SH 030051 C

General-Purpose AC Servo
J3 Series
SSCNET
MODEL
Compatible
MR-J3- B
SERVO AMPLIFIER INSTRUCTION MANUAL
Safety Instructions
(Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols: : Indicates what must not be done. For example, "No Fire" is indicated by : Indicates what must be done. For example, grounding is indicated by . .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.
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1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the converter unit, servo amplifier (drive unit) and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the converter unit, servo amplifier (drive unit) and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. Highvoltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The servo amplifier (drive unit) is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Install the converter unit, servo amplifier (drive unit), servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire. Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the converter unit, servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the converter unit, servo amplifiers power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the converter unit, servo amplifier (drive unit) malfunctions. When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the instruction manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the converter unit and servo amplifier (drive unit) heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury. A- 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The servo amplifier may drop. Install the converter unit and servo amplifier (drive unit) in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The converter unit, servo amplifier (drive unit), and servo motor must be installed in the specified direction. Leave specified clearances between the converter unit, servo amplifier (drive unit), and control enclosure walls or other equipment. Do not install or operate the converter unit, servo amplifier (drive unit), and servo motor which has been damaged or has any parts missing. When you keep or use it, please fulfill the following environmental conditions.
Environment During operation In storage In operation In storage [ [ [ [ ] ] ] ] Conditions Converter unit servo amplifier (drive unit) Servo motor 0 to 40 (non-freezing) 32 to 104 (non-freezing) 15 to 70 (non-freezing) 5 to 158 (non-freezing) 80%RH or less (non-condensing) 0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m (3280 ft) above sea level HF-MP series HF-KP series X, Y: 49 m/s2 X, Y: 24.5 m/s2
2 2 X: 24.5 m/s Y: 49 m/s
Ambient temperature Ambient humidity Ambience Altitude
HF-SP51 81 HF-SP52 to 152 HF-SP524 to 1524 HC-RP Series HC-UP72 152 HF-SP121 201 HF-SP202 352 HF-SP2024 3524 HC-UP202 to 502 (Note) Vibration HF-SP301 421 HF-SP502 702 HF-SP5024 7024 HC-LP52 to 152 HC-LP202 to 302 HA-LP601 to 12K1 HA-LP701M to 15K1M HA-LP502 to 22K2 HA-LP6014 12K14 HA-LP701M4 15K1M4 HA-LP11K24 to 22K24 HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M HA-LP30K2 37K2 HA-LP15K14 to 37K14 HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24 Note. Except the servo motor with reduction gear.
2 2 X: 24.5 m/s Y: 29.4 m/s
[m/s ]
5.9 or less
X: 9.8 m/s2 Y: 24.5 m/s2 X: 19.6 m/s2 Y: 49 m/s2 X: 11.7 m/s2 Y: 29.4 m/s2
X, Y: 9.8 m/s2
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CAUTION
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, servo amplifier (drive unit), and servo motor. Do not drop or strike converter unit, servo amplifier (drive unit), or servo motor. Isolate from all impact loads. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF (-H) option) between the servo motor and servo amplifier (drive unit). Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.
Servo Amplifier (drive unit) U V W U V W M Servo Motor Servo Amplifier (drive unit) U V W U V W M Servo Motor
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbing diode installed on the DC output signal relay of the servo amplifier (drive unit) must be wired in the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.
Servo Amplifier (drive unit) 24VDC DOCOM DICOM Control output signal DOCOM DICOM Control output signal Servo Amplifier (drive unit) 24VDC
RA
RA
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.
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(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the converter unit and servo amplifier (drive unit). Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or break a converter unit and servo amplifier (drive unit). Use the converter unit and servo amplifier (drive unit) with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
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(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EM1).
Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR). Servo motor Circuit must be opened during forced stop (EM1).
RA EM1 24VDC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier (drive unit) will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative.
(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.
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About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).
FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit, servo amplifier (drive unit) and/or converter unit may fail when the EEP-ROM reaches the end of its useful life. Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.
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COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed. (1) EMC directive The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310). (2) Low voltage directive The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive. This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive. (3) Machine directive Not being machines, the converter unit, servo amplifiers (drive unit) need not comply with this directive. 2. PRECAUTIONS FOR COMPLIANCE (1) Converter unit, servo amplifiers (drive unit), and servo motors used Use the converter unit, servo amplifiers (drive unit), and servo motors which comply with the standard model. Converter unit series :MR-J3-CR55K MR-J3-CR55K4 Servo amplifier (drive unit) series :MR-J3-10B to MR-J3-22KB MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-22KB4 MR-J3-DU30KB to MR-J3-DU37KB MR-J3-DU30KB4 to MR-J3-DU55KB4 Servo motor series :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note)
Note. For compliance conditions, refer to Section 1.1 of the Servo Motor Instruction Manual (Vol.2) (SH(NA)030041).
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(2) Configuration The control circuit provide safe separation to the main circuit in the converter unit and servo amplifier (drive unit). (a) MR-J3-22KB(4) or less
Control box Reinforced insulating type 24VDC power supply Servo amplifier Serve motor M
No-fuse breaker NFB
Magnetic contactor MC
(b) MR-J3-DU30KB(4) or more

Control box Reinforced insulating type 24VDC power supply Converter unit Drive unit Servvo motor M
No-fuse breaker NFB
Magnetic contactor MC
(3) Environment Operate the converter unit and servo amplifier (drive unit) at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) This converter unit and servo amplifier (drive unit) can be supplied from star-connected supply with earthed neutral point of overvoltage category III set forth in IEC60664-1. However, when using the neutral point of 400V system for single phase supply, a reinforced insulating transformer is required in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulationreinforced in I/O. (5) Grounding (a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked converter unit and servo amplifier (drive unit) to the protective earth (PE) of the control box.
) of the
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(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the cables to the terminals one-to-one.
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of the servo amplifier must be connected to the corresponding earth terminals. (6) Wiring (a) The cables to be connected to the terminal block of the converter unit and servo amplifier (drive unit) must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal Insulating tube Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options. (Refer to section 11.1) (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in section 11.12 (Section 13.9.5 for 30kW or more). Use a type B (Note) breaker. When it is not used, provide insulation between the converter unit, servo amplifier (drive unit) and other device by double insulation or reinforced insulation, or install a transformer between the main power supply, converter unit and servo amplifier (drive unit). Note. Type A: AC and pulse detectable Type B: Both AC and DC detectable (b) The sizes of the cables described in section 11.8 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1. Ambient temperature: 40 (104) [C (F)] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray (c) Use the EMC filter for noise reduction. (8) Performing EMC tests When EMC tests are run on a machine/device into which the converter unit and servo amplifier (drive unit) has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC directive guidelines on the converter unit and servo amplifier (drive unit), refer to the EMC Installation Guidelines(IB(NA)67310).
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CONFORMANCE WITH UL/C-UL STANDARD

(1) Converter unit, servo amplifiers (drive unit) and servo motors used Use the converter unit, servo amplifiers (drive unit) and servo motors which comply with the standard model. Converter unit series Servo amplifier (drive unit) series :MR-J3-CR55K MR-J3-CR55K4 :MR-J3-10B to MR-J3-22KB MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-22KB4 MR-J3-DU30KB to MR-J3-DU37KB MR-J3-DU30KB4 to MR-J3-DU55KB4 :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note)
Servo motor series
Note. For compliance conditions, refer to Section 1.1 of the Servo Motor Instruction Manual (Vol.2) (SH(NA)030041).
(2) Installation 3 Install a cooling fan of 100CFM (2.8m /min) air flow 4 in (10.16 cm) above the servo amplifier (drive unit) or provide cooling of at least equivalent capability. (3) Short circuit rating This servo amplifier (drive unit) conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to the above circuit.
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(4) Capacitor discharge time The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes (more than 20 minutes in case drive unit is 30kW or more) after power-off.
Servo amplifier MR-J3-10B MR-J3-40B 60B(4) 20B 10B1 20B1 Discharge time [min] 1 2 3 4 5 9 10 4 6 8 700B(4)
MR-J3-70B MR-J3-40B1 MR-J3-100B(4) MR-J3-200B(4) MR-J3-350B4 350B 500B(4)
MR-J3-11KB(4) MR-J3-15KB(4) MR-J3-22KB(4)
Converter unit MR-J3-CR55K
Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4
Discharge time [min]
MR-J3-CR55K4
MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4
20
(5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. This servo amplifier is UL/C-UL-listed when using the fuses indicated in the following table. When the servo amplifier must comply with the UL/C-UL Standard, be sure to use these fuses.
Servo amplifier (drive unit) MR-J3-10B(1) MR-J3-40B MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-DU30KB (Note) MR-J3-DU37KB (Note) Note. Prospect approved in the near future. T 20B 40B1 Fuse Class Current [A] 10 15 20 40 70 125 150 200 250 350 500 600 250 Voltage AC [V] Servo amplifier (drive unit) MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 MR-J3-DU30KB4 (Note) MR-J3-DU37KB4 (Note) MR-J3-DU45KB4 (Note) MR-J3-DU55KB4 (Note) T Fuse Class Current [A] 10 15 25 35 50 65 100 150 175 250 300 400 450 600 Voltage AC [V]
20B1
MR-J3-60B to 100B
(6) Attachment of a servo motor For the flange size of the machine side where the servo motor is installed, refer to CONFORMANCE WITH UL/C-UL STANDARD in the Servo Motor Instruction Manual (Vol.2). A - 12
(7) About wiring protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.
<<About the manuals>> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use the General-Purpose AC servo MR-J3-B for the first time. Always purchase them and use the MR-J3-B safely. Relevant manuals
Manual name MELSERVO-J3 Series To Use the AC Servo Safely Enclosed in converter unit and servo amplifier (drive unit). MELSERVO Servo Motor Instruction Manual Vol.2 EMC Installation Guidelines Manual No. IB(NA)0300077 SH(NA)030041 IB(NA)67310
Details of MR-J3-DU30KB(4) to MR-J3-DU55KB4 are described in chapter 13 of this INSTRUCTION MANUAL. For the products of 30kW or more, refer to chapter 13.
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MEMO
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CONTENTS
1. FUNCTIONS AND CONFIGURATION
1 - 1 to 1 -28
1.1 Introduction............................................................................................................................................... 1 - 1 1.2 Function block diagram............................................................................................................................ 1 - 2 1.3 Servo amplifier standard specifications................................................................................................... 1 - 5 1.4 Function list .............................................................................................................................................. 1 - 7 1.5 Model code definition ............................................................................................................................... 1 - 8 1.6 Combination with servo motor ................................................................................................................ 1 -10 1.7 Structure .................................................................................................................................................. 1 -11 1.7.1 Parts identification ............................................................................................................................ 1 -11 1.7.2 Removal and reinstallation of the front cover.................................................................................. 1 -18 1.8 Configuration including auxiliary equipment........................................................................................... 1 -21 2. INSTALLATION 2 - 1 to 2 - 6
2.1 Installation direction and clearances ....................................................................................................... 2 - 1 2.2 Keep out foreign materials....................................................................................................................... 2 - 3 2.3 Cable stress ............................................................................................................................................. 2 - 3 2.4 SSCNET cable laying............................................................................................................................ 2 - 4 2.5 Inspection items ....................................................................................................................................... 2 - 6 2.6 Parts having service lives ........................................................................................................................ 2 - 6 3. SIGNALS AND WIRING 3 - 1 to 3 -52
3.1 Input power supply circuit ........................................................................................................................ 3 - 2 3.2 I/O signal connection example ............................................................................................................... 3 -10 3.3 Explanation of power supply system ...................................................................................................... 3 -12 3.3.1 Signal explanations .......................................................................................................................... 3 -12 3.3.2 Power-on sequence ......................................................................................................................... 3 -13 3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -14 3.4 Connectors and signal arrangements .................................................................................................... 3 -23 3.5 Signal (device) explanations................................................................................................................... 3 -24 3.6 Alarm occurrence timing chart................................................................................................................ 3 -27 3.7 Interfaces................................................................................................................................................. 3 -28 3.7.1 Internal connection diagram ............................................................................................................ 3 -28 3.7.2 Detailed description of interfaces..................................................................................................... 3 -29 3.7.3 Source I/O interfaces ....................................................................................................................... 3 -31 3.8 Treatment of cable shield external conductor ........................................................................................ 3 -32 3.9 SSCNET cable connection .................................................................................................................. 3 -33 3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -35 3.10.1 Connection instructions.................................................................................................................. 3 -35 3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -36 3.11 Servo motor with electromagnetic brake.............................................................................................. 3 -46 3.11.1 Safety precautions ......................................................................................................................... 3 -46 3.11.2 Timing charts .................................................................................................................................. 3 -47 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) ..................................................... 3 -49 3.12 Grounding.............................................................................................................................................. 3 -50 1
3.13 Control axis selection............................................................................................................................ 3 -51 4. STARTUP 4 - 1 to 4 -10
4.1 Switching power on for the first time ....................................................................................................... 4 - 1 4.1.1 Startup procedure.............................................................................................................................. 4 - 1 4.1.2 Wiring check ...................................................................................................................................... 4 - 2 4.1.3 Surrounding environment.................................................................................................................. 4 - 3 4.2 Start up ..................................................................................................................................................... 4 - 4 4.3 Servo amplifier display............................................................................................................................. 4 - 5 4.4 Test operation .......................................................................................................................................... 4 - 7 4.5 Test operation mode ................................................................................................................................ 4 - 8 4.5.1 Test operation mode in MR Configurator ......................................................................................... 4 - 8 4.5.2 Motorless operation in controller...................................................................................................... 4 -10 5. PARAMETERS 5 - 1 to 5 -26
5.1 Basic setting parameters (No.PA )..................................................................................................... 5 - 1 5.1.1 Parameter list .................................................................................................................................... 5 - 1 5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 2 5.1.3 Selection of regenerative option ....................................................................................................... 5 - 3 5.1.4 Using absolute position detection system ........................................................................................ 5 - 4 5.1.5 Forced stop input selection ............................................................................................................... 5 - 4 5.1.6 Auto tuning ........................................................................................................................................ 5 - 5 5.1.7 In-position range................................................................................................................................ 5 - 6 5.1.8 Selection of servo motor rotation direction ....................................................................................... 5 - 7 5.1.9 Encoder output pulse ........................................................................................................................ 5 - 7 5.2 Gain/filter parameters (No. PB )......................................................................................................... 5 - 9 5.2.1 Parameter list .................................................................................................................................... 5 - 9 5.2.2 Detail list ........................................................................................................................................... 5 -10 5.3 Extension setting parameters (No. PC ) ........................................................................................... 5 -17 5.3.1 Parameter list ................................................................................................................................... 5 -17 5.3.2 List of details..................................................................................................................................... 5 -18 5.3.3 Analog monitor ................................................................................................................................. 5 -21 5.3.4 Alarm history clear............................................................................................................................ 5 -23 5.4 I/O setting parameters (No. PD )....................................................................................................... 5 -24 5.4.1 Parameter list ................................................................................................................................... 5 -24 5.4.2 List of details..................................................................................................................................... 5 -25 6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12
6.1 Different adjustment methods.................................................................................................................. 6 - 1 6.1.1 Adjustment on a single servo amplifier............................................................................................. 6 - 1 6.1.2 Adjustment using MR Configurator................................................................................................... 6 - 2 6.2 Auto tuning ............................................................................................................................................... 6 - 3 6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3 6.2.2 Auto tuning mode operation.............................................................................................................. 6 - 4 6.2.3 Adjustment procedure by auto tuning............................................................................................... 6 - 5 6.2.4 Response level setting in auto tuning mode .................................................................................... 6 - 6 6.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 6 - 7 2
6.4 Interpolation mode .................................................................................................................................. 6 -11 6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning................................ 6 -12 7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -16
7.1 Function block diagram............................................................................................................................ 7 - 1 7.2 Adaptive filter ......................................................................................................................................... 7 - 1 7.3 Machine resonance suppression filter..................................................................................................... 7 - 4 7.4 Advanced vibration suppression control ................................................................................................. 7 - 6 7.5 Low-pass filter ......................................................................................................................................... 7 -10 7.6 Gain changing function ........................................................................................................................... 7 -10 7.6.1 Applications ...................................................................................................................................... 7 -10 7.6.2 Function block diagram.................................................................................................................... 7 -11 7.6.3 Parameters ....................................................................................................................................... 7 -12 7.6.4 Gain changing operation.................................................................................................................. 7 -14 8. TROUBLESHOOTING 8 - 1 to 8 -10
8.1 Alarms and warning list............................................................................................................................ 8 - 1 8.2 Remedies for alarms................................................................................................................................ 8 - 2 8.3 Remedies for warnings ............................................................................................................................ 8 - 8 9. OUTLINE DRAWINGS 9 - 1 to 9 -12
9.1 Servo amplifier ......................................................................................................................................... 9 - 1 9.2 Connector ................................................................................................................................................ 9 -10 10. CHARACTERISTICS 10- 1 to 10-10
10.1 Overload protection characteristics ...................................................................................................... 10- 1 10.2 Power supply equipment capacity and generated loss ....................................................................... 10- 3 10.3 Dynamic brake characteristics.............................................................................................................. 10- 6 10.3.1 Dynamic brake operation............................................................................................................... 10- 6 10.3.2 The dynamic brake at the load inertia moment............................................................................. 10- 8 10.4 Cable flexing life.................................................................................................................................... 10- 9 10.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 10-10 11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-88
11.1 Cable/connector sets ............................................................................................................................ 11- 1 11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 2 11.1.2 Encoder cable/connector sets ....................................................................................................... 11- 8 11.1.3 Motor power supply cables ........................................................................................................... 11-17 11.1.4 Motor brake cables........................................................................................................................ 11-18 11.1.5 SSCNET cable ........................................................................................................................... 11-19 11.2 Regenerative options ........................................................................................................................... 11-21 11.3 FR-BU2-(H) Brake unit......................................................................................................................... 11-34 11.3.1 Selection ........................................................................................................................................ 11-35 11.3.2 Brake unit parameter setting......................................................................................................... 11-35 11.3.3 Connection example ..................................................................................................................... 11-36 3
11.3.4 Outline dimension drawings.......................................................................................................... 11-43 11.4 Power regeneration converter ............................................................................................................. 11-45 11.5 Power regeneration common converter .............................................................................................. 11-48 11.6 External dynamic brake ....................................................................................................................... 11-56 11.7 Junction terminal block PS7DW-20V14B-F (recommended)............................................................. 11-61 11.8 MR Configurator................................................................................................................................... 11-63 11.9 Battery MR-J3BAT ............................................................................................................................... 11-64 11.10 Heat sink outside mounting attachment (MR-J3ACN)...................................................................... 11-65 11.11 Recommended wires ......................................................................................................................... 11-67 11.12 No-fuse breakers, fuses, magnetic contactors ................................................................................. 11-71 11.13 Power factor improving DC reactor ................................................................................................... 11-71 11.14 Power factor improving AC reactors ................................................................................................. 11-73 11.15 Relays (recommended) ..................................................................................................................... 11-74 11.16 Surge absorbers (recommended) ..................................................................................................... 11-75 11.17 Noise reduction techniques ............................................................................................................... 11-75 11.18 Leakage current breaker.................................................................................................................... 11-82 11.19 EMC filter (recommended) ................................................................................................................ 11-84 12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6
12.1 Features ................................................................................................................................................ 12- 1 12.2 Specifications ........................................................................................................................................ 12- 2 12.3 Battery installation procedure ............................................................................................................... 12- 3 12.4 Confirmation of absolute position detection data................................................................................. 12- 5 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13- 1 to 13-100
13.1. Functions and menus........................................................................................................................... 13- 1 13.1.1 Function block diagram.................................................................................................................. 13- 2 13.1.2 Packing list ..................................................................................................................................... 13- 4 13.1.3 Standard specifications.................................................................................................................. 13- 5 13.1.4 Model definition .............................................................................................................................. 13- 8 13.1.5 Combinations of converter units, drive unit and servo motors ..................................................... 13- 9 13.1.6 Parts identification ......................................................................................................................... 13-10 13.1.7 Removal and reinstallation of the terminal block cover ............................................................... 13-13 13.1.8 Servo system with auxiliary equipment ........................................................................................ 13-19 13.2 Installation ............................................................................................................................................ 13-20 13.2.1 Installation direction and clearances ............................................................................................ 13-21 13.2.2 Inspection ...................................................................................................................................... 13-22 13.3 Signals and wiring ................................................................................................................................ 13-23 13.3.1 Magnetic contactor control connector (CNP1) ............................................................................. 13-24 13.3.2 Input power supply circuit ............................................................................................................. 13-26 13.3.3 Terminal......................................................................................................................................... 13-31 13.3.4 How to use the connection bars ................................................................................................... 13-32 13.3.5 Connectors and signal arrangements .......................................................................................... 13-33 13.3.6 Converter unit signal (device) explanations ................................................................................. 13-35 13.3.7 Timing chart................................................................................................................................... 13-37 13.3.8 Servo motor side details ............................................................................................................... 13-45 13.4 Display section and operation section of the converter unit ............................................................... 13-47 4
13.4.1 Display flowchart ........................................................................................................................... 13-47 13.4.2 Status display mode...................................................................................................................... 13-48 13.4.3 Diagnostic mode............................................................................................................................ 13-49 13.4.4 Alarm mode ................................................................................................................................... 13-51 13.4.5 Parameter mode ........................................................................................................................... 13-52 13.5. Parameters for converter unit ............................................................................................................. 13-53 13.5.1 Parameter list ................................................................................................................................ 13-53 13.5.2 List of details.................................................................................................................................. 13-54 13.6 Troubleshooting ................................................................................................................................... 13-55 13.6.1 Converter unit................................................................................................................................ 13-55 13.6.2 Drive unit........................................................................................................................................ 13-60 13.7 Outline drawings .................................................................................................................................. 13-62 13.7.1 Converter unit (MR-J3-CR55K(4))................................................................................................ 13-62 13.7.2 Drive unit........................................................................................................................................ 13-63 13.8 Characteristics...................................................................................................................................... 13-65 13.8.1 Overload protection characteristics .............................................................................................. 13-65 13.8.2 Power supply equipment capacity and generated loss ............................................................... 13-66 13.8.3 Dynamic brake characteristics...................................................................................................... 13-67 13.8.4 Inrush currents at power-on of main circuit and control circuit .................................................... 13-69 13.9 Options ................................................................................................................................................. 13-70 13.9.1 Cables and connectors ................................................................................................................. 13-70 13.9.2 Regenerative option ...................................................................................................................... 13-73 13.9.3 External dynamic brake ................................................................................................................ 13-77 13.9.4 Recommended wires .................................................................................................................... 13-80 13.9.5 No-fuse breakers, fuses, magnetic contactors............................................................................. 13-81 13.9.6 Power factor improving DC reactor .............................................................................................. 13-82 13.9.7 Line noise filter (FR-BLF).............................................................................................................. 13-83 13.9.8 Leakage current breaker............................................................................................................... 13-84 13.9.9 EMC filter (recommended)............................................................................................................ 13-86 13.9.10 FR-BU2-(H) Brake Unit ............................................................................................................... 13-88 APPENDIX App- 1 to App- 4
App 1. Parameter list...................................................................................................................................App- 1 App 2. Signal layout recording paper .........................................................................................................App- 3 App 3. Twin type connector : Outline drawing for 721-2105/026-000 (WAGO)........................................App- 3 App 4. Change of connector sets to the RoHS compatible products........................................................App- 4
MEMO

1.1 Introduction The Mitsubishi MELSERVO-J3 series general-purpose AC servo has further higher performance and higher functions compared to the current MELSERVO-J2-Super series. The MR-J3-B servo amplifier connects to servo system controller and others via high speed synchronous network and operates by directly reading position data. The rotation speed/direction control of servo motor and the high accuracy positioning are executed with the data from command module. SSCNET equipped by the MR-J3-B servo amplifier greatly improved its communication speed and noise tolerance by adopting optical communication system compared to the current SSCNET. For wiring distance, 50m of the maximum distance between electrodes is also offered. The torque limit with clamping circuit is put on the servo amplifier in order to protect the power transistor of main circuit from the overcurrent caused by rapid acceleration/deceleration or overload. In addition, torque limit value can be changed to desired value with parameter. As this new series has the USB communication function, a MR Configurator-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J3 series servo motor is equipped with an absolute position encoder which has the resolution of 262144 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2-Super series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.
1- 1

1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350B or less MR-J3-200B4 or less
Power factor improving DC Regenerative reactor option Servo amplifier P1 NFB (Note 2) Power supply MC Diode stack Relay P2 P( ) C D N( ) (Note 1) U Current detector
Regenerative TR
Servo motor
L1 L2 L3
U V W M
V W
CHARGE lamp (Note 3)Cooling fan
Dynamic brake B1 B2 Electromagnetic brake
L11 L21
Control circuit power supply Base amplifier Voltage detection Overcurrent protection Current detection CN2
Encoder
Position command input Model position control
Virtual encoder Model speed control Virtual motor
Model position
Model speed Model torque
Actual position control
Actual speed control
Current control
CN4
I/F Control
USB
D/A
MR-J3BAT Optional battery (for absolute position detection system)
CN1A
CN1B
CN5
CN3
Controller or Servo amplifier servo amplifier or cap
Personal computer USB
Analog monitor (2 channels)
Digital I/O control
Note 1. The built-in regenerative resistor is not provided for the MR-J3-10B (1). 2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification. 3. Servo amplifiers MR-J3-70B or greater have a cooling fan.
1- 2

(2) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4)
Power factor improving DC Regenerative reactor option Servo amplifier P1 NFB (Note) Power supply MC Diode stack Relay Current detector
Regenerative TR
P2
C N
Servo motor
L1 L2 L3
U V W
U V W M
CHARGE lamp Cooling fan
L11 L21
Control circuit power supply Base amplifier Voltage detection Overcurrent protection Current detection CN2
Encoder
Model position
Current control
CN4
I/F Control
USB
D/A
CN1A
CN1B
CN5
CN3
Digital I/O control
Note. Refer to section 1.3 for the power supply specification.
1- 3

(3) MR-J3-11KB(4) to 22KB(4)
Power factor improving DC Regenerative reactor option Servo amplifier NFB (Note) Power supply MC P1 P C N Servo motor
Diode stack Thyristor L1 L2 L3 CHARGE lamp Cooling fan L11 L21 Control circuit power supply Base amplifier Voltage detection Overcurrent protection Current detection CN2
Regenerative TR
U Current detector V W
U V W M
Encoder
Model position
Current control
CN4
I/F Control
USB
D/A
CN1A
CN1B
CN5
CN3
Digital I/O control
Note. Refer to section 1.3 for the power supply specification.
1- 4
1.3 Servo amplifier standard specifications (1) 200V class, 100V class
Servo Amplifier MR-J3-
10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase or 1-phase 200 to 230VAC: 170 to 253VAC 1-phase 100V to 120VAC, 50/60Hz 1-phase 85 to 132VAC
Item Voltage/frequency Power supply 3-phase 200 to 230VAC, 50/60Hz
Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity Inrush current Voltage, frequency Permissible voltage fluctuation Permissible frequency fluctuation Input Inrush current Voltage, frequency Power supply capacity
3-phase 170 to 253VAC Within 5% Refer to section 10.2 Refer to section 10.5
1-phase 200 to 230VAC, 50/60Hz
1-phase 100 to 120VAC, 50/60Hz 1-phase 85 to 132VAC
1-phase 170 to 253VAC
Control circuit power supply
Within 5% 30W 45W Refer to section 10.5 24VDC 10% (Note 1) 150mA or more Sine-wave PWM control, current control system Built-in External option Built-in Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection. Self-cooled, open (IP00) Force-cooling, open (IP00) (Note 2) 0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m above sea level 5.9 [m/s ] or less [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.3 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0
2
30W
Interface power supply Control System Dynamic brake
Protective functions
Structure During operation In storage In operation In storage [ [ ] ]
Self-cooled, open (IP00)
Ambient temperature Environment Ambient humidity Ambient Altitude Vibration Mass
[ ] [ ]
[lb] 1.8 1.8 2.2 2.2 3.1 3.1 5.071 5.071 10.1 13.7 39.68 39.68 41.88 1.8 1.8 2.2 Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 or at 75% or smaller effective load ratio.
1- 5
(2) 400V class

Servo Amplifier MR-J3-
60B4
100B4
200B4
350B4
500B4
700B4
11KB4
15KB4
22KB4
Item Voltage/frequency Power supply Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity Inrush current Voltage, frequency Permissible voltage fluctuation Permissible frequency fluctuation Input Inrush current Voltage, frequency Power supply capacity Built-in 30W Refer to section 10.5 24VDC 10% (Note1) 150mA Sine-wave PWM control, current control system External option Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection. Selfcooled, open (IP00) During operation In storage In operation In storage [ [ ] ] [ ] [ ] 3-phase 380 to 480VAC, 50/60Hz 3-phase 323 to 528VAC Within 5% Refer to section 10.2 Refer to section 10.5 1-phase 380 to 480VAC, 50/60Hz
Within 5% 45W
Interface power supply Control System Dynamic brake
Protective functions
Structure
Force-cooling, open (IP00)
(Note2) 0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m above sea level 5.9 [m/s ] or less
2
Ambient temperature Environment Ambient humidity Ambient Altitude Vibration Mass
[kg]
1.7
1.7
2.1
4.6
4.6
6.2
18
18
19
[lb] 3.75 3.75 4.63 10.14 10.14 13.67 39.68 39.68 41.88 Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 or at 75% or smaller effective load ratio.
1- 6
1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function High-resolution encoder Absolute position detection system Gain changing function Advanced vibration suppression control Adaptive filter Low-pass filter Description High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder. Merely setting a home position once makes home position return unnecessary at every power-on. You can switch between gains during rotation and gains during stop or use an external signal to change gains during operation. This function suppresses vibration at the arm end or residual vibration. Reference
Chapter 12 Section 7.6 Section 7.4
Machine analyzer function
Machine simulation
Gain search function Slight vibration suppression control Auto tuning
Servo amplifier detects mechanical resonance and sets filter characteristics Section 7.2 automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system Section 7.5 response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration software-installed personal computer and servo amplifier. MR Configurator is necessary for this function. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. MR Configurator is necessary for this function. Personal computer changes gains automatically and searches for overshootfree gains in a short time. MR Configurator is necessary for this function. Suppresses vibration of 1 pulse produced at a servo motor stop. Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MR-J2-Super series servo amplifier. Used when the regenerative option cannot provide enough regenerative power. Can be used the 5kW or more servo amplifier. Used when the regenerative option cannot provide enough regenerative power. Can be used the 5kW or more servo amplifier. Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Alarm history is cleared. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. JOG operation positioning operation DO forced output. However, MR Configurator is necessary for positioning operation. Servo status is output in terms of voltage in real time. Using a personal computer, parameter setting, test operation, status display, etc. can be performed. Parameters No. PB24 Chapter 6
Brake until
Section 11.3
Return converter Regenerative option Alarm history clear Output signal (DO) forced output Test operation mode Analog monitor output MR Configurator
Section 11.4 Section 11.2 Parameter No. PC21 Section 4.5.1 (1) (d) Section 4.5 Parameter No. PC09 Section 11.8
1- 7
1.5 Model code definition (1) Rating plate

AC SERVO
MR-J3-10B
POWER : 100W INPUT : 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT: 170V 0-360Hz 1.1A SERIAL : A34230001
Model Capacity Applicable power supply Rated output current Serial number
1- 8
(2) Model
MR-J3-100B or less MR-J3-60B4 100B4
MR
J3
B
With no regenerative resistor Symbol Description Indicates a servo amplifier of 11 to 22kw -PX that does not use a regenerative resistor as standard accessory. Power supply Symbol Power supply (Note 1) 3-phase or 1-phase 200 None to 230VAC (Note 2) 1-phase 100 to 120VAC 1 4 3-phase 380 to 480VAC Note 1. 1-phase 200V to 230V is supported by 750W or less. 2. 1-phase 100V to 120V is supported by 400W or less. SSCNET compatible
Series
Rating plate MR-J3-200B 350B
Rating plate MR-J3-200B4
Rated output Rated Symbol output [kW] 10 20 40 60 70 100 200 350 500 700 11K 15K 22K 0.1 0.2 0.4 0.6 0.75 1 2 3.5 5 7 11 15 22
Rating plate MR-J3-350B4 500B(4)
Rating plate MR-J3-700B(4)
Rating plate MR-J3-11KB(4) to 22KB(4)
Rating plate
Rating plate
1- 9
1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes.
Servo motors Servo amplifier MR-J3-10B (1) MR-J3-20B (1) MR-J3-40B (1) MR-J3-60B MR-J3-70B MR-J3-100B MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB Servo motors Servo amplifier 1000r/min MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB 801 20K1 601 12K1 25K1 15K1 701M 11K1M 15K1M 22K1M HA-LP 1500r/min 2000r/min 502 702 11K2 15K2 22K2 73 73 81 121 201 301 421 102 152 202 103 353 352 502 702 153 203 503 152 202 352 502 HF-MP 053 23 43 13 HF-KP 053 23 43 51 52 72 102 152 202 302 52 13 HF-SP 1000r/min 2000r/min HC-RP HC-UP HC-LP
Servo motors Servo amplifier MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 HF-SP 524 1024 1524 2024 3524 5024 7024 6014 8014 12K14 15K14 20K14 701M4 11K1M4 15K1M4 22K1M4 11K24 15K24 22K24 HA-LP 1000r/min 1500r/min 2000r/min
1 - 10
1.7 Structure 1.7.1 Parts identification (1) MR-J3-100B or less

Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) SW1
3456 789
Detailed Explanation Chapter 4
Used to set the axis No. of servo amplifier. Section 3.13
B CDE
3456
789
SW1 TEST SW2
ON 4F
SW2
Main circuit power supply connector (CNP1) Connect the input power supply. USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Servo motor power connector (CNP3) Connect the servo motor. Encoder connector (CN2) Used to connect the servo motor encoder. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Battery connector (CN4) Used to connect the battery for absolute position data backup. Battery holder Contains the battery for absolute position data backup. Fixed part (2 places) Protective earth (PE) terminal ( Ground terminal. Rating plate )
F01
B CDE
0 F 1
Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. Spare (Be sure to set to the "Down" position).
Section 3.13
Section 3.1 Section 3.3 Section 11.8 Section 3.2 Section 3.4 Section 3.1 Section 3.3 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 3.1 Section 3.3 Section 3.4 Section 11.1
Section 11.9 Chapter 12 Section 12.3 Section 3.1 Section 3.3 Section 1.5
1 - 11
(2) MR-J3-60B4 MR-J3-100B4

3456 789
B CDE
3456
789
SW1 TEST SW2
ON 4F
SW2
Main circuit power supply connector (CNP1) Connect the input power supply. USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Servo motor power connector (CNP3) Connect the servo motor. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Battery holder Contains the battery for absolute position data backup. Protective earth (PE) terminal ( Ground terminal. Rating plate )
Fixed part (3 places)
1 - 12
F01
B CDE
0 F 1
Section 3.13
Section 3.1 Section 3.3 Section 11.8 Section 3.2 Section 3.4 Section 3.1 Section 3.3 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 3.1 Section 3.3 Section 3.4 Section 11.1 Section 11.9 Chapter 12
Section 12.3 Section 3.1 Section 3.3 Section 1.5
(3) MR-J3-200B MR-J3-350B

34 56 789
A
B CDE
3456
789
SW1 TEST SW2
ON 4F
SW2
Main circuit power supply connector (CNP1) Connect the input power supply. USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Servo motor power connector (CNP3) Connect the servo motor. SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Battery holder Contains the battery for absolute position data backup. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Cooling fan Protective earth (PE) terminal ( Ground terminal. Rating plate )
1 - 13
F01
A
B C DE
0 F 1
Section 3.13
Section 3.1 Section 3.3 Section 11.8 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 3.1 Section 3.3 Section 3.2 Section 3.4 Section 3.4 Section 11.1 Section 11.9 Chapter 12 Section 3.1 Section 3.3
Section 12.3
Section 3.1 Section 3.3 Section 1.5
(4) MR-J3-200B4
3456 789
B CDE
3456
789
SW1 TEST SW2
ON 4F
SW2
Main circuit power supply connector (CNP1) Connect the input power supply. USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Servo motor power connector (CNP3) Connect the servo motor.
SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final Section 3.2 Section 3.4 axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Battery holder Contains the battery for absolute position data backup. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal ( Ground terminal. Rating plate ) Section 3.1 Section 3.3 Section 1.5 Section 3.4 Section 11.1 Section 11.9 Chapter 12 Section 3.1 Section 3.3
Cooling Fan
1 - 14
F01
BCDE
0 F 1
Section 3.13
Section 3.1 Section 3.3 Section 11.8 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 3.1 Section 3.3
Section 12.3
(5) MR-J3-350B4 MR-J3-500B(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
3456 789
B CDE
3456
789
SW1 TEST SW2
ON 4F
SW2
1 Cooling fan
USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Battery holder Contains the battery for absolute position data backup. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. DC reactor terminal block (TE3) Used to connect the DC reactor. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Main circuit terminal block (TE1) Used to connect the input power supply and servo motor. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Protective earth (PE) terminal ( Ground terminal. Rating plate )
1 - 15
F01
B CDE
0 F 1
Section 3.13
Section 11.8 Section 3.2 Section 3.4 Section 12.3 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 3.4 Section 11.1 Section 11.9 Chapter 12 Section 3.4 Section 11.1
Section 3.1 Section 3.3 Section 3.1 Section 3.3 Section 3.1 Section 3.3 Section 1.5
(6) MR-J3-700B(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
3456 789
B CDE
3456
789
SW1 TEST SW2
ON 4F
SW2
Cooling fan
USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Battery holder Contains the battery for absolute position data backup. SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. DC reactor terminal block (TE3) Used to connect the DC reactor. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Main circuit terminal block (TE1) Used to connect the input power supply and servo motor. Protective earth (PE) terminal ( Ground terminal. Rating plate )
1 - 16
F01
B CDE
0 F 1
Section 3.13
Section 11.8 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 12.3 Section 3.2 Section 3.4 Section 3.4 Section 11.1 Section 11.9 Chapter 12 Section 3.4 Section 11.1
Section 3.1 Section 3.3 Section 3.1 Section 3.3 Section 3.1 Section 3.3 Section 1.5
(7) MR-J3-11KB(4) to MR-J3-22KB(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
3456 789
A
BCDE
3456
789
SW1 TEST SW2
ON 4F
SW2
Cooling fan
USB communication connector (CN5) Connect the personal computer. I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Battery holder Contains the battery for absolute position data backup. Rating plate SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Main circuit terminal block control circuit protective earth (TE) Used to connect the input power supply, servo motor, regenerative option and ground.
1 - 17
F01
B CDE
0 F 1
Section 3.13
Section 11.8 Section 3.2 Section 3.4 Section 3.2 Section 3.4 Section 12.3 Section 1.5 Section 3.2 Section 3.4 Section 3.4 Section 11.1 Section 11.9 Chapter 12
Section 3.1 Section 3.3
1.7.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
WARNING
(1) For MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Removal of the front cover
A) A)
Hold the ends of lower side of the front cover with both hands.
Pull up the cover, supporting at point A).
Pull out the front cover to remove. 1 - 18
Reinstallation of the front cover
Front cover setting tab
A) A)
Insert the front cover setting tabs into the sockets of servo amplifier (2 places).
Pull up the cover, supporting at point A).
Setting tab
Push the setting tabs until they click.
1 - 19
(2) For MR-J3-11KB(4) to MR-J3-22KB(4) Removal of the front cover
C)
B)
A)
3) Pull it to remove the front cover. 1) Press the removing knob on the lower side of the front cover ( A) and B) ) and release the installation hook. 2) Press the removing knob of C) and release the external hook. Reinstallation of the front cover
(Note1) (Note1)
C) D)
(Note2)
B) A)
Installation hook
1) Fit the front cover installation hooks on the sockets of body cover ( A) to D) ) to reinstall it.
2) Push the front cover until you hear the clicking noise of the installation hook.
Note 1. The cooling fan cover can be locked with enclosed screws (M4 40). 2. By drilling approximately 4 of a hole on the front cover, the front cover can be locked on the body with an enclosed screw (M4 14).
1 - 20
1.8 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100B or less (a) For 3-phase or 1-phase 200V to 230VAC
RST (Note 3) Power supply MR Configurator CN5 Servo amplifier No-fuse breaker (NFB) or fuse Junction terminal block Personal computer
CN3 Magnetic contactor (MC) (Note 2) Line noise filter (FR-BSF01) UV W CN2 CN4 (Note 1) Battery MR-J3BAT P1
CN1A
Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap
CN1B
L1 L2 L3 (Note 2) Power factor improving DC reactor (FR-BEL)
Servo motor P2 P Regenerative option L11 L21 C
Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2. 3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70B or less. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification.
1 - 21
(b) For 1-phase 100V to 120VAC

R S (Note 3) Power supply MR Configurator CN5 Servo amplifier Personal computer
No-fuse breaker (NFB) or fuse
CN3
Magnetic contactor (MC)

Power factor improving (FR-BAL) Line noise filter (FR-BSF01)
Junction terminal block

(Note 2) CN1A
CN1B UVW CN2 CN4 (Note 1) Battery MR-J3BAT
L1 L2
Servo motor P C L11 L21
Regenerative option
Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The power factor improving DC reactor cannot be used. 3. Refer to section 1.3 for the power supply specification.
1 - 22
(2) MR-J3-60B4 MR-J3-100B4

RST (Note 3) Power supply MR Configurator CN5 Servo amplifier Personal computer
CN3 Magnetic contactor (MC) (Note 2) Line noise filter (FR-BSF01)
Junction terminal block Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap
CN1A
CN1B
CN2 CN4 L1 L2 L3 (Note 2) Power factor improving DC reactor (FR-BEL-H) (Note 1) Battery MR-J3BAT P1 P2 P Regenerative option L11 L21 C UV W Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2. 3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70B or less. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification.
1 - 23
(3) MR-J3-200B MR-J3-350B

(Note 4) Power supply RST
Magnetic contactor (MC) MR Configurator (Note 3) Line noise filter (FR-BSF01) (Note 2) Servo amplifier CN5
Personal computer
L1 L2 L3 P1 P2 (Note 2) Power factor improving DC reactor (FR-BEL) L11 L21
CN3
CN1A
Regenerative P option C
CN1B
CN2 CN4 (Note 1) Battery MR-J3BAT
UV
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2. 3. For MR-J3-350B, use FR-BLF. 4. Refer to section 1.3 for the power supply specification.
1 - 24
(4) MR-J3-200B4
RST (Note 3) Power supply
Magnetic contactor (MC) CN5 MR Configurator
Personal computer (Note 2)
Line noise filter (FR-BSF01) (Note 2) Power factor improving DC reactor (FR-BEL-H) P1 P2 L11 L21 Regenerative P option C
Servo amplifier
L1 L2 L3
CN3
CN1A
CN1B
CN2
CN4 (Note 1) Battery MR-J3BAT
U V
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2. 3. Refer to section 1.3 for the power supply specification.
1 - 25
(5) MR-J3-350B4 MR-J3-500B(4)

(Note 3) Power supply RST Personal computer
MR Configurator No-fuse breaker (NFB) or fuse CN5 Servo amplifier
Magnetic contactor (MC)
CN3 (Note 2) (Note 1) Battery MR-J3BAT
CN1A
Line noise filter (FR-BLF) CN1B
CN2 CN4
L11 L21
P1 P2
L3 L2 L1 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) P C Regenerative option U V W
Servo motor
1 - 26
(6) MR-J3-700B(4)
RST (Note 3) Power supply CN5 No-fuse breaker (NFB) or fuse Servo amplifier MR Configurator Personal computer
Magnetic contactor (MC) Line noise filter (FR-BLF) (Note 2)
CN3
CN1A (Note 1) Battery MR-J3BAT
L11 L21 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) P2 P1 L3 L2 L1
CN1B
CN2 CN4
P C Regenerative option
U V W
Servo motor
1 - 27
(7) MR-J3-11KB(4) to MR-J3-22KB(4)

(Note 3) Power supply RST Personal computer
MR Configurator CN5 No-fuse breaker (NFB) or fuse L11 Magnetic contactor (MC) (Note 2) Line noise filter (FR-BLF) (Note 1) Battery MR-J3BAT
L21 Servo amplifier CN3 Junction terminal block Servo system controller or Front axis servo amplifier CN1B
CN1A
CN1B
Rear servo amplifier CN1A or Cap
CN2 CN4
L3 L2 L1
(Note 2) Power factor improving DC reactor (FR-BEL-(H)) P1 P P C W V U
Regenerative option
Servo motor
Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P. 3. Refer to section 1.3 for the power supply specification.
1 - 28
2. INSTALLATION
2. INSTALLATION
Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. (For the environmental conditions, refer to section 1.3.) Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier. Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur. Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier. When the product has been stored for an extended period of time, consult Mitsubishi. When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier.
CAUTION
2.1 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment.
CAUTION
(1) 7kW or less (a) Installation of one servo amplifier

Control box Control box
40mm or more
Servo amplifier
Wiring allowance 80mm 10mm or more
Top
10mm or more
Bottom 40mm or more
2- 1
2. INSTALLATION
(b) Installation of two or more servo amplifiers POINT Mounting closely is available for a combination of servo amplifiers of 3.5kW or less in 200V or 100V class. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, bring the ambient temperature within 0 to 45 , or use it at 75% or smaller effective load ratio.
100mm or more 10mm or more
100mm or more 1mm 1mm 30mm or more
30mm or more
30mm or more
30mm or more
40mm or more
40mm or more
Leaving clearance
Mounting closely
(2) 11k to 22kW (a) Installation of one servo amplifier

40mm or more Servo amplifier 10mm or more 10mm or more
Wiring allowance 80mm Top
Bottom 120mm or more
2- 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Control box
100mm or more
10mm or more
30m or more
30mm or more
120mm or more
(3) Others When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.2 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a cooling fan installed on the ceiling. (3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box. 2.3 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables. (3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles. (4) For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section 10.4 for the flexing life.
2- 3
2. INSTALLATION
2.4 SSCNET
cable laying
SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative option of servo amplifier. Read described item of this section carefully and handle it with caution. (1) Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of servo amplifier. When closing the door of control box, pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section 11.1.5. (2) Prohibition of vinyl tape use Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS from vinyl tape because the optical characteristic may be affected.
SSCNET cable
M-A cables away
Code
Cable
MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

Optical code Cable
: Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable. : Cable is not affected by plasticizer.
(3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and Teflon (fluorine resin) contain nonmigrating plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS M and MR-J3BUS M-A cables. In addition, MR-J3BUS M-B cable is not affected by plasticizer.
2- 4
2. INSTALLATION
(4) Bundle fixing Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable from putting its own weight on CN1A CN1B connector of servo amplifier. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizers. If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
Connector
Optical cord Loose slack
Bundle material Recommended product: NK clamp SP type ( NIX, INC.)
Cable
(5) Tension If tension is added on optical cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension. For the tension strength, refer to section 11.1.5. (6) Lateral pressure If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of control box or others. (7) Twisting If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst. (8) Disposal When incinerating optical cable (cord) used for SSCNET , hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.
2- 5
2. INSTALLATION
2.5 Inspection items Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative. POINT Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty. Do not disassemble and/or repair the equipment on customer side. It is recommended to make the following checks periodically: (1) Check for loose terminal block screws. Retighten any loose screws. (2) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions. 2.6 Parts having service lives The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.
Part name Smoothing capacitor Servo amplifier Relay Cooling fan Absolute position battery Life guideline 10 years Number of power-on and number of emergency stop times : 100,000 times 10,000 to 30,000hours (2 to 3 years) Refer to section 12.2
WARNING
(1) Smoothing capacitor Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment. (2) Relays Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity. (3) Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection.
2- 6
3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock. Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate, resulting in injury. Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop (EM1) and other protective circuits.
Servo Amplifier 24VDC DOCOM DICOM
DOCOM DICOM Control output signal Servo amplifier 24VDC
WARNING
CAUTION
Control output signal
RA
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the servo amplifier. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF (-H) option) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
3- 1
3.1 Input power supply circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. Use the trouble signal to switch main circuit power supply off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. POINT Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET communication is interrupted. Therefore, the servo amplifier on the rear axis displays "AA" at the indicator and turns into base circuit shut-off. The servo amplifier stops with starting dynamic brake. Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A no-fuse breaker (NFB) must be used with the input cables of the main circuit power supply. (1) For 3-phase 200V to 230VAC power supply to MR-J3-10B to MR-J3-350B
(Note 4) Alarm RA1 Controller forced stop RA2 Forced stop OFF ON MC Servo amplifier CNP1 L1 CNP3 L2 U L3 N (Note 1) P1 P2 CNP2 P (Note 2) C D L11 L21 CN2 (Note 3) Encoder cable Encoder PE V W MC SK NFB 3-phase 200 to 230VAC MC Servo motor (Note 6)
CAUTION
U V W
2 3 4 1
Motor M
CN3 (Note 5) Forced stop EM1

DOCOM
CN3
DOCOM DICOM
24VDC
ALM
RA1
Trouble (Note 4)
(Note 5)
3- 2

Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10.
(2) For 1-phase 200V to 230VAC power supply to MR-J3-10B to MR-J3-70B

(Note 4) Alarm RA1 Controller forced stop RA2 Forced stop OFF ON MC Servo amplifier CNP1 L1 CNP3 L2 U L3 N (Note 1) P1 P2 CNP2 P (Note 2) C D L11 L21 CN2 (Note 3) Encoder cable Encoder PE V W MC SK NFB 1-phase 200 to 230VAC MC Servo motor (Note 6)
U V W
2 3 4 1
Motor M

DOCOM
CN3
DOCOM DICOM
24VDC
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10.
3- 3
(3) For MR-J3-10B1 to MR-J3-40B1

(Note 4) Alarm RA1 Controller forced stop RA2 Forced stop OFF ON MC Servo amplifier CNP1 L1 CNP3 Blank U L2 N (Note 1) P1 P2 CNP2 P (Note 2) C D L11 L21 CN2 (Note 3) Encoder cable Encoder PE V W MC SK NFB 1-phase 100 to 120VAC MC Servo motor (Note 6)
U V W
2 3 4 1
Motor M

DOCOM
CN3
DOCOM DICOM
24VDC
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P2. (Factory-wired.) The power factor improving DC reactor cannot be used. 2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10.
3- 4
(4) MR-J3-60B4 to MR-J3-200B4

(Note 4) Alarm RA1 (Note 7) Stepdown transformer NFB 3-phase 200 to 230VAC Controller forced stop RA2 Forced stop ON MC Servo amplifier CNP1 L1 CNP3 L2 U L3 N (Note 1) P1 P2 CNP2 P (Note 2) C D L11 L21 CN2 (Note 3) Encoder cable Encoder PE V W MC SK MC Servo motor (Note 6)
OFF
U V W
2 3 4 1
Motor M

DOCOM
CN3
DOCOM DICOM
24VDC
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P-D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
3- 5
(5) MR-J3-500B MR-J3-700B

(Note 4) Alarm RA1 Controller forced stop RA2 Forced stop OFF ON MC Servo amplifier TE1 L1 Built-in L2 regenerative U resistor L3 V N P1 TE2 L11 L21 TE3 N (Note 1) P1 P2 BU BV CN3 (Note 5) Forced stop EM1
DOCOM
MC SK
(Note 7) Power supply of Cooling fan
NFB 3-phase 200 to 230VAC
MC
Servo motor (Note 6)
U V W
2 3 4 1
Motor M
(Note 2)
PE
CN2
(Note 3) Encoder cable
Encoder
CN3
DOCOM DICOM
24VDC
Cooling fan
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. A cooling fan is attached to the HA-LP601 and the HA-LP701M servo motors. For power supply specification of the cooling fan, refer to Section 3.10.2 (3) (b).
3- 6
(6) MR-J3-350B4 to MR-J3-700B4

(Note 4) Alarm RA1 (Note 7) Stepdown transformer NFB 3-phase 380 to 480VAC (Note 2) Controller forced stop RA2 Forced stop OFF ON MC Servo amplifier TE1 L1 Built-in L2 regenerative U resistor L3 V P C TE2 L11 L21 TE3 N (Note 1) P1 P2 BU BV CN3 (Note 5) Forced stop EM1
DOCOM
MC SK
(Note 8) Power supply of Cooling fan
MC
Servo motor (Note 6)
U V W
2 3 4 1
Motor M
PE
CN2
Encoder
CN3
DOCOM DICOM
24VDC
Cooling fan
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 8. A cooling fan is attached to the HA-LP6014 and the HA-LP701M4 servo motors. For power supply specification of the cooling fan, refer to Section 3.10.2 (3) (b).
3- 7
(7) MR-J3-11KB to MR-J3-22KB

Servo motor (Note 4) thermal relay Alarm RA1 RA3 Controller forced stop RA2 Forced stop ON MC MC SK
OFF
NFB 3-phase 200 to 230VAC
MC
Servo amplifier TE1 L1 L2 L3 C P P1 (Note 2) (Note 1) PE L11 L21 CN2 U V W
Dynamic break (Option) U V W (Note 6)
Servo motor
Regenerative resistor
Encoder BU BV BW Cooling fan (Note 7)
24VDC power supply
OHS1
OHS2 Servo motor thermal relay
RA3

DOCOM
CN3
DOCOM DICOM
24VDC
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Cooling fan power supply of the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required.
3- 8
(8) MR-J3-11KB4 to MR-J3-22KB4

Servo motor (Note 4) thermal relay Alarm RA1 RA3 (Note 9) Stepdown transformer NFB 3-phase 380 to 480VAC Controller forced stop RA2 Forced stop ON MC Servo amplifier TE1 L1 L2 L3 C Regenerative resistor P P1 (Note 2) (Note 1) PE L11 L21 CN2 (Note 3) Encoder cable U V W (Note 6) MC SK MC Dynamic break (Option) U V W M Servo motor
OFF
(Note 8) Cooling fan power supply
Encoder BU BV BW Cooling fan (Note 7)
24VDC power supply
OHS1
RA3

DOCOM
CN3
DOCOM DICOM
24VDC
ALM
RA1
Trouble (Note 4)
(Note 5)
Note 1. Always connect P1-P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Servo amplifiers does not have BW when the cooling fan power supply is 1-phase. 8. For the cooling fan power supply, refer to section 3.10.2 (3) (b). 9. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
3- 9
3.2 I/O signal connection example

(Note10)
24VDC
Servo amplifier
(Note12) (Note12)
DICOM DOCOM
(Note14)
Power supply (Note3,4)Forced stop (Note15) Personal computer
EM1 DI1 DI2 DI3 USB cable MR-J3USBCBL3M (option)
CN3 5 3 20 2 12 19
CN3 13 9 15 10 6 16 7 17 8 18 11 4 1 14 Plate SW1 SW2 (Note8) MBR INP ALM

DICOM
RA1 RA2 RA3
(Note2) Magnetic brake interlock In-position Trouble (Note11) (Note13,14)
(Note5) MR Configurator
CN5
Servo system controller (Note6) SSCNET cable (option)
LA LAR LB LBR LZ LZR LG MO1 LG MO2 SD
Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver) Encoder Z-phase pulse (differential line driver) Control common Analog monitor 1 Max. 1mA meter 10k both directions A Analog monitor 2 10k Max. 1mA meter both directions 2m Max A
CN1A
CN1B
12 (Note1)
Between electrodes MR-J3-B (Note7) (2 axis) SW1 CN1A CN1B SW2 (Note8) 12 (Note6) SSCNET (option) MR-J3-B (Note7) (3 axis) SW1 CN1A CN1B SW2 (Note8) 12 MR-J3-B (Note7) (n axis) SW1 CN1A (Note9) Cap CN1B SW2 (Note8) 12
cable
3 - 10
Note 1 To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits. 3. If the controller does not have an forced stop (EM1) function, always install a forced stop switch (Normally closed). 4. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting " 1 " in DRU parameter No.PA04 of the drive unit, the forced stop (EM1) can be made invalid. 5. Use MRZJW3-SETUP 221E. 6. For the distance between electrodes of SSCNET cable, refer to the following table. Distance between electrodes 20m 50m
Cable Standard code inside panel Standard cable outside panel Long-distance cable
Cable model name MR-J3BUS MR-J3BUS MR-J3BUS M M-A M-B
Cable length 0.15m to 3m 5m to 20m 30m to 50m
7. The wiring of the second and subsequent axes is omitted. 8. Up to eight axes (n 1 to 8) may be connected. Refer to section 3.13 for setting of axis selection. 9. Make sure to put a cap on the unused CN1A CN1B. 10. Supply 24VDC 10% 150mA current for interfaces from the outside. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current value necessary for the interface. 11. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program. 12. The pins with the same signal name are connected in the servo amplifier. 13. The signal can be changed by parameter No.PD07, PD08, PD09. 14. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 15. Devices can be assigned for DI1 DI2 DI3 with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for Q172HCPU Q173HCPU QD75MH. DI1: upper stroke limit (FLS) DI2: lower stroke limit (RLS) DI3: Proximity dog (DOG)
3 - 11
3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in chapter 9.
Abbreviation Connection Target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open. Servo amplifier Power supply 3-phase 200V to 230VAC, 50/60Hz 1-phase 200V to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz Servo amplifier Power supply 3-phase 380V to 480VAC, 50/60Hz MR-J310B to 70B L1 L1 L2 L2 MR-J3100B to 22KB L3 MR-J310B1 to 40B1
L1 L2 L3
Main circuit power supply
L1
L2
MR-J3-60B4 to 22KB4 L1 L2 L3
P1 P2
Power factor improving DC reactor
P C D
Regenerative option
1) MR-J3-700B(4) or less When not using the power factor improving DC reactor, connect P1-P2. (Factory-wired.) When using the power factor improving DC reactor, disconnect the wiring across P1-P2 and connect the power factor improving DC reactor across P1-P2. 2) MR-J3-11KB(4) to 22KB(4) MR-J3-11KB(4) to 22KB(4) do not have P2 terminal. When not using the power factor improving reactor, connect P1-P. (Factory-wired) When using the power factor improving reactor, connect it across P1-P. Refer to section 11.13. 1) MR-J3-350B or less MR-J3-200B4 or less When using servo amplifier built-in regenerative resistor, connect between P( )-D terminals. (Wired by default) When using regenerative option, disconnect between P( )-D terminals and connect regenerative option to P terminal and C terminal. 2) MR-J3-350B4 500B(4) 700B(4) MR-J3-350B4 500B(4) and 700B(4) do not have D terminal. When using servo amplifier built-in regenerative resistor, connect P terminal and C terminal. (Wired by default) When using regenerative option, disconnect P terminal and C terminal and connect regenerative option to P terminal and C terminal. 3) MR-J3-11KB(4) to 22KB(4) MR-J3-11KB(4) to 22KB(4) do not have D terminal. When not using the power supply return converter and the brake unit, make sure to connect the regenerative option to P terminal and C terminal. Refer to section 14.2 to 14.5. Supply the following power to L11 L21. Power supply Servo amplifier MR-J3-10B to MR-J3-10B1 to MR-J3-60B4 to 22KB 40B1 22KB4 L11 L21 L11 L21 L11 L21
L11 L21
1-phase 200V to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz 1-phase 380V to 480VAC, 50/60Hz
U V W N
Servo motor power Return converter Brake unit Protective earth (PE)
Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. When using return converter/brake unit, connect to P terminal and N terminal. Do not connect to servo amplifier MR-J3-350B(4) or less. For details, refer to section 11.3 to 11.5. Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box to perform grounding.
3 - 12
3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly. 3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) of this section.) (2) Timing chart
SON accepted (3s) Main circuit power ON Control circuit OFF ON Base circuit OFF ON Servo-on command (from controller) OFF
95ms
10ms
95ms
(3) Forced stop
CAUTION
Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately.
If the controller does not have an forced stop function, make up a circuit that switches off main circuit power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6). During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the servo amplifier may be shortened.
Servo amplifier 24VDC
DICOM
(Note) Forced stop
DOCOM EM1
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
3 - 13
3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 11.1 in section 11.11 for the wire sizes used for wiring. MR-J3-500B or more MR-J3-350B4 or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-10B to MR-J3-100B (a) Servo amplifier power supply connectors
(Note)Servo amplifier power supply connectors Connector for CNP1 54928-0670 (Molex)
Servo amplifier
<Applicable cable example> Cable finish OD: to 3.8mm
Connector for CNP2 54927-0520 (Molex)
CNP1
CNP2 CNP3 Connector for CNP3 54928-0370 (Molex)
Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are recommended. For CNP1: 51241-0600 (connector), 56125-0128 (terminal) For CNP2: 51240-0500 (connector), 56125-0128 (terminal) For CNP3: 51241-0300 (connector), 56125-0128 (terminal) Crimping tool: CNP57349-5300 <Connector applicable cable example> Cable finish OD: to 3.8mm
(b) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath Core
8 to 9mm
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.
Cable size [mm2] 1.25/1.5 2/2.5 AWG 16 14 Bar terminal type For 1 cable (Note 1) AI1.5-10BK AI2.5-10BU For 2 cable AI-TWIN2 1.5-10BK Variocrimp 4 206-204 Crimping tool (Note 2)
Note 1. Manufacturer: Phoenix Contact 2. Manufacturer: WAGO JAPAN
3 - 14
(c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO JAPAN) Using this connector enables passing a wire of control circuit power supply. Refer to Appendix 3 for details of connector.
Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21
(2) MR-J3-200B MR-J3-350B (a) Servo amplifier power supply connectors

Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (Phoenix Contact) Servo amplifier <Applicable cable example> Cable finish OD: 5mm or less Connector for CNP3 PC4/3-STF-7.62-CRWH (Phoenix Contact)
CNP1
CNP3 CNP2 <Applicable cable example> Cable finish OD: 3.8mm or less Connector for CNP2(Note) 54927-0520 (Molex)
Note. As twin type connector for CNP2 (L11, L21) is the same as MR-J3-100B or smaller. Refer to (1) (c) of this section.
3 - 15
(b) Termination of the cables 1) CNP1 CNP3 Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath Core
7mm
Cable size [mm2] 1.25/1.5 2.0/2.5 3.5 AWG 16 14 12 AI1.5-8BK AI2.5-8BU AI4-10GY Bar terminal type For 1 cable For 2 cables AI-TWIN2 AI-TWIN2 1.5-8BK 2.5-10BU CRIMPFOX-ZA3 Phoenix Contact Crimping tool Manufacturer
2) CNP2 CNP2 is the same as MR-J3-100B or smaller capacities. Refer to (1) (b) of this section. (3) MR-J3-60B4 to MR-J3-200B4 (a) Servo amplifier power supply connectors
Servo amplifier power supply connectors Connector for CNP1 721-207/026-000(Plug) (WAGO JAPAN) Servo amplifier <Applicable cable example> Cable finish OD: 4.1mm or less Connector for CNP2 721-205/026-000(Plug) (WAGO JAPAN)
CNP1
CNP2 CNP3 Connector for CNP3 721-203/026-000(Plug) (WAGO JAPAN)
3 - 16
(b) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath Core
8 to 9mm
Cable size [mm2] 1.25/1.5 2/2.5 AWG 16 14 Bar terminal type For 1 cable (Note 1) AI1.5-10BK AI2.5-10BU For 2 cable AI-TWIN2 1.5-10BK Variocrimp 4 206-204 Crimping tool (Note 2)
Note 1. Manufacturer: Phoenix Contact 2. Manufacturer: WAGO JAPAN
(c) The twin type connector for CNP2 (L11 L21): 721-2205/026-000 (WAGO JAPAN) Using this connector enables passing a wire of control circuit power supply. Refer to Appendix 3 for details of connector.
Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21
(4) Insertion of cable into Molex and WAGO JAPAN connectors Insertion of cable into 54928-0610, 54927-0510, 54928 (Molex) connectors and 721-207/026-000, 721-205/ 026-000 and 721-203/026-000 (WAGO JAPAN) connectors are as follows. The following explains for Molex, however use the same procedures for inserting WAGO JAPAN connectors as well. POINT It may be difficult for a cable to be inserted to the connector depending on wire size or bar terminal configuration. In this case, change the wire type or correct it in order to prevent the end of bar terminal from widening, and then insert it. How to connect a cable to the servo amplifier power supply connector is shown below.
3 - 17
(a) When using the supplied cable connection lever 1) The servo amplifier is packed with the cable connection lever. a) 54932-0000 (Molex)
[Unit: mm]
20.6 10
4.9
3.4
Approx. 4.9 4.7 Approx. 3

MXJ 54932
Approx.3.4
b) 231-131 (WAGO JAPAN)

[Unit: mm]
4.9 3.4
20.3 10 3 6.5 16 17.5
1.3 1.5
7.6
3 - 18
Approx. 7.7
7.7
6.5
2) Cable connection procedure

Cable connection lever
1) Attach the cable connection lever to the housing. (Detachable)
2) Push the cable connection lever in the direction of arrow.
3) Hold down the cable connection lever and insert the cable in the direction of arrow.
4) Release the cable connection lever.
3 - 19
(b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm]
Approx. R0.3 0.6 Approx. 22 3
Approx. R0.3 3 to 3.5
2) When using the flat-blade screwdriver - part 1
1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly.
2) If inserted properly, the screwdriver is held.
3) With the screwdriver held, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)
4) Releasing the screwdriver connects the cable.
3 - 20
3) When using the flat-blade screwdriver - part 2
1) Insert the screwdriver into the square window at top of the connector.
2) Push the screwdriver in the direction of arrow.
3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)
4) Releasing the screwdriver connects the cable.
3 - 21
(4) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver because the cable cannot be tightened with enough torque. Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is shown as follows. Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not tightened enough to the connector, the cable or connector may generate heat because of the poor contact. 2 (When using a cable of 1.5mm or less, two cables may be inserted into one opening.) Secure the connector to the servo amplifier by tightening the connector screw. For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and 3.5mm diameter (Recommended flat-blade screwdriver: Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6 N m torque to screw.
[Unit: mm]
Flat-blade screwdriver To loosen To tighten Opening Wire
0.6 180 100 3.5 (35)
Recommended flat-blade screwdriver dimensions

To loosen To tighten
Connector screw Servo amplifier power supply connector
Flat-blade screwdriver
3 - 22
3.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) Signal arrangement The servo amplifier front view shown is that of the MR-J3-20B or less. Refer to chapter 9 Outline Drawings for the appearances and connector layouts of the other servo amplifiers.
CN5 (USB connector) Refer to section 11.8.
CN3
OPEN
CN5 L1 L2 L3 CN3 N P1 P2 P C D L11 L12 U V W CN4 CN2L CN2
CHARGE
1 2 DI1 4 MO1 6 LG 3
DOCOM
11 12 DI2 14 MO2 16 LAR 18 LZR 20 EM1 LG 13 MBR 15 ALM 17 LBR 19 DI1
5
DICOM
CN1A
Connector for the front axis of CN1A SSCNET cable. Connector for the rear axis of CN1B SSCNET cable.
LA 8 LZ 10
DICOM
7 LB 9 INP
CN2 2
LG
4
MRR
6 5
8
MDR
10 9
BAT
1
P5
3
MR
7
MD
The 3M make connector is shown. When using any other connector, refer to section 11.1.2.
The frames of the CN2 and CN3 connectors are connected to the PE (earth) terminal ( ) in the amplifier.
3 - 23
CN1B
3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.7.2. In the control mode field of the table The pin No.s in the connector pin No. column are those in the initial status. (1) Connector applications
Connector CN1A CN1B CN2 CN4 Name Connector for bus cable from preceding axis. Connector for bus cable to next axis Encoder connector Battery connection connector Function/Application Used for connection with the controller or preceding-axis servo amplifier. Used for connection with the next-axis servo amplifier or for connection of the cap. Used for connection with the servo motor encoder. When using as absolute position detection system, connect to battery (MRJ3BAT). Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Replace the battery with main circuit power OFF and with control circuit power ON. Replacing the battery with the control circuit power OFF results in loosing absolute position data. The personal computer is connected.
CN5
Communication connector
(2) I/O device (a) Input device

Device Forced stop Symbol EM1 Connector Pin No. CN3-20 Function/Application Turn EM1 off (open between commons) to bring the motor to an forced stop state, in which the base circuit is shut off and the dynamic brake is operated. Turn EM1 on (short between commons) in the forced stop state to reset that state. When parameter No.PA.04 is set to " 1 ", automatically ON (always ON) can be set inside. Devices can be assigned for DI1 DI2 DI3 with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for Q172HCPU Q173HCPU QD75MH. DI1: upper stroke limit (FLS) DI2: lower stroke limit (RLS) DI3: near-point dog (DOG) I/O division DI-1
DI1 DI2 DI3
CN3-2 CN3-12 CN3-19
DI-1 DI-1 DI-1
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(b) Output device

Device Trouble Symbol ALM Connector Pin No. CN3-15 Function/Application ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within about 1s after power-on. When using this signal, set operation delay time of the electromagnetic brake in parameter No.PC02. In the servo-off or alarm status, MBR turns off. INP turns on when the number of droop pulses is in the preset in-position range. The in-position range can be changed using parameter No. PA10. When the in-position range is increased, INP may be on conductive status during low-speed rotation. INP turns on when servo on turns on. This signal cannot be used in the speed loop mode. When using the signal, make it usable by the setting of parameter No.PD07 to PD09. RD turns on when the servo is switched on and the servo amplifier is ready to operate. When using the signal, make it usable by the setting of parameter No.PD07 to PD09. DB turns off simultaneously when the dynamic brake is operated. When using the external dynamic brake on the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.6.) For the servo amplifier of 7kW or less, it is not necessary to use this device. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When the servo is off, SA will be turned OFF. When servo motor rotation speed becomes approximately setting speed, SA will be turned ON. When the preset speed is 20r/min or less, SA always turns on. This signal cannot be used in position loop mode. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When torque is produced level of torque set with controller, TLC will be turned ON. When the servo is off, TLC will be turned OFF. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When the servo is off, SA will be turned OFF. ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. PC07. Example Zero speed is 50r/min
OFF level 70r/min ON level 50r/min 0r/min 1) 2) 3) 20r/min (Hysteresis width) Parameter No. PC07 Parameter No. PC07 20r/min (Hysteresis width)
I/O division DO-1
Electromagnetic brake interlock In-position (Positioning completed)
MBR
CN3-13
DO-1
INP
CN3-9
DO-1
Ready
RD
DO-1
Dynamic brake interlock
DB
DO-1
Speed reached
SA
DO-1
Limiting torque
TLC
DO-1
Zero speed
ZSP
DO-1
Forward rotation direction Servo motor speed
Reverse ON level rotation 50r/min direction OFF level 70r/min zero speed ON (ZSP) OFF
4)
ZPS turns on 1) when the servo motor is decelerated to 50r/min, and ZPS turns off 2) when the servo motor is accelerated to 70r/min again. ZPS turns on 3) when the servo motor is decelerated again to 50r/min, and turns off 4) when the servo motor speed has reached -70r/min. The range from the point when the servo motor speed has reached ON level, and ZPS turns on, to the point when it is accelerated again and has reached OFF level is called hysteresis width. Hysteresis width is 20r/min for the MR-J3-B servo amplifier.
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Device Warning
Symbol WNG
Connector Pin No.
Function/Application When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When warning has occurred, WNG turns on. When there is no warning, WNG turns off within about 1.5s after power-on. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. BWNG turns on when battery cable breakage warning (92) or battery warning (9F) has occurred. When there is no battery warning, BWNG turns off within about 1.5s after power-on. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. CDPS is on during variable gain. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. ABSV turns on when the absolute position erased. This signal cannot be used in position loop mode.
I/O division DO-1
Battery warning
BWNG
DO-1
Variable gain selection Absolute position erasing
CDPS
DO-1
ABSV
DO-1
(c) Output signals

Signal name Encoder A-phase pulse (Differential line driver) Encoder B-phase pulse (Differential line driver) Encoder Z-phase pulse (Differential line driver) Analog monitor 1 Analog monitor 2 Symbol LA LAR Connector Pin No. CN3-6 CN3-16 Function/Application Outputs pulses per servo motor revolution set in parameter No. PA15 in the differential line driver system. In CCW rotation of the servo motor, the encoder Bphase pulse lags the encoder A-phase pulse by a phase angle of /2. The relationships between rotation direction and phase difference of the A- and Bphase pulses can be changed using parameter No. PC03. Output pulse specification and dividing ratio setting can be set. (Refer to section 5.1.9.) Outputs the zero-point signal in the differential line driver system of the encoder. One pulse is output per servo motor revolution. turns on when the zero-point position is reached. The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100r/min. or less. Used to output the data set in parameter No. PC09 to across MO1-LG in terms of voltage. Resolution 10 bits Used to output the data set in parameter No. PC10 to across MO2-LG in terms of voltage. Resolution 10 bits
LB LBR
CN3-7 CN3-17
LZ LZR
CN3-8 CN3-18
MO1 MO2
CN3-4 CN3-14
(d) Power supply

Signal name Digital I/F power supply input Symbol DICOM Connector Pin No. CN3-5 CN3-10 Function/Application Used to input 24VDC (24VDC 10% 150mA) for I/O interface of the servo amplifier. The power supply capacity changes depending on the number of I/O interface points to be used. Connect the positive terminal of the 24VDC external power supply for the sink interface. Common terminal for input signals such as EM1 of the servo amplifier. Pins are connected internally. Separated from LG. Connect the positive terminal of the 24VDC external power supply for the source interface. Common terminal of M01 M02 Pins are connected internally. Connect the external conductor of the shield cable.
Digital I/F common DOCOM
CN3-3
Monitor common Shield
LG SD
CN3-1 CN3-11 Plate
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3.6 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.
CAUTION
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.
(Note) Main circuit power ON Control circuit OFF Base circuit Dynamic brake ON OFF Valid Invalid
Brake operation Brake operation
Power off
Power on
Servo-on command ON (from controller) OFF Alarm Reset command (from controller) ON OFF Alarm occurs. NO 1s YES NO YES NO
50ms or more Remove cause of trouble.
60ms or more
Note. Switch off the main circuit power as soon as an alarm occurs.
(1) Overcurrent, overload 1 or overload 2 If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32), overload 1 (50) or overload 2 (51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation. (2) Regenerative alarm If operation is repeated by switching control circuit power off, then on to reset the regenerative (30) alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an accident. (3) Instantaneous power failure Undervoltage (10) occurs when the input power is in either of the following statuses. A power failure of the control circuit power supply continues for 60ms or longer and the control circuit is not completely off. The bus voltage dropped to 200VDC or less for the MR-J3- B, to 158VDC or less for the MR-J3- B1, or to 380VDC or less for the MR-J3- B4.
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3.7 Interfaces 3.7.1 Internal connection diagram

Servo amplifier Forced stop CN3 Approx 5.6k EM1 20 DI1 (Note 3) (Note 1) 24VDC
DICOM DOCOM
CN3 10
DICOM
2 12 19 5 3 Approx 5.6k
13 MBR 9 15
(Note 2)
RA (Note 3) RA
DI2 DI3
INP
ALM
<Isolated> CN3 LA 6 16 LAR LB 7 17 LBR LZ 8 18 LZR CN3 CN5 1 D 2 3 D GND 5

VBUS
Differential line driver output (35mA or less)
Analog monitor MO1 LG MO2 LG 10VDC
4 1 14 11 CN2 7 8 3 4 2
USB
10VDC Servo motor
MD MDR MR MRR LG E
Encoder
Note 1. Signal can be assigned for these pins with host controller setting. For contents of signals, refer to the instruction manual of host controller. 2. This signal cannot be used with speed loop mode. 3. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
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3.7.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input.
For transistor Approx. 5mA Servo amplifier EM1, 5.6k etc. Switch TR VCES 1.0V ICEO 100 A 24VDC 10% 150mA DICOM
(2) Digital output interface DO-1 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. (Permissible current: 40mA or less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier. Refer to section 3.7.3 for the source output.
If polarity of diode is reversed, servo amplifier will fail.
Servo amplifier
ALM, etc. DOCOM Load (Note) 24VDC 10% 150mA
Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source.
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(3) Encoder pulse output DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA
Servo amplifier LA (LB, LZ) Am26LS32 or equivalent 150 LAR (LBR, LZR) LG SD SD LAR (LBR, LZR) Servo amplifier LA (LB, LZ) 100 High-speed photocoupler
b) Output pulse
Servo motor CCW rotation LA LAR LB LBR LZ LZR /2 T Time cycle (T) is determined by the settings of parameter No.PA15 and PC03.
400 s or more
(4) Analog output

Servo amplifier
MO1 (MO2) LG Output voltage 10V Max. 1mA Max. Output current Resolution: 10 bit
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3.7.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1
Servo amplifier EM1, Approx. 5.6k etc. Switch DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 150mA
(2) Digital output interface DO-1 A maximum of 2.6V voltage drop occurs in the servo amplifier.
If polarity of diode is reversed, servo amplifier will fail.
Servo amplifier
ALM, etc. DOCOM Load (Note) 24VDC 10% 150mA
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3.8 Treatment of cable shield external conductor In the case of the CN2 and CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor
Sheath
Strip the sheath.
Core Sheath External conductor Pull back the external conductor to cover the sheath
(1) For CN3 connector (3M connector)

Screw
Cable
Screw Ground plate
(2) For CN2 connector (3M or Molex connector)
Cable
Ground plate
Screw
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3.9 SSCNET
cable connection POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET complies with class1 defined in JIS C6802 or IEC60825-1.)
(1) SSCNET cable connection For CN1A connector, connect SSCNET cable connected to controller in host side or servo amplifier. For CN1B, connect SSCNET cable connected to servo amplifier in lower side. For CN1B connector of the final axis, put a cap came with servo amplifier.
Axis No.1 servo amplifier Axis No.2 servo amplifier Final axis servo amplifier
SSCNET Controller
cable
SSCNET CN1A
cable
SSCNET CN1A
cable CN1A Cap
CN1B
CN1B
CN1B
(2) How to connect/disconnect cable. POINT CN1A CN1B connector is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before mounting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap. Keep the cap for CN1A CN1B connector and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty. When asking repair of servo amplifier for some troubles, make sure to put a cap on CN1A CN1B connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required. (a) Mounting 1) For SSCNET cable in the shipping status, the tube for protect light code end is put on the end of connector. Remove this tube. 2) Remove the CN1A CN1B connector cap of servo amplifier.
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3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector of servo amplifier until you hear the click. If the end face of optical code tip is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.
Click
Tab
(b) Removal With holding a tab of SSCNET cable connector, pull out the connector. When pulling out the SSCNET cable from servo amplifier, be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty. For SSCNET cable, attach the tube for protection optical code's end face on the end of connector.
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3.10 Connection of servo amplifier and servo motor
CAUTION
During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
3.10.1 Connection instructions
WARNING
Insulate the connections of the power supply terminals to prevent an electric shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur. POINT Refer to section 11.1 for the selection of the encoder cable.
CAUTION
This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor. When the options are not available, use the recommended products. Refer to section 11.1 for details of the options. (1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box Servo amplifier Servo motor
PE terminal
(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake.
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3.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series HF-KP series servo motor (a) When cable length is 10m or less
10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow)
Servo amplifier CNP3 U V W
Servo motor U V W
(b) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the motor power supply cable should be within 2m long. Refer to section 11.11 for the wire used for the extension cable.
2m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) U V W
50m or less Servo amplifier CNP3 U V W Extension cable
(Note) a) Relay connector for extension cable
(Note) b) Relay connector for motor power supply cable
Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Protective Structure
Relay Connector
Description
Connector: RM15WTPZ-4P(71) IP65 a) Relay connector for Cord clamp: RM15WTP-CP(5)(71) extension cable (Hirose Electric) Numeral changes depending on the cable OD. b) Relay connector for Connector: RM15WTJA-4S(71) IP65 motor power supply Cord clamp: RM15WTP-CP(8)(71) Numeral changes depending on the cable OD. (Hirose Electric) cable
3 - 36

(2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off.
Soldered part or crimping part facing up Soldered part or crimping part facing down
Pin No.1
Pin No.1
For CM10-SP10S-
For CM10-SP2S-
(a) Wiring diagrams Refer to section 11.11 for the cables used for wiring. 1) When the power supply connector and the electromagnetic brake connector are separately supplied.
50m or less Servo amplifier U V W Servo motor U V W
CN3
DOCOM DICOM
DC24V
ALM MBR
RA1 RA2
24VDC power supply for electromagnetic brake
Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA2 RA1 B1 B2 (Note)
Note. There is no polarity in electromagnetic brake terminals B1 and B2.
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2) When the power supply connector and the electromagnetic brake connector are shared.
50m or less Servo amplifier U V W Servo motor U V W
CN3
DOCOM DICOM
DC24V
ALM MBR
RA1 RA2
Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA2 RA1 B1 B2 (Note)
Note. There is no polarity in electromagnetic brake terminals B1 and B2.
(b) Connector and signal allotment The connector fitting the servomotor is prepared as optional equipment. Refer to section 11.1. For types other than those prepared as optional equipment, refer to chapter 3 in Servo Motor Instruction Manual, Vol. 2 to select.
Servo motor HF-SP52(4) to 152(4) HF-SP51 81 HF-SP202 352 502(4) HF-SP121 to 301 HF-SP421 702(4) HC-RP103 to 203 HC-RP353 503 HC-UP72 152 HC-UP202 to 502 HC-LP52 to 152 HC-LP202 302 Encoder Servo motor side connectors Electromagnetic Power supply brake MS3102A18-10P MS3102A22-22P CN10-R10P (DDK) CE05-2A32-17RD-B CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A22-23PD-B CE05-2A24-10PD-B CM10-R2P (DDK)
a c b
The connector for power is shared MS3102A10SL-4P The connector for power is shared MS3102A10SL-4P
3 - 38
Encoder connector signal allotment CM10-R10P Terminal No. 1 2 3 4 5 6 7 8 9 10 SHD P5 BAT LG
Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B Terminal No.
C B D A
Power supply connector signal allotment CE05-2A22-23PD-B Terminal No. A

B C
10 9 8
7 6 5 4 View a
Signal MR MRR
Signal U V W (earth)
View b G F E D H A
Signal U V W (earth)
3 2 1
A B C D
B C D E F G H
View b
B1 (Note) B2 (Note)
Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. Power supply connector signal allotment CE05-2A24-10PD-B Terminal No.
F E D G C A B
Brake connector signal allotment CM10-R2P Terminal No.

2 1
Brake connector signal allotment MS3102A10SL-4P Terminal No.

A B
Signal U V W (earth) B1 (Note) B2 (Note)
Signal B1 (Note) B2 (Note)

View c
A B C D
1 2
A B
View b
View c
E F G
Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.
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(3) HA-LP series servo motor (a) Wiring diagrams Refer to section 11.11 for the cables used for wiring. 1) 200V class
50m or less Servo amplifier MC L1 L2 L3 TE U V W U V W Servo motor
M BU BV BW
CN3
DOCOM DICOM
24VDC
Cooling fan (Note 2)
ALM MBR
RA1 RA2
Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA2 RA1 B1 B2 (Note 1)
OHS1 24VDC (Note 3) power supply

RA3
Note 1. When using the external dynamic brake, refer to section 11.6. 2. Cooling fan power supply of the HA-LP601, the HA-LP701M and the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required. 3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal.
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2) 400V class
(Note4) Cooling fan power supply 50m or less Servo amplifier MC L1 L2 L3 TE U V W U V W Servo motor
M BU BV BW
CN3
DOCOM DICOM
24VDC
Cooling fan (Note 2)
ALM MBR
RA1 RA2
Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA1 RA2 B1 B2 (Note 1)
OHS1 24VDC (Note 3) power supply

RA3
Note 1. When using the external dynamic brake, refer to section 11.6. 2. There is no BW when the power supply of the cooling fan is a 1-phase. 3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal. 4. For the cooling fan power supply, refer to (3) (b) of this section.
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(b) Servo motor terminals
Encoder connector CM10-R10P Terminal box Brake connector MS3102A10SL-4P
Encoder connector signal allotment CM10-R10P

7 6 5 4
Terminal No. 1 2 3 4 5 6 7 8 9 10
Signal MR MRR BAT LG
Brake connector signal allotment MS3102A10SL-4P
Terminal No. 1 2
10 9 8
3 2 1
1 2
P5 SHD
Terminal box inside (HA-LP601(4), 701M(4), 11K2(4) )

Thermal sensor terminal block (OHS1,OHS2) M4 screw
Motor power supply terminal block (U,V,W) M6 screw
Cooling fan terminal block (BU,BV) M4 screw
Earth terminal M6 screw
Terminal block signal arrangement

Encoder connector CM10-R10P
OHS1 OHS2 BU BV
3 - 42

Terminal box inside (HA-LP801(4), 12K1(4), 11K1M(4), 15K1M(4), 15K2(4), 22K2(4))
Cooling fan terminal block (BU,BV,BW) M4 screw
Thermal sensor terminal block (OHS1,OHS2) M4 screw
Motor power supply terminal block (U,V,W) M8 screw

BU BV BW OHS1OHS2
Earth terminal M6 screw

U V W
Terminal box inside (HA-LP15K1(4), 20K1(4), 22K1M(4))

Motor power supply terminal block (U,V,W) M8 screw Encoder connector CM10-R10P
W Thermal sensor terminal block (OHS1,OHS2) M4 screw Cooling fan terminal block (BU,BV,BW) M4 screw Earth terminal M6 screw
U V W

BU BV BW OHS1 OHS2
3 - 43
Terminal box inside (HA-LP25K1)
BU BV BW
Motor power supply terminal block (U, V, W) M10 screw
Thermal sensor terminal block (OHS1, OHS2) M4 screw
Cooling fan terminal block (BU, BV, BW) M4 screw Earth terminal M6 screw

U V W BU BV BW OHS1 OHS2
3 - 44
Signal Name Power supply
Abbreviation U V W
Description Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications. Voltage division 200V class Voltage/ frequency Power consumption [W] Rated current [A] 0.21(50Hz) 0.25(60Hz)
Servo motor HA-LP601, 701M, 11K2
42(50Hz) 3-phase 200 to 220VAC 50Hz 54(60Hz) 3-phase 200 to 230VAC 60Hz 3-phase 200 to 230VAC 62(50Hz) 50Hz/60Hz 76(60Hz) 65(50Hz) 85(60Hz) 120(50Hz) 175(60Hz)
HA-LP801, 12K1, 11K1M, 15K1M, 15K2, 22K2 HA-LP15K1, 20K1, 22K1M Cooling fan (Note) BU BV BW HA-LP25K1 HA-LP6014, 701M4, 11K24 400V class
0.18(50Hz) 0.17(60Hz) 0.20(50Hz) 0.22(60Hz) 0.65(50Hz) 0.80(60Hz) 0.21(50Hz) 0.25(60Hz)
42(50Hz) 1-phase 200 to 220VAC 50Hz 54(60hz) 3-phase 200 to 230VAC 60Hz 62(50Hz) 3-phase 380 to 440VAC 50Hz 76(60Hz) 3-phase 380 to 480VAC 60Hz 65(50Hz) 3-phase 380 to 460VAC 50Hz 85(60Hz) 3-phase 380 to 480VAC 110(50Hz) 60Hz 150(60Hz)
HA-LP8014, 12K14, 11K1M4, 15K1M4, 15K24, 22K24 HA-LP15K14, 20K14, 22K1M4 HA-LP25K14
0.14(50Hz) 0.11(60Hz)
0.12(50Hz) 0.14(60Hz) 0.20(50Hz) 0.22(60Hz)
Motor thermal relay
OHS1
OHS2
OHS1 OHS2 are opened when heat is generated to an abnormal temperature. Maximum rating: 125V AC/DC, 3A or 250V AC/DC, 2A Minimum rating: 6V AC/DC, 0.15A For grounding, connect to the earth of the control box via the earth terminal of the servo amplifier.
Earth terminal
Note. There is no BW when the power supply of the cooling fan is a 1-phase.
3 - 45
3.11 Servo motor with electromagnetic brake 3.11.1 Safety precautions Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1).
Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR). Servo motor RA EM1 24VDC Electromagnetic brake Circuit must be opened during forced stop (EM1).
CAUTION
The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking. Before performing the operation, be sure to confirm that the electromagnetic brake operates properly. POINT Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as the power supply capacity and operation delay time of the electromagnetic brake. Note the following when the servo motor equipped with electromagnetic brake is used : 1) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. 2) The brake will operate when the power (24VDC) switches off. 3) Switch off the servo-on command after the servo motor has stopped. (1) Connection diagram
Servo amplifier 24VDC
DOCOM DICOM
Electromagnetic Trouble Forced brake (ALM) stop
Servo motor B1
MBR
RA1
24VDC B2
(2) Setting In parameter No.PC02 (electromagnetic brake sequence output), set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in section 3.11.2.
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3.11.2 Timing charts (1) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting Servo motor speed 0 r/min (95ms) Base circuit ON OFF Invalid(ON) (95ms) Electromagnetic brake operation delay time Tb
Electromagnetic
brake interlock (MBR) Valid(OFF) Servo-on command (from controller) ON OFF
(2) Forced stop command (from controller) or forced stop (EM1) ON/OFF
Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake release (210ms)
Servo motor speed (10ms) Base circuit Electromagnetic brake interlock (MBR) Forced stop command (from controller) or Forced stop (EM1) ON OFF Invalid (ON) Valid (OFF) Invalid (ON) Valid (OFF)
(210ms)
Electromagnetic brake operation delay time
3 - 47
(3) Alarm occurrence

Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake
(10ms)
Servo motor speed
Base circuit
ON OFF
Invalid(ON) Electromagnetic brake interlock (MBR) Valid(OFF) No Alarm Yes
(4) Both main and control circuit power supplies off

(10ms) Servo motor speed ON Base circuit OFF Invalid (ON) Electromagnetic brake interlock (MBR) Valid (OFF) No Alarm Main circuit power Control circuit Yes ON OFF 10ms
(Note) 15 to 100ms
Electromagnetic brake operation delay time (Note2)
Note: Changes with the operating status.
(5) Only main circuit power supply off (control circuit power supply remains on)
(10ms) Servo motor speed
(Note 1) 15ms or more
Base circuit
ON OFF Invalid(ON) Valid(OFF) No Yes
Electromagnetic brake interlock (MBR) Alarm
Electromagnetic brake operation delay time (Note 2)
ON Main circuit power OFF supply
Note: 1. Changes with the operating status. 2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (E9) occurs and the alarm (ALM) does not turn off.
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3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to section 3.10.2 (2).
(1) When cable length is 10m or less

24VDC power supply for electromagnetic brake 10m or less MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL M-A1-L M-A2-L M-A1-H Servo motor M-A2-H (Note2) AWG20 B1 AWG20 B2
(Note 3) Electromagnetic Trouble Forced stop brake (MBR) (ALM) (EM1) (Note 1)
Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3.
When fabricating the motor brake cable MR-BKS1CBL- M-H, refer to section 11.1.4. (2) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In this case, the motor brake cable should be within 2m long. Refer to section 11.8 for the wire used for the extension cable.
2m or less MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L 24VDC power 50m or less MR-BKS1CBL2M-A1-H supply for Extension cable (To be fabricated) MR-BKS1CBL2M-A2-H electromagnetic MR-BKS2CBL03M-A1-L Servo motor (Note 4) brake MR-BKS2CBL03M-A2-L Electromagnetic Trouble Forced stop (Note 3) brake (MBR) (ALM) (EM1) AWG20 B1 (Note 1) AWG20 B2
(Note 2) a) Relay connector for extension cable
(Note 2) b) Relay connector for motor brake cable
Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Protective Structure IP65
Wire size: S, M, L
Relay Connector a) Relay connector for CM10-CR2P(DDK) extension cable b) Relay connector for CM10-SP2Smotor brake cable (DDK)
Description
IP65
Wire size: S, M, L
3. There is no polarity in electromagnetic brake terminals (B1 and B2). 4.
3 - 49
3.12 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box.
WARNING
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable 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 always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box MC Line filter Servo motor Servo amplifier L1 (Note) Power supply
Encoder
NFB
CN2
L2 L3 L11 L21 U V W CN1A U V W M
Servo system controller
Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel. Outer box
Protective earth(PE)
Note: For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
3 - 50
3.13 Control axis selection POINT The control axis number set to rotary axis setting switch (SW1) should be the same as the one set to the servo system controller.
Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the SSCNET cable connection sequence.
Rotary axis setting switch (SW1)
(Note) SW2 Spare (Be sure to set to the "Down" position.) Up Down Test operation select switch (SW2-1) Set the test operation select switch to the "Up" position, when performing the test operation mode by using MR Configurator.
7 8 9
3 4 5 6
B C DE
2
F 0 1
Note. This table indicates the status when the switch is set to "Down". (Default) Spare Rotary axis setting switch (SW1) 0 1 2 3 4 5 Down (Be sure to set to the "Down" position.) 6 7 8 9 A B C D E F Description Axis No.1 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.7 Axis No.8 Axis No.9 Axis No.10 Axis No.11 Axis No.12 Axis No.13 Axis No.14 Axis No.15 Axis No.16 Display 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16
3 - 51
MEMO
3 - 52
4. STARTUP
4. STARTUP WARNING
Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
CAUTION
4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure
Wiring check
Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section 4.1.2.) Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1.3.) Confirm that the axis No. settings for rotary axis setting switch (SW1) and servo system controller are consistent. (Refer to section 3.12) Set the parameters as necessary, such as the used control mode and regenerative option selection. (Refer to chapter 5) For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.5) For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly. Connect the servo motor with the machine, give operation commands from the host command device, and check machine motions. Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Surrounding environment check
Axis No. settings
Parameter setting
Test operation of servo motor alone in test operation mode
Test operation of servo motor alone by commands
Test operation with servo motor and machine connected
Gain adjustment Actual operation Stop
Stop giving commands and stop operation.
4- 1
4. STARTUP
4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.) (b) Connection of servo amplifier and servo motor 1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
Servo amplifier U V W U V W Servo motor
2) The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor.
Servo amplifier Servo motor M U V W U V W
3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
Servo amplifier Servo motor
4) P1-P2 (For 11kW or more, P1-P) should be connected.

Servo amplifier P1 P2
(c) When option and auxiliary equipment are used 1) When regenerative option is used under 3.5kW for 200V class and 2kW for 400V class The lead between P terminal and D terminal of CNP2 connector should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used. (Refer to section 11.2)
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4. STARTUP
2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and D terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to section 11.2) 3) When brake unit and power supply return converter are used over 5kW The lead of built-in regenerative resistor connected to P terminal and D terminal of TE1 terminal block should not be connected. Brake unit, power supply return converter or power regeneration common converter should be connected to P terminal and N terminal. (Refer to section 11.3 to 11.5) 4) The power factor improving DC reactor should be connected across P1-P2 (For 11kW to 22kW, P1-P). (Refer to section 11.13.)
Power factor Servo amplifier improving DC reactor P1 (Note) P2
Note. Always disconnect the wiring across P1-P2. (For 11k to 22kW P1-P)
(2) I/O signal wiring (a) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to perform a wiring check. In this case, switch on the control circuit power supply only. (b) 24VDC or higher voltage is not applied to the pins of connectors CN3. (c) SD and DOCOM of connector CN3 is not shorted.
Servo amplifier CN3
DOCOM SD
4.1.3 Surrounding environment (1) Cable routing (a) The wiring cables are free from excessive force. (b) The encoder cable should not be used in excess of its flex life. (Refer to section 10.4.) (c) The connector part of the servo motor should not be strained. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
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4. STARTUP
4.2 Start up Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (1) Power on When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop. (2) Parameter setting Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the parameter definitions.
Parameter No. PA14 PA08 PA09 Name Rotation direction setting Auto tuning mode Auto tuning response 12 Setting 0 1 Description Increase in positioning address rotates the motor in the CCW direction. Used. Slow response (initial value) is selected.
After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid. (3) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control circuit power supply. 2) The controller transmits the servo-on command. When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (4) Home position return Always perform home position return before starting positioning operation. (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to section 3.10.
Operation/command Servo off command Servo system controller Forced stop command Stopping condition The base circuit is shut off and the servo motor coasts. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller forced stop warning (E7) occurs. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6) occurs.
Alarm occurrence Servo amplifier Forced stop (EM1) OFF
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4. STARTUP
4.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm. (1) Display sequence
Servo amplifier power ON Waiting for servo system controller power to switch ON (SSCNET communication) Servo system controller power ON (SSCNET communication beginning)
Initial data communication with servo system controller (Initialization communication)
(Note3)
Ready OFF/servo OFF
(Note1) When alarm warning No. is displayed At occurrence of overload Flicker display At occurrence of overload warning (Note2) Flicker display During controller forced stop Flicker display During forced stop Flicker display Alarm reset or warning
Ready ON
When alarm occurs, alarm code appears.
(Note3) Servo ON
Ready ON/servo OFF
(Note3)
Ready ON/servo ON
Ordinary operation
Servo system controller power OFF
Servo system controller power ON Note 1. Only alarm and warning No. are displayed, but no axis No. is displayed 2. If warning other than E6 or E7 occurs during the servo on, flickering the second place of decimal point indicates that it is during the servo on. 3. The right-hand segments of b01, c02 and d16 indicate the axis number. (Below example indicates Axis1) 1 axis 2 axis 16 axis
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4. STARTUP
(2) Indication list

Indication Status Description Power of the servo amplifier was switched on at the condition that the power of servo system controller is OFF. The axis No. set to the servo system controller does not match the axis No. set with the rotary axis setting switch (SW1) of the servo amplifier. A servo amplifier fault occurred or an error took place in communication with the servo system controller. In this case, the indication changes: "Ab " "AC " "Ad " "Ab " The servo system controller is faulty. During initial setting for communication specifications Initial setting for communication specifications completed, and then it synchronized with servo system controller. During initial parameter setting communication with servo system controller During motor encoder information and telecommunication with servo system controller During initial signal data communication with servo system controller During the completion process for initial data communication with servo system controller The power supply of servo system controller is turned off during the power supply of servo amplifier is on. The ready off signal from the servo system controller was received. The ready off signal from the servo system controller was received. The ready off signal from the servo system controller was received. The alarm No./warning No. that occurred is displayed. (Refer to section 9.1.) CPU watchdog error has occurred. JOG operation, positioning operation, programmed operation, DO forced output.
A b
Initializing
A b AC A d AE A F AH AA
. Initializing
Initializing Initializing Initializing Initializing Initializing completion Initializing standby
(Note 1) b # # Ready OFF (Note 1) d # # Servo ON (Note 1) C # # Servo OFF (Note 2) (Note 3) b 0 0. (Note 1) b # #. (Note 3) d # #. Test operation mode
C # #.
Alarm
Warning
8 8 8 CPU Error
Motor-less operation
Note: 1. ## denotes any of numerals 00 to 16 and what it means is listed below: # 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 2. ** indicates the warning/alarm No. 3. Requires the MR Configurator. Description Set to the test operation mode. First axis Second axis Third axis Fourth axis Fifth axis Sixth axis Seventh axis Eighth axis Ninth axis Tenth axis Eleventh axis Twelfth axis Thirteenth axis Fourteenth axis Fifteenth axis Sixteenth axis
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4. STARTUP
4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier. POINT If necessary, verify controller program by using motorless operation. Refer to section 4.5.2 for the motorless operation.
Test operation of servo motor alone in JOG operation of test operation mode
In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly. Refer to section 4.5 for the test operation mode. In this step, confirm that the servo motor rotates correctly under the commands from the controller. Make sure that the servo motor rotates in the following procedure. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check the input signal. In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device. Make sure that the servo motor rotates in the following procedure. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, command pulse frequency, load ratio, etc. Then, check automatic operation with the program of the command device.
Test operation of servo motor alone by commands
Test operation with servo motor and machine connected
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4. STARTUP
4.5 Test operation mode The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop. POINT The content described in this section indicates the environment that servo amplifier and personal computer are directly connected. By using a personal computer and the MR Configurator, you can execute jog operation, positioning operation, DO forced output program operation without connecting the servo system controller. 4.5.1 Test operation mode in MR Configurator (1) Test operation mode (a) Jog operation Jog operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the jog operation screen of the MR Configurator. 1) Operation pattern
Item Speed [r/min] Acceleration/deceleration time constant [ms] Initial value 200 1000 Setting range 0 to max. speed 0 to 50000
CAUTION
2) Operation method
Operation Forward rotation start Reverse rotation start Stop Screen control Click the "Forward" button. Click the "Reverse" button. Click the "Stop" button.
(b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the MR Configurator. 1) Operation pattern
Item Travel [pulse] Speed [r/min] Acceleration/deceleration time constant [ms] Initial value 4000 200 1000 Setting range 0 to 99999999 0 to max. speed 0 to 50000
2) Operation method
Operation Forward rotation start Reverse rotation start Pause Screen control Click the "Forward" button. Click the "Reverse" button. Click the "Pause" button.
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4. STARTUP
(c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the MR Configurator. For full information, refer to the MR Configurator Installation Guide.
Operation Start Stop Screen control Click the "Start" button. Click the "Reset" button.
(d) Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of the MR Configurator. (2) Operation procedure (a) Jog operation, positioning operation, program operation, DO forced output. 1) Switch power off. 2) Set SW2-1 to "UP".
SW2 Set SW2-1 to "UP" UP DOWN 1 2
When SW1 and SW2-1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed. 3) Switch servo amplifier power on. When initialization is over, the display shows the following screen:
Decimal point flickers.
4) Perform operation with the personal computer.
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4. STARTUP
4.5.2 Motorless operation in controller POINT Use motor-less operation which is available by making the servo system controller parameter setting. Motorless operation is done while connected with the servo system controller. (1) Motorless operation Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the servo system controller. For stopping the motorless operation, set the selection of motorless operation to [Invalid] in servo parameter setting of servo system controller. Motorless operation will be invalid condition after switching on power supply next time. (a) Load conditions
Load Item Load torque Load inertia moment ratio Condition 0 Same as servo motor inertia moment
(b) Alarms The following alarms and warning do not occur. However, the other alarms and warnings occur as when the servo motor is connected: Encoder error 1 (16) Converter error (1B) (Note 1) Encoder error 2 (20) Converter warning (9C) (Note 1) Absolute position erasure (25) Main circuit off warning (E9) (Note 2) Battery cable breakage warning (92) Battery warning (9F)
Note 1. Alarm and warning for the drive units of 30kW or more. For details, refer to section 13.6.2. 2. Main circuit off warning (E9) does not occur only when the forced stop of the converter unit is enabled as the cause of occurrence with the drive unit of 30kW or more. Main circuit of warning, otherwise, occurs when the cause of occurrence with the drive unit of 30kW or more is other than above, or with the servo amplifier of 22 kW or less.
(2) Operating procedure 1) Switch off servo amplifier 2) Set parameter No.PC05 to "1", change test operation mode switch (SW2-1) to normal condition side "Down", and then turn on the power supply.
SW2 UP Set SW2-1 to "DOWN" 1 2 DOWN
3) Perform motor-less operation with the personal computer. The display shows the following screen:
Decimal point flickers.
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5. PARAMETERS
5. PARAMETERS CAUTION
Never adjust or change the parameter values extremely as it will make operation instable.
In this servo amplifier, the parameters are classified into the following groups on a function basis.
Parameter Group Basic setting parameters (No. PA ) Gain/filter parameters (No. PB ) Extension setting parameters (No. PC ) I/O setting parameters (No. PD ) Main Description Make basic setting with these parameters. Generally, the operation is possible only with these parameter settings. Use these parameters when making gain adjustment manually. When changing settings such as analog monitor output signal or encoder electromagnetic brake sequence output, use these parameters. Use these parameters when changing the I/O signals of the servo amplifier.
Mainly setting the basic setting parameters (No. PA time of introduction. 5.1 Basic setting parameters (No.PA )
) allows the setting of the basic parameters at the
POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again. Never change parameters for manufacturer setting. 5.1.1 Parameter list
No. PA01 PA02 PA03 PA05 PA06 PA07 PA08 PA09 PA10 PA11 PA12 PA13 PA14 PA15 PA16 PA17 PA18 PA19 *BLK Parameter write inhibit *POL *ENR Rotation direction selection Encoder output pulses For manufacturer setting ATU RSP INP Auto tuning mode Auto tuning response In-position range For manufacturer setting *ABS Symbol For manufacturer setting **REG Regenerative option Absolute position detection system For manufacturer setting Name Initial Value 0000h 0000h 0000h 0000h 0 1 1 0001h 12 100 1000.0 1000.0 0000h 0 4000 0 0000h 0000h 000Bh pulse/rev pulse % % Unit
PA04 *AOP1 Function selection A-1
5- 1
5. PARAMETERS
5.1.2 Parameter write inhibit

Parameter No. PA19 Symbol *BLK Parameter write inhibit Name Initial Value 000Bh Unit Setting Range Refer to the text.
POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No. PA19, write can be disabled to prevent accidental changes. The following table indicates the parameters which are enabled for reference and write by the setting of parameter No. PA19. Operation can be performed for the parameters marked .
Parameter No. PA19 Setting 0000h 000Bh (initial value) 000Ch Setting Operation Reference Write Reference Write Reference Write Reference 100Bh Write Reference 100Ch Write Parameter No. PA19 only Parameter No. PA19 only Basic Setting Parameters No. PA Gain/Filter Parameters No. PB Extension Setting Parameters No. PC I/O Setting Parameters No. PD
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5. PARAMETERS
5.1.3 Selection of regenerative option

Parameter No. PA02 Symbol **REG Regenerative option Name Initial Value 0000h Unit Setting Range Refer to the text.
POINT This parameter value and switch power off once, then switch it on again to make that parameter setting valid. Wrong setting may cause the regenerative option to burn. If the regenerative option selected is not for use with the servo amplifier, parameter error (37) occurs. For a drive unit of 30kW or more, always set the parameter to " selecting regenerative option is carried out by the converter unit. 00" since
Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power regeneration common converter.
Parameter No. PA02
0 0
Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. For a drive unit of 30kW or more, select regenerative option by the converter unit. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fanis required) 84: MR-RB34-4(Cooling fanis required) 85: MR-RB54-4(Cooling fanis required) FA: When the supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW.
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5. PARAMETERS
5.1.4 Using absolute position detection system

Parameter No. PA03 Symbol *ABS Name Absolute position detection system Initial Value 0000h Unit Setting Range Refer to the text.
POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. This parameter cannot be used in the speed control mode. Set this parameter when using the absolute position detection system in the position control mode.
Parameter No. PA03
0 0 0
Selection of absolute position detection system (refer to chapter 12) 0: Used in incremental system 1: Used in absolute position detection system
5.1.5 Forced stop input selection

Parameter No. Symbol Name PA04 *AOP1 Function selection A-1 Initial Value 0000h Unit Setting Range Refer to the text.
POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. The servo forced stop function is avoidable.
Parameter No.PA04
0 0
Selection of servo forced stop 0: Valid (Forced stop (EM1) is used.) 1: Invalid (Forced stop (EM1) is not used.)
When not using the forced stop (EM1) of servo amplifier, set the selection of servo forced stop to Invalid ( 1 ). At this time, the forced stop (EM1) automatically turns on inside the servo amplifier.
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5. PARAMETERS
5.1.6 Auto tuning

Parameter No. PA08 PA09 Symbol ATU RSP Auto tuning mode Auto tuning response Name Initial Value 0001h 12 Unit Setting Range Refer to the text. 1 to 32
Make gain adjustment using auto tuning. Refer to section 6.2 for details. (1) Auto tuning mode (parameter No. PA08) Select the gain adjustment mode.
Parameter No. PA08
0 0 0
Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No. (Note) 0 1 2 3 Interpolation mode Auto tuning mode 1 Auto tuning mode 2 Manual mode PB06 PB08 PB09 PB10 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10
Note. The parameters have the following names. Parameter No. PB06 PB07 PB08 PB09 PB10 Model loop gain Position loop gain Speed loop gain Speed integral compensation Name Ratio of load inertia moment to servo motor inertia moment
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5. PARAMETERS
(2) Auto tuning response (parameter No. PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value.
Setting 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Middle response Response Low response Guideline for Machine Resonance Frequency [Hz] 10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9 37.0 41.7 47.0 52.9 59.6 Setting 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Middle response Response Low response Guideline for Machine Resonance Frequency [Hz] 67.1 75.6 85.2 95.9 108.0 121.7 137.1 154.4 173.9 195.9 220.6 248.5 279.9 315.3 355.1 400.0
5.1.7 In-position range

Parameter No. PA10 Symbol INP In-position range Name Initial Value 100 Unit pulse Setting Range 0 to 65535
POINT This parameter cannot be used in the speed control mode. Set the range, where ln position (INP) is output, in the command pulse unit.
Servo motor droop pulse Command pulse Droop pulse Command pulse In-position range [pulse]
In position (INP)
ON OFF
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5. PARAMETERS
5.1.8 Selection of servo motor rotation direction

Parameter No. PA14 Symbol *POL Rotation direction selection Name Initial Value 0 Unit Setting Range 0 1
POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select servo motor rotation direction relative.
Parameter No. PA14 Setting 0 1 Servo Motor Rotation Direction When positioning address increases CCW CW When positioning address decreases CW CCW
Forward rotation (CCW)
Reverse rotation (CW)
5.1.9 Encoder output pulse

Parameter No. PA15 Symbol *ENR Encoder output pulse Name Initial Value 4000 Unit pulse/rev Setting Range 1 to 65535
POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No. PC03 to choose the output pulse setting or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.
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5. PARAMETERS
(1) For output pulse designation Set " 0 " (initial value) in parameter No. PC03. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated below: A B-phase output pulses 5600 1400[pulse] 4
(2) For output division ratio setting 1 " in parameter No. PC03. Set " The number of pulses per servo motor revolution is divided by the set value. Output pulse Resolution per servo motor revolution [pulses/rev] Set value For instance, set "8" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated below:
A B-phase output pulses 262144 1 8 4 8192[pulse]
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5. PARAMETERS
5.2 Gain/filter parameters (No. PB
POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. 5.2.1 Parameter list
No. PB01 PB02 Symbol FILT VRFT Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control filter tuning mode (advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch form selection 1 Machine resonance suppression filter 2 Notch form selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Initial Value 0000h 0000h 0 0 500 7.0 24 37 823 33.7 980 0 4500 0000h 4500 0000h 3141 100.0 100.0 0.00 0.00 0000h 0000h 0000h 0000h 10 1 7.0 37 823 33.7 100.0 100.0 0.00 0.00 100 0.0 0.0 0.0 1125 % times rad/s rad/s rad/s ms Unit
PB03 PB04 FFC PB05 PB06 GD2 PB07 PG1 PB08 PG2 PB09 VG2 PB10 VIC PB11 VDC PB12 PB13 NH1 PB14 NHQ1 PB15 NH2 PB16 NHQ2 PB17 PB18 LPF PB19 VRF1 PB20 VRF2 PB21 PB22 PB23 VFBF Low-pass filter selection PB24 *MVS Slight vibration suppression control selection PB25 For manufacturer setting PB26 *CDP Gain changing selection PB27 CDL Gain changing condition PB28 CDT Gain changing time constant PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB33 VRF1B Gain changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration suppression control resonance frequency setting PB35 For manufacturer setting PB36 PB37 PB38 PB39 PB40 PB41
Hz Hz
rad/s Hz Hz
ms times rad/s rad/s ms Hz Hz
5- 9
5. PARAMETERS
No. PB42 PB43 PB44 PB45
Symbol For manufacturer setting
Name
Initial Value 1125 0004h 0.0 0000h
Unit
5.2.2 Detail list

No. PB01 Symbol FILT Name and Function Adaptive tuning mode (adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No. PB13) and notch shape selection (parameter No. PB14).
Response of mechanical system
Initial Value 0000h
Unit
Setting Range
Machine resonance point
Frequency
Notch depth
Notch frequency
Frequency
0 0 0
Filter tuning mode selection
Setting 0 1 2
Filter adjustment mode Filter OFF Filter tuning mode Manual mode
Automatically set parameter (Note) Parameter No. PB13 Parameter No. PB14
Note. Parameter No. PB13 and PB14 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the filter tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the machine resonance suppression filter 1 and notch shape selection. However, this does not occur when the servo off.
5 - 10
5. PARAMETERS
No.
Symbol
Name and Function Vibration suppression control tuning mode (advanced vibration suppression control) This parameter cannot be used in the speed control mode. The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning. Setting this parameter to " 1" (vibration suppression control tuning mode) automatically changes the vibration suppression control vibration frequency (parameter No. PB19) and vibration suppression control resonance frequency (parameter No. PB20) after positioning is done the predetermined number of times.
Droop pulse Command Machine end position Automatic adjustment Droop pulse Command Machine end position
Initial Value 0000h
Unit
Setting Range
PB02 VRFT
0 0 0
Vibration suppression control tuning mode
Setting 0
Vibration suppression control tuning mode Vibration suppression control OFF Vibration suppression control tuning mode (Advanced vibration suppression control) Manual mode
Automatically set parameter (Note)
Parameter No. PB19 Parameter No. PB20
Note. Parameter No. PB19 and PB20 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the vibration suppression control tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the vibration suppression control vibration frequency and vibration suppression control resonance frequency. However, this does not occur when the servo off. PB03 PB04 FFC For manufacturer setting Do not change this value by any means. Feed forward gain This parameter cannot be used in the speed control mode. Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed. For manufacturer setting Do not change this value by any means. 0
0 to 100
PB05
500
5 - 11
5. PARAMETERS
No. PB06
Symbol GD2
Name and Function Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1) In this case, it varies between 0 and 100.0. When parameter No. PA08 is set to " 2" or " 3", this parameter can be set manually. Model loop gain Set the response gain up to the target position. Increase the gain to improve track ability in response to the command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used. When parameter No. PA08 is set to " 1" or " 3", this parameter can be set manually. Position loop gain This parameter cannot be used in the speed control mode. Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No. PA08 is set to " 3", this parameter can be set manually. Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No. PA08 is set to " 3", this parameter can be set manually. Speed integral compensation Used to set the integral time constant of the speed loop. Lower setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No. PA08 is set to " 3", this parameter can be set manually. Speed differential compensation Used to set the differential compensation. When parameter No. PB24 is set to " 3 ", this parameter is made valid. When parameter No. PA08 is set to " 0 ", this parameter is made valid by instructions of controller. For manufacturer setting Do not change this value by any means.
Initial Value 7.0
Unit times
Setting Range 0 to 300.0
PB07
PG1
24
rad/s
1 to 2000
PB08
PG2
37
rad/s
1 to 1000
PB09
VG2
823
rad/s
20 to 50000
PB10
VIC
33.7
ms
0.1 to 1000.0
PB11
VDC
980
0 to 1000
PB12 PB13 NH1
0 4500 Hz 100 to 4500
Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1. Setting parameter No. PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No. PB01 setting is " 0", the setting of this parameter is ignored.
5 - 12
5. PARAMETERS
No.
Symbol
Name and Function Notch shape selection 1 Used to selection the machine resonance suppression filter 1.
Initial Value 0000h
Unit
Setting Range Refer to Name and function column.
PB14 NHQ1
0
Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Notch width Setting value Width 0 Standard 1 to 2 3 Wide Gain 40dB 14dB 8dB 4dB
2 3 4 5
Setting parameter No. PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No. PB01 setting is " 0", the setting of this parameter is ignored. PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2. Set parameter No. PB16 (notch shape selection 2) to " 1" to make this parameter valid. Notch shape selection 2 Select the shape of the machine resonance suppression filter 2. 4500 Hz 100 to 4500
PB16 NHQ2
0000h
0
Machine resonance suppression filter 2 selection 0: Invalid 1: Valid Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Notch width Setting value Width 0 Standard 1 to 2 3 Wide
Refer to Name and function column.
Gain 40dB 14dB 8dB 4dB
2 3 4 5
PB17
Automatic setting parameter The value of this parameter is set according to a set value of parameter No.PB06 (Ratio of load inertia moment to servo motor inertia moment).
5 - 13
5. PARAMETERS
No. PB18
Symbol LPF
Name and Function Low-pass filter setting Set the low-pass filter. Setting parameter No. PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No. PB23 is set to " 1 ", this parameter can be set manually. Vibration suppression control vibration frequency setting This parameter cannot be used in the speed control mode. Set the vibration frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration. (Refer to section 7.4.(4)) Setting parameter No. PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No. PB02 is set to " 2", this parameter can be set manually. Vibration suppression control resonance frequency setting This parameter cannot be used in the speed control mode. Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. (Refer to section 7.4.(4)) Setting parameter No. PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No. PB02 is set to " 2", this parameter can be set manually. For manufacturer setting Do not change this value by any means.
Initial Value 3141
Unit rad/s
Setting Range 100 to 18000
PB19
VRF1
100.0
Hz
0.1 to 100.0
PB20
VRF2
100.0
Hz
0.1 to 100.0
PB21 PB22 PB23 VFBF
0.00 0.00 0000h Refer to Name and function column.
Low-pass filter selection Select the low-pass filter.
0 0
0
Low-pass filter selection 0: Automatic setting 1: Manual setting (parameter No. PB18 setting)
When automatic setting has been selected, select the filter that has the band width VG2 10 close to the one calculated with [rad/s] 1 + GD2 PB24 *MVS Slight vibration suppression control selection Select the slight vibration suppression control and PI-PID change. When parameter No. PA08 (auto tuning mode) is set to " 3", this parameter is made valid. (Slight vibration suppression control cannot be used in the speed control mode.) 0000h Refer to Name and function column.
0 0
Slight vibration suppression control selection 0: Invalid 1: Valid PI-PID control switch over selection 0: PI control is valid. (Switching to PID control is possible with instructions of controller.) 3: PID control is always valid.
PB25
For manufacturer setting Do not change this value by any means.
0000h
5 - 14
5. PARAMETERS
No. PB26
Symbol *CDP
Name and Function Gain changing selection Select the gain changing condition. (Refer to section 7.6.)
Initial Value 0000h
Unit
0 0
Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No. PB29 to PB32 settings. 0: Invalid 1: Control instructions from a controller. 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (For control instructions from a controller, valid with ON) 1: Valid at less than condition (For control instructions from a controller, valid with OFF)
PB27
CDL
Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. PB26.The set value unit changes with the changing condition item. (Refer to section 7.6.) Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No. PB26 and PB27. (Refer to section 7.6.) Gain changing ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). Gain changing position loop gain This parameter cannot be used in the speed control mode. Set the position loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). Gain changing speed loop gain Set the speed loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3).
10
kpps pulse r/min ms
0 to 9999 0 to 100 0 to 300.0
PB28
CDT
PB29 GD2B
7.0
times
PB30 PG2B
37
rad/s
1 to 2000
PB31 VG2B
823
rad/s
20 to 20000 0.1 to 5000.0 0.1 to 100.0
PB32
VICB
33.7
ms
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting This parameter cannot be used in the speed control mode. Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No. PB02 setting is " 2" and the parameter No. PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped.
100.0
Hz
5 - 15
5. PARAMETERS
No.
Symbol
Name and Function
Initial Value 100.0
Unit Hz
Setting Range 0.1 to 100.0
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting This parameter cannot be used in the speed control mode. Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No. PB02 setting is " 2" and the parameter No. PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. PB35 PB36 PB37 PB38 PB39 PB40 PB41 PB42 PB43 PB44 PB45 For manufacturer setting Do not change this value by any means.
0.00 0.00 100 0.0 0.0 0.0 1125 1125 0004h 0.0 0000h
5 - 16
5. PARAMETERS
5.3 Extension setting parameters (No. PC
POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again. 5.3.1 Parameter list
No. PC01 PC02 Symbol ERZ MBR Error excessive alarm level Electromagnetic brake sequence output Name Initial Value 3 0 0000h 0000h 0000h 0000h 50 0 0000h 0001h 0 0 0 0 0 0000h 0000h 0000h 0000h 0000h *BPS Alarm history clear For manufacturer setting 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h For manufacturer setting mV mV pulse 10000 pulse r/min Unit rev ms
PC03 *ENRS Encoder output pulses selection PC04 **COP1 Function selection C-1 PC05 **COP2 Function selection C-2 PC06 *COP3 Function selection C-3 PC07 PC08 PC09 PC10 PC11 PC12 ZSP Zero speed For manufacturer setting MOD1 Analog monitor 1 output MOD2 Analog monitor 2 output MO1 MO2 Analog monitor 1 offset Analog monitor 2 offset
PC13 MOSDL Analog monitor feedback position output standard data Low PC14 MOSDH Analog monitor feedback position output standard data High PC15 PC16 PC17 **COP4 Function selection C-4 PC18 PC19 PC20 PC21 PC22 PC23 PC24 PC25 PC26 PC27 PC28 PC29 PC30 PC31 PC32 For manufacturer setting
5 - 17
5. PARAMETERS
5.3.2 List of details

No. PC01 Symbol Name and Function Initial Value 3 Unit rev (Note 1) Setting Range 1 to 200
ERZ Error excessive alarm level (Note 2) This parameter cannot be used in the speed control mode. Set error excessive alarm level with rotation amount of servo motor. Note 1. Setting can be changed in parameter No.PC06. 2. For a servo amplifier with software version of B2 or later, reactivating the power supply to enable the setting value is not necessary. For a servo amplifier with software version of earlier than B2, reactivating the power supply is required to enable the setting value. MBR Electromagnetic brake sequence output Used to set the delay time (Tb) between electronic brake interlock (MBR) and the base drive circuit is shut-off.
PC02
ms
0 to 1000 Refer to Name and function column.
PC03 *ENRS Encoder output pulse selection Use to select the, encoder output pulse direction and encoder pulse output setting.
0000h
0 0
Encoder pulse output phase changing Changes the phases of A, B-phase encoder pulses output . Set value 0 A phase B phase A phase B phase Servo motor rotation direction CCW CW A phase B phase A phase B phase
Encoder output pulse setting selection (refer to parameter No. PA15) 0: Output pulse designation 1: Division ratio setting
PC04 **COP1 Function selection C-1 Select the encoder cable communication system selection.
0000h
0 0 0
Encoder cable communication system selection 0: Two-wire type 1: Four-wire type The following encoder cables are of 4-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H The other encoder cables are all of 2-wire type. Incorrect setting will result in an encoder alarm 1 (16) or encoder alarm 2 (20).
PC05 **COP2 Function selection C-2 Motor-less operation select.
0000h
0 0 0
Motor-less operation select. 0: Valid 1: Invalid
5 - 18
5. PARAMETERS
No.
Symbol
Name and Function
Initial Value 0000h
Unit
PC06 *COP3 Function selection C-3 Select the error excessive alarm level setting for parameter No.PC01.
0 0 0
Error excessive alarm level setting selection 0: 1 [rev]unit 1: 0.1 [rev]unit 2: 0.01 [rev]unit 3: 0.001[rev]unit
This parameter is available to software version B1 or later. Zero speed Used to set the output range of the zero speed (ZSP). Zero speed signal detection has hysteresis width of 20r/min (Refer to section 3.5 (2) (b)) PC08 For manufacturer setting Do not change this value by any means. PC09 MOD1 Analog monitor 1 output Used to selection the signal provided to the analog monitor 1 (MO1) output. (Refer to section 5.3.3) PC07 ZSP
50
r/min
0 to 10000
0 0000h Refer to Name and function column.
0 0 0
Analog monitor 1 (MO1) output selection Setting 0 1 2 3 4 5 6 7 8 9 A B C D Item Servo motor speed ( 8V/max. speed) Torque ( 8V/max. torque) (Note 2) Servo motor speed (+8V/max. speed) Torque (+8V/max. torque) (Note 2) Current command ( 8V/max. current command) Speed command ( 8V/max. current command) Droop pulses ( 10V/100 pulses) (Note 1) Droop pulses ( 10V/1000 pulses) (Note 1) Droop pulses ( 10V/10000 pulses) (Note 1) Droop pulses ( 10V/100000 pulses) (Note 1) Feedback position ( 10V/1 Mpulses) (Note 1, 3) Feedback position ( 10V/10 Mpulses) (Note 1, 3) Feedback position ( 10V/100 Mpulses) (Note 1, 3) Bus voltage ( 8V/400V)(Note 4)
Note 1. Encoder pulse unit. 2. 8V is outputted at the maximum torque. 3. It can be used by the absolute position detection system. 4. For 400V class servo amplifier, the bus voltage becomes 8V/800V. PC10 MOD2 Analog monitor 2 output Used to selection the signal provided to the analog monitor 2 (MO2) output. (Refer to section 5.3.3)
0001h
0 0 0
Select the analog monitor 2 (MO2) output The settings are the same as those of parameter No. PC09.
PC11
MO1
Analog monitor 1 offset Used to set the offset voltage of the analog monitor1 (MO1) output.
mV
-999 to 999
5 - 19
5. PARAMETERS
No. PC12
Symbol MO2
Name and Function Analog monitor 2 offset Used to set the offset voltage of the analog monitor2 (MO2) output.
Initial Value 0
Unit mV
Setting Range -999 to 999 -9999 to 9999
PC13 MOSDL Analog monitor feedback position output standard data Low Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 (M02). For this parameter, the lower-order four digits of standard position in decimal numbers are set. PC14 MOSDH Analog monitor feedback position output standard data High Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 (M02). For this parameter, the higher-order four digits of standard position in decimal numbers are set. PC15 PC16 For manufacturer setting Do not change this value by any means.
pulse
10000 pulse
-9999 to 9999
0 0000h 0000h Refer to Name and function column.
PC17 **COP4 Function Selection C-4 Home position setting condition in the absolute position detection system can be selected.
0 0 0
Selection of home position setting condition 0: Need to pass motor Z phase after the power supply is switched on. 1: Not need to pass motor Z phase after the power supply is switched on.
PC18 PC19 PC20 PC21 *BPS
For manufacturer setting Do not change this value by any means. Alarm history clear Used to clear the alarm history.
0000h 0000h 0000h 0000h Refer to Name and function column.
0 0 0
Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0).
PC22 PC23 PC24 PC25 PC26 PC27 PC28 PC29 PC30 PC31 PC32
0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h
5 - 20
5. PARAMETERS
5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter. (1) Setting Change the following digits of parameter No. PC09, PC10:
Parameter No. PC09
0 0 0
Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No. PC10
0 0 0
Analog monitor (MO2) output selection (Signal output to across MO2-LG)
Parameters No. PC11 and PC12 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.
Parameter No. PC11 PC12 Description Used to set the offset voltage for the analog monitor 1 (MO1). Used to set the offset voltage for the analog monitor 2 (MO2). Setting range [mV] 999 to 999
(2) Set content The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No. PC14 and PC12 value: Refer to (3) for the measurement point.
Setting 0 Output item Servo motor speed
8[V]
Description
CCW direction
Setting 1
Output item Torque (Note 3)
Description
8[V] Driving in CCW direction
Max. speed 0 Max. speed
Max. torque 0 Max. torque
CW direction
-8[V]
Driving in CW direction
-8[V]
Servo motor speed
CW direction 8[V]
CCW direction
Torque (Note 3)
Driving in CW 8[V] Driving in CCW direction direction
Max. speed
Max. speed
Max. torque
0 8[V]
Max. torque CCW direction
Current command
8[V] Max. current command (Max. torque command)
CCW direction
Speed command
Max. speed
0 Max. current command (Max. torque command)
Max. speed
CW direction
-8[V]
CW direction
-8[V]
5 - 21
5. PARAMETERS
Setting 6
Output item Droop pulses (Note 1) ( 10V/100 pulses)

100[pulse]
Description
10[V] CCW direction
Setting 7
Output item Droop pulses (Note 1) ( 10V/1000 pulses)
Description
10[V] CCW direction
1000[pulse] 0 100[pulse] 0 1000[pulse]
CW direction
-10[V] CCW direction
CW direction
Droop pulses (Note 1) ( 10V/10000 pulses)
10[V]
Droop pulses (Note 1) ( 10V/100000 pulses)
10[V]
10000[pulse] 0 10000[pulse]
100000[pulse] 0 100000[pulse]
CW direction
CW direction
Feedback position (Note 1,2) ( 10V/1 Mpulses)

1M[pulse]
10[V]

10M[pulse]
10[V]
1M[pulse]
10M[pulse]
CW direction
CW direction
-10[V]
10[V]
Bus voltage (Note 4)

8[V]
100M[pulse] 0 100M[pulse]
0
CW direction -10[V]
400[V]
Note 1. Encoder pulse unit. 2. Available in position control mode 3. Outputs 8V at the maximum torque. 4. For 400V class servo amplifier, the bus voltage becomes 8V/800V.
5 - 22
5. PARAMETERS
(3) Analog monitor block diagram
Speed command Position command received from a controller Differential
Droop pulse Speed command
Current command
Bus voltage Current encoder PWM M Servo Motor
Position control
Speed control
Current control
Current feedback
Encoder
Differential Position feedback data returned to a controller Feedback position standard position (Note) Position feedback
Servo Motor speed Feedback position
Torque
Note. The feedback position is output based on the position data passed between servo system controller and servo amplifier. The parameter number No.PC13/PC14 can set up the standard position of feedback position that is output to analog monitor in order to adjust the output range of feedback position. The setting range is between 99999999 and 99999999 pulses. Standard position of feedback position = Parameter No.PC14 setting value Parameter No. PC13 PC14 Description Sets the lower-order four digits of the standard position of feedback position Sets the higher-order four digits of the standard position of feedback position 10000 + Parameter No.PC13 setting value Setting range 9999 to 9999 [pulse] 9999 to 9999 [10000pulses]
5.3.4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using parameter No. PC21 before starting operation. Clearing the alarm history automatically returns to " 0 ". After setting, this parameter is made valid by switch power from OFF to ON.
Parameter No. PC21
0 0 0
Alarm history clear 0: Invalid (not cleared) 1: Valid (cleared)
5 - 23
5. PARAMETERS
5.4 I/O setting parameters (No. PD
POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. 5.4.1 Parameter list
No. PD01 PD02 PD03 PD04 PD05 PD06 PD07 PD08 PD09 PD10 PD11 PD12 PD13 PD14 *DOP3 Function selection D-3 PD15 PD16 PD17 PD18 PD19 PD20 PD21 PD22 PD23 PD24 PD25 PD26 PD27 PD28 PD29 PD30 PD31 PD32 For manufacturer setting *DO1 *DO2 *DO3 Output signal device selection 1 (CN3-13) Output signal device selection 2 (CN3-9) Output signal device selection 3 (CN3-15) For manufacturer setting Symbol For manufacturer setting Name Initial Value 0000h 0000h 0000h 0000h 0000h 0000h 0005h 0004h 0003h 0000h 0004h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h Unit
5 - 24
5. PARAMETERS

No. PD01 PD02 PD03 PD04 PD05 PD06 PD07 *DO1 Symbol Name and Function For manufacturer setting Do not change this value by any means. Initial Value 0000h 0000h 0000h 0000h 0000h 0000h 0005h Refer to Name and function column. Unit Setting Range
Output signal device selection 1 (CN3-13) Any input signal can be assigned to the CN3-13 pin.
0 0
Select the output device of the CN3-13 pin.
The devices that can be assigned in each control mode are those that have the symbols indicated in the following table. Setting 00 01 02 03 04 05 06 07 08 09 Device Always OFF For manufacturer setting (Note 3) RD ALM INP (Note 1) MBR DB TLC WNG BWNG Setting 0A 0B 0C 0D 0E 0F 10 11 12 to 1F 20 to 3F Device Always OFF (Note 2) For manufacturer setting (Note 3) ZSP For manufacturer setting (Note 3) For manufacturer setting (Note 3) CDPS For manufacturer setting (Note 3) ABSV (Note 1) For manufacturer setting (Note 3) For manufacturer setting (Note 3)
PD08
*DO2
Note 1. It becomes always OFF in speed control mode. 2. It becomes SA in speed control mode. 3. For manufacturer setting Never change this setting. Output signal device selection 2 (CN3-9) Any input signal can be assigned to the CN3-9 pin. The devices that can be assigned and the setting method are the same as in parameter No. PD07.
0004h
0 0 0
PD09
*DO3
Output signal device selection 3 (CN3-15) Any input signal can be assigned to the CN3-15 pin. The devices that can be assigned and the setting method are the same as in parameter No. PD07.
0003h
0 0 0
5 - 25
5. PARAMETERS
No. PD10 PD11 PD12 PD13
Symbol
Name and Function For manufacturer setting Do not change this value by any means.
Initial Value 0000h 0004h 0000h 0000h 0000h
Unit
Setting Range
PD14 *DOP3 Function selection D-3 Set the ALM output signal at warning occurrence.
0 0
0
Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence. Output of Servo amplifier Setting 1 WNG 0 1 ALM 0 Warning occurrence 1 WNG 0 1 ALM 0 Warning occurrence Note. 0: off 1: on (Note) Device status
PD15 PD16 PD17 PD18 PD19 PD20 PD21 PD22 PD23 PD24 PD25 PD26 PD27 PD28 PD29 PD30 PD31 PD32
0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h
5 - 26
6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods 6.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order. (1) Gain adjustment mode explanation
Gain adjustment mode Auto tuning mode 1 (initial value) Parameter No. PA08 setting 0001 Estimation of load inertia moment ratio Always estimated Automatically set parameters GD2 (parameter No. PB06) PG2 (parameter No. PB08) PG1 (parameter No. PB07) VG2 (parameter No. PB09) VIC (parameter No. PB10) Manually set parameters Response level setting of parameter No. 2
Auto tuning mode 2
0002
Fixed to parameter No. PG2 (parameter No. PB08) PG1 (parameter No. PB07) PB06 value VG2 (parameter No. PB09) VIC (parameter No. PB10)
GD2 (parameter No. PB06) Response level setting of parameter No. PA09 PG1 (parameter No. PB07) GD2 (parameter No. PB06) VG2 (parameter No. PB09) VIC (parameter No. PB10)
Manual mode
0003
Interpolation mode
0000
Always estimated
GD2 (parameter No. PB06) PG2 (parameter No. PB08) VG2 (parameter No. PB09) VIC (parameter No. PB10)
PG1 (parameter No. PB07)
6- 1
(2) Adjustment sequence and mode usage

START
Usage
Interpolation made for 2 or more axes?
Yes Interpolation mode Operation
No
Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes. Allows adjustment by merely changing the response level setting. First use this mode to make adjustment.
Auto tuning mode 1 Operation Yes No
OK? No Auto tuning mode 2 Operation
OK? Yes
Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example.
Yes
OK? No Manual mode END
You can adjust all gains manually when you want to do fast settling or the like.
6.1.2 Adjustment using MR Configurator This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator which operates on a personal computer.
Function Machine analyzer Description With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response. Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest. Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer. Adjustment You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter. You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time. You can automatically set gains which make positioning settling time shortest.
Gain search
Machine simulation
You can optimize gain adjustment and command pattern on personal computer.
6- 2
6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1. In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically. The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No. PB06 PB07 PB08 PB09 PB10 Abbreviation GD2 PG1 PG2 VG2 VIC Model loop gain Position loop gain Speed loop gain Speed integral compensation Name Ratio of load inertia moment to servo motor inertia moment
POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied. Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or less. Speed is 150r/min or higher. The ratio of load inertia moment to servo motor inertia moment is 100 times or less. The acceleration/deceleration torque is 10% or more of the rated torque. Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment. (2) Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter No. PB06). The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No. PB07 PB08 PB09 PB10 Abbreviation PG1 PG2 VG2 VIC Model loop gain Position loop gain Speed loop gain Speed integral compensation Name
6- 3
6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below.
Automatic setting Command Loop gains PG1,VG1 PG2,VG2,VIC Current control Current feedback Set 0 or 1 to turn on. Real-time auto tuning section Load inertia moment ratio estimation section Position/speed feedback Load inertia moment Servo motor Encoder
Gain table
Switch
Speed feedback
Parameter No. PA08 Parameter No. PA09
0 0 0
Gain adjustment mode selection Response setting
Parameter No. PB06 Load inertia moment ratio estimation value
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No. PB06 (the ratio of load inertia moment to servo motor). These results can be confirmed on the status display screen of the MR Configurator. If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (parameter No. PA08: 0002) to stop the estimation of the load inertia moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No. 34) manually. From the preset load inertia moment ratio (parameter No. PB06) value and response level (parameter No. PA09), the optimum loop gains are automatically set on the basis of the internal gain tale. The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value.
POINT If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No. PA08: 0002) and set the correct load inertia moment ratio in parameter No. PB06. When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load inertia moment ratio estimation value are saved in the EEP-ROM.
6- 4
6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied. (Estimation of load inertia moment ratio is difficult)
No
Yes Choose the auto tuning mode 2 (parameter No. PA08 : 0002) and set the load inertia moment ratio (parameter No. PB06) manually.
Adjust response level setting so that desired response is achieved on vibration-free level.
Acceleration/deceleration repeated
Requested performance satisfied? Yes END
No
To manual mode
6- 5
6.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range. If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No. PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.3 for filter tuning mode and machine resonance suppression filter. Setting of parameter No. PA09
Machine characteristic Response level setting 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 High Middle Machine rigidity Low Machine resonance frequency guideline 10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9 37.0 41.7 47.0 52.9 59.6 67.1 75.6 85.2 95.9 108.0 121.7 137.1 154.4 173.9 195.9 220.6 248.5 279.9 315.3 355.1 400.0
Inserter Mounter Bonder Precision working machine General machine tool conveyor Arm robot Large conveyor
Guideline of corresponding machine
6- 6

6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No. PB13 to PB16) may be used to suppress machine resonance. (Refer to section 7.3.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment:
Parameter No. PB06 PB07 PB09 PB10 Abbreviation GD2 PG1 VG2 VIC Model loop gain Speed loop gain Speed integral compensation Name Ratio of load inertia moment to servo motor inertia moment
(b) Adjustment procedure

Step 1 2 3 Operation Brief-adjust with auto tuning. Refer to section 6.2.3. Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003). Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.) Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation. Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place. Decrease the speed integral compensation within the vibration-free range, and return slightly if vibration takes place. Increase the model loop gain, and return slightly if overshooting takes place. If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 2 and 3. While checking the settling characteristic and rotational status, fine-adjust each gain. Description
4 5 6 7 8
Increase the speed loop gain. Decrease the time constant of the speed integral compensation. Increase the model loop gain. Suppression of machine resonance. Refer to section 7.2, 7.3.
Fine adjustment
6- 7
(c)Adjustment description 1) Speed loop gain (parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression:
Speed loop response frequency(Hz)
(1
Speed loop gain setting ratio of load inertia moment to servo motor inertia moment)
2) Speed integral compensation (VIC: parameter No. PB10) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression:
Speed integral compensation setting(ms) 2000 to 3000 Speed loop gain setting/ (1 ratio of load inertia moment to servo motor inertia moment setting)
3) Model loop gain (PG1: Parameter No.PB07) This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting.
Model loop gain guideline
(1
1 1 to 4 8
6- 8
(2) For position control (a) Parameters The following parameters are used for gain adjustment:
Parameter No. PB06 PB07 PB08 PB09 PB10 Abbreviation GD2 PG1 PG2 VG2 VIC Model loop gain Position loop gain Speed loop gain Speed integral compensation Name Ratio of load inertia moment to servo motor inertia moment
(b) Adjustment procedure

Step 1 2 3 Operation Brief-adjust with auto tuning. Refer to section 6.2.3. Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003). Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.) Set a slightly smaller value to the model loop gain and the position loop gain. Set a slightly larger value to the speed integral compensation. Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain. range, and return slightly if vibration takes place. Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed and return slightly if vibration takes place. integral compensation. Increase the position loop gain, and return slightly if vibration takes place. Increase the position loop gain. Increase the model loop gain, and return slightly if overshooting takes Increase the position loop gain. place. If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance. the like and the desired response cannot be achieved, response may be Refer to section 7.2 7.3. increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 3 to 5. While checking the settling characteristic and rotational status, fine-adjust Fine adjustment each gain. Description
5 6 7 8 9
10
6- 9
(c) Adjustment description 1) Speed loop gain (VG2: parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression:
Speed loop response frequency(Hz)
(1
Speed loop gain 2 setting ratio of load inertia moment to servo motor inertia moment) 2
2) Speed integral compensation (VIC: parameter No. PB10) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression:
Speed integral compensation setting(ms) 2000 to 3000 Speed loop gain 2 setting/ (1 ratio of load inertia moment to servo motor inertia moment 2 setting)
3) Model loop gain (PG1: Parameter No.PB07) This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting.
Model loop gain guideline
(1
1 1 to 4 8
4) Model loop gain (PG1: parameter No. PB07) This parameter determines the response level to a position command. Increasing position loop gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. Model loop gain guideline (1 Speed loop gain 2 setting ratio of load inertia moment to servo motor inertia moment) 1 1 to 4 8
6 - 10
6.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the model loop gain and speed loop gain which determine command track ability are set manually and the other parameter for gain adjustment are set automatically. (1) Parameter (a) Automatically adjusted parameters The following parameters are automatically adjusted by auto tuning.
Parameter No. PB06 PB08 PB09 PB10 Abbreviation GD2 PG2 VG2 VIC Name Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation
(b) Manually adjusted parameters The following parameters are adjustable manually.
Parameter No. PB07 Abbreviation PG1 Model loop gain Name
(2) Adjustment procedure

Step 1 2 3 4 5 Operation Set to the auto tuning mode. During operation, increase the response level setting (parameter No. PA09), and return the setting if vibration occurs. Check the values of model loop gain. Set the interpolation mode (parameter No. PA08: 0000). Set the model loop gain of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the smallest model loop gain. Looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting. Description Select the auto tuning mode 1. Adjustment in auto tuning mode 1. Check the upper setting limits. Select the interpolation mode. Set position loop gain.
Fine adjustment.
(3) Adjustment description (a) Model loop gain (parameter No. PB07) This parameter determines the response level of the position control loop. Increasing model loop gain improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. The droop pulse value is determined by the following expression. Rotation speed (r/min) 262144(pulse) 60 Droop pulse value (pulse) Model loop gain setting
6 - 11
6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MELSERVO-J2S-Super series. The following table lists comparison of the response level setting.
MELSERVO-J2-Super Parameter No. 9 Setting MELSERVO-J3 Guideline for Machine Resonance Guideline for Machine Resonance Parameter No. PA09 Setting Frequency [Hz] Frequency [Hz] 1 2 3 1 15 4 5 6 2 3 4 5 6 7 8 9 A B C D E F 20 25 30 35 45 55 70 85 105 130 160 200 240 300 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9 37.0 41.7 47.0 52.9 59.6 67.1 75.6 85.2 95.9 108.0 121.7 137.1 154.4 173.9 195.9 220.6 248.5 279.9 315.3 355.1 400.0
Note that because of a slight difference in gain adjustment pattern, response may not be the same if the resonance frequency is set to the same value.
6 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS

POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. 7.1 Function block diagram
Speed control
Machine resonance suppression filter
Parameter No. PB01
Parameter No. PB16
Low-pass filter
Parameter Current No.PB23 command
Servo motor
Adaptive tuning Manual setting
Machine resonance suppression filter 2
Encoder 1
7.2 Adaptive filter (1) Function Adaptive filter (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
Mechanical system response level Machine resonance point Mechanical system response Frequency level Machine resonance point
Frequency
Notch depth Notch frequency Frequency
Notch depth Notch frequency Frequency
When machine resonance is large and frequency is low
When machine resonance is small and frequency is high
POINT The machine resonance frequency which adaptive tuning mode can respond to is about 100 to 2.25kHz. Adaptive vibration suppression control has no effect on the resonance frequency outside this range. Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics. 7- 1

(2) Parameters The operation of adaptive tuning mode (parameter No. PB01).
Parameter No.60
0 0 0
Filter tuning mode selection
Setting 0 1 2
Filter adjustment mode Filter OFF Filter tuning mode Manual mode
Automatically set parameter (Note) Parameter No. PB13 Parameter No. PB14
Note. Parameter No. PB19 and PB20 are fixed to the initial values.
7- 2

(3) Adaptive tuning mode procedure
Adaptive tuning adjustment
Operation
Yes
Is the target response reached? No Increase the response setting.
Has vibration or unusual noise occurred? Yes Execute or re-execute adaptive tuning. (Set parameter No. PB01 to "0001".)
No
Tuning ends automatically after the predetermined period of time. (Parameter No. PB01 turns to "0002" or "0000".)
If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again.
Has vibration or unusual noise been resolved? No
Yes
Decrease the response until vibration or unusual noise is resolved.
Using the machine analyzer, set the filter manually.
Factor The response has increased to the machine limit. The machine is too complicated to provide the optimum filter.
End
7- 3
POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual mode. Adaptive tuning generates the optimum filter with the currently set control gains. If vibration occurs when the response setting is increased, execute adaptive tuning again. During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual mode. 7.3 Machine resonance suppression filter (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.
Mechanical system response level Machine resonance point
Frequency
Notch width Notch depth Notch depth Notch frequency Frequency
You can use the machine resonance suppression filter 1 (parameter No. PB13, PB14) and machine resonance suppression filter 2 (parameter No. PB15, PB16) to suppress the vibration of two resonance frequencies. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual mode after the predetermined period of time. The manual mode enables manual setting using the machine resonance suppression filter 1.
Machine resonance point Mechanical system response level
Frequency
Notch depth Frequency Parameter No. PB01, Parameter No. PB15, PB13, PB14 PB16
7- 4
(2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective. POINT The machine resonance suppression filter is a delay factor for the servo system. Hence, vibration may increase if you set a wrong resonance frequency or a too deep notch. If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator. This allows the required notch frequency and depth to be determined.
7- 5

7.4 Advanced vibration suppression control (1) Operation Vibration suppression control is used to further suppress machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
Position
Motor end Machine end
Position
Motor end Machine end
t
Vibration suppression control OFF (Normal control) Vibration suppression control ON
When the advanced vibration suppression control (vibration suppression control tuning mode parameter No. PB02) is executed, the vibration frequency at machine end can automatically be estimated to suppress machine end vibration. In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is performed the predetermined number of times. The manual mode enables manual setting using the vibration suppression control vibration frequency setting (parameter No. PB19) and vibration suppression control resonance frequency setting (parameter No. PB20). (2) Parameter Select the operation of the vibration suppression control tuning mode (parameter No. PB02).
Parameter No. PB02
0 0 0
Vibration suppression control tuning mode
Setting 0 1 2
Vibration Suppression Control Tuning Mode Vibration suppression control OFF Vibration suppression control tuning mode (Advanced vibration suppression control) Manual mode
Automatically Set Parameter (Note) Parameter No. PB19 Parameter No. PB20
Note. Parameter No. PB19 and PB20 are fixed to the initial values.
POINT The function is made valid when the auto tuning mode (parameter No. PA08) is the auto tuning mode 2 ("0002") or manual mode ("0003"). The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for vibration outside this range. Stop the motor before changing the vibration suppression control-related parameters (parameter No. PB02, PB19, PB20, PB33, PB34). A failure to do so will cause a shock. For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after full vibration damping. Vibration suppression control tuning may not make normal estimation if the residual vibration at the motor end is small. Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again. 7- 6
(3) Vibration suppression control tuning mode procedure

Vibration suppression control tuning adjustment
Operation
Yes
Is the target response reached? No Increase the response setting.
Has vibration of workpiece end/device increased?
No
Yes Stop operation.
Execute or re-execute vibration suppression control tuning. (Set parameter No. PB02 to "0001".)
Resume operation.
Tuning ends automatically after operation is performed the predetermined number of times. (Parameter No. PB02 turns to "0002" or "0000".)
Has vibration of workpiece end/device been resolved? No
Yes
Decrease the response until vibration of workpiece end/device is resolved.
Using the machine analyzer or from Factor Estimation cannot be made as machine end vibration waveform, set machine end vibration has not been the vibration suppression control transmitted to the motor end. manually. The response of the model loop gain has increased to the machine end vibration frequency (vibration suppression control limit).
End
7- 7
(4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No. PB19) and vibration suppression control resonance frequency (parameter No. PB20) to set vibration suppression control manually. (a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external FFT equipment
Gain characteristic
1Hz Vibration suppression control vibration frequency (Anti-resonance frequency) Parameter No. PB19
100Hz Resonance of more Vibration suppression than 100Hz is not the target of control. control resonance frequency Parameter No. PB20
Phase -90deg.
(b) When vibration can be confirmed using monitor signal or external sensor
Motor end vibration (Droop pulses) Position command frequency External acceleration pick signal, etc.
Vibration cycle [Hz]
Vibration suppression control vibration frequency Vibration suppression control resonance frequency Set the same value.
Vibration cycle [Hz]
7- 8
POINT When machine end vibration does not show up in motor end vibration, the setting of the motor end vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance. A vibration suppression control effect is not produced if the relationship between the model loop gain (parameter No. PB07) value and vibration frequency is as indicated below. Make setting after decreasing PG1, e.g. reduce the response setting. 1 (1.5 PG1) vibration frequency 2
7- 9
7.5 Low-pass filter (1) Function When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression: VG2 Filter frequency(rad/s) 10 1 + GD2
When parameter No. PB23 is set to "
", manual setting can be made with parameter No. PB18.
(2) Parameter Set the operation of the low-pass filter selection (parameter No. PB23.)
Parameter No. PB23
Low-pass filter selection 0: Automatic setting (initial value) 1: Manual setting (parameter No. PB18 setting)
7.6 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.6.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation. (2) You want to increase the gains during settling to shorten the stop settling time. (3) You want to change the gains using an external signal to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7 - 10
7.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No. PB26) and gain changing condition CDS (parameter No. PB27).
CDP Parameter No. PB26 Control command of controller Command pulse frequency Droop pulses Changing Model speed
CDS Parameter No. PB27
Comparator
GD2 Parameter No. PB06 GD2B Parameter No. PB29 PG2 Parameter No. PB08 PG2B Parameter No. PB30 VG2 Parameter No. PB09 VG2B Parameter No. PB31 VIC Parameter No. PB10 VICB Parameter No. PB32 VRF1 Parameter No. PB19 VRF1B Parameter No. PB33 VRF2 Parameter No. PB20 VRF2B Parameter No. PB34
Valid GD2 value
Valid PG2 value
Valid VG2 value
Valid VIC value
Valid VRF1 value
Valid VRF2 value
7 - 11
7.6.3 Parameters 3" in parameter No. PA08 (auto tuning) to choose When using the gain changing function, always set " the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Parameter No. Abbreviation PB06 PB07 PB08 PB09 PB10 PB29 GD2 PG1 PG2 VG2 VIC GD2B Name Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain 2 Gain changing speed loop gain 2 Gain changing speed integral compensation Gain changing selection Gain changing condition Unit times rad/s rad/s rad/s ms Used to set the ratio of load inertia moment to servo motor times inertia moment after changing. Used to set the value of the after-changing position loop gain 2. Used to set the value of the after-changing speed loop gain. Used to set the value of the after-changing speed integral compensation. Used to select the changing condition. kpps Used to set the changing condition values. pulse r/min ms Hz Hz You can set the filter time constant for a gain change at changing. Used to set the value of the after-changing vibration suppression control vibration frequency setting. Used to set the value of the after-changing vibration suppression control resonance frequency setting. Description Control parameters before changing Position and speed gains of a model used to set the response level to a command. Always valid.
PB30 PB31 PB32 PB26 PB27
PG2B VG2B VICB CDP CDS
rad/s rad/s ms
PB28 PB33 PB34
CDT VRF1B VRF2B
Gain changing time constant Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control resonance frequency setting
7 - 12
(1) Parameters No. PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed. (2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No. PB29) Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia moment (parameter No. PB06). (3) Gain changing position loop gain (parameter No. PB30), Gain changing speed loop gain (parameter No. PB31), Gain changing speed integral compensation (parameter No. PB32) Set the values of after-changing position loop gain, speed loop gain and speed integral compensation. (4) Gain changing selection (parameter No. PB26) Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If you set "1" in the first digit here, you can use the control command from controller is valid for gain changing.
0 0
Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No. PB29 to PB32 settings. 0: Invalid 1: Control command from controller is valid 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (Valid with ON for control command from controller.) 1: Valid at less than condition (Valid with OFF for control command from controller.)
(5) Gain changing condition (parameter No. PB27) When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection (parameter No. PB26), set the gain changing level. The setting unit is as follows:
Gain changing condition Command frequency Droop pulses Servo motor speed Unit kpps pulse r/min
(6) Gain changing time constant (parameter No. PB28) You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing, for example.
7 - 13
7.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting
Parameter No. Abbreviation PB07 PB06 PB08 PB09 PB10 PB29 PB30 PB31 PB32 PB26 PB28 PB33 PG1 GD2 PG2 VG2 VIC GD2B PG2B VG2B VICB CDP CDT VRF1B Model loop gain Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain Gain changing speed loop gain Gain changing speed integral compensation Gain changing selection Gain changing time constant Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control resonance frequency setting Name Setting 100 4.0 120 3000 20 10.0 84 4000 50 0001 (Changed by ON/OFF of Input signal) 100 Used to set the value of the after-changing vibration suppression control vibration frequency setting. Used to set the value of the after-changing vibration suppression control resonance frequency setting. ms Hz Unit rad/s times rad/s rad/s ms times rad/s rad/s ms
PB34
VRF2B
Hz
(b) Changing operation

Control command of controller OFF ON After-changing gain OFF
Change of each gain
Before-changing gain CDT 100ms
Model loop gain 1 Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation 4.0 120 3000 20
100 10.0 84 4000 50 4.0 120 3000 20
7 - 14
(2) When you choose changing by droop pulses (a) Setting

Parameter No. Abbreviation PB07 PB06 PB08 PB09 PB10 PB29 PB30 PB31 PB32 PB26 PB27 PB28 PG1 GD2 PG2 VG2 VIC GD2B PG2B VG2B VICB CDP CDS CDT Model loop gain Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain Gain changing speed loop gain Gain changing speed integral compensation Gain changing selection Gain changing condition Gain changing time constant Name Setting 100 4.0 120 3000 20 10.0 84 4000 50 0003 (Changed by droop pulses) 50 100 pulse ms Unit rad/s times rad/s rad/s ms times rad/s rad/s ms
(b) Changing operation

Command pulse Droop pulses
Droop pulses [pulses] 0
CDS CDS
After-changing gain
Change of each gain
Before-changing gain CDT 100ms
Model loop gain Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation 4.0 120 3000 20 10.0 84 4000 50
100 4.0 120 3000 20 10.0 84 4000 50
7 - 15
MEMO
7 - 16
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. If an alarm/warning has occurred, refer to this chapter and remove its cause. 8.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, the ALM turns OFF. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. The alarm is automatically canceled after removing the cause of occurrence.
Display 10 12 13 15 16 17 19 1A 20 24 25 30 31 32 33 34 35 36 37 45 46 47 50 51 Name Undervoltage Memory error 1 (RAM) Clock error Memory error 2 (EEP-ROM) Encoder error 1 (At power on) Board error Memory error 3 (Flash-ROM) Motor combination error Encoder error 2 Main circuit error Absolute position erase Regenerative error Overspeed Overcurrent Overvoltage Receive error 1 Command frequency error Receive error 2 Parameter error Main circuit device overheat Servo motor overheat Cooling fan error Overload 1 Overload 2 (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 2) (Note 1) (Note 1) (Note 1) Alarm deactivation Power Error CPU OFF ON reset reset Display 92 96 9F E0 E1 E3 E4 E6 E7 E8 E9 EC ED Name Open battery cable warning Home position setting warning Battery warning Excessive regeneration warning Overload warning 1 Absolute position counter warning Parameter warning Servo forced stop warning Controller forced stop warning Cooling fan speed reduction warning Main circuit off warning Overload warning 2 Output watt excess warning
52 Error excessive 8A USB communication time-out error 8E USB communication error 888 Watchdog Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 2. In some controller communication status, the alarm factor may not be removed.
Alarms
8- 1
Warnings
8. TROUBLESHOOTING
8.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (25) occurred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs, mark Servo-off and power off the main circuit and control circuit. POINT When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly. To do so will cause the servo amplifier/servo motor to fail. Remove the cause of occurrence, and leave a cooling time of more than 30 minutes before resuming operation. To protect the main circuit elements, any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence. Judging the load changing condition until the alarm occurs, the servo amplifier calculates this specified time automatically. Regenerative error (30) Overload 1 (50) Overload 2 (51) The alarm can be deactivated by switching power off, then on or by the error reset command CPU reset from the servo system controller. For details, refer to section 8.1. When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servomotor. At this time, the display indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. MR Configurator may be used to refer to the cause.
Display 10 Name Undervoltage Definition Power supply voltage dropped. MR-J3- B: 160VAC or less MR-J3- B1: 83VAC or less MR-J3- B4: 280VAC or less Cause Action
CAUTION
1. Power supply voltage is low. Review the power supply. 2. There was an instantaneous control power failure of 60ms or longer. 3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 4. The bus voltage dropped to the following value or less. MR-J3- B: 200VDC MR-J3- B1: 158VDC MR-J3- B4: 380VDC 5. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (10) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
8- 2
8. TROUBLESHOOTING
Display Name Definition 12 Memory error 1 RAM, memory fault (RAM) 13 Clock error Printed board fault
Cause Faulty parts in the servo amplifier Checking method Alarm (any of 12 and 13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Action Change the servo amplifier.
Clock error Faulty controller transmitted from the Checking method controller Alarm(13) occurs, if servo controller is used in multiple CPU system. 15 Memory error 2 (EEP-ROM) EEP-ROM fault 1. Faulty parts in the servo amplifier Checking method Alarm (15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Change the servo system controller.
Change the servo amplifier.
16
2. The number of write times to EEPROM exceeded 100,000. Encoder error 1 Communication error 1. Encoder connector (CN2) (At power on) occurred between disconnected. encoder and servo 2. Encoder fault amplifier. 3. Encoder cable faulty (Wire breakage or shorted) 4. Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting.
Connect correctly. Change the servo motor. Repair or change cable. Correct the setting in the fourth digit of parameter No. PC04. Change the servo amplifier.
17 19
Board error 2 Memory error 3 (Flash ROM)
CPU/parts fault ROM memory fault
Faulty parts in the servo amplifier Checking method Alarm (17 or 19) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Wrong combination of servo amplifier and servo motor connected.
1A 20
Motor combination error Encoder error 2
24
1. Encoder connector (CN2) disconnected. 2. Encoder cable faulty (Wire breakage or shorted) 3. Encoder fault Main circuit error Ground fault 1. Power input wires and servo motor occurred at the servo power wires are in contact. motor power (U,V 2. Sheathes of servo motor power and W phases) of cables deteriorated, resulting in the servo amplifier. ground fault. 3. Main circuit of servo amplifier failed. Checking method (24) occurs if the servo is switched on after disconnecting the U, V, W power cables from the servo amplifier. Absolute position erase Absolute position data in error 1. Voltage drop in encoder (Battery disconnected.)
Wrong combination of servo amplifier and servo motor. Communication error occurred between encoder and servo amplifier.
Use correct combination. Connect correctly. Repair or change the cable. Change the servo motor. Connect correctly. Change the cable.
Change the servo amplifier.
25
2. Battery voltage low 3. Battery cable or battery is faulty. Power was switched 4. Home position not set. on for the first time in the absolute position detection system.
After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. Change battery. Always make home position setting again. After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again.
8- 3
8. TROUBLESHOOTING
Display Name 30 Regenerative error
Definition Cause Permissible 1. Wrong setting of parameter No. regenerative power PA02 of the built-in 2. Built-in regenerative resistor or regenerative resistor regenerative option is not or regenerative connected. option is exceeded. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Checking method Call the status display and check the regenerative load ratio. 4. Power supply voltage is abnormal. MR-J3- B:260VAC or more MR-J3- B1:More than 135VAC MR-J3- B4: 535VAC or more 5. Built-in regenerative resistor or regenerative option faulty. Regenerative transistor fault 6. Regenerative transistor faulty.
Checking method 1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option.
Action Set correctly. Connect correctly 1. Reduce the frequency of positioning. 2. Use the regenerative option of larger capacity. 3. Reduce the load.
Review power supply
Change servo amplifier or regenerative option. Change the servo amplifier.
31
Overspeed
Speed has exceeded 1. Small acceleration/deceleration time Increase acceleration/deceleration time constant. the instantaneous constant caused overshoot to be permissible speed. large. 2. Servo system is instable to cause overshoot. 1. Re-set servo gain to proper value. 2. If servo gain cannot be set to proper value: 1) Reduce load inertia moment ratio; or 2) Reexamine acceleration/ deceleration time constant. Change the servo motor.
3. Encoder faulty. 32 Overcurrent Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (32) first occurred, the transistor (IPM IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power. Check the transistor with the checking method of Cause 2.)
1. Short occurred in servo motor power Correct the wiring. (U, V, W). 2. Transistor (IPM IGBT) of the servo Change the servo amplifier. amplifier faulty.
Checking method Alarm (32) occurs if power is switched on after U,V and W are disconnected.
3. Ground fault occurred in servo motor power (U, V, W). 4. External noise caused the overcurrent detection circuit to misoperate.
Correct the wiring. Take noise suppression measures.
8- 4
8. TROUBLESHOOTING
Display 33
Name Overvoltage
Definition The following shows the input value of converter bus voltage. MR-J3- B(1): 400VDC or more MR-J3- B4: 800VDC or more
Cause 1. Regenerative option is not used. 2. Though the regenerative option is used, the parameter No.PA02 setting is " 00 (not used)". Set correctly.
Action Use the regenerative option.
3. Lead of built-in regenerative resistor 1. Change lead. 2. Connect correctly. or regenerative option is open or disconnected. 4. Regenerative transistor faulty. Change servo amplifier 1. For wire breakage of built-in regenerative 5. Wire breakage of built-in resistor, change servo amplifier. regenerative resistor or regenerative 2. For wire breakage of regenerative option, option change regenerative option. 6. Capacity of built-in regenerative resistor or regenerative option is insufficient. 7. Power supply voltage high. 8. Ground fault occurred in servo motor power (U, V, W). 9. The jumper across BUE-SD of the FR-BU2 brake unit is removed. Add regenerative option or increase capacity. Review the power supply. Correct the wiring. Fit the jumper across BUE-SD. Connect it after turning off the control circuit power supply for servo amplifier. Wipe dirt at the surface away. (Refer to section 3.9) Change the cable. Take noise suppression measures. Remove the vinyl tape and/or wire sheath, which contains migrating plasticizer, and exchange the cable.
34
Receive error 1 SSCNET 1. The SSCNET cable is communication error disconnected. (Continuously 2. The surface at the end of SSCNET communication error cable got dirty. with about 3.5ms 3. The SSCNET cable is broken or interval.) severed. 4. Noise entered the servo amplifier. 5. Optical characteristic of SSCNET cable deteriorated because vinyl tape and/or wire sheath, which contains migrating plasticizer, adhered to the cable.
35
Command frequency error
Input pulse frequency 1. Command given is greater than the Review operation program of command pulse is maximum speed of the servo motor. too high. 2. Servo system controller failure. Change the servo system controller. 3. Noise entered the servo amplifier. 4. Noise entered the controller. Take noise of I/O signal suppression measures. Take noise from the controller suppression measures. Connect it after turning off the control circuit power supply for servo amplifier. Wipe dirt away from the surface. (Refer to section 3.9) Change the cable. Take noise suppression measures Remove the vinyl tape and/or wire sheath, which contains migrating plasticizer, and exchange the cable.
36
Receive error2
SSCNET 1. The SSCNET cable is communication error disconnected. (Intermittently 2. The surface at the end of SSCNET communication error cable got dirty. with about 70ms 3. The SSCNET cable is broken or interval.) severed. 4. Noise entered the servo amplifier. 5. Optical characteristic of SSCNET cable deteriorated because vinyl tape and/or wire sheath, which contains migrating plasticizer, adhered to the cable.
8- 5
8. TROUBLESHOOTING
Display 37
Name
Definition
Cause
Action Change the servo amplifier.
Parameter error Parameter setting is 1. Servo amplifier fault caused the wrong. parameter setting to be rewritten.
2. There is a parameter whose value Change the parameter value to within the was set to outside the setting range setting range. by the controller. 3. The number of write times to EEP- Change the servo amplifier. ROM exceeded 100,000 due to parameter write, etc. Main circuit Main circuit device 1. Servo amplifier faulty. device overheat overheat 2. The power supply was turned on and off continuously by overloaded status. 3. Ambient temperature of servo motor is over 55 . 4. Used beyond the specifications of close mounting. Servo motor Servo motor 1. Ambient temperature of servo motor overheat temperature rise is over 40 . actuated the thermal 2. Servo motor is overloaded. sensor.
45
Change the servo amplifier. The drive method is reviewed. Review environment so that ambient temperature is 0 to 55 . Use within the range of specifications.
46
47
Cooling fan error
The cooling fan of the servo amplifier stopped, or its speed Foreign matter caught in the cooling decreased to or fan stopped rotation. below the alarm level. The power supply of the cooling fan failed. Load exceeded overload protection characteristic of servo amplifier. 1. Servo amplifier is used in excess of its continuous output current. 2. Servo system is instable and hunting.
Review environment so that ambient temperature is 0 to 40 . 1. Reduce load. 2. Review operation pattern. 3. Use servo motor that provides larger output. 3. Thermal sensor in encoder is faulty. Change servo motor. Cooling fan life expiration (Refer to Change the cooling fan of the servo section 2.5.) amplifier. Remove the foreign matter. Change servo amplifier. 1. Reduce load. 2. Review operation pattern. 3. Use servo motor that provides larger output. 1. Repeat acceleration/ deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. 1. Review operation pattern. 2. Install limit switches.
50
Overload 1
3. Machine struck something.
4. Wrong connection of servo motor. Connect correctly. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. 5. Encoder faulty. Change the servo motor. Checking method
When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.
6. After Overload 2 (51) occurred, turn 1. Reduce load. OFF/ON the power supply to clear 2. Review operation pattern. 3. Use servo motor that provides larger the alarm. Then the overload output. operation is repeated.
8- 6
8. TROUBLESHOOTING
Display Name 51 Overload 2
Definition Cause Machine collision or 1. Machine struck something. the like caused max. For the time of the 2. Wrong connection of servo motor. alarm occurrence, Servo amplifier's output terminals U, refer to the section V, W do not match servo motor's 10.1. input terminals U, V, W. 3. Servo system is instable and hunting.
Action 1. Review operation pattern. 2. Install limit switches. Connect correctly.
4. Encoder faulty. Checking method

When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.
1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. Change the servo motor.
52
Error excessive The deviation between the model position and the actual servo motor position exceeds the parameter No.PC01 setting value (initial value: 3 revolutions).
1. Acceleration/deceleration time constant is too small.
Increase the acceleration/deceleration time constant.
2. Torque limit value set with controller Increase the torque limit value. is too small. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. 4. Position loop gain 1 (parameter No.PB08) value is small. 5. Servo motor shaft was rotated by external force. 1. Review the power supply capacity. 2. Use servo motor which provides larger output. Increase set value and adjust to ensure proper operation. 1. When torque is limited, increase the limit value. 2. Reduce load. 3. Use servo motor that provides larger output. 1. Review operation pattern. 2. Install limit switches. Change the servo motor.
6. Machine struck something. 7. Encoder faulty
Connect correctly. 8. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. 9. SSCNET cable fault Change the SSCNET cable. 10. Optical characteristic of SSCNET cable deteriorated because vinyl tape and/or wire sheath, which contains migrating plasticizer, adhered to the cable. 8A USB communication time-out error Communication with 1. USB cable breakage. MR Configurator in test operation mode stopped for longer than the specified time. Serial communication 1. USB cable fault error occurred (Open cable or short circuit) between servo 2. Communication device (e.g. amplifier and communication personal computer) faulty device (e.g. personal computer). Remove the vinyl tape and/or wire sheath, which contains migrating plasticizer, and exchange the cable.
Change the USB cable.
8E
USB communication error
Change the USB cable. Change the communication device (e.g. personal computer).
8- 7
8. TROUBLESHOOTING
Display (Note) 888
Name Watchdog
Definition CPU, parts faulty
Cause Fault of parts in servo amplifier

Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable.
Action Change servo amplifier.
Note. At power-on, "888" appears instantaneously, but it is not an error.
8.3 Remedies for warnings
CAUTION
If an absolute position counter warning (E3) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation. Excessive regenerative warning (E0) Overload warning 1 (E1)
If E6, E7 or E9 occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Use the optional servo configuration software to refer to the cause of warning. Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence.
Display Name 92 Open battery cable warning Definition Cause Absolute position detection 1. Battery cable is open. system battery voltage is 2. Battery voltage supplied from the servo low. amplifier to the encoder fell to about 3V or less. (Detected with the encoder) Home position setting 1. Droop pulses remaining are greater than could not be made. the in-position range setting. 2. Command pulse entered after clearing of droop pulses. 3. Creep speed high. Voltage of battery for Battery voltage fell to 3.2V or less. absolute position detection (Detected with the servo amplifier) system reduced. There is a possibility that Regenerative power increased to 85% or regenerative power may more of permissible regenerative power of exceed permissible built-in regenerative resistor or regenerative regenerative power of option. Checking method built-in regenerative Call the status display and check resistor or regenerative option. regenerative load ratio. Action Repair cable or changed. Change battery.
96
Home position setting warning
Remove the cause of droop pulse occurrence Do not enter command pulse after clearing of droop pulses. Reduce creep speed. Change the battery. 1. Reduce frequency of positioning. 2. Change regenerative option for the one with larger capacity. 3. Reduce load.
9F E0
Battery warning Excessive regeneration warning
E1
Overload warning There is a possibility that Load increased to 85% or more of overload Refer to 50, 51. 1 overload alarm 1 or 2 may alarm 1 or 2 occurrence level. Cause, checking method occur. Refer to 50,51.
8- 8
8. TROUBLESHOOTING
Display Name Definition Cause E3 Absolute position Absolute position encoder 1. Noise entered the encoder. counter warning pulses faulty. 2. Encoder faulty. The multi-revolution 3. The movement amount from the home counter value of the position exceeded a 32767 rotation or absolute position encoder 37268 rotation in succession. exceeded the maximum revolution range. E4 Parameter Parameter outside setting Parameter value set from servo system warning range controller is outside setting range E6 E7 E8 Servo forced stop EM1 is off. warning Controller forced stop warning Cooling fan speed The speed of the servo reduction warning amplifier decreased to or below the warning level. This warning is not displayed with MR-J370B/100B among servo amplifiers equipped with a cooling fan. Main circuit off warning Servo-on command was issued with main circuit power off. Overload warning Operation, in which a 2 current exceeding the rating flew intensively in any of the U, V and W phases of the servo motor, was repeated. Output watt excess warning External forced stop was made valid. (EM1 was turned off.) Forced stop signal was entered into the servo system controller. Cooling fan life expiration (Refer to section 2.5.)
Action Take noise suppression measures. Change servo motor. Make home position setting again.
Set it correctly. Ensure safety and deactivate forced stop. Ensure safety and deactivate forced stop. Change the cooling fan of the servo amplifier.
The power supply of the cooling fan is broken.
Change servo amplifier.
E9 EC
Switch on main circuit power. During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servo motor occurred repeatedly, exceeding the warning level.
ED
1. Reduce the positioning frequency at the specific positioning address. 2. Reduce the load. 3. Replace the servo amplifier/ servo motor with the one of larger capacity. 1. Reduce the servo motor The status, in which the Continuous operation was performed with torque) of the speed. output wattage (speed the output wattage (speed torque) of the servo motor servo motor exceeding 150% of the rated 2. Reduce the load. exceeded the rated output, output. continued steadily.
8- 9
8. TROUBLESHOOTING
MEMO
8 - 10
9. OUTLINE DRAWINGS
9. OUTLINE DRAWINGS
9.1 Servo amplifier (1) MR-J3-10B MR-J3-20B MR-J3-10B1 MR-J3-20B1
[Unit: mm]
6 mounting hole 4 6 6 40 Approx.80 135
(Note) CNP1
(Note)
CNP2 161 168 CNP3 156 6 6 Approx.68 With MR-J3BAT

Approx. 25.5
Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 0.8 [kg] (1.76 [lb])
Approx.14
Terminal signal layout For 3-phase or For 1-phase 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 L2 N P1 P2 P C CNP2 D L11 L21 U CNP3 V W CNP3 CNP2 L1 L2 CNP1 CNP1 L3 N P1 P2 P C D L11 L21 U V W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in])
Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 40 6
2-M5 screw
Mounting hole process drawing
9- 1
9. OUTLINE DRAWINGS
(2) MR-J3-40B MR-J3-60B MR-J3-40B1

[Unit: mm]
6 mounting hole 5 40 6 6 Approx.80 170
(Note)
CNP1 (Note) CNP2
L1 L2 L3 N CN3 CN4 CN2L CN2 CN1B CN1A P1 P2 P C D CN5
CNP3
L11 L21 U
156
V W CHARGE
Approx.68
Approx. 25.5
With MR-J3BAT
Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.21 [lb])
Terminal signal layout For 3-phase or 1-phase For 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 L2 N P1 P2 P C CNP2 D L11 L21 U CNP3 V W CNP3 CNP2 L1 L2 CNP1 CNP1 L3 N P1 P2 P C D L11 L21 U V W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in])
Approx.14
161 168
L1 L2 L3 N P1 P2 P C D L11 L21 U V W
Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 40 6
2-M5 screw
9- 2
9. OUTLINE DRAWINGS
(3) MR-J3-70B MR-J3-100B

[Unit: mm]
12 6 6 60 6 mounting hole Approx.80 185
CNP1 CNP2 CNP3
156
6 Cooling fan wind direction 12 Approx.25.5 With MR-J3BAT Approx.14 6
Approx.68
42
161 168
Mass: 1.4 [kg] (3.09 [lb])
Terminal signal layout L1 L2 CNP1 L3 N P1 P2 P C CNP2 D L11 L21 U CNP3 V W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) PE terminal
Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 60
3-M5 screw
42 } 0.3
Approx. 12 Approx. 60
Approx. 6
9- 3
9. OUTLINE DRAWINGS
(4) MR-J3-60B4 MR-J3-100B4

[Unit: mm]
6mounting hole
60 12
Approx. 80
195
CNP1
CNP2 CNP3
Approx. 68
6 12 42 Approx. 25.5 With MR-J3BAT
Mass: 1.7 [kg] (3.75 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb
Terminal signal layout L1 L2 CNP1 L3 N P1 P2 P C CNP2 D L11 L21 U CNP3 V W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in)] PE terminal
in])
Approx. 60
3-M5 screw
42 0.3 Approx. 12 Approx. 60 Mounting hole process drawing Approx. 6
9- 4
9. OUTLINE DRAWINGS
(5) MR-J3-200B MR-J3-350B

[Unit: mm]
6 mounting hole 90 85 45 6 Approx.80 21.4 195 6
156
6 6
168
Approx.68
With MR-J3BAT
Approx.14
Approx. 25.5 78
Cooling fan wind direction
Mass: 2.3 [kg] (5.07 [lb])
Terminal signal layout L1 L2 CNP1 L3 N P1 P2 U CNP3 V W P C CNP2 D L11 L21 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) PE terminal
Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 90
3-M5 screw
Approx. 6
78 0.3
Approx. 6
9- 5
9. OUTLINE DRAWINGS
(6) MR-J3-200B4
[Unit: mm]
90 85 6 CNP1 45
6mounting hole Approx. 80 195
CNP2 CNP3
6 Approx. 68 6
Approx. 25.5 78
With MR-J3BAT
Mass: 2.1 [kg] (4.63 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb
Terminal signal layout L1 L2 CNP1 L3 N P1 P2 P C CNP2 D L11 L21 U CNP3 V W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in)] PE terminal
in]
Approx. 90
3-M5 screw
Approx. 6
78 0.3
Approx. 6
9- 6
9. OUTLINE DRAWINGS
(7) MR-J3-350B4 MR-J3-500B(4)

[Unit: mm]
6 7.5 2- 6 mounting hole 130 118 Approx. 80 131.5 200 68.5
Terminal layout (Terminal cover open)
Cooling fan
250
235
TE2
CHARGE
TE3
With MR-J3BAT TE1 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw
20.5 7.5
Mass: 4.6 [kg] (10.1 [lb])
Terminal signal layout TE1 L1 TE2 L11 TE3 N P1 P2 Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Built-in regenerative resistor lead terminal fixing screw L21 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Terminal screw: M3.5(Note) Tightening torque: 0.8[N m] (7.08 [lb in])
Approx. 130 Approx. 6 118 0.5 Approx. 6
4-M5 screw
PE terminal
Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier.
9- 7
9. OUTLINE DRAWINGS
(8) MR-J3-700B(4)
[Unit: mm]
6 172 7.5 160 2- 6 mounting hole Approx.80 138 200 62
Terminal layout (Terminal cover open)
Cooling fan
CN3
CN1A
CN1B
300
285
With MR-J3BAT
TE3
CHARGE
6 7.5
20.5
TE1 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw
CN1B
CN1A
CN3
TE2
Mass: 6.2 [kg] (13.7[lb])

Terminal signal layout TE1 L1 TE2 L11 TE3 N P1 P2 L21 Terminal screw: M3.5(Note) Tightening torque: 0.8[N m] (7.08 [lb in]) Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Built-in regenerative resistor lead terminal fixing screw L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in])
Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 172 Approx. 6 160 0.5 Approx. 6
4-M5 screw
PE terminal
Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier.
9- 8
9. OUTLINE DRAWINGS
(9) MR-J3-11KB(4) to 22KB(4)

[Unit: mm]
12 2260 236 12mounting hole 12 Approx. 80 260 Cooling fan wind direction
With MR-J3BAT 123.5 13
Rating plate
12
183 227 Approx. 12 52
26 6 26 156 Approx. 12
Approx. 260 236 0.5
4-M10 screw
Servo amplifier MR-J3-11KB(4) MR-J3-15KB(4) MR-J3-22KB(4)
Mass[kg]([lb]) 18.0 (40) 18.0 (40) 19.0 (42)
Terminal signal layout TE L1 P1 L2 P L3 L11 L21 U C N V W Mounting screw Servo amplifier MR-J3-11KB(4) MR-J3-15KB(4) MR-J3-22KB(4) Screw size M10 Tightening torque [N m][(Ib:in)] 26.5 (234.5)
L1 L2 L3 U V W L11 L21 P1 P C N Screw size MR-J3-11KB(4) MR-J3-15KB(4) Tightening torque [(lb:in)][N m] Screw size MR-J3-22KB(4) Tightening torque [(lb:in)][N m] M6 3.0 M8 6.0 M4 1.2 M4 1.2
9- 9
9. OUTLINE DRAWINGS
9.2 Connector (1) CN1A CN1B connector

[Unit: mm]
F0-PF2D103
4.8
F0-PF2D103-S
4.8
13.4
1.7
13.4
1.7
15
2.3 9.3
6.7 9.3
15
2.3
17.6 20.9
0.2 0.2
6.7
17.6 20.9
0.2 0.2
(2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type
[Unit: mm]
E
C Logo etc, are indicated here.
39.0 23.8
12.7
Connector 10120-3000PE
Shell kit 10320-52F0-008
Each type of dimension A 22.0 B 33.3 C 14.0 D 10.0 E 12.0
9 - 10
9. OUTLINE DRAWINGS
(b) Jack screw M2.6 type This is not available as option.

[Unit: mm]
E D A C F Logo etc, are indicated here. 5.2 39.0 23.8 B 12.7
Connector 10120-3000PE
Shell kit 10320-52F0-008
Each type of dimension A 22.0 B 33.3 C 14.0 D 10.0 E 12.0 F 27.4
(3) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008
39.5 34.8
9 - 11
22.4
11.0
9. OUTLINE DRAWINGS
MEMO
9 - 12
10. CHARACTERISTICS
10. CHARACTERISTICS
10.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 10.1. Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph. In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque. When you carry out adhesion mounting of the servo amplifier, make circumference temperature into 0 to 45 , or use it at 75% or smaller effective load ratio.
1000
1000
During operation 100 Operation time[s]
10
During servo lock
10
During servo lock
0.1 0
50
100
150
200
250
300
0.1 0
50
100
150
200
250
300
(Note) Load ratio [%]
MR-J3-10B(1)
1000
MR-J3-20B(1) MR-J3-40B(1) MR-J3-60B(4) to MR-J3-100B(4)

10000
1000 Operation time[s] During operation 100 During servo lock
10
During servo lock
10
0.1 0
50
100
150
200
250
300
1 0
50
100
150
200
250
300
MR-J3-200B(4) to MR-J3-350B(4)
MR-J3-500B(4) MR-J3-700B(4)
10 - 1
10. CHARACTERISTICS
10000
1000
Operation time [s]
During operation 100
During servo lock 10
1 0 100 200 300 (Note) Load ratio [%]
MR-J3-11KB(4) to MR-J3-22KB(4)
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.
Fig 10.1 Electronic thermal relay protection characteristics
10 - 2
10. CHARACTERISTICS
10.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 10.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation. When the servo motor is run at less than the maximum speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change. Table 10.1 Power supply capacity and generated heat per servo amplifier at rated output
Servo amplifier Servo motor HF-MP053 MR-J3-10B (1) HF-MP13 HF-KP053 13 MR-J3-20B (1) MR-J3-40B (1) HF-MP23 HF-KP23 HF-MP43 HF-KP43 HF-SP52 (4) MR-J3-60B (4) HF-SP51 HC-LP52 HF-MP73 MR-J3-70B HF-KP73 HC-UP72 HF-SP102 (4) MR-J3-100B (4) HF-SP81 HC-LP102 HF-SP152 (4) HF-SP202 (4) HF-SP121 MR-J3-200B (4) HF-SP201 HC-RP103 HC-RP153 HC-UP152 HC-LP152 HF-SP352 (4) HC-RP203 MR-J3-350B (4) HC-UP202 HC-LP202 HF-SP301 HF-SP502 (4) HC-RP353 HC-RP503 MR-J3-500B (4) HC-UP352 HC-UP502 HC-LP302 HA-LP502 HF-SP421 (Note 1) Power supply capacity[kVA] 0.3 0.3 0.3 0.5 0.5 0.9 0.9 1.0 1.0 1.0 1.3 1.3 1.3 1.7 1.5 1.7 2.5 3.5 2.1 3.5 1.8 2.5 2.5 2.5 5.5 3.5 3.5 3.5 4.8 7.5 5.5 7.5 5.5 7.5 4.5 7.5 6.7 (Note 2) Servo amplifier-generated heat[W] At rated torque 25 25 25 25 25 35 35 40 40 40 50 50 50 50 50 50 90 90 90 90 50 90 90 90 130 90 90 90 120 195 135 195 195 195 120 195 160 With servo off 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 20 20 20 20 15 20 20 20 20 (25) (Note 3) 20 20 20 20 25 25 25 25 25 25 25 25 Area required for heat dissipation [m2] 0.5 0.5 0.5 0.5 0.5 0.7 0.7 0.8 0.8 0.8 1.0 1.0 1.0 1.0 1.0 1.0 1.8 1.8 1.8 1.8 1.0 1.8 1.8 1.8 2.7 1.8 1.8 1.8 2.4 3.9 2.7 3.9 3.9 3.9 2.4 3.9 3.2
10 - 3
10. CHARACTERISTICS
Servo amplifier
Servo motor HF-SP702 (4)
(Note 1) Power supply capacity[kVA] 10.0 10.6 10.0 11.0 16.0 12.0 18.0 16.0 22.0 22.0 22.0 33.0 30.1 37.6 33.0
(Note 2) Servo amplifier-generated heat[W] At rated torque 300 300 260 300 530 390 580 530 640 640 640 850 775 970 850 With servo off 25 25 25 25 45 45 45 45 45 45 45 55 55 55 55
Area required for heat dissipation [m2] 6.0 6.0 5.2 6.0 11.0 7.8 11.6 11.0 13.0 13.0 13.0 17.0 15.5 19.4 17.0
MR-J3-700B (4)
HA-LP702 HA-LP601 (4) HA-LP701M (4) HC-LP11K2 (4) HC-LP801 (4) HC-LP12K1 (4) HC-LP11K1M (4) HC-LP15K2 (4)
MR-J3-11KB
MR-J3-15KB
HC-LP15K1 (4) HC-LP15K1M (4) HC-LP22K2 (4) HC-LP20K1 (4) HC-LP25K1 HC-LP22K1M (4)
MR-J3-22KB
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power factor improving reactor is not used. 2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2. 3. For 400V class, the value is within the ( ).
10 - 4
10. CHARACTERISTICS
(2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 10.1:
P ............................................................................................................................................. (10.1) K T 2 where, A : Heat dissipation area [m ] P : Loss generated in the control box [W] T : Difference between internal and ambient temperatures [ ] K : Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with Equation 10.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount must be added to the enclosure's surface area. The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a cooling fan should be considered. Table 10.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 (104 ) under rated load.
(Outside) (Inside)
Air flow
Fig. 10.2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper.
10 - 5
10. CHARACTERISTICS
10.3 Dynamic brake characteristics 10.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) of this section.)
Forced stop(EM1) ON OFF
V0 Machine speed
Time constant
te
Time
Fig. 10.3 Dynamic brake operation diagram
Lmax Lmax Vo JM JL te
JL V0 ....................................................................................................................... (10.2) te 1 60 JM : Maximum coasting distance .................................................................................................... [mm][in] : Machine rapid feed rate ..............................................................................................[mm/min][in/min] 2 2 : Servo motor inertial moment..................................................................................... [kg cm ][oz in ] 2 2 : Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm ][oz in ] : Brake time constant .......................................................................................................................... [s] : Delay time of control section............................................................................................................. [s] For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo, there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake.
(2) Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations (10.2): (a) 200V class servo motor
25 Time constant [ms] 20 15 10 5 0 0 13 053 1000 2000 3000 4000 5000 6000 Speed [r/min] 73 23 43 Time constant [ms] 25 20 15 10 5 0 0 13 053 73 23
43 1000 2000 3000 4000 5000 6000 Speed [r/min]
HF-MP series
HF-KP series
10 - 6
10. CHARACTERISTICS
60
120 Time constant [ms] 100 80 60 40 20 0 0 102 702 352 52
[ms] Time constant
50 40 30 20 10 0 0 81 421 121 500 201 51
301 2000
1000 1500 Speed [r/min]
202 502 152 500 1000 1500 2000 2500 3000 Speed [r/min]
HF-SP1000r/min series
60
[ms]
HF-SP2000r/min series
120
[ms]
50 40 15K1 12K1
20K1
100 80
22K1M 11K1M
Time constant
Time constant
30 20 10 0 0
60 40 20 0 0
15K1M 701M
801 25K1 200 400 600 601 800 1000 1200
500
1000 Speed[r/min]
1500
2000
Speed[r/min]
HA-LP1000r/min series
[ms]
200
[ms]
80 15K2 60 40 702 20 0 0 500 1000 Speed[r/min] 502 1500 2000 11K2 22K2
160 120 80 102 40 0 0 500
52 202 302 152 1000 1500 Speed[r/min] 2000
Time constant
HA-LP2000r/min series (b) 400V class servo motor

0.090
[ms]
Time constant
HC-LP series
[ms]
2024 524 1024 3524 5024 1524 7024 1000 2000 3000 Speed[r/min]
0.035 0.030 0.025

Time constant
0.075 0.060 0.045 0.030 0.015 0 0
12K14
20K14
Time constant
0.020 0.015 0.010 0.005 0 0 400 800 Speed[r/min] 1200 8014 15K14 6014
HF-SP2000r/min series 10 - 7
10. CHARACTERISTICS
0.020
[ms]
0.04
[ms] Time constant
0.016 0.012 0.008 0.004 0 0 22K1M4 500 1000 Speed[r/min] 1500 11K1M4 15K1M4 701M4
0.035 0.03 0.025 0.02 0.015 0.01 0.005 0 0 22K2 500 1000 1500 Speed[r/min] 2000 11K24 15K24
Time constant
HA-LP1500r/min series 10.3.2 The dynamic brake at the load inertia moment
Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor.
Servo amplifier MR-J3-10B(1) MR-J3-20B(1) MR-J3-40B(1) MR-J3-60B MR-J3-70B MR-J3-100B MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B MR-J3-11KB (Note 2) MR-J3-15KB (Note 2) MR-J3-22KB (Note 2) 30 30 30 30 16 15 30 30 16 15 5 (Note 1) 30 16 15 30 16 15 Servo motor HF-KP 30 30 30 HF-MP 30 30 30 30 30 30 30 30 16 15 15 5 (Note 1) 5 (Note 1) 5 (Note 1) 30 30 30 30 30 30 30 30 30 30 HF-SP 1 HF-SP 2 HC-RP HC-UP HC-LP HA-LP 1 HALP 1M HA-LP 2
10 - 8
10. CHARACTERISTICS
Servo amplifier MR-J3-60B4 MR-J3-200B4
Servo motor HF-SP 4 HA-LP 14 HA-LP 1M4 HA-LP 24
5 (Note 1) 5
MR-J3-100B4 5 (Note 1) MR-J3-350B4 5 (Note 1) MR-J3-500B4 5 (Note 1) MR-J3-700B4 5 (Note 1) MR-J3-11KB4 (Note 2) MR-J3-15KB4 (Note 2) MR-J3-22KB4 (Note 2) 10 30 30 30 10 30 30 30 30 30 30
Note 1. The load inertia moment ratio is 15 at the rated rotation speed. 2. When the external dynamic brake is used.
10.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
1 108 5 107 a
1 107 5 106
a : Long flexing life encoder cable Long flexing life motor power cable Long flexing life motor brake cable SSCNET cable using long distance cable b : Standard encoder cable Standard motor power cable Standard motor brake cable SSCNET cable using inside panel standard cord SSCNET cable using outside panel standard cable
1 106 5 105
Flexing life [times]
1 105 5 104
1 104 5 103
1 103 4 7 10 20 40 70 100 200 Flexing radius [mm]
10 - 9
10. CHARACTERISTICS
10.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference data) that will flow when the maximum permissible voltage (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m (3.28ft).
Servo Amplifier MR-J3-10B1 to 40B1 MR-J3-10B to 60B MR-J3-70B MR-J3-200B 100B 350B Inrush Currents (A0-p) Main circuit power supply (L1, L2, L3) 38A (Attenuated to approx. 14A in 10ms) 30A (Attenuated to approx. 5A in 10ms) 54A (Attenuated to approx. 12A in 10ms) 120A (Attenuated to approx. 12A in 20ms) 44A (Attenuated to approx. 20A in 20ms) 88A (Attenuated to approx. 20A in 20ms) 30A (Attenuated to approx. 0A in 3ms) 235A (Attenuated to approx. 20A in 20ms) 100A (Attenuated to approx. 5A in 10ms) 120A (Attenuated to approx. 12A in 20ms) 66A (Attenuated to approx. 10A in 20ms) 67A (Attenuated to approx. 34A in 20ms) 325A (Attenuated to approx. 20A in 20ms) 40 to 50A (Attenuated to approx. 0A in 2ms) 41A (Attenuated to approx. 0A in 3ms) 20 to 30A (Attenuated to approx. 0A in 1 to 2ms) Control circuit power supply (L11, L21)
MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-60B4 MR-J3-350B4 100B4 500B4 MR-J3-200B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4
45A (Attenuated to approx. 0A in 3ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 11.12.) When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current.
10 - 10
11. OPTIONS AND AUXILIARY EQUIPMENT

Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.
WARNING
CAUTION
11.1 Cable/connector sets As the cables and connectors used with this servo, purchase the options indicated in this section.
11 - 1
11.1.1 Combinations of cable/connector sets

Servo system Cont 35) 32)33)34) Servo amplifier Servo amplifier
Personal computer
37)
1)2) Note
CNP1
CN5 CN3 36)
CN5 CN3
CNP2
CN1A CN1B CN2 CN4
32)33)34)
CN1A CN1B
CNP3
Cap (Servo amplifier attachment) Direct connection type (cable length 10m or less, IP65) 15)16)17)18) CN4 Junction type (cable length more than 10m, IP20) 21)22) 19)20)
CN2
31)
Battery MR-J3BAT To 24VDC power supply for electromagnetic brake
23)
13)14)
9)10)11)12) 7)8) 3)4)5)6) Servo motor HF-MP HF-KP
Power supply Brake Encoder connector connector connector 26) 24)25) 27) Servo motor HF-SP
28)29) 30) To next page a) To next page b)
Power supply Brake Encoder connector connector connector
Note. Connectors for 3.5kw or less. For 5kw or more, terminal blocks.
11 - 2
From previous page a)
From previous page b) 26) 24)25) 38) 30)39)40) Servo motor HC-RP HC-UP HC-LP
Power supply Brake Encoder connector connector connector 26) 24)25) Servo motor HA-LP
Terminal box
No. 1)
Product Servo amplifier power supply connector
Model
Description
Application
Supplied with servo amplifiers of 1kW or less in 100V class CNP3 CNP2 CNP1 and 200V connector: 54928-0610 connector: 54927-0510 connector: 54928-0310 class (Molex) (Molex) (Molex) <Applicable cable example> Wire size: 0.14mm2(AWG26) to 2.5mm2 (AWG14) Cable finish OD: to 3.8mm
REC. Lever: 54932-0000 (Molex)
11 - 3
No. 2)
Product Servo amplifier power supply connector
Model
Description
Application Supplied with servo amplifiers of 2kW and 3.5kW in 200V class
CNP1 connector: PC4/6-STF-7.62CRWH (Phoenix Contact)
CNP2 connector: 54927-0510 (Molex)
CNP3 connector: PC4/3-STF-7.62CRWH (Phoenix Contact)
<Applicable cable example> Wire size: 0.2mm2 (AWG24) to 5.5mm2 (AWG10) Cable finish OD: to 5mm
REC. Lever: 54932-0000 (Molex) Supplied with servo amplifiers of 2kW or less in 400V class
CNP1 connector: 721-207/026-000 (Plug) (WAGO JAPAN )
CNP2 connector: 721-205/026-000 (Plug) (WAGO JAPAN)
CNP3 connector: 721-203/026-000 (Plug) (WAGO JAPAN)
<Applicable cable example> Wire size: 0.08mm2 (AWG28) to 2mm2 (AWG14) Cable finish OD: to 4.1mm 3) 4) Motor power supply cable Motor power supply cable MR-PWS1CBL M-A1-L Cable length: 2 5 10m MR-PWS1CBL M-A1-H Cable length: 2 5 10m
REC. Lever: 231-131 (WAGO JAPAN)

Power supply connector HF-MP series HF-KP series
IP65 Load side lead IP65 Load side lead Long flex life
Refer to section 11.1.3 for details. 5) Motor power supply cable Motor power supply cable MR-PWS1CBL M-A2-L Cable length: 2 5 10m MR-PWS1CBL M-A2-H Cable length: 2 5 10m Refer to section 11.1.3 for details. 7) Motor power supply cable MR-PWS2CBL03M-A1-L Cable length: 0.3m
Power supply connector HF-MP series HF-KP series Power supply connector HF-MP series HF-KP series
IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP55 Load side lead
6)
Refer to section 11.1.3 for details. 8) Motor power supply cable MR-PWS2CBL03M-A2-L Cable length: 0.3m
Power supply connector HF-MP series HF-KP series
IP55 Opposite-toload side lead
Refer to section 11.1.3 for details.
11 - 4
No. 9)
Product Motor brake cable
Model MR-BKS1CBL M-A1-L Cable length: 2 5 10m MR-BKS1CBL M-A1-H Cable length: 2 5 10m
Description
Brake connector HF-MP series HF-KP series
Application IP65 Load side lead IP65 Load side lead Long flex life
10) Motor brake cable
Refer to section 11.1.4 for details. 11) Motor brake cable 12) Motor brake cable MR-BKS1CBL M-A2-L Cable length: 2 5 10m MR-BKS1CBL M-A2-H Cable length: 2 5 10m Refer to section 11.1.4 for details. 13) Motor brake cable MR-BKS2CBL03M-A1-L Cable length: 0.3m
Brake connector HF-MP series HF-KP series Brake connector HF-MP series HF-KP series
IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP55 Load side lead
Refer to section 11.1.4 for details. 14) Motor brake cable MR-BKS2CBL03M-A2-L Cable length: 0.3m
Brake connector HF-MP series HF-KP series
Refer to section 11.1.4 for details. 15) Encoder cable 16) Encoder cable MR-J3ENCBL M-A1-L Cable length: 2 5 10m MR-J3ENCBL M-A1-H Cable length: 2 5 10m
Encoder connector HF-MP series HF-KP series
IP65 Load side lead IP65 Opposite-toload side lead Long flex life IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP20 Load side lead
Refer to section 11.1.2 (1) for details. 17) Encoder cable 18) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m MR-J3ENCBL M-A2-H Cable length: 2 5 10m Refer to section 11.1.2 (1) for details. 19) Encoder cable MR-J3JCBL03M-A1-L Cable length: 0.3m
Refer to section 11.1.2 (3) for details. 20) Encoder cable MR-J3JCBL03M-A2-L Cable length: 0.3m
Refer to section 11.1.2 (3) for details.
11 - 5
No
Product
Model MR-EKCBL M-L Cable length: 20 30m MR-EKCBL M-H Cable length: 20 30 40 50m MR-ECNM
Description
Application IP20 IP20 Long flex life IP20
21) Encoder cable 22) Encoder cable 23) Encoder connector set
For HF-MP HF-KP series Refer to section 11.1.2 (2) for details.
For HF-MP HF-KP series Refer to section 11.1.2 (2) for details. 24) Encoder cable 25) Encoder cable MR-J3ENSCBL M-L Cable length: 2 5 10 20 30m MR-J3ENSCBL M-H Cable length: 2 5 10 20 30 40 50m MR-J3SCNS For HF-SP HC-UP HC-LP HC-RP Refer to section 11.1.2 (4) for details. HA-LP series IP67 Standard life flex
IP67 Long flex life
26) Encoder connector set
IP67
For HF-SP HC-UP HC-LP HC-RP Refer to section 11.1.2 (4) for details. 27) Brake connector set 28) Power supply connector set MR-BKCNS1 Straight plug: CM10-SP2S-L Socket contact: CM10-#22SC(S2)-100 (DDK)
HA-LP series IP67
For HF-SP series MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS Cable clamp: CE3057-10A-1-D (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12) Cable finish D: 10.5 to 14.1mm Plug: CE05-6A22-22SD-D-BSS Cable clamp: CE3057-12A-1-D (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8) Cable finish D: 12.5 to 16mm Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D (DDK) Example of applicable cable Applicable wire size: 14mm2 (AWG6) to 22mm2 (AWG4) Cable finish D: 22 to 23.8mm IP67
For HF-SP51 81 For HF-SP52 152
29) Power supply connector set
MR-PWCNS5
IP67
For HF-SP121 201 For HF-SP202 to 502
30) Power supply connector set
MR-PWCNS3
For HF-SP702 For HC-UP For HC-LP For HC-RP
31) Cable for connecting battery
MR-J3BTCBL03M
IP65 IP67 Be sure to use this when corresponding to EN Standard. For connection of battery
Refer to section 11.1.2 (5) for details.
11 - 6
No.
Product
Model MR-J3BUS M Cable length: 0.15 to 3m (Refer to section 11.1.5.) MR-J3BUS M-A Cable length: 5 to 20m (Refer to section 11.1.5.) MR-J3BUS M-B Cable length: 30 to 50m (Refer to section 11.1.5.) Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.)
Description Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.)
Application Inside panel standard cord Outside panel standard cable
32) SSCNET cable 33) SSCNET cable 34) SSCNET cable
Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.)
Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.)
Long distance cable
35) USB cable
MR-J3USBCBL3M Cable length: 3m
For CN5 connector minB connector (5 pins)
For personal computer connector A connector
For connection with PC-AT compatible personal computer
36) Connector set MR-CCN1
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or similar product)

PS7DW-20V14B-F (YOSHIDA ELECTRIC INDUSTRY CO., LTD.) MR-J2HBUS M
37) Junction terminal block (Recommend ed)
38) Break MR-BKCN connector set
Junction terminal block PS7DW-20V14B-F is not available from us as option. For using the junction terminal block, our option MRJ2HBUS M is necessary. Refer to section 11.7 for details. Plug: D/MS3106A10SL-4S(D190) (DDK) For cable connector : YS010-5-8(Daiwa Dengyo) Example of applicable cable For HC-UP Applicable wire size: 0.3mm2 (AWG22) to 1.25mm2 For HC-LP (AWG16) For HC-RP Cable finish: 5 to 8.3mm Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12) Cable finish: 9.5 to 13mm Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8) Cable finish: 13 to 15.5mm
EN standard compliant IP65 IP67
39) Power supply MR-PWCNS1 connector set
For HC-UP For HC-LP For HC-RP
Be sure to use this when corresponding to EN standard IP65 IP67
40) Power supply MR-PWCNS2 connector set
For HC-UP For HC-LP For HC-RP
11 - 7
11.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.
Cable Model MR-J3ENCBL MR-J3ENCBL MR-J3ENCBL MR-J3ENCBL M-A1-L M-A1-H M-A2-L M-A2-H Cable Length 2m 2 2 2 2 5m 5 5 5 5 10m 10 10 10 10 20m 30m 40m 50m Protective Structure IP65 IP65 IP65 IP65 Flex Life Standard Long flex Standard Long flex Application For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead
(a) Connection of servo amplifier and servo motor

Servo amplifier MR-J3ENCBL M-A1-L MR-J3ENCBL M-A1-H 2) Servo motor HF-MP HF-KP
1)
or
MR-J3ENCBL M-A2-L MR-J3ENCBL M-A2-H CN2 1)
2) Servo motor HF-MP HF-KP
Cable Model MR-J3ENCBL A1-L M-
1) For CN2 Connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Connector set: 54599-1019(Molex)
2) For Encoder Connector Connector: 1674320-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847 (Tyco Electronics)
(Note) Signal layout 9 SHD 7 5 MR 3 P5 1 8 6 P5G 4 MRR 2 BAT
MR-J3ENCBL A1-H
M2
LG
(Note) Signal layout 4

MRR
(Note) Signal layout 2 or 1

P5
6 5
8 7
10 9
BAT
4 3
MR
6 5
8 7
10 9
BAT
LG MRR
MR-J3ENCBL A2-L
M-
1
P5
3
MR
View seen from wiring side.
MR-J3ENCBL A2-H
MNote. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.
Note. Keep open the pin shown with an .
11 - 8
(b) Cable internal wiring diagram

MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector P5 1 LG 2 MR 3 MRR 4 BAT 9 Plate SD 3 6 5 4 2 9 P5 LG MR MRR BAT SHD
(2) MR-EKCBL
M-L/H POINT The following encoder cables are of four-wire type. When using any of these " to select the four-wire encoder cables, set parameter No. PC04 to "1 type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L) is required. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.
Cable Model Cable Length
2m 5m 10m 20m 30m 40m 50m
Protective Structure IP20
Flex Life
Application For HF-MP HF-KP servo motor Use in combination with MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L.
MR-EKCBL
M-L
20
(Note) 30 (Note) (Note) (Note) 30 40 50
Standard
MR-EKCBL
M-H
20
IP20
Long flex
Note. Four-wire type cable.
11 - 9

Servo amplifier
MR-EKCBL M-L MR-EKCBL M-H CN2 1) 2)
MR-J3JCBL03M-L Cable length: 0.3m Servo motor HF-MP HF-KP
Cable Model MR-EKCBL M-L
1) For CN2 Connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

LG
2) For Encoder Connector Housing: 1-172161-9 Crimping pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries)
Signal layout
1 2 3 MR MRR BAT 4 5 6 MD MDR CONT 7 8 9 P5 LG SHD
Connector set: 54599-1019(Molex)

P5
4
MRR
6 5
8
MDR
10 9
BAT
4 3
MR
6 5
8
MDR
10 9
BAT
LG MRR
MR-EKCBL
M-H
P5
3
MR
7
MD
7
MD
Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.
Note. Keep open the pin shown with an .
11 - 10
(b) Internal wiring diagram

MR-EKCBL20M-L Servo amplifier side P5 LG 1 2 Encoder side 7 8 P5E P5G
MR-EKCBL30M-L Servo amplifier side P5 LG 1 2 Encoder side 7 8 P5E P5G
MR MRR BAT SD
3 4 9 Plate
(Note)
1 2 3 9
MR MRR BAT SHD
MR MRR MD MDR BAT SD
3 4 7 8 9 Plate
(Note)
1 2 4 5 3 6 9
MR MRR MD MDR BAT CONT SHD
MR-EKCBL20M-H Servo amplifier side P5 LG 1 2 Encoder side 7 8 P5E P5G
MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H Servo amplifier side P5 LG 1 2 Encoder side 7 8 P5E P5G
MR 3 MRR 4 9 BAT SD Plate (Note)
1 2 3 9
MR MRR BAT SHD
MR MRR MD MDR BAT SD
3 4 7 8 9 Plate (Note)
1 2 4 5 3 6 9
MR MRR MD MDR BAT CONT SHD
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.
When fabricating the cable, use the wiring diagram corresponding to the length indicated below.
Cable Flex Life Standard Long flex Applicable Wiring Diagram Less than 10m MR-EKCBL20M-L MR-EKCBL20M-H MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H 30m to 50m
11 - 11
(c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 11.8 for the specifications of the used cable.
Parts/Tool Connector set MR-ECNM Description
Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019(Molex)
Encoder side connector Housing: 1-172161-9 Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries)
(3) MR-J3JCBL03M-A1-L MR-J3JCLB03M-A2-L The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-EKCBL M-L/H) is required.
Cable Model MR-J3JCBL03M-A1-L Cable Length Protective Structure Flex Life Application For HF-MP HF-KP servo motor Load side lead Use in combination with MR-EKCBL M-L/H. For HF-MP HF-KP servo motor Opposite-to-load side lead Use in combination with MR-EKCBL M-L/H.
MR-J3JCBL03M-A2-L
0.3m
IP20
Standard
11 - 12

Servo amplifier MR-J3JCBL03M-A1-L 2) Servo motor HF-MP HF-KP
1) MR-EKCBL M-L/-H or
CN2
MR-J3JCBL03M-A2-L 2) Servo motor HF-MP HF-KP 1)
Cable Model
1) Junction Connector
2) For Encoder Connector Connector: 1674320-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847 (Tyco Electronics)
Signal layout
9 SHD 7 MDR 8 MD 5 MR 3 P5 6 P5G 4 MRR
MR-J3JCBL03M-A1-L Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-1 (Tyco Electronics)
Signal layout
3 2 1 BAT MRR MR 6 5 4 CONT MDR MD 9 8 7 SHD LG P5
MR-J3JCBL03M-A2-L
1 CONT 2 BAT
View seen from wiring

MR-J3JCBL03M-A1-L Junction connector P5 LG MR MRR MD MDR BAT SEL SHD 7 8 1 2 4 5 3 6 9 Encoder side connector 3 6 5 4 8 7 2 1 9 P5 P5G MR MRR MD MDR BAT CONT SHD
11 - 13
(4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP Series servomotors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.
Cable Model MR-J3ENSCBL M-L MR- J3ENSCBL M-H Cable Length
2m 5m 10m 20m 30m 40m 50m Protective Structure
Flex Life Standard
Application
2 2
5 5
10 10
20 20
30 30 40 50
IP67 IP67
For HF-SP servo motor Long flex

Servo amplifier
MR-J3ENSCBL M-L MR-J3ENSCBL M-H CN2 1)
2) Servo motor HF-SP
Cable Model MR-J3ENSCBL
1) For CN2 Connector Connector set: 54599-1019(Molex) M-L Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)
LG

P5
4
MRR
6 5
8 7
10 9
BAT
4 3
MR
6 5
8 7
10 9
BAT
2) For Encoder Connector In case of 10m or shorter cables Straight plug: CM10-SP10S-M Socket contact: CM10#22SC(C1)-100 Crimping tool: 357J-50446 (DDK) Applicable cable AWG20 to 22 In case of 20m or longer cables Straight plug: CM10-SP10S-M Socket contact: CM10#22SC(C2)-100 Crimping tool: 357J-50447 (DDK) Applicable cable AWG23 to 28
(Note) Signal layout
LG MRR
1
P5
3
MR
MR-J3ENSCBL H
M-
Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.
2 MRR 6 5 LG 9
1 MR 4 BAT 8 P5
10 SHD
View seen from wiring side Note. Keep open the pin shown with an .
11 - 14

MR-J3ENSCBL2M-L/H MR-J3ENSCBL5M-L/H MR-J3ENSCBL10M-L/H Servo amplifier side connector 1 P5 2 LG 3 MR 4 MRR 9 BAT SD Plate Encoder side connector 8 5 1 2 4 10 P5 LG MR MRR BAT SHD
MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L Encoder side Servo amplifier connector side connector P5 LG 1 2 8 5 P5 LG
MR-J3ENSCBL20M-H MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H Encoder side Servo amplifier connector side connector P5 LG 1 2 8 5 P5 LG
MR 3 MRR 4 BAT 9 SD Plate
1 2 4 10
MR MRR BAT SHD
MR 3 MRR 4 BAT 9 SD Plate
1 2 4 10
MR MRR BAT SHD
(c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 11.8 for the specifications of the used cable.
Parts/Tool Connector set MR- J3SCNS (Option) Description
Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex)
Encoder side connector Straight plug: CM10-SP10S-M Socket contact: CM10-#22SC(S1)-100 Applicable wire size: AWG20 or less Recommended tightening jig: 357J-51456T (DDK)
11 - 15
(5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier.
Cable Model MR-J3BTCBL03M Cable Length 0.3m For HF-MP HF-KP Application HF-SP servo motor

Servo amplifier
1) CN2
MR-J3BTCBL03M
(Note) Encoder cable Servo motor
2) Battery 3)
Note. For the detector cable, refer to (1), (2), (3) and (4) of this section. Cable Model MR-J3BTCBL03M 1) For CN2 Connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex) 1) Junction Connector Plug: 36110-3000PL Shell kit: 36310-F200-008 (3M) 2) For Battery Connector Connector: DF3-2EP-2C Contact: DF3-EP2428PCFA (Hirose Denki)
11 - 16

11.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 3.10 when wiring.
Cable Model MR-PWS1CBL MR-PWS1CBL MR-PWS1CBL MR-PWS1CBL MR-PWS2CBL MR-PWS2CBL M-A1-L M-A2-L M-A1-H M-A2-H M-A1-L M-A2-L 03 03 Cable Length 0.3m 2m 2 2 2 2 5m 5 5 5 5 10m 10 10 10 10 Protective Structure IP65 IP65 IP65 IP65 IP55 IP55 Flex Life Standard Standard Long flex Long flex Standard Standard Application For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead
(1) Connection of servo amplifier and servo motor

MR-PWS1CBL M-A1-L MR-PWS1CBL M-A1-H MR-PWS2CBL03M-A1-L Servo amplifier
1)
or
Servo motor HF-MP HF-KP
CNP3 connector supplied with servo amplifier CNP3
MR-PWS1CBL M-A2-L MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A2-L
Cable Model MR-PWS1CBL MR-PWS1CBL MR-PWS1CBL MR-PWS1CBL M-A1-L M-A2-L M-A1-H M-A2-H
1) For Motor Power Supply Connector Connector: JN4FT04SJ1-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) Connector: JN4FT04SJ2-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry)
Signal layout
1 2 U 3 V 4 W
MR-PWS2CBL03M-A1-L
MR-PWS2CBL03M-A2-L
(2) Internal wiring diagram

MR-PWS1CBL M-A1-H MR-PWS2CBL03M-A1-L MR-PWS1CBL M-A2-H MR-PWS1CBL03M-A2-L U V W
AWG 19 (Red) AWG 19 (White) AWG 19 (Black) AWG 19 (Green/yellow)
11 - 17

11.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 3.11 when wiring.
Cable Model MR-PWS1CBL MR-PWS1CBL MR-PWS1CBL MR-PWS1CBL MR-PWS2CBL MR-PWS2CBL M-A1-L M-A2-L M-A1-H M-A2-H M-A1-L M-A2-L 03 03 Cable Length 0.3m 2 2 2 2 2m 5 5 5 5 5m 10m 10 10 10 10 Protective Structure IP65 IP65 IP65 IP65 IP55 IP55 Flex Life Standard Standard Long flex Long flex Standard Standard Application For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead
(1) Connection of servo amplifier and servo motor

MR-BKS1CBL M-A1-L MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L 24VDC power supply for electromagnetic brake
or
MR-BKS1CBL M-A2-L MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A2-L
Cable Model MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL M-A1-L M-A2-L M-A1-H M-A2-H
1) For Motor Brake Connector Connector: JN4FT02SJ1-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) Connector: JN4FT02SJ2-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry)
Signal layout 1 B1 2 B2 View seen from wiring side.
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L
(2) Internal wiring diagram

MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L AWG 20 AWG 20 MR-BKS1CBL M-A2-H MR-BKS1CBL03M-A2-L B1 B2
11 - 18
11.1.5 SSCNET
cable POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, you may feel something is wrong for eye. (The light source of SSCNET complies with class1 defined in JIS C6802 or IEC60825-1.)
(1) Model explanations Numeral in the column of cable length on the table is a symbol put in the which symbol exists are available.
Cable Model MR-J3BUS M MR-J3BUS M-A (Note) MR-J3BUS M-B Note. For cable of 30m or less, contact our company. Cable Length
0.15m 0.3m 0.5m 1m 3m 5m 10m 20m 30m 40m
part of cable model. Cables of

Flex Life Application Remark Using inside Standard panel standard cord Using outside Standard panel standard cable Using long Long flex distance cable
50m
015
03
05
3 5 10 20 30 40 50
(2) Specifications
SSCNET cable model SSCNET cable length Optical Minimum bend radius cable (cord) Tension strength Temperature range for use (Note) Ambient
2.2 0.07
MR-J3BUS M 0.15m 0.3 to 3m 25mm 70N 140N -40 to 85
Description MR-J3BUS M-A MR-J3BUS M-B 5 to 20m 30 to 50m Enforced covering cord: 50mm Enforced covering cord: 50mm Cord: 25mm Cord: 30mm 420N 980N (Enforced covering cord) (Enforced covering cord) -20 to 70 Indoors (no direct sunlight) No solvent or oil
2.2 0.07 4.4 0.1 4.4 0.4 2.2 0.2
External appearance [mm]

2.2 0.07
4.4 0.1
6.0 0.2 7.6 0.5
Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as that for servo amplifier.
11 - 19
(3) Outline drawings (a) MR-J3BUS015M

[Unit: mm]
(6.7) Protective tube (15) (13.4) (37.65)
(20.9)
150
50 0
(b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L).
[Unit: mm]
Protective tube (Note)
(100) L
(1.7)
(2.3)
(100)
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
(c) MR-J3BUS5M-A to MR-J3BUS20M-A MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table shown in (1) of this section for cable length (L).
SSCNET cable Distortion dimension [mm] A 100 150 B 30 50 [Unit: mm]
Protective tube (Note)
MR-J3BUS5M-A to MR-J3BUS20M-A MR-J3BUS30M-B to MR-J3BUS50M-B
(A)
(B) L
(B)
(A)
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
11 - 20
11.2 Regenerative options
CAUTION
The specified combinations of regenerative options and servo amplifiers may only be used. Otherwise, a fire may occur.
(1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers.
Regenerative power[W] Servo amplifier Built-in regenerative resistor 10 10 10 20 20 100 100 130 170 Regenerative power[W] Servo amplifier Built-in MR-RB1H-4 MR-RB3M-4 MR-RB3G-4 regenerative [82 ] [120 ] [47 ] resistor 20 20 100 100 130 170 (Note 2) Regenerative power[W] Servo amplifier MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 External regenerative resistor (Accessory) 500 (800) 850 (1300) 850 (1300) 500 (800) 850 (1300) 850 (1300) MR-RB5E [6 ] 500 (800) 850 (1300) 850 (1300) 500 (800) 850 (1300) 850 (1300) MR-RB9P [4.5 ] MR-RB9F [3 ] MR-RB6B-4 [20 ] MR-RB60-4 [12.5 ] MR-RB6K-4 [10 ] 100 100 300 300 300 300 500 500 300 300 500 500 (Note 1) MR-RB5G-4 [47 ] MR-RB34-4 [26 ] (Note 1) MR-RB54-4 [26 ] MR-RB032 [40 ] 30 30 30 30 30 30 100 100 100 100 100 300 300 300 300 300 300 500 500 500 500 MR-RB12 [40 ] MR-RB30 [13 ] MR-RB31 [6.7 ] MR-RB32 [40 ] (Note 1) MR-RB50 [13 ] (Note 1) MR-MB51 [6.7 ]
MR-J3-10B (1) MR-J3-20B (1) MR-J3-40B (1) MR-J3-60B MR-J3-70B MR-J3-100B MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B
MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 MR-J3-700B4
Note 1. Always install a cooling fan. 2. Values in parentheses assume the installation of a cooling fan.
11 - 21
(2) Selection of the regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option: (a) Regenerative energy calculation Use the following table to calculate the regenerative energy.
Servo motor speed
tf(1 cycle) No Up Down

t1 Tpsa1 t2 Tpsd1 t3 Tpsa2
M Friction torque
TF TU
Unbalance torque
Time
t4 Tpsd2
( )
Generated torque
1) (Driving) 2) 4) 5) 6) 3) (Regenerative) 7) 8)
( )
Formulas for calculating torque and energy in operation

Regenerative power 1) 2) 3) 4), 8) 5) 6) 7) T1 T2
T3
Torque applied to servo motor [N m] (JL JM) N0 1 TU TF Tpsa1 9.55 104 TU TF

(JL JM) N0 9.55 104 1 Tpsd1 TU TF
E1 E2 E3
Energy [J] 0.1047 N0 T1 Tpsa1 2 0.1047 0.1047 2 N0 T2 t1
N0 T3 Tpsd1
T4 T5 T6
T7
TU (JL JM) N0 4 9.55 10 TU TF

(JL JM) N0 9.55 104
1 Tpsa2
1 Tpsd2
TU
TF
E4 0 (No regeneration) 0.1047 E5 N0 T5 Tpsa2 2 E6 0.1047

0.1047 2
N0
T6
t3
TU
TF
E7
N0 T7 Tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
11 - 22
(b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Servo amplifier MR-J3-10B MR-J3-10B1 MR-J3-20B MR-J3-20B1 MR-J3-40B MR-J3-40B1 MR-J3-60B(4) MR-J3-70B MR-J3-100B MR-J3-100B4 Inverse efficiency[%] 55 55 70 70 85 85 85 80 80 80 Capacitor charging[J] 9 4 9 4 11 10 11 18 18 12 Servo amplifier Inverse efficiency[%] MR-J3-200B 85 MR-J3-200B4 85 MR-J3-350B 85 MR-J3-350B4 85 MR-J3-500B(4) 90 MR-J3-700B(4) 90 MR-J3-11KB(4) 90 MR-J3-15KB(4) 90 MR-J3-22KB(4) 90 Capacitor charging[J] 40 25 40 36 45 70 120 170 250
: Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%. Capacitor charging (Ec) : Energy charged into the electrolytic capacitor in the servo amplifier. Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option. ER [J] Es Ec
Inverse efficiency ( )
Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option. PR [W] ER/tf
(3) Parameter setting Set parameter No. PA02 according to the option to be used.
Parameter No. PA02
0 0
Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. For a drive unit of 30kW or more, select regenerative option by the converter unit. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fanis required) 84: MR-RB34-4(Cooling fanis required) 85: MR-RB54-4(Cooling fanis required) FA: Whenhe supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW.
11 - 23

The following are setting values for regenerative resistor and regenerative brake option which are used with a servo amplifier of 11k to 22kW.
Regenerative resistor, regenerative brake option Standard supplied regenerative resistor Standard supplied regenerative resistor (with a cooling fan to cool it) MR-RB5E MR-RB5E (with a cooling fan to cool it) MR-RB9P MR-RB9P (with a cooling fan to cool it) MR-RB9F MR-RB9F (with a cooling fan to cool it) MR-RB6B-4 MR-RB6B-4 (with a cooling fan to cool it) MR-RB60-4 MR-RB60-4 (with a cooling fan to cool it) MR-RB6K-4 MR-RB6K-4 (with a cooling fan to cool it) Setting value 00 FA 00 FA 00 FA 00 FA 00 00 FA 00 FA 00
(4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. For the sizes of wires used for wiring, refer to section 11.11. The regenerative option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative option body. Always use twisted cables of max. 5m length for connection with the servo amplifier.
11 - 24
(a) MR-J3-350B or less MR-J3-200B4 or less Always remove the wiring from across P-D and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option overheats abnormally.
Always remove the lead from across P-D. Servo amplifier P C D (Note 2) 5m max. Regenerative option P C G3 G4 (Note 1) Cooling fan
Note 1. When using the MR-RB50 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4, forcibly cool it with a cooling fan (92 flow : 1.0m3). 2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5A/4.8VDC Maximum capacity: 2.4VA
92, minimum air
For the MR-RB50 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 install the cooling fan as shown.
[Unit : mm] Cooling fan installation screw hole dimensions Top Cooling fan Terminal block 2-M3 screw hole (for cooling fan installation) Depth 10 or less (Screw hole already machined)
82.5 82.5 40 133
Thermal relay
Bottom
Vertical installation
Horizontal installation
Installation surface
11 - 25
(b) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally.
Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor. Regenerative option P C G3 (Note 2) 5m or less Cooling fan(Note 1) G4
Servo amplifier P C
Note 1. When using the MR-RB51 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4, forcibly cool it with a cooling fan (92 92, minimum air flow : 1.0m3). 2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5A/4.8VDC Maximum capacity: 2.4VA
When using the regenerative resistor option, remove the servo amplifier's built-in regenerative resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method
Accessory screw
11 - 26
The drawing below shows the MR-J3-350B4 MR-J3-500B(4). Refer to section 9.1 (6) outline drawings for the position of the fixing screw for MR-J3-700B(4).
Built-in regenerative resistor lead terminal fixing screw
For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4 install the cooling fan as shown.
[Unit : mm] Cooling fan installation screw hole dimensions Top Cooling fan Terminal block 2-M3 screw hole (for cooling fan installation) Depth 10 or less (Screw hole already machined)
82.5 82.5 40 133
Thermal relay
Bottom
Vertical installation
Horizontal installation
Installation surface
11 - 27
(c) MR-J3-11KB(4) to MR-J3-22KB(4) (when using the supplied regenerative resistor) When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans (92 92, minimum 3 FA" in parameter No. PA02. air flow : 1.0m ) improves the regeneration capability. In this case, set "
5m or less Do not remove the short bar. Servo amplifier P1 P C
(Note) Series connection
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis or use the thermal sensor built-in regenerative option (MRRB5E, 9P, 9F, 6B-4, 60-4 and 6K-4) provided by Mitsubishi Electric Corporation. Regenerative Resistor GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 GRZG400-2.5 GRZG400-2.0 Regenerative Power [W] Normal 500 850 850 500 850 850 Cooling 800 1300 1300 800 1300 1300 Resistance [ ] 6 4.5 3 20 12.5 10 Number of Resistors 4 5 5 4 5 5
Servo Amplifier MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4
11 - 28
(d) MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX (when using the regenerative option) The MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option. The MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 are regenerative options that have encased the GRZG4001.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 respectively. When using any of these regenerative options, make the same parameter setting as when using the GRZG400-1.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 (supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier). Cooling the regenerative option with cooling fans improves regenerative capability. The G3 and G4 terminals are for the thermal protector. G3-G4 is opened when the regenerative option overheats abnormally.
Servo amplifier P1 P C (Note) Do not remove the short bar. Regenerative option P C G3 G4
Configure up a circuit which shuts off main circuit power when thermal protector operates.
Note. Specifications of contact across G3-G4 Maximum voltage : 120V AC/DC Maximum current : 0.5A/4.8VDC Maximum capacity : 2.4VA Regenerative option model MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 Regenerative power [W] Without With cooling fans cooling fans 500 850 850 500 850 850 800 1300 1300 800 1300 1300
Servo amplifier MR-J3-11KB-PX MR-J3-15KB-PX MR-J3-22KB-PX MR-J3-11KB4-PX MR-J3-15KB4-PX MR-J3-22KB4-PX
Resistance [ ] 6 4.5 3 20 12.5 10
When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. In this case, set " FA" in parameter No. PA02.
Top Bottom TE1 2 cooling fans (92 92, minimum air flow: 1.0m3) MR-RB5E 9P 9F 6B-4 60-4 6K-4
Mounting screw 4-M3
TE G4 G3 C
11 - 29
(5) Outline drawing (a) MR-RB032 MR-RB12

[Unit: mm (in)] TE1 Terminal block
G3 G4 P C
LA LB
6 mounting hole
Approx. 6
Approx. 12
MR-RB
Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.31 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.32 [lb in])
5
168
TE1
G3 G4 P C
12
144
156
6 Approx. 20 LD LC
1.6
Regenerative option MR-RB032 MR-RB12
Variable dimensions LA 30 40 LB 15 15 LC 119 169 LD 99 149
Mass [kg] 0.5 1.1 [lb] 1.1 2.4
11 - 30
(b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4

[Unit: mm (in)]
Cooling fan mounting screw (2-M4 screw)
TE1 Terminal block

P C G3 G4
7 10 90 100 A
101.5
82.5 318 B Wind blows in the arrow direction
Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.79 [lb in]) Regenerative option MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 23 341 17 335 2.9 (6.4) Variable dimensions A B Mass [kg] (Ib)
(c) MR-RB50 MR-RB51 MR-RB54-4 MR-RB5G-4

[Unit: mm (in)]
Cooling fan mounting screw (2-M3 screw) On opposite side 49 82.5
Terminal block
P C G3 G4
7 14 slot
Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.79 [lb in])
Wind blows in the arrow direction
Regenerative option MR-RB50 MR-RB51 MR-RB54-4
Variable dimensions A 17 23 B 217
Mass [kg] (Ib)
5.6 (12.3) 233
2.3 200 B A 12
7 108 120 (30) 8
MR-RB5G-4
11 - 31
(d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4

[Unit: mm (in)]
2- 10 mounting hole
Terminal block
G4 G3 C P
10
30
Terminal screw: M5 Tightening torque: 2.0 [N m] (17.70 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (116.83 [lb in])
480 500 427
Regenerative option MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4
Mass [kg] 10 11 11 10 11 11 [Ib] 22.0 24.3 24.3 22.0 24.3 24.3
TE1
G4 G3 C P
10
15
230 260 230
43
10
2.3 215
Cooling fan mounting screw 4-M3 screw 82.5
82.5 82.5
GRZG400-0.9 (e) GRZG400-1.5 2.0 (standard accessories)

Approx. C 10 Approx. K
GRZG400-0.6
GRZG400-5.0
GRZG400-2.5
GRZG400-
Approx. A
Approx. 2.4
Regenerative brake GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 GRZG400-2.5 GRZG400-2.0
Variable dimensions A 10 16 10 C 5.5 8.2 5.5 K 39 46 39
Mounting screw size
Tightening torque [N m] ([lb in])
Mass [kg] ([lb])
1.6
Approx. 330 385 411
9.5 40 Approx. 47
40
M8
13.2 (116.83)
0.8 (1.76)
11 - 32
(f) MR-RB1H-4
[Unit: mm (in)]
40 36 15 6 mounting hole
Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.31 [lb in])
G3 G4 P C
Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.32 [lb in]) Regenerative option
TE1
Mass [kg] ([lb]) 1.1 (2.4)
MR-RB1H-4
6 Approx. 24
6 149 173
11 - 33
11.3 FR-BU2-(H) Brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier, and a 400V class brake unit and a resistor unit with a 400V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes. Temperature of the resistor unit case rises to higher than 100 C. Keep cables and flammable materials away from the case. Ambient temperature condition of the brake unit is between 10C to 50C. Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0C to 55C). Configure the circuit to shut down the power-supply with the alarm output of the brake unit and resistor unit under abnormal condition. Use the brake unit with a combination indicated in section 11.3.1. For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter. Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously. Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability. When using the brake unit, set the parameter No.PA02 of the servo amplifier to " 01". When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.
11 - 34
11.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below.
Brake unit 200V class FR-BU2-15K Resistor unit FR-BR-15K Number of connected units 1 2 (parallel) Permissible continuous power [kW] 0.99 1.98 Total resistance [ ] 8 4 Applicable servo amplifier MR-J3-500B (Note) MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-22KB MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 MR-J3-22KB4
FR-BU2-30K
FR-BR-30K
1.99
FR-BU2-55K
FR-BR-55K
3.91
MT-BR5-55K 400V class FR-BU2-H30K FR-BR-H30K
1 1
5.5 1.99
2 16
FR-BU2-H55K
FR-BR-H55K
3.91
FR-BU2-H75K
MT-BR5-H75K
7.5
6.5
11.3.2 Brake unit parameter setting Normally, when using the FR-BU2-(H), changing parameters is not necessary. Whether a parameter can be changed or not is listed below.
Parameter No. 0 1 2 3 77 78 CLr ECL C1 Name Brake mode switchover Monitor display data selection Input terminal function selection 1 Input terminal function selection 2 Parameter write selection Cumulative energization time carrying-over times Parameter clear Alarm history clear For manufacturer setting Change possible/ impossible Impossible Possible Impossible Remarks Do not change the parameter. Refer to the FR-BU2-(H) Brake Unit Instruction Manual. Do not change the parameter.
11 - 35
11.3.3 Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (1) Combination with FR-BR-(H) resistor unit (a) When connecting a brake unit to a servo amplifier
(Note 8) Servo motor thermal relay RA2 ALM RA1 (Note 5) NFB (Note 1) Power supply MC Controller forced stop EM1 RA3 OFF ON MC MC SK Servo amplifier CN3 20 EM1 L1 3 DOCOM L2 24VDC 10 DICOM L3 15 ALM L11 RA1 L21 P1 (Note 3) P2 P( (Note 9) N( ) C (Note 2) (Note 10) )
P PR
FR-BR-(H) (Note 6) TH1 TH2 FR-BU2-(H)
PR P/ (Note 4) N/ BUE SD
MSG SD A B C (Note 7)
Note 1. For power supply specifications, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C terminals. 3. Always connect between P1 and P2 terminals (P1 and P for the servo amplifier of 11k to 22kW) (Factory-wired). When using the power factor improving DC reactor, refer to section 11.13. 4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 5. For 400VAC class, a step-down transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier. 9. Do not connect more than one cable to each P( ) to N( ) terminals of the servo amplifier. 10. Always connect between BUE and SD terminals (Factory-wired).
11 - 36
(b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect the servo amplifier and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.
Servo amplifier P( ) N( ) Brake unit P/ N/ Brake unit P/ N/ Servo amplifier P( ) N( ) Brake unit P/ N/ Brake unit P/ N/
Connecting two cables to P and N terminals
Passing wiring
11 - 37
(Note 7) Servo motor thermal relay RA2 ALM RA1
Controller forced stop EM1 RA3
OFF
ON MC MC SK
Servo amplifier NFB (Note 1) Power supply MC L1 L2 L3 L11 L21 CN3 20 EM1 3 DOCOM 10 DICOM 15 ALM P1 P2 P (Note 8) N C Terminal block (Note 2) P PR FR-BR (Note 5) TH1 TH2 (Note 3) (Note 11)
DC24V RA1 P PR
FR-BR (Note 5)
TH1 TH2
FR-BU2-(H) PR MSG (Note 10) SD P/ (Note 4) A N/ B C BUE (Note 9) (Note 6) SD
FR-BU2-(H) PR MSG (Note 10) SD P/ (Note 4) A N/ B C BUE (Note 9) (Note 6) SD
Note 1. For power supply specifications, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k and 15kW, do not connect a supplied regenerative resistor to the P and C terminals. 3. Always connect between P1 and P2 terminals (P1 and P for the servo amplifier of 11k and 15kW) (Factory-wired). When using the power factor improving DC reactor, refer to section 11.13. 4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 5. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 6. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier. 8. Do not connect more than one cable to each P and N terminals of the servo amplifier. 9. Always connect between BUE and SD terminals (Factory-wired). 10. Connect the MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 11. For the cable to connect the terminal block and the P and N terminals of the servo amplifier, use the cable indicated in (4) (b) of this section.
11 - 38

(2) Combination with MT-BR5-(H) resistor unit
Servo motor thermal relay RA2 ALM RA1 Controller forced stop EM1 RA3 OFF ON RA4 MC MC SK
(Note 4) NFB (Note 1) Power supply MC
Servo amplifier CN3 20 EM1 L1 3 DOCOM L2 10 DICOM L3 15 ALM L11 L21
24VDC
RA1
P PR
MT-BR5-(H) (Note 5) TH1 TH2 FR-BU2-(H)
SK
RA4
C (Note 9) P1 (Note 2) P( ) (Note 7) N( )
PR P/ (Note 3) N/
MSG SD A B C BUE (Note 8) (Note 6) SD
Note 1. For power supply specifications, refer to section 1.3. 2. Always connect between P1 - P( ) terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 11.13. 3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 4. For the servo amplifier of 400V class, a step-down transformer is required. 5. Contact rating: 1a contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting. 6. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 7. Do not connect more than one cable to each P and N terminals of the servo amplifier. 8. Always connect between BUE and SD terminals (Factory-wired). 9. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals.
11 - 39
(3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction.
Servo amplifier Brake unit P( ) N( ) P N P PR Resistor unit P PR P( ) N( )
Twist
Servo amplifier Brake unit P N P PR

Twist
Resistor unit P PR
5m or less
5m or less
10m or less
10m or less
(4) Cables (a) Cables for the brake unit For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended. 1) Main circuit terminal
Main circuit terminal screw size M4 M5 M6 M4 M5 M6 Crimping terminal N/ , P/ , PR, 5.5-4 5.5-5 14-6 5.5-4 5.5-5 14-6 Cable size Tightening torque N/ , P/ , PR, HIV cables, etc. [mm2] 3.5 5.5 14 3.5 5.5 14 AWG 12 10 6 12 10 6
Brake unit
200V
N/ P/ PR
FR-BU2-15K FR-BU2-30K FR-BU2-55K FR-BU2-H30K FR-BU2-H55K FR-BU2-H75K
1.5 2.5 4.4 1.5 2.5 4.4
class 400V
Terminal block
class
11 - 40
2) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.
PC BUE SD RES SD MSG MSG SD SD Jumper
Sheath Core
Terminal block
6mm
Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5N m to 0.6N m 2 2 Cable size: 0.3mm to 0.75 mm Screw driver: Small flat-blade screwdriver (Tip thickness: 0.4mm/Tip width 2.5mm) (b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit
Cable size Brake unit FR-BU2-15K HIV cables, etc. [mm2] 8 AWG 8
11 - 41
(5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size.
Number of connected units 1 2 FR-BU2-30K MR-J3-700B FR-BU2-15K FR-BU2-30K MR-J3-11KB FR-BU2-15K FR-BU2-30K FR-BU2-55K MR-J3-15KB FR-BU2-15K FR-BU2-30K FR-BU2-55K MR-J3-22KB 400V class MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 FR-BU2-55K FR-BU2-H30K FR-BU2-H30K FR-BU2-H30K FR-BU2-H55K FR-BU2-H55K FR-BU2-H55K FR-BU2-H75K 1 2 1 2 1 1 2 1 1 1 1 1 1 1 1 1 1 (Note 1) Applicable tool c d c d c a c b a c b b c c c c c c b
Servo amplifier 200V class MR-J3-500B
Brake unit FR-BU2-15K
Crimping terminal (Manufacturer) FVD5.5-S4(Japan Solderless Terminal) 8-4NS(Japan Solderless Terminal) (Note 2) FVD5.5-S4(Japan Solderless Terminal) 8-4NS(Japan Solderless Terminal) (Note 2) FVD5.5-S4(Japan Solderless Terminal) FVD8-6(Japan Solderless Terminal) FVD5.5-6(Japan Solderless Terminal) FVD14-6(Japan Solderless Terminal) FVD8-6(Japan Solderless Terminal) FVD5.5-6(Japan Solderless Terminal) FVD14-6(Japan Solderless Terminal) FVD14-8(Japan Solderless Terminal) FVD5.5-S4(Japan Solderless Terminal) FVD5.5-S4(Japan Solderless Terminal) FVD5.5-6(Japan Solderless Terminal) FVD5.5-6(Japan Solderless Terminal) FVD5.5-6(Japan Solderless Terminal) FVD5.5-8(Japan Solderless Terminal) FVD14-8(Japan Solderless Terminal)
Note 1. Symbols in the applicable tool field indicate applicable tools in (5)(b) of this section. 2. Coat the crimping part with an insulation tube.
(b) Applicable tool

Servo amplifier side crimping terminals Symbol a b c d Crimping terminal FVD8-6 FVD14-6 FVD14-8 FDV5.5-S4 FDV5.5-6 8-4NS Applicable tool Body YF-1 E-4 YF-1 E-4 YNT-1210S YHT-8S Head YNE-38 YNE-38 Dice DH-111 DH121 DH-112 DH122 Japan Solderless Terminal Manufacturer
11 - 42
11.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit

[Unit: mm]
FR-BU2-15K
5 hole (Screw size: M4)
Rating plate
5 6 56 68 6
4 18.5 52 132.5 62
FR-BU2-30K FR-BU2-H30K
2- 5 hole (Screw size: M4)
Rating plate
96 108
5 6 18.5 52 129.5 59
FR-BU2-55K FR-BU2-H55K, H75K

2- 5 hole (Screw size: M4)
Rating plate
5 6 158 170 6 18.5 52 142.5 72
11 - 43
(2) FR-BR- (H) resistor unit

[Unit: mm]
2 | C (Note)
Control circuit terminal Main circuit terminal
(Note)
C (35) W1 1
C (35) For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below). Hanging bolt 204
W 5
Note. Ventilation ports are provided on both sides and the top. The bottom is open. Approximate mass [kg] 15 30 70 30 70
Resistor unit FR-BR-15K FR-BR-30K FR-BR-55K FR-BR-H30K FR-BR-H55K
W 170 340 480 340 480
W1 100 270 410 270 410
H 450 600 700 600 700
H1 410 560 620 560 620
H2 20 20 40 20 40
H3 432 582 670 582 670
D 220 220 450 220 450
D1 3.2 4 3.2 4 3.2
C 6 10 12 10 12
200V class 400V class
(3) MT-BR5- (H) resistor unit

[Unit: mm] Resistor unit
NP
Resistance value
Approximate mass [kg] 50 70
MT-BR5-55K MT-BR5-H75K
2.0 6.5
M6 193
37 60 10 21
M4 189 480 510 4 15 mounting hole 7.5
75
300 450
75 7.5
11 - 44
11.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02.
(1) Selection The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5k to 22kW.
Power regeneration converter FR-RC-15K FR-RC-30K FR-RC-55K FR-RC-H15K FR-RC-H30K FR-RC-H55K Servo Amplifier MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4
Continuous energization time [sec]
Nominal Regenerative Power (kW) 15 30 55 15 30 55
500 300 200 100 50 30 20 0 50 75 100 150 Nominal regenerative power (%)
11 - 45
(2) Connection example

Servo amplifier L11 Power factor improving reactor MC FR-BAL-(H) L21 L1 L2 L3 CN3 EM1
DOCOM
NFB (Note 6) Power supply
Forced stop
CN3
DOCOM DICOM
24VDC
ALM
RA
Trouble(Note 3)
(Note 2) P1 P2 N (Note 4) N/ RDY (Note 5) Ready SE RDY output R/L1 S/L2 T/L3 RX R SX S TX T Power regeneration converter FR-RC-(H) FR-RC-(H) B C ALM RA2 EMG Operation ready ON OFF MC MC SK (Note 1) Phase detection terminals Alarm output C P P/ 5m or less A B C B C
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-(H) will not operate. 2. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P terminal and C terminal. 3. When setting not to output Trouble (ALM) with parameter change, configure power supply circuit for turning magnetic contactor off after detecting an occurrence of alarm on the controller side. 4. Always connect P1-P2 (For 11k to 22kW, connect P1-P). (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 5. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers. 6. Refer to section 1.3 for the power supply specification.
11 - 46
(3) Outside dimensions of the power regeneration converters

[Unit : mm]
E 2- D hole Mounting foot (removable) Mounting foot movable
Rating plate Display panel window Cooling fan
Front cover BA B
AA A
EE
F C
Heat generation area outside mounting dimension
Power regeneration converter FR-RC-15K FR-RC-H15K FR-RC-30K FR-RC-H30K FR-RC-55K FR-RC-H55K
AA
BA
EE
Approx. Mass [kg(Ib)] 19 (41.888) 31 (68.343) 55 (121.3)
270
200
450
432
195
10
10
3.2
87
340
270
600
582
195
10
10
3.2
90
480
410
700
670
250
12
15
15
3.2
135
(4) Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box.
[Unit : mm]
(AA) (2- D hole)
Model FR-RC-15K FR-RC-H15K FR-RC-30K FR-RC-H30K
a 260 330
b 412 562
D 10 10
AA 200 270
BA 432 582
(Mounting hole) (BA)
FR-RC-55K FR-RC-H55K
b
470
642
12
410
670
11 - 47
11.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV-(H) Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H). Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier. Two or more FR-CV-(H)'s cannot be installed to improve regeneration capability. Two or more FR-CV-(H)'s cannot be connected to the same DC power supply line. When using the power regeneration common converter, set parameter No. PA02 to " (1) Model
Capacity
Symbol
01".
7.5K 11K 15K 22K 30K 37K 55K

Symbol
Capacity [kW] 7.5 11 15 22 30 37 55 Voltage class 200V class 400V class
None H
(2) Selection The power regenerative common converter FR-CV can be used for the servo amplifier of 200V class with 750 to 22kW and that of 400V class with 11k to 22kW. The following shows the restrictions on using the FR-CV-(H). (a) Up to six servo amplifiers can be connected to one FR-CV-(H). (b) FR-CV-(H) capacity [W] Total of rated capacities [W] of servo amplifiers connected to FR-CV-(H) 2 (c) The total of used servo motor rated currents should be equal to or less than the applicable current [A] of the FR-CV-(H). (d) Among the servo amplifiers connected to the FR-CV-(H), the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity [W].
11 - 48
The following table lists the restrictions.

Item Maximum number of connected servo amplifiers Total of connectable servo amplifier capacities [kW] Total of connectable servo motor rated currents [A] Maximum servo amplifier capacity [kW] 3.75 33 3.5 5.5 46 5 FR-CV-H 22K 11 90 11 30K 6 15 115 15 18.5 145 15 27.5 215 22 37K 55K 7.5 61 7 FR-CV7.5K 11K 15K 22K 6 11 90 11 15 115 15 18.5 145 15 27.5 215 22 30K 37K 55K
Item Maximum number of connected servo amplifiers Total of connectable servo amplifier capacities [kW] Total of connectable servo motor rated currents [A] Maximum servo amplifier capacity [kW]
When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)).
Power regeneration common converter FR-CV-7.5K(-AT) FR-CV-11 K(-AT) FR-CV-15K(-AT) FR-CV-22K(-AT) FR-CV-30K(-AT) FR-CV-37K FR-CV-55K FR-CV-H22K(-AT) FR-CV-H30K(-AT) FR-CV-H37K FR-CV-H55K Dedicated stand-alone reactor FR-CVL-7.5K FR-CVL-11 K FR-CVL-15K FR-CVL-22K FR-CVL-30K FR-CVL-37K FR-CVL-55K FR-CVL-H22K FR-CVL-H30K FR-CVL-H37K FR-CVL-H55K
11 - 49
(3) Connection diagram (a) 200V class

NF
FR-CVL MC
R/L11 S/L21 T/L31 R2/L12 S2/L22 T2/L32
FR-CV
R2/L1 S2/L2 T2/L3
(Note 7)
Servo amplifier L11 L21 P1 P

(Note 6)
Servo motor U V W Thermal relay OHS2

(Note 2)
U V W
P/L N/L
CN2
OHS1 EM1 RA1
R/L11 S/L21 T/MC1 RESET RES SD RDYB RDYA RSO

(Note 1) (Note 1) (Note 3) (Note 4)
P24 SD
EM1
DOCOM
(Note 1)
(Note 5)
DICOM
RA1 RA2
EM1 OFF
ON
SE A
RA1 (Note 1)
MC MC SK
B C
24VDC power supply
RA2
Note 1. Configure a sequence that will shut off main circuit power at an emergency stop or at FR-CV or servo amplifier alarm occurrence. 2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay operates. 3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready. 4. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure a sequence that will make the servo inoperative when the RSO signal is on. 5. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram. 6. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (3.5kW or less: P-D, 5k/7kW: P-C). 7. When using the servo amplifier of 11k to 22kW, make sure to connect P1-P. (Factory-wired.)
11 - 50
(b) 400V class

NF
FR-CVL MC
R/L11 S/L21 T/L31 R2/L12 S2/L22 T2/L32
FR-CV-H
R2/L1 S2/L2 T2/L3
(Note 7)
Servo amplifier L11 L21 P1

(Note 6)
Servo motor U V W Thermal relay OHS2

(Note 2)
U V W
P/L N/L
P( ) N( ) CN2
OHS1 EM1 RA1
R/L11
(Note 8)
S/L21 T/MC1 RESET RES SD
Stepdown transformer
P24 SD
EM1
DOCOM
(Note 1)
(Note 5)
DICOM
RDYB RDYA RSO

(Note 3) (Note 4)
(Note 1)
(Note 1)
RA1 RA2
EM1 OFF
ON
SE A
RA1 (Note 1)
MC MC SK
B C
24VDC power supply
RA2
Note 1. Configure a sequence that will shut off main circuit power at an emergency stop or at FR-CV-H or servo amplifier alarm occurrence. 2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay operates. 3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV-H is ready. 4. For the FR-CV-H, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure a sequence that will make the servo inoperative when the RSO signal is on. 5. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV-H. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram. 6. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (2kW or less: P -D, 3.5k to 7kW: P -C). 7. When using the servo amplifier of 11k to 22kW, make sure to connect P1-P( ). (Factory-wired.) 8. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class servo amplifiers.
11 - 51
(4) Wires used for wiring (a) Wire sizes 1) Across P-P( ), N-N( ) The following table indicates the connection wire sizes of the DC power supply (P( ), N( ) terminals) between the FR-CV and servo amplifier. The used wires are based on the 600V vinyl wires.
Total of servo amplifier capacities [kW] 1 or less 2 5 7 11 15 22 Wires[mm 2] 2 3.5 5.5 8 14 22 50
The following table indicates the connection wire sizes of the DC power supply (P( ), N( ) terminals) between the FR-CV-H and servo amplifier. The used wires are based on the 600V vinyl wires.
Total of servo amplifier capacities [kW] 1 or less 2 5 7 11 15 22 Wires[mm 2] 2 3.5 5.5 8 8 22 22
2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible.
Power regeneration common converter FR-CV-7.5K to FR-CV-15K FR-CV-22K FR-CV-37K FR-CV-H22K FR-CV-H37K FR-CV-30K FR-CV-55K FR-CV-H30K FR-CV-H55K Grounding wire size [mm 2 ] 14 22 38 8 22
11 - 52
(b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities. 1) 200V class
Wire as short as possible. FR-CV-55K R2/L1 S2/L2 T2/L3 R/L11 S/L21 T/MC1 8mm2 5.5mm2 P/L N/L 22mm2 8mm2 50mm2 22mm2 Servo amplifier (15kW) First unit: P (Note) 50mm2 assuming that the total of servo amplifier N capacities is 27.5kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. Servo amplifier (7kW) Second unit: P (Note) 22mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. Servo amplifier (3.5kW) Third unit: P (Note) 8mm2 assuming that the total of servo amplifier N capacities is 7kW since 3.5kW + 2.0kW = 5.5kW. Servo amplifier (2kW) Fourth unit: P (Note) 3.5mm 2 assuming that the total of servo amplifier N capacities is 2kW since 2.0kW = 2.0kW.
3.5mm2 3.5mm2
Junction terminals Overall wiring length 5m or less
Note. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (3.5kW or less: P-D, 5k/7kW: P-C).
11 - 53
2) 400V class
Wire as short as possible. FR-CV-H55K R2/L1 S2/L2 T2/L3 R/L11 S/L21 T/MC1 8mm2 5.5mm2 P/L+ N/L22mm2 8mm2 22mm2 22mm2 Servo amplifier (15kW) First unit: P 22mm2 assuming that the total of servo amplifier N capacities is 30kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. Servo amplifier (7kW) Second unit: P 22mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. Servo amplifier (3.5kW) Third unit: P 8mm2 assuming that the total of servo amplifier N capacities is 7kW since 3.5kW + 2.0kW = 5.5kW. Servo amplifier (2kW) Fourth unit: P 3.5mm2 assuming that the total of servo amplifier N capacities is 2kW since 2.0kW = 2.0kW.
3.5mm2 3.5mm2
Junction terminals Overall wiring length 5m or less
(5) Other precautions (a) Always use the FR-CVL-(H) as the power factor improving reactor. Do not use the FR-BAL or FR-BEL. (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them. In this case, interference can be reduced by installing the radio noise filter (FR-BIF-(H)) or line noise filter (FR-BSF01, FR-BLF). (c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo amplifiers should be 5m or less, and the wiring must be twisted.
11 - 54
(6) Specifications
Power regeneration common converter FR-CVItem Total of connectable servo amplifier capacities Maximum servo amplifier capacity [kW] [kW] 3.75 3.5 33 5.5 5 46 7.5 7 61 11 11 90 15 15 115 18.5 15 145 27.5 22 215 7.5K 11K 15K 22K 30K 37K 55K
Total of connectable servo motor rated currents [A] Output Regenerative braking torque Short-time rating Continuous rating
Total capacity of applicable servo motors, 300% torque, 60s (Note1) 100% torque Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz 5% 17 20 28 -10 to +50 41 52 66 100 Open type (IP00), forced cooling (non-freezing) 90%RH or less (non-condensing) Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt) 1000m or less above sea level, 5.9m/s2 2 or less 30AF 30A S-N20 50AF 50A S-N35 100AF 75A S-N50 100AF 100A S-N65 225AF 125A S-N95 225AF 125A S-N95 225AF 175A S-N125
Rated input AC voltage/frequency Power supply Permissible AC voltage fluctuation Permissible frequency fluctuation Power supply capacity (Note2) [kVA] Protective structure (JEM 1030), cooling system Ambient temperature Environment Ambient humidity Ambience Altitude, vibration No-fuse breaker or leakage current breaker Magnetic contactor Power regeneration common converter FR-CV-H Item Total of connectable servo amplifier capacities Maximum servo amplifier capacity [kW] [kW] 11 11 43
22K
30K 15 15 57
37K 18.5 15 71
55K 27.5 22 110
Total of connectable servo motor rated currents [A] Output Regenerative braking torque Short-time rating Continuous rating
Total capacity of applicable servo motors, 300% torque, 60s (Note1) 100% torque Three-phase 380 to 480V, 50Hz/60Hz Three-phase 323 to 528V, 50Hz/60Hz 5% 41 -10 52 to +50 66 (non-freezing) 100 Open type (IP00), forced cooling 90%RH or less (non-condensing) Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt) 1000m or less above sea level, 5.9m/s2 2 or less 60AF 60A S-N25 100AF 175A S-N35 100AF 175A S-N35 225AF 125A S-N65
Rated input AC voltage/frequency Power supply Permissible AC voltage fluctuation Permissible frequency fluctuation Power supply capacity Protective structure (JEM 1030), cooling system Ambient temperature Environment Ambient humidity Ambience Altitude, vibration No-fuse breaker or leakage current breaker Magnetic contactor [kVA]
Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is activated in the time indicated in section 10.1. 2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
11 - 55
11.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure. For the braking time taken when the dynamic brake is operated, refer to section 10.3. The brake unit is rated for a short duration. Do not use it for high duty. When using the 400V class dynamic brake, the power supply voltage is restricted to 1-phase 380VAC to 463VAC (50Hz/60Hz). (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required. Assign the dynamic brake interlock (DB) to any of CN3-9, CN3-13, and CN3-15 pins in parameter No.PD07 to PD09.
Servo amplifier MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 Dynamic brake DBU-11K DBU-15K DBU-22K DBU-11K-4 DBU-22K-4
11 - 56

ALM RA1 Operation-ready ON EM1 OFF MC Servo amplifier
MC
Servo motor U V W L1 L2 L3 L11 L21 P P

1
U V W M
SK MC
(Note 4)
CN3 15 10
(Note 3)
ALM
DICOM
RA1
(Note 2)
DB
DICOM DOCOM
RA2
5 3 20
EM1 (Note 1) 14 13 U V W
Plate SD
(Note 6) a RA2 b External dynamic brake
Note 1. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open. Therefore, configure up an external sequence to prevent servo-on. 2. For the servo amplifiers from 11k to 22kW, be sure to connect P1-P. (Factory-wired) When using the power factor DC reactor, refer to section 11.13. 3. Assign the dynamic brake interlock (DB) in the parameters No.PD07 to PD09. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers. 5. Refer to section 1.3 for the power supply specification. 6. The power supply voltage of the inside magnet contactor for 400V class dynamic brake DBU-11K-4 and DBU-22K-4 is restricted as follows. When using these dynamic brakes, use them within the range of the power supply. Dynamic brake DBU-11K-4 DBU-22K-4 Power supply voltage 1-phase 380 to 463VAC 50Hz/60Hz
11 - 57
Coasting Servo motor rotation Alarm Present Absent Base ON OFF ON OFF Invalid Valid Forced stop (EM1) Short Open a. Timing chart at alarm occurrence Dynamic brake
Coasting Dynamic brake
RA1
Dynamic brake
b. Timing chart at forced stop (EM1) validity

Coasting Dynamic brake Electro magnetic brake interlock
Servo motor speed ON Base circuit OFF Electro magnetic brake interlock(MBR) Invalid (ON) Valid (OFF) (Note 2)15 to 60ms Invalid Valid Main circuit Control circuit ON Power OFF ON RA1 OFF Invalid (ON) Dynamic brake Valid (OFF) 10ms (Note 1)7ms
Alarm
Electro magnetic brake operation delay time
Note 1. When powering OFF, the RA1 of external dynamic brake circuit will be turned OFF, and the base circuit is turned OFF earlier than usual before an output shortage occurs. (Only when assigning the DB as the output signal in the parameter No.PD07, PD08 or PD09) 2. Variable according to the operation status.
c. Timing chart when both of the main and control circuit power are OFF
11 - 58
(3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K

E 5 [Unit: mm]
B E 5 D 100 C D
G F
2.3
Terminal block E a (GND)
b 13 14
V W
Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in])
Screw : M4 Tightening torque: 1.2 [N m](10.6 [lb in])
Dynamic brake DBU-11K DBU-15K, 22K
A 200 250
B 190 238
C 140 150
D 20 25
E 5 6
F 170 235
G 163.5 228
Mass [kg]([Ib]) 2 (4.41) 6 (13.23)
Connection wire [mm 2 ] 5.5 5.5
11 - 59
(b) DBU-11K-4 DBU-22K-4

[Unit: mm]
10 2- 7mounting hole
260
280
43
25
150 200
25
10
51 73.75
26
228
26
2.3 195 210 15
15
170
15
178.5
179.5
Mass: 6.7[kg]
Terminal block TE1 a b 13 14
TE2 U V W
Screw: M3.5 Tightening torque: 0.8[N m](7[lb in])
Screw: M4 Tightening torque: 1.2[N m](10.6[lb in])
Dynamic brake DBU-11K DBU-15K, 22K
Wire [mm2] a 2 2 b U V 5.5 5.5 W
11 - 60
11.7 Junction terminal block PS7DW-20V14B-F (recommended) (1) How to use the junction terminal block Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS M) as a set. A connection example is shown below:
Servo amplifier Cable clamp (AERSBAN-ESET) CN3 MR-J2HBUS M Junction terminal block PS7DW-20V14B-F
Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.14, (2)(c). (2) Connection of MR-J2HBUS M cable and junction terminal block
Servo amplifier CN3 LG DI1 DOC MO1 DICO LA LB LZ INP DICO LG DI2 MBR MO2 AMR LAR LBR LZR DI3 EM1 SD (Note)MR-J2HBUS M CN Junction terminal block PS7W-20V14B-F Terminal block 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 E Connector: 10120-6000EL (3M) Shell kit: 10320-3210-000 (3M) LG DI1 DOC MO1 DICO LA LB LZ INP DICO LG DI2 MBR MO2 AMR LAR LBR LZR DI3 EM1 SD
1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 Shell Shell
1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 Shell Shell
Note. Symbol indicating cable length is put in . 05: 0.5m 1: 1m 5: 5m
11 - 61
(3) Outline drawings of junction terminal block

[Unit : mm]
63 54 44.11 7.62 4.5
TB.E ( 6) 9.3 50 5 6.2 1.42 M3 6L 4.5 M3 5L 60 4
27
11 - 62
18.8
27.8 36.5

11.8 MR Configurator The MR Configurator (MRZJW3-SETUP221E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications
Item Description The following table shows MR Configurator software version for each servo amplifier. Compatible servo amplifier (Drive unit) Compatibility with a servo amplifier Version B1 C0 or later Display, high speed monitor, trend graph Minimum resolution changes with the processing speed of the personal computer. Display, history, amplifier data Digital I/O, no motor rotation, total power-on time, amplifier version info, motor information, tuning data, absolute encoder data, Axis name setting. Parameter list, turning, change list, detailed information Jog operation, positioning operation, Do forced output, program operation. Machine analyzer, gain search, machine simulation. Data read, save, delete, print Automatic demo, help display 100V class 200V class 400V class 7kW or less 11k to 22kW 30k to 37kW 7kW or less 11k to 22kW 30k to 55kW
Monitor Alarm Diagnostic Parameters Test operation Advanced function File operation Others
(2) System configuration (a) Components To use this software, the following components are required in addition to the servo amplifier and servo motor:
(Note 1) Description IBM PC-AT compatible where the English version of Windows 98, Windows Me, Windows 2000 Professional, Windows XP Professional and Windows XP Home Edition operates Processor: Pentium 133MHz or more (Windows 98, Windows 2000 Professional) Pentium 150MHz or more (Windows Me) (Note 2) Pentium 300MHz or more (Windows XP Professional, Windows XP Home Edition) Personal computer Memory: 24MB or more (Windows 98) 32MB or more (Windows Me, Windows 2000 Professional) 128MB or more (Windows XP Professional, Windows XP Home Edition) Free hard disk space: 130MB or more Windows 98, Windows Me, Windows 2000 Professional, Windows XP Professional, Windows XP Home OS Edition (English version) One whose resolution is 800 600 or more and that can provide a high color (16 bit) display. Connectable Display with the above personal computer. Keyboard Connectable with the above personal computer. Mouse Connectable with the above personal computer. Printer Connectable with the above personal computer. USB cable MR-J3USBCBL3M
R R R R R R R R R R R R R R R R R R R R R R R
Model
Note 1. Windows is the registered trademarks of Microsoft Corporation in the United State and other countries. Pentium is the registered trademarks of Intel Corporation. 2. On some personal computers, this software may not run properly.
11 - 63
(b) Connection with servo amplifier 1) For use of USB

Personal computer Servo amplifier CN5 USB cable MR-J3USBCBL3M (Option) To USB connector
CN2
11.9 Battery MR-J3BAT POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries. However, since this battery is non-dangerous goods (non-Class 9), air transportation of 24 or less batteries is outside the range of the restrictions. Air transportation of more than 24 batteries requires packing compliant with the Packing Standard 903. When a self-certificate is necessary for battery safety tests, contact our branch or representative. For more information, consult our branch or representative. (As of July, 2007). (1) Purpose of use for MR-J3BAT This battery is used to construct an absolute position detection system. Refer to section 12.3 for the fitting method, etc.
(2) Year and month when MR-J3BAT is manufactured The year and month when MR-J3BAT is manufactured are written down in Serial No. on the rating plate of the battery back face. The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11), Z(12). For October 2004, the Serial No. is like, "SERIAL 4X ".
MELSERVO 3.6V,2000mAh SERIAL 4X
MADE IN JAPAN
MR-J3BAT
MITSUBISHI ELECTRIC CORPORATION
The year and month of manufacture
11 - 64
11.10 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed. In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the control box. The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions. The heat sink outside mounting attachment of MR-J3ACN can be used for MR-J3-11KB(4) to MR-J3-22KB(4). (1) Panel cut dimensions
[Unit : mm] 203 Approx. 125 4-M10 Screw
535
39.5
39.5
331
236 255 270
(2) How to assemble the attachment for a heat sink outside mounting attachment
Screw (2 places)
Attachment
11 - 65
18
510
Punched hole
(3) Fitting method
Attachment
Servo amplifier
Punched hole
Fit using the assembling screws.
Servo amplifier
Control box
Attachment
a. Assembling the heat sink outside mounting attachment
b. Installation to the control box
(4) Outline dimension drawing

20 Panel
Servo amplifier
Attachment
Servo amplifier
236 280
Mounting hole
3.2 155 105 Approx. 260
Panel Approx. 11.5
Approx. 260
11 - 66
11.11 Recommended wires POINT Refer to section 11.1.5 for SSCNET
cable.
(1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead Power supply Servo amplifier L1 L2 U V 3) Motor power supply lead Servo motor U V W Motor
L3 (Note) W 2) Control power supply lead L11 L21 8) Return converter 4) Electromagnetic brake lead
Return converter Regenerative option
N C P C P 4) Regenerative option lead Encoder cable Power supply
B1 Electromagnetic B2 brake
Encoder
Cooling fan BU BV BW
6) Cooling fan lead
Thermal OHS1 OHS2
7) Thermal
Note. There is no L3 for 1-phase 100 to 120VAC power supply.
The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in consideration of voltage drop. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60C (140F) or more for wiring.
11 - 67
Table 11.1 Recommended wires

Wires [mm2] Servo amplifer MR-J3-10B(1) MR-J3-20B(1) MR-J3-40B(1) MR-J3-60B MR-J3-70B MR-J3-100B MR-J3-200B MR-J3-350B MR-J3-500B (Note 2) MR-J3-700B (Note 2) MR-J3-11KB (Note 2) MR-J3-15KB (Note 2) MR-J3-22KB (Note 2) MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 (Note 2) MR-J3-700B4 (Note 2) MR-J3-11KB4 (Note 2) MR-J3-15KB4 (Note 2) MR-J3-22KB4 (Note 2) 2(AWG14) g 1.25(AWG16) 5.5(AWG10) a h 2(AWG14) 1.25(AWG16) 3.5(AWG12) 5.5(AWG10) a(Note 1) 8(AWG8) b (Note 1) 14(AWG6) c 22(AWG4) d 50(AWG1/0) f 1.25(AWG16) g 1.25(AWG16) h 2(AWG14) 1.25(AWG16) 2(AWG14) 3.5(AWG12) 5.5(AWG10) a(Note 1) 8(AWG8) b (Note 1) 22(AWG4) d 5.5(AWG10) j 1.25(AWG16) 30(AWG2) e 60(AWG2/0) f 5.5(AWG10) k 1.25(AWG16) 2(AWG14) 2(AWG14) g 2(AWG14) g 2(AWG14) (Note 3) 3.5(AWG12) j 5.5(AWG10) j 5.5(AWG10) k 2(AWG14) 1.25(AWG16) 1.25(AWG16) (Note 3) 2(AWG14) 1.25(AWG16) 2(AWG14) g 3.5(AWG12) a 2(AWG14) (Note 3) 1.25(AWG16) (Note 3) 1.25(AWG16) 2(AWG14) 1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) OHS1 OHS2
2(AWG14)
5.5(AWG10) a
8(AWG8) l 14(AWG6) c 14(AWG6) m 1.25(AWG16) g
8(AWG8) l 22(AWG4) d 22(AWG4) n
Note 1. For crimping terminals and applicable tools, refer to Table 11.2. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan.
Use wires 8) of the following sizes with the power regeneration converter (FR-RC-(H)).
Model FR-RC-15K FR-RC-30K FR-RC-55K FR-RC-H15K FR-RC-H30K FR-RC-H55K Wires[mm ] 14(AWG6) 14(AWG6) 22(AWG4) 14(AWG6) 14(AWG6) 14(AWG6)
2
11 - 68
Table 11.2 Recommended crimping terminals

Servo amplifier side crimping terminals Symbol (Note 2) Crimping terminal FVD5.5-4 FVD14-6 FVD22-6 Applicable tool Body YNT-1210S YHT-8S YF-1 E-4 YPT-60-21 YF-1 E-4 YPT-60-21 YF-1 E-4 YNT-1614 YNT-1210S DH-111 DH121 YF-1 E-4 YNE-38 DH-112 DH122 DH-113 DH123 YET-60-1 YET-60-1 YNE-38 DH-112 DH122 DH-113 DH123 TD-112 TD-124 TD-113 TD-125 Japan Solderless Terminal Head Dice Manufacturer
a c d
(Note 1)b 8-4NS
(Note 1)e 38-6 (Note 1)f R60-8 g h j k l m n FVD2-4 FVD2-M3 FVD5.5-6 FVD5.5-8 FVD8-6 FVD14-8 FVD22-8
Note 1. Coat the part of crimping with the insulation tube. 2. Some crimping terminals may not be mounted depending on the size. Make sure to use the recommended ones.
11 - 69
(2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 11.3 Wires for option cables
Characteristics of one core Type Model Length [m] Core size Number [mm2] of Cores
Structure[ Wires/mm] Conductor resistance [ /mm] Insulation coating ODd [mm] (Note 1)
(Note 3) Finishing OD [mm]
Wire model
MR-J3ENCBL MR-J3ENCBL MR-J3ENCBL MR-J3ENCBL
M-A1-L 2 to 10 M-A2-L M-A1-H 2 to 10 M-A2-H AWG22 AWG22
6 (3 pairs)
7/0.26
53 or less
1.2
7.1 0.3
(Note 3) VSVP 7/0.26 (AWG#22 or equivalent)-3P Ban-gi-shi-16823 (Note 3) ETFE SVP 70/0.08 (AWG#22 or equivalent)-3P Ban-gi-shi-16824 (Note 5) T/2464-1061/II A-SB 4P 26AWG (Note 3) 20276 composite 4-pair shielded cable (A-TYPE) UL20276 AWG#23 6pair(BLACK) (Note 3) A14B2343 6P (Note 3) J14B0238(0.2*7P) (Note 3) VSVP 7/0.26 (Equivalent to AWG#22)-3P Ban-gi-shi-16823 (Note 3) 20276 VSVCAWG#23 6P Ban-gi-shi-15038 (Note 3) ETEF SVP 70/0.08 (Equivalent to AWG#22)-3P Ban-gi-shi-16824 (Note 3) ETFE SVP 40/0.08mm 6P Ban-gi-shi-15266
6 (3 pairs)
70/0.08
56 or less
1.2
7.1 0.3
MR-J3JCBL03M-A1-L 0.3 MR-J3JCBL03M-A2-L 0.3mm2 2 to 10 Encoder cable MR-EKCBL M-L 20 20 MR-EKCBL M-H 30 to 50 2 to 10 MR-J3ENSCBL M-L 20 30 AWG23 AWG22 AWG24 30 0.08mm 0.3mm
2
AWG26
8 (4 pairs) 4 (2 pairs) 4 (2 pairs) 12 (6 pairs) 12 (6 pairs) 14 (7 pairs) 6 (3 pairs) 12 (6 pairs) 6 (3 pairs) 12 (6 pairs)
30/0.08
233 or less 65.7 or less 234 or less 63.6 or less 105 or less 105 or less 53 or less 63.3 or less 56 or less 105 or less
1.2
7.1 0.3
12/0.18 7/0.127 12/0.18 40/0.08 40/0.08 7/0.26 12/0.18 70/0.08 40/0.08
1.3 7.3 0.67 1.2 0.88 0.88 1.2 1.2 1.2 0.88 8.2 7.2 8.0 7.1 0.3 8.2 0.3 7.1 0.3 7.2
0.2mm
0.2mm
AWG22
2 to 10 MR-J3ENSCBL M-H 20 to 50 MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L Motor power MR-PWS1CBL M-A1-H supply cable MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L Motor brake MR-BKS1CBL M-A1-H cable MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3
(Note 6) AWG19
50/0.08
25.40 or less
1.8
5.7 0.3
(Note 4) UL Style 2103 AWG19 4 cores
(Note 6) AWG20
100/0.08
38.14 or less
1.3
4.0 0.3
(Note 4) UL Style 2103 AWG20 2 cores
Note 1. d is as shown below:

d
Conductor Insulation sheath
2. Purchased from Toa Electric Industry 3. Standard OD. Max. OD is about 10% greater. 4. Kurabe 5. Taiyo Electric Wire and Cable 6. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.
11 - 70
11.12 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.
No-fuse breaker Servo amplifier Not using power factor improving reactor 30A frame 5A 30A frame 5A 30A frame 10A 30A frame 10A 30A frame 15A 30A frame 20A 30A frame 30A 50A frame 50A 100A frame 75A 100A frame 100A 225A frame 125A 225A frame 175A 30A frame 5A 30A frame 10A 30A frame 15A 30A frame 20A 30A frame 30A 50A frame 40A 60A frame 60A Using power factor improving reactor 30A frame 5A 30A frame 5A 30A frame 10A 30A frame 5A 30A frame 10A 30A frame 15A 30A frame 30A 50A frame 40A 50A frame 50A 100A frame 75A 100A frame 100A 225A frame 150A 30A frame 5A 30A frame 10A 30A frame 15A 30A frame 20A 30A frame 30A 50A frame 30A 50A frame 50A (Note) Class K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 K5 Fuse Current [A] 10 10 15 15 20 40 70 125 150 200 250 350 10 15 25 35 50 65 100 600 S-N18 S-N20 S-N25 S-N10 250 S-N18 S-N20 S-N35 S-N50 S-N65 S-N95 S-N125 S-N10 Voltage AC [V] Magnetic contactor
MR-J3-10B (1) MR-J3-20B MR-J3-20B1 MR-J3-40B MR-J3-60B 70B 100B 40B1 MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4
100A frame 75A 60A frame 60A K5 150 S-N35 225A frame 125A 100A frame 100A MR-J3-22KB4 K5 175 S-N65 Note. This servo amplifier is UL/C-UL-listed when using a Class T fuse. Therefore, when using the servo amplifier as a UL/C-UL Standard compliant product, be sure to use the Class T fuse.
11.13 Power factor improving DC reactor POINT For the 100V power supply type (MR-J3- B1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor. It can decrease the power supply capacity. As compared to the power factor improving AC reactor (FR-BAL), it can decrease the loss. The input power factor is improved to about 95%. It is also effective to reduce the input side harmonics. When connecting the power factor improving DC reactor to the servo amplifier, always disconnect the wiring across P1-P2 (For 11kW or more, disconnect the wiring across P1-P). If it remains connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10cm or more clearance at each of the top and bottom, and a 5cm or more clearance on each side.
11 - 71
Rating plate
Terminal box - screw size G
Rating plate
(Note 1)Terminal cover Screw size G
C or less
(Note 2)
P2 5m or less
C or less
Servo amplifier FR-BEL-(H) P1
Servo amplifier FR-BEL-(H) P1

(Note 2)
E A or less 2-F L notch
H B or less
P2
(Note 3)
5m or less D E A or less 2-F L notch L F Mounting leg H B or less
L F Mounting leg
Fig. 11.1 Note 1. Since the terminal cover is supplied, attach it after connecting a wire. 2. When using DC reactor, disconnect the wiring across P1-P2. 3. When over 11kW, "P2" becomes "P", respectively.
Power Factor Improving DC Reactor FR-BEL-0.4K FR-BEL-0.75K FR-BEL-1.5K FR-BEL-2.2K FR-BEL-3.7K FR-BEL-7.5K FR-BEL-11K FR-BEL-15K FR-BEL-22K FR-BEL-30K FR-BEL-H1.5K FR-BEL-H2.2K FR-BEL-H3.7K FR-BEL-H7.5K FR-BEL-H11K FR-BEL-H15K FR-BEL-H22K FR-BEL-H30K Fig. 11.2 Fig. 11.1 Fig. 11.2 Fug. 11.1 Outline drawing Dimensions [mm] A 110 120 130 130 150 150 170 170 185 185 130 130 150 150 170 170 185 185 B 50 53 65 65 75 75 93 93 119 119 63 63 75 75 93 93 119 119 C 94 102 110 110 102 126 132 170 182 201 89 101 102 124 132 160 171 189 D 1.6 1.6 1.6 1.6 2.0 2.0 2.3 2.3 2.6 2.6 1.6 1.6 2 2 2.3 2.3 2.6 2.6 E 95 105 115 115 135 135 155 155 165 165 115 115 135 135 155 155 165 165 F 6 6 6 6 6 6 6 6 7 7 6 6 6 6 6 6 7 7 L 12 12 12 12 12 12 14 14 15 15 12 12 12 12 14 14 15 15 G M3.5 M4 M4 M4 M4 M5 M5 M8 M8 M8 M3.5 M3.5 M4 M4 M5 M6 M6 M6
Fig. 11.2
Servo Amplifier MR-J3-10B MR-J3-60B 20B 70B
H 25 25 30 30 40 40 50 56 70 70 32 32 40 40 50 56 70 70
Mounting Screw Size M5 M5 M5 M5 M5 M5 M5 M5 M6 M6 M5 M5 M5 M5 M5 M5 M6 M6
Mass [kg(lb)] 0.5(1.10) 0.7(1.54) 1.1(2.43) 1.2(2.65) 1.7(3.75) 2.3(5.07) 3.1(6.83) 3.8(8.38) 5.4(11.91) 0.9(1.98) 1.1(2.43) 1.7(3.75) 2.3(5.07) 3.1(6.83) 3.7(8.16) 5.0(11.02) 6.7(14.77)
Used Power Supply 2 [mm ]
MR-J3-40B MR-J3-100B MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4
2(AWG14)
3.5(AWG12) 5.5(AWG10) 8(AWG8) 22(AWG4) 30(AWG2)
6.7(14.77) 60(AWG2/0)
2(AWG14)
5.5(AWG10) 8(AWG8) 22(AWG4)
11 - 72
11.14 Power factor improving AC reactors The power factor improving AC reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%. In addition, it reduces the higher harmonic of input side. When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
[Unit : mm] NFB 3-phase 200 to 230VAC or 3-phase 380 to 480VAC MC FR-BAL-(H) R S T X Y Z Servo amplifier MR-J3- B(4) L1 L2 L3 Servo amplifier MR-J3- B X Y Z L1 L2 L3 Servo amplifier MR-J3- B1 X Y Z L1 Blank L2
H 5
D1 Installation screw (Note) 1-phase 200v to 230VAC
NFB
MC
FR-BAL R S T
RXSY T Z C W1
D 5
1-phase 100 to120VAC
NFB
MC
FR-BAL R S T
Note. For the 1-phase 200V to 230V power supply, Connect the power supply to L1, L2 and leave L3 open.
11 - 73

Dimensions [mm] H D 115 115 140 140 192 194 220 275 301 301 140 140 190 192 226 244 269 290 59 69 71 91 90 120 135 133 199 219 87 91 90 120 130 130 199 219 Mounting screw size M4 M4 M4 M4 M5 M5 M6 M6 M8 M8 M4 M4 M5 M5 M6 M6 M8 M8 Terminal screw size M3.5 M3.5 M3.5 M3.5 M4 M5 M6 M6 M8 M8 M3.5 M3.5 M3.5 M4 M5 M5 M8 M8 Mass [kg (lb)] 2.0 (4.41) 2.8 (6.17) 3.7 (8.16) 5.6 (12.35) 8.5 (18.74) 14.5 (31.97) 19 (41.89) 27 (59.53) 35 (77.16) 43 (94.80) 5.3 (11.68) 5.9 (13.01) 8.5 (18.74) 14 (30.87) 18.5 (40.79) 27 (59.53) Approx.35 (Approx.77.16) Approx.43 (Approx.94.80)
Servo amplifier MR-J3-10B MR-J3-40B MR-J3-60B MR-J3-100B MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-60B4 MR-J3-100B4 MR-J3-200B4 MR-J3-350B4 MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 20B 20B1 70B 40B1 10B1
Model FR-BAL-0.4K FR-BAL-0.75K FR-BAL-1.5K FR-BAL-2.2K FR-BAL-3.7K FR-BAL-7.5K FR-BAL-11K FR-BAL-15K FR-BAL-22K FR-BAL-30K FR-BAL-H1.5K FR-BAL-H2.2K FR-BAL-H3.7K FR-BAL-H7.5K FR-BAL-H11K FR-BAL-H15K FR-BAL-H22K FR-BAL-H30K
W 135 135 160 160 220 220 280 295 290 290 160 160 220 220 280 295 290 290
W1 120 120 145 145 200 200 255 270 240 240 145 145 200 200 255 270 240 240
D1 45 57 55 75 70 100 100 110

0 -2.5 0 -2.5 0 -2.5 0 -2.5 0 -2.5 0 -2.5 0 -2.5 0 -2.5
C 7.5 7.5 7.5 7.5 10 10 12.5 12.5 25 25 7.5 7.5 10 10 12.5 12.5 25 25
170 5 190 5 70 75 70
0 -2.5 0 -2.5 0 -2.5
100 5 100 5 110 5 170 5 190 5
11.15 Relays (recommended) The following relays should be used with the interfaces:
Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less (Ex.) Omron : type MY
11 - 74
11.16 Surge absorbers (recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. When using the surge absorber, perform insulation beforehand to prevent short-circuit.
Maximum rating Permissible circuit voltage AC[Vma] 140 Note. 1 time 8 DC[V] 180 20 s [Unit: mm]
13.5 4.7 1.0
Surge immunity [A] (Note) 500/time
Energy immunity [J] 5
Rated power [W] 0.4
Maximum limit voltage [A] 25 [V] 360
Static capacity (reference value) [pF] 300
Varistor voltage rating (range) V1mA [V] 220 (198 to 242)
(Example) ERZV10D221 (Matsushita Electric Industry) TNR-10V221K (Nippon chemi-con) Outline drawing [mm] (ERZ-C10DK221)
3.0 or less
16.5
0.8
11.17 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 devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission. (1) Noise reduction techniques (a) General reduction techniques Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables. Use shielded, twisted pair cables for connection with the encoder and for control signal transmission, and connect the shield to the SD terminal. Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.12). (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables. Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings. Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended. 11 - 75
30.0 or more
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices 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 and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Route 1)
Noise radiated from the power supply cable
Route 2)
Noise radiated from servo motor cable Magnetic induction noise Static induction noise Noises transmitted through electric channels Routes 4) and 5)
Route 3)
Route 6)
Noise transmitted through power supply cable Noise sneaking from grounding cable due to leakage current
Route 7)
Route 8)
5)
7) 7) 2)
7)
1) Instrument Receiver 3)
Servo amplifier
2)
Sensor power supply
8) 6) 4) Sensor
Servo motor
3)
11 - 76
Noise transmission route
Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. 3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or bundling them together. 4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line. 5. Use shielded wires for signal and power cables or put cables in separate metal conduits. When the power lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. 3. Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling them together. 4. Use shielded wires for signal and power cables or put the cables in separate metal conduits. When the power supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required. 1. Insert the radio noise filter (FR-BIF-(H)) on the power cables (Input cables) of the servo amplifier. 2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier. When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device.
1) 2) 3)
4) 5) 6)
7)
8)
(2) Noise reduction products (a) Data line filter (Recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN make are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. This impedances are reference values and not guaranteed values.
Impedance[ ] 10 to 100MHz 80 100 to 500MHz 150
39 1 34 1 Loop for fixing the cable band [Unit: mm]
13 1 30 1
TDK
Product name
Lot number Outline drawing (ZCAT3035-1330)
11 - 77
(b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent.
MC Surge suppressor Relay Surge suppressor Surge suppressor This distance should be short (within 20cm).
(Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating)

Rated voltage AC[V] 200 Outline drawing [Unit: mm] C [ F] R [] 50 (1W) Test voltage AC[V] Across T-C 1000(1 to 5s)
Blue vinyl cord Vinyl sheath Red vinyl cord 6 18 1.5
0.5
10 or less 10 3 15 1 200 or more 48 1.5
10 or less 10 3 200 or more
4 31
Note that a diode should be installed to a DC relay, DC valve or the like. Maximum voltage: Not less than 4 times the drive voltage of the relay or the like Maximum current: Not less than twice the drive current of the relay or the like
RA
Diode
(c) Cable clamp fitting AERSBAN - SET Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin, clamp several cables in a bunch. The clamp comes as a set with the earth plate.
Cable Cable clamp (A,B) Earth plate
Strip the cable sheath of the clamped area.
cutter
40(1.57)
cable
External conductor Clamp section diagram
11 - 78
Outline drawing
[Unit: mm]
Earth plate 2- 5 hole installation hole 17.5 Clamp section diagram
L or less
B 0.3 C A
10
0 0.2
35
24
(Note)M4 screw
6 35
22
Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type AERSBAN-DSET AERSBAN-ESET A 100 70 B 86 56 C 30 Accessory fittings clamp A: 2pcs. clamp B: 1pc. Clamp fitting A B L 70 45
11
11 - 79
24
0.3 0
30
(d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Connection diagram Use the line noise filters for wires of the main power supply (L1 L2 L3) and of the motor power supply (U V W). Pass each of the 3-phase wires through the line noise filter an equal number of times in the same direction. For the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the motor power supply, passes must be four times or less. Do not pass the grounding (earth) wire through the filter, or the effect of the filter will drop. Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in Example 2. Place the line noise filters as close to the servo amplifier as possible for their best performance.
Example 1 Power supply NFB MC Servo amplifier L1 Line noise filter (Number of turns: 4) Example 2 NFB MC Power supply L2 L3
Outline drawing [Unit: mm] FR-BSF01 (for wire size 3.5mm2 (AWG12) or less))
Approx.110 95 0.5 2- 5
Approx.22.5
Approx.65 33
Approx.65
FR-BLF(for wire size 5.5mm2 (AWG10) or more))

7
31.5 7
Servo amplifier L1
L2 Line noise L3 filter Two filters are used (Total number of turns: 4)
130 85
80
35
160 180
(e) Radio noise filter (FR-BIF-(H)) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF (-H) is designed for the input only.
Connection diagram
Make the connection cables as short as possible. Grounding is always required. When using the FR-BIF with a single-phase power supply, always insulate the wires that are not used for wiring. Servo amplifier MC NFB Power supply L1 L2 L3
2.3
Outline drawing (Unit: mm)

Leakage current: 4mA Red White Blue Green
About 300
29
4.5
42
5 hole
200V class: FR-BIF 400V class: FR-BIF-H
Radio noise filter FR-BIF -(H)
58
29 44
11 - 80
(f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge 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 CHEMICON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
Maximum rating Power supply voltage Varistor Permissible circuit voltage AC[Vrms] 100V class TND20V-431K 200V class TND20V-471K 400V class TND20V-102K 275 300 625 DC[V] 350 385 825 Surge current immunity 8/20 s[A] 10000/1 time 7000/2 time 7500/1 time 6500/2 time Energy immunity 2ms[J] 195 215 400 1.0 100 Rated pulse power [W] Static Varistor voltage Maximum limit capacity rating (range) voltage (reference V1mA value) [A] [V] 710 775 1650 [pF] 1300 1200 500 [V] 430(387 to 473) 470(423 to 517) 1000(900 to 1100) [Unit: mm]
D T
Model TND20V-431K
H
D Max. 21.5 22.5
H Max. 24.5 25.5
T Max. 6.4 6.6 9.5
E 1.0 3.3 3.5 6.4
(Note)L min. 20
d 0.05 0.8
W 1.0 10.0
TND20V-471K TND20V-102K
Note. For special purpose items for lead length (L), contact the manufacturer.
L W d E
11 - 81
11.18 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. Make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm) to minimize leakage currents. Rated sensitivity current
Cable Noise filter
10 {Ig1 Ign Iga K (Ig2 Igm)} [mA]
(11.1)
K: Constant considering the harmonic contents Leakage current breaker Mitsubishi Type products K
NV
Servo amplifier
Cable
Models provided with harmonic and surge reduction techniques
Ig1 Ign
Iga
Ig2
Igm
General models
NV-SP NV-SW NV-CP NV-CW NV-L BV-C1 NFB NV-L
Ig1: Ig2: Ign: Iga: Igm:
Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 11.3.) Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 11.3.) Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF(-H)) Leakage current of the servo amplifier (Found from Table 11.5.) Leakage current of the servo motor (Found from Table 11.4.)
120
Leakage current Leakage current
120 100 80 60 40 20 2 3.5 8 1422 38 80 150 5.5 30 60 100 0 2 5.5 14 38 100 3.5 8 22 60 150 30 80 Cable size[mm2] b. 400V class
100 80 60 40 20 0
[mA]
[mA]
Cable size[mm2] a. 200V class
Fig. 11.3 Leakage current example (lg1, lg2) for CV cable run in metal conduit
11 - 82
Table 11.4 Servo motor's leakage current example (Igm) Servo motor power [kW] 0.05 to 1 2 3.5 5 7 11 15 22 Leakage current [mA] 0.1 0.2 0.3 0.5 0.7 1.0 1.3 2.3
Table 11.5 Servo amplifier's leakage current example (Iga) Servo amplifier capacity [kW] 0.1 to 0.6 0.75 to 3.5 (Note) 5
11
Leakage current [mA] 0.1 0.15 2

5.5 7
7
15 22
Note. For the 3.5kW of 400V class, leakage current is 2mA, which is the same as for 5kW and 7kW.
Table 11.6 Leakage circuit breaker selection example Servo amplifier MR-J3-10B to MR-J3-350B MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) MR-J3-11KB(4) to MR-J3-22KB(4) 30 50 100 15 Rated sensitivity current of leakage circuit breaker [mA]
(2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions:
2mm2 5m NV
Servo amplifier MR-J3-40B
2mm2 5m Servo motor M HF-KP43
Ig1
Iga
Ig2
Igm
Use a leakage current breaker generally available. Find the terms of Equation (11.1) from the diagram:
Ig1 Ig2 Ign Iga Igm
20 20
5 1000 5 1000
0.1 [mA] 0.1 [mA]
0 (not used) 0.1 [mA] 0.1 [mA]
Insert these values in Equation (11.1): Ig 10 {0.1 0 0.1 1 (0.1 0.1)}
4.0 [mA] According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-SP/SW/CP/CW/HW series.
11 - 83
11.19 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier
Servo amplifier MR-J3-10B to MR-J3-100B MR-J3-10B1 to MR-J3-40B1 MR-J3-250B MR-J3-500B MR-J3-60B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-350B MR-J3-700B MR-J3-100B4 Recommended filter (Soshin Electric) Model (Note) HF3010A-UN (Note) HF3030A-UN (Note) HF3040A-UN (Note) HF3100A-UN TF3005C-TX TF3020C-TX TF3030C-TX TF3040C-TX 5.5 1.5 6.5 Leakage current [mA] 5 Mass [kg]([lb]) 3 (6.61) 5.5 (12.13) 6.0 (13.23) 15 (33.07) 6(13.23) 7.5(16.54) 12.5(27.56)
MR-J3-11KB to MR-J3-22KB MR-J3-200B4 to MR-J3-700B4
MR-J3-22KB4 TF3060C-TX Note. A surge protector is separately required to use any of these EMC filters.

NFB (Note 1) Power supply EMC filter 1 2 3 4 5 6 E MC Servo amplifier L1 L2 L3
1 1
L21 1 2 3 (Note 2) Surge protector 1 (RAV-781BYZ-2) (OKAYA Electric Industries Co., Ltd.)
(Note 2) 3 Surge protector 2 (RAV-781BXZ-4) (OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1,L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification. 2. The example is when a surge protector is connected.
11 - 84
(3) Outline drawing (a) EMC filter HF3010A-UN

[Unit: mm]
3-M4 4-5.5 7 3-M4 M4
32
2 85
IN
110
Approx.41 258 273 288 300 4 2 4 5

65 4
HF3030A-UN HF-3040A-UN
6-K
3-L
3-L 1 2 1 2 G F E D M
C 1 B 2 A 5
C 1 H 2
J 2
Model HF3030A-UN HF3040A-UN
Dimensions [mm] A 260 260 B 210 210 C 85 85 D 155 155 E 140 140 F 125 125 G 44 44 H 140 140 J 70 70 K R3.25, length 8 L M5 M5 M M4 M4
11 - 85
HF3100A-UN
2-6.5 M8 145 1 165 3 380 1 400 5 M6 8 2- 6.5 M8
TF3005C-TX TX3020C-TX TF3030C-TX

[Unit: mm]
3-M4 Approx.12.2 6-R3.25 length8 M4 M4 3 M4 M4
125 2
IN
140 1
160 3
155 2
16 16
100 1 290 2 308 5 332 5
100 1
Approx.67.5 3 150 2 Approx.160 170 5
11 - 86
TF3040C-TX TF3060C-TX
[Unit: mm]
3-M6 Approx.17 8-M M4 M4 3-M6 M6
22 22
G 2
IN
F 1
E 2
D 1
D 1 C 2 B 5 A 5
D 1 K 2 J H 5
Model TF3040C-TX TF3060C-TX
Dimensions [mm] A 438 B 412 C 390 D 100 E 175 F 160 G 145 H 200 J Approx.190 K 180 L Approx.91.5 M R3.25 length 8 (M6)
11 - 87
(b) Surge protector RAV-781BYZ-2

5.5 1 11 1
[Unit: mm]
1) 2) 3) Black Black Black
4.2
0.2
28.5 1.0
41 1.0
RAV-781BXZ-4
5.5 1
28 1.0
4.5 0.5
200
30 0
UL-1015AWG16
[Unit: mm]
1) 2) 3) 4)
4.2
0.2
28.5 1.0
11 1
41 1.0
28 1.0
11 - 88
4.5 0.5
200
30 0
UL-1015AWG16
12. ABSOLUTE POSITION DETECTION SYSTEM

12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION
12.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the servo system controller power is on or off. Therefore, once home position return is made at the time of machine installation, home position return is not needed when power is switched on thereafter. If a power failure or a fault occurs, restoration is easy.
Servo system controller Servo amplifier Position data Current position
Home position data LS0 CYC0 Detecting the number of revolutions Detecting the position within one revolution
If an absolute position erase alarm (25) or absolute position counter warning (E3) has occurred, always perform home position setting again. Not doing so can cause runaway.
MR-J3BAT Servo motor Battery High speed serial communication
1 pulse/rev accumulative revolution counter Within one-revolution counter
12 - 1
Position control speed control
12.2 Specifications POINT Replace the battery with only the control circuit power ON. Removal of the battery with the control circuit power OFF will erase the absolute position data. (1) Specification list
Item System Battery Maximum revolution range (Note 1) Maximum speed at power failure (Note 2) Battery backup time Battery storage period Description Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal Type: MR-J3BAT Home position 3000r/min Approx. 10,000 hours (battery life with power off) 5 years from date of manufacture 32767 rev. 3.6V)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. 2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of whether power is kept on or off.
(2) Configuration
Servo system controller Servo amplifier
CN1 CN2
Battery (MR-J3BAT)
CN4
Servo motor
(3) Parameter setting 1" in parameter No.PA03 to make the absolute position detection system valid. Set "
Parameter No. PA03
Absolute position detection system selection 0: Used in incremental system 1: Used in absolute position detection system
12 - 2
12.3 Battery installation procedure Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. POINT The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions: Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand. Before starting battery changing procedure, make sure that the main circuit power is switched OFF with the control circuit power ON. When battery is changed with the control power OFF, the absolute position data is lost. (1) For MR-J3-350B or less MR-J3-200B4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
WARNING
Insert connector into CN4.
12 - 3
(2) For MR-J3-500B or more MR-J3-350B4 or more

Insert connector into CN4.
12 - 4
12.4 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator. Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below:
(2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.
(3) Press the "Close" button to close the absolute encoder data display window.
12 - 5
MEMO
12 - 6
13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW)

This chapter explains the MELSERVO-J3-B series AC servo featuring a large capacity of 200V (30k to 37kW)/400V (30k to 55kW). Explanation made in this chapter is exclusively for the MR-J3-CR (4) converter units and the MR-J3-DU B(4) drive units. Explanations on the following items are the same as those for servo amplifiers with 22kW or less. For such explanations, refer to the section indicated in the table.
Item Startup General gain adjustment Special adjustment functions Absolute position detection system Reference Chapter 4 Chapter 6 Chapter 7 Chapter 12
13.1. Functions and menus POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. Function list section 1.4
13 - 1
13.1.1 Function block diagram The function block diagram of this servo is shown below.
Power factor Regenerative improving DC option
Converter NFB Power supply MC Diode stak L1 L2 L3 Thyristor
P1
P2
C L
CHARGE lamp Cooling fan L11 L21 Control power supply Base amplifier
Regenerative TR
Voltage d detection o
Current d detecti o
CPU
I/F CNP1 CN1 CN40 Converter unit protection coordination CN40 MC drive L11 L21 Trouble, warning, forced stop
13 - 2
NFB
(Note) Power supply
Drive unit
Servo motor
L Current detector
U V W
U V W M
L Cooling fan L11 L21
L11 L21
Control power supply
CN2
Base amplifier
Over current
Current detection
Encoder
BU BV BW
Cooling fan
Thermal
OHS1 Model position Model speed Model torque
OHS2
CN40A
CN40 Termination connector MR-J3-TM (Option)
Current control
CN40B
CN4
I/F Control
USB
D/A
MR-J3BAT Optional battery (For absolute position detection system)
CN1A
CN1B
CN5
CN3
Controller or drive unit
Drive unit or cap
Analog monitor (2channel)
Digital I/O control
Note. Refer to section 13.3.6 for the power supply specification of the servo motor cooling fan.
13 - 3
13.1.2 Packing list Unpack the product and check the rating plate to see if the converter unit, drive unit and servo motor are as you ordered. (1) Converter unit POINT Regenerative resistor and power factor improving DC reactors are option. Purchase them separately if required. (Section 13.9.2, 13.9.6)
Magnetic contactor Digital I/O connector wiring connector [pcs.] [pcs.] (Note) 1 1 To Use The AC Servo Safely [manuals] 1
Model MR-J3-CR55K MR-J3-CR55K4
Converter unit [units] 1
Eyebolt [pcs.] 2
Note. Magnetic contactor control connector is mounted to CNP1 of the converter unit before shipping.
(2) Drive unit

Model MR-J3-DU30KB MR-J3-DU37KB Drive unit [units] 1 Connection conductor [pcs.] 2 Eyebolt [pcs.] 2 To Use The AC Servo Safely [manuals] 1
MR-J3-DU30KB4 to MR-J3-DU55KB4
(3) Servo motor

Model HA-LP30K1 HA-LP37K1 HA-LP30K1M HA-LP37K1M HA-LP30K2 HA-LP37K2 HA-LP25K14 to HA-LP37K14 HA-LP30K1M4 to HA-LP50K1M4 HA-LP30K24 to HA-LP55K24 Servo motor [units] To Use The AC Servo Safely [manuals]
13 - 4
13.1.3 Standard specifications (1) Converter unit

Model Item Voltage/frequency Main circuit power supply Permissible voltage fluctuation Permissible frequency fluctuation Voltage/frequency Control power supply Permissible voltage fluctuation Permissible frequency fluctuation Power consumption Interface power supply Rated output Regenerative power (Using regenerative option) Protective function Structure Ambient temperature Environment Ambient humidity Ambient Altitude Vibration Mass [kg] [lb] During operation In storage In operation In storage [ ] [ ] [ ] [ ] One MR-RB139: 1300W Three MR-RB137: 3900W Voltage/frequency Power supply capacity MR-J3-CR55K 3-phase 200 to 230VAC, 50/60Hz 3-phase 170 to 253VAC Within 5% 1-phase 200 to 230VAC, 50/60Hz 1-phase 170 to 253VAC Within 5% 45W 24VDC 10% (Note) 130mA 55kW One MR-RB136-4: 1300W Three MR-RB138-4: 3900W 1-phase 380 to 480VAC, 50/60Hz 1-phase 323 to 528VAC MR-J3-CR55K4 3-phase 380 to 480VAC, 50/60Hz 3-phase 323 to 528VAC
Regenerative overvoltage shutoff, overload shutoff (electronic thermal protector) Regenerative alarm protection, undervoltage, instantaneous power failure protection Force-cooling, open (IP00) 0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m above sea level 5.9 [m/s2] or less 19.4 [ft/s2] or less 25 55.12
Note. 130mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
13 - 5
(2) Drive unit (a) 200V class

Model Item Voltage/frequency Control power supply Permissible voltage fluctuation Permissible frequency fluctuation Power consumption Main circuit power supply Interface power supply Control system Dynamic brake Voltage/frequency Power supply capacity MR-J3-DU30KB MR-J3-DU37KB
1-phase 200 to 230VAC, 50/60Hz 1-phase 170 to 253VAC Within 5% 45W The main circuit power of the drive unit is supplied by the converter unit. 24VDC 10% (Note) 150mA Sine-wave PWM control, current control system External option Overcurrent shut-off, overload shutoff (electronic thermal protector) Servo motor overheat protection, encoder error protection, undervoltage Instantaneous power failure protection, overspeed protection Excessive error protection Force-cooling, open (IP00)
Protective function
Structure Ambient temperature Environment Ambient humidity Ambient Altitude Vibration Mass [kg] [lb] During operation In storage In operation In storage [ ] [ ] [ ] [ ]
0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m above sea level 5.9 [m/s2] or less 19.4 [ft/s2] or less 26 57.32
13 - 6
(b) 400V class

Model Item Voltage/frequency Control power supply Permissible voltage fluctuation Permissible frequency fluctuation Power consumption Main circuit power supply Interface power supply Control system Dynamic brake Voltage/frequency Power supply capacity MR-J3-DU30KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4
1-phase 380 to 480VAC, 50/60Hz 1-phase 323 to 528VAC Within 5% 45W The main circuit power of the drive unit is supplied by the converter unit. 24VDC 10% (Note)150mA Sine-wave PWM control, current control system External option Overcurrent shut-off, overload shutoff (electronic thermal protector) Servo motor overheat protection, encoder error protection, undervoltage Instantaneous power failure protection, overspeed protection Excessive error protection Force-cooling, open(IP00)
Protective function
Structure Ambient temperature Environment Ambient humidity Ambient Altitude Vibration Mass [kg] [lb] 18 39.68 During operation In storage In operation In storage [ ] [ ] [ ] [ ]
0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m above sea level 5.9 [m/s2] or less 19.4 [ft/s2] or less 26 57.32
13 - 7
13.1.4 Model definition (1) Rating plate
MITSUBISHI
MODELMR-J3-CR55K
AC SERVO AC SERVO
Model Capacity Applicable power supply Rated output current
POWER : 55kW INPUT : AC200V-230V 50/60Hz POWER OUTPUT : SERIAL : A5*******

PASSED
MADE IN JAPAN
Serial number
MITSUBISHI ELECTRIC CORPORATION
(2) Model (a) Converter unit
Power supply Series Symbol Power supply None 3-phase 200 to 230VAC 3-phase 380 to 480VAC 4 Rated output: 55kW
Indicates converter unit.
(b) Drive unit
Power supply Series Symbol Power supply None 3-phase 200 to 230VAC 4 3-phase 380 to 480VAC SSCNET compatible
Indicates drive unit.
Rated output Symbol 30K 37K 45K 55K Rated output [kW] 200V class 400V class 30 30 37 37 45 55
13 - 8
13.1.5 Combinations of converter units, drive unit and servo motors The following tables indicate the combinations of the converter units, drive unit and servo motors. These servo motors may not be connected depending on the production time of the drive unit. Please refer to app 5. (1) 200V class
Servo motor Converter unit Drive unit 1000r/min MR-J3-CR55K MR-J3-DU30KB MR-J3-DU37KB 30K1 37K1 HA-LP 1500r/min 30K1M 37K1M 2000r/min 30K2 37K2
(2) 400V class

Servo motor Converter unit Drive unit 1000r/min MR-J3-DU30KB4 MR-J3-CR55K4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 25K14 30K14 37K14 HA-LP 1500r/min 30K1M4 37K1M4 45K1M4 50K1M4 2000r/min 30K24 37K24 45K24 55K24
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13.1.6 Parts identification (1) Converter unit (MR-J3-CR55K(4)) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 13.1.7.
Detailed Explanation Section 13.3.4
Name/Application Magnetic contactor control connector (CNP1) Connect to the operation coil of the magnetic contactor. I/O signal connector (CN1) Used to connect digital I/O signals. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (4 places) Display The 3-digit, seven-segment LED shows the servo status Cooling fan and alarm number. Operation section Used to perform status display, diagnostic, alarm, parameter and point table setting operations.
MODE
UP
DOWN
SET Used to set data. Used to change the display or data in each mode. Used to change the mode.
Section 13.4
For manufacturer setting connector (CN6) The connector is for manufacturer setting. Although the shape is similar to analog monitor connector (CN6) of the drive unit, do not connect anything including an analog monitor. Protection coordination connector (CN40) Connect to CN40A of the drive unit. For manufacturer setting connector (CN3) For manufacturer adjustment. Though the shape is similar to RS-422 communication connector (CN3), do not connect anything, including a personal computer and MRPRU03 parameter unit. L L terminal (TE2-2) Used to connect to a drive unit using a connection conductor supplied with drive unit. Control circuit terminal L11 L21(TE3) Supply control circuit power. Regenerative option Power factor improving DC reactor (TE1-2) Protective earth (PE) terminal ( ) Ground terminal. Main circuit terminal block (TE1-1) Supply main circuit power. L L terminal (TE2-1) When using brake unit, connect it to this terminal. Do not connect anything other than the brake unit. Rating plate Section 13.9.10 Section 13.1.4 Section 13.3.2(1)
Section 13.3.2
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(2) Drive unit (MR-J3-DU30KB4 MR-J3-DU37KB4) POINT The servo amplifier is shown with the front cover opened. For removal of the front cover, refer to section 13.1.7.
Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) SW1 Used to set the axis No. of drive unit. 789
A
3456
Section 3.13
B CDE
3456
789
SW1 TEST SW2
ON 4F
USB communication connector (CN5) Connect with the personal computer. Cooling fan I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis drive unit. Battery holder Contains the battery for absolute position data backup. SSCNET cable connector (CN1B) Used to connect the rear axis drive unit. For the final axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data Converter unit connectors (CN40A) Connect to CN40 of the converter unit. Converter unit connectors (CN40B) Connect the termination connector (MR-J3-TM). L L terminals (TE2) Connect to the L L terminals of the converter unit using the connection conductors supplied. Control circuit terminal L11 L21 (TE3) Supply control circuit power. Motor power supply terminals (TE1) Connect to U, V, W of the servo motor. Protective earth (PE) terminal ( ) Ground terminal. Rating plate
13 - 11
F01
A
BCDE
0 F 1
SW2
Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
2
Section 3.13
Spare (Be sure to set to the "Down" position). Section 11.8
Section 12.3 Section 3.2 Section 3.4 Section 3.4 Section 11.1 Section 11.9 Chapter 12
Section 13.3.1
Section 13.3.2
Section 13.1.4
(3) Drive unit (MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU45KB4 MR-J3-DU55KB4) POINT This servo amplifier is shown without the front cover. For removal of the front cover, refer to section 13.1.7.
Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) SW1 Used to set the axis No. of drive unit. 789
A
3456
B CDE
3456
789
SW1 TEST SW2
ON 4F
USB communication connector (CN5) Connect with the personal computer. fixed part (4 places) Cooling fan I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis drive unit. Battery holder Contains the battery for absolute position data backup. SSCNET cable connector (CN1B) Used to connect the rear axis drive unit. For the final axis, puts a cap. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data Converter unit connectors (CN40A) Connect to CN40 of the converter unit. Converter unit connectors (CN40B) Connect the termination connector (MR-J3-TM). TE2-2 For manufacturer adjustment. Leave this open. Control circuit terminal L11 L21 (TE3) Supply control circuit power. Motor power supply terminals (TE1) Connect to U, V, W of the servo motor. Protective earth (PE) terminal ( Ground terminal. )
L L terminals (TE2) Connect to the L L terminals of the converter unit using the connection conductors supplied. Rating plate Section 13.1.4
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F01
A
B CD E
0 F 1
Section 3.13 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
2
SW2
Spare (Be sure to set to the "Down" position). Section 11.8
Section 12.3 Section 3.2 Section 3.4 Section 3.4 Section 11.1 Section 11.9 Chapter 12
Section 13.3.1
Section 13.3.2
13.1.7 Removal and reinstallation of the terminal block cover Before removing or installing the front cover, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
CAUTION
(1) MR-J3-CR55K(4), MR-J3-DU30KB, MR-J3-DU37KB, MR-J3-DU45KB4 or MR-J3-DU55KB4 Here, the method for removing and reinstalling the terminal block cover using the figure of converter unit as an example. For a drive unit, the shape of the main unit is different. However, the removal and reinstallation of the terminal block can be performed in the same procedure. (a) How to remove the terminal block cover Remove the installation screws (A), B), C), D)) on the four corners of the terminal block cover.
A) B) D) C)
Pull the terminal block cover toward you and remove it.
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(b) How to reinstall the terminal block cover 1) Put the terminal block cover on and match the screw holes of the cover fit with those of the main unit. 2) Install the installing screws into the screw holes (A), B), C), D)).
B) D)
1)
A)
C)
2) Mounting screw
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(2) MR-J3-DU30KB4 or MR-J3-DU37KB4 (a) Upper terminal block cover 1) How to open Pull up the cover using the axis A), A)' as a support.
A)
A)'
When pulled up to the top, the cover is fixed.
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2) How to close Close the cover using the axis A), A)' as a support.
Setting tab
A) A)'
Press the cover against the terminal box until the installing knobs click.
Setting tab
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(b) Lower terminal block cover 1) How to open Hold the bottom of the terminal block cover with both hands.
Pull up the cover using the axis B), B)' as a support.
B)
B)'
When pulled up to the top, the cover is fixed.
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2) How to close Hold the bottom of the terminal block cover with both hands.
Setting tab
Setting tab
Close the cover using the axis B), B)' as a support.
B) B)'
Press the cover against the terminal box until the installing knobs click.
Setting tab
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13.1.8 Servo system with auxiliary equipment

3-phase AC R S T power supply Personal computer
MR Configurator
No-fuse breaker(NFB)
The MR Configurator is required for parameter setting. Converter unit Magnetic contactor(MC)
Communication cable
Line noise filter(FR-BLF)
Drive unit(Note 3)
L L1 L2 L3 L11 L21 Magnetic contactor operation coil (I/O signal) No-fuse breaker(NFB) Power factor improving DC reactor (MR-DCL K) C P2 P1
L (Note 1) L L (MR-J3CDL05M) L11 L21
L11 L21 P2 P1 (Note 2) BU BV BW E U V W Encoder cable (MR-HSCBL M)
Regenerative option
R S P
Servo motor HA-LP series
Note 1. The L+ and L- connection conductors used to connect a converter unit to a drive unit are standard accessories. The converter unit is attached to the drive unit actually. (Refer to section 13.2.1.) 2. The power supply of the servo motor cooling fan differs depending on the capacity of a servo motor. Refer to section 13.3.6. 3. For MR-J3-DU30KB4 or MR-J3-DU37KB4.
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13.2 Installation Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. (For the environmental conditions, refer to section 13.1.3.) Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the converter unit drive unit. Do not block the intake/exhaust ports of the converter unit drive unit. Otherwise, a fault may occur. Do not subject the converter unit drive unit to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty converter unit drive unit. When the product has been stored for an extended period of time, consult Mitsubishi. When treating the converter unit drive unit, be careful about the edged parts such as the corners of the converter unit drive unit. POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. Keep out foreign materials Refer to section 2.2. Cable stress Refer to section 2.3. SSCNET cable laying Refer to section 2.4.
CAUTION
Parts Having Service Lives Refer to section 2.6.
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13.2.1 Installation direction and clearances Install the equipment in the specified direction. Not doing so can cause a failure. Leave the specified clearances between the converter unit/drive unit and the control box inside walls or other equipment. Not doing so can cause a failure.
CAUTION
(1) Installation
POINT Make sure to connect a drive unit to the right side of a converter unit as shown in the diagram.
Converter unit 30mm or more
Drive unit
100mm or 80mm or more more 30mm or more
120mm or more
Air intake
Front view
Side view
(2) Mounting dimensional diagram

Approx. W5 Approx. 9.5 300 Approx. 20 W1 Approx. W3 W5 281 W4 W3 260 W2
[Unit: mm] Drive unit model MR-J3-DU30KB, 37KB, 45KB4, 55KB4 MR-J3-DU30KB4, 37KB4 Dimensions W1 300 240 W2 260 120 W3 20 60 W4 281 222 W5 9.5 9 A M6 M5
9.5 20
Converter unit punched hole
Drive unit punched hole
4-M6 screw
4-M6 screw
(3) Others When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the converter unit and drive unit is not affected. Install the converter unit and drive unit on a perpendicular wall in the correct vertical direction. 13 - 21
13.2.2 Inspection Before starting maintenance and/or inspection, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit whether the charge lamp is off or not. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative. POINT Do not test the converter unit drive unit with a megger (measure insulation resistance), or it may become faulty. It is recommended to make the following checks periodically: 1) Check for loose terminal block screws. Retighten any loose screws. 2) Check the servo motor bearings, brake section, etc. for unusual noise. 3) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions. 4) Check the servo motor shaft and coupling for misalignment.
WARNING
CAUTION
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13.3 Signals and wiring Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit whether the charge lamp is off or not. Ground the converter unit drive unit and the servo motor securely. Do not attempt to wire the converter unit drive unit and servo motor until they have been installed. Otherwise, you may get an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock. Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate, resulting in injury. Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop (EM1) and other protective circuits.
Converter unit drive unit DOCOM DICOM Control output signal 24VDC Converter unit drive unit DOCOM DICOM Control output signal 24VDC
WARNING
CAUTION
RA
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the converter unit drive unit. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
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POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. I/O signal connection example Refer to section 3.2. Signal (device) explanations Refer to section 3.5. Interfaces Refer to section 3.7. Treatment of cable shield external conductor Refer to section 3.8. SSCNET cable connection Refer to section 3.9.
Grounding Refer to section 3.12. Control axis selection Refer to section 3.13. The pins with the same signal name are connected in the drive unit. 13.3.1 Magnetic contactor control connector (CNP1) Always connect the magnetic contactor wiring connector to the converter unit. If the connector is not connected, an electric shock may occur since CNP1-1 and L11 are always conducting.
WARNING
By enabling the control function of the magnetic contactor (parameter No.PA02 1 (initial value)), main circuit power supply can be shut off automatically when an alarm occurs on the converter unit or the drive unit.
Parameter No. PA02
1
Used to select the output of the external magnet contactor drive signal. 0: No used 1: Used (initial value)
13 - 24
(1) Enabling control function of magnetic contactor (parameter No.PA02 1 (initial value)) Connecting the magnetic contactor control connector (CNP1) to the operating coil of the magnetic contactor enables to control the magnetic contactor.
NFB Power supply MC L1 L2 L3 L11 L21 CNP1 MC1 MC2 (Note) Drive unit RA1 Motor thermal relay RA2 RA3 Operation Forced stop -ready EM1 OFF/ON MC SK 1 2 Converter unit
RA4
Converter unit
Controller forced stop
Note. Stepdown transformer is required when coil voltage of the magnetic contactor is 200V class, and the converter unit and the drive unit are 400V class.
When the converter unit receives a start command from the drive unit while the magnetic contactor control connector (CNP1) is connected to the magnetic contactor (refer to section 13.3.2 (1)), CNP1-2 and L21 conduct in the converter unit. Then the control circuit power is supplied to turn ON the magnetic contactor and the main circuit power is supplied to the converter unit. Either when an alarm occurs on the converter unit or the drive unit while the control function of the magnetic contactor is enabled, or when the forced stop (EM1) of the converter unit or the drive unit is turned OFF, the switch between CNP1-2 and L21 in the converter unit is disconnected and the main circuit power supply is automatically shut off. To automatically shut off the main circuit power supply by alarm, enable the control function of the magnetic contactor. (2) Disabling control function of magnetic contactor (parameter No.PA02 0) When not connecting the magnetic contactor control connector (CNP1) to the operating coil of the magnetic contactor, configure the circuit to shut off the main circuit power supply when detecting an alarm since the main circuit power supply is not automatically shut off even when an alarm occurs on the converter unit or the drive unit.
13 - 25
13.3.2 Input power supply circuit Insulate the connections of the power supply terminals. Not doing so can cause an electric shock.
WARNING
Magnetic contactor wiring connector on the converter unit CNP1. Unattached state may cause an electric shock. Always, connect the magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the converter unit, and configure to shut off the power supply on the side of the converter unit power supply. If the magnetic contactor (MC) is not connected, a large current keeps flowing and may cause a fire when the converter unit or the drive unit malfunctions. Use the trouble signal to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Connect the power supply phases (U, V, W) of the servo amplifier and servo motor correctly. Not doing so can cause the servo motor to run abnormally. Do not connect a 3-phase 200V power supply or a 3-phase 400V power supply directly to the servo motor. Doing so can cause a failure. POINT Magnetic contactor control connector (CNP1) of the converter unit can be made valid or invalid with parameter No. PA02 of the converter unit. Refer to section 13.3.1 and 13.3.6 for details of CNP1 and section 13.5 for the parameter settings. When using the external dynamic brake, refer to section 11.6 and 13.9.6.
CAUTION
13 - 26
(1) When magnetic contactor control connector (CNP1) is made valid (factory-set) POINT The converter unit controls the main circuit magnetic contactor. Refer to section 13.3.7 (1) for the power circuit timing chart, section 13.3.7 (2) for the alarm occurrence timing chart, section 13.3.7 (3) for the forced stop (EM1) timing chart. Always connect a protection coordination cable (MR-J3CDL05M) and a termination connector (MR-J3-TM). When they are not connected properly, the servo-on may not be turned ON. For the control power supplies of the converter unit and the drive unit, always turn ON or OFF at the same time. (a) 200V class (MR-J3-DU30KB MR-J3-DU37KB)
Converter unit NFB 3-phase 200 to 230VAC 50/60Hz MC L1 L3 L11 L21 CNP1 CN1 MC1 MC2 Power factor improving DC reactor (Option)
(Note 2)
Drive unit TE2-1 L L MR-J3CDL05M cable Termination connector MR-J3-TM (Option) CN40A CN40B U V W CN2 Encoder cable NFB BU (Note 4) Power supply RA2 (Note 3) 24VDC power supply BV BW Cooling fan OHS2 Servo motor thermal relay Encoder U V W M Dynamic brake (Option) Servo motor
TE2-2 L L L2 CN40
1 2
1 5 6
DICOM DOCOM DICOM
24VDC
P1 P2 C
2 7 9
ALM EM1
DOCOM
OHS1 RA3
P G3
C G4
P G3
C G4
P G3
C G4
CN3 10 15 5 3 L11 20 Plate

DICOM
Regenerative option(Note 1)
ALM
DICOM DOCOM
RA1 24VDC
Cooling fan R S
Cooling fan R S
Cooling fan R S
EM1 SD
(Note 3)
Drive Motor thermal relay unit RA1 RA2 RA3 RA4 Converter unit Controller forced stop
(Note 3) Operation Forced stop -ready EM1 OFF/ON MC SK
L21
Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. For specifications of cooling fan power supply, refer to section 13.3.8.
13 - 27
(b) 400V class (MR-J3-DU30KB4 to MR-J3-DU55KB4)

Converter unit TE2-2 L L NFB 3-phase 380 to 480VAC 50/60Hz CN40 MC L1 L2 L3 L11 L21 CNP1 MC1 MC2 Power factor improving DC reactor (Option) 1 2 CN1 1 5 6 2 7 9 P1 (Note 2) P2 C
DICOM DOCOM DICOM
Drive unit TE2-1 L L CN40A MR-J3CDL05M cable Termination connector MR-J3-TM (Option) CN40B
Dynamic brake (Option)
Dynamic brake (Option) Servo motor U V W M
U 24VDC V W CN2 RA2 (Note 3)
ALM EM1
DOCOM
Encoder Encoder cable
BU BV BW
Cooling fan
24VDC power supply
OHS1
RA3 P G3 C G4 P G3 C G4 P G3 C G4 CN3 10 15 5 L11

(Note 4)
DICOM
Cooling fan R400S400
Cooling fan R400 S400
Cooling fan R400 S400
ALM
DICOM DOCOM
RA1 24VDC
3 20 Plate
L21 Drive unit RA1 Motor thermal relay RA2 Converter unit RA3 RA4 (Note 3) Operation Forced stop -ready EM1 OFF/ON MC SK
EM1 SD
(Note 3)
Controller forced stop
Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 5. For specifications of cooling fan power supply, refer to section 13.3.8.
13 - 28
(2) When magnetic contactor control connector (CNP1) is made invalid POINT The converter unit controls the main circuit magnetic contactor. When making CNP1 invalid, set "0000" in parameter No.PA02. (Refer to section 13.5.) Always connect a protection coordination cable (MR-J3CDL05M) and a termination connector (MR-J3-TM). When they are not connected properly, the servo-on may not be turned ON. For the control power supplies of the converter unit and the drive unit, always turn ON or OFF at the same time. (a) 200V class (MR-J3-DU30KB MR-J3-DU37KB)
Converter unit NFB 3-phase 200 to 230VAC 50/60Hz MC L1 L3 L11 L21 (Note 4) CNP1 CN1 MC1 MC2 Power factor improving DC reactor (Option)
(Note 2)
Drive unit TE2-1 L L MR-J3CDL05M cable Termination connector MR-J3-TM (Option) CN40A CN40B U V W CN2 Encoder cable NFB BU (Note 5) Power supply RA2 (Note 3) 24VDC power supply BV BW Cooling fan OHS2 Servo motor thermal relay Encoder U V W M Dynamic brake (Option) Servo motor
TE2-2 L L L2 CN40
1 2
1 5 6
DICOM DOCOM DICOM
24VDC
P1 P2 C
2 7 9
ALM EM1
DOCOM
OHS1 RA3
P G3
C G4
P G3
C G4
P G3
C G4
CN3 10 15 5 3 L11 20 Plate

DICOM
ALM
DICOM DOCOM
RA1 24VDC
Cooling fan R S
Cooling fan R S
Cooling fan R S
EM1 SD
(Note 3)
(Note 3) Operation Drive Motor thermal relay Forced stop -readyON unit RA1 RA2 RA3 RA4 EM1 OFF Converter unit Controller forced stop MC MC SK
L21
Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. Attach connector for magnetic contactor control (CNP1) on the converter unit. Unattached state may cause an electric shock. 5. For specifications of cooling fan power supply, refer to section 13.3.8.
13 - 29
(b) 400V class (MR-J3-DU30KB4 to MR-J3-DU55KB4)

NFB (Note 6) Power supply Converter unit TE2-2 L L NFB 3-phase 380 to 480VAC 50/60Hz CN40 MC L1 L2 L3 L11 L21 (Note 5) CNP1 MC1 MC2 Power factor improving DC reactor (Option) 1 2 CN1 1 5 6 2 7 9 P1 (Note 2) P2 C
DICOM DOCOM DICOM
Drive unit TE2-1 L L CN40A MR-J3CDL05M cable Termination connector MR-J3-TM (Option) CN40B Servo motor U V W M Dynamic brake (Option)
U 24VDC V W CN2 RA2 (Note 3)
ALM EM1
DOCOM
Encoder Encoder cable
BU BV BW
Cooling fan
24VDC power supply
OHS1
RA3 P G3 C G4 P G3 C G4 P G3 C G4 CN3 10 15 5 L11

(Note 4)
DICOM
Cooling fan
R400 S400
Cooling fan
R400 S400
Cooling fan
R400 S400
ALM
DICOM DOCOM
RA1 24VDC
3 20 Plate
L21 Drive unit RA1 Motor (Note 3) Operation thermal relay Forced stop -ready ON RA2 RA3 RA4 EM1 OFF Controller forced stop MC MC SK
EM1 SD
(Note 3)
Converter unit
Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 5. Attach connector for magnetic contactor wiring on the converter unit. Unattached state may cause an electric shock. 6. For specifications of cooling fan power supply, refer to section 13.3.8.
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13.3.3 Terminal Refer to section 13.7 for the terminal block arrangement and signal layout. (1) Converter unit
Connection Target (Application) Main circuit power supply Control circuit power supply Power factor improving DC reactor Regenerative brake DC link L Abbreviation L1 L11 P1 P2 L2 L3 L21 P2 C L (Note) Terminal Block TE1-1 TE3 TE1-2 TE1-2 TE2-2 Description MR-J3-CR55K Connect 3-phase 200 to 230VAC, 50/60Hz to L1, L2, L3. Connect 1-phase 200 to 230VAC, 50/60Hz. MR-J3-CR55K4 Connect 3-phase 380 to 480VAC, 50/60Hz to L1, L2, L3. Connect 1-phase 380 to 480VAC, 50/60Hz.
When using the power factor improving DC reactor, connect it after removing the connection plate across P1-P2. Connect to the P2 and C terminals of the regenerative option. Connect to the L , L terminals of the drive unit. Use the connection bar, which is supplied with the drive unit, to connect. Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.
Grounding
PE
Note. The permissible tension applied to any of the terminal blocks TE1-1, TE1-2, TE2-2 is 350[N].
(2) Drive unit

Connection Target (Application) Control circuit power supply Abbreviation (Note) Terminal Block TE3 Description MR-J3-DU30KB MR-J3-DU37KB Connect 1-phase 200 to 230VAC, 50/60Hz. MR-J3-DU30KB4 to MR-J3-DU55KB4 Connect 1-phase 380 to 480VAC, 50/60Hz.
L11
L21
L L
power supply input
L U V
L W
TE2-1 TE1A PE
Connect to the L and L terminals of the converter unit. Use the connection bar, which is supplied with the drive unit, to connect. Connect to the servo motor power terminals (U, V, W). Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.
Servo motor power Grounding
Note. The permissible tension applied to any of the terminal blocks TE1, TE2-1 is 350[N].
13 - 31
13.3.4 How to use the connection bars Make sure to use the supplied connection conductors and connect the L and L of the drive unit to those of the converter unit as shown below. Never use connection conductors other than the ones supplied with the drive unit. Both units are shown without the front covers.
Converter unit Drive unit Connection conductors
L L
L L
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13.3.5 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) Converter unit
CN6 Leave this open. CN40 Connect to CN40A of the drive unit. CN3 Leave this open.
CNP1 CN1
CN1 (Digital I/O connector) Model: 17JE-23090-02 (D8A) K11-CG (D-sub 9 pin or equivalent) (DDK)
CHARGE
9
DOCOM
5
DOCOM
4 8 WNG 3 7 EM1 2 6 ALM DICOM 1

DICOM
CNP1 (Magnetic contactor wiring connector) Model: GFKC 2.5/2-STF-7.62 (Phoenix Contact)
1 MC1 2 MC2
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(2) Drive unit The drive unit front view shown is that of the MR-J3-DU30KB4, MR-J3-DU37KB4 or less. Refer to section 13.7 Outline Drawings for the appearances and connector layouts of the MR-J3-DU30KB, MR-J3-DU37KB, MR-J3-DU45KB4, MR-J3-DU55KB4.
CN5 (USB connector) Refer to section 11.8.
CN3 (I/O signal connector) Refer to section 3.4.
Connector for the front axis of CN1A SSCNET cable. Connector for the rear axis of CN1B SSCNET cable. CN2 (Encoder connector) Refer to section 3.4.
The frames of the CN2 and CN3 connectors are connected to the PE (earth) terminal in the amplifier.
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13.3.6 Converter unit signal (device) explanations POINT Explanations on the drive unit signals are the same as those for servo amplifiers with 22kW or less. Refer to section 3.5. (1) Signals For the I/O interfaces (symbols in I/O column in the table), refer to (b) of this section.
Signal name Digital I/F power supply input Forced stop Pin code DICOM Pin No. CN1-1 CN1-6 CN1-7 Function/Application Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For the source interface, connect of 24VDC external power supply. Turn EM1 off to bring the motor to a forced stop state, in which the magnetic connector is turned off and the servo-off signal is output to the drive unit. Turn EM1 on in the forced stop state to reset that state. ALM turns off when power is switched off or the protective circuit is activated. Without alarm occurring, ALM turns on within about 1.5s after power-on. When warning has occurred, WNG turns on. Common terminal for the ALM and WNG output signals of the converter unit. Separated from LG. Pins are connected internally. For the source interface, connect of 24VDC external power supply. DI I/O division
EM1
Trouble Warning Digital I/F common
ALM WNG DOCOM
CN1-2 CN1-8 CN1-5 CN1-9
DO DO
Magnetic contactor drive output
MC1
CNP1-1 Connect to the operation coil of the magnetic contactor. Always supplies the control circuit power since it is conducted with L11 in the converter unit.
WARNING
Magnetic contactor wiring connector on the converter unit. Connected state may cause an electric shock.
MC2
CNP1-2 Connect to the operation coil of the magnetic contactor. When the converter unit (Note) receives a start command from the drive unit, it is conducted with L21 inside, the control circuit power is supplied, and then the magnetic contactor is turned ON. Change parameter No.PA02 setting to 0 when controlling without magnetic contactor control connector (CNP1). (Refer to section 13.3.1.)
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(2) I/O interfaces (a) Digital input interface (DI) Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input.
For transistor Approx. 5mA Converter unit EM1 5.6k
Switch TR VCES 1.0V ICEO 100 A 24VDC 150mA 10 DICOM
(b) Digital output interface (DO) A lamp, relay or photocoupler can be driven. Install a diode for an inductive load, or install an inrush current suppressing resistor for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier. Refer to section 3.7.3 for the source output.
Converter unit
If polarity of diode is reversed, converter unit will fail.
ALM, etc. DOCOM Load (Note) 24VDC 150mA 10
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13.3.7 Timing chart (1) Power circuit timing chart Power-on procedure (a) Always wire the power supply as shown in above section 13.3.2 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. (b) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the drive unit will operate properly. 1) When control function of magnetic contactor is enabled and the status remains at ready on The main circuit power is not shut off with servo off.
Drive unit control power supply ON OFF
Converter unit control ON power supply OFF Main circuit power supply ON OFF ON OFF ON OFF 10ms 95ms (3s)
Base circuit
Servo-on command (from controller)
2) When control function of magnetic contactor is enabled and the status returns to ready off The magnetic contactor of the converter unit is turned off with servo off, and the main circuit magnetic contactor is shut off.
Base circuit
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3) When controlling magnetic contactor by external sequence When an alarm occurs, turn OFF the magnetic contactor by the external sequence and shut off the main circuit power supply.
Base circuit
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(2) Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.
CAUTION
(a) When control function of magnetic contactor is enabled 1) Converter unit When an alarm occurs in the converter unit, the magnetic contactor is turned off and the main circuit magnetic contactor is shut off. The drive unit in operation stops. To deactivate the alarm, turn the control circuit power off, then on or request the operation from the driver unit. However, the alarm cannot be deactivated unless its cause is removed.
Converter unit control power supply Main circuit power supply ON OFF ON OFF a) Converter unit alarm ON OFF ON OFF ON OFF OFF 1.5s Reset command (from controller) ON OFF 50ms or more ON OFF (3s) (3s) OFF ON OFF Alarm occurrence d) ON c) OFF b)
Alarm occurrence
Drive unit control power supply
Base circuit
Drive unit alarm
a) in Figure
Even if an alarm occurs in the converter when the drive unit is at servo off, the drive unit does not detect the alarm. To deactivate the alarm of the converter unit, turn the power of the converter unit off, and then on (b)) or make the drive unit servo on (c)). (Refer to section 13.6.1.) If an alarm occurs in the converter when the drive unit is at servo on, the alarm also occurs in the drive unit and the drive unit becomes servo off.
b) c) in Figure
d) in Figure
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2) Drive unit When an alarm occurs on the drive unit, the base circuit is shut off and the servo motor coasts. When using a dynamic brake (option), the dynamic brake is activated to stop the servo motor. To deactivate the alarm, power the control circuit off, then on, turn the reset (RES) on or CPU reset command. However, the alarm cannot be deactivated unless its cause is removed.
Converter unit control power supply Main circuit power supply ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF 1.5s Reset command (from controller) ON OFF Alarm occurrence 50ms or more ON OFF (3s) (3s) a) a)
Converter unit alarm
Base circuit
Drive unit alarm
a) in Figure
After completing to start the drive unit, the main circuit power is supplied while the drive unit and the converter unit have no alarms.
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(b) When controlling magnetic contactor by external sequence 1) Converter unit When an alarm occurs on the converter unit, the servo-on turns OFF; however, the main circuit power supply is not shut off. Therefore, shut off the main circuit power supply by the external sequence. After cancelling the alarm on the converter unit (when an alarm is also occurring on the drive unit after cancelling the alarm on the drive unit as well), turning ON the reset command enables to operate again.
Converter unit control power supply Main circuit power supply ON OFF ON OFF a) Converter unit alarm ON OFF ON OFF ON OFF OFF 1.5s Reset command (from controller) ON OFF 50ms or more ON OFF (3s) (3s) OFF ON OFF Alarm occurrence d) ON c) OFF e) b)
Alarm occurrence
Base circuit
Drive unit alarm
a) in Figure
Even if an alarm occurs in the converter when the drive unit is at servo off, the drive unit does not detect the alarm. To deactivate the alarm of the converter unit, turn the power of the converter unit off, and then on (b)) or make the drive unit servo on (c)). (Refer to section 13.6.1.) If an alarm occurs in the converter unit when the drive unit is at servo on, the alarm also occurs in the drive unit and the drive unit becomes servo off. Shut off the main circuit power supply by the external sequence as soon as an alarm occurs.
b) c) in Figure
d) in Figure
e) in Figure
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2) Drive unit When an alarm occurs in the drive unit, the drive unit turns into the servo off but the main circuit power supply is not shut off. Therefore, shut off the main circuit power supply using the external sequence. Operation can be resumed by turning the reset (RES) ON after the alarm is deactivated in the drive unit.
Converter unit control power supply Main circuit power supply ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF 1.5s Reset command (from controller) ON OFF Alarm occurrence 50ms or more ON OFF (3s) (3s) a) b)
Converter unit alarm
Base circuit
Drive unit alarm
a) in Figure b) in Figure
When an alarm occurs on the drive unit, shut off the main circuit power supply by the external sequence. Turn ON the main circuit power supply while an alarm of the drive unit is cancelled.
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(3) Forced stop (EM1) ON/OFF timing chart (a) When control function of magnetic controller is enabled 1) Converter unit When the forced stop is made valid in the converter unit, the magnetic contactor is turned off and the main circuit power supply is shut off. The drive unit in operation stops, and Main circuit off warning (E9) appears. When the forced stop is deactivated in the converter unit, the magnetic contactor is turned on, the main circuit power is supplied, and then the drive unit automatically resumes the operation.
Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake release Electromagnetic brake ON OFF (10ms) (3s)
Servo motor speed
Base circuit
Invalid (ON) Electromagnetic brake interlock (MBR) Valid (OFF) ON Converter main circuit off warning OFF Main circuit power supply ON OFF Invalid (ON) Valid (OFF)
(3s)
(3s)
Forced stop (EM1)
2) When CNP1 is invalid When the forced stop is input in the converter unit, the drive unit in operation stops and Main circuit off warning (E9) appears. When the forced stop is deactivated in the converter unit, the drive unit automatically resumes the operation.
Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake release Electromagnetic brake ON OFF (10ms) (3s)
Servo motor speed
Base circuit
Invalid (ON) Electromagnetic brake interlock (MBR) Valid (OFF) ON Converter main circuit off warning OFF Main circuit power supply ON OFF Invalid (ON) Valid (OFF)
(3s)
(3s)
Forced stop (EM1)
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(b) Forced stop in the drive unit When the forced stop is made valid in the drive unit, the drive unit in operation stops, Main circuit off warning (E9) appears, and then the drive unit is forcedly stopped. Configure to activate the forced stop of the drive unit as the forced stop of the converter unit is activated, and to activate the forced stop of the converter unit as the forced stop of the drive unit is activated. Shut off the power supply by the external sequence as soon as the forced stop is activated.
Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed (10ms) Electromagnetic brake ON OFF
Electromagnetic brake release (3s)
Base circuit
Invalid (ON) Electromagnetic brake interlock (MBR) Valid (OFF) Forced stop command ON (from controller) or forced stop (EM1) OFF Main circuit power supply ON OFF
(3s)
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13.3.8 Servo motor side details

Terminal box Encoder connector CM10-R10P
Encoder connector signal arrangement CM10-R10P

10 9 8 7 6 5 4 3 2 1
Terminal No. 1 2 3 4 5 6 7 8 9 10
Signal MR MRR BAT LG
P5 SHD
HA-LP30K1M4 HA-LP30K24 HA-LP37K24
HA-LP30K1 HA-LP37K1 HA-LP30K1M HA-LP37K1M HA-LP30K2
HA-LP37K2 HA-LP25K14 HA-LP30K14 HA-LP37K14 HA-LP37K1M4 M10 M6
HA-LP45K1M4 HA-LP50K1M4 HA-LP45K24 HA-LP55K24
Motor power supply terminal block screw size Earth screw size
M8 M6
Motor power supply terminal block (U, V, W) M8 screw
Terminal block signal arrangement U V W BU BV BW OHS1 OHS2
BU
BV
BW OHS1 OHS2
Thermal sensor terminal bloc (OHS1,OHS2) M4 screw Cooling fan terminal block (BU, BV, BW) M4 screw Earth terminal M6 screw
13 - 45
Signal name Servo motor power supply
Abbreviation U V W
Description Connect to the motor power terminals (U, V, W) of the drive unit. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications. Voltage division 200V class Voltage/ frequency 3-phase 200 to 230VAC 50Hz/60Hz Power consumption [W] 65(50Hz) 85(60Hz) 120(50Hz) 175(60Hz) 400V class 3-phase 380 to 460VAC 50Hz 3-phase 380 to 480VAC 60Hz 65(50Hz) 85(60Hz) 110(50Hz) 150(60Hz) Rated current [A] 0.20(50Hz) 0.22(60Hz) 0.65(50Hz) 0.80(60Hz) 0.12(50Hz) 0.14(60Hz) 0.20(50Hz) 0.22(60Hz)
Servo motor HA-LP30K1M 30K2 37K2 Cooling fan BU BV BW HA-LP30K1 37K1 37K1M HA-LP30K1M4 30K24 37K24 HA-LP30K14 37K14 37K1M4 45K1M4 50K1M4 45K24 55K24
Motor thermal relay Earth terminal
OHS1
OHS2
OHS1-OHS2 are opened when heat is generated to an abnormal temperature. Maximum rating: 125V AC/DC , 3A or 250V AC/DC, 2A Minimum rating: 6V AC/DC, 0.15A For grounding, connect to the earth of the control box via the earth terminal of the drive unit.
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13.4 Display section and operation section of the converter unit 13.4.1 Display flowchart Use the display (3-dight, 7-segment LED) on the front panel of the converter unit for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the MODE, UP or DOWN button once to move the next screen.
Button MODE Status display Diagnosis Alarm Basic parameters
(Note) Status External I/O signal display Current alarm Parameter No.PA01 (Note) Bus voltage [V] Effective load ratio [%] Output signal forced output Software version low First alarm in past Parameter No.PA02
DOWN UP
Peak load ratio [%] Regenerative load ratio [%]
Software version high (Note) Sixth alarm in past Parameter No.PA18 (Note) Parameter error No. Parameter No.PA19
Note. When parameter is selected, parameter group and parameter No. are displayed alternately. Refer to section 13.4.5 for details.
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13.4.2 Status display mode The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. The converter unit display section can show four items of data such as the effective load factor. (1) Display examples The following table shows the display examples.
Item Status Ready off Status Ready on Display
Bus voltage
300[V]
Effective load ratio
67[%]
Peak load ratio
95[%]
Regenerative load ratio
90[%]
(2) Status display list The following table lists the converter unit statuses that may be displayed.
Status display Ready off Ready on d J V % Symbol Unit Description The ready off is displayed during initialization or alarm occurrence, in the forced stop status, or when the bus voltage is not established. The ready on is displayed when the servo was switched on after completion of initialization and the servo amplifier is ready to operate. The converter unit voltage is displayed. Continuous effective load torque is displayed. (Note) The effective value in the past 15 seconds is displayed relative to the rated current of 100%. The peak output is displayed. (Note) The peak value in the past 15 seconds is displayed relative to the rated torque of 100%. The percentage of regenerative power to the permissible regenerative value is displayed. output current Indication range roF ron 0 to 999 0 to 300
Status
Bus voltage Effective load ratio
Peak load ratio Regenerative load ratio
0 to 400
0 to 300
Note. Output = converter unit bus voltage
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13.4.3 Diagnostic mode (1) Diagnostic list

Name Display Unit Not ready. Initializing. An alarm occurred. External forced stop status. Bus voltage is not established. Ready Indicates that the servo was switched on after completion of initialization and the drive unit is ready to operate. Indicates the ON/OFF status of external I/O signal. Lit : ON Extinguished: OFF For details, refer to (2) of this section. Allows external I/O signal to be switched on/off forcibly. For details, refer to (3) of this section.
Sequence
External I/O signal display
Output signal forced output
Software version low
Indicates the version of the software.
Software version high
Indicates the system number of the software.
(2) External I/O signal display The ON/OFF states of the digital I/O signals connected to the converter unit can be confirmed. (a) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press MODE once. External I/O signal display screen
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(b) Display definition The 7-segment LED segments and CN1 connector pins correspond as shown below.
CN1-7: Forced stop (EM1) Input signals
Output signals CN1-8: CN-2: Warning (WNG) Trouble (ALM) Lit: ON Extinguished: OFF
The LED segment corresponding to the pin is lit to indicate ON, and is extinguished to indicate OFF. (3) Output signal forced output You can force the output signal to be switched on/off, independently of the converter status. This function is used for wiring check of output signal. When turning CN1-8 on and off
Press MODE once. External I/O signal display screen
Press UP once.
Press SET for more than 2 seconds. The signal under the lit LED is switched on/off. Indicates ON/OFF of the trouble (ALM) signal. (Lit: ON, extinguished: OFF) CN1-8 CN1-2 Press MODE once. The lit LED moves to the upper LED of CN1-8.
Press UP once. CN1-8 switches on. (WNG-DOCOM are connected.) CN1-8
Press DOWN once. CN1-8 switches off.
Press SET for more than 2 seconds.
Call the display screen shown after power-on.
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13.4.4 Alarm mode The current alarm, parameter error and point table error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display example are shown below.
Name Display Description Indicates on occurrence of an alarm. Current alarm Indicates that overvoltage (A.33) occurred. Flickers at alarm occurrence.
Indicates that the last alarm is overload (A.50).
Indicates that the second alarm in the past is overvoltage (A.33).
Indicates that the third alarm in the past is undervoltage (A.10). Alarm history Indicates that the fourth alarm in the past is undervoltage (A.10).
Indicates that the fifth alarm in the past is undervoltage (A.10).
Indicates that the sixth alarm in the past is overload (A.50).
Indicates no occurrence of parameter error (A.37).
Parameter error No.

Displayed alternately
Indicates that the data of parameter No.PA01 is faulty.
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Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the third digit flickers. (3) To clear any alarm, switch power off, then on or press the "SET" button on the current alarm screen. Note that this should be done after removing the case of the alarm. 13.4.5 Parameter mode POINT The display section of the converter unit has three digits. When a parameter No. is displayed, parameter group and parameter No. are displayed alternately. When, for example, "PA01" is displayed, and are displayed alternately. The following example gives the operation procedure after power-on for use of the regenerative options (MRRB137).
Displayed alternately
Press MODE three time The parameter number is displayed. For parameter No. PA01, PA and 01 are displayed alternately. Press UP or DOWN to change the number. Press MODE twice The set value of the specified parameter number flickers. In this case, the lower three digits 0000 of the set value 0000 are displayed. Press MODE once During flickering, the set value can be change. Use UP or DOWN . ( 2: MR-RB137 (3 pcs.) are used.) Press SET to enter.
(Note)
Note. If the "MODE" button is pressed when the lower three digits of the four digits "0000" are displayed, the fourth digit "0000" is displayed as . However, do not change the setting of the fourth digit. Press the "MODE" button again to reset the display to the lower three digits .
To shift to the next parameter, press the "UP"/"DOWN" button. When changing the parameter No.PA01 setting, change its set value, then switch power off once and switch it on again to make the new value valid.
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13.5. Parameters for converter unit
CAUTION
Never adjust or change the parameter values extremely as it will make operation instable. POINT Refer to chapter 5 for parameters for drive unit. Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. Never change parameters for manufacturer setting.
13.5.1 Parameter list

No. PA01 PA02 PA03 PA04 PA05 PA06 PA07 PA08 PA09 PA10 PA11 PA12 PA13 PA14 PA15 PA16 PA17 PA18 PA19 *DIF Input filter setting For manufacturer setting *DMD *BPS Status display selection Alarm history clear For manufacturer setting Symbol *REG *MCC Regenerative option Magnetic contactor drive output selection For manufacturer setting Name Initial value 0000h 0001h 0001h 0 100 0 100 0000h 0000h 0 0000h 0002h 0000h 0000h 0000h 0000h 0000h 0000h 0000h Unit
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No. PA01 Symbol *REG Name and function Regenerative option Used to select the regenerative option. Initial value 0000h Unit Setting range Refer to Name and function column.
0 0
Select the regenerative option. 00: No used 01: MR-RB139 Only for MR-J3-CR55K 02: MR-RB137(3 pcs.) 11: MR-RB136-4 Only for MR-J3-CR55K4 12: MR-RB138-4(3 pcs.) "01" and "02" are the set values for the MR-J3-CR55K only, and "11" and "12" are those for the MR-J3-CR55K4 only. Wrong setting will result in parameter alarm (A.37).
PA02 *MCC
Magnetic contactor drive output selection Used to select the output of the magnetic contactor drive power supply.
0001h
0 0 0
Used to select the output of the magnetic contactor drive power supply. 0: No used 1: Used
PA03 PA04 PA05 PA06 PA07 PA08 *DMD
0001h 0 100 0 100
Status display selection Used to select the status display shown at power-on.
0000h
0 0 0
Status display of converter unit display section at power-on. 0: Status 1: Bus voltage 2: Effective load ratio 3: Peak load ratio 4: Regenerative load ratio
PA09
*BPS
Alarm history clear Used to clear the alarm history.
0000h
0 0 0
Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0).
PA10 PA11
0 0000h
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No. PA12
Symbol *DIF Input filter setting Select the input filter.
Name and function
Initial value 0002h
Unit
Setting range Refer to Name and function column.
0 0 0
Input signal filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 1.777[ms] 2: 3.555[ms] 3: 5.333[ms]
PA13 PA14 PA15 PA16 PA17 PA18 PA19
0000h 0000h 0000h 0000h 0000h 0000h 0000h
13.6 Troubleshooting 13.6.1 Converter unit (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2) or (3) of this section and take the appropriate action. Switch power off, then on to deactivate the alarm. The alarms marked " " in the alarm deactivation column of the table can be deactivated by pressing the "RES" key of the converter unit side parameter unit or switching on the reset signal (RES).
Alarm deactivation Display A.10 A.12 A.15 A.17 A.19 A.30 A.33 Alarm A.37 A.38 A.39 A.3A A.45 A.47 A.50 A.51 888 Undervoltage Memory error1 (RAM) Memory error2 (EEP-ROM) Board error Memory error3 (Flash-ROM) Regenerative error Over voltage Parameter error MC drive circuit error Open phase Inrush current suppressor circuit error Main circuit device overheat Cooling fan error Over load 1 Over load 2 Watchdog (Note) (Note) (Note) (Note) (Note) (Note) (Note) (Note) Name Power OFF ON Error reset Warning Display A.91 A.E0 A.E1 A.E6 A.E8 Name Overheat warning Excessive regenerative load warning Over load warning Converter forced stop warning Cooling fan speed reduction warning
Note. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
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(2) Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation. If operation is resumed by switching control circuit power off, then on to reset the alarm, the converter unit and regenerative option may become faulty. Regenerative error (A.30) Over load 1 (A.50) Over load 2 (A.51) Main circuit device overheat (A.45) The alarm can be deactivated by switching the power off, then on or by the error reset command from the host controller. Refer to (1) in this section for details.
When an alarm occurs, the trouble (ALM) signal switches off and the display section shows the alarm number. Remove the cause of the alarm in accordance with this section.
Display A.10 Name Undervoltage Definition Power supply voltage dropped. Cause 1. Instantaneous control power failure occurred for more than 60ms. 2. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 3. Failure of the part in the converter unit. Checking method
Alarm (A.10) occurs if power is switched on after connectors disconnected.
Action Review the power supply.
Change the Converter unit.
A.12
Memory error1 (RAM)
RAM memory fault
Failure of the part in the converter unit. Checking method

Change the converter unit.
A.15
Memory error2 (EEP-ROM)
EEP-ROM fault
1. Failure of the part in the converter unit. Checking method

2. The number of write times to EEPROM exceeded 100,000. A.17 A.19 Board error Memory error3 (Flash-ROM) CPU/parts fault ROM memory fault Failure of the part in the converter unit. Checking method
Alarm (A.17/A.19) occurs if power is switched on after connectors disconnected.
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Display A.30
Name Regenerative error
Definition Permissible regenerative power of regenerative option is exceeded.
Cause 1. Wrong setting of parameter No. PA01 2. Regenerative option is not connected. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Checking method
Call the status display and check the regenerative load ratio.
Action Set correctly. Connect correctly. 1. Reduce the frequency of positioning. 2. Use the regenerative option of larger capacity. 3. Reduce the load.
4. Power supply voltage is abnormal. MR-J3-CR55K: 260VAC or more MR-J3-CR55K4: 520VAC or more 5. Regenerative option faulty. 6. Ground fault occurred in servo motor power (U, V, W). Regenerative transistor fault 7. Regenerative transistor faulty. Checking method
1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option.
Review power supply
Change converter unit or regenerative option. Correct the wiring. Change the converter unit.
A.33
Over voltage
Converter bus voltage exceeded to following voltage. MR-J3-CR55K: 400VDC MR-J3-CR55K4: 800VDC
1. Regenerative option is not used.
Use the regenerative option.
Set correctly. 2. Though the regenerative option is used, the parameter No.PA01 setting is " 00 (not used)". 3. Lead of regenerative option is open or disconnected. 4. Regenerative transistor faulty. 5. Wire breakage of regenerative option. 6. Capacity of regenerative option is insufficient. 7. Power supply voltage high. 8. Ground fault occurred in servo motor power (U, V, W). 1. Change lead. 2. Connect correctly. Change the converter unit. Change the regenerative option. Add regenerative option or increase capacity. Review the power supply. Correct the wiring. Change the converter unit. Set parameter No.PA01 correctly.
A.37
Parameter error
Parameter setting is wrong.
1. Converter unit fault caused the parameter setting to be rewritten. 2. Regenerative option not used with converter unit was selected in parameter No.PA02. 3. The number of write times to EEP-ROM exceeded 100,000 due to parameter write, etc.
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Display A.38
Name
Definition
Cause 1. Wrong connection of the magnetic contactor. 2. Parameters specifying whether to use/not use the magnetic contactor do not match the configuration. 3. Magnetic contactor failed. 4. Magnetic contactor drive circuit faulty. Checking method
Check the output of magnetic contactor control connector (CNP1) . Power supply voltage is applied to this connector. Take care to avoid an electric shock at connecting.
Action Review the wiring. Set parameter No.PA02 correctly.
MC drive circuit Magnetic contactor drive error circuit error (When the magnetic contactor is turned on: the main circuit power supply is not turned on within two seconds after the servo-on of the drive unit. When the magnetic contactor is opened: the main circuit power supply is turned on although the magnetic contactor is opened.)
Change the magnetic contactor. Change the converter unit.
5. Mismatch of an external sequence. A.39 Open phase Power supply error 1. Any of L1, L2 and L3 is disconnected. Or, open. 2. Failure of the part in the converter unit. A.3A Inrush current suppressor circuit error Inrush current suppressor circuit error 1. Power-on/off was repeated with high frequency. 2. Inrush current suppressor resistance overheated. 3. Inrush current suppressor circuit faulty. A.45 Main circuit device overheat Main circuit device overheat.
Review the power-on sequence. (Refer to section 3.3.2.) Review the wiring. Change the converter unit. Review operation pattern. Change the converter unit.
1. The power supply was turned on and Review operation pattern. off continuously by overloaded status. 2. Ambient temperature of converter unit is over 55 . 3. Converter unit faulty. Review environment so that ambient temperature is 0 to 55 . Change the converter unit. Change the cooling fan of the converter unit. Remove the foreign matter. Change the converter unit. 1. Reduce load. 2. Review operation pattern. Review operation pattern of a drive unit. Change the converter unit.
A.47
Cooling fan alarm
The cooling fan of the 1. Cooling fan life expiration. (Refer to converter unit stopped, or its section 2.6.) speed decreased to or 2. Foreign matter caught in the cooling below the alarm level. fan stopped rotation. 3. The power supply of the cooling fan failed.
A.50
Over load 1
Load exceeded overload protection characteristic of converter unit. Load exceeded overload protection characteristic of converter unit. CPU/parts fault
Converter unit is used in excess of its continuous output current. Converter unit is used in excess of its output current for a short time. Failure of the part in the converter unit. Checking method
Alarm (888) occurs if power is switched on after connectors disconnected.
A.51
Over load 2
(Note) 888
Watchdog
Note. At power-on, "888" appears instantaneously, but it is not an error.
13 - 58
(3) Remedies for warnings Continuing operation in an alarm occurrence status may result in an alarm or disable proper operation. Eliminate the cause of the warning according to this section. The warning displayed will disappear when the cause of its occurrence is resolved.
Display A.91 Name Overheat warning Definition The temperature of the fin exceeded the warning level. Cause 1. Operated in the overloaded status. 2. Ambient temperature of converter unit is over 55 . 3. Used beyond the specifications of close mounting. 4. Converter unit faulty. A.E0 Excessive regenerative load warning There is a possibility that regenerative power may exceed permissible regenerative power of regenerative option. There is a possibility that overload alarm 1 or 2 may occur. EM1 is off. Regenerative power increased to 85% or more of permissible regenerative power of regenerative option. Checking method
Call the status display and check the regenerative load ratio.
Action Review operation pattern. Review environment so that ambient temperature is 0 to 55 . Use within the range of specifications. Change the converter unit. 1. Reduce frequency of positioning. 2. Change regenerative option for the one with larger capacity. 3. Reduce load. Refer to A.50, A.51.
A.E1
Over load warning
Load increased to 85% or more of overload alarm 1 or 2 occurrence level. Cause, checking method
Refer to A.50, 51.
A.E6
Converter forced stop warning Cooling fan speed reduction warning
External forced stop was made valid. (EM1 was turned off.) 1. Cooling fan life expiration. (Refer to section 2.6.) 2. The power supply of the cooling fan failed.
Ensure safety and deactivate forced stop. Change the cooling fan of the converter unit. Change the converter unit.
A.E8
The speed of the converter unit cooling fan decreased to or below the warning level.
(4) Clearing the alarm history You can clear the alarm numbers stored in the alarm history of the alarm mode. To ensure that you can control the alarms that will occur after regular operation, make this setting before starting regular operation to clear the alarm history. After setting "0001" in parameter No. PA09, switch power off once. Switching it on again clears the alarm history. At this time, the parameter No. PA09 setting returns to "0000".
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13.6.2 Drive unit POINT Explanation made in this section is exclusively for the driver unit. Other troubleshooting is the same as that for servo amplifiers with 22kW or less. Refer to chapter 8. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2) or (3) of this section and take the appropriate action. When an alarm occurs, the ALM turns OFF. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. The alarm is automatically canceled after removing the cause of occurrence.
Alarm deactivation Display Name Converter alarm Power OFF ON Error reset CPU reset Alarms E9 Display 9C Name Converter warning Main circuit off warning
Alarms
1B
(2) Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. As soon as an alarm occurs, mark servo-off and power off the main circuit and control circuit. POINT The alarm can be deactivated by switching power off, then on or by the error reset command CPU reset from the servo system controller. For details, refer to (1) of this section. When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servomotor. At this time, the display indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. MR Configurator may be used to refer to the cause.
Display 1B Name Converter alarm Definition An alarm occurred in the converter unit during servo on. Cause 1. An alarm occurred in the converter unit during servo on. Action Check the alarm of the converter unit, and take the action following the remedies for alarms of the converter unit. (Refer to section 13.6.1 (2).) Connect correctly.
CAUTION
2. The protection coordination cable or terminal connector is not correctly connected.
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(3) Remedies for warnings Continuing operation in an alarm occurrence status may result in an alarm or disable proper operation. Eliminate the cause of the warning according to this section. The warning displayed will disappear when the cause of its occurrence is resolved.
Indication 9C Name Converter warning Definition A warning occurred in the converter unit during the servo-on command. Cause Action Check the warning of the converter unit, and take the action following the remedies for warnings of the converter unit. (Refer to section 13.6.1 (3).) 1. The forced stop of the converter unit is made valid. 2. The protection coordination cable or terminal connector is not correctly connected. Deactivate the forced stop of the converter unit. Connect correctly.
E9
Main circuit off warning
The forced stop of the converter unit is made valid during the servo-on command.
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13.7 Outline drawings POINT Refer to section 13.2.1 for outline dimension drawing. 13.7.1 Converter unit (MR-J3-CR55K(4))
[Unit: mm]
2- 7 Installation hole 300 260 Approx. 20 Approx. 80 Cooling fan wind direction 328 Approx. 200 180 128
20
Terminal block layout (Terminal cover removed)
CHARGE
TE2-2
TE3
TE2-2 TE3 PE TE1-1 TE1-2
TE1-1 7
TE1-2
277
Mass: 25[kg] (Approx. 55.16[lb])

Terminal block signal layout TE2-2 L L TE3 L11 L21 TE1-1 L1 TE1-2 C PE P2 P1 L2 L3 Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Terminal block screw: M6 Tightening torque: 3.0 [N m] (26.6 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.8 [lb in])
13 - 62
13.7.2 Drive unit (1) MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU45KB4 MR-J3-DU55KB4

[Unit: mm]
2- 7 Installation hole 300 20 260 Approx. 20 Approx. 80 Approx. 200 180 Cooling fan wind direction
TE2-1
TE3
For mounting MR-J3BAT
TE2-1 TE1 PE Approx. 200 328 128 TE3
TE1 7
277

Terminal block signal layout TE2-1 L L TE3 L11 L21 TE1 U PE V W Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Terminal block screw: M6 Tightening torque: 3.0 [N m] (26.6 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.8 [lb in])
13 - 63
(2) MR-J3-DU30KB4 MR-J3-DU37KB4

[Unit: mm]
2- 6 Installation hole Approx. 60 Approx. 80
60
240 120
Approx. 200 180
TE2
TE3
For mounting MR-J3BAT
TE1
Approx. 200 328
128
219.2

Terminal block signal layout TE2 L L TE3 L11 L21 TE1 U PE V W Terminal block screw: M8 Tightening torque: 6.0 [N m] (53.1 [lb in]) Terminal block screw: M8 Tightening torque: 6.0 [N m] (53.1 [lb in]) Terminal block screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Terminal block screw: M6 Tightening torque: 3.0 [N m] (26.6 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.3 [lb in])
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13.8 Characteristics 13.8.1 Overload protection characteristics An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter unit and drive unit from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph. It is recommended to use the machine which generates unbalanced torque, e.g. a vertical lift application, so that the unbalanced torque is not more than 70% of the rated torque.
10000 10000
1000 Operation time [s] Operation time [s]
1000
During rotation 100
During rotation 100
10
10
During servo lock
100 (Note 2) Load ratio [%] Converter unit
200
250
100 (Note 2) (Note 1) Load ratio [%] Drive unit
200
250
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the drive unit may fail even when the electronic thermal relay protection is not activated. 2. Load ratio 100% indicates the rated output of each converter unit and drive unit. Refer to section 13.1.4 for rated output.
Fig. 13.1 Overload protection characteristics
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13.8.2 Power supply equipment capacity and generated loss POINT The calculation method of heat dissipation area for enclosed control panel is the same as that for servo amplifiers with 22kW or less. Refer to section 10.2 (2). Table 13.1 indicates the generated loss and power supply capacity under rated load per combination of the converter unit and drive unit. When the servo motors is run at less than the maximum speed, the power supply equipment capacity is lower than the value in the table but the heat generated does not change. Since the servo motor requires 2 to 2.5 times greater instantaneous power for acceleration, use the power supply which ensures that the voltage lies within the permissible voltage fluctuation at the main circuit power supply terminals (L1, L2, L3) of the converter unit. The power supply equipment capacity changes with the power supply impedance. The actually generated heat falls within the ranges at rated torque and at zero torque according to the frequencies of use during operation. When designing an enclosed control box, use the values in the table, considering the worst operating conditions. The generated heat in Table 13.1 does not include heat produced during regeneration. Table 13.1 Power supply capacity and generated heat per servo amplifier at rated output
Power Supply Capacity [kVA] Converter unit Drive unit Servo motor Power factor Power factor improving DC improving DC reactor is not reactor is used used 48 40 (Note) Drive unit-generated heart[W] Area required for heat dissipation At zero torque [m2]
At rated torque
MR-J3-DU30KB MR-J3-CR55K MR-J3-DU37KB
HA-LP30K1 HA-LP30K1M HA-LP30K2 HA-LP37K1 HA-LP37K1M HA-LP37K2 HA-LP25K14 HA-LP30K14 HA-LP30K1M4 HA-LP30K24 HA-LP37K14 HA-LP37K1M4 HA-LP37K24 HA-LP45K1M4 HA-LP45K24 HA-LP50K1M4 HA-LP55K24
1550(1100+450)
31.0
59 40 48
49 35 40
1830(1280+550) 1080(850+230) 1290(1010+280) 60(30+30)
36.6 21.6 25.8
MR-J3DU30KB4
MR-J3-CR55K4
MR-J3DU37KB4 MR-J3DU45KB4 MR-J3DU55KB4
59
49
1542(1200+342)
30.8
71 80 87
59 67 72
1810(1370+440) 2120(1650+470) 2150(1650+500)
36.2 42.4 43.0
Note. The heat generated by the drive unit is indicated in the left term within the parentheses, and the heat generated by the converter unit in the right term.
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13.8.3 Dynamic brake characteristics Fig. 13.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 13.3. Please contact us for the servo motor not indicated.)
Forced stop (EM1) ON OFF
Time constant Machine speed V0
te
Time
Fig 13.2 Dynamic Brake Operation Diagram
Lmax=
Vo 60
te +
JL 1 + (13.1) JM
Lmax V0 JM JL te
: Maximum coasting distance [mm] : Machine rapid feed rate [mm/min][in/min] 2 2 : Servo motor inertial moment [kg cm ][oz in ] 2 2 : Load inertia moment converted into equivalent value on servo motor shaft [kg cm ][oz in ] : Brake time constant [s] : Delay time of control section [s] For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo, there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake.
40 35 30 40 35 30 [ms] 25 20 15 10 5 0 HA-LP25K14 HA-LP30K14 HA-LP37K14
HA-LP30K1 HA-LP37K1
[ms] Time constant
25 20 15 10 5 0
200
400
600
800 1000 1200
Time constant
200
400
600
800 1000 1200
Speed [r/min]
Speed [r/min]
13 - 67
60 HA-LP37K1M 50
60 HA-LP37K1M4 50 HA-LP45K1M4 HA-LP50K1M4 HA-LP30K1M4
[ms]
Time constant
30
Time constant
0 500 1000 Speed [r/min] 1500 2000
[ms]
40
HA-LP30K1M
40
30
20
20
10
10
500
1000 Speed [r/min]
1500
2000
0.045 0.04 HA-LP30K2 0.035 [ms] 0.03 0.025 0.02 0.015 0.01 0.005 0 HA-LP37K2 [ms] 0.035 0.03 0.025 0.02 0.015 0.01 0.005 0 HA-LP55K24 HA-LP37K24 HA-LP30K24 0.045 0.04
HA-LP45K24
500
1000 Speed [r/min]
1500
Time constant
Time constant
2000
500
1000 Speed [r/min]
1500
2000
HA-LP2000r/min series Fig. 13.3 Dynamic brake
13 - 68
Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.
Drive unit MR-J3-DU30KB(4) MR-J3-DU37KB(4) MR-J3-DU45KB4 MR-J3-DU55KB4 10 Load inertia moment ratio [times]
13.8.4 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference data) that will flow when the maximum permissible voltage (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m.
Converter unit MR-J3-CR55K Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-CR55K4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 339A (Attenuated to approx. 20A in 70ms) 19A (Attenuated to approx. 0A in 60ms) Inrush currents (A0-p) Main circuit power supply (L1, L2, L3) 163A (Attenuated to approx. 20A in 180ms) Control circuit power supply (L11, L21) 18A (Attenuated to approx. 0A in 100ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 13.9.5.) When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current.
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13.9 Options Before connecting any option or peripheral equipment, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit whether the charge lamp is off or not. Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. Cable/connector sets Refer to section 11.1. Junction terminal block Refer to section 11.7. MR Configurator Refer to section 11.8. Battery Refer to section 11.9. Relays Refer to section 11.15. Surge absorbers Refer to section 11.16. Radio noise filter (FR-BIF(-H)) Refer to section 11.17 (2) (e). 13.9.1 Cables and connectors POINT Other connectors are the same as those for servo amplifiers with 22kW or less. Refer to section 11.1.
WARNING
CAUTION
13 - 70
(1) Makeup of cables and like The following shows the cable makeup for connection with the servo motor and other model.
Converter unit 7) Drive unit
CNP1
CN40 CN1
1)
CN40A
CN2 8) 2) CN40B
6) 3) 4) 5) Servo motor HA-LP
Terminal box
No. 1)
Product Protection coordination cable
Model MR-J3CDL M Refer to (2) of this section. Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Description Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
Application
2)
Connector set
MR-J2CN1-A Refer to (2) of this section.
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Connector: PCR-S20FS+ Shell kit: PCR-LS20LA1 (Honda Tsushin Kogyo)
3) 4)
Termination connector Encoder cable
MR-J3-TM MR-J3ENSCBL M-L Cable length: 2 5 10 20 30m MR-J3ENSCBL M-H Cable length: 2 5 10 20 30 40 50m MR-J3SCNS For HA-LP series Refer to section 11.1.2 (4) for details. Converter unit side connector (Phoenix Contact) Socket: GFKC 2.5/2-STF-7.62 Converter unit side connector (DDK) Connector: 17JE23090-02(D8A)K11-CG Supplied with converter unit For HA-LP series Refer to section 11.1.2 (4) for details. IP67 Standard life IP67 Long flexing life IP67
5)
Encoder cable
6)
Encoder connector set Magnetic contactor wiring connector Digital I/O connector
7)
8)
13 - 71
(2) MR-J3CDL05M(0.5m) Protection coordination cable Connect protection coordination cables correctly if they are fabricated. Otherwise, misoperation or explosion may occur.
CAUTION
When fabricating a protection coordination cable, use the recommended wires given in section 13.9.4, and fabricate a protection coordination cable as shown in the wiring diagram in this section.
MR-J3CDL05M 10120-3000PE (Connector) 10320-52F0-008 (Shell kit) 9 19 10 20 7 17 8 18 5 15 Converter unit side 6 16 3 13 4 14 1 11 2 12 Plate PCR-S20FS (Connector) PCR-LS20LA1 (Case) 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 ACD2 ACD2* ACD3 ACD3* PAL PAL* ACD1 ACD1* LG LG GOF GOF* PMC PMC* PSD PSD* LG LG PRD PRD* Drive unit side
Plate SD
Table 13.2 Recommended wire

Model Length [m(ft)] Core size Number [mm2] of Cores Characteristics of one core (Note 2) Conductor Insulation coating Finishing Structure OD OD d[mm] Resistance [Wires/mm] [mm] (Note 1) [ /mm] 7/0.127 222 0.38 6.1 Wire model
MR-J3CDL05M
0.5 to 5 (1.64 to 16.4)
0.08
20 (10 pairs)
UL20276 AWG#28 10pair (CREAM)
Note 1. d is as shown below:

d
Conductor Insulation sheath
2. Standard OD. Max. OD is about 10% greater.
13 - 72
13.9.2 Regenerative option
CAUTION
The specified combinations of regenerative options, converter unit and drive unit may only be used. Otherwise, a fire may occur. POINT The calculation method of regenerative energy is the same as that for servo amplifiers with 22kW or less. Refer to section 11.2 (2).
(1) Combination and regenerative power The regenerative power values in the table are the regenerative power of the resistor and are not the rated power.
Regenerative Power [W] Converter unit Drive unit MR-RB139 (1.3 ) 1300 (Note 1) Three MR-RB137 (1.3 ) in parallel 3900 MR-RB136-4 (5 ) (Note 2) Three MR-RB138-4 (5 ) in parallel
MR-J3-CR55K
MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4
MR-J3-CR55K4
1300
3900
Note. 1. The composite resistor value of three options is 1.3 . The resistor value of one option is 4 . 2. The composite resistor value of three options is 5 . The resistor value of one option is 15 .
(2) Parameter setting POINT Always set parameter No.PA02 of the drive unit to 00(Not used) since the regenerative option cannot be connected to the drive unit. When using the regenerative option, set the parameter of the converter unit. Match parameter No. PA01 to the regenerative option used.
Parameter No.PA01
0 0
Regenerative option selection 00: Not used 01: MR-RB139 02: MR-RB137 (3 pcs.) 11: MR-RB136-4 12: MR-RB138-4 (3 pcs.)
(3) Regenerative loss of drive unit and servo motor

Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 90 450 Inverse efficiency [%] C charge [J]
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(4) Connection of the regenerative option Always supply 1-phase 200V and 400V respectively to the cooling fan. The cooling fan specifications are as follows. Table 13.3 Cooling fan
Item Model Voltage Frequency Power consumption [W] 200V class MR-RB137 MR-RB139 20 (50Hz)/18 (60Hz) 400V class MR-RB136-4 MR-RB138-4 20 (50Hz)/18 (60Hz)
1-phase 198 to 242VAC, 50/60Hz 1-phase 380 to 480VAC, 50/60Hz
The regenerative option generates heat of 100 higher than the ambient temperature. Fully consider heat dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option. The G3 and G4 terminals act as a thermal sensor. G3-G4 are opened when the regenerative option overheats abnormally. Always twist the wires for connection with the converter unit and connect the wires within the overall distance of 5m. (a) MR-RB139 MR-RB136-4
Converter unit Power factor improving DC reactor (Option) P1 (Note 1) P2 C Servo motor
5m or less 24VDC power supply OHS1 OHS2 Servo motor thermal relay
(Note 2)
G3 G4 Regenerative option Cooling fan (Note 4) R S
RA
(Note 3) Power supply
Note 1. When using the Power factor improving DC reactor, remove the short bar across P1-P2. 2. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5V/4.8VDC Maximum capacity: 2.4VA 3. For specifications of cooling fan power supply, refer to Table 13.3. 4. For MR-RB136-4, R is R400 and S is S400.
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(b) MR-RB137 MR-RB138-4 POINT Three of MR-RB137 or MR-RB138-4 are required per converter unit. Please purchase three of MR-RB137 or MR-RB138-4.
Converter unit Power factor improving DC reactor (Option) P1 (Note 1) P2 C 5m or less OHS1 OHS2 Servo motor thermal relay Servo motor
24VDC power supply (Note 2)
RA
(Note 3) Power supply
Note 1. When using the Power factor improving DC reactor, remove the short bar across P1-P2. 2. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5V/4.8VDC Maximum capacity: 2.4VA 3. For specifications of cooling fan power supply, refer to Table 13.3. 4. For MR-RB138-4, R is R400 and S is S400.
13 - 75
(5) Outline dimension drawings

[Unit:mm]
10 TE1 10 15 230 260 15 480 500 2- 10 hole
10
2.3 197 15 215
Regenerative option Cooling fan (Note 1) MR-RB139 MR-RB136-4 MR-RB137 MR-RB138-4 Terminal block signal layout TE1
(Note 2)
Mass [kg(lb)] 10(22.05) 11(24.25)
(Note 2)
G4
G3
Terminal screw: M5 Tightening torque: 2.0 [N m] (17.7 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (117 [lb in])
Note 1. One cooling fan for MR-RB136-4, MR-RB138-4. 2. For MR-RB138-4, R is R400 and S is S400.
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13.9.3 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on (signal) at a power failure or failure. For the braking time taken when the dynamic brake is operated, refer to section 13.8.3. The brake unit is rated for a short duration. Do not use it for high duty. The specifications of the input power supply for external dynamic brake are the same as those of the converter unit control circuit power supply. Operation timing is the same as that for servo amplifiers with 22kW or less. Refer to section 11.6. (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated. When using the external dynamic brake, assign the dynamic brake interlock (DB) to any of CN3-9, CN3-13, and CN3-15 pins in parameter No.PD07 to PD09.
Converter unit MR-J3-CR55K Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-CR55K4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 DBU-55K-4 Dynamic brake DBU-37K
(2) Connection example Use the following wires to connect the dynamic brake.
Dynamic brake DBU-37K DBU-55K-4 Wire[mm2] a 2 b U V 14 W
13 - 77
Converter unit L L NFB (Note 4) Power supply MC L1 L2 L3 L11 L21 CNP1 MC1 MC2 1 2 CN1 1 5 6 2 7 9
DICOM DOCOM DICOM
Drive unit L L U V W CN3 15

RA2
(Note 3)
Servo motor U V W M
ALM DB
DICOM DICOM DOCOM
RA1 RA4
ALM EM1
DOCOM
(Note 3)
10 5 3 L11 L21 20 Plate
EM1 SD Forced stop (Note 5) (Note 1)
(Note 2) Drive unit RA1
Controller (Note 5) Operation forced stop Forced stop -ready OFF/ON EM1 RA2 RA3 MC
Converter unit RA4
14
13 W V
SK a b Dynamic brake
Note 1 Terminals 13, 14 are N/O contact outputs. When the dynamic brake has stuck, terminals 13, 14 are opened. Therefore, configure up the circuit to prevent servo-on in the external sequence. 2. For converter unit and servo amplifier 400 V class, stepdown transformer is required for coil voltage of magnetic contactor more than 200 V class. 3. Assign the dynamic brake interlock (DB) in parameter No.PD07 to PD09. 4. Refer to section 13.1.3 for the power supply specifications. 5. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time.
13 - 78
(3) Outline dimension drawing

[Unit:mm]
10 2- 10 installation hole
30
Terminal block TE1 U V W
Terminal screw: M5 Tightening torque: 2.0 [N m] (17.7 [lb in]) 370 390 330 TE2 a b 13 14
Terminal screw: M5 Tightening torque: 0.8 [N m] (7.1 [lb in])

a b 1314 U V W
10
30
TE2 10 15 230 260 230
TE1
15
220 235
2.3 15
Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (117 [lb in])
15
15 Dynamic brake DBU-37K DBU-55K-4
M ass [kg(lb)] 8(17.64) 11(24.25)
13 - 79
13.9.4 Recommended wires The following diagram shows the wires used for wiring. Use the wires given in this paragraph or equivalent.
3) Power factor improving DC reactor 4) Regenerative option lead Regenerative option C L1 L2 L3 L11 L21 2) Control power supply lead L11 L21 Converter unit P1 P2 1) Drive unit U V W 3) Motor power supply lead Servo motor U V W Motor
Power supply
1) Main circuit power supply lead
Encoder cable 6) Thermal relay
Encoder
OHS1 Thermal relay OHS2 Power supply 5) Cooling fan lead Cooling fan BU BV BW
The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the wiring distance is 30m max. If the wiring distance is over 30m, choose the wire size in consideration of voltage drop. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more for wiring. Table 13.4 Recommended wire
Wires[mm2] Converter unit Drive unit L1 MR-J3-DU30KB (Note 2) MR-J3-DU37KB (Note 2) MR-J3-DU30KB4 (Note 2) MR-J3-DU37KB4 (Note 2) MR-J3-DU45KB4 (Note 2) L2 1) L3 2) L11 L21 3) U V P1 P2 W 4) P2 C BU 5) BV 6) BW OHS1 OHS2
MR-J3-CR55K
50(AWG1/0): d (Note 1) 60(AWG2/0): d (Note 1) 22(AWG4): b (Note 1) 30(AWG2): c (Note 1) 38(AWG2): c (Note 1)
60(AWG2/0):b (Note 1) 80(AWG3/0):b (Note 1) 30(AWG2):b (Note 1) 38(AWG2):b (Note 1) 50(AWG1/0):b (Note 1) 60(AWG2/0):b (Note 1) 5.5(AWG10):a (Note 1)
2(AWG14)
2(AWG14)
1.25(AWG16) 1.25(AWG16)
MR-J3-CR55K4
MR-J3-DU55KB4 50(AWG1/0): d (Note 2) (Note 1)
Note 1. For crimping terminals and applicable tools, refer to Table 13.5. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.
13 - 80
Table 13.5 Recommended crimping terminals

Servo amplifier side crimping terminals Symbol a b (Note 1) c (Note 1) d (Note 2) Crimping terminal FVD5.5-10 FVD22-10 R38-8 R38-10 R60-10 Applicable tool Body YNT-1210S YF-1 E-4 YPT-60-21 YF-1 E-4 YPT-60-21 YF-1 E-4 YET-60-1 YET-60-1 YNE-38 DH-123 DH113 TD-124 TD112 TD-125 TD113 Japan Solderless Terminal Head Dice Manufacturer
Note 1. Coat the part of crimping with the insulation tube. 2. Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size.
13.9.5 No-fuse breakers, fuses, magnetic contactors. Always use one no-fuse breakers and one magnetic contactor with one drive unit.
No-fuse breaker Converter unit Drive unit Power factor improving DC reactor is not used 400A frame 250A 400A frame 300A 225A frame 150A 225A frame 175A 225A frame 225A 400A frame 250A Power factor improving DC reactor is used 225A frame 225A 225A frame 300A 225A frame 125A 225A frame 150A 225A frame 175A 225A frame 225A T (Note) Class Fuse Current [A] 450 500 225 250 350 400 600 Voltage AC [V] 250 Magnetic Contactor S-N150 S-N180 S-N95 S-N125 S-N150 S-N180
MR-J3-CR55K
MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4
MR-J3-CR55K4
Note. This drive unit is UL/C-UL-listed when using a Class T fuse. Therefore, when using the drive unit as an UL/C-UL Standard compliant product, be sure to use the Class T fuse.
13 - 81
13.9.6 Power factor improving DC reactor The input power factor is improved to about 95%.
[Unit:mm] Converter unit MR-J3-CR55K Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-DU37KB4 MR-J3-CR55K4 MR-J3-DU45KB4 MR-J3-DU55KB4 MR-DCL45K4 MR-DCL55K4 240 260 215 80 212 232 Power factor improving DC reactor MR-DCL30K MR-DCL37K MR-DCL30K4 MR-DCL37K4 135 W D 255 205 225 200 H 215 W1 80 75 X 232 175 197 M8 Terminal Screw M12 Mass [kg (lb)] 9.5 (20.94) 6.5 (14.33) 7 (15.43) 7.5 (16.54) 9.5 (20.94)
Terminal cover
Terminal block (M3.5 screw) For thermal sensor P1 P2
Terminal screw
H or less
1.5 1.5
D or less
Mounting hole for M8
Approx. W1 W or less
13 - 82
13.9.7 Line noise filter (FR-BLF) POINT This section explains how to use the line noise filter unique to servo amplifiers with a large capacity. Other noise reduction products are the same as those for servo amplifiers with 22kW or less. Refer to section 11.17. This filter is effective in suppressing noises radiated from the power supply side and output side of the converter unit, drive unit and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. The filters are used with the converter power supply wires (L1 L2 L3) and drive unit power wires (U V W). (1) Usage Pass the 3-phase wires through four line noise filters. When using the line noise filters with the power wires, passing the power wires together with the ground wire will reduce the filter effect. Run the ground wire separately from the power wires.
Use four FR-BLFs.
(2) Outline drawing

7
31.5
130 85
80 35
160 180
2.3
13 - 83
13.9.8 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the drive unit, servo motor, etc. securely. Make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm) to minimize leakage currents. Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] (13.2)
K: Constant considering the harmonic contents

Cable Noise filter NV Converter unit
Leakage current breaker

Drive unit Cable
Type
M
Mitsubishi products NV-SP NV-SW NV-CP NV-CW NV-HW BV-C1 NFB NV-L
Ig1 Ign
Iga
Ig2
Igm
Models provided with harmonic and surge reduction techniques
General models
Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the drive unit (Found from Fig. 13.4.) Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 13.4.) Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF or FR-BIF-H) Iga: Leakage current of the drive unit (Found from Table 13.7.) Igm: Leakage current of the servo motor (Found from Table 13.6.)
Table 13.6 Servo motors leakage current example (lgm) Servo motor power [kW] 30 to 55
Leakage current [mA] 120 100 80 60 40 20 0 2 5.5 14 38 100 3.5 8 22 60 150 30 80
Table 13.7 Converter unit drive unit's leakage current Example (Iga) Converter unit Drive unit All series
Leakage current [mA] 120 100 80 60 40 20 0 2 5.5 14 38 100 3.5 8 22 60 150 30 80
Leakage current [mA] 2.5
Leakage current [mA] 5
Cable size [mm2]
Cable size [mm2]
a) 200V class
b) 400V class
Fig.13.4 Leakage current example (lg1, lg2) for CV cable run in metal conduit 13 - 84
(2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions:
22mm2 5mm NV Converter unit Drive unit M Servo motor 30mm2 5mm
Ig1
Iga
Ig2
Igm
Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (13.2) from the diagram: Ig1 = 95
5 1000 5 1000
= 0.475 [mA]
Ig2 = 105
= 0.525 [mA]
Ign = 0(not used) Iga = 5 [mA] Igm = 2.5 [mA] Insert these values in Equation (13.2): Ig 10 {0.475+0+5+1 85 [mA] (0.525+2.5)}
According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 85[mA] or more. A leakage current breaker having Ig of 200[mA] is used with the NV-SP/SW/CP/CW/HW series.
13 - 85
13.9.9 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Converter unit Drive unit
Recommended filter (Soshin Electric) Model MR-J3-CR55K MR-J3-CR55K4 MR-J3-DU30KB MR-J3-DU37KB (Note) HF3200A-UN TF3150C-TX Leakage current [mA] 9 5.5
Converter unit
Drive unit
Mass [kg]
18 31
MR-J3-DU30KB4 to MR-J3-DU55KB4
Note. Surge protector is separately required to use any of these EMC filters.

NFB (Note 1) Power supply EMC filter 1 2 3 4 5 6 E MC Converter unit L1 L2 L3 L11 L21 Drive unit L11 L21 1 2 3 (Note 2) Surge protector 1 (RAV-781BYZ-2) (OKAYA Electric Industries Co., Ltd.)
(Note 2) Surge protector 2 (RAV-781BXZ-4) (OKAYA Electric Industries Co., Ltd.)
Note 1. For power supply specifications, refer to section 13.1.3. 2. The example is when a surge protector is connected. For outline drawing of the surge protector, refer to section 11.19 (3) (b).
13 - 86
(3) Outline drawing HF3200A-UN

[Unit: mm]
36.5 Length: 8 36.5 3-M10
480 500
1 5
M8
TF3150C-TX
[Unit: mm]
8-R 4.25 Length: 12 (for M8) 3-M8 3-M8 M4 M4 110 150 1 150 452 500 1 5 3 150 1 M4 210 2 (227) 260 3 2 M8
13 - 87
13.9.10 FR-BU2-(H) Brake Unit POINT Use a 200V class brake unit and a resistor unit with a 200V class converter unit, and a 400V class brake unit and a resistor unit with a 400V class converter unit. Combination of different voltage class units cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes. Temperature of the resistor unit case rises to higher than 100 C. Keep cables and flammable materials away from the case. Ambient temperature condition of the brake unit is between 10C to 50C. Note that the condition is different from the ambient temperature condition of the converter unit (between 0C to 55C). Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition. Use the brake unit with a combination indicated in (1) of this section. For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter. Connect the brake unit to the bus of the converter unit (L and L of TE2-1) for use. As compared to the MRRB regenerative brake option, the brake unit can return larger power. Use the brake unit when the regenerative brake option cannot provide sufficient regenerative brake capability. When using the brake unit, set the parameter No.PA02 of the converter unit to 01. When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual. (1) Selection Use a combination of converter unit, brake unit and resistor unit listed below.
Brake unit 200V class 400V class FR-BU2-55K FR-BU2-H55K FR-BU2-H75K Resistor unit FR-BR-55K MT-BR5-55K FR-BR-H55K MT-BR5-H75K Number of connected units 2 (parallel) 2 (parallel) 2 (parallel) 2 (parallel) Permissible continuous power [kW] 7.82 11.0 7.82 15.0 Total resistance [ ] 1 1 4 3.25 Applicable converter unit MR-J3-CR55K MR-J3-CR55K MR-J3-CR55K4 MR-J3-CR55K4
13 - 88
(2) Brake unit parameter setting Normally, changing parameters of the FR-BU2-(H) is not necessary. Whether a parameter can be changed or not is listed below.
Parameter No. 0 1 2 3 77 78 CLr ECL C1 Name Brake mode switchover Monitor display data selection Input terminal function selection 1 Input terminal function selection 2 Parameter write selection Cumulative energization time carrying-over times Parameter clear Alarm history clear For manufacturer setting Change possible/ impossible Impossible Possible Impossible Remarks Do not change the parameter. Refer to FR-BU2-(H) Brake Unit Instruction Manual. Do not change the parameter
(3) Connection example POINT Connecting PR terminal of the brake unit to L terminal of the converter unit results in a brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (a) Combination with FR-BR-(H) resistor unit POINT To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect as shown below.
Converter unit L L Brake unit P/ N/ Brake unit P/ N/ Converter unit L L Brake unit P/ N/ Brake unit P/ N/
Passing wiring
13 - 89
Converter unit L L NFB (Note 1) Power supply MC L1 L2 L3 L11 L21 CNP1 MC1 MC2 1 2 L L P1 P2 CN1 1 5 6 2 7 9 (Note 9) (Note 3)
Drive unit L L
DICOM
DOCOM
24VDC
CN3 15 ALM
RA1
DICOM
ALM EM1
DOCOM
RA2
10 DICOM 5 3 20 L11 L21 Plate

DICOM
DOCOM
24VDC
(Note 2)
EM1 SD
Forced stop (Note 2)
(Note 5) Drive unit RA1 (Note 2) Controller Forced stop forced stop EM1 RA2 RA3 RA4 Converter unit Servo motor thermal relay (Note 8) Operation ready OFF/ON MC SK P PR FR-BR-(H) (Note 6) TH1 TH2 FR-BU2-(H) (Note 12) MSG PR (Note 11) SD P/ (Note 4) A N/ B C BUE (Note 7) SD(Note 10)
Terminal block P PR FR-BR-(H) (Note 6) TH1 TH2 FR-BU2-(H) MSG PR (Note 11) SD P/ (Note 4) A N/ B C BUE (Note 7) SD
(Note 10)
13 - 90
Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect between P1 and P2 terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 13.9.6. 4. Connect P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 5. For the converter unit and the drive unit of 400V class, a stepdown transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. Connect the thermal relay censor of the servo motor. 9. Do not connect more than one cable to each L and L terminals of TE2-1 of the converter unit. 10. Always connect between BUE and SD terminals (Factory-wired). 11. Connect MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 12. For connecting L and L - terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (3) (d) of this section.
13 - 91
(b) Combination with MT-BR5-(H) resistor unit 1) When connecting a brake unit to a converter unit
Converter unit L L NFB (Note 1) Power supply MC L1 L2 L3 L11 L21 CNP1 MC1 MC2 1 2 L L P1 P2 CN1 1 5 6 2 7 9 (Note 9) (Note 3) Drive unit L L
DICOM
DOCOM
24VDC CN3 15
RA2
DICOM
ALM
RA1
ALM EM1
DOCOM
10 DICOM 5 3 20 Plate L11 L21

DICOM
DOCOM
24VDC
(Note 2)
EM1 SD
(Note 5) Drive unit RA1 Controller forced stop RA2 RA3 RA4 (Note 2) Forced stop RA5 EM1 Operation ready OFF/ON MC SK MT-BR5-(H) (Note 6) TH1 TH2 FR-BU2-(H) PR P/ (Note 4) N/ (Note 10) BUE SD MSG SD A B C (Note 7) SK RA5
Converter unit
Servo motor thermal relay (Note 8)
P PR
Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect between P1 and P2 terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 13.9.6. 4. Connect P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 5. For the converter unit and the drive unit of 400V class, a stepdown transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. Connect the thermal relay censor of the servo motor. 9. Do not connect more than one cable to each L and L terminals of TE2-1 of the converter unit. 10. Always connect between BUE and SD terminals (Factory-wired).
13 - 92
2) When connecting two brake units to a converter unit POINT To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect the converter unit and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.
Converter unit L L Brake unit P/ N/ Brake unit P/ N/ Converter unit L L Brake unit P/ N/ Brake unit P/ N/
Passing wiring
13 - 93
Converter unit L L NFB (Note 1) Power supply MC L1 L2 L3 L11 L21 CNP1 MC1 MC2 1 2 L L P1 P2 CN1 1 5 6 2 7 9 (Note 9) (Note 3)
Drive unit L L
DICOM DOCOM DICOM
24VDC CN3 15
RA2
ALM
DICOM DICOM
DOCOM
RA1
ALM EM1
DOCOM
10 5 3 20 L11 L21 Plate
24VDC
(Note 2)
EM1 SD
(Note 5) Drive unit RA1 Controller forced stop RA2 RA3 RA4 (Note 2) Forced stop RA6 EM1 Operation ready OFF/ON MC SK SK
RA3
RA5
Converter unit
Servo motor thermal relay (Note 8)
P PR
(Note 12)
PR MSG (Note 11) SD P/ (Note 4) A N/ B C BUE (Note 7) SD(Note 10) SK

RA4
Terminal block P PR
(Note 10)
PR MSG (Note 11) SD P/ A (Note 4) N/ B C BUE (Note 7) SD
13 - 94
Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect between P1 and P2 terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 13.9.6. 4. Connect P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 5. For the converter unit and the drive unit of 400V class, a stepdown transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. Connect the thermal relay censor of the servo motor. 9. Do not connect more than one cable to each L and L terminals of TE2-1 of the converter unit. 10. Always connect between BUE and SD terminals (Factory-wired). 11. Connect MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 12. For connecting L and L - terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (3) (d) of this section.
(c) Precautions for wiring The cables between the converter unit and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction.
Converter unit Brake unit P N P N P PR Resistor unit P PR P N
Twist
Converter unit Brake unit P N P PR

Twist
Resistor unit P PR
5m or less
5m or less
10m or less
10m or less
(d) Cables 1) Cables for the brake unit For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended. a) Main circuit terminal
Main circuit terminal screw size M6 M5 M6 Crimping terminal N/ , P/ , PR, 14-6 5.5-5 14-6 Cable size Tightening torque [N m] N/ , P/ , PR, HIV cables, etc. [mm2] 14 5.5 14 AWG
Brake unit
N/
P/
PR
FR-BU2-55K FR-BU2-H55K FR-BU2-H75K
4.4 2.5 4.4
6 10 6
Terminal block
13 - 95
b) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.
PC BUE SD RES SD MSG MSG SD SD Jumper
Sheath Core
Terminal block
6mm
Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5N m to 0.6N m 2 2 Cable size: 0.3mm to 0.75 mm Screw driver: Small flat-blade screwdriver (Tip thickness: 0.4mm/Tip width 2.5mm) 2) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit
Cable size Brake unit 200V FR-BU2-55K class 400V FR-BU2-H55K class FR-BU2-H75K HIV cables, etc. [mm2] 38 14 38 AWG 2 6 2
13 - 96
(e) Crimping terminals for L and L terminals of TE2-1 of servo amplifier 1) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size.
Number of connected units 2 (Note 1) Applicable tool a
Converter unit 200V class 400V class MR-J3-CR55K
Brake unit FR-BU2-55K
Crimping terminal (Manufacturer) 38-S6(Japan Solderless Terminal) (Note 2) R38-6S (NICHIFU) (Note 2) FVD14-6(Japan Solderless Terminal) 38-S6(Japan Solderless Terminal) (Note 2) R38-6S (NICHIFU) (Note 2)
MR-J3-CR55K4
FR-BU2-H55K FR-BU2-H75K
2 2
b a
Note 1. Symbols in the applicable tool field indicate the following applicable tools. Servo amplifier side crimping terminals Symbol Crimping terminal 38-S6 a R38-6S b FDV14-6 Crimping terminal Body YPT-60-21 YF-1 E-4 NOP60 NOM60 YF-1 E-4 YNE-38 DH-112 DH-122 YET-60-1 Head Dice TD-124 TD-112 Manufacturer Japan Solderless Terminal NICHIFU Japan Solderless Terminal
2. Coat the crimping part with an insulation tube.
13 - 97
(4) Outline dimension drawings (a) FR-BU2- (H) brake unit

[Unit: mm]
FR-BU2-55K FR-BU2-H55K, H75K

2- 5hole (Screw size: M4)
Rating plate
5 6 158 170 6 18.5 52 142.5 72
(b) FR-BR- (H) resistor unit

[Unit: mm]
2- C (Note)
Control circuit terminal Main circuit terminal
(Note)
C (35) W1 1
C (35) A hanging bolt is placed on two locations (Indicated below). Hanging bolt 204
W 5
Note. Ventilation ports are provided on both sides and the top. The bottom is open. Approximate mass [kg] 70 70
Resistor unit 200V class 400V class FR-BR-55K FR-BR-H55K
W 480 480
W1 410 410
H 700 700
H1 620 620
H2 40 20
H3 670 670
D 450 450
D1 3.2 3.2
C 12 12
13 - 98
(c) MT-BR5- (H) resistor unit

[Unit: mm] Resistor unit
NP
Resistance value
Approximate mass [kg] 50 70
MT-BR5-55K MT-BR5-H75K
2.0 6.5
M6 193
37 60 10 21
M4 189 480 510 4 15 mounting hole 7.5
75
300 450
75 7.5
13 - 99
MEMO
13 - 100
APPENDIX
App 1. Parameter list
POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again. App 1.1 Servo amplifier (drive unit)
Basic setting parameters (PA ) No. Symbol Name PA01 For manufacturer setting PA02 **REG Regenerative option PA03 *ABS Absolute position detection system PA04 *AOP1 Function selection A-1 PA05 For manufacturer setting to PA07 PA08 PA09 PA10 PA11 to PA13 PA14 PA15 PA16 to PA18 PA19 ATU RSP INP Auto tuning mode Auto tuning response In-position range For manufacturer setting No. Symbol PB01 FILT PB02 PB03 PB04 PB05 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PB19 PB20 PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 PB29 PB30 PB31 PB32 VRFT FFC GD2 PG1 PG2 VG2 VIC VDC NH1 NHQ1 NH2 NHQ2 LPF VRF1 VRF2 Gain/filter parameters (PB ) Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control filter tuning mode (advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch form selection 1 Machine resonance suppression filter 2 Notch form selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain Gain changing speed loop gain Gain changing speed integral compensation Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control resonance frequency setting For manufacturer setting
*POL *ENR
Rotation direction selection Encoder output pulses For manufacturer setting
*BLK
Parameter write inhibit
VFBF *MVS *CDP CDL CDT GD2B PG2B VG2B VICB
PB33 VRF1B PB34 VRF2B PB35 to PB45
App - 1
APPENDIX
No. PC01 PC02 PC03 PC04 PC05 PC06 PC07 PC08 PC09 PC10 PC11 PC12 PC13
Extension setting parameters (PC ) Symbol Name *ERZ Error excessive alarm level MBR Electromagnetic brake sequence output *ENRS Encoder output pulses selection **COP1 Function selection C-1 **COP2 Function selection C-2 *COP3 Function selection C-3 ZSP Zero speed For manufacturer setting MOD1 Analog monitor 1 output MOD2 Analog monitor 2 output MO1 Analog monitor 1 offset MO2 Analog monitor 2 offset MOSDL Analog monitor feedback position output standard data Low
No. Symbol PD01 to PD06 PD07 PD08 PD09 PD10 to PD13 *DO1 *DO2 *DO3
I/O setting parameters (PD Name For manufacturer setting
Output signal device selection 1 (CN3-13) Output signal device selection 2 (CN3-9) Output signal device selection 3 (CN3-15) For manufacturer setting
PD14 *DOP3 PD15 to PD32
Function selection D-3 For manufacturer setting
PC14 MOSDH Analog monitor feedback position output standard data High PC15 For manufacturer setting to PC16 PC17 **COP4 PC18 to PC20 PC21 PC22 to PC32 *BPS Function selection C-4 For manufacturer setting
Alarm history clear For manufacturer setting
App 1.2 Converter unit

No. Symbol PA01 *REG PA02 *MCC PA03 to PA07 PA08 *DMD PA09 *BPS PA10 PA11 PA12 *DIF PA13 to PA19 Name Regenerative selection Magnetic contactor drive output selection For manufacturer setting
Auto tuning mode Alarm history clear For manufacturer setting Input filter setting For manufacture setting
App - 2
APPENDIX
App 2. Signal layout recording paper
1 2 DI1 4 MO1 6 LA 8 LZ 10
DICOM
11 12 DI2 14 MO2 16 LAR 18 LZR 20 EM1 17 LBR 19 DI3 15 LG 13
LG 3
DOCOM
5
DICOM
7 LB 9
App 3. Twin type connector : Outline drawing for 721-2105/026-000(WAGO)

[Unit: mm]
Latch Coding finger Model 721-2105/026-000 721-2205/026-000 Size [mm] A 5 7.5 B 20 30 C 5 7.5 D 5.25 7.75 Detecting hole
4 2.75 A
A(
B)
26.45 15.1
25 2.9 D C 4.75
20.8
10.6 5. 8
2.7
Driver slot
Wire inserting hole
App - 3
APPENDIX
App 4. Change of connector sets to the RoHS compatible products

Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability.
Model MR-J3SCNS MR-ECNM Current Product Amplifier connector (3M or equivalent of 3M) 36210-0100JL (Receptacle) (Note) 36310-3200-008 (Shell kit) RoHS Compatible Product Amplifier connector (3M or equivalent of 3M) 36210-0100PL (Receptacle) 36310-3200-008 (Shell kit) Power supply connector (DDK) CE05-6A18-10SD-D-BSS (Connector and Back shell) CE3057-10A-1-D (Cable clump) Power supply connector (DDK) CE05-6A22-22SD-D-BSS (Connector and Back shell) CE3057-12A-1-D (Cable clump) Power supply connector (DDK) CE05-6A32-17SD-D-BSS (Connector and Back shell) CE3057-20A-1-D (Cable clump) Power supply connector (DDK) CE05-6A22-23SD-D-BSS (Connector and Back shell) CE3057-12A-2-D (Cable clump) Power supply connector (DDK) CE05-6A24-10SD-D-BSS (Connector and Back shell) CE3057-16A-2-D (Cable clump) Electromagnetic brake connector D/MS3106A10SL-4S(D190) (Plug, DDK) Amplifier connector (3M or equivalent of 3M) 10120-3000PE (connector)
MR-PWCNS4 Power supply connector (DDK) CE05-6A18-10SD-B-BSS (Connector and Back shell) CE3057-10A-1 (D265) (Cable clump) MR-PWCNS5 Power supply connector (DDK) CE05-6A22-22SD-B-BSS (Connector and Back shell) CE3057-12A-1 (D265) (Cable clump) MR-PWCNS3 Power supply connector (DDK) CE05-6A32-17SD-B-BSS (Connector and Back shell) CE3057-20A-1 (D265) (Cable clump) MR-PWCNS1 Power supply connector (DDK) CE05-6A22-23SD-B-BSS (Connector and Back shell) CE3057-12A-2 (D265) (Cable clump) MR-PWCNS2 Power supply connector (DDK) CE05-6A24-10SD-B-BSS (Connector and Back shell) CE3057-16A-2 (D265) (Cable clump) MR-BKCN MR-CCN1 Electromagnetic brake connector MS3106A10SL-4S(D190) (Plug, DDK) Amplifier connector (3M or equivalent of 3M) 10120-3000VE (connector)
Note. RoHS compatible 36210-0100FD may be packed with current connector sets.
App - 4
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data May, 2005 Jan., 2006 *Manual Number SH(NA)030051-A SH(NA)030051-B First edition Addition of servo amplifier MR-J3-11KB(4), 15KB(4) and 22KB(4) Addition of servo motor HC-RP, HC-UP, HC-LP and HA-LP4 series Section 1.5 (2) : Addition of regeneration brake resistor-less specification : Addition of removal and reinstallation of front cover for Section 1.7.2 11KB(4) or more Section 2.1 : (1) Addition of 7kW or less (2) Addition of 11kW or more Section 3.7.1 : Error correction of differential line driver output as 35mA : Addition of "For CN2 connector" Section 3.8 (2) Section 3.11.2 (4) : Addition of time from invalid to valid of electromagnetic brake interlock Section 5.1.3 : Addition of sentence when using with 11KB or more for parameter No.PA02 00 Addition of FA Section 5.3.1 : PC13 PC14 description change Section 5.3.2 : PC13 PC14 description change Section 5.3.3 (2) : Addition of Note3 Section 5.3.3 (3) : Partial figure change of analog monitor block Section 5.4.2 : Partial sentence addition of parameter No.PD07 Section 8.2 : Addition of "IGBT" to Cause 2. of alarm No. 32 indicated as Display in the remedies list for alarms Section 8.3 : Addition of POINT Section 11.1.1 : Partial figure addition Section 11.2 (3) : Addition of sentence when using with 11KB or more for parameter No.PA02 00 Addition of FA Section 11.2 (5) (d) : Addition Section 11.5 : Addition : Addition Section 11.6 Section 11.7 : Error correction Section 11.10 : Addition : Addition of cooling fan thermal Section 11.11 Addition of Table 11.2, Note. 2 Section 11.19 : Addition of EMC filter HF3100A-UN Addition of servo amplifier MR-J3-60B4 to 350B4 Addition of servo amplifier MR-J3-500B4 and 700B4 Addition of servo motor HF-SP524 / 1024 / 1524 / 2024 / 3524 Addition of drive units MR-J3-DU30KB(4), 37KB(4), 45KB4 and 55KB4 Addition of converter unit MR-J3-CR55K(4) Deletion of setup software notation Compliance with RoHS Safety instructions 1.: To prevent electric shock: Addition of Note for 30kW or more Safety instructions 4.: Additional instructions (2): Correction of the connection diagram Conformance with UL/C-UL standard (4): Addition of the capacitor discharge time for 30kW or more Conformance with UL/C-UL standard (5): Addition of the fuse for 30kW or more About the manuals : Addition of description about MR-J3-DU B(4) Section 1.2 : Power supply description change Revision
Jul., 2007
SH(NA)030051-C
Print Data Jul., 2007
*Manual Number SH(NA)030051-C Section 1.2(1) Section 1.3 Section 1.3(2) Section 1.5(2) Section 1.6
Revision : Unification of Note 3 to Note 2, addition of new Note 3 : Addition of MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 : Addition of MR-J3-60B4 to 350B4 : Addition of MR-J3-500B4 and 700B4 Addition of combination: MR-J3-60B4 to 350B4 and servo motor : Addition of MR-J3-60B4 to 350B4 as (2) and (4) : Change of description for "servo motor power supply connector" to "servo motor power connector" : Change CAUTION to WARNING : Power supply description change : Unification of Note 4 to Note 3, addition of explanation to Note 2 : Addition of explanation to Note 2 : Change of description to "Mounting closely is available for a combination of servo amplifiers of 200V, 3.5kW or less" : Addition of CAUTION : Addition of MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 : Addition of Note 7 : Change of description for Note 7 : Change of description for Note 7, addition of Note 9 : Addition of sentence to UVW Description Addition of MR-J3-60B4 to 350B4 notation to L1, L2, L3, L11 and L21 : Table content change : Table content change : Addition of POINT Addition of cable handling procedures for MR-J3-200B4 and 350B4 : Addition and change of description : Change of description : Change of CN2 connection diagram to RoHS compliant parts : Addition of sentence to the dynamic brake interlock description Change of the zero speed diagram : Change of description for Function/Application of Digital I/F common from "DOG EMG" to "EM1" : Addition of supplementary explanation to the output pulse : Addition of CAUTION : Change of description for "motor power supply" to "servo motor power" : Addition of POINT for contactor connection, Change of Note1, Change of servo alarm switch to trouble (ALM) in (a) Wiring diagrams
Section 1.7 Section 1.7.1(1) (3) Section 1.7.2 Section 1.8 Section 1.8(1) (a) Section 1.8(2) to (7) Section 2.1(b)
Chapter 3 Section 3.1 Section 3.1(4) Section 3.1(6) Section 3.1(7) Section 3.1(8) Section 3.3.1
Section 3.3.3(1) (b) Section 3.3.3(2) (b) Section 3.3.3(3)
Section 3.3.3(4) Section 3.3.3(5) Section 3.4 Section 3.5(2)
Section 3.5(2) (d) Section 3.7.2(3) (b) Section 3.10 Section 3.10.1 Section 3.10.2(2)
*Manual Number SH(NA)030051-C Section 3.10.2(3)
Revision : Change of Note1 and 3 in (a) 1) and 2), Addition and change of (b) Terminal box inside diagrams, Addition and change of corresponding motor models in the cooling fan power supply list : Change of servo motor diagram : Change of Note1 : Deletion of power specification notation, addition of Note : Correction of indication Ab. To Ab ., Change of description for AC : Change of Basic setting parameters description : Addition of setting available options Addition of parameter setting due to addition of regenerative option : Deletion of POINT "This parameter cannot be used in the speed control mode" : Change of parameter No.PB17 from for manufacturer setting to Automatic setting parameter : Change of parameter No.PC06 from for manufacturer setting to function selection C-3 : Addition of Note for parameter No.PC01, Change of parameter No.PC06 from for manufacturer setting to function selection C-3, Addition of Note4 for parameter No.PC09, Change of setting description for parameter No.PC10 : Addition of Note4 : Addition of parameter No.PB07 : Change of description for Adjustment procedure Step5 : Addition of Note to the Definition for alarm (32), Correction of the Cause4 for alarm (52) : Addition of MR-J3-60B4 to 350B4 : Addition of mounting hole dimension diagram : Description method change : Change of graph from servo motor standards to servo amplifier standards Addition of MR-J3-60B4 to 350B4 : Addition of MR-J3-60B4 to 350B4 and corresponding servo motor : Addition of MR-J3-500B4 and 700B4 : Addition of MR-J3-500B4 and 700B4 Paragraphing of section 10.3.1 and section 10.3.2 Addition of dynamic brake time constant for servo motor HF-SP524 / 1024 / 1524 / 2024 / 3524 Addition of section 10.3.2: Permissible inertia load moment for MR-J3-60B4 to 350B4 : Addition of MR-J3-500B4 and 700B4 Addition of inrush current for MR-J3-60B4 to 350B4
Section 3.10.2(3) (b) Section 3.11.3(1) Section 3.12 Section 4.3(2) Chapter 5 Section 5.1.3
Section 5.1.8 Section 5.2.1 Section 5.3.1 Section 5.3.2
Section 5.3.3(2) Section 6.3(1) (a) Section 6.4(2) Section 8.2 Section 9.1 Section 9.1(1) to (7) Section 9.2(3) Section 10.1
Section 10.2 Section 10.2(1) Section 10.3
Section 10.5
*Manual Number SH(NA)030051-C Section 11.1.1
Revision : Change of Application description for No.34 from outside panel long distance cable to long distance cable Change of connector model Addition of 2) Connector for 2kW and 3.5kW (400V) : Deletion of 0.3m from table Section 11.1.2(1) : Change of CN2 connection diagram to RoHS compliant Section 11.1.2(1) (a) parts Section 11.1.2(1) (a) (c) : Addition and change of connector description : Deletion of 0.3m from table Section 11.1.2(2) : Addition and change of connector description Section 11.1.2(2) (a) Change of CN2 connection diagram to RoHS compliant parts Section 11.1.2(3) (a) (c) : Addition and change of connector description : Change of CN2 connection diagram to RoHS compliant Section 11.1.2(4) (a) parts : Addition of connector set Section 11.1.2(5) (a) : Deletion of 20 to 30m from table Section 11.1.4 : Addition of regenerative brake options for MR-J3-500B4 Section 11.2 and 700B4 : Addition of regenerative option capable for MR-J3-60B4 Section 11.2(1) to 350B4 : Addition of inverse efficiency and capacitor charging for Section 11.2(2) (b) MR-J3-350B4 : Addition of parameter setting due to addition of Section 11.2(3) regenerative option : Addition of regenerative option MR-RB5G-4 Section 11.2(4) : Addition of regenerative option MR-RB3M-4, MRSection 11.2(5) (b) RB3G-4 : Addition of regenerative option MR-RB5G-4 Section 11.2(5) (c) : Addition of regenerative option MR-RB1H-4 Section 11.2(5) (f) : Addition of brake unit for MR-J3-500B4 and 700B4 Section 11.3 : Change of description Section 11.3(3) (b) : Addition of power regeneration converter for MR-J3Section 11.4 500B4 and 700B4 : Deletion of notation for power supply specification, Section 11.4(2) change of description in Note 5, addition of Note 6 : Addition of Note 6 to disconnect the wiring of Section 11.4(3) (b) regenerative brake register in servo amplifier of 7kW or less : Addition of Note 8 Section 11.5(3) (b) : Revision of cable diameter for 400V, deletion of Note Section 11.5(4) (b) 2) : For item: Altitude, vibration, deletion of description Section 11.5(6) "compliant with JIS" : Addition of Note 5 Section 11.6(1) : Change of CN3 description Deletion of Note 1 Section 11.6(2) : Addition of MR Configurator compatible version Section 11.8(1) : Addition of recommended wires for MR-J3-500B4 and Section 11.11 700B4
*Manual Number SH(NA)030051-C Section 11.11(1) Section 11.12
Revision : Addition of cable diameter for MR-J3-60B4 to 350B4, addition of Note 3: Cable 5) to 7) of MR-J3-700B(4) : Addition of MR-J3-60B4 to 350B4 compliant products Addition of no-fuse breakers, fuses and magnetic contactors for MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 compliant products, unification of (1) and (2) Addition of power factor improving DC reactors for MRJ3-500B4 and 700B4 Change of (2) Note2 Addition of Note3 : Addition of MR-J3-60B4 to 350B4 compliant products Addition of power factor improving AC reactors for MRJ3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 as earth leakage circuit breaker selection example : Addition of EMC filter for MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 compliant products, deletion of Note from TX series : Addition of TF3005C-TX : Addition of description for 30kW or more in WARNING, Addition of POINT : New addition of the details for 30kW or more Change of notation "magnet contactor" to "magnetic contactor" : Change of description "I/O signal connector" to "Digital I/O connector", addition of rating plate Change in description of CN3 and CN6 : Change of rating plate designated position : Enlargement of diagram for removing and reinstalling terminal block cover : Addition of POINT: reference "Signal (device) explanations, section 3.5" : Revision of magnetic contactor sequence, addition of Note 3 : Revision of magnetic contactor sequence, addition of Note 3 and 4 : Revision of magnetic contactor sequence, addition of Note 3 and 4, addition of magnetic contactor control (CNP1) : Revision of magnetic contactor sequence, addition of Note 3 to 5, addition of magnetic contactor control (CNP1) : Change of description in Note for "servo motor output" and "servo motor power supply" to "servo motor power" : Correction of reference for CN2 and CN3 : Raise of section 13.3.5 (3) to section 13.3.6 : Raise from section 13.3.6, Change of description in chart: "servo motor power" to "servo motor power supply" : Change of display
Section 11.13
Section 11.14
Section 11.18 Section 11.19 Section 11.19(1) Section 11.19(3) Section 12.3(1) Chapter 13
Section 13.1.6(1)
Section 13.1.6(2) (3) Section 13.1.7 Section 13.3 Section 13.3.1(1) (a) Section 13.3.1(1) (b) Section 13.3.1(2) (a)
13.3.1(2) (b)
13.3.2(1), (2) Section 13.3.4(2) Section 13.3.6 Section 13.3.7
Section 13.4.3(2) (b)
*Manual Number SH(NA)030051-C Section 13.4.3(3) Section 13.5.2 Section 13.6.1(3)
Revision : Deletion : Deletion of parameter No.PA08 name and initial value : Deletion of "built-in regenerative register" from excessive regenerative load warning (A.E0) definition and cause : Division of Load ratio graph for MR-J3- B(4) and MRJ3-CR55K(4) : Addition of notation "supplied with converter unit" for 7) and 8) : Addition of Note : Revision of connection diagram, change of Note 2, addition of Note 5 : Addition of mass table : Deletion of notation for UL/C-UL from body paragraph : Deletion of Note : Change of body paragraph : Change of Iga display range in the diagram : Change of parameter No.PB17 from for manufacturer setting to Automatic setting parameter Change of parameter No.PC06 from for manufacturer setting to function selection C-3 : Update of the combination of servo amplifier and servo motor table
Section 13.8.1 Section 13.9.1 Section 13.9.2(5) Section 13.9.3(2) Section 13.9.3(3) Section 13.9.4 Section 13.9.5 Section 13.9.7 Section 13.9.8(1) (2) Appendix 1
Appendix 5
MODEL MODEL CODE
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030051-C (0707) MEE
Printed in Japan
This Instruction Manual uses recycled paper. Specifications subject to change without notice.

SH 030051 C

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SH 030051 C

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General-Purpose AC Servo

1. To prevent electric shock, note the following:

2. To prevent fire, note the following:

3. To prevent injury, note the follow

(1) Transportation and installation

Ambient temperature Ambient humidity Ambience Altitude

2 2 X: 24.5 m/s Y: 29.4 m/s

(3) Test run adjustment

(5) Corrective actions

(6) Maintenance, inspection and parts replacement

(7) General instruction

About processing of waste

FOR MAXIMUM SAFETY

Precautions for Choosing the Products

COMPLIANCE WITH EC DIRECTIVES

No-fuse breaker NFB

(b) MR-J3-DU30KB(4) or more

No-fuse breaker NFB

CONFORMANCE WITH UL/C-UL STANDARD

Servo motor series

MR-J3-70B MR-J3-40B1 MR-J3-100B(4) MR-J3-200B(4) MR-J3-350B4 350B 500B(4)

MR-J3-11KB(4) MR-J3-15KB(4) MR-J3-22KB(4)

Converter unit MR-J3-CR55K

Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4

Discharge time [min]

MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4

1. FUNCTIONS AND CONFIGURATION

3.13 Control axis selection............................................................................................................................ 3 -51 4. STARTUP 4 - 1 to 4 -10

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

CHARGE lamp (Note 3)Cooling fan

Dynamic brake B1 B2 Electromagnetic brake

Position command input Model position control

Virtual encoder Model speed control Virtual motor

Model speed Model torque

Actual position control

Actual speed control

MR-J3BAT Optional battery (for absolute position detection system)

Controller or Servo amplifier servo amplifier or cap

Personal computer USB

Analog monitor (2 channels)

Digital I/O control

1. FUNCTIONS AND CONFIGURATION

CHARGE lamp Cooling fan

Dynamic brake B1 B2 Electromagnetic brake

Position command input Model position control

Virtual encoder Model speed control Virtual motor

Model speed Model torque

Actual position control

Actual speed control

MR-J3BAT Optional battery (for absolute position detection system)

Controller or Servo amplifier servo amplifier or cap

Personal computer USB

Analog monitor (2 channels)

Digital I/O control

Note. Refer to section 1.3 for the power supply specification.

1. FUNCTIONS AND CONFIGURATION

Dynamic brake B1 B2 Electromagnetic brake

Position command input Model position control

Virtual encoder Model speed control Virtual motor

Model speed Model torque

Actual position control