(NA)030113ENG
SH(NA)030110ENG
SH(NA)030112ENG
SH(NA)030111ENG

WIRING

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 .

U.S. CUSTOMARY UNITS

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N.m] 141.6 [oz.inch]
-4
Moment of inertia 1 [(× 10
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [] × 9/5 + 32 N []
kg.m2)] 5.4675 [oz.inch2]
9

CONTENTS

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
EEP-ROM LIFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
STO FUNCTION OF THE SERVO AMPLIFIER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
COMPLIANCE WITH GLOBAL STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
ABOUT THE MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
CHAPTER 1 FUNCTIONS AND CONFIGURATION 18
1.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.4 Combinations of servo amplifiers and servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
1.5 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
1.6 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
1.7 Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Removal and reinstallation of the front cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
1.8 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
CHAPTER 2 INSTALLATION 76
2.1 Installation direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
2.2 Keeping out of foreign materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
2.3 Encoder cable stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
2.4 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
2.5 Parts having service life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
2.6 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea
level. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
CHAPTER 3 SIGNALS AND WIRING 82
3.1 Connection example of power circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
100 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
3.2 I/O signal connection example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
For sink I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
For source I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.3 Explanation of power supply system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Signal explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Power-on sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Wiring CNP1, CNP2, and CNP3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
3.4 Connectors and pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
3.5 Signal (device) explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Output device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
10
3.6 Forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Forced stop deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Base circuit shut-off delay time function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Vertical axis freefall prevention function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Residual risks of the forced stop function (EM2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
3.7 Alarm occurrence timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
When you use the forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
When you do not use the forced stop deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
3.8 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Internal connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
3.9 Servo motor with an electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Safety precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
3.10 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
CHAPTER 4 STARTUP 127
4.1 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Wiring check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Surrounding environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Settings of GX Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.3 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Scrolling display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Status display of a station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
CC-Link IE Field status display LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.4 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
4.5 Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Test operation mode in MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Motor-less operation in controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.6 Home position return mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Outline of home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
CiA 402-type homing method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Operation example of Manufacturer-specific Homing method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
CONTENTS
CHAPTER 5 PARAMETERS 168
5.1 Parameter list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Gain/filter setting parameters ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Extension setting parameters ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Extension setting 2 parameters ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Extension setting 3 parameters ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Network setting parameters ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
5.2 Detailed list of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
11
Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Gain/filter setting parameters ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Extension setting parameters ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Extension setting 2 parameters ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Extension setting 3 parameters ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Network setting parameters ([Pr. PN_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
5.3 Software limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
CHAPTER 6 NORMAL GAIN ADJUSTMENT 227
6.1 Different adjustment methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Adjustment on a single servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Adjustment using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
6.2 One-touch tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
One-touch tuning flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Display transition and operation procedure of one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Caution for one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
One-touch tuning via a network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.3 Auto tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Auto tuning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Auto tuning mode basis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Adjustment procedure by auto tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Response level setting in auto tuning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240
6.4 Manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
6.5 2 gain adjustment mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
CHAPTER 7 SPECIAL ADJUSTMENT FUNCTIONS 247
7.1 Filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Shaft resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Advanced vibration suppression control II. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Command notch filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
7.2 Gain switching function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Gain switching procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
7.3 Tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Vibration tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Instantaneous power failure tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
7.4 Compliance with SEMI-F47 standard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
7.5 Model adaptive control disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
7.6 Lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
7.7 Super trace control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
12
CHAPTER 8 TROUBLESHOOTING 280
8.1 Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
8.2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.3 Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
8.4 Troubleshooting at power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
CHAPTER 9 DIMENSIONS 292
9.1 Servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.2 Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
CHAPTER 10 CHARACTERISTICS 311
10.1 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
10.2 Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
10.3 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Dynamic brake operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Permissible load to motor inertia when the dynamic brake is used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .322
10.4 Cable bending life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
10.5 Inrush currents at power-on of main circuit and control circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
CHAPTER 11 OPTIONS AND PERIPHERAL EQUIPMENT 327
11.1 Cable/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Combinations of cable/connector sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
MR-D05UDL3M-B STO cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Battery cable/junction battery cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Ethernet cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
11.2 Regenerative options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Combination and regenerative power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Selection of the regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Connection of regenerative option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
11.3 FR-BU2-(H) brake unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Brake unit parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
11.4 FR-RC-(H) power regeneration converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
11.5 FR-CV-(H) power regeneration common converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
11.6 Junction terminal block PS7DW-20V14B-F (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
11.7 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
System requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Precautions for using USB communication function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
11.8 Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Selection of battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
MR-BAT6V1SET-A battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
MR-BAT6V1BJ battery for junction battery cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
MR-BT6VCASE battery case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
MR-BAT6V1 battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
CONTENTS
13
11.9 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
11.10 Molded-case circuit breakers, fuses, magnetic contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
11.11 Power factor improving DC reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
11.12 Power factor improving AC reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
11.13 Relay (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
11.14 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
11.15 Earth-leakage current breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
11.16 EMC filter (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
11.17 External dynamic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
CHAPTER 12 ABSOLUTE POSITION DETECTION SYSTEM 447
12.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
Confirmation of absolute position detection data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
12.2 Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Using MR-BAT6V1SET-A battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Using MR-BAT6V1BJ battery for junction battery cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
Using MR-BT6VCASE battery case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
CHAPTER 13 USING STO FUNCTION 453
13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Terms related to safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Residual risks of the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
13.2 STO I/O signal connector (CN8) and pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Signal (device) explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
How to pull out the STO cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
13.3 Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Connection example for CN8 connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
External I/O signal connection example using an MR-J3-D05 safety logic unit . . . . . . . . . . . . . . . . . . . . . . . . 459
External I/O signal connection example using an external safety relay unit . . . . . . . . . . . . . . . . . . . . . . . . . . .462
13.4 Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Sink I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
CHAPTER 14 USING A LINEAR SERVO MOTOR 465
14
14.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
14.2 Signals and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
14.3 Operation and functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
Home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
Test operation mode in MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
Operation from controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
14.4 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Permissible load to motor mass ratio when the dynamic brake is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
CHAPTER 15 USING A DIRECT DRIVE MOTOR 493
15.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
15.2 Signals and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
15.3 Operation and functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Operation from controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
15.4 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
CONTENTS
CHAPTER 16 FULLY CLOSED LOOP SYSTEM 513
16.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Selecting procedure of control mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
16.2 Load-side encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Linear encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Rotary encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Configuration diagram of encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
MR-J4FCCBL03M branch cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
16.3 Operation and functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Operation from controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Fully closed loop control error detection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
Auto tuning function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Machine analyzer function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Absolute position detection system under fully closed loop system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
About MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
CHAPTER 17 APPLICATION OF FUNCTIONS 535
17.1 Scale measurement function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
15
Scale measurement encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
How to use scale measurement function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
Controller setting of the scale measurement function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
17.2 Touch probe. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
17.3 Backup/restoration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
17.4 Parameter object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
Definition of parameter objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
Enabling parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
17.5 Machine diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Function summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
How to set the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Friction vibration estimation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
Failure prediction function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
APPENDICES 563
Appendix 1 When using the servo amplifier with the DC power supply input . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Power supply capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
Selection example of wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
Molded-case circuit breakers, fuses, magnetic contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
Appendix 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport
of Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569
Appendix 3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
Appendix 4 Compliance with global standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Terms related to safety (IEC 61800-5-2 Stop function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .572
About safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Installation direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Electrical Installation and configuration diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Maintenance and service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583
Check list for user documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Appendix 5 MR-J3-D05 Safety logic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
Contents of the package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
Terms related to safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
Residual risk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
Block diagram and timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
Maintenance and disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
Rotary switch setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
Combinations of cable/connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
Appendix 6 EC declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
Appendix 7 How to replace servo amplifier without magnetic pole detection . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
16
Appendix 8 Two-wire type encoder cable for HG-MR/HG-KR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
Configuration diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
Connector set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
Internal wiring diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
Appendix 9 Analog monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
Details of the setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
Analog monitor block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
Maximum current command (maximum torque) for analog monitor ±8 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Appendix 10Special specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
Amplifiers without dynamic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
Without regenerative resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
Special coating-specification product (IEC 60721-3-3 Class 3C2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
Appendix 11Driving on/off of main circuit power supply with DC power supply . . . . . . . . . . . . . . . . . . . . . . . . . 625
Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
Magnetic contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626
Appendix 12List of registration objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627
Servo cyclic transmission function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627
Servo transient transmission function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
Appendix 13Status of general-purpose AC servo products for compliance with the China RoHS directive. . . 632
Appendix 14Encoder output pulse setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .637
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .641
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .642
CONTENTS
17
1 FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi Electric general-purpose AC servo MELSERVO-J4 series have further higher performance and higher
functions compared to the previous MELSERVO-J3 series.
MR-J4-_GF_ servo amplifier can be connected to controllers, such as a simple motion module on CC-Link IE Field Network.
CC-Link IE Field Network is an open network using Ethernet (1000BASE-T), allowing high-speed and large-capacity
communication. A communication speed of 1 Gbps achieves high-speed control of field devices and high-speed
communication between facilities, thus shortening operating cycle.
MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high-resolution absolute
encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and more accurate control is enabled as
compared to MELSERVO-J3 series.
MR-J4-_GF_ servo amplifier operates MELSERVO-J4 series compatible rotary servo motors, linear servo motors, and direct
drive motors as standard.
With one-touch tuning and real-time auto tuning, you can easily adjust the servo gains according to the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN series, have been
improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the preventive maintenance support
function detects an error in the machine parts. This function provides strong support for the machine maintenance and
inspection.
MR-J4-_GF_ servo amplifier supports the Safe Torque Off (STO) function. By combining with optional MR-J3-D05, the servo
amplifier supports Safe stop 1 (SS1) function.
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to the personal
computer with MR Configurator2 installed to perform the parameter setting, test operation, gain adjustment, and others.
In the MELSERVO-J4 series, servo amplifiers with the CN2L connector are also available as MR-J4-_GF_-RJ.
By using the CN2L connector, an A/B/Z-phase differential output type external encoder can be connected to the servo
amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well. The following table indicates
the communication method of the external encoder compatible with MR-J4-_GF_ and MR-J4-_GF_-RJ servo amplifiers.
Operation mode External encoder
communication method
Linear servo motor system
Fully closed loop system
Scale measurement function
*5
*5
*5
Two-wire type CN2
Four-wire type
A/B/Z-phase differential output method
Two-wire type CN2
Four-wire type
A/B/Z-phase differential output method
Two-wire type CN2
Four-wire type
A/B/Z-phase differential output method
Connector
MR-J4-_GF_ MR-J4-_GF_-RJ
*1
CN2L
*2*3
*2*3
CN2
CN2L
CN2L
*1
*4
*1 The MR-J4THCBL03M branch cable is necessary. *2 The MR-J4FCCBL03M branch cable is necessary. *3 When the communication method of the servo motor encoder is four-wire type, MR-J4-_GF_ cannot be used. Use an MR-J4-_GF_-RJ. *4 Connect a thermistor to CN2. *5 This is used with servo amplifiers with software version A1 or later.
18

1 FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Function block diagram
The function block diagram of this servo is shown below.
The diagram shows for MR-J4-_GF_-RJ as an example. MR-J4-_GF_ servo amplifier does not have CN2L
connector.
1
1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

19
200 V class
Model position
Current
control
Actual
position
control
Actual speed
control
Virtual
motor
Virtual
encoder
L11
L21
Cooling fan
*3
Encoder
N-CD
L3
L2
L1
Dynamic
brake circuit
Power factor improving
DC reactor
*6
Current
detection
Overcurrent
protection
Voltage
detection
Power supply
*2
MCMCCB
Base
amplifier
STO
circuit
CN5
USB
USB
Personal
computer
Controller or
servo amplifier
Controller or
servo amplifier
CN1A
CN1B
D/A
Analog monitor
(2 channels)
Position
command
input
CN3
Servo amplifier
U
V
W
U
V
W
P3
P4
*4
Diode
stack
Relay
P+
+
+
B
RA
24 V DC
B1
B2
Battery (For absolute position detection system)
CN4
STO
switch
Model speed Model torque
M
CN2
CN8
Control
circuit power
supply
Model
position
control
Model speed
control
I/F Control
Servo motor
CHARGE
lamp
Regene­rative TR
Current
detector
Digital I/O
control
Regenerative
option
UU
U
Step­down circuit
Electromagnetic brake
*1
*5
External encoder
CN2L
■MR-J4-500GF(-RJ) or less
20
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
*1 The built-in regenerative resistor is not provided for MR-J4-10GF(-RJ). *2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to the following for the power supply
specifications. Page 30 Servo amplifier standard specifications
*3 Servo amplifiers MR-J4-70GF(-RJ) or more have a cooling fan. *4 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-
J3 servo amplifiers. *5 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. *6 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not
using the power factor improving DC reactor, short P3 and P4.
1
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
21
■MR-J4-700GF(-RJ)
L11
L21
Cooling fan
N-C
MCMCCB
STO
circuit
CN5
USB
USB
CN1A
CN1B
D/A
CN3
Servo amplifier
U
V
W
U
V
W
P3
P4
*2
Relay
P+
+
+
B
RA
B1
CN4
M
CN2
CN8
Control
circuit
power
supply
CHARGE
lamp
Regene­rative TR
Regenerative
option
L3
L2
L1
U U
U
Current
detection
Overcurrent
protection
Voltage
detection
Base
amplifier
STO
switch
Servo motor
24 V DC
Encoder
Model position
Current
control
Actual
position
control
Actual speed
control
Virtual
motor
Virtual
encoder
Position
command
input
Model speed Model torque
Model
position
control
Model speed
control
Step­down circuit
Battery (For absolute position detection system)
I/F Control
Personal
computer
Analog monitor
(2 channels)
Digital I/O
control
Diode
stack
CN2L
External encoder
Controller or
servo amplifier
Controller or
servo amplifier
Power factor improving
DC reactor
*4
Power supply
*1
Electromagnetic brake
*3
Dynamic
brake
circuit
Current
detector
*1 Refer to the following for the power supply specifications.
Page 30 Servo amplifier standard specifications *2 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-
J3 servo amplifiers. *3 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. *4 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not
using the power factor improving DC reactor, short P3 and P4.
1 FUNCTIONS AND CONFIGURATION
22
1.2 Function block diagram
■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)/MR-J4-22KGF(-RJ)
L11
L21
Encoder
N-C
Power factor improving
DC reactor
*5
MCMCCB
CN5
USB
USB
CN1A
CN1B
D/A
CN3
P3
P4
*2
P+
+
+
B
RA
B1
B2
CN4
M
CN2
CN8
Servo motor
External regenerative
resistor or
regenerative option
L3
L2
L1
U U
U
Thyristor
External
dynamic brake
(optional)
*4*6
U
V
W
U
V
W
Model position
Current
control
Actual
position
control
Actual speed
control
Virtual
motor
Virtual
encoder
Cooling fan
Current
detection
Overcurrent
protection
Voltage
detection
Power supply
*1
Base
amplifier
STO
circuit
Personal
computer
Analog monitor
(2 channels)
Position
command
input
Servo amplifier
24 V DC
Battery (For absolute position detection system)
STO
switch
Model speed Model torque
Control
circuit power
supply
Model
position
control
Model speed
control
I/F Control
CHARGE
lamp
Regene­rative TR
Current
detector
Digital I/O
control
Step­down
circuit
Electromagnetic brake
Diode
stack
CN2L
External encoder
Controller or
servo amplifier
Controller or
servo amplifier
*3
1
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
23
*1 Refer to the following for the power supply specifications.
Page 30 Servo amplifier standard specifications *2 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-
J3 servo amplifiers. *3 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. *4 Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop
immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire
equipment. For alarms for which the servo motor does not decelerate to stop, refer to the following.
Page 280 TROUBLESHOOTING *5 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not
using the power factor improving DC reactor, short P3 and P4. *6 The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr.
PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
24
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
400 V class
Model position
Current
control
Actual
position
control
Actual speed
control
Virtual
motor
Virtual
encoder
L11
L21
Cooling fan
*2
Encoder
N-CD
L3
L2
L1
Dynamic
brake
circuit
Current
detection
Overcurrent
protection
Voltage
detection
Power supply
*1
MCMCCB
Base
amplifier
STO
circuit
CN5
USB
USB
Personal
computer
CN1A
CN1B
D/A
Analog monitor
(2 channels)
Position
command
input
CN3
Servo amplifier
U
V
W
U
V
W
P3 P4
*3
Diode
stack
Relay
P+
+
+
B
RA
24 V DC
B1
B2
Battery (For absolute position detection system)
CN4
STO
switch
Model speed Model torque
M
CN2
CN8
Control
circuit power
supply
Model
position
control
Model speed
control
I/F Control
Servo motor
Charge
lamp
Regene­rative TR
Current
detector
Digital I/O
control
Regenerative
option
U U
U
Step­down
circuit
Power factor improving
DC reactor
*5
CN2L
External encoder
Controller or
servo amplifier
Controller or
servo amplifier
*4
Electromagnetic brake
■MR-J4-350GF4(-RJ) or less
1
*1 Refer to the following for the power supply specification.
Page 30 Servo amplifier standard specifications *2 Servo amplifiers MR-J4-200GF4(-RJ) or more have a cooling fan. *3 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-
J3 servo amplifiers. *4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. *5 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not
using the power factor improving DC reactor, short P3 and P4.
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
25
■MR-J4-500GF4(-RJ)/MR-J4-700GF4(-RJ)
Dynamic
brake
circuit
Current
detector
Virtual
motor
Virtual
encoder
L11
L21
Cooling fan
Encoder
N-C
Current
detection
Overcurrent
protection
Voltage
detection
Power supply
*1
MCMCCB
Base
amplifier
STO
circuit
CN5
USB
USB
CN1A
CN1B
D/A
Position
command
input
CN3
Servo amplifier
Diode
stack
U
V
W
U
V
W
P3 P4
*2
Relay
P+
+
+
B
RA
24 V DC
B1
B2
Battery (For absolute position detection system)
CN4
STO
switch
M
CN2
CN8
Control
circuit power
supply
Model
position
control
Model speed
control
Servo motor
Regenerative
option
L3
L2
L1
U U
U
Step­down
circuit
Power factor improving
DC reactor
*4
Charge
lamp
Regene­rative TR
Electromagnetic brake
Model position Model speed Model torque
Current
control
Actual
position
control
Actual speed
control
I/F Control
Personal
computer
Analog monitor
(2 channels)
Digital I/O
control
CN2L
External encoder
Controller or
servo amplifier
Controller or
servo amplifier
*3
*1 Refer to the following for the power supply specification.
Page 30 Servo amplifier standard specifications *2 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-
J3 servo amplifiers. *3 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. *4 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not
using the power factor improving DC reactor, short P3 and P4.
1 FUNCTIONS AND CONFIGURATION
26
1.2 Function block diagram
Current
detector
Thyristor
External
dynamic brake
(optional)
*4*6
U
V
W
U
V
W
L3
L2
L1
U U
U
Power factor improving
DC reactor
*4
Charge
lamp
Regene­rative TR
Cooling fan
L11
L21
Encoder
N-C
Power supply
*1
MCMCCB
CN5
USB
USB
CN1A
CN1B
D/A
CN3
Servo amplifier
Diode
stack
P3 P4
*2
P+
+
+
B
RA
24 V DC
B1
B2
Battery (For absolute position detection system)
CN4
M
CN2
CN8
Servo motor
External
regenerative resistor
or
regenerative option
Electromagnetic brake
STO
switch
Control
circuit power
supply
Current
detection
Overcurrent
protection
Voltage
detection
Base
amplifier
STO
circuit
Step­down
circuit
Model position
Current
control
Actual
position
control
Actual speed
control
Virtual
motor
Virtual
encoder
Position
command
input
Model speed Model torque
Model
position
control
Model speed
control
Personal
computer
Analog monitor
(2 channels)
Digital I/O
control
I/F Control
CN2L
External encoder
Controller or
servo amplifier
Controller or
servo amplifier
*3
■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)/MR-J4-22KGF4(-RJ)
1
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
27
*1 Refer to the following for the power supply specification.
Page 30 Servo amplifier standard specifications *2 MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 of MR-
J3 servo amplifiers. *3 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. *4 Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop
immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire
equipment. For alarms for which the servo motor does not decelerate to stop, refer to the following.
Page 280 TROUBLESHOOTING *5 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not
using the power factor improving DC reactor, short P3 and P4. *6 The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr.
PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
28
1 FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
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