2. Mitsubishi Electric
  3. Conversion Unit for SSCNET of MR-J2S-B Compatible AC Servo MR-J4-_B_-RJ020/MR-J4-DU_B_-RJ020/MR-CR55K_/MR-J4-T20 SERVO AMPLIFIER

Mitsubishi Electric Conversion Unit for SSCNET of MR-J2S-B Compatible AC Servo MR-J4-_B_-RJ020/MR-J4-DU_B_-RJ020/MR-CR55K_/MR-J4-T20 SERVO AMPLIFIER User manual

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SH(NA)030125ENG-G(1705)MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-J4-(DU)_B_-RJ020 MR-CR55K_ MR-J4-T20 SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SERVO AMPLIFIER
INSTRUCTION MANUAL
Conversion Unit for SSCNET of MR-J2S-B
Compatible AC Servo
1CW814
MR-J4-B-RJ020 MR-J4-T20
INSTRUCTION
MODEL (Servo Amplifier)
MR-J4-_B_-RJ020
MODEL (Drive Unit)
MR-J4-DU_B_-RJ020
MODEL (Converter Unit)
MR-CR55K_
MODEL (Conversion Unit for SSCNET of MR-J2S-B)
MR-J4-T20
G
G
A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note
that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by 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 Instruction Manual, keep it accessible to the operator.
A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring 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, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the
side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a
large current may cause smoke or a fire when the servo amplifier malfunctions.
In order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power
supply, always connect one molded-case circuit breaker or fuse per one servo amplifier between the
power supply and the power supply (L1/L2/L3) of a servo amplifier. If a molded-case circuit breaker or
fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo
amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier, servo motor, and MR-J4-T20.
Always connect a molded-case circuit breaker to the power supply of the servo amplifier.
A - 3
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and MR-J4-T20 which have been damaged or have any parts
missing.
Do not block the intake and exhaust areas of the servo amplifier and MR-J4-T20. Otherwise, it may
cause a malfunction.
Do not drop or strike the servo amplifier, servo motor, and MR-J4-T20. Isolate them from all impact
loads.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation 0 °C to 55 °C (non-freezing)
Storage -20 °C to 65 °C (non-freezing)
Ambient
humidity
Operation
5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s
2
, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier and MR-J4-T20, be careful about the edged parts such as corners of
them.
The servo amplifier and MR-J4-T20 must be installed in a metal cabinet.
A - 4
CAUTION
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter our
products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier
Servo motorServo amplifier
The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
24 V DC
Servo amplifier
RA
For sink output interface
Control output
signal
DOCOM
Control output
signal
24 V DC
Servo amplifier
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
A - 5
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier 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 ball screw 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.
(5) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
U
RA
Contacts must be opened
with the emergency stop switch.
Contacts must be opened when an
alarm occurs or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A - 6
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using the servo amplifier that has not been energized for an extended period of time, contact your
local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this 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 Instruction Manual.
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
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 servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
STO function of the servo amplifier
The STO function cannot be used when the servo amplifier is in the J2S compatibility mode.
To use the STO function, switch the operation mode to J4 mode. Refer to section 13.1 for the mode
switching procedure.
Compliance with global standards
Refer to app. 6 and 7 for the compliance with global standard.
A - 7
«About the manuals»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Servo amplifiers and drive units are written as servo amplifiers in this Instruction Manual under certain
circumstances, unless otherwise stated.
Relevant manuals
Manual name Manual No.
MELSERVO Servo Motor Instruction Manual (Vol. 3) SH(NA)030113ENG
MELSERVO Linear Encoder Instruction Manual (Note 1) SH(NA)030111ENG
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) (Note 2) SH(NA)030109ENG
MELSERVO-J4 Instructions and Cautions for Drive of HC/HA Series Servo Motor with MR-J4-
(DU)_B_-RJ020 (Note 3)
SH(NA)030127ENG
MELSERVO-J4 Conversion unit for SSCNET of MR-J2S-B MR-J4-T20 Installation Guide
(Packed with MR-J4-T20.)
IB(NA)0300204ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
Note 1. It is necessary for using the fully closed loop system.
2. It is necessary for using a converter unit.
3. It is necessary for using an HC series/HA series servo motor.
«Wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
A - 8
MEMO
1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-42
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram ..................................................................................................................... 1- 2
1.3 Standard specifications ..................................................................................................................... 1- 8
1.3.1 Servo amplifier standard specifications ..................................................................................... 1- 8
1.3.2 Conversion unit for SSCNET of MR-J2S-B ............................................................................... 1-13
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-14
1.5 Function list ...................................................................................................................................... 1-16
1.6 Model designation ............................................................................................................................ 1-18
1.7 Structure .......................................................................................................................................... 1-19
1.7.1 Parts identification ..................................................................................................................... 1-19
1.7.2 Parts identification of MR-J4-T20 .............................................................................................. 1-26
1.7.3 Removal and reinstallation of the front cover............................................................................ 1-27
1.8 Installation and removal of MR-J4-T20 ............................................................................................ 1-29
1.9 Configuration including peripheral equipment ................................................................................. 1-33
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................ 2- 2
2.2 Keep out foreign materials ................................................................................................................ 2- 4
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 5
2.5 Parts having service life .................................................................................................................... 2- 6
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to
2000 m above sea level .................................................................................................................... 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-34
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.2 I/O signal connection example ......................................................................................................... 3-12
3.2.1 For sink I/O interface ................................................................................................................. 3-12
3.2.2 For source I/O interface ............................................................................................................ 3-14
3.3 Explanation of power supply system ............................................................................................... 3-15
3.3.1 Signal explanations ................................................................................................................... 3-15
3.3.2 Power-on sequence .................................................................................................................. 3-17
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-18
3.4 Connectors and pin assignment ...................................................................................................... 3-21
3.5 Signal (device) explanations ............................................................................................................ 3-23
3.5.1 Input device ............................................................................................................................... 3-23
3.5.2 Output device ............................................................................................................................ 3-23
3.5.3 Output signal ............................................................................................................................. 3-24
3.5.4 Power supply ............................................................................................................................. 3-24
3.6 Alarm occurrence timing chart ......................................................................................................... 3-25
3.7 Interfaces ......................................................................................................................................... 3-26
3.7.1 Internal connection diagram ...................................................................................................... 3-26
3.7.2 Detailed explanation of interfaces ............................................................................................. 3-27
3.7.3 Source I/O interfaces ................................................................................................................ 3-29
3.8 Servo motor with an electromagnetic brake .................................................................................... 3-30
2
3.8.1 Safety precautions .................................................................................................................... 3-30
3.8.2 Timing chart ............................................................................................................................... 3-31
3.9 Grounding ........................................................................................................................................ 3-34
4. STARTUP 4- 1 to 4-14
4.1 Switching power on for the first time ................................................................................................. 4- 2
4.1.1 Startup procedure ...................................................................................................................... 4- 2
4.1.2 Wiring check ............................................................................................................................... 4- 3
4.1.3 Surrounding environment ........................................................................................................... 4- 5
4.2 Startup .............................................................................................................................................. 4- 6
4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 7
4.3.1 Switches ..................................................................................................................................... 4- 7
4.3.2 Status display of an axis ............................................................................................................ 4- 9
4.4 Test operation .................................................................................................................................. 4-11
4.5 Test operation mode ........................................................................................................................ 4-11
4.5.1 Test operation mode in MR Configurator .................................................................................. 4-12
4.5.2 Motor-less operation in controller .............................................................................................. 4-14
5. PARAMETERS 5- 1 to 5-20
5.1 Parameter list .................................................................................................................................... 5- 1
5.1.1 Basic setting parameters ............................................................................................................ 5- 2
5.1.2 Adjustment parameters .............................................................................................................. 5- 2
5.1.3 Extension parameters ................................................................................................................ 5- 3
5.1.4 Extension parameters 2 ............................................................................................................. 5- 4
5.2 Detailed list of parameters ................................................................................................................ 5- 5
5.2.1 Basic setting parameters ............................................................................................................ 5- 5
5.2.2 Adjustment parameters ............................................................................................................. 5-10
5.2.3 Extension parameters ............................................................................................................... 5-14
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-10
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- 3
6.2 Auto tuning ........................................................................................................................................ 6- 3
6.2.1 Auto tuning mode ....................................................................................................................... 6- 3
6.2.2 Auto tuning mode basis .............................................................................................................. 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
6.3.1 Manual mode 1 basis ................................................................................................................. 6- 7
6.3.2 Adjustment by manual mode 1................................................................................................... 6- 7
6.4 Interpolation mode ............................................................................................................................ 6- 9
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7- 10
7.1 Filter setting ...................................................................................................................................... 7- 1
7.1.1 Machine resonance suppression filter ....................................................................................... 7- 1
7.1.2 Low-pass filter ............................................................................................................................ 7- 3
3
7.1.3 Adaptive vibration suppression control function ........................................................................ 7- 4
7.2 Gain switching function ..................................................................................................................... 7- 6
7.2.1 Applications ................................................................................................................................ 7- 6
7.2.2 Function block diagram .............................................................................................................. 7- 6
7.2.3 Parameter ................................................................................................................................... 7- 7
7.2.4 Gain switching procedure .......................................................................................................... 7- 9
8. TROUBLESHOOTING 8- 1 to 8-16
8.1 Alarm and warning list ...................................................................................................................... 8- 1
8.2 Remedies for alarms ......................................................................................................................... 8- 2
8.3 Remedies for warnings .................................................................................................................... 8-13
8.4 Troubleshooting at power on ........................................................................................................... 8-16
9. DIMENSIONS 9- 1 to 9-20
9.1 Servo amplifier .................................................................................................................................. 9- 1
9.2 MR-J4-T20 ....................................................................................................................................... 9-16
9.3 Connectors ....................................................................................................................................... 9-17
9.3.1 Servo amplifier side connectors ................................................................................................ 9-17
9.3.2 MR-J4-T20 connectors.............................................................................................................. 9-19
10. CHARACTERISTICS 10- 1 to 10-14
10.1 Overload protection characteristics .............................................................................................. 10- 1
10.2 Power supply capacity and generated loss .................................................................................. 10- 4
10.3 Dynamic brake characteristic s ...................................................................................................... 10- 7
10.3.1 Dynamic brake operation ....................................................................................................... 10- 7
10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-10
10.4 Cable bending life ........................................................................................................................ 10-11
10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-12
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-114
11.1 Cable/connector sets .................................................................................................................... 11- 1
11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.1.2 SSCNET cable ....................................................................................................................... 11- 6
11.1.3 RS-232C communication cable ............................................................................................ 11-10
11.1.4 Battery cable/junction battery cable ...................................................................................... 11-12
11.2 Regenerative option ..................................................................................................................... 11-13
11.2.1 Combination and regenerative power ................................................................................... 11-13
11.2.2 Selection of the regenerative option ..................................................................................... 11-15
11.2.3 Parameter setting .................................................................................................................. 11-17
11.2.4 Selection of the regenerative option ..................................................................................... 11-18
11.2.5 Dimensions ........................................................................................................................... 11-22
11.3 FR-BU2-(H) brake unit ................................................................................................................. 11-26
11.3.1 Selection................................................................................................................................ 11-27
11.3.2 Brake unit parameter setting ................................................................................................. 11-27
11.3.3 Connection example ............................................................................................................. 11-28
11.3.4 Dimensions ........................................................................................................................... 11-36
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-38
4
11.5 FR-CV-(H) power regeneration common converter .................................................................... 11-42
11.5.1 Model definition ..................................................................................................................... 11-42
11.5.2 Selection................................................................................................................................ 11-42
11.6 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-49
11.7 MR Configurator .......................................................................................................................... 11-50
11.7.1 Specifications ........................................................................................................................ 11-50
11.7.2 Additional instructions ........................................................................................................... 11-51
11.7.3 System requirements ............................................................................................................ 11-52
11.7.4 Precautions for using RS-232C communication function ..................................................... 11-55
11.8 Battery .......................................................................................................................................... 11-56
11.8.1 Selection of battery ............................................................................................................... 11-56
11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-56
11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-60
11.8.4 MR-BT6VCASE battery case ................................................................................................ 11-64
11.8.5 MR-BAT6V1 battery .............................................................................................................. 11-70
11.9 Selection example of wires .......................................................................................................... 11-71
11.10 Molded-case circuit breakers, fuses, magnetic contactors ....................................................... 11-76
11.11 Power factor improving DC reactor ........................................................................................... 11-79
11.12 Power factor improving AC reactor ............................................................................................ 11-82
11.13 Relay (recommended) ............................................................................................................... 11-85
11.14 Noise reduction techniques ....................................................................................................... 11-86
11.15 Earth-leakage current breaker ................................................................................................... 11-93
11.16 EMC filter (recommended) ........................................................................................................ 11-96
11.17 External dynamic brake ........................................................................................................... 11-103
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-109
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6
12.1 Summary ....................................................................................................................................... 12- 1
12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Structure ................................................................................................................................. 12- 2
12.1.3 Parameter setting ................................................................................................................... 12- 2
12.1.4 Confirmation of absolute position detection data ................................................................... 12- 3
12.2 Battery ........................................................................................................................................... 12- 4
12.2.1 Using MR-BAT6V1SET battery .............................................................................................. 12- 4
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 5
12.2.3 Using MR-BT6VCASE battery case ....................................................................................... 12- 6
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE 13- 1 to 13-66
13.1 Mode switching procedure ............................................................................................................ 13- 2
13.1.1 Switching from the J2S compatibility mode to the J4 mode .................................................. 13- 2
13.1.2 Switching from the J4 mode to the J2S compatibility mode .................................................. 13- 3
13.2 Parameter ..................................................................................................................................... 13- 3
13.2.1 Parameters for converter unit ................................................................................................ 13- 4
13.2.2 Parameters for converter unit/drive unit ................................................................................. 13- 7
13.3 Troubleshooting ........................................................................................................................... 13-51
13.3.1 Explanation for the lists ......................................................................................................... 13-51
13.3.2 Alarm list ................................................................................................................................ 13-52
13.3.3 Warning list ........................................................................................................................... 13-62
13.3.4 Troubleshooting at power on ................................................................................................ 13-65
5
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT 14- 1 to 14-124
14.1 Functions and configuration ......................................................................................................... 14- 1
14.1.1 Summary ................................................................................................................................ 14- 2
14.1.2 Function block diagram .......................................................................................................... 14- 3
14.1.3 Standard specifications .......................................................................................................... 14- 5
14.1.4 Combinations of converter units, drive units and servo motors ............................................. 14- 8
14.1.5 Model definition ...................................................................................................................... 14- 9
14.1.6 Structure ................................................................................................................................ 14-11
14.1.7 Configuration including peripheral equipment ...................................................................... 14-19
14.2 Installation .................................................................................................................................... 14-20
14.2.1 Installation direction and clearances ..................................................................................... 14-21
14.2.2 Keeping out of foreign materials ........................................................................................... 14-22
14.2.3 Inspection items .................................................................................................................... 14-22
14.2.4 Parts having service life ........................................................................................................ 14-23
14.2.5 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to
2000 m above sea level ........................................................................................................ 14-24
14.3 Signals and wiring ........................................................................................................................ 14-25
14.3.1 Input power supply circuit ..................................................................................................... 14-26
14.3.2 Explanation of power supply system ..................................................................................... 14-36
14.3.3 Connectors and pin assignment ........................................................................................... 14-40
14.3.4 Signal (device) explanations ................................................................................................. 14-42
14.3.5 Alarm occurrence timing chart .............................................................................................. 14-43
14.3.6 Interfaces .............................................................................................................................. 14-49
14.3.7 Grounding ............................................................................................................................. 14-51
14.4 Start up ........................................................................................................................................ 14-52
14.4.1 Switching power on for the first time ..................................................................................... 14-53
14.4.2 Startup ................................................................................................................................... 14-56
14.4.3 Display and operation section of the converter unit .............................................................. 14-57
14.5 Parameters
.................................................................................................................................. 14-63
14.5.1 Parameters for converter unit ............................................................................................... 14-63
14.5.2 Parameters for drive unit ....................................................................................................... 14-66
14.6 Troubleshooting ........................................................................................................................... 14-67
14.7 Dimensions .................................................................................................................................. 14-68
14.7.1 Converter unit (MR-CR55K_) ................................................................................................ 14-69
14.7.2 Drive unit ............................................................................................................................... 14-70
14.8 Characteristics ............................................................................................................................. 14-72
14.8.1 Overload protection characteristics ...................................................................................... 14-72
14.8.2 Power supply capacity and generated loss .......................................................................... 14-74
14.8.3 Dynamic brake characteristics .............................................................................................. 14-76
14.8.4 Inrush currents at power-on of main circuit/control circuit .................................................... 14-79
14.9 Options and peripheral equipment .............................................................................................. 14-80
14.9.1 Cable/connector sets ............................................................................................................ 14-81
14.9.2 Regenerative option .............................................................................................................. 14-83
14.9.3 External dynamic brake......................................................................................................... 14-89
14.9.4 Selection example of wires ................................................................................................... 14-93
14.9.5 Molded-case circuit breakers, fuses, magnetic contactors ................................................... 14-95
14.9.6 Power factor improving DC reactor ....................................................................................... 14-97
14.9.7 Noise reduction techniques ................................................................................................... 14-98
14.9.8 Earth-leakage current breaker ............................................................................................ 14-102
6
14.9.9 EMC filter (recommended) .................................................................................................. 14-104
14.9.10 FR-BU2-(H) Brake Unit ..................................................................................................... 14-106
15. FULLY CLOSED LOOP SYSTEM 15- 1 to 15-40
15.1 Functions and configuration ......................................................................................................... 15- 1
15.1.1 Function block diagram .......................................................................................................... 15- 1
15.1.2 Selecting procedure of control mode ..................................................................................... 15- 3
15.1.3 System configuration .............................................................................................................. 15- 4
15.2 Load-side encoder ........................................................................................................................ 15- 5
15.2.1 Linear encoder ....................................................................................................................... 15- 6
15.2.2 Rotary encoder ....................................................................................................................... 15- 7
15.2.3 Configuration diagram of encoder cable ................................................................................ 15- 7
15.3 Operation and functions ................................................................................................................ 15- 8
15.3.1 Startup .................................................................................................................................... 15- 8
15.3.2 Home position return ............................................................................................................. 15-17
15.3.3 Operation from controller ...................................................................................................... 15-24
15.3.4 Fully closed loop control error detection functions................................................................ 15-27
15.3.5 Auto tuning function .............................................................................................................. 15-28
15.3.6 Machine analyzer function .................................................................................................... 15-28
15.3.7 Test operation mode ............................................................................................................. 15-28
15.3.8 Absolute position detection system under fully closed loop system ..................................... 15-29
15.3.9 About MR Configurator ......................................................................................................... 15-30
15.4 Detailed list of parameters ........................................................................................................... 15-33
15.4.1 Basic setting parameters ...................................................................................................... 15-33
15.4.2 Adjustment parameters ......................................................................................................... 15-34
15.4.3 Extension parameters ........................................................................................................... 15-36
15.5 Troubleshooting ........................................................................................................................... 15-39
15.6 Details on linear encoder errors ([AL. 2A]) for respective manufacturers ................................... 15-39
APPENDIX App. - 1 to App. -58
App. 1 Using the HC series/HA series servo motor ......................................................................... App.- 1
App. 2 Linear encoders compatible with MR-J2S ............................................................................ App.- 3
App. 3 Peripheral equipment manufacturer (for reference) .............................................................. App.- 4
App. 4 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods ................................................................................. App.- 4
App. 5 Symbol for the new EU Battery Directive .............................................................................. App.- 7
App. 6 Compliance with global standards for servo amplifier .......................................................... App.- 8
App. 7 Compliance with global standards for converter unit and drive unit .................................... App.-24
App. 8 Analog monitor ..................................................................................................................... App.-38
App. 9 Special specification ............................................................................................................. App.-47
App. 10 Setting of added parameters for MR-J4-_B_-RJ020 servo amplifier ................................... App.-49
App. 11 Driving on/off of main circuit power supply with DC power supply ...................................... App.-56
App. 12 Status of general-purpose AC servo products for compliance
with the China RoHS directive ............................................................................................. App.-57
1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
POINT
Refer to chapter 14 for the MR-CR55K_ converter unit and MR-J4-DU_B_-
RJ020 drive unit.
1.1 Summary
This Instruction Manual explains about the MR-J4-_B_-RJ020 AC servo amplifiers compatible with a
conversion unit for SSCNET of MR-J2S-B, and the MR-J4-T20 conversion unit for SSCNET of MR-J2S-B.
Always use MR-J4-T20 with MR-J4-_B_-RJ020.
MR-J4-_B_-RJ020 can be connected to SSCNET of MR-J2S-B by being used with MR-J4-T20.
MR-J4-_B_-RJ020 servo amplifiers have "J2S compatibility mode (factory setting)" and "J4 mode" as the
operation mode. The "J2S compatibility mode" is the operation mode compatible with the previous functions
of the MR-J2S-B series.
This Instruction Manual explains when the "J2S compatibility mode" is used except for in chapter 13.
When using the servo amplifier in "J4 mode", refer to chapter 13.
When you use an MR-J4-_B_-RJ020 servo amplifier, please note the following items.
(1) When an HG series servo motor is used in the J2S compatibility mode, the encoder resolution per servo
motor revolution will be 131072 pulses/rev (17 bits), not 4194303 pulses/rev (22 bits)
(2) It may be required to change existing equipment program because the initialization time after power on
is different between MR-J2S-_B_ servo amplifier and MR-J4-_B_-RJ020 servo amplifier. Especially
when using it in vertical motion applications, please be careful of electromagnetic brake release time.
The moving part can fall.
(3) Motor-less operation cannot be used with MR Configurator. To use motor-less operation, set "_ 1 _ _" in
[Pr. 24].
(4) When using [Pr. 13 Position loop gain 1] of MR-J4-_B_-RJ020 and MR-J2S-_B_ simultaneously such as
in the interpolation mode, check droop pulses for each axis and readjust gains as necessary.
(5) MR-J4-_B_-RJ020 servo amplifier is not compatible with adaptive vibration suppression control.
(6) Power is not supplied from the SSCNET cable connection connector to the encoder. When using the
MR-J4-_B_-RJ020 servo amplifier in absolute position detection system, always connect a battery to the
CN4 connector.
(7) When the servo amplifier is set to the J2S compatibility mode, it supports the fully closed loop system. In
the fully closed loop control mode, when an HG series servo motor is used for the load-side encoder, the
resolution of the load-side encoder will be 131072 pulses/rev (17 bits), which is the same as that of the
servo motor side. Refer to chapter 15 for details.
1. FUNCTIONS AND CONFIGURATION
1 - 2
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J4-500B-RJ020 or less/MR-J4-350B4-RJ020 or less
L11
L21
(Note 6)
Cooling fan
(Note 3)
Encoder
N-CD
L3
L2
L1
Dynamic
brake circuit
(Note 5)
Power factor improving
DC reactor
Current
detection
Overcurrent
protection
Voltage
detection
(Note 2)
Power
supply
MCMCCB
Base
amplifier
STO
circuit
CN5
USB D/A
Analog monitor
(2 channels)
CN3
Servo amplifier
U
V
W
U
V
W
P3 P4 (Note 4)
Diode
stack
Relay
P+
+
+
B
RA
24 V DC
B1
B2
M
CN2
CN8
Control
circuit
power
supply
Servo motor
CHARGE
lamp
Regene-
rative
TR
Current
encoder
Digital
I/O control
Regenerative
option
U U
U
RS-232C
CN30
RS-232C
Personal
computer
Servo system
controller or
servo amplifier
Servo amplifier
or termination
connector
CN10A CN10B
MR-J4-T20
(Note 7)
CN7 CN9
I/F Control
(Note 1)
Electromagnetic
brake
Model position
Current
control
Actual
position
control
Actual
speed
control
Virtual
motor
Virtual
encoder
Position
command
input
Battery
(for absolute position
detection system)
CN4
Model speed Model torque
Model
position
control
Model
speed
control
Step-
down
circuit
CN2L
External encoder
1. FUNCTIONS AND CONFIGURATION
1 - 3
Note 1. The built-in regenerative resistor is not provided for MR-J4-10B-RJ020.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For power supply specifications, refer to section 1.3.1.
3. The MR-J4-70B-RJ020 or more, MR-J4-200B4-RJ020 and MR-J4-350B4-RJ020 servo amplifiers have a cooling fan.
4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
6. This is not used when the servo amplifier is in the J2S compatibility mode. Always attach the short-circuit connector came with
a servo amplifier.
7. Used to change the servo amplifier mode. Refer to section 13.1 for the mode selection procedure.
1. FUNCTIONS AND CONFIGURATION
1 - 4
(2) MR-J4-700B-RJ020/MR-J4-500B4-RJ020/MR-J4-700B4-RJ020
CN5
USB D/A
CN3
L11
L21
N-C
MCMCCB
U
V
W
U
V
W
P3 P4 (Note 2)
P+
+
+
B
RA
24 V DC
B1
B2
M
CN2
CN8
L3
L2
L1
U U
U
(Note 4)
RS-232C
CN30
RS-232C
CN10A CN10B
MR-J4-T20
(Note 5)
CN7
CN9
(Note 1)
Power
supply
(Note 3)
Power factor improving
DC reactor
Servo amplifier
Diode
stack
Relay
Regenerative
option
Dynamic
brake circuit
Servo motor
CHARGE
lamp
Regene-
rative
TR
Current
encoder
Cooling fan
Electromagnetic
brake
Encoder
Current
detection
Overcurrent
protection
Voltage
detection
Base
amplifier
STO
circuit
Control
circuit
power
supply
Analog monitor
(2 channels)
Digital
I/O control
Personal
computer
Servo system
controller or
servo amplifier
Servo amplifier
or termination
connector
I/F Control
Model position
Current
control
Actual
position
control
Actual
speed
control
Virtual
motor
Virtual
encoder
Position
command
input
Battery
(for absolute position
detection system)
CN4
Model speed Model torque
Model
position
control
Model
speed
control
Step-
down
circuit
CN2L
External encoder
Note 1. For power supply specifications, refer to section 1.3.1.
2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
3. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
4. This is not used when the servo amplifier is in the J2S compatibility mode. Always attach the short-circuit connector came with
a servo amplifier.
5. Used to change the servo amplifier mode. Refer to section 13.1 for the mode selection procedure.
1. FUNCTIONS AND CONFIGURATION
1 - 5
(3) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020/
MR-J4-15KB4-RJ020/MR-J4-22KB4-RJ020
Current
detector
L11
L21
Cooling fan
Encoder
N-C
Power factor
improving DC reactor
Current
detection
Overcurrent
protection
Voltage
detection
(Note 1)
Power
supply
MCMCCB
Base
amplifier
STO
circuit
D/A
Analog monitor
(2 channels)
CN3
Servo amplifier
P3 P4
(Note 2)
P+
+
+
B
RA
24 V DC
B1
B2
M
CN2
Control
circuit
power
supply
Servo motor
Charge
lamp
Regene-
rative
TR
Digital
I/O control
Regenerative resistor
or
regenerative option
L3
L2
L1
U U
U
Thyristor
(Note 6)
External
dynamic brake
(optional)
U
V
W
U
V
W
(Note 3)
Diode
stack
CN8
CN5
USB
I/F Control
RS-232C
CN30
RS-232C
Personal
computer
Servo system
controller or
servo amplifier
Servo amplifier
or terminal
connector
CN10A CN10B
MR-J4-T20
(Note 5)
CN7 CN9
(Note 4)
Electromagnetic
brake
Model position
Current
control
Actual
position
control
Actual
speed
control
Virtual
motor
Virtual
encoder
Position
command
input
Battery
(for absolute position
detection system)
CN4
Model speed Model torque
Model
position
control
Model
speed
control
Step-
down
circuit
CN2L
External encoder
/