Mitsubishi Electric MELSERVO-J2S Series Transition Handbook
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Control Systems
  5. MELSERVO-J2S Series
  6. Transition handbook

Mitsubishi Electric MELSERVO-J2S Series Transition Handbook

Servo amplifiers & motors
Hide thumbs Also See for MELSERVO-J2S Series:
1
2
3
4
5
6
7
8
9
Table Of Contents
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
Table of Contents

Quick Links

Transition from MELSERVO-J2-Super/
J2M Series to J4 Series Handbook
Complete Support for Upgrading Your
MELSERVO-J2S/J2M to MELSERVO-J4
Table of Contents
loading

Related Manuals for Mitsubishi Electric MELSERVO-J2S Series

Summary of Contents for Mitsubishi Electric MELSERVO-J2S Series

  • Page 1 Transition from MELSERVO-J2-Super/ J2M Series to J4 Series Handbook Complete Support for Upgrading Your MELSERVO-J2S/J2M to MELSERVO-J4...
  • Page 2 SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To ensure correct usage of the equipment, make sure to read through this Replacement Manual, the Instruction Manual, the Installation Guide, and the Appended Documents carefully before attempting to install, operate, maintain, or inspect the equipment.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (when 30 kW or more is used, 20 minutes or more) until the charge lamp turns off. Then, confirm that the voltage between P+ (P) and N- (N) (when 30 kW or more is used, L+ and L-) is safe with a voltage tester and others.
  • Page 4 3. Injury prevention CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. The cables must be connected to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that the polarity (+/-) is correct.
  • Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the output side of the servo amplifier. Because installation of these items may cause the servo motor to malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor power supply.
  • Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not disassemble, repair, or modify the equipment. CAUTION Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart.
  • Page 7 (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.
  • Page 8 Disposal of Waste When disposing of this product, the following two laws are applicable, and it is necessary to consider each law. In addition, because the following laws are effective only in Japan, local laws have priority outside Japan (overseas). We ask that the local laws be displayed on the final products or that a notice be issued as necessary.
  • Page 9 Dealing with overseas standards Refer to the following relevant manuals concerning dealing with overseas standards. «About the manual» This Replacement Manual and the following Instruction Manuals are necessary when using this servo for the first time. Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual number...

  • Page 10: Table Of Contents

    4.3 Replacement Manual ........................1-13 4.4 Renewal Tool ..........................1-13 4.5 Replacement Tool for Replacing MR-J2S series with MR-J4 series ........... 1-13 4.6 MITSUBISHI ELECTRIC FA Global Website ................1-13 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 2-1 to 2-46 1.
  • Page 11 3.3 Comparison of Networks ....................... 3-8 3.3.1 Comparison of servo system network specifications ............3-8 3.4 Comparison of Standard Connection Diagrams ................3-10 3.5 List of Corresponding Connectors and Terminal Blocks ............. 3-11 3.6 Comparison of Peripheral Equipment ..................3-14 3.7 Comparison of Parameters ......................
  • Page 12 5.3 Selection of No-Fuse Breakers, Fuses, and Magnetic Contactors (example) ......5-37 5.3.1 MR-J2S-series, no-fuse breakers and magnetic contactors (recommended) ....5-37 5.3.2 MR-J4-series, no-fuse breakers, fuses, and magnetic contactors (recommended) ... 5-37 5.4 FR-BU2-(H) Brake Unit ........................ 5-39 5.4.1 Selection ..........................5-39 5.4.2 Parameter setting of brake units ..................
  • Page 13 2.1.2 General-purpose interface/SSCNET interface 100 V class (0.4 kW or less) ..... 7-22 2.1.3 Built-in positioning function/program supported 200 V class (7 kW or less) ...... 7-23 2.1.4 Built-in positioning function/program supported 100 V class (0.4 kW or less) ....7-23 2.1.5 General-purpose interface drive unit/SSCNET interface drive unit 200 V class (30 kW or more) ........................
  • Page 14 1.1.1 Combination and regenerative power for the MR-J2S series ..........9-3 1.1.2 Combination and regenerative power for the MR-J2M series ..........9-3 1.1.3 Combination and regenerative power for MR-J4 series (replacement model) ..... 9-4 1.2 External Form Comparison ......................9-5 1.3 Regenerative Options (400 V class) ....................
  • Page 15 7.8 MR-J4-Series Power Factor Improving AC Reactor (400 V class) ..........9-47 8. SETUP SOFTWARE .......................... 9-49 8.1 MR-J2S Series Setup Software ....................9-49 8.1.1 Specifications ........................9-49 8.2 MR-J4-Series MR Configurator2 ....................9-49 8.2.1 Specifications ........................9-49 8.3 System Requirements ......................... 9-50 8.3.1 Components ........................
  • Page 16 13.4.2 MR-J3CDL05M (0.5 m) Protection Coordination Cable ........Appendix 1-54 13.5 Regenerative Options ....................Appendix 1-55 13.5.1 Combination and regenerative power ............... Appendix 1-55 13.5.2 Regenerative option selection ................Appendix 1-59 13.5.3 Parameter setting ....................Appendix 1-61 13.5.4 Connecting regenerative options ..............Appendix 1-62 13.6 External Dynamic Brake ....................
  • Page 17 8.1 Renewal Kit ........................Appendix 2-90 8.2 Conversion Cable ...................... Appendix 2-107 8.2.1 Conversion cable on the servo amplifier side ........... Appendix 2-107 8.2.2 Power supply conversion cable on the motor side ........... Appendix 2-109 8.2.3 Encoder conversion cable on the motor side ........... Appendix 2-110 8.2.4 Conversion cable for the cooling fan on the motor side ........

  • Page 18: Part 1: Summary Of Mr-J2S/Mr-J2M Replacement 1-1 To

    Part 1: Summary of MR-J2S/MR-J2M Replacement Part 1 Summary of MR-J2S/ MR-J2M Replacement 1 - 1...

  • Page 19: Major Replacement Target Model

    Part 1: Summary of MR-J2S/MR-J2M Replacement This document describes the review items for replacing MR-J2S with MR-J4 and MR-J2M with MR-J4. Some equipment may require review on items not described in this document. Please review those items after viewing the Instruction Manual and the catalogs.

  • Page 20: Flow Of Replacement

    Part 1: Summary of MR-J2S/MR-J2M Replacement 3. FLOW OF REPLACEMENT 3.1 Summary This section describes the flow of replacement when replacing a system using the MR-J2S/MR-J2M series with a system using the MR-J4 series. 3.2 Flow of Review on Replacement ・・・Check the components of the system prior to replacement.
  • Page 21 Part 1: Summary of MR-J2S/MR-J2M Replacement The following displays the review items when replacing MR-J2S series with MR-J4 series using MR-J2S-60A as an example case. Options and Peripheral equipment Power supply Molded-case circuit breaker Options and (NFB) Peripheral equipment or Fuse Servo amplifier MITSUBISHI Command device...
  • Page 22 Part 1: Summary of MR-J2S/MR-J2M Replacement Changes from MR-J2S series to MR-J4 series POINT The following table summarizes the changes from MR-J2S series to MR-J4 series. For details, refer to the reference document/items. Changes Check items Impact Reference document/items Servo Connector Connector shape, pin arrangement, signal abbreviation, and Part 2, Section 3.4...
  • Page 23 Part 1: Summary of MR-J2S/MR-J2M Replacement Changes Check items Impact Reference document/items Options and Regenerative option Some regenerative options cannot be used for MR-J4. Part 9, Chapter 1 peripheral Setup software Setup software (SETUP161E) cannot be used for MR-J4. Part 9, Chapter 8 equipment (SETUP161E) Use MR Configurator2.

  • Page 24: Review On Replacement

    Part 1: Summary of MR-J2S/MR-J2M Replacement 3.3 Review on Replacement 3.3.1 Checking the system prior to replacement Check the components of the system prior to replacement. Servo amplifier Category Controller model "Reference items" in this document Remarks model Positioning module QD75P(D) MR-J2S-_A_ (1) MR-J2S series...

  • Page 25: Determination Of Base Replacement Model

    Note 1. These replacement models do not have compatibility in mounting. Use the mounting plate holes of Renewal Tool manufactured by Mitsubishi Electric System & Service Co., Ltd. The servo amplifier capacity may vary depending on the servo motor to be replaced. Refer to Part 8 Section 1.1.
  • Page 26 Note. These replacement models do not have compatibility in mounting. Use the mounting plate holes of the mounting plate manufactured by Mitsubishi Electric System & Service Co., Ltd. The servo amplifier capacity may vary depending on the servo motor to be replaced. Refer to Part 8 Section 1.1.
  • Page 27 Note 1. These replacement models do not have compatibility in mounting. Use the mounting plate holes of Renewal Tool manufactured by Mitsubishi Electric System & Service Co., Ltd. The servo amplifier capacity may vary depending on the servo motor to be replaced. Refer to Part 8 Section 1.1.
  • Page 28 Part 1: Summary of MR-J2S/MR-J2M Replacement (3) Servo amplifier and servo motor combination for the MR-J4 series Refer to "Part 8: Review on Replacement of Motor" when replacing the servo motor with the one that has already been installed. (Refer to "[Appendix 2] Introduction to Renewal Tool" if using an existing cable and servo motor.) (a) 100 V/200 V class Rotary servo motor Servo amplifier...

  • Page 29: Mounting Compatibility Check

    3.3.6 Startup procedure check Refer to "Part 10: 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 Simple Motion Module QD77MS/QD77GF 4.2 Instruction Manual (1) MELSERVO-J4 Series MR-J4-_A(-RJ)/MR-J4-_A4(-RJ)/MR-J4-_A1(-RJ) Servo Amplifier Instruction...

  • Page 30: Replacement Manual

    When an in-use rotary servo motor or servo amplifier is selected, a corresponding MR-J4 series product can be selected. Note: For details, contact your local sales office. 4.6 MITSUBISHI ELECTRIC FA Global Website http://www.mitsubishielectric.com/fa/ Servo motor series model, servo amplifier model, regenerative...
  • Page 31 Part 1: Summary of MR-J2S/MR-J2M Replacement MEMO 1 - 14...

  • Page 32: Part 2: Review On Replacement Of Mr-J2S-_A_ With Mr-J4-_A_ 2-1 To

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ Part 2 Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 2 - 1...

  • Page 33: Case Study On Replacement Of Mr-J2S-_A

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 1. SUMMARY This section describes the changes to be made when a system using MR-J2S-_A_ is replaced with a system using MR-J4-_A_. 2.
  • Page 34 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (2) Separate repair of servo amplifier/servo motor POINT An HG motor cannot be driven by MR-J2S-_A_. When a servo motor is replaced with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_ simultaneously.

  • Page 35: Differences Between Mr-J2S-_A_ And Mr-J4-_A

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3. DIFFERENCES BETWEEN MR-J2S-_A_ AND MR-J4-_A_ 3.1 Function Comparison Table Reference Item MR-J2S-_A_ series MR-J4-_A_ Compatibility material/items Control mode Position control mode (pulse command) Speed control mode (analog command) ← ○ Torque control mode (analog command) Maximum input Open-collector pulse: 200 kpulses/s...

  • Page 36: Function List

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.2 Function List function MR-J2S-_A_ MR-J4-_A_ Reference document/items MR-J4-_A_ Servo Amplifier Encoder resolution 131072 pulses/rev 4194304 pulses/rev Instruction Manual, Section 1.3 Absolute position detection MR-J4-_A_ Servo Amplifier ○ [Pr. 1] ○ [Pr. PA03] system Instruction Manual, Chapter 12 MR-J4-_A_ Servo Amplifier...

  • Page 37: Comparison Of Standard Connection Diagrams

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.3 Comparison of Standard Connection Diagrams (1) Position control mode MR-J2S-_A_ MR-J4-_A_ Example of connection to A1SD75P_ Example of connection to QD75D Positioning module Servo amplifier Servo amplifier A1SD75P 10 m or lower 24 V DC Positioning module 24 V DC...
  • Page 38 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (3) Torque control mode MR-J2S-_A_ MR-J4-_A_ Servo amplifier Servo amplifier 24 V DC DOCOM DOCOM 10 m or less Malfunction Malfunction Speed selection 1 Main circuit power supply Zero speed detection Zero speed Forced stop 2 detection...

  • Page 39: List Of Corresponding Connectors And Terminal Blocks

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.4 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. For details on signals, refer to each servo amplifier instruction manual. MR-J2S-_A_ MR-J4-_A_ Personal...
  • Page 40 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (3) Comparison of signals (a) CN1A/CN1B 1) Position control mode Signal MR-J2S-_A_ MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1-35 CN1A-3 CN1-10...
  • Page 41 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 2) Speed control mode Signal MR-J2S-_A_ MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1A-3 CN1A CN1A-4 P15R CN1-1 CN1A-5 CN1-8 CN1A-6 CN1-4...
  • Page 42 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3) Torque control mode Signal MR-J2S-_A_ MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1A CN1A-3 CN1A-4 P15R CN1-1 CN1A-5 CN1-8 CN1A-6 CN1-4...
  • Page 43 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (b) CN3 1) For 7 kW or less MR-J2S-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note) CN3-3 CN6-1 CN3-4 CN6-2 CN3-14 CN6-3 CN3-13 CN3-1 CN3-1...

  • Page 44: Comparison Of Peripheral Equipment

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (c) CN4 (11 kW to 22 kW only) MR-J2S-_A_ MR-J4-_A_ Signal symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN4-1 CN6-3 CN4-2 CN6-2 CN4-4 CN6-1 3.5 Comparison of Peripheral Equipment POINT Refer to "Part 9: Replacement of Optional Peripheral Equipment".

  • Page 45: Comparison Of Parameters

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 46 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ (2) Position control mode Parameter Name Initial Setting Description number value value PA01 Operation mode 1 0 0 0h _ _ _ 0h Select the servo amplifier control mode. Select the position control mode. PA06 Electronic gear numerator When using an electronic gear, it is necessary to change the...

  • Page 47: Parameter Comparison List

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.6.2 Parameter comparison list POINT Manufacturer setting parameters are not described here. MR-J2S-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Control mode,...
  • Page 48 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Zero speed PC17 Zero speed Analog speed command - Maximum speed Analog speed command - Maximum speed PC12 Analog speed limit maximum speed...
  • Page 49 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ parameters MR-J4-_A_ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value PD09 *DI4L Input device selection 4L 0805h *DI7 Input signal selection 7 (CN1B-9) 0994h PD10 *DI4H Input device selection 4H...

  • Page 50: Comparison Of Parameter Details

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.6.3 Comparison of parameter details POINT The symbols in the control mode column mean the following control modes: P: Position control mode S: Speed control mode T: Torque control mode MR-J2S-_A_ MR-J4-_A_ Control Initial...
  • Page 51 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 1 0002h PD29 Input filter setting 0004h Select a value for the input filter, pin CN1B-19 function, If an external input signal causes chattering due to and absolute position detection system.
  • Page 52 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Auto Tuning 7 kW or PA09 Auto tuning response less: Select a response level, etc. when performing auto Set a response of the auto tuning.
  • Page 53 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value In-position range PA10 In-position range Used to set the range where INP (positioning completion) Used to set an in-position range per command pulse is output by the command pulse unit before an electronic unit.
  • Page 54 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Internal speed command 1 PC05 Internal speed command 1 This is used to set speed 1 of internal speed commands. This is used to set speed 1 of internal speed commands.
  • Page 55 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value S-pattern acceleration/deceleration time constant PC03 S-pattern acceleration/deceleration time constant This is used to smooth start/stop of the servo motor. This is used to smooth start/stop of the servo motor.
  • Page 56 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Serial communication function selection - Alarm history 0000h PC18 Alarm history clear selection 0000h clear Used to clear the alarm history. Used to select the serial communication baud rate and various conditions for communication, and to clear the alarm...
  • Page 57 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Status display selection 0000h PC36 Status display selection 0000h This is used to select a status display shown at power- Status display selection at power-on Refer to the comparison table below for the setting method.
  • Page 58 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Parameter writing inhibit 0000h PA19 Parameter writing inhibit 00AAh Used to select the reference range and writing range of Used to select the reference range and writing range parameters.
  • Page 59 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 3 (command pulse selection) 0000h PA13 Command pulse input form 0100h Used to select the input form of pulse train input signals. Command pulse input form 0: Forward/reverse rotation Command pulse input form...
  • Page 60 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 4 0000h PD30 Function selection D-1 0000h Used to select a stop method when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are turned off, and to select VC/VLA voltage Stop method when LSP...
  • Page 61 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Analog torque command maximum output PC13 Analog torque command maximum output 100.0 Used to set the output torque at an analog torque Set the same value as for MR-J2S-_A_.
  • Page 62 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Differs Differs Analog speed command offset PC37 Analog speed command offset depending depending on the on the Used to set the offset voltage of VC (Analog speed Used to set the offset voltage of VC (Analog speed servo...
  • Page 63 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Position loop gain 2 7 kW or PB08 Position loop gain 37.0 less: Used to set the gain of the position loop. Used to set the gain of the position loop.
  • Page 64 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Input signal automatic ON selection 0000h PD01 Input signal automatic on selection 1 0000h Used to set SON (servo-on), LSP (forward rotation stroke Used to set input devices to be turned on end), and LSN (reverse rotation stroke end) automatic automatically.
  • Page 65 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Input signal selection 2 (CN1B-5) 0111h PD03 Input device selection 1L 0202h When LOP (control switching) is assigned to pin CN1B-5 Any input device can be assigned to pin CN1-15.
  • Page 66 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Input signal selection 4 (CN1A-8) 0665h PD13 Input device selection 6L 2006h Any input signal can be assigned to pin CN1A-8. Any input device can be assigned to pin CN1-41.
  • Page 67 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Output signal selection 1 0000h PD34 Alarm code output Used to select the connector pins for outputting an alarm This is used to select if output alarm codes.
  • Page 68 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 6 0000h PD30 Function selection D-1 0000h Used to select the operation method when RES (Reset) Used to select the base circuit status when RES is ON.
  • Page 69 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Function selection 9 0000h PA14 Select servo motor rotation direction relative to the input pulse train. Used to select the command pulse rotation direction, encoder output pulse direction, and encoder pulse output Servo motor rotation direction Setting...
  • Page 70 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Machine resonance suppression filter 1 0000h PB01 Adaptive tuning mode (adaptive filter II) 0000h Select the machine resonance suppression filter. Used to set the adaptive filter tuning.
  • Page 71 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Machine resonance suppression filter 2 0000h PB16 Used to set the shape of the machine resonance 0000h suppression filter 2.
  • Page 72 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Low-pass filter/adaptive vibration suppression control 0000h PB23 Low-pass filter selection 0000h Select the low-pass filter/adaptive vibration suppression control.
  • Page 73 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Position loop gain 2 changing ratio PB30 Gain switching position loop gain Used to set the changing ratio for position loop gain 2 When a value smaller than 1.0 rad/s is set, the value when the gain switching is enabled.
  • Page 74 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Gain switching condition PB27 Gain switching condition Used to set the values for the gain switching conditions Used to set the values for the gain switching (command frequency, droop pulses, and servo motor conditions (command frequency, droop pulses, and...
  • Page 75 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ MR-J2S-_A_ MR-J4-_A_ Control Initial Initial mode Name and function Name and function value value Internal speed command 5 PC09 Internal speed command 5 Used to set speed 5 of internal speed commands. This is used to set speed 5 of internal speed commands.

  • Page 76: Important Points For Replacement (Command Pulse Logic Settings)

    Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ 3.7 Important Points for Replacement (Command Pulse Logic Settings) When carrying out positioning in the forward and reserve rotation pulse train setting for the MR-J4-_A_ servo amplifier, it is necessary to adjust the command pulse logic of the positioning module to that of the servo amplifier.
  • Page 77 Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_ [Reference] Pr. PA13, Command input pulse train form Forward rotation Reverse rotation Setting Pulse train form (positive direction) (negative direction) value command command Forward rotation pulse train (positive direction pulse train) _ _ 10h Reverse rotation pulse train (negative direction pulse train)

  • Page 78: Part 3: Review On Replacement Of Mr-J2S-_B_ With Mr-J4-_B_ 3-1 To

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ Part 3 Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3 - 1...
  • Page 79 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 1. SUMMARY This document describes the changes that are applied to when replacing a system using the MR-J2S-_B_ with a system using the MR-J4-_B_. Versions of A-series motion controller OS that support MR-J2S-_B_ Controller setting OS model...

  • Page 80: Case Study On Replacement Of Mr-J2S-_B

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 2. CASE STUDY ON REPLACEMENT OF MR-J2S-_B_ 2.1 Review on Replacement Method A171SHCPUN A172SHCPUN A173UHCPU A273UHCPU SSCNET SSCNET Ⅲ Q172CPUN Q173CPUN QD75M_ A1SD75M_ (QnHCPU + Q3_B) Simultaneous system replacement J2S-_B_ Only the controller and the servo amplifier are replaced.

  • Page 81: Replacement Method

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 2.2 Replacement Method This section shows replacements using a QDS motion controller and an SSCNETIII/H-compatible stand- alone motion controller as examples. For replacements using modules other than the above, refer to the following manuals. Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook (1) For simultaneous replacement QDS motion controller + MR-J4-_B_ + HG motor...
  • Page 82 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ POINT If the existing system is any of the combinations in the following table, it is recommended to replace both the servo amplifier and servo motor with an MR- J4-_B_ and HG motor at the same time. When an HG motor is adopted, the capacity of the servo amplifier needs to be changed.
  • Page 83 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ (3) Gradual replacement of MR-J2S-_B_ with MR-J4-_B_ Refer to "[Appendix 1] Summary of MR-J4-_B_-RJ020 + MR-J4-T20". 1: Current system 2: Only one axis replaced 3: Replacement of a servo amplifier 4: Replacement of a controller (Note1) and a motor for all axes (Note 1) (Note 2)

  • Page 84: Differences Between Mr-J2S-_B_ And Mr-J4-_B

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3. DIFFERENCES BETWEEN MR-J2S-_B_ AND MR-J4-_B_ 3.1 Function Comparison Table Item MR-J2S-_B_ MR-J4-_B_ Compatibility Reference material/items Control mode • Position control mode • Position control mode MR-J4-_B_ servo amplifier • Speed control mode •...

  • Page 85: Comparison Of Networks

    "MR-J4(W)-B Change mode" or "MR Mode Change". The application "MR-J4(W)-B Change mode" or "MR Mode Change" are available with MR Configurator2 Version 1.12N and later. When a version older than 1.12N is used, download an update version from the MITSUBISHI ELECTRIC FA Global Website.
  • Page 86 (Note) life Note. For cable of 30 m or shorter, contact your local sales office. Contact Mitsubishi Electric System & Service about ultra-high flex-life cables and long distance cables longer than 50 m. (2) SSCNET III/H cable specifications Description SSCNET III/H cable model...

  • Page 87: Comparison Of Standard Connection Diagrams

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.4 Comparison of Standard Connection Diagrams MR-J2S-_B_ MR-J4-_B_ MR-J2S-700B or models with less capacity Servo amplifier Servo amplifier Short-circuit connector 10 m or lower (Packed with the servo amplifier) Electromagnetic brake interlock 10 m or less Make sure to connect when using forced stop (EM1),...

  • Page 88: List Of Corresponding Connectors And Terminal Blocks

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.5 List of Corresponding Connectors and Terminal Blocks (1) Comparison of connectors An example of connections with the peripheral equipment is shown below. Refer to the respective Instruction Manuals for details on the signals. MR-J2S-_B_ MR-J4-_B_ Molded-case...
  • Page 89 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ (2) List of connector and terminal block correspondence MR-J2S-_B_ MR-J4-_B_ Precautions Must switch to SSCNET III/H cable Bus cable connector [CN1A] SSCNET III/H cable connector [CN1A] (option). Must switch to SSCNET III/H cable Bus cable-connecting connector [CN1B] SSCNET III/H cable connector...
  • Page 90 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ <11 kW or more> MR-J4-_B_ Abbreviation Connector pin assignment Connector pin No. (Note 1) Connector pin No. Connector pin assignment CON2 CON2-1 CN3-3 (DOCOM) CON2-2 CN3-20 (Note 2) (EM2) CON2-3 CN3-13 CON2-4 (Note 3)

  • Page 91: Comparison Of Peripheral Equipment

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.6 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment". 3 - 14...

  • Page 92: Comparison Of Parameters

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. Note If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.

  • Page 93: Setting Requisite Parameters Upon Replacement

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7.1 Setting requisite parameters upon replacement The parameters shown in this section are a minimum number of parameters that need to be set for simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other than these may need to be set.

  • Page 94: Parameter Comparison List

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7.2 Parameter comparison list POINT Parameters for manufacturer setting are not described here. MR-J2S-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial Parameter name Parameter name setting setting Abbreviation Abbreviation value value value value Amplifier setting...
  • Page 95 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ parameters MR-J4-_B_ parameters Customer Customer Initial Initial Parameter name Parameter name setting setting Abbreviation Abbreviation value value value value Electromagnetic Brake Sequence Electromagnetic Brake Sequence PC02 Output Output Analog monitor 1 PC09 MOD1 Analog monitor 1 output...

  • Page 96: Comparison Of Parameter Details

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.7.3 Comparison of parameter details MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Amplifier setting 0000 PA03 Absolute position detection system 0000h Used to select absolute position detection system. This parameter is set when using the absolute position detection system.
  • Page 97 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value No corresponding parameter Number of feedback pulses Set the number of pulses per revolution according to controller side command. Information on the servo motor such as number of feedback pulses, current location, droop pulses, and position within one-revolution can be obtained by the value converted to the number of feedback pulses for...
  • Page 98 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Auto Tuning PA08 Auto tuning mode 0001h 0001 Used to select the auto tuning gain adjustment mode. Used to select the gain adjustment mode. Setting Initial Explanation...
  • Page 99 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Servo response 7 kW or PA09 Auto tuning response Used to select a response of the auto tuning. less: Set a response of the auto tuning.
  • Page 100 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 7.00 Load to motor inertia ratio PB06 Load to motor inertia ratio (Load inertia ratio) Used to set load to motor inertia ratio. Used to set the load inertia (moment of inertia) ratio to the This parameter can be set either automatically or servo motor shaft inertia moment.
  • Page 101 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Machine resonance suppression filter 1 (notch filter) 0000h PB13 Machine resonance suppression filter 1 4500 Used to select the machine resonance suppression filter. Used to set the notch frequency of machine resonance suppression filter 1.
  • Page 102 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Analog monitor output 0001 PC09 Analog monitor 1 output 0000h Used to select the signals output to analog monitor 1 (MO1) Used to select the signal to be output to the Analog and analog monitor 2 (MO2).
  • Page 103 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 23 Optional function 1 0000h PA04 Function selection A-1 2000h Servo forced stop function can be disabled. This is used to select the forced stop input and forced stop deceleration function.
  • Page 104 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 25 Low-pass filter/adaptive vibration suppression control 0000h PB23 Low-pass filter selection 0000h Used to select the low-pass filter/adaptive vibration Used to select the shaft resonance suppression filter.
  • Page 105 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 32 Optional function 5 0000 PB24 Slight vibration suppression control 0000h Used to select the PI-PID control switching. Used to select the PI-PID switching. Setting Initial Explanation...
  • Page 106 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value 0000 Parameter writing inhibit PA19 Parameter writing inhibit 00ABh Used to select the reference range and writing range of Setting Setting MR Configurator...
  • Page 107 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MR-J2S-_B_ MR-J4-_B_ Initial Initial Name and function Name and function value value Position loop gain 2 changing ratio PB30 Position loop gain after gain switching Used to set the changing ratio for position loop gain 2 when Used to set the position loop gain when gain switching is the gain switching is enabled.

  • Page 108: Important Points For Replacement

    Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ 3.8 Important Points for Replacement (1) When the intermediate connection axis network is OFF, the network of the subsequent axis is not connected Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET III/H communication is interrupted.
  • Page 109 Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_ MEMO 3 - 32...
  • Page 110 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Part 4 Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 4 - 1...

  • Page 111: Part 4: Review On Replacement Of Mr-J2S-_Cp_/Cl_ With Mr-J4-_A_-Rj

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 1. SUMMARY This section describes the changes to be made when a system using MR-J2S-_CP_/CL_ is replaced with a system using MR-J4-_A_-RJ. 2.
  • Page 112 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (2) Separate repair of servo amplifier/servo motor POINT MR-J2S-_CP_/CL_ cannot drive an HG motor. When a servo motor is replaced with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_RJ + HG simultaneously.

  • Page 113: Differences

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3. DIFFERENCES 3.1 Function Comparison Table POINT Functions with difference are shown with shading. (1) Comparison between MR-J2S-_CP_/CL_ and MR-J4-_A_-RJ MR-J2S-_CP_/CL_ series MR-J4-_A_-RJ series Item (7 kW or less, 100 V/200 V class) (7 kW or less, 100 V/200 V class) (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW...
  • Page 114 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (2) Positioning function comparison Model Item MR-J2S-_CP_ MR-J2S-_CL_ MR-J4-_A_-RJ Point table up to 31 up to 255 up to 16 programs up to 256 programs Program end (120 steps) (640 steps) RS-422 communication ○...
  • Page 115 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Type Item MR-J2S-_CP_ MR-J2S-_CL_ MR-J4-_A_-RJ Absolute position detection ○ ○ ○ Backlash compensation ○ ○ ○ Overtravel prevention with external limit switch ○ ○ ○ Software stroke limit ○ ○ ○ ○...

  • Page 116: Function List

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.2 Function List (1) Function List Control mode (Note) function Description Positioning mode Select the predefined 255 point tables, and operate them according to the setting values. ○ × (Point table method) Use external input signals or communication functions to select point tables.
  • Page 117 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Control mode (Note) function Description External I/O signal display The on/off statuses of external I/O signals are displayed on the display. ○ ○ If the motor does not stop even when the VC (analog speed command) or VLA (analog VC automatic offset ○...

  • Page 118: Comparison Of Standard Connection Diagrams

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.3 Comparison of Standard Connection Diagrams (1) Point table method (MR-J2S-_CP_) MR-J2S-_CP_ MR-J4-_A_-RJ Servo amplifier Servo amplifier 24 V DC DOCOM Proximity dog Home position DOCOM return completed 10 m or shorter 10 m or lower Malfunction Main circuit...
  • Page 119 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (2) Program method (MR-J2S-_CL_) MR-J2S-_CL_ MR-J4-_A_-RJ Servo amplifier Servo amplifier 24 V DC DOCOM Proximity dog Home position return Servo-on completed DOCOM 10 m or shorter 10 m or lower 10 m or lower Malfunction Main circuit power supply...

  • Page 120: List Of Corresponding Connectors And Terminal Blocks

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.4 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. For details on signals, refer to each servo amplifier instruction manual. MR-J2S-_CP_/CL_ MR-J4-_A_-RJ R S T...
  • Page 121 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (3) Comparison of signals (a) CN1A/CN1B 1) Point table method (MR-J2S-_CP_) MR-J2S-_CP_ MR-J4-_A_-RJ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note 1) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1-35 (Note 2)
  • Page 122 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 2) Program method (MR-J2S-_CL_) MR-J2S-_CL_ MR-J4-_A_-RJ Signal abbreviation Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment (Note 1) CN1-3 CN1A-1 CN1-28 CN1A-2 CN1-35 (Note 2) CN1A-3 CN1-10 (Note 2) CN1A-4 P15R CN1-1...

  • Page 123: Comparison Of Peripheral Equipment

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (b) CN3 (MR-J2S-_CP_/CL_) MR-J2S-_CP_/CL_ Signal MR-J4-_A_-RJ abbreviati Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment on (Note) CN3-3 CN6-1 CN3-4 CN6-2 CN3-14 CN6-3 CN3-13 CN3-1 CN3-1 CN3-5 CN3-3 CN3-9 CN3-5...

  • Page 124: Comparison Of Parameters

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.6 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 125 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (b) When continuing to use the HC-_FS/HA-_FS motor: Parameter Initial Setting Name Description number value value PA04 Function selection A-1 2 0 0 0h 0 0 0 0h Forced stop deceleration function selection To configure the same settings as for MR-J2S-_CP_/MR-J2S- _CL_, select "Forced stop deceleration function disabled (EM1)".

  • Page 126: Parameter Comparison List

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.6.2 Parameter comparison list POINT Manufacturer setting parameters are not described here. The parameters with [CP] can be used only for MR-J2S-_CP_, while the parameters with [CL] can be used only for MR-J2S-_CL_. The parameters without [CP] or [CL] are the parameters that can be used for both MR-J2S-_CP_ and MR-J2S-_CL_.
  • Page 127 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Parameters for MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Serial communication time-out selection PF04 RS-422 communication time-out selection Feed forward gain PB04 Feed forward gain (Note)
  • Page 128 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ Parameters for MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ parameters Customer Customer Initial Initial No. Abbreviation Parameter name setting Abbreviation Parameter name setting value value value value Function selection 6 (Handle the base circuit when Function selection D-1 (Select the base *OP6 0000h...

  • Page 129: Comparison Of Parameter Details

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.6.3 Comparison of parameter details POINT Backslash (\) in initial value fields indicate that the function is not supported. MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Command method and regenerative option selection 0000h...
  • Page 130 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Feeding function selection 0000h 0000h PA14 Rotation direction selection Select the feed length multiplication and manual pulse Select the rotation direction of the servo motor generator multiplication.
  • Page 131 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Auto Tuning 0105h 0105h PA09 Auto tuning response Select a response level, etc., when performing auto tuning. Set a response of the auto tuning.
  • Page 132 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Position loop gain 1 PB07 Model loop gain 15.0 Used to set the gain of the position loop 1. Used to adjust the response gain till the set position.
  • Page 133 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Serial communication function selection - Alarm history 0000h 0000h PC21 RS-422 communication function selection 0000h clear Used to select the communication speed. Adjust Used to select the serial communication baud rate and the speed to that of the transmitting side (master various conditions for communication, and to clear the...
  • Page 134 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Status display selection 0000h PC36 Status display selection 0000h This is used to select a status display shown at power- Status display selection at power-on Refer to the comparison table below for the setting method.
  • Page 135 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Status display selection 0000h PC36 Status display selection 0000h This is used to select a status display shown at power- Status display selection at power-on Refer to the comparison table below for the setting method.
  • Page 136 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Parameter writing inhibit 0000h 0000h PA19 Parameter writing inhibit 00AAh Used to select the reference range and writing range of Used to select the reference range and writing parameters.
  • Page 137 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Encoder output pulses 4000 4000 PA15 Encoder output pulse 4000 Used to set the encoder pulses (A-phase and B-phase) Used to set the encoder pulses (A-phase and B- phase) output by the servo amplifier.
  • Page 138 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Backlash compensation PT14 Backlash compensation Set the backlash compensation that is compensated Set the backlash compensation that is when the command direction is reversed.
  • Page 139 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Speed integral compensation. PB10 Speed integral compensation 33.7 Used to set the integral time constant of the speed loop. Used to set the integral time constant of the speed loop.
  • Page 140 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Home position return position data PT08 Home position return position data Set the current position of the time when the home Set the current position of the time when the position return is completed.
  • Page 141 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Software limit + PT15 Software limit + Set the address increasing side of the software stroke Set the address increasing side of the software PT16 limit.
  • Page 142 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Position range output address - PT21 Position range output address - Set the address decreasing side of the position range Set the address decreasing side of the position range PT22 output address.
  • Page 143 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Function selection A 0000h 0000h PD33 Function selection D-4 0000h Setting Select the alarm code and torque limit rotation Function digit direction.
  • Page 144 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value 0000h 0000h PB01 Adaptive tuning mode (adaptive filter II) 0000h Machine resonance suppression filter 1 Used to set the adaptive filter tuning. Select the Select the machine resonance suppression filter.
  • Page 145 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Machine resonance suppression filter 2 0000h 0000h PB15 Machine resonance suppression filter 2 4500 Used to set the machine resonance suppression filter. Used to set the notch frequency of machine resonance suppression filter 2.
  • Page 146 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value 0000h 0000h PB23 Low-pass filter selection 0000h Low-pass filter/adaptive vibration suppression control Select the low-pass filter/adaptive vibration suppression control.
  • Page 147 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value PB29 Load to motor inertia ratio after gain switching 7.00 Load to motor inertia ratio 2 Used to set the load to motor inertia ratio when gain Used to set the load to motor inertia ratio when switching is enabled.
  • Page 148 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ Initial value Initial Name and function Name and function value Gain switching condition PB27 Gain switching condition Used to set the values for the gain switching conditions Used to set the values for the gain switching (command frequency, droop pulses, and servo motor speed) conditions (command frequency, droop...

  • Page 149: Comparison Of Communication Commands

    Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ 3.7 Comparison of Communication Commands [Communication command comparison between MR-J2S-_CP_ series and MR-J4-_A_-RJ series] Table 4.1 compares the read commands between the MR-J2S-_CP_ series and MR-J4-_A_-RJ series ([Pr. PT01]: when setting "2 _ _ _"), and table 4.2 compares the write commands. The functions added in the MR- J4-A-RJ series are not included here.
  • Page 150 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (3) External I/O signal (command [ １ ] [2]) Description Frame Command Data No. MR-J4-_A_-RJ length MR-J2S-_CP_ [Pr. PT01]: when setting "2 _ _ _" [1] [2] [0] [0] Input Device Status Input Device Status [4] [0] External Input Pin Status...
  • Page 151 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (6) Point table (command [4] [0]/[5] [0]/[5] [4]/[5] [8]/[6] [0]/[6] [4]) Description Frame Command Data No. MR-J4-_A_-RJ length MR-J2S-_CP_ [Pr. PT01]: when setting "2 _ _ _" [4] [0] [0] [1] Reading the position data for each point table Reading the position data for each point table [1] [F]...
  • Page 152 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ [Table 4.2] Compares the write commands between MR-J2S-_CP_ and MR-J4-_A_-RJ ([Pr. PT01]: when setting "2 _ _ _"). (1) Status Display (command [8] [1]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No.
  • Page 153 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (6) Point table (command [C] [0]/[C] [6]/[C] [7]/[C] [8]/[C] [A]/[C] [B]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No. length Description Setting range Description Setting range [C] [0] [0] [1] Writing the position data...
  • Page 154 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (7) I/O device inhibition (command [9] [0]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [0] [0] [0] Turn off the input 1EA5 Turn off the input devices...
  • Page 155 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (9) Data for test operation mode (command [9] [2]/[A] [0]) MR-J4-_A_-RJ MR-J2S-_CP_ Frame [Pr. PT01]: when setting "2 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [2] [0] [0] Input Signal During Test...
  • Page 156 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ [Communication command comparison between MR-J2S-_CL _ series and MR-J4-_A_-RJ series] Table 4.3 compares the read commands between the MR-J2S-_CL_series and MR-J4-_A_-RJ series ([Pr. PT01]: when setting "3 _ _ _"), and table 4.4 compares the write commands. The functions added in the MR- J4-_A_-RJ series are not included here.
  • Page 157 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (3) External I/O signal (command [1] [2]) Description Frame Command Data No. MR-J4-_A_-RJ length MR-J2S-_CL_ [Pr. PT01]: when setting "3 _ _ _" [1] [2] [0] [0] Input Device Status Input Device Status [4] [0] External Input Pin Status External Input Pin Status...
  • Page 158 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ [Table 4.4] Compares the write commands between MR-J2S-_CL_and MR-J4-_A_-RJ ([Pr. PT01]: when setting "3 _ _ _"). (1) Status Display (command [8] [1]) MR-J4-_A_-RJ MR-J2S-_CL_ Frame [Pr. PT01]: when setting "3 _ _ _" Command Data No.
  • Page 159 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (6) I/O device inhibition (command [9] [0]) MR-J4-_A_-RJ MR-J2S-_CL_ Frame [Pr. PT01]: when setting "3 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [0] [0] [0] Turn off the input devices 1EA5 Turn off the input devices...
  • Page 160 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ (8) Data for test operation mode (command [9] [2]/ [A] [0]) MR-J4-_A_-RJ MR-J2S-_CL_ Frame [Pr. PT01]: when setting "3 _ _ _" Command Data No. length Description Setting range Description Setting range [9] [2] [0] [0] Input Signal During Test...
  • Page 161 Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ MEMO 4 - 52...

  • Page 162: Part 5: Review On Replacement Of Mr-J2S-30 Kw Or Higher Capacity Models With Mr-J4-Du_ 5-1 To

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Part 5 Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ MR-J4-_DU_ 5 - 1...

  • Page 163: Functions And Configuration

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1. FUNCTIONS AND CONFIGURATION 1.1 Differences Between MR-J2S-30 kW or Higher Capacity Models and MR-J4-DU_ MR-J2S-30 kW or more Item MR-J4-DU_ series...

  • Page 164: Combination Of Converter Unit, Drive Unit, And Servo Motor

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.2 Combination of Converter Unit, Drive Unit, and Servo Motor POINT MR-J2S-_A_/B_ cannot drive an HG motor. When the servo motor is replaced with an HG motor, simultaneous replacement with MR-J4-_A_/B_ and an HG motor is necessary.

  • Page 165: Configuration With Peripheral Equipment

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.3 Configuration with Peripheral Equipment (1) MR-J2S series 3-phase AC power supply No-Fuse breaker (NFB) Personal Setup computer software (SETUP161E) Magnetic contactor (Note 2) Communication Servo amplifier Converter unit cable Line noise filter...
  • Page 166 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) MR-J4-DU_ This diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The way to interface MR-J4-DU_ is the same as MR-J4-_. Refer to each servo amplifier instruction manual. R S T (Note 2) Power supply Personal...

  • Page 167: Installation

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.4 Installation Mounting direction and distance Install the converter unit and servo amplifier accurately and vertically on a perpendicular wall. Otherwise a malfunction may be caused. Secure the prescribed distance between the converter unit/servo amplifier and the inner surface of the cabinet or other devices.
  • Page 168 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) MR-J4-DU_ (a) Installation POINT Make sure to install a drive unit on the right of a converter unit as shown in the diagram. Longer than 100 mm Longer Converter unit Drive unit...

  • Page 169: Magnetic Contactor Control Connector (Cnp1) [Exclusively For Mr-J4-Du_]

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1.5 Magnetic Contactor Control Connector (CNP1) [Exclusively for MR-J4-DU_] Connect a magnetic contactor wiring connector to the converter unit. CNP1-1 and Note L11 are always in conduction. Leaving the connector disconnected can cause an electric shock.
  • Page 170 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ When the drive unit sends the converter unit a start up command, the converter unit shorts CNP1-2 and L21, powering the control circuit of the magnetic contactor. This turns on the magnetic contactor and powers up the main circuit of the converter unit.

  • Page 171: Signals And Wiring

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2. SIGNALS AND WIRING 2.1 Comparison of Standard Connection Diagrams Insulate the connections of the power supply terminals. Failure to do so may WARNING cause electric shock. Always connect a magnetic contactor between the main circuit power supply and L1/L2/L3 of the converter unit in order to configure a power supply shut-off on the power supply side of the converter unit.
  • Page 172 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (1) General-purpose interface 200 V class MR-J2S-_KA MR-J4-DU_A When magnetic contactor drive output is enabled (factory setting) Converter unit Drive unit Optional Emergency stop 3-phase malfunction thermal Operation ready malfunction...
  • Page 173 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) SSCNET interface 200 V class MR-J2S-_KB MR-J4-DU_B When magnetic contactor drive output is enabled (factory setting) 3-phase Converter unit Drive unit Optional Emergency stop 200 to 220 V AC/50 Hz Operation ready malfunction malfunction...
  • Page 174 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) General-purpose interface 400 V class MR-J2S-_KA4 MR-J4-DU_A4 When magnetic contactor drive output is enabled (factory setting) Converter unit Drive unit Optional Emergency stop 3-phase Operation ready malfunction thermal malfunction...
  • Page 175 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (4) SSCNET interface 400 V class MR-J2S-_KB4 MR-J4-DU_B4 When magnetic contactor drive output is enabled (factory setting) Converter unit Drive unit Optional Emergency stop 3-phase Operation ready malfunction thermal malfunction...

  • Page 176: Power-On Sequence

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2.2 Power-on Sequence (1) MR-J2S-30 kW or more (a) Power-on sequence 1) For the power supply wiring, make sure to use a magnetic contactor in the main circuit power supply as shown in Section 2.1.
  • Page 177 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) MR-J4-DU_A_ (a) Power-on procedure 1) For the power supply wiring, make sure to use a magnetic contactor (L1/L2/L3) in the main circuit power supply as shown in Section 2.1. Configure so that the magnetic contactor is turned off at the same time as an alarm is generated in the external sequence.
  • Page 178 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) MR-J4-DU_B_ (a) Power-on procedure 1) For the power supply wiring, make sure to use a magnetic contactor (L1/L2/L3) in the main circuit power supply as shown in Section 2.1. Configure the circuit so that the magnetic contactor is turned off at the same time as an alarm is generated in the external sequence.
  • Page 179 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2) When the magnetic contactor driving output is enabled and the ready-on is turned off Turning off the ready-on switches off the magnetic contactor of the convertor unit and shuts off the main circuit power supply.
  • Page 180 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 3) When the magnetic contactor driving output is off When an alarm occurs, turn off the magnetic contactor by using the external sequence and shut off the main circuit power supply. Servo motor 0 r/min speed...

  • Page 181: List Of Corresponding Connectors And Terminal Blocks

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2.3 List of Corresponding Connectors and Terminal Blocks (1) Converter unit (a) Connector comparison table For the details of signals, refer to each servo amplifier instruction manual. MR-HP30K，MR-HP55KA4 MR-CR55K，MR-CR55K4 TE2-1...
  • Page 182 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Drive unit (General-purpose interface) (a) Connector comparison table For the details of signals, refer to each servo amplifier instruction manual. MR-J2S-_KA_ MR-J4-DU_A_ TE2-1 CN40A TE2-2 TE2-1 TE2-2 CON1...
  • Page 183 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (c) Comparison of signals 1) CN1A/CN1B Refer to Section 3.4 of "Part 2: Replacement of MR-J2S-_A_ with MR-J4-_A_". 2) CN3 MR-J2S-_A_ Signal MR-J4-_A_ abbreviation Connector pin assignment Connector pin No.
  • Page 184 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) Drive unit (SSCNET interface) (a) Connector comparison table For the details of signals, refer to each servo amplifier instruction manual. MR-J2S-_KB_ MR-J4-DU_B_ TE2-1 CN40A TE2-2 TE2-1 TE2-2 CN1A...
  • Page 185 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (c) Comparison of signals MR-J2S-_B_ MR-J4-_B_ Abbreviation Connector pin assignment Connector pin No. (Note 3) Connector pin No. Connector pin assignment CON2 CON2-1 CN3-3 (DOCOM) CON2-2 CN3-20 (Note 1) (EM2) CON2-3...

  • Page 186: Parameters

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 3. PARAMETERS 3.1 Comparison of Parameters Never perform extreme adjustments and changes to the parameters, otherwise the operation may become unstable. Note If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
  • Page 187 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ MR-HP30K,MR-HP55KA4 MR-CR55K,MR-CR55K4 Initial Initial Name and function Name and function value value PA02 Magnetic contactor drive output selection 0001h Magnetic contactor driving output selection Select magnetic contactor driving output. 0: Disabled 1: Enabled Status display selection...
  • Page 188 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Drive unit POINT Manufacturer setting parameters are not described here. (a) General-purpose interface 200 V class Here are described settings of drive unit specific parameters. Settings of the other parameters are the same as MR-J4-_A_.
  • Page 189 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (c) General-purpose interface 400 V class Here are described settings of drive unit specific parameters. Settings of the other parameters are the same as MR-J4-_A_. Refer to Chapter 5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". MR-J2S-_A4 MR-J4-_A4 Initial...
  • Page 190 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Here are described settings of drive unit specific parameters. Settings of the other parameters are the same as MR-J4-_B_. Refer to Chapter 5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

  • Page 191: Characteristics

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 4. CHARACTERISTICS 4.1 Capacity of Power Source Facility and Generation Loss (1) Calorific values of converter units and drive units Table 5.1 and Table 5.2 shows heat losses at rated load and power supply capacity for a set of a converter unit and drive unit.

  • Page 192: Inrush Current When Turning On The Main Circuit/Control Circuit Power Supply

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 4.2 Inrush Current When Turning On the Main Circuit/Control Circuit Power Supply POINT Inrush current values are changeable depending on the frequency of turning on/off the power supplies and ambient temperature. An inrush current flow in the units at power-on.

  • Page 193: Options And Peripheral Equipment

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5. OPTIONS AND PERIPHERAL EQUIPMENT 5.1 Comparison Table of Cable Option Combinations Cable option combinations Application MR-J2S series MR-J4 series Note Connector shape will be changed. MR-J2HBUS_M Protection coordination cable MR-J3CDL05M...

  • Page 194: Wire Selection Example

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Fabrication of a protection coordination cable Fabricate a cable according to the internal wiring diagram of the section (1) using an MR-J2CN1-A connector set and recommended wires shown below. Characteristics of a core Cable insulator...

  • Page 195: Mr-J2S-Series Power Supply Wire Size

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.2.1 MR-J2S-series power supply wire size The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section. 3) Motor power supply lead Converter unit Servo amplifier Servo motor...

  • Page 196: Mr-J4-Series, Power Supply Wire Size

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.2.2 MR-J4-series, power supply wire size The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. Converter unit Drive unit Servo motor 4) Motor power supply lead...
  • Page 197 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Selection example of crimp terminals The table below shows selection examples of crimp terminals for a terminal block of a drive unit or converter unit when the wires described in (1) of this section are used. Drive unit/converter unit side crimp terminal Symbol Applicable tool...

  • Page 198: Selection Of No-Fuse Breakers, Fuses, And Magnetic Contactors (Example)

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.3 Selection of No-Fuse Breakers, Fuses, and Magnetic Contactors (example) 5.3.1 MR-J2S-series, no-fuse breakers and magnetic contactors (recommended) Always use one molded-case circuit breaker/one magnetic contactor with one servo amplifier. Molded-case circuit breaker Current Magnetic...
  • Page 199 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.

  • Page 200: Bu2-(H) Brake Unit

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.4 FR-BU2-(H) Brake Unit POINT In torque control mode, EM2 signals of a drive unit are the same as its EM1 signals. Use a 200 V class brake unit and resistor unit for a 200 V class converter unit as well as a 400 V class brake unit and resistor unit for a 400 V class converter unit.

  • Page 201: Parameter Setting Of Brake Units

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.4.2 Parameter setting of brake units Normally, it is unnecessary to change the FR-BU2-(H) parameters. The table below shows permission for changing each parameter. Parameter Permission Remarks Number Name...
  • Page 202 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (a) When the magnetic contactor drive output is enabled Converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit TE2-2 (Note 5) CNP1 (Note 3)
  • Page 203 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 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.
  • Page 204 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (b) When the magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Drive unit Converter unit TE2-2 (Note 5) (Note 2) MCCB (Note 1)
  • Page 205 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 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.
  • Page 206 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (2) Use of the MT-BR5-(H) resistor unit (a) When connecting one converter unit to one brake unit 1) When the magnetic contactor drive output is enabled converter unit Drive unit Emergency stop...
  • Page 207 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 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.
  • Page 208 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2) When the magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Converter unit Drive unit TE2-2 (Note 5) (Note 2) MCCB (Note 1)
  • Page 209 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 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.
  • Page 210 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (b) When connecting one converter unit to two brake units POINT When connecting two brake units in parallel, use FR-BU2-(H) for both. Otherwise an alarm or malfunction may occur. Make sure to connect the master and slave terminals (MSG, SD) of one brake unit to those of the other respectively.
  • Page 211 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 1) When the magnetic contactor drive output is enabled Converter unit Drive unit Emergency stop malfunction malfunction Operation ready switch OFF/ON Converter unit Drive unit (Note 5) CNP1 TE2-2 (Note 2)
  • Page 212 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 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.
  • Page 213 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 2) When the magnetic contactor drive output is disabled Converter unit Drive unit Operation ready Emergency stop malfunction malfunction switch Drive unit Converter unit TE2-2 (Note 5) (Note 2) MCCB (Note 1)
  • Page 214 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ Note 1. For the power supply specifications, refer to Part 7 "Common Reference Material". 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.
  • Page 215 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) Wiring precautions Use as short wires as possible between a converter unit and brake unit and between a resistor unit and a brake unit. If using a wire of 5 m or longer, be sure to use a twist wire (with 5 or more twists in 1 m). Make sure that a wire is 10 m or shorter even when it is a twisted wire.
  • Page 216 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (b) Wires between a converter unit and terminal blocks when two brake units are used. Cable gauge Brake unit HIV wire [mm 200 V class FR-BU2-55K 400 V class FR-BU2-H55K FR-BU2-H75K...

  • Page 217: Dimensions

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ 5.4.4 Dimensions (1) FR-BU2-(H) brake unit FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 2-φ5 hole (Screw size: M4) Rating plate 18.5 142.5 (2) FR-BR-(H) resistor unit [Unit: mm] 2- φ C (Note) (Note) Control circuit terminal...

  • Page 218: Comparison Of Peripheral Equipment

    Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ (3) MT-BR5-(H) resistor unit [Unit: mm] Approximate Resistor unit Resistance mass [kg] 200 V class MT-BR5-55K 2.0 Ω 400 V class MT-BR5-H75K 6.5 Ω 4φ15 mounting hole 5.5 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment".
  • Page 219 Part 5: Review on Replacement of MR-J2S-30 kW or Higher Capacity Models with MR-J4-DU_ MEMO 5 - 58...

  • Page 220: Part 6: Review On Replacement Of Mr-J2M With Mr-J4

    Part 6: Review on Replacement of MR-J2M with MR-J4 Part 6 Review on Replacement of MR-J2M with MR-J4 6 - 1...

  • Page 221: Case Study On Replacement Of Mr-J2M

    Part 6: Review on Replacement of MR-J2M with MR-J4 Part 6: Review on Replacement of MR-J2M with MR-J4 1. SUMMARY This document describes the changes that are applied to when replacing a system using the MR-J2M series with a system using the MR-J4 series. The functions and performance of the MR-J4 series are greatly improved from the MR-J2M series.

  • Page 222: Differences Between Mr-J2M-A And Mr-J4-_A

    Part 6: Review on Replacement of MR-J2M with MR-J4 3. DIFFERENCES BETWEEN MR-J2M-A AND MR-J4-_A_ 3.1 Function Comparison Table 3.1.1 General Item MR-J2M series MR-J4 series Reference document/items Regenerative MR-J4-_A_ Servo Amplifier External option Built-in (200 W or more) resistor Instruction Manual, Section 11.2 MR-J4-_A_ Servo Amplifier Dynamic brake...

  • Page 223: Comparison Of Standard Connection Diagrams

    Part 6: Review on Replacement of MR-J2M with MR-J4 3.2 Comparison of Standard Connection Diagrams MR-J2M-A MR-J4-_A_ MR-J2M-P8A Servo amplifier CN1A 24 V DC Symbol Slot 1 Slot 2 Slot 3 Slot 4 DOCOM RD□ DOCOM 10 m or less INP□...

  • Page 224: List Of Corresponding Connectors And Terminal Blocks

    Part 6: Review on Replacement of MR-J2M with MR-J4 3.3 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. Refer to the respective Installation Guides and Instruction Manuals for details on signals. MR-J2M-A MR-J4-_A_ Personal...
  • Page 225 Part 6: Review on Replacement of MR-J2M with MR-J4 (3) Comparison of signals MR-J2M-A MR-J4-_A_ Signal symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1A-50 CN1-3 CN1A-46 CN1-28 CN1A-21 CN1B-50 CN1-30 CN1B-46 CN1-34 CN1B-21 CN1A-20 (Slot 1) CN1A-18 (Slot 2) CN1A-16 (Slot 3) CN1A-14 (Slot 4)
  • Page 226 Part 6: Review on Replacement of MR-J2M with MR-J4 MR-J2M-A MR-J4-_A_ Signal symbol Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment CN1A-35 (Slot 1) CN1A-8 (Slot 2) CN1A-30 (Slot 3) CN1A-3 (Slot 4) CN1-22 CN1B-35 (Slot 5) CN1-24 CN1B-8 (Slot 6) CN1B-30 (Slot 7)

  • Page 227: Comparison Of Peripheral Equipment

    Part 6: Review on Replacement of MR-J2M with MR-J4 3.4 Comparison of Peripheral Equipment POINT Refer to "Part 9: Review on Replacement of Optional Peripheral Equipment". 3.5 Comparison of Parameters The correspondence of the MR-J2M series and MR-J4 series parameter numbers is shown below. Refer to the respective Instruction Manuals for detailed specifications of each parameter.
  • Page 228 Part 6: Review on Replacement of MR-J2M with MR-J4 (2) Drive unit MR-J2M-_DU MR-J2M-A MR-J4-_A_ (Drive unit MR-J2M-_DU) Note Name Name Absolute position detection Absolute position detection system PA03 system The setting value must be changed based on machine PA09 Auto tuning response resonance frequency.
  • Page 229 Part 6: Review on Replacement of MR-J2M with MR-J4 MR-J2M-A MR-J4-_A_ (Drive unit MR-J2M-_DU) Note Name Name Rotation direction selection PA14 Rotation direction selection Encoder output pulse phase Encoder output pulse phase selection selection PC19 Encoder output pulse setting selection Encoder output pulse setting selection Position command...

  • Page 230: Differences Between Mr-J2M-B And Mr-J4-_B

    Part 6: Review on Replacement of MR-J2M with MR-J4 4. DIFFERENCES BETWEEN MR-J2M-B AND MR-J4-_B_ POINT Before replacement, note that the dimensions, peripheral circuits, and optional peripheral devices for the MR-J2M servo amplifier are different from those for the MR-J4 servo amplifier. "QDS motion controller"...

  • Page 231: Replacement Method

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.2 Replacement Method (1) For simultaneous replacement QDS motion controller + MR-J4-_B_ + HG motor Stand-alone motion controller + MR-J4-_B_ + HG motor QnUD(E)(H)CPU + QDS motion controller + Q3_DB SSCNET III/H-compatible stand-alone motion controller: Q170MSCPU(-S1) MR-J4-_B_ MR-J4-_B_...

  • Page 232: Function Comparison Table

    Change". The application "MR-J4(W)-B Change mode" or "MR Mode Change" are available with MR Configurator2 Version 1.12N and later. When a version older than 1.12N is used, download an update version from the MITSUBISHI ELECTRIC FA Global Website. 6 - 13...

  • Page 233: Comparison Of Standard Connection Diagrams

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.4 Comparison of Standard Connection Diagrams MR-J2M-B MR-J4-_B_ Servo amplifier Interface unit Short-circuit connector 24VDC (Packed with the servo amplifier) 13 MBR Forced stop 10 m or less Analog monitor 10 m or less 14 MO2 24 V DC Max.

  • Page 234: List Of Corresponding Connectors And Terminal Blocks

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.5 List of Corresponding Connectors and Terminal Blocks (1) Connector comparison table An example of connections with the peripheral equipment is shown below. Refer to the respective Installation Guides and Instruction Manuals for details on signals. MR-J2M-B MR-J4-_B_ Personal...

  • Page 235: Comparison Of Peripheral Equipment

    Part 6: Review on Replacement of MR-J2M with MR-J4 (3) Comparison of signals MR-J2M-B MR-J4-_B_ Signal symbol Connector Connector Connector pin assignment Connector pin assignment pin No. Pin number CN3-20 CN3-20 (EM2) CN3-13 CN3-13* CN3-4 CN3-4 CN3-14 CN3-14 CN3-7 CN3-5 CN3-8 (DICOM) CN3-10...

  • Page 236: Comparison Of Parameters

    Part 6: Review on Replacement of MR-J2M with MR-J4 4.7 Comparison of Parameters The correspondence of the MR-J2M series and MR-J4 series parameter numbers is shown below. Refer to the respective Instruction Manuals for detailed specifications of each parameter. 4.7.1 Parameter comparison list POINT Parameters for manufacturer setting are not described here.
  • Page 237 Part 6: Review on Replacement of MR-J2M with MR-J4 (2) Drive unit MR-J2M-_DU MR-J2M-B MR-J4-_B_ (Drive unit MR-J2M-_DU) Note Name Name Absolute position detection Absolute position detection PA03 selection system selection Regenerative option The setting must be changed according to option Regenerative resistor PA02 selection...
  • Page 238 Part 6: Review on Replacement of MR-J2M with MR-J4 MR-J2M-B MR-J4-_B_ (Drive unit MR-J2M-_DU) Note Name Name PI-PID switching position droop No corresponding parameter Speed differential Speed differential compensation PB11 compensation Encoder output pulses PA15 Encoder output pulse Max. output frequency is different. DRU parameter writing inhibit PA19 Parameter writing inhibit...
  • Page 239 Part 6: Review on Replacement of MR-J2M with MR-J4 MEMO 6 - 20...

  • Page 240: Part 7: Common Reference Material 7-1 To

    Part 7: Common Reference Material Part 7 Common Reference Material 7 - 1...

  • Page 241: Specification Differences

    Part 7: Common Reference Material Part 7: Common Reference Material 1. SPECIFICATION DIFFERENCES 1.1 Detailed Specification/Function Differences (1) Comparison of MR-J2S series and MR-J4 series (General-purpose interface/SSCNET interface) Item MR-J2S-_A_/MR-J2S-_B_ MR-J4-_A_/MR-J4-_B_ (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW Capacity range (200 V class) 0.1 kW to 37 kW (200 V class) 0.1 kW to 37 kW...
  • Page 242 Part 7: Common Reference Material Item MR-J2S-_A_/MR-J2S-_B_ MR-J4-_A_/MR-J4-_B_ Servo motor HC-_FS series (17-bit ABS) HG series (22-bit ABS) (Encoder resolution) HA-_FS series (17-bit ABS) HC-KFS 300% HG-KR 350% (with a gear reducer: 300%) HC-MFS 300% HG-MR 300% HC-SFS 300% HG-SR 300% Motor maximum torque HA-LFS 250%,300% HG-JR 300%...
  • Page 243 Part 7: Common Reference Material (2) Comparison of MR-J2S series and MR-J4 series (Built-in positioning function/program supported) MR-J2S-_CP_/ MR-J2S-_CL_ MR-J4-_A_-RJ Item (7 kW or less, 100 V/200 V class) (7 kW or less, 100 V/200 V class) (100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW Capacity range (200 V class) 0.1 kW to 7 kW...
  • Page 244 Part 7: Common Reference Material (3) Comparison of MR-J2M series and MR-J4 series (General-purpose interface / SSCNET interface) Item MR-J2M-A/ MR-J2M-B MR-J4-_A_/ MR-J4-_B_ Capacity range 0.1 to 0.75 kW / 200 V 0.1 to 0.75 kW / 200 V (to 0.75 kW / 200 V) Regenerative resistor External option Built-in (200 W or more)

  • Page 245: Servo Amplifier

    Part 7: Common Reference Material 1.2 Servo amplifier If using the existing cables and servo motor, refer to "[Appendix 2] Introduction to Renewal Tool". 1.2.1 Main circuit terminal block Series Main circuit terminal block Series Main circuit terminal block • For 3-phase 200 V AC to 230 V AC or 1-phase 230 V AC Terminal screw: M4 Tightening torque: 1.2 [N•m] MR-J2S-10_...
  • Page 246 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block TE1-1 L2 L3 PE terminal TE1-2 P3 P4 L11 L21 TE1-1 Screw size: M6 Terminal screw: M6 MR-J2S-11K_, MR-J4-11K_(-RJ), Tightening torque: 3.0 [N•m] Tightening torque: 3.0 [N•m] Terminal screw: M6 Tightening torque: 6.0 [N•m] MR-J2S-15K_...
  • Page 247 Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block N- P3 P4 PE terminal L11 L21 Built-in regenerative resistor Terminal screw: M4 Screw for securing lead terminal Tightening torque: 1.2 [N•m] L2 L3 Screw size: M3.5 Tightening torque: 0.8 [N•m] MR-J2S-500_4 MR-J4-500_4(-RJ)

  • Page 248: Comparison Of Encoder Signals (Cn2)

    Part 7: Common Reference Material Series Main circuit terminal block Series Main circuit terminal block Terminal screw: M10 TE2-1 TE2-2 TE1-1 Screw size: M10 Tightening torque: 12.0 [N•m] Tightening torque: 12.0 [N•m] TE1-2 Screw size: M10 Terminal screw: M10 Tightening torque: 12.0 [N•m] Tightening torque: 12.0 [N•m] TE2-1 Screw size: M6 MR-HP30KA,...

  • Page 249: Dynamic Brake: Coasting Distance

    Part 7: Common Reference Material 1.2.3 Dynamic brake: coasting distance (1) Dynamic brake time constant Series Dynamic brake time constant Series Dynamic brake time constant HC-KFS HG-KR Speed [r/min] Speed [r/min] HC-MFS HG-MR Speed [r/min] Speed [r/min] HC-UFS HG-UR 2000 r/min Speed [r/min] Speed [r/min] HC-UFS...
  • Page 250 Part 7: Common Reference Material Series Dynamic brake time constant Series Dynamic brake time constant HC-SFS HG-SR 2000 r/min 2000 r/min Speed [r/min] Speed [r/min] HC-SFS HG-SR 3000 r/min 2000 r/min Speed [r/min] Speed [r/min] HC-SFS HG-SR 400 V 400 V Speed [r/min] Speed [r/min] HG-JR...
  • Page 251 Part 7: Common Reference Material Series Dynamic brake time constant Series Dynamic brake time constant Speed [r/min] HG-JR HA-LFS HG-JR, HA-JR1500 r/min series 200 V 200 V 1500 r/min 2000 r/min 3000 r/min Speed [r/min] Speed [r/min] HG-JR, HA-JR3000 r/min series HA-LFS HG-JR 400 V...
  • Page 252 Part 7: Common Reference Material Series Dynamic brake time constant Series Dynamic brake time constant HA-LFS HG-JR 200 V Speed [r/min] 200 V Large Large capacity capacity 2000 r/min Speed [r/min] Speed [r/min] HA-LFS HG-JR 400 V Speed [r/min] 400 V Large Large capacity...
  • Page 253 Part 7: Common Reference Material (2) Calculation of coasting distance The figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 7.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
  • Page 254 Part 7: Common Reference Material (3) Electronic dynamic brake The electronic dynamic brake operates in the initial state for HG series servo motors with a 500 W or smaller capacity. The time constant "τ" for the electronic dynamic brake will be shorter than that for normal dynamic brake. Therefore, coasting distance will be shorter than in normal dynamic brake.

  • Page 255: Forced Stop Deceleration Function Selection

    Part 7: Common Reference Material 1.2.4 Forced stop deceleration function selection (1) Parameter setting (for MR-J4-_A_series) POINT With MR-J4-_A_, the deceleration to a stop function is enabled by the factory setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _". Initial Abbrevi- Setting...

  • Page 256: Dc Power Supply For Interface: Built-In ⇒ Outside Supply Requisite

    Part 7: Common Reference Material (2) Parameter setting (for MR-J4-_B_series) POINT With MR-J4-_B_, the deceleration to a stop function is enabled in the factory setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _". Initial Abbrevi- Setting...

  • Page 257: Servo Setup Software: Setup Software (Setup161E) ⇒ Mr Configurator2

    Part 7: Common Reference Material 1.2.6 Servo setup software: Setup software (SETUP161E) ⇒ MR Configurator2 Item MR-J2S series MR-J4 series → Setup software (SETUP161E) MR Configurator2 Servo setup software Model: MRZJW3-SETUP161E Model: SW1DNC-MRC2-E (1) MR Configurator2 (SW1DNC-MRC2-E) specification Item Description Project Create/read/save/delete project, system setting, and print Parameter...

  • Page 258: Servo Amplifier Initializing Time

    Part 7: Common Reference Material 1.2.8 Servo amplifier initializing time This section explains the initializing time of the servo amplifier (the time taken between power-on and servo- on reception). The initializing time is 2 s at maximum for the MR-J2S-_A_servo amplifier, but 3.5 s at maximum for the MR-J4-_A_servo amplifier.
  • Page 259 Part 7: Common Reference Material (3) MR-J2S-_B_ series servo amplifier The initializing time is 3 to 4 s. Servo-on command accepted (Note) (3 s to 4s) Main circuit power supply Control circuit Base circuit 95 ms 10 ms 95 ms Servo-on command (from controller) (4) MR-J2M-P8B series servo amplifier...

  • Page 260: The Pulse Width Of The Encoder Z-Phase Pulse

    Part 7: Common Reference Material 1.2.9 The pulse width of the encoder Z-Phase pulse Note that the pulse width and start-up timing of the encoder Z-phase pulse signal (OP) output from the servo amplifier are different between the MR-J2S / MR-J2M series and the MR-J4 series. ...

  • Page 261: Servo Amplifier Dimensions/Attachment Differences

    Part 7: Common Reference Material 2. SERVO AMPLIFIER DIMENSIONS/ATTACHMENT DIFFERENCES 2.1 MR-J2S ⇒ MR-J4 Comparison Table of Servo Amplifier Dimensions/Installation Differences 2.1.1 General-purpose interface/SSCNET interface 200 V class (22 kW or less) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J4 series are the same or smaller than the MR-J2S series basically.

  • Page 262: Built-In Positioning Function/Program Supported 200 V Class (7 Kw Or Less)

    Part 7: Common Reference Material 2.1.3 Built-in positioning function/program supported 200 V class (7 kW or less) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J4 series are the same or smaller than the MR-J2S series basically. The depth is larger for the 400 W and 600 W capacities.
  • Page 263 Part 7: Common Reference Material Comparison of 200 V/100 V class dimensions MR-J2S series dimensions MR-J4 series dimensions MR-J2S-10_, MR-J2S-20_ MR-J4-10_, MR-J4-20_ φ6 mounting Terminal layout diagram hole (Upper part of body with φ6 mounting hole terminal opened) Rating plate (Note) terminal Variable dimensions...
  • Page 264 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-200_ MR-J4-200_ 2-φ6 mounting hole Terminal layout diagram φ6 mounting hole Exhaust terminal Blowing direction of cooling fan MR-BAT6V1SET Cooling fan mounted intakes air Servo amplifier Mass [kg] MR-J2S-200A MR-J2S-350A MR-J2S-350_ MR-J4-350_...
  • Page 265 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-700_ MR-J4-700_ Cooling fan 2-φ6 mounting hole hole exhausts air (70) Terminal layout diagram M ITSU BIS HI MI TSUBI SHI O PEN OPE N MR-BAT6V1SET mounted OPEN Intake Built-in regenerative resistor Screw for securing lead terminal Screw size: M4...

  • Page 266: General-Purpose Interface Drive Unit/Sscnet Interface Drive Unit 200 V Class (30 Kw Or More)

    Part 7: Common Reference Material 2.1.5 General-purpose interface drive unit/SSCNET interface drive unit 200 V class (30 kW or more) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J4 series are the same or smaller than the MR-J2S series basically. The depth will increase when a heat sink is placed in a cabinet.
  • Page 267 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-30K_, MR-J2S-37K_ MR-J4-DU30K_, MR-J4-DU37K_ Cooling fan exhausts air 2-φ12 mounting hole Cooling Safety cover 2-φ7 mounting hole exhausts Intake MR-BAT6V1SET Intake mounted Variable Mass dimensions Servo amplifier [kg] MR-J2S-30KA4/B4 290 380 MR-J2S-30KA/B MR-J2S-37KA/B...

  • Page 268: General-Purpose Interface/Sscnet Interface 400 V Class (22 Kw Or Less)

    Part 7: Common Reference Material 2.1.6 General-purpose interface/SSCNET interface 400 V class (22 kW or less) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions. The height and width of the MR-J3 series are the same or smaller than the MR-J2S series. The 5 kW capacity types are interchangeable.
  • Page 269 Part 7: Common Reference Material Comparison of 400 V class dimensions MR-J2S series dimensions MR-J4 series dimensions MR-J2S-60_4, MR-J2S-100_4 MR-J4-60_4, MR-J4-100_4 φ6 mounting hole MR-BAT6V1SET mounted Servo amplifier Mass [kg] MR-J2S-60A4/B4 MR-J2S-100A4/B4 MR-J2S-200A4/B4 MR-J2S-200_4 MR-J4-200_4 φ6 mounting hole Exhaust Cooling fan intakes air Servo amplifier Mass [kg]...
  • Page 270 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-500_4 MR-J4-500_4 Servo amplifier Mass [kg] MR-J2S-350A4/B4 MR-J2S-500A4/B4 MR-J2S-700_4 MR-J4-700_4 2-φ6 mounting hole Terminal layout diagram Blowing direction of cooling fan Servo amplifier Mass [kg] MR-J2S-700A4/B4 MR-J2S-11K_4, MR-J2S-15K_4 MR-J4-11K_4, MR-J4-15K_4 Servo amplifier Mass [kg] MR-J2S-11KA4/B4...

  • Page 271: General-Purpose Interface Drive Unit/Sscnet Interface Drive Unit 400 V Class (30 Kw Or More)

    Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-22K_4 MR-J4-22K_4 Blowing direction of cooling fan 2-φ12 mounting hole Cooling fan 2-φ12 mounting hole exhausts air MR-BAT6V1SET Intake mounted 2.1.7 General-purpose interface drive unit/SSCNET interface drive unit 400 V class (30 kW or more) The following table shows comparison of the MR-J2S series and MR-J4 series dimensions.
  • Page 272 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-30K_4 MR-J4-DU30K_4 Cooling fan exhausts air 2-φ6 mounting hole 2-φ12 mounting hole Cooling Safety cover (Note) exhausts Intake Intake MR-BAT6V1SET mounted Variable Mass dimensions Servo amplifier [kg] MR-J2S-30KA4/B4 MR-J2S-30KA/B MR-J2S-37KA/B MR-J2S-37KA4/B4 MR-J2S-45KA4/B4...
  • Page 273 Part 7: Common Reference Material MR-J2S series dimensions MR-J4 series dimensions MR-J2S-45K_4, MR-J2S-55K_4 MR-J4-DU45K_4, MR-J4-DU55K_4 Cooling fan exhausts air 2-φ12 mounting hole Safety cover Cooling 2-φ7 mounting hole exhausts Intake Intake MR-BAT6V1SET mounted Variable dimensions Mass Servo amplifier [kg] MR-J2S-30KA4/B4 290 380 MR-J2S-30KA/B MR-J2S-37KA/B...

  • Page 274: Mr-J2M-_ ⇒ Mr-J4-_ Comparison Table Of Servo Amplifier Dimensions/Installation Differences

    Part 7: Common Reference Material 2.2 MR-J2M-_ ⇒ MR-J4-_ Comparison Table of Servo Amplifier Dimensions/Installation Differences The following table shows comparison of the MR-J2M series and MR-J4 series dimensions. The width of the MR-J4 series is the same or smaller than the MR-J2M series. The depth is larger for the 400 W and 750 W capacities.
  • Page 275 Part 7: Common Reference Material Comparison between the MR-J2M and the MR-J4 series Series Dimensions MR-J2M-BU4 + MR-J2M-P8A + MR-J2M-_DU MR-J2M-BU4 + MR-J2M-P8B + MR-J2M-_DU Name plate When four MR-J4-10_ units are closely mounted * When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
  • Page 276 Part 7: Common Reference Material Series Dimensions MR-J2M-BU6 + MR-J2M-P8A + MR-J2M-_DU MR-J2M-BU6 + MR-J2M-P8B + MR-J2M-_DU Name plate When six MR-J4-10_ units are closely mounted * When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
  • Page 277 Part 7: Common Reference Material Series Dimensions MR-J2M-BU8 + MR-J2M-P8A + MR-J2M-_DU MR-J2M-BU8 + MR-J2M-P8B + MR-J2M-_DU Name plate When eight MR- J4-10_ units are closely mounted * When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.

  • Page 278: Mr-J2S-_A_/Mr-J2S-_Cp_/Mr-J2S-_Cl_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.3 MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ Parameter Diversion Procedure 2.3.1 Operation procedure of parameter conversion The parameter converter function of MR Configurator2 allows the servo parameters of MR-J2S-_A_/MR-J2S- _CP_/MR-J2S-_CL_ to be changed to the servo parameters of MR-J4-_A_(-RJ). (Conversion of MR-J2S-_A_: version 1.12N or more; conversion of MR-J2S-_CP_/CL_: version 1.25B or more) Parameter converter function (MR Configurator2)

  • Page 279: Mr-J2S-_A_/Mr-J2S-_Cp_/Mr-J2S-_Cl_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.3.2 MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ parameter diversion procedure • Parameter reading from the servo amplifier MR-J2S-_A_/ MR-J2S-_CP_/ MR-J2S-_CL_ • • • A connection with a PC-AT compatible personal computer is required. Start setup software (MRZJW3-SETUP161E). RS-232C connection (MR-CPCATCBL3M) Set the system settings.
  • Page 280 Part 7: Common Reference Material 2.3.3 Parameter reading from the servo amplifier MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ (1) Start the setup software (MRZJW3-SETUP161E). (2) Set the system settings. Click [System] in the menu to display the system settings dialog box. Set the Model Selection, Baud Rate Selection, Comm Port Selection, Capacity selection, and Station number selection.
  • Page 281 Part 7: Common Reference Material (3) Read the servo parameters. Click [Parameters] in the menu to display the parameter list screen. Connect the MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ servo amplifier to a personal computer and click the [Read All] button. Change the setting value of [Pr. PA19 Parameter writing inhibit] to "000E" and click the [Write] button. Then turn off/on the power of the servo amplifier.
  • Page 282 Part 7: Common Reference Material 2.3.4 Converting the parameters of MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ and writing them to the MR- J4-_A_(-RJ) 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(-RJ)" for Model.
  • Page 283 Part 7: Common Reference Material (3) Change MR-J2S-_A_/MR-J2S-_CP_/MR-J2S-_CL_ parameters to MR-J4-_A_(-RJ) 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 setup software (MRZJW3-SETUP161E) with the operation in (3) of Section 2.3.3.
  • Page 284 Part 7: Common Reference Material Click [Update Project]. 7 - 45...
  • Page 285 Part 7: Common Reference Material (4) Write the changed parameters to the MR-J4-_A_(-RJ) servo amplifier. Select [Parameter] - [Parameter Setting] from the menu to display the parameter setting screen. Connect the MR-J4-_A_(-RJ) servo amplifier to a personal computer and click the [Single Axis Write] button.

  • Page 286: Conversion Rules

    Part 7: Common Reference Material 2.3.5 Conversion rules POINT The conversion rules in this section give due consideration to compatibility. However, the servo parameter system of MR-J2S-_A_/ MR-J2S-_CP_/MR-J2S- _CL_ and that of MR-J4-_A_ are so different that the rules may not sufficiently apply to cases of special operation (including special specifications).
  • Page 287 Part 7: Common Reference Material (1) Conversion with the renewal tool POINT I/O signal assignment can be converted with MR Configurator2 of version 1.53F or later. I/O signal assignment cannot be converted with the parameter converter function because the renewal tool is not available for MR-J2S-_CL_. When MR-J2S series servo amplifiers are replaced with MR-J4 series servo amplifiers using the renewal tool, the parameters related to I/O signal assignment can be converted according to the control signal connection of the renewal tool when the conversion of I/O signal assignment with the parameter...
  • Page 288 Part 7: Common Reference Material (2) Parameters that need to be checked after parameter conversion Parameter Initial Setting Name Description number value value Forced stop deceleration function selection To configure the same settings as those for MR-J2S- PA04 Function selection A-1 2000h 0_ _ _h _A_/MR-J2S-_CP_/MR-J2S-_CL_, select "Forced stop...
  • Page 289 Part 7: Common Reference Material (3) Parameter that needs be set when the MR-J2S-_CP_ is replaced with the MR-J4-_A_-RJ The following parameter needs to be set after the MR-J2S-_CP_ is replaced with the MR-J4-_A_-RJ. Parameter Initial Setting Name Description number value value PA01...
  • Page 290 Part 7: Common Reference Material (6) Conversion rules (MR-J2S-_A_ => MR-J4-_A_) The following table shows the parameter conversion rules from MR-J2S-_A_ to MR-J4-_A_. Parameters not specified in the following table will be set to their initial values. MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target...
  • Page 291 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ 4_ _ will be changed to _ _ _ 3. _ X_ _ PA08 _ _ _ X Otherwise, the setting value will be maintained. _ _ _ 1 will be changed to 8.
  • Page 292 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target S-pattern acceleration/deceleration time PC03 The setting value will be maintained. constant Torque command time constant PC04 The setting value will be maintained. Station number setting PC20 The setting value will be maintained.
  • Page 293 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ _ _ 0 will be changed to _ _ _ 0. _ _ _ X PD01 _ _ _ X _ _ _ 1 will be changed to _ _ _ 4. Otherwise, the initial value will be set.
  • Page 294 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 0, this parameter will be converted.
  • Page 295 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 1, this parameter will be converted.
  • Page 296 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 2, this parameter will be converted.
  • Page 297 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 3, this parameter will be converted.
  • Page 298 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 4, this parameter will be converted.
  • Page 299 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target When the setting value of No. 0 is _ _ _ 0, _ _ _ 2, or _ _ _ 4 or when the value of No. 42 is other than _ _ _ 5, this parameter will be converted.
  • Page 300 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target BWNG (battery warning) signal assignment will be converted. (1) When the setting value of No. 49 is _ 1 _ _ PD28 _ _ XX (CN1A-19), the setting value of PD28 will be converted to _ _ 09 (CN1-49 pin setting).
  • Page 301 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target Function selection 6 _ X_ _ PD30 _ _ X_ The setting value will be maintained. The hexadecimal number is converted to _ _ _ X PA14 decimal.
  • Page 302 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target _ _ 00 will be changed to 4500. _ _ 01 will be changed to 4500. _ _ 02 will be changed to 2250. _ _ 03 will be changed to 1500. _ _ 04 will be changed to 1125.
  • Page 303 Part 7: Common Reference Material MR-J2S-_A_ MR-J4-_A_ Conversion rule Name Type Target Type Target Internal speed command PC09 The setting value will be maintained. 5/internal speed limit 5 Internal speed command PC10 The setting value will be maintained. 6/internal speed limit 6 Internal speed command PC11 The setting value will be maintained.
  • Page 304 Part 7: Common Reference Material Table 1 Input conversion rules (for the least significant digit) _ _ _0 will be changed to _ _00. _ _ _1 will be changed to _ _02. _ _ _2 will be changed to _ _03. _ _ _3 will be changed to _ _04.
  • Page 305 Part 7: Common Reference Material (7) Conversion rules (MR-J2S-_CP_ => MR-J4-_A_-RJ) The following table shows the parameter conversion rules from MR-J2S-_CP_ to MR-J4-_A_-RJ. Parameters not specified in the following table will be set to their initial values. MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target...
  • Page 306 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target Home position return speed PT05 The setting value will be maintained. Creep speed PT06 The setting value will be maintained. Home position shift distance PT07 The setting value will be maintained. Rough match output range PT12 The setting value will be maintained.
  • Page 307 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target A value obtained by multiplying the setting value by 32 will be set. Backlash compensation PT14 The above value will be clamped at 65535. To use the HC/HA series servo motors without being replaced, refer to (5) in Section 2.3.5.
  • Page 308 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to _ _ _ 0. _ _ XX PB01 _ _ _ X Otherwise, _ _ _ 2 will be set. _ _ 0 0 will be changed to 4500.
  • Page 309 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to 4500. _ _ 0 1 will be changed to 4500. _ _ 0 2 will be changed to 2250. _ _ 0 3 will be changed to 1500.
  • Page 310 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in Table 1 (as input). However, a setting value other than those in Table 1 will be converted to 2B _ _. When conversion of I/O signal assignment is enabled, this parameter will be converted For manufacturer setting...
  • Page 311 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in Table 1 (as input). However, a setting value other than those in Table 1 will be converted to 39 _ _. When conversion of I/O signal assignment is enabled, this parameter will be converted _ _ XX...
  • Page 312 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted to the _ _ _ X X _ _ _ manufacturer setting value. Do not change the setting value. The setting value will be converted to the manufacturer setting value.
  • Page 313 Part 7: Common Reference Material MR-J2S-_CP_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target The setting value will be converted as shown in Table 2 (as output). However, a setting value other than those in Table 2 will be converted to _ _04. When conversion of I/O signal assignment is enabled, this parameter will be converted _ _ XX...
  • Page 314 Part 7: Common Reference Material Table 1 Input conversion rules (MR-J2S-_CP_ → MR-J4-_A_-RJ) _ _ X X → X X _ _ or X X _ _ → X X _ _ 00 will not be changed. 01 will be changed to 0C. 02 will not be changed.
  • Page 315 Part 7: Common Reference Material (8) Conversion rules (MR-J2S-_CL_ => MR-J4-_A_-RJ) The following table shows the parameter conversion rules from MR-J2S-_CL_ to MR-J4-_A_-RJ. Parameters not specified in the following table will be set to their initial values. MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target...
  • Page 316 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ _ X _ _ _ X The setting value will be maintained. PT04 Home position return type _ _ X _ _ _ X _ The setting value will be maintained. _ X _ _ PT29 _ _ _ X The setting value will be maintained.
  • Page 317 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target (1) When the setting value of No. 58 is 1 32 times the setting value of No. 27 will be Encoder output pulses set. (2) When the setting value of No. 58 is other PA15 than 1 the setting value of No.
  • Page 318 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to _ _ _ 0. _ _ XX PB01 _ _ _ X Otherwise, _ _ _ 2 will be set. _ _ 0 0 will be changed to 4500.
  • Page 319 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target _ _ 0 0 will be changed to 4500. _ _ 0 1 will be changed to 4500. _ _ 0 2 will be changed to 2250. _ _ 0 3 will be changed to 1500.
  • Page 320 Part 7: Common Reference Material MR-J2S-_CL_ MR-J4-_A_-RJ Conversion rule Name Type Target Type Target Program input polarity selection _ X _ _ PT29 _ _ X _ The setting value will be maintained. The setting value will be converted to the _ _ _ X X _ _ _ manufacturer setting value.

  • Page 321: Mr-J2S-_B_ Parameter Diversion Procedure

    Part 7: Common Reference Material 2.4 MR-J2S-_B_ Parameter Diversion Procedure The parameter converter functions of GX Works2 and MT Developer2 convert the servo parameters of MR- J2S-_B_ to those of MR-J4-_B_ when the controller is changed. (GX Works2: 1.84N or later, MT Developer2: 1.41T or later) (Target model) •...

  • Page 322: Changing Qd75M To Qd77Ms/Ld77Ms

    Part 7: Common Reference Material 2.4.1 Changing QD75M to QD77MS/LD77MS (1) Start GX Works2 and create a project. (2) Right-click [Intelligent Function Module] in the Navigation window and select [New Module] to add the simple motion module QD77MS/LD77MS. (3) Double-click [Simple Motion Module Setting] of the added simple motion module to start the simple motion module setting tool.
  • Page 323 Part 7: Common Reference Material (5) Specify the target module. Specify the model and the head XY address of the target module, then click the [OK] button. 7 - 84...
  • Page 324 Part 7: Common Reference Material (6) Execute 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-J2S-_B_ is converted to MR-J4-_B_. When "SSCNET III"...

  • Page 325: Changing The Motion Controller A Series/Q17Ncpu To Q17Ndscpu/Q170Mscpu(-S1)

    Part 7: Common Reference Material 2.4.2 Changing the motion controller A series/Q17nCPU to Q17nDSCPU/Q170MSCPU(-S1) (1) Start MT Developer2. (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 dialog box.
  • Page 326 Part 7: Common Reference Material (3) Execute file diversion. Select the CPU type, OS type, and Operation method in the CPU/OS selection, and click the [Diversion] button. (4) Execute 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.

  • Page 327: Conversion Rules (Mr-J2S-_B_ => Mr-J4-_B_)

    Part 7: Common Reference Material 2.4.3 Conversion rules (MR-J2S-_B_ => MR-J4-_B_) POINT The conversion rules in the above table give due consideration to compatibility. However, the servo parameter system of MR-J2S-_B_ and that of MR-J4-_B_ are so different that the rules may not sufficiently apply to cases of special operation (including special specifications).
  • Page 328 Part 7: Common Reference Material (2) Parameters that need to be set when the HC/HA series servo motor is used without being replaced 1) When the model of a servo amplifier after replacement is MR-J4-_B_ Parameter Initial Setting Name Description number value value...
  • Page 329 Part 7: Common Reference Material (3) Conversion rules (MR-J2S-_B_ => MR-J4-_B_) The following table shows the servo parameter conversion rules from MR-J2S-_B_ (standard) to MR-J4- _B_ standard. Servo parameters not specified in the following table will be set to the initial values. MR-J2S-_B_ MR-J4-_B_ Conversion rules...
  • Page 330 Part 7: Common Reference Material MR-J2S-_B_ MR-J4-_B_ Conversion rules Name Type Target Type Target _ _ 00 will be changed to _ _ _ 0. _ _ XX PB01 _ _ _ X Otherwise, _ _ _ 2 will be set. _ _ 00 will be changed to 4500.
  • Page 331 Part 7: Common Reference Material MR-J2S-_B_ MR-J4-_B_ Conversion rules Name Type Target Type Target _ 9_ _ will be changed to _ _ _ 8. _ A _ _ will be changed to _ _ _ 9. _ X_ _ PC09 _ _ _ X _ B _ _ will be changed to _ _ _ D.
  • Page 332 Part 7: Common Reference Material MR-J2S-_B_ MR-J4-_B_ Conversion rule Name Type Target Type Target _ _ 00 will be changed to 4500. _ _ 01 will be changed to 4500. _ _ 02 will be changed to 2250. _ _ 03 will be changed to 1500. _ _ 04 will be changed to 1125.

  • Page 333: Common Points To Note

    Part 7: Common Reference Material 3. COMMON POINTS TO NOTE 3.1 Points to Note When Replacing a Battery POINT The MR-BAT and A6BAT battery for MR-J2S and the MR-J2M-BT battery unit for MR-J2M cannot be used due to different battery voltage specifications. The battery replacement procedures for MR-J2S/J2M and for MR-J4 are different.

  • Page 334: Servo Amplifier Battery Mounting Method

    Part 7: Common Reference Material 3.1.1 Servo amplifier battery mounting method POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.

  • Page 335: Disassembly Method

    Part 7: Common Reference Material 3.1.2 Disassembly method Pulling out the connector of the battery without the lock release lever pressed CAUTION 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.

  • Page 336: Hc-_Fs /Ha-_Fs Motor Drive

    Part 7: Common Reference Material 4. HC-_FS /HA-_FS MOTOR DRIVE 4.1 Parameter setting (1) MR-J4-_A_ When driving the HC-_FS /HA-_FS series servo motor with MR-J4-_A_, configure [Pr. PC22] at "_ 1 _ _" and select the encoder setting compatible with MR-J2S. If there is an error in the setting, [AL.16: Encoder initial communication error 1] or [AL.20: Encoder normal communication error 1] occurs.

  • Page 337: Corresponding Software Version

    Part 7: Common Reference Material 4.2 Corresponding Software Version Standard software corresponding version Servo motor model (Note) Servo motor series name Servo amplifier model (Including models with General-purpose gear reducers/brakes) SSCNET interface interface HC-KFS053 MR-J4-10_(-RJ) A8 or later HC-KFS13 MR-J4-10_(-RJ) A4 or later A8 or later HC-KFS series...
  • Page 338 Part 7: Common Reference Material Standard software corresponding version (Note) Servo motor model Servo motor series name Servo amplifier model (Including models with General-purpose SSCNET interface gear reducers/brakes) interface HC-SFS53 MR-J4-60_(-RJ) A8 or later HC-SFS103 MR-J4-100_(-RJ) A8 or later HC-SFS HC-SFS153 MR-J4-200_(-RJ) A8 or later...
  • Page 339 Part 7: Common Reference Material Standard software Servo motor model Supported version (Note) Converter Servo motor series name Servo amplifier model (Including models with General- unit model SSCNET gear reducers/brakes) purpose interface interface HA-LFS30K1 MR-J4-DU30K_(-RJ) Not compatible MR-CR55K HA-LFS37K1 MR-J4-DU37K_(-RJ) Not compatible HA-LFS HA-LFS25K14...

  • Page 340: Method For Checking The Software Version

    Part 7: Common Reference Material 4.2.1 Method for checking the software version Start MR Configurator2 (SW1DNC-MRC2-E). Click [Diagnosis] - [System Configuration] from the menu to display the servo amplifier software version number. Servo amplifier software version number: BCD- ↓ ↓ Software version number software version 7 - 101...

  • Page 341: Overload Protection Characteristics (Important Points For Combining The Drive Unit Mr-J4-Du55K_4 And Ha-Lfs Motor)

    Part 7: Common Reference Material 4.3 Overload protection characteristics (Important Points for Combining the drive unit MR-J4-DU55K_4 and HA-LFS motor) When using the drive unit MR-J4-DU55K_4 in combination with the HA-LFS motor, the overload protection characteristics are as shown in the diagram. For MR-J2S-55K_4, please check your operation pattern, since the overload protection curve (broken line) of the overload ratio over 200% at the servo-lock is added.

  • Page 342: Part 8: Review On Replacement Of Motor 8-1 To

    Part 8: Review on Replacement of Motor Part 8 Review on Replacement of Motor 8 - 1...

  • Page 343: Servo Motor Replacement

    Part 8: Review on Replacement of Motor Part 8: Review on Replacement of Motor 1. SERVO MOTOR REPLACEMENT 1.1 Servo Motor Substitute Model and Compatibility POINT Compatibility here means the mounting compatibility. For details about the compatibility of servo motor dimensions, reducer specifications, moment of inertia, connector specifications, and torque characteristics, refer to "2 COMPARISON OF SERVO MOTOR SPECIFICATIONS".
  • Page 344 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-KFS053(B)G5 1/5 HG-KR053(B)G5 1/5 HC-KFS053(B)G5 1/11 HG-KR053(B)G5 1/11 HC-KFS053(B)G5 1/21 HG-KR053(B)G5 1/21 HC-KFS053(B)G5 1/33 HG-KR053(B)G5 1/33 HC-KFS053(B)G5 1/45 HG-KR053(B)G5 1/45 HC-KFS13(B)G5 1/5 HG-KR13(B)G5 1/5 HC-KFS13(B)G5 1/11 HG-KR13(B)G5 1/11 HC-KFS13(B)G5 1/21...
  • Page 345 Part 8: Review on Replacement of Motor (2) HC-MFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) Small capacity, HC-MFS053(B) HG-MR053(B) ultra-low inertia HC-MFS13(B) HG-MR13(B) HC-MFS series HC-MFS23(B) HG-MR23(B) ○ Standard/With brake HC-MFS43(B) HG-MR43(B) (B): With brake HC-MFS73(B) HG-MR73(B) HC-MFS053(B)G1 1/5...
  • Page 346 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-MFS053(B)G5 1/5 HG-KR053(B)G5 1/5 HC-MFS053(B)G5 1/11 HG-KR053(B)G5 1/11 HC-MFS053(B)G5 1/21 HG-KR053(B)G5 1/21 HC-MFS053(B)G5 1/33 HG-KR053(B)G5 1/33 HC-MFS053(B)G5 1/45 HG-KR053(B)G5 1/45 HC-MFS13(B)G5 1/5 HG-KR13(B)G5 1/5 HC-MFS13(B)G5 1/11 HG-KR13(B)G5 1/11 HC-MFS13(B)G5 1/21...
  • Page 347 Part 8: Review on Replacement of Motor (3) HC-SFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-SFS81(B) HG-SR81(B) HC-SFS121(B) HG-SR121(B) HC-SFS201(B) HG-SR201(B) HC-SFS301(B) HG-SR301(B) • The total length of the HC-SFS52(4)(B) HG-SR52(4)(B) Medium capacity, motor will be shorter, so HC-SFS102(4)(B) HG-SR102(4)(B) medium inertia...
  • Page 348 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-SFS352(4)(B)G1(H) 1/43 HG-SR352(4)(B)G1(H) 1/43 Medium capacity, HC-SFS352(4)(B)G1(H) 1/59 HG-SR352(4)(B)G1(H) 1/59 medium inertia HC-SFS502(4)(B)G1(H) 1/11 HG-SR502(4)(B)G1(H) 1/11 HC-SFS series with HC-SFS502(4)(B)G1(H) 1/17 HG-SR502(4)(B)G1(H) 1/17 •...
  • Page 349 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-SFS102(4)(B)G5 1/21 HG-SR102(4)(B)G5 1/21 HC-SFS102(4)(B)G5 1/33 HG-SR102(4)(B)G5 1/33 HC-SFS102(4)(B)G5 1/45 HG-SR102(4)(B)G5 1/45 HC-SFS152(4)(B)G5 1/5 HG-SR152(4)(B)G5 1/5 HC-SFS152(4)(B)G5 1/11 HG-SR152(4)(B)G5 1/11 Medium capacity, HC-SFS152(4)(B)G5 1/21 HG-SR152(4)(B)G5 1/21 medium inertia HC-SFS152(4)(B)G5 1/33...
  • Page 350 Part 8: Review on Replacement of Motor (4) HC-RFS/-LFS/-UFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-RFS103(B) HG-RR103(B) Medium capacity, HC-RFS153(B) HG-RR153(B) ultra-low inertia HC-RFS series HC-RFS203(B) HG-RR203(B) ○ HC-RFS353(B) HG-RR353(B) (B): With brake HC-RFS503(B) HG-RR503(B) HC-RFS103(B)G2 1/5 ◇...
  • Page 351 Part 8: Review on Replacement of Motor Compatibility Example of Series Model Note replacement model (○: Compatible) HC-RFS103(B)G7 1/5 ◇ HG-SR102(B)G7 1/5 HC-RFS103(B)G7 1/11 ◇ HG-SR102(B)G7 1/11 HC-RFS103(B)G7 1/21 ◇ HG-SR102(B)G7 1/21 • The HG-RR series does HC-RFS103(B)G7 1/33 ◇ HG-SR102(B)G7 1/33 not support the geared HC-RFS103(B)G7 1/45 ◇...
  • Page 352 Part 8: Review on Replacement of Motor (5) HA-LFS motor Compatibility Example of Series Model Note replacement model (○: Compatible) HA-LFS601(4)(B) HG-JR601(4)(B) HA-LFS801(4)(B) HG-JR801(4)(B) HA-LFS12K1(4)(B) HG-JR12K1(4)(B) HA-LFS15K1(4) HG-JR15K1(4) (Note 1) HA-LFS20K1(4) HG-JR20K1(4) Large capacity, low HA-LFS25K1(4) HG-JR25K1(4) inertia HA-LFS 1000 HA-LFS30K1(4) HG-JR30K1(4) r/min series...

  • Page 353: Comparison Of Servo Motor Specifications

    Part 8: Review on Replacement of Motor 2. COMPARISON OF SERVO MOTOR SPECIFICATIONS 2.1 Comparison of Servo Motor Mounting Dimensions Target product Replacement product Note Model Model HC-KFS053(B) HG-KR053(B) 81.5(109.5) 66.4(107) HG-MR053(B) ◇ HC-MFS053(B) (◇ part: Note 2) HC-KFS13(B) HG-KR13(B) 96.5(124.5) 82.4(123) HC-MFS13(B)
  • Page 354 Part 8: Review on Replacement of Motor Target product Replacement product Note Model Model HC-LFS52(B) 145.5(178.5) HG-JR73(B) 145.5(191) HC-LFS102(B) 165.5(198.5) HG-JR153(B) 199.5(245) HC-LFS152(B) 193(226) HG-JR353(B) 213(251.5) (Note 2) HC-LFS202(B) 200(248) HG-JR353(B) 213(251.5) HC-LFS302(B) 250(298) HG-JR503(B) 267(305.5) HC-UFS13(B) 70(100) HG-KR13(B) 82.4(123) HC-UFS23(B) 77(111) HG-KR23(B)
  • Page 355 Part 8: Review on Replacement of Motor Target product Replacement product Note Model Model HG-JR701M(B) 299.5(372) (Note 2) HG-JR701M4(B) HA-LFS701M(B) 480(550) HA-LFS701M4(B) HG-JR701MR(B)-S_ 399(472) HG-JR701M4R(B)-S_ HG-JR11K1M(B) 339.5(412) (Note 2) HG-JR11K1M4(B) HA-LFS11K1M(B) 495(610) HA-LFS11K1M4(B) HG-JR11K1MR(B)-S_(☐250) 354(427) HG-JR11K1M4R(B)-S_(☐250) HG-JR15K1M(B) 439.5(512) (Note 2) HG-JR15K1M4(B) HA-LFS15K1M(B) 555(670)
  • Page 356 Part 8: Review on Replacement of Motor Target product Replacement product Note Model Model HG-SR502 178.5 (Note 2) HA-LFS502 HG-SR502R-S_ HG-SR702 218.5 (Note 2) HA-LFS702 HG-SR702R-S_ HG-JR11K1M(B) 339.5(412) (Note 2) HG-JR11K1M4(B) HA-LFS11K2(B) 480(550) HG-JR11K1MR(B)-S_(☐200) HA-LFS11K24(B) 439(512) HG-JR11K1M4R(B)-S_(☐200) HG-JR11K1M(B) 339.5(412) (Note 2) HG-JR11K1M4(B) HA-LFS15K2(B) 495(610)

  • Page 357: Detailed Comparison Of Servo Motor Mounting Dimensions

    Part 8: Review on Replacement of Motor 2.2 Detailed Comparison of Servo Motor Mounting Dimensions Z (4 pcs. unless otherwise specified) Target product Replacement product Model Model HC-MFS053(B) 22.5 2-4.5 HG-MR053(B) 21.5 2-4.5 HC-MFS13(B) 22.5 2-4.5 HG-MR13(B) 21.5 2-4.5 HC-KFS23(B) HG-KR23(B) HC-MFS23(B) HG-MR23(B)
  • Page 358 Part 8: Review on Replacement of Motor Z (4 pcs. unless otherwise specified) Target product Replacement product Model Model HA-LFS701M(B) HG-JR701M(B) 14.5 13.5 HA-LFS701M4(B) HG-JR701M4(B) HA-LFS11K1M(B) HG-JR11K1M(B) 14.5 13.5 HA-LFS11K1M4(B) HG-JR11K1M4(B) HA-LFS15K1M(B) HG-JR15K1M(B) 14.5 13.5 HA-LFS15K1M4(B) HG-JR15K1M4(B) HA-LFS22K1M HG-JR22K1M HA-LFS22K1M4 HG-JR22K1M4 HA-LFS30K1M HG-JR30K1M...

  • Page 359: Comparison Of Mounting Dimensions For Geared Servo Motors

    Part 8: Review on Replacement of Motor 2.3 Comparison of Mounting Dimensions for Geared Servo Motors For high precision applications: HC-KFS, HC-MFS_G2 to HG-KR_G7 HC-KFS and HC-MFS series (G2) HG-KR series (G7) Output Reduction Reduction ratio ratio 105.9 40 3.4 (146.5) (158) 130.4...
  • Page 360 Part 8: Review on Replacement of Motor For high precision applications: HC-SFS_G2 to HG-SR_G7 0.5 kW to 1.5 kW HC-SFS_G2 front view Front view B Front view A HC-SFS series (G2) HG-SR series (G7) Output Reduction Front Reduction (kW) ratio view ratio 213.5...
  • Page 361 Part 8: Review on Replacement of Motor For high precision applications: HC-SFS_G2 to HG-SR_G7 2.0 kW to 7.0 kW HC-SFS_G2 front view Front view B Front view A HC-SFS series (G2) HG-SR series (G7) Output Reduction Front Reduction (kW) ratio view ratio 267.5...
  • Page 362 Part 8: Review on Replacement of Motor For high precision applications: HC-RFS_G2 to HG-SR_G7 HC-RFS_G2 front view Front view B Front view A HC-RFS series (G2) HG-SR series (G7) Output Front Reduction Reduction (kW) view ratio ratio 227.5 160 130 140 105 85 (339) (262)
  • Page 363 Part 8: Review on Replacement of Motor For high precision applications: HC-RFS_G5 to HG-SR_G5 HC-RFS series (G5) HG-SR series (G5) Output Reduction Reduction (kW) ratio ratio 227.5 (267) (262) 239.5 1/11 1/11 135 115 (267) (274) 239.5 1/21 135 115 1/21 135 115 (295)
  • Page 364 Part 8: Review on Replacement of Motor For high precision applications: HC-RFS_G7 to HG-SR_G7 HC-RFS series (G7) HG-SR series (G7) Output Reduction Reduction (kW) ratio ratio 227.5 105 85 (267) (262) 239.5 1/11 1/11 135 115 120 11 (267) (274) 239.5 1/21 135 115 120...

  • Page 365: Comparison Of Geared Servo Motors

    Part 8: Review on Replacement of Motor 2.4 Comparison of Geared Servo Motors POINT Geared servo motors are not included in the HG-MR, HG-RR series. 2.4.1 Comparison of actual reduction ratios for geared servo motors Because the actual reduction ratio for some models is different when replacing HC-KFS or MFS_G1 with HG-KR_G1, it is required that an electronic gear be set up.

  • Page 366: Comparison Of Moment Of Inertia

    Part 8: Review on Replacement of Motor 2.5 Comparison of Moment of Inertia (1) HC-KFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m ×...
  • Page 367 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-KFS053(B)G5 1/5 0.121(0.124) HG-KR053(B)G5 1/5 0.113(0.115) HC-KFS053(B)G5 1/11 0.113(0.116)
  • Page 368 Part 8: Review on Replacement of Motor (2) HC-MFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m 35 times HC-MFS053(B) 0.019(0.022) HG-MR053(B)
  • Page 369 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-MFS053(B)G5 1/5 0.087(0.090) HG-KR053(B)G5 1/5 0.113(0.115) HC-MFS053(B)G5 1/11 0.079(0.082)
  • Page 370 Part 8: Review on Replacement of Motor (3) HC-SFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m 17 times HC-SFS81(B) 20.0(22.0) HG-SR81(B)
  • Page 371 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m Medium capacity, 106.5(116.5) 105(114) HC-SFS352(4)(B)G1(H) 1/43 HG-SR352(4)(B)G1(H) 1/43 medium inertia...
  • Page 372 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-SFS52(4)(B)G5 1/5 7.25(9.25) HG-SR52(4)(B)G5 1/5 7.91(10.1) HC-SFS52(4)(B)G5 1/11 7.16(9.16)
  • Page 373 Part 8: Review on Replacement of Motor (4) HC-RFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-RFS103(B) 1.5(1.85) HG-RR103(B) 1.50(1.85)
  • Page 374 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia inertia J inertia J Model Model moment ratio moment ratio × 10 kg•m × 10 kg•m HC-RFS103(B)G7 1/5 2.37(2.72) HG-SR102(B)G7 1/5 12.3(14.5) HC-RFS103(B)G7 1/11 2.25(2.60)
  • Page 375 Part 8: Review on Replacement of Motor (6) HA-LFS motor Target product Replacement product Moment of Moment of Series Load inertia Load inertia Model inertia J Model inertia J moment ratio moment ratio × 10 kg•m × 10 kg•m HA-LFS601(B) HG-JR601(B) 105(113) 176(196)
  • Page 376 Part 8: Review on Replacement of Motor Target product Replacement product Moment of Moment of Series Load moment Load moment inertia J inertia J Model Model inertia ratio inertia ratio × 10 kg•m × 10 kg•m HA-LFS601(B) HG-JR601R(B)-S_ 105(113) 198(218) HA-LFS6014(B) HG-JR6014R(B) -S_ HA-LFS801(B)

  • Page 377: Comparison Of Servo Motor Connector Specifications

    Part 8: Review on Replacement of Motor 2.6 Comparison of Servo Motor Connector Specifications (1) HC-KFS/-MFS/-UFS motor MR-J2S series (HC-KFS/MFS/UFS) MR-J4 series (HG-KR/MR) Motor appearance Power connector Electromagnetic brake Power connector connector (With electromagnetic brake) Encoder connector Encoder connector Power supply lead 4-AWG19 0.3 m Power connector 5557-04R-210 (Receptacle) 5556PBT (Female terminal)
  • Page 378 Part 8: Review on Replacement of Motor (2) HC-SFS motor MR-J2S series (HC-SFS) MR-J4 series (HG-SR) Target models: HC-SFS81(B) Target models: HG-SR81(B) HC-SFS52(4)(B) to HC-SFS152(4)(B) HG-SR52(4)(B) to HG-SR152(4)(B) HC-SFS53(B) to HC-SFS153(B) Motor appearance Power connector Power connector (With electromagnetic brake) Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 379 Part 8: Review on Replacement of Motor MR-J2S series (HC-SFS) MR-J4 series (HG-SR) HC-SFS121(B) to HC-SFS301(B) Target models: HG-SR121(B) to HG-SR301(B) Target models: HG-SR202(4)(B) to HG-SR702(4)(B) HC-SFS202(4)(B) to HC-SFS702(4)(B) HC-SFS203(B), HC-SFS353(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector...
  • Page 380 Part 8: Review on Replacement of Motor (3) HC-RFS motor MR-J2S series (HC-RFS) MR-J4 series (HG-RR) Target models: HC-RFS103(B), RFS153(B),RFS203(B) Target model: HG-RR103(B), RR153(B), RR203(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P...
  • Page 381 Part 8: Review on Replacement of Motor MR-J2S series (HC-RFS) MR-J4 series (HG-RR) Target models: HC-RFS353(B), RFS503(B) Target models: HG-RR353(B), RR503(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P Power connector...
  • Page 382 Part 8: Review on Replacement of Motor (4) HC-LFS motor MR-J2S series (HC-LFS) MR-J4 series (HG-JR) Target models: HC-LFS52(B), LFS102(B) Target models: HG-JR73(B), JR153(B) Motor appearance Power connector Power connector Electromagnetic brake (With electromagnetic brake) Encoder connector Encoder connector Power connector CE05-2A22-23P Power connector MS3102A18-10P...
  • Page 383 Part 8: Review on Replacement of Motor MR-J2S series (HC-LFS) MR-J4 series (HG-JR) Target models: HC-LFS152(B) Target models: HG-JR353(B) Motor appearance Electromagnetic brake connector Power connector Power connector (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P MS3102A22-22P Power connector Pin assignment...
  • Page 384 Part 8: Review on Replacement of Motor MR-J2S series (HC-LFS) MR-J4 series (HG-JR) Target models: HC-LFS202(B), LFS302(B) Target models: HG-JR353(B), JR503(B) Motor appearance Power connector Electromagnetic brake connector Electromagnetic brake connector Power connector Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P MS3102A22-22P Power connector...
  • Page 385 Part 8: Review on Replacement of Motor (5) HC-UFS motor MR-J2S series (HC-UFS) MR-J4 series (HG-UR) Target models: HC-UFS72(B), UFS152(B) Target model: HG-UR72(B), UR152(B) Motor appearance Power connector Power connector (With electromagnetic brake) (With electromagnetic brake) Encoder connector Encoder connector Power connector Power connector CE05-2A22-23P...
  • Page 386 Part 8: Review on Replacement of Motor MR-J2S series (HC-UFS) MR-J4 series (HG-UR) Target models: HC-UFS202(B), UFS352(B),UFS502(B) Target models: HG-UR202(B), UR352(B), UR502(B) Motor appearance Power connector Power connector Electromagnetic brake connector Electromagnetic brake connector Encoder connector Encoder connector Power connector Power connector CE05-2A24-10P CE05-2A24-10P...
  • Page 387 Part 8: Review on Replacement of Motor (6) HA-LFS motor MR-J2S series (HA-LFS) MR-J4 series (HG-UR) Target models: HA-LFS502 Target models: HG-SR502 Encoder connector Power connector Motor appearance Power connector Encoder connector Power connector CE05-2A24-10P Power connector MS3102A22-22P Power connector Pin assignment Pin number Signal name Power connector...
  • Page 388 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-SR) Target models: HA-LFS702 Target models: HG-SR702 Encoder connector Power connector Motor appearance Power connector Encoder connector Power connector Power connector CE05-2A32-17P MS3102A32-17P Power connector Power connector Power connector Pin assignment Pin assignment Pin number Signal name...
  • Page 389 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS601(4)(B), LFS701M(4)(B) Target models: HG-JR601(4)(B), JR701M(4)(B) HA-LFS11K2(4)(B) HG-JR11K1M(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Earth terminal Terminal block for thermal M6 screw...
  • Page 390 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS801(4)(B), LFS12K1(4)(B) Target models: HG-JR801(4)(B), JR12K1(4)(B) HA-LFS11K1M(4)(B), LFS15K1M(4)(B) HG-JR11K1M(4)(B), JR15K1M(4)(B) HA-LFS15K2(4)(B), LFS22K2(4)(B) Power supply terminal block Electromagnetic brake connector Motor appearance Power connector Electromagnetic brake connector Encoder connector Encoder connector Terminal block for cooling fan...
  • Page 391 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS15K1(4), LFS20K1(4) Target models: HG-JR15K1(4), JR20K1(4) HA-LFS22K1M(4), LFS30K1M4 HG-JR22K1M(4), JR30K1M4 HA-LFS30K24, LFS37K24 Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block...
  • Page 392 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS30K1M Target model: HG-JR22K1M HA-LFS30K2, LFS37K2 HG-JR30K1M Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block Earth terminal U, V, W terminals, M10 screw M6 screw...
  • Page 393 Part 8: Review on Replacement of Motor MR-J2S series (HA-LFS) MR-J4 series (HG-JR) Target models: HA-LFS25K1(4), LFS30K1(4), LFS37K1(4) Target models: HG-JR25K1(4), JR30K1(4), JR37K1(4) HA-LFS37K1M(4), LFS45K1M4,LFS50K1M4 HG-JR37K1M(4),JR45K1M4,JR55K1M4 HA-LFS45K24,LFS55K24 Cooling fan connector Power supply terminal block Power supply terminal block Motor appearance Encoder connector Encoder connector Power supply terminal block...

  • Page 394: Comparison Of Servo Motor Torque Characteristics

    Part 8: Review on Replacement of Motor 2.7 Comparison of Servo Motor Torque Characteristics ◆ Comparison of torque characteristics between the HG-KR and HC-KFS series ( : HG-KR, : HC-KFS) • HC-KFS series, 200 V class (Note 2) HC-KFS053⇒HG-KR053 HC-KFS13⇒HG-KR13 HC-KFS23⇒HG-KR23 Short-duration Short-duration...
  • Page 395 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-KR and HC-KFS series ( : HG-KR, : HC-KFS) • HC-KFS series, 100 V class HC-KFS053⇒HG-KR053 HC-KFS13⇒HG-KR13 Short-duration Short-duration running range running range Continuous Continuous running range running range 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 396 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-MR and HC-MFS series ( : HG-MR, : HC-MFS) ・HC-MFS series, 200 V class (Note 2) HC-MFS053⇒HG-MR053 HC-MFS23⇒HG-MR23 HC-MFS13⇒HG-MR13 Short-duration Short-duration running range running range Short-duration running range Continuous Continuous...
  • Page 397 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HC-SFS series ( : HG-SR, : HC-SFS) • HC-SFS 1000 r/min, 2000 r/min series, 200 V class (Note 3) HC-SFS81⇒HG-SR81 HC-SFS121⇒HG-SR121 HC-SFS201⇒HG-SR201 Short-duration Short-duration running range Short-duration running range...
  • Page 398 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HC-SFS series ( : HG-SR, : HC-SFS) • HC-SFS 3000 r/min series, 200 V class (Note 2) HC-SFS53⇒HG-SR52 HC-SFS103⇒HG-SR102 HC-SFS153⇒HG-SR152 Short-duration running range Short-duration running range Short-duration running range Continuous running range Continuous running range...
  • Page 399 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-SR and HC-SFS series ( : HG-SR, : HC-SFS) • HC-SFS: 2000 r/min series, 400 V class HC-SFS1524⇒HG-SR1524 (Note 2) (Note 2) (Note 2) HC-SFS1524⇒HG-SR1524 HC-SFS524⇒HG-SR524 HC-SFS1024⇒HG-SR1024 Short-duration Short-duration...
  • Page 400 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-RR and HC-RFS series ( : HG-SR, : HC-RFS) HC-RFS103⇒HG-RR103 HC-RFS153⇒HG-RR153 HC-RFS203⇒HG-RR203 Short-duration Short-duration running range running range Short-duration running range Continuous Continuous Continuous running range running range running range 1000 2000 3000 4000...
  • Page 401 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-KR and HC-UFS series ( : HG-KR, :HC-UFS) HC-UFS13⇒HG-KR13 HC-UFS23⇒HG-KR23 HC-UFS43⇒HG-KR43 Short-duration Short-duration Short-duration running range running range running range Continuous Continuous Continuous running range running range running range 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 402 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-UR and HC-UFS series ( : HG-UR, :HC-UFS) (Note 2) HC-UFS72⇒HG-UR72 HC-UFS152⇒HG-UR152 HC-UFS202⇒HG-UR202 Short-duration Short-duration running range Short-duration running range running range Continuous Continuous Continuous running range running range running range 1000...
  • Page 403 Part 8: Review on Replacement of Motor POINT When servo motors are replaced with HG-JR_R_-S_ motors (compatible product), the torque characteristics differ. Please contact your local sales office. ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) •...
  • Page 404 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 1000 r/min series, 400 V class (Note 2) (Note 2) (Note 2) HA-LFS6014⇒HG-JR6014 HA-LFS8014⇒HG-JR8014 HA-LFS12K14⇒HG-JR12K14 Short-duration Short-duration Short-duration...
  • Page 405 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 1500 r/min series, 200 V class (Note 2) HA-LFS701M⇒HG-JR701M HA-LFS11K1M⇒HG-JR11K1M HA-LFS15K1M⇒HG-JR15K1M Short-duration running range Short-duration Short-duration running range running range...
  • Page 406 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 1500 r/min series, 400 V class (Note 2) (Note 2) (Note 2) HA-LFS701M4⇒HG-JR701M4 HA-LFS11K1M4⇒HG-JR11K1M4 HA-LFS15K1M4⇒HG-JR15K1M4 Short-duration Short-duration Short-duration...
  • Page 407 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR, SR and HA-LFS series ( : HG-JR/SR, : HA-LFS) • HA-LFS: 2000 r/min series, 200 V class HA-LFS502⇒HG-SR502 HA-LFS702⇒HG-SR702 HA-LFS11K2⇒HG-JR11K1M Short-duration Short-duration running range running range Short-duration running range Continuous...
  • Page 408 Part 8: Review on Replacement of Motor ◆ Comparison of torque characteristics between the HG-JR and HA-LFS series ( : HG-JR, : HA-LFS) • HA-LFS: 2000 r/min series, 400 V class (Note 2) (Note 2, 3) (Note 2, 3) HA-LFS22K24⇒HG-JR15K1M4 HA-LFS11K24⇒HG-JR11K1M4 HA-LFS15K24⇒HG-JR11K1M4 Short-duration...
  • Page 409 Part 8: Review on Replacement of Motor MEMO 8 - 68...

  • Page 410: Part 9: Review On Replacement Of Optional Peripheral Equipment 9-1 To

    Part 9: Review on Replacement of Optional Peripheral Equipment Part 9 Review on Replacement of Optional Peripheral Equipment 9 - 1...

  • Page 411: Comparison Table Of Regenerative Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment Part 9: Review on Replacement of Optional Peripheral Equipment 1. COMPARISON TABLE OF REGENERATIVE OPTION COMBINATIONS POINT The MR-J4 series provides the new regenerative options shown in the table below. When an MR-J2S series regenerative resistor is used as it is with a servo motor combined, an alarm may occur.

  • Page 412: Regenerative Options (200 V/100 V)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1 Regenerative Options (200 V/100 V) 1.1.1 Combination and regenerative power for the MR-J2S series List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in Servo amplifier regenerative (Note 1) (Note 1) (Note 1)

  • Page 413: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.1.3 Combination and regenerative power for MR-J4 series (replacement model) List of regenerative options Built-in Permissible regenerative power of regenerative option [W] MR-RB regenerative (Note 1) (Note 1) (Note 1) Servo amplifier model resistor [40 Ω] [40 Ω]...

  • Page 414: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.2 External Form Comparison MR-J2S MR-J4 350_ MR-RB30 MR-RB31/MR-RB3N 500_ Screw for mounting Screw for mounting cooling fan cooling fan (2-M4 screw) (2-M4 screw) 101.5 82.5 101.5 82.5 Intake Intake 350_ MR-RB50 MR-RB51/MR-RB5N 500_...

  • Page 415: Regenerative Options (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.3 Regenerative Options (400 V class) 1.3.1 Combination and regenerative power for the MR-J2S series List of regenerative options Built-in Permissible regenerative power of regenerative option [W] MR-RB regenerative Servo amplifier (Note 1) (Note 1) (Note 1)

  • Page 416: Combination And Regenerative Power For Mr-J4 Series (Replacement Model)

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.3.2 Combination and regenerative power for MR-J4 series (replacement model) List of regenerative options Built-in Permissible regenerative power of regenerative option [W] MR-RB Servo amplifier regenerative (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)

  • Page 417: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 1.4 External Form Comparison MR-J2S MR-J4 60_4 MR-RB1L-4 MR-RB1H-4 100_4 φ6 mounting hole φ6 mounting hole （24） (24) MR-RB3M-4 Screw for mounting cooling fan (2-M4 screw) 101.5 82.5 Intake 60_4 MR-RB3H-4/MR-RB3G-4/MR-RB34-4 MR-RB3G-4/MR-RB34-4/MR-RB3U-4 200_4 Screw for mounting...
  • Page 418 Part 9: Review on Replacement of Optional Peripheral Equipment MR-J2S MR-J4 200_4 MR-RB5H-4/MR-RB5G-4/MR-RB54-4 MR-RB5G-4/MR-RB54-4/MR-RB5U-4 500_4 Screw for mounting cooling fan Screw for mounting cooling fan (2-M3 screw) (2-M3 screw) 700_4 Positioned on opposite side Positioned on opposite side 82.5 82.5 7×14 7×14 slotted...

  • Page 419: Comparison Table Of Dynamic Brake Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment 2. COMPARISON TABLE OF DYNAMIC BRAKE OPTION COMBINATIONS POINT When an MR-J4-22K servo amplifier and an HG-JR22K1M servo motor are combined, the coasting distance will be longer. Therefore, use a dynamic brake option, DBU-22K-R1.

  • Page 420: External Form Comparison

    Part 9: Review on Replacement of Optional Peripheral Equipment 2.1 External Form Comparison MR-J2S MR-J4 22K_ DBU-22K DBU-22K-R1 Mass Dynamic brakes [kg] DBU-22K DBU-22K-R1 MR-J2S MR-J4 30K_ DBU-37K/DBU-55K-4 DBU-37K-R1/DBU-55K-4-R5 37K_ [Unit: mm] [Unit: mm] 2-φ10 mounting hole 2-φ10 mounting hole 30K_4 37K_4 45K_4...

  • Page 421: Comparison Table Of Cable Option Combinations

    Part 9: Review on Replacement of Optional Peripheral Equipment 3. COMPARISON TABLE OF CABLE OPTION COMBINATIONS Cable option combinations Application MR-J2S series MR-J4 series Note Connector shape will be changed. MR-J3ENCBL_M-A_-_ Cable must be changed. MR-JCCBL_M-_ MR-J3JCBL03M-A_-L _M: Cable length MR-EKCBL_M-_ A_: Leading direction -_: Bending life...

  • Page 422: Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4. POWER SUPPLY WIRE SIZE POINT When using the existing cables, refer to "[Appendix 2] Introduction to Renewal Tool". 4.1 Selection of Power Supply Wire Size (Example) 4.1.1 MR-J2S-series power supply wire size The following diagram shows the wires used for wiring.
  • Page 423 Part 9: Review on Replacement of Optional Peripheral Equipment In this case, the power supply wire used is a 600 V plastic one and the wiring distance is 30 m or less. When the wiring distance exceeds 30 m, select another wire size in consideration of the voltage drop. The alphabet letters (a, b, c) on the table correspond to crimp terminals used when wiring a servo amplifier.

  • Page 424: Mr-J4-Series Power Supply Wire Size

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.1.2 MR-J4-series power supply wire size POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in the instruction manuals of the servo amplifier in use for wiring. To comply with other standards, use a wire that is complied with each standard.
  • Page 425 Part 9: Review on Replacement of Optional Peripheral Equipment Example of selecting the wire sizes For the power supply wire, use a 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire). The table below shows selection examples of power supply wire sizes. Wire size selection example (HIV wire) Recommended wire Power supply wire [mm...
  • Page 426 Part 9: Review on Replacement of Optional Peripheral Equipment Wire size selection example (HIV wire) Recommended wire Power supply wire [mm ] (Note 1) Servo amplifier 4) U/V/W/ 1) L1/L2/L3/ 2) L11/L21 3) P+/C (Note 3) MR-J4-60_4(-RJ)/ 1.25 to 2 MR-J4-100_4(-RJ) 2 (AWG 14) (AWG 16 to 14)

  • Page 427: Selection Example Of Crimp Terminals

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.2 Selection Example of Crimp Terminals 4.2.1 MR-J2S-series crimp terminal (1) Selection example of crimp terminals (100 V/200 V class) Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Applicable tool Crimp terminal Manufacturer Body Head...

  • Page 428: Mr-J4-Series Crimp Terminal

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.2.2 MR-J4-series crimp terminal (1) Selection example of crimp terminals (200 V/100 V class) The table below shows selection examples of a crimp terminal for a servo amplifier terminal block. Recommended crimp terminals Servo amplifier-side crimp terminals Symbol Applicable tool...

  • Page 429: Selection Of Molded-Case Circuit Breaker, Fuse, And Magnetic Contactor (Example)

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3 Selection of Molded-Case Circuit Breaker, Fuse, and Magnetic Contactor (Example) 4.3.1 MR-J2S series, molded-case circuit breakers, fuses, and magnetic contactors Select a molded-case circuit breaker with a short shut-off time to prevent smoking and fire from the servo amplifier.

  • Page 430: Mr-J4 Series, Molded-Case Circuit Breakers, Fuses, And Magnetic Contactors

    Part 9: Review on Replacement of Optional Peripheral Equipment 4.3.2 MR-J4 series, molded-case circuit breakers, fuses, and magnetic contactors (recommended) (1) For main circuit power supply Select a molded-case circuit breaker with a short shut-off time to prevent smoking and fire from the servo amplifier. CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
  • Page 431 Part 9: Review on Replacement of Optional Peripheral Equipment (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.

  • Page 432: Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment 5. BATTERY POINT MR-BAT and A6BAT batteries for MR-J2S, or the MR-J2M-BT battery unit for MR-J2M, cannot be used because their battery voltage specifications are different from those of the MR-J4 series. 5.1 MR-J2S-Series Battery 5.1.1 Battery replacement procedure Model: MR-BAT or A6BAT...

  • Page 433: Mr-J4-Series Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3 MR-J4-Series Battery 5.3.1 Battery replacement procedure Model: MR-BAT6V1SET, MR-BAT6V1BJ, MR-BT6VCASE Before replacing a battery, turn 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.

  • Page 434: When Using The Mr-Bat6V1Set Battery

    Part 9: Review on Replacement of Optional Peripheral Equipment POINT Three types of batteries are used to construct the absolute position detection system: MR-BAT6V1SET battery, MR-BAT6V1BJ battery for junction battery cable, and MR-BT6VCASE battery case. The use of the MR-BAT6V1BJ battery for junction battery cable has the following characteristics distinctive from other batteries.

  • Page 435: When Using Mr-Bat6V1Bj Battery For Junction Battery Cable

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3.3 When using MR-BAT6V1BJ battery for junction battery cable (a) Battery connection Connect according to the following figure in combination with the MR-BT6VCBL03M junction battery cable. Servo amplifier MR-BT6VCBL03M Encoder cable MR-BAT6V1BJ Black: Connector for branch cable Orange: Connector for servo amplifier...

  • Page 436: When Using Mr-Bt6Vcase Battery Case

    Part 9: Review on Replacement of Optional Peripheral Equipment 5.3.4 When using MR-BT6VCASE battery case (a) Battery connection Servo amplifier Servo amplifier Servo amplifier Servo amplifier MR-BT6VCASE MR-BT6VCASE CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M CN10 MR-BT6V1CBL_M MR-BT6V1CBL_M Connection to a single unit Connection to eight axes of servo amplifier of servo amplifiers A single MR-BT6VCASE battery case can retain the absolute position data of up to eight axes of servo...

  • Page 437: Emc Filter

    Part 9: Review on Replacement of Optional Peripheral Equipment 6. EMC FILTER POINT Recommended EMC filters for the MR-J2S series are different from those for the MR-J4 series. 6.1 MR-J2S-Series EMC Filter (200 V/100 V class) It is recommended that one of the following filters be used to comply with the EN EMC Directive. Some EMC filters have large in leakage current.
  • Page 438 Part 9: Review on Replacement of Optional Peripheral Equipment HF3040A-TM/HF3050A-TM/HF3060A-TMA J±2 C±1 C±1 B±2 H±2 A±5 Dimensions [mm] Model HF3040A-TM R3.25 HF3050A-TM length 8 HF3060A-TMA HF3080A-TMA/HF3100A-TMA J±2 C±1 C±1 C±1 B±2 H±2 A±5 Dimensions [mm] Model HF3080A-TMA R4.25 length 12 HF3100A-TMA HF3200A-TMA [Unit: mm]...

  • Page 439: Mr-J2S-Series Emc Filter (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 6.2 MR-J2S-Series EMC Filter (400 V class) It is recommended that one of the following filters be used to comply with the EN EMC Directive. Some EMC filters have large in leakage current. Combination with the servo amplifier Recommended filter Servo amplifier...
  • Page 440 Part 9: Review on Replacement of Optional Peripheral Equipment [Unit: mm] 3-M6 3-M6 D±1 D±1 D±1 C±2 K±2 B±5 A±5 H±5 Dimensions [mm] Model R3.25 TF3040C-TX (190) (91.5) length 8 TF3060C-TX (For M6) TF3150C-TX [Unit: mm] 8-R 4.25 Length: 12 (For M8) 3-M8 3-M8...

  • Page 441: Mr-J4-Series Emc Filter (Recommended) (200 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 6.3 MR-J4-Series EMC Filter (Recommended) (200 V class) It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current. Table.

  • Page 442: Dimensions

    Part 9: Review on Replacement of Optional Peripheral Equipment 6.3.2 Dimensions HF3010A-UN [Unit: mm] 3-M4 4-5.5 3-M4 (41) HF3030A-UN/HF-3040A-UN [Unit: mm] Dimensions [mm] Model HF3030A-UN R3.25 length 8 HF3040A-UN 9 - 33...
  • Page 443 Part 9: Review on Replacement of Optional Peripheral Equipment HF3100A-UN [Unit: mm] 2-φ6.5 2-6.5×8 380±1 400±5 HF3200A-UN [Unit: mm] 3-φ6.5 Length: 8 3-φ6.5 3-M10 480 ± 1 500 ± 5 9 - 34...

  • Page 444: Mr-J4-Series Emc Filter (Recommended) (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 6.4 MR-J4-Series EMC Filter (Recommended) (400 V class) It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current. 6.4.1 Combination with the servo amplifier Recommended filter (Soshin Electric) Servo amplifier...
  • Page 445 Part 9: Review on Replacement of Optional Peripheral Equipment TF3040C-TX/TF3060C-TX [Unit: mm] 3-M6 3-M6 D±1 D±1 D±1 C±2 K±2 B±5 A±5 H±5 Dimensions [mm] Model R3.25 TF3040C-TX (190) (91.5) length 8 TF3060C-TX (For M6) TF3150C-TX [Unit: mm] 8-R 4.25 Length: 12 (For M8) 3-M8 3-M8...

  • Page 446: Power Factor Improving Ac Reactor/Power Factor Improving Dc Reactor

    Part 9: Review on Replacement of Optional Peripheral Equipment 7. POWER FACTOR IMPROVING AC REACTOR/POWER FACTOR IMPROVING DC REACTOR 7.1 MR-J2S-Series Power Factor Improving AC Reactor (200 V/100 V class) The input power factor is improved to about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%.

  • Page 447: Mr-J2S-Series Power Factor Improving Dc Reactor (200 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 7.2 MR-J2S-Series Power Factor Improving DC Reactor (200 V class) The input power factor is improved to about 95%. (Note 1) Terminal cover Screw size G Name plate Lower than B Notch Lower than A Mounting leg portion...

  • Page 448: Mr-J2S-Series Power Factor Improving Ac Reactor (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 7.3 MR-J2S-Series Power Factor Improving AC Reactor (400 V class) The input power factor is improved to about 90%. Servo amplifier MR-J2S-_A4/B4 MR-J2S-□A4/B4 MCCB FR-BAL 3-phase 380 to 480 V AC Mounting screw R X S Y T Z...

  • Page 449: Mr-J2S-Series Power Factor Improving Dc Reactor (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 7.4 MR-J2S-Series Power Factor Improving DC Reactor (400 V class) The input power factor is improved to about 95%. (Note 1) Terminal cover Screw size G Name plate Notch Lower than B Lower than A Mounting leg portion 5 m or lower...

  • Page 450: Mr-J4-Series Power Factor Improving Dc Reactor (200 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 7.5 MR-J4-Series Power Factor Improving DC Reactor (200 V class) The following shows the advantages of using power factor improving DC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. •...
  • Page 451 Part 9: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Electric wire Terminal Mass Servo amplifier improving DC Dimensions size [kg] reactor (Note 2) (Note 1) MR-J4-10_(-RJ) FR-HEL-0.4K MR-J4-20_(-RJ) MR-J4-40_(-RJ) FR-HEL-0.75K Fig. MR-J4-60_(-RJ) 2 (AWG 14) FR-HEL-1.5K MR-J4-70_(-RJ) MR-J4-100_(-RJ) FR-HEL-2.2K...

  • Page 452: Mr-J4-Series Power Factor Improving Ac Reactor (200 V/100 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 7.6 MR-J4-Series Power Factor Improving AC Reactor (200 V/100 V class) The following shows the advantages of using power factor improving AC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. •...
  • Page 453 Part 9: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Terminal Mass Servo amplifier improving DC Dimensions size [kg] reactor (Note 1) MR-J4-10_(-RJ) FR-HAL-0.4K MR-J4-20_(-RJ) MR-J4-40_(-RJ) FR-HAL-0.75K MR-J4-10_1(-RJ) MR-J4-60_(-RJ) MR-J4-70_(-RJ) FR-HAL-1.5K MR-J4-20_1(-RJ) MR-J4-100_(-RJ) (3-phase power supply Fig. 9.4 input) FR-HAL-2.2K (Note)

  • Page 454: Mr-J4-Series Power Factor Improving Dc Reactor (400 V Class)

    Part 9: Review on Replacement of Optional Peripheral Equipment 7.7 MR-J4-Series Power Factor Improving DC Reactor (400 V class) The following shows the advantages of using power factor improving DC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. •...
  • Page 455 Part 9: Review on Replacement of Optional Peripheral Equipment Power factor Dimensions [mm] Electric wire Terminal Mass Servo amplifier improving DC Dimensions size [kg] reactor (Note) MR-J4-60_4(-RJ) FR-HEL-H1.5K M3.5 2 (AWG 14) Fig. 9.7 MR-J4-100_4(-RJ) FR-HEL-H2.2K M3.5 2 (AWG 14) MR-J4-200_4(-RJ) FR-HEL-H3.7K 2 (AWG 14)
  • Page 456 Part 9: Review on Replacement of Optional Peripheral Equipment 7.8 MR-J4-Series Power Factor Improving AC Reactor (400 V class) The following shows the advantages of using power factor improving AC reactor. • It improves the power factor by increasing the form factor of the servo amplifier's input current. •...
  • Page 457 Part 9: Review on Replacement of Optional Peripheral Equipment Dimensions [mm] Power factor Terminal Mass Servo amplifier improving DC Dimensions size [kg] reactor (Note) MR-J4-60_4(-RJ) FR-HAL-H1.5K 59.6 M3.5 MR-J4-100_4(-RJ) FR-HAL-H2.2K Fig. 9.10 59.6 M3.5 MR-J4-200_4(-RJ) FR-HAL-H3.7K 70.6 M3.5 MR-J4-350_4(-RJ) FR-HAL-H7.5K MR-J4-500_4(-RJ) FR-HAL-H11K Fig.
  • Page 458 Test operation event information, single-step feed (Note 2) Adjustment One-touch tuning, tuning, and machine analyzer Servo assistant, parameter setting range update, help display, connection to MITSUBISHI ELECTRIC Others FA Global Website Note 1. This function is available only in standard control mode.
  • Page 459 Part 9: Review on Replacement of Optional Peripheral Equipment 8.3 System Requirements 8.3.1 Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment (Note 1) Description Microsoft ® Windows ® 10 Home Operating System Microsoft ®...
  • Page 460 Part 9: Review on Replacement of Optional Peripheral Equipment 8.3.2 Connection with servo amplifier Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M connector (Option) 8.3.3 Points to note for use of the USB communication function To prevent an electric shock or malfunction of the servo amplifier, follow the instructions below. (1) Connection of the power supply of a personal computer Connect the power supply of a personal computer following the procedure below.
  • Page 461 Part 9: Review on Replacement of Optional Peripheral Equipment MEMO 9 - 52...
  • Page 462 Part 10: Startup Procedure Manual Part 10 Startup Procedure Manual 10 - 1...
  • Page 463 Part 10: Startup Procedure Manual Part 10: Startup Procedure Manual 1. STARTUP Do not operate the switches with wet hands. Otherwise, it may cause an electric WARNING shock. Before starting operation, check 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.
  • Page 464 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Appendix 1-1...
  • Page 465 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 1. SUMMARY This [Appendix 1] describes the "MR-J4-_B_-RJ020" servo amplifier that supports the SSCNET conversion unit for MR-J2S-_B_ and "MR-J4-T20" SSCNET conversion unit for MR-J2S-_B_. Ensure to use the MR-J4-T20 with the MR-J4-_B_-RJ020. Combining MR-J4-_B_-RJ020 with MR-J4-T20 makes it possible to connect MR-J4-_B_-RJ020 with SSCNET for MR-J2S-_B_ The MR-J4-_B_-RJ020 servo amplifier is equipped with "J2S compatible mode (factory default)"...
  • Page 466 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 1.1.2 SSCNET conversion unit "MR-J4-T20" ● Connect the conversion unit to connector CN9 on the side of MR-J4-_B_-RJ020. ● The mounting method for guide pins, etc., is the same as that for optional MR-J3 units such as MR-J3- D01.
  • Page 467 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 2. DIFFERENCES BETWEEN MR-J2S-_B_ AND MR-J4-_B_-RJ020 2.1 Function Comparison Table MR-J4-_B_-RJ020 Item MR-J2S-_B Remarks MR-J4-T20 Standard ○ ○ Full. Special specification ○ System Lin. Special specification × × × Supported network SSCNET SSCNET HG motor (Operates as 17 bits) HC-KFS motor...
  • Page 468 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 POINT The MR-J4-_B_-RJ020 servo amplifier with software version A9 or later is compatible with adaptive vibration suppression control. Set [Pr. 25] of the MR- J4-_B_-RJ020 servo amplifier with software version A8 or earlier, to "00 _ _" (Adaptive vibration suppression control disabled).
  • Page 469 2. DIO (DI: one point; DO: one point; ABZ output; Monitor output) uses CN3 of MR-J4. RS-232C is connected using CN30 of MR- J4-T20. 3. Use MR-J3CH00 or SC-J2SJ4ENC03M (manufactured by Mitsubishi Electric System & Service Co., Ltd.). 4. The application "MR-J4(W)-B Change mode" or "MR Mode Change" through USB communication function of the servo amplifier is necessary for using the MR-J4-_B_-RJ020 in J4/J3 convertible mode.
  • Page 470 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 4. I/O SIGNAL CONNECTION EXAMPLE POINT The forced stop switch is not required for the servo system controllers A171SH, A172SH, A173UH, and A273UH. Set [Pr. 23] to "_ _ _1h (Disabled)" for these models. Servo amplifier 1st axis (Note 13)
  • Page 471 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Note 1. To prevent electric shock, always connect the protective earth (PE) ( terminal (marked) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Do not mistake the diode direction. If connected the other way round, the servo amplifier will malfunction and no signal will be output.
  • Page 472 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 5. PARAMETERS POINT The servo amplifier is recognized as MR-J2S by the controller. However, for some parameters, changes to the program or the parameters are required as necessary. The parameters shown in this chapter are a minimum number of parameters that need to be set for replacement.
  • Page 473 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) MR-J4T20CH00 (a) Cable specifications Cable model 1) MR-J4-T20 side connector 2) Junction connector MR-J4T20CH00 Connector: HDR-E14MG1+ Connector: 10220-0200EL Connector case: HDR-E14LPA5 Connector case: 10320-E2W0-008 (Honda Tsushin Kogyo) (3M) View seen from wiring side. (Note) View seen from wiring side.
  • Page 474 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 7. LIST OF SERVO MOTOR COMBINATIONS AND SOFTWARE VERSIONS (1) HC-_FS series/HA-_FS series Servo motor model Servo amplifier software version (Note) Servo motor series name Servo amplifier model (Including models with J4 mode J2S compatibility mode gear reducers/brakes) MR-J4-10B-RJ020...
  • Page 475 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Servo motor model Servo amplifier software version (Note) Servo motor series name Servo amplifier model (Including models with J4 mode J2S compatibility mode gear reducers/brakes) HC-RFS103 MR-J4-200B-RJ020 A0 or later A0 or later HC-RFS153 MR-J4-200B-RJ020 A0 or later...
  • Page 476 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Servo motor model Servo amplifier software version (Note) Servo motor Converter unit (Including models Servo amplifier model J2S compatibility series name model with gear J4 mode mode reducers/brakes) HA-LFS30K1 MR-J4-DU30KB-RJ020 Not compatible Not compatible MR-CR55K HA-LFS37K1 MR-J4-DU37KB-RJ020...
  • Page 477 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) List of servo motor combinations and S/W versions for HC-_F series servo motor POINT Servo motors of this series can be driven only in the "J2S compatibility mode". When the "MR-J4-T20" unit is removed and servo amplifiers are used in the "J4 mode", servo motors of this series need to be replaced.
  • Page 478 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 8. LIST OF COMBINATIONS AND SOFTWARE VERSIONS FOR SERVO SYSTEM CONTROLLERS The table 8.1 lists servo system controllers that can be used in combination with MR-J4-_B_-RJ020 + MR- J4-T20. Table 8.1 List of applicable servo system controllers Servo system controller Model Compatible network...
  • Page 479 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Table 8.2 Versions of motion controller OS that support MR-J4-_B_-RJ020 Controller model OS model OS version SW6RN-SV13QD SW6RN-SV22QC Q172CPU(N)(-T) SW5RN-SV43QC SW5RN-SV54QD First edition or later SW6RN-SV13QB SW6RN-SV22QA Q173CPU(N)(-T) SW5RN-SV43QA SW5RN-SV54QB SW0SRX-SV13G AF or later A171SHCPU(N) SW0SRX-SV22F SW0SRX-SV43F...
  • Page 480 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 9. SAFETY PRECAUTIONS 9.1 Replacing MR-J2S-_B_ Servo Amplifier with MR-J4-_B_-RJ020 Servo Amplifier Note the following when replacing the MR-J2S-_B_ servo amplifier with the MR-J4-_B_-RJ020 servo amplifier. (1) The capacity of mounting holes differs. For compatibility of mounting holes, refer to "[Appendix 1] 11.1 Comparison of Dimensions".
  • Page 481 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (10) In this [Appendix 1], it only describes the encoder cable and the regenerative option for connecting the HC-_FS series and the HA-_FS series servo motors to the MR-J4-_B_-RJ020 servo amplifier. For details of the options for the servo amplifier, refer to Chapter 11 of the "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual".
  • Page 482 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 The initializing time (the time taken from power-on to reception of servo-on) after power-on of the MR-J2S-_B_ servo amplifier and MR-J4-_B_-RJ020 servo amplifier becomes as follows. • MR-J2S-_B_: (up to 3 s) • MR-J4-_B_-RJ020: (up to 4 s) Therefore, note the following when replacing the MR-J2S-_B_ servo amplifier with the MR-J4-_B_-RJ020 servo amplifier.
  • Page 483 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 9.2 Differences with the MR-J2S Series (1) Differences with the MR-J2S Series Item MR-J2S series MR-J4-_B_-RJ020 + MR-J4-T20 series Built-in (0.1 kW to 7 kW) Built-in (0.1 kW to 7 kW) Dynamic brake External (11 kW to 55 kW) External (11 kW to 55 kW) Coasting distance is different.
  • Page 484 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) Startup in the absolute position detection system [AL. 25 Absolute position erased] occurs when switching the power on for the first time, but that is not a malfunction. When an alarm occurs, the alarm can be canceled by shutting off the power after leaving the power on for a few minutes with the alarm being issued.
  • Page 485 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (4) Confirmation of absolute position detection POINT When using the setup software (SETUP161E) with the MR-J4-_B_-RJ020 servo amplifier, select "Setup" - "System settings" and set the "Model selection" to "MR- J2S-_B_". The absolute position data can be confirmed from the setup software (SETUP161E). Select "Diagnosis"...
  • Page 486 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (7) Changing the load to motor inertia ratio POINT The software version A6 or later supports the "load to motor inertia ratio" function. When the "load to motor inertia ratio" function is enabled, always check the setting value of [Pr.
  • Page 487 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Initial Setting value Symbol Name and function range [Unit] Load to motor inertia ratio (load inertia ratio) 0 to 65535 Set the percentage of the load to the motor inertia ratio to the servo motor inertia moment (load inertia ratio).
  • Page 488 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (a) Configuration of adaptive vibration suppression control function Adaptive vibration suppression control consists of the following two functions. Adaptive filter II Vibration tough drive At the initial setting, the adaptive filter II operates automatically and the machine resonance suppression filter is automatically estimated.
  • Page 489 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (c) Vibration tough drive function POINT Resetting the machine resonance frequency by the vibration tough drive function is performed constantly. However, the number of write times to the EEP-ROM is limited to once per hour. The vibration tough drive function does not detect a vibration of 100 Hz or less.
  • Page 490 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (d) Parameter POINT As the initial value, "Adaptive vibration suppression control selection" is set to "Disabled (_ 0 _ _)" in [Pr. 25]. When "Adaptive vibration suppression control selection" is set to "Enabled (_1_ _)" in [Pr.
  • Page 491 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Initial Setting Symbol Name and function value range [unit] Machine resonance suppression filter 2 0000 0000h Select the machine resonance suppression filter. (Refer to section 7.1.1 of "MELSERVO-J4 031Fh series MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual".) Set "00"...
  • Page 492 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 10. Alarm 10.1 Alarm/Warning List When an error occurs during operation, an alarm or a warning is displayed. When an alarm or a warning occurs, take the proper action as described in the "MR-J4-_B_RJ020/MR-J4-T20 Servo Amplifier Instruction Manual".
  • Page 493 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 11. DIMENSIONS 11.1 Comparison of Dimensions The following table shows the combined dimensions of the servo amplifier and options. (1) shows the amount of increased unit width compared with MR-J2S-_B_. For the sections of the table showing "None", the unit's width is smaller compared with MR-J2S.
  • Page 494 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 11.2 Dimensions These are external views when 100 W, 3.5 kW, and 5 kW servo amplifiers are combined with MR-J4-T20. The views from the bottom show the increases in width from that of the MR-J4 standard model. (For dimensions when the servo amplifier in different capacities is combined with the MR-J4-T20, refer to "[Appendix 1] 11.2.3 Dimensions (MR-J4-_B_-RJ020 + MR-J4-T20)".
  • Page 495 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 11.2.2 Dimensions (MR-J4-T20) The dimensions of MR-J4-T20 are shown below. For grounding 5 × 6 mounting hole Rating plate Fig. 2. Dimensions (MR-J4-T20) Appendix 1-32...
  • Page 496 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 11.2.3 Dimensions (MR-J4-_B_-RJ020 + MR-J4-T20) Comparison of 200 V class / 100 V class dimensions MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-10B_, MR-J2S-20B_ MR-J4-10B-RJ020, MR-J4-20B -RJ020 (70) Terminal layout diagram φ6 mounting (Upper part of body with hole terminal opened)
  • Page 497 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-200B MR-J4-200B-RJ020 2-φ6 mounting φ6 mounting hole hole Terminal layout diagram Exhaust terminal Blowing direction of cooling fan Cooling fan intake Servo amplifier Mass [kg] MR-BAT6V1SET MR-J2S-200B mounted...
  • Page 498 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-11KB, MR-J2S-15KB MR-J4-11KB-RJ020, MR-J4-15KB-RJ020 Blowing direction of cooling fan (75) 2-φ6 mounting Cooling fan exhaust hole MITSU BISH I Cooling fan MR-BAT6V1SET mounted CON2 CHARGE Intake Intake Servo amplifier...
  • Page 499 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-30KB, MR-J2S-37KB MR-J4-DU30KB-RJ020, MR-J4-DU37KB-RJ020 (80) Cooling fan exhaust 2-φ12 mounting hole Cooling Safety cover 2-φ7 mounting hole exhaust CN40A TE2-2 TE2-1 Intake MR-BAT6V1SET mounted 15.5 22.5 175.5 178.5...
  • Page 500 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 Comparison of 400 V class dimensions MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-60B4, MR-J2S-100B4 MR-J4-60B4-RJ020, MR-J4-100B4-RJ020 φ6 mounting hole MR-BAT6V1SET mounted MR-J2S-200B4 MR-J4-200B4-RJ020 φ6 mounting hole Cooling fan intake MR-BAT6V1SET mounted MR-J2S-350B4 MR-J4-350B4-RJ020 2-φ6 mounting hole...
  • Page 501 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-500B4 MR-J4-500B4-RJ020 (70) Terminal layout diagram Cooling fan exhaust MITSUB ISHI MITSUBI SHI OPEN O PEN OPE N N.P. N.P. Intake MR-BAT6V1SET mounted Built-in regenerative resistor Blowing direction of cooling fan Screw for securing lead terminal Screw size: M4...
  • Page 502 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-22KB4 MR-J4-22KB4-RJ020 Blowing direction of cooling fan (75) Cooling fan 2-φ12 mounting hole exhaust M I TSUBISH MR-BAT6V1 SET mounted CHARGE CON2 Intake MR-J2S-30KB4 MR-J4-DU30KB4-RJ020 (80) Cooling fan exhaust 2-φ12 mounting hole...
  • Page 503 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-J2S series dimensions MR-J4-_B_-RJ020 series + MR-J4-T20 dimensions MR-J2S-45KB4, MR-J2S-55KB4 MR-J4-DU45KB4-RJ020, MR-J4-DU55KB4-RJ020 (80) Cooling fan exhaust 2-φ12 mounting hole Cooling Safety cover 2-φ7 mounting hole (Note) exhaust CN40A TE2-2 TE2-1 Intake MR-BAT6V1SET mounted 15.5 22.5 175.5...
  • Page 504 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 12. MODE SWITCHING METHOD POINT There are function limits for the MRJ4-_B servo amplifier when using the MRJ4- _B_-RJ020 servo amplifier in J4 mode. Regarding other functions, they are the same as for the MRJ4-_B servo amplifier. Availability Function MR-J4-_B_...
  • Page 505 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 12.2 Mode Switching Method from J4 Mode to J2S Compatibility Mode (1) Turn on the servo amplifier with MR-J4-T20 mounted. (2) Run the application of "MR-J4(W)-B Change mode" or "MR Mode Change" and verify that "J2S Compatibility mode"...
  • Page 506 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting options or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage WARNING between P+ and N- is safe with a voltage tester and others.
  • Page 507 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.2 Encoder Cable List Product Model Description Application name Encoder MR-EKCBL_M-L IP20 cable Cable length: 20, 30 m For details, refer to section 13.3 (1). Encoder MR-EKCBL_M-H IP20 cable Cable length: Long bending life 20, 30, 40, 50 m Encoder MR-J3CH00...
  • Page 508 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.3 Details on encoder cable POINT To wire the connector on the CN2 side, securely connect the external conductor of the shield cable to the grand plate and install it to the connector shell. Cable Gland plate Screw...
  • Page 509 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (a) Servo amplifier/servo motor connection Servo amplifier MR-EKCBL_M-L MR-EKCBL_M-H HC-KFS HC-MFS HC-UFS 3000 r/min Cable model 1) CN2 connector 2) Encoder connector MR-EKCBL_M-L Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9 Shell kit: 36310-3200-008 (Molex) Connector pin: 170359-1 (3M)
  • Page 510 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (b) Cable internal wiring diagram MR-EKCBL20M-L MR-EKCBL30M-L Encoder Encoder connector connector connector connector Plate (Note) CONT Plate (Note) MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL20M-H MR-EKCBL50M-H Encoder Encoder connector connector connector connector Plate (Note) CONT Plate (Note) Note.
  • Page 511 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) MR-J3CH00 (or SC-J2SJ4ENC03M (manufactured by Mitsubishi Electric System & Service Co., Ltd.) The servo amplifier and the servo motor cannot be connect only using this cable. Use it with following encoder cable.
  • Page 512 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (b) Cable internal wiring diagram Encoder connector connector Plate Plate (Note) Note. When using the absolute position detection system, make sure to connect. When using the incremental system, it is not necessary to wire. Appendix 1-49...
  • Page 513 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (3) MR-ESCBL_M- These cables are encoder cables for the HC-SFS, HC-RFS, HC-LFS, HA-LFS series and the 2000 r/min servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_"...
  • Page 514 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (b) Cable internal wiring diagram MR-ESCBL2M-L MR-ESCBL5M-L MR-ESCBL10M-L MR-ESCBL20M-L Encoder Encoder connector connector connector connector Plate (Note) Plate (Note) MR-ESCBL2M-H MR-ESCBL5M-H MR-ESCBL30M-L MR-ESCBL10M-H Encoder Encoder connector connector connector connector CONT Plate (Note) (Note) Plate Appendix 1-51...
  • Page 515 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 MR-ESCBL30M-H MR-ESCBL40M-H MR-ESCBL20M-H MR-ESCBL50M-H Encoder Encoder connector connector connector connector Plate (Note) CONT Plate (Note) Note. When using the absolute position detection system, make sure to connect. When using the incremental system, it is not necessary to wire. Appendix 1-52...
  • Page 516 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.4 Large Capacity Servo Cable Connector Set 13.4.1 Cable connector set combination When using the MR-J4-DU_B_-RJ020, cables and connector sets other than those shown below are the same as the MR-J4-_(-RJ). Refer to Section 11.1 in "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". Converter unit Drive unit CNP1...
  • Page 517 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.4.2 MR-J3CDL05M (0.5 m) Protection Coordination Cable When manufacturing a protection coordination cable, be careful not to wire Note improperly. Otherwise, it may cause unexpected motion. This cable is intended to connect the converter unit and the drive unit. (1) Internal wiring diagram MR-J3CDL05M 10120-3000PE (Connector)
  • Page 518 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.5 Regenerative Options Regenerative options and servo amplifier must not be set in combination other Note than the specified combination. Doing so could cause a fire. 13.5.1 Combination and regenerative power (1) 200/100 V class (a) When using the HA-_FS/HC-_FS motors (J2S compatibility mode) List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB...
  • Page 519 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (b) When using the HG motor or the HA-_FS/HC-_FS motors (J4 mode) List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in regenerative (Note 1) (Note 1) (Note 1) Servo amplifier model resistor [40 Ω] [40 Ω]...
  • Page 520 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) 400 V class (a) When using the HA-_FS/HC-_FS motors (J2S compatibility mode) List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in Servo amplifier regenerative (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
  • Page 521 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (b) When using the HG motor or the HA-_FS/HC-_FS motors (J4 mode) List of regenerative options Permissible regenerative power of regenerative option [W] MR-RB Built-in regenerative Servo amplifier (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
  • Page 522 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.5.2 Regenerative option selection Select by the following method when regeneration is continuously generated on the vertical axis or when a regenerative option is selected in detail. (1) Calculation of regenerative energy (1 cycle) Raise Drop Time...
  • Page 523 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) Loss of the servo motor and the servo amplifier during regeneration The efficiency of the servo motor and the servo amplifier during regeneration is shown below. Motor inverse Motor inverse Servo amplifier C charge [J] Servo amplifier C charge [J]...
  • Page 524 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.5.3 Parameter setting [Setting for 22 kW or less] Set [Pr. 2] adjusting to the regenerative option to be used. [Pr. 2] 00: The regenerative option is not used ・For servo amplifier of 100W, regenerative resistor is not used. ・For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
  • Page 525 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 13.5.4 Connecting regenerative options POINT When using MR-RB50, MR-RB51, MR-RB3M-4, MR-RB3G-4, MR-RB5G-4, MR- RB34-4, MR-RB54-4, MR-RB3H-4 and MR-RB5H-4, cooling using the cooling fan is required. You should provide the cooling fan. Refer to Chapter 7 of this document for wire sizes used for wiring. Regenerative options may be heated to 100 °C or more above the ambient temperature.
  • Page 526 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) MR-J4-700B-RJ020/MR-J4-500B4-RJ020/MR-J4-700B4-RJ020 Remove the wiring (between P+ and C) for the regenerative resistor built into the servo amplifier and install the regenerative option between P+ and C. The G3 and the G4 terminals are thermal sensors. Abnormal overheating of the regenerative option causes the contact between G3 and G4 to open.
  • Page 527 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (3) MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020 and MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020 (when the regenerative resistor that comes standard with the servo amplifier is used.) Since the regenerative resistor that comes with the servo amplifier of 11 kW to 22 kW has no protective cover, be careful of the following items.
  • Page 528 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (4) MR-J4-11KB-RZ020 to MR-J4-22KB-RZ020 and MR-J4-11KB4-RZ020 to MR-J4-22KB4-RZ020 (when regenerative options are used.) MR-J4-11KB-RZ020 to MR-J4-22KB-RZ020 and MR-J4-11KB4-RZ020 to MR-J4-22KB4-RZ020 do not come with regenerative resistors. When you use these servo amplifiers, be sure to use MR-RB5E, MR- RB5R, MR-RB9P, MR-RB9F, MR-RB9T, MR-RB5K-4, MR-RB6B-4, MR-RB60-4 or MR-RB6K-4.
  • Page 529 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (5) MR-CR55K_(when regenerative options are used) Make sure to supply power (shown in the following table) to the cooling fan. Table: Appendix 1 Cooling Fan Item 200 V class 400 V class Model MR-RB137/MR-RB139 MR-RB137-4/MR-RB13V-4 1-phase 198 V AC to 242 V AC, 50...
  • Page 530 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 2) MR-RB137/MR-RB13V-4 POINT For MR-RB137 and MR-RB13V-4, three units are required for each converter unit. For MR-RB137 and MR-RB13V-4, purchase three units. Power factor Converter unit improving DC reactor (Option) 24VDC (Note 1) DC 24 V 5 m or less (Note 2)
  • Page 531 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 14. SETTING PARAMETERS ADDED ON MR-J4-_B_-RJ020 SERVO AMPLIFIER This section explains the procedure for setting parameters added on the MR-J4-_B_-RJ020 servo amplifier from the motion controller (in J2S Compatibility Mode). 14.1 Combination of Motion Controller and Peripheral Software Series Motion controller model Motion controller peripheral software...
  • Page 532 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (2) Double-click the setting field "1 to 75" under special parameters "Parameter No." and display the "Servo special parameter setting" dialog. Double-click (3) Change the parameter setting value. After changing the setting value of the applicable parameter, click "OK" so that the setting value is reflected.
  • Page 533 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (4) Write the changed parameter in communication. Clicking "Execute" will run a write. Click Appendix 1-70...
  • Page 534 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 14.2.2 For MT Developer (software version 00W or later) (1) Display the "Servo data setting" window. (2) Double-click the setting field "1 to 75" under special parameters "Parameter No." in the "Servo parameter" tab and display the "Servo special parameter setting" dialog. Double-click Appendix 1-71...
  • Page 535 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (3) Change the parameter setting value. After changing the setting value of the applicable parameter, click "OK" so that the setting value is reflected. Click Examples of changes of parameter setting values are shown below. (a) Change of [Pr.
  • Page 536 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 14.2.3 For MT Developer (software version 00V or earlier) or SW3RNC-GSV POINT Perform the steps during communication with the servo controller and the servo amplifier. (1) Setting procedure (a) Display the monitor screen. Set the monitor to a stooped state of monitor using the positioning monitor.
  • Page 537 [Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20 (3) Change the parameter setting value. After changing the setting value of the applicable parameter, click "OK" to write the setting value to the motion controller and the servo amplifier. Click Examples of changes of parameter setting values are shown below. (a) Change of [Pr.
  • Page 538 [Appendix 2] Introduction to Renewal Tool [Appendix 2] Introduction to Renewal Tool Mitsubishi Electric System & Service Co., Ltd. provides the related services. For details, please refer to the following address. Mitsubishi Electric System & Service Co., Ltd. www.melsc.co.jp/business/ OVERSEAS SERVICE SUPPORT SECTION Email: [email protected]...
  • Page 539 POINT For details and the latest version of the tool and compatible models, check the website of Mitsubishi Electric System & Service Co., Ltd. 1. SUMMARY The MR-J2S renewal tool is a tool to replace the presently used MR-J2S servo amplifier with the MR-J4 servo amplifier.
  • Page 540 [Appendix 2] Introduction to Renewal Tool 1.2.1 MR-J2S-_A_ renewal tool/MR-J2S-_CP_ renewal tool [Before replacement] [After replacement] When replacing the servo amplifier only MR-J2S servo amplifier and Servo motor for MR-J2S Servo motor for MR-J2S When replacing the servo motor after replacing the servo amplifier ...
  • Page 541 [Appendix 2] Introduction to Renewal Tool 1.2.2 MR-J2S-_B_ renewal tool [Before replacement] [After replacement] When replacing the servo amplifier only Servo motor for MR-J2S MR-J2S servo amplifier and Servo motor for MR-J2S When replacing the servo motor after replacing the servo amplifier ...
  • Page 542 [Appendix 2] Introduction to Renewal Tool (1) Common items *When the renewal tool is used. When the Compatibility renewal tool is Item MR-J2S series MR-J4 series Remarks used Built-in (0.1 kW to 7 kW) Built-in (0.1 kW to 7 kW) Dynamic brakes External (11 kW to 55 kW) △...
  • Page 543 [Appendix 2] Introduction to Renewal Tool (2) General-purpose interface *When the renewal tool is used. When the Compatibility renewal tool is Item MR-J2S series MR-J4 series Remarks used 0.1 kW to 0.4 kW (100 V) 0.1 kW to 0.4 kW (100 V) 0.1 kW to 0.4 kW (100 V) 0.1 kW to 37 Capacity range...
  • Page 544 [Appendix 2] Introduction to Renewal Tool Continued from previous page *When the renewal tool is used. When the Compatibility renewal tool is Item MR-J2S series MR-J4 series Remarks used 8 points 9 points ○ SON reception time SON reception time △...
  • Page 545 [Appendix 2] Introduction to Renewal Tool (3) SSCNET interface *When the renewal tool is used. When the Compatibility renewal tool is Item MR-J2S series MR-J4 series Remarks used 0.1 kW to 0.4 kW (100 V) 0.1 kW to 0.4 kW (100 V) 0.1 kW to 0.4 kW (100 V) 0.1 kW to 37 kW Capacity range...
  • Page 546 [Appendix 2] Introduction to Renewal Tool (4) Built-in positioning function *When the renewal tool is used. When the Compatibility renewal tool is Item MR-J2S series MR-J4 series Remarks used 0.1 kW to 0.4 0.1 kW to 0.4 kW (100 V) 0.1 kW to 0.4 kW (100 V) kW (100 V) Capacity range...
  • Page 547 [Appendix 2] Introduction to Renewal Tool Note 1. The renewal tool is compatible with the following capacity: • General-purpose interface/SSCNET interface: 0.1 kW to 0.4 kW (100 V), 0.1 kW to 37 kW (200 V), and 0.6 kW to 55 kW (400 V) •...
  • Page 548 Because the existing wiring becomes unnecessary, insulate the cables as needed. 4. Laying a new encoder cable is required when performing a replacement of a following motor. Contact a Mitsubishi Electric System & Service Co., Ltd. if a new cable required.
  • Page 549 [Appendix 2] Introduction to Renewal Tool 1.3 Renewal Tool Product Names (1) For general-purpose interface and built-in positioning Name (Example) Primary replacement (SC-J2S(CP)J4KT02K) Servo amplifier MR-J4-_A_(-RJ) (Note 1) Note 1. For primary replacement, the software version of the servo amplifier differs depending on the corresponding motor.
  • Page 550 [Appendix 2] Introduction to Renewal Tool (2) For SSCNET interface (Example) Primary replacement (SC-J2SBJ4KT02K) Name Servo amplifier (MR-J4-_B_-RJ020) (Note 1) SSCNET conversion unit (MR-J4-T20) Note 1. For primary replacement, the software version of the servo amplifier differs depending on the corresponding motor. Refer to "[Appendix 1] Summary of MR-J4_B-RJ020+MR-J4-T20".
  • Page 551 [Appendix 2] Introduction to Renewal Tool 1.4 Renewal Tool Configuration (1) For general-purpose interface and built-in positioning 1) Primary replacement: When replacing the servo amplifier only Renewal kit MR-J4-_A_(-RJ) Servo amplifier Monitor conversion cable Control signal conversion cable Existing cable To programmable controller Power supply Encoder...
  • Page 552 [Appendix 2] Introduction to Renewal Tool (2) For SSCNET interface 1) Primary replacement: When replacing the servo amplifier only Renewal kit MR-J4-_B_-RJ020 Existing SSCNET MR-J4-T20 Caple Servo system controller or front servo amplifier Rear axle servo amplifier 24 V DC power supply connection connector for interface Existing cable To programmable controller...
  • Page 553 [Appendix 2] Introduction to Renewal Tool 2. RENEWAL TOOL PRODUCT LIST (1) For general-purpose interface Replacement Product name Model Application method SC-J2SJ4KT02K MR-J4-_A_servo amplifier capacity: For 100 W, 200 W SC-J2SJ4KT06K MR-J4-_A_servo amplifier capacity: For 400 W, 600 W SC-J2SJ4KT1K MR-J4-_A servo amplifier capacity: For 700 W, 1 kW SC-J2SJ4KT3K MR-J4-_A servo amplifier capacity: For 2 kW, 3.5 kW...
  • Page 554 [Appendix 2] Introduction to Renewal Tool (4) Common (Motor side conversion cable) Replacement No. Product name Model Application method SC-J2SJ4PW1C03M-A1 For HC-KFS, HC-MFS → HG-KR, HG-MR, Load side SC-J2SJ4PW1C03M-A2 For HC-KFS, HC-MFS → HG-KR, HG-MR, Opposite to load side SC-J2SJ4PWBK1C03M-A1 For HC-KFS, HC-MFS → HG-KR, HG-MR, Load side (With brake) For HC-KFS, HC-MFS →...
  • Page 555 [Appendix 2] Introduction to Renewal Tool 3. BASIC CONFIGURATION [Before replacement] Primary replacement MR-J2S series MR-J4 series For MR-J2S renewal tool • Renewal kit • Servo amplifier • Servo amplifier • Servo motor • Conversion cable on the servo amplifier side •...
  • Page 556 [Appendix 2] Introduction to Renewal Tool 3.2 Selection of Products 3.2.1 Replacement selection flow Because some existing HC-KFS46, HC-KFS410, HC-RFS, HC-LFS and HA-LFS series servo motors differ in primary replacement servo amplifiers and CAUTION secondary/simultaneous replacement servo amplifiers, the selection method may differ from the following flow.
  • Page 557 [Appendix 2] Introduction to Renewal Tool (2) Replacement selection flow (For existing HC-KFS46, HC-KFS410, HC-RFS, HC-LFS and HA-LFS series servo motors) 1) Primary replacement menu Check the combination of the existing models. Select the primary replacement model servo amplifier from column 2 of the replacement combination list in Section 4.1 to 4.5.
  • Page 558 [Appendix 2] Introduction to Renewal Tool 4. REPLACMENT COMBINATION LIST 4.1 General-Purpose Interface Replacement Combination List (100 V/200 V Class) (1) Existing HC-KFS motor series (standard/with brake, G1, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models...
  • Page 559 [Appendix 2] Introduction to Renewal Tool (2) Existing HC-KFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 560 [Appendix 2] Introduction to Renewal Tool (3) Existing HC-KFS46, KFS410 motor ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable model Servo Servo Servo motor...
  • Page 561 [Appendix 2] Introduction to Renewal Tool (4) Existing HC-MFS motor series (standard/with brake, G1, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 562 [Appendix 2] Introduction to Renewal Tool (5) Existing HC-MFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 563 [Appendix 2] Introduction to Renewal Tool (6) Existing HC-SFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 564 [Appendix 2] Introduction to Renewal Tool (7) Existing HC-SFS motor series (G1 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo Servo motor...
  • Page 565 [Appendix 2] Introduction to Renewal Tool (8) Existing HC-SFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 566 [Appendix 2] Introduction to Renewal Tool (9) Existing HC-RFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable Servo Servo...
  • Page 567 [Appendix 2] Introduction to Renewal Tool (10) Existing HC-RFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable Servo Servo Servo...
  • Page 568 [Appendix 2] Introduction to Renewal Tool (11) Existing HC-UFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo Servo motor Servo motor...
  • Page 569 [Appendix 2] Introduction to Renewal Tool (13) Existing HA-LFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Servo Servo Motor side conversion cable model Servo motor Servo amplifier Servo motor...
  • Page 570 [Appendix 2] Introduction to Renewal Tool 4.2 SSCNET Interface Replacement Combination List (100 V/200 V Class) (1) Existing HC-KFS motor series (standard/with brake, G1, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13)
  • Page 571 [Appendix 2] Introduction to Renewal Tool (2) Existing HC-KFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSSCNET Motor side conversion cable model...
  • Page 572 [Appendix 2] Introduction to Renewal Tool (3) Existing HC-KFS46, KFS410 motor ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable model Servo SSCNET Servo...
  • Page 573 [Appendix 2] Introduction to Renewal Tool (4) Existing HC-MFS motor series (standard/with brake, G1, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model...
  • Page 574 [Appendix 2] Introduction to Renewal Tool (5) Existing HC-MFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model...
  • Page 575 [Appendix 2] Introduction to Renewal Tool (6) Existing HC-SFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model...
  • Page 576 [Appendix 2] Introduction to Renewal Tool (7) Existing HC-SFS motor series (G1 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model Servo...
  • Page 577 [Appendix 2] Introduction to Renewal Tool (8) Existing HC-SFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model...
  • Page 578 [Appendix 2] Introduction to Renewal Tool (9) Existing HC-RFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model (Note 13) Primary replacement model (Note 5) Secondary replacement/simultaneous replacement models Motor side conversion cable Servo SSCNET...
  • Page 579 [Appendix 2] Introduction to Renewal Tool (10) Existing HC-RFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model (Note 13) Primary replacement model (Note 5) Secondary replacement/simultaneous replacement models Motor side conversion cable Servo SSCNET Servo...
  • Page 580 [Appendix 2] Introduction to Renewal Tool (11) Existing HC-UFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model Servo Servo Servo motor...
  • Page 581 [Appendix 2] Introduction to Renewal Tool (13) Existing HA-LFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Servo SSCNET Servo SSCNET Motor side conversion cable model Servo Servo motor...
  • Page 582 [Appendix 2] Introduction to Renewal Tool 4.3 Built-in Positioning Function Replacement Combination List (1) Existing HC-KFS motor series (standard/with brake, G1, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14)
  • Page 583 [Appendix 2] Introduction to Renewal Tool (2) Existing HC-KFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 584 [Appendix 2] Introduction to Renewal Tool (3) Existing HC-KFS46, KFS410 motor ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable model Servo Servo Servo amplifier...
  • Page 585 [Appendix 2] Introduction to Renewal Tool (4) Existing HC-MFS motor series (standard/with brake, G1, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 586 [Appendix 2] Introduction to Renewal Tool (5) Existing HC-MFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 587 [Appendix 2] Introduction to Renewal Tool (6) Existing HC-SFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 588 [Appendix 2] Introduction to Renewal Tool (7) Existing HC-SFS motor series (G1 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo Servo motor...
  • Page 589 [Appendix 2] Introduction to Renewal Tool (8) Existing HC-SFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 590 [Appendix 2] Introduction to Renewal Tool (9) Existing HC-RFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable Servo Servo amplifier...
  • Page 591 [Appendix 2] Introduction to Renewal Tool (10) Existing HC-RFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable Servo Servo amplifier Servo amplifier...
  • Page 592 [Appendix 2] Introduction to Renewal Tool (11) Existing HC-UFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo Servo amplifier Servo motor Motor side conversion cable model Servo amplifier...
  • Page 593 [Appendix 2] Introduction to Renewal Tool (13) Existing HA-LFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable model Servo amplifier Servo amplifier Servo motor...
  • Page 594 [Appendix 2] Introduction to Renewal Tool 4.4 General-Purpose Interface Replacement Combination List (400 V Class) (1) Existing HC-SFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14)
  • Page 595 [Appendix 2] Introduction to Renewal Tool (2) Existing HC-SFS motor series (G1 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo Servo motor...
  • Page 596 [Appendix 2] Introduction to Renewal Tool (3) Existing HC-SFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model Secondary replacement/simultaneous replacement models replacement models (Note 13) (Note 5, 14) Servo Motor side conversion cable model Servo...
  • Page 597 [Appendix 2] Introduction to Renewal Tool (4) Existing HA-LFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Motor side conversion cable model Servo amplifier Servo amplifier Servo motor...
  • Page 598 [Appendix 2] Introduction to Renewal Tool 4.5 SSCNET Interface Replacement Combination List (400 V Class) (1) Existing HC-SFS motor series (standard/with brake, G2 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14)
  • Page 599 [Appendix 2] Introduction to Renewal Tool (2) Existing HC-SFS motor series (G1 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model Servo...
  • Page 600 [Appendix 2] Introduction to Renewal Tool (3) Existing HC-SFS motor series (G5, G7 reducer) ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Primary/secondary/simultaneous Existing model replacement models Secondary replacement/simultaneous replacement models (Note 13) (Note 5, 14) Servo SSCNET Motor side conversion cable model...
  • Page 601 [Appendix 2] Introduction to Renewal Tool (4) Existing HA-LFS motor series ○: Compatible; △: Limited functions or compatible with certain conditions; ×: Incompatible Existing model Primary replacement model Secondary replacement/simultaneous replacement models (Note 13) (Note 5) Servo SSCNET Servo SSCNET Servo Motor side conversion cable model Servo...
  • Page 602 16. This is not compatible with primary replacement. Perform a simultaneous replacement of a servo amplifier and a servo motor. 17. When performing a replacement of a servo motor, a new encoder cable is required to be laid. Contact Mitsubishi Electric System &...
  • Page 603 (for SC-J2S(CP)J4KT02K to 1K) ⑦ 24 V DC power supply connection cable Make sure to connect Make sure to the wiring between P+ *1: Manufactured by Mitsubishi Electric. connect the wiring (Note 1) (Note 1) and D. between P+ and D.
  • Page 604 ⑨ Encoder conversion cable on the motor side between P+ and D. ⑩ Brake conversion cable on the motor side *1: Manufactured by Mitsubishi Electric. *2: For secondary replacement, replacement finished through the primary replacement Make sure to connect the short-circuit Make sure to connect the short-circuit Make sure to insulate the wiring.
  • Page 605 Regenerative ⑥ Monitor conversion cable option ⑦ 24 V DC power supply connection cable *1: Manufactured by Mitsubishi Electric. (Note 1) Make sure to remove the short-circuit bar across P and D. Note 1. When using the regenerative option, make sure to remove the short-circuit bar between P+ and D, connect with the wiring between the renewal kit and the servo amplifier, and mount the regenerative option between P+ and C.
  • Page 606 (Note 1) ⑨ Encoder conversion cable on the motor side ⑩ Brake conversion cable on the motor side *1: Manufactured by Mitsubishi Electric. *2: For secondary replacement, replacement finished through Make sure to remove the short-circuit bar across P and D.
  • Page 607 ⑥ Monitor conversion cable ⑦ 24 V DC power supply connection cable Built-in regenerative *1: Manufactured by Mitsubishi Electric. resistor Make sure to remove the wiring for the built-in regenerative resistor. Note 1. When using the regenerative option, make sure to remove the wiring for the regenerative resistor built in to the servo amplifier, and mount the regenerative option between P+ and C.
  • Page 608 ⑩ Brake conversion cable on the motor side Make sure to remove the wiring for the built-in regenerative resistor. *1: Manufactured by Mitsubishi Electric. *2: For secondary replacement, replacement finished through the primary replacement Note 1. When using the regenerative option, make sure to remove the wiring for the regenerative resistor built in to the servo amplifier, and mount the regenerative option between P+ and C.
  • Page 609 ⑥ Monitor conversion cable ⑦ 24 V DC power supply connection cable *1: Manufactured by Mitsubishi Electric. Note 1. Make sure to connect between P3 and P4. When using the power factor improving DC reactor, remove the short circuit bar between P3 and P4 before connection.
  • Page 610 8. After replacing with the HG-JR22K1M, HG-JR30K1M. HG-JR37K1M, HG-JR45K1M or HG-JR55K1M motor, a new encoder cable is required to be laid. Contact Mitsubishi Electric System & Service Co., Ltd. if a new cable required. * When using an existing encoder cable, an alarm No. AL 46.3 (thermistor disconnected error) occurs.
  • Page 611 [Appendix 2] Introduction to Renewal Tool 5.5 SC-J2SBJ4KT02K to 3K (1) Primary replacement (when replacing the servo amplifier only) MR-J2S Renewal kit For 3-phase 200 V connection servo motor (SC-J2SBJ4KT02 to 3K) Servo amplifier ④ (MR-J4-_B(1)-RJ020) ① 3-phase 200 to 230VAC ⑤...
  • Page 612 ⑩ Brake conversion cable on the motor side Connection of the built-in regenerative option (for SC-J2SBJ4KT02K to 1K) (for SC-J2SBJ4KT3K) *1: Manufactured by Mitsubishi Electric. Make sure to *2: For secondary replacement, replacement finished through connect the the primary replacement...
  • Page 613 ⑤ Encoder conversion cable option ⑥ Control signal conversion cable ⑦ 24 V DC power supply connection cable *1: Manufactured by Mitsubishi Electric. (Note 1) Make sure to remove the short-circuit bar across P and D. Note 1. When using the regenerative option, make sure to remove the short-circuit bar between P+ and D, connect with the wiring between the renewal kit and the servo amplifier, and mount the regenerative option between P+ and C.
  • Page 614 (Note 1) ⑨ Encoder conversion cable on the motor side ⑩ Brake conversion cable on the motor side *1: Manufactured by Mitsubishi Electric. *2: For secondary replacement, replacement finished through Make sure to remove the short-circuit bar the primary replacement across P and D.
  • Page 615 ⑥ Control signal conversion cable ⑦ 24 V DC power supply connection cable Built-in regenerati *1: Manufactured by Mitsubishi Electric. ve resistor Make sure to remove the wiring for the built-in regenerative resistor. Note 1. When using the regenerative option, make sure to remove the wiring for the regenerative resistor built in to the servo amplifier, and mount the regenerative option between P+ and C.
  • Page 616 ⑨ Encoder conversion cable on the motor side resistor ⑩ Brake conversion cable on the motor side *1: Manufactured by Mitsubishi Electric. *2: For secondary replacement, replacement finished through Make sure to remove the wiring for the the primary replacement built-in regenerative resistor.
  • Page 617 ⑥ Control signal conversion cable ⑦ 24 V DC power supply connection cable *1: Manufactured by Mitsubishi Electric. Note 1. Make sure to connect between P3 and P4. When using the power factor improving DC reactor, remove the short circuit bar between P3 and P4 before connection.
  • Page 618 There is no cooling fan for the HG-JR11K1M or HG-JR15K1M motor. Because the existing wiring will become unnecessary, terminate the cables. After replacing with the HG-JR22K1M, HG-JR30K1M. HG-JR37K1M, HG-JR45K1M or HG-JR55K1M motor, a new encoder cable Mitsubishi Electric System & Service Co., Ltd. is required to be laid. Contact if a new cable required.
  • Page 619 [Appendix 2] Introduction to Renewal Tool 6. SPECIFICATIONS 6.1 Standard Specifications (1) Renewal kit specifications Item Specifications 1-phase 100 V AC to 120 V AC, 50/60 Hz. Voltage/Frequency (Note) 3-phase 200 V AC to 240 V AC, 50/60 Hz. 1-phase 85 to 127 V Permissible voltage fluctuation (Note) 3-phase 170 V AC to 264 V AC.
  • Page 620 [Appendix 2] Introduction to Renewal Tool (4) SC-J2SJ4KT5K (Note) (5) SC-J2SJ4KT7K (Note) SC-J2SBJ4KT5K (Note) SC-J2SBJ4KT7K (Note) SC-J2SCPJ4KT5K (Note) SC-J2SCPJ4KT7K (Note) N- P3 P4 L1 L2 L3 P+ Renewal kit Junction terminal block Renewal kit Junction terminal block Note. There is no conversion terminal block for the MR-J2S-500_ and MR-J2S-700_ servo amplifier because the recommended wiring and screw sizes are the same as for the MR-J4 servo amplifier.
  • Page 621 When the assignment of the Input/output signal for the existing MR-J2S servo amplifier is changed, setting is required. For details, refer to Section 5.2 in "Manual for Replacement from MR-J2S Renewal Tool (X903120707)" issued by Mitsubishi Electric System & Service Co., Ltd. Position control mode only PA06 Electronic gear numerator (CMX) When using an electronic gear, it is necessary to change the setting value.
  • Page 622 [Appendix 2] Introduction to Renewal Tool (2) For secondary replacement The following parameters are a minimum number of parameters that need to be set for secondary replacement. Depending on the settings of the currently used servo amplifier, parameters other than these may need to be set.
  • Page 623 [Appendix 2] Introduction to Renewal Tool (3) For simultaneous replacement The following parameters are a minimum number of parameters that need to be set for simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other than these may need to be set.
  • Page 624 [Appendix 2] Introduction to Renewal Tool 7.2 List of SSCNET Interface Setting Requisite Parameters POINT When the MR-J4-_B-RJ020 servo amplifier is combined with the MR-J4-T20 SSCNET conversion unit, the servo amplifier is recognized as MR-J2S by the controller. For parameters, changes to the program or the parameters are required as necessary.
  • Page 625 [Appendix 2] Introduction to Renewal Tool (2) For secondary replacement The parameters shown in this section are a minimum number of parameters that need to be set for secondary replacement. Depending on the settings of the currently used servo amplifier, parameters other than these may need to be set.
  • Page 626 [Appendix 2] Introduction to Renewal Tool (3) For simultaneous replacement The parameters shown below are a minimum number of parameters that need to be set for simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other than these may need to be set.
  • Page 627 [Appendix 2] Introduction to Renewal Tool 8. DIMENSIONS 8.1 Renewal Kit The dimensions are the same for general-purpose interface, SSCNET interface, and built-in positioning function. (1) SC-J2SJ4KT02K SC-J2SBJ4KT02K SC-J2SCPJ4KT02K Unit [mm] 90 (MR-J4) 135 (MR-J2S, J4) (Increased (MR-J2S) (Increased dimensions) dimensions) (70) (MR-J2S) (MR-J4)
  • Page 628 [Appendix 2] Introduction to Renewal Tool (2) SC-J2SJ4KT06K SC-J2SBJ4KT06K SC-J2SCPJ4KT06K Unit [mm] (90) (MR-J4) 170 (MR-J4) (MR-J2S) 135 (MR-J2S) (70) (MR-J2S) (MR-J4) (Decreased dimensions) 119 (MR-J2S TE1 Height) 102 (MR-J2S TE1 Height) (Increased dimensions) 130 (MR-J4 TE1 Height) 147 (MR-J4 TE1 Height) At time of battery mounting Battery Note 1.
  • Page 629 [Appendix 2] Introduction to Renewal Tool (3) SC-J2SJ4KT1K SC-J2SBJ4KT1K SC-J2SCPJ4KT1K Unit [mm] (70) (MR-J2S) 70 (MR-J2S) 190 (MR-J2S) (Increased (Increased (60) (MR-J4) 185 (MR-J4) 60 (MR-J4) dimensions) dimensions) 174 (MR-J2S TE1 Height) 157 (MR-J2S TE1 Height) (Increased dimensions) 149 (MR-J4 TE1 Height) 166 (MR-J4 TE1 Height) At time of battery mounting Battery...
  • Page 630 [Appendix 2] Introduction to Renewal Tool (4) SC-J2SJ4KT3K SC-J2SBJ4KT3K SC-J2SCPJ4KT3K Unit [mm] 90 (MR-J2S, J4) (70) (MR-J2S) 195 (MR-J2S) (Increased (B type (90) (MR-J4) 195 (MR-J4) dimensions) increased dimensions) 138 (MR-J2S TE2 Height) 102 (MR-J2S TE1 Height) (Increased dimensions) 142 (MR-J4 TE1 Height) 175 (MR-J4 TE2 Height) At time of battery mounting Battery...
  • Page 631 [Appendix 2] Introduction to Renewal Tool (5) SC-J2SJ4KT5K SC-J2SBJ4KT5K SC-J2SCPJ4KT5K Unit [mm] 130 (MR-J2S) 200 (MR-J2S) (70) (MR-J2S) 12.5 105 (MR-J4) (90) (MR-J4) 200 (MR-J4) 12.5 188 (MR-J4 TE Height) (Existing wiring space) 178 (MR-J2S TE1 Height) (Increased 180 (MR-J2S TE2 Height) dimensions) Note.
  • Page 632 [Appendix 2] Introduction to Renewal Tool (6) SC-J2SJ4KT7K SC-J2SBJ4KT7K SC-J2SCPJ4KT7K Unit [mm] 180 (MR-J2S) (90) (MR-J4) 200 (MR-J4) 172 (MR-J4) (70) (MR-J2S) 200 (MR-J2S) 157 (MR-J4 TE3 Height) (Increased (MR-J4 TE1, 2 Height) dimensions) (MR-J4 N terminal Height) (MR-J2S TE1 Height) Note.
  • Page 633 [Appendix 2] Introduction to Renewal Tool (7) SC-J2SJ4KT15K SC-J2SBJ4KT15K Unit [mm] 260 (MR-J2S) 260 (MR-J2S) (MR-J2S) 260 (MR-J4) (90) (Increased 220 (MR-J4) (Increased dimensions) dimensions) (MR-J4) (Increased dimensions) 180 (MR-J2S TE1 Height) 223 (MR-J2S TE2 Height) TE1-1 245 (MR-J4 TE2 Height) TE1-2 Note.
  • Page 634 [Appendix 2] Introduction to Renewal Tool (8) SC-J2SJ4KT22K SC-J2SBJ4KT22K Unit [mm] 260 (MR-J2S) 350 (MR-J2S) (MR-J2S) 260 (MR-J4) (Increased (Increased 260 (MR-J4) dimensions) dimensions) (MR-J4) (Increased dimensions) 180 (MR-J2S TE1 Height) 223 (MR-J2S TE2 Height) 241 (MR-J4 TE2 Height) TE1-1 TE1-2 Note.
  • Page 635 [Appendix 2] Introduction to Renewal Tool (9) SC-J2SJ4BS01 Unit [mm] 70 (MR-J2S) (70) (MR-J2S) 190 (MR-J2S) (B type 60 (MR-J4) (90) (MR-J4) 185 (MR-J4) increased dimensions) (Increased dimensions) Battery Note 1: When the battery is mounted Appendix 2-98...
  • Page 636 [Appendix 2] Introduction to Renewal Tool (10) SC-J2SJ4BS02 Unit [mm] (70) (MR-J2S) 195 (MR-J2S) 90 (MR-J2S) 60 (MR-J4) (90) (MR-J4) 195 (MR-J4) 28 (Increased dimensions) Battery Note 1: When the battery is mounted Appendix 2-99...
  • Page 637 [Appendix 2] Introduction to Renewal Tool (11) SC-J2SJ4BS03 Unit [mm] (70) (MR-J2S) 195 (MR-J2S) 90 (MR-J2S, J4) (90) (MR-J4) 195 (MR-J4) (B type increased dimensions) (Increased dimensions) Battery Note 1: When the battery is mounted Appendix 2-100...
  • Page 638 [Appendix 2] Introduction to Renewal Tool (12) SC-J2SJ4BS04 Unit [mm] (70) (MR-J2S) 130 (MR-J2S) 200 (MR-J2S) (90) (MR-J4) 200 (MR-J4) 105 (MR-J4) 12.5 (Increased dimensions) Appendix 2-101...
  • Page 639 [Appendix 2] Introduction to Renewal Tool (13) SC-J2SJ4BS05 Unit [mm] 180 (MR-J2S) (90) (MR-J4) 200 (MR-J4) (70) (MR-J2S) 200 (MR-J2S) 172 (MR-J4) (Increased dimensions) Appendix 2-102...
  • Page 640 [Appendix 2] Introduction to Renewal Tool (14) SC-J2SJ4BS06 Unit [mm] (70) 260 (MR-J2S) 260 (MR-J2S) (MR-J2S) (90) 260 (MR-J4) 220 (MR-J4) (Increased (Increased dimensions) dimensions) (MR-J4) (Increased dimensions) Note. A mounting attachment is not compatible with a heat sink outside mounting attachment of the MR-J2S servo amplifier.
  • Page 641 [Appendix 2] Introduction to Renewal Tool (15) SC-J2SJ4BS07 Unit [mm] (70) 260 (MR-J2S) 350 (MR-J2S) (MR-J2S) 260 (MR-J4) 260 (MR-J4) (Increased (Increased (90) dimensions) dimensions) (MR-J4) (Increased dimensions) Note. A mounting attachment is not compatible with a heat sink outside mounting attachment of the MR-J2S servo amplifier.
  • Page 642 [Appendix 2] Introduction to Renewal Tool (16) SC-J2SJ4BS08 Unit [mm] (90) 280 (J4 converter, drive unit) 200 (MR-J2S converter) 380 (MR-J2S drive unit) (MR-J4) (75) 300 (J2S converter, drive unit) 300 (MR-J4 converter) 240 (MR-J4 drive unit) (MR-J2S) (Increased dimensions) Note.
  • Page 643 [Appendix 2] Introduction to Renewal Tool (17) SC-J2SJ4BS09 Unit [mm] 280 (J4 converter, drive unit) (90) 200 (MR-J2S converter) 450 (MR-J2S drive unit) (MR-J4) 300 (J2S converter, drive unit) (75) 300 (MR-J4 converter) 300 (MR-J4 drive unit) (MR-J2S) (Increased dimensions) Variable dimensions of drive unit Note.
  • Page 644 [Appendix 2] Introduction to Renewal Tool 8.2 Conversion Cable 8.2.1 Conversion cable on the servo amplifier side (1) SC-J2SJ4CTC03M, SC-J2SCPJ4CTC03M [Unit: mm] Cable OD:φ7.0 Cable OD:φ6.5 Twist diameter:φ3.0 (2) SC-J2SBJ4CT1C03M [Unit: mm] Cable OD:φ6.1 Twist diameter:φ3.0 (3) SC-J2SBJ4CT2C03M [Unit: mm] Twist diameter:φ3.0 Cable OD:φ5.2 Twist diameter:φ3.0...
  • Page 645 [Appendix 2] Introduction to Renewal Tool (4) SC-J2SJ4MOC03M [Unit: mm] Cable OD:φ5.2 (5) SC-J2SJ4MO2C03M [Unit: mm] Twist diameter:φ3.0 (6) SC-J2SJ4CTPWC5M [Unit: mm] 5[m] Connecting diagram Signal name Wire color 24 V DC+ 24 V DC- White Twist diameter:φ3.0 (7) SC-J2SJ4ENC03M [Unit: mm] Cable OD:φ6.1 Appendix 2-108...
  • Page 646 [Appendix 2] Introduction to Renewal Tool 8.2.2 Power supply conversion cable on the motor side (1) SC-J2SJ4PW1C03M-＿ Cable use division: A1, A2 (Note 1) [Unit: mm] Cable OD:φ6.2 (2) SC-J2SJ4PWBK1C03M-＿ Cable use division: A1, A2 (Note 1) [Unit: mm] Cable OD:φ6.2 Cable OD:φ4.7 (3) SC-SAJ3PW2KC1M-S2 (4) SC-HAJ3PW1C1M...
  • Page 647 [Appendix 2] Introduction to Renewal Tool (6) SC-J2SJ4PW3C1M-＿ [Unit: mm] Cable use division: A1, A2 (Note 1) 1000 Cable OD:φ25.6 φ 57 8.2.3 Encoder conversion cable on the motor side (1) SC-HAJ3ENM1C03M-＿ Cable use division: A1, A2 (Note 1) [Unit: mm] Cable OD:φ7.1 (2) SC-HAJ3ENM3C1M [Unit: mm]...
  • Page 648 REVISIONS *The installation guide number is given on the bottom left of the back cover. *Installation guide Print date Revision description number August 2013 L(NA)03093-A First edition June 2015 L(NA)03093-B SAFETY INSTRUCTIONS Modified the table. Part 1, Section 2.1 Modified the table. Part 1, Section 3.2 Modified the table.
  • Page 649 *Installation guide Print date Revision description number June 2015 L(NA)03093-B Part 7, Chapter 3, Modified Chapter 4 and 5 into Chapter 3 Chapter 4 and 4 respectively. Part 7, Section 3.1 Modified the contents. Part 7, Section 4.1 Modified the contents. Part 7, Section 4.2 Added a table.
  • Page 650 *Installation guide Print date Revision description number June 2015 L(NA)03093-B Part 9, Section 7.8 Modified the contents. Part 9, Section 8.1 Modified the contents. Part 9, Section 8.2.1 Modified the contents. Part 9, Section 8.3.1 Modified the table. Appendix 1 Revised all contents.
  • Page 651 *Installation guide Print date Revision description number July 2016 L(NA)03093-C Part 3, Section 2.2, (2) The diagram is partially changed. Part 3, Section 2.2, (3) The diagram is partially changed. Part 3, Section 2.2, (4) The diagram is partially changed. Part 3, Section 3.5, (1) The diagram is partially changed.
  • Page 652 *Installation guide Print date Revision description number July 2016 L(NA)03093-C Part 8, Section 2.5, (6) The table is partially changed. Part 8, Section 2.6, (3) The diagram is partially changed. Part 8, Section 2.7 POINT is changed. Part 9, Section 1.1.1 Partially changed.
  • Page 653 *Installation guide Print date Revision description number July 2016 L(NA)03093-C Appendix 2, Section 4.3, (11) The table is partially changed. Appendix 2, Section 4.3, (12) The table is partially changed. Appendix 2, Section 4.3, (13) The table is partially changed. Appendix 2, Section 4.4, (4) The table is partially changed.
  • Page 654 *Installation guide Print date Revision description number May 2017 L(NA)03093-D Part 9, Section 8.2.1 Note 5 is partially changed. Part 9, Section 8.3.1 The table is partially changed. Note is changed. Appendix 1, Section 1.1.1 The table is partially changed. Appendix 1, Section 2.1 The table and Note are changed.
  • Page 655 *Installation guide Print date Revision description number September L(NA)03093-E Part 4, Section 3.1 POINT is partially changed. 2020 Part 4, Section 3.1, (1) The table is partially changed. Part 4, Section 3.1, (2) The table is partially changed. Part 4, Section 3.2, (1) Partially changed.
  • Page 656 *Installation guide Print date Revision description number September L(NA)03093-E Part 7, Section 1.2.4 The table is partially changed. 2020 Part 7, Section 1.2.5 Partially changed. Part 7, Section 1.2.6 The table is partially changed. Part 7, Section 1.2.7 Partially changed. Part 7, Section 1.2.8 Partially changed.
  • Page 657 *Installation guide Print date Revision description number September L(NA)03093-E Part 9, Section 6.3.1 Partially changed. 2020 Part 9, Section 6.4.1 The table is partially changed. Part 9, Section 6.4.1 Partially changed. Part 9, Section 7.1 Partially changed. Part 9, Section 7.3 The diagram is partially changed.
  • Page 658 This installation guide guarantees no industrial rights or implementation of any rights of any other kind, nor does it grant any licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial rights which may occur as a result of using the contents noted in this installation guide.
  • Page 659 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 660 MITSUBISHI ELECTRIC INDIA PVT. LTD. Chennai Branch Taipei FA Center Europe FA Center Tel: +91-4445548772 SETSUYO ENTERPRISE CO., LTD. MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch India Gurgaon FA Center Tel: +886-2-2299-9917 Tel: +48-12-347-65-00 MITSUBISHI ELECTRIC INDIA PVT. LTD. Germany FA Center...
  • Page 661 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. L(NA)03093ENG-F...
  • Page 662 France Mitsubishi Electric Europe B.V. French Branch Tel : +33-1-55-68-55-68 25, Boulevard des Bouvets, 92741 Nanterre Cedex, France Czech Republic Mitsubishi Electric Europe B.V. Czech Branch, Prague Office Tel : +420-255-719-200 Pekarska 621/7, 155 00 Praha 5, Czech Republic Poland Mitsubishi Electric Europe B.V.

This manual is also suitable for:

Melservo-j2-super seriesMelservo-j2m seriesMelservo-j4 seriesMr-j2s-10aMr-j2s-20aMr-j2s-40a ... Show all

Table of Contents