Mitsubishi Electric MELSERVO MR-J5 Series User Manual
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Mitsubishi Electric MELSERVO MR-J5 Series User Manual

Mitsubishi Electric MELSERVO MR-J5 Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Hardware)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5-_G_-_N1
-MR-J5W_-_G-_N1
-MR-J5-_B_
-MR-J5W_-_B_
-MR-J5-_A_
Table of Contents
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Summary of Contents for Mitsubishi Electric MELSERVO MR-J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Hardware) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5-_B_ -MR-J5W_-_B_ -MR-J5-_A_...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...

  • Page 6: Cables Used For Wiring

    Global standards and regulations Compliance with the indicated global standards and regulations is current as of the release date of this manual. Some standards and regulations may have been modified or withdrawn. CABLES USED FOR WIRING Cables mentioned in this manual are selected based on an ambient temperature of 40 °C. U.S.

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 8 Connectors and pin assignments [B]............93 Connectors and pin assignments [A].
  • Page 9 MR-D05UDL3M-B STO cable ............. . 264 MR-AHSCN7CBL2M10M Output cable for analog monitor and A/B/Z-phase pulse [G] .
  • Page 10 6.22 Cables manufactured by Mitsubishi Electric System & Service Co., Ltd......409 SSCNET III cable [B] ..............409 6.23...
  • Page 11 Characteristics................412 Restrictions [G] .
  • Page 12 CHAPTER 9 USING FUNCTIONAL SAFETY [G] (EXCULUDING MR-J5-_G_-HS_) Introduction ................461 Function Block Diagram .
  • Page 13 Outline ................493 Configuration including peripheral equipment .
  • Page 14 12.7 Absolute position detection system [A] ........... . 584 CHAPTER 13 USING A FULLY CLOSED LOOP SYSTEM 13.1 Precautions .

  • Page 15: Chapter 1 Introduction

    INTRODUCTION Wiring procedure Procedure Description Reference Installation Install a servo amplifier. Page 32 INSTALLATION Connecting the power circuit Connect the power circuit. Page 44 Example power circuit connections Connecting I/O signals Page 53 Example I/O Connect I/O signals. signal connections Connecting to the servo Connect the servo amplifier to a servo motor.

  • Page 16: Servo Amplifier/Motor Combinations

    Servo amplifier/motor combinations By combining a servo motor with a larger capacity servo amplifier, the maximum torque can be increased to 400 % or 450 %. Rotary servo motor HK-KT series Refer to the following for the combinations of the geared servo motors and servo amplifiers. Page 19 HK-KT series 200 V class servo amplifier •...
  • Page 17 • Multi-axis servo amplifier As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor. : Standard torque : Torque increased Rotary servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_...
  • Page 18 HK-MT series Use servo amplifiers with firmware version C2 or later. Otherwise, [AL. 01A Servo motor combination error] occurs. 200 V class servo amplifier • 1-axis servo amplifier : Standard torque : Torque increased Rotary servo motor Servo amplifier MR-J5-_ 100_ 200_ 350_...
  • Page 19 HK-ST series Refer to the following for the combinations of the geared servo motors and servo amplifiers. Page 20 HK-ST series 200 V class servo amplifier • 1-axis servo amplifier : Standard torque : Torque increased Rotary servo motor Servo amplifier MR-J5-_ 100_ 200_ 350_...
  • Page 20 400 V class servo amplifier : Standard torque : Torque increased Rotary servo motor Servo amplifier MR-J5-_ 60_4_ 100_4_ 200_4_ 350_4_ 500_4 700_4       HK-ST_4_W □130 HK-ST524W       HK-ST1024W  ...

  • Page 21: Geared Servo Motor

    Geared servo motor HK-KT series The maximum torque of the geared servo motor does not increase even if in combination with a servo amplifier with a larger capacity. 200 V class servo amplifier • 1-axis servo amplifier : Standard torque Rotary servo motor Servo amplifier MR-J5-_ 100_...
  • Page 22 HK-ST series The maximum torque of the geared servo motor does not increase even if in combination with a servo amplifier with a larger capacity. 200 V class servo amplifier • 1-axis servo amplifier : Standard torque Rotary servo motor Servo amplifier MR-J5-_ 100_ 200_...

  • Page 23: Linear Servo Motor

    Linear servo motor Set [Pr. PA17] and [Pr. PA18.0-3] according to the linear servo motor to be used. Linear servo motors cannot be used with 400 V class servo amplifiers. LM-H3 series 1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 200_...
  • Page 24 LM-U2 series/LM-AU series 1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 200_ 350_ 500_ (magnet)        LM-U2PAB-05M-0SS0 LM-U2SA0-240-0SS0 LM-U2SA0-300-0SS0        LM-U2PAD-10M-0SS0 LM-U2SA0-420-0SS0 ...
  • Page 25 LM-F series 1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 100_ 200_ 350_ 500_ 700_ (magnet)           LM-FP2B-06M-1SS0 LM-FS20-480-1SS0 LM-FS20-576-1SS0 LM-FP2D-12M-1SS0     ...
  • Page 26 LM-AJ series The LM-AJ series linear servo motor cannot be used with the MR-J5_-_B_ servo amplifier. 1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side (magnet)   LM-AJP1B-07K-JSS0 LM-AJS10-080-JSS0 LM-AJS10-200-JSS0 LM-AJP1D-14K-JSS0   LM-AJS10-400-JSS0 ...
  • Page 27 LM-AU series The LM-AU series linear servo motor cannot be used with the MR-J5_-_B_ servo amplifier. Use servo amplifiers with firmware version D0 or later. Otherwise, [AL. 01A Servo motor combination error] occurs. 1-axis servo amplifier Linear servo motor Servo amplifier MR-J5-_ Primary side (coil) Secondary side 200_...

  • Page 28: Direct Drive Motor

    Direct drive motor Use direct drive motors manufactured in June 2019 or later. Otherwise, an alarm occurs. Direct drive motors cannot be used with 400 V class servo amplifiers. TM-RFM series 1-axis servo amplifier : Standard torque Direct drive motor Servo amplifier MR-J5-_ 100_ 350_...
  • Page 29 TM-RG2M series/TM-RU2M series 1-axis servo amplifier : Standard torque : Torque increased Direct drive motor Servo amplifier MR-J5-_ TM-RG2M002C30   TM-RU2M002C30   TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30   TM-RU2M009G30 Multi-axis servo amplifier As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.

  • Page 30: Wiring Check

    Wiring check Before switching on the main circuit and control circuit power supplies, check the following items. Power supply system wiring Power supply system wiring • Check that the power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier satisfies the defined specifications.
  • Page 31 MR-J5W_-_G_/MR-J5W-_B_ Check that each connector and servo motors are connected as follows: the CNP3A connector and the A-axis servo motor, the CNP3B connector and the B-axis servo motor, and the CNP3C connector and the C-axis servo motor. Also, check that the phases (U/V/W) of the servo amplifier power outputs and the phases (U/V/W) of the servo motor power inputs match with each other.

  • Page 32: I/O Signal Wiring

    Using options or peripheral equipment Regenerative option • Check that the lead wire between terminal P+ and terminal D has been removed. • Check that the wire of the regenerative option is connected to terminal P+ and terminal C. • Check that twisted wires have been used for connecting the regenerative option to the servo amplifier. Page 278 Connection of regenerative option Simple converter Page 287 Example of configuration including peripheral equipment...

  • Page 33: Surrounding Environment

    Surrounding environment Check the following items about the environment surrounding the servo amplifier and servo motor. Handling cables • Check that the wiring cables have not been stressed. • Check that the encoder cable has been used within its flex life. Page 251 Cable flex life •...

  • Page 34: Chapter 2 Installation

    INSTALLATION Precautions • Install the servo amplifier and regenerative resistor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. In addition, the servo amplifier must be installed in a metal cabinet. •...

  • Page 35: Mounting Direction And Clearances

    Mounting direction and clearances Precautions • The servo amplifier must be installed in the specified direction. • To prevent a malfunction, maintain the specified clearances between the servo amplifier and cabinet walls or other equipment. • Circulate air so that the air at the top and bottom of the servo amplifier does not stagnate. Availability of close mounting Refer to the following table for availability of close mounting.
  • Page 36 Installation of two or more servo amplifiers Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions. When closely mounting the servo amplifiers, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances.
  • Page 37 Installation clearances for the servo amplifier (multi-axis servo amplifier) Installation of one servo amplifier Cabinet Cabinet 40 mm or more Wiring allowance Servo amplifier 80 mm or more 10 mm 10 mm or more or more Bottom 40 mm or more Installation of two or more servo amplifiers Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions.

  • Page 38: Keeping Out Foreign Materials

    Keeping out foreign materials When drilling the cabinet for assembly, prevent drill chips and wire fragments from entering the servo amplifier. Prevent foreign matter such as oil, water, and metallic dust from entering the servo amplifier through cooling fans installed in openings in the cabinet or on the ceiling.

  • Page 39: Sscnet Iii Cable Laying [B]

    SSCNET III cable laying [B] The SSCNET III cable is made from optical fiber. If a force such as a major shock, lateral pressure, haul, sudden bending, or twist is applied to optical fiber, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for the MR-J3BUS_M and MR-J3BUS_M-A is made of synthetic resin, it melts if exposed to fire or high temperature.
  • Page 40 Fixing bundled cables Fix the cables at the closest part to the connector with a bundling material in order to prevent the SSCNET III cable from putting its own weight on the CN1A and CN1B connectors of the servo amplifier. Give a loose slack to the optical cord to allow a radius greater than the minimum bending radius.

  • Page 41: Fan Unit Replacement Procedure

    Fan unit replacement procedure The fan unit is composed of a cooling fan and its cover. If replacing the cooling fan, replace the entire fan unit. Shut off the power supply before replacing the fan unit. List of applicable fan units Servo amplifier Model of fan unit to be replaced MR-J5-70_...

  • Page 42: Fan Unit Removal Procedure

    Fan unit removal procedure The following illustrates an example where the MR-J5-FAN1 is removed from the MR-J5-70G. The number of screws for mounting differs depending on the fan unit. Remove the screws that fixed the fan unit. Keep the removed screws for installation of the new fan unit. Pull up the cover of the fan unit using a precision screwdriver.

  • Page 43: Fan Unit Installation Procedure

    Fan unit installation procedure The following illustrates an example where the MR-J5-FAN1 is installed to the MR-J5-70G. The number of screws for mounting differs depending on the fan unit. Insert the positioning part of the fan unit vertically, align it to the positioning part of the main unit case, and tighten with screws. Use the same screws as those used for the fan unit before replacement.

  • Page 44: Restrictions When Using This Product At An Altitude Exceeding 1000 M And Up To 2000 M

    Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m Altitude and ambient temperature As heat dissipation effects decrease in proportion to the decrease in air density (5 °C per 1000 m), use the product within the ambient temperature range shown in the following figure.

  • Page 45: Chapter 3 Signals And Wiring

    SIGNALS AND WIRING Precautions • When using a linear servo motor, the terms below have the following meanings. Load to motor inertia ratio → Load to motor mass ratio Torque → Thrust • Insulate the conductive parts of the terminals. •...

  • Page 46: Example Power Circuit Connections

    Example power circuit connections Precautions • To prevent a fire, install a molded-case circuit breaker or fuse to the main circuit power supply (L1/L2/L3) of a servo amplifier. • Connect a magnetic contactor between a power supply and the main circuit power supply (L1/L2/L3) of a servo amplifier to configure a circuit that shuts off the main circuit power supply of the servo amplifier when a malfunction or alarm of the servo amplifier occurs.
  • Page 47 *1 P3 and P4 are connected from the factory. If using a power factor improving DC reactor, remove the short-circuit bar between P3 and P4, then connect the power factor improving DC reactor. Additionally, the power factor improving DC reactor and a power factor improving AC reactor cannot be used together.
  • Page 48 For 3-phase 200 V AC to 240 V AC power supply (multi-axis servo amplifier) Servo motor overheat protection malfunction Emergency stop switch Servo amplifier A-axis servo motor CNP1 MCCB CNP3A Power Motor supply CN2A Encoder CNP2 PE ( B-axis servo motor CNP3B Motor CN2B...
  • Page 49 *1 The servo amplifier is shipped from the factory with P+ and D already connected. If using a regenerative option, refer to the following. Page 269 Regenerative option *2 Option cables are recommended for servo motor power cables and encoder cables. For selecting cables, refer to "Cables/connector sets"...

  • Page 50: 400 V Class

    400 V class For 3-phase 380 V AC to 480 V AC power supply (1-axis servo amplifier) MR-J5-60_4_ to MR-J5-350_4_ Malfunction Emergency stop switch Servo amplifier Servo motor CNP1 CNP3 MCCB Motor 3-phase 380 V AC to 480 V AC CNP2 Encoder 3 SIGNALS AND WIRING...
  • Page 51 *1 P3 and P4 are connected from the factory. If using a power factor improving DC reactor, remove the short-circuit bar between P3 and P4, then connect the power factor improving DC reactor. Additionally, the power factor improving DC reactor and a power factor improving AC reactor cannot be used together.
  • Page 52 MR-J5-500_4_ to MR-J5-700_4_ Malfunction Emergency stop switch Servo amplifier Servo motor CNP1 MCCB CNP3 3-phase 380 V AC to Motor 480 V AC CNP2 Encoder *1 P3 and P4 are connected from the factory. If using a power factor improving DC reactor, remove the short-circuit bar between P3 and P4, then connect the power factor improving DC reactor.

  • Page 53: Using Servo Amplifier With Dc Power Supply Input

    Using servo amplifier with DC power supply input Connection example Refer to the following for the signals and wiring not described in this section. Page 44 200 V class MR-J5-10_ to MR-J5-100_/MR-J5W2-22_/MR-J5W2-44_/MR-J5W3-222_ Servo motor overheat Malfunction protection Emergency stop switch Servo amplifier *3*4 24 V DC...
  • Page 54 MR-J5-200_/MR-J5-350_/MR-J5-500_/MR-J5-700_/MR-J5W2-77_/MR-J5W2-1010_/MR-J5W3- 444_ Servo motor overheat Malfunction protection Emergency stop switch Servo amplifier *3*4 24 V DC MCCB AC/DC 3-phase or 1-phase converter 200 V AC to (283 V DC to 240 V AC 340 V DC) *1 For the power supply specifications, refer to "Servo amplifier standard specifications" in User's Manual (Introduction). *2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less (160 ms or less for 5 kW or more).

  • Page 55: Example I/O Signal Connections

    Example I/O signal connections Precautions • Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. • In the torque mode, EM2 functions the same as EM1. MR-J5-_G_ (excluding MR-J5-_G_-HS_) Sink I/O interface Servo amplifier...
  • Page 56 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 57 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 53 Sink I/O interface Servo amplifier 10 m or less Main circuit power supply *9*14 24 V DC *3*18 Forced stop 2 DOCOM Electromagnetic Forward rotation stroke end brake interlock Reverse rotation stroke end...

  • Page 58: Mr-J5-_G_-Hs

    MR-J5-_G_-HS_ Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply *10*15 *10*15 24 V DC *3*14 Forced stop 2 DOCOM Electromagnetic Forward rotation stroke end brake interlock Reverse rotation stroke end In-position Proximity dog Malfunction TPR1...
  • Page 59 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 60 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 56 Sink I/O interface Servo amplifier 10 m or less 10 m or less Main circuit power supply *10*15 *10*15 *8*13 24 V DC *3*14 Forced stop 2 DOCOM...

  • Page 61: Mr-J5W_-_G

    MR-J5W_-_G_ Precautions Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. • In the torque control mode, EM2 functions the same as EM1. Sink I/O interface 10 m or less Main circuit power supply Servo amplifier...
  • Page 62 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 63 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 59 Sink I/O interface 10 m or less Main circuit power supply Servo amplifier 24 V DC 24 V DC DICOM DOCOM *3*4*17 Forced stop 2 AND malfunction CALM LSP-A...

  • Page 64: Mr-J5-_B

    MR-J5-_B_ Sink I/O interface Precautions • Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. • In the torque mode, EM2 functions the same as EM1. Servo amplifier 10 m or less Main circuit power...
  • Page 65 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM1 (Forced stop 1).
  • Page 66 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 62 Sink I/O interface Servo amplifier 10 m or less Main circuit power 24 V DC supply *4*17 Forced stop 2 DOCOM Electromagnetic brake interlock In-position Malfunction DICOM...

  • Page 67: Mr-J5W_-_B

    MR-J5W_-_B_ Sink I/O interface Precautions • Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. • In the torque mode, EM2 functions the same as EM1. 10 m or less DOG for A-axis Main circuit power supply...
  • Page 68 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 69 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 65 Sink I/O interface 10 m or less Main circuit power supply Servo amplifier 24 V DC 24 V DC DICOM DOCOM *4*20 Forced stop 2 CALM AND malfunction DI1-A...

  • Page 70: Mr-J5-_A

    MR-J5-_A_ Position control mode Sink I/O interface Servo amplifier 24 V DC Positioning module RD75D/LD75D/QD75D 24 V DC DICOM DOCOM CLEARCOM DOCOM Malfunction CLEAR RDYCOM Zero speed detection READY Limiting torque PULSE F+ PULSE F- In-position PULSE R+ 10 m or less PULSE R- Encoder A-phase pulse (differential line driver)
  • Page 71 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 72 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 68 Sink I/O interface Servo amplifier *4*14 24 V DC Positioning module *4*14 RD75D/LD75D/QD75D 24 V DC DICOM DOCOM CLEAR DOCOM Malfunction CLEARCOM RDYCOM Zero speed detection READY Limiting torque...
  • Page 73 Speed control mode Sink I/O interface Servo amplifier 10 m or less Main circuit power supply 24 V DC *3*5 Forced stop 2 DOCOM Servo-on DOCOM Reset Speed selection 1 Malfunction Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque Forward rotation stroke end...
  • Page 74 *1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet. *2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
  • Page 75 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 71 Sink I/O interface Servo amplifier 10 m or less Main circuit power supply *4*12 24 V DC *3*5 Forced stop 2 DOCOM Servo-on DOCOM Reset Speed selection 1...
  • Page 76 Torque control mode Sink I/O interface Servo amplifier 10 m or less Main circuit power supply 24 V DC Forced stop 2 DOCOM Servo-on DOCOM Reset Speed selection 1 Malfunction Speed selection 2 Zero speed detection Forward rotation selection Reverse rotation selection Limiting speed DICOM Ready...
  • Page 77 Source I/O interface Precautions • For notes, refer to the notes in the following section. Page 74 Sink I/O interface Servo amplifier 10 m or less Main circuit power supply *4*10 24 V DC Forced stop 2 DOCOM Servo-on DOCOM Reset Speed selection 1 Malfunction...

  • Page 78: Explanation Of Power Supply System

    Explanation of power supply system Explanation of signals • For the layout of connectors and terminal blocks, refer to the following. Page 144 DIMENSIONS • If using the MR-J5 servo amplifier with the DC power supply input, refer to the following. Page 51 Using servo amplifier with DC power supply input L1/L2/L3 (Connection destination: Main circuit power supply) Supply the following power to L1, L2, and L3.
  • Page 79 U/V/W (Connection destination: Servo motor power supply) Connect the servo motor power supply inputs (U/V/W) directly to the motor. Do not connect devices such as magnetic contactors between the motor and servo amplifier as this will lead to abnormal operation or malfunction. N- (Connection destination: Simple converters and multifunction regeneration converters) This terminal is used to connect a simple converter or a multifunction regeneration converter.

  • Page 80: Power-On Procedure [G] [B]

    Power-on procedure [G] [B] Signals such as output signals may be unstable at power-on. Power-on procedure Wire the power supply using magnetic contactors for the main circuit power supply (L1/L2/L3) by referring to the following. Switch off the magnetic contactor as soon as an alarm occurs. Page 44 Example power circuit connections Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply.

  • Page 81: Power-On Procedure [A]

    Power-on procedure [A] The voltage of analog monitor output, the output signal, or others may be unstable at power-on. Power-on procedure Wire the power supply using magnetic contactors for the main circuit power supply (L1/L2/L3) by referring to the following. Switch off the magnetic contactor as soon as an alarm occurs. Page 44 Example power circuit connections Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply.

  • Page 82: Wiring Cnp1, Cnp2, And Cnp3

    Wiring CNP1, CNP2, and CNP3 • For the wire sizes, refer to the following. Page 326 Selection example of wires • When wiring, remove the power connectors from the servo amplifier. • Insert only one wire or ferrule into each wire insertion hole on each power connector. To wire to CNP1, CNP2, and CNP3, use the servo amplifier power connectors that came with the amplifier.
  • Page 83 MR-J5-500_/MR-J5-700_ CNP1A CNP1B CNP2 CNP3 Connector Receptacle assembly Applicable wire Stripped length Open tool Manufacturer [mm] Size Insulator OD CNP1A 03JFAT-SAXGDK-P15 (LA) 18 to 8 AWG 7.6 mm or less J-FAT-OT-P CNP1B 03JFAT-SAYGDK-P15 (LB) CNP2 05JFAT-SAXGDK-H5.0 (LA) 18 to 14 AWG 3.9 mm or less J-FAT-OT (N) CNP3...
  • Page 84 MR-J5W2-77_/MR-J5W2-1010_ CNP1 CNP2 CNP3A CNP3B Connector Receptacle assembly Applicable wire Stripped length Open tool Manufacturer [mm] Size Insulator OD CNP1 06JFAT-SAXGFK-XL (LB) 16 to 10 AWG 4.7 mm or less 11.5 J-FAT-OT-EXL CNP2 05JFAT-SAXGDK-H5.0 (LA) 18 to 14 AWG 3.9 mm or less CNP3A 04JFAT-SAGG-G-KK 18 to 14 AWG...
  • Page 85 MR-J5-500_4_/MR-J5-700_4_ CNP2 CNP3 CNP1 Connector Receptacle assembly Applicable wire Stripped length Open tool Manufacturer [mm] Size Insulator OD CNP1 831-1108/MNC 20 to 8 AWG 6.6 mm or less 11 to 13  WAGO CNP2 831-1103/MNB CNP3 831-1103/MNA 3 SIGNALS AND WIRING 3.3 Explanation of power supply system...
  • Page 86 Connecting wires Fabricating the wire insulator Refer to the following for the stripped length of the wire insulator. Set the appropriate length based on the wire type and fabrication condition. Page 80 Connector Insulator Core Stripped length Twist the core wires lightly and straighten them as follows. Loose and bent strands Twist and straighten the strands.
  • Page 87 Inserting wire (MR-J5-10_ to MR-J5-700_/MR-J5-60_4_ to MR-J5-350_4_/MR-J5W _-_) Insert only one wire or ferrule into each wire insertion hole on each power connector. Insert the open tool as follows and push it down to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth so that the wire insulator is not caught by the spring and that the conductive part of the stripped wire is not exposed.
  • Page 88 Push the lever down until it clicks to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. In addition, confirm that the ends of the core wires do not stick out of the connector. •...

  • Page 89: Connectors And Pin Assignments

    Connectors and pin assignments Precautions • The pin assignments of the connectors are as viewed from the cable connector wiring section. • For information on the functional safety I/O signal connector (CN8), refer to the following page: Page 447 USING STO FUNCTION •...

  • Page 90: Connectors And Pin Assignments [G]

    Connectors and pin assignments [G] 1-axis servo amplifier MR-J5-_G_ (excluding MR-J5-_G_-HS_) The front view of the servo amplifier shown below is of MR-J5-60G-RJ_ servo amplifiers. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 144 DIMENSIONS The frames of the CN2 connector, CN2L connector, CN3 connector, and CN8 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
  • Page 91 MR-J5-_G_-HS_ The front view of the servo amplifier shown below is of MR-J5-500G4-HS_ servo amplifiers. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 144 DIMENSIONS The frames of the CN2 connector, CN2L connector, and CN7 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
  • Page 92 Multi-axis servo amplifier The front view of the servo amplifier shown below is of MR-J5W3-222G_ servo amplifiers. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 144 DIMENSIONS The frames of the CN2A connector, CN2B connector, CN2C connector, CN3 connector, and CN8 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
  • Page 93 Mounting/removing the CN3 connector (MR-J5-_G_-HS_) Lock/release lever position To facilitate the mounting/removal of the CN3 connector, a three-step positioning stopper is provided to prevent the lever from rotating freely. When mounting or removing the CN3 connector, move the lever to the lock/release position. Release lever position When the lever is at this position, the connector is completely pulled out of the unit.
  • Page 94 Inserting a wire to the CN3 connector (MR-J5-_G_-HS_) Since the CN3 connector is a push-in type, wiring can be performed without tools simply by inserting the connection terminal into the wire insertion hole. When stranded wires are used, tools are required for wire connection since push-in is not supported. Inserting wire Fully insert a stripped wire or ferrule into the wire insertion hole.

  • Page 95: Connectors And Pin Assignments [B]

    Connectors and pin assignments [B] 1-axis servo amplifier MR-J5-_B_ The front view of the servo amplifier shown below is of MR-J5-10B-RJ_ servo amplifiers. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 144 DIMENSIONS The frames of the CN2 connector, CN2L connector, CN3 connector, and CN8 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
  • Page 96 Multi-axis servo amplifier The front view of the servo amplifier shown below is of MR-J5W3-222B_ servo amplifiers. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 144 DIMENSIONS The frames of the CN2A connector, CN2B connector, CN2C connector, CN3 connector, and CN8 connector are connected to the protective earth (grounding) terminal in the servo amplifier.

  • Page 97: Connectors And Pin Assignments [A]

    Connectors and pin assignments [A] The front view of the servo amplifier shown below is of MR-J5-60A-RJ_ servo amplifiers. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 144 DIMENSIONS The frames of the CN2 connector, CN2L connector, CN3 connector, and CN8 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
  • Page 98 Initial assignment of CN3 connector pins Pin No. I/O signal in each control mode Related servo parameter   P15R P15R P15R P15R P15R P15R   -/VC VC/VLA VLA/-          PP/- -/PP ...
  • Page 99 *1 I: input signal, O: output signal *2 P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control switching mode, S/T: Speed/ torque control switching mode, T/P: Torque/position control switching mode *3 Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. This pin can be used only on the MR-J5-_A_-RJ_.

  • Page 100: Signal (Device) Explanation

    Signal (device) explanation For the I/O interfaces (symbols in the column "I/O signal interface type" in the table), refer to the following. Page 133 Detailed explanation of interfaces The pin numbers in the connector pin No. column are default numbers. and ...
  • Page 101 MR-J5W2-_G_ Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type CN3-7 [Pr. PD03] (A-axis) LSP-A Impossible DI-1 CN3-8 [Pr. PD04] (A-axis) LSN-A CN3-9 [Pr. PD05] (A-axis) DOG-A Possible  CN3-10 Impossible  CN3-15 [Pr. PD51] (common to all axes) Possible CN3-20 [Pr.
  • Page 102 Input device pin [B] The following shows input device pins and the servo parameters used for setting devices. MR-J5-_B_ Connector pin No. Servo parameter Initially assigned device I/O signal interface type  CN3-2 DI-1 CN3-12   CN3-19 CN3-20  *1 Devices can be assigned to this pin with the controller setting.
  • Page 103 Input device pin [A] For input device pins and servo parameters for setting devices, refer to the following. Page 95 Connectors and pin assignments [A] Input devices Refer to the following for details on the devices used in functional safety. Page 466 Connectors and pin assignments When using the MR-J5-_G_-HS_, refer to the following for details on the devices used in functional safety.
  • Page 104 Device name Symbol Model I/O signal Detailed explanation interface type      Page 107 ABSM (ABS transfer mode) ABS transfer mode ABSM DI-1      Page 107 ABSR (ABS request) ABS request ABSR DI-1 ...
  • Page 105 EM1 (Forced stop 1) When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. The forced stop will be deactivated if EM1 is turned on (short between commons) while in the forced stop state. LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) To operate a servo motor, turn on LSP/LSN.
  • Page 106 Input device explanation [G] DOG (Proximity dog) Turning off DOG will detect a proximity dog. The polarity for the proximity dog can be changed with [Pr. PT29.0]. [Pr. PT29.0] Polarity for proximity dog detection Dog detection with off Dog detection with on TPR1 (Touch probe 1)/TPR2 (Touch probe 2)/TPR3 (Touch probe 3) Refer to the following table for servo amplifiers on which TPR1 to TPR3 are available.
  • Page 107 Input device explanation [A] SON (Servo-on) If SON is turned on, the base circuit will be powered on and the servo amplifier will become in the operation-ready state (servo-on state). Once SON is turned off, the base circuit is shut off and the servo motor shaft coasts. To change SON to "Automatic on"...
  • Page 108 SP1 (Speed selection 1)/SP2 (Speed selection 2)/SP3 (Speed selection 3) • For speed control mode Select the command speed for operation. The selection contents are as follows. Input device Speed command 0 (off) 0 (off) 0 (off) VC (Analog speed command) 0 (off) 0 (off) 1 (on)
  • Page 109 LOP (Control switching) • Position/speed control switching mode This is used to select the position control mode or the speed control mode in the position/speed control switching mode. Control mode 0 (off) Position control mode 1 (on) Speed control mode •...

  • Page 110: Output Device

    Output device Output device pins The following shows the output device pins and the servo parameters used for assigning devices. MR-J5-_G_ (-RJ_) Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-13 [Pr. PD07] DO-1 CN3-9 [Pr. PD08] CN3-15 [Pr.
  • Page 111 MR-J5-_A_ For the output device pins and the servo parameters for setting the devices, refer to the following. Page 95 Connectors and pin assignments [A] Output devices Refer to the following for details on the devices used in functional safety. Page 466 Connectors and pin assignments When using the MR-J5-_G_-HS_, refer to the following for details on the devices used in functional safety.
  • Page 112 Device name Symbol Model I/O signal Detailed explanation interface type      Page 114 ALMWNG (Malfunction/ Malfunction/Warning ALMWNG DO-1 Warning) AL9F warning BW9F      DO-1 Page 114 BW9F (AL9F warning)    ...
  • Page 113 CDPS (Variable gain enabled) When the gain of "Gain switching" is enabled, CDPS is on. CDPS2 (Variable gain enabled 2) If the gain of "Gain switching 2" is enabled, CDPS2 will turn on. ABSV (Absolute position erased) ABSV turns on when the absolute position is undetermined. Page 412 ABSOLUTE POSITION DETECTION SYSTEM MTTR (Tough drive in progress) When a tough drive is set to "Enabled"...
  • Page 114 Output device explanation [G] [B] MBR (Electromagnetic brake interlock) MBR is off in the servo-off state or at an alarm occurrence. If using the device, set an operation delay time of the electromagnetic brake in [Pr. PC02]. For details. refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function) VLC (Limiting speed) If the speed reaches the speed limit value in the torque mode, VLC will turn on.
  • Page 115 Output device explanation [A] MBR (Electromagnetic brake interlock) MBR is off in the servo-off state or at an alarm occurrence. If using the device, set an operation delay time of the electromagnetic brake in [Pr. PC16]. For details. refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function) VLC (Limiting speed) In the torque mode, VLC will turn on if the speed reaches the value limited with any of [Pr.
  • Page 116 ABSB1 (ABS transmission data bit 1) This is used to output ABS transmission data bit 0. If the absolute position detection system by DIO is selected while [Pr. PA03.0] is set to "1", ABSB1 will be assigned to the CN3-23 pin only in the ABS transfer mode. Page 412 ABSOLUTE POSITION DETECTION SYSTEM ABST (ABS transmission data ready) This is used to output ABS transmission data ready.

  • Page 117: Input Signal

    Input signal List of supported input signals Device name Symbol Model Detailed explanation signal interface type Analog torque limit      AI-1 Page 115 TLA (Analog torque limit)      Page 115 TC (Analog torque command) Analog torque command AI-1 ...
  • Page 118 VLA (Analog speed limit) Apply 0 V DC to ±10 V DC between VLA and LG. At ±10 V, the servo motor speed is the value set in [Pr. PC12]. For details, refer to "Speed limit" in the following manual. MR-J5 User's Manual (Function) If a value equal to or larger than the maximum speed is input to VLA, the value is clamped at the maximum speed.

  • Page 119: Output Signal

    Output signal Output signal explanation LA/LAR (Encoder A-phase pulse (differential line driver))/LB/LBR (Encoder B-phase pulse (differential line driver)) These devices output encoder output pulses set in [Pr. PA15] and [Pr. PA16] in the differential line driver type. When the servo motor rotates in the CCW direction, the encoder B-phase pulse lags the encoder A-phase pulse by a phase of 90 degrees.
  • Page 120 Output signal explanation [A] OP (Encoder Z-phase pulse (open collector)) The encoder zero-point signal is output in the open-collector type. One pulse is output per servo motor revolution. OP is on at the zero-point position. For details, refer to "A/B/Z-phase pulse output function" in the following manual. MR-J5 User's Manual (Function) 3 SIGNALS AND WIRING 3.5 Signal (device) explanation...

  • Page 121: Power Supply

    Power supply Power supply explanations DICOM (Digital input I/F power supply) Input 24 V DC (24 V DC ± 10 %) for I/O interface. The power supply capacity varies depending on the number of I/O interface points to be used. It is 300 mA for the MR-J5-_G_, and it is 500 mA for the MR-J5-_A_. For sink interfaces, connect the positive terminal of the 24 V DC external power supply.

  • Page 122: Interface

    Interface Internal connection diagram [G] 1-axis servo amplifier MR-J5-_G_ (excluding MR-J5-_G_-HS_) Refer to the following for the CN8 connector. Page 447 USING STO FUNCTION Servo amplifier Forced stop 24 V DC Approx. 6.2 kΩ DOCOM Approx. 6.2 kΩ Approx. 6.2 kΩ Approx.
  • Page 123 *1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply. *2 The signal cannot be used in the velocity mode and torque mode. *3 This diagram shows a sink I/O interface.
  • Page 124 MR-J5-_G_-HS_ Refer to the following for 8A to 16A and 8B to 16B of the CN3 connector. Page 474 USING FUNCTIONAL SAFETY [G] (MR-J5-_G_-HS_) Servo amplifier Forced stop 24 V DC Approx. 6.2 kΩ DOCOM Approx. 6.2 kΩ Approx. 6.2 kΩ Approx.
  • Page 125 Multi-axis servo amplifier Refer to the following for the CN8 connector. Page 447 USING STO FUNCTION 3 SIGNALS AND WIRING 3.6 Interface...
  • Page 126 Servo amplifier 24 V DC DOCOM 24 V DC MBR-A DICOM Approx. 6.2 kΩ MBR-B Approx. 4.3 kΩ DI1-A MBR-C Approx. 6.2 kΩ CALM DI2-A Approx. 4.3 kΩ DI3-A Approx. 6.2 kΩ DI1-B Approx. 6.2 kΩ DI2-B Analog monitor Approx. 4.3 kΩ DI3-B Approx.
  • Page 127 *1 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *2 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following. Page 137 Source I/O interface *3 The diagram is for 3-axis servo amplifiers. *4 In the initial setting, CINP (AND in-position) is assigned to this pin.

  • Page 128: Internal Connection Diagram [B]

    Internal connection diagram [B] Refer to the following for the CN8 connector. Page 447 USING STO FUNCTION 1-axis servo amplifier MR-J5-_B_ Servo amplifier Forced stop 24 V DC Approx. 6.2 kΩ DOCOM Approx. 6.2 kΩ Approx. 6.2 kΩ Approx. 6.2 kΩ Approx.
  • Page 129 *1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply. *2 The signal cannot be used in the velocity mode and torque mode. *3 This diagram shows a sink I/O interface.
  • Page 130 Multi-axis servo amplifier Servo amplifier 24 V DC DOCOM 24 V DC MBR-A DICOM Approx. 6.2 kΩ MBR-B Approx. 4.3 kΩ DI1-A MBR-C Approx. 6.2 kΩ CALM DI2-A Approx. 4.3 kΩ DI3-A Approx. 6.2 kΩ DI1-B Approx. 6.2 kΩ DI2-B Approx.
  • Page 131 *1 Signals can be assigned to these pins with the controller setting. For details on the signals, refer to each controller manual. *2 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following. Page 137 Source I/O interface *3 The diagram is for the MR-J5 3-axis servo amplifier.

  • Page 132: Internal Connection Diagram [A]

    Internal connection diagram [A] Refer to the following for the CN8 connector. Page 447 USING STO FUNCTION 3 SIGNALS AND WIRING 3.6 Interface...
  • Page 133 Servo amplifier 24 V DC Approx. 6.2 kΩ SON SON SON DOCOM Approx. 6.2 kΩ SP2 SP2 DOCOM Approx. 6.2 kΩ ST1 RS2 Approx. 6.2 kΩ ST2 RS1 Approx. 6.2 kΩ RES RES Approx. 6.2 kΩ Approx. 6.2 kΩ Approx. 6.2 kΩ Approx.
  • Page 134 *8 If the MR-J5-_A_-RJ_ is used, the values in the CN3-16 pin and the CN3-45 pin are approximately 4.3 kΩ. *9 When using the RS-422/RS-485 communication function, connect between TRE and RDN of the final axis servo amplifier. For details, refer to "COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A]" in the following manual. MR-J5 User's Manual (Function) 3 SIGNALS AND WIRING 3.6 Interface...

  • Page 135: Detailed Explanation Of Interfaces

    Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 98 Signal (device) explanation Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal.
  • Page 136 Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.
  • Page 137 Open-collector type • Interface Servo amplifier Max. input pulse 24 V DC frequency 200 kpulses/s Approx. 1.2 kΩ 2 m or less PP, NP DOCOM *1 A photocoupler is used as the pulse train input interface. Therefore, this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line.
  • Page 138 Open-collector type • Interface Maximum output current: 35 mA 5 V to 24 V DC Servo amplifier Servo amplifier Photocoupler Analog input AI-1 Input impedance 10 kΩ to 12 kΩ Servo amplifier + 15 V DC P15R Upper limit setting: 2 kΩ etc.

  • Page 139: Source I/O Interface

    Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
  • Page 140 Pulse train input interface DI-2 [A] Transmit a pulse train signal in the open-collector type. • Interface Servo amplifier Max. input pulse frequency 200 kpulses/s Approx. 20 mA ≤ 1.0 V Approx. 1.2 kΩ ≤ 100 μA Approx. 20 mA ≤...

  • Page 141: Servo Motor With An Electromagnetic Brake

    Servo motor with an electromagnetic brake Precautions • For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, and for selecting the surge absorber for the electromagnetic brake, refer to "Characteristics of electromagnetic brake" in the following manual.
  • Page 142 Multi-axis servo amplifier A-axis servo motor CALM MBR-A Servo amplifier 24 V DC 24 V DC for DOCOM electromagnetic brake DICOM CALM 24 V DC MBR-A MBR-B B-axis servo motor MBR-B MBR-C C-axis servo motor MBR-C *1 Do not use the 24 V DC interface power supply for the electromagnetic brake. *2 The circuit should be shut off in conjunction with the emergency stop switch.

  • Page 143: Sscnet Iii Cable Connection [B]

    SSCNET III cable connection [B] Do not look directly at the light emitted from the CN1A and CN1B connectors of the servo amplifier or the end of the SSCNET III cable. The light may cause discomfort when it enters your eyes. SSCNET III cable connection Connect the SSCNET III cable connected to the controller or the preceding servo amplifier to the CN1A connector.
  • Page 144 How to connect/disconnect cable • Caps are put on the CN1A and CN1B connectors of the servo amplifier to protect the optical devices inside the connectors from dust and dirt. For this reason, do not remove the caps until immediately before connecting the SSCNET III cable.

  • Page 145: Grounding

    Grounding The servo amplifier supplies power to the servo motor by switching on and off a power transistor. Depending on the wiring and ground wire routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and ground it.

  • Page 146: Chapter 4 Dimensions

    DIMENSIONS MR-J5-_G_ 200 V class The following are examples of the MR-J5-_G-RJ servo amplifiers. MR-J5-10G_/MR-J5-20G_/MR-J5-40G_ Approx. 40 φ6 mounting Approx. 6 Approx. 80 2-M5 screw hole Locking tab Terminal assignment CNP1 CNP2 CNP3 CNP1 CN1A CN1B CNP2 CNP3 CN2L Screw size: M4 Tightening torque: 1.2 [N•m] Grounding terminal Mounting hole location diagram...
  • Page 147 MR-J5-70G_/MR-J5-100G_ φ6 mounting Approx. 80 hole Approx. 60 Locking tab Exhaust Cooling fan CNP1 CN1A CN1B CNP2 CNP3 CN2L 3-M5 screw Intake Grounding terminal Approx. 12 Approx. 6 42 ± 0.3 Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...
  • Page 148 MR-J5-500G_ Approx. 80 Approx. 105 Approx. Approx. 93 ± 0.5 φ6 mounting Cooling hole 4-M5 screw Exhaust Locking tab CN1A CNP1A CN1B CNP1B CNP2 CNP3 CN2L Intake Grounding terminal Mounting hole location diagram Terminal assignment Mounting screw CNP1A CNP1B CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...

  • Page 149: 400 V Class

    400 V class MR-J5-60G4_/MR-J5-100G4_ The following are examples of the MR-J5-_G4-RJ servo amplifiers. Approx. 60 φ6 mounting hole Approx. 80 Locking tab CNP1 PULL CNP2 CNP3 3-M5 screw Grounding terminal Terminal assignment Approx. 12 42 ± 0.3 Approx. 6 CNP1 CNP2 CNP3 Mounting hole location diagram Mounting screw Screw size: M4...
  • Page 150 MR-J5-500G4/MR-J5-700G4 Approx. 80 Approx. 130 Approx. Approx. 118 ± 0.5 Cooling fan Exhaust 4-M5 screw φ6 mounting hole CNP2 CNP1 CNP3 Mounting hole location diagram Terminal assignment Mounting screw Grounding terminal CNP1 CNP2 CNP3 Screw size: M5 Intake Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] 4 DIMENSIONS...
  • Page 151 MR-J5-500G4-HS_/MR-J5-700G4-HS_ Approx. 80 Approx. 130 Approx. Approx. 118 ± 0.5 φ6 mounting hole 4-M5 screw Exhaust Cooling fan CNP2 CNP1 CNP3 Mounting hole location diagram Terminal assignment Mounting screw Grounding terminal CNP1 CNP2 CNP3 Screw size: M5 Intake Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] 4 DIMENSIONS...

  • Page 152: Mr-J5W_-_G

    MR-J5W_-_G_ MR-J5W2-22G_/MR-J5W2-44G_ Approx. 80 φ6 mounting Approx. 60 hole Cooling Locking tab Exhaust CNP1 CN1A CN1B CNP2 CNP3A CNP3B CN2A CN2B Intake 2-M5 screw Grounding terminal Approx. 6 Locking tab Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3A Screw size: M5 Screw size: M4...
  • Page 153 MR-J5W3-222G_/MR-J5W3-444G_ Approx. 80 φ6 mounting Approx. 75 hole Cooling Locking tab Exhaust CNP1 CN1A CN1B CNP2 CNP3A CNP3B CNP3C CN2A CN2B 3-M5 screw CN2C Intake Grounding terminal Approx. 6 63 ± 0.5 Locking tab Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3A...

  • Page 154: Mr-J5-_B

    MR-J5-_B_ The following are examples of the MR-J5-_B_-RJ servo amplifiers. 200 V class MR-J5-10B_/MR-J5-20B_/MR-J5-40B_ Approx. 40 φ6 mounting Approx. 6 Approx. 80 2-M5 screw hole Locking tab Terminal assignment CNP1 CNP2 CNP3 CNP1 CN1A CN1B CNP2 CNP3 CN2L Screw size: M4 Tightening torque: 1.2 [N•m] Grounding terminal Mounting hole location diagram...
  • Page 155 MR-J5-70B_/MR-J5-100B_ φ6 mounting Approx. 80 hole Approx. 60 Locking tab Exhaust Cooling fan CNP1 CN1A CN1B CNP2 CNP3 CN2L 3-M5 screw Intake Grounding terminal Approx. 12 Approx. 6 42 ± 0.3 Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...
  • Page 156 MR-J5-500B_ Approx. 80 Approx. 105 Approx. Approx. 93 ± 0.5 φ6 mounting Cooling hole 4-M5 screw Exhaust Locking tab CN1A CNP1A CN1B CNP1B CNP2 CNP3 CN2L Intake Grounding terminal Mounting hole location diagram Terminal assignment Mounting screw CNP1A CNP1B CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...

  • Page 157: 400 V Class

    400 V class MR-J5-60B4_/MR-J5-100B4_ Approx. 60 φ6 mounting hole Approx. 80 Locking tab CNP1 CN1A CN1B CNP2 CNP3 CN2L 3-M5 screw Grounding terminal Terminal assignment Approx. 12 42 ± 0.3 Approx. 6 CNP1 CNP2 CNP3 Mounting hole location diagram Mounting screw Screw size: M4 Screw size: M5 Tightening torque: 1.2 [N•m]...
  • Page 158 MR-J5-500B4_/MR-J5-700B4_ Approx. 80 Approx. 130 Approx. Approx. 118 ± 0.5 φ6 mounting hole 4-M5 screw Exhaust Cooling fan CNP2 CNP1 CNP3 Mounting hole location diagram Terminal assignment Mounting screw Grounding terminal CNP1 CNP2 CNP3 Screw size: M5 Intake Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] 4 DIMENSIONS...

  • Page 159: Mr-J5W_-_B

    MR-J5W_-_B_ MR-J5W2-22B_/MR-J5W2-44B_ Approx. 80 φ6 mounting hole Approx. 60 Cooling Locking tab Exhaust CNP1 CN1A CN1B CNP2 CNP3A CNP3B CN2A CN2B Intake 2-M5 screw Grounding terminal Approx. 6 Locking tab Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3A Screw size: M5 Screw size: M4...
  • Page 160 MR-J5W3-222B_/MR-J5W3-444B_ Approx. 80 φ6 mounting hole Approx. 75 Cooling Locking tab Exhaust CNP1 CN1A CNP2 CN1B CNP3A CNP3B CNP3C CN2A CN2B 3-M5 screw CN2C Intake Grounding terminal Approx. 6 63 ± 0.5 Locking tab Terminal assignment CNP1 CNP2 CNP3A Mounting hole location diagram Screw size: M4 Mounting screw Tightening torque: 1.2 [N•m]...

  • Page 161: Mr-J5-_A

    MR-J5-_A_ The following are examples of the MR-J5-_A_-RJ servo amplifiers. 200 V class MR-J5-10A_/MR-J5-20A_/MR-J5-40A_ Approx. 40 φ6 mounting Approx. 6 Approx. 80 hole 2-M5 screw Locking tab Terminal assignment CNP1 CNP2 CNP3 CNP1 CNP2 CNP3 CN2L Screw size: M4 Tightening torque: 1.2 [N•m] Grounding terminal Mounting hole location diagram Mounting screw...
  • Page 162 MR-J5-70A_/MR-J5-100A_ φ6 mounting Approx. 80 hole Approx. 60 Locking tab Exhaust Cooling fan CNP1 CNP2 CNP3 CN2L 3-M5 screw Intake Grounding terminal Approx. 12 42 ± 0.3 Approx. 6 Terminal assignment Mounting hole location diagram Mounting screw CNP1 CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m]...
  • Page 163 MR-J5-500A_ Approx. 80 Approx. 105 Approx. Approx. 93 ± 0.5 φ6 mounting Cooling 4-M5 screw hole Exhaust Locking tab CNP1A CNP1B CNP2 CNP3 CN2L Intake Grounding terminal Mounting hole location diagram Terminal assignment Mounting screw CNP1A CNP1B CNP2 CNP3 Screw size: M5 Screw size: M4 Tightening torque: 3.24 [N•m] Tightening torque: 1.2 [N•m]...

  • Page 164: 400 V Class

    400 V class MR-J5-60A4_/MR-J5-100A4_ Approx. 80 φ6 mounting hole Approx. 60 Locking tab CNP1 CNP2 CNP3 3-M5 screw Grounding terminal Approx. 12 42 ± 0.3 Approx. 6 Mounting hole location diagram Terminal assignment Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] MR-J5-200A4_/MR-J5-350A4_...
  • Page 165 MR-J5-500A4_/MR-J5-700A4_ Approx. 80 Approx. 130 Approx. Approx. 118 ± 0.5 4-M5 screw φ6 mounting hole Exhaust Cooling fan CNP2 CNP1 CNP3 Mounting hole location diagram Terminal assignment Mounting screw CNP1 CNP2 CNP3 Grounding terminal Screw size: M5 Intake Tightening torque: 3.24 [N•m] Screw size: M4 Tightening torque: 1.2 [N•m] 4 DIMENSIONS...

  • Page 166: Connector

    Connector Precautions • Obtain the wiring instructions from the manufacturer, and wire the connectors appropriately. MR-J5_-_G_ CN2 connector SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 4 DIMENSIONS 4.6 Connector...
  • Page 167 CN3 connector (1-axis servo amplifier) Miniature delta ribbon (MDR) system (3M) • One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 • Jack screw M2.6 type This connector is not available as an option.
  • Page 168 CN3 connector (multi-axis servo amplifier) Miniature delta ribbon (MDR) system (3M) • One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10126-3000PE 10326-52F0-008 25.8 37.2 14.0 10.0 12.0 • Jack screw M2.6 type This connector is not available as an option.
  • Page 169 CN7 connector (MR-J5-_G_-HS_) IX series connector (Hirose Electric) • Right angle, bottom connection type Terminal No. 10 Terminal No. 6 Terminal No. 1 Terminal No. 5 16.3 14.4 8.75 Connector IX30G-B-10S-CVL1(7.0) 4 DIMENSIONS 4.6 Connector...

  • Page 170: Mr-J5_-_B

    MR-J5_-_B_ CN1_ connector • F0-PF2D103 [Unit: mm] 17.6 ± 0.2 20.9 ± 0.2 • F0-CF2D103-S [Unit: mm] 17.6 ± 0.2 20.9 ± 0.2 CN2_ connector Page 164 CN2 connector CN3 connector (1-axis servo amplifier) Page 165 CN3 connector (1-axis servo amplifier) CN3 connector (multi-axis servo amplifier) Page 166 CN3 connector (multi-axis servo amplifier) 4 DIMENSIONS...

  • Page 171: Mr-J5-_A

    MR-J5-_A_ CN2 connector Page 164 CN2 connector CN3 connector Miniature delta ribbon (MDR) system (3M) • One-touch lock type [Unit: mm] Logo or others are indicated here. 12.7 Connector Shell kit Variable dimensions 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 •...

  • Page 172: Chapter 5 Characteristics

    CHARACTERISTICS For the characteristics of the linear servo motor and the direct drive motor, refer to the following. Page 540 Characteristics Page 577 Characteristics Overload protection characteristics Precautions Servo amplifiers running firmware version A7 or later have improved overload protection for rotary servo motors. Overload protection is triggered in a shorter period of time compared to servo amplifiers running version A6 or earlier, so depending on the operation pattern, overload warnings and alarms will easily occur.
  • Page 173 Graph of overload protection characteristics The following table lists servo motors and corresponding graphs of overload protection characteristics. The overload protection characteristics depend on the servo motor. Rotary servo motor Graph of overload protection HK-KT HK-MT HK-ST HK-RT characteristics  Page 172 Characteristic 053W 053W...
  • Page 174 Characteristic a 1000 : In operation : In servo-lock Load ratio (rated current ratio of rotary servo motor) [%] Characteristic b 1000 : In operation : In servo-lock Load ratio (rated current ratio of rotary servo motor) [%] Characteristic c 1000 : In operation : In servo-lock...

  • Page 175: Power Supply Capacity And Generated Loss

    Power supply capacity and generated loss Power supply capacity The following table indicates power supply capacities of servo amplifiers. When the servo motor runs at less than the rated speed, the power supply capacity is smaller than the value in the table. 200 V class 1-axis servo amplifier Rotary servo motor...
  • Page 176 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-KT series HK-KT203W MR-J5-200_ MR-J5-350_ HK-KT202W MR-J5-200_ MR-J5-350_ HK-KT63UW MR-J5-60_ MR-J5-70_ MR-J5-100_ HK-KT434W MR-J5-20_ MR-J5-40_ MR-J5-60_ HK-KT634W MR-J5-40_ MR-J5-60_ MR-J5-70_ HK-KT7M34W MR-J5-40_ MR-J5-60_ MR-J5-70_ HK-KT1034W MR-J5-60_ MR-J5-70_ MR-J5-100_ HK-KT1534W MR-J5-70_ MR-J5-100_ MR-J5-200_ HK-KT2034W MR-J5-100_...
  • Page 177 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-MT series HK-MT053W MR-J5-10_ MR-J5-20_ MR-J5-40_ HK-MT053VW MR-J5-10_ MR-J5-20_ MR-J5-40_ HK-MT13W MR-J5-10_ MR-J5-20_ MR-J5-40_ HK-MT13VW MR-J5-10_ MR-J5-20_ MR-J5-40_ HK-MT1M3W MR-J5-20_ MR-J5-40_ HK-MT1M3VW MR-J5-20_ MR-J5-40_ HK-MT23W MR-J5-20_ MR-J5-40_ HK-MT23VW MR-J5-20_ MR-J5-40_ HK-MT43W MR-J5-40_ MR-J5-70_ HK-MT43VW...
  • Page 178 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-ST series HK-ST52W MR-J5-60_ MR-J5-70_ MR-J5-100_ HK-ST102W MR-J5-100_ MR-J5-200_ MR-J5-350_ HK-ST172W MR-J5-200_ MR-J5-350_ HK-ST202AW MR-J5-200_ MR-J5-350_ HK-ST302W MR-J5-350_ MR-J5-500_ HK-ST7M2UW MR-J5-70_ MR-J5-100_ MR-J5-200_ HK-ST172UW MR-J5-200_ MR-J5-350_ HK-ST202W MR-J5-200_ MR-J5-350_ HK-ST352W MR-J5-350_ MR-J5-500_ HK-ST502W MR-J5-500_...
  • Page 179 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-RT series HK-RT103W MR-J5-100_ MR-J5-200_ HK-RT153W MR-J5-200_ MR-J5-500_ HK-RT203W MR-J5-200_ MR-J5-350_ HK-RT353W MR-J5-350_ MR-J5-500_ HK-RT503W MR-J5-500_ MR-J5-700_ HK-RT703W MR-J5-700_ 13.3 *1 The power supply capacity will vary according to the power impedance. *2 The power supply capacity of the HK-ST152G_ is 2.5 kVA.
  • Page 180 Multi-axis servo amplifiers The values in the table are the required power supply capacities per servo motor. Calculate the power supply capacity of a multi-axis servo amplifier with the following formula. Power supply capacity [kVA] = Sum of power supply capacities [kVA] of the connected servo motors Rotary servo motor Servo amplifier Power supply capacity [kVA]...
  • Page 181 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-KT series HK-KT434W MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-KT634W MR-J5W2-44_ MR-J5W2-77_ MR-J5W2-1010_ MR-J5W3-444_ HK-KT7M34W MR-J5W2-44_ MR-J5W2-77_ MR-J5W2-1010_ MR-J5W3-444_ HK-KT1034W MR-J5W2-77_ MR-J5W2-1010_ HK-KT1534W MR-J5W2-77_ MR-J5W2-1010_ HK-KT2034W MR-J5W2-1010_ HK-KT2024W MR-J5W2-1010_ 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss...
  • Page 182 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-MT series HK-MT053W MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-MT053VW MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-MT13W MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-MT13VW MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-MT1M3W MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-MT1M3VW MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ HK-MT23W MR-J5W2-22_...
  • Page 183 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-ST series HK-ST52W MR-J5W2-77_ MR-J5W2-1010_ HK-ST102W MR-J5W2-1010_ HK-ST7M2UW MR-J5W2-77_ MR-J5W2-1010_ HK-ST524W MR-J5W2-44_ MR-J5W2-77_ MR-J5W3-444_ HK-ST1024W MR-J5W2-77_ MR-J5W2-1010_ HK-ST1724W MR-J5W2-1010_ HK-ST2024AW MR-J5W2-1010_ HK-RT series HK-RT103W MR-J5W2-1010_ *1 The power supply capacity will vary according to the power impedance. 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss...
  • Page 184 400 V class Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-KT series HK-KT053W MR-J5-60_4_ MR-J5-100_4_ HK-KT13W MR-J5-60_4_ MR-J5-100_4_ HK-KT1M3W MR-J5-60_4_ MR-J5-100_4_ HK-KT634UW MR-J5-60_4_ MR-J5-100_4_ MR-J5-200_4_ HK-KT1034UW MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_ HK-KT434W MR-J5-60_4_ MR-J5-100_4_ MR-J5-200_4_ HK-KT634W MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_ HK-KT7M34W MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_...
  • Page 185 Rotary servo motor Servo amplifier Power supply capacity [kVA] HK-ST series HK-ST524W MR-J5-60_4_ MR-J5-100_4_ MR-J5-200_4_ HK-ST1024W MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_ HK-ST1724W MR-J5-200_4_ MR-J5-350_4_ MR-J5-500_4_ HK-ST2024AW MR-J5-200_4_ MR-J5-350_4_ MR-J5-500_4_ HK-ST2024W MR-J5-200_4_ MR-J5-350_4_ MR-J5-500_4_ HK-ST3024W MR-J5-350_4_ MR-J5-500_4_ MR-J5-700_4_ HK-ST3524W MR-J5-350_4_ MR-J5-500_4_ MR-J5-700_4_ HK-ST3534W MR-J5-350_4_ MR-J5-500_4_ HK-ST5024W...

  • Page 186: Generated Loss

    Generated loss Servo amplifier generated heat The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns.
  • Page 187 400 V class Servo amplifier Servo amplifier-generated heat [W] Area required for heat dissipation [m At rated output At servo-off MR-J5-60_4_ MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_ MR-J5-500_4_ MR-J5-700_4_ *1 The values stated for heat generated by the servo amplifier do not take into account the heat generated during regeneration. To calculate heat generated by the regenerative option, refer to the following.

  • Page 188: Using Servo Amplifier With Dc Power Supply Input

    Heat dissipation area for enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) that stores the servo amplifier should be designed to ensure that its internal temperature rise is within +15 °C at an ambient temperature of 40 °C. Calculate the necessary heat dissipation area of the cabinet with the equation below (10.1) while allowing a margin of approximately 5 °C for a maximum ambient temperature of 60 °C.

  • Page 189: Dynamic Brake Characteristics

    Dynamic brake characteristics • The coasting distance is a theoretically calculated value that does not consider the running load such as friction. Since the coasting distance changes depending on the load moment of inertia, perform a test operation to check the actual braking distance. If the braking distance is long, a moving part may crash into the stroke end.

  • Page 190: Dynamic Brake Operation

    Dynamic brake operation Calculation of coasting distance The following figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use the equation (10.2) to calculate the approximate coasting distance to a stop. The dynamic brake time constant τ varies with the servo motor and machine operation speeds.
  • Page 191 Dynamic brake time constant The following shows dynamic brake time constant τ that is necessary to calculate the equation (10.2). 200 V class servo amplifier Servo motor Servo amplifier Waveform HK-KT053W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 Servo motor speed [r/min]...
  • Page 192 Servo motor Servo amplifier Waveform HK-KT23W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT43W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5W2-1010_ 2000...
  • Page 193 Servo motor Servo amplifier Waveform HK-KT63W MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 22.5 21.5 20.5 19.5 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT23UW MR-J5-20_ MR-J5-40_ MR-J5-60_...
  • Page 194 Servo motor Servo amplifier Waveform HK-KT43UW MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 195 Servo motor Servo amplifier Waveform HK-KT7M3W MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 34.5 33.5 32.5 31.5 30.5 29.5 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 196 Servo motor Servo amplifier Waveform HK-KT103W MR-J5-100_ MR-J5W2-1010_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 197 Servo motor Servo amplifier Waveform HK-KT63UW MR-J5-60_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 198 Servo motor Servo amplifier Waveform HK-KT7M3UW MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 199 Servo motor Servo amplifier Waveform HK-KT103UW MR-J5-100_ 41.5 MR-J5W2-1010_ 40.5 39.5 38.5 37.5 36.5 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-KT153W MR-J5-200_ MR-J5-350_ 2000 4000...
  • Page 200 Servo motor Servo amplifier Waveform HK-KT202W MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] HK-KT434W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 201 Servo motor Servo amplifier Waveform HK-KT634W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5W2-1010_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 202 Servo motor Servo amplifier Waveform HK-KT7M34W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5W2-1010_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 203 Servo motor Servo amplifier Waveform HK-KT1034W MR-J5-60_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 204 Servo motor Servo amplifier Waveform HK-KT1534W MR-J5-70_ MR-J5W2-77_ 24.5 23.5 22.5 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 33.8 33.6 33.4 33.2 32.8 32.6 32.4 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-200_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS...
  • Page 205 Servo motor Servo amplifier Waveform HK-KT2034W MR-J5-100_ MR-J5W2-1010_ 34.8 34.6 34.4 34.2 33.8 33.6 33.4 33.2 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 Servo motor speed [r/min] HK-KT2024W MR-J5-100_ MR-J5W2-1010_ 12.5 12.4 12.3 12.2 12.1 11.9...
  • Page 206 Servo motor Servo amplifier Waveform HK-MT053W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-MT13W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-MT1M3W MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_...
  • Page 207 Servo motor Servo amplifier Waveform HK-MT43W MR-J5-40_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 208 Servo motor Servo amplifier Waveform HK-MT63W MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 209 Servo motor Servo amplifier Waveform HK-MT7M3W MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 210 Servo motor Servo amplifier Waveform HK-MT103W MR-J5-100_ MR-J5W2-1010_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-MT053VW MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] HK-MT13VW MR-J5-10_ MR-J5-20_...
  • Page 211 Servo motor Servo amplifier Waveform HK-MT1M3VW MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] HK-MT23VW MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 212 Servo motor Servo amplifier Waveform HK-MT43VW MR-J5-60_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] MR-J5W2-1010_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 213 Servo motor Servo amplifier Waveform HK-MT63VW MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] MR-J5W2-1010_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 214 Servo motor Servo amplifier Waveform HK-MT7M3VW MR-J5-70_ MR-J5W2-77_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] MR-J5W2-1010_ 2000 4000 6000 8000 10000 12000 Servo motor speed [r/min] HK-MT103VW MR-J5-200_ MR-J5-350_...
  • Page 215 Servo motor Servo amplifier Waveform HK-ST52W MR-J5-60_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 216 Servo motor Servo amplifier Waveform HK-ST102W MR-J5-100_ MR-J5W2-1010_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST172W MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST202AW MR-J5-200_ MR-J5-350_...
  • Page 217 Servo motor Servo amplifier Waveform HK-ST302W MR-J5-350_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] MR-J5-500_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] HK-ST353W MR-J5-350_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-500_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS...
  • Page 218 Servo motor Servo amplifier Waveform HK-ST503W MR-J5-500_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-700_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 219 Servo motor Servo amplifier Waveform HK-ST7M2UW MR-J5-70_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] MR-J5-100_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] MR-J5-200_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] HK-ST172UW MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500...
  • Page 220 Servo motor Servo amplifier Waveform HK-ST202W MR-J5-200_ MR-J5-350_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST353W MR-J5-350_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-500_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 221 Servo motor Servo amplifier Waveform HK-ST352W MR-J5-350_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-500_ 1000 2000 3000 4000 Servo motor speed [r/min] HK-ST503W MR-J5-500_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-700_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 222 Servo motor Servo amplifier Waveform HK-ST502W MR-J5-500_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-700_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST702W MR-J5-700_ 1000 2000 3000 4000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 223 Servo motor Servo amplifier Waveform HK-ST524W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 1000 1500 2000 2500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 224 Servo motor Servo amplifier Waveform HK-ST1024W MR-J5-60_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-70_ MR-J5W2-77_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-100_ MR-J5W2-1010_ 1000 1500 2000 2500 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 225 Servo motor Servo amplifier Waveform HK-ST1724W MR-J5-100_ MR-J5W2-1010_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] HK-ST2024AW MR-J5-100_ MR-J5W2-1010_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500...
  • Page 226 Servo motor Servo amplifier Waveform HK-ST3024W MR-J5-200_ MR-J5-350_ 1000 1200 1400 Servo motor speed [r/min] HK-ST2024W MR-J5-200_ MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] HK-ST3524W MR-J5-200_ MR-J5-350_ 1000 1500 2000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 227 Servo motor Servo amplifier Waveform HK-ST5024W MR-J5-350_ 1000 1500 2000 2500 Servo motor speed [r/min] MR-J5-500_ 1000 1500 2000 2500 Servo motor speed [r/min] HK-ST7024W MR-J5-500_ 1000 1500 2000 Servo motor speed [r/min] MR-J5-700_ 1000 1500 2000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 228 Servo motor Servo amplifier Waveform HK-RT103W MR-J5-100_ 12.5 11.5 10.5 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-RT153W MR-J5-200_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-500_ 2000 4000 6000 8000 Servo motor speed [r/min]...
  • Page 229 Servo motor Servo amplifier Waveform HK-RT203W MR-J5-200_ MR-J5-350_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-RT353W MR-J5-350_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-500_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 230 Servo motor Servo amplifier Waveform HK-RT503W MR-J5-500_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-700_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-RT703W MR-J5-700_ 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] *1 The dynamic brake time constant is longer than when the HG-RR103 and MR-J4-200_ are used in combination. To obtain the dynamic brake time constant equivalent to the combination of the HG-RR103 and MR-J4-200_, use the HK-RT103W and MR-J5-200_ in combination.
  • Page 231 400 V class servo amplifier Servo motor Servo amplifier Waveform HK-KT053W MR-J5-60_4_ MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT13W MR-J5-60_4_ MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT1M3W MR-J5-60_4_ MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 232 Servo motor Servo amplifier Waveform HK-KT434W MR-J5-60_4_ MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 233 Servo motor Servo amplifier Waveform HK-KT634W MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] MR-J5-350_4_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 234 Servo motor Servo amplifier Waveform HK-KT7M34W MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] MR-J5-350_4_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 235 Servo motor Servo amplifier Waveform HK-KT1034W MR-J5-100_4_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 236 Servo motor Servo amplifier Waveform HK-KT634UW MR-J5-60_4_ MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 237 Servo motor Servo amplifier Waveform HK-KT1034UW MR-J5-100_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 238 Servo motor Servo amplifier Waveform HK-KT1534W MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] MR-J5-350_4_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-KT2034W MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000...
  • Page 239 Servo motor Servo amplifier Waveform HK-KT2024W MR-J5-200_4_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] MR-J5-350_4_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] HK-ST524W MR-J5-60_4_ MR-J5-100_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000...
  • Page 240 Servo motor Servo amplifier Waveform HK-ST1024W MR-J5-100_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 241 Servo motor Servo amplifier Waveform HK-ST1724W MR-J5-200_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-500_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 242 Servo motor Servo amplifier Waveform HK-ST2024AW MR-J5-200_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-500_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 243 Servo motor Servo amplifier Waveform HK-ST3024W MR-J5-350_4_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] MR-J5-500_4_ MR-J5-700_4_ 1000 1500 2000 2500 3000 Servo motor speed [r/min] HK-ST3534W MR-J5-350_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-500_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min]...
  • Page 244 Servo motor Servo amplifier Waveform HK-ST2024W MR-J5-200_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-350_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] MR-J5-500_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 245 Servo motor Servo amplifier Waveform HK-ST3524W MR-J5-350_4_ 1000 2000 3000 4000 Servo motor speed [r/min] MR-J5-500_4_ MR-J5-700_4_ 1000 1500 2000 2500 3000 3500 4000 Servo motor speed [r/min] HK-ST5024W MR-J5-500_4_ MR-J5-700_4_ 1000 2000 3000 4000 5000 Servo motor speed [r/min] HK-ST5034W MR-J5-500_4_ MR-J5-700_4_...
  • Page 246 Servo motor Servo amplifier Waveform HK-ST7024W MR-J5-700_4_ 1000 1500 2000 2500 3000 3500 Servo motor speed [r/min] HK-RT1034W MR-J5-100_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 247 Servo motor Servo amplifier Waveform HK-RT1534W MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] MR-J5-350_4_ 2000 4000 6000 8000 Servo motor speed [r/min] MR-J5-500_4_ 2000 4000 6000 8000 Servo motor speed [r/min] 5 CHARACTERISTICS 5.3 Dynamic brake characteristics...
  • Page 248 Servo motor Servo amplifier Waveform HK-RT2034W MR-J5-200_4_ 1000 2000 3000 4000 5000 6000 7000 8000 Servo motor speed [r/min] MR-J5-350_4_ 2000 4000 6000 8000 Servo motor speed [r/min] HK-RT3534W MR-J5-350_4_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] MR-J5-500_4_ 1000 2000...
  • Page 249 Servo motor Servo amplifier Waveform HK-RT5034W MR-J5-500_4_ MR-J5-700_4_ 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min] HK-RT7034W MR-J5-700_4_ 1000 2000 3000 4000 5000 6000 Servo motor speed [r/min] Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table.
  • Page 250 200 V class servo amplifier Series Model Permissible load to motor inertia ratio [multiplier] HK-KT HK-KT053W HK-KT13W HK-KT13UW HK-KT1M3W HK-KT23W 23 (when 6000 r/min or less: 28) HK-KT23UW HK-KT43W HK-KT43UW HK-KT63W HK-KT63UW 20 (when 3000 r/min or less: 30) HK-KT7M3W HK-KT7M3UW HK-KT103W HK-KT103UW...
  • Page 251 Series Model Permissible load to motor inertia ratio [multiplier] HK-ST HK-ST52W 15 (when 3000 r/min or less: 19) HK-ST7M2UW HK-ST102W HK-ST172W HK-ST172UW HK-ST202AW HK-ST202W 15 (when 3000 r/min or less: 20) HK-ST302W HK-ST352W 12 (when 3000 r/min or less: 22) HK-ST353W 10 (when 3000 r/min or less: 30) HK-ST502W...
  • Page 252 400 V class servo amplifier Series Model Permissible load to motor inertia ratio [multiplier] HK-KT HK-KT053W HK-KT13W HK-KT1M3W HK-KT434W HK-KT634W 20 (when 3000 r/min or less: 30) HK-KT634UW 20 (when 3000 r/min or less: 30) HK-KT7M34W 7 (when 3000 r/min or less: 20) HK-KT1034W 7 (when 3000 r/min or less: 30) HK-KT1034UW...

  • Page 253: Cable Flex Life

    Cable flex life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life factors in conductor and insulation breakage. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration.

  • Page 254: Inrush Currents At Power-On Of Main Circuit And Control Circuit

    Inrush currents at power-on of main circuit and control circuit A molded-case circuit breaker and magnetic contactor may fail or malfunction due to an inrush current flowing through the servo amplifier's power lines (input lines) at power on. Therefore, use products with the specifications described on the following page.

  • Page 255: Chapter 6 Options And Peripheral Equipment

    Purchase the cable and connector options indicated in this section for this servo amplifier. Use the cables provided by Mitsubishi Electric and Mitsubishi Electric System & Service Co., Ltd. When fabricating a cable, select a wire suitable for the application. For selection example, NFPA 79 (2018 Edition) in North America demands the use of a listed, certified product that has a thermoset insulator and is compliant with the NEC standard RHH, RHW, RHW-2, XHH, XHHW, or XHHW-2.

  • Page 256: Combinations Of Cables/Connector Sets

    Combinations of cables/connector sets MR-J5-_G_ (excluding MR-J5-_G_-HS_) Controller Servo amplifier Servo amplifier Ethernet cable MR Configurator2 CN1A CN1A CNP1 CNP1 CN1B CN1B (10) Network CNP2 CNP2 (1) (11) Safety logic unit MR-J3-D05 CNP3 CNP3 CN10 To servo motor CN2L CN2L Junction terminal block power supply PS7DW-20V14B-F...
  • Page 257 MR-J5-_G_-HS_ Controller (16) Servo amplifier Servo amplifier (17) MR Configurator2 MR Configurator2 CNP2 CNP2 Ethernet cable CN1A CN1A CN1B CN1B Network CNP1 CNP1 (15) CNP3 CN2 CNP3 CN2L CN2L To servo motor encoder To load-side encoder To servo motor power supply *1 Refer to the following page for information on Ethernet cable specifications.
  • Page 258 MR-J5-_B_ (12) (13) (14) (12) (13) (14) Controller Servo amplifier Servo amplifier SSCNET III cable MR Configurator2 CN1A CN1A CNP1 CNP1 CN1B CN1B SSCNET III/H CNP2 CNP2 (1) (11) (18) Safety logic unit MR-J3-D05 CNP3 CNP3 CN10 To servo motor CN2L Junction terminal block CN2L...
  • Page 259 MR-J5W_-_B_ (12) (13) (14) (12) (13) (14) Controller Servo amplifier Servo amplifier SSCNET III cable MR Configurator2 CN1A CN1A CNP1 CNP1 CN1B CN1B SSCNET III/H Safety logic unit CNP2 CNP2 MR-J3-D05 (18) (1) (11) CNP3A CNP3A CN10 CN2A CN2A CNP3B CNP3B CN2B CN2B...
  • Page 260 MR-J5-_A_ Servo amplifier Ethernet cable Controller CNP1 MR Configurator2 (10) CNP2 (1) (11) Safety logic unit MR-J3-D05 CNP3 To next-axis CN10 servo amplifier To servo motor power supply CN2L Battery: MR-BAT6V1SET or MR-BAT6V1SET-A To servo motor encoder To next-axis servo amplifier To load-side encoder Battery case: MR-BT6VCASE Battery: MR-BAT6V1 ×...
  • Page 261 List of cables/connector sets Product name Model Description Remark Servo amplifier  Supplied with 200 V power connector class 1-axis servo amplifiers with a CNP3 connector capacity of 1 kW or 03JFAT-SAXGDK-K7.5 CNP2 connector less (LA) (JST) 05JFAT-SAXGDK-K5.0 CNP1 connector Applicable wire size: (LA) (JST) 06JFAT-SAXGDK-K7.5...
  • Page 262 Product name Model Description Remark Servo amplifier  Supplied with multi- power connector axis servo amplifiers of 400 W or less CNP3 connector 04JFAT-SAGG-G-KK CNP2 connector (JST) 05JFAT-SAXGDK-K5.0 CNP1 connector Applicable wire size: (LA) (JST) 06JFAT-SAXGDK-K7.5 0.8 mm to 2.1 mm Applicable wire size: (LB) (JST) (18 to 14 AWG)
  • Page 263 Product name Model Description Remark USB cable MR-J3USBCBL3M For connection with cable length: 3 m PC-AT compatible personal computer (a) CN5 connector: mini-B connector (5 pins) (b) Personal computer connector: Connector A Connector set MR-CCN1 For MR-J5-_G_ For MR-J5-_B_ Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) MR-J3CN1...
  • Page 264 Product name Model Description Remark Battery cable MR-BT6V1CBL_M For connection with Cable length: 0.3 m, battery unit Page 311 Battery (a) Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST) (b) Connector: 10114-3000PE Shell kit: 10314-52F0-008 (3M or equivalent) Page 311 Junction battery MR-BT6V2CBL_M cable Cable length: 0.3 m, Battery...
  • Page 265 Product name Model Description Remark (12) SSCNET III cable MR-J3BUS_M Standard cord inside Cable length: cabinet 0.15 m to 3 m Page 267 (a) (b) Connector: PF-2D103 SSCNET III cable (JAE) (13) MR-J3BUS_M-A Standard cable Cable length: outside cabinet 5 m to 20 m Page 267 SSCNET III cable (14)

  • Page 266: Mr-D05Udl3M-B Sto Cable

    MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Cable OD Application MR-D05UDL3M-B 5.7 mm Connection cable for the CN8 connector *1 Standard OD. The maximum OD is about 10 % greater for dimensions without tolerances. Configuration diagram MR-D05UDL3M-B Internal wiring diagram...

  • Page 267: Mr-Ahscn7Cbl2M10M Output Cable For Analog Monitor And A/B/Z-Phase Pulse [G]

    MR-AHSCN7CBL2M10M Output cable for analog monitor and A/ B/Z-phase pulse [G] This cable is for connecting an external device to the CN7 connector. Cable model Cable length Cable OD Application MR-AHSCN7CBL2M10M A/B/Z-phase pulse A/B/Z-phase pulse Connection cable for the CN7 connector output: 10 m output: 6.3 mm Analog monitor: 2 m...

  • Page 268: Ethernet Cable [G]

    Ethernet cable [G] For Ethernet cables used for network wiring, refer to "Communication specifications" in the User's Manual (Communication Function). A commercially available product example is as follows. For the latest product information, contact the manufacturer. Product name Model Specifications Ethernet cable For indoor use SC-E5EW-S_M...

  • Page 269: Sscnet Iii Cable [B]

    SSCNET III cable. The light may cause discomfort when it enters your eyes. • For the long distance cable longer than 50 m and the ultra-high flex life cable, refer to the following. Page 409 Cables manufactured by Mitsubishi Electric System & Service Co., Ltd. Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_"...
  • Page 270 Dimensions MR-J3BUS015M Approx. Approx. Approx. 13.4 Approx. 37.65 Protective tube MR-J3BUS03M to MR-J3BUS3M For the cable length (L), refer to the following. Page 267 Model explanations Protective tube Approx. 100 Approx. 100 *1 The dimension of the connector is the same as that of the MR-J3BUS015M. MR-J3BUS5M-A to MR-J3BUS20M-A/MR-J3BUS30M-B to MR-J3BUS50M-B For the cable length (L), refer to the following.

  • Page 271: Regenerative Option

    Regenerative option Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. 200 V class Servo Regenerative power [W] amplifier Built-in regenerative RB032 RB12 RB14 RB30 RB3N RB31 RB3Z RB34 RB50 RB5N RB51 RB5Z resistor [40 Ω]...
  • Page 272 400 V class Servo Regenerative power [W] amplifier Built-in regenerative RB1H-4 RB3M-4 RB3G-4 RB5G-4 RB3Y-4 RB5Y-4 RB34-4 RB54-4 RB3U-4 RB5U-4 resistor [82 Ω] [120 Ω] [47 Ω] [47 Ω] [36 Ω] [36 Ω] [26 Ω] [26 Ω] [22 Ω] [22 Ω] ...

  • Page 273: Selection Of The Regenerative Option (1-Axis Servo Amplifier)

    Selection of the regenerative option (1-axis servo amplifier) A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. Rotary servo motor Regenerative energy calculation Servo motor Feed speed of moving part...
  • Page 274 *1*2 Regenerative power Torque T applied to servo motor [N•m] Energy E [J] /η + J ) • N 0.1047 • • N • T • t psa1 9.55 • 10 psa1 = 0.1047 • N • T • t •...
  • Page 275 For linear servo motors Thrust and energy calculation Linear servo motor Linear servo motor feed speed secondary side (magnet) Load Positive direction Time Negative Linear servo motor direction primary side (coil) Linear servo motor psa1 psd1 psa2 psd2 The following shows formulas of the linear servo motor thrust and energy at the operation pattern above. Section Thrust F of linear servo motor [N] Energy E [J]...

  • Page 276: Selection Of The Regenerative Option (Multi-Axis Servo Amplifier)

    Selection of the regenerative option (multi-axis servo amplifier) A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. Rotary servo motor Regenerative energy calculation Servo motor Feed speed of moving part...
  • Page 277 *1*2 Regenerative power Torque T applied to servo motor [N•m] Energy E [J] /η + J ) • N 0.1047 • • N • T • t psa1 9.55 • 10 psa1 = 0.1047 • N • T • t •...
  • Page 278 Calculation of regenerative energy per cycle As an example, calculate the regenerative energy in the following operation pattern with MR-J5W3-_ servo amplifiers. (10) (11) Servo motor speed tf (one cycle) tf (one cycle) A-axis Time B-axis Time C-axis Time Calculate the energy at each timing in one cycle. Energy is a positive value in power running and a negative value in regeneration.
  • Page 279 For linear servo motors Thrust and energy calculation Linear servo motor Linear servo motor feed speed secondary side (magnet) Load Positive direction Time Negative Linear servo motor direction primary side (coil) Linear servo motor psa1 psd1 psa2 psd2 The following shows formulas of the linear servo motor thrust and energy at the operation pattern above. Section Thrust F of linear servo motor [N] Energy E [J]...

  • Page 280: Servo Parameter Setting

    Servo parameter setting Set [Pr. PA02] according to the regenerative option to be used. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters) Connection of regenerative option When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB5Z, MR-RB3M-4, MR-RB3G-4, MR-RB5G-4, MR- RB3Y-4, MR-RB5Y-4, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-4, cool it with a cooling fan.

  • Page 281: Mounting Direction

    Mounting direction The mounting direction of the regenerative option is shown below. Regenerative option Mounting direction MR-RB032 Vertical mounting MR-RB12 Vertical mounting MR-RB14 Vertical mounting MR-RB30 Vertical mounting MR-RB50 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB31 Vertical mounting MR-RB51 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB3N...

  • Page 282: Dimensions

    Dimensions MR-RB032 [Unit: mm] φ6 mounting hole Approx. 20 Mass: 0.5 [kg] • Terminal TE1 Applicable wire size: 0.2 mm to 2.5 mm (24 to 12 AWG) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
  • Page 283 MR-RB12/MR-RB14 [Unit: mm] φ6 mounting hole Approx. 20 Mass: 1.1 [kg] • Terminal TE1 Applicable wire size: 0.2 mm to 2.5 mm (24 to 12 AWG) Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
  • Page 284 MR-RB1H-4 [Unit: mm] φ6 mounting hole Approx. 24 Mass: 1.1 [kg] • Terminal TE1 Applicable wire size: 24 to 10 AWG Tightening torque: 0.5 to 0.6 [N•m] • Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option...
  • Page 285 MR-RB30/MR-RB3N/MR-RB31/MR-RB3Z/MR-RB34/MR-RB3Y-4/MR-RB3G-4/MR-RB3M-4/ MR-RB34-4/MR-RB3U-4 [Unit: mm] Screw for mounting cooling fan (2-M4 screw) 101.5 82.5 Intake • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg] MR-RB30 MR-RB31 MR-RB3Z...
  • Page 286 MR-RB50/MR-RB5N/MR-RB51/MR-RB5Z/MR-RB5G-4/MR-RB5Y-4/MR-RB54-4/ MR- RB5U-4 [Unit: mm] Screw for mounting cooling fan (2-M3 screw) opposite side 82.5 7×14 slotted hole Intake Approx. 30 • Terminal block Screw size: M4 Tightening torque: 1.2 [N•m] • Mounting screw Screw size: M6 Tightening torque: 5.4 [N•m] Regenerative option Variable dimensions Mass [kg]...

  • Page 287: Mr-Cm Simple Converter

    MR-CM simple converter Combination of simple converter and servo amplifier Simple converters cannot be used with 400 V class servo amplifiers. Selection method Select a servo amplifier for connection that meets the following conditions. • Connectable servo amplifier models MR-J5-10_ to MR-J5-200_, MR-J5W2-22_ to MR-J5W2-1010_, MR-J5W3-222_/MR-J5W3-444_ •...
  • Page 288 Environment Item Operation Transportation Storage Ambient temperature 0 ˚C to 60 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) Class 1K4 (IEC 60721-3-1) Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) Ambience...

  • Page 289: External Interface

    External interface Example of configuration including peripheral equipment For mounting CNP1 and CNP2 to the servo amplifier, use daisy chain power connectors. Do not use the connector set supplied with the servo amplifier. Page 259 List of cables/connector sets Restrictions •...
  • Page 290 Parts identification 200 V class Name/Application Main circuit power connector (CNP1) Connect the input power supply. PN bus connection connector (CNP2) Connect to P4/N- pin of next-axis servo amplifier. Overheat detection connector (CN10) If overheating is detected, between terminals changes to "OPEN". Protective earth PE terminal Pin assignment •...
  • Page 291 • CN10 Pin number diagram viewed from Wiring side Pin No. Signal name Description Main circuit overheat protection contact 1  Unassigned Main circuit overheat protection contact 2 To wire to CNP1, CNP2, and CN10, use the supplied connectors. Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufacturer...

  • Page 292: Signals And Wiring

    Signals and wiring 200 V class Servo motor overheat Malfunction protection Emergency stop switch Simple converter CN10 24 V DC (100 V AC compatible) θ To next-axis servo amplifier Servo amplifier CNP1 24 V DC CNP1 MCCB DOCOM 3-phase CNP2 200 V AC to 240 V AC Main circuit...
  • Page 293 *1 Use daisy chain power connectors for CNP1 and CNP2. Do not use the connector set supplied with the servo amplifier. Page 259 List of cables/connector sets *2 Connect P+ and D terminals. (Factory-wired) *3 Do not remove dummy pins or wires attached to CNP2 connectors. *4 If overheating of the simple converter is detected, the state between TH1 and TH2 is open.

  • Page 294: Dimensions

    Dimensions [Unit: mm] Approx. 40 φ6 mounting hole Approx. 80 Approx. 6 2-M5 screw CNP1 CNP2 CN10 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter...

  • Page 295: Peripheral Equipment

    Peripheral equipment Molded-case circuit breakers, fuses, magnetic contactors Circuit breakers, fuses, or motor circuit breakers (Type E combination motor controllers) that match the sum of the rated capacities [kW] of the connected servo amplifiers can be used. The selection conditions are as follows. When using a multi- axis servo amplifier, calculate the sum of the rated capacities of all axes as the rated capacity of the servo amplifier.

  • Page 296: Mounting Direction And Clearances

    I/O wires The input/output wire size of the simple converter is determined by the sum of the rated input currents of the connected servo amplifiers. The thickness of the output wires of the servo amplifiers that are connected to the simple converter should be the same as that of the servo amplifiers that are not directly connected to the simple converter.

  • Page 297: Multifunction Regeneration Converter (Fr-Xc-(H))

    Multifunction regeneration converter (FR-XC-(H)) For details on the multifunction regeneration converter (FR-XC-(H)), refer to "FR-XC Instruction Manual (IB- 0600668ENG)". Precautions • Set the FR-XC-(H) to the common bus regeneration mode by turning on the switch 1 of the function selecting switch (SW2). •...
  • Page 298 Dedicated stand-alone reactor Install a dedicated stand-alone reactor on the multifunction regeneration converter FR-XC-(H) according to the following table. Multifunction regeneration converter Dedicated stand-alone reactor FR-XC-7.5K FR-XCL-7.5K FR-XC-11K FR-XCL-11K FR-XC-15K FR-XCL-15K FR-XC-22K FR-XCL-22K FR-XC-30K FR-XCL-30K FR-XC-37K FR-XCL-37K FR-XC-55K FR-XCL-55K FR-XC-H7.5K FR-XCL-H7.5K FR-XC-H11K FR-XCL-H11K...
  • Page 299 Calculate the running power and regenerative power from the servo motor speed and torque with the following formulas. • For rotary servo motors Running power and regenerative power [W] = Servo motor speed [r/min] × Torque [N•m]/9.55 • For linear servo motors Running power and regenerative power [W] = Servo motor speed [m/s] ×...

  • Page 300: Connection Diagram

    Connection diagram 200 V class *11*12 Servo amplifier Servo motor FR-XCL FR-XC MCCB R2/L12 R/L1 R2/L12 3-phase S2/L22 S/L2 200 V AC S2/L22 to 240 V AC T/L3 T2/L32 T2/L32 R/L1 S/L2 T/L3 24 V DC R1/L11 24 V DC S1/L21 DOCOM Controller...
  • Page 301 400 V class *11*12 Servo amplifier Servo motor FR-XCL-H FR-XC-H MCCB R2/L12 R/L1 R2/L12 3-phase S2/L22 S/L2 380 V AC to S2/L22 480 V AC T/L3 T2/L32 T2/L32 R/L1 Step-down S/L2 transformer T/L3 24 V DC R1/L11 24 V DC S1/L21 DOCOM Controller...

  • Page 302: Wiring And Peripheral Options

    Wiring and peripheral options Wire size Selection conditions for the wire size are as follows. Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair Between P/+ to P4 and N/- to N- The following table shows the size of the wire between the FR-XC-(H) and servo amplifier.
  • Page 303 Wire size selection example (between P/+ and P4, between N/- and N-) When connecting multiple servo amplifiers to the FR-XC, use junction terminal blocks for the wiring to terminals P4 and N- on the servo amplifiers. Connect the servo amplifiers in order with the largest capacity first. 200 V class Overall wiring length 5 m or less FR-XC-30K...
  • Page 304 400 V class Overall wiring length 5 m or less FR-XC-H55K 2 *2 2 *3 2 *4 2 *1*5 8 mm 8 mm 5.5 mm 2 mm R2/L12 S2/L22 T2/L32 2 *1 2 *1 2 *1 3.5 mm 3.5 mm 3.5 mm R/L1 S/L2...
  • Page 305 Fuses (between P/+ and P4, between N/- and N-) The following table shows the recommended fuses which are to be installed between the FR-XC-(H) and servo amplifier. Servo amplifier capacity [kW] 200 V class 400 V class Fuse rating [A] Model Fuse rating [A] Model...

  • Page 306: Ps7Dw-20V14B-F Junction Terminal Block (Recommended) (1-Axis Servo Amplifier) [G] [B]

    PS7DW-20V14B-F junction terminal block (recommended) (1-axis servo amplifier) [G] [B] Usage Use the junction terminal block (PS7DW-20V14B-F) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET) MR-J2HBUS_M For MR-J2HBUS_M, ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN- ESET).
  • Page 307 Dimensions of junction terminal block [Unit: mm] 44.11 7.62 φ4.5 TB.E (φ6) M3 × 5L 1.42 M3 × 6L 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 PS7DW-20V14B-F junction terminal block (recommended) (1-axis servo amplifier) [G] [B]...

  • Page 308: Mr-Tb26A Junction Terminal Block (Multi-Axis Servo Amplifier) [G] [B]

    MR-TB26A junction terminal block (multi-axis servo amplifier) [G] [B] Usage Use the junction terminal block (MR-TB26A) with the junction terminal block cable (MR-TBNATBL_M) as a set. To use a junction terminal block, mount it to the DIN rail. Cable length 05: 0.5 m 1: 1 m The terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector of a servo...
  • Page 309 Dimensions [Unit: mm] *1 Values in parentheses are the sizes when installed with a 35 mm DIN rail. 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 MR-TB26A junction terminal block (multi-axis servo amplifier) [G] [B]...

  • Page 310: Mr-Tb50 Junction Terminal Block [A]

    MR-TB50 junction terminal block [A] Usage Use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2M-CN1TBL_M) as a set. Servo amplifier Junction terminal block MR-TB50 Cable clamp Junction terminal block cable (MR-J2M-CN1TBL_M) Ground the junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN- ESET).
  • Page 311 Junction terminal block cable MR-J2M-CN1TBL_M Model explanations Model: Symbol Cable length [m] 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.7 MR-TB50 junction terminal block [A]...

  • Page 312: Mr Configurator2

    MR Configurator2 Engineering tool MR Configurator2 (SW1DNC-MRC2-_) can be used with this servo amplifier. For the engineering tool specifications and system configuration, refer to the installation guide of the engineering tool. Precautions for using USB communication function and Ethernet communication function Note the following to prevent an electric shock or malfunction of the servo amplifier.

  • Page 313: Battery

    Battery • Unlock and then pull out the battery or other option that is connected to the CN4 connector. • For battery transportation and the new EU Battery Directive, refer to "COMPLIANCE WITH GLOBAL STANDARDS" in User's Manual (Introduction). Use a battery when connecting a direct drive motor to configure an absolute position detection system. For configuration of an absolute position detection system, refer to the following.

  • Page 314: Mr-Bat6V1Set Battery

    MR-BAT6V1SET battery • For the specifications and the date of manufacture of the built-in MR-BAT6V1 battery, refer to the following. Page 324 MR-BAT6V1 battery Parts identification and dimensions [Unit: mm] 69.3 Connector for servo amplifier Case Rating plate Mass: 55 [g] (including the MR-BAT6V1 battery) Battery connection Connect as follows.
  • Page 315 Battery installation and removal procedure • Fitting method Install a battery, and insert the plug into the CN4 connector. • Removal procedure Precautions • Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.
  • Page 316 Replacing the built-in battery When the MR-BAT6V1SET reaches the end of its service life, replace the built-in MR-BAT6V1 battery. While pressing the locking part, open the cover. Cover Locking part Replace the battery with a new MR-BAT6V1 battery. MR-BAT6V1 Press the cover until it is fixed with the projection of the locking part to close the cover. Projection 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.9 Battery...

  • Page 317: Mr-Bat6V1Set-A Battery

    MR-BAT6V1SET-A battery • For the specifications and the date of manufacture of the built-in MR-BAT6V1 battery, refer to the following. Page 324 MR-BAT6V1 battery Parts identification and dimensions [Unit: mm] 27.4 Connector for servo amplifier Case Mass: 55 [g] (including the MR-BAT6V1 battery) Battery connection Connect as follows.
  • Page 318 Battery replacement procedure Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL. 09F.1 Low battery]. However, the absolute position data will not be erased. Precautions Turn off the power and wait for 15 minutes or more until the charge light of the servo amplifier turns off.
  • Page 319 Replacing the built-in battery When the MR-BAT6V1SET-A reaches the end of its service life, replace the built-in MR-BAT6V1 battery. While pressing the locking part, open the cover. Cover Replace the battery with a new MR-BAT6V1 battery. Press the cover until it is fixed with the projection of the locking part to close the cover.

  • Page 320: Mr-Bt6Vcase Battery Case

    MR-BT6VCASE battery case The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. For the specifications and the date of manufacture of the MR-BAT6V1 battery, refer to the following. Page 324 MR-BAT6V1 battery MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. No batteries are included in the battery case.
  • Page 321 Battery connection When using 1-axis servo amplifier Servo amplifier MR-BT6VCASE CN10 MR-BT6V1CBL_M When using up to 4-axis servo amplifiers Servo amplifier Servo amplifier Servo amplifier (First) (Second) (Last) MR-BT6VCASE CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M MR-BT6V1CBL_M 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.9 Battery...
  • Page 322 Battery replacement procedure Replacing batteries with the control circuit power supply off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life. Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL.
  • Page 323 • Disassembly and assembly of the battery case MR-BT6VCASE Disassembly of the case MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled. Remove the two screws using a Phillips head screwdriver. Screw Remove the cover. Cover Parts identification BAT1...
  • Page 324 Mounting MR-BAT6V1 Securely mount an MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on the BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect direction, the connector will break.
  • Page 325 Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. Be careful not to trap the lead wires when installing the screws and re-installing the cover. Screw Precautions for removal of battery The connector attached to the MR-BAT6V1 battery has the lock release lever.

  • Page 326: Mr-Bat6V1 Battery

    MR-BAT6V1 battery The MR-BAT6V1 lithium primary battery is for MR-BAT6V1SET-A and MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The date of manufacture of the MR-BAT6V1 battery is indicated on the battery label. 2CR17335A WK17 Plate 11-04 1650 mAh Date of manufacture Item Description...

  • Page 327: Battery Cable And Junction Battery Cable

    Battery cable and junction battery cable Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available. Cable model Cable length Flex life Application/remark...

  • Page 328: Selection Example Of Wires

    6.10 Selection example of wires To comply with the IEC/EN/UL/CSA standard for wiring, use the wires described in the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391). To comply with other standards, use wires that comply with each standard. Selection conditions for the wire size are as follows.
  • Page 329 Wire size selection examples Use 600 V Grade heat-resistant polyvinyl chloride insulated wires (HIV wires) for wiring. The following shows the wire size selection examples. The wire size can be selected in accordance with the rated input of the servo motor used. For some combinations of servo amplifiers and servo motors, thinner wires than the ones listed in the table can be used.
  • Page 330 Selection example of crimp terminals Precautions • Crimp terminals are used only for ground wiring. Symbol Servo amplifier-side crimp terminal Manufacturer Crimp terminal Applicable tool R2-4 YHT-2210 3.5-R4 YHT-2210 R5.5-4 YHT-2210 8-4NS, R8-5 YHT-8S, YA-4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Selection example of wires...

  • Page 331: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

    6.11 Molded-case circuit breakers, fuses, magnetic contactors When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section. Precautions • Select the molded-case circuit breakers specified in this section. • Wire the molded-case circuit breaker and magnetic contactor as recommended. Selection example For main circuit power supply (1-axis servo amplifier) 200 V class...
  • Page 332 400 V class Servo Molded-case circuit breaker Fuse Magnetic amplifier contactor Frame, rated current Voltage AC [V] Class Current [A] Voltage AC [V] Power factor Power factor improving reactor is improving reactor is not used used MR-J5-60_4_ 30 to 125 A frame 5 A 30 to 125 A frame 5 A S-T10 MR-J5-100_4_...
  • Page 333 For main circuit power supply (multi-axis servo amplifier) MR-J5W2-_ *1*3 Total output Total Total output Molded-case circuit breaker Fuse Magnetic of rotary continuous of direct drive contactor Frame, Voltage Class Current Voltage servo motors thrust of motors Rated current AC [V] AC [V] linear servo motors...
  • Page 334 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, fuse, etc.) to protect the branch circuit. 200 V class Servo amplifier Molded-case circuit breaker...
  • Page 335 Using servo amplifier with DC power supply input When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section. For main circuit power supply (1-axis servo amplifier) Servo Molded-case circuit breaker Fuse Magnetic amplifier...
  • Page 336 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/ N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit. Servo amplifier Fuse (Class T) Fuse (Class K5) Current [A]...

  • Page 337: Main Circuit Wiring (Connecting Multiple Servo Amplifiers To One Molded-Case Circuit Breaker)

    Main circuit wiring (connecting multiple servo amplifiers to one molded-case circuit breaker) When connecting multiple servo amplifiers to one molded-case circuit breaker for reasons such as the ease of installing a molded-case circuit breaker (MCCB) into a cabinet or the cost efficiency, check that the following requirements are satisfied before starting the servo system.
  • Page 338 Related supplementary information Permissible current of wire The following table shows permissible currents of wire based on Table 28.1 of UL 508A and Table 40.3 of UL 508C. The permissible current values listed in this table are for when the number of wires bundled is three or less. When the number of wires bundled is four to six, the permissible current values are 80 % of the values in the table.
  • Page 339 Molded-case circuit breakers (MCCB) and magnetic contactors (MC) The following tables show lists of rated currents for the Mitsubishi Electric UL 489 Listed molded-case circuit breakers and for magnetic contactors. • List of rated currents for molded-case circuit breakers (MCCB)

  • Page 340: Example Settings That Comply With Iec/En/Ul 61800-5-1 And Csa C22.2 No.274

    Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 The molded-case circuit breakers, semiconductor fuses, and recommended wire gauges in the tables are selections based on the rated I/O of the servo amplifier. Molded-case circuit breaker/Semiconductor fuse 200 V class Servo amplifier Molded-case circuit breaker (240 V AC) Semiconductor fuse (700 V)
  • Page 341 400 V class Servo amplifier Molded-case circuit breaker (480 V AC) Semiconductor fuse (700 V) SCCR 30 kA SCCR 100 kA (Bussmann) MR-J5-60_4_ NF125-SVU-15A 170M1408 (125 A frame 15 A) (10 A) MR-J5-100_4_ MR-J5-200_4_ NF125-SVU-15A 170M1409 (125 A frame 15 A) (16 A) MR-J5-350_4_ NF125-SVU-15A...
  • Page 342 Molded-case circuit breaker/Semiconductor fuse (simple converter) Simple Total servo Molded-case circuit breaker (240 V AC) SCCR 50 Semiconductor fuse (700 Magnetic converter amplifier contactor capacity SCCR 100 kA Frame, rated current Voltage AC (Bussmann) power power supply supply MR-CM3K Less than 2 kW NF125-SUV-15A (125 A frame 15 A) 170M1409 (16 A) S-T21...

  • Page 343: Power Factor Improving Dc Reactor

    6.12 Power factor improving DC reactor Advantages • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. • The input power factor is improved to about 85 %. •...
  • Page 344 Grounding terminal Terminal screw M4 × 8 D or less Servo amplifier FR-HEL 5 m or less Mounting screw Servo amplifier Power factor Dimensions [mm] Mass Wire [mm improving DC [kg] reactor MR-J5-200_ FR-HEL-3.7K 2 (14 AWG) *1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions.
  • Page 345 Grounding terminal M4 × 8 Terminal screw 98 or less Servo amplifier FR-HEL 5 m or less Mounting screw Servo amplifier Power factor Mass Wire [mm improving DC [kg] reactor MR-J5-350_ FR-HEL-7.5K 3.5 (12 AWG) *1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions.
  • Page 346 Grounding terminal M6 × 12 Terminal screw D or less Servo amplifier FR-HEL 5 m or less Mounting screw Servo amplifier Power factor Dimensions [mm] Mass Wire [mm improving DC [kg] reactor MR-J5-500_ FR-HEL-11K 5.5 (10 AWG) MR-J5-700_ FR-HEL-15K 8 (8 AWG) *1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4.
  • Page 347 400 V class Mounting screw Grounding terminal Terminal screw M3.5 M4 × 8 D or less Servo amplifier FR-HEL-H 5 m or less Servo amplifier Power factor Dimensions [mm] Mass Wire [mm improving DC [kg] reactor MR-J5-60_4_ FR-HEL-H1.5K 2 (14 AWG) MR-J5-100_4_ FR-HEL-H2.2K 2 (14 AWG)
  • Page 348 Mounting screw Grounding terminal Terminal screw D or less Servo amplifier FR-HEL-H 5 m or less Servo Power factor Dimensions [mm] Mounting Groundin Mass Wire [mm amplifier improving screw g terminal [kg] DC reactor MR-J5-200_4_ FR-HEL-H3.7K M4 × 8 2 (14 AWG) MR-J5-350_4_ FR-HEL-H7.5K M5 ×...
  • Page 349 Mounting screw M5 Grounding terminal M5 × 10 Terminal screw Servo amplifier FR-HEL-H Max 110 5 m or less Servo amplifier Power factor improving DC reactor Mass [kg] Wire [mm MR-J5-500_4_ FR-HEL-H11K 3.5 (12 AWG) *1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions.

  • Page 350: Power Factor Improving Ac Reactor

    6.13 Power factor improving AC reactor Advantages • It improves the power factor by increasing the form factor of the servo amplifier's input current. • It decreases the power supply capacity. • The input power factor is improved to about 80 %. Restrictions When using power factor improving AC reactors for two servo amplifiers or more, connect a power factor improving AC reactor to each servo amplifier.
  • Page 351 Servo amplifier Earth (ground) terminal 3-phase 200 V class Wire the earthing (grounding) cable FR-HAL to the earth (ground) terminal MCCB Terminal layout 3-phase 200 V AC to 240 V AC Installation hole for 4-d (near right side, varnish removed) Servo amplifier 1-phase 200 V class FR-HAL...
  • Page 352 200 V class (multi-axis servo amplifier) When using a combination of the rotary servo motor, linear servo motor, and direct drive motor, select a power factor improving AC reactor tentatively, assuming one type of the servo motors is used for 2 or 3 axes. After the tentative selections are made for all types of the servo motors, use the largest among all power factor improving AC reactors.
  • Page 353 400 V class (1-axis servo amplifier) Installation hole for 4-d varnish removed (front, rear) Terminal layout Earth (ground) terminal Servo amplifier Wire the earthing (grounding) cable 3-phase 400 V class to the earth (ground) terminal FR-HAL-H MCCB 3-phase 380 V AC to 480 V AC Terminal block (with cover) Servo amplifier...
  • Page 354 Installation hole for 4-d Varnish removed (front, rear) Terminal layout Servo amplifier Earth (ground) terminal 3-phase 400 V class Wire the earthing (grounding) cable FR-HAL-H to the earth (ground) terminal MCCB 3-phase 380 V AC to 480 V AC Terminal block (2) (with cover) Servo amplifier Power factor...

  • Page 355: Relay (Recommended)

    6.14 Relay (recommended) The following relays should be used with each interface. Interface Selection example Digital input signal (interface DI-1) To prevent loose connections, use a relay for small signal (twin contacts). Relay used for digital input command signals (Ex.) Omron: type G2A, type MY Digital output signal (interface DO-1) Small relay with 12 V DC or 24 V DC of rated current 40 mA or less Relay used for digital output signals...

  • Page 356: Noise Reduction Techniques

    6.15 Noise reduction techniques Noises are classified into external noises, which enter the servo amplifier to cause it to malfunction, and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Because the servo amplifier is an electronic device that handles small signals, the following general noise reduction techniques are required.
  • Page 357 Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input/output), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 358 Noise transmission Suppression techniques route (1), (2), (3) A malfunction due to noise transmitted through the air may occur in devices which handle weak signals and are susceptible to noise, such as measuring instruments, receivers, and sensors. In addition, a malfunction may also occur when their signal cables are stored in a cabinet together with the servo amplifier or when the signal cables run near the servo amplifier.
  • Page 359 • When using a data line filter Servo amplifier Data line filter 80 mm or less Outside the cabinet • When using cable clamp fittings Inside the cabinet Outside the cabinet Servo amplifier Cable clamp fitting Locate 5 mm to 10 mm away from the cabinet entrance.

  • Page 360: Noise Reduction Products

    Noise reduction products Data line filter (recommended) Noise can be prevented by installing a data line filter onto cables such as the encoder cable. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.
  • Page 361 Cable clamp fitting AERSBAN-_SET Generally, connecting the grounding wire of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the ground plate as shown below. Install the ground plate near the servo amplifier for the encoder cable.
  • Page 362 Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noise radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It is especially effective for noise between 0.5 MHz and 5 MHz band.
  • Page 363 Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surges from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K, and TND20V-102K manufactured by Nippon Chemi-Con are recommended.

  • Page 364: Earth-Leakage Current Breaker

    A-axis Cable Noise filter Cable Servo B-axis amplifier Cable C-axis Earth-leakage current breaker Type Mitsubishi Electric products Models provided with harmonics and surge reduction NV-SP techniques NV-SW NV-CP NV-CW NV-HW General models BV-C1 NV-L Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the servo amplifier Page 363 Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit...
  • Page 365 Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit • 200 V class 5.5 14 38 100 60 150 Wire size [mm²] • 400 V class 30 80 Wire size [mm Servo motor leakage current example (Igm) Servo motor output [kW] Leakage current [mA] 0.05 to 1...
  • Page 366 Servo amplifier leakage current example (Iga) Servo amplifier Leakage current [mA] MR-J5-10_ 0.16 MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5-70_ MR-J5-100_ MR-J5-200_ 0.22 MR-J5-350_ MR-J5-500_ MR-J5-700_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W2-77_ 0.15 MR-J5W2-1010_ MR-J5W3-222_ MR-J5W3-444_ MR-J5-60_4_ 0.38 MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_ MR-J5-500_4_ MR-J5-700_4_ Earth-leakage current breaker selection example Servo amplifier Rated sensitivity current of earth-leakage current breaker [mA] MR-J5-10_ to MR-J5-350_...

  • Page 367: Selection Example

    Selection example This section shows examples of selecting an earth-leakage current breaker under the following conditions. 1-axis servo amplifier 2 mm × 5 m 2 mm × 5 m Servo amplifier Servo motor MR-J5-40G HK-KT43 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram.
  • Page 368 Multi-axis servo amplifier 2 mm × 5 m Cable A-axis servo motor HK-KT23 2 mm × 5 m Cable Servo amplifier B-axis servo motor HK-KT23 MR-J5W3-222G Cable C-axis servo motor HK-KT23 Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram.

  • Page 369: Emc Filter (Recommended)

    6.17 EMC filter (recommended) It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have a large leakage current. When connecting one or more servo amplifiers to one EMC filter, satisfy the following conditions: •...
  • Page 370 Connection example For 3-phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB 3-phase 200 V AC to 240 V AC Surge protector *1 When a surge protector is used. For 1-phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB...
  • Page 371 Dimensions For dimensions of FN3288-16-44-C35-R65, FN3288-40-33-C35-R65, and FN3288-63-33-C35-R65, contact the manufacturer. EMC filter • FSB-10-254-HU/FSB-20-254-HU/FSB-30-254-HU/FSB-10-355/FSB-20-355 [Unit: mm] Terminal block cover 87.5 2-φ5.5 Protective earth (PE) Mounting hole 3-M4 Output 3-M4 Input Protective earth (PE) Mounting plate t = 1.2 • FSB-40-324-HU [Unit: mm] 2-φ5.5 Mounting hole...
  • Page 372 • HF3010C-SZB/HF3020C-SZB/HF3030C-SZB [Unit: mm] R2.2 Mounting plate t = 1.0 5 × 6 φ4.5 210 ± 2 78 ± 4 220 ± 4 • HF3040C-SZB [Unit: mm] (246) R2.75 × 7 10 ± 1 260 ± 2 φ5.5 (69.5) 270 ± 4 84 ±...
  • Page 373 • HF3100C-SZL [Unit: mm] (245) 290 ± 2 φ6.5 172 ± 5 310 ± 5 (196) 210 ± 5 • HF3150C-SZL [Unit: mm] 24 ± 5 375 ± 2 395 ± 5 (208) φ6.5 230 ± 5 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 EMC filter (recommended)
  • Page 374 Surge protector (recommended) • To use an EMC filter on the servo amplifier, a surge protector is required. To prevent damage due to surges (such as lightning and sparks) applied to the AC power supply lines, connect the following surge protectors to the main circuit power supply (L1/L2/L3). Surge protector Maximum DC operating...

  • Page 375: Mr-J3-D05 Safety Logic Unit

    6.18 MR-J3-D05 safety logic unit Contents of the package Open the package and check the contents. Packed articles Quantity MR-J3-D05 safety logic unit CN9 connector (1-1871940-4 TE Connectivity) CN10 connector (1-1871940-8 TE Connectivity) MR-J3-D05 safety logic unit installation guide Terms related to safety Stop function for IEC/EN 61800-5-2 STO function (Refer to IEC/EN 61800-5-2: 2016 4.2.2.2 STO.) This is a function of MR-J5 series servo amplifiers.

  • Page 376: Precautions

    Residual risks Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG functions. Mitsubishi Electric is not liable for any accidents such as damage and injuries caused by these risks.

  • Page 377: Block Diagram And Timing Chart

    Block diagram and timing chart Function block diagram A-axis circuit +24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+ Safety logic TIMER1 DC-DC power supply B-axis circuit TIMER2 SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A- SW1 SW2 Operation sequence Power supply 15 ms or longer A-axis shut-off 1 and 2...

  • Page 378: Functions And Configuration

    Functions and configuration Outline The MR-J3-D05 has two systems of output for the SS1 function (delay time) and the STO function each. Specifications Safety logic unit model MR-J3-D05 Control circuit Voltage DC 24 V power supply Permissible voltage fluctuation 24 V DC ±10 % *1*2 Required current capacity [A] Supported system...
  • Page 379 When using MR-J3-D05 for MR-J5 series servo amplifiers System configuration example The connection destinations of the STO switch and STO release switch are shown in the following figure. MR-D05UDL_M (STO cable) cannot be used. MR-J3-D05 Servo amplifier Power Magnetic supply EM2 (Forced stop 2) contactor MCCB...
  • Page 380 Connection example 24 V MR-J3-D05 RESA RESB STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- Servo amplifier SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B- Servo amplifier SDO1B+ CN8B...

  • Page 381: Signal

    Signal Connectors and pin assignment CN8A Device name Symbol Pin No. Function and usage I/O signal interface type A-axis STO1 STO1A- Outputs STO1 to the A-axis drive system. STO1A+ Outputs the same signal as A-axis STO2. STO state (base circuit shut-off): Between STO1A+ and STO1A- becomes open. STO release state (driving): Between STO1A+ and STO1A- becomes closed.
  • Page 382 CN10 Device name Symbol Pin No. Function and usage I/O signal interface type A-axis shut-off 2 SDI2A+ Inputs Safety switch to the A-axis drive system. DI-1 SDI2A- Input the same signal as A-axis shut-off 1. STO state (base circuit shut-off): Open between SDI2A+ and SDI2A-. STO release state (driving): Close between SDI2A+ and SDI2A-.
  • Page 383 • Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.
  • Page 384 Wiring CN9, CN10 connectors Be careful when handling tools during wiring work. Stripping wire • Use wire of applicable wire size from 24 to 20 AWG (0.22 mm to 0.5 mm ) (recommended wire: UL 1007 recommended), and process it so that its stripped length is 7.0 mm ± 0.3 mm. Before using, check the length of the stripped section with a gage or other tool.
  • Page 385 Connecting wires Check the model numbers of the housing, contact, and tool to be used. Insert the tool diagonally in relation to the terminal block. Insert the tool until it touches the surface of the terminal block. The tool becomes perpendicular to the terminal block at this point.
  • Page 386 • Connecting wires with a screwdriver If using a screwdriver when connecting wires, do not insert the screwdriver with too much force. Doing so may damage the housing or spring. Be careful when working. Applicable screwdrivers Screwdriver shape φ2.3 mm Screwdriver shape φ2.5 mm Shaft diameter: 2.3 mm ±...
  • Page 387 Inserting the connector Ensure the connector is straight, then insert it into the socket until you hear and feel it click into place. When removing the connector, press down the locking part completely, then pull out the connector. If the connector is pulled out while the locking part pressed down only partway, the lock may get caught and cause damage to the housing, contacts, or wires.

  • Page 388: Led Display

    LED display The LEDs show I/O statuses and faults for the A-axis and B-axis and whether power is being supplied. MR-J3-D05 SRES SDI1 SDI2 SDO1 SDO2 FAULT POWER Description Column A Column B SRES Shut-off release monitor LED A-axis B-axis Off: Shut-off release is off.

  • Page 389: Rotary Switch Settings

    Rotary switch settings The rotary switches are used for shutting off the power after a control stop by the SS1 function. Set the delay time from when the STO shut-off switch is pressed until STO is output. In addition, set SW1 and SW2 to the same value.

  • Page 390: Dimensions

    Dimensions [Unit: mm] 22.5 19.5 Approx. 22.5 Approx. 80 9.75 φ5 mounting hole 9.75 Rating plate 2-M4 screw Mounting hole process drawing Pin assignment Mounting screw CN10 CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B SRESA+ SRESA- STO2A-...

  • Page 391: Installation

    Installation Install the MR-J3-D05 in the specified orientation. Leave clearance between the MR-J3-D05 and the cabinet or other equipment. Cabinet Cabinet Cabinet 40 mm or 100 mm or longer 80 mm or longer longer 10 mm or for wiring longer 10 mm or 30 mm or 10 mm...

  • Page 392: Combinations Of Cables And Connectors

    Combinations of cables and connectors MR-D05UDL_M (STO cable) cannot be used. MR-J3-D05 Servo amplifier Servo amplifier CN10 MR-J3-D05 attachment connector Product Model Description name Connector Supplied with the MR-J3-D05 CN9 connector: 1-1871940-4 (TE Connectivity) CN10 connector: 1-1871940-8 (TE Connectivity) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Cable length: 3 m...

  • Page 393: J5-Chp07-10P Cabinet-Mounting Attachment

    6.19 J5-CHP07-10P cabinet-mounting attachment Using the cabinet-mounting attachment to install the servo amplifier into a cabinet enables you to tighten the installation screw with the screwdriver held horizontally. Compatible models • MR-J5-10_ to MR-J5-350_ • MR-J5W2-22_ to MR-J5W2-1010_ • MR-J5W3-222_, MR-J5W3-444_ •...

  • Page 394: Fitting Method

    Fitting method Install the attachment onto the servo amplifier before installing the servo amplifier into the cabinet. *1 Use one of the flat head screws included with the attachment. (Tightening torque: 1.2 [N•m]) Installation precautions Ensure that the attachment is installed perfectly straight so that it does not protrude beyond the side of the module. If the attachment is not straight, the hole in the bracket may not alight with the screw hole.

  • Page 395: Components

    Components Components are listed in the following table. Packed articles Quantity Cabinet-mounting attachment Flat head screw (M4) Installation dimensions Exterior dimensions at installation The following are examples of the MR-J5-10A servo amplifiers. [Unit: mm] Servo amplifier Variable dimensions MR-J5_10_ 182.3 MR-J5_20_ MR-J5_40_ MR-J5_60_...
  • Page 396 φ6 mounting hole 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP07-10P cabinet-mounting attachment...
  • Page 397 Installation hole dimensions MR-J5-10_/MR-J5-20_/MR-J5-40_/MR-J5-60_/MR-CM3K [Unit: mm] Approx. 40 Approx. 6 2-M5 screw MR-J5-70_/MR-J5-100_ [Unit: mm] Approx. 60 3-M5 screw Approx. 12 42 ± 0.3 Approx. 6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP07-10P cabinet-mounting attachment...
  • Page 398 MR-J5-200_/MR-J5-350_/MR-J5-200_4_/MR-J5-350_4_ [Unit: mm] Approx. 90 3-M5 screw Approx.6 78 ± 0.3 Approx. 6 MR-J5W2-22_/MR-J5W2-44_/MR-J5-60_4_/MR-J5-100_4_ [Unit: mm] Approx. 60 2-M5 screw Approx. 6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP07-10P cabinet-mounting attachment...
  • Page 399 MR-J5W2-77_/MR-J5W2-1010_ [Unit: mm] Approx. 85 3-M5 screw Approx.6 73 ± 0.3 MR-J5W3-222_/MR-J5W3-444_ [Unit: mm] Approx. 75 3-M5 screw Approx.6 63 ± 0.5 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP07-10P cabinet-mounting attachment...

  • Page 400: J5-Chp08 Grounding Terminal Attachment

    6.20 J5-CHP08 grounding terminal attachment Using the grounding terminal attachment allows wiring of the grounding terminal on the front of the servo amplifier. It also allows the cable to be secured to the front of the servo amplifier. Precautions Ensure that the cable does not apply excessive stress to the attachment. Compatible models •...

  • Page 401: View When Installed

    Dimensions [Unit: mm] 19.5 φ6 mounting hole 109.3 View when installed *1 The recommended screw tightening torque is 1.5 ± 0.1 N•m. Main circuit cable clamp Protective earth (PE) Motor power cable clamp 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.20 J5-CHP08 grounding terminal attachment...

  • Page 402: Components

    Components Components are listed in the following table. The attachment, cable clamp, and screws do not come pre-installed. Packed articles Quantity Grounding terminal attachment Cable clamp (manufactured by: Takeuchi Industry ALC-7/bundle diameter φ6.5 mm to 7.5 mm) Flat head screw (M4) ALC series aluminum clamps (manufactured by Takeuchi Industry) can also be used.
  • Page 403 MR-J5-60_ [Unit: mm] φ6 mounting hole CNP1 CNP2 CNP3 CN2L 109.3 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.20 J5-CHP08 grounding terminal attachment...
  • Page 404 MR-J5-70_/MR-J5-100_ [Unit: mm] φ6 mounting hole CNP1 CNP2 CNP3 CN2L 109.3 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.20 J5-CHP08 grounding terminal attachment...
  • Page 405 MR-J5-200_/MR-J5-350_ [Unit: mm] φ6 mounting hole CNP1 CNP2 CNP3 CN2L 109.3 19.3 MR-J5-60_4_/MR-J5-100_4_ [Unit: mm] φ6 mounting hole CNP1 CN1A CN1B CNP2 CNP3 CN2L 109.3 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.20 J5-CHP08 grounding terminal attachment...
  • Page 406 MR-J5-200_4_/MR-J5-350_4_ [Unit: mm] φ6 mounting hole CNP1 CN1A CN1B CNP2 CNP3 CN2L 109.3 17.2 19.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.20 J5-CHP08 grounding terminal attachment...

  • Page 407: Mr-Aschp06 Shield Clamp Attachment

    6.21 MR-ASCHP06 shield clamp attachment This is an attachment for grounding the shield of the servo motor power cable at the bottom of the servo amplifier. Compatible models • MR-J5-500_4_/MR-J5-700_4_ Appearance and dimensions Appearance Material: SPHC-P Plating: Trivalent chrome plated 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.21 MR-ASCHP06 shield clamp attachment...

  • Page 408: Cable Connection Method

    Dimensions [Unit: mm] 20.3 90.3 12.5 2-φ5 mounting hole Cable connection method Peel a part of the cable insulator to expose the external conductor as shown in the following figure, and press that part against the ground plate with the cable clamp. The shield clamp attachment consists of the grounding plate and clamp fitting.

  • Page 409: View When Installed

    View when installed 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.21 MR-ASCHP06 shield clamp attachment...

  • Page 410: Components

    Components Components are listed in the following table. The attachment, cable clamp, and screws come pre-installed. Packed articles Quantity Shield clamp attachment Cable clamp Flat head screw (M4) Installation dimensions 90.3 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.21 MR-ASCHP06 shield clamp attachment...

  • Page 411: Cables Manufactured By Mitsubishi Electric System & Service Co., Ltd

    SSCNET III cable [B] • For details on the SSCNET III cable, contact Mitsubishi Electric System & Service Co., Ltd. • Do not look directly at the light emitted from the CN1A and CN1B connectors of the servo amplifier or the end of the SSCNET III cable.

  • Page 412: Scc 15-F Shield Connection Clamp

    6.23 SCC 15-F Shield connection clamp This component is a terminal block for grounding the shield of the servo motor power cable on the top of the servo amplifier. For details of the component, contact Phoenix Contact. To install the component, two screws of M4 × 6 to 12 are required. Compatible models •...

  • Page 413: View When Installed

    View when installed Cable 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.23 SCC 15-F Shield connection clamp...

  • Page 414: Chapter 7 Absolute Position Detection System

    • When semi closed/fully closed switching is enabled • Stroke-less coordinate system (except degree unit setting) for infinite positioning and the like in combination with a controller other than a Mitsubishi Electric controller Restrictions [B] The absolute position detection system cannot be configured in the following conditions.

  • Page 415: Precautions [G] [A]

    Precautions [G] [A] Even when using a servo motor with battery-less absolute position encoder, absolute position data is erased under the following conditions. If the absolute position data is erased, perform homing again. • The servo motor or servo amplifier is replaced. •...

  • Page 416: Configuration

    Set [Pr. PA03.0 Absolute position detection system selection] to "1" (enabled (absolute position detection system)). When an absolute position detection system is configured in the cyclic synchronous mode with a Motion module manufactured by Mitsubishi Electric, set [Pr. PC29.5 [AL. 0E3 Absolute position counter warning] selection] to "0" (disabled). Servo parameter setting [B] Set [Pr.

  • Page 417: Homing [G] [A]

    Homing [G] [A] After the absolute position detection system is enabled, [AL. 025 Absolute position erased] occurs at the initial startup. Then, ABSV (Absolute position erased) turns on. Refer to "CONTROL MODE" in the following manual and perform homing. MR-J5 User's Manual (Function) Homing [B] After the absolute position detection system is enabled, [AL.
  • Page 418 ABS data display [B] Item Screen operation MR Configurator2 Configuration diagram  Motor (machine) side pulse unit Acquires the value in the unit of the servo motor (machine) side pulses from the servo value amplifier of the specified axis and displays it. Command pulse unit value Current position Acquires the command pulse unit value from the servo amplifier for the specified axis and...

  • Page 419: Procedure Of Replacing A Servo Motor With Battery-Less Absolute Position Encoder

    Procedure of replacing a servo motor with battery-less absolute position encoder To replace a servo motor with battery-less absolute position encoder, use the following procedure. Servo motor replacement procedure For servo amplifiers with firmware version D8 or later, step 3 is not required. Replacing the servo motor Turn off the power supply of the servo amplifier and replace the servo motor.

  • Page 420: Procedure Of Replacing A Servo Amplifier Without Losing The Absolute Position Data [B]

    Procedure of replacing a servo amplifier without losing the absolute position data [B] When using existing parameter settings for a servo amplifier with factory settings, check that the settings of [Pr. PC84 Servo amplifier replacement data 1] to [Pr. PC91 Servo amplifier replacement data 8] are "0" before connecting the servo amplifier to the controller.

  • Page 421: Configuration And Specifications

    Configuration and specifications Connecting the battery-less encoder The following shows an example of battery-less encoder connection. Configuration diagram [G] [A] Controller Servo amplifier Home position data Command Non-volatile memory position Current position Backup at power off Control Detecting the Detecting the number of position within revolutions...
  • Page 422 Rotary servo motor manufactured by 8000 [r/min] Mitsubishi Electric (only when the acceleration/deceleration time until 8000 r/min is 0.2 s or longer) *1 Maximum speed available when the shaft is rotated by external force at the time of power failure. Also, if power is switched on when the servo motor is rotated by an external force at a speed of 3000 r/min or higher, position mismatch may occur.

  • Page 423: Connecting The Battery Backup Type Absolute Position Encoder

    Connecting the battery backup type absolute position encoder The following shows an example of battery backup type absolute position encoder connection. Using the MR-BAT6V1SET/MR-BAT6V1SET-A battery Configuration diagram [G] [A] Controller Servo amplifier Home position data Command Non-volatile memory Current position position Backup at power off...
  • Page 424 Maximum revolution range Home position ± 32767 rev Maximum speed at power failure Direct drive motor manufactured by [r/min] Mitsubishi Electric (only when the acceleration/deceleration time until 500 r/min is 0.1 s or longer) Battery backup time Direct drive motor manufactured by...
  • Page 425 Using the MR-BT6VCASE battery case One MR-BBT6VCASE can hold the absolute position data of up to 8-axis servo motors. Install five MR-BAT6V1 batteries to MR-BT6VCASE. Configuration diagram [G] [A] Controller Servo amplifier Home position data Command Non-volatile memory position Current position Backup at power off Control...
  • Page 426 Maximum revolution range Home position ± 32767 rev Maximum speed at power failure Direct drive motor manufactured by [r/min] Mitsubishi Electric (only when the acceleration/deceleration time until 500 r/min is 0.1 s or longer) Battery backup time Direct drive motor manufactured by...

  • Page 427: Absolute Position Detection System By Dio [A]

    Absolute position detection system by DIO [A] The absolute position detection system by DIO establishes the absolute position between the controller and servo amplifier, by transferring the absolute position information from the servo amplifier to the controller using the DIO signal. Standard connection example Servo amplifier 24 V DC...

  • Page 428: Signal Explanation

    Signal explanation When the absolute value data is transferred, the signals of connector CN3 change as follows. On completion of data transfer, the signal returns to the previous status. Other signals do not change. Signal name Symbol Function and application Control connector signal...

  • Page 429: Startup Procedure

    Startup procedure Battery installation (when using a direct drive motor) Refer to the following. Page 311 Battery Servo parameter setting Set [Pr. PA03.0] to "1" and cycle the power. Canceling [AL. 025 Absolute position erased] After the encoder cable is connected, [AL. 025] occurs at initial power-on. Cycle the power to deactivate the alarm. Confirmation of absolute position data transfer When SON is turned on, the absolute position data is transferred to the programmable controllers.

  • Page 430: Absolute Position Data Transfer Protocol

    Absolute position data transfer protocol The following shows the data transfer procedure. After switching on ABSM, turn on SON. When ABSM is off, turning on SON does not switch on the base circuit. Data transfer procedure Each time SON is turned on, such as when the power is switched on, the current position data in the servo amplifier is read to the programmable controllers.
  • Page 431 Transfer method The following shows the procedure for turning on the base circuit again from when the base circuit is in off status because the SON and EM2 are off, or alarm occurred. In the absolute position detection system, every time SON signal is turned on, turn on ABSM to read the current position in the servo amplifier to the controller.
  • Page 432 • Detailed explanation of absolute position data transfer Servo-on in programmable controller SON (Servo-on) During ABS transfer ABSM (ABS transfer mode) ABSR (ABS request) ABST (ABS transmission data ready) ABSB0 (ABS transmission data bit 0) Lower 2 Upper 2 bits of bits ABSB1 (ABS transmission data bit 1) checksum...
  • Page 433 • Checksum The checksum is the code which is used by the programmable controller to check for errors in the received absolute position data. The 6-bit checksum is transmitted following the 32-bit absolute value data. Calculate the sum of the received absolute position data using the sequence program and compare it with the checksum code sent from the servo.
  • Page 434 Transmission error In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. 0E5] when a time-out error occurs. [AL. 0E5 ABS time-out warning] is canceled when ABSM changes from off to on. • ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units + checksum) If the ABS request signal from the programmable controller is not turned on within 5 s after ABST is turned on, this will be treated as a transmission error and [Al.
  • Page 435 • ABS transfer mode finish-time time-out check If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for absolute position data transmission) is turned on, this will be treated as a transmission error and [AL. 0E5] occurs. ABSM (ABS transfer mode) Does not turn OFF ABSR (ABS request)
  • Page 436 • SON-off, RES-on, and EM2-off check during the ABS transfer If the ABS transfer mode is turned on, and after the transfer starts, if SON-off, RES-on, or EM2-off before the 19th ABST is on, this will be treated as a transmission error and [AL. 0E5] occurs. SON (Servo-on) ABSM (ABS transfer mode) ABSR (ABS request)
  • Page 437 Alarm cancellation If an alarm occurs, detect ALM and turn off SON. While an alarm is occurring, ABSM is not received. After removing the alarm factor, cancel the alarm and then turn on ABSM. During reset, ABSM is received. SON (Servo-on) RES (Reset) During ABS transfer ABSM (ABS transfer mode)
  • Page 438 During forced stop release • When power is switched on in a forced stop status Even if forced stop is canceled during absolute position data transfer, there is no problem with the transfer. If forced stop is canceled during the absolute position data transfer, the base circuit turns on 200 ms to 450 ms after the cancellation. If ABSM is off, RD is turned on 5 ms after the base circuit turns on.
  • Page 439 • If forced stop is activated during servo-on ABSM can be received during forced stop. However, the base circuit and RD turn on after the forced stop is canceled. SON (Servo-on) RES (Reset) ABSM (ABS transfer mode) During ABS transfer ABSR (ABS request) ABST (ABS transmission data ready) ABSB0 (ABS transmission data bit 0)
  • Page 440 Homing Dog type homing Set the creep speed of homing in advance to prevent shock from hitting the machine. On detection of a zero pulse, CR (homing) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position absolute position data.
  • Page 441 Data set type homing Move the machine to the position where the home position is to be set by performing the manual operation such as JOG operation. When CR is on for longer than 20 ms, the stop position is stored into the non-volatile memory as the home position absolute position data.
  • Page 442 Using a servo motor with an electromagnetic brake The following shows the timing chart at power on/off and SON on/off. Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When MBR is set for the CN3-23 pin, turning ABSM on will change the CN3-23 pin to ABSB1 (ABS transmission data bit 1). Therefore, configure an external sequence to generate the electromagnetic brake torque at ABSM or MBR off.

  • Page 443: Absolute Position Data Transfer Errors

    Absolute position data transfer errors The off period of output ABS transmission data ready from the servo amplifier is checked. When the off period of ABS transmission data ready is 1 s or longer, treat this as a transmission error and generate the ABS communication error.
  • Page 444 After the ABS request signal turns on, check the time it takes to turn off (ABS transfer time). [AL. 0E5 ABS time-out warning] occurrence in the servo amplifier is detected. If the ABS request time is longer than 1 s, treat this as an error in ABSR or ABST and generate the ABS communication error.

  • Page 445: Absolute Position Detection System Via Communication [A]

    Absolute position detection system via communication [A] The absolute position detection system via communication is available on servo amplifiers with firmware version B6 or later. The absolute position detection system via communication establishes the absolute position between the controller and servo amplifier, by transferring the absolute position information from the servo amplifier to the controller using the serial communication.

  • Page 446: Absolute Position Data Transfer Protocol

    Absolute position data transfer protocol Data transfer procedure Each time SON is turned on, such as when the power is switched on, the controller needs to read the current position data in the servo amplifier. If this operation is not performed, position mismatch may occur. Perform time-out monitoring on the controller side. Servo amplifier Controller SON on...
  • Page 447 The descriptions of the error codes are the same as the error codes in the communication function. For details, refer to "Mitsubishi Electric AC servo protocol" in the following manual. MR-J5 User's Manual (Function) If a communication error occurs, execute retry. If the communication does not terminate normally even after retrying several times, perform error processing.
  • Page 448 Alarm cancellation If an alarm occurs, detect ALM and turn off SON. After removing the cause of the alarm and deactivating the alarm, acquire the absolute position data from the servo amplifier again with the following procedure. Page 445 Sequence processing at power-on SON (Servo-on) RES (Reset) 100 ms...

  • Page 449: Chapter 8 Using Sto Function

    USING STO FUNCTION Precautions • In the torque mode, the forced stop deceleration function cannot be used. • When using the STO function in the MR-J5-_G_-HS_, refer to "USING STO FUNCTION" in the following manual. MR-J5 User's Manual (Function) Introduction This section provides the cautions of the STO function.

  • Page 450: Residual Risks Of The Sto Function

    Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries caused by these risks. • The STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically disconnect electricity from the motor.

  • Page 451: Maintenance

    Magnetic contactor (8 ms) Base circuit (Energy supply to the servo motor) Maintenance This servo amplifier has alarms and warnings for maintenance compatible with the Mitsubishi Electric Drive Safety function. MR-J5 User's Manual (Troubleshooting) 8 USING STO FUNCTION 8.1 Introduction...

  • Page 452: Functional Safety I/O Signal Connector (Cn8) And Pin Assignments

    Functional safety I/O signal connector (CN8) and pin assignments Pin assignment The pin assignments of the connectors are as viewed from the cable connector wiring section. Servo amplifier Functional safety I/O signal connector STO1 STOCOM TOFB1 STO2 TOFB2 TOFCOM Signal (device) explanation I/O device Signal Connector pin...

  • Page 453: How To Pull Out The Sto Cable

    Signals and STO status The following table shows the status of TOFB and STO for when STO1 and STO2 are ON (closed) or OFF (open) while the power is turned on in an operation with no alarms or warnings. Input signal Status STO1 STO2...

  • Page 454: Connection Example

    Connection example Precautions for compliance with stop category 1 (IEC/EN 60204- • Before turning off STO (STO1 and STO2), stop the servo motor in the servo-off state or by turning off EM2 (Forced stop 2) (delay by SS1). Configure an external sequence that has the timings shown below by using an external device.

  • Page 455: Connection Example For Cn8 Connector

    Connection example for CN8 connector This servo amplifier is equipped with the connector (CN8) which enables the STO function. When this connector is used with a certified external safety relay, power to the motor can be safely removed and unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and have forcibly guided contacts or mirror contacts for the purpose of error detection.
  • Page 456 Connection example 24 V MR-J3-D05 RESA RESB STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- Servo amplifier SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A- TOFA EM2 (A-axis) Servo motor SDI1B+ SDI1B- Servo amplifier SDO1B+ CN8B...
  • Page 457 Basic operation example The switch input of STOA is output to SDO1A and SDO2A of the MR-J3-D05, and then input to the servo amplifier. The switch input of STOB is output to SDO1B and SDO2B of the MR-J3-D05, and then input to the servo amplifier. A-axis shutdown 1 and 2 Energizing (close) B-axis shutdown 1 and 2...

  • Page 458: External I/O Signal Connection Example Using An External Safety Relay Unit

    External I/O signal connection example using an external safety relay unit This connection is for source interfaces. For the other I/O signals, refer to the following connection examples. Page 53 MR-J5-_G_ (excluding MR-J5-_G_-HS_) Page 59 MR-J5W_-_G_ Page 62 MR-J5-_B_ Page 65 MR-J5W_-_B_ Page 68 MR-J5-_A_ This connection example complies with the requirements up to ISO/EN ISO 13849-1:2015 Category 3 PL e and IEC/EN IEC 62061 maximum SIL 3.
  • Page 459 *1 To enable "Emergency switching off" for the shut-off by the STO function of the servo amplifier, change S1 to EMG. The stop category at this time is "0". Page 452 Precautions for compliance with stop category 1 (IEC/EN 60204-1) 8 USING STO FUNCTION 8.3 Connection example...

  • Page 460: Detailed Explanation Of Interfaces

    Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 450 Functional safety I/O signal connector (CN8) and pin assignments Sink I/O interface Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal.
  • Page 461 Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.

  • Page 462: Source I/O Interface

    Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used. Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.

  • Page 463: Chapter 9 Using Functional Safety [G] (Exculuding Mr-J5-_G_-Hs_)

    USING FUNCTIONAL SAFETY [G] (EXCULUDING MR-J5-_G_-HS_) Introduction For the setting to use functional safety, refer to Chapter 6 in the following user's manual. MR-J5 User's Manual (Function) When using the functional safety in the MR-J5-_G_-HS_, refer to the following. Page 474 USING FUNCTIONAL SAFETY [G] (MR-J5-_G_-HS_) 9 USING FUNCTIONAL SAFETY [G] (EXCULUDING MR-J5-_G_-HS_) 9.1 Introduction...

  • Page 464: Function Block Diagram

    Function Block Diagram The following are examples of the MR-J5-_G_-RJ. Safety sub-function control by input device This figure shows a function block configured to allow input devices assigned to the CN8 connector pins to execute safety sub-functions. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics. Servo amplifier Servo motor MCCB...

  • Page 465: Safety Sub-Function Control By Network

    Safety sub-function control by network This figure shows a function block configured to allow safety sub-functions to be executed via CC-Link IE TSN Network. Wiring can be reduced using this method. Servo amplifier Servo motor MCCB Power supply Control circuit Gate circuit 24 V DC power supply...

  • Page 466: System Configuration

    System configuration The following are examples of the MR-J5-_G_-RJ. Safety sub-function control by input device CN1A Controller or servo amplifier CN1B Controller or servo amplifier Personal computer MR Configurator2 MELSEC WS series Analog monitor Safety signal Emergency stop switch Safety light curtain Junction terminal block CN2L Servo motor...

  • Page 467: Safety Sub-Function Control By Network

    Safety sub-function control by network Safety signal CN1A CC-Link IE TSN network CN1B CC-Link IE TSN network Personal Emergency stop computer switch MR Configurator2 Safety light curtain Analog monitor MELSEC iQ-R series Junction terminal block CN2L Servo motor 9 USING FUNCTIONAL SAFETY [G] (EXCULUDING MR-J5-_G_-HS_) 9.3 System configuration...

  • Page 468: Specifications

    Specifications For information on safety sub-function specifications, refer to "Functional safety" in the User's Manual (Introduction). Connectors and pin assignments The pin assignments of the connectors are as viewed from the cable connector wiring section. Servo amplifier Functional safety I/O signal connector SDI1A SDICOM SDO1A...

  • Page 469: Example I/O Signal Connections

    Example I/O signal connections This is only a connection example for CN8. Refer to the following for other connection examples. Page 53 Example I/O signal connections Input signal There is a delay of up to 5 ms from input to output. For source input interface 10 m or less 24 V DC...

  • Page 470: Output Signal

    Output signal For source output interface 10 m or less If polarity of diode is reversed, servo amplifier 24 V DC will malfunction. SDOCOM Load SDO1A Load SDO1B *1 Make double wiring (SDO1A and SDO1B) for the external output wiring. *2 Supply 24 V DC ±...

  • Page 471: Connecting I/O Interfaces

    Connecting I/O interfaces Refer to this section before connecting I/O interfaces to external devices. Source input This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc. SDICOM 24 V DC, 5 mA SDI1A...

  • Page 472: Wiring The Sbc Output

    Wiring the SBC output This function only guarantees that the power supply for the mechanical brake is correct. It cannot detect brake wear. Check the mechanical brake periodically to ensure it is functioning correctly. To use SBCS (SBC output), connect it to the electromagnetic brake of the servo motor. Wire the system so that the electromagnetic brake activates when SBCS (SBC output) turns off.

  • Page 473: Noise Reduction Techniques

    Noise reduction techniques This section provides information on measures that prevent the servo amplifier malfunctioning when it is installed next to peripheral devices that emit a large amount of noise. Ground shielded cables close to the servo amplifier. Ensure that the part of the cable before the grounding point does not induce electromagnetic noise to the section of the cable after the grounding point.

  • Page 474: Example Of Connection With Other Devices

    9.10 Example of connection with other devices The following are examples of the MR-J5-_G_-RJ. Safety sub-function control by input device This figure shows the connection that allows execution of safety sub-functions from the safety controller using the input device assigned to pins of the CN8 connector. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics.

  • Page 475: Safety Sub-Function Control By Network

    Safety sub-function control by network This figure shows connection that allows execution of safety sub-functions via CC-Link IE TSN Network. Wiring can be reduced using this method. Servo amplifier MELSEC iQ-R series safety CPU R6SFM RD78G/ RJ71GN11-T2 NZ2GNSS2-16DTE/ NZ2GNSS2-8D CN1A P1/P2 P1/P2 CN1B...

  • Page 476: Chapter 10 Using Functional Safety [G] (Mr-J5-_G_-Hs_)

    USING FUNCTIONAL SAFETY [G] (MR-J5-_G_- HS_) Functional safety is not available for the MR-J5-_G_-HS_ in the default state. When using the functional safety, refer to the following manual and set the functional safety parameters. MR-J5 User's Manual (Function) 10.1 Introduction For the setting to use functional safety, refer to Chapter 6 in the following user's manual.

  • Page 477: Function Block Diagram

    10.2 Function block diagram Safety sub-function control by input device This figure shows a function block configured to allow input devices assigned to the CN3 connector pins to execute safety sub-functions. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics. Servo amplifier Servo motor MCCB...

  • Page 478: Safety Sub-Function Control By Network

    Safety sub-function control by network This figure shows a function block configured to allow safety sub-functions to be executed via CC-Link IE TSN Network. Wiring can be reduced using this method. Servo amplifier Servo motor MCCB Power supply Control circuit Gate circuit 24 V DC power supply...

  • Page 479: System Configuration

    10.3 System configuration Safety sub-function control by input device Personal computer MR Configurator2 CN1A Controller or servo amplifier CN1B Controller or servo amplifier MELSEC WS series Safety signal Emergency stop switch Safety light curtain To servo motor encoder Safety sub-function control by network Personal computer MR Configurator2...

  • Page 480: Specifications

    10.4 Specifications For information on safety sub-function specifications, refer to "Functional safety" in the User's Manual (Introduction). 10.5 Connectors and pin assignments Servo amplifier Pin No. Symbol Symbol Pin No. DOCOM DICOM TPR1 TPR2 DICOM SDl1A SDl1B SDICOMA SDICOMB SDO24VA SDO24VB SDO1A SDO1B...

  • Page 481: Example I/O Signal Connections

    10.6 Example I/O signal connections The following shows only the connection examples related to functional safety. Refer to the following for other connection examples. Page 53 Example I/O signal connections Input signal There is a delay of up to 5 ms from input to output. When the external device uses the source output (positive common, PNP transistor output, etc.) 10 m or less...
  • Page 482 When the external device uses the sink output (negative common, NPN transistor output, etc.) 10 m or less Servo amplifier 24 V DC SDICOMA SDI1A *1 *2 SDI2A SDI3A 24 V DC SDICOMB SDI1B *1 *2 SDI2B SDI3B 10 m or less *1 Make double wiring (SDI1A/SDI2A/SDI3A, SDI1B/SDI2B/SDI3B) for the external input wiring.

  • Page 483: Output Signal

    Output signal SDO3PA/SDO3NA and SDO3PB/SDO3NB support both source and sink outputs. Different output methods can also be used in combination, such as SDO3NA as a source output and SDO3PB as a sink output. Refer to the following for details. Page 488 Source/sink output For source output 10 m or less Servo amplifier...
  • Page 484 For sink output 10 m or less Servo amplifier If polarity of diode is reversed, servo amplifier will malfunction. SDO3PA *1 *2 Load SDO3NA 24 V DC SDO3PB *1 *2 Load SDO3NB 24 V DC 10 m or less *1 Make double wiring (SDO3PA/SDO3NA, SDO3PB/SDO3NB) for the external output wiring. *2 Assign each output device to the connector pin of the combinations shown in the following table.

  • Page 485: Connecting Safety I/O Interfaces

    10.7 Connecting safety I/O interfaces Refer to this section before connecting I/O interfaces to external devices. Source input This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
  • Page 486 Connecting a switch (When the test pulse diagnosis is performed) Diagnosis pulses are output from PLSNA and PLSNB. Perform wiring so that the pulse signals output from PLSNA and PLSNB pass through the switch. Since PLSPA/PLSNA and PLSPB/PLSNB share the terminals with SDO3PA/SDO3NA and SDO3PB/SDO3NB, respectively, the test pulse diagnosis cannot be used together with SDO3PA/SDO3NA and SDO3PB/ SDO3NB.

  • Page 487: Sink Input

    Sink input This is an input circuit in which the photocoupler cathode side is the input terminal. Transmit signals from a sink (open- collector) type transistor output, relay switch, etc. The wiring differs depending on the device to be connected and whether the test pulse diagnosis is performed. For the test pulse diagnosis, refer to "FUNCTIONAL SAFETY"...
  • Page 488 Connecting a switch (When the test pulse diagnosis is performed) Diagnosis pulses are output from PLSNA and PLSNB. Perform wiring so that the pulse signals output from PLSNA and PLSNB pass through the switch. Since PLSPA/PLSNA and PLSPB/PLSNB share the terminals with SDO3PA/SDO3NA and SDO3PB/SDO3NB, respectively, the test pulse diagnosis cannot be used together with SDO3PA/SDO3NA and SDO3PB/ SDO3NB.

  • Page 489: Source Output

    Source output When the output transistor is turned on, the current flows from the output terminal to a load using SDO24V_ as a positive common. A lamp, relay, or photocoupler can be driven. Connect a diode to the path for an inductive load, or connect an inrush resistor suppression resistor to the path for a lamp load.

  • Page 490: Source/Sink Output

    Source/sink output For SDO3PA/SDO3NA and SDO3PB/SDO3NB, different output methods can also be used in combination in A-system and B- system, such as SDO3NA as a source output and SDO3PB as a sink output. SDO3N_ is the source output type (when the output transistor is turned on, the current flows from the output terminal to a load).

  • Page 491: Wiring The Sbc Output

    10.8 Wiring the SBC output This function only guarantees that the power supply for the mechanical brake is correct. It cannot detect brake wear. Check the mechanical brake periodically to ensure it is functioning correctly. To use SBCS (SBC output), connect it to the electromagnetic brake of the servo motor. Wire the system so that the electromagnetic brake activates when SBCS (SBC output) turns off.

  • Page 492: Noise Reduction Techniques

    10.9 Noise reduction techniques This section provides information on measures that prevent the servo amplifier malfunctioning when it is installed next to peripheral devices that emit a large amount of noise. Ground shielded cables close to the servo amplifier. Ensure that the part of the cable before the grounding point does not induce electromagnetic noise to the section of the cable after the grounding point.

  • Page 493: Example Of Connection With Other Devices

    10.10 Example of connection with other devices Safety sub-function control by input device This figure shows the connection that allows execution of safety sub-functions from the safety controller using the input device assigned to pins of the CN3 connector. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics. 24 V Safety controller MELSEC-WS series CPU module WSO-CPU0...

  • Page 494: Safety Sub-Function Control By Network

    Safety sub-function control by network This figure shows connection that allows execution of safety sub-functions via CC-Link IE TSN Network. Wiring can be reduced using this method. MR-J5-_G_-HS_ MELSEC iQ-R SDO24VA series safety CPU SDO_A SDO24VB R6SFM SDO_B SDICOMA RD78G/ RJ71GN11-T2 SDI_A SDICOMB...

  • Page 495: Chapter 11 Using A Linear Servo Motor

    USING A LINEAR SERVO MOTOR 11.1 Functions and configuration Outline The following shows the differences between the linear servo motor and the rotary servo motor. Category Item Differences Remark Linear servo motor Rotary servo motor Servo motor Magnetic pole detection Required Not required (adjusted Automatically executed at the first servo-on...
  • Page 496 Configuration including peripheral equipment LM-H3 series/LM-U2 series/LM-F series/LM-K2 series R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor Safety relay Line noise filter (FR-BSF01) Junction terminal block Power factor SCALE improving DC reactor (FR-HEL) CN2L...
  • Page 497 LM-AJ series/LM-AU series R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor Safety relay Line noise filter (FR-BSF01) Junction terminal block Power factor improving DC reactor (FR-HEL) Protective circuit CN2L for the thermal protector Regenerative Linear...
  • Page 498 11.2 Startup [G] [B] When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode). When using the MR-J5_-_B_, the terms below have the following meanings. • LSP (Forward rotation stroke end) → FLS (Upper stroke limit) •...
  • Page 499 Setting Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. Setting of linear encoder direction and linear servo motor direction Set [Pr.
  • Page 500 Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure. In servo-off status, move the linear servo motor in the positive direction manually. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2. The servo motor speed is a positive value when [Pr.
  • Page 501 Magnetic pole detection Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01.0] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods.
  • Page 502 Magnetic pole detection procedure When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
  • Page 503 Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Turn "ON (up)"...
  • Page 504 *1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection must be 0.5 mm or less.
  • Page 505 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 506 Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection] and set the load to motor mass ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 507 Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude].
  • Page 508 • Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows. The linear servo motor moves to the magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
  • Page 509 How to replace servo amplifier without magnetic pole detection When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed, write the magnetic pole information from the servo amplifier before replacement to the one after replacement by using MR Configurator2.
  • Page 510 11.3 Startup [A] When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode). Startup procedure Start up the linear servo system with the following procedure. Installation and wiring Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction What is the type of the linear encoder?
  • Page 511 Setting Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. Setting of linear encoder direction and linear servo motor direction Set [Pr.
  • Page 512 Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure. In servo-off status, move the linear servo motor in the positive direction manually. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2. The servo motor speed is a positive value when [Pr.
  • Page 513 Magnetic pole detection Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods.
  • Page 514 Magnetic pole detection procedure Magnetic pole detection by position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 515 Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 516 Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection]. Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection 0: Enabled...
  • Page 517 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 518 Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection], the load to motor mass ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio]. If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 519 Operation at magnetic pole detection Precautions • After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator2. • When the absolute position linear encoder is used, if a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.
  • Page 520 • Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows. The linear servo motor moves to the magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
  • Page 521 11.4 Basic functions Operation from controller For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after power-on. Before performing the positioning operation, check that the servo amplifier is in servo-on status. Setting the number of pulses (AP) and travel distance (AL) User Controller Servo amplifier...
  • Page 522 Homing setting method Incremental linear encoder • Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start.
  • Page 523 Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting].
  • Page 524 Homing methods -11 and -43 The following figure shows the operation of Homing method -11. The operation of Homing method -43 is opposite to that of Homing method -11. Homing direction Creep speed Home position shift distance 0 r/min Servo motor speed Creep speed Machine position Home position...
  • Page 525 • Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual Example: When the Z-phase is recognized at startup Home position signal A recognized as ON position...
  • Page 526 Homing [B] Precautions • The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing. • For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction.
  • Page 527 Homing setting method Incremental linear encoder • Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start.
  • Page 528 Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting].
  • Page 529 Homing operation Precautions • To execute homing securely, move the linear servo motor to the opposite stroke limit with the JOG operation from the controller or by other means, then start homing. • Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution. Incremental linear encoder •...
  • Page 530 • Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual Example: When the Z-phase is recognized at startup Home position signal A recognized as ON position...
  • Page 531 Homing [A] Precautions • The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing. • For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction.
  • Page 532 Homing setting method Incremental linear encoder • Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start.
  • Page 533 Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting].
  • Page 534 Homing operation Precautions • To execute homing securely, move the linear servo motor to the opposite stroke end with the JOG operation from the controller or by other means, then start homing. • Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution. Incremental linear encoder •...
  • Page 535 • Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual Example: When the Z-phase is recognized at startup Home position signal A recognized as ON position...
  • Page 536 • For data set type homing For data set type homing, when CR (Clear) is turned on, the position control counter is cleared and the current position is stored in the non-volatile memory (backup memory) as home position data. Linear servo motor speed 0 mm/s CR (Clear)
  • Page 537 Linear servo control error detection function If the linear servo control becomes unstable for some reason, the linear servo motor may not operate properly. To detect this state and to stop operation, the linear servo control error detection function is used as a protective function. The linear servo control error detection function has three types of detection methods: the position deviation, speed deviation, and thrust deviation.
  • Page 538 Speed deviation error detection Set [Pr. PL04.0] to "2" to enable the speed deviation error detection. Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection 2: Speed deviation error detection enabled If the difference between the model feedback speed (3) and the feedback speed (4) in the figure is equal to or more than the value of [Pr.
  • Page 539 About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Linear Diagnosis screen. (11) (10) Symbol Name Explanation Unit Cumulative feedback pulses...
  • Page 540 Symbol Name Explanation Unit (10) Magnetic Pole Information The magnetic pole information can be displayed and set.   (11) Parameter Setting (Electronic The servo parameters for the electronic gear ([Pr. PA06] and [Pr. PA07]) can be displayed and set. gear) 11 USING A LINEAR SERVO MOTOR 11.4 Basic functions...
  • Page 541 11.5 Adjustment Auto tuning function Although the auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor, the calculation method of the load to motor mass ratio (J ratio) is different. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
  • Page 542 11.6 Characteristics Overload protection characteristics LM-H3 series 1000 : In operation : In servo-lock Load ratio LM-K2 series 1000 : In operation : In servo-lock Load ratio 11 USING A LINEAR SERVO MOTOR 11.6 Characteristics...
  • Page 543 LM-U2 series LM-U2PBD-15M-1SS0 1000 : In operation : In servo-lock Load ratio Other than LM-U2PBD-15M-1SS0 1000 : In operation : In servo-lock Load ratio 11 USING A LINEAR SERVO MOTOR 11.6 Characteristics...
  • Page 544 LM-F series (natural cooling) 1000 : In operation : In servo-lock Load ratio 11 USING A LINEAR SERVO MOTOR 11.6 Characteristics...
  • Page 545 LM-F series (liquid cooling) LM-FP2B-06M-1SS0 (liquid-cooling) 1000 : In operation : In servo-lock Load ratio Other than LM-FP2B-06M-1SS0 (liquid-cooling) 1000 : In operation : In servo-lock Load ratio 11 USING A LINEAR SERVO MOTOR 11.6 Characteristics...
  • Page 546 LM-AJ series 1000 : In operation : In servo-lock Load ratio 11 USING A LINEAR SERVO MOTOR 11.6 Characteristics...
  • Page 547 LM-AU series Graph of overload protection characteristics The following table lists the LM-AU series and corresponding graphs of overload protection characteristics. The overload protection characteristics depend on the linear servo motor. LM-AU (primary side) Graph of overload protection characteristics Page 545 Characteristic a LM-AUP3A-03V-JSS0 LM-AUP3B-06V-JSS0 LM-AUP3C-09V-JSS0...
  • Page 548 Power supply capacity and generated loss (1-axis servo amplifier) Linear servo motor Servo amplifier Power supply Servo amplifier-generated heat [W] Area required for heat (primary side) capacity [kVA] dissipation [m At rated output At servo-off LM-H3P2A-07P-BSS0 MR-J5-40_ LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 MR-J5-70_ LM-H3P3C-36P-CSS0 LM-H3P3D-48P-CSS0 MR-J5-200_...
  • Page 549 Power supply capacity and generated loss (multi-axis servo amplifier) The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns.
  • Page 550 Linear servo motor Power supply capacity [kVA] (A) LM-AUP4D-18M-JSS0 LM-AUP4F-26P-JSS0 LM-AUP4H-35M-JSS0 11 USING A LINEAR SERVO MOTOR 11.6 Characteristics...
  • Page 551 Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from the following tables. Amount of heat generated by one servo amplifier at rated output Servo amplifier Servo amplifier-generated heat [W] At servo-off (C) At rated output MR-J5W2-22_...
  • Page 552 Dynamic brake characteristics The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below. Lmax = V • (0.03 + M • (A + B • V Lmax: Coasting distance of the machine [m] : Speed when the brake is activated [m/s] M: Full mass of the moving part [kg]...
  • Page 553 Linear servo motor (primary side) Coefficient A Coefficient B LM-AUP3B-06V-JSS0 1.36 × 10 2.30 × 10 LM-AUP3C-09V-JSS0 9.10 × 10 1.49 × 10 LM-AUP3D-11R-JSS0 6.70 × 10 1.13 × 10 LM-AUP4A-04R-JSS0 5.89 × 10 7.86 × 10 LM-AUP4B-09R-JSS0 1.76 × 10 5.77 ×...
  • Page 554 11.7 Absolute position detection system When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required. Operating conditions of absolute position detection system • Use an absolute position type linear encoder. •...
  • Page 555 USING A DIRECT DRIVE MOTOR 12.1 Functions and configuration Outline The following shows the differences between the direct drive motor and the rotary servo motor. Category Item Differences Remark Direct drive motor Rotary servo motor Servo motor Magnetic pole detection Required Not required (adjusted Automatically executed at the first servo-on...
  • Page 556 Configuration including peripheral equipment R S T Power supply Molded-case Personal circuit breaker computer (MCCB) MR Configurator2 Magnetic contactor (MC) Analog monitor Safety relay Line noise filter (FR-BSF01) Junction terminal block Power factor improving DC reactor (FR-HEL) CN2L Absolute position storage unit Regenerative Battery unit...
  • Page 557 When using a direct drive motor, set [Pr. PA01.1 Operation mode selection] to "6" (Direct drive motor control mode). After power-on, the Z-phase mark of the direct drive motor manufactured by Mitsubishi Electric must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation or more, install the direct drive motor in a position where the Z-phase mark can pass over the connector area.
  • Page 558 Manually turn on the Z-phase pulse of the direct *1, *2 drive motor by using the JOG operation. drive motor manufactured by Mitsubishi Electric. Change the setting to disable the magnetic pole detection. Cycle the power of the servo amplifier or reset the software.
  • Page 559 • The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually. For this operation, connect the direct drive motor encoder and the servo amplifier, and turn on the control circuit power supply of the servo amplifier.
  • Page 560 Magnetic pole detection procedure When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
  • Page 561 Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Turn "ON (up)"...
  • Page 562 *1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection must be 0.5 mm or less.
  • Page 563 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 564 Setting of response performance and load to motor inertia ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection] and set the load to motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 565 Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude].
  • Page 566 • When the system is set up (at initial startup of equipment) • When the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) •...
  • Page 567 Turn on the Z-phase pulse of the direct drive Manually turn on the Z-phase pulse of the direct motor by using the JOG operation of the controller. drive motor manufactured by Mitsubishi Electric. *1, *2 Change the setting to disable the magnetic pole detection.
  • Page 568 *3 If the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or JOG operation.
  • Page 569 Magnetic pole detection procedure Magnetic pole detection by position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 570 Magnetic pole detection by minute position detection method Magnetic pole detection Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software. Set [Pr.
  • Page 571 Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection]. Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection 0: Enabled...
  • Page 572 Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
  • Page 573 Setting of response performance and load to motor inertia ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection], the load to motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.
  • Page 574 Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude].
  • Page 575 • When the system is set up (at initial startup of equipment) • When the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) •...
  • Page 576 12.4 Basic functions Operation from controller For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after power-on. Before performing the positioning operation, check that the servo amplifier is in servo-on status. Servo control error detection function If the servo control becomes unstable for some reason, the direct drive motor may not operate properly.
  • Page 577 Position deviation error detection Set [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] to "1" to enable the position deviation error detection. Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection 1: Position deviation error detection enabled If the difference between the model feedback position (1) and the feedback position (2) in the figure is equal to or more than the value of [Pr.
  • Page 578 Servo control error reset by controller reset [G] [B] Servo parameter Description PL04.3 [AL. 042 Servo control error] detection controller reset condition selection 0: Reset disabled (reset by powering off/on or software reset enabled) 1: Reset enabled Initial value: 0 (reset disabled) When [Pr.
  • Page 579 12.5 Characteristics Overload protection characteristics Direct drive motor Graph of overload protection characteristics Page 577 Characteristic a TM-RFM002C20 TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM018E20 TM-RFM012G20 TM-RFM040J10 Page 578 Characteristic b TM-RFM120J10 TM-RFM048G20 Page 578 Characteristic c TM-RFM072G20 TM-RFM240J10 Page 579 Characteristic d TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30...
  • Page 580 Characteristic b 1000 : In operation : In servo-lock Load ratio Characteristic c 10000 : In operation : In servo-lock 1000 Load ratio 12 USING A DIRECT DRIVE MOTOR 12.5 Characteristics...
  • Page 581 Characteristic d 1000 : In operation : In servo-lock Load ratio Power supply capacity and generated loss (1-axis servo amplifier) Direct drive motor Servo amplifier Power supply Servo amplifier-generated heat [W] Area required for capacity [kVA] heat dissipation At rated output At servo-off TM-RG2M002C30 MR-J5-20_...
  • Page 582 Power supply capacity and generated loss (multi-axis servo amplifier) The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns.
  • Page 583 Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from the following tables. Amount of heat generated by one servo amplifier at rated output Servo amplifier Servo amplifier-generated heat [W] At servo-off (C) At rated output MR-J5W2-22_...
  • Page 584 Dynamic brake characteristics TM-RFM_C20 Speed [r/min] TM-RFM_E20 Speed [r/min] TM-RFM_G20 Speed [r/min] TM-RFM_J10 Speed [r/min] 12 USING A DIRECT DRIVE MOTOR 12.5 Characteristics...
  • Page 585 TM-RG2M002C30, TM-RU2M002C30 Speed [r/min] TM-RG2M004E30, TM-RU2M004E30 Speed [r/min] TM-RG2M009G30, TM-RU2M009G30 Speed [r/min] 12 USING A DIRECT DRIVE MOTOR 12.5 Characteristics...
  • Page 586 Page 412 ABSOLUTE POSITION DETECTION SYSTEM Precautions • To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric, batteries and the absolute position storage unit (MR-BTAS01) are required. • For the encoder cable and the absolute position storage unit, refer to "WIRING OPTION".
  • Page 587 Precautions • To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric, batteries and the absolute position storage unit (MR-BTAS01) are required. • For the encoder cable and the absolute position storage unit, refer to "WIRING OPTION".
  • Page 588 D0 or later when the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected in the direct drive motor control mode. • When the servo amplifier is in the factory settings and the controller is connected to it for the first time, turning on the power in the fully closed loop control mode with the absolute position detection system enabled may trigger [AL.
  • Page 589 13.2 Functions and configuration Outline Either a semi closed loop system or a fully closed loop system can be selected as a control method for this servo amplifier. In addition, the semi closed loop control, fully closed loop control, or dual feedback control can be selected by the setting of [Pr.
  • Page 590 Function block diagram Fully closed loop system block diagram A fully closed loop system block diagram is shown below. For a fully closed loop system, the position is controlled in the units of the load-side encoder. MR-J5-_G_/MR-J5W_-_G_/MR-J5-_B_/MR-J5W_-_B_ Electronic gear Controller Servo motor Servo motor-side (Servo motor-side)
  • Page 591 Dual feedback filter equivalent block diagram The following shows a dual feedback filter equivalent block diagram for dual feedback control. Servo motor Position control unit High-pass filter Linear encoder Low-pass filter ω Dual feedback filter Fully closed loop Semi closed loop control control Operation status...
  • Page 592 For linear encoders  [AL. 037.2]    Rotary servo motor manufactured by Mitsubishi Electric [AL. 037.2] Direct drive motor manufactured by Mitsubishi Electric [AL. 01A.3] [AL. 037.2] [AL. 01A.3]  A/B/Z-phase differential output rotary encoder [AL.
  • Page 593 System configuration For linear encoders Servo amplifier without CN2L Controller Servo amplifier Position command control signal Linear encoder compatible with two-wire type serial interface Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table *1 When using an absolute position linear encoder, an absolute position detection system can be supported. In that case, batteries are unnecessary.
  • Page 594 For rotary encoders Servo amplifier without CN2L Controller Servo amplifier Position command control signal Servo motor encoder signal Driving part Servo motor Load-side encoder signal Two-wire type rotary encoder *1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. *2 When an HK-KT servo motor or HK-MT servo motor is used, an absolute position detection system can be supported without using batteries.
  • Page 595 13.3 Signals and wiring • Use the load side encoder cables specified in this section. Using products other than those specified may cause a malfunction. • Contact the manufacturer of the load-side encoder being used for information on specifications, performance, and guarantees. Encoder cable configuration diagram Configuration diagrams of the servo amplifier and load-side encoder are shown below.
  • Page 596 Encoder cable configuration diagram for rotary encoders • When using a rotary encoder as the load-side encoder, use an HK-KT servo motor or HK-MT servo motor as the encoder. • Use a two-wire type encoder cable. • When using an A/B/Z-phase differential output rotary encoder, refer to "A/B/Z-phase differential output type encoder"...
  • Page 597 13.4 Startup Servo parameter setting Selecting a fully closed loop system With the settings of [Pr. PA01], [Pr. PE01], and the controller control command, a control method can be selected as described in the following table. [Pr. PA01.4 Fully closed [Pr.
  • Page 598 Selecting semi closed/fully closed loop control [B] Select semi closed/fully closed loop control. • [Pr. PE01.0 Fully closed loop function selection] If this servo parameter is set to "1" while [Pr. PA03.0 Absolute position detection system selection] has been set to "1" (enabled (absolute position detection system)), [AL.
  • Page 599 Load-side encoder communication method selection [G] [B] The communication method differs depending on the load-side encoder type. For details on each load-side encoder communication method, refer to "External encoder connector" in the "User's Manual (Introduction)" and "Compatible encoder list" in the "MR-J5 Partner's Encoder User's Manual". Select a cable to be connected to the CN2L connector with [Pr.
  • Page 600 Setting the polarity of the load-side encoder [G] [B] Precautions • Do not set the incorrect direction in [Pr. PC27.0 Encoder pulse count polarity selection]. If the correct direction is not set, the encoder will not operate correctly, possibly causing a collision that results in an accident or damage to other devices.
  • Page 601 Setting the polarity of the load-side encoder [A] Precautions • Do not set the incorrect direction in [Pr. PC45.0 Encoder pulse count polarity selection]. If the correct direction is not set, the encoder will not operate correctly, possibly causing a collision that results in an accident or damage to other devices.
  • Page 602 Setting the feedback pulse electronic gear Precautions If an incorrect value is set for the feedback pulse electronic gear ([Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] or [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator]), [AL. 037 Parameter error] may occur and prevent normal operation.
  • Page 603 Example settings when using a rotary encoder as the load-side encoder of a roll feeder • Conditions Servo motor resolution: 67108864 pulses/rev Servo motor-side pulley diameter: 30 mm Rotary encoder side pulley diameter: 20 mm Rotary encoder resolution: 67108864 pulses/rev Driving part Pulley diameter d2 = 20 mm...
  • Page 604 Setting the fully closed loop dual feedback filter Use auto tuning or a similar mode to adjust the gain in the same way as when using semi closed loop control while [Pr. PE08 Fully closed loop dual feedback filter] is being set to the initial value (setting value = 10). Adjust the dual feedback filter while observing the servo operation waveforms with the graph function or a similar function of MR Configurator2.
  • Page 605 Checking position data of the load-side encoder Precautions Depending on the check items, MR Configurator2 may be used. Refer to "Help" of MR Configurator2 for the data displayed on the MR Configurator2. Check the load-side encoder mounting and parameter settings for any problems. Check item Confirmation method and description Reading the position data of the load-...
  • Page 606 13.5 Basic functions Homing [G] [A] Homing is performed based on the load-side encoder feedback data regardless of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. The types and methods of homing are basically the same as in semi closed loop control. •...
  • Page 607 Reference home position Absolute position linear encoder The reference home position for an absolute position linear encoder is every position per servo motor revolution starting from the linear encoder home position (absolute position data = 0). In the case of Method -1 (dog type homing), the nearest position after the proximity dog signal turned off is the home position. The linear encoder home position can be set in any position.
  • Page 608 • When the linear encoder home position (reference mark) exists in the homing direction The position obtained by moving the home position shift distance from the linear encoder home position (reference mark) is set as the home position. The following figure shows the operation of Homing method 34. The homing direction of Homing method 33 is opposite to that of Homing method 34.
  • Page 609 • When the linear encoder home position does not exist in the homing direction If homing is performed from a position where the linear encoder home position does not exist in the homing direction, an error may occur depending on the homing method. If an error occurs, change the homing method or temporarily move the servo motor to the stroke end opposite of homing with the JOG operation or other methods from the controller, then perform homing.
  • Page 610 Homing [B] Homing is performed based on the load-side encoder feedback data regardless of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. The types and methods of homing are basically the same as in semi closed loop control. •...
  • Page 611 Reference home position Absolute position linear encoder The reference home position for an absolute position linear encoder is every position per servo motor revolution starting from the linear encoder home position (absolute position data = 0). For proximity dog type homing, the nearest reference home position after the proximity dog signal turned off is the home position.
  • Page 612 • When the linear encoder home position does not exist in the homing direction If homing is performed from a position where the linear encoder home position does not exist in the homing direction, an error may occur depending on the homing method. Error details differ depending on the controller being used. If an error occurs, change the homing method or move the linear servo motor to the stroke limit on the opposite side of the homing direction with operations such as the JOG operation from the controller, then start homing.
  • Page 613 Operation from controller The positioning operation from the controller is basically the same as in semi closed loop control. Fully closed loop control error detection function If fully closed loop control becomes unstable for some reason, the servo motor-side speed may increase abnormally. To detect this state and to stop operation, the fully closed loop control error detection function is used as a protective function.
  • Page 614 Position deviation error detection Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "2" (position deviation error detection) to enable the position deviation error detection. Servo parameter Description PE03.0 Fully closed loop control error - Detection function selection 2: Position deviation error detection PE03.1 Position deviation error - Detection method selection...
  • Page 615 About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Fully Closed Loop Diagnosis screen. Name Explanation Unit Servo motor-side cumulative The feedback pulses from the servo motor encoder are counted and displayed.
  • Page 616 Name Explanation Unit Z-phase pass status When the fully closed loop system is disabled, the Z-phase pass status of the servo motor encoder is  displayed. When the fully closed loop system is enabled or when switching between semi closed loop control and fully closed loop control is enabled, Z-phase pass status of the load-side encoder is displayed.
  • Page 617 13.6 Options and peripheral equipment MR-J4FCCBL03M branch cable This branch cable is used to connect an encoder of the rotary servo motor/direct drive motor and load-side encoder to the CN2 connector. When fabricating a branch cable by using an MR-J3THMCN2 connector set, refer to "Fabricating a branch cable for a fully closed loop system"...
  • Page 618 09F] occurs, setting [Pr. PL01.0] to "0" may not disable the magnetic pole detection. When the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected to the servo motor side and an absolute position type linear encoder connected to the load side and [Pr. PL01.0] is set to "0", set [Pr.
  • Page 619 REVISIONS *The manual number is given on the bottom left of the back cover. Revision date *Manual number Description July 2019 SH(NA)-030298ENG-A First edition ■Information on the following functions is added: January 2020 SH(NA)-030298ENG-B Fully closed loop system, touch probe, MR-J3-D05 safety logic unit ■Added/edited: Section 3.5, Section 6.16, Chapter 11 ■Modified overload protection characteristics...
  • Page 620 Section 12.5, Section 13.1, Section 13.2, Section 13.4 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 621 We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.
  • Page 622 TRADEMARKS 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. SH(NA)-030298ENG-L...
  • Page 624 SH(NA)-030298ENG-L(2401)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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