Mitsubishi MR-J4W3-222B, MR-J4W3-444B, MR-J4W2-44B, MR-J4W2-1010B, MR-J4W2-22B User Manual

General-Purpose AC Servo

SSCNET /H Interface Multi-axis AC Servo

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SERVO AMPLIFIER INSTRUCTION MANUAL

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						CONTENTS
1. FUNCTIONS AND CONFIGURATION							1- 1 to 1-12
1.1	Summary			...........................................................................................................................................			1- 1
1.2	Function			block diagram.....................................................................................................................			1- 2
1.3	Servo amplifier standard specifications ............................................................................................						1- 3
1.3.1		Integrated				2-axiservo amplifier................................................................................................	1- 3
1.3.2		Integrated				3-axiservo amplifier................................................................................................	1- 5
1.3.3		Combinations of servo amplifier and servo motor .....................................................................					1- 7
1.4	Function list......................................................................................................................................						1- 8
1.5	Model		designation...........................................................................................................................				1- 9
1.6	Parts		identification............................................................................................................................				1-10
1.7	Configuration					including auxiliary equipment....................................................................................	1-11
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 ablec stress ........................................................................................................................						2- 3
2.4	SSCNET III cable laying ...................................................................................................................						2- 3
2.5	Inspection items...............................................................................................................................						2- 5
2.6	Parts		havingservice lives .................................................................................................................				2- 6
3. SIGNALS AND WIRING							3- 1 to 3-38
3.1	Input		powersupply circuit .................................................................................................................				3- 2
3.2	I/O signal connection example..........................................................................................................						3- 5
3.2.1		For		sinkI/O interface..................................................................................................................			3- 5
3.2.2		For		sourceI/O interface .............................................................................................................			3- 7
3.3	Explanation of power supply system ................................................................................................						3- 8
3.3.1		Signalexplanations ....................................................................................................................					3- 8
3.3.2		Power-on sequence ..................................................................................................................					3-10
3.3.3		Wiring			CNP1,CNP2, and CNP3 ...............................................................................................		3-11
3.4	Connectors				andpin assignment ......................................................................................................		3-13
3.5	Signal		(device) explanations............................................................................................................				3-15
3.5.1		Inputdevice...............................................................................................................................					3-15
3.5.2		Outputdevice ............................................................................................................................					3-16
3.5.3		Output signal .............................................................................................................................					3-18
3.5.4		Power supply.............................................................................................................................					3-19
3.6	Forced stop deceleration function ...................................................................................................						3-20
3.6.1 Forced stop deceleration function (SS1)...................................................................................							3-20
3.6.2		Base circuit shut-off delay time function ...................................................................................					3-22
3.6.3 Vertical axis freefall prevention function ...................................................................................							3-23
3.6.4 Residual risks of the forced stop function (EM2) ......................................................................							3-23
3.7	Alarm		occurrenc timing chart.........................................................................................................				3-24
3.7.1		When you use the forced stop deceleration function................................................................					3-24
3.7.2 When you do not use the forced stop deceleration function.....................................................							3-25
3.8	Interfaces .........................................................................................................................................						3-26
3.8.1		Internal			connectiondiagram......................................................................................................		3-26
3.8.2		Detailed description of interfaces..............................................................................................					3-27

1

3.8.3		Source I/Ointerfaces ................................................................................................................		3-28
3.9	SSCNET III cable connection ..........................................................................................................			3-29
3.10	Servo motor with an electromagnetic brake ..................................................................................			3-31
3.10.1			Safetyprecautions ..................................................................................................................	3-31
3.10.2			Timing chart ............................................................................................................................	3-33
3.11	Grounding ......................................................................................................................................			3-38
4. STARTUP				4- 1 to 4-22
4.1	Switching power on for the first time.................................................................................................			4- 1
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- 7
4.3.1		Switches .....................................................................................................................................		4- 7
4.3.2		Scrolling display ........................................................................................................................		4-13
4.3.3		Status display of an axis ...........................................................................................................		4-14
4.4	Test		operation ..................................................................................................................................	4-16
4.5	Test		operation mode........................................................................................................................	4-16
4.5.1		Test operation mode in MR Configurator2................................................................................		4-17
4.5.2		Motor-less operation in controller..............................................................................................		4-19
5. PARAMETERS				5- 1 to 5-4
5.1	Parameter list....................................................................................................................................			5- 1
5.1.1 Basic setting parameters ([Pr. PA_ _ ])......................................................................................				5- 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ...............................................................................				5- 3
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) ..............................................................................				5- 4
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) .........................................................................................				5- 6
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................				5- 7
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])............................................................................				5- 9
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ...............................................				5-10
5.2	Detailed list of parameters ...............................................................................................................			5-12
5.2.1 Basic setting parameters ([Pr. PA_ _ ]).....................................................................................				5-12
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ..............................................................................				5-21
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................				5-34
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................				5-38
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])...........................................................................				5-42
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])...........................................................................				5-44
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ...............................................				5-45
6. NORMAL GAIN ADJUSTMENT				6- 1 to 6-18
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 uningt flowchart ........................................................................................................		6- 3
6.2.2		Display transition and operation procedure of one-touch tuning ...............................................		6- 4
6.2.3		Caution forone-touch tuning......................................................................................................		6- 8

2

6.3	Autotuning........................................................................................................................................			6- 9
6.3.1		Autotuning mode .......................................................................................................................		6- 9
6.3.2		Auto uningt mode basis.............................................................................................................		6-10
6.3.3		Adjustment	procedure by auto tuning .......................................................................................	6-11
6.3.4 Response level setting in auto tuning mode .............................................................................				6-12
6.4	Manualmode ...................................................................................................................................			6-13
6.5	2 gain adjustment mode ..................................................................................................................			6-17
7. SPECIAL ADJUSTMENT FUNCTIONS				7- 1 to 7-28
7.1	Filtersetting ......................................................................................................................................			7- 1
7.1.1		Machine resonanc suppression filter .......................................................................................		7- 1
7.1.2		Adaptivefilter II...........................................................................................................................		7- 4
7.1.3		Shaft resonance suppressionfilter.............................................................................................		7- 6
7.1.4		Low-pass filter ...........................................................................................................................		7- 7
7.1.5		Advanced	vibrationsuppression control II .................................................................................	7-7
7.1.6		Command	notch filter ................................................................................................................	7-12
7.2	Gain switching function....................................................................................................................			7-14
7.2.1		Applications...............................................................................................................................		7-14
7.2.2		Functionblock diagram.............................................................................................................		7-15
7.2.3		Parameter..................................................................................................................................		7-16
7.2.4		Gain switching procedure .........................................................................................................		7-19
7.3	Tough drive function ........................................................................................................................			7-22
7.3.1		Vibration ought drive function....................................................................................................		7-22
7.3.2		Instantaneous power failure tough drive function .....................................................................		7-24
8. TROUBLESHOOTING				8- 1 to 8-10
8.1	Alarm and warning list ......................................................................................................................			8- 1
8.2	Troubleshootingat 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 10-8
10.1	Overload protection characteristics ..............................................................................................			10- 1
10.2	Power supply capacity and generated loss ..................................................................................			10- 2
10.3	Dynamic brake characterist cs......................................................................................................			10- 5
10.3.1		Dynamic	brake operation .......................................................................................................	10- 5
10.3.2 Permissible load to motor inertia when the dynamic brake is used.......................................				10- 6
10.4	Cablebending life .........................................................................................................................			10- 7
10.5 Inrush currents at power-on of main circuit and control circuit.....................................................				10- 7
11. OPTIONS AND AUXILIARY EQUIPMENT				11- 1 to 11-34
11.1 Cable/connector sets .....................................................................................................................				11- 1
11.1.1		Combinations ofcable/connector sets...................................................................................		11- 1
11.1.2		SSCNETIII cable ...................................................................................................................		11- 4

3

11.1.3		Battery cable/junction battery cable .......................................................................................			11- 6
11.1.4		MR-D05UDL3M-BSTO cable................................................................................................			11- 7
11.2	Regenerative options....................................................................................................................				11- 7
11.2.1		Combination andregenerative power....................................................................................			11- 7
11.2.2		Selection ofregenerative option ............................................................................................			11- 8
11.2.3		Parameter setting..................................................................................................................			11-10
11.2.4		Selection ofregenerative option ...........................................................................................			11-11
11.2.5		Dimensions ...........................................................................................................................			11-12
11.3	MR-BT6VCASE battery case and MR-BAT6V1 battery ..............................................................				11-13
11.4	MR Configurator2 ........................................................................................................................				11-14
11.5	Selection			example of wires..........................................................................................................	11-16
11.6	Molded case circuit breakers, fuses, magnetic contactors (recommended) ..............................				11-18
11.7	Power factor improving AC reactors............................................................................................				11-19
11.8	Relays		(recommended)...............................................................................................................		11-20
11.9	Noise		reduction techniques .........................................................................................................		11-21
11.10	Leakage current breaker ...........................................................................................................				11-27
11.11	EMC		filter(recommended) ........................................................................................................		11-30
11.12	Junction terminalblock MR-TB26A ...........................................................................................				11-33
12. ABSOLUTE POSITION DETECTION SYSTEM					12- 1 to 12-8
12.1	Features........................................................................................................................................				12- 1
12.2	Specifications................................................................................................................................				12- 2
12.3	Assembling battery unit .............................................................................................................				12- 5
12.3.1		Required items .......................................................................................................................			12- 5
12.3.2 Disassembly and assembly of the battery case MR-BT6VCASE..........................................					12- 5
12.3.3		Battery ablec removal ............................................................................................................			12- 7
12.4	Confirmation of absolute position detection data .........................................................................				12- 8
13. USING STO FUNCTION					13- 1 to 13-12
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 pin assignment..................................................................				13- 4
13.2.1		Pin		assignment...................................................................................................................	13- 4
13.2.2		Signal (device) explanations ..................................................................................................			13- 5
13.2.3		How to pull out the STO cable ...............................................................................................			13- 5
13.3	Connectionexample .....................................................................................................................				13- 6
13.3.1		Connection examplefor 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- 8
13.3.4 External I/O signal connection example using a motion controller........................................					13- 9
13.4	Detailed			description of interfaces ................................................................................................	13-10
13.4.1		Sink		I/O interface...................................................................................................................	13-10
13.4.2		Source I/Ointerface ..............................................................................................................			13-11

4

14. USING A LINEAR SERVO MOTOR				14- 1 to 14-30
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	Signalsand wiring.........................................................................................................................			14- 3
14.3	Operationand functions................................................................................................................			14- 5
14.3.1		Startup....................................................................................................................................		14- 5
14.3.2		Magnetic	pole detection .........................................................................................................	14- 7
14.3.3		Home position return.............................................................................................................		14-15
14.3.4		Test operation mode in MR Configurator2............................................................................		14-19
14.3.5		Operation	omfr controller ......................................................................................................	14-21
14.3.6		Function.................................................................................................................................		14-23
14.3.7		Absolute	position detection system.......................................................................................	14-25
14.4	Characteristics		.............................................................................................................................	14-26
14.4.1		Overload	protection characteristics ......................................................................................	14-26
14.4.2 Power supply capacity and generated loss ..........................................................................				14-27
14.4.3		Dynamic	brake characterist cs..............................................................................................	14-29
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used...............................				14-30
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	Signalsand wiring.........................................................................................................................			15- 3
15.3	Operationand functions................................................................................................................			15- 4
15.3.1		Startup procedure ..................................................................................................................		15- 5
15.3.2		Magnetic	pole detection .........................................................................................................	15- 6
15.3.3		Operation	omfr controller ......................................................................................................	15-13
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 characterist cs..............................................................................................	15-19
16. FULLY CLOSED LOOP SYSTEM (available in the future)				16- 1 to 16-24
16.1	Functions and configuration .........................................................................................................			16- 1
16.1.1		Functionblock diagram..........................................................................................................		16- 1
16.1.2		Selecting	procedur of control mode .....................................................................................	16- 3
16.1.3		System onfigurationc..............................................................................................................		16- 4
16.2	Load-side encoder ........................................................................................................................			16- 5
16.2.1		Linearencoder .......................................................................................................................		16- 5
16.2.2		Rotary encoder.......................................................................................................................		16- 5
16.2.3		Configuration diagram of encoder cable................................................................................		16- 5
16.2.4		MR-J4FCCBL03M branchablec............................................................................................		16- 7
16.3	Operationand functions................................................................................................................			16- 8
16.3.1		Startup....................................................................................................................................		16- 8
16.3.2		Home position return.............................................................................................................		16-14
16.3.3		Operation	omfr controller ......................................................................................................	16-17

5

16.3.4 Fully closed loop control error detection functions................................................................		16-19
16.3.5	Absolute position detection system under fully closed loop system.....................................	16-21
16.3.6	About MRConfigurator 2 ......................................................................................................	16-22
APPENDIX		App.- 1 to App.-34
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 the CE marking ............................................................................................			App.- 3
App. 5 Compliance with UL/CSA standard .........................................................................................			App.- 6
App. 6 Compliance with KC mark .......................................................................................................			App.- 9
App. 7	MR-J3-D05 Safety logic unit....................................................................................................		App.- 9
App. 8	EC declaration of conformity ..................................................................................................		App.-28
App. 9	How to replace servo amplifier without magnetic pole detection ...........................................		App.-29
App. 10		Two-wire type encoder cable for HG-MR/HG-KR ................................................................	App.-31
App. 11		SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service App.-
31
App. 12		CNP_ crimping connector ....................................................................................................	App.-32
App. 13		Recommended cable for servo amplifier power supply .......................................................	App.-33

6

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

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 MR- J4W_-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 adjustment and the real-time 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 for safety. When the MR- J4W_-B servo amplifier is connected to a SSCNET III/H-compatible motion 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

1.2 Function block diagram

The function block diagram of this servo is shown below.

MCCB

(Note 2) Power supply

STO switch

Controller or servo amplifier

Servo amplifier or cap

Regenerative

option

P+

C

D

CNP2

Built-in

regenerative

TRM(A)

MC

L1

resistor

Regene-

CNP1

U

U

+

Current

A-axis

L3 U

TR

L2

rative

detector

output

CHARGE

lamp

Dynamic

Cooling fan

brake circuit (A)

A-axis

(Note 1)

STO circuit

F/B

CNP2

L11

Control

L21

+

circuit

Base

Current

power

Overvoltage

Overcurrent

detection

supply

amplifier

(A)

(A)

B-axis

output

CN8

Control (A-axis)

Virtual

motor

Model position

Model speed

B-axis

control (A)

control (A)

F/B

CN1A

Control (B-axis)

Control (C-axis)

Virtual

I/F

encoder

C-axis

Control

output

CN1B

Actual position

Actual speed

Current

control (A)

control (A)

control (A)

C-axis

F/B

		U	A-axis Servo motor
	CNP3A	V	M
		W

	CN2A		E
		U	B-axis Servo motor
	CNP3B	V	M
		W
	CN2B		E

		U	C-axis Servo motor
	CNP3C	V	M
		W
	CN2C		E

Step-down

circuit

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 - 2

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		Rated current			1.5		2.8		5.8		6.0
		(each axis)		[A]
		Power supply			3-phase or 1-phase 200 V AC to 240 V AC, 50/60 Hz						3-phase 200 V AC to
		/Frequency									240 V AC, 50/60 Hz
		Rated current		[A]	2.9		5.2		7.5		9.8
Main circuit		Permissible voltage				3-phase or 1-phase 170 V AC to 264 V AC					3-phase 170 V AC to
		fluctuation									264 V AC
power supply
		Permissible frequency
input							Within ±5%
		fluctuation
		Power supply					Refer to section 10.2.
		capacity		[kVA]
		Inrush current		[A]			Refer to section 10.5.
		Power supply					1-phase 200 V AC to 240 V AC, 50/60 Hz
		/Frequency
		Rated current		[A]		0.4
Control circuit		Permissible voltage					1-phase 170 V AC to 264 V AC
		fluctuation
power supply
		Permissible frequency
input							Within ±5%
		fluctuation
		Power consumption				55
				[W]
		Inrush current		[A]			Refer to section 10.5.
Interface		Voltage/Frequency					24 V DC ± 10%
		Power supply
power supply							0.35 A (Note 1)
		capacity
		Reusable regenerative			17		21			44
		energy (Note 2)		[J]
		Moment of inertia J
		equivalent to the
		permissible charging			3.45		4.26			8.92
		amount (Note 3)
Capacitor		[× 10-4 kg • m2]
regeneration		Mass		LM-H3	3.8		4.7			9.8
		equivalent to
		the		LM-F
		permissible
				LM-K2	8.5		10.5			22.0
		charging
				LM-U2
		amount
		(Note 4) [kg]
Control method							Sine-wave PWM control, current control method
Built-in regenerative resistance				[W]		20				100
Dynamic brake							Built-in
Fully-closed loop control							Available in the future
Load-side encoder interface							Mitsubishi serial interface(Note 6)
Communication		USB			Connection to a personal computer or others (MR Configurator2-compatible)
function
					Overcurrent protection, regenerative overvoltage shut-off, overload shut-off (electronic
Protective functions					thermal), servo motor overheat protection, encoder error protection, regenerative error
					protection, undervoltage protection, instantaneous power failure protection, overspeed
							protection, and error excessive protection

1 - 3

1. FUNCTIONS AND CONFIGURATION

Model MR-J4W2-				22B		44B		77B		1010B
Safety function						STO (IEC/EN 61800-5-2)(Note 7)
		Standards certified by		EN ISO 13849-1 PL d (category 3), EN 61508 SIL 2, EN 62061 SIL CL2
		CB(Note 8)
Safety		Response				8 ms or less (STO input off		energy shut off)
performance		performance
		(Note 5) Test pulse				Test pulse interval: 1 Hz to 25 Hz
		input (STO)				Test pulse off time: Up to 1 ms
						LVD: EN 61800-5-1
Compliance		CE marking				EMC: EN 61800-3
to standards						MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
		UL standard				UL 508C
Structure (IP rating)				Natural cooling, open		Force cooling, open (IP20)
				(IP20)
Close mounting						Possible
		Ambient	Operation			0 °C to 55 °C (non-freezing)
		temperature	Storage			-20 °C to 65 °C (non-freezing)
		Ambient	Operation			90% RH or less (non-condensing)
Environment		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			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

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.Regenerative energy is 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.This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to the servo amplifier at a constant period while input signals of the servo amplifier are on.

6.Not compatible with pulse train interface (A/B/Z-phase differential output type).

7.STO is common for all axes.

8.Some of the models are under application.

1 - 4

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		Rated current			1.5		2.8
		(each axis)		[A]
		Power supply			3-phase or 1-phase 200 V AC to 240 V AC, 50/60 Hz
		/Frequency
		Rated current		[A]	4.3		7.8
Main circuit		Permissible voltage			3-phase or 1-phase 170 V AC to 264 V AC, 50/60 Hz
		fluctuation
power supply
		Permissible frequency
input						Within ±5%
		fluctuation
		Power supply				Refer to section 10.2.
		capacity		[kVA]
		Inrush current		[A]		Refer to section 10.5.
		Power supply				1-phase 200 V AC to 240 V AC, 50/60 Hz
		/Frequency
		Rated current		[A]		0.4
Control circuit		Permissible voltage				1-phase 170 V AC to 264 V AC
		fluctuation
power supply
		Permissible frequency
input						Within ±5%
		fluctuation
		Power consumption				55
				[W]
		Inrush current		[A]		Refer to section 10.5.
Interface		Voltage/Frequency				24 V DC ± 10%
		Power supply
power supply						0.45 A (Note 1)
		capacity
		Reusable regenerative			21		30
		energy (Note 2)		[J]
		Moment of inertia J
		equivalent to the
		permissible charging			4.26		6.08
		amount (Note 3)
Capacitor		[× 10-4 kg • m2]
regeneration		Mass		LM-H3	4.7		6.7
		equivalent to
		the		LM-F
		permissible
				LM-K2	10.5		15.0
		charging
				LM-U2
		amount
		(Note 4) [kg]
Control method					Sine-wave PWM control, current control method
Built-in regenerative resistance				[W]	30		100
Dynamic brake						Built-in
Fully-closed loop control						Not compatible
Communication		USB			Connection to a personal computer or others (MR Configurator2-compatible)
function
					Overcurrent protection, regenerative overvoltage shut-off, overload shut-off (electronic
Protective functions					thermal), servo motor overheat protection, encoder error protection, regenerative error
					protection, undervoltage protection, instantaneous power failure protection, overspeed
						protection, and error excessive protection

1 - 5

1. FUNCTIONS AND CONFIGURATION

Model MR-J4W3-				222B		444B
Safety function					STO (IEC/EN 61800-5-2) (Note 6)
		Standards certified by		EN ISO 13849-1 PL d (category 3), EN 61508 SIL 2, EN 62061 SIL CL2
		CB (Note 7)
Safety		Response		8 ms or less (STO input off energy shut off)
performance		performance
		(Note 5) Test pulse			Test pulse interval: 1 Hz to 25 Hz
		input (STO)			Test pulse off time: Up to 1 ms
					LVD: EN 61800-5-1
Compliance		CE marking			EMC: EN 61800-3
to standards				MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
		UL standard			UL 508C
Structure (IP rating)					Force cooling, open (IP20)
Close mounting					Possible
		Ambient	Operation		0 °C to 55 °C (non-freezing)
		temperature	Storage		-20 °C to 65 °C (non-freezing)
		Ambient	Operation		90% RH or less (non-condensing)
Environment		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		5.9 m/s2 or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass			[kg]		1.9

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.

2.Regenerative energy is 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 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.This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to the servo amplifier at a constant period while input signals of the servo amplifier are on.

6.STO is common for all axes.

7.Some of the models are under application.

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.3.3 Combinations of servo amplifier and servo motor

(1) With MR-J4W2-B servo amplifier

Servo amplifier	Rotary servo motor	Linear servo motor	Direct drive motor
		(primary side)
MR-J4W2-22B	HG-KR053, HG-KR13,	LM-U2PAB-05M-0SS0	TM-RFM002C20
	HG-KR23	LM-U2PBB-07M-1SS0
	HG-MR053, HG-MR13,
	HG-MR23
MR-J4W2-44B	HG-KR053, HG-KR13,	LM-H3P2A-07P-BSS0	TM-RFM002C20
	HG-KR23, HG-KR43	LM-H3P3A-12P-CSS0	TM-RFM004C20
	HG-MR053, HG-MR13,	LM-K2P1A-01M-2SS1
	HG-MR23, HG-MR43	LM-U2PAB-05M-0SS0
		LM-U2PAD-10M-0SS0
		LM-U2PAF-15M-0SS0
		LM-U2PBB-07M-1SS0
MR-J4W2-77B	HG-KR43, HG-KR73	LM-H3P2A-07P-BSS0	TM-RFM004C20
	HG-MR43, HG-MR73	LM-H3P3A-12P-CSS0	TM-RFM006C20
	HG-SR51, HG-SR52	LM-H3P3B-24P-CSS0	TM-RFM006E20
		LM-H3P3C-36P-CSS0	TM-RFM012E20
		LM-H3P7A-24P-ASS0	TM-RFM012G20
		LM-K2P1A-01M-2SS1	TM-RFM040J10
		LM-K2P2A-02M-1SS1
		LM-U2PAD-10M-0SS0
		LM-U2PAF-15M-0SS0
		LM-U2PBD-15M-1SS0
		LM-U2PBF-22M-1SS0
MR-J4W2-1010B	HG-KR43, HG-KR73	LM-H3P2A-07P-BSS0	TM-RFM004C20
	HG-MR43, HG-MR73	LM-H3P3A-12P-CSS0	TM-RFM006C20
	HG-SR51, HG-SR81,	LM-H3P3B-24P-CSS0	TM-RFM006E20
	HG-SR52, HG-SR102	LM-H3P3C-36P-CSS0	TM-RFM012E20
		LM-H3P7A-24P-ASS0	TM-RFM018E20
		LM-K2P1A-01M-2SS1	TM-RFM012G20
		LM-K2P2A-02M-1SS1	TM-RFM040J10
		LM-U2PAD-10M-0SS0
		LM-U2PAF-15M-0SS0
		LM-U2PBD-15M-1SS0
		LM-U2PBF-22M-1SS0

(2) With MR-J4W3-B servo amplifier

Servo amplifier	Rotary servo motor	Linear servo motor	Direct drive motor
		(primary side)
MR-J4W3-222B	HG-KR053, HG-KR13,	LM-U2PAB-05M-0SS0	TM-RFM002C20
	HG-KR23	LM-U2PBB-07M-1SS0
	HG-MR053, HG-MR13,
	HG-MR23
MR-J4W3-444B	HG-KR053, HG-KR13,	LM-H3P2A-07P-BSS0	TM-RFM002C20
	HG-KR23, HG-KR43	LM-H3P3A-12P-CSS0	TM-RFM004C20
	HG-MR053, HG-MR13,	LM-K2P1A-01M-2SS1
	HG-MR23, HG-MR43	LM-U2PAB-05M-0SS0
		LM-U2PAD-10M-0SS0
		LM-U2PAF-15M-0SS0
		LM-U2PBB-07M-1SS0

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

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

	Function	Description	Detailed
			explanation
	Position control mode	This servo is used as a position control servo.
	Speed control mode	This servo is used as a speed control servo.
	Torque control mode	This servo is used as a torque control servo.
	High-resolution encoder	High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary
		servo motor compatible with the MELSERVO-J4 series.
	Absolute position detection	Merely setting a home position once makes home position return unnecessary at	Chapter 12
	system	every power-on.
	Gain switching function	Using an input device or gain switching conditions (including the servo motor	Section 7.2
		speed) switches gains.
	Advanced vibration	This function suppresses vibration at the arm end or residual vibration of the	Section 7.1.5
	suppression control II	machine.
	Adaptive filter II	Servo amplifier detects mechanical resonance and sets filter characteristics	Section 7.1.2
		automatically to suppress mechanical vibration.
	Low-pass filter	Suppresses high-frequency resonance which occurs as servo system response is	Section 7.1.4
		increased.
		Analyzes the frequency characteristic of the mechanical system by simply
	Machine analyzer function	connecting a MR Configurator2 installed personal computer and servo amplifier.
		MR Configurator2 is necessary for this function.
	Robust filter	This function provides better disturbance response in case low response level that	[Pr. PE41]
		load to motor inertia ratio is high for such as roll send axes.
	Slight vibration suppression	Suppresses vibration of ±1 pulse produced at a servo motor stop.	[Pr. PB24]
	control
	Auto tuning	Automatically adjusts the gain to optimum value if load applied to the servo motor	Chapter 6
		shaft varies.
	Regenerative option	Used when the built-in regenerative resistor of the servo amplifier does not have	Section 11.2
		sufficient regenerative capability for the regenerative power generated.
	Alarm history clear	Alarm history is cleared.	[Pr. PC21]
	Output signal selection	The pins that output the output devices, including ALM (Malfunction) and DB	[Pr. PD07] to
	(Device settings)	(Dynamic brake interlock), can be assigned to certain pins of the CN3 connectors.	[Pr. PD09]
	Output signal (DO) forced	Output signal can be forced on/off independently of the servo status.	Section 4.5.1 (1)
	output	Use this function for output signal wiring check and others.	(d)
		Jog operation, positioning operation, motor-less operation, DO forced output, and
	Test operation mode	program operation	Section 4.5
		MR Configurator2 is necessary for this function.
	MR Configurator2	Using a personal computer, you can perform the parameter setting, test operation,	Section 11.4
		monitoring, and others.
		One click on a certain button on MR Configurator2 adjusts the gains of the servo
	One-touch adjustment	amplifier.	Section 6.2
		MR Configurator2 is necessary for this function.
		This function makes the equipment continue operating even under the condition
	Tough drive function	that an alarm occurs.	Section 7.3
		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
	Drive recorder function	"Graph" button.	[Pr. PA23]
		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".
	STO function	This function is a safety function that complies with IEC/EN 61800-5-2. You can	Chapter 13
		create a safety system for the equipment easily.

1 - 8

1. FUNCTIONS AND CONFIGURATION

	Function	Description	Detailed
			explanation
		You can check the cumulative energization time and the number of on/off times of
	Servo amplifier life diagnosis	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
	function
		replacement.
		MR Configurator2 is necessary for this function.
		This function calculates the power running and the regenerative power from the
	Power monitoring function	data, including the speed and current, in the servo amplifier. For the SSCNET III/H
		system, MR Configurator2 can display the data, including the power consumption.
		Since the servo amplifier can send the data to a motion controller, you can analyze
		the data and display the data on a display.
		From the data in the servo amplifier, this function estimates the friction and
	Machine diagnostic function	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.

1.5 Model designation

(1) Rating plate

AC SERVO

SER.S21001001

6HULDO QXPEHU

MODEL MR-J4W3-222B

0RGHO

POWER:

200W×3 (A, B, C)

&DSDFLW\

INPUT : 3AC/AC200-240V 4.3A/7.5A 50/60Hz

$SSOLFDEOH SRZHU VXSSO\

OUTPUT: 3PH170V 0-360Hz 1.5A×3 (A, B, C)

5DWHG RXWSXW FXUUHQW

STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300176

6WDQGDUG 0DQXDO QXPEHU

Max. Surrounding Air Temp.: 55°C

$PELHQW WHPSHUDWXUH

IP20 (Except for fan finger guard)

,3 UDWLQJ

7KH \HDU DQG PRQWK RI

TOKYO 100-8310, JAPAN

MADE IN JAPAN

PDQXIDFWXUH

(2)Model

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

Series

Number of axes

Symbol	Number
	of axes
W2	2
W3	3

SSCNETIII/H interface

Rated output
Symbol	Rated output [kW]
	A-axis	B-axis C-axis
22	0.2	0.2
44	0.4	0.4
77	0.75	0.75
1010	1	1
222	0.2	0.2	0.2
444	0.4	0.4	0.4

1 - 9

	1. FUNCTIONS AND CONFIGURATION
	1.6 Parts identification
		(2)	No.	Name/Application	Detailed
					explanation
	(1)	(4)		Display
			(1)	The 3-digit, seven-segment LED shows the	Section 4.3.2
				servo status and the alarm number.
	(3)		(2)	Axis selection rotary switch (SW1)
				Used to set the axis No. of servo amplifier.
				Control axis setting switch (SW2)	Section 4.3
				The test operation switch, the control axis
			(3)
				deactivation setting switch, and the auxiliary
				axis number setting switch are available.
			(4)	USB communication connector (CN5)	Section 11.4
	(5)			Connect with the personal computer.
				Charge lamp
			(5)	Lit to indicate that the main circuit is charged.
				While this lamp is lit, do not reconnect the
	(6)			cables.
		(13)		Main circuit power supply connector (CNP1)
			(6)
				Connect the input power supply.
					Section 3.1
				Control circuit power supply connector (CNP2)
					Section 3.3
			(7)	Connect the control circuit power supply or
		(14)		regenerative option.
			(8)	Rating plate	Section 1.5
	(7)
				A-axis servo motor power supply connector
		(15)	(9)	(CNP3A)
	(8)			Connect the A-axis servo motor.
	Side			B-axis servo motor power supply connector	Section 3.1
	(9)view
			(10)	(CNP3B)
		(16)		Connect the B-axis servo motor.	Section 3.3
				C-axis servo motor power supply connector
	(10)
			(11)	(CNP3C) (Note)
		(17)		Connect the C-axis servo motor.
				Protective earth (PE) terminal
			(12)		Section 3.11
	(11)	(18)		Grounding terminal
				I/O signal connector (CN3)	Section 3.2
			(13)
		(19)		Used to connect digital I/O signals.	Section 3.4
	(12)
		(20)		STO input signal connector (CN8)
			(14)	Used to connect MR-J3-D05 safety logic unit	Chapter 13
				and external safety relay.
				SSCNET III cable connector (CN1A)

(15)Used to connect the servo system controller or

the previous axis servo amplifier.	Section 3.2
SSCNET III cable connector (CN1B)	Section 3.4

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

A-axis encoder connector (CN2A)

(17)Used to connect the A-axis servo motor encoder.

		B-axis encoder connector (CN2B)	Section 3.1
	(18)	Used to connect the B-axis servo motor
			Section 3.3
		encoder.
		C-axis encoder connector (CN2C) (Note)

(19)Used to connect the C-axis servo motor encoder.

	(20)	Battery connector (CN4)	Section 11.3
		Used to connect the battery unit for absolute
			Chapter 12
		position data backup.

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

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.7 Configuration including auxiliary equipment

CAUTIONConnecting an inappropriate servo motor to the CNP3A, CNP3B, CNP3C, CN2A, CN2B, or CN2C will cause an unexpected operation or an alarm.

POINT

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

Power supply R S T

Molded case

No-fuse breaker circuit breaker

(MCCB) or fuse

(MCCB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FR-HAL)

Line noise filter (FR-BSF01)

L21

L11

A-axis servo motor

		Personal
	MR Configurator2	computer
CN5
(under the cover)

	L1
	L2	CNP1
	L3
	P+
	C	CNP2
	D (Note 3)
	Regenerative
	option	CNP3A
	U
	W
	V	CNP3B
	U
	W
	V	CNP3C (Note 1)
		U
		W
		V

CN3

I/O signal

CN8

Safety relay or

MR-J3-D05 safety logic unit

CN1A

Servo system

controller or Front axis

CN1B

servo amplifier CN1B

Rear servo amplifier

CN1A or Cap

CN2A

CN2B

CN2C (Note 1)

CN4

(Note 2) Battery unit

A-axis encoder B-axis encoder C-axis encoder

B-axis	C-axis
servo motor	servo motor

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

2.The battery unit consists of a battery case (MR-BT6VCASE) and up to 5 batteries (MR-BAT6V1). The battery unit is used in the absolute position detection system. (Refer to chapter 12.)

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

1 - 11

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