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Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series, Instruction Manual

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Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series Instruction Manual Download Page 11

9

ABOUT THE MANUALS

You must have this Instruction Manual and the following manuals to use this servo. Be sure to prepare all the instruction 
manuals necessary to use the servo safely.

Relevant manuals

*1 It is necessary for using an MR-D30 functional safety unit.

This Instruction Manual does not describe the following items. Refer to the section of the detailed explanation field for details. 
"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR-CR55K_/
MR-J4-DU_(-RJ) Instruction Manual".

*1 For parallel drive systems, the one-touch tuning is unavailable.
*2 A combination of the MR-CV55K4_ power regeneration converter unit and drive unit does not comply with SEMI-F47 standard. For the 

advanced vibration suppression control II and the adaptive filter II, "Automatic setting” is invalid. Only "Manual setting" is valid.

*3 For absolute position detection systems, connect an optional battery to only the drive unit of the encoder master servo amplifier. Do not 

connect the optional battery to the drive units of the encoder slave servo amplifiers.

CABLES USED FOR WIRING

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

.

U.S. CUSTOMARY UNITS

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

Manual name

Manual No.

MELSERVO MR-J4-_B(-RJ) Servo Amplifier Instruction Manual

SH(NA)030098

MELSERVO MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual

SH(NA)030145

MELSERVO-J4 Servo amplifier Instruction Manual (Troubleshooting)

SH(NA)030108

MELSERVO MR-D30 Instruction Manual

*1

SH(NA)030131

MELSERVO Servo Motor Instruction Manual (Vol. 3)

SH(NA)030099

EMC Installation Guidelines

IB(NA)67310

Item

Detailed explanation

Normal gain adjustment 

*1

MR-J4-_B_ chapter 6

Special adjustment functions 

*2

MR-J4-_B_ chapter 7

Dimensions

MR-J4-DU_B_ chapter 7

Absolute position detection system 

*3

MR-J4-_B_ chapter 12

Quantity

SI (metric) unit

U.S. customary unit

Mass

1 [kg]

2.2046 [lb]

Length

1 [mm]

0.03937 [inch]

Torque

1 [N.m]

141.6 [oz.inch]

Moment of inertia

1 [(× 10

-4

 kg.m

2

)]

5.4675 [oz.inch

2

]

Load (thrust load/axial load)

1 [N]

0.2248 [lbf]

Temperature

N [

] × 9/5 + 32

N [

]

Summary of Contents for Melservo-J4 MR-J4-DU*B4-RJ100 Series

Page 1: ...General Purpose AC Servo SSCNET III H Interface Drive Unit Instruction Manual MR J4 DU_B4 RJ100 ...

Page 2: ......

Page 3: ...ions 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 In this Instruction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this Instruction Manual keep it accessible to the o...

Page 4: ... get an electric shock To prevent an electric shock be sure to connect the protective earth PE terminal marked of the converter unit and the drive unit to the protective earth PE of the cabinet To avoid an electric shock insulate the connections of the power supply terminals CAUTION Install the converter unit the drive unit the servo motor and the regenerative resistor on incombustible material In...

Page 5: ...etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The heat sink of the converter unit and drive unit the regenerative resistor the servo motor etc may be hot while power is on and for some time after power off Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables The following instructions should also ...

Page 6: ...se injury malfunction etc Do not strike the connector Otherwise it may cause a connection failure malfunction etc When you keep or use the equipment please fulfill the following environment When the equipment has been stored for an extended period of time contact your local sales office When handling the converter unit and the drive unit be careful with the sharp edges of the converter unit and dr...

Page 7: ...the converter unit and the drive unit in the specified direction Otherwise the converter unit and the drive unit will malfunction and will not output signals disabling the emergency stop and other protective circuits When the wires are not tightened enough to the terminal block the wires or terminal block may generate heat because of the poor contact Be sure to tighten the wires with specified tor...

Page 8: ...n signal of the drive unit is off to prevent a sudden restart Otherwise it may cause an accident Use a noise filter etc to minimize the influence of electromagnetic interference Electromagnetic interference may affect the electronic equipment used near the converter unit and the drive unit Do not burn or destroy the converter unit and the drive unit Doing so may generate a toxic gas Use the conver...

Page 9: ...t after an instantaneous power failure To prevent an electric shock injury or fire from occurring after an earthquake or other natural disasters ensure safety by checking conditions such as the installation mounting wiring and equipment before switching the power on CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is ...

Page 10: ...e unit may malfunction when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Write to the EEP ROM due to device changes STO FUNCTION OF THE DRIVE UNIT When using the STO function of the drive unit refer to chapter 13 of MR J4 _A_ RJ Servo Amplifier Instruction Manual For the MR J3 D05 safety logic unit refer to app 5 of MR J4 _B_ RJ Servo Amplifi...

Page 11: ...r Do not connect the optional battery to the drive units of the encoder slave servo amplifiers CABLES USED FOR WIRING Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Manual name Manual No MELSERVO MR J4 _B RJ Servo Ampl...

Page 12: ...onnection example of power circuit 21 3 2 Alarm occurrence timing chart 26 When you use the forced stop deceleration function 27 When you do not use the forced stop deceleration function 30 3 3 Grounding 31 CHAPTER 4 STARTUP 32 4 1 Switching power on for the first time 33 4 2 Startup 34 CHAPTER 5 PARAMETERS 35 CHAPTER 6 TROUBLESHOOTING 41 6 1 Troubleshooting for MR CV_ power regeneration converter...

Page 13: ...ing the parallel drive system 62 How to select the model name of the servo amplifier registered 66 8 2 AC reactor 67 8 3 External dynamic brake 69 CHAPTER 9 USING STO FUNCTION 72 CHAPTER 10 APPLICATION OF FUNCTIONS 74 10 1 Compatible with MR D30 functional safety unit 74 Description 74 Connection diagram 76 CHAPTER 11 APPENDIX 78 11 1 Analog monitor 78 REVISIONS 80 WARRANTY 81 TRADEMARKS 82 ...

Page 14: ...r master servo amplifiers to encoder slave servo amplifiers ensures reduced wiring A encoder distribution unit is not required The following shows a system that drives a servo motor with four MR J4 DU_B4 RJ100 drive units and four MR CV55K4_ power regeneration converter units connected For the number of drive units required to be connected to one servo motor refer to the following Page 13 Combinat...

Page 15: ...J4 DU45KB4 RJ100 HG JR150K24W0C HG JR180K24W0C Four units of MR CV55K4 Four units of MR J4 DU55KB4 RJ100 HG JR200K24W0C HG JR220K24W0C Serial number Model Capacity Applicable power supply Rated output current Standard Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin TOKYO 100 8310 JAPAN MADE IN JAPAN DATE 2017 12 MR J4 DU55KB4 ...

Page 16: ... unavailable Direct drive servo system For parallel drive systems the direct drive servo system is unavailable Fully closed loop system For parallel drive systems the fully closed loop system is unavailable One touch tuning For parallel drive systems the one touch tuning is unavailable SEMI F47 function A combination of the MR CV55K4_ power regeneration converter unit and drive unit does not compl...

Page 17: ...wer sources a difference may be generated between outputs of the encoder master servo amplifier and encoder slave servo amplifiers This may cause the servo motor to operate unpredictably 6 Even if an AC reactor is installed on the power regeneration converter unit the functions operate normally 7 Switch on the control circuit power supplies of all the servo amplifiers power regeneration converter ...

Page 18: ...drive unit Otherwise it may cause a malfunction Do not drop or apply heavy impact on the converter units the drive units and the servo motors Otherwise it may cause injury malfunction etc Do not install or operate the converter unit and the drive unit which have been damaged or have any parts missing When the equipment has been stored for an extended period of time contact your local sales office ...

Page 19: ...cover on the right side of the power regeneration converter unit Clearance between sets of combined power regeneration converter units and drive units mounted side by side 1 A clearance of at least 120 mm is required Leave a clearance taking into consideration the flexibility of the cable CAUTION The equipment must be installed in the specified direction Otherwise it may cause a malfunction Mainta...

Page 20: ...d to prevent cooling fan exhaust of the lower unit from affecting the cooling fan on the upper unit 2 A clearance of at least 120 mm is required Leave a clearance taking into consideration the flexibility of the cable 80 mm or more 100 mm or more 220 mm or more 220 mm or more 1 120 mm or more 2 30 mm 30 mm Cooling fan exhaust Cooling fan exhaust Side Drive unit Converter unit Drive unit Converter ...

Page 21: ...5 W6 W7 W8 W9 W10 Power regeneration converter unit MR CV55K4 300 180 0 5 60 282 9 Drive unit MR J4 DU45KB4 RJ100 MR J4 DU55KB4 RJ100 300 260 0 5 20 281 9 5 Power regeneration converter unit Opening Drive unit Opening 380 360 0 5 10 10 342 19 19 4 M5 screw W6 W8 W7 W9 W10 W8 W10 W3 360 0 5 10 10 342 19 19 W1 W3 W4 W2 W5 W5 4 M5 screw ...

Page 22: ...erwise 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 converter unit and the drive unit will malfunction and will not output signals disabling the emergency stop and other protective circuits Use a noise filter etc to minimize the influence of electromagnetic interference Electromagnetic ...

Page 23: ...in assignment MR J4 DU_B_ sections 3 3 and 5 2 Signal device explanations MR J4 _B_ section 3 5 Forced stop deceleration function MR J4 _B_ section 3 6 Interface MR J4 DU_B_ section 3 3 SSCNET III cable connection MR J4 _B_ section 3 9 WARNING Insulate the connections of the power supply terminals Otherwise an electric shock may occur CAUTION Be sure to connect a magnetic contactor between the pow...

Page 24: ...coordination cable 11 Main circuit power supply 1 M Encoder Servo motor BV BU Cooling fan V1 U1 W1 V U W Dynamic brake optional CN3 CN8 MR ENE4CBL_M H MTH 19 To CN1A on drive unit 2 of encoder slave servo amplifier 1 To CN2 on drive unit 2 of encoder slave servo amplifier 1 8 TE2 2 TE2 1 TE1 Servo system controller TE3 TE1 L11 L21 MCCB Encoder master servo amplifier Step down transformer 15 13 13 ...

Page 25: ...Failure to do so will cause an accident such as machine collision because the servo motor does not stop immediately but coasts at emergency stop For wiring of the dynamic brake refer to the following Page 69 External dynamic brake 8 Encoder signals are distributed to all the drive units in the system via each drive unit 9 This diagram shows sink I O interface For source I O interface refer to sect...

Page 26: ...21 Encoder slave servo amplifier 1 13 13 2 17 2 17 4 7 9 4 4 10 4 V4 U4 W4 4 V3 U3 W3 4 MR J4CN2CBL_M H RA2 EM2 3 20 SD DICOM 10 ALM 15 DOCOM 5 DICOM Drive unit 2 MR J4 DU_KB4 RJ100 MC SK 6 To drive unit 3 of encoder slave servo amplifier 2 5 To drive unit 4 of encoder slave servo amplifier 3 5 To CN1B on drive unit 1 of encoder master servo amplifier To CN2L on drive unit 1 of encoder master serv...

Page 27: ...ts of the encoder slave servo amplifiers 7 Use an external dynamic brake option together Failure to do so will cause an accident such as machine collision because the servo motor does not stop immediately but coasts at emergency stop For wiring of the dynamic brake refer to the following Page 69 External dynamic brake 8 Encoder signals are distributed to all the drive units in the system via each ...

Page 28: ...ivated unless its cause is removed Timing charts in this section show that an alarm occurs in any axis in the four axis of the parallel drive system CAUTION When an alarm has occurred remove its cause make sure that the operation signal is not being inputted ensure safety and reset the alarm before restarting operation Power regeneration converter unit 4 Drive unit 4 Encoder slave servo amplifier ...

Page 29: ... the deceleration time The following shows the difference between the forced stop deceleration time constant and the rapid stop deceleration time Forced stop deceleration time constant Drive unit The time for the servo motor to stop from the rated speed Rapid stop deceleration time Motion controller Time for the servo motor to stop from the speed limit value of the Motion controller Servo motor ra...

Page 30: ... that an alarm occurs in any axis in the parallel drive system 1 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor Rapid stop deceleration time ms Forced stop deceleration time constant ms Speed limit value pulse s 1 60 s Servo motor rated speed r min 4194304 pulse Rapid stop deceleration time ms 1000 2097152 60 2000 4194304...

Page 31: ...chart shows that an alarm occurs in any axis in the parallel drive system ON OFF 0 r min Braking by the dynamic brake Braking by the dynamic brake ON OFF 0 r min ON no alarm OFF alarm Base circuit Energy supply to the servo motor Base circuit Energy supply to the servo motor Drive unit display Servo motor speed ALM Malfunction ON no alarm OFF alarm Drive unit display Servo motor speed ALM Malfunct...

Page 32: ...stop deceleration function is used Page 27 When you use the forced stop deceleration function Axis in which SSCNET III H communication shut off has not occurred Occurrence of SSCNET III H communication shut off AA ON OFF 0 r min Axis in which SSCNET III H communication shut off has occurred ON OFF 0 r min Ab Base circuit Energy supply to the servo motor ON no alarm OFF alarm ON no alarm OFF alarm ...

Page 33: ...eration converter unit and servo motor Route the grounding wires of noise sensitive devices separately Route the grounding wires as far away from the input output lines of noise sensitive devices as possible and run the grounding wires in parallel to each other as short as possible Connect the grounding wire from the servo motor to the protective earth PE terminal of the drive unit Put the groundi...

Page 34: ...Otherwise it may cause an electric shock CAUTION Before starting operation check the parameters Improper settings may cause some machines to operate unexpectedly The heat sink of the power regeneration converter unit and drive unit and the servo motor etc may be hot while power is on and for some time after power off Take safety measures such as providing covers to avoid accidentally touching them...

Page 35: ...e encoder master servo amplifier Pr PA02 Regenerative option Pr PA17 Servo motor series setting Pr PA18 Servo motor type setting Pr PC04 Function selection C 1 Pr PF37 Parallel drive Encoder ID setting 1 Pr PF40 Parallel drive Servo motor side system setting Pr PF41 Function selection F 12 Pr PF42 Function selection F 13 Chapter 5 7 Controller reset Servo amplifier 8 MR CV55K4_ power regeneration ...

Page 36: ... MR J4 _B_ RJ For details refer to section 4 2 in MR J4 _B_ RJ Servo Amplifier Instruction Manual The power regeneration converter unit shows C ready off on the display at power on When an alarm occurs or EM1 Forced stop is disabled in the power regeneration converter unit the operation will stop ...

Page 37: ...id The following shows parameter settings exclusively for the driver unit Other parameters are the same as those of MR J4 _B_ RJ Refer to chapter 5 in MR J4 _B_ RJ Servo Amplifier Instruction Manual Pr PA01 Operation mode STY For parallel drive systems the operation mode selection and J3 compatibility mode are unavailable Do not change those parameters CAUTION Never make a drastic adjustment or ch...

Page 38: ... to 0 0 MR CR_ 7 MR CV_ Setting a value other than 0 or 7 will trigger AL 37 0h x _ _ _ Protection coordination mode selection between converter and drive unit For parallel drive systems do not set this digit to Protection coordination mode disabled stand alone drive 4 _ _ _ 0 Protection coordination mode enabled 4 Protection coordination mode disabled stand alone drive 0h Motor series Servo motor...

Page 39: ...acy selection 0 Standard 1 The frequency is estimated more accurately in the high accuracy mode compared to the standard mode However the tuning sound may be larger in the high accuracy mode 0h Setting digit Explanation Initial value _ _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 For parallel drive systems Automatic setti...

Page 40: ...it Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ Protection coordination mode function between converter and drive unit selection For parallel drive systems set this digit to 0 0 Disabled 1 Enabled When Enabled _ 1 _ _ is selected in this parameter the setting value in Protection coordination mode selection between converter and drive unit of Pr PA02 is enabled 0...

Page 41: ...n F 12 FOP12 Enable disable AL 46 Servo motor overheat detection For servo motors without a thermistor AL 46 Servo motor overheat detection is disabled regardless of the setting When AL 46 Servo motor overheat detection is enabled temperature monitoring is also enabled regardless of the setting of Pr PF42 Parallel drive Temperature monitor setting Setting value Servo motor 0444 HG JR110K24W0C HG J...

Page 42: ... Servo motor overheat detection is enabled in Pr PF41 Parallel drive Motor thermistor setting temperature monitoring is also enabled regardless of the setting of Pr PF42 Parallel drive Temperature monitor setting Setting digit Explanation Initial value _ _ _ x HEX _ _ _ x BIN Encoder master servo amplifier Temperature monitor setting 0 Temperature monitoring enabled 1 Temperature monitoring disabl...

Page 43: ...unction will turn off Explanation for the lists No Name Indicates each No Name of alarms or warnings Alarm deactivation After the cause of the alarm has been removed the alarm can be deactivated by any of the methods marked in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarms are deactivated by alarm reset CPU reset or power cycling 1...

Page 44: ...requency error 66 Process error 67 Open phase 68 Watchdog 69 Ground fault 6A MC drive circuit error 6B Inrush current suppression circuit error 6C Main circuit error 6E_ 1 Board error 70 Converter forced stop error 71 Undervoltage 72 Cooling fan error 73 Regenerative error 2 2 2 75 Overvoltage 76 Switch setting error 77 Main circuit device overheat 2 2 7E Overload 1 2 2 2 7F Overload 2 2 2 2 No Na...

Page 45: ...hod For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop deceleration For the alarms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration Alarm deactivation After the cause of the alarm has been removed the alarm can be...

Page 46: ... DB 12 5 RAM error 5 DB 12 6 RAM error 6 DB 13 Clock error 13 1 Clock error 1 DB 13 2 Clock error 2 DB 13 3 Clock error 3 DB 14 Control process error 14 1 Control process error 1 DB 14 2 Control process error 2 DB 14 3 Control process error 3 DB 14 4 Control process error 4 DB 14 5 Control process error 5 DB 14 6 Control process error 6 DB 14 7 Control process error 7 DB 14 8 Control process error...

Page 47: ...l communication Process error 4 DB 16 E Encoder initial communication Process error 5 DB 16 F Encoder initial communication Process error 6 DB 17 Board error 17 1 Board error 1 DB 17 3 Board error 2 DB 17 4 Board error 3 DB 17 5 Board error 4 DB 17 6 Board error 5 DB 17 7 Board error 7 DB 17 8 Board error 6 6 EDB 17 9 Board error 8 DB 19 Memory error 3 Flash ROM 19 1 Flash ROM error 1 DB 19 2 Flas...

Page 48: ...are detection function DB 25 Absolute position erased 25 1 Servo motor encoder Absolute position erased DB 25 2 Scale measurement encoder Absolute position erased DB 27 Initial magnetic pole detection error 27 1 Initial magnetic pole detection Abnormal termination DB 27 2 Initial magnetic pole detection Time out error DB 27 3 Initial magnetic pole detection Limit switch error DB 27 4 Initial magne...

Page 49: ...DB 37 2 Parameter combination error DB 37 3 Point table setting error DB 39 Program error 39 1 Program error DB 39 2 Instruction argument external error DB 39 3 Register No error DB 39 4 Non correspondence instruction error DB 3A Inrush current suppression circuit error 3A 1 Inrush current suppression circuit error EDB 3D Parameter setting error for driver communication 3D 1 Parameter combination ...

Page 50: ...2 SD 52 4 Error excessive during 0 torque limit SD 52 5 Excess droop pulse 3 EDB 54 Oscillation detection 54 1 Oscillation detection error EDB 56 Forced stop error 56 2 Over speed during forced stop EDB 56 3 Estimated distance over during forced stop EDB 56 4 Forced stop starting error EDB 61 Operation error 61 1 Point table setting error DB 63 STO timing error 63 1 STO1 off DB 63 2 STO2 off DB 63...

Page 51: ...ncoder normal communication Receive data error 2 safety observation function DB 67 3 Encoder normal communication Receive data error 3 safety observation function DB 67 4 Encoder normal communication Receive data error 4 safety observation function DB 67 7 Encoder normal communication Transmission data error 1 safety observation function DB 68 STO diagnosis error 68 1 Mismatched STO signal error D...

Page 52: ...ication Process error 5 DB 70 F Load side encoder initial communication Process error 6 DB 71 Load side encoder normal communication error 1 71 1 Load side encoder normal communication Receive data error 1 EDB 71 2 Load side encoder normal communication Receive data error 2 EDB 71 3 Load side encoder normal communication Receive data error 3 EDB 71 5 Load side encoder normal communication Transmis...

Page 53: ...unction DB 7B 3 Encoder diagnosis error 3 safety observation function DB 7B 4 Encoder diagnosis error 4 safety observation function DB 7C Functional safety unit communication diagnosis error safety observation function 7C 1 Functional safety unit communication setting error safety observation function SD 7 7C 2 Functional safety unit communication data error safety observation function SD 7 7D Saf...

Page 54: ...alarms while all the safety observation functions have stopped 8D CC Link IE communication error 8D 1 CC Link IE communication error 1 SD 8D 2 CC Link IE communication error 2 SD 8D 3 Master station setting error 1 DB 8D 5 Master station setting error 2 DB 8D 6 CC Link IE communication error 3 SD 8D 7 CC Link IE communication error 4 SD 8D 8 CC Link IE communication error 5 SD 8D 9 Synchronization...

Page 55: ...imit reached 98 2 Reverse rotation side software stroke limit reached 99 Stroke limit warning 99 1 Forward rotation stroke end off 4 5 99 2 Reverse rotation stroke end off 4 5 99 4 Upper stroke limit off 5 99 5 Lower stroke limit off 5 9A Optional unit input data error warning 9A 1 Optional unit input data sign error 9A 2 Optional unit BCD input data error 9B Error excessive warning 9B 1 Excess dr...

Page 56: ... E8 2 Cooling fan stop E9 Main circuit off warning E9 1 Servo on signal on during main circuit off DB E9 2 Bus voltage drop during low speed operation DB E9 3 Ready on signal on during main circuit off DB E9 4 Converter unit forced stop DB EA ABS servo on warning EA 1 ABS servo on warning EB The other axis error warning EB 1 The other axis error warning DB EC Overload warning 2 EC 1 Overload warni...

Page 57: ... 2 occurs if the maximum current is applied continuously for several seconds due to machine collision etc Use the equipment on the left side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis it is recommended that the unbalanced torque of the machine be kept at 70 or lower of the motor s rated torque The drive unit has the ...

Page 58: ...leration and therefore use the power supply which ensures that the voltage lies within the permissible voltage fluctuation at the main circuit power supply terminals L1 L2 L3 of the power regeneration converter unit The power supply capacity will vary according to the power supply impedance The actual generated heat falls within the ranges at rated output and at servo off according to the frequenc...

Page 59: ...eat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the cabinet and the use of a cooli...

Page 60: ...ill be shorter than a maximum coasting distance calculated with the following equation Page 59 Dynamic brake time constant CAUTION The coasting distance is a theoretically calculated value which ignores the running load such as friction The calculated value will be longer than the actual distance If an enough braking distance is not provided a moving part may crash into the stroke end which is ver...

Page 61: ...rake may burn If there is a possibility that the ratio may exceed the value contact your local sales office The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor Servo motor Load to motor inertia ratio HG JR110K24W0C 10 HG JR150K24W0C 10 HG JR180K24W0C 10 HG JR200K24W0C 10 HG JR220K24W0C 10 0 20 40 60 80 100 120 140 1...

Page 62: ... it is recommended that the inertia delay type which is not tripped by an inrush current be used Inrush currents of the power regeneration converter The following shows the inrush current reference data that will flow when 480 V AC is applied Inrush current of the drive unit The following shows the inrush current reference data that will flow when 480 V AC is applied Power regeneration converter u...

Page 63: ...connecting any option or peripheral equipment turn off the power and wait for 20 minutes or more until the charge lamp turns off Then confirm that the voltage between L and L is safe with a voltage tester and others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the converter unit CAUTION Use the specified...

Page 64: ...rictions For parallel drive systems the following functions are unavailable Using the parallel drive system To use the parallel drive system the model name of a servo amplifier must be registered in MR Configurator2 Register the model name in the following procedure 1 Start MR Configurator2 click Tools in the menu bar and then click Update Parameter Setting Range Item Description Test operation Jo...

Page 65: ...8 OPTIONS AND PERIPHERAL EQUIPMENT 8 1 MR Configurator2 63 8 2 Select Register a new model from a file and click Next in Update Parameter Setting Range window 3 Click Browse ...

Page 66: ...ERAL EQUIPMENT 8 1 MR Configurator2 4 Select J4B S100_en rng stored in C Melservo MR2 mfr en and click Open in Open File window 5 Check that J4B S100_en rng is selected and click Next in Update Parameter Setting Range window ...

Page 67: ...8 OPTIONS AND PERIPHERAL EQUIPMENT 8 1 MR Configurator2 65 8 6 Check that reading has been completed without error and click Save 7 The model name of the servo amplifier has been registered Click End ...

Page 68: ...66 8 OPTIONS AND PERIPHERAL EQUIPMENT 8 1 MR Configurator2 How to select the model name of the servo amplifier registered When creating a project select MR J4 B RJ100 in Model ...

Page 69: ...e around wires so that they do not contact the AC reactor Specifications Model MR AL 55K4 L Rated capacity kW 55 Rated voltage 380 V AC to 480 V AC power fluctuation ratio within 10 Rated current A 106 Frequency 50 Hz 60 Hz frequency fluctuation within 3 Environment Ambient temperature Operation 0 to 55 non freezing Storage 20 to 65 non freezing Ambient humidity Operation 5 RH to 90 RH non condens...

Page 70: ...68 8 OPTIONS AND PERIPHERAL EQUIPMENT 8 2 AC reactor DIMENSIONS 55 55 10 200 313 20 344 275 200 248 7 271 7 248 7 271 7 310 344 Unit mm Mounting screw size M8 Mass 56 kg ...

Page 71: ...rtia ratio or less the estimated number of usage times of the external dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes Be sure to enable EM1 Forced stop 1 after servo motor stops when using EM1 frequently in other than emergency Specifications CAUTION Use an external dynamic brake for this drive unit Failure to do so will cause an acciden...

Page 72: ...art of the drive unit configure a circuit to turn off EM2 Forced stop 2 when the main circuit power is turned off 7 A step down transformer is required when the coil voltage of the magnetic contactor is 200 V class 8 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynam...

Page 73: ...al dynamic brake 71 8 DIMENSIONS 17 5 17 5 365 φ 1 0 10 530 550 280 400 60 60 57 56 10 58 5 27 5 10 31 488 31 300 256 5 261 320 4 15 2 3 a b 13 14 W V U Terminal block TE1 TE2 Screw size M3 5 Screw size M5 Mounting screw size M8 Mass 25 kg Unit mm ...

Page 74: ...one servo motor refer to the following Page 13 Combinations of power regeneration converter units drive units and servo motors 1 For parallel drive systems the magnetic contactor turns off when STO is inputted when AL 95 has occurred The setting of Pr PF07 Magnetic contactor shut off selection at STO input _ x _ _ is invalid Servo system controller Power supply MC 1 Encoder master servo amplifier ...

Page 75: ...9 USING STO FUNCTION 73 9 MEMO ...

Page 76: ... of the encoder slave servo amplifiers Setting Executing position speed observation with the servo motor with functional safety _ _ 1 _ in Pr PSA02 of the encoder slave servo amplifiers will trigger AL 7B 1 Encoder diagnosis error 1 safety observation function Description When using the safety observation function in the parallel drive system use the I O device of MR D30 Compatibility of safety ob...

Page 77: ...plies with safety level Category 4 PL e SIL 3 STOS of each encoder slave servo amplifier SLS1S Safety switch Duplicated signal lines Single signal lines SLS1C Servo motor with functional safety MR D30 functional safety unit Encoder master servo amplifier MR D30 functional safety unit Encoder slave servo amplifier MR D30 functional safety unit Encoder slave servo amplifier MR D30 functional safety ...

Page 78: ...o amplifier becomes STO status Make STO status of the encoder slave servo amplifiers by the safety controller output When STO is activated by an error in the speed observation connect the wires for the duplicated STOS STO output of the encoder master servo amplifier to the safety controller Connect the selected status monitor of the safety observation function for example SLS1S to the safety contr...

Page 79: ...OMB DO24VA DO24VB DO_A STOS DO_B STOS DO_B SLS1S MR D30 Encoder master servo amplifier STO command 1 To 0 V To 24 V STO command 2 SLS1 command 1 SLS1 command 2 STO output 1 STO output 2 SLS1 output DI_A STOC DI_B STOC DICOMA DICOMA DICOMB DICOMB DO24VA DO24VB DO_A STOS DO_B STOS MR D30 Encoder slave servo amplifier STO command 1 To 0 V To 24 V STO command 2 STO output ...

Page 80: ...ted from the torque current in the drive unit Item Detailed explanation Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods MR J4 _B_ app 2 Symbol for the new EU Battery Directive MR J4 _B_ app 3 Compliance with global standards MR J4 DU_B_ EC declaration of conformity MR J4 DU_B_ Servo amplifier harmonic suppression measures MR J4 _B...

Page 81: ...11 APPENDIX 11 1 Analog monitor 79 11 MEMO ...

Page 82: ...ual Number Description May 2018 SH NA 030280ENG A First edition This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual ...

Page 83: ... of the Product from our company 8 any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc...

Page 84: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies SH NA 030280ENG A ...

Page 85: ......

Page 86: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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