Mitsumi electronic MR-J3- A User Manual

General-Purpose AC Servo

J3 Series

General-Purpose Interface

MODEL

MR-J3- A

SERVO AMPLIFIER INSTRUCTION MANUAL

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the converter unit, servo amplifier (drive unit) and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the converter unit, servo amplifier (drive unit) and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

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

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

damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

: Indicates what must not be done. For example, "No Fire" is indicated by

: Indicates what must be done. For example, grounding is indicated by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( N(

) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier (converter unit), whether the charge lamp is off or not. Connect the converter unit, servo amplifier (drive unit) and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the converter unit, servo amplifier (drive unit) and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. Highvoltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The servo amplifier (drive unit) is charged and you may get an electric shock.

2. To prevent fire, note the following

) and

CAUTION

Install the converter unit, servo amplifier (drive unit), servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire. Always connect a magnetic contactor between the main circuit power supply and L1, L2, and L3 of the converter unit, servo amplifier (drive unit), and configure the wiring to be able to shut down the power supply on the side of the converter unit, servo amplifier (drive unit) power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the converter unit, servo amplifier (drive unit) malfunctions. When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, servo amplifier (drive unit), and servo motor. Always connect a no-fuse breaker to the power supply of the servo amplifier (converter unit).

A - 2

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the converter unit and servo amplifier (drive unit) heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The converter unit and servo amplifier (drive unit) may drop. Install the converter unit and servo amplifier (drive unit) in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The converter unit, servo amplifier (drive unit), and servo motor must be installed in the specified direction. Leave specified clearances between the converter unit, servo amplifier (drive unit), and control enclosure walls or other equipment. Do not install or operate the converter unit, servo amplifier (drive unit), and servo motor which has been damaged or has any parts missing. Do not block the intake and exhaust areas of the converter unit, servo amplifier (drive unit) and servo motor which has a cooling fan. Doing so may cause faults. Do not drop or strike converter unit, servo amplifier (drive unit), or servo motor. Isolate from all impact loads. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

A - 3

CAUTION

When you keep or use it, please fulfill the following environmental conditions.

Converter unit servo amplifier (drive unit) Servo motor

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

Ambient temperature

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

Ambient humidity

In storage 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

HF-SP301 421 HF-SP502 702

(Note) Vibration

HA-LP601 to 12K1 HA-LP701M to 15K1M

HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M

Note. Except the servo motor with reduction gear.

Item

In operation

In storage

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

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

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

HF-SP524 to 1524 HC-RP Series

HF-SP121 201 HF-SP202 352

HF-SP2024

5.9 or less at 10 to 55Hz (directions of X, Y and Z axes)

HA-LP502 to 22K2 HA-LP6014

HA-LP701M4

HA-LP30K2

HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24

[m/s

]

When the equipment has been stored for an extended period of time, contact your local sales office.

(2) Wiring

Environmental conditions

HF-MP series HF-KP series X, Y: 49 m/s

HF-SP51 81 HF-SP52 to 152

HC-UP72

152 HF-JP Series

3524 HC-UP202 to 502

HF-SP5024

HC-LP52 to 152 X: 9.8 m/s2 Y: 24.5 m/s2

HC-LP202 to 302 X: 19.6 m/s2 Y: 49 m/s2

15K1M4 HA-LP11K24 to 22K24

37K2 HA-LP15K14 to 37K14

7024

12K14

X, Y: 24.5 m/s

X: 24.5 m/s

X: 11.7 m/s

Y: 49 m/s2

Y: 29.4 m/s2

X, Y: 9.8 m/s2

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier (drive unit). Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier (drive unit) and servo motor. Not doing so may cause unexpected operation. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier

(drive unit)

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

Servo motor

A - 4

Servo amplifier

(drive unit)

Servo motor

CAUTION

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

(drive unit)

DOCOM

24VDC

Servo amplifier

(drive unit)

DOCOM

24VDC

Control output signal

DICOM

For sink output interface

Control output signal

DICOM

For source output interface

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier (drive unit) is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the converter unit and servo amplifier (drive unit). Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or break a converter unit and servo amplifier (drive unit). Use the converter unit and servo amplifier (drive unit) with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

A - 5

(5) Corrective actions

CAUTION

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

Contacts must be opened by servo-on (SON) OFF, trouble (ALM) and electromagnetic brake interlock (MBR).

Servo motor

SON RA

Contacts must be opened by an emergency stop switch.

Electromagnetic brake

24VDC

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the converter unit and servo amplifier (drive unit) will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please contact your local sales office.

(7) General instruction

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

A - 6

DISPOSAL OF WASTE

Please dispose a converter unit, servo amplifier (drive unit), 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 converter unit, servo amplifier (drive unit) and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

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

Precautions for Choosing the Products

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

COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES

Refer to Appendix 9 for the compliance with EC Directives.

COMPLIANCE WITH UL/C-UL STANDARD

Refer to Appendix 10 for the compliance with UL/C-UL standard.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use the General-Purpose AC servo MR-J3-A for the first time.

Relevant manuals

Manual name Manual No.

MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos (Enclosed in converter unit and servo amplifier (drive unit).) MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041 EMC Installation Guidelines IB(NA)67310

Details of MR-J3-CR55K(4) and MR-J3-DU30KA(4) to MR-J3-DU55KA4 are described in chapter 13 of this instruction manual. For the products of 30kW or more, refer to chapter 15.

<<Wiring>>

Wires mentioned in this instruction manual are selected based on the ambient temperature of 40

IB(NA)0300077

(104 ).

A - 7

MEMO

A - 8

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -30

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

1.2 Function block diagram ............................................................................................................................ 1 - 2

1.3 Servo amplifier standard specifications ................................................................................................... 1 - 5

1.4 Function list .............................................................................................................................................. 1 - 7

1.5 Model code definition ............................................................................................................................... 1 - 9

1.6 Combination with servo motor ................................................................................................................ 1 -10

1.7 Structure .................................................................................................................................................. 1 -12

1.7.1 Parts identification ............................................................................................................................ 1 -12

1.7.2 Removal and reinstallation of the front cover .................................................................................. 1 -19

1.8 Configuration including auxiliary equipment .......................................................................................... 1 -22

2. INSTALLATION 2 - 1 to 2 - 6

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

2.2 Keep out foreign materials ....................................................................................................................... 2 - 4

2.3 Cable stress ............................................................................................................................................. 2 - 5

2.4 Inspection items ....................................................................................................................................... 2 - 5

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

3. SIGNALS AND WIRING 3 - 1 to 3 -78

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

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

3.2.1 Position control mode ....................................................................................................................... 3 -10

3.2.2 Speed control mode ......................................................................................................................... 3 -12

3.2.3 Torque control mode ........................................................................................................................ 3 -14

3.3 Explanation of power supply system ...................................................................................................... 3 -16

3.3.1 Signal explanations .......................................................................................................................... 3 -16

3.3.2 Power-on sequence ......................................................................................................................... 3 -17

3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -19

3.4 Connectors and signal arrangements .................................................................................................... 3 -27

3.5 Signal explanations ................................................................................................................................. 3 -30

3.6 Detailed description of the signals .......................................................................................................... 3 -40

3.6.1 Position control mode ....................................................................................................................... 3 -40

3.6.2 Speed control mode ......................................................................................................................... 3 -44

3.6.3 Torque control mode ........................................................................................................................ 3 -46

3.6.4 Position/speed control change mode .............................................................................................. 3 -49

3.6.5 Speed/torque control change mode ................................................................................................ 3 -51

3.6.6 Torque/position control change mode ............................................................................................. 3 -53

3.7 Alarm occurrence timing chart ................................................................................................................ 3 -54

3.8 Interfaces ................................................................................................................................................. 3 -55

3.8.1 Internal connection diagram ............................................................................................................ 3 -55

3.8.2 Detailed description of interfaces ..................................................................................................... 3 -56

3.8.3 Source I/O interfaces ....................................................................................................................... 3 -60

3.9 Treatment of cable shield external conductor ........................................................................................ 3 -61

3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -62

3.10.1 Connection instructions .................................................................................................................. 3 -62

3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -63

3.11 Servo motor with an electromagnetic brake ......................................................................................... 3 -73

3.11.1 Safety precautions ......................................................................................................................... 3 -73

3.11.2 Setting ............................................................................................................................................. 3 -73

3.11.3 Timing charts .................................................................................................................................. 3 -74

3.11.4 Wiring diagrams (HF-MP series

HF-KP series servo motor)...................................................... 3 -76

3.12 Grounding .............................................................................................................................................. 3 -78

4. STARTUP 4 - 1 to 4 -18

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

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

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

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

4.2 Startup in position control mode .............................................................................................................. 4 - 4

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

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

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

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

4.2.5 Actual operation ................................................................................................................................ 4 - 7

4.2.6 Trouble at start-up ............................................................................................................................. 4 - 7

4.3 Startup in speed control mode ................................................................................................................. 4 - 9

4.3.1 Power on and off procedures ............................................................................................................ 4 - 9

4.3.2 Stop ................................................................................................................................................... 4 -10

4.3.3 Test operation................................................................................................................................... 4 -11

4.3.4 Parameter setting ............................................................................................................................. 4 -12

4.3.5 Actual operation ............................................................................................................................... 4 -13

4.3.6 Trouble at start-up ............................................................................................................................ 4 -13

4.4 Startup in torque control mode ............................................................................................................... 4 -14

4.4.1 Power on and off procedures ........................................................................................................... 4 -14

4.4.2 Stop ................................................................................................................................................... 4 -15

4.4.3 Test operation .................................................................................................................................. 4 -16

4.4.4 Parameter setting ............................................................................................................................. 4 -17

4.4.5 Actual operation ............................................................................................................................... 4 -18

4.4.6 Trouble at start-up ............................................................................................................................ 4 -18

5. PARAMETERS 5 - 1 to 5 -54

5.1 Basic setting parameters (No.PA ) ................................................................................................... 5 - 1

5.1.1 Parameter list .................................................................................................................................... 5 - 1

5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 2

5.1.3 Selection of control mode ................................................................................................................. 5 - 3

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

5.1.5 Using absolute position detection system ........................................................................................ 5 - 6

5.1.6 Using electromagnetic brake interlock (MBR) .................................................................................. 5 - 6

5.1.7 Number of command input pulses per servo motor revolution ........................................................ 5 - 7

5.1.8 Electronic gear................................................................................................................................... 5 - 8

5.1.9 Auto tuning ....................................................................................................................................... 5 -12

5.1.10 In-position range ............................................................................................................................ 5 -13

5.1.11 Torque limit ..................................................................................................................................... 5 -14

5.1.12 Selection of command pulse input form ........................................................................................ 5 -15

5.1.13 Selection of servo motor rotation direction .................................................................................... 5 -16

5.1.14 Encoder output pulse ..................................................................................................................... 5 -16

5.2 Gain/filter parameters (No.PB

) ........................................................................................................ 5 -18

5.2.1 Parameter list ................................................................................................................................... 5 -18

5.2.2 Detail list ........................................................................................................................................... 5 -20

5.2.3 Position smoothing ........................................................................................................................... 5 -29

5.3 Extension setting parameters (No.PC

) ........................................................................................... 5 -30

5.3.1 Parameter list ................................................................................................................................... 5 -30

5.3.2 List of details ..................................................................................................................................... 5 -31

5.3.3 Analog monitor ................................................................................................................................. 5 -41

5.3.4 Alarm history clear ............................................................................................................................ 5 -43

5.4 I/O setting parameters (No.PD

) ...................................................................................................... 5 -44

5.4.1 Parameter list ................................................................................................................................... 5 -44

5.4.2 List of details ..................................................................................................................................... 5 -45

5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ................................... 5 -53

6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -22

6.1 Overview ................................................................................................................................................... 6 - 1

6.2 Display sequence ..................................................................................................................................... 6 - 2

6.3 Status display ........................................................................................................................................... 6 - 3

6.3.1 Display transition ............................................................................................................................... 6 - 3

6.3.2 Display examples .............................................................................................................................. 6 - 4

6.3.3 Status display list ............................................................................................................................... 6 - 5

6.3.4 Changing the status display screen .................................................................................................. 6 - 6

6.4 Diagnostic mode ...................................................................................................................................... 6 - 7

6.5 Alarm mode .............................................................................................................................................. 6 - 8

6.6 Parameter mode ..................................................................................................................................... 6 -10

6.6.1 Parameter mode transition ............................................................................................................... 6 -10

6.6.2 Operation example ........................................................................................................................... 6 -11

6.7 External I/O signal display ...................................................................................................................... 6 -13

6.8 Output signal (DO) forced output ............................................................................................................ 6 -16

6.9 Test operation mode ............................................................................................................................... 6 -17

6.9.1 Mode change .................................................................................................................................... 6 -17

6.9.2 JOG operation .................................................................................................................................. 6 -18

6.9.3 Positioning operation ........................................................................................................................ 6 -19

6.9.4 Motor-less operation ........................................................................................................................ 6 -21

7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -12

7.1 Different adjustment methods .................................................................................................................. 7 - 1

7.1.1 Adjustment on a single servo ampli fier ............................................................................................. 7 - 1

7.1.2 Adjustment using MR Configurator ................................................................................................... 7 - 2

7.2 Auto tuning ............................................................................................................................................... 7 - 3

7.2.1 Auto tuning mode .............................................................................................................................. 7 - 3

7.2.2 Auto tuning mode basis .................................................................................................................... 7 - 4

7.2.3 Adjustment procedure by auto tuning ............................................................................................... 7 - 5

7.2.4 Response level setting in auto tuning mode .................................................................................... 7 - 6

7.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 7 - 7

7.4 Interpolation mode .................................................................................................................................. 7 -10

7.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 7 -11

8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 1 to 8 -18

8.1 Function block diagram ............................................................................................................................ 8 - 1

8.2 Adaptive filter

........................................................................................................................................ 8 - 1

8.3 Machine resonance suppression filter ..................................................................................................... 8 - 4

8.4 Advanced vibration suppression control ................................................................................................. 8 - 6

8.5 Low-pass filter ......................................................................................................................................... 8 -10

8.6 Gain changing function ........................................................................................................................... 8 -10

8.6.1 Applications ...................................................................................................................................... 8 -10

8.6.2 Function block diagram .................................................................................................................... 8 -11

8.6.3 Parameters ....................................................................................................................................... 8 -12

8.6.4 Gain changing procedure ................................................................................................................. 8 -14

8.7 Vibration suppression control filter 2 ...................................................................................................... 8 -16

9. TROUBLESHOOTING 9 - 1 to 9 -26

9.1 Alarms and warning list ............................................................................................................................ 9 - 1

9.2 Remedies for alarms ................................................................................................................................ 9 - 2

9.3 Remedies for warnings ........................................................................................................................... 9 -15

9.4 Troubles without an alarm/warning ........................................................................................................ 9 -17

10. OUTLINE DRAWINGS 10- 1 to 10-12

10.1 Servo amplifier ...................................................................................................................................... 10- 1

10.2 Connector ............................................................................................................................................. 10-10

11. CHARACTERISTICS 11- 1 to 11 -12

11.1 Overload protection characteristics ...................................................................................................... 11- 1

11.2 Power supply equipment capacity and generated loss ....................................................................... 11- 3

11.3 Dynamic brake characteristics .............................................................................................................. 11- 6

11.3.1 Dynamic brake operation ............................................................................................................... 11- 6

11.3.2 The dynamic brake at the load inertia moment ............................................................................ 11-10

11.4 Cable flexing life ................................................................................................................................... 11-11

11.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 11-11

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12 -100

12.1 Cable/connector sets ............................................................................................................................ 12- 1

12.1.1 Combinations of cable/connector sets .......................................................................................... 12- 2

12.1.2 Encoder cable/connector sets ...................................................................................................... 12-10

12.1.3 Motor power supply cables ........................................................................................................... 12-25

12.1.4 Motor brake cables ........................................................................................................................ 12-26

12.2 Regenerative options ........................................................................................................................... 12-27

12.3 FR-BU2-(H) brake unit ......................................................................................................................... 12-40

12.3.1 Selection ........................................................................................................................................ 12-41

12.3.2 Brake unit parameter setting ......................................................................................................... 12-41

12.3.3 Connection example ..................................................................................................................... 12-42

12.3.4 Outline dimension drawings .......................................................................................................... 12-49

12.4 Power regenerative converter ............................................................................................................. 12-51

12.5 Power regenerative common converter .............................................................................................. 12-54

12.6 External dynamic brake ....................................................................................................................... 12-62

12.7 Junction terminal block MR-TB50 ....................................................................................................... 12-67

12.8 MR Configurator ................................................................................................................................... 12-69

12.9 Battery unit MR-J3BAT ........................................................................................................................ 12-73

12.10 Heat sink outside mounting attachment (MR-J3ACN)...................................................................... 12-74

12.11 Selection example of wires ................................................................................................................ 12-76

12.12 No-fuse breakers, fuses, magnetic contactors ................................................................................. 12-81

12.13 Power factor improving DC reactor ................................................................................................... 12-82

12.14 Power factor improving reactors ........................................................................................................ 12-84

12.15 Relays (recommended) ..................................................................................................................... 12-85

12.16 Surge absorbers (recommended) ..................................................................................................... 12-86

12.17 Noise reduction techniques ............................................................................................................... 12-86

12.18 Leakage current breaker .................................................................................................................... 12-94

12.19 EMC filter (recommended) ............................................................................................................... 12-96

13. COMMUNICATION FUNCTION 13- 1 to 13-34

13.1 Configuration ......................................................................................................................................... 13- 1

13.2 Communication specifications .............................................................................................................. 13- 3

13.2.1 Communication overview ............................................................................................................... 13- 3

13.2.2 Parameter setting ........................................................................................................................... 13- 4

13.3 Protocol ................................................................................................................................................. 13- 5

13.3.1 Transmission data configuration .................................................................................................... 13- 5

13.3.2 Character codes ............................................................................................................................. 13- 6

13.3.3 Error codes ..................................................................................................................................... 13- 7

13.3.4 Checksum ....................................................................................................................................... 13- 7

13.3.5 Time-out ......................................................................................................................................... 13- 8

13.3.6 Retry ............................................................................................................................................... 13- 8

13.3.7 Initialization ..................................................................................................................................... 13- 9

13.3.8 Communication procedure example.............................................................................................. 13- 9

13.4 Command and data No. list ................................................................................................................. 13-10

13.4.1 Read commands ........................................................................................................................... 13-10

13.4.2 Write commands ........................................................................................................................... 13-14

13.5 Detailed explanations of commands ................................................................................................... 13-16

13.5.1 Data processing ............................................................................................................................ 13-16

13.5.2 Status display ................................................................................................................................ 13-18

13.5.3 Parameters .................................................................................................................................... 13-19

13.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 13-22

13.5.5 Input device ON/OFF .................................................................................................................... 13-25

13.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 13-25

13.5.7 Input devices ON/OFF (test operation) ........................................................................................ 13-26

13.5.8 Test operation mode ..................................................................................................................... 13-27

13.5.9 Output signal pin ON/OFF output signal (DO) forced output ....................................................... 13-30

13.5.10 Alarm history ............................................................................................................................... 13-31

13.5.11 Current alarm .............................................................................................................................. 13-32

13.5.12 Other commands ......................................................................................................................... 13-33

14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-66

14.1 Outline ................................................................................................................................................... 14- 1

14.1.1 Features ......................................................................................................................................... 14- 1

14.1.2 Restrictions ..................................................................................................................................... 14- 2

14.2 Specifications ........................................................................................................................................ 14- 3

14.3 Battery replacement procedure ............................................................................................................ 14- 4

14.3.1 When replacing battery with the control circuit power ON ............................................................ 14- 4

14.3.2 When replacing battery with the control circuit power OFF .......................................................... 14- 4

14.4 Battery installation procedure ............................................................................................................... 14- 5

14.5 Procedure to replace battery with the control circuit power OFF ........................................................ 14- 5

14.5.1 Preparation for battery replacement .............................................................................................. 14- 5

14.5.2 Replacement procedure ................................................................................................................ 14- 6

14.6 Standard connection diagram ............................................................................................................... 14- 7

14.7 Signal explanation ................................................................................................................................. 14- 8

14.8 Startup procedure ................................................................................................................................. 14- 9

14.9 Absolute position data transfer protocol .............................................................................................. 14-10

14.9.1 Data transfer procedure ................................................................................................................ 14-10

14.9.2 Transfer method ............................................................................................................................ 14-11

14.9.3 Home position setting.................................................................................................................... 14-22

14.9.4 Use of servo motor with an electromagnetic brake ...................................................................... 14-24

14.9.5 How to process the absolute position data at detection of stroke end ........................................ 14-25

14.10 Examples of use ................................................................................................................................ 14-26

14.10.1 MELSEC FX

(2N)-32MT (FX(2N)-1PG) ......................................................................................... 14-26

14.10.2 MELSEC A1SD75 ....................................................................................................................... 14-38

14.10.3 MELSEC QD75 ........................................................................................................................... 14-51

14.11 Absolute position data transfer errors ............................................................................................... 14-59

14.11.1 Corrective actions ....................................................................................................................... 14-59

14.11.2 Error resetting conditions ............................................................................................................ 14-61

14.12 Communication-based ABS transfer system .................................................................................... 14-62

14.12.1 Serial communication command ................................................................................................ 14-62

14.12.2 Absolute position data transfer protocol ..................................................................................... 14-62

14.13 Confirmation of absolute position detection data .............................................................................. 14-66

15. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 15- 1 to 15-102

15.1. Functions and menus .......................................................................................................................... 15- 1

15.1.1 Function block diagram .................................................................................................................. 15- 2

15.1.2 Packing list ..................................................................................................................................... 15- 4

15.1.3 Standard specifications .................................................................................................................. 15- 5

15.1.4 Model definition .............................................................................................................................. 15- 8

15.1.5 Combinations of converter units, drive unit and servo motors ..................................................... 15- 9

15.1.6 Parts identification ......................................................................................................................... 15-10

15.1.7 Removal and reinstallation of the terminal block cover ............................................................... 15-13

15.1.8 Servo system with auxiliary equipment ........................................................................................ 15-19

15.2 Installation ............................................................................................................................................ 15-20

15.2.1 Installation direction and clearances ............................................................................................ 15-21

15.2.2 Inspection ...................................................................................................................................... 15-22

15.3 Signals and wiring ................................................................................................................................ 15-23

15.3.1 Magnetic contactor control connector (CNP1) ............................................................................. 15-24

15.3.2 Input power supply circuit ............................................................................................................. 15-26

15.3.3 Terminal ......................................................................................................................................... 15-31

15.3.4 How to use the connection bars ............................................................................................. 15-32

15.3.5 Connectors and signal arrangements .................................................................................... 15-33

15.3.6 Converter unit signal (device) explanations ........................................................................... 15-35

15.3.7 Timing chart ............................................................................................................................ 15-37

15.3.8 Servo motor side details ......................................................................................................... 15-45

15.4 Display section and operation section of the converter unit ............................................................... 15-47

15.4.1 Display flowchart ........................................................................................................................... 15-47

15.4.2 Status display mode ...................................................................................................................... 15-48

15.4.3 Diagnostic mode ........................................................................................................................... 15-49

15.4.4 Alarm mode ................................................................................................................................... 15-51

15.4.5 Parameter mode ........................................................................................................................... 15-52

15.5. Parameters for converter unit ............................................................................................................. 15-53

15.5.1 Parameter list ................................................................................................................................ 15-53

15.5.2 List of details .................................................................................................................................. 15-54

15.6 Troubleshooting ................................................................................................................................... 15-55

15.6.1 Converter unit ................................................................................................................................ 15-55

15.6.2 Drive unit........................................................................................................................................ 15-60

15.7 Outline drawings .........................................................................................................

......................... 15-62

15.7.1 Converter unit (MR-J3-CR55K(4)) ................................................................................................ 15-62

15.7.2 Drive unit........................................................................................................................................ 15-63

15.8 Characteristics...................................................................................................................................... 15-65

15.8.1 Overload protection characteristics .............................................................................................. 15-65

15.8.2 Power supply equipment capacity and generated loss ............................................................... 15-66

15.8.3 Dynamic brake characteristics ...................................................................................................... 15-67

15.8.4 Inrush currents at power-on of main circuit and control circuit .................................................... 15-70

15.9 Options ................................................................................................................................................. 15-70

15.9.1 Cables and connectors ................................................................................................................. 15-70

15.9.2 Regenerative option ...................................................................................................................... 15-74

15.9.3 External dynamic brake ................................................................................................................ 15-78

15.9.4 Selection example of wires ........................................................................................................... 15-81

15.9.5 No-fuse breakers, fuses, magnetic contactors ............................................................................. 15-83

15.9.6 Power factor improving DC reactor .............................................................................................. 15-84

15.9.7 Line noise filter (FR-BLF) .............................................................................................................. 15-85

15.9.8 Leakage current breaker ............................................................................................................... 15-86

15.9.9 EMC filter (recommended) ............................................................................................................ 15-88

15.9.10 FR-BU2-(H) brake unit ................................................................................................................ 15-90

16. PARAMETER UNIT (MR-PRU03) 16- 1 to 16-20

16.1 External appearance and key explanations ......................................................................................... 16- 2

16.2 Specifications ........................................................................................................................................ 16- 3

16.3 Outline dimension drawings ................................................................................................................. 16- 3

16.4 Connection with servo amplifier............................................................................................................ 16- 4

16.4.1 Single axis ...................................................................................................................................... 16- 4

16.4.2 Multidrop connection ...................................................................................................................... 16- 5

16.5 Display ................................................................................................................................................... 16- 7

16.5.1 Outline of screen transition ............................................................................................................ 16- 7

16.5.2 MR-PRU03 parameter unit setting ................................................................................................ 16- 8

16.5.3 Monitor mode (status display) ........................................................................................................ 16- 9

16.5.4 Alarm/diagnostic mode ................................................................................................................. 16-12

16.5.5 Parameter mode ........................................................................................................................... 16-14

16.5.6 Test operation mode ..................................................................................................................... 16-15

16.6 Error message list ................................................................................................................................ 16-19

APPENDIX App.- 1 to App.-23

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

App. 2 Signal layout recording paper ........................................................................................................App.- 3

App. 3 Status display block diagram .........................................................................................................App.- 4

App. 4 Change of connector sets to the RoHS compatible products .......................................................App.- 5

App. 5 MR-J3-200A-RT servo amplifier ....................................................................................................App.- 6

App. 6 Selection example of servo motor power cable .......................................................................... App.-10

App. 7 Handling of AC servo amplifier batteries for the United Nations

Recommendations on the Transport of Dangerous Goods ........................................................ App.-11

App. 8 Symbol for the new EU Battery Directive .................................................................................... App.-12

App. 9 Compliance with the European EC directives ............................................................................. App.-13

App. 10 Conformance with UL/C-UL standard ........................................................................................ App.-16

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

The Mitsubishi MELSERVO-J3 series general-purpose AC servo is based on the MELSERVO-J2-Super series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. As this new series has the USB or RS-422 serial communication function, a MR Configurator installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J3 series servo motor with an absolute position encoder which has the resolution of 262144 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2-Super series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

(1) Position control mode

An up to 1Mpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 262144 pulses/rev resolution. The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command. A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be changed to any value with an external analog input or the parameter.

(2) Speed control mode

An external analog speed command (0 to speeds) is used to control the speed and direction of a servo motor smoothly. There are also the acceleration/deceleration time constant setting in response to speed command, the servo lock function at a stop time, and automatic offset adjustment function in response to external analog speed command.

(3) Torque control mode

An external analog torque command (0 to To prevent unexpected operation under no load, the speed limit function (external or internal setting) is also available for application to tension control, etc.

10VDC) or parameter-driven internal speed command (max. 7

8VDC) is used to control the torque output by the servo motor.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J3-350A or less

MR-J3-200A4 or less

Power factor improving DC reactor

Regenerative

option

(Note 2) Power supply

NFB

Servo amplifier

Diode

stack

Pulse input

Relay

(Note 3) Cooling fan

Control

circuit power

supply

Model position

control

P( ) N( )

(Note 1)

Regenerative TR

CHARGE lamp

Base

amplifier

Model speed

Voltage

detection

control

Overcurrent

protection

Virtual

motor

Current

detector

Virtual

encoder

Dynamic

brake circuit

Current

detection

24VDC

CN2

Servo motor

Electro-

magnetic brake

Encoder

Model position

Actual position

control

Model speed

Actual speed

control

USB RS-422 D/AA/D

I/F

CN5 CN3 CN6

Personal

computer

USB RS-422

Analog

(2 channels)

CN1

D I/O control

Servo on

Command pulse train input

Start Failure, etc

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

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

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

3 for 1-phase 100 to 120VAC power supply. For the specification of power supply, refer to section 1.3.

1, L2 and leave L3 open.

1 - 2

Model torque

Current

control

Controller

Analog monitor

(2 channels)

MR-J3BAT

CN4

Optional battery (for absolute position detection system)

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-350A4

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

Power factor improving DC reactor

Regenerative

option

(Note) Power supply

NFB

Servo amplifier

Diode

stack

Pulse input

Relay

Model position

Control

circuit power

supply

control

Regenerative TR

CHARGE lamp

Cooling fan

Base

amplifier

Model speed

Voltage

detection

control

Overcurrent

protection

Virtual

motor

Current

detector

Virtual

encoder

Dynamic

brake circuit

Current

detection

24VDC

CN2

Servo motor

Electromagnetic

brake

Encoder

Model position

Actual position

control

Actual speed

I/F

CN1

D I/O control

Analog

(2 channels)

Servo on

Command pulse train input

Start

Failure, etc

Note. For the specification of power supply, refer to section 1.3.

Model

Model torque

speed

control

USB RS-422 D/AA/D

CN5 CN3 CN6

Personal

computer

USB RS-422

Current

control

Controller

Analog monitor

(2 channels)

MR-J3BAT

CN4

Optional battery (for absolute position detection system)

1 - 3

1. FUNCTIONS AND CONFIGURATION

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

(Note 1) Power supply

NFB

Servo amplifier

L21

Diode

stack

Power factor improving DC reactor

Thyristor

Control

circuit power supply

Regenerative

CHARGE lamp

Cooling fan

option

Regenerative TR

Current

detector

(Note 2) External

dynamic brake

(option)

24VDC

Servo motor

Electro-

magnetic brake

Pulse input

amplifier

Model position

control

Model position

Actual position

control

I/F

CN1

Base

Voltage

detection

Model speed

control

Model speed

Actual speed

control

Overcurrent

protection

Current

detection

Virtual

encoder

Virtual

motor

Model torque

Current

control

USB RS-422 D/AA/D

CN5 CN3 CN6

CN2

Encoder

MR-J3BAT

CN4

Optional battery (for absolute position detection system)

Analog

(2 channels)

D I/O control

Servo on

Command pulse train input

Start

Failure, etc

Personal computer

Controller

USB RS-422

Analog monitor

(2 channels)

Note 1. For the specification of power supply, refer to section 1.3.

2. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an emergency stop and such conditions. Ensure the safety in the entire system.

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

(1) 200V class, 100V class

Item

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

Output

Voltage, frequency

Rated current [A] 0.9 1.5 2.6

Permissible voltage fluctuation Permissible frequency fluctuation Within 5

Power supply capacity Refer to section 11.2

Main circuit power supply

Inrush current Refer to section 11.5

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

Rated current [A] 0.2 0.3 0.4

Control circuit power supply

Interface power supply

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

Protective functions

Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector) Command pulse multiplying factor Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000 In-position range setting 0 to 10000 pulse (command pulse unit) Error excessive 3 revolutions

Position

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

control mode

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input 0 to 10VDC / Rated speed

Speed fluctuation ratio

mode

Speed control

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Torque control mode

Compliance to standards

Structure

Ambient temperature

Ambient humidity

Ambient Altitude Max. 1000m above sea level

Environmental conditions

Vibration 5.9m/s2 or less at 10 to 55Hz (directions of X, Y and Z axes)

Mass

Permissible voltage fluctuation Permissible frequency fluctuation Power consumption [W] Inrush current Refer to section 11.5 Voltage 24VDC Power supply capacity (Note 1) 0.3A

Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k ) Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

Servo amplifier

In operation

In storage

In operation In storage

MR-J3-

10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1

3-phase or 1-phase 200 to

230VAC, 50/60Hz

(Note 3)

3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0 3.0 5.0 9.0

3-phase or 1-phase

170 to 253VAC

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

Natural-cooling, open

(IP rating: IP00)

[

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

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

] 20 to 65 (non-freezing)

[ [ ] 4 to 149 (non-freezing)

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

[lb] 1.76 1.76 2.21 2.21 3.09 3.09 4.63 5.07 10.1 13.7 39.7 39.7 41.9 1.76 1.76 2.21

3.2

1-phase 170 to 253VAC

30 45 30

0.01 or less (load fluctuation 0 to 100 )

0.2 or less (ambient temperature 25 10

CE (LVD: IEC/EN 50178, EMC: IEC/EN 61800-3)

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

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

3-phase 170 to 253VAC

Within

(power fluctuation 10 )

when using analog speed command

UL (UL 508C)

Force-cooling, open (IP rating: IP00)

RH or less (non-condensing)

Indoors (no direct sunlight),

External option

(Note 4)

(59 to 95 )

1-phase 100 to

120VAC,

50/60Hz

1-phase 85 to

132VAC

1-phase 100 to

120VAC,

50/60Hz

1-phase 85 to

132VAC

Built-in

)

Natural-cooling,

open

(IP rating: IP00)

1 - 5

1. FUNCTIONS AND CONFIGURATION

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

I/O points.

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

3. When a UL/C-UL-compliant servo motor is used in combination, the value is 2.9A.

4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an emergency stop and such conditions. Ensure the safety in the entire system.

or at 75%

(2) 400V class

Item

Rated voltage 3-phase 323VAC Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0

Output

Voltage, frequency 3-phase 380 to 480VAC, 50/60Hz Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6 Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency fluctuation Within 5%

supply

Power supply capacity Refer to section 11.2 Inrush current Refer to section 11.5

Main circuit power

Control circuit power supply

Interface power supply

Control System Sine-wave PWM control, current control system Dynamic brake Built-in External option (Note 2)

Protective functions

mode

Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Position control

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input 0 to 10VDC / Rated speed

Speed fluctuation ratio

mode

Speed control

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Torque control mode

Compliance to standards

Structure

Mass

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

Analog torque command input 0 to Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

Ambient temperature

Ambient humidity

Ambient Altitude Max. 1000m above sea level

Environmental conditions

Vibration 5.9m/s2 or less at 10 to 55Hz (directions of X, Y and Z axes)

I/O points.

Voltage, frequency 1-phase 380 to 480VAC, 50/60Hz Rated current [A] 0.1 0.2 Permissible voltage

fluctuation Permissible frequency fluctuation Power consumption [W] Inrush current Refer to section 11.5 Voltage 24VDC Power supply capacity (Note 1) 0.3A

Servo amplifier

In operation

In storage

In operation In storage

MR-J3-

60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

1-phase 323 to 528VAC

Within

30 45

0.01 or less (load fluctuation 0 to 100 ) (power fluctuation 10 )

0.2 or less (ambient temperature 25 10

8VDC / Maximum torque (input impedance 10 to 12k )

CE (LVD: IEC/EN 50178, EMC: IEC/EN 61800-3)

Natural-cooling,

open

(IP rating: IP00)

[

] 0 to 55 (non-freezing)

[ ] 32 to 131 (non-freezing)

] 20 to 65 (non-freezing)

[ [ ] 4 to 149 (non-freezing)

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

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

[lb] 3.75 3.75 4.63 10.1 10.1 13.7 39.7 39.7 41.9

when using analog speed command

UL (UL 508C)

Force-cooling, open (IP rating: IP00)

RH or less (non-condensing)

Indoors (no direct sunlight),

10%

(59

95 )

)

1 - 6

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

Position control mode This servo is used as position control servo. P

Speed control mode This servo is used as speed control servo. S

Torque control mode This servo is used as torque control servo. T

Position/speed control change mode Speed/torque control change mode Torque/position control change mode

High-resolution encoder

Absolute position detection system

Gain changing function

Advanced vibration suppression control

Adaptive filter

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Robust disturbance compensation

Advanced Gain search

Slight vibration suppression control

Electronic gear Input pulses can be multiplied by 1/50 to 50. P

Auto tuning

Using input device, control can be switched between position control and speed control. Using input device, control can be switched between speed control and torque control. Using input device, control can be switched between torque control and position control. High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder. Merely setting a home position once makes home position return unnecessary at every power-on. You can switch between gains during rotation and gains during stop or use an input device to change gains during operation. This function suppresses vibration at the arm end or residual vibration. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a personal computer installed MR Configurator with a servo amplifier. MR Configurator is necessary for this function. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. MR Configurator is necessary for this function. Personal computer changes gains automatically and searches for overshoot-free gains in a short time. MR Configurator is necessary for this function. This function provides better disturbance response in case of low response level due to high load inertia moment ratio for the roll send axes. MR Configurator is necessary for this function. Advanced Gain search automatically searches for the optimum parameter for settle time to be short. The gain can be adjusted by setting sequentially in accordance with wizard screens. MR Configurator is necessary for this function. 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. Higher in performance than MR-J2-Super series servo amplifier.

(Note)

Control mode

P/S Section 3.6.4

S/T Section 3.6.5

T/P Section 3.6.6

P, S, T

P Chapter 14

P, S Section 8.6

P Section 8.4

P, S, T Section 8.2

P, S, T Section 8.5

P, S, T

P, S Chapter 7

Reference

Section 3.2.1 Section 3.6.1 Section 4.2 Section 3.2.2 Section 3.6.2 Section 4.3 Section 3.2.3 Section 3.6.3 Section 4.4

Parameters No.PB24 Parameters No.PA06, PA07

1 - 7

1. FUNCTIONS AND CONFIGURATION

Function Description

Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No.PB03 S-pattern acceleration/ deceleration time constant

Regenerative option

Brake unit

Return converter

Alarm history clear Alarm history is cleared. P, S, T Parameter No.PC18

Restart after instantaneous power failure

Command pulse selection

Input signal selection (Device settings)

Output signal selection (Device settings)

Torque limit Servo motor torque can be limited to any value. P, S

Speed limit Servo motor speed can be limited to any value. T

Status display Servo status is shown on the 5-digit, 7-segment LED display P, S, T Section 6.3

External I/O signal display

Output signal (DO) forced output

Automatic VC offset

Test operation mode

Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No.PC14

MR Configurator

Alarm code output

Amplifier diagnosis function

Note. P: Position control mode, S: Speed control mode, T: Torque control mode

P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

Speed can be increased and decreased smoothly. S, T Parameter No.PC03

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative option cannot provide enough regenerative power. Can be used with the MR-J3-500A Used when the regenerative option cannot provide enough regenerative power. Can be used with the MR-J3-500A

If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal. Command pulse train form can be selected from among three different types. Forward rotation start, reverse rotation start, servo-on (SON) and other input device can be assigned to certain pins of the CN1 connectors. Trouble (ALM), dynamic brake interlock (MBR) and other output device can be assigned to certain pins of the CN1 connectors.

ON/OFF statuses of external I/O signals are shown on the display. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command (VC) or analog speed limit (VLA) of 0V. JOG operation, positioning operation, motor-less operation, DO forced output and program operation. However, MR Configurator is necessary for positioning operation and program operation.

Using a personal computer, parameter setting, test operation, status display, etc. can be performed. If an alarm has occurred, the corresponding alarm number is output in 3-bit code. The DI/DO signals, analog monitor input I/F, analog monitor output, command pulse I/F and encoder pulse output are checked. The diagnosis cable (MR-J3ACHECK) and MR Configurator are necessary for this function.

MR-J3-700A.

(Note)

Control mode

P, S, T Section 12.2

P, S, T Section 12.3

P, S, T Section 12.4

S Parameter No.PC22

P Section 5.1.12

P, S, T

P, S, T Section 6.7

P, S, T Section 6.8

S, T Section 6.4

P, S, T Section 6.9

P, S, T Section 12.8

P, S, T Section 9.1

P, S, T Section 12.8 (2)(C)

Reference

Parameters No.PD03 to PD08, PD10 to PD12 Parameters No.PD13 to PD16, PD18 Section 3.6.1 (5) Section 5.1.11 Section 3.6.3 (3) Parameter No.PC05 to PC11

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Rating plate

(2) Model

MITSUBISHI

MODEL

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

Rated output

Symbol

General purpose interface

MR-J3-10A

POWER : INPUT :

OUTPUT : SERIAL :

10 0.1 20 0.2 40 0.4 60 0.6

70 0.75 100 1 200 2 350 3.5 500 5 700 7 11K 11 15K 15 22K 22

100W

0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz

1.3A 1PH 230V 50/60Hz

170V 0-360Hz 1.1A A34230001

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

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 2009, the Serial No. is like, "SERIAL

Series

Rated output

[kW]

AC SERVO

PASSED

Model Capacity

Applicable power supply

Rated output current

Serial number

99 ".

Special specification

Special specificationSymbol

Servo amplifiers of 11k to 22kW (Except the ones that

-PX support the HF-JP series

servo motors) HF-JP series

-LR Servo amplifiers dedicated

to the 11kW and 15kW

-LW

servo motors HF-JP series

Servo amplifiers for the

-U1

Power supply

Symbol

(Note 1) (Note 2)

(Note 3)

Note 1.

0.5k to 5kW servo motors that support the 400% maximum torque setting

Power supply

None

3-phase or 1-phase 200 to 230VAC

1-phase 100 to 120VAC

3-phase 380 to 480VAC

1-phase 200 to 230VAC is supported by 750W or less.

1-phase 100 to 120VAC is supported by 400W or less.

3-phase 380 to 480VAC is supported by 600W and 1kW or more.

The year and month of manufacture (Note)

Regenerative resistor equipped as standard

Not available

Equipped

Not available

Built-in

regenerative

resistor

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with an electromagnetic brake and the models with a reduction gear.

Servo motors

Servo amplifier

MR-J3-10A (1) 053 13 053 13 MR-J3-20A (1) 23 23 MR-J3-40A (1) 43 43

MR-J3-60A 51 52 52

MR-J3-70A 73 73 72 MR-J3-100A 81 102 102 MR-J3-200A 121 201 152 202 103 MR-J3-350A 301 352 203 202 202 MR-J3-500A 421 502 353 MR-J3-700A 702 MR-J3-11KA MR-J3-15KA MR-J3-22KA

HF-MP HF-KP

HF-SP

1000r/min 2000r/min

HC-RP

HC-UP HC-LP

152 152

153

352

503

302

502

Servo motors

Servo amplifier

MR-J3-60A 53

MR-J3-70A 73 MR-J3-100A 103 MR-J3-200A 153 203 MR-J3-350A 353 MR-J3-500A 502 503 MR-J3-700A 601 701M 702 MR-J3-11KA 801 12K1 11K1M 11K2 11K1M (Note) MR-J3-15KA 15K1 15K1M 15K2 15K1M (Note) MR-J3-22KA 20K1 25K1 22K1M 22K2

HA-LP HF-JP

1000r/min 1500r/min 2000r/min 1500r/min 3000r/min

Servo motors

Servo amplifier

MR-J3-60A4 524 534

MR-J3-100A4 1024 734 1034 MR-J3-200A4 1524 2024 1534 2034 MR-J3-350A4 3524 3534 MR-J3-500A4 5024 5034 MR-J3-700A4 7024 6014 701M4 MR-J3-11KA4 8014 12K14 11K1M4 11K24 11K1M4 (Note) MR-J3-15KA4 15K14 15K1M4 15K24 15K1M4 (Note) MR-J3-22KA4 20K14 22K1M4 22K24

Note. The servo amplifiers, which support these servo motors, have "-LR" at the end of their model names.

HF-SP

HA-LP

1000r/min 1500r/min 2000r/min 1500r/min 3000r/min

HF-JP

1 - 10

1. FUNCTIONS AND CONFIGURATION

Servo amplifiers supporting the

maximum torque setting

400

MR-J3-100A-U100 53 MR-J3-100A4-U110 534 MR-J3-200A-U101 73 MR-J3-200A4-U111 734 MR-J3-200A-U102 103 MR-J3-200A4-U112 1034 MR-J3-350A-U103 153 MR-J3-350A4-U113 1534 MR-J3-350A-U104 203 MR-J3-350A4-U114 2034 MR-J3-500A-U105 353 MR-J3-500A4-U115 3534 MR-J3-700A-U106 503 MR-J3-700A4-U116 5034

Servo motor Servo amplifiers supporting the

HF-JP HF-JP

400 maximum torque setting

Servo motor

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification

(1) MR-J3-100A or less

Name/Application

Display The 5-digit, seven-segment LED shows the servo status and alarm number.

Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.

DOWN

MODE

SET

Detailed

explanation

Chapter 6

Fixed part (2 places)

MODE UP DOWN SET

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

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

USB communication connector (CN5) Connect the personal computer.

Analog monitor connector (CN6) Outputs the analog monitor.

RS-422 communication connector (CN3) Connect the personal computer.

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

I/O signal connector (CN1) Used to connect digital I/O signals.

Servo motor power connector (CNP3) Connect the servo motor.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Chapter 6

Section 3.1 Section 3.3

Section 12.8

Section 3.2 Section 3.4

Section 12.8

Chapter 13

Section 3.1 Section 3.3

Section 3.2 Section 3.4

Section 3.1 Section 3.3

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

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

Battery holder Contains the battery for absolute position data backup.

Rating plate

Protective earth (PE) terminal ( ) Ground terminal.

Section 3.4

Section 12.1

Section 12.9

Chapter 14

Section 14.3

Section 1.5

Section 3.1 Section 3.3

1 - 12

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-60A4

MR-J3-100A4

Name/Application

Display The 5-digit, seven-segment LED shows the servo status and alarm number.

Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.

DOWN

MODE

SET

Detailed

explanation

Chapter 6

Fixed part (3 places)

MODE UP DOWN SET

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

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

USB communication connector (CN5) Connect the personal computer.

Analog monitor connector (CN6) Outputs the analog monitor.

RS-422 communication connector (CN3) Connect the personal computer.

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

I/O signal connector (CN1) Used to connect digital I/O signals.

Servo motor power connector (CNP3) Connect the servo motor.

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

Chapter 6

Section 3.1 Section 3.3

Section 12.8

Section 3.2 Section 3.4

Section 12.8

Chapter 13

Section 3.1 Section 3.3

Section 3.2 Section 3.4

Section 3.1 Section 3.3

Section 3.4

Section 12.1

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

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Battery holder Contains the battery for absolute position data backup.

Rating plate

Protective earth (PE) terminal ( ) Ground terminal.

Section 12.9

Chapter 14

Section 14.3

Section 1.5

Section 3.1 Section 3.3

1 - 13

+ 640 hidden pages

Mitsumi electronic MR-J3- A User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES

COMPLIANCE WITH UL/C-UL STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.4 Function list

1.5 Model code definition

1.6 Combination with servo motor

1.7 Structure

1.7.1 Parts identification