Mitsubishi Electronics MR-J4-B-RJ User Manual

General-Purpose AC Servo

SSCNET /H Interface AC Servo

MODEL

MR-J4-_B_(-RJ)

SERVO AMPLIFIER INSTRUCTION MANUAL

J

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this 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".

WARNING

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.

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.

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 Instruction Manual, keep it accessible to the operator.

A - 1

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.

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 smoke or a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and 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, and 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.

3. To prevent injury, note the following

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

A - 2

CAUTION

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 power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.

4. Additional instructions

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

(1) 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 when transporting 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. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and the cabinet walls 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 strike the servo amplifier and servo motor. Isolate them from all impact loads. When you keep or use the equipment, please fulfill the following environment.

Items Environment

Ambient

temperature

Storage -20 °C to 65 °C (non-freezing)

Ambient humidity

Storage Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude Max. 1000 m above sea level Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)

When the equipment has been stored for an extended period of time, consult your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in the 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 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 (heat method).Additionally, disinfect and protect wood from insects before packing products.

Operation 0 °C to 55 °C (non-freezing)

Operation

90 %RH or less (non-condensing)

A - 3

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

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 emergency stop and other protective circuits may not operate.

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifier

24 V DC

DOCOM

Control output signal

For source output interface

RA

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. Connecting a servo motor for different axis to the U, V, W, or CN2 may cause a malfunction.

(3) Test run and adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. Never adjust or change the parameter values extremely as it will make operation unstable. Do not close to moving parts at servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not disassemble, repair, or modify the equipment. 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.

A - 4

CAUTION

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. 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 occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the EMG stop switch.

Servo motor

B

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

RA

24 V DC

(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 malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years when it is used in general environment. Please contact your local sales office. When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(7) 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 Specifications and Instruction Manual.

A - 5

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 chapter 13. For the MR-J3-D05 safety logic unit, refer to appendix 5.

Compliance with global standards

For the compliance with global standards, refer to appendix 4.

A - 6

«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-D30 INSTRUCTION MANUAL (Note 5) SH(NA)030132 MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ INSTRUCTION MANUAL (Note 6) SH(NA)030153 MELSERVO-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113 MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110 MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112 MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111 EMC Installation Guidelines IB(NA)67310

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using a functional safety unit MR-D30.

6. It is necessary for using an MR-J4-DU_B_(-RJ) drive unit and MR-CR55K_ converter unit.

«Wiring»

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

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2] Load (thrust load/axial load) 1 [N] 0.2248 [lbf] Temperature N [°C] × 9/5 + 32 N [°F]

A - 7

MEMO

A - 8

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the previous MELSERVO-J3 series. MR-J4-_B_ servo amplifier is connected to controllers, including a servo system controller, on the highspeed synchronous network SSCNET III/H. The servo amplifier directly receives a command from a controller to drive a servo motor. MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) highresolution 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-_B_ 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 automatically 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. SSCNET III/H achieves high-speed communication of 150 Mbps full duplex with high noise immunity due to the SSCNET III optical cables. Large amounts of data are exchanged in real-time between the controller and the servo amplifier. Servo monitor information is stored in the upper information system and is used for control. On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them. This allows you to create a large system. The MR-J4-_B_ servo amplifier supports the Safe Torque Off (STO) function. When the MR-J4W_-B servo amplifier is connected to a SSCNET III/H-compatible servo system controller, in addition to the STO function, the servo amplifier also supports the Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS), Safely-Limited Speed (SLS), Safe Brake Control (SBC), and Safe Speed Monitor (SSM) functions. The MR-J4W_-B 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 MELSERVO-J4 series, servo amplifiers with CN2L connector is also available as MR-J4-_B_-RJ. By using CN2L connector, an A/B/Z-phase differential output method 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-_B_ and MR-J4-_B_-RJ servo amplifiers.

1 - 1

1. FUNCTIONS AND CONFIGURATION

Table 1.1 Connectors to connect from external encoders

Operation

mode

Linear servo motor system

Fully closed loop system

Scale measurement function

Note 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-_B_ cannot be used. Use an MR-J4-_B_-RJ.

4. This is used with servo amplifiers with software version A3 or later.

5. This is used with servo amplifiers with software version A8 or later.

6. Connect a thermistor to CN2.

External encoder

communication

method Two-wire type Four-wire type

A/B/Z-phase

differential output

method

Two-wire type

Four-wire type

A/B/Z-phase

differential output

method

Two-wire type

Four-wire type

A/B/Z-phase

differential output

method

Connector

MR-J4-_B_ MR-J4-_B_-RJ

CN2 (Note 1) CN2 (Note 1)

CN2L (Note 6)

CN2

(Note 2, 3, 4)

CN2L

CN2

(Note 2, 3, 5)

CN2L (Note 5)

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative

option

(1) 200 V class

(a) MR-J4-500B(-RJ) or less

POINT

The diagram shows for MR-J4-_B_-RJ as an example. MR-J4-_B_ servo amplifier does not have CN2L connector.

(Note 6)

Power factor improving

DC reactor

(Note 2) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4

Diode

stack

Position

command

input

+

(Note 4)

Relay

Cooling fan

(Note 3)

Control

circuit

power

supply

Model

position

control

+

CHARGE

lamp

STO

circuit

Base

amplifier

P+

(Note 1)

Regenerative TR

Model speed

control

Voltage

detection

N-CD

Overcurrent

protection

Virtual

motor

detection

Virtual

encoder

Dynamic

brake

circuit

Current

encoder

Current

Stepdown

circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

position

I/F Control

CN1A CN1B

Servo system

controller or

servo amplifier

Model position

Actual

control

Servo

amplifier

or cap

Model speed Model torque

Actual speed

control

Personal

computer

USB

CN5

Analog monitor

(2 channels)

Current

control

1 - 3

D/A

CN3

Digital I/O

control

CN4

Battery (for absolute position detection system)

External encoder

CN2L

(Note 5)

1. FUNCTIONS AND CONFIGURATION

Note 1. The built-in regenerative resistor is not provided for MR-J4-10B(-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 section 1.3 for the power supply specifications.

3. Servo amplifiers MR-J4-70B(-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-_B-RJ servo amplifier. MR-J4-_B 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 - 4

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-700B(-RJ)

(Note 4)

Power factor improving

DC reactor

Regenerative

option

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4

Diode stack

Position

command

input

+

(Note 2)

Relay

Cooling fan

Control

circuit power

supply

Model

position

control

+

CHARGE

lamp

STO

circuit

Base

amplifier

P+

Regenerative TR

Model speed

control

Voltage

detection

N-C

Overcurrent

Virtual

motor

protection

detection

Virtual

encoder

Dynamic

brake circuit

Current

encoder

Current

Stepdown circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

CN4

Battery (for absolute position detection system)

External encoder

CN2L

(Note 3)

position

I/F Control

CN1A CN1B

Servo system

controller or

servo amplifier

Model position

Actual

control

Servo

amplifier

or cap

Model speed Model torque

Actual speed

control

Current

control

USB

CN5

Personal computer

Analog monitor

(2 channels)

USB

D/A

CN3

Digital I/O

control

Note 1. Refer to section 1.3 for the power supply 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-_B-RJ servo amplifier. MR-J4-_B 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 - 5

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ)

(Note 1) Power supply

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

(Note 5)

Power factor improving

DC reactor

P3 P4

Diode stack

External regenerative

regenerative option

(Note 2)

Thyristor

+

resistor or

P+

Regenerative TR

(Note 4, 6)

External dynamic

brake (optional)

N-C

U

Current

encoder

V

W

Servo motor

U

V

M

W

STO

switch

L11

L21

CN8

Position

command

input

Cooling fan

Control

+

circuit power

supply

Model

position

control

Actual

position

control

I/F Control

CHARGE

STO

circuit

Base

amplifier

Model position

lamp

Overcurrent

protection

Virtual

motor

Model speed

control

Voltage

detection

Model speed Model torque

Actual speed

control

Current

control

USB

detection

Virtual

encoder

Current

D/A

RA

24 V DC

CN2

Stepdown circuit

CN4

Battery (for absolute position detection system)

External encoder

CN2L

(Note 3)

B1

Electromagnetic

B

brake

B2

Encoder

CN1A CN1B

Servo system

controller or

servo amplifier

Servo

amplifier

or cap

Personal computer

USB

CN5

Analog monitor

(2 channels)

CN3

Digital I/O

control

1 - 6

1. FUNCTIONS AND CONFIGURATION

Note 1. Refer to section 1.3 for the power supply 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-_B-RJ servo amplifier. MR-J4-_B 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 chapter 8.

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.

1 - 7

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

(a) MR-J4-350B4(-RJ) or less

(Note 5)

Power factor

improving

DC reactor

Regenerative

option

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4 (Note 3)

Diode

stack

+

Position

command

input

Relay

(Note 2)

Control

circuit power

supply

Model

position

control

+

Cooling fan

STO

circuit

Base

amplifier

P+

Regenerative TR

Charge

lamp

Model speed

control

Voltage

detection

N-CD

Overcurrent

protection

Virtual

motor

detection

Virtual

encoder

Dynamic

brake

circuit

Current

detector

Current

Stepdown

circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

CN4

Battery (For absolute position detection system)

External encoder CN2L (Note 4)

position

IF Control

CN1A CN1B

Servo system

controller or

servo amplifier

Model position

Actual control

Servo

amplifier

or cap

Model speed Model torque

Actual

speed

control

Current

control

USB

CN5

Personal

computer

Analog monitor

(2 channels)

USB

D/A

CN3

Digital I/O

control

Note 1. Refer to section 1.3 for the power supply specification.

2. Servo amplifiers MR-J4-200B4(-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-_B4-RJ servo amplifier. MR-J4-_B4 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 - 8

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ)

(Note 4)

Power factor

improving

DC reactor

Regenerative

option

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4 (Note 2)

Diode

stack

+

Position

command

input

Relay

Control

circuit power

supply

Model

position

control

+

Cooling fan

STO

circuit

Base

amplifier

P+

Regenerative TR

Charge

lamp

Model speed

control

Voltage

detection

N-C

Overcurrent

Virtual

motor

protection

detection

Virtual

encoder

Dynamic

brake

circuit

Current

detector

Current

Stepdown circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

CN4

Battery (For absolute position detection system)

External encoder

CN2L (Note 3)

position

IF Control

CN1A CN1B

Servo system

controller or

servo amplifier

Model position Model speed Model torque

Actual control

Actual

speed

control

USB

CN5

Servo

amplifier

or cap

Personal

computer

USB

Analog monitor

(2 channels)

Current

control

D/A

CN3

Digital I/O

control

Note 1. Refer to section 1.3 for the power supply specification.

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-_B4-RJ servo amplifier. MR-J4-_B4 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 - 9

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ)

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

(Note 5)

Power factor

improving

DC reactor

P3 P4 (Note 2)

Diode

stack

Control

+

circuit power

supply

Thyristor

Cooling fan

External

regenerative resistor

or

regenerative option

P+

+

Regenerative TR

Charge

lamp

STO

circuit

Base

amplifier

Voltage

detection

N-C

Overcurrent

protection

Current

detector

Current

detection

(Note 4, 6)

External

dynamic brake

(optional)

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

M

B1

Electromagnetic

B

brake

B2

Encoder

Position

command

input

position

IF Control

CN1A CN1B

Servo system

controller or

servo amplifier

Model

control

Model position

Actual control

Servo

amplifier

or cap

Virtual

motor

encoder Model speed

control

Model speed Model torque

Actual

speed

control

Current

control

USB

CN5

Personal

computer

Analog monitor

(2 channels)

USB

Virtual

D/A

CN3

Digital I/O

control

Stepdown circuit

CN4

Battery (For absolute position detection system)

CN2L (Note 3)

External encoder

1 - 10

1. FUNCTIONS AND CONFIGURATION

Note 1. Refer to section 1.3 for the power supply specification.

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-_B4-RJ servo amplifier. MR-J4-_B4 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 chapter 8.

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.

1 - 11

1. FUNCTIONS AND CONFIGURATION

(3) 100 V class

Regenerative

option

(Note 2) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

L11

L21

CN8

Relay

Diode stack

Position

command

input

+

Control

circuit power

supply

Model

position

control

U

V

W

RA

Servo motor

M

B1

Electromagnetic

B

brake

B2

P+

(Note 1)

N-CD

Dynamic brake

circuit

U

+

Charge

lamp

Regene-

+

rative TR

Current

encoder

V

W

24 V DC

STO

circuit

Base

amplifier

Voltage

detection

Overcurrent

protection

Current

detection

CN2

Encoder

Model speed

control

Virtual

encoder

Virtual

Stepdown

circuit

motor

Model speed Model torque

Actual speed

control

Current

control

USB

CN5

Personal

computer

Analog monitor

(two channel)

USB

D/A

CN3

Digital I/O

control

IF Control

CN1A CN1B

Servo system

controller or

servo amplifier

Model position

Actual

position

control

Servo

amplifier

or cap

Note 1. The built-in regenerative resistor is not provided for MR-J4-10B1(-RJ).

2. Refer to section 1.3 for the power supply specifications.

3. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector.

CN4

Battery (for absolute position detection system)

External encoder

CN2L

(Note 3)

1 - 12

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

(1) 200 V class

Model: MR-J4-_(-RJ) 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB

Output

Main circuit power supply input

Control circuit power supply input

Interface power supply

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

SSCNET III/H communication cycle (Note 8) Fully closed loop control Available (Note 7) Scale measurement function Available (Note 10) Load-side encoder interface (Note 5) Mitsubishi high-speed serial communication Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Protective functions

Functional safety STO (IEC/EN 61800-5-2)

Safety performance

Compliance to global standards

Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4) Close mounting (Note 2) Possible Impossible

Environment

Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 13.4 18.2

Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0

Voltage/Frequency

Rated current (Note 11)

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current [A] Refer to section 10.5. Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz Rated current [A] 0.2 0.3 Permissible voltage

fluctuation Permissible frequency

fluctuation Power consumption [W] 30 45 Inrush current [A] Refer to section 10.5. Voltage 24 V DC ± 10% Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)

Standards certified by CB EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2 Response performance 8 ms or less (STO input off → energy shut off) (Note 3) Test pulse input (STO) Mean time to dangerous

failure (MTTFd) Diagnosis coverage (DC) Medium (90% to 99%) Average probability of

dangerous failures per hour (PFH)

CE marking

UL standard UL 508C

Ambient temperature

Ambient humidity

Ambience

Altitude 1000 m or less above sea level Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Operation 0 ˚C to 55 ˚C (non-freezing) Storage -20 ˚C to 65 ˚C (non-freezing) Operation Storage

3-phase or 1-phase 200 V AC to 240 V

[A] 0.9 1.5 2.6

[kVA]

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor

AC, 50 Hz/60 Hz

3-phase or 1-phase 170 V AC to

Within ±5%

Refer to section 10.2.

1-phase 170 V AC to 264 V AC

Within ±5%

0.222 ms, 0.444 ms, 0.888 ms

overheat protection, encoder error protection, regenerative error protection, undervoltage protection,

instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole

100 years or longer

1.68 × 10

264 V AC

3.2

(Note 6)

detection protection, and linear servo control fault protection

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

3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

90 %RH or less (non-condensing)

Indoors (no direct sunlight),

3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

3-phase 170 V AC to 264 V AC

-10

[1/h]

LVD: EN 61800-5-1

EMC: EN 61800-3

External option

(Note 9, 12)

1 - 13

1. FUNCTIONS AND CONFIGURATION

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at 75% or smaller effective load ratio.

3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-diagnose.

4. Except for the terminal block.

5. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

6 The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.

7. For the compatible version of fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier using MR Configurator2.

8. The communication cycle depends on the controller specifications and the number of axes connected.

9. 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 emergency stop. Ensure the safety in the entire equipment.

10. For the compatible version for the scale measurement function, refer to table 1.1. Check the software version of the servo amplifier using MR Configurator2.

11. This value is applicable when a 3-phase power supply is used.

12. 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.

1 - 14

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

Model: MR-J4-_(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4

Output

Main circuit power supply input

Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 0.1 0.2

Control circuit power supply input

Power consumption [W] 30 45 Inrush current [A] Refer to section 10.5. Interface power

supply Control method Sine-wave PWM control, current control method Dynamic brake Built-in External option (Note 6, 8) SSCNET III/H communication cycle (Note 5) 0.222 ms, 0.444 ms, 0.888 ms Fully closed loop control Compatible Scale measurement function Compatible (Note 7) Load-side encoder interface (Note 4) Mitsubishi high-speed serial communication Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Protective functions

Functional safety STO (IEC/EN 61800-5-2)

Standards certified by CB

Response performance 8 ms or less (STO input off → energy shut off)

Safety performance

Compliance to standards

Structure (IP rating)

Close mounting Impossible

Environment

Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2

Rated voltage 3-phase 323 V AC Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0 Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6 Permissible voltage

fluctuation Permissible frequency

fluctuation Power supply capacity

[kVA]

Inrush current [A] Refer to section 10.5.

Permissible voltage fluctuation

Permissible frequency fluctuation

Voltage 24 V DC ± 10% Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)

(Note 2) Test pulse input (STO) Mean time to dangerous

failure (MTTFd) Diagnosis converge (DC) Medium (90% to 99%) Average probability of

dangerous failures per hour (PFH)

CE marking

UL standard UL 508C

Ambient temperature

Ambient humidity

Ambience

Altitude 1000 m or less above sea level Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Operation 0 ˚C to 55 ˚C (non-freezing) Storage -20 ˚C to 65 ˚C (non-freezing) Operation Storage

3-phase 323 V AC to 528 V AC

Within ±5%

Refer to section 10.2.

1-phase 323 V AC to 528 V AC

Within ±5%

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo

motor overheat protection, encoder error protection, regenerative error protection, undervoltage

protection, instantaneous power failure protection, overspeed protection, error excessive protection,

100 years or longer

1.68 × 10

Natural cooling, open

90 %RH or less (non-condensing)

magnetic pole detection protection, and linear servo control fault protection

EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

(IP20)

Force cooling, open

(IP20)

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

61800-5-2 SIL 2

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

-10

[1/h]

LVD: EN 61800-5-1

EMC: EN 61800-3

Force cooling, open (IP20) (Note 3)

Indoors (no direct sunlight),

1 - 15

1. FUNCTIONS AND CONFIGURATION

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-diagnose.

3. Except for the terminal block.

4. MR-J4-B4 servo amplifier is compatible only with two-wire type. MR-J4-B4-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

5. The communication cycle depends on the controller specifications and the number of axes connected.

6. 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 emergency stop. Ensure the safety in the entire equipment.

7. For the compatible version for the scale measurement function, refer to table 1.1. Check the software version of the servo amplifier using MR Configurator2.

8. 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.

1 - 16

1. FUNCTIONS AND CONFIGURATION

(3) 100 V class

Model: MR-J4-_(-RJ) 10B1 20B1 40B1

Output

Main circuit power supply input

Control circuit power supply input

Interface power supply

Control method Sine-wave PWM control, current control method Dynamic brake Built-in SSCNET III/H communication cycle (Note 6) Fully closed loop control Available (Note 5) Scale measurement function Available (Note 7) Load-side encoder interface (Note 4) Mitsubishi high-speed serial communication Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Protective functions

Functional safety STO (IEC/EN 61800-5-2)

Safety performance

Compliance to global standards

Structure (IP rating) Natural cooling, open (IP20) Close mounting (Note 2) Possible

Environment

Mass [kg] 0.8 1.0

Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 3.0 5.0 9.0 Permissible voltage

fluctuation Permissible frequency

fluctuation Power supply capacity

Inrush current [A] Refer to section 10.5. Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 0.4 Permissible voltage

fluctuation Permissible frequency

fluctuation Power consumption [W] 30 Inrush current [A] Refer to section 10.5. Voltage 24 V DC ± 10% Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)

Standards certified by CB EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2 Response performance 8 ms or less (STO input off → energy shut off) (Note 3) Test pulse input (STO) Mean time to dangerous

failure (MTTFd) Diagnosis coverage (DC) Medium (90% to 99%) Average probability of

dangerous failures per hour (PFH)

CE marking

UL standard UL 508C

Ambient temperature

Ambient humidity

Ambience

Altitude 1000 m or less above sea level Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

[kVA]

Operation 0 ˚C to 55 ˚C (non-freezing) Storage -20 ˚C to 65 ˚C (non-freezing) Operation Storage

Within ±5%

Refer to section 10.2.

1-phase 85 V AC to 132 V AC

Within ±5%

0.222 ms, 0.444 ms, 0.888 ms

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor

overheat protection, encoder error protection, regenerative error protection, undervoltage protection,

instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole

100 years or longer

1.68 × 10

detection protection, and linear servo control fault protection

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

1-phase 85 V AC to 132 V AC

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

-10

[1/h]

LVD: EN 61800-5-1

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

EMC: EN 61800-3

90 %RH or less (non-condensing)

Indoors (no direct sunlight),

1 - 17

1. FUNCTIONS AND CONFIGURATION

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at 75% or smaller effective load ratio.

3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-diagnose.

4. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

5. For the compatible version of fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier using MR Configurator2.

6 The communication cycle depends on the controller specifications and the number of axes connected.

7. For the compatible version for the scale measurement function, refer to table 1.1. Check the software version of the servo amplifier using MR Configurator2.

1 - 18

1. FUNCTIONS AND CONFIGURATION

1.4 Combinations of servo amplifiers and servo motors

(1) 200 V class

Servo amplifier

MR-J4-10B(-RJ) 053

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

MR-J4-350B(-RJ)

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ)

Rotary servo motor

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

053

13

23 23

43 43

73 73 72 73

702

51 52

81

102

121 201 152 202

301 352

421 502

53

103 53

103

152

202 203 353

352 502

153

203

353

503 353

503

601

701M

703 801

12K1

11K1M

903

15K1

15K1M

20K1 25K1

22K1M

HG-JR

(When the

maximum torque

is 400%)

73

103

153 203

503

Linear servo motor

(primary side)

LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0 LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBD-15M-1SS0 TM-RFM006C20

LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P2A-02M-1SS1 LM-U2PBF-22M-1SS0 TM-RFM018E20

LM-H3P3D-48P-CSS0 LM-H3P7B-48P-ASS0 LM-H3P7C-72P-ASS0 LM-FP2B-06M-1SS0 LM-K2P1C-03M-2SS1 LM-U2P2B-40M-2SS0 LM-H3P7D-96P-ASS0 LM-K2P2C-07M-1SS1 LM-K2P3C-14M-1SS1 LM-U2P2C-60M-2SS0 LM-FP2D-12M-1SS0 LM-FP4B-12M-1SS0 LM-K2P2E-12M-1SS1 LM-K2P3E-24M-1SS1 LM-U2P2D-80M-2SS0 LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0

LM-FP4F-48M-1SS0

Direct drive motor

TM-RFM002C20

TM-RFM004C20

TM-RFM006E20 TM-RFM012E20 TM-RFM012G20 TM-RFM040J10

TM-RFM048G20 TM-RFM072G20 TM-RFM120J10

TM-RFM240J10

1 - 19

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

Servo amplifier

MR-J4-60B4(-RJ) 524 534

MR-J4-100B4(-RJ) 1024

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ) 3524 3534

MR-J4-500B4(-RJ) 5024 5034 3534

MR-J4-700B4(-RJ) 7024

MR-J4-11KB4(-RJ)

MR-J4-15KB4(-RJ)

MR-J4-22KB4(-RJ)

(3) 100 V class

Servo amplifier

MR-J4-10B1(-RJ)

MR-J4-20B1(-RJ) 23 23

MR-J4-40B1(-RJ) 43 43

Rotary servo motor

HG-SR HG-JR

734

1034 1524 2024

Rotary servo motor

HG-KR HG-MR

053

13

1534

2034

6014

701M4

7034

8014

12K14

11K1M4

9034

15K14

15K1M4

20K14 25K14

22K1M4

053

13

(When the maximum

torque is 400%)

Linear servo motor

(primary side)

LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0

LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0

LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0

HG-JR

534

734 1034 1534 2034

5034

Linear servo motor (primary side)

LM-FP5H-60M-1SS0

Direct drive motor

TM-RFM002C20

TM-RFM004C20

1 - 20

1. FUNCTIONS AND CONFIGURATION

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section of the detailed description field.

Function Description

This realizes a high response and stable control following the ideal model. The twodegrees-of-freedom-model model adaptive control enables you to set a response to

Model adaptive control

Position control mode This servo amplifier is used as a position control servo. Speed control mode This servo amplifier is used as a speed control servo. Torque control mode This servo amplifier is used as a torque control servo.

High-resolution encoder

Absolute position detection system

Gain switching function

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration suppression control

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

Alarm history clear Alarm history is cleared. [Pr. PC21] Output signal selection

(device settings) Output signal (DO) forced

output

Test operation mode

Analog monitor output Servo status is output in terms of voltage in real time.

MR Configurator2

Linear servo system Linear servo system can be configured using a linear servo motor and liner encoder. Chapter 14 Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. Chapter 15

the command and response to the disturbance separately. Additionally, this function can be disabled. Refer to section 7.5 for disabling this function. This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier using MR Configurator2.

High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary servo motor compatible with the MELSERVO-J4 series.

Merely setting a home position once makes home position return unnecessary at every power-on.

You can switch gains during rotation and during stop, and can use an input device to switch gains during operation.

This function suppresses vibration at the arm end or residual vibration. Section 7.1.5

This is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the 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 Configurator2 installed personal computer and servo amplifier.

MR Configurator2 is necessary for this function. This function provides better disturbance response in case low response level that

load to motor inertia ratio is high for such as roll send axes.

Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

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

sufficient regenerative capability for the regenerative power generated.

The output devices including ALM (Malfunction) and DB (Dynamic brake interlock) can be assigned to certain pins of the CN3 connector.

Output signal can be forced on/off independently of the servo status. Use this function for checking output signal wiring, etc. Jog operation, positioning operation, motor-less operation, DO forced output, and

program operation MR Configurator2 is necessary for this function.

Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Detailed

explanation

Chapter 12

Section 7.2

Section 7.1.1

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]

Section 6.3

Section 11.3

Section 11.4

Section 11.2

[Pr. PD07] to [Pr. PD09]

Section 4.5.1 (1) (d)

Section 4.5

[Pr. PC09], [Pr. PC10]

Section 11.7

1 - 21

1. FUNCTIONS AND CONFIGURATION

Function Description

Fully closed loop system can be configured using the load-side encoder.

Fully closed loop system

One-touch tuning

SEMI-F47 function (Note)

Tough drive function

Drive recorder function

STO function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Master-slave operation function

Scale measurement function

J3 compatibility mode

Continuous operation to torque control mode

Lost motion compensation function

Super trace control

Note. For servo system controllers which are available with this, contact your local sales office.

This is used with servo amplifiers with software version A3 or later. Check the software version of the servo amplifier using MR Configurator2.

Gain adjustment is performed just by one click on a certain button on MR Configurator2.

MR Configurator2 is necessary for this function. Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged

in the capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

This function makes the equipment continue operating even under the condition that an alarm occurs.

The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button.

However, the drive recorder will not operate on the following conditions.

1. You are using the graph function of MR Configurator2.

2. You are using the machine analyzer function.

3. [Pr. PF21] is set to "-1".

4. The controller is not connected (except the test operation mode).

5. An alarm related to the controller is occurring. This function is a functional safety that complies with IEC/EN 61800-5-2. You can

create a safety system for the equipment easily. You can check the cumulative energization time and the number of on/off times of the

inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.

MR Configurator2 is necessary for this function. This function calculates the power running energy and the regenerative power from

the data in the servo amplifier such as speed and current. For the SSCNET III/H system, MR Configurator2 can display the data, including the power consumption. Since the servo amplifier can send the data to a servo system controller, you can analyze the data and display the data on a display.

From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing.

MR Configurator2 is necessary for this function. The function transmits a master axis torque to slave axes using driver communication

and the torque as a command drives slave axes by torque control. This is used with servo amplifiers with software version A8 or later. Check the

software version of the servo amplifier using MR Configurator2. The function transmits position information of a scale measurement encoder to the

controller by connecting the scale measurement encoder in semi closed loop control. This is used with servo amplifiers with software version A8 or later. Check the

software version of the servo amplifier using MR Configurator2. This amplifier has "J3 compatibility mode" which compatible with the previous MR-J3-

B series. Refer to section 17.1 for software versions.

This enables to smoothly switch the mode from position control mode/speed control mode to torque control mode without stopping. This also enables to decrease load to the machine and high quality molding without rapid changes in speed or torque. For details of the continuous operation to torque control mode, refer to the manuals for servo system controllers.

This function improves the response delay occurred when the machine moving direction is reversed. This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier using MR Configurator2.

This function sets constant and uniform acceleration/deceleration droop pulses to almost 0. This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier using MR Configurator2.

Detailed

explanation

Chapter 16

Section 6.2

[Pr. PA20] [Pr. PF25] Section 7.4

Section 7.3

[Pr. PA23]

Section 17.2

Section 17.3

Section 17.1

[Pr. PB03]

Refer to the servo system controller manual used.

Section 7.6

Section 7.7

1 - 22

1. FUNCTIONS AND CONFIGURATION

1.6 Model designation

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

AC SERVO

MODEL

STD.: IEC/EN 61800-5-1 Max. Surrounding Air Temp.: 55°C

TOKYO 100-8310, JAPAN MADE IN JAPAN

MR-J4-10B

POWER :100W

INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz OUTPUT: 3PH170V 0-360Hz 1.1A

IP20

KCC-REI-MEK-TC300A624G51

SER.A45001001

MAN.: IB(NA)0300175

DATE:2014-05

(2) Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

Serial number Model

Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating

KC certification number, The year and month of manufacture

Country of origin

Series

Rated output

Symbol Rated output [kW]

10 0.1 20 0.2 40 0.4 60 0.6

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

11K 11 15K 15 22K 22

Special specifications

Symbol Special specifications

None Standard

Fully closed loop control four-wire type/

-RJ

load-side encoder A/B/Z-phase input compatible/ Compatible with MR-D30 functional safety unit

MR-J4-_B_ without a dynamic brake (Note 2)

-ED MR-J4-_B_-RJ without a dynamic brake (Note 2)

-RU MR-J4-_B_ without regenerative resistor (Note 1)

-PX MR-J4-_B_-RJ without regenerative resistor (Note 1)

-RZ

Note1.

Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory. Refer to Appendix 11.2 for details. Dynamic brake which is built in 7 kw or smaller servo

2. amplifiers is removed. Refer to Appendix 11.1 for details.

Power supply

Symbol Power supply

None

1 4

SSCNETIII/H interface

3-phase or 1-phase

200 V AC to 240 V AC

1-phase 100 V AC to 120 V AC 3-phase 380 V AC to 480 V AC

1 - 23

1. FUNCTIONS AND CONFIGURATION

y

r

p

1.7 Structure

1.7.1 Parts identification

(1) 200 V class

(a) MR-J4-200B(-RJ) or less

The diagram is for MR-J4-10B-RJ.

No. Name/Application

Displa

(1)

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

Axis selection rotary switch (SW1)

(2)

Used to set the axis No. of servo amplifier. Control axis setting switch (SW2) The test operation switch, the control axis

(3)

deactivation setting switch, and the auxiliary axis number setting switch are available.

USB communication connector (CN5)

(4)

Connect with the personal computer. I/O signal connector (CN3)

(5)

Used to connect digital I/O signals. STO input signal connector (CN8)

(6)

Used to connect MR-J3-D05 safety logic unit and external safety relay.

SSCNET III cable connector (CN1A)

(7)

Used to connect the servo system controller or the previous axis servo amplifier.

SSCNET III cable connector (CN1B)

(8)

Used to connect the next axis servo amplifier. For the final axis, put a cap.

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

(9)

Used to connect the servo motor encoder or

(Note

external encoder. Refer to table 1.1 for the

2) compatible external encoders.

Battery connector (CN4)

(10)

Used to connect the battery for absolute position data backup.

Battery holde

(11)

Install the battery for absolute position data backup. Protective earth (PE) terminal

(12)

Grounding terminal Main circuit power supply connector (CNP1)

(13)

Connect the input power supply.

(14) Rating plate Section 1.6

Control circuit power supply connector (CNP2)

(15)

Connect the control circuit power supply and regenerative option.

Servo motor power output connector (CNP3)

(16)

Connect the servo motor. Charge lamp

(17)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

External encoder connector (CN2L)

(18)

Refer to table 1.1 for connections of external

(Note

encoders.

1, 2)

Optional unit connector 1 (CN7)

(19)

This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ.

Optional unit connector 2 (CN9)

(20)

This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ.

Note 1. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo

2. "External encoder" is a term for linear encoder used in the linear

(4) (5)

(13)

(6) (15) (7)

(8) (16) (9)

(17) (18)

(14) Side

(10)

(1)

(3)

(11) Bottom

(2)

Inside of the display cover

(19)(20)

(12)

Detailed

explanation

Section 4.3

Section

11.7

Section 3.2 Section 3.4

Chapter 13

App. 5

Section 3.2 Section 3.4

Section 3.4

"Servo Motor Instruction Manual (Vol. 3)"

Chapter 12

Section

12.2

Section 3.1 Section 3.3

"Linear Encoder Instruction Manual"

lifier does not have CN2L connector.

am

servo system, load-side encoder used in the fully closed loop system, and scale measurement encoder used with the scale measurement function in this manual.

1 - 24

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-350B(-RJ)

No. Name/Application

Main circuit power supply connector (CNP1)

(1)

Connect the input power supply.

(2) Rating plate Section 1.6

Servo motor power supply connector (CNP3)

(3)

Connect the servo motor. Control circuit power supply connector (CNP2)

(4)

Connect the control circuit power supply and regenerative option.

Charge lamp

(5)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal

(6)

Grounding terminal Battery holder

(7)

Install the battery for absolute position data backup.

(1)

(3)

(2) Side

(4)

(5)

(7)

The broken line area is the same as MR-J4-200B(-RJ) or less.

(6)

Detailed

explanation

Section 3.1 Section 3.3

Section

12.2

1 - 25

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-500B(-RJ)

No. Name/Application

Control circuit terminal block (TE2)

(1)

Used to connect the control circuit power supply. Main circuit terminal block (TE1)

(2)

Connect the input power supply. Battery holder

(3)

Install the battery for absolute position data backup.

(4) Rating plate Section 1.6

Regenerative option/power factor improving reactor terminal block (TE3)

(5)

Used to a connect a regenerative option and a power factor improving DC reactor.

Servo motor power supply terminal block (TE4)

(6)

Connect the servo motor. Charge lamp

(7)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal

(8)

Grounding terminal

(1)

(2)

(3) (Note)

(4) Side

(5)

POINT

The servo amplifier is shown with the front cover open. The front cover cannot be removed.

The broken line area is the same as MR-J4-200B(-RJ) or less.

Detailed

explanation

Section 3.1 Section 3.3

Section

12.2

Section 3.1 Section 3.3

(6)

(7)

(8)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 26

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B(-RJ)

POINT

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

The broken line area is the same as MR-J4-200B4(-RJ) or less.

(7)

(6)

(5) (Note)

No. Name/Application

Power factor improving reactor terminal block (TE3)

(1)

Used to connect the DC reactor. Main circuit terminal block (TE1)

(2)

Used to connect the input power supply, regenerative option, and servo motor.

Control circuit terminal block (TE2)

(3)

Used to connect the control circuit power supply. Protective earth (PE) terminal

(4)

Grounding terminal Battery holder

(5)

Install the battery for absolute position data backup.

(6) Rating plate Section 1.6

Charge lamp

(7)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Detailed

explanation

Section 3.1 Section 3.3

Section

12.2

(1)

(2)

(4)

(3)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 27

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)

No. Name/Application

Power factor improving reactor terminal block (TE1-

2)

(1)

Used to connect a power factor improving DC reactor and a regenerative option.

Main circuit terminal block (TE1-1)

(2)

Used to connect the input power supply and servo motor.

Control circuit terminal block (TE2)

(3)

Used to connect the control circuit power supply. Protective earth (PE) terminal

(4)

Grounding terminal Battery holder

(5)

Install the battery for absolute position data backup.

(6) Rating plate Section 1.6

Charge lamp

(7)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

(7)

(6)

(5) (Note)

(2)

(3)

POINT

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

The broken line area is the same as MR-J4-200B(-RJ) or less.

Detailed

explanation

Section 3.1 Section 3.3

Section

12.2

(4)

(1)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 28

1. FUNCTIONS AND CONFIGURATION

(f) MR-J4-22KB(-RJ)

No. Name/Application

Power factor improving reactor terminal block (TE1-

2)

(1)

Used to connect a power factor improving DC reactor and a regenerative option.

Main circuit terminal block (TE1-1)

(2)

Used to connect the input power supply and servo motor.

Control circuit terminal block (TE2)

(3)

Used to connect the control circuit power supply. Protective earth (PE) terminal

(4)

Grounding terminal Battery holder

(5)

Install the battery for absolute position data backup.

(6) Rating plate Section 1.6

Charge lamp

(7)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

(7)

(5) (Note)

(6)

(2)

(3)

POINT

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

The broken line area is the same as MR-J4-200B4(-RJ) or less.

Detailed

explanation

Section 3.1 Section 3.3

Section

12.2

(1)

(4)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 29

1. FUNCTIONS AND CONFIGURATION

y

r

(2) 400 V class

(a) MR-J4-200B4(-RJ) or less

The diagram is for MR-J4-60B4-RJ.

No. Name/Application

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(Note

2)

(10)

(11)

(12)

(13)

(14) Rating plate Section 1.6

(15)

(16)

(17)

(18)

(Note

1, 2)

(19)

(20)

Note 1. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo

2. "External encoder" is a term for linear encoder used in the linear

(17) (4) (5) (6) (13) (15) (7) (8) (16) (9) (18) (14)

Side

(1)

(3)

(10) (11)

Bottom

(2)

Inside of the display cover

(19)(20)

(12)

Detailed

explanation

Displa The 3-digit, seven-segment LED shows the servo

status and the alarm number. Axis selection rotary switch (SW1) Used to set the axis No. of servo amplifier. Control axis setting switch (SW2) The test operation switch, the control axis

deactivation setting switch, and the auxiliary axis number setting switch are available.

USB communication connector (CN5) Connect with the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. STO input signal connector (CN8) Used to connect MR-J3-D05 safety logic unit and

external safety relay. SSCNET III cable connector (CN1A) Used to connect the servo system controller or the

previous axis servo amplifier. SSCNET III cable connector (CN1B) Used to connect the next axis servo amplifier. For

the final axis, put a cap. Encoder connector (CN2) Used to connect the servo motor encoder or

external encoder. Refer to table 1.1 for the compatible external encoders.

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

data backup. Battery holde Install the battery for absolute position data

backup. Protective earth (PE) terminal Grounding terminal Main circuit power supply connector (CNP1) Connect the input power supply.

Control circuit power supply connector (CNP2) Connect the control circuit power supply and

regenerative option. Servo motor power output connector (CNP3) Connect the servo motor. Charge lamp When the main circuit is charged, this will light.

While this lamp is lit, do not reconnect the cables. External encoder connector (CN2L) Used to connect the external encoder. Refer to

table 1.1 for the compatible external encoders.

Optional unit connector 1 (CN7) This is for connecting the optional unit. This

connector is attached only on MR-J4-_B_-RJ. Optional unit connector 2 (CN9) This is for connecting the optional unit. This

connector is attached only on MR-J4-_B_-RJ.

amplifier does not have CN2L connector.

servo system, load-side encoder used in the fully closed loop system, and scale measurement encoder used with the scale measurement function in this manual.

Section 4.3

Section 11.7

Section 3.2 Section 3.4

Chapter 13

App. 5

Section 3.2 Section 3.4

Section 3.4 "Servo

Motor Instruction Manual (Vol. 3)"

Chapter 12

Section

12.2

Section 3.1 Section 3.3

"Linear Encoder Instruction Manual"

1 - 30

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-350B4(-RJ)

No. Name/Application

(1)

(2) Rating plate Section 1.6

(3)

(4)

(5)

(6)

(7)

(1)

(7)

(3)

(2) Side

(4)

(5)

The broken line area is the same as MR-J4-200B4(-RJ) or less.

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

Control circuit power supply connector (CNP2) Connect the control circuit power supply and

regenerative option. Servo motor power output connector (CNP3) Connect the servo motor. Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal Grounding terminal Battery holder Install the battery for absolute position data

backup.

Detailed

explanation Section 3.1

Section 3.3

Section 3.1 Section 3.3

Section 12.2

(6)

1 - 31

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-500B4(-RJ)

No. Name/Application

(1)

(2)

(3)

(4) Rating plate Section 1.6

(5)

(6)

(7)

(6)

(3) (Note)

(4)

(5)

(1)

POINT

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

The broken line area is the same as MR-J4-200B4(-RJ) or less.

Control circuit terminal block (TE2) Used to connect the control circuit power supply. Main circuit terminal block (TE1) Connect the input power supply. Battery holder Install the battery for absolute position data

backup.

Regenerative option/power factor improving reactor terminal block (TE3)

Used to connect a regenerative option and a power factor improving DC reactor.

Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal Grounding terminal

Detailed

explanation

Section 3.1 Section 3.3

Section 12.2

Section 3.1 Section 3.3

(2)

(7)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 32

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B4(-RJ)

No. Name/Application

(1)

(2)

(3)

(4)

(5)

(6) Rating plate Section 1.6

(7)

(6)

(5) (Note)

(1)

POINT

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

The broken line area is the same as MR-J4-200B4(-RJ) or less.

Power factor improving reactor terminal block (TE3)

Used to connect the DC reactor. Main circuit terminal block (TE1) Used to connect the input power supply,

regenerative option, and servo motor. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Protective earth (PE) terminal Grounding terminal Battery holder Install the battery for absolute position data

backup.

Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Detailed

explanation

Section 3.1 Section 3.3

Section 12.2

(2)

(4)

(3)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 33

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)

No. Name/Application

(1)

(2)

(3)

(4)

(5)

(6) Rating plate Section 1.6

(7)

(6)

(5) (Note)

(2)

(3)

POINT

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

The broken line area is the same as MR-J4-200B4(-RJ) or less.

Power factor improving reactor terminal block (TE1-2)

Used to connect a power factor improving DC reactor and a regenerative option.

Main circuit terminal block (TE1-1) Used to connect the input power supply and servo

motor. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Protective earth (PE) terminal Grounding terminal Battery holder Install the battery for absolute position data

backup.

Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Detailed

explanation

Section 3.1 Section 3.3

Section 12.2

(4)

(1)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 34

1. FUNCTIONS AND CONFIGURATION

(f) MR-J4-22KB4(-RJ)

No. Name/Application

(1)

(2)

(3)

(4)

(5)

(6) Rating plate Section 1.6

(7)

(5) (Note)

(6)

(2)

(3)

POINT

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

The broken line area is the same as MR-J4-200B4(-RJ) or less.

Power factor improving reactor terminal block (TE1-2)

Used to connect a power factor improving DC reactor and a regenerative option.

Main circuit terminal block (TE1-1) Used to connect the input power supply and servo

motor. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Protective earth (PE) terminal Grounding terminal Battery holder Install the battery for absolute position data

backup.

Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Detailed

explanation

Section 3.1 Section 3.3

Section 12.2

(1)

(4)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 35

1. FUNCTIONS AND CONFIGURATION

(3) 100 V class

The diagram is for MR-J4-10B1-RJ.

No. Name/Application

Display

(1)

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

Axis selection rotary switch (SW1)

(2)

Used to set the axis No. of servo amplifier. Control axis setting switch (SW2) The test operation switch, the control axis

(3)

deactivation setting switch, and the auxiliary axis number setting switch are available.

USB communication connector (CN5)

(4)

Connect with the personal computer. I/O signal connector (CN3)

(5)

Used to connect digital I/O signals. STO input signal connector (CN8)

(6)

Used to connect MR-J3-D05 safety logic unit and external safety relay.

SSCNET III cable connector (CN1A)

(7)

Used to connect the servo system controller or the previous axis servo amplifier.

SSCNET III cable connector (CN1B)

(8)

Used to connect the next axis servo amplifier. For the final axis, put a cap.

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

(9)

Used to connect the servo motor encoder or

(Note

external encoder. Refer to table 1.1 for the

2) compatible external encoders.

Battery connector (CN4)

(10)

Used to connect the battery for absolute position data backup.

Battery holder

(11)

Install the battery for absolute position data backup. Protective earth (PE) terminal

(12)

Grounding terminal Main circuit power supply connector (CNP1)

(13)

Connect the input power supply.

(14) Rating plate Section 1.6

Control circuit power supply connector (CNP2)

(15)

Connect the control circuit power supply and regenerative option.

Servo motor power output connector (CNP3)

(16)

Connect the servo motor. Charge lamp

(17)

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

External encoder connector (CN2L)

(18)

Refer to table 1.1 for connections of external

(Note

encoders.

1, 2)

Optional unit connector 1 (CN7)

(19)

This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ.

Optional unit connector 2 (CN9)

(20)

This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ.

Note 1. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo

2. "External encoder" is a term for linear encoder used in the linear

(4) (5)

(13)

(6) (15) (7)

(8) (16) (9)

(17) (18)

(14) Side

(10)

(1)

(3)

(11) Bottom

(2)

Inside of the display cover

(19)(20)

(12)

Detailed

explanation

Section 4.3

Section

11.7

Section 3.2 Section 3.4

Chapter 13

App. 5

Section 3.2 Section 3.4

Section 3.4

"Servo Motor Instruction Manual (Vol. 3)"

Chapter 12

Section

12.2

Section 3.1 Section 3.3

"Linear Encoder Instruction Manual"

amplifier does not have CN2L connector.

servo system, load-side encoder used in the fully closed loop system, and scale measurement encoder used with the scale measurement function in this manual.

1 - 36

1. FUNCTIONS AND CONFIGURATION

1.7.2 Removal and reinstallation of the front cover

Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage

CAUTION

The following shows how to remove and reinstall the front cover of MR-J4-700B(-RJ) to MR-J4-22KB(-RJ) and MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ). The diagram is for MR-J4-700B.

Removal of the front cover

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.

1) Hold the ends of lower side of the front cover with both hands.

A)

2) Pull up the cover, supporting at point A).

3) Pull out the front cover to remove. Hold the ends of lower side of the front cover with both hands.

1 - 37

1. FUNCTIONS AND CONFIGURATION

Reinstallation of the front cover

Front cover setting tab

A)

1) Insert the front cover setting tabs into the sockets of servo amplifier (2 places).

2) Push down the cover, supporting at point A).

A)

Setting tab

3) Press the cover against the terminal box until the installing knobs click.

1 - 38

1. FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

CAUTION

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

POINT

Equipment other than the servo amplifier and servo motor are optional or recommended products.

1 - 39

1. FUNCTIONS AND CONFIGURATION

A

(1) 200 V class

(a) MR-J4-200B(-RJ) or less

The diagram is for MR-J4-20B-RJ.

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3)

Magnetic contactor (MC)

RS T

(Note 1)

CN5

CN3

MR Configurator2

Personal computer

Junction terminal block

Line noise filter (FR-BSF01)

L1 L2 L3

Power factor improving DC reactor (FR-HEL)

Regenerative option

Note 1. 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.

2.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ

5.

1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the power supply specifications.

deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

P3

P4

P+

C

L11

L21

D (Note 5)

U V

W

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Servo motor

1 - 40

1. FUNCTIONS AND CONFIGURATION

A

(b) MR-J4-350B(-RJ)

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3)

Magnetic contactor (MC)

Line noise filter (FR-BSF01)

Power factor improving DC reactor (FR-HEL)

Regenerative option

RS T

L1 L2 L3

P+

C

(Note 1)

P3

P4

U V

W

D (Note 5)

L11

MR Configurator2

CN5

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery

Personal computer

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

L21

Servo motor

Note 1. 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.

2. Refer to section 1.3 for the power supply specifications.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5.

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

1 - 41

1. FUNCTIONS AND CONFIGURATION

A

(c) MR-J4-500B(-RJ)

(Note 1)

RS T

L11

L21

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3)

Magnetic contactor (MC)

MR Configurator2

CN5

CN3

Personal computer

Junction terminal block

Line noise filter (FR-BLF)

Power factor improving DC reactor (FR-HEL)

Regenerative option

L1 L2 L3

P+

C

P3

P4

D (Note 5)

U

V

W

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery

Servo motor

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Note 1. 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.

2. Refer to section 1.3 for the power supply specifications.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5.

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

1 - 42

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B(-RJ)

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3) Magnetic

contactor (MC)

RS T

(Note 1)

MR Configurator2

CN5

CN3

Personal computer

Junction terminal block

Line noise filter (FR-BLF)

Power factor improving DC reactor (FR-HEL)

L3 L2 L1

P3

P4

L21

L11

(Note 5) Regenerative

P+

option

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery

WVU

C

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Servo motor

Note 1. 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.

2. Refer to section 1.3 for the power supply specifications.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 43

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

RS T

CN5

MR Configurator2

Personal computer

(Note 3) Magnetic

contactor (MC)

(Note 1)

Line noise filter (FR-BLF)

L3 L2 L1

Power factor improving DC reactor (FR-HEL)

P3

L21 L11

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4) CN4

Battery

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Junction terminal block

WVU

P4

(Note 5) Regenerative

P+ C

option

Servo motor

Note 1. 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.

2. Refer to section 1.3 for the power supply specifications.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 44

1. FUNCTIONS AND CONFIGURATION

(f) MR-J4-22KB(-RJ)

(Note 2)

Power supply

Molded-case circuit breaker (MCCB)

(Note 3) Magnetic

contactor (MC)

(Note 1)

Line noise filter (FR-BLF)

RS T

CN5

CN3

CN8

CN1A

MR Configurator2

Personal computer

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

L3 L2 L1

Power factor improving DC reactor (FR-HEL)

P3

P4

L21 L11

C

(Note 5) Regenerative

P+

option

CN1B

CN2

CN2L (Note 4) CN4

Battery

WVU

Next servo amplifier CN1A or cap

Servo motor

Note 1. 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.

2. Refer to section 1.3 for the power supply specifications.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 45

1. FUNCTIONS AND CONFIGURATION

A

(2) 400 V class

(a) MR-J4-200B4(-RJ) or less

The diagram is for MR-J4-60B4-RJ and MR-J4-100B4-RJ.

RS T

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3) Magnetic contactor (MC)

(Note 1)

MR Configurator2

CN5

CN3

Personal computer

Junction terminal block

Line noise filter (FR-BSF01)

Power factor improving DC reactor (FR-HEL-H)

Regenerative option

L1 L2 L3

P+

C

P3

P4

L11

L21

D (Note 5)

U

V

W

CN8

CN1A

CN1B

CN2

CN2L (Note 4) CN4

Battery

Servo motor

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Note 1. 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.

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

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5.

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

1 - 46

1. FUNCTIONS AND CONFIGURATION

A

(b) MR-J4-350B4(-RJ)

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3) Magnetic contactor (MC)

RS T

(Note 1)

CN5

CN3

MR Configurator2

Personal computer

Junction terminal block

Line noise filter (FR-BSF01)

Power factor improving DC reactor (FR-HEL-H)

Regenerative option

L1 L2 L3

P+

C

P3

P4

L11

L21

D (Note 5)

U

V

W

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Servo motor

Note 1. 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.

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

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5.

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

1 - 47

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-500B4(-RJ)

RS T

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3) Magnetic contactor (MC)

(Note 1)

Line noise filter (FR-BSF01)

Power factor improving DC reactor (FR-HEL-H)

P4

L21

P3

MR Configurator2

CN5

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4) CN4

Battery

Personal computer

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

L3 L2

L1

L11

(Note 5) Regenerative

P+ C

option

WVU

Servo motor

Note 1. 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.

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

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 48

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B4(-RJ)

RS T

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

CN5

MR Configurator2

Personal computer

(Note 3) Magnetic contactor (MC)

(Note 1)

Line noise filter (FR-BLF)

Power factor improving DC reactor (FR-HEL-H)

L3 L2 L1

P3

P4

L21

L11

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4) CN4

Battery

WVU

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Junction terminal block

C

(Note 5) Regenerative

P+

option

Servo motor

Note 1. 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.

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

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 49

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ)

RS T

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

CN5

MR Configurator2

Personal computer

(Note 3) Magnetic contactor (MC)

(Note 1)

Line noise filter (FR-BLF)

L3 L2 L1

Power factor improving DC reactor (FR-HEL-H)

P3

L21 L11

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4) CN4

Battery

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Junction terminal block

WVU

P4

(Note 5) Regenerative

P+ C

option

Servo motor

Note 1. 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.

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

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 50

1. FUNCTIONS AND CONFIGURATION

(f) MR-J4-22K4B(-RJ)

CN5

MR Configurator2

Personal computer

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3) Magnetic contactor (MC)

(Note 1)

Line noise filter (FR-BLF)

RS T

L3 L2 L1

Power factor improving DC reactor (FR-HEL-H)

P3

L21 L11

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4) CN4

Battery

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Junction terminal block

WVU

P4

(Note 5) Regenerative

P+ C

option

Servo motor

Note 1. 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.

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

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.

5. When using the regenerative option, refer to section 11.2.

1 - 51

1. FUNCTIONS AND CONFIGURATION

A

(3) 100 V class

The diagram is for MR-J4-20B1-RJ.

(Note 2) Power supply

Molded-case circuit breaker (MCCB)

(Note 3)

Magnetic contactor (MC)

Power factor improving AC reactor (FR-HAL)

Line noise filter (FR-BSF01)

RT

(Note 1)

L1

L2

(Note1)

D (Note 5)

U V

W

CN5

CN3

CN8

CN1A

CN1B

MR Configurator2

Personal computer

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

CN2

CN2L (Note 4)

Regenerative option

Note 1. The power factor improving DC reactor cannot be used.

2. For power supply specifications, refer to section 1.3.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

4. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and Linear Encoder Instruction Manual for the compatible external encoders.

5.

P+

C

L11

L21

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

CN4

Battery

Servo motor

1 - 52

2. INSTALLATION

WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. 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. Use the equipment within the specified environment. For the environment, refer to section 1.3. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or strike the servo amplifier. Isolate it from all impact loads. Do not install or operate the servo amplifier which have been damaged or have any parts missing. When the equipment has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in the 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 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 (heat method).Additionally, disinfect and protect wood from insects before packing products.

POINT

When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class/600 W or lower 200 V class servo amplifier, pull out CN3 and CN8 connectors beforehand.

2 - 1

2. INSTALLATION

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, it may

CAUTION

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier

cause a malfunction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

Cabinet Cabinet

40 mm or more

Servo amplifier

10 mm or more (Note 2)

40 mm or more (Note 1)

Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.

2. For the MR-J4-500B(-RJ), the clearance between the left side and wall will be 25 mm or more.

10 mm or more

Wiring allowance

80 mm or more

Top

Bottom

2 - 2

2. INSTALLATION

(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting. When mounting the servo amplifiers closely, do not install the servo amplifier whose depth is larger than that of the left side servo amplifier since CNP1, CNP2, and CNP3 connectors cannot be disconnected.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within 0 ˚C to 45 ˚C or use the servo amplifier with 75% or less of the effective load ratio.

Cabinet

100 mm or more

30 mm or more

40 mm or more (Note 1)

Leaving clearance Mounting closely

Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.

2. When you install the MR-J4-500B(-RJ) on the right side, the clearance between the left side and wall will be 25 mm or more.

10 mm or more (Note 2)

30 mm or more

1 mm

100 mm or more

1 mm

40 mm or more

30 mm or more

Top

Bottom

(2) Others

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2.2 Keeping out of foreign materials

(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or

a cooling fan installed on the ceiling.

2 - 3

2. INSTALLATION

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force

clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.

2.3 Encoder cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight

stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and

brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range. Use the power supply and brake wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or

stamped by workers or vehicles.

(4) For installation on a machine where the servo motor moves, the bending radius should be made as large

as possible. Refer to section 10.4 for the bending life.

2.4 SSCNET III cable laying

SSCNET III cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS_M/MR-J3BUS_M-A is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which can become hot, such as heat sink or regenerative option of servo amplifier. Read described item of this section carefully and handle it with caution.

(1) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET III cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of servo amplifier. When closing the door of cabinet, pay careful attention for avoiding the case that SSCNET III cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section

11.1.3.

(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away from vinyl tape because the optical characteristic may be affected.

SSCNET III cable Cord Cable

Optical cord

Cable

MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B

: Phthalate ester plasticizer such as DBP and DOP

may affect optical characteristic of cable.

: Cord and cable are not basically affected by

plasticizer.

2 - 4

2. INSTALLATION

r

(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M and MR-J3BUS_M-A cables (plastic). In addition, MR-J3BUS_M-B cable (silica glass) is not affected by plasticizer. A chemical substance may affect its optical characteristic. Therefore, previously check that the cable is not affected by the environment.

(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from putting its own weight on CN1A/CN1B connector of servo amplifier. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizers. If adhesive tape for bundling the cable is used, fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.

Connecto

Optical cord Loose slack

Bundle material Recommended product: NK clamp SP type

(NIX, INC)

Cable

(5) Tension

If tension is added on optical cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. Doing so may cause the breakage of the optical fiber or damage of the optical connector. For cable laying, handle without putting forced tension. For the tension strength, refer to section 11.1.3.

(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. Doing so may cause the breakage of the optical cable. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of cabinet or others.

2 - 5

2. INSTALLATION

(7) Twisting

If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur.

(8) Disposal

When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

2.5 Inspection items

Before starting maintenance and/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+ and N- is safe with a voltage tester and others. Otherwise, an electric

WARNING

CAUTION

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating

conditions especially when the servo motor is movable.

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

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. To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.

Do not perform insulation resistance test on the servo amplifier. Otherwise, it may cause a malfunction. Do not disassemble and/or repair the equipment on customer side.

2 - 6

2. INSTALLATION

2.6 Parts having service lives

Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales office.

(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 ˚C surrounding air temperature or less).

(2) Relays

Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of their lives when the power has been turned on, forced stop by EM1 (Forced stop 1) has occurred, and controller forced stop has occurred 100,000 times in total, or when the STO has been turned on and off 1,000,000 times while the servo motor is stopped under servo-off state. However, the lives of relays may depend on the power supply capacity.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore, the cooling fan must be replaced in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. The life indicates under the yearly average ambient temperature of 40 ˚C, free from corrosive gas, flammable gas, oil mist, dust and dirt.

Part name Life guideline

Smoothing capacitor 10 years

Number of power-on, forced stop by EM1 (Forced

Relay

Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years) Absolute position battery Refer to section 12.2.

stop 1), and controller forced stop times: 100,000 times

Number of on and off for STO: 1,000,000 times

2 - 7

2. INSTALLATION

MEMO

2 - 8

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring, 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.

WARNING

Ground the servo amplifier and servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. 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 surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

CAUTION

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifier

24 V DC

DOCOM

Control output signal

For source output interface

RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(H)) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment.

3 - 1

3. SIGNALS AND WIRING

Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

CAUTION

Servo motor

U

V

W

U

M

V

W

Servo amplifier

U

V

W

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

POINT

When you use a linear servo motor, replace the following left words to the right words. Load to motor inertia ratio → Load mass Torque → Thrust (Servo motor) speed → (Linear servo motor) speed

Servo motorServo amplifier

U

V

M

W

3 - 2

3. SIGNALS AND WIRING

3.1 Input power supply circuit

Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and 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 a fire when the servo amplifier malfunctions. Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. Check the servo amplifier model, and then input proper voltage to the servo

CAUTION

amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier will break down. The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to suppress lightning surge. The varistor can break down due to its aged deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. The N- terminal is not a neutral point of the power supply. Incorrect wiring will cause a burst, damage, etc.

POINT

Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET III/H communication is interrupted. Therefore, the next axis servo amplifier displays "AA" at the indicator and turns into base circuit shut-off. The servo motor stops with starting dynamic brake. EM2 has the same function as EM1 in the torque control mode. Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.

Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller forced stop. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

3 - 3

3. SIGNALS AND WIRING

A

3.1.1 200 V class

(1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10B(-RJ) to MR-J4-350B(-RJ)

(Note 4)

3-phase 200 V AC to 240 V AC

MCCB

Malfunction

RA1

EMG stop switch

MC

(Note 7)

(Note 1)(Note 10)

(Note 2)

OFF

Servo amplifier

CNP1

L1 L2 L3 NP3 P4

CNP2

P+ C D L11 L21

ON

MC

(Note 11)

CNP3

U

V

W

(Note 11)

CN2

MC

SK

(Note 6)

(Note 3) Encoder

cable

Servo motor

U

V

W

Encoder

Motor

M

(Note 8) Main circuit power supply

(Note 5) Forced stop 2

24 V DC (Note 12)

(Note 9) Short-circuit connector (Packed with the servo amplifier)

Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar

between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

2.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction

4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the

5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3.

6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".

7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of

8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

9. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer

11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,

lways connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.

Manual (Vol. 3)".

magnetic contactor after detection of alarm occurrence on the controller side.

contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

amplifier.

to section 11.10.)

they can be configured by one.

CN3

EM2

DICOM

CN8

24 V DC (Note 12)

CN3

DOCOM

ALM

RA1

Malfunction (Note 4)

(Note 5)

3 - 4

3. SIGNALS AND WIRING

A

(2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10B(-RJ) to MR-J4-70B(-RJ)

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.

(Note 4)

Malfunction

RA1

1-phase 200 V AC to 240 V AC

(Note 5) Forced stop 2

Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar

between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

2.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction

4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the

5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3.

6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".

7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of

8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

9. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

10. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to

11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,

lways connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.

Manual (Vol. 3)".

magnetic contactor after detection of alarm occurrence on the controller side.

contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

amplifier.

section 11.10.)

they can be configured by one.

MCCB

(Note 10)

(Note 8) Main circuit power supply

24 V DC (Note 12)

(Note 9) Short-circuit connector (Packed with the servo amplifier)

EMG stop switch

MC

(Note 7)

(Note 1)

(Note 2)

OFF

Servo amplifier

CNP1

L1 L2 L3 NP3 P4

CNP2

P+ C D L11 L21

CN3

EM2

DICOM

CN8

ON

MC

(Note 11)

CNP3

U V W

(Note 11)

CN2

CN3

DOCOM

ALM

MC

SK

(Note 6)

(Note 3) Encoder

cable

24 V DC (Note 12)

RA1

Servo motor

U

Motor

V

W

Malfunction (Note 4)

M

Encoder

(Note 5)

3 - 5

3. SIGNALS AND WIRING

A

r

(3) MR-J4-500B(-RJ)

(Note 4)

Malfunction

RA1

MCCB

3-phase 200 V AC to 240 V AC

(Note 10)

(Note 7)

EMG stop switch

MC

OFF

Servo amplifier

L1 L2 L3 N-

L11 L21

ON

MC

(Note 11)

U

V

W

MC

SK

(Note 6)

Servo motor

U

V

W

Motor

M

(Note 1)

(Note 2)

(Note 8) Main circuit power supply

(Note 5) Forced stop 2

(Note 9) Short-circuit connector (Packed with the servo amplifier)

Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar

between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

2.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction

4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the

5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3.

6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".

7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of

8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

9. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refe

11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,

lways connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.

Manual (Vol. 3)".

magnetic contactor after detection of alarm occurrence on the controller side.

contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

amplifier.

to section 11.10.)

they can be configured by one.

24 V DC (Note 12)

P3 P4 P+ C

D

CN3

EM2

DICOM

CN8

(Note 11)

CN2

CN3

DOCOM

ALM

(Note 3) Encoder

cable

24 V DC (Note 12)

RA1

Encoder

Malfunction (Note 4)

(Note 5)

3 - 6

3. SIGNALS AND WIRING

2

r

(4) MR-J4-700B(-RJ)

(Note 4)

Malfunction

RA1

EMG stop switch

OFF

ON

MC

SK

3-phase

00 V AC to 40 V AC

(Note 5) Forced stop 2

MCCB

(Note 10)

(Note 8) Main circuit power supply

(Note 9) Short-circuit connector (Packed with the servo amplifier)

24 V DC (Note 12)

MC

(Note 7)

(Note 2)

(Note 1)

Servo amplifier

L1

Built-in

L2

regenerative

resistor

L3 P+

C

L11 L21

N-

P3

P4

CN3

EM2

DICOM

CN8

(Note 11)

U

V

W

(Note 11)

CN2

CN3

DOCOM

ALM

(Note 6)

(Note 3)

Encoder

cable

24 V DC (Note 12)

RA1

Servo motor

U

Motor

V

W

Malfunction (Note 4)

M

Encoder

(Note 5)

Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar

between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

2. When using the regenerative option, refer to section 11.2.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual (Vol. 3)".

4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3.

6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".

7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.

9. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refe to section 11.10.)

11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

3 - 7

3. SIGNALS AND WIRING

(5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ)

(Note 4)

3-phase 200 V AC to 240 V AC

MCCB

(Note 10)

Malfunction

RA1

(Note 7)

EMG stop switch

MC

(Note 2)

OFF

Servo amplifier

L1 L2 L3 P+

C

L11 L21

ON

MC

(Note 11)

U V

W

MC

SK

(Note 15, 16)

External dynamic

brake (optional)

(Note 6)

Servo motor

U V

W

Motor

M

(Note 14) Cooling fan power supply

MCCB

(Note 5) Forced stop 2

(Note 1)

(Note 8) Main circuit power supply

(Note 9) Short-circuit connector (Packed with the servo amplifier)

24 V DC (Note 12)

N-

P3

P4

CN3

EM2

DICOM

CN8

(Note 11)

CN2

CN3

DOCOM

ALM

(Note 3)

Encoder

cable

24 V DC (Note 12)

RA1

Encoder

BU BV

BW

Cooling fan

Malfunction (Note 4)

(Note 13)

(Note 5)

3 - 8