Mitsubishi Electric Melservo MR-J3-100B Handbook Download Page 199

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

5 - 4

(2) MR-J4 series

(a) 200 V class

Converter unit

Drive unit

Servo motor

HG-JR_

1000 r/min series

1500 r/min series

MR-CR55K

MR-J4-DU30K_ 30K1 30K1M
MR-J4-DU37K_ 37K1 37K1M

(b) 400 V class

Converter unit

Drive unit

Servo motor

HG-JR_

1000 r/min series

1500 r/min series

MR-CR55K4

MR-J4-DU30K_4 30K14  30K1M4
MR-J4-DU37K_4 37K14  37K1M4
MR-J4-DU45K_4   45K1M4
MR-J4-DU55K_4   55K1M4

Summary of Contents for Melservo MR-J3-100B

Page 1: ...J3 Transition from MELSERVO J3 J3W Series to J4 Series Handbook Existing manufacturing assets are completely utilizable MELSERVO J3 J3W to MELSERVO J4 ...

Page 2: ...injury CAUTION 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 t...

Page 3: ...ive earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet To avoid an electric shock insulate the connections of the power supply terminals 2 To prevent fire note the following CAUTION Install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to a fire Always connect a ...

Page 4: ...irection Secure the prescribed distance between the servo amplifier and the inner surface of the cabinet or other devices Do not install or operate the servo amplifier and servo motor which have been damaged or have anyparts missing Do not block the intake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or strike the servo amplifier and servo motor Isolate...

Page 5: ...minals U V W of the servo amplifier and servo motor power supply Directly connect the servo amplifier power output U V W to the servo motor power input U V W Do not let a magnetic contactor etc intervene Otherwise it may cause a malfunction The connection diagrams in this instruction manual are shown for sink interfaces unless stated otherwise The surge absorbing diode installed to the DC relay fo...

Page 6: ...he effect of electromagnetic interference must be reduced by using a noise filter or by other means Electromagnetic interference may be given to the electronic equipment used near the servo amplifier Burning or disassembling a servo amplifier may generate toxic gases Do not burn or break it Use the servo amplifier with the specified servo motor Correctly wire options and peripheral equipment etc i...

Page 7: ...ment before switching the power on 6 Maintenance inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment When using a servo amplifier whose pow...

Page 8: ...ary products cannot be sold and require disposal such item falls under Industrial waste in the above act 3 It is required that industrial waste be properly dealt with including manifest management by commissioning the disposal to an industrial waste disposal contractor licensed under the act 4 Please dispose of batteries primary batteries used in servo amplifiers according to local regulations Mea...

Page 9: ...ELSERVO Direct Drive Motor Instruction Manual Note 3 SH NA 030112 MELSERVO Linear Encoder Instruction Manual Note 2 4 SH NA 030111 EMC Installation Guidelines IB NA 67310 Note 1 It is necessary for using a rotary servo motor 2 It is necessary for using a linear servo motor 3 It is necessary for using a direct drive motor 4 It is necessary for using a fully closed loop system Cables used for wiring...

Page 10: ...4 3 Replacement Tool for Replacing MR J3 with MR J4 1 16 4 4 MITSUBISHI ELECTRIC FA Global Website 1 16 Part 2 Review on Replacement of MR J3 _A_ with MR J4 _A_ 2 1 to 2 64 1 SUMMARY 2 2 2 CASE STUDY ON REPLACEMENT OF MR J3 _A_ 2 2 2 1 Review on Replacement Method 2 2 2 2 Replacement Method 2 2 3 DIFFERENCES BETWEEN MR J3 _A_ AND MR J4 _A_ 2 4 3 1 Function Comparison Table 2 4 3 2 Comparison of St...

Page 11: ...C 24 V DC class 4 17 3 6 Comparison of Peripheral Equipment 4 19 3 7 Comparison of Parameters 4 20 3 7 1 Setting requisite parameters upon replacement 4 21 3 7 2 Parameter comparison list 4 22 3 7 2 Comparison of parameter details 4 26 4 APPLICATION OF FUNCTIONS 4 49 Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ 5 1 to 5 81 1 SUMMARY 5 2 2 FUNCTIONS AND CONFIGURATION 5 2 2 1 Differences...

Page 12: ... 5 77 7 6 2 MR J4 series 5 78 7 7 Dimensions 5 78 7 7 1 MR J3 series 5 78 7 7 2 MR J4 series 5 80 Part 6 Common Reference Material 6 1 to 6 141 1 SPECIFICATION DIFFERENCES 6 2 1 1 Detailed Specification Function Differences 6 2 1 2 Servo amplifier 6 4 1 2 1 Main circuit terminal block 6 4 1 2 2 Comparison of encoder signals CN2 6 9 1 2 3 Dynamic brake coasting distance 6 10 1 2 4 Forced stop decel...

Page 13: ...L PURPOSE AC SERVO PROTOCOL 6 73 4 1 Structure 6 74 4 1 1 Configuration diagram 6 74 4 1 2 Precautions for using RS 422 RS 232C USB communication function 6 76 4 2 Communication specifications 6 77 4 2 1 Outline of communication 6 77 4 2 2 Parameter setting 6 77 4 3 Protocol 6 78 4 3 1 Transmission data configuration 6 78 4 3 2 Character codes 6 79 4 3 3 Error codes 6 80 4 3 4 Checksum 6 80 4 3 5 ...

Page 14: ...Motor Mounting Dimensions 7 13 2 2 Detailed Comparison of Servo Motor Mounting Dimensions 7 19 2 3 Comparison of Mounting Dimensions for Geared Servo Motors 7 22 2 4 Comparison of Actual Reduction Ratios for Geared Servo Motors 7 25 2 5 Comparison of Moment of Inertia 7 26 2 6 Comparison of Servo Motor Connector Specifications 7 37 2 7 Comparison of Servo Motor Torque Characteristics 7 58 Part 8 R...

Page 15: ... BAT battery 8 39 5 5 MR J4W2 _B servo amplifier battery 8 40 5 5 1 MR BT6VCASE battery case 8 40 5 5 2 MR BAT6V1 battery 8 46 5 5 3 MR BAT6V1SET A battery MR J4W2 0303B6 only 8 47 6 EMC FILTER RECOMMENDED 8 50 6 1 MR J3 MR J3W MR J4 series EMC Filter recommended 100 V 200 V 400 V class 8 50 6 1 1 Connection example 8 51 6 1 2 Dimensions 8 52 7 POWER FACTOR IMPROVING AC REACTOR POWER FACTOR IMPROV...

Page 16: ...ix 1 3 3 2 Servo Motor Substitute Model and Compatibility Appendix 1 4 4 RENEWAL TOOL PRODUCT LIST Appendix 1 6 5 SPECIFICATIONS Appendix 1 9 5 1 Standard Specifications Appendix 1 9 6 DIMENSIONS Appendix 1 10 6 1 Mounting attachment Appendix 1 10 6 2 Conversion cable Appendix 1 13 6 2 1 Servo motor side power supply conversion cable Appendix 1 13 6 2 2 Servo motor side encoder conversion cable Ap...

Page 17: ...8 MEMO ...

Page 18: ...Part 1 Summary of MR J3 MR J3W Replacement 1 1 Part 1 Summary of MR J3 MR J3W Replacement ...

Page 19: ...with replacement by referring to the corresponding parts of this manual and the manual for each model 2 MAJOR REPLACEMENT TARGET MODEL 2 1 Servo Amplifier Replacement Target Model Series Servo amplifier model Series Servo amplifier Model MR J3 series MR J3 _A_ MR J4 series MR J4 _A_ MR J3 _B_ MR J4 _B_ MR J3W series MR J3W _B MR J4W2 _B 2 2 Servo Motor Replacement Target Model Servo motor model Se...

Page 20: ...ent compatibility check Check the compatibility and the attachment differences in the Attachment compatibility items in the list of base replacement models Check Part 6 Common Reference Material 2 SERVO AMPLIFIER DIMENSIONS INSTALLATION DIFFERENCES and Part 7 Replacement of Motor in this document When replacing the MR J3W series with the MR J4 series also check Part 4 Review on Replacement of MR J...

Page 21: ...d for MR J3 series MR J3W series Power supply Line noise filter FR BSF01 R S T Magnetic contactor MC No fuse breaker NFB or fuse CN5 CN3 Regenerative option P C L11 L21 Power factor improving DC reactor FR BEL Analog monitor CN1 CN2 CN4 Junction terminal block CN6 P1 P2 Servo amplifier Servo motor L1 L2 L3 Setup software SETUP221E Note Personal computer Battery MR J3BAT U V W Options and Periphera...

Page 22: ...V 11 kW and 15 kW have been changed to reduce the size of external dimensions Part 6 Section 2 1 1 Part 6 Section 2 1 2 Dynamic brake coasting distance The servo motor has a different dynamic brake coasting distance Part 6 Section 1 2 3 Forced stop deceleration For MR J4 in the shipping status the servo motor decelerates to stop during a forced stop or when an alarm has occurred The stop method fo...

Page 23: ...hose of the HG motor Part 7 Section 2 7 Rated speed maximum speed The Rated speed maximum speed of the HF _P HC _P HA _P motor may differ from those of the HG motor Servo Motor Instruction Manual Vol 3 Thermal sensor Note 1 For HG JR 1000 r min series of 15 kW or more and HG JR 1500 r min series of 22 kW or more the thermal sensor is replaced with a thermistor For HG JR 1000 r min series of 12 kW ...

Page 24: ... For MR J4 in the shipping status the servo motor decelerates to stop during a forced stop or when an alarm has occurred The stop method for MR J4 is different from the method of when an emergency stop or a forced stop of MR J3W is enabled Part 6 Section 1 2 4 MR J4W2 _B_ Servo Amplifier Instruction Manual Initializing time The time it takes to reach servo on from power on is different Part 6 Sect...

Page 25: ...ke connector may differ from one another in shape Part 7 Section 2 6 Torque characteristics The torque characteristics of the HF _P HC _P motor may differ from those of the HG motor Part 7 Section 2 7 Rated speed maximum speed The Rated speed maximum speed of the HF _P HC _P motor may differ from those of the HG motor Servo Motor Instruction Manual Vol 3 Encoder resolution The encoder resolution d...

Page 26: ...B 3 MR J3 series Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ Positioning control SSCNET III Motion controller Q17_HCPU MR J3 _B_ MR J3W _B Q170MCPU Q17_DCPU 3 2 2 Determination of base replacement model 1 Models for replacement between MR J3 series and MR J4 series Shown below are the base replacement models with the assumption that both the servo amplifier and servo motor will be rep...

Page 27: ... J3 DU30KA MR J3 CR55K MR J4 DU30KA MR CR55K Refer to Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ MR J3 DU37KA MR J3 CR55K MR J4 DU37KA MR CR55K d SSCNET interface 200 V class 30 kW or more Model Replacement model example Attachment compatibility Compatible Check items MR J3 DU30KB MR J3 CR55K MR J4 DU30KB MR CR55K Refer to Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ MR J...

Page 28: ... DU_ with MR J4 DU_ MR J3 DU37KA4 MR J3 CR55K4 MR J4 DU37KA4 MR CR55K4 MR J3 DU45KA4 MR J3 CR55K4 MR J4 DU45KA4 MR CR55K4 MR J3 DU55KA4 MR J3 CR55K4 MR J4 DU55KA4 MR CR55K4 h SSCNET interface 400 V class 30 kW or more Model Replacement model example Attachment compatibility Compatible Check items MR J3 DU30KB4 MR J3 CR55K4 MR J4 DU30KB4 MR CR55K4 Refer to Part 5 Review on Replacement of MR J3 DU_ ...

Page 29: ...1 Refer to Part 4 Review on Replacement of MR J3W _B with MR J4W2 _B MR J3W 44B MR J4W2 44B Note 1 MR J3W 77B MR J4W2 77B Note 2 MR J3W 1010B MR J4W2 1010B Note 2 Note 1 The dimensions are the same The number of mounting screws is different 2 Note that the positions clearances and the number of mounting screws have been changed to reduce the size of external dimensions b SSCNET interface 48 V DC 2...

Page 30: ... 70_ 73 73 72 73 MR J4 100_ 81 102 53 Note 103 MR J4 200_ 121 201 152 202 152 103 153 73 Note 103 Note 153 203 MR J4 350_ 301 352 202 203 153 Note 203 Note 353 MR J4 500_ 421 502 352 502 353 503 353 Note 503 MR J4 700_ 702 503 Note 601 701M 703 MR J4 11K_ 801 12K1 11K1M 903 MR J4 15K_ 15K1 15K1M MR J4 22K_ 20K1 25K1 22K1M MR J4 DU30K_ 30K1 30K1M MR J4 DU37K_ 37K1 37K1M MR J4W2 22B 053 13 23 053 13...

Page 31: ...2034 Note 3534 MR J4 500_4 5024 3534 Note 5034 MR J4 700_4 7024 5034 Note 6014 701M4 7034 MR J4 11K_4 8014 12K14 11K1M4 9034 MR J4 15K_4 15K14 15K1M4 MR J4 22K_4 20K14 25K14 22K1M4 MR J4 DU30K_4 30K14 30K1M4 MR J4 DU37K_4 37K14 37K1M4 MR J4 DU45K_4 45K1M4 MR J4 DU55K_4 55K1M4 Note The combination increases the rated torque and the maximum torque c 48 V DC 24 V DC class Servo amplifier Rotary servo...

Page 32: ...cument 3 2 6 Startup procedure check Refer to Part 9 Startup Procedure Manual in this document 4 RELATED MATERIALS 4 1 Catalog 1 Mitsubishi Electric General Purpose AC Servo MELSERVO J4 2 Motion Controller Q17nDSCPU Q170MSCPU 4 2 Instruction Manual 1 MELSERVO J4 Series MR J4 _A RJ MR J4 _A4 RJ MR J4 _A1 RJ Servo Amplifier Instruction Manual 2 MELSERVO J4 Series MR J4 _B RJ MR J4 _B4 RJ MR J4 _B1 R...

Page 33: ...MR J4 series product can be selected Note 1 Use the results as just a reference Refer to catalogs or instruction manuals For details contact your local sales office 2 MR J3W series is not compatible 4 4 MITSUBISHI ELECTRIC FA Global Website http www mitsubishielectric com fa Servo motor series model servo amplifier model regenerative option encoder motor power supply and electromagnetic brake sele...

Page 34: ...Part 2 Review on Replacement of MR J3 _A_ with MR J4 _A_ 2 1 Part 2 Review on Replacement of MR J3 _A_ with MR J4 _A_ ...

Page 35: ...f the existing system can be transferred with the parameter converter function of MR Configurator2 Refer to Part 6 Common Reference Material Note Separate repair means replacement Existing system MR J4 _A_ HG motor Pulse train command Controller System after simultaneous replacement MR J3 _A_ Pulse train command Controller HF _P HC _P HA _P motor YES MR J3 _A_ Pulse train command Controller NO HF ...

Page 36: ...tor Servo amplifier Servo motor Servo amplifier HC RP103 B G5 1 _ MR J3 200A N RT HG SR102 B G5 1 _ MR J4 100A HC RP203 B G5 1 _ MR J3 350A HG SR202 B G5 1 _ MR J4 200A HC RP353 B G5 1 _ MR J3 500A HG SR352 B G5 1 _ MR J4 350A HC RP103 B G7 1 _ MR J3 200A N RT HG SR102 B G7 1 _ MR J4 100A HC RP203 B G7 1 _ MR J3 350A HG SR202 B G7 1 _ MR J4 200A HC RP353 B G7 1 _ MR J3 500A HG SR352 B G7 1 _ MR J4...

Page 37: ... Differential pulse 4 Mpulses s Open collector pulse 200 kpulses s Command pulse Sink 10 The number of DIO points excluding EM1 DI 9 points DO 6 points DI 9 points DO 6 points 11 Encoder pulse output A B Z phase pulse differential line driver Z phase pulse open collector A B Z phase pulse differential line driver Z phase pulse open collector 12 DIO interface input output sink source input output s...

Page 38: ... excluding EM1 DI 9 points DO 6 points DI 9 points DO 6 points 11 Encoder pulse output A B Z phase pulse differential line driver A B Z phase pulse differential line driver 12 DIO interface input output sink source input output sink source 13 Analog input output Input 2ch 10 bit torque 14 bit speed or equivalent Output 10 bit or equivalent 2ch Input 2ch 10 bit torque 14 bit speed or equivalent Out...

Page 39: ...ation stroke end Reverse rotation stroke end USB cable option MR Configurator2 CN5 CN8 Analog torque limit 10 V maximum torque Personal computer Short circuit connector Packed with the servo amplifier Main circuit power supply 2 Speed control mode MR J3 _A_ MR J4 _A_ 3 1 2 CN6 MO1 Plate LG MO2 SD 2 m max Analog monitor 1 Analog monitor 2 USB cable option Setup software SETUP221E computer Personal ...

Page 40: ...UP221E Plate 10 m max 42 15 19 17 18 47 41 16 SON EMG RS1 RES RS2 SP1 DOC OM SP2 RA1 RA2 RA3 RA4 24 V DC 24 V DC Servo amplifier CN6 2 m or less 3 MO1 1 LG 2 MO2 DC 10 V DC 10 V Analog monitor 1 Analog monitor 2 9 Malfunction Zero speed detection Limiting speed Encoder A phase pulse differential line driver 48 ALM 23 ZSP 25 VLC 4 LA 5 LAR 6 LB 7 LBR 34 LG 33 OP SD 10 m or less 2 m or less Encoder ...

Page 41: ...pacity 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used 2 List of connector and terminal block correspondence MR J3 _A_ MR J4 _A_ Precautions No Connector name Connector No No Connector name Connector No...

Page 42: ...5 46 40 41 39 42 43 50 18 16 19 17 15 20 21 25 23 24 22 LB TL INP INP LZR PC RES DICOM ZSP TLC LG LG OP NP CR LSP LOP RD LG NG LSN DOCOM CN1 2 CN1 2 CN1 3 LG CN1 3 CN1 4 LA CN1 4 CN1 5 LAR CN1 5 CN1 6 LB CN1 6 CN1 7 LBR CN1 7 CN1 8 LZ CN1 8 CN1 9 LZR CN1 9 CN1 10 PP CN1 10 CN1 11 PG CN1 11 CN1 12 OPC CN1 12 CN1 13 CN1 13 CN1 14 CN1 14 CN1 15 SON CN1 15 CN1 16 CN1 16 CN1 17 PC CN1 17 CN1 18 TL CN1 ...

Page 43: ... 24 22 LB ST2 SA LZR ST1 RES DICOM ZSP TLC LG LG OP SP1 LSP LOP RD LG LSN DOCOM VC SP2 SA CN1 2 VC CN1 2 CN1 3 LG CN1 3 CN1 4 LA CN1 4 CN1 5 LAR CN1 5 CN1 6 LB CN1 6 CN1 7 LBR CN1 7 CN1 8 LZ CN1 8 CN1 9 LZR CN1 9 CN1 10 CN1 10 CN1 11 CN1 11 CN1 12 CN1 12 CN1 13 CN1 13 CN1 14 CN1 14 CN1 15 SON CN1 15 CN1 16 SP2 CN1 16 CN1 17 ST1 CN1 17 CN1 18 ST2 CN1 18 CN1 19 RES CN1 19 CN1 20 DICOM CN1 20 CN1 21 ...

Page 44: ...1 25 23 24 22 LB RS1 LZR RS2 RES DICOM ZSP VLC LG LG OP SP1 LOP RD LG DOCOM VLA SP2 CN1 2 VLA CN1 2 CN1 3 LG CN1 3 CN1 4 LA CN1 4 CN1 5 LAR CN1 5 CN1 6 LB CN1 6 CN1 7 LBR CN1 7 CN1 8 LZ CN1 8 CN1 9 LZR CN1 9 CN1 10 CN1 10 CN1 11 CN1 11 CN1 12 CN1 12 CN1 13 CN1 13 CN1 14 CN1 14 CN1 15 SON CN1 15 CN1 16 SP2 CN1 16 CN1 17 RS2 CN1 17 CN1 18 RS1 CN1 18 CN1 19 RES CN1 19 CN1 20 DICOM CN1 20 CN1 21 DICOM...

Page 45: ...G LG NC CN3 1 LG CN3 1 CN3 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG CN3 2 P5D CN3 2 CN3 3 RDP CN3 3 CN3 4 SDN CN3 4 CN3 5 SDP CN3 5 CN3 6 RDN CN3 6 CN3 7 LG CN3 7 CN3 8 NC CN3 8 2 For 11 kW to 22 kW MR J3 _A_ Signal abbreviation MR J4 _A_ Connector pin assignment Connector pin No Connector pin No Connector pin assignment CN3 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG NC CN3 1 LG CN3 1 CN3 8 6 7 RD...

Page 46: ...Part 2 Review on Replacement of MR J3 _A_ with MR J4 _A_ 2 13 3 4 Comparison of Peripheral Equipment POINT Refer to Part 8 Replacement of Optional Peripheral Equipment ...

Page 47: ... Name PA02 Regenerative option PA02 Regenerative option The setting value must be changed to use the regenerative option added for J4 A PA04 CN1 23 pin function selection No corresponding parameter Can substitute with PD23 to PD26 PD28 PA05 Number of command input pulses per revolution PA05 Number of command input pulses per revolution The setting value must be changed according to the encoder res...

Page 48: ...Input device selection 2H PD05 Input signal device selection 3 CN1 17 PD07 Input device selection 3L PD08 Input device selection 3H PD06 Input signal device selection 4 CN1 18 PD09 Input device selection 4L PD10 Input device selection 4H PD07 Input signal device selection 5 CN1 19 PD11 Input device selection 5L PD12 Input device selection 5H PD08 Input signal device selection 6 CN1 41 PD13 Input d...

Page 49: ...or manufacturer setting 0000h PA16 ENR2 Encoder output pulses 2 1 PA17 0000h PA17 MSR Servo motor series setting 0000h PA18 0000h PA18 MTY Servo motor type setting 0000h PA19 BLK Parameter write inhibit 000Bh PA19 BLK Parameter writing inhibit 00AAh PB01 FILT Adaptive tuning mode Adaptive filter II 0000h PB01 FILT Adaptive tuning mode adaptive filter II 0000h PB02 VRFT Vibration suppression contro...

Page 50: ...tching 0 PB32 VICB Gain changing speed integral compensation 33 7 PB32 VICB Speed integral compensation after gain switching 0 0 PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100 0 PB33 VRF1B Vibration suppression control 1 Vibration frequency after gain switching 0 0 PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100 0 PB34 ...

Page 51: ...5 For manufacturer setting 0000h PC25 For manufacturer setting 0000h PC26 COP5 Function selection C 5 0000h PC26 COP5 Function selection C 5 0000h PC27 COP6 Function selection C 6 0000h PC27 COP6 Function selection C 6 0000h PC28 For manufacturer setting 0000h PC28 COP7 Function selection C 7 0000h PC29 0000h PC29 For manufacturer setting 0000h PC30 STA2 Acceleration time constant 2 0 PC30 STA2 Ac...

Page 52: ...vice selection 8 00000A0Ah PD17 DI8L Input device selection 8L 0A0Ah CN1 43 PD18 DI8H Input device selection 8H 0A00h PD11 DI9 Input signal device selection 9 00000B0Bh PD19 DI9L Input device selection 9L 0B0Bh CN1 44 PD20 DI9H Input device selection 9H 0B00h PD12 DI10 Input signal device selection 10 00232323h PD21 DI10L Input device selection 10L 2323h CN1 45 PD22 DI10H Input device selection 10...

Page 53: ...hen on again after setting the parameter to validate the parameter value Set the control mode and control loop composition of the servo amplifier 0 0 0 x Selection of control mode 0 Position control mode 1 Position control mode and speed control mode 2 Speed control mode 3 Speed control mode and torque control mode 4 Torque control mode 5 Torque control mode and position control mode 0000h PA01 Op...

Page 54: ...r is cooled by the cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW 0000h PA02 Same setting as MR J3 00h P S T Regenerative option _ _ x x Select the regenerative option Incorrect setting may cause the regenerative option to burn If a selected regenerative option is not for use with the servo amplifier AL 37 Parameter error occurs 00 Regenerative option is not used Fo...

Page 55: ...x _ _ _ For manufacturer setting 0h PA04 Function selection A 1 Turn off the power and then on again after setting the parameter to validate the parameter value Set this parameter when assigning the electromagnetic brake to the CN1 23 pin 0 0 0 x CN1 23 pin function selection 0 Output device assigned with Pr PD14 1 Electromagnetic brake interlock MBR 0000h PD24 Output device selection 2 _ _ x x De...

Page 56: ...t speed and or acceleration deceleration time constants Always set the electronic gear with servo off state to prevent unexpected operation due to improper setting Concept of electronic gear The machine can be moved at any multiplication factor to input pulses CDV FBP Command pulse train Pt Other than 0 0 Initial value CMX Servo motor Encoder M Number of command input pulses per revolution Paramet...

Page 57: ...ment mode selection Select the gain adjustment mode 0 2 gain adjustment mode 1 interpolation mode 1 Auto tuning mode 1 2 Auto tuning mode 2 3 Manual mode 4 2 gain adjustment mode 2 Refer to table 2 2 for details Table2 2 Gain adjustment mode selection Setting value Gain adjustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inerti...

Page 58: ...ate no torque 2 Reverse rotation torque limit Pr PA12 Set this parameter on the assumption that the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode Set this parameter to 0 0 to generate no torque 100 0 100 0 PA11 Same as MR J3 100 0 P S T Forward rotation torque limit You can limit the torque generated by the serv...

Page 59: ...plifier Instruction Manual of MELSEC iQ R series MELSEC Q series MELSEC L series MELSEC F series Refer to table 2 3 for settings 0h P _ x _ _ Command input pulse train filter selection Selecting proper filter enables to enhance noise tolerance 0 Command input pulse train is 4 Mpulses s or less 1 Command input pulse train is 1 Mpulse s or less 2 Command input pulse train is 500 kpulses s or less 3 ...

Page 60: ...forward rotation pulse is input When reverse rotation pulse is input 0 CCW CW 1 CW CCW Forward rotation CCW Reverse rotation CW 0 PA14 Same as MR J3 0 P Rotation direction selection travel direction selection Select a servo motor rotation direction relative to the input pulse train Setting value Servo motor rotation direction When forward rotation pulse is input When reverse rotation pulse is inpu...

Page 61: ... Resolution per servo motor revolution Set value For instance set 8 to Pr PA15 the actually A B phase pulses output are as indicated below A B phase output pulses 262144 8 8192 pulses 1 4 3 When outputting pulse train similar to command pulses Set Pr PC19 to _ _ 2 _ The feedback pulses from the servo motor encoder are processed and output as shown below The feedback pulses can be output in the sam...

Page 62: ...selection 1 Pr PB14 Machine resonance point Notch frequency Frequency Frequency Response of mechanical system Notch depth 0 0 0 x Adaptive tuning mode selection Setting Adaptive tuning mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Pr PB13 Pr PB14 2 Manual mode Note Pr PB13 and Pr PB14 are fixed to the initial values When this parameter is set to _ _ _ 1 the tuning is comp...

Page 63: ...ode Advanced vibration suppression control Pr PB19 Pr PB20 2 Manual mode Note Pr PB19 and Pr PB20 are fixed to the initial values When this parameter is set to _ _ _1 the tuning is completed after positioning operation is done the predetermined number or times for the predetermined period of time and the setting changes to _ _ _2 When the vibration suppression control tuning is not necessary the s...

Page 64: ... Function selection B 1 When the linear acceleration deceleration is selected the setting range is 0 ms to 10 ms Setting of longer than 10 ms will be recognized as 10 ms When the linear acceleration deceleration is selected do not set the Control mode selection Pr PA01 to the setting other than _ _ _ 0 Doing so will cause the servo motor to make a sudden stop at the time of position control mode s...

Page 65: ...arameter to increase the position response to level load disturbance Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used 37 PB08 Same setting as MR J3 37 0 P Position loop gain Set the gain of the position loop Set this parameter to increase the posi...

Page 66: ...ed on 980 PB11 Speed differential compensation Set the differential compensation To enable the setting value turn on PC proportional control Setting range 0 to 1000 980 P S PB12 For manufacturer setting 0 PB12 Overshoot amount compensation Set a viscous friction torque in percentage to the servo motor rated speed When the response level is low or when the torque thrust is limited the efficiency of...

Page 67: ... 2 α 4 3 α 5 0h P S T x _ _ _ For manufacturer setting 0h PB15 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set Pr PB16 notch shape selection 2 to _ _ _ 1 to make this parameter valid 4500 PB15 Same as MR J3 4500 P S T Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 To enabl...

Page 68: ...he setting value of this parameter is disabled When Machine resonance suppression filter 4 selection is Enabled _ _ _ 1 in Pr PB49 the shaft resonance suppression filter is not available P S T _ _ x x Shaft resonance suppression filter setting frequency selection Refer to table 2 5 for settings Set the value closest to the frequency you need 00h P S T _ x _ _ Notch depth selection 0 40 dB 1 14 dB ...

Page 69: ...sion control resonance frequency setting Set the resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting Pr PB02 vibration suppression control tuning mode to _ _ _ 1 automatically changes this parameter When Pr PB02 is set to _ _ _ 2 this parameter can be set manually PB20 PB20 Same as MR J3 100 0 P Vibration suppression...

Page 70: ...ession control Slight vibration suppression control selection _ _ _ x Select the slight vibration suppression control 0 Disabled 1 Enabled To enable the slight vibration suppression control set Gain adjustment mode selection to Manual mode _ _ _ 3 in Pr PA08 Slight vibration suppression control cannot be used in the speed control mode _ _ x _ For manufacturer setting 0h _ x _ _ For manufacturer se...

Page 71: ...er setting 0h PB27 Gain changing condition Used to set the value of gain changing condition command frequency droop pulses servo motor speed selected in Pr PB26 The set value unit changes with the changing condition item 10 PB27 Same as MR J3 10 P S Gain switching condition This is used to set the value of gain switching command frequency droop pulses and servo motor speed selected in Pr PB26 The ...

Page 72: ...02 setting is _ _ _ 2 and the Pr PB26 setting is _ _ _ 1 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped 100 0 PB33 Vibration suppression control 1 Vibration frequency after gain switching Set the vibration frequency for vibration suppression control 1 when the gain switching is enabled When you set a value less than 0 1 Hz t...

Page 73: ... _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor stops Setting range 0 00 to 0 30 0 00 P PC01 Acceleration time constant Used to set the acceleration time required to reach the rated speed from 0r min in response to the analog speed command and internal speed commands 1 to 7 Time Parameter No PC02 setting Parameter No PC01 setting Zero speed Rated sp...

Page 74: ...top the servo motor or linear servo motor smoothly Set the time of the arc part for S pattern acceleration deceleration Speed command Servo motor speed 0 r min STA STC Time STC STB STC STC Linear servo motor speed 0 mm s STA Acceleration time constant Pr PC01 STB Deceleration time constant Pr PC02 STC S pattern acceleration deceleration time constant Pr PC03 Long setting of STA acceleration time c...

Page 75: ...d Internal speed limit 3 Used to set speed 3 of internal speed limits Internal speed limit 3 Set speed 3 of internal speed limits Setting range 0 to permissible instantaneous speed T PC08 Internal speed command 4 Used to set speed 4 of internal speed commands 200 PC08 Same as MR J3 200 S Internal speed command 4 Set the speed 4 of internal speed commands Setting range 0 to permissible instantaneou...

Page 76: ...g speed command When 0 is set the rated speed of the connected servo motor is used When you input a command value of the permissible speed or more to VC the value is clamped at the permissible speed Setting range 0 to 50000 Analog speed limit maximum speed Used to set the speed at the maximum input voltage 10 V of the analog speed limit VLA Set 0 to select the rated speed of the servo motor connec...

Page 77: ...0 pulses Note 2 _ _ 0 A Feedback position 10 V 1 Mpulse Note 2 _ _ 0 B Feedback position 10 V 10 Mpulses Note 2 _ _ 0 C Feedback position 10 V 100 Mpulses Note 2 _ _ 0 D Bus voltage 200 V class and 100 V class 8 V 400 V 400 V class 8 V 800 V _ _ 0 E Speed command 2 8 V max speed _ _ 1 0 Load side droop pulses 10 V 100 pulses Note 2 _ _ 1 1 Load side droop pulses 10 V 1000 pulses Note 2 _ _ 1 2 Loa...

Page 78: ... Servo motor rotation direction CCW CW 0 A phase B phase A phase B phase 1 A phase B phase A phase B phase 0000h PC19 Same setting as MR J3 0h P S T Encoder output pulse selection Encoder output pulse phase selection _ _ _ x Select the encoder pulse direction 0 A phase 90 shift in CCW 1 A phase 90 shift in CW Set value Servo motor rotation direction CCW or positive direction CW or negative directi...

Page 79: ...t after delay time of 800 μs or longer _ x _ _ RS 422 RS 485 communication response delay time selection 0 Disabled 1 Enabled responding after 800 μs or longer delay time 0h P S T x _ _ _ For manufacturer setting 0h PC22 Function selection C 1 Select the execution of automatic restart after instantaneous power failure selection and encoder cable communication system selection 0 0 0 x Restart after...

Page 80: ...etting 0h _ x _ _ VC VLA voltage averaging selection Select the VC VLA voltage average Set the filtering time when VC Analog speed command or VLA Analog speed limit is imported Set 0 to vary the speed to voltage fluctuation in real time Increase the set value to vary the speed slower to voltage fluctuation 0h S T Setting value Filtering time ms 0 0 1 0 444 2 0 888 3 1 777 4 3 555 5 7 111 x 0 0 0 S...

Page 81: ...circuit power supply selection This digit is not available with MR J4 _A_ RJ 100 W or more servo amplifiers 0h P S T _ x _ _ Undervoltage alarm selection Select the alarm and warning for when the bus voltage drops to the undervoltage alarm level 0 AL 10 regardless of servo motor speed 1 AL E9 at servo motor speed 50 r min 50 mm s or less AL 10 at over 50 r min 50 mm s 0h P S T x _ _ _ For manufact...

Page 82: ...nge 1 to 16777215 1 P PC34 Command pulse multiplying factor numerator 4 Available when the Pr PA05 is set to 0 1 PC34 Commanded pulse multiplication numerator 4 To enable the parameter select Electronic gear 0 _ _ _ or J3 electronic gear setting value compatibility mode 2 _ _ _ of Electronic gear selection in Pr PA21 Setting range 1 to 16777215 1 P PC35 Internal torque limit 2 Set this parameter t...

Page 83: ...crement of 1 kW 16 Unit total power consumption increment of 1 Wh 17 Unit total power consumption increment of 100 kWh 18 Load side cumulative feedback pulses 19 Load side droop pulses 1A Load side encoder information 1 1 pulse unit 1B Load side encoder information 1 100000 pulses unit 1C Load side encoder ABS counter 1D Z phase counter 1 pulse unit 1E Z phase counter 100000 pulses unit 1F Electri...

Page 84: ...hipment at the VLA LG voltage of 0 V Analog speed limit offset Set the offset voltage of VLA Analog speed limit For example if CCW rotation or positive direction travel is provided by switching on RS1 Forward rotation selection while applying 0 V to VLA set a negative value When automatic VC offset is used the automatically offset value is set to this parameter The initial value is provided before...

Page 85: ..._ BIN For manufacturer setting _ x _ _ HEX _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on _ x _ _ HEX _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on P S x _ _ _ BIN LSN Reverse rotation stroke en...

Page 86: ...3 Input device selection 1L Any input device can be assigned to the CN1 15 pin _ _ x x Position control mode Device selection Refer to table 2 7 02h P x x _ _ Speed control mode Device selection Refer to table 2 7 02h S Table 2 7 Selectable input devices Setting value Input device Note 1 P S T 02 SON SON SON 03 RES RES RES 04 PC PC 05 TL TL 06 CR 07 ST1 RS2 08 ST2 RS1 09 TL1 TL1 0A LSP LSP LSP Not...

Page 87: ...ed to the CN1 17 pin The devices that can be assigned and the setting method are the same as in Pr PD03 Select the input device of the CN1 17 pin When Valid ABS transfer by DI0 has been selected for the absolute position detection system in Pr PA03 the CN1 17 pin is set to the ABS transfer mode ABSM 0007 0704h PD07 Input device selection 3L Any input device can be assigned to the CN1 17 pin When _...

Page 88: ...t device selection 4H Any input device can be assigned to the CN1 18 pin _ _ x x Torque control mode Device selection Refer to table 2 7 in Pr PD03 for settings 08h T x x _ _ For manufacturer setting 08h PD07 Input signal device selection 5 CN1 19 Any input signal can be assigned to the CN1 19 pin The devices that can be assigned and the setting method are the same as in Pr PD03 Select the input d...

Page 89: ...to table 2 7 in Pr PD03 for settings 20h T x x _ _ For manufacturer setting 39h PD10 Input signal device selection 8 CN1 43 Any input signal can be assigned to the CN1 43 pin The devices that can be assigned and the setting method are the same as in Pr PD03 Select the input device of the CN1 43 pin 0000 0A0Ah PD17 Input device selection 8L Any input device can be assigned to the CN1 43 pin _ _ x x...

Page 90: ... table 2 7 in Pr PD03 for settings 00h T x x _ _ For manufacturer setting 0Bh PD12 Input signal device selection 10 CN1 45 Any input signal can be assigned to the CN1 45 pin The devices that can be assigned and the setting method are the same as in Pr PD03 Select the input device of the CN1 45 pin 0023 2323h PD21 Input device selection 10L Any input device can be assigned to the CN1 45 pin _ _ x x...

Page 91: ...lways OFF 12 to 3F For manufacturer setting Note 2 Note 1 P Position control mode S Speed control mode T Torque control mode 2 For manufacturer setting Never set this value When Valid ABS transfer by DI0 has been selected for the absolute position detection system in Pr PA03 the CN1 22 pin is set to the ABS transmission data bit 0 ABSB0 in the ABS transfer mode only 0004h PD23 Output device select...

Page 92: ...ion Any output device can be assigned to the CN1 24 pin Refer to table 2 8 in Pr PD23 for settings _ x _ _ For manufacturer setting 0h x _ _ _ For manufacturer setting 0h PD16 Output signal device selection 4 CN1 25 Any output signal can be assigned to the CN1 25 pin In the initial setting TLC is assigned in the position control and speed control modes and VLC is assigned in the torque control mod...

Page 93: ... selection D 1 Select the stop processing at forward rotation stroke end LSP reverse rotation stroke end LSN OFF and the base circuit status at reset RES ON 0 0 _ x How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is valid 0 Sudden stop 1 Slow stop 0000h PD30 Function selection D 1 _ _ _ x Stop method selection for LSP Forward rotation stroke end off and LSN ...

Page 94: ...ulses are cleared on the leading edge 1 While on droop pulses are always cleared 0000h PD32 Same setting as MR J3 0h P Function selection D 3 _ _ _ x CR Clear selection Set CR Clear 0 Deleting droop pulses at the leading edge of turning on of CR 1 Continuous deleting of droop pulses while CR is on 2 Disabled available for the software version B3 or later _ _ x _ For manufacturer setting 0h _ x _ _...

Page 95: ...L 31 Overspeed AL 35 Command pulse frequency error AL 52 Error excessive 1 1 0 AL 16 Encoder error 1 AL 1A Motor combination error AL 20 Encoder error 2 AL 25 Absolute position erase 0000h PD34 Function selection D 5 _ _ _ x Alarm code output Select output status of alarm codes Alarm codes are outputted to the pins CN1 22 CN1 23 and CN1 24 0 Disabled 1 Enabled When Enabled absolute position detect...

Page 96: ...ing 0h for the command input pulse train filter selection enables the command input of up to 4 Mpulses s but reduces the noise filter ability POINT Set pulse train form of the pulse output function correctly No symbol name Setting digit Function Initial value unit Control mode Enabled P S T PA13 PLSS Command pulse input form _ _ _ x Command input pulse train form selection 0 Forward reverse rotati...

Page 97: ...Setting range 0 to 1000 0 ms 3 Input signal filter selection _ _ _ x of Pr PD29 Input filter setting MR J3 _A_ and MR J4 _A_ have different initial values for the input signal filter selection No symbol name Setting digit Function Initial value unit Control mode Enabled P S T PD29 DIF Input filter setting Select a filter for the input signal _ _ _ x Input signal filter selection If external input ...

Page 98: ...Part 3 Review on Replacement of MR J3 _B_ with MR J4 _B_ 3 1 Part 3 Review on Replacement of MR J3 _B_ with MR J4 _B_ ...

Page 99: ...ng the system allows some J3 series servo motors to drive in MR J4 _B_ J4 mode and MR J4 _B_ J3 compatibility mode Check Part 6 Common Reference Material for target motors NO YES Simultaneous system replacement 4 Replace the servo amplifier and the servo motor individually 1 Simultaneous replacement with SSCNET III H servo system controller MR J4_B_ J4 series servo motor Note 1 2 SSCNET III servo ...

Page 100: ...PU Q173DSCPU Stand alone motion controller refers to the following model Q170MSCPU S1 2 For replacement of only a controller and an amplifier Replacing the system allows some J3 series servo motors to drive in MR J4 _B_ J4 mode For J3 series servo motors which are available with this check Part 6 Common Reference Material QDS motion controller MR J4 _B_ HC _FS HA _FS motor Stand alone motion contr...

Page 101: ...1 _ MR J4 350B HC RP103 B G7 1 _ MR J3 200B N RT HG SR102 B G7 1 _ MR J4 100B HC RP203 B G7 1 _ MR J3 350B HG SR202 B G7 1 _ MR J4 200B HC RP353 B G7 1 _ MR J3 500B HG SR352 B G7 1 _ MR J4 350B HC LP52 B MR J3 60B HG JR73 B MR J4 70B HC LP102 B MR J3 100B HG JR153 B MR J4 200B HC LP152 B MR J3 200B N RT HG JR353 B MR J4 350B 3 Gradual replacement of MR J3 _B_ with MR J4 _B_ 1 Current system 2 Only...

Page 102: ...get motors The J4 series servo motor cannot be driven by the MR J3 _B_ servo amplifier Replace the existing servo amplifier and servo motor with MR J4 _B_ servo amplifier J3 compatibility mode and J4 series servo motor simultaneously Note Separate repair means replacement SSCNET III servo system controller MR J3 _B_ MR J4 _B_ J3 compatibility mode J3 series servo motor MR J3 _B_ J4 series servo mo...

Page 103: ... Mbps Position control mode Speed control mode Torque control mode J3 compatibility mode SSCNET III Interface 50 Mbps Position control mode Speed control mode 9 The number of DIO points excluding EM1 DI 3 points DO 3 points DI 3 points DO 3 points 10 Encoder pulse output ABZ phase differential line driver ABZ phase differential line driver 11 DIO interface input output sink source input output sin...

Page 104: ...n control mode Speed control mode Torque control mode J3 compatibility mode SSCNET III Interface 50 Mbps Position control mode Speed control mode 9 The number of DIO points excluding EM1 DI 3 points DO 3 points DI 3 points DO 3 points 10 Encoder pulse output ABZ phase differential line driver ABZ phase differential line driver 11 DIO interface input output sink source input output sink source 12 A...

Page 105: ...n SSCNETⅢcable option CN1A CN1B MR J3 B 2 axis Cap CN1B SW1 12 SW2 SW1 12 SW2 CN1A CN1B MR J3 B SW1 12 SW2 CN1A CN1B MR J3 B n axis SW1 12 SW2 2 m or less 10 m or less Proximity dog DOG 10 m or less 3 axis 20 EM2 2 19 12 DI1 DI3 DI2 Servo amplifier CN3 FLS RLS DOG Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse differential line d...

Page 106: ...r less capacities Note 1 The above configuration example is applied to the MR J4 200B or less capacities 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used 2 List of connector and terminal block correspond...

Page 107: ...d When not using the power factor improving DC reactor short P3 and P4 3 Refer to the respective Instruction Manuals for the power supply specification Note 1 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 P3 and P4 2 For power supply specifications refer to MR J4 _B...

Page 108: ...LA LB LZR LAR ALM DI3 INP CN3 1 LG CN3 1 CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM LZ DI2 MO2 EM2 LG MBR LBR LA LB LZR LAR ALM DI3 INP CN3 2 DI1 CN3 2 CN3 3 DOCOM CN3 3 CN3 4 MO1 CN3 4 CN3 5 DICOM CN3 5 CN3 6 LA CN3 6 CN3 7 LB CN3 7 CN3 8 LZ CN3 8 CN3 9 INP CN3 9 CN3 10 DICOM CN3 10 CN3 11 LG CN3 11 CN3 12 DI2 CN3 12 CN3 13 MBR CN3 13 CN3 14 MO2 CN3 14 CN3...

Page 109: ...r the parameter converter function refer to Part 6 Common Reference Material The parameter whose symbol is preceded by is enabled with the following conditions After setting the parameter cycle the power or reset the controller After setting the parameter cycle the power For details about parameter settings for replacement refer to the MR J4 _B_ RJ Servo Amplifier Instruction Manual to set paramet...

Page 110: ...nding on the motor PA15 Encoder output pulse Used to set the encoder pulses A phase and B phase output by the servo amplifier PA19 Parameter writing inhibit Change the setting value as necessary PB06 Load to motor inertia ratio The unit system is different 0 1 fold 0 01 fold Pay attention to setting value PB07 Model loop gain The unit system is different rad s 0 1 rad s PB08 Position loop gain The...

Page 111: ...tion suppression control II 0000h PB03 For manufacturer setting 0 PB03 TFBGN Torque feedback loop gain 18000 PB04 FFC Feed forward gain 0 PB04 FFC Feed forward gain 0 PB05 For manufacturer setting 500 PB05 For manufacturer setting 500 PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7 0 PB06 GD2 Load to motor inertia ratio load to motor mass ratio 7 00 PB07 PG1 Model loop gain 2...

Page 112: ...ing 0 00 PB37 100 PB37 For manufacturer setting 1600 PB38 0 0 PB38 0 00 PB39 0 0 PB39 0 00 PB40 0 0 PB40 0 00 PB41 1125 PB41 0 PB42 1125 PB42 0 PB43 0004h PB43 0000h PB44 0 0 PB44 0 00 PB45 CNHF Vibration suppression control filter 2 0000h PB45 CNHF Command notch filter 0000h PC01 ERZ Error excessive alarm level 3 PC01 ERZ Error excessive alarm level 0 PC02 MBR Electromagnetic brake sequence outpu...

Page 113: ...0 For manufacturer setting 0000h PD11 0004h PD11 DIF Input filter setting Note 0004h PD12 0000h PD12 DOP1 Function selection D 1 0000h PD13 0000h PD13 DOP2 Function selection D 2 0000h PD14 DOP3 Function selection D 3 0000h PD14 DOP3 Function selection D 3 0000h PD15 IDCS For manufacturer setting 0000h PD15 IDCS Driver communication setting 0000h PD16 MD1 Driver communication setting Master Transm...

Page 114: ...r the track ability for a command and the settling time in machines with high rigidity can be decreased To further shorten the settling time using the auto tuning results of the high response control increase the setting of model loop gain Pr PB07 in the manual mode By making the 350 maximum torque setting valid the maximum torque of the HF KP servo motor can be increased from 300 to 350 To operat...

Page 115: ... 22kW Note The setting is for the servo amplifier of 22 kW or less 0000h PA02 Same as MR J3 00h Regenerative option Used to select the regenerative option Incorrect setting may cause the regenerative option to burn If a selected regenerative option is not for use with the servo amplifier AL 37 Parameter error occurs _ _ x x Regenerative option selection 00 Regenerative option is not used For servo...

Page 116: ...1 is used 1 Invalid Forced stop EM1 is not used When not using the forced stop EM1 of servo amplifier set the selection of servo forced stop to Invalid _ _1_ At this time the forced stop EM1 automatically turns on inside the servo amplifier 0000h PA04 Same setting as MR J3 Function selection A 1 This is used to select the forced stop input and forced stop deceleration function _ _ _ x For manufact...

Page 117: ...t value To improve performance e g shorten the settling time increase the set value Setting value Response Guideline for machine resonance frequency Hz Setting value Response Guideline for machine resonance frequency Hz 1 Low response 10 0 17 Middle response 67 1 2 11 3 18 75 6 3 12 7 19 85 2 4 14 3 20 95 9 5 16 1 21 108 0 6 18 1 22 121 7 7 20 4 23 137 1 8 23 0 24 154 4 9 25 9 25 173 9 10 29 2 26 ...

Page 118: ... when the controller reset has been performed Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A phase or B phase pulses You can use Pr PC03 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum output freq...

Page 119: ...s the machine resonance suppression filter 1 Pr PB13 and notch shape selection Pr PB14 Machine resonance point Notch frequency Frequency Frequency Response of mechanical system Notch depth 0 0 0 x Filter tuning mode selection 0 Filter OFF Pr PB13 PB14 are fixed to the initial values 1 Filter tuning mode Automatically set parameter Pr PB13 PB14 2 Manual mode When this parameter is set to _ _ _ 1 th...

Page 120: ...ation suppression control tuning mode advanced vibration suppression control II This is used to set the vibration suppression control tuning _ _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 0 Disabled 1 Automatic setting 2 Manual setting 0h _ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode...

Page 121: ...5 0 Model loop gain Set the response gain up to the target position Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise The setting of the parameter will be the automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details Pr PA08 This parameter _ _ _ 0 2 gain a...

Page 122: ...for details PB11 Speed differential compensation Used to set the differential compensation When Pr PB24 is set to _ _ 3 _ this parameter is made valid When Pr PB24 is set to _ _ 0 _ this parameter is made valid by instructions of controller 980 PB11 Same as MR J3 980 Speed differential compensation This is used to set the differential compensation To enable the parameter select Continuous PID cont...

Page 123: ...election 0 α 2 1 α 3 2 α 4 3 α 5 0h x _ _ _ For manufacturer setting 0h PB15 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set Pr PB16 notch shape selection 2 to _ _ _ 1 to make this parameter valid 4500 PB15 Same as MR J3 4500 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 ...

Page 124: ...ue of this parameter will be disabled When you select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 the shaft resonance suppression filter is not available _ _ x x Shaft resonance suppression filter setting frequency selection This is used for setting the shaft resonance suppression filter Refer to table 3 2 for settings Set the value closest to the frequency you n...

Page 125: ...esonance frequency setting This parameter cannot be used in the speed control mode Set the resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting Pr PB02 vibration suppression control tuning mode to _ _ _ 1 automatically changes this parameter When parameter No PB02 is set to _ _ _ 2 this parameter can be set manually 1...

Page 126: ...ol is made valid Slight vibration suppression control cannot be used in the speed control mode 0 0 _ x Slight vibration suppression control selection 0 Invalid 1 Valid 0 0 x _ PI PID control switch over selection 0 PI control is valid Switching to PID control is possible with instructions of controller 3 PID control is always valid 0000h PB24 Same as MR J3 Slight vibration suppression control Sele...

Page 127: ...ion selection 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less 0h 0 0 x _ Gain changing condition 0 Valid when the control instruction from a controller is ON Valid at equal to or more than the value set in Pr PB27 1 Valid when the control instruction from a controller is OFF Valid at equal to or less th...

Page 128: ...This parameter is enabled only when you select Manual mode _ _ _ 3 of Gain adjustment mode selection in Pr PA08 0 PB32 Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid This parameter is made valid when the auto tuning is invalid Pr PA08 _ _ _ 3 33 7 PB32 Speed integral compensation after gain switching Set the speed integral compensation...

Page 129: ...to switch them after the servo motor stops 0 0 PB35 For manufacturer setting Do not change this value by any means 0 00 PB35 Vibration suppression control 1 Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled This parameter will be enabled only when the following conditions are fulfilled Ga...

Page 130: ... _ _ 4 0 17 6 _ _ 0 1 2250 _ _ 2 1 66 _ _ 4 1 16 5 _ _ 0 2 1125 _ _ 2 2 62 _ _ 4 2 15 6 _ _ 0 3 750 _ _ 2 3 59 _ _ 4 3 14 8 _ _ 0 4 562 _ _ 2 4 56 _ _ 4 4 14 1 _ _ 0 5 450 _ _ 2 5 53 _ _ 4 5 13 4 _ _ 0 6 375 _ _ 2 6 51 _ _ 4 6 12 8 _ _ 0 7 321 _ _ 2 7 48 _ _ 4 7 12 2 _ _ 0 8 281 _ _ 2 8 46 _ _ 4 8 11 7 _ _ 0 9 250 _ _ 2 9 45 _ _ 4 9 11 3 _ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10 8 _ _ 0 B 204 _ _ 2 B 41 _...

Page 131: ...hut off PC03 Encoder output pulse selection Use to select the encoder output pulse direction and encoder output pulse setting 0000h PC03 Same setting as MR J3 Encoder output pulse selection This is used to select the encoder pulse direction and encoder output pulse setting 0 0 _ x Encoder output pulse phase changing Changes the phases of A B phase encoder pulses output Setting value Servo motor ro...

Page 132: ... motor less operation _ _ _ x Motor less operation selection 0 Disabled 1 Enabled 0h _ _ x _ For manufacturer setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ AL 9B Error excessive warning selection 0 AL 9B Error excessive warning disabled 1 AL 9B Error excessive warning enabled The setting of this digit is used by servo amplifier with software version B4 or later 0h PC06 Function selection ...

Page 133: ...to MO1 Analog monitor 1 _ _ x x Analog monitor 1 output selection 0 0 servo motor speed 8 V max speed 0 1 Torque 8 V max torque 0 2 servo motor speed 8 V max speed 0 3 Torque 8 V max torque 0 4 Current command 8 V max current command 0 5 Speed command 8 V max speed 0 6 Servo motor side droop pulses 10 V 100 pulses Note 0 7 Servo motor side droop pulses 10 V 1000 pulses Note 0 8 Servo motor side dr...

Page 134: ...s are set 0 PC14 Same as MR J3 0 Analog monitor Feedback position output standard data High Set a monitor output standard position higher 4 digits for the feedback position for when selecting Feedback position for Analog monitor 1 MO1 and Analog monitor 2 MO2 Monitor output standard position Pr PC14 setting 10000 Pr PC13 setting PC17 Function Selection C 4 This parameter cannot be used in the spee...

Page 135: ...ted power supply voltage waveform 0 AL 10 not occurrence 1 AL 10 occurrence 0h _ _ x _ For manufacturer setting 0h _ x _ _ Undervoltage alarm selection Select the alarm and warning for when the bus voltage drops to the undervoltage alarm level 0 AL 10 regardless of servo motor speed 1 AL E9 at servo motor speed 50 r min 50 mm s or less AL 10 at over 50 r min 50 mm s 0h x _ _ _ For manufacturer set...

Page 136: ... a longer time than deceleration time at quick stop of the controller If a shorter time is set AL 52 Error excessive may occur 100 PC29 For manufacturer setting Do not change this value by any means 0000h PC29 Function selection C B This is used to select the POL reflection at torque control _ _ _ x For manufacturer setting 0h _ _ x _ For manufacturer setting 0h _ x _ _ For manufacturer setting 0h...

Page 137: ...t selection 0 Disabled 1 Enabled 0h _ _ x _ RLS Lower stroke limit selection 0 Disabled 1 Enabled _ x _ _ For manufacturer setting x _ _ _ For manufacturer setting _ _ x _ HEX For manufacturer setting 0h _ x _ _ HEX For manufacturer setting 0h x _ _ _ HEX For manufacturer setting 0h Convert the setting value into hexadecimal as follows 0 BIN 0 Use for an external input signal BIN 1 Automatic on In...

Page 138: ...ntrol mode 0005h PD07 Same setting as MR J3 Output device selection 1 You can assign any output device to the CN3 13 pin _ _ x x Device selection 0 0 Always off 0 2 RD Ready 0 3 ALM Malfunction 0 4 INP In position 0 5 MBR Electromagnetic brake interlock 0 6 DB Dynamic brake interlock 0 7 TLC Limiting torque 0 8 WNG Warning 0 9 BWNG Battery warning 0 A SA Speed reached 0 C ZSP Zero speed detection ...

Page 139: ... _ _ _ For manufacturer setting 0h PD11 For manufacturer setting Do not change this value by any means 0004h PD11 Input filter setting Select the input filter _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting If external input signal causes chattering due to noise etc input filter is used to suppress it 0 None 1 0 888 ms 2 1 777 ms 3 2 66...

Page 140: ...s decided as 0 0h x _ _ _ For manufacturer setting 0h PD14 Function selection D 3 Set the ALM output signal at warning occurrence 0 0 x 0 Selection of output device at warning occurrence Select the warning WNG and trouble ALM output status at warning occurrence Output of Servo amplifier Setting Device status Note 0 0 1 0 1 WNG ALM Warning occurrence 1 0 1 0 1 WNG ALM Warning occurrence Note 0 off ...

Page 141: ...amplifier slave axis Master slave operation function Setting value Not used 0000 Used Master 0001 Slave 0010 _ _ x _ Slave axis operation selection Setting 1 other than in standard control mode will trigger AL 37 0 Disabled not using master slave operation function 1 Enabled this servo amplifier slave axis 0h _ x _ _ For manufacturer setting 0h x _ _ _ For manufacturer setting 0h Master slave oper...

Page 142: ...Instruction Manual for details of axis Nos 0 PD20 Driver communication setting Slave Master axis No selection 1 Select a master axis when this amplifier is slave axis When setting this amplifier as slave axis Pr PD15 is _ _ 1 0 set the axis No of the servo amplifier of master Setting 0 disables this parameter This parameter setting is used with servo amplifier with software version A8 or later 0 P...

Page 143: ... side 300 r min 1400 r min 1000 r min Speed limit command from master side driver communication Speed r min This parameter setting is used with servo amplifier with software version A8 or later 0 PD32 Master slave operation Speed limit adjusted value on slave This parameter setting is used with servo amplifier with software version C1 or later Check the software version using Setup software SETUP2...

Page 144: ...OINT Refer to Part 6 Common Reference Material for the application of functions J3 compatibility mode MR J4 _B_ RJ servo amplifiers have two operation mode J4 mode is for using all functions with full performance and J3 compatibility mode for using the conventional MR J3 _B_ servo amplifiers ...

Page 145: ...Part 3 Review on Replacement of MR J3 _B_ with MR J4 _B_ 3 48 MEMO ...

Page 146: ...Part 4 Replacement of MR J3W _B with MR J4W2 _B 4 1 Part 4 Review on Replacement of MR J3W _B with MR J4W2 _B ...

Page 147: ...Model The following shows the target models MR J3W series and replacement models MR J4W2 _B servo amplifier Servo amplifier model Servo amplifier model MR J3W 22B MR J4W2 22B MR J3W 44B MR J4W2 44B MR J3W 77B MR J4W2 77B MR J3W 1010B MR J4W2 1010B MR J3W 0303BN6 MR J4W2 0303B6 2 Drive J3 series servo motors in the system as shown in the left column 1 Note 2 1 Replace with SSCNETIII H servo system ...

Page 148: ...and excellent extensibility can reduce cycle time 2 For replacement of controller and amplifier only SSCNET III H servo system controller Note1 MR J4W2 _B QnUD E H CPU SSCNET III H servo system controller Q3_DB Note 1 The SSCNETIII H servo system controller indicates QDS Motion Q172DSCPU Q173DSCPU or Q simple Motion QD77MS2 4 16 2 Replacing the system you can drive some J3 series servo motors with...

Page 149: ...ment models for simultaneous replacement example Servo motor Servo amplifier Servo motor Servo amplifier HC LP102 B MR J3W 1010B HG JR153 B Replace with the MR J4 200B 1 Current system 2 Only one axis replaced 3 All axes replaced 4 Controller update SSCNETIII servo system controller SSCNETIII servo system controller SSCNETIII servo system controller SSCNETIII H servo system controller The MR J4W2 ...

Page 150: ...e motor b Replacement of servo motor The J4 series servo motors cannot be driven by MR J3W _B Replace the existing servo amplifiers and servo motors with MR J4W2 _B servo amplifiers J3 compatibility mode and J4 series servo motors simultaneously SSCNETIII servo system controller MR J3W _B MR J4W2 _B J3 compatibility mode J4 series servo motor J3 series servo motor SSCNETIII servo system controller...

Page 151: ...ode Torque control mode J3 compatibility mode SSCNET III Interface 50 Mbps Position control mode Speed control mode 9 The number of DIO points excluding EM1 DI 6 points DO 4 points DI 6 points DO 4 points 10 Encoder pulse output A B phase pulse differential line driver 2 axes A B phase pulse differential line driver 2 axes 11 DIO interface input output sink source input output sink source 12 Analo...

Page 152: ... mode 9 The number of DIO points excluding EM1 DI 6 points DO 4 points DI 6 points DO 4 points 10 Encoder pulse output A B phase pulse differential line driver 2 axes A B phase pulse differential line driver 2 axes 11 DIO interface input output sink source input output sink source 12 Analog monitor output 10 bit or equivalent 2ch 10 bit or equivalent 2ch 13 Parameter setting method Setup software ...

Page 153: ...rvo amplifier CN1A or Cap A axis servo motor Regenerative Note 2 option B axis servo motor P L3 L2 Servo amplifier C L1 D V W U W V U CNP3B CNP3A CNP2 CNP1 L21 L11 SW3 Front side ON 1 2 A axis B axis Note 3 Note 1 A battery unit consists of one MR BTCASE battery case and eight MR BAT batteries Use the battery unit in the absolute position detection system of the position control mode 2 For 1 phase...

Page 154: ...plifier CN1A or Cap CN3 CN5 under the cover CN1B CN2A Note 1 CN2B Battery unit CN1A CN8 I O signal P L1 L2 L3 L21 L11 C Regenerative option MR Configurator2 A axis encoder B axis encoder CN4 R S T A axis servo motor B axis servo motor V Note 1 The battery unit consists of an MR BT6VCASE battery case and five MR BAT6V1 batteries The battery unit is used in the absolute position detection system For...

Page 155: ...stem controller or Front axis servo amplifier CN1B CN5 CN1B CN2A CN2B CNP2A CNP2B CN1A 24 0 PM Relay CN4 Circuit protector Circuit protector PM 0 24 Main circuit power supply 48 V DC Main circuit power supply 24 V DC A axis servo motor B axis servo motor MR J3BAT Setup software SETUP221E 24 V DC power supply 24 V DC power supply 48 V DC power supply ...

Page 156: ...r supply Circuit protector 24 V DC power supply PM 0 24 48 V DC main circuit power supply 24 V DC main circuit power supply A axis servo motor B axis servo motor I O signal Servo system controller or previous servo amplifier CN1B Next servo amplifier CN1A or cap CNP1 Note CNP1 CN4 CNP1 MR BAT6V1SET A Note For details refer to MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 servo amplifier instruction manual ...

Page 157: ...1B CN1B Front side 1 ON SW3 A axis B axis 2 1 SW3 ON A axis B axis 2 Front side Differential line driver Front side 24 V DC 10 m or less 10 m or less A axis encoder A phase pulse Differential line driver A axis encoder B phase pulse Differential line driver B axis encoder A phase pulse Differential line driver B axis encoder B phase pulse DI3 B Plate SD 23 10 CN3 19 AND malfunction LBR B 14 LG 11 ...

Page 158: ...is n axis SW 1 2 SW LG SD 15 14 Setup software SETUP221E Personal computer CN5 USB cable MR J3USBCBL3M option 20 21 DI1 B 22 DI2 B DI3 B MBR A RA1 RA2 RA3 MBR B RA4 10 m or less 2 m or less Output voltage 10 V 5 V Maximum current 1 mA 10 m or less DI3 B 23 10 CN3 AND malfunction 11 CALM 12 25 MBR B 13 3 LA A 16 LAR A 4 LB A 17 LBR A 5 LA B 18 LAR B Servo amplifier Electromagnetic brake interlock f...

Page 159: ... MR Configurator2 A axis encoder B axis encoder R S T A axis servo motor B axis servo motor V 2 List of connector and terminal block correspondence MR J3W _B MR J4W2 _B Precautions No Connector name Connector No No Connector name Connector No Communication connector CN1A CN1B Communication connector CN1A CN1B MR J3W cables can be used as they are encoder connector CN2A CN2B encoder connector CN2A ...

Page 160: ...CN3 18 CN3 19 LBR B CN3 19 CN3 20 DI1 B CN3 20 CN3 21 DI2 B CN3 21 CN3 22 DI3 B CN3 22 CN3 23 DICOM CN3 23 CN3 24 ALM B Note 4 CN3 24 CN3 25 MBR B CN3 25 CN3 26 DOCOM CN3 26 Note 1 In the initial setting EM2 is assigned to the CN3 10 pin Set Pr PA04 to 0 0 _ _ when assigning EM1 2 In the initial setting CALM is assigned to the CN3 11 pin Set Pr PD09 to _ _ 0 3 when assigning ALM A 3 In the initial...

Page 161: ... 2 N m L2 L3 L1 C D P L21 N L11 A PE B W U V W U V A B A CNP3A CNP3B B CNP1 CNP2 1 2 3 1 2 1 2 1 2 3 Screw Size M4 Tightening torque 1 2 N m MR J3W 77B MR J3W 1010B MR J4W2 77B MR J4W2 1010B C CNP2 L1 L2 CNP1 L3 L11 L21 P D CNP3B CNP3A U V W U V W 1 2 3 1 2 3 A B A B 1 2 1 2 A B PE Screw Size M4 Tightening torque 1 2 N m L2 L3 L1 C D P L21 N L11 A PE B W U V W U V A B A CNP3A CNP3B B CNP1 CNP2 1 2...

Page 162: ...CN1A or cap CNP1 MR BAT6V1SET A 2 List of connector and terminal block correspondence MR J3W 0303BN6 MR J4W2 0303B6 Precautions No Connector name Connector No No Connector name Connector No Communication connector CN1A CN1B Communication connector CN1A CN1B MR J3W cables can be used as they are Encoder connector CN2A CN2B Encoder connector CN2A CN2B USB communication connector CN5 USB communicatio...

Page 163: ...CN3 10 EM1 Note 1 CN3 10 CN3 11 ALM A Note 2 CN3 11 CN3 12 MBR A CN3 12 CN3 13 Note 3 CN3 13 CN3 14 LG CN3 14 CN3 15 MO2 CN3 15 CN3 16 LAR A CN3 16 CN3 17 LBR A CN3 17 CN3 18 LAR B CN3 18 CN3 19 LBR B CN3 19 CN3 20 DI1 B CN3 20 CN3 21 DI2 B CN3 21 CN3 22 DI3 B CN3 22 CN3 23 DICOM CN3 23 CN3 24 ALM B Note 4 CN3 24 CN3 25 MBR B CN3 25 CN3 26 DOCOM CN3 26 Note 1 As the initial value EM2 is assigned t...

Page 164: ...Part 4 Replacement of MR J3W _B with MR J4W2 _B 4 19 3 6 Comparison of Peripheral Equipment POINT Refer to Part 8 Replacement of Optional Peripheral Equipment ...

Page 165: ...turer setting Do not enter any setting value other than those specified for each parameter POINT For the parameter converter function refer to Part 6 Common Reference Material For details about parameter settings for replacement Refer to MR J4W2 _B Servo Amplifier Instruction Manual Do not enter any setting value other than those specified for each parameter POINT With MR J4 _B_ the deceleration t...

Page 166: ...sary PB06 Load to motor inertia ratio The unit system is different 0 1 fold 0 01 fold Pay attention to setting value PB07 Model loop gain The unit system is different rad s 0 1 rad s PB08 Position loop gain The unit system is different rad s 0 1 rad s PB13 Machine resonance suppression filter 1 Change the setting value according to the frequency and depth PB14 Notch shape selection 1 PB15 Machine ...

Page 167: ...06 1 PA07 1 PA07 1 PA08 ATU Auto tuning mode Each axis 0001h PA08 ATU Auto tuning mode Each axis 0001h PA09 RSP Auto tuning response Each axis 12 PA09 RSP Auto tuning response Each axis 16 PA10 INP In position range Each axis 100 PA10 INP In position range Each axis 1600 PA11 This parameter is not used Do not change the value 1000 0 PA11 For manufacturer setting 1000 0 PA12 1000 0 PA12 1000 0 PA13...

Page 168: ...ch axis 3141 PB18 LPF Low pass filter setting Each axis 3141 PB19 VRF1 Vibration suppression control vibration frequency setting Each axis 100 0 PB19 VRF11 Vibration suppression control 1 Vibration frequency Each axis 100 0 PB20 VRF2 Vibration suppression control resonance frequency setting Each axis 100 0 PB20 VRF12 Vibration suppression control 1 Resonance frequency Each axis 100 0 PB21 This par...

Page 169: ...output pulse selection Each axis 0000h PC04 COP1 Function selection C 1 Each axis 0000h PC04 COP1 Function selection C 1 Each axis 0000h PC05 COP2 Function selection C 2 Each axis 0000h PC05 COP2 Function selection C 2 Each axis 0000h PC06 COP3 Function selection C 3 Each axis 0000h PC06 COP3 Function selection C 3 Each axis 0000h PC07 ZSP Zero speed Each axis 50 PC07 ZSP Zero speed Each axis 50 P...

Page 170: ...0h PD07 D01 Output signal device selection 1 CN3 12 for A axis and CN3 25 for B axis Each axis 0005h PD07 DO1 Output device selection 1 Each axis 0005h PD08 This parameter is not used Do not change the value 0004h PD08 DO2 Output device selection 2 Common 0004h PD09 D03 Output signal device selection 3 CN3 11 for A axis and CN3 24 for B axis Each axis 0003h PD09 DO3 Output device selection 3 Commo...

Page 171: ... the regenerative option For MR J4W2 0303BN6 servo amplifiers this digit cannot be used other than the initial value _ _ x x Selection of regenerative option 00 Regenerative option is not used built in regenerative resistor is used 0D MR RB14 0E MR RB34 10 MR RB3B 0000h PA02 Regenerative option Select a regenerative option Incorrect setting may cause the regenerative option to burn If a selected r...

Page 172: ...op deceleration 2 1 _ _ Not using EM2 and EM1 MBR Electromagnetic brake interlock turns off after the forced stop deceleration PA08 Auto tuning mode This parameter cannot be used in the torque control mode Make gain adjustment using auto tuning Auto tuning mode Pr PA08 Select the gain adjustment mode 0 0 0 x Gain adjustment mode setting 0 Interpolation mode Automatically set parameter No PB06 PB08...

Page 173: ... 571 5 20 Middle response 59 6 40 High response 642 7 16 PA10 In position range This parameter cannot be used in the speed control mode and the torque control mode Set the range where in position INP A INP B is output in the command pulse unit Servo motor droop pulses In position range pulse Command pulse Command pulse Droop pulses In position INP A INP B ON OFF 100 PA10 In position range Set an i...

Page 174: ...phase pulses are as indicated below A B phase output pulses 8192 pulse 262144 8 1 4 3 A B phase pulse electronic gear setting This parameter is made valid when Pr PC03 is set to _ _ 3_ Set the encoder pulses A B phase output by the servo amplifier Set the encoder pulses output by the servo amplifier by Pr PA15 and Pr PA16 Travel distance pulse of the linear encoder is multiplied by the set value O...

Page 175: ...e following table for settings Setting parameters Pr PL_ _ cannot be used with MR J4W2 0303B6 servo amplifiers Pr PA19 setting value and reading writing range PA19 Setting operation PA PB PC PD PE PF PL Other than below Reading Writing 000Ah Reading Only 19 Writing Only 19 000Bh Reading Writing 000Ch Reading Writing 000Fh Reading Writing 00AAh Reading Writing 00ABh initial value Reading Writing 10...

Page 176: ... forward gain This parameter cannot be used in the speed control mode Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nearly zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 100 set 1s or more as the acceleration time constant up to the rated speed 0 PB04 Feed for...

Page 177: ...ending on the Pr PA08 setting Refer to the following table for details Pr PA08 This parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Automatic setting _ _ _ 1 Auto tuning mode 1 _ _ _ 2 Auto tuning mode 2 _ _ _ 3 Manual mode Manual setting _ _ _ 4 2 gain adjustment mode 2 Automatic setting 37 0 PB09 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity o...

Page 178: ...s set to Automatic setting _ _ _ 1 in Pr PB01 this parameter will be adjusted automatically by adaptive tuning To enable the setting value select the manual setting _ _ _ x For manufacturer setting 0h 0 x _ 0 Notch width 0 α 2 1 α 3 2 α 4 3 α 5 When the Pr PB01 setting is _ _ _ 0 the setting of this parameter is ignored _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x _ _ Notch w...

Page 179: ...or setting the shaft resonance suppression filter Refer to table 4 3 for settings Set the value closest to the frequency you need 00h _ x _ _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h x _ _ _ For manufacturer setting 0h Table 4 3 Shaft resonance suppression filter setting frequency selection Setting value Frequency Hz Setting value Frequency Hz _ _ 0 0 Disabled _ _ 1 0 562 _ _ 0 1 Dis...

Page 180: ...meter is used The setting range of this parameter varies depending on the value in Pr PB07 If a value out of the range is set the vibration suppression control will be disabled 100 0 PB21 This parameter is not used Do not change the value 0 00 PB21 Vibration suppression control 1 Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 1 to suppress lo...

Page 181: ...PI control is valid Switching to PID control is possible with instructions of controller 3 PID control is always valid _ _ x _ PI PID switching control selection 0 PI control enabled Switching to PID control is possible with commands of servo system controller 3 Continuous PID control enabled If the servo motor at a stop is rotated even for a pulse due to any external factor it generates torque to...

Page 182: ...tching condition Set a value of gain switching command frequency droop pulses and servo motor speed linear servo motor speed selected in Pr PB26 The set value unit differs depending on the switching condition item 10 PB28 Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in Pr PB26 and Pr PB27 1 PB28 Gain switching time const...

Page 183: ...id when the Pr PB02 setting is _ _ _ 2 and the Pr PB26 setting is _ _ _ 1 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped 100 0 PB34 Vibration suppression control 1 Resonance frequency after gain switching Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled When you set a value l...

Page 184: ..._ 3 2 31 3 _ _ 5 2 7 8 _ _ 1 3 118 _ _ 3 3 29 6 _ _ 5 3 7 4 _ _ 1 4 112 _ _ 3 4 28 1 _ _ 5 4 7 0 _ _ 1 5 107 _ _ 3 5 26 8 _ _ 5 5 6 7 _ _ 1 6 102 _ _ 3 6 25 6 _ _ 5 6 6 4 _ _ 1 7 97 _ _ 3 7 24 5 _ _ 5 7 6 1 _ _ 1 8 93 _ _ 3 8 23 4 _ _ 5 8 5 9 _ _ 1 9 90 _ _ 3 9 22 5 _ _ 5 9 5 6 _ _ 1 A 86 _ _ 3 A 21 6 _ _ 5 A 5 4 _ _ 1 B 83 _ _ 3 B 20 8 _ _ 5 B 5 2 _ _ 1 C 80 _ _ 3 C 20 1 _ _ 5 C 5 0 _ _ 1 D 77 _ ...

Page 185: ...lecrtonic gear setting Set with the electronic gear Pr PA15 and Pr PA16 _ _ x _ Encoder output pulse setting selection 0 Output pulse setting When _ 1 0 _ is set to this parameter AL 37 Parameter error will occur 1 Division ratio setting 3 A B phase pulse electronic gear setting 0h _ x _ _ Selection of the encoders for encoder output pulse Select an encoder used the encoder output pulses which the...

Page 186: ... is enabled The setting of this digit is used by servo amplifier with software version B4 or later 0h PC06 Function selection C 3 The parameter is not available in the speed control mode and torque control mode Select the error excessive alarm level setting for Pr PC01 x 0 0 0 Error excessive alarm level setting selection 0 1 rev unit 1 0 1 rev unit 2 0 01 rev unit 3 0 001 rev unit 0000h PC06 Func...

Page 187: ...s 10V 10000 pulses 9 Droop pulses 10V 100000 pulses D Bus voltage 8V 400V E Speed command 2 8V max current command In the case of MR J3W 0303BN6 is as follows 0 Servo motor speed 10 V 4 V max speed 1 Torque 10 V 4 V max torque 2 Servo motor speed 10 V 4 V max speed 3 Torque 10 V 4 V max torque 4 Current command 10 V 4 V max current command 5 Speed command 10 V 4 V max speed 6 Droop pulses 10 V 5 V...

Page 188: ...10000 Pr PC13 setting The parameter is available with MR J4W2 0303B6 servo amplifiers 0 PC15 Station number selection Used to select the axis to communicate with SETUP221E 0 A axis 1 B axis 0000h PC15 For manufacturer setting 0 PC17 Function Selection C 4 This parameter cannot be used in the speed control mode and the torque control mode This is used to select a home position setting condition 0 0...

Page 189: ...red at the next power on Once the alarm history is cleared the setting becomes disabled automatically 0h _ _ x _ For manufacturer setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ For manufacturer setting 0h PC24 This parameter is not used Do not change the value 0000h PC24 Forced stop deceleration time constant Set a deceleration time constant when you use the forced stop deceleration functi...

Page 190: ... For manufacturer setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ POL reflection selection at torque control 0 Enabled 1 Disabled 0h PC31 This parameter is not used Do not change the value 0000h PC31 Vertical axis freefall prevention compensation amount Set the compensation amount of the vertical axis freefall prevention function Set it per servo motor rotation amount When a positive value ...

Page 191: ...R A MBR B 06 For manufacturer setting Note 3 07 TLC A TLC B Note 4 08 WNG A WNG B 09 BWNG A BWNG B 0A SA A SA B Note 2 0B VLC A VLC B Note 5 0C ZSP A ZSP B 0D For manufacturer setting Note 3 0E For manufacturer setting Note 3 0F CDPS A CDPS B 10 For manufacturer setting Note 3 11 ABSV A ABSV B Note 1 12 to 1F For manufacturer setting Note 3 20 to 3F For manufacturer setting Note 3 Note 1 Always of...

Page 192: ... axis 0h PD09 Output signal device selection 3 CN3 11 for A axis and CN3 24 for B axis Any input signal can be assigned to the CN3 11 pin for A axis and CN3 24 pin for B axis In the factory setting ALM A ALM B is assigned The devices that can be assigned and the setting method are the same as in Pr PD07 0 0 x x Select the output device of the CN3 11 pin for Aaxis and CN3 24 pin for B axis 0003h PD...

Page 193: ...d by servo amplifiers with software version A5 or later 0 Enabled 1 Disabled For servo motors or linear servo motor without thermistor the setting will be disabled 0h PD14 Function selection D 3 Set the ALM A ALM B output signal at warning occurrence 0 0 x 0 Selection of output device at warning occurrence Select the warning WNG A WNG B and malfunction ALM A ALM B output status at warning occurren...

Page 194: ... Refer to Part 6 Common Reference Material for the application of functions J3 compatibility mode MR J4W2 _B servo amplifiers have two operation mode J4 mode is for using all functions with full performance and J3 compatibility mode for using the conventional MR J3 _B_ servo amplifiers ...

Page 195: ...Part 4 Replacement of MR J3W _B with MR J4W2 _B 4 50 MEMO ...

Page 196: ...Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ 5 1 Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ ...

Page 197: ...ass MR J4 DU30K_ MR J4 DU37K_ 400 V class MR J3 DU30K_4 MR J3 DU37K_4 MR J3 DU45K_4 MR J3 DU55K_4 400 V class MR J4 DU30K_4 MR J4 DU37K_4 MR J4 DU45K_4 MR J4 DU55K_4 Installation A heat sink is attached outside the cabinet A heat sink is attached outside the cabinet 3 Installation Protection coordination connector The termination connector is required MR J3 TM The termination connector is not requ...

Page 198: ...HA LP25K14 MR J3 DU30K_4 HG JR25K14 MR J4 22K_4 HG JR25K14R S_ Note HA LP30K2 4 MR J3 DU30K_ 4 HG JR22K1M 4 MR J4 22K_ 4 HG JR22K1M 4 R S_ Note HA LP37K2 4 MR J3 DU37K_ 4 HG JR30K1M 4 MR J4 DU30K_ 4 HG JR30K1M 4 R S_ Note HA LP45K24 MR J3 DU45K_4 HG JR37K1M4 MR J4 DU37K_4 HG JR37K1M4R S_ Note HA LP55K24 MR J3 DU55K_4 HG JR45K1M4 MR J4 DU45K_4 HG JR45K1M4R S_ Note Note Only flanges and shaft ends h...

Page 199: ...it Servo motor HG JR_ 1000 r min series 1500 r min series MR CR55K MR J4 DU30K_ 30K1 30K1M MR J4 DU37K_ 37K1 37K1M b 400 V class Converter unit Drive unit Servo motor HG JR_ 1000 r min series 1500 r min series MR CR55K4 MR J4 DU30K_4 30K14 30K1M4 MR J4 DU37K_4 37K14 37K1M4 MR J4 DU45K_4 45K1M4 MR J4 DU55K_4 55K1M4 ...

Page 200: ... L2 L3 Regenerative option P C S R L21 L L Magnetic contactor operation coil I O signal Encoder cable MR J3ENSCBL_M L H P1 Power factor improving DC reactor CP2 L21 L11 3 phase AC power supply R S T S R No fuse breaker MCCB Note 1 The L and L connection conductors used to connect a converter unit to a drive unit are standard accessories The converter unit is attached to the drive unit actually Ref...

Page 201: ...tection coordination cable Regenerative option Power factor improving DC reactor Note 1 The bus bars on L and L for connecting the resistance regeneration converter unit to the drive unit are standard accessories In the actual connection the resistance regeneration converter unit is closely mounted to the drive unit 2 For the power supply specifications refer to Part 6 Common Reference Material 3 ...

Page 202: ...es of a control cabinet or other equipment Otherwise it may cause a malfunction 1 MR J3 DU_ a Installation POINT Make sure to connect a drive unit to the right side of a converter unit as shown in the diagram 80 mm or more Side view Drive unit Converter unit Front view 100 mm or more 30 mm or more 30 mm or more 120 mm or more Cooling fan wind direction Air intake b Mounting dimensional diagram 9 5...

Page 203: ...mm or more 120 mm or more Top Bottom Side Front b Mounting hole process drawing 9 5 380 300 360 0 5 10 20 260 0 5 10 281 342 19 19 9 5 20 W1 W3 W2 W4 W5 W3 W5 360 0 5 10 10 342 19 19 converter unit Punched hole Drive unit Punched hole 4 M6 screw 4 A screw Converter unit Drive unit Variable dimensions mm Screw size W1 W2 W3 W4 W5 A MR J4 DU30K_ 300 260 0 5 20 281 9 5 M6 MR J4 DU37K_ MR J4 DU45K_4 M...

Page 204: ... magnetic contactor connect the magnetic contactor control connector CNP1 to the coil of the magnetic contactor Internal connection diagram of CNP1 MCCB Converter unit L11 L21 Power supply 1 MC1 2 MC2 CNP1 RA1 RA2 Converter unit malfunction Operation ready OFF ON Drive unit malfunction Emergency stop switch L1 L2 L3 Note 1 MC SK Note 2 3 MC Note 1 A step down transformer is required when coil volt...

Page 205: ...n the converter unit are opened and the main circuit power supply is automatically shut off a An alarm has occurred in the converter unit b An alarm has occurred in the drive unit c The EM1 forced stop of the converter unit was turned off d AL 95 STO warning has occurred in the drive unit J4 series 2 When magnetic contactor drive output is disabled The main circuit power supply is not automaticall...

Page 206: ...on converter unit malfunctions and causes the AC reactor to overheat Connect the wires to the correct phase terminals U V W of the servo amplifier and servo motor Not doing so may cause unexpected operation Do not connect the servo motor directly to the 3 phase 200 V power supply or the 3 phase 400 V power supply Otherwise a malfunction may be caused During power on do not open or close the motor ...

Page 207: ...oncurrently turn off the Emergency stop EMG of the drive unit and the Forced stop EM1 of the converter unit and shut off the main circuit power supply by the external sequence 3 For specifications of the cooling fan power supply refer to Servo Motor Instruction Manual Vol 3 4 For specifications of cooling fan power supply refer to MR J3 _A_ Servo amplifier instruction manual 4 Use a magnetic conta...

Page 208: ...currently turn off the Emergency stop EMG of the drive unit and the Forced stop EM1 of the converter unit and shut off the main circuit power supply by the external sequence 3 For specifications of the cooling fan power supply refer to Servo Motor Instruction Manual Vol 3 4 For specifications of cooling fan power supply refer to MR J3 _A_ Servo amplifier instruction manual 4 Use a magnetic contact...

Page 209: ...of the converter unit and shut off the main circuit power supply by the external sequence 3 A step down transformer is required when the coil voltage of the magnetic contactor is 200 V class 4 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class 4 For specifications of the cooling fan power supply refer to Servo Motor Instruction Manual Vol 3 5 For specifica...

Page 210: ... of the converter unit and shut off the main circuit power supply by the external sequence 3 A step down transformer is required when the coil voltage of the magnetic contactor is 200 V class 4 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class 4 For specifications of the cooling fan power supply refer to Servo Motor Instruction Manual Vol 3 5 For specific...

Page 211: ... invalid set 0000 in Pr PA02 Refer to Part 5 Always connect a protection coordination cable MR J3CDL05M For MR J3 DU_ always connect a terminal connector MR J3 TM as well When they are not connected properly the servo on may not be turned on Always turn on or off the control circuit power supplies of the converter unit and the drive unit simultaneously ...

Page 212: ...y by the external sequence 3 Always connect the magnetic contactor wiring connector to CNP1 of the resistance regeneration converter unit If the connector is not connected 4 Keep the wiring connector for the magnetic contactor connected to CNP1 Aan electric shock may occur of the converter unit Unconnected status may cause an electric shock 4 For specifications of the cooling fan power supply refe...

Page 213: ...me time 3 Always connect the magnetic contactor wiring connector to CNP1 of the converter unit If the connector is not connected an electric shock may occur 4 Keep the wiring connector for the magnetic contactor connected to CNP1 of the converter unit Unconnected status may cause an electric shock 5 For specifications of the cooling fan power supply refer to Servo Motor Instruction Manual Vol 3 4 ...

Page 214: ...he magnetic contactor is 200 V class 4 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class 4 Always connect the magnetic contactor wiring connector to CNP1 of the converter unit If the connector is not connected an electric shock may occur 5 Keep the wiring connector for the magnetic contactor connected to CNP1 of the converter unit Unconnected status may c...

Page 215: ...transformer is required for coil voltage of magnetic contactor more than 200 V class 4 Always connect the magnetic contactor wiring connector to CNP1 of the converter unit If the connector is not connected an electric shock may occur 5 Keep the wiring connector for the magnetic contactor connected to CNP1 of the converter unit Unconnected status may cause an electric shock 6 For specifications of ...

Page 216: ...ncurrently with the main circuit power supply or before switching on the main circuit power supply However by switching on the main circuit power supply the warning disappears and the drive unit will operate properly ON OFF Main circuit power supply ON OFF Servo on SON 95ms ON OFF Base circuit 3s Note 4 Tb ON OFF Converter unit control power supply ON OFF Drive unit control power supply Note 1 Ele...

Page 217: ...urning 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 drive unit will operate properly b Timing chart ON OFF Main circuit power supply ON OFF SON servo on 95 ms ON OFF Base circuit 3 s Note 4 Tb ON OFF ON OFF MBR Electromagnetic brake interlo...

Page 218: ... ready on The main circuit power is not shut off with servo off ON OFF ON OFF 95 ms ON OFF 3 s Tb Note 4 ON OFF Converter unit Control circuit power supply Main circuit power supply Base circuit ON OFF Note 1 ON OFF 0 r min 0 r min ON OFF Position command Note 3 Note 2 Servo motor speed Drive unit Control circuit power supply Electromagnetic brake interlock MBR Servo on command from servo system c...

Page 219: ... unit Control circuit power supply Main circuit power supply Base circuit Electromagnetic brake interlock MBR Note 1 ON Servo on command from servo system controller Ready on command from controller Position command Note 3 Note 2 Note 1 When setting up an electromagnetic brake at customer s side make up a sequence which will operate the electromagnetic brake as follow using the electromagnetic bra...

Page 220: ...em controller Ready on command from controller Position command Note 3 Note 1 When setting up an electromagnetic brake at customer s side make up a sequence which will operate the electromagnetic brake as follow using the electromagnetic brake interlock MBR ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Give a position command after the external electromagnetic ...

Page 221: ...rive output is enabled and the status remains at ready on The main circuit power is not shut off with servo off ON OFF Main circuit power supply ON OFF Servo on command from servo system controller 95 ms ON OFF Base circuit 3 s Note 4 Tb ON OFF ON OFF Note 1 ON OFF MBR Electromagnetic brake interlock 0 r min Servo motor speed 0 r min Position command Note 3 Note 2 Resistance regeneration converter...

Page 222: ... circuit 3 s ON OFF ON OFF Note 1 ON OFF MBR Electromagnetic brake interlock 0 r min Servo motor speed 0 r min Position command Note 3 Note 2 Drive unit Control circuit power supply Resistance regeneration converter unit Control circuit power supply Note 1 When setting up an electromagnetic brake at customer s side make up a sequence which will operate the electromagnetic brake as follow using MBR...

Page 223: ...mmand Note 3 Note 2 Resistance regeneration converter unit Control circuit power supply Note 1 When setting up an electromagnetic brake at customer s side make up a sequence which will operate the electromagnetic brake as follow using MBR ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Give a position command after the external electromagnetic brake is released 3...

Page 224: ...1 DICOM CN1 2 ALM CN1 2 ALM CN1 3 CN1 3 CN1 4 CN1 4 CN1 5 DOCOM CN1 5 DOCOM CN1 6 DICOM CN1 6 DICOM CN1 7 EM1 CN1 7 EM1 CN1 8 WNG CN1 8 WNG CN1 9 DOCOM CN1 9 DOCOM CNP1 CNP1 1 MC1 2 MC2 1 MC1 2 MC2 Connector pin No Signal abbreviation Connector pin No Signal abbreviation CNP1 1 MC1 CNP1 1 MC1 CNP1 2 MC2 CNP1 2 MC2 b List of corresponding connectors and terminal blocks MR J3 CR55K MR J3 CR55K4 MR C...

Page 225: ...on connector CN3 Battery connector CN4 Battery connector CN4 Use the dedicated battery of each series USB communication connector CN5 USB communication connector CN5 Analog monitor connector CN6 Analog monitor connector CN6 STO input signal connector CN8 When not using the STO function attach the short circuit connector supplied with the drive unit to CN8 STO I O signal connector Converter unit co...

Page 226: ...M 33 34 36 35 37 38 11 12 44 45 46 40 41 39 42 43 50 18 16 19 17 15 20 21 25 23 24 22 LB TL INP INP LZR PC RES DICOM ZSP TLC LG LG OP NP CR LSP LOP RD LG NG LSN DOCOM PP2 NP2 CN1 2 CN1 2 CN1 3 LG CN1 3 CN1 4 LA CN1 4 CN1 5 LAR CN1 5 CN1 6 LB CN1 6 CN1 7 LBR CN1 7 CN1 8 LZ CN1 8 CN1 9 LZR CN1 9 CN1 10 PP CN1 10 CN1 11 PG CN1 11 CN1 12 OPC CN1 12 CN1 13 CN1 13 CN1 14 CN1 14 CN1 15 SON CN1 15 CN1 16 ...

Page 227: ... CN2 8 MDR CN2 8 MXR CN2 9 BAT CN2 9 CN2 10 CN2 10 3 CN3 MR J3 DU_A_ Signal abbreviation MR J4 DU_A_ Connector pin assignment Connector pin No Connector pin No Connector pin assignment 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG CN3 1 LG CN3 1 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG CN3 2 P5D CN3 2 CN3 3 RDP CN3 3 CN3 4 SDN CN3 4 CN3 5 SDP CN3 5 CN3 6 RDN CN3 6 CN3 7 LG CN3 7 CN3 8 TRE CN3 8 4 CN6...

Page 228: ...14 15 16 17 18 19 20 PRD ACD2 PAL PSD LG PAL PMC GOF PMC ACD3 ACD1 LG LG ACD2 ACD3 ACD1 GOF PSD LG PRD CN40A 1 ACD2 CN40A 1 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 PRD ACD2 PAL PSD LG PAL PMC GOF PMC ACD3 ACD1 LG LG ACD2 ACD3 ACD1 GOF PSD LG PRD CN40A 2 ACD3 CN40A 2 CN40A 3 PAL CN40A 3 CN40A 4 ACD1 CN40A 4 CN40A 5 LG CN40A 5 CN40A 6 GOF CN40A 6 CN40A 7 PMC CN40A 7 CN40A 8 PSD CN40A 8 CN...

Page 229: ...ected to an HG JR motor the encoder cable needs to be changed Battery connector CN4 Battery connector CN4 Use the dedicated battery of each series USB communication connector CN5 USB communication connector CN5 STO input signal connector CN8 When not using the STO function attach the short circuit connector supplied with the drive unit to CN8 STO I O signal connector Converter unit connectors CN40...

Page 230: ...or pin assignment Connector pin No Connector pin No Connector pin assignment 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM LZ DI2 MO2 EM1 LG MBR LBR LA LB LZR LAR ALM DI3 INP CN3 1 LG CN3 1 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM LZ DI2 MO2 EM2 LG MBR LBR LA LB LZR LAR ALM DI3 INP CN3 2 DI1 CN3 2 CN3 3 DOCOM CN3 3 CN3 4 MO1 ...

Page 231: ...14 15 16 17 18 19 20 PRD ACD2 PAL PSD LG PAL PMC GOF PMC ACD3 ACD1 LG LG ACD2 ACD3 ACD1 GOF PSD LG PRD CN40A 1 ACD2 CN40A 1 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 PRD ACD2 PAL PSD LG PAL PMC GOF PMC ACD3 ACD1 LG LG ACD2 ACD3 ACD1 GOF PSD LG PRD CN40A 2 ACD3 CN40A 2 CN40A 3 PAL CN40A 3 CN40A 4 ACD1 CN40A 4 CN40A 5 LG CN40A 5 CN40A 6 GOF CN40A 6 CN40A 7 PMC CN40A 7 CN40A 8 PSD CN40A 8 CN...

Page 232: ...parameter comparison list MR J3 CR55K MR J3 CR55K4 MR CR55K MR CR55K4 No Abbrev iation Parameter name Initial value Customer setting value No Abbrev iation Parameter name Initial value Customer setting value PA01 REG Regenerative option 0000h PA01 REG Regenerative option 0000h PA02 MCC Magnetic contactor drive output selection 0001h PA02 MCC Magnetic contactor drive output selection 0001h PA03 For...

Page 233: ...turer setting 0h x _ _ _ For manufacturer setting 0h PA02 Magnetic contactor drive output selection Used to select the output of the magnetic contactor drive power supply 0 0 0 x Used to select the output of the magnetic contactor drive power supply 0 Disabled 1 Enabled 0001h PA02 Magnetic contactor drive output selection Select the magnetic contactor drive output _ _ _ x 0 Disabled 1 Enabled 1h _...

Page 234: ... setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ For manufacturer setting 0h PA12 Input filter setting Select the input filter 0 0 0 x Input signal filter If external input signal causes chattering due to noise etc input filter is used to suppress it 0 None 1 1 777 ms 2 3 555 ms 3 5 333 ms 0002h PA12 Input filter setting Select the input filter _ _ _ x If external input signal causes chatte...

Page 235: ...d Selecting 1 enables to avoid triggering AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation In Pr PA18 SEMI F47 function Instantaneous power failure detection time set the time until the occurrence of AL 10 Undervoltage 0h _ x _ _ For manufacturer setting 0h x _ _ _ For manufacturer setting 0h PA18 For manufa...

Page 236: ...tion Initial value PA02 Regenerative option Set this parameter when using the regenerative option brake unit power regenerative converter or power regenerative common converter 0 0 x x Selection of regenerative option 00 Regenerative option is not used or when you use a regenerative option set the regenerative option with the converter unit When using the drive unit with the resistance regeneratio...

Page 237: ...it with the resistance regeneration converter unit set this value regardless of whether or not the regenerative option and brake unit are used 0000h PA02 Regenerative option Select a regenerative option For the drive unit select the regenerative option with the converter unit Selecting other than _ _ 0 0 or _ _ 0 1 will trigger AL 37 Parameter error _ _ x x Regenerative option selection 00 Regener...

Page 238: ...que of the machine should be kept at 70 or lower of the motor s rated torque The MR J3 DU_ and MR J4 DU_ servo amplifiers have servo motor overload protective function 1 For the MR J3 DU_ 10000 1000 100 10 1 0 100 200 250 Operating Note 2 Operation time s Load ratio Converter unit 10000 1000 10 100 1 0 100 200 250 Servo lock Operating Note 2 Operation time s Load ratio Note 1 Drive unit Note 1 If ...

Page 239: ... overload protection characteristics Rotary servo motor Graph HG SR HG JR 702 7024 503 703 701M 5034 7034 Characteristics A 11K1M 903 9034 12K14 11K1M4 15K1M4 37K14 12K1 37K1 15K1M 801 15K1 20K1 25K1 30K1 22K1M 30K1M 37K1M 8014 15K14 20K14 25K14 30K14 22K1M4 30K1M4 37K1M4 45K1M4 Characteristics B 601 6014 701M4 Characteristics A 55K1M4 Characteristics B ...

Page 240: ...less of the electronic thermal protection 2 Load ratio 100 indicates the rated output of the drive unit Refer to MR CV_ MR CR55K_ MR J4 DU_ RJ instruction manual 3 The operation time at the load ratio of 300 to 400 applies when the maximum torque is increased to 400 of rated torque For the combination of a servo amplifier and servo motor with which the maximum torque can be increased refer to Part...

Page 241: ...table considering the worst operating conditions The generated heat in table 5 1 and 5 2 does not include heat produced during regeneration a MR J3 DU_ Table 5 1 Power supply capacity and generated heat per servo amplifier at rated output Converter unit Drive unit Servo motor Power supply capacity kVA Drive unit generated heart W Note Area required for heat dissipation m2 Power factor improving DC...

Page 242: ...wer factor improving DC reactor is used At rated output At rated output Generated heat in the cabinet when cooled outside the cabinet With servo off MR CR55K MR J4 DU30K_ HG JR30K1 HG JR30K1M 48 40 1350 900 450 470 27 0 MR J4 DU37K_ HG JR37K1 HG JR37K1M 59 49 1550 1000 550 550 31 0 MR J4 DU30K_4 HG JR30K14 HG JR30K1M4 48 40 1070 790 280 390 60 30 30 21 4 MR CR55K4 MR J4 DU37K_4 HG JR37K14 HG JR37K...

Page 243: ...nrush currents A0 P Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J3 CR55K MR J3 DU30K_ 163 A Attenuated to approx 20 A in 180 ms 18 A Attenuated to approx 0 A in 100 ms MR J3 DU37K_ MR J3 DU30K_4 339 A Attenuated to approx 20 A in 70 ms 19 A Attenuated to approx 0 A in 60 ms MR J3 CR55K4 MR J3 DU37K_4 MR J3 DU45K_4 MR J3 DU55K_4 2 MR J4 series The following table indi...

Page 244: ...0 m 30 m 40 m 50 m When connected to an HG JR motor the encoder cable needs to be changed Encoder Connector sets MR J3SCNS MR ENECNS When connected to an HG JR motor the encoder cable needs to be changed Connector sets MR J3CN1 Compatible SSCNETⅢcable MR J3BUS_M Cable length 0 15 to 3 m Compatible MR J3BUS_M A Cable length 5 to 20 m MR J3BUS_M B Cable length 30 to 50 m USB cable MR J3USBCBL3M Conn...

Page 245: ...sed with the MR CV_ power regeneration converter unit 1 Applications of the protection coordination cable The cable is used to connect a converter unit to a drive unit 2 Internal wiring diagram MR J3CDL05M 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 Plate 1 11 2 12 3 13 4 14 5 15 6 16 Plate 7 17 8 18 9 19 10 20 ACD2 ACD2 ACD3 ACD3 PAL PAL ACD1 ACD1 LG LG GOF GOF PMC PMC PSD PSD LG LG PRD PR...

Page 246: ...ruction manual and MR CV_ MR CR55K_ MR J4 DU_ RJ instruction manual To comply with other standards use a wire that is complied with each standard Selection conditions of wire size are as follows Construction condition Single wire set in midair Wire length 30 m or less J3 series 50 m or less J4 series 7 2 1 MR J3 series power supply wire size For the power supply wire use a 600 V grade heat resista...

Page 247: ...2 To connect these models to a terminal block be sure to use the screws that come with the terminal block 3 Wires are selected based on the highest rated current among combining servo motors 2 Selection example of crimp terminals The following shows the selection example of crimp terminals for terminal blocks of the drive unit and converter unit when you use wires mentioned in 1 in this section Sy...

Page 248: ...hows the wire size selection example Wire size selection example HIV wire Recommended wire Converter unit Note 2 Drive unit Note 2 Wire mm2 Note 1 3 1 L1 L2 L3 2 L11 L21 3 P2 C 4 U V W P1 P2 MR CR55K MR J4 DU30K_ 38 AWG2 c 1 25 to 2 AWG 16 14 g Note 4 5 5 AWG10 a 60 AWG2 0 d MR J4 DU37K_ 60 AWG2 0 d 60 AWG2 0 d MR CR55K4 MR J4 DU30K_4 22 AWG4 e 22 AWG4 e MR J4 DU37K_4 22 AWG4 e 38 AWG 2 f MR J4 DU...

Page 249: ...le tool Manufacturer Body Head Dice a FVD5 5 10 YNT 1210S JST J S T Mfg Co Ltd b FVD22 10 YF 1 E 4 YNE 38 DH 123 DH 113 c Note 1 R38 10 YPT 60 21 TD 124 TD 112 YF 1 E 4 YET 60 1 d Note 1 R60 10 YPT 60 21 TD 125 TD 113 YF 1 E 4 YET 60 1 e FVD22 8 YF 1 E 4 YNE 38 DH 123 DH 113 f Note 1 R38 8 YPT 60 21 TD 124 TD 112 YF 1 E 4 YET 60 1 g FVD2 4 YNT 1614 Note 1 Coat the crimping part with an insulation ...

Page 250: ... 150 A 300 S N125 MR J3 DU45K_4 225 A frame 175 A 225 A frame 175 A 400 S N150 MR J3 DU55K_4 400 A frame 225 A 225 A frame 225 A 450 S N180 Note Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less 7 3 2 MR J4 DU_ Molded case circuit breakers fuses magnetic contactors recommended 1 For main circuit power...

Page 251: ... V Current A Voltage AC V MR CR55K 30 A frame 5 A 240 1 300 1 250 MR CR55K4 30 A frame 5 A 480 1 600 1 600 Note When having the converter unit comply with the IEC EN UL CSA standard refer to MR CV_ MR CR55K_ MR J4 DU_ RJ instruction manual b Drive unit Drive unit Molded case circuit breaker Note Fuse Class T Fuse Class K5 Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC...

Page 252: ...t and the resistor unit under abnormal condition Use the brake unit with a combination indicated in section 7 4 1 Brake unit and regenerative options Regenerative resistor cannot be used simultaneously When using the brake unit set the parameters as follows Parameter Setting value Pr PA01 of the resistance regeneration converter unit _ _ 0 0 Initial value MR J3 DU_ drive unit of the Pr PA02 _ _ 0 ...

Page 253: ... CLr Parameter clear ECL Alarm history clear C1 For manufacturer setting 7 4 3 Connection example POINT Connecting PR terminal of the brake unit to L terminal of the resistance regeneration converter unit results in a brake unit malfunction Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit 1 Combination with FR BR H resistor unit POINT To use brake units with...

Page 254: ... L11 L21 P1 P2 Note 3 L L Note 9 24 V DC 24 V DC B B C Note 2 MC RA2 N P BUE SD PR A SD MSG Note 4 Note 7 FR BU2 H FR BR H P PR TH2 TH1 Note 6 Terminal block Note 12 Note 11 Note 10 N P BUE SD PR C A SD MSG Note 4 Note 7 FR BU2 H TH2 TH1 Note 6 FR BR H P PR Note 11 Note 10 Note 8 MCCB RA1 Note 13 Main circuit power supply RA1 Drive unit malfunction Operation ready OFF ON MC SK TE2 2 TE2 1 1 MC1 2 ...

Page 255: ...1b contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 7 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 8 Install an overcurrent protection device molded case circuit breaker or fuse to protect the branch circuit Refer to...

Page 256: ...1 P2 Note 3 L L Note 9 24 V DC 24 V DC B B C Note 2 MC RA2 N P BUE SD PR A SD MSG Note 4 Note 7 FR BU2 H FR BR H P PR TH2 TH1 Note 6 Terminal block Note 12 Note 11 Note 10 N P BUE SD PR C A SD MSG Note 4 Note 7 FR BU2 H TH2 TH1 Note 6 FR BR H P PR Note 11 Note 10 MCCB RA1 Note 13 Main circuit power supply Note 14 TE2 2 TE2 1 Note 8 Note 5 Note 8 Converter unit Converter unit malfunction RA2 Emerge...

Page 257: ...220 V AC 3 A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 7 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 8 Install an overcurrent protection device molded case circuit breaker or fuse to protect the branch circuit Refer to section 7 3 9 Do not co...

Page 258: ...2 Emergency stop switch Drive unit L1 L2 L3 L11 L21 Note 1 Power supply L L L L 1 MC1 2 MC2 CNP1 EM2 3 20 SD Plate DICOM 10 DOCOM 5 DICOM ALM 15 CN3 CN1 1 DICOM 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM L11 L21 P1 P2 Note 3 L L Note 9 24 V DC 24 V DC N P BUE SD PR B C A SD MSG Note 4 Note 7 FR BU2 H MT BR5 H P PR Note 6 Note 10 RA3 TH2 TH1 SK Note 2 MC RA2 MCCB RA1 Note 11 Main circuit power supply Note...

Page 259: ...onnection destination results in the converter unit and brake unit malfunction 5 For 400 V class a step down transformer is required 6 Contact rating 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 7 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is ...

Page 260: ...ALM 15 CN3 CN1 1 DICOM 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM L11 L21 P1 P2 Note 3 L L Note 9 24 V DC 24 V DC N P BUE SD PR B C A SD MSG Note 4 Note 7 FR BU2 H MT BR5 H P PR Note 6 Note 10 RA3 TH2 TH1 SK Note 2 MC RA2 MCCB RA1 Note 11 Main circuit power supply Note 5 TE2 2 TE2 1 Note 12 SK OFF MC ON MC RA1 Drive unit malfunction RA3 Operation ready Note 8 Note 8 Converter unit Converter unit malfunct...

Page 261: ...onnection destination results in the converter unit and brake unit malfunction 5 For 400 V class a step down transformer is required 6 Contact rating 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 7 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is ...

Page 262: ...on use two sets of FR BU2 H brake unit Combination with other brake unit results in alarm occurrence or malfunction Always connect the terminals for master slave MSG to MSG SD to SD between the two brake units Do not connect as follows N P Brake unit Brake unit Converter unit L L N P Connecting two cables to L and L terminals N P Brake unit Brake unit Converter unit L L N P Passing wiring ...

Page 263: ...Note 11 Note 12 Terminal block Note 7 N P BUE SD PR B C A SD MSG Note 4 FR BU2 H TH2 TH1 Note 6 MT BR5 H P PR Note 11 Note 10 RA4 SK SK Drive unit L1 L2 L3 L11 L21 Note 1 Power supply L L L L 1 MC1 2 MC2 CNP1 EM2 3 20 SD Plate DICOM 10 DOCOM 5 DICOM ALM 15 CN3 CN1 1 DICOM 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM L11 L21 P1 P2 Note 3 L L Note 9 24 V DC 24 V DC Note 2 MC RA2 MCCB RA1 Note 13 Main circuit...

Page 264: ...ting 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 7 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 8 Install an overcurrent protection device molded case circuit breaker or fuse to protect the branch circuit Ref...

Page 265: ... block Note 7 N P BUE SD PR B C A SD MSG Note 4 FR BU2 H TH2 TH1 Note 6 MT BR5 H P PR Note 11 Note 10 RA4 SK SK Drive unit L1 L2 L3 L11 L21 Note 1 Power supply L L L L 1 MC1 2 MC2 CNP1 EM2 3 20 SD Plate DICOM 10 DOCOM 5 DICOM ALM 15 CN3 CN1 1 DICOM 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM L11 L21 P1 P2 Note 3 L L Note 9 24 V DC 24 V DC Note 2 MC RA2 MCCB RA1 Note 13 Main circuit power supply SK OFF MC ...

Page 266: ...ting 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 7 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 8 Install an overcurrent protection device molded case circuit breaker or fuse to protect the branch circuit Ref...

Page 267: ...V wire 600 V Grade heat resistant polyvinyl chloride insulated wire is recommended 1 Main circuit terminal N P PR Terminal block Brake unit Main circuit terminal screw size Crimp terminal Tightening torque N m Wire size N P PR N P PR HIV wire mm2 AWG 200 V class FR BU2 55K M6 14 6 4 4 14 6 400 V class FR BU2 H55K M5 5 5 5 2 5 5 5 10 FR BU2 H75K M6 14 6 4 4 14 6 2 Control circuit terminal POINT Und...

Page 268: ... Crimp terminal Manufacturer Applicable tool Note 1 200 V class MR CR55K FR BU2 55K 2 38 S6 JST J S T Mfg Co Ltd Note 2 R38 6S NICHIFU NICHIFU CO LTD Note 2 a 400 V class MR CR55K4 FR BU2 H55K 2 FVD14 6 JST J S T Mfg Co Ltd b FR BU2 H75K 2 38 S6 JST J S T Mfg Co Ltd Note 2 R38 6S NICHIFU NICHIFU CO LTD Note 2 a Note 1 Symbols in the applicable tool field indicate applicable tools in 5 b in this se...

Page 269: ... 3 Approx H2 Approx 40 33 Approx H2 D1 H 5 2 φC Control circuit terminal Main circuit terminal W1 1 Approx 35 Approx 35 204 Eyebolt C C W 5 D 5 Note Note Two eyebolts are attached Refer to the following diagram Note Ventilation ports are provided on both sides and the top The bottom is open Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass kg 200 V class FR BR 55K 480 410 700 620 40 670 450 3 ...

Page 270: ...R J4 DU_ 5 75 3 MT BR5 H resistor unit Unit mm 4φ15 mounting hole 300 75 75 450 7 5 7 5 M6 M4 193 189 480 510 85 85 800 37 60 21 10 40 30 NP Resistor unit Resistance Approximate mass kg 200 V class MT BR5 55K 2 0 Ω 50 400 V class MT BR5 H75K 6 5 Ω 70 ...

Page 271: ...MR J3 DU37K_4 MR J3 DU45K_4 MR J3 DU55K_4 Note 1 The composite resistor value of three options is 1 3 Ω The resistor value of one option is 4 Ω 2 The composite resistor value of three options is 5 Ω The resistor value of one option is 15 Ω 2 MR J4 series The regenerative power values in the table are the regenerative power of the resistor and are not the rated power The combinations of the regener...

Page 272: ...for a short duration Do not use it very frequently The specifications of the input power supply for external dynamic brake are the same as those of the converter unit control circuit power supply When an alarm AL E6 Servo forced stop warning or AL E7 Controller forced stop warning occurs or the power is turned off the external dynamic brake will operate Do not use external dynamic brake to stop in...

Page 273: ...Pr PD23 to Pr PD26 Pr PD28 and Pr PD47 For MR J4 DU_B_ drive unit assign DB to any of CN3 9 CN3 13 and CN3 15 pins in Pr PD07 to Pr PD09 Converter unit Drive unit External dynamic brake MR CR 55K MR J4 DU30K_ DBU 37K R1 MR J4 DU37K_ MR CR55K4 MR J4 DU30K_4 DBU 55K 4 R5 MR J4 DU37K_4 MR J4 DU45K_4 MR J4 DU55K_4 7 7 Dimensions 7 7 1 MR J3 series 1 MR J3 CR55K_ Unit mm 7 338 328 300 Approx 200 180 38...

Page 274: ...260 Approx 200 300 10 180 Approx 10 360 7 380 TE3 TE1 338 328 Approx 200 128 Approx 20 Approx 80 2 7 Installation hole Cooling fan wind direction 3 MR J3 DU30K_4 MR J3 DU37K_4 Unit mm 240 Approx 200 Approx 200 328 128 180 338 120 60 10 360 Approx 10 6 TE2 TE3 TE1 380 For mounting MR J3BAT Approx 60 Approx 80 2 6 Installation hole Cooling fan wind direction ...

Page 275: ...0 260 20 380 10 360 10 7 100 180 195 155 200 175 5 178 5 2 3 2 φ7 mounting hole Cooling fan exhaust Intake 2 MR J4 DU30K_ MR J4 DU37K_ MR J4 DU45K_4 MR J4 DU55K_4 Unit mm 100 180 155 300 380 360 10 20 260 200 175 5 178 5 195 Approx 80 7 20 10 2 φ7 mounting hole With MR BAT6V1SET 10 Cooling fan exhaust Intake ...

Page 276: ...eplacement of MR J3 DU_ with MR J4 DU_ 5 81 3 MR J4 DU30K_4 MR J4 DU37K_4 Unit mm 180 100 360 10 60 120 155 380 240 175 5 178 5 200 195 60 10 6 10 2 φ6 mounting hole Cooling fan exhaust Approx 80 With MR BAT6V1SET Intake ...

Page 277: ...Part 5 Review on Replacement of MR J3 DU_ with MR J4 DU_ 5 82 MEMO ...

Page 278: ...Part 6 Common Reference Material 6 1 Part 6 Common Reference Material ...

Page 279: ...d External supply required 7 Auto tuning Real time auto tuning 32 steps Advanced gain search Real time auto tuning 40 steps One touch tuning 8 Control mode General Purpose Interface Position control mode pulse command Speed control mode analog command Torque control mode analog command SSCNET III Interface 50 Mbps Position control mode Speed control mode General Purpose Interface Position control ...

Page 280: ...HG JR 300 HA LP 250 HG JR 300 19 Button General Purpose Interface 4 buttons 4 buttons 20 LED display General Purpose Interface 7 segment 5 digit SSCNET III Interface 7 segment 3 digit General Purpose Interface 7 segment 5 digit SSCNET III H Interface 7 segment 3 digit 21 Advanced vibration suppression control Provided Provided Advanced vibration suppression control II 22 Adaptive filter II Provide...

Page 281: ...ing torque 1 2 N m 10 6 lb in L1 L2 L3 N P1 P P2 C D L11 U L21 V W CNP3 CNP2 CNP1 MR J4 70_ MR J4 100_ L2 P3 L11 L21 P4 L3 L1 C D P PE CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m N MR J3 200_N 200_ RT U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in PE terminal MR J4 200_ L2 P...

Page 282: ...rew size M4 Tightening torque 1 2 N m TE1 TE2 TE3 PE MR J4 700_ TE1 TE2 PE TE3 PE N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m MR J3 11K_ LR MR J3 15K_ LR W V N L1 L2 P L3 C U P1 L11 TE L21 L1 L2 L3 U V W P1 P C N L11 L21 MR J3 11K_ 4 S...

Page 283: ...4 L3 L1 C D P PE CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m MR J3 350_4 W V TE2 N L11 L21 TE3 L1 L2 L3 P TE1 PE terminal C U Screw size M4 Tightening torque 1 2 N m 10 6 lb in P1 P2 Built in regenerative resistor lead terminal fixing screw Screw size M3 5 Note Tightening torque 0 8 N m 7 08 lb in Screw size M4 Tightening torque 1 2 N m 10 6 lb in Screw size M4 Tightening torque 1...

Page 284: ...Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 MR J3 22K_4 W V N L1 L2 P L3 C U P1 L11 TE L21 L1 L2 L3 U V W P1 P C N L11 L21 MR J3 11K_ 4 Screw size M6 M4 MR J3 15K_ 4 Tightening torque lb in N m 3 0 1 2 MR J3 22K_ 4 Screw size M8 M4 Tig...

Page 285: ... L2 N P1 P2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m MR J4 10_1 to MR J4 40_1 L11 L21 L2 L1 C D P PE CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m N Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier manufactured in April 2007 or later Screw size is M3 for the control terminal block TE2 of the servo amplifier manufactured in Mar...

Page 286: ... pin assignment CN2 4 MRR 2 LG 8 6 1 P5 5 10 3 MR2 7 9 MDR MD BAT CN2 2 LG CN2 2 CN2 Note 2 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT MXR MX THM2 THM1 CN2 7 MD MX CN2 7 CN2 3 MR CN2 3 CN2 9 BAT CN2 9 CN2 8 MDR MXR CN2 8 CN2 4 MRR CN2 4 CN2 1 P5 CN2 1 Note 1 Signal abbreviations in parentheses are for MR J4 series 2 THM1 and THM2 depend on the motor used Refer to Part 7 Review on Replacement of Motor ...

Page 287: ...time constant τ ms HF SP 1000 r min Speed r min Time constant ms 500 1000 1500 2000 10 20 30 40 50 60 0 0 81 201 121 51 421 301 HG SR 1000 r min 121 0 20 40 60 80 100 0 250 500 750 1000 1250 1500 51 81 201 301 421 Dynamic brake time constant τ ms Speed r min HF SP 2000 r min Speed r min Time constant ms 52 500 1000 1500 2000 2500 3000 152 20 40 60 80 100 120 0 0 102 202 502 702 352 HG SR 2000 r mi...

Page 288: ...53 103 73 153 260 0 220 180 140 100 60 20 1000 2000 3000 4000 5000 6000 0 703 903 Servo motor speed r min Dynamic brake time constant τ ms HF JP 400 V 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 200 180 160 140 120 100 80 60 40 20 0 2034 3534 7034 9034 Speed r min Time constan HG JR 400 V Speed r min 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 120 100 80 60 40 20 0 2034 3534 ...

Page 289: ...constant τ ms HA LP 400 V 1500 r min Time constant ms 0 400 800 1200 35 0 30 25 20 15 10 5 Speed r min 8014 15K14 12K14 20K14 6014 HG JR 400 V 1500 r min Speed r min 50 0 40 30 20 10 500 1000 1500 2000 2500 3000 0 11K1M4 22K1M4 15K1M4 701M4 70 60 Dynamic brake time constant τ ms HA LP 400 V 2000 r min Time constant ms 0 500 1000 1500 2000 0 40 35 30 25 20 15 10 5 11K24 22K2 15K24 Speed r min HC RP...

Page 290: ...400 V Speed r min 50 0 40 30 20 10 500 1000 1500 2000 2500 3000 0 11K1M4 22K1M4 15K1M4 701M4 70 60 Dynamic brake time constant τ ms HC LP 2000 r min 0 0 52 500 1000 1500 2000 202 200 152 102 160 120 80 40 302 Speed r min Time constant t ms HG JR 3000 r min 503 353 203 53 103 73 153 260 0 220 180 140 100 60 20 1000 2000 3000 4000 5000 6000 0 703 903 Servo motor speed r min Dynamic brake time consta...

Page 291: ...1000 1500 2000 2500 HG JR30K1M HG JR37K1M Dynamic brake time constant ms HA LP 200 V 2000 r min 45 40 35 30 25 20 15 10 5 0 500 1000 1500 0 2000 HA LP30K2 HA LP37K2 Speed r min Time constant ms HA LP 400 V 1000 r min 40 35 30 25 20 15 10 5 0 200 600 1000 0 1200 Speed r min 400 800 Time constant ms HA LP30K14 HA LP37K14 HA LP25K14 HG JR 400 V 1000 r min HG JR30K14 HG JR37K14 0 5 10 15 20 25 30 35 4...

Page 292: ... HG JR37K1M4 HG JR45K1M4 HG JR55K1M4 HG JR30K1M4 0 10 20 30 40 50 60 70 80 90 Dynamic brake time constant ms HA LP 400 V 2000 r min 45 40 35 30 25 20 15 10 5 0 500 1000 1500 0 2000 HA LP45K24 HA LP55K24 HA LP37K24 HA LP30K24 Speed r min Time constant ms HC UP 352 500 1000 Speed r min 1500 0 2000 0 10 20 30 40 50 60 70 80 90 100 502 72 202 152 HG UR 352 500 1000 1500 2000 0 0 10 20 30 40 50 60 70 8...

Page 293: ...000 5000 6000 73 43 23 13 053 Speed r min Dynamic brake time constant τ ms HF SP 1000 r min 500 1000 Speed r min 1500 2000 10 20 30 40 50 60 0 0 81 51 HG SR 1000 r min Dynamic brake time constant τ ms 0 20 40 60 80 100 0 250 500 750 1000 1250 1500 51 81 Speed r min HF SP 2000 r min 52 500 1000 1500 2000 2500 3000 20 40 60 80 100 120 0 0 102 Speed r min HG SR 2000 r min Dynamic brake time constant ...

Page 294: ... ms Speed r min 53 103 73 260 0 220 180 140 100 60 20 1000 2000 3000 4000 5000 6000 0 HC LP series Dynamic brake time constant τ ms Speed r min 0 500 1500 102 52 1000 2000 0 40 80 120 160 200 HG AK series 0 Speed r min 0 1000 2000 0 0005 0 0010 0 0015 0 0020 0 0025 3000 4000 5000 6000 0236 0336 0136 Time constant s HG AK series Dynamic brake time constant τ s 0 Speed r min 0 1000 2000 0 0005 0 001...

Page 295: ...equation Dynamic brake time constant τ Time te V0 ON OFF EM1 Forced stop 1 Machine speed Dynamic Brake Operation Diagram Lmax 60 V0 JM te 1 JL 5 1 Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 4 kg m2 JL Load moment of inertia converted into equivalent value on servo motor shaft 10 4 kg m2 Dynamic brake time constant s te Delay tim...

Page 296: ...ors Series Servo motor HG KR HG KR053 HG KR13 HG KR23 HG KR43 HG MR HG MR053 HG MR13 HG MR23 HG MR43 HG SR HG SR51 HG SR52 0h PF15 DBT Electronic Dynamic Brake Operating Time Set an operating time for the electronic dynamic brake Note 2000 ms 0 to 10000 b Parameter settings for MR J4 _B_series MR J4W2 _B servo amplifier No Abbrevia tion Name and function Initial value unit Setting range PF06 FOP5 ...

Page 297: ... digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Forced stop deceleration function selection 0 Forced stop deceleration function disabled EM1 2 Forced stop deceleration function enabled EM2 Refer to the following table for details 2h Setting value EM2 EM1 selection Deceleration method EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR Electromagnetic...

Page 298: ...re not used Refer to the following table for details 0h x _ _ _ Forced stop deceleration function selection 0 Forced stop deceleration function disabled EM1 2 Forced stop deceleration function enabled EM2 Refer to the following table for details 2h Setting value EM2 EM1 selection Deceleration method EM2 or EM1 is off Alarm occurred 0 0 _ _ EM1 MBR Electromagnetic brake interlock turns off without ...

Page 299: ...m onset data display drive recorder display of the reason for no rotation system configuration life diagnosis machine diagnosis Test operation Jog operation Note 1 positioning operation motor less operation DO forced output and program operation test operation event information single step feed Note 2 Adjustment One touch tuning tuning and machine analyzer Others Servo assistant parameter setting ...

Page 300: ...ck time Adjust the brake release time as necessary or use MBR electromagnetic brake interlock signal 2 A longer servo on time at power on may cause a delay in the motor starting time after power up Please take note 1 MR J4 _A_ MR J4 _B_series servo amplifier MR J4W2 _B servo amplifier The initializing time is 2 5 to 3 5 s 95 ms 95 ms RD Ready RES Reset SON Servo on OFF ON OFF ON ON OFF Base circui...

Page 301: ...r SON accepted Main circuit Control circuit power 4 MR J4W2 0303B6 servo amplifier Servo on command accepted Main circuit Control circuit Base circuit Servo on command from controller power supply 95 ms 4 s 95 ms 10 ms ON OFF ON OFF ON OFF 5 MR J3W 0303BN6 servo amplifier Servo on command accepted ON OFF Power supply ON OFF Base circuit ON OFF Servo on command from controller 95ms 3s 95ms 10ms ...

Page 302: ...speed Approximately 400 μs fixed 約 400μs Approximately 400 μs fixed 約 400μs Simultaneous replacement HG KR HG MR HG SR motor At low speed 4096 4194304 pulses Example At 10 r min 4096 パルス約 6ms 注 At high speed Approximately 400 μs fixed 約 400μs Note This is the pulse width when the motor rotates at 10 r min The pulse width changes depending on rotational frequency 128 pulses Approximately 6ms Note ...

Page 303: ...4 series is driven with motors before replacement the overload protection characteristics is the same as MR J3 series An electronic thermal is built in the servo amplifier to protect the servo motor servo amplifier and servo motor power wires from overloads AL 50 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve shown in fig 10 1 AL 51 Overload 2 oc...

Page 304: ... 734 Note 1034 Note 1534 Note 2034 Note 3534 Characteristics c 5024 7024 3534 Note 6014 701M4 5034 Note 7034 Characteristics d 8014 12K14 15K14 20K14 25K14 11K1M4 15K1M4 22K1M4 9034 Characteristics e Note The combination is for increasing the maximum torque of the servo motor to 400 Servo amplifiers supporting the 400 maximum torque setting Note Servo motor Note Servo amplifiers supporting the 400...

Page 305: ...c 5024 7024 6014 701M4 5034 7034 Characteristics d 8014 11K1M4 11K24 12K14 15K14 15K1M4 15K24 20K14 22K1M4 22K24 9034 11K1M4 Note 15K1M4 Note Characteristics e Note Model names of servo amplifiers supporting these servo motors have LR at the end Servo amplifiers supporting the 400 maximum torque setting Note Servo motor Note Servo amplifiers supporting the 400 maximum torque setting Note Servo mot...

Page 306: ...me s Characteristics a 1000 10 100 1 100 0 1 200 300 400 0 50 150 250 350 Load ratio Note 1 2 Servo lock Operating Operation time s Characteristics b 1000 100 10 1 0 1 100 300 200 400 0 50 150 250 350 Load ratio Note 2 Servo lock Operating Operation time s Characteristics c 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio Note 2 Servo lock Operating Operation time s Characteristics d ...

Page 307: ...ristics e Note 1 The operation time at the load ratio of 300 to 350 applies when the maximum torque of HG KR servo motor and HF KP servo motor is increased to 350 of rated torque 2 The operation time at the load ratio of 300 to 400 applies when the maximum torque of HG JR servo motor and HF JP servo motor is increased to 400 of rated torque ...

Page 308: ...R053 HG KR13 HG MR053 HG MR13 HG KR23 HG KR43 HG KR73 HG MR23 HG MR43 HG MR73 HG SR51 HG SR81 HG SR52 HG SR102 HG UR72 HG JR53 HG JR73 HG JR103 HF KP053 HF KP13 HF MP053 HF MP13 HF KP23 HF KP43 HF KP73 HF MP23 HF MP43 HF MP73 HF SP51 HF SP81 HF SP52 HF SP102 HC UP72 HC LP52 HC LP102 HF JP53 HF JP73 HF JP103 Note 1 The load ratio ranging from 300 to 350 applies to the HG KR series servo motor 2 The...

Page 309: ...0 100 150 200 250 300 350 400 Servo lock Operation Operation time s Load ratio HG AK0136 HG AK0236 HG AK0336 4 MR J4 DU_ RJ MR J3 DU_ drive unit The following graphs show overload protection characteristics 10000 1000 100 10 1 300 50 100 150 200 250 0 Operation time s Servo lock Load ratio Operating Note Note Load ratio 100 indicates the rated output of the drive unit ...

Page 310: ...de cabinet Maximum distance between stations 20 m Long distance cable Maximum distance between stations 50 m Long distance cable Maximum distance between stations 50 m Long distance cable Maximum distance between stations 100 m Note When you connect an amplifier with SSCNET III H communication for the first controller communication with the factory setting the operation mode will be fixed to J4 mo...

Page 311: ...ring cable 50 mm Cord 25 mm Enforced covering cable 50 mm Cord 30 mm Tension strength 70 N 140 N 420 N Enforced covering cable 980 N Enforced covering cable Temperature range for use Note 40 C to 85 C 20 C to 70 C Atmosphere Indoors not exposed to direct sunlight no solvent or oil Appearance mm 2 2 0 07 4 4 0 1 2 2 0 07 4 4 0 1 6 0 0 2 2 2 0 07 4 4 0 4 7 6 0 5 2 2 0 2 Note This temperature range f...

Page 312: ...een the same capacity types Unit mm Model MR J3 series Model MR J4 series Height Width Depth Mounting screw pitch MR J3 MR J4 MR J3 MR J4 MR J3 MR J4 MR J3 MR J4 MR J3 10_ 1 MR J4 10_ 1 168 168 40 40 135 135 156 Vertical 2 screws 156 Vertical 2 screws MR J3 20_ 1 MR J4 20_ 1 MR J3 40_ 1 MR J4 40_ 1 170 170 MR J3 60 _ MR J4 60_ MR J3 70_ MR J4 70_ 60 60 185 185 156 Vertical 42 Horizontal 3 screws 1...

Page 313: ...LCN2 L1 L2 L3 N P1 P2 U V W PCDL11L21 CHARGE CNP1 L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP2 CNP3 156 6 6 161 168 6 6 mounting hole Approx 80 40 170 156 161 168 6 40 6 6 5 6 PE Approx 80 Approx 21 Approx 38 5 Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole MR J3 70_ MR J3 100_ MR J4 70_ MR J4 100_ Approx 80 185 6 60 12 CNP3 CNP2 CNP1 6 Approx 68 With MR J3BAT CN5 CN6 CN3 CN1 CN2 CN2L CN4 L...

Page 314: ...ng hole Lock knob With MR BAT6V1SET MR J3 200_ RT Approx 14 Approx 25 5 90 168 6 78 6 45 6 156 6 6 mounting hole 195 21 4 Approx 80 Cooling fan wind direction Approx 68 6 85 With MR J3BAT 6 MR J3 350_ MR J4 350_ Approx 14 6 21 4 Approx 68 6 6 45 6 mounting hole Approx 80 195 168 78 6 156 6 6 90 85 With MR J3BAT Approx 25 5 Cooling fan air intake Cooling fan Cooling fan Exhaust 6 6 6 78 6 168 6 156...

Page 315: ...e Approx 38 5 Approx 34 Approx 80 Approx 28 With MR BAT6V1SET Intake Approx 25 MR J3 700_ MR J4 700_ 172 160 6 300 285 6 With MR J3BAT 200 138 62 6 TE2 TE3 TE1 CN2 CN1 CN3 CN6 CN5 CN4 CN2L CN2 CN1 CN3 CN6 CN5 CN4 CN2L CHARGE Regenerative resistor lead terminal fixing screw 20 5 2 6 mounting hole Terminal layout Terminal cover open Cooling fan exhaust CAUTION WARNING CAUTION WARNING Approx 7 5 Appr...

Page 316: ...4 2 43 60 78 5 TE1 2 188 237 4 224 2 2 φ6 mounting hole Cooling fan exhaust Approx 80 Approx 28 With MR BAT6V1SET Intake Approx 139 5 Approx 38 5 MR J4 22K_ 260 400 12 12 12 236 260 188 5 223 4 235 4 376 12 12 PE 5 25 5 127 5 40 5 40 26 5 22 8 11 TE1 2 TE1 1 TE2 59 9 32 7 25 5 With MR BAT6V1SET Intake Cooling fan exhaust Approx 80 Approx 28 Approx 38 5 Approx 179 2 φ12 mounting hole ...

Page 317: ...es Model MR J4 series Height Width Depth Mounting screw pitch MR J3 MR J4 MR J3 MR J4 MR J3 MR J4 MR J3 MR J4 MR J3 60_4 MR J4 60_4 168 168 60 60 195 185 156 Vertical 42 Horizontal 3 screws 156 Vertical 42 Horizontal 3 screws MR J3 100_4 MR J4 100_4 MR J3 200_4 MR J4 200_4 90 90 195 156 Vertical 78 Horizontal 3 screws 156 Vertical 78 Horizontal 3 screws MR J3 350_4 MR J4 350_4 250 250 130 105 200 ...

Page 318: ...ounting hole With MR J3BAT Approx 68 6 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Cooling fan air intake Exhaust Approx 80 Approx 21 Approx 38 5 Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole MR J3 350_4 MR J4 350_4 CHARGE Cooling fan 130 118 6 7 5 7 5 250 235 With MR J3BAT 200 Approx 80 131 5 68 5 Cooling fan wind direction 6 Terminal layout Terminal cover open TE1 TE2 TE3 20 5 2 6 moun...

Page 319: ...tor lead terminal fixing screw Screw size M4 Tightening torque 1 2 N m Cooling fan exhaust Intake Approx 80 Approx 28 MR J3 700_4 MR J4 700_4 172 160 6 7 5 7 5 300 285 6 With MR J3BAT 200 Approx 80 138 62 6 TE2 TE3 TE1 CHARGE Cooling fan 20 5 CN3 CN1A CN1B CN3 CN1A CN1B Cooling fan wind direction Terminal layout Terminal cover open 2 6 mounting hole 3 places for ground M4 Built in regenerative res...

Page 320: ... 24 2 43 60 78 5 TE1 2 188 237 4 224 2 2 φ6 mounting hole Cooling fan exhaust Approx 80 Approx 28 With MR BAT6V1SET Intake Approx 139 5 Approx 38 5 MR J4 22K_4 260 400 12 12 12 236 260 188 5 223 4 235 4 376 12 12 PE 5 25 5 127 5 40 5 40 26 5 22 8 11 TE1 2 TE1 1 TE2 59 9 32 7 25 5 With MR BAT6V1SET Intake Cooling fan exhaust Approx 80 Approx 28 Approx 38 5 Approx 179 2 φ12 mounting hole ...

Page 321: ... screws 360 Vertical 260 Horizontal 4 screws Note The values in the parentheses are applied to when a heat sink is placed in a cabinet 2 Comparison dimensions MR J3 DU30K_ MR J4 DU30K_ For mounting MR J3BAT TE2 1 PE TE2 1 20 260 Approx 200 300 180 7 TE3 TE1 328 Approx 200 128 277 TE1 TE3 Approx 20 Approx 80 2 7 Installation hole Cooling fan wind direction Terminal block layout Terminal cover remov...

Page 322: ...1 TE3 TE2 2 PE CHARGE 2 7 Installation hole Cooling fan wind direction Terminal block layout Terminal cover removed 300 20 260 20 380 10 360 10 7 100 180 195 155 200 175 5 178 5 15 5 32 63 2 31 62 33 2 31 62 230 41 59 24 124 5 92 11 192 98 6 130 3 162 5 22 22 22 5 22 5 2 3 2 φ7 mounting hole Cooling fan exhaust TE2 1 TE2 2 PE TE3 PE TE1 1 TE1 2 Intake ...

Page 323: ..._4 MR J4 DU55K_4 MR J3 CR55K4 MR CR55K4 380 380 300 300 200 328 Note 200 300 Note 360 Vertical 260 Horizontal 4 screws 360 Vertical 260 Horizontal 4 screws Note The values in the parentheses are applied to when a heat sink is placed in a cabinet 2 Comparison dimensions MR J3 DU30K_4 MR J4 DU30K_4 240 Approx 200 Approx 200 328 128 180 120 60 6 219 2 TE2 TE3 TE1 For mounting MR J3BAT Approx 60 Appro...

Page 324: ...0 128 277 TE1 TE3 Approx 20 Approx 80 2 7 Installation hole Cooling fan wind direction Terminal block layout Terminal cover removed 100 180 155 300 380 360 10 20 260 200 175 5 178 5 22 5 22 32 118 62 15 5 92 11 41 59 124 5 24 195 Approx 80 TE2 1 TE2 2 TE1 PE TE3 7 20 10 2 φ7 mounting hole With MR BAT6V1SET 10 Cooling fan exhaust 130 1 162 5 31 28 Intake MR J3 CR55K4 MR CR55K4 7 328 277 300 Approx ...

Page 325: ...3 screws MR J3W 1010B MR J4W2 1010B MR J3W 0303BN6 MR J4W2 0303B6 168 168 30 30 100 100 156 Vertical 2 screws 156 Vertical 2 screws Note Some have been changed in width 2 Comparison dimensions MR J3W 22B MR J3W 44B MR J4W2 22B MR J4W2 44B 60 SW3 Approx 80 195 CNP1 2 6 mounting hole 48 6 6 6 6 CNP2 CNP3A CNP3B PE Note Cooling fan air intake CNP3B CNP3A CNP2 CNP1 PE 6 mounting hole 6 2 195 Approx 80...

Page 326: ...servo parameters of MR J3 _A_ to be changed to the servo parameters of MR J4 _A_ version 1 12N or later POINT Parameters common to MR J3 _A_ and MR J4 _A_ are the conversion targets The initial value of MR J4 _A_ is set for additional parameters of MR J4 _A_ MR Configurator2 MR Configurator2 Change MR J3 _A_ to MR J4 _A_ Parameter converter function MR Configurator2 Data files ...

Page 327: ...r MR J3 _A_ Start MR Configurator2 SW1DNC MRC2 E A connection with a PC AT compatible personal computer is required USB communication MR J3USBCBL3M Create a new project Read the servo parameters Save the parameter file Converting the parameters of MR J3 _A_ and writing them to the MR J4 _A_ servo amplifier Create a new project Change MR J3 _A_ parameters to MR J4 _A_ parameters Write the changed p...

Page 328: ...DNC MRC2 E of version 1 09K or later the MR J4 A RJ standard project is created at the first startup after installation 2 Create a new project Select Project New from the menu to display the New Project dialog box Select MR J3 A for Model The setting of Station must be the same as that of the servo amplifier Set the same value as that of the parameter Pr PC20 ...

Page 329: ...e servo parameters Click Parameters in the menu to display the parameter list screen Connect the MR J3 _A_ amplifier to a personal computer and click the Read button After reading the parameters is completed select Save As to save the parameter file ...

Page 330: ...Converting the parameters of MR J3 _A_ and writing them to the MR J4 _A_ servo amplifier 1 Start MR Configurator2 SW1DNC MRC2 E 2 Create a new project Select Project New from the menu to display the New Project dialog box Select MR J4 A for Model ...

Page 331: ...rameters to MR J4 _A_ parameters Select Parameter Parameter Converter from the menu to display the parameter converter screen Then click the Open file button and specify the user file that was saved with the operation in 3 of Section 2 2 3 Click Update Project ...

Page 332: ...tting from the menu to display the parameter setting screen Connect the MR J4 _A_servo amplifier to a personal computer and click the Single Axis Write button The parameter values will be written to the MR J4 _A_servo amplifier Note The servo gain is not perfectly equal Refer to the MR Configurator2 SW1DNC MRC2 E help for details ...

Page 333: ... PA01 Hex _ _ _ X The setting value will be maintained PA02 regenerative option Hex _ _ XX PA02 Hex _ _ XX The setting value will be maintained PA03 Absolute position detection system Hex _ _ _ X PA03 Hex _ _ _ X 01_ _ will be changed to _ _ 01 02_ _ will be changed to _ _ 02 Otherwise _ _ 00 will be set PA04 Function selection A 1 Hex _ _ _ X PD24 Hex _ _ XX 01_ _ will be changed to _ _ 05 MBR Th...

Page 334: ...ained PB17 Automatic setting parameter Hex _ _ XX PB17 Hex _ _ XX _ _ 01 will be changed to _ _ 00 Otherwise the setting value will be maintained _ X_ _ _ X_ _ The setting value will be maintained PB18 Low pass filter setting Dec PB18 Dec The setting value will be maintained PB19 Vibration suppression control vibration frequency setting Dec PB19 Dec The setting value will be maintained PB20 Vibrat...

Page 335: ...tting value will be maintained PC17 Zero speed Dec PC17 Dec The setting value will be maintained PC18 Alarm history clear Hex _ _ _ X PC18 Hex _ _ _ X The setting value will be maintained PC19 Encoder output pulses selection Hex _ _ XX PC19 Hex _ _ XX The setting value will be maintained PC20 Station number setting Dec PC20 Dec The setting value will be maintained PC21 Communication function selec...

Page 336: ...lue will be maintained _ _ XX_ _ _ _ PD18 Hex _ _ XX The setting value will be maintained PD11 Input signal device selection 9 CN1 44 Hex _ _ _ _ XXXX PD19 Hex XXXX The setting value will be maintained _ _ XX_ _ _ _ PD20 Hex _ _ XX The setting value will be maintained PD12 Input signal device selection 10 CN1 45 Hex _ _ _ _ XXXX PD21 Hex XXXX The setting value will be maintained _ _ XX_ _ _ _ PD22...

Page 337: ...position detection system RS 422 communication baud rate selection This parameter can be set when MR J4 _A_ with software version A3 or later is used for the conversion from MR J3 _A_ A parameter error will occur when the software version A2 or earlier is used RS 422 communication response delay time supported by software version A3 or later PC37 Absolute position detection system Analog speed lim...

Page 338: ...arameters common to MR J3 _B_ MR J3W _B MR J4 _B_ and MR J4W2 _B are the conversion targets The initial value of MR J4 _B_ and MR J4W2 _B is set for additional parameters of MR J4 _B_ and MR J4W2 _B Target model Positioning module QD75MH to Simple Motion module QD77MS LD77MS Motion controller Q17nHCPU Q17nDCPU Q170MCPU to Q17nDSCPU Q170MSCPU S1 GX Configurator QP SW3RNC GSV SW6RNC GSV GX Works2 Si...

Page 339: ... LD77MS 3 Double click Simple Motion Module Setting of the added simple motion module to start the simple motion module setting tool 4 Read the GX Configurator QP data Click Project Import GX Configurator QP Data from the menu to display the screen for reading GX Configurator QP data Specify and read QD75MH data When using QD75MH data made on GX Works2 save the QD75 data as GX Configurator QP data...

Page 340: ...o parameter conversion Select the target servo amplifier setting and click the OK button The servo parameters are converted as follows depending on the target servo amplifier setting When SSCNET III H is selected MR J3 _B_ is converted to MR J4 _B_ MR J3W _B_ is converted to MR J4W2 _B When SSCNET III is selected Utilize the MR J3 _B_ and MR J3W _B data without conversion ...

Page 341: ...2 2 Select the source project Click Project Divert File Diversion of Other Format Project from the menu to display the Diversion of Other Format Project window Click the Browse button and select a source project To divert an MT Developer2 project click Project Divert File Utilize MT Developer file format Project from the menu ...

Page 342: ... servo parameter conversion Select the target servo amplifier setting and click the OK button The servo parameters are converted as follows depending on the target servo amplifier setting When SSCNET III H is selected MR J3 _B_ is converted to MR J4 _B_ MR J3W _B is converted to MR J4W2 _B When SSCNET III is selected Utilize the MR J3 _B_ and MR J3W _B data without conversion ...

Page 343: ...ftware version of the servo amplifier Refer to section 2 3 4 for details Refer to section 2 3 4 2 for differences between the servo parameters of MR J3 _B_ and MR J3W _B MR J3 _B_ MR J3W _B MR J4 _B_ MR J4W2 _B Conversion rules No Name Type Target No Type Target PA02 Regenerative option Hex _ _ XX PA02 Hex _ _ XX The setting value will be maintained PA03 Absolute position detection system Hex _ _ ...

Page 344: ...ration suppression control selection Hex _ _ XX PB24 Hex _ _ XX The setting value will be maintained PB26 Gain changing selection Hex _ _ XX PB26 Hex _ _ XX The setting value will be maintained PB27 Gain changing condition Dec PB27 Dec The setting value will be maintained PB28 Gain changing time constant Dec PB28 Dec The setting value will be maintained PB29 Gain changing ratio of load inertia mom...

Page 345: ..._ _ XX _ _ 0B will be changed to _ _ 04 Otherwise the setting value will be maintained PD09 Output signal device selection 3 CN3 15 Hex _ _ XX PD09 Hex _ _ XX _ _ 0B will be changed to _ _ 03 Otherwise the setting value will be maintained PD14 Function selection D 3 Hex _ _ X_ PD14 Hex _ _ X_ The setting value will be maintained PD15 Driver communication setting Hex _ _ XX PD15 Hex _ _ XX The sett...

Page 346: ...tting Master axis operation selection Slave axis operation selection Use MR J4 _B_ with the software version A8 or later to use this function A parameter error will occur when MR J4 _B_ with the software version A7 or earlier is used PD16 Driver communication setting Master Transmit data selection 1 Driver communication setting Master Transmit data selection 1 Use MR J4 _B_ with the software versi...

Page 347: ...of the MR J3 _B_ and MR J3W _B are different the values are overwritten with the setting values on the controller side parameter of MR J3 _B_ after power on Note For items that have no setting value listed in the table refer to Part 4 Review on Replacement of MR J3W _B with MR J4W2 _B 3 MR J3W 0303BN6 MR J4W2 0303B6 Parameter No Name Initial value Setting value Description PC05 Function selection ...

Page 348: ... MR Configurator2 SW1DNC MRC2 E Check the software version of the servo amplifier with MR Configurator2 SW1DNC MRC2 E Start MR Configurator2 Select Diagnosis System Configuration from the menu to display the servo amplifier software No Servo amplifier software No BCD software No software version Checking with MR Configurator2 ...

Page 349: ... later The USB communication function CN5 connector and the RS 422 communication function CN3 connector are mutually exclusive functions They cannot be used together This function is not available with MR J4 _B_ RJ and MR J4W2 _B servo amplifiers You can operate servo driving parameter change monitor function etc using RS 422 communication Mitsubishi general purpose AC servo protocol with the serv...

Page 350: ... drop connection a Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus To RS 232C connector RS 422 232C conversion cable DSV CABV Diatrend Personal computer Note 1 Note 2 Note 1 Note 1 Servo amplifier CN3 Servo amplifier CN3 Servo amplifier CN3 Note 1 The BMJ 8 Hachiko Electric is recommended as the branch connector 2 The final axis must be t...

Page 351: ...P SDN SDP RDN LG NC 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Note 2 150 RDP RDN Note 3 30 m or less Note 8 Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 The following shows pin assignment viewed from connector wiring section 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG 2 The final axis must be terminated between RDP pin No 3 and RDN pi...

Page 352: ... power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electricity due to connection with ...

Page 353: ...LSB MSB 4 2 2 Parameter setting When the RS 422 communication function is used to operate the servo set the communication specifications of the servo amplifier with the parameters To enable the parameter values cycle the power after setting 1 Serial communication baud rate Select the communication speed Match this value to the communication speed of the sending end master station Serial communicat...

Page 354: ...amplifier which must provide the return data 1 Transmission of data from the controller to the servo Date SOH STX Command Data No ETX STX ETX Checksum Checksum 10 frames data 6 frames Positive response Error code A Negative response Error code other than A Station No Station No Controller side master station Servo side slave station Error code 2 Transmission of data request from the controller to ...

Page 355: ...3 4 5 6 7 8 9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z _ a b c d e f g h i j k l m n o p q r s t u v w x y z DEL 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 b8 to b5 R C 0 1 2 3 b4 b3 b2 b1 4 5 6 7 3 Station numbers You may set 32 station Nos from station 0 to station 31 and the ASCII unit codes are used...

Page 356: ... No error The transmitted data No is out of specifications 4 3 4 Checksum The checksum is an ASCII coded hexadecimal representing the lower two digits of the sum of ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH STX or SOH ETX Check Checksum range Station No 5 2 STX 30H 41H 31H 32H 35H 46H 03H 152H 0 A 1 F 5 2 ETX 02H 30H 41H 31H 32H 35H 46H 03H L...

Page 357: ...n No Controller side master station Servo side slave station STX STX Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times 4 3 7 Initialization After the slave station is sw...

Page 358: ...or code A or a 3 consecutive times 300 ms elapsed Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receive 3 consecutive times Receive data analysis End 100 ms after EOT transmission Error processing Error processing No Yes Yes Yes No No No No Yes Yes Master station Is there receive data Command Data No Checksum 30H 33H 33H 02...

Page 359: ... pulses 0 4 Command pulse frequency Command pulse frequency 0 5 Analog speed command voltage Analog speed limit voltage Analog speed command voltage Analog speed limit voltage 0 6 Analog torque limit voltage Analog torque command voltage Analog torque limit voltage Analog torque command voltage 0 7 Regenerative load ratio Regenerative load ratio 0 8 Effective load ratio Effective load ratio 0 9 Pe...

Page 360: ...torque command voltage Analog torque limit voltage Analog torque command voltage 8 7 Regenerative load ratio Regenerative load ratio 8 8 Effective load ratio Effective load ratio 8 9 Peak load ratio Peak load ratio 8 A Instantaneous torque Instantaneous torque Instantaneous thrust 8 B Position within one revolution Position within one revolution Motor encoder position within one revolution Virtual...

Page 361: ... No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter No Command 1 6 Frame length 12 is available 8 0 7 0 1 to F F Lower limit values of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the paramet...

Page 362: ...ourth alarm in past 1 5 fifth alarm in past Fifth alarm in past 1 6 Sixth alarm in past 1 7 Seventh alarm in past 1 8 Eighth alarm in past 1 9 Ninth alarm in past 1 A Tenth alarm in past 1 B Eleventh alarm in past 1 C Twelfth alarm in past 1 D Thirteenth alarm in past 1 E Fourteenth alarm in past 1 F Fifteenth alarm in past 2 0 Alarm occurrence time in alarm history most recent alarm 8 Most recent...

Page 363: ...age Analog torque limit voltage 8 7 Regenerative load ratio Regenerative load ratio 8 8 Effective load ratio Effective load ratio 8 9 Peak load ratio Peak load ratio 8 A Instantaneous torque Instantaneous torque Instantaneous thrust 8 B Position within one revolution Position within one revolution Motor encoder position within one revolution Virtual position within one revolution 8 C ABS counter A...

Page 364: ...ading 0000 Normal mode not test operation mode 0001 JOG operation 0002 Positioning operation 0003 Motor less operation 0004 Output signal DO forced output 4 8 Software version command 0 2 Command Data No MR J3 _A_ MR J4 _A_ Description Frame length 0 2 9 0 Servo motor side pulse unit absolute position 8 9 1 Command unit absolute position 8 7 0 Software version 16 ...

Page 365: ...writing the values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter No Command 9 4 Frame length 12 is available Depending on the parameter 8 8 5 0 0 Parameter group write 0000 Basic setting parameter Pr PA_ _ 0001 Gain filter parameter Pr PB_ _ 0002 Extension setting parameter Pr PC_ _...

Page 366: ...t operation mode cancel 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output 0000to0002 0004 4 8 Test operation mode data command 9 2 A 0 Command Data No MR J3 _A_ MR J4 _A_ Description Setting range Frame length 9 2 0 0 Input signal for test operation Refer to section 4 5 7 8 A 0 Forced output of signal pin Refer to section 4 5 9 8 A 0 1 0 Writes the servo motor speed...

Page 367: ...verted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 3 0 0 0 0 0 0 9 2 9 Display type 0 Data must be converted into decimal 1 Data is used u...

Page 368: ...t position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 0 Data is transferred in hexadecimal For example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second least significant digit the decimal po...

Page 369: ... station returns the status display data requested Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth least significant digit Data ...

Page 370: ...ve station a Transmission Transmit command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Return The slave station returns the preset parameter group 3 Reading symbols The following shows how to read symbols of parameters Specify a parameter group in advance Refer to 1 of this section a Transmission Transmit the command 0 8 and the data No 0 1 to F F corresponding to the parameter No Refer of secti...

Page 371: ...en power is cycled after writing Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit Data is transferred in hexadecimal 0 0 0 Sign 0 Sign 1 No sign 0 Readable unreadable 0 Readable 1 Unreadable For example data 00120000270F means 999 9 decimal displ...

Page 372: ... No 0 1 to F F corresponding to the parameter No When reading a lower limit value transmit the command 1 7 and the data No 0 1 to F F corresponding to the parameter No Refer of section 4 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter No b Return The slave station returns the data and processing information of the parameter No re...

Page 373: ... No When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Check the writing data is within the upper lower limit value before writing To prevent an error read the parameter data to be written confirm the decimal point position an...

Page 374: ...2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 2 Reading external input pin status The following shows how to read the on off status of the external input pins a Transmission Transmit command 1 2 and data No 4 0 Command Data No 1 2 4 0 b Return The on off status of the input pins are returned b31 b1b...

Page 375: ...us of the input devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 4 Reading external output pin status The following shows how ...

Page 376: ...e CN1 13 pin and CN1 14 pin with MR J4 _A_ RJ 100 W or more servo amplifiers with software version B3 or later 5 Reading output device status The following shows how to read the on off status of the output devices a Transmission Transmit command 1 2 and data No 8 0 Command Data No 1 2 8 0 b Return The slave station returns the status of the input output devices b31 b1b0 1 On 0 Off Command of each ...

Page 377: ...n off However when the device to be switched off is in the external input signal also switch off the input signal Transmit command 9 2 data No 6 0 and data Command Data No Set data 9 2 6 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL ...

Page 378: ...f External analog input signal 0 V Pulse train input None 1 Disabling enabling the input devices DI external analog input signals and pulse train inputs except EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end Transmit the following communication commands a Disabling Command Data No Data 9 0 0 0 1EA5 b Enabling Command Data No Data 9 0 1 0 1EA5 2 Disabling enabl...

Page 379: ... switch off the input signal Transmit command 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 ...

Page 380: ...n mode Send the command 8 B data No 0 0 data to select the test operation mode Command Data No Transmission data Selection of test operation mode 8 B 0 0 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output Note Note Refer to section 4 5 9 for output signal DO forced output 2 Check of test operation mode Read the test operation mode set for the slave station and check ...

Page 381: ...ation direction 00001007 SON LSP LSN and ST2 turned on 9 2 0 0 Forward rotation direction 00000801 SON and ST1 turned on Reverse rotation direction 00001001 SON and ST2 turned on Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Start Start Stop End Stop Stop Test operation mode is...

Page 382: ...eration mode Set the operation pattern Start Test operation mode is canceled 8 B 0 0 0002 Positioning operation Start Command Data No Data Command Data No Data 9 2 0 0 00000007 SON LSP and LSN turned on 9 2 0 0 00000001 SON turned on Enable input device Enable input device A 0 4 0 1EA5 Start positioning operation When LSP LSN was turned Off by external input signal Turn on SON Servo on to make the...

Page 383: ... stop Command Data No Data A 0 4 1 STOP Transmit the following command data No and data during a temporary stop to restart Command Data No Note Data A 0 4 1 GO_ _ Note _ indicates a blank Transmit the following command data No and data during a temporary stop to stop positioning operation and erase the remaining travel distance Command Data No Note Data A 0 4 1 CLR_ Note _ indicates a blank ...

Page 384: ...l on off Transmit the following communication commands Command Data No Set data 9 2 A 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 14 Note 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 Note 15 ...

Page 385: ..._ no alarm 2 Alarm occurrence time reading The following shows how to read alarm occurrence times which occurred in the past Alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Transmit command 3 3 data No 2 0 to 2 F Refer of section 4 4 1 b Return The alarm occurrence time is transferr...

Page 386: ...d 3 5 the data No corresponding to the status display item to read 8 0 to 8 E and A 0 to A 9 Refer of section 4 4 1 b Return The slave station returns the status display data of requested alarm at occurrence Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second ...

Page 387: ... servo motor side pulses Absolute position is sent back in hexadecimal in the servo motor side pulse Data must be converted into decimal For example data 000186A0 is 100000 pulses in the motor side pulse unit 2 Command unit absolute position The following shows how to read the absolute position in the command unit a Transmission Transmit command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Return...

Page 388: ...sion The following shows how to read the software version of the servo amplifier a Transmission Transmit command 0 2 and data No 7 0 Command Data No 0 2 7 0 b Return The slave station returns the requested software version Software version 15 digits Space ...

Page 389: ...R J4 40B RJ A8 or later HF KP73 MR J4 70A RJ MR J4 70B RJ A8 or later HF MP series HF MP053 MR J4 10A RJ MR J4 10B RJ A8 or later HF MP13 MR J4 10A RJ MR J4 10B RJ A8 or later HF MP23 MR J4 20A RJ MR J4 20B RJ A8 or later HF MP43 MR J4 40A RJ MR J4 40B RJ A8 or later HF MP73 MR J4 70A RJ MR J4 70B RJ A8 or later HF JP 1500 r min series HF JP11K1M MR J4 11KA RJ Unsupported MR J4 11KB RJ Unsupported...

Page 390: ...350A RJ MR J4 350B RJ A8 or later HF SP502 MR J4 500A RJ MR J4 500B RJ A8 or later HF SP702 MR J4 700A RJ MR J4 700B RJ A8 or later HA LP 1000 r min series HA LP601 MR J4 700A RJ MR J4 700B RJ Unsupported HA LP801 MR J4 11KA RJ Unsupported MR J4 11KB RJ Unsupported HA LP12K1 MR J4 11KA RJ MR J4 11KB RJ Unsupported HA LP15K1 MR J4 15KA RJ MR J4 15KB RJ Unsupported HA LP20K1 MR J4 22KA RJ MR J4 22KB...

Page 391: ... HC UP72 MR J4 70A RJ A8 or later MR J4 70B RJ Unsupported HC UP152 MR J4 200A RJ A7 or later MR J4 200B RJ Unsupported HC UP202 MR J4 350A RJ A8 or later MR J4 350B RJ Unsupported HC UP352 MR J4 500A RJ MR J4 500B RJ Unsupported HC UP502 MR J4 500A RJ MR J4 500B RJ Unsupported HC LP series HC LP52 MR J4 60A RJ MR J4 60B RJ Unsupported HC LP102 MR J4 100A RJ MR J4 100B RJ Unsupported HC LP152 MR J...

Page 392: ... 100B4 RJ Unsupported HF JP1534 MR J4 200A4 RJ MR J4 200B4 RJ Unsupported HF JP2034 MR J4 200A4 RJ MR J4 200B4 RJ Unsupported HF JP3534 MR J4 350A4 RJ MR J4 350B4 RJ Unsupported HF JP5034 MR J4 500A4 RJ MR J4 500B4 RJ Unsupported HF JP7034 MR J4 700A4 RJ MR J4 700B4 RJ Unsupported HF JP9034 MR J4 11KA4 RJ MR J4 11KB4 RJ Unsupported HF SP 2000 r min series HF SP524 MR J4 60A4 RJ Unsupported MR J4 6...

Page 393: ...R J4 700A4 RJ Unsupported MR J4 700B4 RJ Unsupported HA LP11K1M4 MR J4 11KA4 RJ MR J4 11KB4 RJ Unsupported HA LP15K1M4 MR J4 15KA4 RJ MR J4 15KB4 RJ Unsupported HA LP22K1M4 MR J4 22KA4 RJ MR J4 22KB4 RJ Unsupported HA LP30K1M4 MR J4 DU30KA4 RJ MR J4 DU30KB4 RJ Unsupported HA LP37K1M4 MR J4 DU37KA4 RJ MR J4 DU37KB4 RJ Unsupported HA LP45K1M4 MR J4 DU45KA4 RJ MR J4 DU45KB4 RJ Unsupported HA LP50K1M4...

Page 394: ... MR J4W2 44B HF KP23 MR J4W2 22B MR J4W2 44B HF KP43 MR J4W2 44B MR J4W2 77B MR J4W2 1010B HF KP73 MR J4W2 77B MR J4W2 1010B HF MP series HF MP053 MR J4W2 22B MR J4W2 44B HF MP13 MR J4W2 22B MR J4W2 44B HF MP23 MR J4W2 22B MR J4W2 44B HF MP43 MR J4W2 44B MR J4W2 77B MR J4W2 1010B HF MP73 MR J4W2 77B MR J4W2 1010B HF JP 3000 r min series HF JP53 MR J4W2 77B Unsupported Unsupported MR J4W2 1010B HF ...

Page 395: ...th MR J3 _B_ series for using the amplifiers as the conventional series When you connect an amplifier with SSCNET III H communication for the first controller communication by factory setting the operation mode will be fixed to J4 mode For SSCNET communication it will be fixed to J3 compatibility mode When you set the mode back to the factory setting use the application MR J4 W B mode selection Th...

Page 396: ... travel direction selection A0 A0 Encoder output pulses A B phase pulse output A0 A0 Z phase pulse output A0 Note 2 A0 Note 2 Note 2 Input output Analog monitor output A0 Note 3 A0 Note 3 Motor thermistor A0 A0 MR J3W _B Control mode Position control mode A0 A0 Speed control mode A0 A0 Torque control mode A0 A0 Continuous operation to torque control mode A0 A0 Auto tuning Auto tuning mode 1 A0 A0 ...

Page 397: ...ed A0 Note 4 Note 4 Drive recorder function A0 B0 Note 9 Machine diagnosis function A0 B0 Note 9 Controller SSCNET III A0 SSCNET III H A0 Home position return function A0 A0 Others J4 mode J3 compatibility mode automatic identification Note 7 A0 A0 Power monitoring function A0 B0 Note 9 Note 1 The value is at the HG series servo motor driving 2 It is not available with the MR J3W _B and MR J4W2 _B...

Page 398: ...rvo system controller power on When alarm occurs its alarm code appears Waiting for servo system controller power to switch on SSCNET III H communication Ready on and servo off Ready on and servo on Note Note Note When an alarm No or warning No is displayed Axis No 1 Axis No 2 Axis No 64 Initial data communication with the servo system controller initialization communication Ready off and servo of...

Page 399: ...er For the J4 mode the operation mode will be the setting of Pr PA01 J4 mode J3 compatibility mode automatic identification Controller connection check J4 mode J3 compatibility mode Connected encoder check automatic identification Standard control rotary servo motor Factory setting Pr PA01 setting Standard control rotary servo motor 2 Mode selection using the application software MR J4 W B mode se...

Page 400: ...ervo motor Select MR J3 _B Cautions for using setup software SETUP221E The gain search cannot be used You can use the advanced gain search 3 Setting of MR Configurator2 To use in the J3 compatibility mode make the system setting as follows Operation mode in J3 compatibility mode System setting MR J3 B standard control mode rotary servo motor Select MR J3 _B Cautions for using MR Configurator2 Use ...

Page 401: ... communication can be cut regardless of connection order When you power on off the servo amplifier during operation use the connect disconnect function of the controller Refer to the following manuals for detail MELSEC iQ R Motion Controller Programming Manual Common R16MTCPU R32MTCPU IB 0300237 5 3 1 Connect disconnect function of SSCNET communication Motion controller Q series Programming Manual...

Page 402: ...set Table 5 1 Controller reset required not required list before change of specifications Controller Model Controller reset required not required Single axis connection Multi axis connection Motion controller R_MTCPU Not required Not required Q17_DSCPU Not required Not required Q17_DCPU Not required Not required Q17_HCPU Not required Not required Q170MCPU Not required Not required Simple motion mo...

Page 403: ...ired Single axis connection Multi axis connection Motion controller R_MTCPU Not required Not required Q17_DSCPU Not required Not required Q17_DCPU Not required Not required Q17_HCPU Not required Not required Q170MCPU Not required Not required Simple motion module Positioning module RD77MS_ Not required Not required QD77MS_ Not required Not required LD77MS_ Not required Not required QD75MH_ Not req...

Page 404: ...mode to J3 compatibility mode beforehand with the built in application software MR J4 W B mode selection of MR Configurator2 Use it for a solution when it is difficult to reset many times with your Reset required controller such as QD74MH_ The application MR J4 W B mode selection has no expiration date Select Change Mode Select J3 Compatibility Mode Select Operation Mode ...

Page 405: ...each servo amplifier instruction manual The J3 extension function is for using functions of J4 mode with J3 compatibility mode By enabling the J3 extension function control response will be equal to MR J4 series using a controller compatible with SSCNET III J4 mode J3 compatibility mode J3 extension function enabled Pr PX01 _ _ _ 1 J3 extension function disabled Pr PX01 _ _ _ 0 SSCNET III H commun...

Page 406: ...eration Use a 3 phase for the input power supply of the servo amplifier Using a 1 phase 200 V AC for the input power supply will not comply with SEMI F47 standard Drive recorder function This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time You can check the recorded data on the drive recorder window on MR Config...

Page 407: ...slave operation function cannot be used with the continuous operation to torque control Use the master slave operation function with the following controllers Refer to the manuals for each servo system controller for compatible software versions and other details RD77MS QD77MS_ LD77MS_ R_MTCPU Q17_DSCPU Q170MSCPU When the function is used in vertical axis system set the same value to the parameter...

Page 408: ...ot compatible with the master slave operation function AL 37 will occur The master axis and slave axis are recommended to use for a linked condition on a mechanical constitution When they are not linked they can reach a speed limit level Doing so may cause AL 31 Overspeed The slave axes use the control command from the master axis Therefore the controller mainly controls parameter settings servo o...

Page 409: ...the parameters refer to Part 3 section 3 6 3 No Name Initial value Setting value Setting Master axis Slave axis PA04 Forced stop deceleration function selection 2000 0 _ _ _ 0 _ _ _ Used to disable the forced stop deceleration function PA14 Rotation direction selection travel direction selection 0 Refer to Part 3 section 3 6 3 Used to set a torque generation direction PD15 Note Driver communicatio...

Page 410: ...bol Name and function PA14 POL Rotation direction selection 1 For master axis Select a servo motor rotation direction of master axis to SSCNET controller command 0 Servo motor CCW rotation in positioning address increase direction 1 Servo motor CW rotation in positioning address increase direction 2 For slave axis Select servo motor rotation direction to a command from master axis 0 Torque command...

Page 411: ...der cable of 30 m to 50 m is needed fabricate a two wire type encoder cable according to MR J4 _B_ Servo Amplifier Instruction Manual or MR J4W2 _B Servo Amplifier Instruction Manual The scale measurement function compatible servo amplifier can be used with any of the following controllers Motion controller R_MTCPU Q17_DSCPU Simple motion module RD77MS QD77MS_ LD77MS_ The MR J4W2 _B servo amplifie...

Page 412: ...o motor encoder signal Load side encoder signal Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used 2 MR J4W2 _B servo amplifier CN2B CN2A Note Note Servo motor Two wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev Drive part Servo amplifier SSCNET III H controller SSCNET III H Position command Control signal To the next servo amplifier Ser...

Page 413: ...ollowing servo motor or synchronous encoder as the encoder Servo motor and synchronous encoder that can be used as encoder HG KR HG MR MR J4 _B_ Available Servo motors used as encoders HG KR HG MR MR J4W2 _B Use a two wire type encoder cable Do not use MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H or MR EKCBL50M H as they are four wire type When an encoder cable of 30 m to 50 m is needed fabricate a t...

Page 414: ...tary servo motor Encoder cable Refer to Servo Motor Instruction Manual Vol 3 CN2 MOTOR SCALE Note Scale measurement encoder Servo motor HG KR HG MR Note Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used 2 MR J4W2 _B servo amplifier Servo amplifier CN2A CN2B MR J4FCCBL03M branch cable Refer to 3 of this section Encoder of rotary servo motor Encoder cable Re...

Page 415: ... 1 P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2_ MOTOR Plate Note 1 Note 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from the wiring side 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 View seen from the wiring side 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 BAT SEL 9 10 5 THM1 5 THM1 6 THM2 9 BAT 10 SEL SCALE Note 2 P5 SD SEL LG 1 2 10 Plate 4 MXR BAT 9 3 MX BAT SEL LG ...

Page 416: ...munication method differs depending on the scale measurement encoder type Select Four wire type because there is only four wire type for synchronous encoder Select the cable to be connected to CN2L connector in Pr PC26 0 0 Pr PC26 Load side encoder cable communication method selection 0 Two wire type 1 Four wire type When using a load side encoder of A B Z phase differential output method set 0 In...

Page 417: ...rm by detecting non signal for Z phase The Z phase connection judgement function is enabled by default To disable the Z phase connection judgement function set Pr PC27 0 0 0 Pr PC27 Selection of A B Z phase input interface encoder Z phase connection judgment function 0 Enabled 1 Disabled b How to confirm the scale measurement encoder feedback direction You can confirm the directions of the cumulat...

Page 418: ...Part 7 Review on Replacement of Motor 7 1 Part 7 Review on Replacement of Motor ...

Page 419: ...o amplifier needs to be changed Consider replacement referring to Part 7 Replacement of Motor section 2 7 Comparison of Servo Motor Torque Characteristics Existing device models Replacement models for simultaneous replacement example Servo motor Servo amplifier Servo motor Servo amplifier HA LP25K14 MR J3 DU30K_4 HG JR25K14 MR J4 22K_4 HG JR25K14R S_ Note HA LP30K2 4 MR J3 DU30K_ 4 HG JR22K1M 4 MR...

Page 420: ...of models marked with are different from the actual reduction ratio it is required that an electronic gear be set up Refer to 2 4 Comparison of actual reduction ratios for geared servo motors for the details HF KP053 B G1 1 12 HG KR053 B G1 1 12 HF KP053 B G1 1 20 HG KR053 B G1 1 20 HF KP13 B G1 1 5 HG KR13 B G1 1 5 HF KP13 B G1 1 12 HG KR13 B G1 1 12 HF KP13 B G1 1 20 HG KR13 B G1 1 20 HF KP23 B ...

Page 421: ... KR43 B G5 1 45 HF KP73 B G5 1 5 HG KR73 B G5 1 5 HF KP73 B G5 1 11 HG KR73 B G5 1 11 HF KP73 B G5 1 21 HG KR73 B G5 1 21 HF KP73 B G5 1 33 HG KR73 B G5 1 33 HF KP73 B G5 1 45 HG KR73 B G5 1 45 Small capacity low inertia HF KP series Flange mounting shaft output type for precision application compliant G7 HF KP053 B G7 1 5 HG KR053 B G7 1 5 HF KP053 B G7 1 11 HG KR053 B G7 1 11 HF KP053 B G7 1 21 ...

Page 422: ... the HG KR series Because the reduction gears of models marked with are different from the actual reduction ratio it is required that an electronic gear be set up Refer to 2 4 Comparison of actual reduction ratios for geared servo motors for the details HF MP053 B G1 1 12 HG KR053 B G1 1 12 HF MP053 B G1 1 20 HG KR053 B G1 1 20 HF MP13 B G1 1 5 HG KR13 B G1 1 5 HF MP13 B G1 1 12 HG KR13 B G1 1 12 ...

Page 423: ...43 B G5 1 33 HG KR43 B G5 1 33 HF MP43 B G5 1 45 HG KR43 B G5 1 45 HF MP73 B G5 1 5 HG KR73 B G5 1 5 HF MP73 B G5 1 11 HG KR73 B G5 1 11 HF MP73 B G5 1 21 HG KR73 B G5 1 21 HF MP73 B G5 1 33 HG KR73 B G5 1 33 HF MP73 B G5 1 45 HG KR73 B G5 1 45 Small capacity ultralow inertia HF MP series With flange output type gear reducer for high precision applications flange mounting G7 HF MP053 B G7 1 5 HG K...

Page 424: ... 4 B G1 H 1 6 HG SR102 4 B G1 H 1 6 HF SP102 4 B G1 H 1 11 HG SR102 4 B G1 H 1 11 HF SP102 4 B G1 H 1 17 HG SR102 4 B G1 H 1 17 HF SP102 4 B G1 H 1 29 HG SR102 4 B G1 H 1 29 HF SP102 4 B G1 H 1 35 HG SR102 4 B G1 H 1 35 HF SP102 4 B G1 H 1 43 HG SR102 4 B G1 H 1 43 HF SP102 4 B G1 H 1 59 HG SR102 4 B G1 H 1 59 HF SP152 4 B G1 H 1 6 HG SR152 4 B G1 H 1 6 HF SP152 4 B G1 H 1 11 HG SR152 4 B G1 H 1 1...

Page 425: ...02 4 B G1 H 1 43 HF SP702 4 B G1 H 1 59 HG SR702 4 B G1 H 1 59 Medium capacity medium inertia HF SP series With flange output type gear reducer for high precision applications flange mounting G5 HF SP52 4 B G5 1 5 HG SR52 4 B G5 1 5 HF SP52 4 B G5 1 11 HG SR52 4 B G5 1 11 HF SP52 4 B G5 1 21 HG SR52 4 B G5 1 21 HF SP52 4 B G5 1 33 HG SR52 4 B G5 1 33 HF SP52 4 B G5 1 45 HG SR52 4 B G5 1 45 HF SP10...

Page 426: ... B G7 1 5 HG SR102 4 B G7 1 5 HF SP102 4 B G7 1 11 HG SR102 4 B G7 1 11 HF SP102 4 B G7 1 21 HG SR102 4 B G7 1 21 HF SP102 4 B G7 1 33 HG SR102 4 B G7 1 33 HF SP102 4 B G7 1 45 HG SR102 4 B G7 1 45 HF SP152 4 B G7 1 5 HG SR152 4 B G7 1 5 HF SP152 4 B G7 1 11 HG SR152 4 B G7 1 11 HF SP152 4 B G7 1 21 HG SR152 4 B G7 1 21 HF SP152 4 B G7 1 33 HG SR152 4 B G7 1 33 HF SP152 4 B G7 1 45 HG SR152 4 B G7...

Page 427: ...B G5 1 11 HG SR202 B G5 1 11 HC RP203 B G5 1 21 HG SR202 B G5 1 21 HC RP203 B G5 1 33 HG SR202 B G5 1 33 HC RP203 B G5 1 45 HG SR202 B G5 1 45 HC RP353 B G5 1 5 HG SR352 B G5 1 5 HC RP353 B G5 1 11 HG SR352 B G5 1 11 HC RP353 B G5 1 21 HG SR352 B G5 1 21 HC RP353 B G5 1 33 HG SR352 B G5 1 21 HC RP503 B G5 1 5 HG SR502 B G5 1 5 HC RP503 B G5 1 11 HG SR502 B G5 1 11 HC RP503 B G5 1 21 HG SR502 B G5 ...

Page 428: ...ic brake connector differ For further details refer to 2 6 Comparison of Servo Motor Connector Specifications HC LP102 B HG JR153 B HC LP152 B HG JR353 B HC LP202 B HG JR353 B HC LP302 B HG JR503 B Medium capacity flat type HC UP series HC UP72 B HG UR72 B HC UP152 B HG UR152 B HC UP202 B HG UR202 B HC UP352 B HG UR352 B HC UP502 B HG UR502 B Large capacity low inertia HF JP series HF JP53 4 B HG ...

Page 429: ...1 4 HG JR30K1 4 R S_ HA LP37K1 4 HG JR37K1 4 R S_ Large capacity low inertia HA LP 1500 r min series HA LP701M 4 B HG JR701M 4 B Note 1 HA LP11K1M 4 B HG JR11K1M 4 B HA LP15K1M 4 B HG JR15K1M 4 B HA LP22K1M 4 HG JR22K1M 4 HA LP30K1M 4 HG JR30K1M 4 HA LP37K1M 4 HG JR37K1M 4 HA LP45K1M4 HG JR45K1M4 HA LP50K1M4 HG JR55K1M4 HA LP701M 4 B HG JR701M 4 R B S_ Note 2 HA LP11K1M 4 B HG JR11K1M 4 R B S_ 250...

Page 430: ...MOTOR SPECIFICATIONS 2 1 Comparison of Servo Motor Mounting Dimensions POINT As for the dimensions not listed here refer to the catalog or Instruction Manual The symbols in the table mean as follows B With brake The value in the parenthesis shows the value with brake ...

Page 431: ...1 B 178 5 228 HF SP421 B 263 5 313 HG SR421 B 218 5 268 HF SP52 B HF SP524 B 118 5 153 130 HG SR52 B HG SR524 B 118 5 153 130 HF SP102 B HF SP1024 B 140 5 175 HG SR102 B HG SR1024 B 132 5 167 HF SP152 B HF SP1524 B 162 5 197 HG SR152 B HG SR1524 B 146 5 181 HF SP202 B HF SP2024 B 143 5 193 176 HG SR202 B HG SR2024 B 138 5 188 176 HF SP352 B HF SP3524 B 183 5 233 HG SR352 B HG SR3524 B 162 5 212 HF...

Page 432: ...90 HG JR53 B HG JR534 B 127 5 173 90 HF JP73 B HF JP734 B 145 5 191 HG JR73 B HG JR734 B 145 5 191 HF JP103 B HF JP1034 B 163 5 209 HG JR103 B HG JR1034 B 163 5 209 HF JP153 B HF JP1534 B 199 5 245 HG JR153 B HG JR1534 B 199 5 245 HF JP203 B HF JP2034 B 235 5 281 HG JR203 B HG JR2034 B 235 5 281 HF JP353 B HF JP3534 B 213 251 5 130 HG JR353 B HG JR3534 B 213 251 5 130 HF JP503 B HF JP5034 B 267 30...

Page 433: ...20 Note HG JR12K1R B S_ HG JR12K14R B S_ 454 527 250 HA LP15K1 HA LP15K14 605 280 HG JR15K1 HG JR15K14 476 250 Note HG JR15K1R S_ HG JR15K14R S_ 493 280 HA LP20K1 HA LP20K14 650 HG JR20K1 HG JR20K14 538 250 Note HG JR20K1R S_ HG JR20K14R S_ 555 280 HA LP25K1 HA LP25K14 640 350 HG JR25K1 HG JR25K14 600 250 Note HG JR25K1R S_ HG JR25K14R S_ 617 350 HA LP30K1 HA LP30K14 685 HG JR30K1 HG JR30K14 600 2...

Page 434: ...JR15K1M4 B 439 5 512 220 Note HG JR15K1MR B S_ HG JR15K1M4R B S_ 454 526 5 250 HA LP22K1M HA LP22K1M4 605 280 HG JR22K1M HG JR22K1M4 476 250 Note HG JR22K1MR S_ HG JR22K1M4R S_ 493 280 HA LP30K1M 660 HG JR30K1M 538 250 Note HG JR30K1MR S_ 555 280 HA LP30K1M4 650 HG JR30K1M4 538 250 Note HG JR30K1M4R S_ 555 280 HA LP37K1M HA LP37K1M4 640 350 HG JR37K1M HG JR37K1M4 600 250 Note HG JR37K1MR S_ HG JR3...

Page 435: ...HG JR11K1MR B S_ 250 HG JR11K1M4R B S_ 250 354 427 250 HA LP22K2 B HA LP22K24 B 555 670 HG JR15K1M B HG JR15K1M4 B 439 5 512 220 Note HG JR15K1MR B S_ HG JR15K1M4R B S_ 454 526 5 250 HA LP30K2 615 280 HG JR22K1M 476 250 Note HG JR22K1MR S_ 493 280 HA LP30K24 605 HG JR22K1M4 476 250 Note HG JR22K1M4R S_ 493 280 HA LP37K2 660 HG JR30K1M 538 250 Note HG JR30K1MR S_ 555 280 HA LP37K24 650 HG JR30K1M4 ...

Page 436: ...5 35 13 5 HG SR121 B 200 114 3 79 75 35 13 5 HF SP201 B 200 114 3 79 75 35 13 5 HG SR201 B 200 114 3 79 75 35 13 5 HF SP301 B 200 114 3 79 75 35 13 5 HG SR301 B 200 114 3 79 75 35 13 5 HF SP421 B 200 114 3 79 75 35 13 5 HG SR421 B 200 114 3 79 75 35 13 5 HF SP52 B HF SP524 B 145 110 55 50 24 9 HG SR52 B HG SR524 B 145 110 55 50 24 9 HF SP102 B HF SP1024 B 145 110 55 50 24 9 HG SR102 B HG SR1024 B ...

Page 437: ... JP53 B HF JP534 B 100 80 40 30 16 6 6 HG JR53 B HG JR534 B 100 80 40 30 16 6 6 HF JP73 B HF JP734 B 100 80 40 30 16 6 6 HG JR73 B HG JR734 B 100 80 40 30 16 6 6 HF JP103 B HF JP1034 B 100 80 40 30 16 6 6 HG JR103 B HG JR1034 B 100 80 40 30 16 6 6 HF JP153 B HF JP1534 B 100 80 40 30 16 6 6 HG JR153 B HG JR1534 B 100 80 40 30 16 6 6 HF JP203 B HF JP2034 B 100 80 40 30 16 6 6 HG JR203 B HG JR2034 B ...

Page 438: ...1M B HA LP15K1M4 B 265 230 110 100 55 14 5 HG JR15K1M B HG JR15K1M4 B 235 200 116 110 55 13 5 HA LP22K1M HA LP22K1M4 300 250 140 140 60 19 HG JR22K1M HG JR22K1M4 265 230 140 130 65 24 HA LP30K1M HA LP30K1M4 300 250 140 140 60 19 HG JR30K1M HG JR30K1M4 265 230 140 130 65 24 HA LP37K1M HA LP37K1M4 350 300 140 140 65 19 HG JR37K1M HG JR37K1M4 265 230 140 130 65 24 HA LP45K1M4 350 300 140 140 65 19 HG...

Page 439: ...rvo motor series whose mounting dimensions of the reducer are the same before and after the replacement is omitted POINT As for the dimensions not listed here refer to the catalog or Instruction Manual Dimensions with differences are shown with shading The value in the parenthesis shows the value with brake ...

Page 440: ...3 190 165 122 170 14 1 33 269 5 304 53 190 165 122 170 14 1 45 293 5 331 5 53 190 165 122 170 14 1 45 269 5 304 53 190 165 122 170 14 2 0 1 5 277 5 315 5 27 105 85 59 90 9 1 5 267 5 317 35 135 115 84 120 11 1 11 305 5 343 5 35 135 115 84 120 11 1 11 267 5 317 35 135 115 84 120 11 1 21 318 5 365 5 53 190 165 122 170 14 1 21 287 5 337 53 190 165 122 170 14 1 33 318 5 365 5 53 190 165 122 170 14 1 33...

Page 441: ... 170 14 1 33 269 5 304 156 82 50 190 165 170 14 1 45 293 5 331 5 156 82 50 190 165 170 14 1 45 269 5 304 156 82 50 190 165 170 14 2 0 1 5 277 5 315 5 80 42 25 105 85 90 9 1 5 267 5 317 133 82 40 135 115 120 11 1 11 305 5 343 5 133 82 40 135 115 120 11 1 11 267 5 317 133 82 40 135 115 120 11 1 21 318 5 356 5 156 82 50 190 165 170 14 1 21 287 5 337 156 82 50 190 165 170 14 1 33 318 5 356 5 156 82 50...

Page 442: ...er series Because the actual reduction ratio for some models is different when replacing HF KP_G1 or HF MP_G1 with HG KR_G1 it is required that an electronic gear be set up Output W Reduction ratio Actual reduction ratio HF KP HF MP series G1 HG KR series G1 50 1 5 9 44 9 44 1 12 49 576 49 576 1 20 25 484 25 484 100 1 5 9 44 9 44 1 12 49 576 49 576 1 20 25 484 25 484 200 1 5 19 96 19 96 1 12 25 28...

Page 443: ... 25 times or less HF KP73 B 1 43 1 63 15 times or less HG KR73 B 1 26 1 37 17 times or less Small capacity low inertia HF KP series For general industrial machine with a reducer G1 HF KP053 B G1 1 5 0 089 0 091 5 times or less HG KR053 B G1 1 5 0 0820 0 0840 5 times or less HF KP053 B G1 1 12 0 111 0 113 HG KR053 B G1 1 12 0 104 0 106 HF KP053 B G1 1 20 0 093 0 095 HG KR053 B G1 1 20 0 0860 0 0880...

Page 444: ... 5 1 91 2 02 10 times or less HF KP73 B G5 1 11 1 99 2 19 HG KR73 B G5 1 11 1 82 1 93 HF KP73 B G5 1 21 2 18 2 38 HG KR73 B G5 1 21 2 01 2 12 HF KP73 B G5 1 33 1 96 2 16 HG KR73 B G5 1 33 1 79 1 90 HF KP73 B G5 1 45 1 96 2 16 HG KR73 B G5 1 45 1 79 1 90 Small capacity low inertia HF KP series With shaft output type gear reducer for high precision applications flange mounting G7 HF KP053 B G7 1 5 0...

Page 445: ... 062 25 times or less HG KR053 B G1 1 5 0 0820 0 0840 5 times or less HF MP053 B G1 1 12 0 078 0 084 HG KR053 B G1 1 12 0 104 0 106 HF MP053 B G1 1 20 0 060 0 066 HG KR053 B G1 1 20 0 0860 0 0880 HF MP13 B G1 1 5 0 069 0 076 HG KR13 B G1 1 5 0 115 0 121 HF MP13 B G1 1 12 0 091 0 089 HG KR13 B G1 1 12 0 137 0 143 HF MP13 B G1 1 20 0 073 0 080 HG KR13 B G1 1 20 0 119 0 125 HF MP23 B G1 1 5 0 248 0 2...

Page 446: ...5 1 91 2 02 10 times or less HF MP73 B G5 1 11 1 16 1 26 HG KR73 B G5 1 11 1 82 1 93 HF MP73 B G5 1 21 1 35 1 45 HG KR73 B G5 1 21 2 01 2 12 HF MP73 B G5 1 33 1 13 1 23 HG KR73 B G5 1 33 1 79 1 90 HF MP73 B G5 1 45 1 13 1 23 HG KR73 B G5 1 45 1 79 1 90 Small capacity ultra low inertia HF MP series With shaft output type gear reducer for high precision applications flange mounting G7 HF MP053 B G7 ...

Page 447: ...1 B 46 8 56 5 15 times or less HF SP201 B 75 0 84 7 HG SR201 B 78 6 88 2 HF SP301 B 97 0 107 HG SR301 B 99 7 109 HF SP421 B 154 164 HG SR421 B 151 161 HF SP52 B HF SP524 B 6 1 8 3 HG SR52 B HG SR524 B 7 26 9 48 HF SP102 B HF SP1024 B 11 9 14 0 HG SR102 B HG SR1024 B 11 6 13 8 17 times or less HF SP152 B HF SP1524 B 17 8 20 0 HG SR152 B HG SR1524 B 16 0 18 2 HF SP202 B HF SP2024 B 38 3 47 9 HG SR20...

Page 448: ...25 8 HF SP152 4 B G1 H 1 59 26 2 28 3 HG SR152 4 B G1 H 1 59 23 5 25 7 HF SP202 4 B G1 H 1 6 42 1 51 7 HG SR202 4 B G1 H 1 6 50 0 59 4 HF SP202 4 B G1 H 1 11 40 5 50 2 HG SR202 4 B G1 H 1 11 48 4 57 8 HF SP202 4 B G1 H 1 17 40 2 49 8 HG SR202 4 B G1 H 1 17 48 1 57 5 HF SP202 4 B G1 H 1 29 46 9 56 6 HG SR202 4 B G1 H 1 29 54 8 64 2 HF SP202 4 B G1 H 1 35 46 7 56 4 HG SR202 4 B G1 H 1 35 54 5 63 9 H...

Page 449: ...6 7 96 3 HF SP352 4 B G5 1 21 81 4 91 1 HG SR352 4 B G5 1 21 85 0 94 6 HF SP502 4 B G5 1 5 107 1 117 1 HG SR502 4 B G5 1 5 110 119 HF SP502 4 B G5 1 11 105 1 115 1 HG SR502 4 B G5 1 11 108 117 HF SP702 4 B G5 1 5 164 1 174 1 HG SR702 4 B G5 1 5 161 171 Medium capacity medium inertia HF SP series With shaft output type gear reducer for high precision applications flange mounting G7 HF SP52 4 B G7 1...

Page 450: ...HG SR202 B G5 1 45 52 2 61 9 HC RP353 B G5 1 5 13 2 16 7 HG SR352 B G5 1 5 83 2 92 8 HC RP353 B G5 1 11 13 0 16 5 HG SR352 B G5 1 11 86 7 96 3 HC RP353 B G5 1 21 15 0 18 5 HG SR352 B G5 1 21 85 0 94 6 HC RP353 B G5 1 33 14 1 17 6 HC RP503 B G5 1 5 16 9 20 4 HG SR502 B G5 1 5 110 119 HC RP503 B G5 1 11 20 5 24 0 HG SR502 B G5 1 11 108 117 HC RP503 B G5 1 21 18 7 22 2 Medium capacity ultra low inert...

Page 451: ...G UR202 B 38 2 46 8 HC UP352 B 76 5 85 1 HG UR352 B 76 5 85 1 HC UP502 B 115 124 HG UR502 B 115 124 Large capacity low inertia HF JP series HF JP53 B HF JP534 B 1 52 2 02 10 times or less HG JR53 B HG JR534 B 1 52 2 02 10 times or less HF JP73 B HF JP734 B 2 09 2 59 HG JR73 B HG JR734 B 2 09 2 59 HF JP103 B HF JP1034 B 2 65 3 15 HG JR103 B HG JR1034 B 2 65 3 15 HF JP153 B HF JP1534 B 3 79 4 29 HG ...

Page 452: ...4 1637 Large capacity low inertia HA LP 1500 r min series HA LP701M B HA LP701M4 B 105 113 HG JR701M B HG JR701M4 B 176 196 HA LP11K1M B HA LP11K1M4 B 220 293 HG JR11K1M B HG JR11K1M4 B 220 240 HA LP15K1M B HA LP15K1M4 B 295 369 HG JR15K1M B HG JR15K1M4 B 315 336 HA LP22K1M HA LP22K1M4 550 HG JR22K1M HG JR22K1M4 489 HA LP30K1M HA LP30K1M4 650 HG JR30K1M HG JR30K1M4 627 HA LP37K1M HA LP37K1M4 1080 ...

Page 453: ...A LP37K14 1870 HG JR37K1R S_ HG JR37K14R S_ 1650 Large capacity low inertia HA LP 1500 r min series HA LP701M B HA LP701M4 B 105 113 HG JR701MR B S_ HG JR701M4R B S_ 198 218 HA LP11K1M B HA LP11K1M4 B 220 293 HG JR11K1MR B S_ 250 HG JR11K1M4R B S_ 250 228 248 HA LP15K1M B HA LP15K1M4 B 295 369 HG JR15K1MR B S_ HG JR15K1M4R B S_ 323 344 HA LP22K1M HA LP22K1M4 550 HG JR22K1MR S_ HG JR22K1M4R S_ 487 ...

Page 454: ...er connector Encoder connector Electromagnetic brake connector Power connector 2 4 6 8 1 3 5 7 9 Encoder connector Pin assignment Pin No Signal name 1 2 BAT 3 P5 4 MRR 5 MR 6 LG 7 8 9 SHD 2 4 6 8 1 3 5 7 9 Encoder connector Pin assignment Pin No Signal name 1 2 BAT 3 P5 4 MRR 5 MR 6 LG 7 8 9 SHD Electromagnetic brake connector Power connector Encoder connector Electromagnetic brake connector Power...

Page 455: ...gnment Pin No Signal name 1 B1 2 B2 Electromagnetic brake connector CMV1 R2P Power connector with brake Pin assignment Pin No Signal name 1 B1 2 B2 CM10 R2P Electromagnetic brake connector Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Power connector Pin assignment Pin No Signal name A U B V C W D Earth Power connector MS3...

Page 456: ... Pin No Signal name 1 B1 2 B2 Electromagnetic brake connector Pin assignment Pin No Signal name 1 B1 2 B2 Electromagnetic brake connector CM10 R2P Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Power con...

Page 457: ...ent Pin No Signal name A U B V C W D Earth E F G B1 H B2 Power connector CE05 2A22 23P Power connector with brake Pin assignment Pin No Signal name A U B V C W D Earth E F G B1 H B2 Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 B...

Page 458: ... A U B V C W D Earth E B1 F B2 G Power connector CE05 2A24 10P Power connector with brake Pin assignment Pin No Signal name A U B V C W D Earth E B1 F B2 G Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD ...

Page 459: ...ake Encoder connector Encoder connector CM10 R10P Encoder connector CMV1 R10P Power connector CE05 2A22 23P Power connector Pin assignment Pin No Signal name A U B V C W D Earth E F G H Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Electromagnetic brake conn...

Page 460: ...nector Power connector CE05 2A22 23P Power connector with brake Pin assignment Pin No Signal name A U B V C W D Earth E F G B1 H B2 Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Power connector CE05 2A22 23P Power connector Pin assignment Pin No Signal name A U B V C W D Earth E F G H Encoder connector CMV1 R10P Encoder co...

Page 461: ...ecifications have compatibility in wiring Electromagnetic brake connector CMV1 R2P Electromagnetic brake connector Pin assignment Pin No Signal name 1 B1 2 B2 Electromagnetic brake connector Pin assignment Pin No Signal name A B1 B B2 Electromagnetic brake connector MS3102A10SL 4P Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 ...

Page 462: ...omagnetic brake Encoder connector Power connector CE05 2A22 23P Power connector with brake Pin assignment Pin No Signal name A U B V C W D Earth E F G B1 H B2 Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encoder connector CM10 R10P Power connector Pin assignment Pin No Signal name A U B V C W D Earth E F G H Power connect...

Page 463: ...Electromagnetic brake connector Power connector CE05 2A24 10P Power connector Pin assignment Pin No Signal name A U B V C W D Earth E F G Power connector CE05 2A24 10P Power connector Pin assignment Pin No Signal name A U B V C W D Earth E F G Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encode...

Page 464: ...ables because the connector specifications have compatibility in wiring Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Electromagnetic brake connector Pin assignment Pin No Signal name A B1 B B2 Electromagnetic brake connector CM10 R2P Electromagnetic brake connector CMV1 R2P Electromagnetic brake connector Pin assignment P...

Page 465: ...onnector Pin assignment Pin No Signal name A U B V C W D Earth Power connector MS3102A22 22P Power connector MS3102A22 22P Power connector Pin assignment Pin No Signal name A U B V C W D Earth Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR ...

Page 466: ...romagnetic brake connector Power connector Encoder connector Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Electromagnetic brake connector CM10 R2P Electromagnetic brake connector Pin assignment Pin No ...

Page 467: ...er connector Encoder connector Electromagnetic brake connector Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CM10 R10P Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Electromagnetic brake connector CM10 R2P Electromagnetic brake connector Pin assignment Pin N...

Page 468: ...e connector Pin assignment Pin No Signal name A B1 B B2 Encoder connector MS3102A20 29P Encoder connector Pin assignment Pin No Signal name A B C MR D MRR E F BAT G LG H J K L M N SHD P R LG S P5 T Encoder connector MS3102A20 29P Encoder connector Pin assignment Pin No Signal name A B C MR D MRR E F BAT G LG H J K L M N SHD P R LG S P5 T Power connector Pin assignment Pin No Signal name A U B V C ...

Page 469: ...ons have compatibility in wiring Encoder connector Power connector Power connector CE05 2A24 10P Power connector Pin assignment Pin No Signal name A U B V C W D Earth E F G Power connector MS3102A22 22P Power connector Pin assignment Pin No Signal name A U B V C W D Earth Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encod...

Page 470: ...have compatibility in wiring Encoder connector Power connector Encoder connector Power connector Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Encoder connector CMV1 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Power connector Pin assignment Pin No Signal name A U B V C...

Page 471: ...netic brake connector MS3102A10SL 4P Electromagnetic brake connector Pin assignment Pin No Signal name A B1 B B2 Electromagnetic brake connector MS3102A10SL 4P Electromagnetic brake connector Pin assignment Pin No Signal name A B1 B B2 Power connector Pin assignment Pin No Signal name A U B V C W D Earth Power connector MS3102A32 17P Electromagnetic brake connector Power supply terminal block Enco...

Page 472: ...Electromagnetic brake connector Pin assignment Pin No Signal name A B1 B B2 Encoder connector MS3102A20 29P Encoder connector Pin assignment Pin No Signal name A B C MR D MRR E F BAT G LG H J K L M N SHD P R LG S P5 T Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal name 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 SHD Power connector MS3102A32 17P Power connector Pin assignment...

Page 473: ...inal box Power supply terminal block U V W terminals M10 screw Earth terminal M10 screw Encoder connector Note Cooling fan connector Note The new setting of a encoder cable is required since the thermistor is added to the encoder side connector Encoder connector MS3102A20 29P Encoder connector Pin assignment Pin No Signal name A B C MR D MRR E F BAT G LG H J K THM1 L THM1 M N SHD P R LG S P5 T Coo...

Page 474: ...nlarged view of terminal box Terminal block for thermal OHS1 OHS2 M4 screw Terminal block for cooling fan BU BV BW terminal M4 Power supply terminal block U V W terminals M10 screw Earth terminal M6 screw Power supply terminal block U V W terminals M10 screw Earth terminal M10 screw Encoder connector Cooling fan connector Encoder connector CM10 R10P Encoder connector Pin assignment Pin No Signal n...

Page 475: ... 3 For the 1 phase 100 V AC power supply part of the torque characteristic is indicated by the broken line 4 The torque characteristics of the HF KP series are the value of the maximally increased torque 2 HF MP series Same torque characteristics HF MP053 HG MR053 HF MP13 HG MR13 HF MP23 HG MR23 HF MP43 HG MR43 HF MP73 HG MR73 1000 2000 3000 4000 5000 6000 Speed r min Continuous running range Shor...

Page 476: ...nge Short duration running range Torque N m 1000 2000 3000 0 Speed r min Continuous running range Short duration running range Torque N m 0 8 2 6 4 1000 2000 3000 0 0 5 15 10 Speed r min Continuous running range Short duration running range Torque N m 1000 2000 3000 0 0 5 15 25 20 10 Speed r min Continuous running range Short duration running range Torque N m 1000 2000 3000 0 0 10 20 30 Speed r mi...

Page 477: ...00 2000 3000 0 0 80 120 40 100 60 20 Speed r min Continuous running range Short duration running range Torque N m Note 1 For the 3 phase 400 V AC power supply the torque characteristic is indicated by the heavy line 2 For the 1 phase 380 V AC power supply part of the torque characteristic is indicated by the thin line 5 HC RP series Same torque characteristics HC RP103 HG RR103 HC RP153 HG RR153 H...

Page 478: ...1000 20002500 0 0 20 40 60 Speed r min Continuous running range Short duration running range Torque N m 1000 20002500 0 0 20 40 80 60 Speed r min Continuous running range Short duration running range Torque N m Note 1 The above torque characteristics are for 3 phase 200 V AC 2 For the 1 phase 200 V AC power supply part of the torque characteristic is indicated by the thin line Torque N m Short dur...

Page 479: ...HG JR903 1000 3000 50006000 0 Note 3 Speed r min Continuous running range Short duration running range Torque N m 0 45 30 20 10 40 1000 3000 50006000 0 Note 3 Speed r min Continuous running range Short duration running range Torque N m 0 30 10 50 70 1000 2000 3000 4000 5000 0 0 70 30 10 50 Speed r min Continuous running range Short duration running range Torque N m 1000 2000 3000 4000 5000 0 Speed...

Page 480: ...tinuous running range Short duration running range HA LP30K1 HG JR30K1 Continuous running range Torque N m Speed r min Torque N m Speed r min Continuous running range Short duration running range HA LP25K1 HG JR25K1 Torque N m Speed r min Continuous running range Short duration running range HA LP20K1 HG JR20K1 Torque N m Speed r min Continuous running range Short duration running range HA LP15K1 ...

Page 481: ... Short duration running range Continuous running range Short duration running range Continuous running range Torque N m Speed r min HA LP25K14 HG JR25K14 Note 3 Continuous running range Torque N m Speed r min HA LP20K14 HG JR20K14 Short duration running range Short duration running range HA LP15K14 HG JR15K14 Note 3 Continuous running range Torque N m Speed r min Short duration running range Conti...

Page 482: ...m HA LP37K1M HG JR37K1M HA LP30K1M HG JR30K1M Speed r min Torque N m Short duration running range Continuous running range Torque N m Speed r min HA LP22K1M HG JR22K1M Note 2 Short duration running range Continuous running range HA LP15K1M HG JR15K1M Torque N m Speed r min Short duration running range Continuous running range Torque N m Speed r min Continuous running range Short duration running r...

Page 483: ...Short duration running range Continuous running range Torque N m Short duration running range HA LP37K1M4 HG JR37K1M4 Continuous running range Speed r min HA LP30K1M4 HG JR30K1M4 Speed r min Short duration running range Continuous running range Torque N m Short duration running range Continuous running range Torque N m Speed r min HA LP22K1M4 HG JR22K1M4 Note 3 Short duration running range Continu...

Page 484: ... Continuous running range Speed r min Torque N m HA LP30K2 HG JR22K1M Note 2 Short duration running range Continuous running range Speed r min Torque N m HA LP22K2 HG JR15K1M Note2 Short duration running range Continuous running range Speed r min Torque N m HA LP15K2 HG JR11K1M Note 2 Short duration running range Continuous running range Speed r min Torque N m HA LP11K2 HG JR11K1M Short duration r...

Page 485: ...LP45K24 HG JR37K1M4 Speed r min Torque N m Short duration running range Continuous running range HA LP37K24 HG JR30K1M4 Torque N m Speed r min Short duration running range Continuous running range HA LP30K24 HG JR22K1M4 Note 3 Speed r min Short duration running range Continuous running range Torque N m Torque N m Speed r min Short duration running range Continuous running range HA LP22K24 HG JR15K...

Page 486: ...Part 8 Review on Replacement of Optional Peripheral Equipment 8 1 Part 8 Review on Replacement of Optional Peripheral Equipment ...

Page 487: ...ombination with the regenerative resistor for MR J4 series Do not use regenerative options newly provided by the MR J4 series with the MR J3 MR J3W series because use of them causes an amplifier malfunction List of new regenerative options Servo amplifier model Regenerative option MR RB Accessory regenerative resistor MR J4 350_ 3N 5N MR J4 11K_ 5R GRZG400 0 8Ω 4 MR J4 15K_ 9F GRZG400 0 6Ω 5 MR J4...

Page 488: ...d accessories External Permissible regenerative power of regenerative option W MR RB Note 2 5E 6 Ω Note 2 5R 3 2 Ω Note 2 9P 4 5 Ω Note 2 9F 3 Ω Note 2 9T 2 5 Ω 139 1 3 Ω Note 3 137 1 3 Ω MR J3 11K_ GRZG400 1 5Ω 4 500 800 500 800 MR J3 11K_ LR GRZG400 0 8Ω 4 500 800 500 800 MR J3 15K_ GRZG400 0 9Ω 5 850 1300 850 1300 MR J3 15K_ LR GRZG400 0 6Ω 5 850 1300 850 1300 MR J3 22K_ 850 1300 MR J3 DU30K_ 1...

Page 489: ...500 Servo amplifier model Built in regenerative resistor W Note 2 Standard accessories External Permissible regenerative power of regenerative option W MR RB Note 2 5E 6 Ω Note 2 5R 3 2 Ω Note 2 9P 4 5 Ω Note 2 9F 3 Ω Note 2 9T 2 5 Ω 139 1 3 Ω Note 3 137 1 3 Ω MR J4 11K_ GRZG400 0 8Ω 4 500 800 500 800 MR J4 15K_ GRZG400 0 6Ω 5 850 1300 850 1300 MR J4 22K_ GRZG400 0 5Ω 5 850 1300 850 1300 MR J4 DU3...

Page 490: ...pprox 30 7 14 slot Air intake Cooling fan mounting screw 2 M3 screw On opposite side 133 350 82 5 162 5 12 5 162 5 12 5 17 MR RB5N 2 3 133 82 5 49 82 5 Cooling fan mounting screw 2 M3 screw On opposite side 200 17 217 8 120 108 12 12 5 162 5 350 162 5 12 5 7 Approx 30 7 14 slotted hole Intake 11K_ 15K_ 22K_ MR RB5E MR RB9P MR RB9F 260 230 10 2 10 mounting hole 197 15 2 3 Air intake 215 15 230 15 1...

Page 491: ...4 170 300 500 Servo amplifier model Built in regenerative resistor W Note 2 Standard accessories External Permissible regenerative power of regenerative option W MR RB Note 2 5K 4 10 Ω Note 2 6B 4 20 Ω Note 2 60 4 12 5 Ω Note 2 6K 4 10 Ω 136 4 5 Ω Note3 138 4 5 Ω MR J3 11K_4 GRZG400 5Ω 4 500 800 500 800 MR J3 11K_4 LR GRZG400 2 5Ω 4 500 800 500 800 MR J3 15K_4 GRZG400 2 5Ω 5 850 1300 850 1300 MR J...

Page 492: ...MR J4 200_4 100 300 500 MR J4 350_4 100 300 500 MR J4 500_4 130 300 500 MR J4 700_4 170 300 500 Servo amplifier model Built in regenerative resistor W Note 2 Standard accessories External Permissible regenerative power of regenerative option W MR RB Note 2 5K 4 10 Ω Note 2 6B 4 20 Ω Note 2 60 4 12 5 Ω Note 2 6K 4 10 Ω 137 4 4 Ω Note 3 13V 4 4 Ω MR J4 11K_4 GRZG400 2 5Ω 4 500 800 500 800 MR J4 15K_...

Page 493: ... Approx 30 142 79 82 5 30 8 5 10 90 101 5 82 5 318 23 341 Intake 7 100 Cooling fan mounting screw 2 M4 screw 200_4 500_4 700_4 MR RB5G 4 MR RB54 4 2 3 49 82 5 200 23 223 8 120 108 12 7 Approx 30 7 14 slot Air intake Cooling fan mounting screw 2 M3 screw On opposite side 133 82 5 12 5 350 12 5 162 5 162 5 MR RB5G 4 MR RB54 4 MR RB5U 4 2 3 133 82 5 49 82 5 Cooling fan mounting screw 2 M3 screw On op...

Page 494: ...136 4 MR RB138 4 480 10 260 230 2 φ10 mounting hole 10 500 10 15 15 Cooling fan Note 1 15 230 15 30 427 43 197 Intake 15 2 3 215 MR RB137 4 MR RB13V 4 480 10 260 230 2 φ10 mounting hole 10 500 10 15 15 Cooling fan Note 1 15 230 15 30 427 43 197 Intake 15 2 3 215 Note 1 One cooling fan for MR RB136 4 MR RB138 4 MR RB137 4 MR RB13V 4 480 10 260 230 10 2 φ10 mounting hole 500 30 427 43 197 15 2 3 Coo...

Page 495: ...ged items are shown with shading Dynamic brake option combination Model Applicable servo amplifier DBU 11K MR J3 11K_ MR J4 11K_ DBU 15K MR J3 15K_ MR J4 15K_ DBU 22K MR J3 22K_ DBU 22K R1 MR J4 22K_ DBU 37K MR J3 DU30K_ MR J3 DU37K DBU 37K R1 MR J4 DU30K_ MR J4 DU37K_ DBU 11K 4 MR J3 11K_4 MR J4 11K_4 DBU 22K 4 MR J3 15K_4 MR J3 22K_4 MR J4 15K_4 MR J4 22K_4 DBU 55K 4 MR J3 DU30K_4 MR J3 DU37K_4 ...

Page 496: ... 25 6 235 228 6 DBU 22K R1 250 238 150 25 6 235 228 6 MR J3 series MR J4 series 30K_ 37K_ 30K_4 37K_4 45K_4 55K_4 DBU 37K DBU55K_4 Unit mm 390 370 10 10 260 230 15 15 10 15 15 230 30 330 30 220 15 235 2 φ10 mounting hole 2 3 TE2 TE1 External dynamic brake Mass kg DBU 37K 8 DBU 55K4 11 DBU 37K R1 DBU 55K 4 R5 Unit mm 390 370 10 10 260 230 15 15 10 15 15 230 30 330 30 220 15 235 2 φ10 mounting hole ...

Page 497: ...ded MR ENECNS Use the same combination SSCNET optical communication cable MR J3BUS_M Use the same combination _M Cable length _ Bending life MR J3BUS_M _ Connector set for SSCNET optical communication MR J3BCN1 Use the same combination Junction terminal block cable General Purpose Interface CN1 MR J2M CN1TBL_M Use the same combination _ Cable length connector set MR J3CN1 Use the same combination ...

Page 498: ...the dedicated battery of each series Monitor cable MR J3CN6CBL1M Use the same combination Protection coordination cable MR J3CDL05M Use the same combination 30 kW or more CN40 CN40A connector set MR J2CN1 A Use the same combination Termination connector MR J3 TM Not required Magnetic contactor wiring connector Note 4 Use the same combination Socket GFKC 2 5 2 STF 7 62 Digital I O connector Use the...

Page 499: ...mbination _M Cable length A_ Leading direction _ Bending life MR BKS2CBL03M A_ L Electromagnetic brake connector set MR BKCNS1 Use the same combination MR BKCNS1A Use the same combination Servo amplifier power connector CNP1 For MR J3WCNP123 SP connector set CNP1 03JFAT AXGFK 43 CNP2 06JFAT SAXYGG F KK CNP3A 3B 04JFAT SAGG G KK 03JFAT SAXGFK 43 Note 1 Replace the existing connectors with the ones ...

Page 500: ...een the servo amplifier and servo motor use a 600 V grade EP rubber insulated chloroprene sheath cab tire cable 2PNCT For selection of cables refer to Servo Amplifier Instruction Manual To comply with the UL C UL CSA Standard use the wires shown in the servo amplifier for wiring To comply with other standards use a wire that is complied with each standard Selection condition of wire size is as fol...

Page 501: ... to crimp terminals used when wiring a servo amplifier The method of wiring a servo motor differs depending on the type and capacity of the servo motor To comply with the UL cUL CSA standard use UL approved copper wires rated at 60 C or higher for wiring C P U V W L11 L21 U V W L1 L2 L3 B1 B2 1 Main circuit power supply lead Servo amplifier 3 Motor power supply lead Servo motor Power supply Motor ...

Page 502: ...14 1 25 AWG16 MR J3 22K_ Note 2 50 AWG1 0 f 60 AWG2 0 f 5 5 AWG10 k MR J3 60_4 1 25 AWG16 MR J3 100_4 2 AWG14 1 25 AWG16 2 AWG14 MR J3 200_4 2 AWG14 MR J3 350_4 2 AWG14 g 1 25 AWG16 h 2 AWG14 g 2 AWG14 g MR J3 500_4 Note 2 5 5 AWG10 a 5 5 AWG10 a MR J3 700_4 Note 2 2 AWG14 Note 3 1 25 AWG16 Note 3 MR J3 11K_4 Note 2 8 AWG8 l 8 AWG8 l 3 5 AWG12 j MR J3 15K_4 Note 2 14 AWG6 c 1 25 AWG16 g 22 AWG4 d ...

Page 503: ...AWG16 MR J3 22K_ Note 2 38 AWG1 p 38 AWG1 p 5 5 AWG10 k MR J3 60_4 1 25 AWG16 MR J3 100_4 2 AWG14 1 25 AWG16 2 AWG14 MR J3 200_4 2 AWG14 MR J3 350_4 2 AWG14 g 1 25 AWG16 h 2 AWG14 g 2 AWG14 g MR J3 500_4 Note 2 3 5 AWG12 a 3 5 AWG12 a MR J3 700_4 Note 2 5 5 AWG10 a 1 25 AWG16 Note 3 1 25 AWG16 Note 3 MR J3 11K_4 Note 2 5 5 AWG10 j 8 AWG8 l 2 AWG14 q MR J3 15K_4 Note 2 8 AWG8 l 1 25 AWG16 g 14 AWG6...

Page 504: ... each standard Selection conditions of wire size are as follows Construction condition Single wire set in midair Wire length 30 m or less The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 5 Power regeneration converter lead Power regeneration converter N 3 Regenerative option lead Regenerative option 2 Control circuit power supply lead C P L L ...

Page 505: ... 14 c 3 5 AWG 12 g 14 AWG 6 f 5 5 AWG 10 g 8 AWG 8 k MR J4 15K_ RJ Note 2 22 AWG 4 h 5 5 AWG 10 g 22 AWG 4 h 8 AWG 8 k MR J4 22K_ RJ Note 2 38 AWG 2 i 5 5 AWG 10 j 38 AWG 2 i MR J4 60_4 RJ MR J4 100_4 RJ 2 AWG 14 1 25 to 2 AWG 16 to 14 Note 4 2 AWG 14 AWG 16 to 14 MR J4 200_4 RJ MR J4 350_4 RJ MR J4 500_4 RJ Note 2 2 AWG 14 b 1 25 AWG 16 a 2 AWG 14 c Note 4 2 AWG 14 b 3 5 AWG 12 a MR J4 700_4 RJ N...

Page 506: ...Thermistor lead 2 Control circuit power supply lead 1 Main circuit power supply lead Power supply Regenerative option Servo motor Electr magnetic brake The following table shows selection examples of cable sizes These sizes are common for the 600V Polyvinyl chloride insulated wire IV wire and for the 600V Grade heat resistant polyvinyl chloride insulated wire HIV wire Wire size selection example 1...

Page 507: ...wire 24VDC power supply 48VDC power supply Encoder cable Motor power supply cable Servo motor Servo amplifier B1 B2 1 3 2 CN2A CNP1 CNP2A Encoder cable Motor power supply cable Servo motor B1 B2 3 CN2B CNP2B PM 24 0 Wire size selection example IV HIV wire Servo amplifier Wire Note 1 1 24 0 PM 2 U V W 3 B1 B2 MR J3W 0303BN6 AWG16 Note 2 3 AWG19 1 25mm2 AWG16 Note 1 This is a selection example when ...

Page 508: ...nerative option lead Regenerative option Servo amplifier 2 Control circuit power supply lead D C P L1 L2 L3 L11 L12 1 Main circuit power supply lead Power supply U V W M 4 Servo motor power supply lead The following table shows the wire size selection example Wire size selection example HIV wire Servo amplifier Wires mm2 1 L1 L2 L3 Note 1 2 L11 L21 3 P C D 4 U V W Note 2 MR J4W2 22B 2 AWG 14 AWG 1...

Page 509: ...ircuit power supply lead U1 V1 W1 2 Servo motor power lead 24 V DC power supply 48 V DC power supply U2 V2 W2 E1 E2 M M The following shows the wire size selection example Wire size selection example HIV wire Servo amplifier Wire mm2 1 24 0 PM 2 U1 V1 W1 E1 U2 V2 W2 E2 Note MR J4W2 0303B6 AWG 16 AWG 19 Note The wire size shows applicable size of the servo amplifier connector For wires connecting t...

Page 510: ... E 4 YNE 38 DH 122 DH 112 d FVD22 6 DH 123 DH 113 e Note 1 38 6 YPT 60 21 TD 124 TD 112 YF 1 E 4 YET 60 1 f Note 1 R60 8 YPT 60 21 TD 125 TD 113 YF 1 E 4 YET 60 1 g FVD2 4 YNT 1614 h FVD2 M3 j FVD5 5 6 YNT 1210S k FVD5 5 8 l FVD8 6 YF 1 E 4 YNE 38 DH 121 DH 111 m FVD14 8 DH 122 DH 112 n FVD22 8 DH 123 DH 113 p Note 1 R38 8 YPT 60 21 TD 124 TD 112 YF 1 E 4 YET 60 1 q FVD2 6 YNT 1614 Note 1 Coat the...

Page 511: ... YF 1 E 4 YNE 38 DH 121 DH 111 Note 1 Cover the crimped portion with an insulating tape 2 Installation of a crimp terminal may be impossible depending on the size so make sure to use the recommended crimp terminal or one equivalent to it 2 Selection example of crimp terminals 400 V class The table below shows selection examples of a crimp terminal for a servo amplifier terminal block Recommended c...

Page 512: ..._ 40_1 30 A frame 15 A 30 A frame 10 A 20 A MR J3 200_ 30 A frame 20 A 30 A frame 15 A 240 V 40 A 300 V S N18 MR J3 350_ 30 A frame 30 A 30 A frame 30 A 70 A S N20 MR J3 500_ 50 A frame 50 A 50 A frame 40 A 125 A S N35 MR J3 700_ 100 A frame 75 A 50 A frame 50 A 150 A S N50 MR J3 11K_ 100 A frame 100 A 100 A frame 75 A 200 A S N65 MR J3 15K_ 225 A frame 125 A 100 A frame 100 A T 250 A S N95 MR J3 ...

Page 513: ...R J4 100_ 3 phase power supply input MR J4 100_ 1 phase power supply input 30 A frame 15 A 30 A frame 15 A 30 MR J4 200_ 30 A frame 20 A 30 A frame 20 A 40 S N20 Note 3 S T21 MR J4 350_ 30 A frame 30 A 30 A frame 30 A 70 S N20 S T21 MR J4 500_ 50 A frame 50 A 50 A frame 50 A 125 S N35 MR J4 700_ 100 A frame 75 A 60 A frame 60 A 150 S N50 MR J4 11K_ 100 A frame 100 A 100 A frame 100 A 200 MR J4 15K...

Page 514: ...aker Note Fuse Class T Fuse Class K5 Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J4 10_ MR J4 20_ MR J4 40_ MR J4 60_ MR J4 70_ MR J4 100_ MR J4 200_ 30 A frame 5 A 240 1 300 1 250 MR J4 350_ MR J4 500_ MR J4 700_ MR J4 11K_ MR J4 15K_ MR J4 22K_ MR J4 60_4 MR J4 100_4 MR J4 200_4 MR J4 350_4 MR J4 500_4 30 A frame 5 A 480 1 600 1 600 MR J4 700_4 MR J4 11K_4 M...

Page 515: ...e AC V Class Note 1 Current A Voltage AC V Not using power factor improving AC reactor Using power factor improving AC reactor 300 W or less 30 A frame 5 A 30 A frame 5 A 240 K5 15 300 S N10 From over 300W to 600W 30 A frame 10 A 30 A frame 10 A 20 From over 600W to 1kW 30 A frame 15 A 30 A frame 10 A 20 From over 1kW to 2 0kW 30 A frame 20 A 30 A frame 15 A 30 S N18 Note 1 In order for the servo ...

Page 516: ...W to 1 kW 50 A frame 15 A Note 3 20 From over 1 kW to 2 kW 50 A frame 20 A Note 3 30 S N20 Note 4 S T21 Note 1 In order for the servo amplifier to comply with the UL CSA standard refer to the applicable Servo Amplifier Instruction Manual 2 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less 3 When not u...

Page 517: ... Servo amplifier Power supply specification Circuit protector Note MR J4W2 0303BN6 Control circuit power supply 24 V DC CP30 BA 1P 1 M 1A Main circuit power supply 48 V DC CP30 BA 1P 1 M 5A Main circuit power supply 24 V DC CP30 BA 1P 1 M 10A Note For operation characteristics use an intermediate speed type ...

Page 518: ... off the main circuit power and wait for 15 minutes or longer when 30 kW or more is used 20 minutes or more until the charge lamp turns off Then check the voltage between P and N with a voltage tester or others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier If AL 25 Absolute position er...

Page 519: ...d etc 2 Year and month when MR J3BAT is manufactured Production year and month of the MR J3BAT are indicated in a serial number on the rating plate of the battery back face 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 October 2004 the Serial No is like SERIAL_4X_ _ _ _ _ _ MELSERVO 3 6V 2000mAh SERIAL 4X MR J3BAT MADE IN JAPAN MITS...

Page 520: ...ttery cable cannot be replaced Therefore do not disassemble the MR BAT6V1BJ battery for junction battery cable Doing so may cause a malfunction POINT When using the BAT6V1SET battery and the MR BT6VCASE battery case are used Replacing a battery with the control circuit power supply turned off will erase the absolute position data When using the MR BAT6V1BJ battery for junction battery cable In ord...

Page 521: ...V1SET battery and the MR BT6VCASE battery case Encoder cable is removed A battery is replaced with the control circuit power supply turned off When using the MR BAT6V1BJ battery for junction battery cable The connector and the cable are removed between the servo motor and the battery A battery is replaced in a procedure different from the procedure described in the Instruction Manual The MR BAT6V1...

Page 522: ... series servo motors MR BT6VCBL03M MR BAT6V1BJ CN2 CN4 b Battery manufacture year and month The manufacture year and month are described in the manufacturer s SERIAL number marked on the rating name plate The second digit of the manufacturer s number indicates the first digit of the Christian Era and the third digit indicates the manufacture month X for October Y for November and Z for December Fo...

Page 523: ...a of up to eight axes of servo motors Servo motors in the incremental system are included in the number of axes Refer to the following table for the number of connectable axes of each servo motor Servo motor Number of axes Rotary servo motor 0 1 2 3 4 5 6 7 8 The battery case accommodates five connected batteries The battery case contains no batteries Batteries need to be prepared separately b Bat...

Page 524: ... cable is required To connect multiple servo amplifiers to an MR BTCASE battery case use the MR J3BT2CBL_M junction battery cable When using an MR J3W B servo amplifier in the incremental system MR BTCASE and MR BAT are not required Battery backup time battery life without charging is 30 000 hours for one servo amplifier two axes and 10 000 hours for four servo amplifiers eight axes Refer to servo...

Page 525: ...attery case and five MR BAT6V1 batteries For the specifications and year and month of manufacture of MR BAT6V1 battery refer to Servo Amplifier Instruction Manual MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries A battery case does not have any batteries Please prepare MR BAT6V1 batteries separately 1 The number of connected servo motors One MR BT6VCASE holds absolut...

Page 526: ...m are included as the axis Nos The MR J4W_ _B servo amplifiers can be combined with MR J4 _B_ RJ servo amplifiers a When using 1 axis servo amplifier CN1A CN1B Cap CN4 CN10 MR BT6VCASE MR BT6V1CBL_M Servo amplifier b When using up to 8 axis servo amplifiers CN4 CN10 MR BT6VCASE MR BT6V1CBL_M MR BT6V2CBL_M Servo amplifier Last MR BT6V2CBL_M Servo amplifier First CN4 CN4 Servo amplifier Second ...

Page 527: ... the servo amplifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand POINT Replacing battery with the control circuit power off will erase the absolute position data Before replacing batteries...

Page 528: ...del Quantity Remark Battery case MR BT6VCASE 1 MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries Battery MR BAT6V1 5 Lithium battery primary battery nominal 6 V 2 Disassembly and assembly of the battery case MR BT6VCASE a Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled Threads Remove the two screw...

Page 529: ...shed forcefully in the incorrect direction the connector will break Place the MR BAT6V1 lead wire to the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 Bring out the lead wire from the space between the ribs and bend it as shown above to store it in the duct Connect the lead wire to the connector Be careful not to get the lead ...

Page 530: ...crewing parts Threads d Precautions for removal of battery The connector attached to the MR BAT6V1 battery has the lock release lever When removing the connector pull out the connector while pressing the lock release lever 3 Battery cable removal CAUTION Pulling out the connector of the MR BT6V1CBL and the MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo...

Page 531: ...50mAh The year and month of manufacture Item Description Battery pack 2CR17335A CR17335A 2 pcs in series Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 to 55 Lithium content g 1 2 Mercury content Less than 1 ppm Dangerous goods class Not subject to the dangerous goods Class 9 Refer to app 2 for details Operating humidity and storage humidity 5...

Page 532: ...1SET A for MR J4W2 0303B6 servo amplifier The MR BAT6V1SET A cannot be used for MR J4W_ B servo amplifiers other than MR J4W2 0303B6 1 Parts identification and dimensions Unit mm 51 27 4 37 5 Case Connector for servo amplifier Mass 55 g including MR BAT6V1 battery 2 Battery mounting Connect as follows CN4 MR BAT6V1SET A MR J4W2 0303B6 ...

Page 533: ...rt the connector of the battery into CN4 b Removal procedure CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery While pressing the lock release lever pull out the connector While pressing the lock release lever slide the battery case toward you ...

Page 534: ...hen the MR BAT6V1SET A reaches the end of its life replace the built in MR BAT6V1 battery Tab Cover 1 While pressing the locking part open the cover 2 Replace the battery with a new MR BAT6V1 battery Projection four places 3 Press the cover until it is fixed with the projection of the locking part to close the cover ...

Page 535: ...10_1 to MR J4 40_1 MR J3W 22B MR J3W 44B MR J4W2 22B MR J4W2 44B HF3010A UN2 Note MR J3 200_N MR J3 350_ HF3030A UN Note 30 5 5 MR J4 200_ MR J4 350_ MR J3W 77B MR J3W 1010B MR J4W2 77B MR J4W2 1010B MR J3 500_ MR J3 700_ HF3040A UN Note 40 6 5 6 MR J4 500_ MR J4 700_ MR J3 11K_ to MR J3 22K_ HF3100A UN Note 100 12 MR J4 11K_ to MR J4 22K_ MR J3 DU30K_ MR J3 DU37K_ MR J4 DU30K_ MR J4 DU37K_ HF3200...

Page 536: ...open There is no L3 for 1 phase 100 to 120 V AC power supply Refer to section 1 3 for the power supply specification 2 The example is when a surge protector is connected 2 MR J4 series 200 V 100 V class MCCB L1 L2 L3 L11 L21 Servo amplifier 1 2 3 4 5 6 E Note 2 Surge protector Note 1 Power supply 1 2 3 MC EMC filter Note 1 For 1 phase 200 to 240V AC power supply connect the power supply to L1 L3 a...

Page 537: ...t 8 52 6 1 2 Dimensions 1 EMC filter HF3010A UN HF3010A UN2 Unit mm 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 HF3030A UN HF3040A UN Unit mm 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3 25 length 8 3 M5 M4 85 1 210 2 85 1 ...

Page 538: ...t 8 53 HF3100A UN Unit mm 2 6 5 8 M8 2 φ6 5 145 1 165 3 M6 380 1 400 5 160 3 M8 TF3005C TX TF3020C TX TF3030C TX Unit mm 290 2 100 1 308 5 332 5 Approx 12 2 3 M4 16 6 R3 25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx 67 5 3 Approx 160 170 5 M4 3 M4 100 1 16 ...

Page 539: ...ement of Optional Peripheral Equipment 8 54 TF3040C TX TF3060C TX Unit mm 180 2 Approx 91 5 Approx 190 200 5 M6 390 2 100 1 412 5 438 5 Approx 17 3 M6 22 22 8 R3 25 Length 8 for M6 M4 M4 145 2 3 M6 160 1 175 2 IN 100 1 100 1 ...

Page 540: ... 5 1 3 2 41 1 0 28 5 1 0 28 1 0 4 2 0 2 200 30 0 UL 1015AWG16 5 5 1 11 1 Unit mm Black 1 2 3 Black Black RAV 781BXZ 4 1 3 2 UL 1015AWG16 4 2 0 2 5 5 1 11 1 28 5 1 0 200 30 0 28 1 0 41 1 0 4 5 0 5 Unit mm RSPD 250 U4 41 1 28 5 1 28 1 φ4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Lead Case Resin Unit mm 1 2 3 ...

Page 541: ...ecrease the power supply capacity As compared to the power factor improving AC reactor FR BAL H it can decrease the loss The input power factor is improved to about 95 It is also effective to reduce the input side harmonics When connecting the power factor improving DC reactor to the servo amplifier always disconnect P1 and P2 For 11k to 22kW disconnect P1 and P If it remains connected the effect ...

Page 542: ...1 6 115 6 12 M4 30 M5 1 2 MR J3 200_ FR BEL 3 7K 150 75 102 2 0 135 6 12 M4 40 M5 1 7 MR J3 350_ FR BEL 7 5K 150 75 126 2 0 135 6 12 M5 40 M5 2 3 3 5 AWG12 MR J3 500_ FR BEL 11K 170 93 132 2 3 155 6 14 M5 50 M5 3 1 5 5 AWG10 MR J3 700_ FR BEL 15K 170 93 170 2 3 155 6 14 M8 56 M5 3 8 8 AWG8 MR J3 11K_ Fug 8 2 22 AWG4 MR J3 15K_ FR BEL 22K 185 119 182 2 6 165 7 15 M8 70 M6 5 4 30 AWG2 MR J3 22K_ FR ...

Page 543: ... less Mounting hole for M8 1 5 1 5 Drive unit Power factor improving DC reactor W D H W1 X Terminal screw Mass kg lb MR J3 DU30K_ MR DCL30K 135 255 215 80 232 M12 9 5 20 94 MR J3 DU37K_ MR DCL37K MR J3 DU30K_4 MR DCL30K 4 205 200 75 175 M8 6 5 14 33 MR J3 DU37K_4 MR DCL37K 4 225 80 197 7 15 43 MR J3 DU45K_4 MR DCL45K 4 240 212 7 5 16 54 MR J3 DU55K_4 MR DCL55K 4 260 215 232 9 5 20 94 ...

Page 544: ...e sure to connect a power factor improving AC reactor to each servo amplifier If using only one power factor improving AC reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated W W1 C Z RXSYT H 5 D1 Y Z S Installation screw T MC MCCB Y Y Z Z S S T T MC MCCB Y Y Z Z S S T T MC MCCB FR BAL H Servo amplifier 3 phase 200 V class or 3 phase 400 V c...

Page 545: ... MR J3 60_4 FR BAL H1 5K 160 145 140 87 70 0 2 5 7 5 M4 M3 5 5 3 MR J3 100_4 FR BAL H2 2K 160 145 140 91 75 0 2 5 7 5 M4 M3 5 5 9 MR J3 200_4 FR BAL H3 7K 220 200 190 90 70 0 2 5 10 M5 M3 5 8 5 MR J3 350_4 FR BAL H7 5K 220 200 192 120 100 5 10 M5 M4 14 MR J3 500_4 FR BAL H11K 280 255 226 130 100 5 12 5 M6 M5 18 5 MR J3 700_4 FR BAL H15K 295 270 244 130 110 5 12 5 M6 M5 27 MR J3 11K_4 MR J3 15K_4 F...

Page 546: ...ving DC reactor to the servo amplifier always disconnect P3 and P4 If it remains connected the effect of the power factor improving DC reactor is not produced When used the power factor improving DC reactor generates heat To release heat therefore leave a 10 cm or more clearance at each of the top and bottom and a 5 cm or more clearance on each side 2 d mounting hole Varnish is removed from right ...

Page 547: ... M4 1 5 MR J4 350_ FR HEL 7 5K 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 MR J4 500_ FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J4 700_ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 8 AWG 8 MR J4 11K_ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 14 AWG 6 MR J4 15K_ FR HEL 22K 105 64 93 175 117 104 115 Note 1 M6 M10 5 6 22 AWG 4 MR J4 22K_ FR HEL 30K Fig 8 5 114 72 100 200 125 10...

Page 548: ...ctor to the servo amplifier always disconnect P3 and P4 If it remains connected the effect of the power factor improving DC reactor is not produced When used the power factor improving DC reactor generates heat To release heat therefore leave a 10 cm or more clearance at each of the top and bottom and a 5 cm or more clearance on each side W1 D2 W 2 5 H 2 5 D or less D3 D1 1 4 d mounting hole Note ...

Page 549: ...120 95 89 69 45 M4 M4 2 3 2 AWG 14 MR J4 350_4 FR HEL H7 5K 96 60 128 105 100 80 50 M5 M4 3 5 2 AWG 14 MR J4 500_4 FR HEL H11K 105 75 137 110 105 85 53 M5 M5 4 5 3 5 AWG 12 MR J4 700_4 FR HEL H15K Fig 8 8 105 75 152 125 115 95 62 M5 M6 5 0 5 5 AWG 10 MR J4 11K_4 8 AWG 8 MR J4 15K_4 FR HEL H22K 133 90 178 120 95 75 53 M5 M6 6 0 8 AWG 8 MR J4 22K_4 FR HEL H30K 133 90 178 120 100 80 56 M5 M6 6 5 14 A...

Page 550: ...xes After the tentative selections are made for all types of the servo motors use the largest among all power factor improving AC reactors 4 d mounting hole Varnish is removed from front right mountin hole face and back side Note 1 Terminal layout R X Z S Y T W or less Note 2 W1 D1 D2 H D or less Fig 8 9 Y Z S T Y Z S T MC MCCB MC MCCB FR HAL Servo amplifier 3 phase 200 V class X R L1 L2 L3 3 phas...

Page 551: ... M4 2 2 MR J4 350_ FR HAL 7 5K Fig 8 10 130 50 135 100 98 86 M6 M5 4 2 MR J4 500_ FR HAL 11K 160 75 164 111 109 92 M6 M6 5 2 MR J4 700_ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 11K_ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 15K_ FR HAL 22K 185 Note 75 150 158 100 87 M6 M8 9 0 MR J4 22K_ FR HAL 30K Fig 8 11 185 Note 75 150 168 100 87 M6 M10 9 7 Note Maximum dimensions The dimension...

Page 552: ...wo servo amplifiers or more be sure to connect a power factor improving reactor to each servo amplifier If using only one power factor improving reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated W 0 5 W1 R X Z S Y T H 5 D1 D2 4 d mounting hole Note φ5 groove D or less Y Z S T MC MCCB FR HAL H Servo amplifier 3 phase 400 V class X R L1 L2 ...

Page 553: ... 135 120 115 59 59 6 45 M4 M3 5 1 5 MR J4 200_4 FR HAL H3 7K 135 120 115 69 70 6 57 M4 M3 5 2 5 MR J4 350_4 FR HAL H7 5K Fig 8 16 160 145 142 91 91 75 M4 M4 5 0 MR J4 500_4 FR HAL H11K 160 145 146 91 91 75 M4 M5 6 0 MR J4 700_4 MR J4 11K_4 FR HAL H15K 220 200 195 105 90 70 M5 M5 9 0 MR J4 15K_4 FR HAL H22K Fig 8 17 220 200 215 170 90 70 M5 M8 9 5 MR J4 22K_4 FR HAL H30K 220 200 215 170 96 75 M5 M8...

Page 554: ...plifier CO or later Note1 Baud rate bps 115200 57600 38400 19200 9600 Monitor Display all high speed display graph display Minimum resolution changes with the processing speed of the personal computer Alarm Display history amplifier data Diagnosis DI DO display display of the reason for no rotation power ON cumulative display software No display motor information display tuning data display ABS da...

Page 555: ...ing and print Parameter Parameter setting axis name setting parameter converter Monitor Display all I O monitor graph and ABS data display Diagnosis Alarm display alarm onset data drive recorder no motor rotation system configuration life diagnosis machine diagnosis Test operation Positioning operation motor less operation Note DO forced output and program operation test mode information Adjustmen...

Page 556: ...r 2 8 GHz or more recommended Laptop personal computer Intel Pentium M processor 1 7 GHz or more recommended Memory 512 MB or more for 32 bit OS and 1 GB or more for 64 bit OS Hard Disk 1 GB or more of free space Communication Interface USB port Note 6 Browser Windows Internet Explorer 4 0 or later Note 1 Display One whose resolution is 1024 768 or more and that can provide a high color 16 bit dis...

Page 557: ...dures a Disconnect the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When th...

Page 558: ...tside of the box and reduce the amount of heat generated in the box thereby allowing a compact control box to be designed In the control box machine a hole having the panel cut dimensions fit the panel through attachment to the servo amplifier with the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the panel th...

Page 559: ...ling screws Servo amplifier Attachment Servo amplifier Punched hole Control box a Assembling the panel through attachment b Installation to the control box 4 Outline dimension drawing Unit mm 236 280 Approx 260 20 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 560: ...and install the servo amplifier to the cabinet Please prepare screws for mounting They do not come with The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment The panel through attachments are used for MR J4 11K_ RJ to MR J4 22K_ RJ and MR J4 11K_4 RJ to MR J4 22K_4 RJ The following shows the combinations ...

Page 561: ...Optional Peripheral Equipment 8 76 c Mounting method Attachment Attachment Fit using the assembling screws Servo amplifier a Assembling the panel through attachment Cabinet Punched hole Servo amplifier b Mounting it to inside cabinet ...

Page 562: ...5 Approx 400 78 35 196 240 3 2 155 108 3 Approx 263 3 Panel Panel 20 6 Attachment Mounting hole Servo amplifier Servo amplifier 2 MR J3ACN a Panel cut dimensions b How to assemble the attachment for panel through attachment Screw 2 places Attachment 236 255 270 Approx 125 331 39 5 535 510 18 203 39 5 4 M10 Screw Punched hole Unit mm ...

Page 563: ...lifier Attachment Servo amplifier Punched hole Cabinet a Assembling the panel through attachment b Mounting it to inside cabinet d Mounting dimensional diagram Unit mm Approx 58 510 580 12 236 280 Approx 260 84 194 20 145 Approx 400 35 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 564: ...Part 9 Startup Procedure Manual 9 1 Part 9 Startup Procedure Manual ...

Page 565: ...eck the parameters Improper settings may cause some machines to operate unexpectedly The servo amplifier heat sink regenerative resistor servo motor etc may be hot while power is on or for some time after power off Take safety measures example provide covers to avoid accidentally touching the parts cables etc by hand Otherwise it may cause a burn injury and parts damaged During operation never tou...

Page 566: ...ted at the speed as low as possible check whether the servo motor rotates correctly alone in the test operation mode Note 1 2 Test operation with the servo motor and machine connected After connecting the servo motor to the machine check the motions of the machine by sending operation commands from a higher level command issuing device Gain adjustment Note 1 Make gain adjustment to optimize the ma...

Page 567: ...Part 9 Startup Procedure Manual 9 4 MEMO ...

Page 568: ...ion to Renewal Tool Mitsubishi Electric System Service Co Ltd http www melsc co jp business OVERSEAS SERVICE SUPPORT SECTION Email osb webmaster melsc jp Mitsubishi Electric System Service Co Ltd provides the related services For details please refer to the following address ...

Page 569: ...terface MR J3 _B MR J3 _B4 MR J4 _B MR J4 _B4 MR J3W _B MR J4W2 _B 1 2 Features Wiring work can be shortened because the existing cables can be connected as they are except for some models The renewal kit can be mounted using the existing mounting holes 2 IMPORTANT POINTS TO NOTE WHEN REPLACING 1 Depending on the condition of the existing setup sometimes noise reduction techniques are necessary wh...

Page 570: ...achment compatibility Conversion cable Mounting attachment MR J3 60_4 MR J4 60_4 Note 1 MR J3 100_4 MR J4 100_4 Note 1 MR J3 200_4 MR J4 200_4 Note 1 MR J3 350_4 MR J4 350_4 Note 1 Note 2 SC J2SJ4BS04 MR J3 500_4 MR J4 500_4 MR J3 700_4 MR J4 700_4 MR J3 11K_4 MR J4 11K_4 Note 2 SC J2SJ4BS06 MR J3 11K_4 LR MR J3 15K_4 MR J4 15K_4 Note 2 MR J3 15K_4 LR MR J3 22K_4 MR J4 22K_4 Note 1 As for servo am...

Page 571: ...R801 4 B HA LP12K1 4 B HG JR12K1 4 B HA LP15K1 4 HG JR15K1 4 Note 5 Note 6 SC J2SJ4FAN1C1M HA LP20K1 4 HG JR20K1 4 HA LP25K1 4 HG JR25K1 4 HA LP601 4 B HG JR601 4 R B S_ SC J2SJ4PW3C1M A_ Existing cable can be used SC J3J4ENM1C1M Note 4 SC J3J4ENM1C1M A_ Note 4 Note 3 HA LP801 4 B HG JR801 4 R B S_ HA LP12K1 4 B HG JR12K1 4 R B S_ HA LP15K1 4 HG JR15K1 4 R S_ Note 5 Note 6 SC J2SJ4FAN1C1M HA LP20K...

Page 572: ...5K2 B HG JR11K1MR B S_ 250 HA LP15K24 B HG JR11K1M4R B S_ 250 HA LP22K2 B HG JR15K1MR B S_ SC J3J4PW1C1M A_ HA LP22K24 B HG JR15K1M4R B S_ SC J2SJ4PW3C1M A_ HA LP30K2 HG JR22K1MR S_ Existing cable can be used Note 6 SC J2SJ4FAN1C1M HA LP30K24 HG JR22K1M4R S_ Note 5 Note 1 Another power cable is required since the size of the existing wire is not applicable to the replaced servo motor 2 Since the s...

Page 573: ...cation Replacement method 1 SC J2SJ4BS04 MR J4 _A_ servo amplifier capacity 5 kW 200 V 3 5 kW 400 V Used for primary Replacement and Simultaneous replacement 2 SC J2SJ4BS06 MR J4 _A_ servo amplifier capacity 11 kW 15 kW 3 SC J3WJ4WBS02 MR J4W2 77B MR J4W2 1010B Mounting attachment Servo amplifier example SC J3WJ4WBS02 ...

Page 574: ...r supply conversion cable SC SAJ3PW2KC1M S2 HC LP52 B HG JR73 B 4 SC HAJ3PW1C1M HC LP202 B HG JR353 B HC LP302 B HG JR503 B HA LP502 HG SR502 5 SC J2SJ4PW3C1M A_ HA LP601 4 B HG JR601 4 B HA LP701M 4 B HG JR701M 4 B HA LP11K2 4 B HG JR11K1M 4 B HA LP801 4 B HG JR801 4 B HA LP12K1 4 B HG JR12K1 4 B HA LP11K1M 4 B HG JR11K1M 4 B HA LP15K1M4 B HG JR15K1M4 B HA LP15K2 4 B HA LP22K24 B 6 SC J3J4PW1C1M ...

Page 575: ...able No Name Model Application Replacement method 1 Servo amplifier side conversion cable SC J3WJ4WCTC03M For changing MR J4W2 _B input output signals Used for primary replacement and simultaneous replacement ＣＮ３Ｊ４W ＣＮ３側 Servo amplifier existing cable Servo amplifier side conversion cable ...

Page 576: ...2 at 10 Hz to 55 Hz directions of X Y and Z axes Material SPCC Cold rolled steel plate Surface treatment Trivalent chromate Mass About 750 g 2 Conversion cable specifications For both servo amplifier side and servo motor side Item Specifications Environment Usage ambient temperature 0 C to 55 C non freezing Storage ambient temperature 20 C to 65 C non freezing Usage ambient humidity 90 RH or less ...

Page 577: ...10 6 DIMENSIONS 6 1 Mounting attachment General purpose interface and SSCNET III interface are compatible in dimensions 1 SC J2SJ4BS04 a Mounting attachment alone Unit mm b Mounting attachment Combination with servo amplifier Unit mm Increased dimensions ...

Page 578: ...t alone Unit mm b Mounting attachment Combination with servo amplifier Unit mm Increased dimensions Increased dimensions Increased dimensions Increased dimensions Increased dimensions Note The mounting attachment cannot be used for mounting panel through attachments of MR J3 servo amplifier ...

Page 579: ...roduction to Renewal Tool Appendix 1 12 3 SC J3WJ4WBS02 a Mounting attachment alone Unit mm b Mounting attachment Combination with servo amplifier Unit mm Increased dimensions Increased dimensions Increased dimensions ...

Page 580: ...ersion cable 1 SC J3J4PW1C1M _ Cable pulling direction A1 A2 Note Unit mm Note For the cable pulling directions refer to section 6 2 3 2 SC SAJ3PW2KC1M S2 SC HAJ3PW1C1M Unit mm Item Specifications Model SC SAJ3PW2KC1M S2 SC HAJ3PW1C1M Connector dimensions A φ35 φ39 B φ35 φ41 C 68 74 D 78 77 Cable shape E φ12 0 φ16 5 ...

Page 581: ... direction A1 A2 Note Unit mm Note For the cable pulling directions refer to section 6 2 3 6 2 2 Servo motor side encoder conversion cable 1 SC J3J4ENM1C1M Unit mm 2 SC J3J4ENM1C1M Cable pulling direction A2 A3 A4 Note Unit mm Note For the cable pulling directions refer to section 6 2 3 ...

Page 582: ... conversion cable A2 A1 Cable pulling direction Diagram viewed from the front of the cable insertion hole 2 Pulling direction of the servo motor side encoder conversion cable Cable pulling direction Diagram viewed from the front of the cable insertion hole 6 2 4 Servo motor side conversion cable for the cooling fan 1 SC J2SJ4FAN1C1M Unit mm ...

Page 583: ...le connection diagram signals Servo amplifier side The initial value of the parameters of MR J4W2_B Existing control signal cable side The initial value of the parameters of MR J3W_B After checking the cable connection diagrams and Part 4 Replacement of MR J3W _B with MR J4W2 _B use the product according to your specification 1 SC J3WJ4WCTC03M Unit mm J4W CN3側 41 43 38 41 ...

Page 584: ... Appendix 1 Introduction to Renewal Tool Appendix 1 17 Connection diagrams Note After checking the cable connection diagrams use the product according to your specification ...

Page 585: ...3 The table is partially changed Part 3 Chapter 4 POINT is added Part 4 Newly added Part 5 MR J3W series MR J4W2 _B servo amplifier is added Part 5 Section 1 1 1 The table is partially changed Part 5 Section 1 2 2 The table is partially changed Part 5 Section 1 2 3 1 Table b is newly added Part 5 Section 1 2 3 3 The table is partially changed Part 5 Section 1 2 4 1 The table is partially changed P...

Page 586: ... The table is partially changed Part 2 Section 3 6 POINT is added Part 3 Section 3 1 POINT is added Part 3 Section 3 1 The table is partially changed Part 4 MR J3W 0303BN6 MR J4W2 0303B6 servo amplifier are newly added Part 4 Section 2 2 The table is partially changed Part 4 Section 3 1 1 The table is partially changed Part 4 Section 3 1 2 Newly added Part 4 Section 3 2 3 Newly added Part 4 Sectio...

Page 587: ...ed Part 8 Section 1 2 2 POINT is added Part 8 Section 1 2 2 The table is partially changed Part 8 Section 1 2 3 The table is partially changed Part 8 Chapter 2 POINT is added Part 8 Chapter 2 The table is partially changed Part 8 Section 2 1 The table is partially changed Part 8 Section 3 1 The table is partially changed Part 8 Section 3 2 The table is partially changed Part 8 Section 4 1 3 Partia...

Page 588: ...UBISHI ELECTRIC EUROPE B V Polish Branch 32 083 Balice ul Krakowska 50 Poland Tel 48 12 630 47 00 Fax 48 12 630 47 01 German FA Center MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Strasse 8 D 40880 Ratingen Ge rmany Tel 49 2102 486 0 Fax 49 2102 486 1120 Czech Republic FA Center MITSUBISHI ELECTRIC EUROPE B V Czech Branch Avenir Business Park Radicka 751 113e 158 00 Praha5 Czech Republic T...

Page 589: ...L NA 03127ENG C ...

Page 590: ...Travellers Lane UK Hatfield Hertfordshire AL10 8XB U K Mitsubishi Electric Europe B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza MB Italy Mitsubishi Electric Europe B V Spanish Branch Carretera de Rubi 76 80 Apdo 420 08190 Sant Cugat del Valles Barcelona Spain Mitsubishi Electric Europe B V French Branch 25 Boulevard des Bouvets 92741 Nanterre Ce...

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Mitsubishi Electric Melservo MR-J3-100B, Handbook

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