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General-Purpose AC Servo
J3 Series
General-Purpose Interface
MODEL
MR-J3- A
SERVO AMPLIFIER
INSTRUCTION MANUAL
L
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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.
.
.
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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. HighÂvoltage 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).
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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.
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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
2
]
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: 24.5 m/s
X: 11.7 m/s
2
Y: 49 m/s2
2
Y: 29.4 m/s2
2
Y: 29.4 m/s2
X, Y: 9.8 m/s2
2
2
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)
U
V
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
Servo motor
U
V
W
M
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Servo amplifier
(drive unit)
U
V
W
Servo motor
U
V
W
M
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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
RA
Control output
signal
DICOM
For source output interface
RA
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.
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(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.
B
U
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.
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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 ).
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MEMO
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CONTENTS
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
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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
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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
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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
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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
5
Page 15
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
6
Page 16
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
7
Page 17
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
8
Page 18
1. FUNCTIONS AND CONFIGURATION
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
Page 19
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
MC
L1
2
L
3
L
L
L
Diode
stack
11
21
Pulse input
Relay
P
1
P
2
(Note 3) Cooling fan
Control
circuit
power
supply
Model position
control
CD
P( ) N( )
(Note 1)
RegeneÂrative TR
CHARGE
lamp
Base
amplifier
Model speed
Voltage
detection
control
Overcurrent
protection
Virtual
motor
Current
detector
Virtual
encoder
Dynamic
brake circuit
Current
detection
U
V
W
RA
24VDC
CN2
Servo motor
U
V
M
W
B1
Electro-
B
magnetic
brake
B2
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)
Page 20
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
MC
L
1
2
L
3
L
11
L
L
21
Diode
stack
Pulse input
Relay
P
1
Model position
Control
circuit
power
supply
control
P
PN
2
RegeneÂrative TR
CHARGE
lamp
C
Cooling fan
Base
amplifier
Model speed
Voltage
detection
control
Overcurrent
protection
Virtual
motor
Current
detector
Virtual
encoder
Dynamic
brake circuit
Current
detection
U
V
W
RA
24VDC
CN2
Servo motor
U
V
M
W
B1
ElectroÂmagnetic
B
brake
B2
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
Page 21
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-11KA(4) to 22KA(4)
(Note 1)
Power
supply
NFB
Servo amplifier
MC
L
L2
L3
L
L21
1
11
Diode
stack
Power factor
improving DC
reactor
P
Thyristor
Control
circuit
power
supply
1
Regenerative
PN
CHARGE
lamp
Cooling fan
option
C
RegeneÂrative TR
Current
detector
(Note 2)
External
dynamic brake
(option)
U
V
W
W
RA
24VDC
Servo motor
U
V
M
B1
Electro-
B
magnetic
brake
B2
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
Page 22
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
0
(power fluctuation 10 )
when using analog speed command
UL (UL 508C)
Force-cooling, open (IP rating: IP00)
90
RH or less (non-condensing)
Indoors (no direct sunlight),
5
10
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
Page 23
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
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)
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.
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.
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
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
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
0
when using analog speed command
UL (UL 508C)
Force-cooling, open (IP rating: IP00)
90
RH or less (non-condensing)
Indoors (no direct sunlight),
5%
10%
(59
to
95 )
)
1 - 6
Page 24
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
P
P
P, S, T
P
P
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
Page 25
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.
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
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
Page 26
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
1
3-phase 380 to 480VAC
4
1-phase 200 to 230VAC is supported by
750W or less.
2.
1-phase 100 to 120VAC is supported by
400W or less.
3.
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
Page 27
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
Page 28
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
Page 29
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
UP
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
Page 30
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
UP
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
Page 31
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-200A(4)
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
UP
SET
Detailed
explanation
Chapter 6
MODE UP DOWN SET
(Note)
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.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
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 3.2
Section 3.4
Section 3.1
Section 3.3
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.
Battery holder
Contains 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.
Protective earth (PE) terminal ( )
Cooling fan
Fixed part
(3 places)
Note. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200A servo amplifier have been changed from April 2008
production. Model name of the servo amplifier before March 2008 is changed to MR-J3-200A-RT. For MR-J3-200A-RT, refer to
appendix 5.
Ground terminal.
Rating plate
Section 12.9
Chapter 14
Section 14.3
Section 3.1
Section 3.3
Section 1.5
1 - 14
Page 32
1. FUNCTIONS AND CONFIGURATION
(4) MR-J3-350A
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.
Detailed
explanation
Chapter 6
MODE UP DOWN SET
MODE
Main circuit power supply connector (CNP1)
Connect the input power supply.
RS-422 communication connector (CN3)
Connect the personal computer.
USB communication connector (CN5)
Connect the personal computer.
Analog monitor connector (CN6)
Outputs the analog monitor.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Servo motor power connector (CNP3)
Connect the servo motor.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
Encoder connector (CN2)
Used to connect the servo motor encoder.
UP
DOWN SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Chapter 6
Section 3.1
Section 3.3
Section 12.8
Chapter 13
Section 12.8
Section 3.2
Section 3.4
Section 3.2
Section 3.4
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.4
Section 12.1
Fixed part
(3 places)
Cooling fan
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains 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.
Protective earth (PE) terminal ( )
Ground terminal.
Rating plate
1 - 15
Section 12.9
Chapter 14
Section 14.3
Section 3.1
Section 3.3
Section 1.5
Page 33
1. FUNCTIONS AND CONFIGURATION
(5) MR-J3-350A4
MR-J3-500A(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
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.
Detailed
explanation
Chapter 6
MODE UP DOWN SET
Cooling fan
DOWN
MODE
Analog monitor connector (CN6)
Outputs the analog monitor.
USB communication connector (CN5)
Connect the personal computer.
RS-422 communication connector (CN3)
Connect the personal computer.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Battery holder
Contains the battery for absolute position data backup.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
UP
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Chapter 6
Section 3.2
Section 3.4
Section 12.8
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 14.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 3.1
Section 3.3
Fixed part
(4 place)
Power factor improving DC reactor terminal block (TE3)
Used to connect the power factor improving DC reactor.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo motor.
Protective earth (PE) terminal ( )
Ground terminal.
Rating plate
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 1.5
1 - 16
Page 34
1. FUNCTIONS AND CONFIGURATION
(6) MR-J3-700A(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
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.
Detailed
explanation
Chapter 6
MODE UP DOWN SET
Cooling fan
Fixed part
(4 place)
MODE
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.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Battery holder
Contains the battery for absolute position data backup.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Power factor improving DC reactor terminal block (TE3)
Used to connect the power factor improving DC reactor.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo motor.
Protective earth (PE) terminal ( )
Ground terminal.
UP
DOWN SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Chapter 6
Section 12.8
Section 3.2
Section 3.4
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 14.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Section 3.1
Section 3.3
Rating plate
Section 1.5
1 - 17
Page 35
1. FUNCTIONS AND CONFIGURATION
(7) MR-J3-11KA(4) to MR-J3-22KA(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
MODE UP DOWN SET
Cooling fan
Fixed part
(4 place)
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.
UP
MODE
USB communication connector (CN5)
Connect the personal computer.
DOWN
SET
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Detailed
explanation
Chapter 6
Chapter 6
Section 12.8
Analog monitor connector (CN6)
Outputs the analog monitor.
RS-422 communication connector (CN3)
Connect the personal computer.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Battery holder
Contains the battery for absolute position data backup.
Encoder connector (CN2)
Used to connect the servo motor encoder.
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.
Rating plate
Main circuit, control circuit and protective earth (PE)
terminal block
Used to connect the input power supply, servo motor,
regenerative option and ground.
Section 3.2
Section 3.4
Section 12.8
Chapter 13
Section 3.2
Section 3.4
Section 14.3
Section 3.4
Section 12.1
Section 12.9
Chapter 14
Section 1.5
Section 3.1
Section 3.3
1 - 18
Page 36
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or longer until the charge lamp turns off. Then, confirm that the voltage
WARNING
between P(
) and N( ) 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 whether the charge lamp is off or not.
(1) For MR-J3-350A4
MR-J3-500A(4) MR-J3-700A(4)
Removal of the front cover
1) Hold the ends of lower side of the front cover with
both hands.
A)
A)
2) Pull up the cover, supporting at point
A)
.
3) Pull out the front cover to remove.
1 - 19
Page 37
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Front cover
setting tab
A)
A)
1) Insert the front cover setting tabs into the
sockets of servo amplifier (2 places).
Setting tab
3) Push the setting tabs until they click.
2) Pull up the cover, supporting at point
A)
.
1 - 20
Page 38
k
1. FUNCTIONS AND CONFIGURATION
(2) For MR-J3-11KA(4) to MR-J3-22KA(4)
Removal of the front cover
C)
B)
A)
1) Press the removing knob on the lower side of the
front cover ( A) and B) ) and release the
installation hook.
2) Press the removing knob of C) and release the
installation hook.
Reinstallation of the front cover
C)
B)
D
A)
3) Pull it to remove the front cover.
(Note 1)
(Note 1)
(Note 2)
1) Fit the front cover installation hooks on the sockets
of body cover ( A) to B) ) to reinstall it.
Note 1. The cooling fan cover can be locked with enclosed screws (M4 40).
2. By drilling approximately
14).
4 of a hole on the front cover, the front cover can be locked on the body with an enclosed screw (M4
2) Push the front cover until your hear the clicking
noise of the installation hook.
1 - 21
Installation hoo
Page 39
1. FUNCTIONS AND CONFIGURATION
1.8 Configuration including auxiliary equipment
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
(1) MR-J3-100A or less
(a) For 3-phase or 1-phase 200 to 230VAC
R S T
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
(Note 2)
Line noise filter
(FR-BSF01)
CN6
Servo amplifier
CN5
CN3
Analog monitor
Personal
computer
MR Configurator
CN1
Junction terminal block
CN2
CN4
(Note 1)
Battery
MR-J3BAT
Servo motor
(Note 2)
Power factor
improving DC
reactor
(FR-BEL)
L
1
2
L
L
3
P
1
2
P
PC
U
V
W
Regenerative
option
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
3. A 1-phase 200 to 230VAC power supply may be used with the servo amplifier of MR-J3-70A or less.
For 1-phase 200 to 230VAC, connect the power supply to L
specification.
L
11
L
21
1 and P2.
and leave L3 open. Refer to section 1.3 for the power supply
1 L2
1 - 22
Page 40
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100 to 120VAC
R S
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Power factor
improving AC
reactor
(FR-BAL)
Line noise filter
(FR-BSF01)
CN6
Servo amplifier
CN5
(Note 2)
L
1
L
2
PC
U
V
W
CN3
CN1
CN2
CN4
(Note 1)
Battery
MR-J3BAT
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
Servo motor
Regenerative
option
L
11
L
21
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving DC reactor cannot be used.
3. Refer to section 1.3 for the power supply specification.
1 - 23
Page 41
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-60A4
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
MR-J3-100A4
R S T
Magnetic
contactor
(MC)
(Note 2)
Line noise filter
(FR-BSF01)
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-H)
P
P2
CN6
Servo amplifier
CN5
CN3
L
1
L2
L
3
1
P
L11
C
Regenerative
option
WVU
CN1
CN2
CN4
(Note 1)
Battery
MR-J3BAT
Analog monitor
MR Configurator
Junction terminal block
Personal
computer
Servo motor
L21
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
3. Refer to section 1.3 for the power supply specification.
1 and P2.
1 - 24
Page 42
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-200A(4)
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BSF01)
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-(H))
R S T
(Note 2)
L1
L
2
L
3
Servo amplifier
CN6
CN5
Analog monitor
MR Configurator
Personal
computer
P1
P
2
L
11
L22
UV W
Regenerative
option
CN3
P
C
CN1
CN2
CN4
(Note 1)
Battery
MR-J3BAT
Servo motor
Junction terminal block
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
3. Refer to section 1.3 for the power supply specification.
4. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200A servo amplifier have been changed from April 2008
production. Model name of the servo amplifier before March 2008 is changed to MR-J3-200A-RT. For MR-J3-200A-RT, refer to
appendix 5.
1 and P2.
1 - 25
Page 43
1. FUNCTIONS AND CONFIGURATION
(4) MR-J3-350A
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
R S T
Line noise filter
(FR-BLF)
(Note 2)
Power factor
improving DC
reactor
(FR-BEL)
L11
21
L
P
P2
1
(Note 2)
L1
L
2
3
L
U
V
W
Regenerative
option
P
C
Servo amplifier
CN6
CN5
CN3
CN1
CN2
CN4
(Note 1)
Battery
MR-J3BAT
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
1 and P2.
3. Refer to section 1.3 for the power supply specification.
1 - 26
Page 44
1. FUNCTIONS AND CONFIGURATION
(5) MR-J3-350A4
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BLF)
MR-J3-500A(4)
R S T
(Note 2)
Servo amplifier
(Note 1)
Battery
MR-J3BAT
CN6
CN5
CN3
CN1
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
CN2
CN4
L21
L11
L
3
L
2
L1
CP
Regenerative
option
P1
P
2
UVW
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-(H))
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
1 and P2.
3. Refer to section 1.3 for the power supply specification.
1 - 27
Page 45
1. FUNCTIONS AND CONFIGURATION
(6) MR-J3-700A(4)
(Note 3)
Power supply
R S T
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
Line noise filter
(FR-BLF)
(Note 2)
11
L
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-(H))
L3
2
L
L1
CN6
Servo amplifier
CN5
(Note 1)
Battery
MR-J3BAT
21
L
P2
1
P
CN3
CN1
CN2
CN4
Analog monitor
Personal
computer
MR Configurator
Junction terminal block
CP
Regenerative
option
UVW
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
1 and P2.
3. Refer to section 1.3 for the power supply specification.
1 - 28
Page 46
1. FUNCTIONS AND CONFIGURATION
(7) MR-J3-11KA(4) to MR-J3-22KA(4)
(Note 3)
Power supply
No-fuse breaker
(NFB) or fuse
Magnetic
contactor
(MC)
R S T
L
L
11
21
Servo amplifier
CN6
CN5
Analog monitor
Personal
computer
MR Configurator
Line noise filter
(FR-BLF)
(Note 2)
Power factor
improving DC
reactor
(FR-BEL-(H))
(Note 2)
3
L
L
2
L1
P1
P
Regenerative
option
(Note 1)
Battery
MR-J3BAT
CP
CN3
CN1
Junction terminal block
CN2
CN4
UVW
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P
3. Refer to section 1.3 for the power supply specification.
1 and P.
1 - 29
Page 47
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 30
Page 48
2. INSTALLATION
2. INSTALLATION
WARNING
CAUTION
To prevent electric shock, ground each equipment securely.
Stacking in excess of the limited number of product packages is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For details
of the environmental condition, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the converter
unit and servo amplifier (drive unit).
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 subject the converter unit and servo amplifier (drive unit) to drop impact or
shock loads as they are precision equipment.
Do not install or operate a faulty converter unit and servo amplifier (drive unit).
When the product has been stored for an extended period of time, contact your local
sales office.
When handling the converter unit and servo amplifier (drive unit), be careful about
the edged parts such as the corners of the each unit.
The converter unit and servo amplifier (drive unit) must be installed in the metal
cabinet (control box).
2 - 1
Page 49
2. INSTALLATION
2.1 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION
Leave specified clearances between the servo amplifier and control box inside walls
or other equipment.
(1) 7kW or less
(a) Installation of one servo amplifier
Control box
10mm or
more
40mm
or more
Servo
amplifier
10mm or
more
Wiring
allowance
80mm
Control box
Top
Bottom
40mm
or more
2 - 2
Page 50
2. INSTALLATION
(b) Installation of two or more servo amplifiers
POINT
Close mounting is available for the servo amplifier of under 3.5kW for 200V class
and 400W for 100V class.
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo
amplifiers in consideration of mounting tolerances.
In this case, make circumference temperature into 0 to 45
Control box
, or use it at 75 or a smaller effective load ratio.
Control box
100mm or more
10mm
or more
30mm
or more
40mm or more
Leaving clearance
(2) 11k to 22kW or more
(a) Installation of one servo amplifier
10mm
or more
30mm
or more
30mm
or more
40mm or more
Servo amplifier
100mm or more
1mm 1mm
40mm or more
Mounting closely
Control boxControl box
Wiring
allowance
80mm
10mm
or more
Top
30mm
or more
Bottom
Top
Bottom
120mm
or more
2 - 3
Page 51
2. INSTALLATION
(b) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm or more
10mm or more
Top
30mm
or more
120mm or more
30mm
or more
Bottom
(3) Others
When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo
amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or
a cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box.
2 - 4
Page 52
2. INSTALLATION
2.3 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress
are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with
having some slack from the connector connection part of the servo motor to avoid putting stress on the
connector connection part. Use the optional encoder cable within the flexing life range. Use the power
supply and brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large
as possible. Refer to section 11.4 for the flexing life.
2.4 Inspection items
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or longer until the charge lamp turns off. Then, confirm that the voltage
between P(
WARNING
electric shock may occur. In addition, always confirm from the front of the servo
amplifier whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement, contact
your local sales office.
POINT
) and N( ) is safe with a voltage tester and others. Otherwise, an
Do not test the servo amplifier with a megger (measure insulation resistance), or
it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check the cables and the wires for scratches and cracks. Perform periodic inspection according to
operating conditions.
2 - 5
Page 53
2. INSTALLATION
2.5 Parts having service lives
The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed
immediately even when it has not yet reached the end of its life, which depends on the operating method and
environmental conditions. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on and number of emergency
stop times : 100,000 times
Servo amplifier
Relay
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to section 14.2
(1) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of
continuous operation in normal air-conditioned environment (40
(104 ) surrounding air temperature or
less).
(2) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life
when the cumulative number of power-on and emergency stop times is 100,000, which depends on the
power supply capacity.
(3) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the
cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
2 - 6
Page 54
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or longer until the charge
lamp turns off. Then, confirm that the voltage between P(
voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off or
WARNING
not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate
unexpected resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other protective
circuits may not operate.
Servo amplifier
DOCOM
24VDC
) and N( ) is safe with a
Servo amplifier
24VDC
DOCOM
Control output
signal
DICOM
For source output interface
RA
CAUTION
Control output
signal
DICOM
For sink output interface
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option)
with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
3 - 1
Page 55
3. SIGNALS AND WIRING
3.1 Input power supply circuit
Always connect a magnetic contactor between the main circuit power and L1, L2,
3 of the servo amplifier, and configure the wiring to be able to shut down the
and L
power supply on the side of the servo amplifier’s power supply. If a magnetic
contactor is not connected, continuous flow of a large current may cause a fire when
the servo amplifier malfunctions.
CAUTION
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault
or the like may overheat the regenerative resistor, causing a fire.
Check the model and input the correct voltage for the power supply of the servo
amplifier. When a voltage, which exceeds the maximum input voltage of the servo
amplifier specifications, is input, the servo amplifier malfunctions.
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as alarm
occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply to MR-J3-10A to MR-J3-350A
Trouble
RA
Emergency stop
(Note 6)
OFF
ON
MC
MC
SK
3-phase
200 to
230VAC
(Note 4)
Emergency stop (Note 6)
Servo-on
(Note 7)
MCNFB
(Note 1)
(Note 2)
CNP1
1
L
2
L
L3
N( )
P
1
P
2
CNP2
P( )
C
D
L11
L21
CN1 CN1
EMG
SON
DOCOM
CNP3
W
PE
CN2
DOCOM
DICOM
ALM
U
V
(Note 5)
(Note 3)
Encoder cable
24VDC
RA
Servo motorServo amplifier
U
V
W
Trouble
Motor
M
Encoder
(Note 4)
3 - 2
Page 56
3. SIGNALS AND WIRING
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section
12.13. Use only one of power factor improving DC reactor or power factor improving AC reactor.
2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface.
For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency
stop (EMG) using the external sequence.
7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is
the time interval between current being applied to the coil until closure of contacts.
(2) For 1-phase 200 to 230VAC power supply to MR-J3-10A to MR-J3-70A
OFF
CNP1
1
L
2
L
L3
N
P
1
P
2
CNP2
P
C
D
L11
L21
ON
MC
CNP3
U
V
W
PE
CN2
1-phase
200 to
230VAC
Trouble
RA
Emergency stop
(Note 6)
(Note 7)
MCNFB
(Note 1)
(Note 2)
MC
SK
(Note 5)
(Note 3)
Encoder cable
U
V
W
Servo motorServo amplifier
Motor
M
Encoder
(Note 4)
Emergency stop (Note 6)
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
RA
Trouble
(Note 4)
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section
12.13. Use only one of power factor improving DC reactor or power factor improving AC reactor.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency
stop (EMG) using the external sequence.
7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is
the time interval between current being applied to the coil until closure of contacts.
3 - 3
Page 57
3. SIGNALS AND WIRING
(3) MR-J3-10A1 to MR-J3-40A1
Trouble
RA
Emergency stop
(Note 6)
OFF
ON
MC
MC
SK
Servo motorServo amplifier
U
Motor
V
M
W
1-phase
100 to
120VAC
(Note 7)
MCNFB
(Note 1)
CNP1
1
L
Blank
L2
N
P
1
P
2
CNP3
U
V
W
PE
(Note 5)
CNP2
P
(Note 2)
C
D
L11
CN2
(Note 3)
Encoder cable
Encoder
L21
(Note 4)
Emergency stop (Note 6)
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
RA
Trouble
(Note 4)
Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency
stop (EMG) using the external sequence.
7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is
the time interval between current being applied to the coil until closure of contacts.
3 - 4
Page 58
3. SIGNALS AND WIRING
(4) MR-J3-60A4 to MR-J3-200A4
(Note 6)
Stepdown
transformer
3-phase
380 to
480VAC
Trouble
RA
Emergency stop
(Note 7)
(Note 8)
MCNFB
(Note 1)
(Note 2)
OFF
CNP1
1
L
2
L
L
3
N
1
P
P
2
CNP2
P
C
D
L
11
L21
ON
MC
CNP3
U
V
W
PE
CN2
MC
SK
(Note 5)
(Note 3)
Encoder cable
U
V
W
Servo motorServo amplifier
Motor
M
Encoder
(Note 4)
Emergency stop (Note 7)
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
RA
Trouble
(Note 4)
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section
12.13. Use only one of power factor improving DC reactor or power factor improving AC reactor.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
7. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency
stop (EMG) using the external sequence.
8. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is
the time interval between current being applied to the coil until closure of contacts.
3 - 5
Page 59
3. SIGNALS AND WIRING
(5) MR-J3-500A MR-J3-700A
Trouble
RA
Emergency stop
(Note 7)
OFF
ON
MC
MC
SK
(Note 6)
Power supply
of cooling fan
3-phase
200 to
230VAC
(Note 4)
Emergency stop (Note 7)
Servo-on
(Note 8)
MCNFB
(Note 2)
(Note 1)
TE1
L
1
Built-in
L
2
regenerative
L3
resistor
P
C
TE2
L
L
11
21
PE
TE3
N
1
P
CN2
P2
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
U
V
W
(Note 5)
(Note 3)
Encoder cable
24VDC
RA
Servo motorServo amplifier
U
V
W
Cooling fan
Trouble
Motor
M
Encoder
(Note 4)
NFB
BU
BV
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13. Use only
one of power factor improving DC reactor or power factor improving AC reactor.
2. When using the regenerative option, refer to section 12.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. A cooling fan is attached to the HA-LP601 and the HA-LP701M servo motors. For power supply specification of the cooling fan,
refer to section 3.10.2 (3) (b).
7. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using
the external sequence.
8. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
3 - 6
Page 60
3. SIGNALS AND WIRING
(6) MR-J3-350A4 to MR-J3-700A4
Trouble
RA
(Note 6)
Stepdown
transformer
3-phase
380 to
480VAC
OFF
Emergency stop
(Note 8)
(Note 9)
MCNFB
(Note 2)
(Note 1)
TE1
L
1
Built-in
2
L
regenerative
L
resistor
3
P
C
TE2
L11
L21
TE3
N
P
1
P2
ON
MC
U
V
W
PE
CN2
MC
SK
(Note 5)
(Note 3)
Encoder cable
U
V
W
Servo motorServo amplifier
Motor
Encoder
(Note 7)
Power supply
of cooling fan
M
BU
NFB
BV
Cooling fan
(Note 4)
Trouble
(Note 4)
Emergency stop (Note 8)
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
RA
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13. Use only
one of power factor improving DC reactor or power factor improving AC reactor.
2. When using the regenerative option, refer to section 12.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
7. A cooling fan is attached to the HA-LP6014 and the HA-LP701N4 servo motors. For power supply specification of the cooling
fan, refer to section 3.10.2 (3) (b).
8. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using
the external sequence.
9. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
3 - 7
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3. SIGNALS AND WIRING
(7) MR-J3-11KA to MR-J3-22KA
3-phase
200 to
230VAC
Servo motor
thermal relay
RA2
(Note 9)
Regenerative
resistor
Trouble
RA1
Emergency stop
MCNFB
OFF
(Note 8)
TE
L
1
L2
L3
C
(Note 2) M
P
(Note 1)
P
1
ON
MC
U
V
W
MC
SK
External dynamic
brake (option)
(Note 10)
(Note 5)
U
V
W
PE
L
11
21
L
CN2
(Note 3)
Encoder cable
Servo motorServo amplifier
Motor
Encoder
(Note 6)
Cooling fan
(Note 7)
Power supply
of cooling fan
NFB
BU
BV
BW
OHS2OHS1
Servo motor
thermal relay
(Note 4)
(Note 4)
Emergency stop (Note 8)
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
24VDC
RA2
RA1
Trouble
Note 1. Always connect P and P1. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13. Use only
one of power factor improving DC reactor or power factor improving AC reactor.
2. When using the regenerative option, refer to section 12.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. When the power supply for the cooling fan is 1-phase, BW does not exist.
7. For the cooling fan power supply, refer to section 3.10.2 (3) (b).
8. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using
the external sequence.
9. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
10. 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.
3 - 8
Page 62
3. SIGNALS AND WIRING
(8) MR-J3-11KA4 to MR-J3-22KA4
3-phase
380 to
480VAC
(Note 8)
Stepdown
transformer
Servo motor
thermal relay
RA2
(Note 10)
Regenerative
resistor
Trouble
RA1
Emergency stop
MCNFB
(Note 9)
TE
L1
L
2
L3
C
(Note 2)
P
(Note 1)
P
1
L
11
21
L
OFF
U
V
W
PE
CN2
ON
MC
External dynamic
brake (option)
(Note 11)
(Note 5)
(Note 3)
Encoder cable
MC
SK
U
V
W
Servo motorServo amplifier
Motor
M
Encoder
(Note 6)
Cooling fan
(Note 7)
Power supply
of cooling fan
BU
BV
BW
NFB
OHS2OHS1
Servo motor
thermal relay
(Note 4)
(Note 4)
Emergency stop (Note 9)
Servo-on
CN1 CN1
EMG
SON
DOCOM
DOCOM
DICOM
ALM
24VDC
24VDC
RA2
RA1
Trouble
Note 1. Always connect P and P1. (Factory-wired.) When using the power factor improving DC reactor, refer to section 12.13. Use only
one of power factor improving DC reactor or power factor improving AC reactor.
2. When using the regenerative option, refer to section 12.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. There is no BW if HA-LP11K24 is used.
7. For the cooling fan power supply, refer to section 3.10.2 (3) (b).
8. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
9. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using
the external sequence.
10. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
11. 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.
3 - 9
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3. SIGNALS AND WIRING
3.2 I/O signal connection example
3.2.1 Position control mode
(Note 12)
(Note 3, 5)
(Note 5)
Emergency stop
Servo-on
Reset
Proportion control
External torque limit selection
Forward rotation stroke end
Reverse rotation stroke end
Analog torque limit
10V/max. torque
(Note 9)
MR Configurator
Positioning module
QD75D
CLEARCOM
CLEAR
RDYCOM
READY
PULSE F
PULSE F
PULSE R
PULSE R
PG0
PG0 COM
Upper limit setting
Personal
computer
24VDC
14
13
12
11
15
16
17
18
9
10
(Note 11)
10m max. (Note 8)
(Note 10)
(Note 4, 12)
10m max.
2m max.
USB cable
(option)
DICOM
DOCOM
CR
RD
PP
PG
NP
NG
LZ
LZR
LG
SD
EMG
SON
RES
PC
TL
LSP
LSN
DOCOM
P15R
TLA
LG 28
SD
Servo amplifier
(Note 7)
20
46
41
49
10
11
35
36
42
15
19
17
18
43
44
47
27
8
9
3
1
CN1
21
48 ALM
23 ZSP
25 TLC
24 INP
34 LG
33 OP
Plate
(Note 7)
CN6
Plate
(Note 7)
CN1
Plate
(Note 7)
CN1
Plate
CN5
DICOM
4LA
5LAR
6LB
7LBR
1P15R
SD
2m max.
MO1
3
LG
1
MO2
2
SD
2m max.
(Note 2)
RA1
RA2
RA3
RA4
10m max.
Control common
Encoder Z-phase pulse
(open collector)
Analog monitor 1
Analog monitor 2
Trouble (Note 6)
Zero speed detection
Limiting torque
In-position
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
(Note 12)
(Note 1)
3 - 10
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3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to
the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10 300mA current for interfaces from the outside. 300mA 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. Refer to section 3.8.2 (1) that gives the
current value necessary for the interface.
5. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver system. It is 2m or less in the open collector
system.
9. Use MRZJW3-SETUP 221E.
10. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector)
from being used, and vice versa. They cannot be used together.
Personal compute
RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)
To RS-232C connector
or
MR-PRU03
parameter unit
EIA568-compliant cable (10BASE-T cable, etc.)
11. This connection is not required for the QD75D. Depending on the used positioning module, however, it is recommended to
connect the LG and control common terminals of the servo amplifier to enhance noise immunity.
12. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
Servo amplifier
CN3
3 - 11
Page 65
3. SIGNALS AND WIRING
3.2.2 Speed control mode
(Note 3, 5)
(Note 12)
(Note 5)
Emergency stop
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation start
Reverse rotation start
Forward rotation stroke end
Reverse rotation stroke end
(Note 11)
(Note 8)
Analog speed command
10V/rated speed
Analog torque limit
10V/max. torque
(Note 9)
MR Configurator
Upper limit setting
Upper limit setting
Personal
computer
24VDC
(Note 4)
10m max.
2m max.
(Note 10)
USB cable
(option)
DICOM
DOCOM
EMG
SON
RES
SP1
SP2
ST1
ST2
LSP
LSN
DOCOM
P15R
VC
LG
TLA
SD
Servo amplifier
(Note 7)
20
46
42
15
19
41
16
17
18
43
44
47
28
27
1
2
CN1
21
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
34 LG
33 OP
Plate
(Note 7)
CN6
(Note 7)
CN1
Plate
CN5
DICOM
8LZ
9LZR
4LA
5LAR
6LB
7LBR
1P15R
SD
2m max.
3
MO1
LG
1
2
MO2
(Note 2)
RA1
RA2
RA3
RA4
RA5
10m max.
Encoder Z-phase pulse
(open collector)
Analog monitor 1
Analog monitor 2
Trouble (Note 6)
Zero speed detection
Limiting torque
Speed reached
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
(Note 12)
SD
Plate
2m max.
(Note 1)
3 - 12
Page 66
r
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to
the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10 300mA current for interfaces from the outside. 300mA 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. Refer to section 3.8.2 (1) that gives the
current value necessary for the interface.
5. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition.
7. The pins with the same signal name are connected in the servo amplifier.
8. By setting parameters No.PD03 to PD08, PD09 to PD12 to make external torque limit selection (TL) available, TLA can be
used.
9. Use MRZJW3-SETUP 221E.
10. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector)
from being used, and vice versa. They cannot be used together.
Personal computer
RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)
To RS-232C connector
or
MR-PRU03
parameter unit
EIA568-compliant cable (10BASE-T cable, etc.)
11. Use an external power supply when inputting a negative voltage.
12. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
Servo amplifie
CN3
3 - 13
Page 67
3. SIGNALS AND WIRING
3.2.3 Torque control mode
Emergency stop
(Note 3)
Servo-on
(Note 10)
(Note 9)
(Note 7)
MR Configurator
Reset
Speed selection 1
Speed selection 2
Forward rotation selection
Reverse rotation selection
Upper limit setting
Analog torque command
8V/max. torque
Upper limit setting
Analog speed limit
0 to 10V/rated speed
Personal
computer
24VDC (Note 4)
10m max.
2m max.
(Note 8)
USB cable
(option)
DICOM
DOCOM
EMG
SON
RES
SP1
SP2
RS1
RS2
DOCOM
P15R
TC
LG
VLA
SD
Servo amplifier
(Note 6)
1
2
CN1
21
48 ALM
23 ZSP
25 VLC
49 RD
8LZ
9
4LA
5LAR
6LB
7LBR
34 LG
33 OP
1P15R
Plate
(Note 6)
CN6
3
1
2
(Note 6)
CN1
20
46
42
15
19
41
16
18
17
47
27
28
Plate
CN5
DICOM
LZR
SD
MO1
LG
MO2
10m max.
2m max.
(Note 2)
RA1
RA2
RA3
RA4
Encoder Z-phase pulse
(open collector)
Analog monitor 1
Analog monitor 2
Trouble (Note 5)
Zero speed detection
Limiting speed
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
(Note 10)
SD
Plate
2m max.
(Note 1)
3 - 14
Page 68
r
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) servo amplifier to
the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. Supply 24VDC 10 300mA current for interfaces from the outside. 300mA 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. Refer to section 3.8.2 (1) that gives the
current value necessary for the interface.
5. Trouble (ALM) turns on in normal alarm-free condition.
6. The pins with the same signal name are connected in the servo amplifier.
7. Use MRZJW3-SETUP 221E.
8. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector)
from being used, and vice versa. They cannot be used together.
Personal computer
RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)
To RS-232C connector
or
MR-PRU03
parameter unit
EIA568-compliant cable (10BASE-T cable, etc.)
9. Use an external power supply when inputting a negative voltage.
10. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
Servo amplifie
CN3
3 - 15
Page 69
3. SIGNALS AND WIRING
3.3 Explanation of power supply system
3.3.1 Signal explanations
Abbreviation
L1
2
L
3
L
P1
2
P
P
C
D
L11
21
L
POINT
For the layout of connector and terminal block, refer to outline drawings in
chapter 10.
Connection target
(application)
the power supply to L
Power supply
Supply the following power to L
1, L2, and keep L3 open.
1, L2, L3. For the 1-phase 200 to 230VAC power supply, connect
Servo amplifier
3-phase 200 to 230VAC, 50/60Hz L1 L2 L3
Main circuit power 1-phase 200 to 230VAC, 50/60Hz L1 L2
supply 1-phase 100 to 120VAC, 50/60Hz L1 L2
Power supply
Servo amplifier
3-phase 380 to 480VAC, 50/60Hz L1 L2 L3
1) MR-J3-700A or less
When not using the power factor improving DC reactor, connect P
When using the power factor improving DC reactor, disconnect P
Power factor
improving DC
reactor
power factor improving DC reactor to P
2) MR-J3-11KA(4) to 22KA(4)
MR-J3-11KA(4) to 22KA(4) do not have P
When not using the power factor improving reactor, connect P
When using the power factor improving reactor, connect it to P and P
Refer to section 12.13.
1) MR-J3-350A or less
MR-J3-200A4 or less
When using servo amplifier built-in regenerative resistor, connect P(
When using regenerative option, disconnect P(
P and C.
500A(4) 700A(4)
500A(4) 700A(4) do not have D.
Regenerative
option
2) MR-J3-350A4
MR-J3-350A4
When using servo amplifier built-in regenerative resistor, connect P and C. (Factory-wired)
When using regenerative option, disconnect P and C, and connect regenerative option to P
and C.
3) MR-J3-11KA(4) to 22KA(4)
MR-J3-11KA(4) to 22KA(4) do not have D.
When not using the power regenerative converter and the brake unit, make sure to connect
the regenerative option to P and C.
Refer to section 12.2 to 12.5.
Control circuit
power supply
Supply the following power to L
Power supply
1-phase 200 to 230VAC, 50/60Hz L11 L21
11 L21.
Servo amplifier
1-phase 100 to 120VAC, 50/60Hz L11 L21
1-phase 380 to 480VAC, 50/60Hz L11 L21
Description
MR-J3-10A to
1 and P2.
2.
MR-J3-10A to
22KA
70A
MR-J3-100A
to 22KA
MR-J3-10A1
to 40A1
MR-J3-60A4 to 22KA4
1 and P2. (Factory-wired.)
1 and P2, and connect the
1 and P. (Factory-wired)
1.
) and D. (Factory-wired)
) and D, and connect regenerative option to
MR-J3-10A1
to 40A1
MR-J3-60A4
to 22KA4
3 - 16
Page 70
3. SIGNALS AND WIRING
Servo motor
power
Return converter
Brake unit
Protective earth
(PE)
Connection target
(application)
Description
Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or
close the motor power line. Otherwise, a malfunction or faulty may occur.
When using the power regenerative converter/brake unit, connect it to P and N.
Do not connect to servo amplifier MR-J3-350A(4) or less.
For details, refer to section 12.3 to 12.5.
Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control
box to perform grounding.
Abbreviation
U
V
W
N
3.3.2 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the
main circuit power supply (3-phase: L
to switch off the magnetic contactor as soon as an alarm occurs.
, L2, L3, 1-phase: L1, L2). Configure up an external sequence
1
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply
or before switching on the main circuit power supply. If the main circuit power supply is not on, the
display shows the corresponding warning. However, by switching on the main circuit power supply,
the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power supply
is switched on. Therefore, when SON is switched on simultaneously with the main circuit power
supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further
about 5ms, making the servo amplifier ready to operate. (Refer to paragraph (2) of this section.)
4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart
Servo-on (SON) accepted
Main circuit
Control circuit
Power supply
Base circuit
Servo-on(SON)
Reset(RES)
Ready(RD)
Trouble(ALM)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
No (ON)
Yes (OFF)
(1.5 to 2s)
1s
(1 to 1.5s)
10ms
10ms5ms
95ms
10ms
10ms5ms
95ms
5ms 10ms
Power-on timing chart
3 - 17
Page 71
3. SIGNALS AND WIRING
(3) Emergency stop
Provide an external emergency stop circuit to ensure that operation can be stopped
CAUTION
and power switched off immediately.
Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop.
When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this
time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input during
an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop,
always shut off the run command.
Servo amplifier
24VDC
DICOM
(Note)
EMGEmergency stop
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 18
Page 72
3. SIGNALS AND WIRING
3.3.3 CNP1, CNP2, CNP3 wiring method
POINT
Refer to section 12.11 for the wire sizes used for wiring.
MR-J3-500A or more MR-J3-350A4 or more does not have these connectors.
Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3.
(1) MR-J3-10A to MR-J3-100A
(a) Servo amplifier power supply connectors
(Note)Servo amplifier Power supply connectors
Connector for CNP1
54928-0670(Molex)
CNP1
CNP2
CNP3
<Applicable cable example>
Cable finish OD: to 3.8mm
Connector for CNP2
54927-0520(Molex)
Connector for CNP3
54928-0370(Molex)
Servo amplifier
Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are
recommended.
For CNP1: 51241-0600 (connector), 56125-0128 (terminal)
For CNP2: 51240-0500 (connector), 56125-0128 (terminal)
For CNP3: 51241-0300 (connector), 56125-0128 (terminal)
Crimping tool: CNP57349-5300
<Connector applicable cable example>
Cable finish OD: to 3.8mm
(b) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath
8 to 9mm
Core
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. Alternatively, a ferrule may be used to put the
wires together.
Cable size Ferrule type (Note 1)
[mm2] AWG For 1 cable For 2 cable
1.25/1.5 16 AI 1,5-10 BK AI-TWIN2 1,5-10 BK
2/2.5 14 AI 2,5-10 BU
Note 1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO
Crimping tool (Note 2)
Variocrimp 4 206-204
3 - 19
Page 73
3. SIGNALS AND WIRING
(2) MR-J3-200A MR-J3-60A4 to MR-J3-200A4
(a) Servo amplifier power supply connectors
Servo amplifier power supply connectors
<Applicable cable example>
Cable finish OD: 4.1mm or less
Connector for CNP1
721-207/026-000(Plug)
(WAGO)
Connector for CNP2
721-205/026-000(Plug)
(WAGO)
Connector for CNP3
721-203/026-000(Plug)
(WAGO)
(Note)
Servo amplifier
CNP1
CNP2
CNP3
Note. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200A servo amplifier have been
changed from April 2008 production. Model name of the servo amplifier before March 2008 is changed to
MR-J3-200A-RT. For MR-J3-200A-RT, refer to appendix 5.
(b) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath
8 to 9mm
Core
Twisted wire: Use the cable after stripping the sheath without twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. Alternatively, a ferrule may be used to put the
wires together.
Cable size Ferrule type
[mm2] AWG For 1 cable For 2 cable
1.25/1.5 16
2 14 216-246 (Note 2)
Note 1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO
AI 1,5-10 BK
(Note 1)
AI-TWIN2 1,5-10 BK
(Note 1)
Crimping tool (Note 2)
Variocrimp 4 206-204
3 - 20
Page 74
3. SIGNALS AND WIRING
(3) MR-J3-350A
(a) Servo amplifier power supply connectors
Servo amplifier power supply connectors
<Applicable cable example>
Cable finish OD: to 5mm
<Applicable cable example>
Cable finish OD: to 3.8mm
Connector for CNP1
PC 4/6-STF-7,62-CRWH
(Phoenix Contact)
Connector for CNP3
PC 4/3-STF-7,62-CRWH
(Phoenix Contact)
Connector for CNP2
54927-0520(Molex)
Servo amplifier
CNP1
CNP3
CNP2
(b) Termination of the cables
1) CNP1
CNP3
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it
may cause a contact fault. Alternatively, a ferrule may be used to put the wires together.
Cable size Ferrule type
[mm2] AWG For 1 cable For 2 cables
1.25/1.5 16 AI 1,5-8 BK AI-TWIN2 1,5-8 BK
2.0/2.5 14 AI 2,5-8 BU AI-TWIN2 2,5-10 BU
3.5 12 AI 4-10 GY
2) CNP2
CNP2 is the same as MR-J3-100A or smaller capacities. Refer to (1) (b) of this section.
Sheath
7mm
Core
Crimping tool Manufacturer
CRIMPFOX-ZA3 Phoenix Contact
3 - 21
Page 75
3. SIGNALS AND WIRING
(4) Insertion of cable into Molex and WAGO connectors
Insertion of cable into 54928-0670, 54927-0520, 54928-0370 (Molex) connectors and 721-207/026-000,
721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows.
The following explains for Molex, however use the same procedures for inserting WAGO connectors as
well.
POINT
It may be difficult for a cable to be inserted to the connector depending on wire
size or ferrule configuration. In this case, change the wire type or correct it in
order to prevent the end of ferrule from widening, and then insert it.
How to connect a cable to the servo amplifier power supply connector is shown below.
(a) When using the supplied cable connection lever
1) The servo amplifier is packed with the cable connection lever.
a) 54932-0000 (Molex)
[Unit: mm]
20.6
10
b) 231-131 (WAGO)
3.46.5
Approx. 4.9
MXJ
Approx. 3 4.9
7.7
4.7
54932
Approx. 7.7
Approx.3.4
[Unit: mm]
3.4
4.9
20.3
10
3
6.5
1.3
1.5
7.6
16
17.5
3 - 22
Page 76
3. SIGNALS AND WIRING
2) Cable connection procedure
Cable connection lever
1) Attach the cable connection lever to the housing.
(Detachable)
2) Push the cable connection lever in the direction
of arrow.
3) Hold down the cable connection lever and insert
the cable in the direction of arrow.
4) Release the cable connection lever.
3 - 23
Page 77
A
3. SIGNALS AND WIRING
(b) Inserting the cable into the connector
1) Applicable flat-blade screwdriver dimensions
Always use the screwdriver shown here to do the work.
pprox.R0.3
Approx.R0.3
[Unit: mm]
Approx.22
0.6
3
3 to 3.5
2) When using the flat-blade screwdriver - part 1
1) Insert the screwdriver into the square hole.
Insert it along the top of the square hole to insert it smoothly.
2) If inserted properly, the screwdriver is held.
3) With the screwdriver held, insert the cable in the direction
of arrow. (Insert the cable as far as it will go.)
4) Releasing the screwdriver connects the cable.
3 - 24
Page 78
3. SIGNALS AND WIRING
3) When using the flat-blade screwdriver - part 2
1) Insert the screwdriver into the
square window at top of the
connector.
4) Releasing the screwdriver connects the cable.
2) Push the screwdriver in the
direction of arrow.
3) With the screwdriver pushed, insert the cable in the
direction of arrow. (Insert the cable as far as it will go.)
3 - 25
Page 79
3. SIGNALS AND WIRING
(5) How to insert the cable into Phoenix Contact connector
POINT
Do not use a precision driver because the cable cannot be tightened with enough
torque.
Insertion of cables into Phoenix Contact connector PC 4/6-STF-7,62-CRWH or PC 4/3-STF-7,62-CRWH is
shown as follows.
Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the
core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not
tightened enough to the connector, the cable or connector may generate heat because of the poor contact.
(When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.)
Secure the connector to the servo amplifier by tightening the connector screw.
For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and
3.5mm diameter (Recommended flat-blade screwdriver. Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6
N m torque to screw.
Flat-blade
screwdriver
To loosen To tighten
Opening
Wire
180
100
3.5 0.6
[Unit: mm]
(35)
Connector screw
Servo amplifier power
supply connector
Recommended flat-blade screwdriver dimensions
To loosen To tighten
Flat-blade
screwdriver
3 - 26
Page 80
3. SIGNALS AND WIRING
3.4 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable connector
wiring section.
Refer to (2) of this section for CN1 signal assignment.
(1) Signal arrangement
The servo amplifier front view shown is that of the MR-J3-20A or less. Refer to chapter 10 Outline Drawings
for the appearances and connector layouts of the other servo amplifiers.
CN2
2
LG 8
1
P5
4
MRR
3
MR
6
5
MDR
7
10
BAT
9
MD
The 3M make connector is shown.
When using any other connector,
refer to section 12.1.2.
CN5 (USB connector)
Refer to section 12.8.
L
1
L
2
L
3
N
P
1
P
2
P
C
D
L
11
L
21
U
V
W
CN5
CN6CN3CN1CN2
The frames of the CN1 connectors is
connected to the PE (earth) terminal
in the amplifier.
CN3 (RS-422 connector)
Refer to section 13.1.
CN6
3
MO1
2
MO2
1
LG
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25 50
CN1
27
29
31
33
35
37
39
41
43
45
47
49
26
28
30
32
34
36
38
40
42
44
46
48
3 - 27
Page 81
3. SIGNALS AND WIRING
(2) CN1 signal assignment
The signal assignment of connector changes with the control mode as indicated below.
For the pins which are given parameter No.s in the related parameter column, their signals can be changed
using those parameters.
Pin No.
1 P15R P15R P15R P15R P15R P15R
2 I /VC VC VC/VLA VLA VLA/
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/ /PP
11 I PG PG/ /PG
12 OPC OPC/ /OPC
13
14
15 I SON SON SON SON SON SON PD03
16 I /SP2 SP2 SP2/SP2 SP2 SP2/ PD04
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD05
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD06
19 I RES RES RES RES RES RES PD07
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22 O INP INP/SA SA SA/ /INP PD13
23 O ZSP ZSP ZSP ZSP ZSP ZSP PD14
24 O INP INP/SA SA SA/ /INP PD15
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD16
26
27 I TLA
28 LG LG LG LG LG LG
29
30 LG LG LG LG LG LG
31
32
33 O OP OP OP OP OP OP
34 LG LG LG LG LG LG
35 I NP NP/ /NP
36 I NG NG/ /NG
37
38
39
40
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD08
42 I EMG EMG EMG EMG EMG EMG
43 I LSP LSP LSP LSP/ /LSP PD10
44 I LSN LSN LSN LSN/ /LSN PD11
45 I LOP LOP LOP LOP LOP LOP PD12
(Note 1)
I/O
P P/S S S/T T T/P
(Note 2) I/O signals in control modes Related
(Note 3)
TLA
(Note 3)
TLA
(Note 3)
TLA/TC
TC TC/TLA
parameter
3 - 28
No.
Page 82
3. SIGNALS AND WIRING
Pin No.
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD PD18
50
Note 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control changeover mode,
S/T: Speed/torque control changeover mode, T/P: Torque/position control changeover mode
3. TLA can be used when TL is made usable by setting the parameter No.PD03 to PD08/PD10 to PD12.
(Note 1)
I/O
P P/S S S/T
(Note 2) I/O signals in control modes Related
T T/P
(3) Explanation of abbreviations
Abbreviation Signal name Abbreviation Signal name
SON Servo-on TLC Limiting torque
LSP Forward rotation stroke end VLC Limiting speed
LSN Reverse rotation stroke end RD Ready
CR Clear ZSP Zero speed detection
SP1 Speed selection 1 INP In-position
SP2 Speed selection 2 SA Speed reached
PC Proportion control ALM Trouble
ST1 Forward rotation start WNG Warning
ST2 Reverse rotation start BWNG Battery warning
TL External torque limit selection OP Encoder Z-phase pulse (open collector)
RES Reset MBR Electromagnetic brake interlock
EMG Emergency stop LZ
LOP Control selection LZR
VC Analog speed command LA
VLA Analog speed limit LAR
TLA Analog torque limit LB
TC Analog torque command LBR
RS1 Forward rotation selection DICOM Digital I/F power supply input
RS2 Reverse rotation selection OPC Open collector power input
PP
NP P15R 15VDC power supply
PG LG Control common
NG SD Shield
Forward/reverse rotation pulse train
DOCOM Digital I/F common
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
parameter
No.
3 - 29
Page 83
3. SIGNALS AND WIRING
3.5 Signal explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status.
: Denotes that the signal may be used by setting the corresponding parameter No.PD03 to PD08, PD10 to
PD12, PD13 to PD16, PD18.
The pin No.s in the connector pin No. column are those in the initial status.
(1) I/O devices
(a) Input devices
Connec-
Device Symbol
Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo
Reset RES CN1-19 Turn RES on for more than 50ms to reset the alarm.
Forward rotation
stroke end
(Note) Input device Operation
1 1
0 1
Reverse rotation
stroke end
Note. 0: off
LSP LSN
4 Automatic ON
8 Automatic ON
C Automatic ON Automatic ON
LSP CN1-43 To start operation, turn LSP/LSN on. Turn it off to bring the motor to
LSN CN1-44 1 0
tor pin
No.
amplifier ready to operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor.
Set "
terminals connected) automatically in the servo amplifier.
Some alarms cannot be deactivated by the reset (RES). Refer to
section 9.1.
Turning RES on in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when "
No.PD20.
This device is not designed to make a stop. Do not turn it ON during
operation.
a sudden stop and make it servo-locked.
Set "
(Refer to section 5.4.3.)
0 0
Set parameter No.PD01 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier.
When LSP or LSN turns OFF, an external stroke limit warning (AL.
99) occurs, and Warning (WNG) turns OFF. However, when using
WNG, set the parameter No.PD13 to PD16/PD18 to make it usable.
4" in parameter No.PD01 to switch this signal on (keep
1" in parameter No.PD20 to make a slow stop.
LSP LSN
1: on
Parameter
No.PD01
Functions/Applications
1 " is set in parameter
CCW
direction
CW
direction
Status
I/O
division
DI-1
DI-1
DI-1
Control
mode
P S T
3 - 30
Page 84
3. SIGNALS AND WIRING
Connec-
Device Symbol
External torque
limit selection
Internal torque
limit selection
Forward rotation
start
ST2 ST1
0 0 Stop (servo lock)
Reverse rotation
start
1 1 Stop (servo lock)
Note. 0: off
Forward rotation
selection
RS2 RS1
0 0 Torque is not generated.
Reverse rotation
selection
1 1 Torque is not generated.
Note. 0: off
TL CN1-18 Turn TL off to make Forward torque limit (parameter No.PA11) and
TL1 When using this signal, make it usable by making the setting of
ST1 CN1-17 Used to start the servo motor in any of the following directions.
ST2 CN1-18 0 1 CCW
RS1 CN1-18 Used to select any of the following servo motor torque generation
RS2 CN1-17
tor pin
No.
Reverse torque limit (parameter No.PA12) valid, or turn it on to
make Analog torque limit (TLA) valid.
For details, refer to section 3.6.1 (5).
parameter No.PD03 to PD08, PD10 to PD12.
For details, refer to section 3.6.1 (5).
Functions/Applications
(Note) Input device
1 0 CW
1: on
If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the parameter
No.PC02 setting and servo-locked.
When "
servo-locked after deceleration to a stop.
directions.
(Note) Input device
1" is set in parameter No.PC23, the servo motor is not
0 1
1 0
1: on
Servo motor starting direction
Torque generation direction
Forward rotation in driving mode/
reverse rotation in regenerative mode
Reverse rotation in driving mode/
forward rotation in regenerative mode
I/O
division
DI-1
DI-1
DI-1
DI-1
Control
mode
P S T
3 - 31
Page 85
3. SIGNALS AND WIRING
Connec-
Device Symbol
Speed selection 1 SP1 CN1-41 <Speed control mode>
Speed selection 2 SP2 CN1-16 (Note)
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
0 0 1
0 1 0
Speed selection 3 SP3 0 1 1
1 0 0
1 0 1
1 1 0
1 1 1
Note. 0: off
(Note)
SP3 SP2 SP1
0 0 0 Analog speed limit (VLA)
0 0 1 Internal speed limit 1 (parameter No.PC05)
0 1 0 Internal speed limit 2 (parameter No.PC06)
0 1 1 Internal speed limit 3 (parameter No.PC07)
1 0 0 Internal speed limit 4 (parameter No.PC08)
1 0 1 Internal speed limit 5 (parameter No.PC09)
1 1 0 Internal speed limit 6 (parameter No.PC10)
1 1 1 Internal speed limit 7 (parameter No.PC11)
Note. 0: off
tor pin
No.
Functions/Applications
Used to select the command speed for operation.
When using SP3, make it usable by making the setting of parameter
No.PD03 to PD08, PD10 to PD12.
Input device
Internal speed command 1 (parameter No.PC05)
Internal speed command 2 (parameter No.PC06)
Internal speed command 3 (parameter No.PC07)
Internal speed command 4 (parameter No.PC08)
Internal speed command 5 (parameter No.PC09)
Internal speed command 6 (parameter No.PC10)
Internal speed command 7 (parameter No.PC11)
1: on
<Torque control mode>
Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of parameter
No.PD03 to PD08, PD10 to PD12.
Input device
1: on
Speed command
Speed limit
DI-1
I/O
division
DI-1
DI-1
Control
mode
P S T
3 - 32
Page 86
3. SIGNALS AND WIRING
Connec-
Device Symbol
Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional
Emergency stop EMG CN1-42 Turn EMG off (open between commons) to bring the motor to an
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulses on its
Electronic gear
selection 1
Electronic gear
selection 2
0 0 Parameter No.PA06
0 1 Parameter No.PC32
1 0 Parameter No.PC33
1 1 Parameter No.PC34
Note. 0: off
Gain changing CDP When using this signal, make it usable by the setting of parameter
CM1 When using CM1 and CM2, make them usable by the setting of
CM2 (Note) Input device
tor pin
No.
integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically after
positioning completion (stop), switching on the proportion control
(PC) upon positioning completion will suppress the unnecessary
torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control (PC) and external torque limit selection (TL) at the
same time to make the torque less than the rated by the analog
torque limit (TLA).
emergency stop state, in which the base circuit is shut off and the
dynamic brake is operated. Turn EMG on (short between commons)
in the emergency stop state to reset that state.
leading edge. The pulse width should be 10ms or longer.
The delay amount set in parameter No.PB03 (position command
acceleration/deceleration time constant) is also cleared. When the
parameter No.PD22 setting is "
cleared while CR is on.
parameters No.PD03 to PD08, PD10 to PD12.
The combination of CM1 and CM2 gives you a choice of four
different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.
CM2 CM1
1: on
No.PD03 to PD08, PD10 to PD12.
Turn CDP on to change the load inertia moment ratio and gain
values into the parameter No.PB29 to PB34 values.
Functions/Applications
1 ", the pulses are always
Electronic gear molecule
I/O
division
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
Control
mode
P S T
3 - 33
Page 87
3. SIGNALS AND WIRING
Connec-
Device Symbol
Control change LOP CN1-45 <Position/speed control change mode>
(Note) LOP Control mode
0 Position
1 Speed
Note. 0: off
(Note) LOP Control mode
0 Speed
1 Torque
Note. 0: off
(Note) LOP Control mode
0 Torque
1 Position
Note. 0: off
Second
acceleration/dece
leration selection
(Note) STAB2 Acceleration/deceleration time constant
Note. 0: off
ABS transfer
mode
ABS request ABSR CN1-18 ABS request device.
STAB2
ABSM CN1-17 ABS transfer mode request device.
tor pin
No.
Functions/Applications
Used to select the control mode in the position/speed control change
mode.
1: on
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.
1: on
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.
1: on
When using this signal, set the parameter No.PD03 to PD08/PD10
to PD12 to make it usable.
This signal allows selection of the acceleration/deceleration time
constant at servo motor rotation in the speed control mode or torque
control mode. The S-pattern acceleration/deceleration time constant
is always uniform.
Acceleration time constant
0
1
1: on
The CN1-17 pin acts as ABSM only during absolute position data
transfer. (Refer to chapter 14.)
The CN1-18 pin acts as ABSR only during absolute position data
transfer. (Refer to chapter 14.)
(parameter No.PC01)
Deceleration time constant
(parameter No.PC02)
Acceleration time constant 2
(parameter No.PC30)
Deceleration time constant 2
(parameter No.PC31)
I/O
division
DI-1 Refer to
DI-1
DI-1
DI-1
Control
mode
P S T
Functions/
Appli-
cations.
3 - 34
Page 88
3. SIGNALS AND WIRING
(b) Output devices
Connec-
Device Symbol
Trouble ALM CN1-48 ALM turns off when power is switched off or the protective circuit is
Dynamic brake
interlock
Ready RD CN1-49 RD turns on when the servo is switched on and the servo amplifier is
In-position INP CN1-24 INP turns on when the number of droop pulses is in the preset in-
Speed reached SA SA turns on when the servo motor speed has nearly reached the
Limiting speed VLC CN1-25 VLC turns on when speed reaches the value limited using any of the
Limiting torque TLC TLC turns on when the torque generated reaches the value set to
DB When using the signal, make it usable by the setting of parameter
tor pin
No.
Functions/Applications
activated to shut off the base circuit. Without alarm occurring, ALM
turns on within 1s after power-on.
No.PD13 to PD16 and PD18.
DB turns off when the dynamic brake needs to operate. When using
the external dynamic brake on the servo amplifier of 11 kW or more,
this device is required. (Refer to section 12.6)
For the servo amplifier of 7kW or less, it is not necessary to use this
device.
ready to operate.
position range. The in-position range can be changed using
parameter No.PA10.
When the in-position range is increased, may be kept connected
during low-speed rotation.
INP turns on when servo on turns on.
preset speed. When the preset speed is 20r/min or less, SA always
turns on. SA does not turn on even when the servo on (SON) is
turned off or the servo motor speed by the external force reaches
the preset speed while both the forward rotation start (ST1) and the
reverse rotation start (ST2) are off.
internal speed limits 1 to 7 (parameter No.PC05 to PC11) or the
analog speed limit (VLA) in the torque control mode. VLC turns off
when servo on (SON) turns off.
the Forward torque limit (parameter No.PA11), Reverse torque limit
(parameter No.PA12) or analog torque limit (TLA).
I/O
division
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
Control
mode
P S T
3 - 35
Page 89
3. SIGNALS AND WIRING
Connec-
Device Symbol
Zero speed
ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min)
detection
tor pin
No.
Functions/Applications
or less. Zero speed can be changed using parameter No.PC17.
Example
Zero speed is 50r/min
I/O
division
DO-1
Control
mode
P S T
Forward
rotation
direction
Servo motor
speed
Reverse
rotation
direction
Zero speed
detection
(ZSP)
OFF level
70r/min
ON level
50r/min
0r/min
ON level
50r/min
OFF level
70r/min
ON
OFF
1)
3)
2)
4)
20r/min
(Hysteresis width)
Parameter
No. PC17
Parameter
No. PC17
20r/min
(Hysteresis width)
ZSP turns on 1) when the servo motor is decelerated to 50r/min, and
ZSP turns off 2) when the servo motor is accelerated to 70r/min
again.
ZSP turns on 3) when the servo motor is decelerated again to
50r/min, and turns off 4) when the servo motor speed has reached Â70r/min.
The range from the point when the servo motor speed has reached
ON level, and ZSP turns on, to the point when it is accelerated again
and has reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for the MR-J3-A servo amplifier.
Electromagnetic
brake interlock
MBR Set the parameter No.PD13 to PD16/PD18 or parameter No.PA04
to make this signal usable. Note that ZSP will be unusable.
MBR turns off when the servo is switched off or an alarm occurs.
Warning WNG To use this signal, assign the connector pin for output using
parameter No.PD13 to PD16, PD18. The old signal before
assignment will be unusable.
When warning has occurred, WNG turns on. When there is no
warning, WNG turns off within about 1.5s after power-on.
Battery warning BWNG To use this signal, assign the connector pin for output using
parameter No.PD13 to PD16, PD18. The old signal before
assignment will be unusable.
BWNG turns on when battery cable disconnection warning (AL. 92)
or battery warning (AL. 9F) has occurred.
When there is no battery warning, BWNG turns off within about 1.5s
after power-on.
DO-1
DO-1
DO-1
3 - 36
Page 90
3. SIGNALS AND WIRING
Connec-
Signal Symbol
Alarm code ACD 0 CN1-24 To use this signal, set " 1" in parameter No.PD24.
ACD 1 CN1-23
ACD 2 CN1-22
(Note) Alarm code
CN1-
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error
AL.19 Memory error 3
AL.37 Parameter error
AL.8E Serial communication error
AL.33 Overvoltage
0 1 0 AL.10 Undervoltage
AL.46 Servo motor overheat
AL.47 Cooling fan alarm
AL.50 Overload 1
AL.51 Overload 2
AL.32 Overcurrent
AL.31 Overspeed
AL.52 Error excessive
AL.1A Monitor combination error
AL.20 Encoder error 2
Note. 0: off
Variable gain
selection
Absolute position
erasing
ABS transmission
data bit 0
ABS transmission
data bit 1
ABS transmission
data ready
CDPS CDPS is on during gain changing. DO-1
ABSV ABSV turns on when the absolute position is erased. DO-1
ABSB0 CN1-22 Outputs ABS transmission data bit 0. CN1-22 acts as ABSB0 only
ABSB1 CN1-23 Outputs ABS transmission data bit 1. CN1-23 acts as ABSB1 only
ABST CN1-25 Outputs ABS transmission data ready. CN1-25 acts as ABST only
tor pin
No.
This signal is output when an alarm occurs. When there is no alarm,
respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below.
CN1-
22
23
0 0 0
0 0 1
0 1 1
1 0 0
1 0 1 AL.35
1 1 0
AL.25 Absolute position erase
1: on
during ABS transmission data transmission. (Refer to chapter 14.)
during ABS transmission data transmission. (Refer to chapter 14.)
during ABS transmission data transmission. (Refer to chapter 14.)
Functions/Applications
CN1-
Alarm
display
24
88888 Watchdog
AL.8A
AL.30 Regenerative error
AL.45
AL.24 Main circuit error
AL.16 Encoder error 1
Name
Serial communication
time-out error
Main circuit device
overheat
Command pulse
frequency alarm
I/O
division
DO-1
DO-1
DO-1
DO-1
Control
mode
P S T
3 - 37
Page 91
3. SIGNALS AND WIRING
(2) Input signals
Connec-
Signal Symbol
Analog torque
limit
Analog torque
command
Analog speed
command
Analog speed
limit
Forward rotation
pulse train
Reverse rotation
pulse train
TLA CN1-27 To use this signal in the speed control mode, set any of parameters
VLA Apply 0 to 10VDC across VLA-LG. Speed set in parameter
TC Used to control torque in the full servo motor output torque range.
VC CN1-2 Apply 0 to 10VDC across VC-LG. Speed set in parameter
PP
NP
PG
NG
tor pin
No.
CN1-10
CN1-35
CN1-11
CN1-36
Functions/Applications
No.PD13 to PD16, PD18 to make external torque limit selection (TL)
available.
When the analog torque limit (TLA) is valid, torque is limited in the
full servo motor output torque range. Apply 0 to
TLA-LG. Connect the positive terminal of the power supply to TLA.
Maximum torque is generated at
Resolution:10bit
Apply 0 to
8V. (Refer to section 3.6.3 (1).)
The torque at
No.PC12 is provided at
Resolution:14bit or equivalent
No.PC12 is provided at
Used to enter a command pulse train.
In the open collector system (max. input frequency 200kpps)
Forward rotation pulse train across PP-DOCOM
Reverse rotation pulse train across NP-DOCOM
In the differential receiver system (max. input frequency 1Mpps)
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using parameter No.
PA13.
8VDC across TC-LG. Maximum torque is generated at
8V input can be changed using parameter No.PC13.
10V. (Refer to section 3.6.3 (3).)
10V. (Refer to section 3.6.1 (5).)
10V. (Refer to section 3.6.2 (1).)
10VDC across
(3) Output signals
Connec-
Signal Symbol
Encoder Z-phase
pulse
(Open collector)
Encoder A-phase
pulse
(Differential line
driver)
Encoder B-phase
pulse
(Differential line
driver)
Encoder Z-phase
pulse
(Differential line
driver)
Analog monitor 1 MO1 CN6-3 Used to output the data set in parameter No.PC14 to across MO1-
Analog monitor 2 MO2 CN6-2 Used to output the data set in parameter No.PC15 to across MO2-
OP CN1-33 Outputs the zero-point signal of the encoder. One pulse is output per
LA
LAR
LB
LBR
LZ
LZR
tor pin
No.
CN1-4
CN1-5
CN1-6
CN1-7
CN1-8
CN1-9
Functions/Applications
servo motor revolution. OP turns on when the zero-point position is
reached. (Negative logic)
The minimum pulse width is about 400
using this pulse, set the creep speed to 100r/min. or less.
Outputs pulses per servo motor revolution set in parameter No.PA15
in the differential line driver system. In CCW rotation of the servo
motor, the encoder B-phase pulse lags the encoder A-phase pulse
by a phase angle of
The relationships between rotation direction and phase difference of
the A- and B-phase pulses can be changed using parameter No.
PC19.
The same signal as OP is output in the differential line driver
system.
LG in terms of voltage. Resolution: 10 bits or equivalent
LG in terms of voltage. Resolution: 10 bits or equivalent
/2.
s. For home position return
3 - 38
I/O
division
Analog
input
Analog
input
Analog
input
Analog
input
DI-2
I/O
division
DO-2
DO-2
DO-2
Analog
output
Analog
output
Control
mode
P S T
Control
mode
P S T
Page 92
3. SIGNALS AND WIRING
(4) Communication
POINT
Refer to chapter 13 for the communication function.
Connec-
Signal Symbol
RS-422 I/F SDP
SDN
RDP
RDN
tor pin
No.
CN3-5
CN3-4
CN3-3
CN3-6
Functions/Applications
Terminals for RS-422 communication. (Refer to chapter 13.)
(5) Power supply
Connec-
Signal Symbol
Digital I/F power
supply input
Open collector
power input
Digital I/F
common
15VDC power
supply
Control common LG CN1-3
Shield SD Plate Connect the external conductor of the shield cable.
DICOM CN1-20
OPC CN1-12 When inputting a pulse train in the open collector system, supply this
DOCOM CN1-46
P15R CN1-1 Outputs 15VDC to across P15R-LG. Available as power for TC,
tor pin
No.
CN1-21
CN1-47
CN1-28
CN1-30
CN1-34
CN3-1
CN3-7
CN6-1
Functions/Applications
Used to input 24VDC (24VDC 10 300mA) for I/O interface of the
servo amplifier. The power supply capacity changes depending on
the number of I/O interface points to be used. For sink interface,
connect
connect
terminal with the positive (
Common terminal for input device such as SON and EMG of the
servo amplifier. Pins are connected internally. For sink interface,
connect
connect
TLA, VC, VLA.
Permissible current: 30mA
Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1, MO2
and P15R.
Pins are connected internally.
of 24VDC external power supply. For source interface,
of 24VDC external power supply.
) power of 24VDC.
of 24VDC external power supply. For source interface,
of 24VDC external power supply.
I/O
division
I/O
division
Control
mode
P S T
Control
mode
P S T
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Page 93
3. SIGNALS AND WIRING
3.6 Detailed description of the signals
3.6.1 Position control mode
(1) Pulse train input
(a) Input pulse waveform selection
Command pulses may be input in any of three different forms, for which positive or negative logic can
be chosen. Set the command pulse train form in parameter No.PA13. Refer to section 5.1.10 for details.
(b) Connections and waveforms
1) Open collector system
Connect as shown below.
Servo amplifier
24VDC
(Note)
OPC
DOCOM
PP
NP
SD
Approx.
1.2k
Approx.
1.2k
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No.PA13 has been set to 0010). Their relationships with
transistor ON/OFF are as follows.
Forward rotation
pulse train
(transistor)
Reverse rotation
pulse train
(transistor)
Forward rotation command Reverse rotation command
(ON)(OFF)
(OFF)
(ON)(OFF)
(ON) (OFF) (ON) (OFF) (ON)
(OFF)
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3. SIGNALS AND WIRING
2) Differential line driver system
Connect as shown below.
The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No.PA13 has been set to 0010).
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.
Servo amplifier
Approx.
100
PP
PG
(Note)
NP
NG
SD
Approx.
100
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation command Reverse rotation command
(2) In-position (INP)
INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range (parameter No.PA10). INP turns on when low-speed operation is performed with a large value set as
the in-position range.
Servo-on (SON)
Alarm
ON
OFF
Yes
No
Droop pulses
In-position (INP)
ON
OFF
In-position range
3 - 41
Page 95
3. SIGNALS AND WIRING
(3) Ready (RD)
Servo-on (SON)
ON
OFF
Alarm
Ready (RD)
Yes
No
ON
OFF
100ms or less 10ms or less 10ms or less
(4) Electronic gear switching
The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the
parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if any
shock occurs at this change, use position smoothing (parameter No.PB03) to relieve shock.
(Note) Input device
CM2
0
0
1
1
Note. 0: off
1: on
CM1
0 Parameter No.PA06
1 Parameter No.PC32
0 Parameter No.PC33
1 Parameter No.PC34
Electronic gear molecule
(5) Torque limit
If the torque limit is canceled during servo lock, the servo motor may suddenly rotate
CAUTION
according to position deviation in respect to the command position.
(a) Torque limit and torque
By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation
torque limit), torque is always limited to the maximum value during operation. A relationship between the
limit value and servo motor torque is shown below.
CW direction Max. torque CCW direction
Torque
[%]
Torque limit value in
parameter No.PA12
0 100100
Torque limit value in
parameter No.PA11
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Page 96
3. SIGNALS AND WIRING
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of
the servo motor is shown below. Torque limit values will vary about 5 relative to the voltage
depending on products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore, use
this function at the voltage of 0.05V or more.
100
5
2k
Torque limit value [ ]
000.05 10
TLA application voltage [V]
TLA application voltage vs.
torque limit value
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
Japan resistor
RRS10 or equivalent
2k
Connection example
Servo amplifier
TL
(Note)
DOCOM
P15R
TLA
LG
SD
(b) Torque limit value selection
As shown below, the forward rotation torque limit (parameter No.PA11), or reverse rotation torque limit
(parameter No. PA12) and the analog torque limit (TLA) can be chosen using the external torque limit
selection (TL).
When internal torque limit selection (TL1) is made usable by parameter No.PD03 to PD08, PD10 to
PD12, internal torque limit 2 (parameter No.PC35) can be selected. However, if the parameter No.PA11
and parameter No.PA12 value is less than the limit value selected by TL/TL1, the parameter No.PA11
and parameter No.PA12 value is made valid.
(Note) Input device
TL1 TL
0 0 Parameter No.PA11 Parameter No.PA12
0 1
Parameter No.PC35
1 0
Parameter No.PC35
1 1
Note. 0: off
1: on
Limit value status
TLA
TLA
TLA Parameter No.PC35 Parameter No.PC35 Parameter No.PC35
TLA Parameter No.PC35 TLA TLA
Parameter No.PA11
Parameter No.PA12
Parameter No.PA11
Parameter No.PA12
Parameter No.PA11
Parameter No.PA12
Parameter No.PA11
Parameter No.PA12
Validated torque limit values
CCW driving/CW
regeneration
Parameter No.PA11 Parameter No.PA12
TLA TLA
Parameter No.PA11 Parameter No.PA12
Parameter No.PC35 Parameter No.PC35
CW driving/CCW
(c) Limiting torque (TLC)
TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque
limit, reverse rotation torque limit or analog torque limit.
regeneration
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3. SIGNALS AND WIRING
3.6.2 Speed control mode
(1) Speed setting
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of
the analog speed command (VC). A relationship between the analog speed command (VC) applied
voltage and the servo motor speed is shown below.
Rated speed is achieved at
10V with initial setting. The speed at 10V can be changed using
parameter No.PC12.
Speed [r/min]
-10
CW direction
Rated speed [r/min]
CCW direction
0+10
VC applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the rotation direction according to forward rotation start (ST1) and reverse
rotation start (ST2) combination.
(Note 1) Input device (Note 2) Rotation direction
ST2 ST1
0 0
0 1 CCW Stop
1 0 CW CCW CW
1 1
Note 1. 0: off
1: on
2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.
Polarity 0V Polarity
Stop
(Servo lock)
Stop
(Servo lock)
Analog speed command (VC)
Stop
(Servo lock)
(No servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
CW CCW
Stop
(Servo lock)
Internal speed
commands
(Servo lock)
(Servo lock)
Generally, make connection as shown below.
Servo amplifier
Stop
Stop
ST1
(Note)
ST2
DOCOM
2k
Japan resistor
RRS10 or equivalent
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
2k
P15R
VC
LG
SD
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Page 98
3. SIGNALS AND WIRING
(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1
(SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) Input device
SP2 SP1
0 0 Analog speed command (VC)
0 1 Internal speed command 1 (parameter No.PC05)
1 0 Internal speed command 2 (parameter No.PC06)
1 1 Internal speed command 3 (parameter No.PC07)
Note. 0: off
1: on
Speed command value
By making speed selection 3 (SP3) usable by setting of parameter No.PD03 to PD08/PD10 to PD12,
you can choose the speed command values of analog speed command (VC) and internal speed
commands 1 to 7.
(Note) Input device
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
0 0 1 Internal speed command 1 (parameter No.PC05)
0 1 0 Internal speed command 2 (parameter No.PC06)
0 1 1 Internal speed command 3 (parameter No.PC07)
1 0 0 Internal speed command 4 (parameter No.PC08)
1 0 1 Internal speed command 5 (parameter No.PC09)
1 1 0 Internal speed command 6 (parameter No.PC10)
1 1 1 Internal speed command 7 (parameter No.PC11)
Note. 0: off
1: on
Speed command value
The speed may be changed during rotation. In this case, the values set in parameters No.PC01 and
PC02 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.
(2) Speed reached (SA)
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command
or analog speed command.
Internal speed
Set speed selection
Internal speed
command 1
command 2
(3) Torque limit
As in section 3.6.1 (5).
Start (ST1,ST2)
Servo motor speed
Speed reached (SA)
ON
OFF
ON
OFF
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Page 99
3. SIGNALS AND WIRING
3.6.3 Torque control mode
(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by the
servo motor is shown below.
The maximum torque is generated at
8V. Note that the torque at 8V input can be changed with
parameter No.PC13.
Speed[r/min]
-10
CW direction
Rated speed [r/min]
CCW direction
0+10
VC applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
Generated torque limit values will vary about 5 relative to the voltage depending on products.
Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to the
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) Input device Rotation direction
RS2 RS1
0 0 Torque is not generated.
CCW (reverse rotation in
0 1
1 0
1 1 Torque is not generated. Torque is not generated.
Note. 0: off
1: on
driving mode/forward rotation
in regenerative mode)
CW (forward rotation in
driving mode/reverse rotation
in regenerative mode)
Polarity 0V Polarity
Torque control command (TC)
Torque is not generated.
CW (forward rotation in
driving mode/reverse rotation
Torque is not
generated.
in regenerative mode)
CCW (reverse rotation in
driving mode/forward rotation
in regenerative mode)
Generally, make connection as shown below.
Servo amplifier
RS1
(Note)
RS2
DOCOM
8 to 8V
TC
LG
SD
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
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Page 100
3. SIGNALS AND WIRING
(b) Analog torque command offset
Using parameter No.PC38, the offset voltage of
voltage as shown below.
Max. torque
Generated torque
999 to 999mV can be added to the TC applied
Parameter No. PC38 offset range
999 to 999mV
0
TC applied voltage [V]
8( 8)
(2) Torque limit
By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque
limit), torque is always limited to the maximum value during operation. A relationship between limit value
and servo motor torque is as in section 3.6.1 (5). Note that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No.PC05 to PC11 (internal speed limits 1 to 7) or
the value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable. Make
the set value more than 100r/min greater than the desired speed limit value.
Speed[r/min]
-10
CW direction
Rated speed [r/min]
CCW direction
0+10
VC applied voltage [V]
Rated speed
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the limit direction according to forward rotation selection (RS1) and reverse
rotation selection (RS2) combination.
(Note) Input device Speed limit direction
RS1 RS2
1 0 CCW CW CCW
0 1 CW CCW CW
Note. 0: off
1: on
Analog speed limit (VLA)
Polarity Polarity
Internal speed
commands
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