Mitsubishi Electric MR-J4W2, MR-J4W3, MR-J4W2-0303B6 Instruction Manual

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General-Purpose AC Servo

SSCNET /H Interface Multi-axis AC Servo

MODEL

MR-J4W2-_B MR-J4W3-_B MR-J4W2-0303B6

SERVO AMPLIFIER INSTRUCTION MANUAL

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. 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 (including converter unit), in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case 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. 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.

A - 2

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, 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. 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. When you keep or use the equipment, please fulfill the following environment.

Item 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)

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 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.

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

Operation

90% RH or less (non-condensing)

(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 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.

A - 3

CAUTION

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

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

Servo motor

24 V DC

Servo motorServo amplifier

24 V DC

Servo amplifier

DOCOM

Control output signal

For sink output interface

Control output signal

For source output interface

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 an encoder for different axis to the CN2A, CN2B, or CN2C connector may cause a malfunction. Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector 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. 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.

A - 4

CAUTION

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 CALM (AND malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the EMG stop switch.

Servo motor

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.

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. When using an MR-J4W2-0303B6, refer to chapter 18.

Relevant manuals

Manual name Manual No. 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.

<<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 to 1-14

1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function block diagram ..................................................................................................................... 1- 3

1.3 Servo amplifier standard specifications ............................................................................................ 1- 4

1.3.1 Integrated 2-axis servo amplifier ................................................................................................ 1- 4

1.3.2 Integrated 3-axis servo amplifier ................................................................................................ 1- 6

1.3.3 Combinations of servo amplifiers and servo motors .................................................................. 1- 8

1.4 Function list ....................................................................................................................................... 1- 9

1.5 Model designation ............................................................................................................................ 1-11

1.6 Parts identification ............................................................................................................................ 1-12

1.7 Configuration including auxiliary equipment .................................................................................... 1-13

2. INSTALLATION 2- 1 to 2- 6

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

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

2.3 Encoder cable stress ........................................................................................................................ 2- 3

2.4 SSCNET III cable laying ................................................................................................................... 2- 3

2.5 Inspection items ................................................................................................................................ 2- 5

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

3. SIGNALS AND WIRING 3- 1 to 3-38

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

3.2 I/O signal connection example .......................................................................................................... 3- 5

3.2.1 For sink I/O interface .................................................................................................................. 3- 5

3.2.2 For source I/O interface ............................................................................................................. 3- 7

3.3 Explanation of power supply system ................................................................................................ 3- 8

3.3.1 Signal explanations .................................................................................................................... 3- 8

3.3.2 Power-on sequence .................................................................................................................. 3-10

3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-11

3.4 Connectors and pin assignment ...................................................................................................... 3-13

3.5 Signal (device) explanations ............................................................................................................ 3-14

3.5.1 Input device ............................................................................................................................... 3-14

3.5.2 Output device ............................................................................................................................ 3-15

3.5.3 Output signal ............................................................................................................................. 3-18

3.5.4 Power supply ............................................................................................................................. 3-18

3.6 Forced stop deceleration function ................................................................................................... 3-19

3.6.1 Forced stop deceleration function ............................................................................................. 3-19

3.6.2 Base circuit shut-off delay time function ................................................................................... 3-21

3.6.3 Vertical axis freefall prevention function ................................................................................... 3-22

3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-22

3.7 Alarm occurrence timing chart ......................................................................................................... 3-23

3.7.1 When you use the forced stop deceleration function ................................................................ 3-23

3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-25

3.8 Interfaces ......................................................................................................................................... 3-26

3.8.1 Internal connection diagram ...................................................................................................... 3-26

3.8.2 Detailed description of interfaces .............................................................................................. 3-27

3.8.3 Source I/O interfaces ................................................................................................................ 3-28

3.9 SSCNET III cable connection .......................................................................................................... 3-29

3.10 Servo motor with an electromagnetic brake .................................................................................. 3-31

3.10.1 Safety precautions .................................................................................................................. 3-31

3.10.2 Timing chart ............................................................................................................................ 3-33

3.11 Grounding ...................................................................................................................................... 3-38

4. STARTUP 4- 1 to 4-20

4.1 Switching power on for the first time ................................................................................................. 4- 2

4.1.1 Startup procedure ...................................................................................................................... 4- 2

4.1.2 Wiring check ............................................................................................................................... 4- 3

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

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

4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 6

4.3.1 Switches ..................................................................................................................................... 4- 6

4.3.2 Scrolling display ........................................................................................................................ 4-11

4.3.3 Status display of an axis ........................................................................................................... 4-12

4.4 Test operation .................................................................................................................................. 4-14

4.5 Test operation mode ........................................................................................................................ 4-14

4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-15

4.5.2 Motor-less operation in controller .............................................................................................. 4-17

5. PARAMETERS 5- 1 to 5-54

5.1 Parameter list .................................................................................................................................... 5- 2

5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 3

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 4

5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 5

5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 7

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 8

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-10

5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11

5.2 Detailed list of parameters ............................................................................................................... 5-13

5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-13

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-23

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-36

5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-43

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-47

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-49

5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-51

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-20

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

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

6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2

6.2 One-touch tuning .............................................................................................................................. 6- 3

6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 3

6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 4

6.2.3 Caution for one-touch tuning ...................................................................................................... 6- 9

6.3 Auto tuning ....................................................................................................................................... 6-10

6.3.1 Auto tuning mode ...................................................................................................................... 6-10

6.3.2 Auto tuning mode basis ............................................................................................................. 6-11

6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-12

6.3.4 Response level setting in auto tuning mode ............................................................................. 6-13

6.4 Manual mode ................................................................................................................................... 6-14

6.5 2 gain adjustment mode .................................................................................................................. 6-17

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-32

7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 2

7.1.2 Adaptive filter II ........................................................................................................................... 7- 5

7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 7

7.1.4 Low-pass filter ............................................................................................................................ 7- 8

7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8

7.1.6 Command notch filter ................................................................................................................ 7-13

7.2 Gain switching function .................................................................................................................... 7-15

7.2.1 Applications ............................................................................................................................... 7-15

7.2.2 Function block diagram ............................................................................................................. 7-16

7.2.3 Parameter .................................................................................................................................. 7-17

7.2.4 Gain switching procedure ......................................................................................................... 7-20

7.3 Tough drive function ........................................................................................................................ 7-24

7.3.1 Vibration tough drive function.................................................................................................... 7-24

7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-26

7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-29

7.5 Model adaptive control disabled ...................................................................................................... 7-31

8. TROUBLESHOOTING 8- 1 to 8-12

8.1 Explanation for the lists ..................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2

8.3 Warning list ....................................................................................................................................... 8- 8

8.4 Troubleshooting at power on ........................................................................................................... 8-10

9. OUTLINE DRAWINGS 9- 1 to 9- 6

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

9.2 Connector ......................................................................................................................................... 9- 4

10. CHARACTERISTICS 10- 1 to 10-10

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

10.2 Power supply capacity and generated loss .................................................................................. 10- 2

10.3 Dynamic brake characteristics ...................................................................................................... 10- 5

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

10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 8

10.4 Cable bending life ......................................................................................................................... 10- 9

10.5 Inrush currents at power-on of main circuit and control circuit ..................................................... 10- 9

11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-48

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

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

11.1.2 SSCNET III cable ................................................................................................................... 11- 5

11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 7

11.1.4 MR-D05UDL3M-B STO cable ................................................................................................ 11- 8

11.2 Regenerative options .................................................................................................................... 11- 8

11.2.1 Combination and regenerative power .................................................................................... 11- 8

11.2.2 Selection of regenerative option ............................................................................................ 11- 9

11.2.3 Parameter setting .................................................................................................................. 11-11

11.2.4 Connection of regenerative option ........................................................................................ 11-12

11.2.5 Dimensions ........................................................................................................................... 11-13

11.3 Battery .......................................................................................................................................... 11-14

11.3.1 Selection of battery ............................................................................................................... 11-14

11.3.2 MR-BAT6V1SET-A battery ................................................................................................... 11-15

11.3.3 MR-BT6VCASE battery case ................................................................................................ 11-19

11.3.4 MR-BAT6V1 battery .............................................................................................................. 11-25

11.4 MR Configurator2 ........................................................................................................................ 11-26

11.4.1 Specifications ........................................................................................................................ 11-26

11.4.2 System configuration ............................................................................................................. 11-27

11.4.3 Precautions for using USB communication function ............................................................. 11-28

11.5 Selection example of wires .......................................................................................................... 11-29

11.6 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-31

11.7 Power factor improving AC reactors ............................................................................................ 11-33

11.8 Relays (recommended) ............................................................................................................... 11-34

11.9 Noise reduction techniques ......................................................................................................... 11-34

11.10 Earth-leakage current breaker ................................................................................................... 11-41

11.11 EMC filter (recommended) ................................................................................................

........ 11-44

11.12 Junction terminal block MR-TB26A ........................................................................................... 11-47

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 4

12.1 Summary ....................................................................................................................................... 12- 1

12.1.1 Features ................................................................................................................................. 12- 1

12.1.2 Structure ................................................................................................................................. 12- 1

12.1.3 Parameter setting ................................................................................................................... 12- 1

12.1.4 Confirmation of absolute position detection data ................................................................... 12- 2

12.2 Battery ........................................................................................................................................... 12- 2

12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6) ............................................... 12- 2

12.2.2 Using MR-BT6VCASE battery case ....................................................................................... 12- 4

13. USING STO FUNCTION 13- 1 to 13-14

13.1 Introduction ................................................................................................................................... 13- 1

13.1.1 Summary ................................................................................................................................ 13- 1

13.1.2 Terms related to safety .......................................................................................................... 13- 1

13.1.3 Cautions ................................................................................................................................. 13- 1

13.1.4 Residual risks of the STO function ......................................................................................... 13- 2

13.1.5 Specifications ......................................................................................................................... 13- 3

13.1.6 Maintenance ........................................................................................................................... 13- 4

13.2 STO I/O signal connector (CN8) and signal layouts ..................................................................... 13- 4

13.2.1 Signal layouts ......................................................................................................................... 13- 4

13.2.2 Signal (device) explanations .................................................................................................. 13- 5

13.2.3 How to pull out the STO cable ............................................................................................... 13- 5

13.3 Connection example ..................................................................................................................... 13- 6

13.3.1 Connection example for CN8 connector ................................................................................ 13- 6

13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7

13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13- 9

13.3.4 External I/O signal connection example using a motion controller ....................................... 13-10

13.4 Detailed description of interfaces ................................................................................................ 13-11

13.4.1 Sink I/O interface ................................................................................................................... 13-11

13.4.2 Source I/O interface .............................................................................................................. 13-12

14. USING A LINEAR SERVO MOTOR 14- 1 to 14-32

14.1 Functions and configuration ......................................................................................................... 14- 1

14.1.1 Summary ................................................................................................................................ 14- 1

14.1.2 Servo system with auxiliary equipment .................................................................................. 14- 2

14.2 Signals and wiring ......................................................................................................................... 14- 3

14.3 Operation and functions ................................................................................................................ 14- 5

14.3.1 Startup .................................................................................................................................... 14- 5

14.3.2 Magnetic pole detection ......................................................................................................... 14- 8

14.3.3 Home position return ............................................................................................................. 14-16

14.3.4 Test operation mode in MR Configurator2 ............................................................................ 14-19

14.3.5 Operation from controller ...................................................................................................... 14-22

14.3.6 Function................................................................................................................................. 14-24

14.3.7 Absolute position detection system ....................................................................................... 14-26

14.4 Characteristics ............................................................................................................................. 14-27

14.4.1 Overload protection characteristics ...................................................................................... 14-27

14.4.2 Power supply capacity and generated loss .......................................................................... 14-28

14.4.3 Dynamic brake characteristics .............................................................................................. 14-30

14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 14-31

15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-20

15.1 Functions and configuration ......................................................................................................... 15- 1

15.1.1 Summary ................................................................................................................................ 15- 1

15.1.2 Servo system with auxiliary equipment .................................................................................. 15- 2

15.2 Signals and wiring ......................................................................................................................... 15- 3

15.3 Operation and functions ................................................................................................................ 15- 4

15.3.1 Startup procedure .................................................................................................................. 15- 5

15.3.2 Magnetic pole detection ......................................................................................................... 15- 6

15.3.3 Operation from controller ...................................................................................................... 15-14

15.3.4 Function................................................................................................................................. 15-15

15.4 Characteristics ............................................................................................................................. 15-17

15.4.1 Overload protection characteristics ...................................................................................... 15-17

15.4.2 Power supply capacity and generated loss .......................................................................... 15-18

15.4.3 Dynamic brake characteristics .............................................................................................. 15-19

16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-24

16.1 Functions and configuration ......................................................................................................... 16- 1

16.1.1 Function block diagram .......................................................................................................... 16- 1

16.1.2 Selecting procedure of control mode ..................................................................................... 16- 3

16.1.3 System configuration .............................................................................................................. 16- 4

16.2 Load-side encoder ........................................................................................................................ 16- 5

16.2.1 Linear encoder ....................................................................................................................... 16- 5

16.2.2 Rotary encoder ....................................................................................................................... 16- 5

16.2.3 Configuration diagram of encoder cable ................................................................................ 16- 5

16.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 16- 6

16.3 Operation and functions ................................................................................................................ 16- 7

16.3.1 Startup .................................................................................................................................... 16- 7

16.3.2 Home position return ............................................................................................................. 16-14

16.3.3 Operation from controller ...................................................................................................... 16-17

16.3.4 Fully closed loop control error detection functions................................................................ 16-19

16.3.5 Auto tuning function .............................................................................................................. 16-20

16.3.6 Machine analyzer function .................................................................................................... 16-20

16.3.7 Test operation mode ............................................................................................................. 16-20

16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-21

16.3.9 About MR Configurator2 ....................................................................................................... 16-22

17. APPLICATION OF FUNCTIONS 17- 1 to 17-58

17.1 J3 compatibility mode ................................................................................................................... 17- 1

17.1.1 Outline of J3 compatibility mode ............................................................................................ 17- 1

17.1.2 Operation modes supported by J3 compatibility mode .......................................................... 17- 2

17.1.3 J3 compatibility mode supported function list ........................................................................ 17- 2

17.1.4 How to switch J4 mode/J3 compatibility mode ...................................................................... 17- 5

17.1.5 How to use the J3 compatibility mode ................................................................................... 17- 6

17.1.6 Cautions for switching J4 mode/J3 compatibility mode ......................................................... 17- 7

17.1.7 Cautions for the J3 compatibility mode .................................................................................. 17- 7

17.1.8 Change of specifications of "J3 compatibility mode" switching process ................................ 17- 9

17.1.9 J3 extension function ............................................................................................................ 17-12

17.2 Scale measurement function ....................................................................................................... 17-53

17.2.1 Functions and configuration .................................................................................................. 17-53

17.2.2 Scale measurement encoder ................................................................................................ 17-55

17.2.3 How to use scale measurement function .............................................................................. 17-57

18. MR-J4W2-0303B6 SERVO AMPLIFIER 18- 1 to 18-54

18.1 Functions and configuration ......................................................................................................... 18- 1

18.1.1 Summary ................................................................................................................................ 18- 1

18.1.2 Function block diagram .......................................................................................................... 18- 2

18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3

18.1.4 Combinations of servo amplifiers and servo motors .............................................................. 18- 4

18.1.5 Function list ............................................................................................................................ 18- 5

18.1.6 Model definition ...................................................................................................................... 18- 7

18.1.7 Parts identification .................................................................................................................. 18- 8

18.1.8 Configuration including peripheral equipment ....................................................................... 18- 9

18.2 Installation .................................................................................................................................... 18-10

18.2.1 Installation direction and clearances ..................................................................................... 18-11

18.2.2 Installation by DIN rail ........................................................................................................... 18-13

18.3 Signals and wiring ........................................................................................................................ 18-15

18.3.1 Input power supply circuit ..................................................................................................... 18-16

18.3.2 Explanation of power supply system ..................................................................................... 18-18

18.3.3 Selection of main circuit power supply/control circuit power supply ..................................... 18-22

18.3.4 Power-on sequence .............................................................................................................. 18-22

18.3.5 I/O Signal Connection Example ............................................................................................ 18-23

18.3.6 Connectors and pin assignment ........................................................................................... 18-26

18.3.7 Signal (device) explanations ................................................................................................. 18-27

18.3.8 Alarm occurrence timing chart .............................................................................................. 18-34

18.3.9 Interfaces .............................................................................................................................. 18-36

18.3.10 Grounding ........................................................................................................................... 18-39

18.4 Startup ......................................................................................................................................... 18-40

18.4.1 Startup procedure ................................................................................................................. 18-41

18.4.2 Troubleshooting when "24V ERROR" lamp turns on ............................................................ 18-42

18.4.3 Wiring check .......................................................................................................................... 18-42

18.4.4 Surrounding environment ...................................................................................................... 18-43

18.5 Switch setting and display of the servo amplifier ......................................................................... 18-44

18.6 Dimensions .................................................................................................................................. 18-45

18.7 Characteristics ............................................................................................................................. 18-46

18.7.1 Overload protection characteristics ...................................................................................... 18-46

18.7.2 Power supply capacity and generated loss .......................................................................... 18-47

18.7.3 Dynamic brake characteristics .............................................................................................. 18-47

18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-49

18.8 Options and peripheral equipment .............................................................................................. 18-50

18.8.1 Cable/connector sets ............................................................................................................ 18-51

18.8.2 Combinations of cable/connector sets .................................................................................. 18-51

18.8.3 Selection example of wires ................................................................................................... 18-53

18.8.4 Circuit protector ..................................................................................................................... 18-54

APPENDIX App.- 1 to App.-47

App. 1 Auxiliary equipment manufacturer (for reference) ................................................................ App.- 1

App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the

Transport of Dangerous Goods ............................................................................................ App.- 1

App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 3

App. 4 Compliance with global standards ........................................................................................ App.- 4

App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-19

App. 6 EC declaration of conformity ................................................................................................ App.-37

App. 7 How to replace servo amplifier without magnetic pole detection ......................................... App.-39

App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-40

App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &

Service ................................................................................................................................. App.-42

App. 10 CNP_crimping connector ..................................................................................................... App.-42

App. 11 Recommended cable for servo amplifier power supply ....................................................... App.-43

App. 12 Amplifier without dynamic brake .......................................................................................... App.-45

App. 13 Driving on/off of main circuit power supply with DC power supply ...................................... App.-46

MEMO

1. FUNCTIONS AND CONFIGURATION

POINT

In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with 48 V DC and 24 V DC power supplies are available as MR-J4W2-0303B6. Refer to chapter 18 for details of MR-J4W2-0303B6 servo amplifiers.

1.1 Summary

The MELSERVO-J4 series of multi-axis servo amplifiers inherits the high performance, sophisticated functions, and usability of the MR-J4-B servo amplifiers, and ensures space saving, reduced wiring, and energy saving. The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the fast synchronization network, SSCNET III/H. The servo amplifier directly receives a command from a controller to drive a servo motor. One MR-J4W_-B servo amplifier can drive two or three servo motors. The footprint of one MR-J4W_-B servo amplifier is considerably smaller than that of two or three MR-J4-B servo amplifiers. You can install MRJ4W_-B servo amplifiers without clearance between them. This makes your system more compact. The multi-axis structure enables multiple axes to share the SSCNET III cable, control circuit power supply cable, and main circuit power supply cable. This ensures reduced wiring. For the MR-J4W_-B servo amplifier, the parameter settings allows you to use a rotary servo motor, linear servo motor, and direct drive motor for each axis. The axes can be connected to a rotary servo motor, linear servo motor, and direct drive motor, which have different capacity. Using a linear servo motor or direct drive motor simplifies the system, and using the MR-J4W_-B servo amplifier downsizes the equipment, enhances the equipment performance, and ensures space saving. Using regenerative energy generated when a servo motor decelerates ensures energy saving. Depending on the operating conditions, the regenerative option is not required. As the MR-J4-B servo amplifier, the MR-J4W_-B servo amplifier supports the one-touch tuning and the realtime auto tuning. This enables you to easily adjust the servo gain 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-J4W_-B 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. 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-J4W_-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.

1 - 1

1. FUNCTIONS AND CONFIGURATION

Table 1.1 Connectors to connect from external encoders

Operation mode External encoder communication method

Two-wire type

Linear servo motor system

A/B/Z-phase differential output method

Fully closed loop system

A/B/Z-phase differential output method

Scale measurement function

A/B/Z-phase differential output method

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 and A/B/Z-phase differential output method, MR-J4W2-_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. The synchronous encoder Q171ENC-W8 cannot be used due to the four-wire type.

Four-wire type

Two-wire type

Four-wire type (Note 6)

Two-wire type

Four-wire type (Note 6)

Connector

MR-J4W2-_B MR-J4W3-_B

CN2A (Note 1) CN2B (Note 1)

CN2A (Note 2, 3, 4) CN2B (Note 2, 3, 4)

CN2A (Note 2, 3, 5) CN2B (Note 2, 3, 5)

CN2A (Note 1) CN2B (Note 1) CN2C (Note 1)

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerativ

option

P+ C D

CNP2

Regenerative

CHARGE

lamp

Control (B-axis)

Control (C-axis)

Built-in regenerative resistor

STO circuit

Base

amplifier

TRM (A)

Overvoltage

Control (A-axis)

Model position

control (A)

Actual position

control (A)

(Note 2) Powe

uppl

MCCB MC

STO switch

Servo system

controller or

servo amplifier

Servo amplifier

or cap

CNP1

L11

L21

CNP2

CN8CN1ACN1B

U U

Diode

stack

I/F

Control

Relay

Cooling fan

(Note 1)

Control

circuit

power

supply

Overcurrent

(A)

Model speed

control (A)

Actual speed

control (A)

Current

detector

brake circuit (A)

Virtual

motor

Virtual

encoder

Current

control (A)

Dynamic

Current

detection

(A)

A-axis output

A-axis

F/B

B-axis output

B-axis

F/B

C-axis output

C-axis

A-axis Servo motor

CNP3ACN2ACNP3BCN2BCNP3CCN2C

B-axis Servo motor

C-axis Servo motor

F/B

Step-down

circuit

MR-BT6VCASE

CN4

Battery case +

CN5

USB

Personal

computer

CN3

Digital I/O

control

Battey (for absolute position detection system)

Note 1. The MR-J4W2-22B has no cooling fan.

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

1.3.1 Integrated 2-axis servo amplifier

Model MR-J4W2- 22B 44B 77B 1010B

Rated voltage 3-phase 170 V AC

Output

Main circuit power supply input

Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

Control circuit power supply input

Inrush current [A] Refer to section 10.5.

Interface power supply

Control method Sine-wave PWM control, current control method

Capacitor regeneration

Built-in regenerative resistance [W] 20 100 Dynamic brake Built-in SSCNET III/H command

communication cycle (Note 9) Communication function USB: Connect a personal computer (MR Configurator2 compatible) Encoder output pulse Compatible (A/B-phase pulse) Analog monitor None Fully closed loop control Compatible (Note 8) Scale measurement function Compatible (Note 10) Load-side encoder interface Mitsubishi high-speed serial communication (Note 6)

Protective functions

Rated current (each axis) [A]

Voltage/Frequency 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

Rated current (Note 11) [A]

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current [A] Refer to section 10.5.

Rated current [A] 0.4 Permissible voltage

fluctuation Permissible

frequency fluctuation Power consumption

Voltage 24 V DC ± 10% Power supply

capacity

Reusable regenerative energy (Note 2) [J]

Moment of inertia J equivalent to the permissible charging amount (Note 3)

Mass equivalent to the permissible charging amount

(Note 4) [kg]

[× 10

-4

[kVA]

[W]

kg • m2]

LM-H3 3.8 4.7 9.8

LM-K2 LM-U2

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

1.5 2.8 5.8 6.0

3-phase 200 V AC to

240 V AC, 50 Hz/60 Hz

2.9 5.2 7.5 9.8

3-phase or 1-phase 170 V AC to 264 V AC

Within ±5%

Refer to section 10.2.

1-phase 170 V AC to 264 V AC

Within ±5%

0.35 A (Note 1)

17 21 44

3.45 4.26 8.92

8.5 10.5 22.0

0.222 ms, 0.444 ms, 0.888 ms

servo motor overheat protection, encoder error protection, regenerative error protection,

undervoltage protection, instantaneous power failure protection, overspeed protection, and

error excessive protection

3-phase 170 V AC to

264 V AC

1 - 4

1. FUNCTIONS AND CONFIGURATION

Model MR-J4W2- 22B 44B 77B 1010B Functional safety STO (IEC/EN 61800-5-2) (Note 7)

Standards certified by CB

Response performance

(Note 5) Test pulse

input (STO) Safety performance

Compliance to standards

Structure (IP rating)

Close mounting Possible

Environment

Altitude Max. 1000 m above sea level Vibration 5.9 m/s2 or less at 10 Hz to 55 Hz (directions of X, Y and Z axes) Mass [kg] 1.5 2.0

Mean time to

dangerous failure

(MTTFd)

Diagnosis converge

(DC)

Average probability of

dangerous failures

per hour (PFH)

CE marking

UL standard UL 508C

Natural cooling, open

Ambient

temperature

Ambient

humidity

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

Operation

Storage

Operation

Storage

Note 1. 0.35 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. Reusable regenerative energy corresponds to energy generated under the following conditions. Rotary servo motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the rated speed to stop. Linear servo motor: Regenerative energy is generated when the machine, whose mass is equivalent to the permissible

charging amount, decelerates from the maximum speed to stop.

Direct drive motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the

permissible charging amount, decelerates from the rated speed to stop.

3. Moment of inertia when the motor decelerates from the rated speed to stop Moment of inertia for two axes when two motors decelerate simultaneously Moment of inertia for each axis when multiple motors do not decelerate simultaneously The values also apply to the direct drive motor.

4. Mass when the machine decelerates from the maximum speed to stop The primary-side (coil) mass is included. Mass for two axes when two motors decelerate simultaneously Mass for each axis when multiple motors do not decelerate simultaneously

5. 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.

6. The load-side encoder is compatible only with two-wire type communication method. Not compatible with pulse train interface (A/B/Z-phase differential output type).

7. STO is common for all axes.

8. Fully closed loop control is compatible with the servo amplifiers with software version A3 or later. Check the software version of the servo amplifier using MR Configurator2.

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

10. The scale measurement function is available for the MR-J4W2-_B servo amplifiers of software version A8 or later. Check the software version of the servo amplifier using MR Configurator2.

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

EN ISO 13849-1 PL d (category 3), IEC 61508 SIL 2, EN 62061 SIL CL2

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

(IP20)

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

100 years or longer

Medium (90% to 99%)

1.68 × 10

LVD: EN 61800-5-1

EMC: EN 61800-3

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

90% RH or less (non-condensing)

-10

[1/h]

Force cooling, open (IP20)

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.3.2 Integrated 3-axis servo amplifier

Model MR-J4W3- 222B 444B

Rated voltage 3-phase 170 V AC

Output

Main circuit power supply input

Rated current [A] 0.4

Control circuit power supply input

Inrush current [A] Refer to section 10.5.

Interface power supply

Control method Sine-wave PWM control, current control method

Capacitor regeneration

Built-in regenerative resistance [W] 30 100 Dynamic brake Built-in SSCNET III/H command

communication cycle (Note 7) Communication function USB: Connect a personal computer (MR Configurator2 compatible) Encoder output pulse Not compatible Analog monitor None Fully closed loop control Not compatible Scale measurement function Not compatible

Protective functions

Rated current (each axis) [A] Power supply /Frequency Rated current

(Note 9) [A] Permissible voltage

fluctuation Permissible

frequency fluctuation Power supply

capacity [kVA] Inrush current [A] Refer to section 10.5. Power supply /Frequency

Permissible voltage fluctuation

Permissible frequency fluctuation

Power consumption

[W]

Voltage/Frequency 24 V DC ± 10% Power supply

capacity

Reusable regenerative energy (Note 2) [J]

Moment of inertia J equivalent to the permissible charging amount (Note 3)

Mass equivalent to the permissible charging amount

(Note 4) [kg]

-4

[× 10

kg • m2]

LM-H3 4.7 6.7

LM-K2 LM-U2

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, and

1.5 2.8

3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

4.3 7.8

3-phase or 1-phase 170 V AC to 264 V AC, 50 Hz/60 Hz

Within ±5%

Refer to section 10.2.

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

1-phase 170 V AC to 264 V AC

Within ±5%

0.45 A (Note 1)

21 30

4.26 6.08

10.5 15.0

0.222 ms (Note 8), 0.444 ms, 0.888 ms

error excessive protection

1 - 6

1. FUNCTIONS AND CONFIGURATION

Model MR-J4W3- 222B 444B Functional safety STO (IEC/EN 61800-5-2) (Note 6)

Standards certified by CB

Response performance

(Note 5) Test pulse

input (STO) Safety performance

Compliance to standards

Structure (IP rating) Force cooling, open (IP20) Close mounting Possible

Environment

Altitude Max. 1000 m above sea level Vibration 5.9 m/s2 or less at 10 Hz to 55 Hz (directions of X, Y and Z axes) Mass [kg] 1.9

Mean time to

dangerous failure

(MTTFd)

Diagnosis converge

(DC)

Average probability of

dangerous failures

per hour (PFH)

CE marking

UL standard UL 508C

Ambient

temperature

Ambient

humidity

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

Operation

Storage

Operation

Storage

Note 1. 0.45 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.

charging amount, decelerates from the maximum speed to stop.

Direct drive motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the

permissible charging amount, decelerates from the rated speed to stop.

3. Moment of inertia when the machine decelerates from the rated speed to stop Moment of inertia for three axes when three motors decelerate simultaneously Moment of inertia for each axis when multiple motors do not decelerate simultaneously The values also apply to the direct drive motor.

4. Mass when the machine decelerates from the maximum speed to stop The primary-side (coil) mass is included. Mass for three axes when three motors decelerate simultaneously Mass for each axis when multiple motors do not decelerate simultaneously

5. 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.

6. STO is common for all axes.

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

8. Servo amplifier with software version A3 or later is compatible with the command communication cycle of 0.222 ms. However, note that the following functions are not available when 0.222 ms is used: auto tuning (real time, one-touch, and vibration suppression control), adaptive filter II, vibration tough drive, and power monitoring.

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

EN ISO 13849-1 PL d (category 3), IEC 61508 SIL 2, EN 62061 SIL CL2

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

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

100 years or longer

Medium (90% to 99%)

1.68 × 10

LVD: EN 61800-5-1

EMC: EN 61800-3

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

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

90% RH or less (non-condensing)

-10

[1/h]

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.3.3 Combinations of servo amplifiers and servo motors

(1) MR-J4W2-_B servo amplifier

Servo amplifier

MR-J4W2-22B 053

MR-J4W2-44B

MR-J4W2-77B

MR-J4W2-1010B

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

13 23

053

13 23 43

43 73

Note. The combination is for increasing the maximum torque of HG-JR53 servo motor to 400%.

(2) MR-J4W3-_B servo amplifier

Servo amplifier

MR-J4W3-222B 053

MR-J4W3-444B

Rotary servo motor

HG-KR HG-MR

13 23

053

13 23 43

Rotary servo motor

053

13 23

053

13 23 43

43 73

053

13 23

053

13 23 43

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

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

51 52

51 81 52

102

Linear servo motor

(primary side)

53 73

53 (Note)

103

Direct drive motor

TM-RFM002C20

TM-RFM002C20 TM-RFM004C20

Linear servo motor

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

LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAB-05M-0SS0 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBB-07M-1SS0 LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P1A-01M-2SS1 LM-K2P2A-02M-1SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBD-15M-1SS0 LM-U2PBF-22M-1SS0 LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P1A-01M-2SS1 LM-K2P2A-02M-1SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBD-15M-1SS0 LM-U2PBF-22M-1SS0

(primary side)

Direct drive motor

TM-RFM002C20

TM-RFM002C20 TM-RFM004C20

TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM012G20 TM-RFM040J10

TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM018E20 TM-RFM012G20 TM-RFM040J10

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

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

Function Description

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

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

Regenerative option

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

(Device settings) Output signal (DO) forced

output

Test operation mode

MR Configurator2

Linear servo system

Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. Chapter 15

One-touch tuning

response to 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 by servo amplifiers with software version B4 or later. Check the software version 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.

Using an input device or gain switching conditions (including the servo motor speed) switches gains.

This function suppresses vibration at the arm end or residual vibration of the machine.

The machine resonance suppression filter 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 an 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.

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

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

The pins that output the output devices, including ALM (Malfunction) and INP (Inposition), can be assigned to certain pins of the CN3 connectors.

Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check and others. 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. Linear servo system can be configured using a linear servo motor and liner

encoder.

One click on a certain button on MR Configurator2 adjusts the gains of the servo amplifier.

MR Configurator2 is necessary for this function.

Detailed

explanation

Chapter 12

Section 7.2

Section 7.1.5

Section 7.1.1

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]

[Pr. PB24]

Chapter 6

Section 11.2

[Pr. PD07] to [Pr. PD09]

Section 4.5.1 (1) (d)

Section 4.5

Section 11.4

Chapter 14

Section 6.2

1 - 9

1. FUNCTIONS AND CONFIGURATION

Function Description

Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during

SEMI-F47 function (Note)

Tough drive function

Drive recorder function

STO function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnostic function

Fully closed loop system

Scale measurement function

J3 compatibility mode

Continuous operation to torque control mode

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

operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with the 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 safet

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. Before the parts of the servo amplifier, including a capacitor and relay, malfunction, this function is useful for finding out the time for their replacement.

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

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

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. Fully closed system can be configured using the load-side encoder. (not available

with the MR-J4 3-axis servo amplifiers) This is used with servo amplifiers with software version A3 or later. Check the

software version 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.

Used by servo amplifiers with software version A8 or above. (not available with the MR-J4 3-axis servo amplifiers)

This amplifier has "J3 compatibility mode" which compatible with the previous MRJ3-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.

that complies with IEC/EN 61800-5-2. You can

Detailed

explanation

[Pr. PA20] [Pr. PE25] Section 7.4

Section 7.3

[Pr. PA23]

Chapter 13

Chapter 16

Section 17.2

Section 17.1

[Pr. PB03]

Servo system controller manuals

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.5 Model designation

(1) Rating plate

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

AC SERVO

SER.A45001001

ＭＯＤＥＬ

POWER: 200W×3 (A, B, C) INPUT: 3AC/AC200-240V 4.3A/7.5A 50/60Hz OUTPUT: 3PH170V 0-360Hz 1.5A×3 (A, B, C) STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175 Max. Surrounding Air Temp.: 55℃ IP20 (Except for fan finger guard)

TOKYO 100-8310, JAPAN　 MADE IN JAPAN

Note. Production year and month of the servo amplifier are indicated in a serial number on

MR-J4W3-222B

KCC-REI-MEK-TC300A612G51

the rating plate. The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X (10), Y (11), Z (12). For September 2011, the Serial No. is like, "SERIAL: _ 19 _ _ _ _ _ _".

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

Special specifications

Series

Number of axes

Number

Symbol

W2 W3

of axes

2 3

SSCNETIII/H interface Rated output

Symbol

22 44 77

1010

222 444

Rated output [kW]

A-axis B-axis C-axis

0.2

0.4

0.75 1

0.2

0.4

0.2

0.4

0.75 1

0.2

0.4

0.2

0.4

Symbol Special specifications

None

-ED

Without a dynamic brake (Note)

Note. Refer to App. 12 for details.

Standard

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.6 Parts identification

(1)

(3)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

Side view

123456

No. Name/Application

Display

(1)

The 3-digit, seven-segment LED shows the

(2)

(4)

(13)

(14)

(15)

(16)

(17)

(18)

(19)

(20)

Note 1. This figure shows the MR-J4 3-axis servo amplifier.

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

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. Charge lamp Lit to indicate that the main circuit is charged.

(5)

While this lamp is lit, do not reconnect the cables.

Main circuit power supply connector (CNP1)

(6)

Connect the input power supply. Control circuit power supply connector (CNP2)

(7)

Connect the control circuit power supply or regenerative option.

(8) Rating plate Section 1.5

A-axis servo motor power supply connector (CNP3A)

(9)

Connect the A-axis servo motor. B-axis servo motor power supply connector

(CNP3B)

(10)

Connect the B-axis servo motor. C-axis servo motor power supply connector

(CNP3C) (Note 1)

(11)

Connect the C-axis servo motor. Protective earth (PE) terminal

(12)

Grounding terminal I/O signal connector (CN3)

(13)

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

(14)

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

SSCNET III cable connector (CN1A)

(15)

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

SSCNET III cable connector (CN1B)

(16)

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

A-axis encoder connector (CN2A)

(17)

(Note

Used to connect the A-axis servo motor

encoder or external encoder. B-axis encoder connector (CN2B)

(18)

(Note

Used to connect the B-axis servo motor

encoder or external encoder. C-axis encoder connector (CN2C) (Note 1)

(19)

(Note

Used to connect the C-axis servo motor

encoder or linear encoder. Battery connector (CN4)

(20)

Used to connect the battery unit for absolute position data backup.

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.

Detailed

explanation

Section 4.3

Section 11.4

Section 3.1 Section 3.3

Section 3.11

Section 3.2 Section 3.4

Chapter 13

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 11.3

Chapter 12

1 - 12

1. FUNCTIONS AND CONFIGURATION

1.7 Configuration including auxiliary equipment

CAUTION

Power supply

RS T

Connecting a servo motor for different axis to the CNP3A, CNP3B, or CNP3C connector may cause a malfunction.

POINT

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

CN5 (under the cover)

MR Configurator2

Personal computer

Molded-case circuit breaker (MCCB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FR-HAL)

Line noise filter (FR-BSF01)

L21 L11

L1 L2 L3

P+ C

D (Note 3)

Regenerative option

CNP3A

CNP3B

CNP3C (Note 1)

U W

CNP1

CNP2

CN3

CN8

CN1A

CN1B

CN2A

CN2B

CN2C (Note 1)

CN4

Battery unit

(Note 2)

I/O signal

Safety relay or MR-J3-D05 safety logic unit

Servo system controller or Front axis servo amplifier CN1B

Rear servo amplifier CN1A or Cap

A-axis encoder

B-axis encoder

C-axis encoder

A-axis

servo motor

Note 1. For the MR-J4 3-axis servo amplifier

2. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the absolute position detection system. (Refer to chapter 12.)

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

B-axis

servo motor

C-axis

servo motor

1 - 13

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 14

2. INSTALLATION

WARNING

CAUTION

2.1 Installation direction and clearances

CAUTION

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.

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 environmental range. 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 them from all impact loads. Do not install or operate the servo amplifier which have been damaged or have any parts missing. When the product 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.

The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

2 - 1

2. INSTALLATION

(1) Installation of one servo amplifier

Control bo

40 mm or more

Servo amplifier

10 mm or more

40 mm or more

10 mm or more

Wiring allowance 80 mm

Control bo

Top

Bottom

(2) Installation of two or more servo amplifiers

POINT

You can install MR-J4W_-B servo amplifiers without clearances between them.

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.

30 mm or more

Control box

100 mm or more

10 mm or more

30 mm or more

1 mm

Control box

100 mm or more

1 mm

30 mm or more

Top

Bottom

40 mm or more

Leaving clearance Mounting closely

40 mm or more

2 - 2

2. INSTALLATION

2.2 Keep out 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.

(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 (for the 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 the cable 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 the SSCNET III cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of the servo amplifier. When closing the door of cabinet, pay careful attention for avoiding the case that SSCNET III cable is held down by the door and the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section 11.1.2.

2 - 3

2. INSTALLATION

(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.

Optical cord Cable

(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. In addition, MR-J3BUS_M-B cable 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.

SSCNET III cable 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 affected by plasticizer.

Connecto

Optical cord Loose slack

Bundle material Recommended product: NK clamp SP type ( NIX, INC.)

Cable

2 - 4

2. INSTALLATION

(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 11.1.2.

(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.

(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 or others. Otherwise, an electric

WARNING

CAUTION

It is recommended to make the following checks periodically.

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

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

conditions especially when the servo motor is movable.

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 sales representative.

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 - 5

2. INSTALLATION

(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.

2.6 Parts having service lives

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

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. 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 50,000 hours to 70,000 hours. Normally, therefore, the fan must be changed in seven or eight years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. The life is under the environment where a 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 50,000 hours to 70,000 hours (7 to 8 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 - 6

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

WARNING

front of the servo amplifier. 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.

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.

Servo amplifier

DOCOM

24 V DC

Servo amplifier

DOCOM

24 V DC

CAUTION

Control output signal

For sink output interface

Control output signal

For source output interface

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 (FR-BIF option) 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. 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

Servo motor

Servo motorServo amplifier

Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector may cause a malfunction.

3 - 1

3. SIGNALS AND WIRING

POINT

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

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. When alarms are occurring in all axes of A, B, and C, shut off the main circuit power supply. 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 for different axis to the CNP3A, CNP3B, or CN3C connector 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 device 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-J3W Series Servo Amplifier. When using MR-J4W as a replacement for MR-J3W, 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 - 2

3. SIGNALS AND WIRING

(Note 3)

(Note 7) Power supply

AND malfunction

RA1

MCCB

(Note 10)

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

(Note 6)

(Note 1)

EMG stop switch

OFF

Servo amplifier

CNP1

L1 L2 L3

CNP2

P+ C D L11 L21 N-

CN8

(Note 12)

CNP3A

U V W

CN2A

PE ( )

(Note 12)

CNP3B

U V W

(Note 5)

(Note 2)

Encoder cable

(Note 5)

A-axis servo motor

Motor

Encoder

B-axis servo motor

Motor

CN2B

(Note 2)

Encoder cable

Encoder

C-axis servo motor

(Note 11)

(Note 12)

(Note 4)

Forced stop 2

(Note 8) Main circuit power supply

24 V DC (Note13)

CN3

EM2

DICOM

CNP3C

CN2C

CN3

DOCOM

(Note 5)

U V W

24 V DC (Note 13)

CALM

(Note 2)

Encoder cable

RA1

Motor

Encoder

AND malfunction (Note 3)

(Note 4)

3 - 3

3. SIGNALS AND WIRING

Note 1. Between P+ and D is connected by default. When using the regenerative option, refer to section 11.2.

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

3. This circuit is an example of stopping all axes when an alarm occurs. If disabling CALM (AND 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.

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

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

6. 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.

7. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to section 1.3.

8. Configure up 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 a short-circuit connector supplied 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 to section 11.10.)

11. For the MR-J4 3-axis servo amplifier

12. Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector may cause a malfunction.

13. 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 - 4

3. SIGNALS AND WIRING

3.2 I/O signal connection example

POINT

EM2 has the same device as EM1 in the torque control mode.

3.2.1 For sink I/O interface

10 m or less 10 m or less

(Note 15)

Main circuit

power supply

(Note 10)

24 V DC

(Note 3, 4) Forced stop 2

A-axis FLS A-axis RLS A-axis DOG B-axis FLS

controller

B-axis RLS B-axis DOG C-axis FLS C-axis RLS C-axis DOG

(Note 16) Short-circuit connector (Packed with the servo amplifier)

(Note 6)

SSCNET III cable

(option)

Personal computer

USB cable

MR-J3USBCBL3M

(option)

(Note 14)

(Note 18)

Servo system

(Note 5) MR Configurator2

DICOM

EM2

DI1-A

DI3-B

DI2-C

Servo amplifier

CN3

23 10

7 8DI2-A

9DI3-A 20DI1-B 21DI2-B 22

1DI1-C

2 15DI3-C

CN8

6 19 14

Plate SD

CN1BCN1A

CN5

(Note 6) SSCNET III cable (option)

DOCOM

CALM

MBR-A

MBR-B

MBR-C

(Note 12)

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

(Note 1)

(Note 10)

24 V DC

(Note 2)

(Note 9) Cap

RA1

AND malfunction (Note 11) Electromagnetic brake

RA2

interlock A-axis Electromagnetic brake

RA3

interlock B-axis Electromagnetic brake

RA4

interlock C-axis (Note 17)

Encoder A-phase pulse A-axis (differential line driver) (Note 19)

Encoder B-phase pulse A-axis (differential line driver) (Note 19)

Encoder A-phase pulse B-axis (differential line driver) (Note 19)

Encoder B-phase pulse B-axis (differential line driver) (Note 19)

Control common

Servo amplifier

(Note 7)

CN1A

CN1B

The last servo amplifier (Note 8)

(Note 7)

CN1A

CN1B

(Note 20)

(Note 13)

3 - 5

3. SIGNALS AND WIRING

Note 1. 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.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (Normally closed contact).

4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)

5. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

6. Use SSCNET III cables listed in the following table.

7. The wiring after the second servo amplifier is omitted.

8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use. Refer to section 4.3 for setting of axis selection.

9. Make sure to cap the unused CN1B connector.

10. Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 350 mA for MR-J4W2MR-J4W3-_B. The 24 V DC power supply can be used both for input signals and output signals. 350 mA and 450 mA are the values applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface. 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.

11. CALM (AND malfunction) turns on in normal alarm-free condition. (Normally closed contact)

12. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].

13. You can change devices of these pins with [Pr. PD07] and [Pr. PD09].

14. Devices can be assigned for these devices with controller setting. For devices that can be assigned, refer to the controller instruction manual. These assigned devices are for R_MTCPU, Q17_DSCPU, RD77MS_, and QD77MS_.

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

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

17. The pin is not used for MR-J4 2-axis servo amplifiers.

18. For the MR-J4 3-axis servo amplifier

19. This signal cannot be used for MR-J4W3-_B.

20. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.

Cable Cable model Cable length

Standard cord inside panel

Standard cable outside panel

Long-distance cable MR-J3BUS_M-B 30 m to 50 m

MR-J3BUS_M 0.15 m to 3 m

MR-J3BUS_M-A 5 m to 20 m

B and to 450 mA for

3 - 6

3. SIGNALS AND WIRING

3.2.2 For source I/O interface

POINT

For notes, refer to section 3.2.1.

10 m or less 10 m or less

(Note 15)

Main circuit

power supply

(Note 10)

24 V DC

(Note 3, 4) Forced stop 2

A-axis FLS A-axis RLS A-axis DOG B-axis FLS

controller

B-axis RLS B-axis DOG C-axis FLS C-axis RLS C-axis DOG

(Note 16) Short-circuit connector (Packed with the servo amplifier)

(Note 6)

SSCNET III cable

(option)

Personal computer

USB cable

MR-J3USBCBL3M

(option)

(Note 14)

(Note 18)

Servo system

(Note 5) MR Configurator2

Servo amplifier

CN3

DICOM

EM2

DI1-A

DI3-B

DI2-C

CN8

CN3

23 10

7 8DI2-A

9DI3-A 20DI1-B 21DI2-B 22

1DI1-C

2 15DI3-C

6 19 14

Plate SD

CN1BCN1A

CN5

(Note 6) SSCNET III cable (option)

DOCOM

CALM

MBR-A

MBR-B

MBR-C

(Note 12)

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

(Note 1)

(Note 10)

24 V DC

(Note 2)

(Note 9) Cap

RA1

AND malfunction (Note 11) Electromagnetic brake

RA2

interlock A-axis Electromagnetic brake

RA3

interlock B-axis Electromagnetic brake

RA4

interlock C-axis (Note 17)

Encoder A-phase pulse A-axis (differential line driver) (Note 19)

Encoder B-phase pulse A-axis (differential line driver) (Note 19)

Encoder A-phase pulse B-axis (differential line driver) (Note 19)

Encoder B-phase pulse B-axis (differential line driver) (Note 19)

Control common

Servo amplifier

(Note 7)

CN1A

CN1B

The last servo amplifier (Note 8)

(Note 7)

CN1A

CN1B

(Note 20)

(Note 13)

3 - 7

3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

N- terminal is for manufacturer. Be sure to leave this terminal open.

(1) Pin assignment and connector applications

CNP1

CNP2

L11

P+

L21

N-

CNP3A

CNP3B

(Note 2)

CNP3C (Note 1)

Note 1. For the MR-J4 3-axis servo amplifier

2. Connect to the protective earth (PE) of the cabinet to ground.

Connector Name Function and application

CNP1

CNP2

CNP3A

CNP3B

CNP3C

(Note 1)

Main circuit power supply connector

Control circuit power supply connector

A-axis servo motor power supply connector

B-axis servo motor power supply connector

C-axis servo motor power supply connector

Input main circuit power supply.

Input control circuit power supply. Connect regenerative option.

Connect with the A-axis servo motor.

Connect with the B-axis servo motor.

Connect with the C-axis servo motor.

3 - 8

3. SIGNALS AND WIRING

(2) Detailed explanation

Symbol Connector

L1/L2/L3 CNP1

P+/C/D

N- For manufacturer N- terminal is for manufacturer. Be sure to leave this terminal open.

CNP2

L11/L21

U/V/W

(Note 2)

CNP3A

CNP3B CNP3C (Note 1)

Note 1. For the MR-J4 3-axis servo amplifier

2. Connect the grounding terminal of the servo motor to protective earth (PE) terminal (

Connection

destination

(application)

Main circuit power

supply

Regenerative

option

Control circuit

power supply

Servo motor

power output

Protective earth

(PE)

Protective earth

(PE)

) of front lower part on the servo amplifier to the protective earth (PE) terminal on a cabinet.

Description

Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

MR-J4W2-22B

Servo amplifier

Power supply

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

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

When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-wired)

When using a regenerative option, connect the regenerative option to P+ and C. Refer to section 11.2 for details.

Supply the following power to L11 and L21.

MR-J4W2-44B

MR-J4W2-77B MR-J4W3-222B MR-J4W3-444B

L1/L2/L3

L1/L3

Power supply 1-phase 200 V AC to 240 V

AC, 50 Hz/60 Hz

Connect them to the servo motor power supply (U, V, and W). 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.

Connect the grounding terminal of the servo motor.

Connect to the protective earth (PE) of the cabinet to ground.

Servo amplifier

of CNP3A, CNP3B, and CNP3C. For grounding, connect the

MR-J4W2-22B to MR-J4W2-1010B MR-J4W3-222B to MR-J4W3-444B

MR-J4W2-1010B

L11/L21

3 - 9

3. SIGNALS AND WIRING

3.3.2 Power-on sequence

POINT

An output signal, etc. may be irregular at power-on.

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply ((L1/L2/L3)). Configure up an external sequence to switch off the

(2) Timing chart

magnetic contactor as soon as an alarm occurs in all axes of A, B, and C.

2) Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the control circuit power supply is turned on with the main circuit power supply off, and then the servo-on command is transmitted, [AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the warning and starts the normal operation.

3) The servo amplifier receives the servo-on command within 4 s after the main circuit power supply is switched on. (Refer to (2) of this section.)

Main circuit Control circuit

Base circuit

Servo-on command (from controller)

power supply

Servo-on command accepted

(Note 1)

(4 s) ON OFF

ON OFF

95 ms 10 ms 95 ms

(Note 2)

Note 1. This range will be approximately 6 s for the linear servo system and fully closed loop system.

2. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.

3 - 10

3. SIGNALS AND WIRING

3.3.3 Wiring CNP1, CNP2, and CNP3

POINT

For the wire sizes used for wiring, refer to section 11.5.

(1) Connector

Servo amplifier

CNP1

CNP2

CNP3A

CNP3B

CNP3C (Note)

Note. For the MR-J4 3-axis servo amplifier

Table 3.1 Connector and applicable wire

Connector Receptacle assembly

CNP1 03JFAT-SAXGFK-43 AWG 16 to 14 11.5

CNP2

CNP3A CNP3B CNP3C

06JFAT-SAXYGG-FKK

04JFAT-SAGG-G-KK AWG 18 to 14 9

Applicable wire

size

AWG 16 to 14 9

(2) Cable connection procedure

(a) Cable making

Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.

Insulato

Stripped length

Twist strands slightly and straighten them as follows.

Stripped length

[mm]

Core

Open tool Manufacturer

J-FAT-OT-EXL (big size side)

J-FAT-OT-EXL (small size side)

JST

Loose and bent strands Twist and straighten

the strands.

3 - 11

3. SIGNALS AND WIRING

You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.

Wire size

AWG16 AI1.5-10BK AI-TWIN2×1.5-10BK AWG14 AI2.5-10BU

(b) Inserting wire

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable insulator does not get caught by the spring. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the CNP1 connector.

Ferrule model (Phenix contact)

For 1 wire For 2 wires

1) Push down the open tool.

3) Release the open tool to fix the wire.

Crimping tool

(Phenix contact)

CRIMPFOX-ZA3

2) Insert the wire.

3 - 12

3. SIGNALS AND WIRING

3.4 Connectors and pin assignment

POINT

The pin assignment of the connectors are as viewed from the cable connector wiring section. For the CN3 connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell.

Screw

Cable

Screw

Ground plate

DI1-C

LA-A

LA-B

DI1-A

DI3-A

CALM

MBR-C

CN3

152

DI3-C

174

LBR-A

196

LBR-B

218

DI2-B

2310

DICOM

2512

MBR-B

163

LAR-A

185

LAR-B

207

DI1-B

229

DI3-B

2411

CINP

2613

DOCOM

CN5 (USB connector) Refer to section 11.4

DI2-C

CN2A

MRR

THM2

THM1

CN2B

THM2

THM1

MXR

BAT

CN8 For the STO I/O signal connector, refer to chapter 13.

CN1A Connector for SSCNET III cable for previous servo amplifier axis

CN1B Connector for SSCNET III cable for next servo amplifier axis

LB-A

LB-B

DI2-A

EM2

MBR-A

CN2C (Note)

MRR

THM2

THM1

MXR

BAT

CN4 (Battery connector) Refer to section 11.3

The 3M make connector is shown.

The frames of the CN2A, CN2B, CN2C and CN3 connectors are connected to the protective earth terminal in the servo amplifier.

Note. For the MR-J4 3-axis servo amplifier

3 - 13

3. SIGNALS AND WIRING

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8. The pin numbers in the connector pin No. column are those in the initial status.

3.5.1 Input device

Device Symbol

Forced stop 2 EM2 (CN3-10)

Forced stop 1 EM1 (CN3-10)

DI1-A CN3-7

DI2-A CN3-8 DI-1

DI3-A CN3-9 DI-1

DI1-B CN3-20 DI-1

DI2-B CN3-21 DI-1

DI3-B CN3-22 DI-1

DI1-C CN3-1 DI-1

DI2-C CN3-2 DI-1

DI3-C CN3-15 DI-1

Connector

pin No.

Function and application

Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands.

Turn EM2 on (short between commons) in the forced stop state to reset that state.

Set [Pr. PA04] to "2 1 _ _" to disable EM2. The following shows the setting of [Pr. PA04].

[Pr. PA04]

setting

EM2 or EM1 is off Alarm occurred

0 0 _ _ EM1

2 0 _ _ EM2

0 1 _ _

2 1 _ _

EM2 and EM1 are mutually exclusive. EM2 has the same device as EM1 in the torque control mode. When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1. Turn EM1 off (open between commons) to bring the motor to an forced stop

state. The base circuit is shut off, the dynamic brake is operated and decelerate the servo motor to a stop.

Turn EM1 on (short between commons) in the forced stop state to reset that state.

Set [Pr. PA04] to "0 1 _ _" to disable EM1. Devices can be assigned for these devices with controller setting. For devices

that can be assigned, refer to the controller instruction manual. You can assign the following devices with MR-J4 series compatible controllers (R_MTCPU, Q17_DSCPU, RD77MS_, and QD77MS_)

DI1-A: FLS for A-axis (Upper stroke limit) DI2-A: RLS for A-axis (Lower stroke limit) DI3-A: DOG for A-axis (Proximity dog) DI1-B: FLS for B-axis (Upper stroke limit) DI2-B: RLS for B-axis (Lower stroke limit) DI3-B: DOG for B-axis (Proximity dog) DI1-C: FLS for C-axis (Upper stroke limit) DI2-C: RLS for C-axis (Lower stroke limit) DI3-C: DOG for C-axis (Proximity dog)

EM2/EM1

Not using EM2 or EM1

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

Deceleration method

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

I/O

division

DI-1

3 - 14

3. SIGNALS AND WIRING

3.5.2 Output device

(1) Output device pin

The following shows the output device pins and parameters for assigning devices.

Connector pin No.

CN3-12 [Pr. PD07] MBR-A For A-axis CN3-25 [Pr. PD07] MBR-B For B-axis CN3-13 [Pr. PD07] MBR-C DO-1 For C-axis (Note) CN3-11 [Pr. PD09] [Pr. PD09] [Pr. PD09] CALM Common pin CN3-24 [Pr. PD08] [Pr. PD08] [Pr. PD08] CINP Common pin

Note. The pin is not used for MR-J4 2-axis servo amplifiers.

(2) Output device explanations

Parameter

A-axis B-axis C-axis

POINT

Initial device I/O division Remark

Initial letter and last letter with hyphen in device symbols mean target axis. Refer to the following table.

Symbol

(Note)

C _ _ _ A/B/C

X _ _ _ A/B/C

_ _ _ -A A-axis Device for A-axis

_ _ _ -B B-axis Device for B-axis

_ _ _ -C C-axis Device for C-axis

Target axis Description

When all axes of A, B, and C meet a condition, the device will be enabled (on or off).

When each axis of A, B, or C meet a condition, the device will be enabled (on or off).

Note. _ _ _ differs depending on devices.

Device Symbol Function and application

AND electromagnetic brake interlock

OR electromagnetic brake interlock

Electromagnetic brake interlock for Aaxis

Electromagnetic brake interlock for Baxis

Electromagnetic brake interlock for Caxis

AND malfunction CALM OR malfunction XALM Malfunction for A-axis ALM-A Malfunction for B-axis ALM-B Malfunction for C-axis ALM-C AND in-position CINP When the number of droop pulses is in the preset in-position range, INP will turn on. The inOR in-position XINP In-position for A-axis INP-A In-position for B-axis INP-B In-position for C-axis INP-C

CMBR

XMBR

MBR-A

MBR-B

MBR-C

When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02]. When a servo-off status or alarm occurs, MBR will turn off.

When the protective circuit is activated to shut off the base circuit, ALM will turn off. When an alarm does not occur, ALM will turn on about 3 s after power-on.

position range can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during low-speed rotation.

The device cannot be used in the speed control mode, torque control mode, and for continuous operation to torque control mode.

3 - 15

3. SIGNALS AND WIRING

Device Symbol Function and application AND ready CRD Enabling servo-on to make the servo amplifier ready to operate will turn on RD. OR ready XRD Common ready for A-

axis Common ready for B-

axis Common ready for C-

axis AND speed reached CSA SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will OR speed reached XSA Speed reached for A-

axis

Speed reached for Baxis

Speed reached for Caxis

AND limiting speed CVLC When the speed reaches the speed limit value in the torque control mode, VLC will turn on. When OR limiting speed XVLC Limiting speed for A-

axis Limiting speed for B-

axis Limiting speed for C-

axis AND zero speed

detection

OR zero speed detection

Zero speed detection for A-axis

Zero speed detection for B-axis

Zero speed detection for C-axis

RD-A

RD-B

RD-C

turn on.

SA-A

SA-B

SA-C

VLC-A

VLC-B

VLC-C

CZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be

XZSP

ZSP-A

ZSP-B

ZSP-C

Set speed ± ((Set speed × 0.05) + 20) r/min When the preset speed is 20 r/min or less, SA always turns on. The device cannot be used in the position control mode and torque control mode.

the servo is off, TLC will be turned off. The device cannot be used in the position control mode and speed control mode.

changed with [Pr. PC07].

Forward rotation direction

Servo motor speed

Reverse rotation direction

ZSP (Zero speed detection)

OFF level 70 r/min

ON level 50 r/min

0 r/min

ON level

-50 r/min OFF level

-70 r/min ON OFF

20 r/min (Hysteresis width)

[Pr. PC07]

20 r/min (Hysteresis width)

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the servo motor is accelerated to 70 r/min again (at 2)).

ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off when the servo motor speed has reached -70 r/min (at 4)).

The range from the point when the servo motor speed has reached on level, and ZSP turns on, to the point when it is accelerated again and has reached off level is called hysteresis width.

Hysteresis width is 20 r/min for this servo amplifier.

When you use a linear servo motor, [r/min] explained above will be [mm/s]. AND limiting torque CTLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When OR limiting torque XTLC Limiting torque for A-

axis Limiting torque for B-

axis Limiting torque for C-

axis

TLC-A

TLC-B

TLC-C

the servo is off, TLC will be turned off.

This device cannot be used in the torque control mode.

3 - 16

3. SIGNALS AND WIRING

Device Symbol Function and application AND wrning CWNG When warning has occurred, WNG turns on. When a warning is not occurring, turning on the power OR warning XWNG Warning for A-axis WNG-A Warning for B-axis WNG-B Warning for C-axis WNG-C AND battery warning CBWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has OR battery warning XBWNG Battery warning for A-

axis Battery warning for B-

axis Battery warning for C-

axis AND variable gain

selection OR variable gain

selection Variable gain

selection for A-axis Variable gain

selection for B-axis Variable gain

selection for C-axis AND absolute

position undetermined

OR absolute position undetermined

Absolute position undetermined for Aaxis

Absolute position undetermined for Baxis

Absolute position undetermined for Caxis

AND during tough drive

OR during tough drive XMTTR Tough drive for A-axis MTTR-A Tough drive for B-axis MTTR-B Tough drive for C-

axis AND during fully

closed loop control OR during fully closed

loop control During fully closed

loop control A-axis During fully closed

loop control B-axis During fully closed

loop control C-axis

BWNG-A

BWNG-B

BWNG-C

CCDPS CDPS will turn on during variable gain.

XCDPS

CDPS-A

CDPS-B

CDPS-C

CABSV ABSV turns on when the absolute position is undetermined.

XABSV

ABSV-A

ABSV-B

ABSV-C

CMTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive

MTTR-C

CCLDS CLDS turns on during fully closed loop control.

XCLDS

CLDS-A

CLDS-B

CLDS-C

will turn off WNG after about 3 s.

occurred. When the battery warning is not occurring, BWNG will turn off about 3 s after power-on.

The device cannot be used in the speed control mode and torque control mode.

will turn on MTTR.

3 - 17

3. SIGNALS AND WIRING

3.5.3 Output signal

LA-A

LB-A

LA-B

LB-B

Connector

Pin No.

CN3-3

CN3-16

CN3-4

CN3-17

CN3-5

CN3-18

CN3-6

CN3-19

Function and application

The encoder output pulses set in [Pr. PA15] and [Pr. PA16] are output in differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder Aphase pulse by a phase angle of π/2.

The relation between rotation direction and phase difference of the A-phase and Bphase pulses can be changed with [Pr. PC03].

Output pulse specification, dividing ratio setting, and electronic gear setting can be selected.

These signals cannot be used for MR-J4W3-_B.

Signal name Symbol

Encoder A-phase pulse A

(differential line driver)

Encoder B-phase pulse A

(differential line driver)

Encoder A-phase pulse B

(differential line driver)

Encoder B-phase pulse B

(differential line driver)

LAR-A

LBR-A

LAR-B

LBR-B

3.5.4 Power supply

Signal name Symbol

Digital I/F power input DICOM CN3-23 Input 24 V DC (24 V DC ± 10% MR-J4W2-_B: 350 mA, MR-J4W3-_B: 450 mA) for I/O

Digital I/F common DOCOM CN3-26 Common terminal for input device such as EM2 of the servo amplifier. This is separated

Control common LG CN3-14 This is for encoder output pulses (differential line driver). Shield SD Plate Connect the external conductor of the shielded wire.

Connector

Pin No.

Function and application

interface. The power supply capacity changes depending on the number of I/O interface points to be used.

For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of 24 V DC external power supply.

from LG. For sink interface, connect - of 24 V DC external power supply. For source interface, connect + of 24 V DC external power supply.

3 - 18

3. SIGNALS AND WIRING

3.6 Forced stop deceleration function

POINT

When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to section 8.1.) When SSCNET III/H communication shut-off occurs, forced stop deceleration will operate. (Refer to section 3.7 (3).) In the torque control mode, the forced stop deceleration function is not available.

3.6.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration. During this sequence, the display shows [AL. E6 Servo forced stop warning]. During normal operation, do not use EM2 (Forced stop 2) to alternate stop and run. The the servo amplifier life may be shortened.

(1) Connection diagram

Servo amplifier

24 V DC

(Note)

Forced stop 2

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

DICOM

EM2

3 - 19

3. SIGNALS AND WIRING

(2) Timing chart

When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], base power is cut and the dynamic brake activates. For MR-J4W_-B servo amplifiers,forced stop deceleration operates for all axes.

ON OFF (Enabled)

0 r/min

ON OFF

ON OFF (Enabled)

Ordinary

operation

[Pr. PC24] (A-axis) (Note)

Forced stop deceleration

Command

Deceleration time

Dynamic brake

Electromagnetic brake

Zero speed ([Pr. PC07])

A-axis

EM2 (Forced stop 2)

Rated speed

Servo motor speed

Base circuit (Energy supply to the servo motor)

MBR-A (Electromagnetic brake interlock A)

Dynamic brake

Ordinary

operation

Rated speed

Servo motor speed

B-axis or C-axis

Base circuit (Energy supply to the servo motor)

MBR-B or MBR-C

Note. To decelerate all axes of A, B, and C, set the same value to [Pr. PC24] for all axes.

0 r/min

[Pr. PC24] (B-axis) (Note)

ON OFF

ON OFF (Enabled)

Forced stop deceleration

Command

Deceleration time

Electromagnetic brake

Zero speed ([Pr. PC07])

3 - 20

3. SIGNALS AND WIRING

3.6.2 Base circuit shut-off delay time function

The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off), alarm occurrence, or SSCNET III/H communication shut-off due to delay time of the electromagnetic brake. Set the time from MBR (Electromagnetic brake interlock) off to base circuit shut-off with [Pr. PC02].

(1) Timing chart

When EM2 (Forced stop 2) turns off or an alarm occurs during driving, the servo motor will decelerate based on the deceleration time constant. MBR (Electromagnetic brake interlock) will turn off, and then after the delay time set in [Pr. PC16], the servo amplifier will be base circuit shut-off status.

A-axis

EM2 (Forced stop 2)

Servo motor speed

ON OFF (Enabled)

0 r/min

B-axis or C-axisC

Base circuit (Energy supply to the servo motor)

MBR-A (Electromagnetic brake interlock A)

Servo motor speed

Base circuit (Energy supply to the servo motor)

MBR-B or MBR-C

ON OFF

ON OFF (Enabled)

0 r/min

ON OFF

ON OFF (Enabled)

[Pr. PC02]

(2) Adjustment

While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.

3 - 21

3. SIGNALS AND WIRING

3.6.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case. When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake. The vertical axis freefall prevention function is enabled with the following conditions.

Other than "0" is set to [Pr. PC31 Vertical axis freefall prevention compensation amount]. EM2 (Forced stop 2) turned off, an alarm occurred, or SSCNETIII/H communication shut-off occurred while the servo motor speed is zero speed or less. The base circuit shut-off delay time function is enabled.

(1) Timing chart

EM2 (Forced stop 2)

ON OFF (Enabled)

Position

Base circuit (Energy supply to the servo motor)

MBR (Electromagnetic brake interlock)

ctual operation of

electromagnetic brake

ON OFF

ON OFF (Enabled)

Disabled Enabled

Travel distance

Set the base circuit shut-off delay time. ([Pr. PC02])

(2) Adjustment

Set the freefall prevention compensation amount in [Pr. PC31]. While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off delay time in [Pr. PC02] in accordance with the travel distance ([Pr. PC31). Adjust it considering the freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.6.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms

occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking

distance until the servo motor stops will be longer than that of normal forced stop deceleration without the dynamic brake.

(3) If STO is turned off during forced stop deceleration, [AL.63 STO timing error] will occur.

3 - 22

3. SIGNALS AND WIRING

3.7 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting

CAUTION

To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

3.7.1 When you use the forced stop deceleration function

operation. When alarms are occurring in all axes of A, B, and C, shut off the main circuit power supply. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

POINT

In the torque control mode, the forced stop deceleration function is not available.

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(1) When the forced stop deceleration function is enabled

When an all-axis stop alarm occur, all axes will be the operation status below. When a corresponding axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the axis that any alarm is not occurring.

Alarm occurrence

(Note 1) Model speed command 0

Servo motor speed

Base circuit (Energy supply to the servo motor)

Servo amplifier display

MBR (Electromagnetic brake interlock)

CALM (AND malfunction)

0 r/min

ON OFF

ON (no alarm) OFF (alarm)

Command is not received.

Alarm No.No alarm

and equal to or less than zero speed

(Note 2)

Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop

deceleration of the servo motor.

2. This is for when the electronic dynamic brake is enabled with [Pr. PF06] while a certain servo motor is used. If the servo motor speed is 5 r/min or higher, the electronic dynamic brake will operate continuously for the time period set in [Pr. PF12].

3 - 23

3. SIGNALS AND WIRING

(2) When the forced stop deceleration function is not enabled

Alarm occurrence

Servo motor speed

Base circuit (Energy supply to the servo motor)

Servo amplifier display

MBR (Electromagnetic brake interlock)

CALM (AND malfunction)

Braking by the dynamic brake

0 r/min

ON OFF

No alarm Alarm No.

Operation delay time of the electromagnetic brake

ON OFF

ON (no alarm) OFF (alarm)

Dynamic brake + Braking by the electromagnetic brake

(3) When SSCNET III/H communication shut-off occurs

When SSCNET III/H communication is broken, all axes will be the operation status below. The dynamic brake may operate depending on the communication shut-off status.

SSCNET III/H communication

Servo motor speed

has broken.

(Note 1) Model speed command 0 and equal to or less than zero speed

0 r/min

Base circuit (Energy supply to the servo motor)

Servo amplifier display

MBR (Electromagnetic brake interlock)

CALM (AND malfunction)

Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop

deceleration of the servo motor.

ON OFF

ON (no alarm) OFF (alarm)

(Note 2)

AANo alarm (d1 or E7)

3 - 24

3. SIGNALS AND WIRING

3.7.2 When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shutoff occurs is the same as section 3.7.1 (2).

3 - 25

3. SIGNALS AND WIRING

3.8 Interfaces

3.8.1 Internal connection diagram

POINT

Refer to section 13.3.1 for the CN8 connector.

(Note 2)

(Note 1)

(Note 6)

24 V DC

USB

CN3

DICOM 23

EM2

DI1-A

DI2-A

DI3-A

DI1-B

DI2-B

DI3-B

DI1-C 1

DI2-C

DI3-C 15

CN5

D- 2

D+

GND

3 5

Approximately

5.6 kΩ

Approximately

5.6 kΩ

Isolated

Servo amplifie

CN3

6 19 14

CN2A

CNP3A

CN2B

CNP3B

CN2C

CNP3C

(Note 6)

DOCOM

MBR-A

MBR-B

MBR-C

CALM

(Note 4)

24 V DC

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

(Note 5) Differential line driver output (35 mA or less)

LB-B

LBR-B

A-axis servo motor

Encoder

MXR

MRR

B-axis servo motor

Encoder

MXR

MRR

C-axis servo motor (Note 3)

Encoder

MXR

MRR

(Note 2)

3 - 26

3. SIGNALS AND WIRING

Note 1. Signal can be assigned for these pins with the controller setting.

For contents of signals, refer to the instruction manual of the controller.

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

3. For the MR-J4 3-axis servo amplifier

4. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].

5. This signal cannot be used for MR-J4W3-_B.

6. 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.

3.8.2 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to section 3.8.3 for source input.

For transistor

Approximately 5 mA

Switch

Servo amplifie

EM2 etc.

Approximately

5.6 k

DICOM

V I

CEO

CES

1.0 V

100 A

24 V DC ± 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

(2) Digital output interface DO-1

This is a circuit of collector output terminal of the output transistor. When the output transistor is turned on, collector terminal current will be applied for the output. A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier. The following shows a connection diagram for sink output. Refer to section 3.8.3 for source output.

Servo amplifie

If polarity of diode is reversed, servo amplifier

CALM etc.

DOCOM

Load

(Note) 24 V DC ± 10%

MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

will malfunction.

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.

3 - 27

3. SIGNALS AND WIRING

(3) Encoder output pulses DO-2 (differential line driver type)

(a) Interface

Maximum output current: 35 mA

Servo amplifier Servo amplifier

LA-A/LA-B (LB-A/LB-B)

LAR-A/LAR-B (LBR-A/LBR-B)

(b) Output pulse

Am26LS32 or equivalent

150

LA-A/LA-B

LAR-A/LAR-B LB-A/LB-B

LAR-A/LAR-B (LBR-A/LBR-B)

Servo motor CCW rotation

LA-A/LA-B (LB-A/LB-B)

Time cycle (T) is determined by the settings of [Pr. PA15], [Pr. PA16] and [Pr. PC03].

100

High-speed photocoupler

LBR-A/LBR-B

3.8.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used. This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.

(1) Digital input interface DI-1

For transistor

Approximately 5 mA

1.0 V

CES

100 A

CEO

Switch

24 V DC ± 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

Servo amplifie

EM2 etc.

Approximately

5.6 k

DICOM

3 - 28

3. SIGNALS AND WIRING

(2) Digital output interface DO-1

This is a circuit of emitter output terminal of the output transistor. When the output transistor is turned on, current will be applied from the output to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.

Servo amplifier

If polarity of diode is reversed, servo amplifier will malfunction.

3.9 SSCNET III cable connection

POINT

Do not look directly at the light generated from CN1A/CN1B connector of the servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye.

CALM etc.

DOCOM

(Note) 24 V DC ± 10%

MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.

Load

(1) SSCNET III cable connection

For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo amplifier of the previous axis. For CN1B connector, connect SSCNET III cable connected to servo amplifier of the next axis. For CN1B connector of the final axis, put a cap came with servo amplifier.

Servo amplifier

SSCNET III cable

CN1A

CN1B

Controller

SSCNET III cable

Servo amplifier The last servo amplifier

SSCNET III cable

CN1A

CN1B

CN1A

Cap

CN1B

3 - 29

3. SIGNALS AND WIRING

(2) How to connect/disconnect cable

POINT

CN1A and CN1B connector are capped to protect light device inside connector from dust. For this reason, do not remove a cap until just before mounting SSCNET III cable. Then, when removing SSCNET III cable, make sure to put a cap. Keep the cap for CN1A/CN1B connector and the tube for protecting optical cord end of SSCNET III cable in a plastic bag with a zipper of SSCNET III cable to prevent them from becoming dirty. When asking repair of servo amplifier for some malfunctions, make sure to cap CN1A and CN1B connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, replacing and repairing the light device is required.

(a) Connection

1) For SSCNET III cable in the shipping status, the tube for protect optical cord end is put on the

end of connector. Remove this tube.

2) Remove the CN1A and CN1B connector caps of the servo amplifier.

3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B

connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.

Servo amplifie

Click

(b) Disconnection

With holding a tab of SSCNET III cable connector, pull out the connector. When pulling out the SSCNET III cable from servo amplifier, be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty. For SSCNET III cable, attach the tube for protection optical cord's end face on the end of connector.

Tab

CN1A

CN1B

CN1A

CN1B

3 - 30

3. SIGNALS AND WIRING

3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Contacts must be opened when CALM (AND malfunction) or MBR (Electromagnetic brake interlock) turns off.

Electromagnetic brake

Servo motor

Contacts must be opened with the EMG stop switch.

24 V DC

CAUTION

for ordinary braking. Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction. When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for operating the electromagnetic brake. Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torques of the electromagnetic brake and can result

The electromagnetic brake is provided for holding purpose and must not be used

in delay of the deceleration to a stop from a set value.

POINT

Refer to the "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake. Refer to the "Servo Motor Instruction Manual (Vol. 3)" or section 11.19 for the selection of a surge absorber for the electromagnetic brake.

Note the following when the servo motor with an electromagnetic brake is used.

1) The brake will operate when the power (24 V DC) turns off.

2) Turn off the servo-on command after the servo motor stopped.

3 - 31

3. SIGNALS AND WIRING

(1) Connection diagram

(Note 1) 24 V DC for electromagnetic brake

EM2

24 V DC

(Note 4)

Servo amplifier

EM2

DICOM

DOCOM

CALM

MBR-A

MBR-B

MBR-C

24 V DC (Note 4)

RA1

RA2

RA3

RA4

(Note 2)

RA5

CALM

RA1

MBR-A

RA2

MBR-B

RA3

MBR-C

RA4

A-axis servo moto

B-axis servo motor

(Note 3)

C-axis servo motor

Note 1. Do not use the 24 V DC interface power supply for the electromagnetic brake.

2. Create the circuit in order to shut off by interlocking with the emergency stop switch.

3. This connection is for the MR-J4 3-axis servo amplifier.

4. 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.

(2) Setting

In [Pr. PC02 Electromagnetic brake sequence output], set the time delay (Tb) from MBR (Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section

3.10.2.

3 - 32

3. SIGNALS AND WIRING

3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) Servo-on command (from controller) on/off

When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not drop down for a vertical axis system, etc.

Tb [Pr. PC02 Electromagnetic brake sequence output]

Coasting

Operation delay time of the electromagnetic brake

(Note 1)

0 r/min

ON OFF

0 r/min

Release Activate

Approx. 95 ms

(Note 3)

Release delay time and external relay, etc. (Note 2)

Servo motor speed

Base circuit

MBR (Electromagnetic brake interlock)

Servo-on command (from controller)

Ready-on command (from controller)

Operation command (from controller)

Electromagnetic brake

Note 1. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to the "Servo Motor Instruction Manual (Vol.

3)".

3. Give the operation command from the controller after the electromagnetic brake is released.

3 - 33

3. SIGNALS AND WIRING

(b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2)

When EM2 is turned off, all axes will be the operation status below.

POINT

In the torque control mode, the forced stop deceleration function is not available.

Servo motor speed

0 r/min

(Note 2) Model speed command 0 and equal to or less than zero speed

Base circuit (Energy supply to the servo motor)

Forced stop command (from controller) or EM2 (Forced stop 2)

MBR (Electromagnetic brake interlock)

CALM (AND malfunction)

Note 1. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

(Note 1)

ON OFF

Disabled (ON) Enabled (OFF)

ON OFF

ON (no alarm) OFF (alarm)

The operation status during an alarm is the same as section 3.7.

(d) Both main and control circuit power supplies off

When both main and control circuit power supplies are turned off, all axes will be the operation status below.

Servo motor speed

Base circuit

MBR (Electromagnetic brake interlock)

Alarm ([AL.10 Undervoltage])

(Note 2)

0 r/min

ON OFF

No alarm Alarm

Approx. 10 ms

(Note 1)

Dynamic brake

Dynamic brake + Electromagnetic brake

Electromagnetic brake

Operation delay time of the electromagnetic brake

Main circuit Control circuit

Note 1. Variable according to the operation status.

2. ON : Electromagnetic brake is not activated.

Power supply

OFF: Electromagnetic brake is activated.

ON OFF

3 - 34

3. SIGNALS AND WIRING

(e) Main circuit power supply off during control circuit power supply on

When the main circuit power supply is turned off, all axes will be the operation status below.

POINT

In the torque control mode, the forced stop deceleration function is not available.

Servo motor speed

Main circuit power supply

Base circuit (Energy supply to the servo motor)

The time until a voltage drop is detected.

0 r/min

ON OFF

Forced stop deceleration

Dynamic brake

Approx. 10 ms

(Note 2)

Dynamic brake + Electromagnetic brake

Electromagnetic brake

MBR (Electromagnetic brake interlock)

CALM (AND malfunction)

Note 1. ON : Electromagnetic brake is not activated.

2. Variable according to the operation status.

(f) Ready-off command from controller

When ready-off is received, all axes will be the operation status below.

Servo motor speed

Base circuit

MBR (Electromagnetic brake interlock)

Ready-on command (from controller)

(Note 1)

OFF

ON (no alarm) OFF (alarm)

OFF: Electromagnetic brake is activated.

Approx. 10 ms

0 r/min

ON OFF

(Note)

OFF

ON OFF

Operation delay time of the electromagnetic brake

Dynamic brake

Dynamic brake + Electromagnetic brake

Electromagnetic brake

Operation delay time of the electromagnetic brake

Note. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

3 - 35

3. SIGNALS AND WIRING

(2) When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) Servo-on command (from controller) on/off

It is the same as (1) (a) in this section.

(b) Off/on of the forced stop command (from controller) or EM1 (Forced stop)

When the controller forced stop warning is received from a controller or EM1 is turned off, all axes will be the operation status below.

Servo motor speed

Base circuit

MBR (Electromagnetic brake interlock)

Forced stop command (from controller) or EM1 (Forced stop)

(Note)

0 r/min

ON OFF

Disabled (ON) Enabled (OFF)

Approx. 10 ms

Dynamic brake

Dynamic brake + Electromagnetic brake

Electromagnetic brake

Operation delay time of the electromagnetic brake

Electromagnetic brake has released.

Approx. 210 ms

Note. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

The operation status during an alarm is the same as section 3.7.

(d) Both main and control circuit power supplies off

It is the same as (1) (d) in this section.

3 - 36

3. SIGNALS AND WIRING

(e) Main circuit power supply off during control circuit power supply on

When the main circuit power supply is turned off, all axes will be the operation status below.

Servo motor speed

0 r/min

(Note 2)

ON OFF

No alarm Alarm

Base circuit

MBR (Electromagnetic brake interlock)

Alarm [AL.10 Undervoltage]

Approx. 10 ms

(Note 1)

Dynamic brake

Dynamic brake + Electromagnetic brake

Electromagnetic brake

Operation delay time of the electromagnetic brake

Main circuit power supply

Note 1. Variable according to the operation status.

2. ON : Electromagnetic brake is not activated.

(f) Ready-off command from controller

It is the same as (1) (f) in this section.

ON OFF

OFF: Electromagnetic brake is activated.

3 - 37

3. SIGNALS AND WIRING

3.11 Grounding

Ground the servo amplifier and servo motor securely.

WARNING

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

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

(Note 1) Power supply

) of the servo amplifier to the protective earth (PE) of the cabinet.

Cabinet

MCCB

Line filter

Servo amplifier

CNP1

CNP2 L11 L21

CN2A

CNP3A

U V

(Note 3)

A-axis servo motor

U V

Encoder

controller

Servo system

Protective earth (PE)

CNP3B

U V

CNP3C

U V

CN2B

(Note 3)

CN2C

(Note 3)

Outer box

B-axis servo motor

Encoder

C-axis servo motor

(Note 2)

Encoder

Note 1. For power supply specifications, refer to section 1.3.

2. For the MR-J4 3-axis servo amplifier

3. Be sure to connect it to the protective earth of the cabinet.

of CNP3A, CNP3B, and CNP3C. Do not connect the wire directly to

3 - 38

4. STARTUP

WARNING

CAUTION

Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. 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. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

POINT

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

4 - 1

4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check

Surrounding environment check

Axis No. settings

Parameter setting

Test operation of the servo motor

alone in test operation mode

Test operation of the servo

motor alone by commands

Test operation with the servo

motor and machine connected

Gain adjustment

Actual operation

Stop

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section 4.1.2.)

Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1.3.)

Confirm that the control axis No. set with the auxiliary axis number setting switches (SW2-5 and SW2-6) and with the axis selection rotary switch (SW1) match the control axis No. set with the servo system controller. (Refer to section 4.3.1 (3).)

Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Refer to chapter 5.)

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to section 4.5.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

After connecting the servo motor with the machine, check machine motions with sending operation commands from the servo system controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation.

4 - 2

4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.

(a) Power supply system wiring

The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

1) The CNP3A, CNP3B, or CNP3C connector should be connected to each A-axis, B-axis, or C-axis servo motor. The servo amplifier power output (U, V, and W) should match in phase with the servo motor power input terminals (U, V, and W).

Servo amplifier A-axis servo motor

U V

B-axis servo motor

U V

CNP3A

CNP3B

U V

C-axis servo motor

U V

CNP3C

U V

2) The power supplied to the servo amplifier should not be connected to the servo motor power terminals (U, V, and W). To do so will fail the connected servo amplifier and servo motor.

Servo amplifier Servo motor

3) The grounding terminal of the servo motor should be connected to the PE terminal of the CNP3_ connector of the servo amplifier.

Servo amplifier Servo motor

4) The CN2A, CN2B, or CN2C connector should be connected using encoder cables securely to each A-axis, B-axis, or C-axis encoder of the servo motors.

4 - 3

4. STARTUP

When you use a regenerative option

The regenerative option wire should be connected between P+ terminal and C terminal. A twisted cable should be used. (Refer to section 11.2.4.)

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to perform a wiring check. In this case, switch on the control circuit power supply only. Refer to section 3.2 for details of I/O signal connection.

(b) 24 V DC or higher voltage is not applied to the pins of the CN3 connector.

Servo amplifie

CN3

DOCOM

Plate

4.1.3 Surrounding environment

(1) Cable routing

(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4.2 Startup

POINT

The controller recognizes MR-J4 2-axis servo amplifiers as two servo amplifiers and 3-axis servo amplifiers as three servo amplifiers. For this reason, select "MR-J4-B" for each of the A-axis, the B-axis, and the C-axis. The following table shows the servo amplifier settings in the controller when the MR-J4 multi-axis servo amplifier is used.

Compatible controller Servo amplifier selection

Motion controller (R_MTCPU/Q17_DSCPU) Simple motion module (RD77MS_/QD77MS_)

Select "MR-J4-B" in the system setting screen.

Select "MR-J4-B" in "Servo series" [Pr. 100] of the servo parameter.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4 - 4

4. STARTUP

(1) Power on

When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the servo amplifier display. When the absolute position detection system is used in a rotary servo motor, first power-on results in [AL. 25 Absolute position erased] and the servo-on cannot be ready. The alarm can be deactivated by then switching power off once and on again. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Parameter setting

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC04] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for details. After setting the above parameters, switch power off as necessary. Then switch power on again to enable the parameter values.

(3) Servo-on

Enable the servo-on with the following procedure.

(a) Switch on main circuit power supply and control circuit power supply.

(b) Transmit the servo-on command with the servo system controller.

When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

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4. STARTUP

(5) Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.

Servo system controller

Servo amplifier

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier

4.3 Switch setting and display of the servo amplifier

Operation/command Stopping condition

Servo-off command The base circuit is shut off and the servo motor coasts.

Ready-off command

Forced stop command

Alarm occurrence

EM2 (Forced stop 2) off

STO (STO1, STO2) off

Instruction Manual (Troubleshooting)" for details of alarms and warnings.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

The servo motor decelerates to a stop with the command. [AL. E7 Controller forced stop warning] occurs.

The servo motor decelerates to a stop with the command. With some alarms, however, the dynamic brake operates to bring the servo motor to a stop. (Refer to section 8. (Note))

The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same device as EM1 in the torque control mode. Refer to section 3.5 for EM1.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with switches on the servo amplifier. On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an alarm.

4.3.1 Switches

When switching the axis selection rotary switch (SW1) and auxiliary axis number setting switch (SW2), use an insulated screw driver. Do not use a metal screw

WARNING

driver. Touching patterns on electronic boards, lead of electronic parts, etc. may cause an electric shock.

POINT

Turning "ON (up)" all the control axis setting switches (SW2) enables an operation mode for manufacturer setting and displays "off". The mode is not available. Set the control axis setting switches (SW2) correctly according to this section. Cycling the main circuit power supply and control circuit power supply enables the setting of each switch.

4 - 6

4. STARTUP

The following explains the test operation select switch, the disabling control axis switches, auxiliary axis number setting switches, and the axis selection rotary switch.

3-dight, 7-segment LED

Control axis setting switch (SW2)

MR-J4 2-axis servo amplifier

1ON2 3 4 5 6

Auxiliary axis number setting switch For manufacturer setting Control axis deactivation switch Test operation select switch

123456

Axis selection rotary switch (SW1)

MR-J4 3-axis servo amplifier

1ON2 3 4 5 6

Auxiliary axis number setting switch Control axis deactivation switch Test operation select switch

(1) Test operation select switch (SW2-1)

To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the switch enables the test operation mode for all axes. In the test operation mode, the functions such as JOG operation, positioning operation, and machine analyzer are available with MR Configurator2. Before turning "ON (up)" the test operation select switch, turn "OFF (down)" the disabling control axis switches.

MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

1ON2 3 4 5 6

Control axis deactivation switch Set to the "OFF (down)" position.

Test operation select switch Set to the "ON (up)" position.

1ON2 3 4 5 6

Control axis deactivation switch Set to the "OFF (down)" position.

Test operation select switch Set to the "ON (up)" position.

(2) Disabling control axis switches (SW2-2, SW2-3, and SW2-4)

Turning "ON (up)" a disabling control axis switch disables the corresponding servo motor. The servo motor will be disabled-axis status and will not be recognized by the controller. The following shows the disabling control axis switches for each axis.

MR-J4 2-axis servo amplifier

1ON2 3 4 5 6

For manufacturer setting Disabling control axis switch for B-axis Disabling control axis switch for A-axis

MR-J4 3-axis servo amplifier

1ON2 3 4 5 6

Disabling control axis switch for C-axi Disabling control axis switch for B-axis Disabling control axis switch for A-axis

Disable the axis that you do not use. Set them from the last axis to the first axis in order. When only the first axis is disabled, [AL. 11 Switch setting error] occurs. The following lists show the enabled axes that the controller recognizes and the disabled axes that the controller do not recognize.

4 - 7

4. STARTUP

MR-J4 2-axis servo amplifier

Disabling control

axis switch

1ON2 3 4 5 6

A-axis B-axis

Enabled Enabled

Enabled

Disabled

[AL. 11] occurs.

(3) Switches for setting control axis No.

Disabling control

axis switch

1ON2 3 4 5 6

POINT

The control axis No. set to the auxiliary axis number setting switches (SW2-5 and SW2-6) and the axis selection rotary switch (SW1) should be the same as the one set to the servo system controller. The number of the axes you can set depends on the servo system controller. For setting the axis selection rotary switch, use a flat-blade screwdriver with the blade edge width of 2.1 mm to 2.3 mm and the blade edge thickness of 0.6 mm to 0.7 mm. When the test operation mode is selected with the test operation select switch (SW2-1), the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked.

MR-J4 3-axis servo amplifier

A-axis B-axis C-axis

Enabled Enabled Enabled

Enabled Enabled

Enabled Disabled

[AL. 11] occurs.

Disabling control

axis switch

1ON2 3 4 5 6

Disabled

1ON2 3 4 5 6

Disabled

1ON2 3 4 5 6

A-axis B-axis C-axis

[AL. 11] occurs.

You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches with the axis selection rotary switch. (Refer to (3) (c) of this section.) If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the SSCNET III cable connection sequence. The following shows the description of each switch.

(a) Auxiliary axis number setting switches (SW2-5 and SW2-6)

Turning these switches "ON (up)" enables you to set the axis No. 17 or more.

(b) Axis selection rotary switch (SW1)

You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches with the axis selection rotary switch. (Refer to (3) (c) of this section.)

xis selection rotary switch (SW1)

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4. STARTUP

POINT

Set control axis Nos. for one system. For details of the control axis No., refer to the servo system controller user's manual.

The following lists show the setting combinations of the auxiliary axis number setting switches and the axis selection rotary switch.

1) MR-J4 2-axis servo amplifier The control axis No. of A-axis is set as 1 to 63 and B-axis is set as 2 to 64.

Auxiliary axis number setting switch

1ON2 3 4 5 6

Auxiliary axis number setting switch

1ON2 3 4 5 6

Note. When B-axis is set as disabled-axis, A-axis is used as 64 axes. When B-axis is not set as non-

axis, [AL. 11 Switch setting error] occurs.

Axis selection rotary switch

0 1 2 1 2 3 1 18 19 2 3 4 2 19 20 3 4 5 3 20 21 4 5 6 4 21 22 5 6 7 5 22 23 6 7 8 6 23 24 7 8 9 7 24 25 8 9 10 8 25 26 9 10 11 9 26 27 A 11 12 A 27 28 B 12 13 B 28 29 C 13 14 C 29 30 D 14 15 D 30 31 E 15 16 E 31 32 F 16 17 F 32 33

Axis selection rotary switch

0 33 34 1 34 35 1 50 51 2 35 36 2 51 52 3 36 37 3 52 53 4 37 38 4 53 54 5 38 39 5 54 55 6 39 40 6 55 56 7 40 41 7 56 57 8 41 42 8 57 58 9 42 43 9 58 59 A 43 44 A 59 60 B 44 45 B 60 61 C 45 46 C 61 62 D 46 47 D 62 63 E 47 48 E 63 64 F 48 49 F (Note)

Control axis No.

Aaxis B-axis

Control axis No.

Aaxis B-axis

Auxiliary axis number setting switch

1ON2 3 4 5 6

Auxiliary axis number setting switch

1ON2 3 4 5 6

Axis selection rotary switch

0 17 18

Axis selection rotary switch

0 49 50

Control axis No.

Aaxis B-axis

Control axis No.

Aaxis B-axis

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4. STARTUP

2) MR-J4 3-axis servo amplifier The control axis No. of A-axis is set as 1 to 62, B-axis is set as 2 to 63, and C-axis is set as 3 to

64.

Auxiliary axis number setting switch

1ON2 3 4 5 6

Auxiliary axis number setting switch

1ON2 3 4 5 6

Note 1. When C-axis is set as disabled-axis, A-axis is used as 63 axes and B-axis is used as 64-axes. When C-axis is

2. When B-axis and C-axis are set as disabled-axes, A-axis is used as 64 axes. When B-axis and C-axis are not

Axis selection rotary switch

0 1 2 3 1 2 3 4 1 18 19 20 2 3 4 5 2 19 20 21 3 4 5 6 3 20 21 22 4 5 6 7 4 21 22 23 5 6 7 8 5 22 23 24 6 7 8 9 6 23 24 25 7 8 9 10 7 24 25 26 8 9 10 11 8 25 26 27 9 10 11 12 9 26 27 28 A 11 12 13 A 27 28 29 B 12 13 14 B 28 29 30 C 13 14 15 C 29 30 31 D 14 15 16 D 30 31 32 E 15 16 17 E 31 32 33 F 16 17 18 F 32 33 34

Axis selection rotary switch

0 33 34 35 1 34 35 36 1 50 51 52 2 35 36 37 2 51 52 53 3 36 37 38 3 52 53 54 4 37 38 39 4 53 54 55 5 38 39 40 5 54 55 56 6 39 40 41 6 55 56 57 7 40 41 42 7 56 57 58 8 41 42 43 8 57 58 59 9 42 43 44 9 58 59 60 A 43 44 45 A 59 60 61 B 44 45 46 B 60 61 62 C 45 46 47 C 61 62 63 D 46 47 48 D 62 63 64 E 47 48 49 E (Note 1) F 48 49 50 F (Note 2)

not set as disabled-axis, [AL. 11 Switch setting error] occurs.

set as disabled-axes, [AL. 11 Switch setting error] occurs.

Control axis No.

Aaxis B-axis C-axis

Control axis No.

Aaxis B-axis C-axis

Auxiliary axis number setting switch

1ON2 3 4 5 6

Auxiliary axis number setting switch

1ON2 3 4 5 6

Axis selection rotary switch

0 17 18 19

Axis selection rotary switch

0 49 50 51

Control axis No.

Aaxis B-axis C-axis

Control axis No.

Aaxis B-axis C-axis

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4. STARTUP

4.3.2 Scrolling display

Displaying the status of each axis in rotation enables you to check the status of all axes.

(1) Normal display

When there is no alarm, the status of all axes are displayed in rotation.

MR-J4 2-axis servo amplifie

After 1.6 s

A-axis status

Blank

After 0.2 s

B-axis status

After 1.6 s

Blank

After 0.2 s

A-axis status

After 0.2 s

After 1.6 s

Blank

After 0.2 s

B-axis status

After 1.6 s

Blank

MR-J4 3-axis servo amplifie

After 1.6 s

A-axis status

Status

(1 digit)

Axis No. (2 digits)

"b"

: Indicates ready-off and servo-off status.

"C"

: Indicates ready-on and servo-off status.

"d"

: Indicates ready-on and servo-on status.

Blank

After 0.2 s

B-axis status

After 1.6 s

Blank

After 0.2 s

C-axis status

After 0.2 s

After 1.6 s

After 0.2 s After 1.6 s

Blank

(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed following the status display. For example, the following shows when [AL. 16 Encoder initial communication error 1] is occurring at the A-axis, and [AL. 32 Overcurrent] is occurring at the B-axis simultaneously.

MR-J4 2-axis servo amplifie

After 0.8 s After 0.8 s

A-axis status

A-axis alarm

No.

Blank

After 0.2 s

B-axis status

After 0.8 s

B-axis alarm

After 0.8 s

No.

Blank

After 0.2 s

Status

(1 digit)

Axis No. (2 digits)

"n": Indicates that an alarm is occurring.

Alarm No.

(2 digits)

Alarm detail

(1 digit)

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4. STARTUP

4.3.3 Status display of an axis

(1) Display sequence

Servo amplifier power on

Servo system controller power on

(SSCNET III/H communication begins)

System check in progress

Waiting for servo system controller power to switch on (SSCNET III/H communication)

Initial data communication with the servo system controller (initialization communication)

When alarm occurs, its alarm code appears.

Servo system controller power off

Servo system controller power on

(Note)

Ready-on

(Note)

Servo-on

(Note)

Ordinary operation

Ready-off and ready-off

Ready-on and servo-off

Ready-on and servo-on

When an alarm No. or warning No. is displayed

Example:

When [AL. 50 Overload 1] occurs at axis No. 1

Flickering

After 0.8 s

Flickering

After 0.8 s

Blank

When [AL. E1 Overload warning 1] occurs at axis No. 1

Flickering

After 0.8 s

Flickering

After 0.8 s

Blank

During a non servo-off causing warning, the decimal point on the third digit LED shows the servo-on status.

Alarm reset or warning cleared

Note.

Axis

No. 1

Axis

No. 2

The segment of the last 2 digits shows the axis number.

Axis

No. 64

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4. STARTUP

(2) Indication list

Indication Status Description

A b

A b .

A C

A d

A E

A F

A H

A A

(Note 1)

(Note 2)

(Note 1)

b # #

d # #

C # #

* **

8 88

# #b.

# #d.

# #C.

Note 1. The meanings of ## are listed below.

2. *** indicates the alarm No. and the warning No. "A" in the third digit indicates the A-axis, "B" indicates the B-axis, and "C" indicates the C-axis.

3. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

Initializing System check in progress

Power of the servo amplifier was switched on at the condition that the power of the servo system controller is off.

The control axis No. set to the auxiliary axis number setting switches (SW2-5 and SW2-6) and the axis selection rotary switch (SW1) do not match the one set to the

Initializing

Initializing During initial setting for communication specifications

Initializing

Initializing During initial parameter setting communication with servo system controller

Initializing

Initializing During initial signal data communication with servo system controller

Initializing completion

Initializing standby

Ready-off The ready off signal from the servo system controller was received.

Servo-on The ready off signal from the servo system controller was received.

Servo-off The ready off signal from the servo system controller was received.

Alarm/warning

CPU error CPU watchdog error has occurred.

(Note 3) Test operation mode

servo system controller. A servo amplifier malfunctioned, or communication error occured with the servo

system controller or the previous axis servo amplifier. In this case, the indication changes as follows.

"Ab" → "AC" → "Ad" → "Ab"

The servo system controller is malfunctioning.

Initial setting for communication specifications completed, and then it synchronized with servo system controller.

During the servo motor/encoder information and telecommunication with servo system controller

The process for initial data communication with the servo system controller is completed.

The power supply of servo system controller is turned off during the power supply of servo amplifier is on.

The alarm No. and the warning No. that occurred is displayed. (Refer to chapter 8. (Note 4))

Motor-less operation

## Description 01 Axis No. 1

64 Axis No. 64

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4. STARTUP

4.4 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier.

Test operation of the servo motor

alone in JOG operation of test

operation mode

Test operation of the servo motor

alone by commands

Test operation with the servo motor

and machine connected

4.5 Test operation mode

CAUTION

POINT

If necessary, verify controller program by using motor-less operation. Refer to section 4.5.2 for the motor-less operation.

In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly. Refer to section 4.5 for the test operation mode.

In this step, confirm that the servo motor rotates correctly under the commands from the controller. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. Check any problems with the servo motor speed, load ratio, and other status display items with MR Configurator2. Then, check automatic operation with the program of the controller.

The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use the servo motor alone. If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT

The content described in this section indicates that the servo amplifier and a personal computer are directly connected.

By using a personal computer and MR Configurator2, you can execute jog operation, positioning operation, DO forced output program operation without connecting the servo system controller.

4 - 14

4. STARTUP

4.5.1 Test operation mode in MR Configurator2

Item Default value Setting range

Speed [r/min] 200 0 to max. speed

Acceleration/deceleration

time constant [ms]

Operation Screen control

Forward rotation start Keep pressing the "Forward" button.

Reverse rotation start Keep pressing the "Reverse" button.

Stop Release the "Forward" or "Reverse" button.

Forced stop Click the "Forced stop" button.

Operation Screen control

Forward rotation start Click the "Forward" button.

Reverse rotation start Click the "Reverse" button.

Stop Click the "Stop" button.

Forced stop Click the "Forced stop" button.

(1) Test operation mode

(a) Jog operation

Jog operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the jog operation screen of MR Configurator2.

1) Operation pattern

2) Operation method

When the check box of "Rotation only while the CCW or CW button is being pushed." is checked.

When the check box of "Rotation only while the CCW or CW button is being pushed." is not checked.

POINT

All axes will be in the test operation mode for the multi-axis servo amplifier. Although only one axis is active in the mode. When the test operation mode is selected with the test operation select switch (SW2-1), the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked.

1000 0 to 50000

4 - 15

4. STARTUP

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.

1) Operation pattern

2) Operation method

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the program operation screen of MR Configurator2. For full information, refer to the MR Configurator2 Installation Guide.

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.

Item Default value Setting range

Travel distance [pulse] 4000 0 to 99999999

Speed [r/min] 200 0 to max. speed

Acceleration/deceleration

time constant [ms]

Repeat pattern

Dwell time [s] 2.0 0.1 to 50.0

Number of repeats [time] 1 1 to 9999

Operation Screen control

Forward rotation start Click the "Forward" button.

Reverse rotation start Click the "Reverse" button.

Pause Click the "Pause" button.

Stop Click the "Stop" button.

Forced stop Click the "Forced stop" button.

Operation Screen control

Start Click the "Start" button.

Pause Click the "Pause" button.

Stop Click the "Stop" button.

Forced stop Click the "Forced stop" button.

1000 0 to 50000

Fwd. rot. (CCW) to rev. rot. (CW)

Fwd. rot. (CCW) to

rev. rot. (CW)

Fwd. rot. (CCW) to fwd. rot. (CCW)

Rev. rot. (CW) to fwd. rot. (CCW)

Rev. rot. (CW) to rev. rot. (CW)

4 - 16

4. STARTUP

(2) Operation procedure

1) Turn off the power.

2) Turn "ON (up)" SW2-1.

123456

Set SW2-1 to "ON (up)".

1ON2 3 4 5 6

Turning "ON (up)" SW2-1 during power-on will not start the test operation mode.

3) Turn on the servo amplifier.

When initialization is completed, the decimal point on the first digit will flicker.

Example: MR-J4 2-axis servo amplifier

When an alarm or warning also occurs during the test operation, the decimal point will flicker.

4) Start operation with the personal computer.

4.5.2 Motor-less operation in controller

POINT

Use motor-less operation which is available by making the servo system controller parameter setting. Connect the servo amplifier with the servo system controller before the motorless operation. The motor-less operation using a controller is available with rotary servo motors only. It will be available with linear servo motors and direct drive motors in the future.

After 1.6 s After 0.2 s After 1.6 s

Flickering Flickering

After 0.2 s

After 0.8 s After 0.8 s

Flickering Flickering

After 0.2 s

4 - 17

4. STARTUP

(1) Motor-less operation

Without connecting a servo motor to servo amplifier, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the servo system controller. To stop the motor-less operation, set the motor-less operation selection to "Disable" in the servo parameter setting of the servo system controller. When the power supply is turned on next time, motorless operation will be disabled.

(a) Load conditions

(b) Alarms

The following alarms and warning do not occur. However, the other alarms and warnings occur as when the servo motor is connected.

Alarm and warning

[AL.16 Encoder initial communication error 1] [AL.1E Encoder initial communication error 2] [AL.1F Encoder initial communication error 3] [AL. 20 Encoder normal communication error 1] [AL. 21 Encoder normal communication error 2] [AL. 25 Absolute position erased] [AL. 28 Linear encoder error 2] [AL. 2A Linear encoder error 1] [AL. 2B Encoder counter error] [AL. 92 Battery cable disconnection warning] [AL. 9F Battery warning] [AL. 70 Load-side encoder error 1] [AL. 71 Load-side encoder error 2]

Note. The fully closed loop system is available for the MR-J4W2-_B servo amplifiers of which software version is A3 or above. Check

the software version using MR Configurator2.

Load item Condition

Load torque 0

Load to motor inertia ratio Same as the moment of inertia of the servo motor

Rotary servo

motor

Linear servo motor Direct drive motor

(Note) Rotary servo motor in fully closed

loop system

4 - 18

4. STARTUP

(2) Operation procedure

1) Set the servo amplifier to the servo-off status.

2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode

switch (SW2-1), and then turn on the power supply.

3) Start the motor-less operation with the servo system controller.

The display shows the following screen.

123456

Set SW2-1 to "OFF (down)".

1ON2 3 4 5 6

The decimal point flickers.

4 - 19

4. STARTUP

MEMO

4 - 20

5. PARAMETERS

CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable. If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting. Do not set values other than described values to each parameter.

POINT

The following parameters are not available with 200 W or more MR-J4W_-_B servo amplifiers.

[Pr. PC09 Analog monitor 1 output] [Pr. PC10 Analog monitor 2 output] [Pr. PC11 Analog monitor 1 offset] [Pr. PC12 Analog monitor 2 offset] [Pr. PC13 Analog monitor - Feedback position output standard data - Low]

[Pr. PC14 Analog monitor - Feedback position output standard data - High] The following parameters are not available with MR-J4W2-0303B6 servo amplifiers.

[Pr. PA02 Regenerative option]

[Pr. PA17 Servo motor series setting]

[Pr. PA18 Servo motor type setting]

[Pr. PA22 Position control composition selection]

[Pr. PC20 Function selection C-7]

[Pr. PC27 Function selection C-9]

[Pr. PE01 Fully closed loop function selection 1]

[Pr. PE03 Fully closed loop function selection 2]

[Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 -

Numerator]

[Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 -

Denominator] [Pr. PE06 Fully closed loop control - Speed deviation error detection level] [Pr. PE07 Fully closed loop control - Position deviation error detection level] [Pr. PE08 Fully closed loop dual feedback filter] [Pr. PE10 Fully closed loop function selection 3] [Pr. PE34 Fully closed loop control - Feedback pulse electronic gear 2 -

Numerator] [Pr. PE35 Fully closed loop control - Feedback pulse electronic gear 2 -

Denominator]

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4W2-0303B6 servo amplifiers. When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter. Setting may not be made to some parameters and their ranges depending on the servo system controller model, servo amplifier software version, and MR Configurator2 software version. For details, refer to the servo system controller user's manual.

5 - 1

5. PARAMETERS

5.1 Parameter list

POINT

The parameter whose symbol is preceded by * is enabled with the following conditions: *: After setting the parameter, cycle the power or reset the controller. **: After setting the parameter, cycle the power. How to set parameters Each: Set parameters for each axis of A, B, and C. Common: Set parameters for common axis of A, B, and C. Be sure to set the

The same values are set as default for all axes. Abbreviations of operation modes indicate the followings. Standard: Standard (semi closed loop system) use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use. D.D.: Direct drive (D.D.) motor use. For MR-J4W2-0306B6 servo amplifiers, the operation mode is available only in standard (semi closed loop system). Setting an out of range value to each parameter will trigger [AL. 37 Parameter error].

same value to all axes.

5 - 2

5. PARAMETERS

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation

mode

No. Symbol Name

PA01 **STY Operation mode 1000h Each PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h Each PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000 PA06 1 PA07 1 PA08 ATU Auto tuning mode 0001h Each PA09 RSP Auto tuning response 16 Each PA10 INP In-position range 1600 [pulse] Each PA11 For manufacturer setting 1000.0 PA12 1000.0 PA13 0000h PA14 *POL Rotation direction selection/travel direction selection 0 Each PA15 *ENR Encoder output pulses 4000 [pulse/rev] Each PA16 *ENR2 Encoder output pulses 2 1 Each PA17 **MSR Servo motor series setting 0000h Each PA18 **MTY Servo motor type setting 0000h Each PA19 *BLK Parameter writing inhibit 00ABh Each PA20 *TDS Tough drive setting 0000h Each PA21 *AOP3 Function selection A-3 0001h Each PA22 **PCS Position control composition selection 0000h Each PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h Each PA24 AOP4 Function selection A-4 0000h Each PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%] Each PA26 For manufacturer setting 0000h PA27 0000h PA28 0000h PA29 0000h PA30 0000h PA31 0000h PA32 0000h

Initial value

Unit

Each/

Common

Full.

Standard

Lin.

D.D.

5 - 3

5. PARAMETERS

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Operation

mode

No. Symbol Name

PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h Each PB02 VRFT Vibration suppression control tuning mode (advanced vibration

suppression control II) PB03 TFBGN Torque feedback loop gain 18000 [rad/s] Each PB04 FFC Feed forward gain 0 [%] Each PB05 For manufacturer setting 500 PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier] Each PB07 PG1 Model loop gain 15.0 [rad/s] Each PB08 PG2 Position loop gain 37.0 [rad/s] Each PB09 VG2 Speed loop gain 823 [rad/s] Each PB10 VIC Speed integral compensation 33.7 [ms] Each PB11 VDC Speed differential compensation 980 Each PB12 OVA Overshoot amount compensation 0 [%] Each PB13 NH1 Machine resonance suppression filter 1 4500 [Hz] Each PB14 NHQ1 Notch shape selection 1 0000h Each PB15 NH2 Machine resonance suppression filter 2 4500 [Hz] Each PB16 NHQ2 Notch shape selection 2 0000h Each PB17 NHF Shaft resonance suppression filter 0000h Each PB18 LPF Low-pass filter setting 3141 [rad/s] Each PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz] Each PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz] Each PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 Each PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 Each PB23 VFBF Low-pass filter selection 0000h Each PB24 *MVS Slight vibration suppression control 0000h Each PB25 *BOP1 Function selection B-1 0000h Each PB26 *CDP Gain switching function 0000h Each PB27 CDL Gain switching condition 10 [kpulse/s]/

PB28 CDT Gain switching time constant 1 [ms] Each PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain

switching PB30 PG2B Position loop gain after gain switching 0.0 [rad/s] Each PB31 VG2B Speed loop gain after gain switching 0 [rad/s] Each PB32 VICB Speed integral compensation after gain switching 0.0 [ms] Each PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain

switching PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain

switching PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping

after gain switching PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping

after gain switching PB37 For manufacturer setting 1600 PB38 0.00 PB39 0.00 PB40 0.00 PB41 0 PB42 0

Initial value

0000h Each

7.00 [Multiplier] Each

0.0 [Hz] Each

0.00 Each

Unit

[pulse]/

[r/min]

Each/

Common

Full.

Standard

Each

Lin.

D.D.

5 - 4

5. PARAMETERS

Operation

mode

No. Symbol Name

PB43 For manufacturer setting 0000h PB44 0.00 PB45 CNHF Command notch filter 0000h Each PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] Each PB47 NHQ3 Notch shape selection 3 0000h Each PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] Each PB49 NHQ4 Notch shape selection 4 0000h Each PB50 NH5 Machine resonance suppression filter 5 4500 [Hz] Each PB51 NHQ5 Notch shape selection 5 0000h Each PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz] Each PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz] Each PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 Each PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 Each PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain

switching PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain

switching PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping

after gain switching PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping

after gain switching PB60 PG1B Model loop gain after gain switching 0.0 [rad/s] Each PB61 For manufacturer setting 0.0 PB62 0000h PB63 0000h PB64 0000h

Initial value

0.0 [Hz] Each

0.00 Each

Unit

5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Each/

Common

Full.

Standard

Lin.

D.D.

Operation

mode

No. Symbol Name

PC01 ERZ Error excessive alarm level 0 [rev]/

PC02 MBR Electromagnetic brake sequence output 0 [ms] Each PC03 *ENRS Encoder output pulse selection 0000h Each PC04 **COP1 Function selection C-1 0000h Each PC05 **COP2 Function selection C-2 0000h Each PC06 *COP3 Function selection C-3 0000h Each PC07 ZSP Zero speed 50 [r/min]/

PC08 OSL Overspeed alarm detection level 0 [r/min]/

Initial value

Unit

[mm]

[mm/s]

Each/

Common

Each

Full.

Standard

Lin.

D.D.

5 - 5

Mitsubishi Electric MR-J4W2, MR-J4W3, MR-J4W2-0303B6 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

STO function of the servo amplifier

Compliance with global standards

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.3.1 Integrated 2-axis servo amplifier

1.3.2 Integrated 3-axis servo amplifier

1.3.3 Combinations of servo amplifiers and servo motors

1.4 Function list

1.5 Model designation

1.6 Parts identification

1.7 Configuration including auxiliary equipment

2. INSTALLATION

2.1 Installation direction and clearances

2.2 Keep out foreign materials

2.3 Encoder cable stress

2.4 SSCNET III cable laying

2.5 Inspection items

2.6 Parts having service lives

3. SIGNALS AND WIRING

3.1 Input power supply circuit

3.2 I/O signal connection example

3.2.1 For sink I/O interface

3.2.2 For source I/O interface

3.3 Explanation of power supply system

3.3.1 Signal explanations

3.3.2 Power-on sequence

3.3.3 Wiring CNP1, CNP2, and CNP3

3.4 Connectors and pin assignment

3.5 Signal (device) explanations

3.5.1 Input device

3.5.2 Output device

3.5.3 Output signal

3.5.4 Power supply

3.6 Forced stop deceleration function

3.6.1 Forced stop deceleration function

3.6.2 Base circuit shut-off delay time function

3.6.3 Vertical axis freefall prevention function

3.6.4 Residual risks of the forced stop function (EM2)

3.7 Alarm occurrence timing chart

3.7.1 When you use the forced stop deceleration function

3.7.2 When you do not use the forced stop deceleration function

3.8 Interfaces

3.8.1 Internal connection diagram

3.8.2 Detailed description of interfaces

3.8.3 Source I/O interfaces

3.9 SSCNET III cable connection

3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

3.10.2 Timing chart

3.11 Grounding

4. STARTUP

4.1 Switching power on for the first time

4.1.1 Startup procedure

4.1.2 Wiring check

4.1.3 Surrounding environment

4.2 Startup

4.3 Switch setting and display of the servo amplifier

4.3.1 Switches

4.3.2 Scrolling display

4.3.3 Status display of an axis

4.4 Test operation

4.5 Test operation mode

4.5.1 Test operation mode in MR Configurator2

4.5.2 Motor-less operation in controller

5. PARAMETERS

5.1 Parameter list

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

5.1.3 Extension setting parameters ([Pr. PC_ _ ])