Home

Servo Amplifier MR-J4W2-0303B6/MR-J4-03A6(-RJ)

1. For MR J4W2 0303B6 ERE Controller Servo amplifier Setup software Servo amplifier L 9 MR Configurator2 R32MTCPU lt lb BE CN5 CN5 R16MTCPU i 10 11 12 o D Q173DSCPU NUMINIS L8 A nm i bs 15 16 EIS Q172DSCPU i lt c asyas ES tB Q170MSCPU 13 _ E E Junction terminal block QD77MS MR TB26A Note 2 YS WIDZ7MS CN1A 17 CN1A Q173SCCF i S TQ gt MR MC210 10 11 12 MR MC211 CN1B CNIB MR MC240 aa at a a 4 ee lt Ch MR MC241 CN2A 13 CN2A 14 Note 1 CN2B 1 CN2B D CNP1 HEREIN d 2 3 CNP1 i ofp lt p eee a 4 Le iD a EN 5 Exi 6 7 Emm Em Servo motor Servo motor For MR J4 03A6 MR J4 03A6 RJ ES Controller Servo amplifier e RD75P CN1 SADED Setup software e QD70P 8 J 9 MR Configurator2 e 00700
2. Terminal SJ2F 002GF P1 0 Power connector Pin No Signal name 1 E 2 Power cable 3 Bi ois 2 Housing J21DF 06V KX L Begs EP Terminal SJ2F 01GF P1 0 Bania Power lead 4 AWG 24 a B 2 Terminal SJ2F 002GF P1 0 A 3 B2 Note 2 Brake lead 2 AWG 26 The encoder cable leading portion has been modified from April 2013 production PESE VSHEEETGETEHEIEHSUNSSES es L KL CL HG AKO136 B 54 86 307 427 HG AKO236 B 61 93 _ 37 7 49 7 345 ES HG AK0336 B 68 100 44 7 56 7 a For servo mot MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor 025 2 M3 screw AB 18 6 k gt 025 2 M3 screw M 17 5 12 3 HEY is electromagnetic brake 17 5 or with electromagnetic brake Unit mm HG AK0136 B S100 HG AK0236 B S100 HG AK0336 B S100 L si 16 28 5 8 Note 5 K 5 4 2 5 13 i amp H n a EN E 2 2 z m E E E e D 9 EE T I
3. P Be sure to update your MR Configurator2 to the latest version Point table method Setting position data target position servo motor speed and acceleration deceleration time constants in point table is as easy as setting a parameter Up to 255 point tables are settable The positioning operation is performed with a start signal after selecting the point table No Point table example Operation Point table Position Servo motor Acceleration Deceleration Sub Speed No data Speed time constant time constant Duell function M code 2000 1 5 2 Point table No 1 x Point table No 2 P Position address 0 1000 2000 Up to 99 point tables are settable with the push buttons on the servo amplifier Start signal f Program method Create positioning programs with dedicated commands The positioning operation is performed with a start signal after selecting the program No The program method enables more complex positioning operation than the point table method Maximum of 256 programs are settable The total number of steps of program 640 n f Repeats 2 and 3 cceleration Deceleration for the number of Program example Operation time constant time constant times specified by 1 20 ms 20 ms Speed 256 programs max 3000 SPN 3000 STC 20 MOV 1000 Dwell Dwell Dwel
4. Speed Speed Point table Point table Point table Point table No 1 No 2 No 1 No 2 i T Time Time Position address 9 1090 1000 2000 Position address 0 1000 2000 Start signal FI j FI Start signal FI i M code X M code data No 1 X M code data No 2 M code X M code data No 1 Notes 1 STM is the ratio to the setting value of the position data STM can be changed with Pr 15 MR J4 03A6 RJ Positioning Function Point Table Method MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Incremental value command method travels from a current position according to the set position data Item Setting range Description Point table No 1 to 255 Specify a point table in which a target position servo motor speed acceleration deceleration time constants dwell and sub function will be set Target position position data Note 1 2 0 to 999999 x10 um 0 to 99 9999 x10 inch 0 to 999 999 degree 0 to 999999 pulse Set a travel distance Operation starts with ST1 Forward rotation start or ST2 Reverse rotation start Servo motor speed 0 to permissible speed r min Set a command speed for the servo motor in positioning Acceleration time constant 0 to 20000 ms Set a time period for the servo motor to reach the rated speed Deceleration time constant 0 to 20000 m
5. ST1 17 Reverse rotation start amp 1 ST2 18 Forward rotation stroke end 4 3 LSP 43 Reverse rotation stroke end LSN 44 DOCOM 47 ee 10m DICOM 2 Malfunction 1 1 51 ALM 48 Zero speed detection 1 Br ZSP 28 Limiting torque 4 4 e 25 49 Ready qii RD Speed reached fd SA 24 ese LISTES 27 D P15R Analog torque limit L1 TLA E LG 10 V maximum torque Analog speed command 28 CN2 CN3 Encoder cable Servo motor Personal computer m d 8 asup so ware USB cable MR Configurator2 MR J3USBCBL3M Note 1 10 V rated speed in this wiring diagram Plate A dh 10 V rated speed 2 m or shorter Analog monitor output 26 MO1 Output voltage 5 V4 V 28 LG Maximum output current 1 mA y 29 MO2 Output voltage 5 V 4 V Maximum output current 1 mA 2 m or shorter Notes 1 USB communication function and RS 422 communication function are mutually exclusive Do not use them at the same time 2 This is for sink wiring Source wiring is also possible 3 To prevent an unexpected restart of the servo amplifier create a circuit to
6. MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor MR J4 03A6 MR J4 03A6 RJ General purpose Interface Specifications ES EZ Servo amplifier model MR J4 03A6 MR J4 03A6 RJ Rat It ph 13VA Outpt ated voltage 3 phase 13 C Rated current A 24 Main Voltage Ma 48 V DC 24 V DC Se circuit For 48 V DC 1 2A power Rated current A For 24 V DC 24A supply Permissible voltage For 48 V DC 40 8 V DC to 55 2 V DC input fluctuation For 24 V DC 21 6 V DC to 26 4 V DC Control Voltage 24 V DC circuit Rated current A 0 2 power Permissible voltage supply Tlucttiation 21 6 V DC to 26 4 V DC input Power consumption W 5 0 Interface power supply 24 V DC x 10 required current capacity 0 3 A Control method Sine wave PWM control current control method Tolerable regenerative power of the built in regenerative resistor IW 0 7 Dynamic brake Built in e 3 9 Communication function USB Connect a personal computer MR Configurator2 compatible RS 422 1 n communication up to 32 axes Encoder output pulse Compatible A B Z phase pulse Analog monitor 2 channels Maximum input pulse frequency 4 Mpulses s when using differential receiver 200 kpulses s when using open collector Positioning feedback pulse Encoder resolution 18 bits Position Command pulse multiplying control f
7. i E Connector DFMC 1 5 6 ST 3 5 LR ervo amplitier Phoenix Contact 9 power connector Standard accessory i c or an equivalent product Wire size 0 2 mm to 1 5 mm AWG 24 to 16 Insulator OD up to 2 9 mm SSCNET III cable Note MR J3BUSO15M 0 15 m standard cord inside MR J3BUSO3M 0 3m 10 cabinet MR J3BUS05M 0 5 m Compatible with MR J3BUS1M im SSCNET III H connector SSCNET TH MR J3BUS3M 3m PF 2D103 Note 1 Japan Aviation Electronics Industry SSCNET III cable MR J3BUS5M A 5m Limited it 015909 cabe wm JUS oA 10m SSCNET III H MR J3BUS20M A 20m Note 1 3 SSONET I cele MR J3BUS30M B long distance cable Z SSCNET III H connector 12 long bending life MR J3BUS40M B 40m Connector CF 2D103 S 0 n Japan Aviation Electronics Industry Compatible with Limited SSCNET III H connector a3 SSCNET Ill connector ip CN _ ks Connector PE 2D103 eye heh Japan Aviation Electronics Industry Limited Connector CF 2D103 S 14 Standard accessory Lh Japan Aviation Electronics Industry cap Limited 15 COUR por MR J2CMP2 Servo amplifier connector Qty 1 po EL Connector 10126 3000PE Shell kit 10326 52F0 008 3M 16 ee MR ECN1 or an equivalent product Servo amplifier connector Junction terminal block connector MR TBNATBLO5M 0 5m Connector 10126 6000EL Connector 10126 6000EL
8. Shell kit 10326 3210 000 Shell kit 10326 3210 000 1 Junction terminal 3M 3M 7 block cable or an equivalent product or an equivalent product MR TBNATBL1M 1m Cables and Connectors for MR J4 03A6 MR J4 03A6 RJ Item Model Celle Description length rating Power connector Connector DFMC 1 5 4 ST 3 5 LR Servo amplifier Phoenix Contact 18 panne ss HOT Standard accessory 5 Wire size 0 2 mm to 1 5 mm AWG 24 to 16 Insulator OD up to 2 9 mm _ Servo amplifier connector Connector 10150 3000PE 19 Connector set MR J8CN1 Shell kit 10350 52F0 008 3M or an equivalent product Junction terminal block connector Servo amplifier connector MR J2M CN1TBLO5M 0 5m Connector D7950 B500FL Press bonding type 3M C tor 10150 6000EL 20 Shell kit 10350 3210 000 Cable 8M MR J2M CN1TBL1M 1m 2 Notes 1 Read carefully through the precautions enclosed with the options before use 2 Dedicated tools are required Contact your local sales office for more details 3 Refer to Products on the Market for Servo Amplifiers in MELSERVO J4 catalog L NA 03056 for cables over 50 m or with ultra long bending life 4 Solder type connector 10150 3000PE and shell kit 10350 52F0 008 3M is also usable Contact the manufacturer directly For unlisted lengths 1 For unlisted lengths of the cables please contact Mitsubishi Electric Sy
9. 4 LSP 43 9 1 Reverse rotation stroke end 4 44 iz DOCOM 47 10 m or shorter DICOM 21 Malfunction 01 ALM 48 wc a A Zero speed detection b ZSE 23 ie Limiting torque te lt TLC 25 Wz In position range ta 1 7 INP 24 FE ec CN1 10 m or shorter Mot Analog monitor output ci Upper limit setting 26 Output voltage 5 V 4 V a m n P15R 1 Maximum output current 1 mA 2X3 We gt Analog torque limit pg pg TLA 27 10 V maximum torque it is e 29 MO2 g i Output voltage 5 V 4 V CF LG 28 X Maximum output current 1 mA SD Plate 2 m or shorter 2mor shorter Notes 1 This connection is not necessary for RD75D Positioning module Note that the connection between LG and control common terminal is recommended for some Positioning modules to improve noise tolerance 2 USB communication function and RS 422 communication function are mutually exclusive Do not use them at the same time 3 This is for sink wiring Source wiring is also possible 4 To prevent an unexpected restart of the servo amplifier create a circuit to turn off EM2 Forced stop 2 when the main circuit power is turned off Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions MR J4 03A6 MR J4 03A6 RJ Standard Wiring Diagram Example Spe
10. by the International Civil Aviation Organization ICAO and the International Maritime Dangerous Goods Code IMDG Code by the International Maritime Organization IMO To transport the batteries check the latest standards or the laws of the destination country and take actions Contact your local sales office for more details Wires Example of Selection for MR J4W2 0303B6 MR J4 03A6 MR J4 03A6 Ru The following are examples of wire sizes when 600 V grade heat resistant polyvinyl chloride insulated wires HIV wires with a length of 30 m are used Servo amplifier model size 24 0 PM U V W E MR J4W2 0303B6 Note 1 MR J4 03A6 MR J4 03A6 RJ AWGIG ANGIS Notes 1 A voltage drop occurs by the current supplied to the servo amplifier according to the wiring impedance Selection Example in HIV Wires for Servo Motors The following are examples of wire sizes when 600 V grade heat resistant polyvinyl chloride insulated wires HIV wires with a length of 30 m are used Wire size mm For power and grounding U V W S B1 B2 HG AK series 0 75 AWG 19 2 0 75 AWG 19 92 Servo motor model Notes 1 Use a fluorine resin wire of 0 75 mm AWG 19 for wiring to the servo motor power connector 2 This size is applicable for wiring length of 5 m or shorter When an option cable longer than 5 m is used the torque characteristics in the short duration running range may be lower b
11. 1 SPN 3000 Servo motor speed 3000 r min 2 STA 200 Acceleration time constant 200 ms 3 STB 300 Deceleration time constant 300 ms 4 MOV 1000 Absolute value travel command 1000 x10 um B TIM 100 Dwell 100 ms 6 MOV 2500 Absolute value travel command 2500 x10 um 7 STOP Program stop 2 Acceleration 3 Deceleration 2 Acceleration 3 Deceleration time constant time constant time constant time constant 200 ms 300 ms 200 ms 300 ms Servo motor speed 1 Speed 1 Speed 3000 r min 3000 r min N 5 Dwell 100 ms Position address 0 1000 1000 2500 4 Absolute value travel command 6 Absolute value travel command 1000 x 1057 ym 2500 x 1057 ym Program example 2 The following is an example of repeating the steps between FOR setting value and NEXT commands for the number of times set Step Program Description 1 SPN 3000 Servo motor speed 3000 r min 2 STC 20 Acceleration deceleration time constants 20 ms 3 MOV 1000 Absolute value travel command 1000 x10 um 4 TIM 100 Dwell 100 ms 5 FOR 3 Starting the step repeat command 3 number of times 6 MOVI 100 Incremental value travel command 100 x10 um 7 TIM 100 Dwell 100 ms 8 NEXT Ending the step repeat command 9 STOP Program stop 2 Acceleration 2 Deceleration time constant time constant 20 ms 20
12. Assign the output devices mentioned to CN1 22 pin CN1 23 pin and CN1 25 pin with Pr PD23 Pr PD24 and Pr PD26 Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 21 MR J4 03A6 RJ Positioning Function Indexer Turret Method MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Positioning is executed by specifying stations maximum of 255 stations Travel distance is automatically calculated with parameters by setting the numbers of stations Item Description Command method Command interface DIO input 11 points excluding EM2 Forced stop 2 output 6 points RS 422 communication Operating specification Positioning by specifying the station position The maximum number of divisions 255 Speed command input Selects the rotation speed and acceleration deceleration time System Rotation direction specifying indexer shortest rotating indexer Digital override Selects the override multiplying factor by DI Torque limit Set by parameters or external analog input 0 V DC to 10 V DC maximum torque 7 Rotation direction Positions to the specified station Automatic ARA E MU specifying indexer Rotation direction settable operation m gt Shortest rotating Positions to the specified station mode
13. P DU m indexer Rotates in the shorter direction from the current position Manual JOG operation Decelerates to a stop regardless of the station operation Station JOG Rotates in a direction specified by the rotation direction decision when the start signal turns on E Positions to the nearest station where the servo motor can decelerate to a stop when the start Operation imode operation mode signal turns off return mode Home position Torque limit changing dog type Returns to home position upon Z phase pulse after passing through the front end of proximity dog Home position return direction selectable home position shift distance settable home position address settable torque limit automatic switching function Torque limit changing data set type Returns to home position without dog Any position settable as home position home position address settable torque limit automatic switching function Other functions Absolute position detection system backlash compensation overtravel prevention with external limit switches LSP LSN digital override function 22 MR J4 03A6 RJ Positioning Function Indexer Turret Method Rotation direction specifying indexer In the rotation direction specifying indexer the servo motor always rotates in a definite direction Turn off MDO Operation mode selection 1 and turn on MD1 Operation mode selection 2 The servo motor moves in the statio
14. high performance servo amplifier enables shorter tact time Bl Mounters bonders w Machine head Vibration suppression control suppresses machine vibrations enabling shorter tact time The high resolution encoder achieves high accuracy positioning lll Compact robots Compact robot joint drive and hand The 2 axis integrated servo amplifier is suitable for multiple joint articulated robots Vibration suppression control suppresses machine vibrations enabling shorter tact time lll Compact X Y tables lll Processing machines E Photovoltaic manufacturing systems lll Screw tightening systems lll Semiconductor LCD manufacturing systems Compact machine handling axis The small size servo amplifier and servo motor achieve compact machine The high resolution encoder achieves high accuracy positioning ll Electronic component manufacturing machines Multi point positioning Built in positioning function allows easy control Replacement of pneumatic equipment by servo contributes to energy savings lll Inspection systems lll Electrical devices assembling systems lll Compact actuators E Others MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Compact Machines Ultra compact servo motors combined with ultra small capacity servo amplifiers reduce the size of your machine The servo amplifiers are available in three types 2 axis with S
15. io r Pd L r KL amp e Power cable Housing J21DF 06V KX L 3 a Terminal SJ2F 01GF P1 0 EN Gl Power lead 4 AWG 24 Terminal SJ2F 002GF P1 0 Brake lead 2 AWG 26 Encoder cable Housing J21DF 10V KX L Terminal SJ2F 002GF P1 0 A Power connector Pin No Signal name BA 1 GIG A 2 U 2 2 ESI 3 B1 Note 2 1 V B 2 Ww 3 B2 Note 2 Variable dimensions Note 3 Model L KL CL HG AK0136 B S100 58 7 90 7 30 7 427 HG AK0236 B S100 65 7 97 7 37 7 49 7 245 HG AK0336 B S100 72 7 1047 44 7 56 7 2 M3 screw For servo motor withou 2 M3 screw 025 17 5 025 17 5 electromagnetic brake For servo motor with electromagnetic brake Unit mm Notes 1 For dimensions without tolerance general tolerance applies 2 The electromagnetic brake terminals B1 B2 do not have polarity 3 Dimensions in brackets are for the models with electromagnetic brake 4 Use a friction coupling to fasten a load 5 Select a mounting screw whose length is within this dimension 28 Configuration Example
16. m 5 Connect TRE and RDN for the servo amplifier of the final axis Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 12 Main Control Circuit Power Supply Connection Example for MR J4 03A6 MR J4 03A6 RJ BENE EX e For 48 V DC e For 24 V DC Servo amplifier Servo amplifier Malfunction On Malfunction Oft On RA1 3 7 RA1 J M 2 gt seo Emergency RA2 stop switch n stop switch 24 DC 24 V DC Note 1 Circuit CNP1 Note 1 Circuit CNP1 24V DC protector Built in 24 M DC protector Built in i 24 1 regenerative 4 1 regenerative Tan v DC 0 5 resistor o 5 resistor naz pu x RAZ DENEN Note 1 pu oe Connection Example of MR J4 03A6 MR J4 03A6 RJ and Servo Motor Servo amplifier MR J4 03A6 MR J4 03A6 RJ Servo motor CNP1 HG AK series 3 U 4 V M X 3 E Note 3 Note 3 24 V DC for the AL electromagnetic brake 19 Note 4 Electromagnetic Contact must be
17. n Approx 80 90 mounting hole I d H qj Terminal arrangement i CNP1 q 5 0 24 1 8 H 6 amp PM 2 ll BJ 4 1 d Mounting screw size M4 e LL T amp When mounting 1 MR BAT6V1SET A 27 4 51 Unit mm 25 MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Note 4 HG AK Series Ultra compact Size Ultra small Capacity Specifications Servo motor model HG AK 0136 B 0236 B 0336 B Compatible servo amplifier model MR J4W2 0303B6 MR J4 03A6 MR J4 03A6 RJ Power supply capacity W 230 360 480 Continuous Rated output IW 10 20 30 running duty Rated torque N m 0 032 0 064 0 095 Maximum torque N m 0 095 0 191 0 286 Rated speed r min 3000 Maximum 48 V DC r min 6000 speed 24V DC r min 6000 5000 Permissible 48 V DC r min 6900 instantaneous speed 24 V DC r min 6900 5750 Standard kW s 3 54 9 01 14 95 Power rate at With t kW 2 41 6 99 12 32 rated torque electromagnetic KW s i Rated current A 2 1 2 1 2 2 Maximum current A 6 3 6 3 6 6 Regenerative 7 gs 2 times min 1700 1200 900 braking frequency Standard x 10 0 0029 0 0045 0 0061 Mome
18. power supply connection Servo amplifier MR J4W2 0303B6 1st and 2nd axes MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Servo motor connection Refer to Connection Example of MR J4W2 0303B6 The connection differs according to the power voltage CNP1 CNP1 and Servo Motor inthis brochure Refer to Main Control Circuit Power Supply Connection 24 B 4 U1 Example for MR J4W2 0303B6 in this brochure 0 12 3 V1 PM 5 10 Wi Power cable e 11 t ES 1 CN2A CN3 Encoder cable Encoder A phase pulse for A axis LA A 3 differential line driver lt 7 LAR A 16 Ej i Encoder B phase pulse for A axis lt 1114 44 LB A 4 differential line driver t LBR A 17 SEM PEN Encoder A phase pulse for B axis 8 5 2 5 Servo motor differential line driver lt r g
19. pulse lt LB 6 differential line driver e it 7 Control common Control common 7710 34 Encoder Z phase pulse 140 BS 33 M Open collector SD Plate ELL 5 2 m or shorter M 4 10 m or shorter Main circuit Note 3 power supply Note 2 Forced stop 2 EM2 42 72 3 Servo on 1 15 Reset t 7 RES 1 3 4 Speed selection 11 SPI D E Speed selection 2 p 4 5 2 Forward rotation selection 31 ES ils Reverse rotation selection 71 RS2 17 DOCOM 47 MM 10 m or shorter DICOM e Malfunction t ALM 48 myg Personal computer Zero speed detection B ZSP 23 Hip 21 1 74 Limiting speed 0 7 VLC 25 0 4 ca 2 Setup software Ready RD 49 WE MEYER MR Configurator2 10 m or shorter Note 1 Analog torque command Upper limit setting 8 V maximum torque Det P15R 1 in this wiring diagram le i i TC 27 Baud 48 V max torque ii joli LG 28 CN1 Analog monitor output m I 26 MO1 gt Output voltage 5 V 4 V pper limit setting 28 LG b Maximum output current 1 mA Analog speed limit Pg 1 mA A 10 V rated speed ig F1 Bs 29 MO2 Output voltage 5 V 4 V in this wiring diagram 50 Plate Maximum output current 1 mA 10 V rated speed k 3 2 m or shorter 2 or shorter Notes 1 US
20. the setting value of the position data STM can be changed with Pr 19 MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor MR J4 03A6 RJ Positioning Function Program Method A Ru Command list Command Name Setting range Description Limits the torque generated by the servo motor driving in CCW and regenerating in 0 and 1 to 1000 0 1 CW as the maximum torque is 100 The setting remains valid until the program is stopped TLP 0 enables the setting of Pr PA11 Limits the torque generated by the servo motor driving in CW and regenerating in 0 and 1 to 1000 0 1 as the maximum torque is 100 The setting remains valid until the program is stopped TLN 0 enables the setting of Pr PA12 Limits the torque generated by the servo motor as the maximum torque is 100 TQL setting value Torque limit 0 and 1 to 1000 0 1 The setting remains valid until the program is stopped TQL 0 enables the settings of Pr PA11 and Pr PA12 Forward rotation TLP setting value torque limit Reverse rotation TLN setting value torque limit Program example 1 The following is an example of executing two types of operations with the same servo motor speed and acceleration deceleration time constants but the different travel commands Step Program Description
21. 0 5 4 V PM 2 i Ww Power cable E 6 8 E CN1 E OPC 12 Encoder cable 24 V DC power supply FL DICOM 20 for interface DOCOM 46 Encoder Z phase pulse lt 22 2 8 Em differential line driver H LZR 9 L3 Encoder A phase pulse lt mH LA 4 Servo motor differential line driver lt iti I TAR 5 Encoder B phase pulse lt LB 6 differential line driver 7 Control common I Control common TT LG 34 Encoder Z phase pulse PR 33 wre Open collector SD Plate 2 m or shorter 10 m or shorter Main circuit Note 3 Forced stop 2 power supply EM2 42 Doce Servo on 4 15 74 Operation mode selection 1 1 16 Forward rotation start 3 911 17 El CN4 Mount an optional battery Reverse rotation start 3 S12 18 gm 1 BAT MR BAT6V1SET A for absolute position Proximity dog DOG 45 fe 2 LG detection system Forward rotation stroke end 4 4LSP 43 c Reverse rotation stroke end 7 LSN Ce NL Program No selection 1 1 D0 19 rg 1 P Program No selection 2 1 DI EN Program No selection 3 gt D2 Note 4 10 Program No selection 4 D8 Note 4 85 Hg 2 C Fl Setup software k 9 USB cable MR Configurator2 10 m or shorter MR J3USBCBL3M DICOM 2
22. 00 0 0 99 The operation of the next point table is set with the sub function When the sub function is set to 0 Start signal is required for each point table When the sub function is set to 1 Automatic continuous operation is executed based on the point table Speed Point table No 1 Point table No 2 gt Time Position address 0 1000 2000 Speed Point table Point table No 1 No 2 gt H i Time Position address 9 1000 1000 2000 Start signal FI FI Start signal M code p lt M code data No 1 X M code data No 2 M code X M code data No 1 Notes 1 STM is the ratio to the setting value of the position data STM can be changed with Pr 16 MR J4 03A6 RJ Standard Wiring Diagram Example Point Table Method Main control circuit power supply connection Servo amplifier MR J4 03A6 RJ Servo motor connection Refer to Connection Example of The connection differs accord
23. 1 Note 1 Malfunction T t ALM 48 M Rough match t 1t 3 1 CPO 22 M Note 5 4 Home position return ta ZB 23 bY Travel completion 81 MEND 25 ww In position tty INP 24 hi Ready RD 49 W 10 m or shorter Upper limit settin Analog ai f m f i els 11 10 V 0 to 200 E E 2 Analog monitor output Upper limit setting Mo si LG 28 1 26 1 Output voltage 5 V 4 V EEES 28 LG 63 Maximum output current 1 mA Analog torque limit i TLA 27 10 V maximum torque E SD Plate mo ME E 1mA 2 m or shorter 2 m or shorter Notes 1 USB communication function and RS 422 communication function are mutually exclusive Do not use them at the same time 2 This is for sink wiring Source wiring is also possible However when input devices are assigned to CN1 10 pin and CN1 35 pin be sure to use sink wiring Source wiring is not possible in this case In the positioning mode input devices are assigned in the initial setting Refer to MR J4 A RJ MR J4 03A6 RJ Servo Amplifier Instruction Manual Positioning Mode for details 3 To prevent an unexpected restart of the servo amplifier create a circuit to turn off EM2 Forced stop 2 when the main circuit power is turned off 4 012 and DI3 are assigned to CN1 10 and CN1 35 pin respectively in the initial setting Change them with Pr PD44 and Pr PD46 when using a manual pulse generator 5
24. 1 mA i P ZEE 1 MR J3BUS_M A B cable z 5 8 Piate 2 2 m or shorter Controller Note 2 Nes L ote R32MTCPU R16MTCPU Note 4 Mo uM Q173DSCPU Q172DSCPU MR J3BUS_M Sw2 Q170MSCPU MR J3BUS M A B cable lt lt Gel Ll gt E E gt RD77MS QD77MS 5 Z LD77MS SW1 mg Be sure to ai oes ips to CN1B M 5 t the fi is Q173SCCF qi m connector of the fina ae oa z MR MC210 MR MC211 o MR MC240 MR MC241 Notes 1 The forced stop signal is issued for two axes of the servo amplifier For overall system apply the emergency stop on the controller side 2 For details such as setting the controllers refer to relevant controllers programming manual or user s manual 3 Connections for the third and following axes are omitted 4 Up to 64 axes can be set by using a combination of an axis selection rotary switch SW1 and auxiliary axis number setting switches SW2 5 and SW2 6 Note that the number of the connectable axes depends on the controller specifications 5 Devices can be assigned for DI1 A B DI2 A B and DI3 A B with controller setting Refer to the controller instruction manuals for details on setting 6 This is for sink wiring Source wiring is also possible 7 CINP AND in position is assigned to this pin as default Device for this pin can be changed by Pr PD08 8 To prevent an unexpected restart of the servo amplifier create a circuit to turn off EM2 Forced s
25. 1241 Dubai U A E ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road Fourways Johannesburg South Africa MITSUBISHI ELECTRIC AUTOMATION CHINA LTD No 1386 Hongqiao Road Mitsubishi Electric Automation Center Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889 Taiwan R O C MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 7F 9F Gangseo Hangang Xi tower A 401 Yangcheon ro Gangseo Gu Seoul 157 801 Korea MITSUBISHI ELECTRIC ASIA PTE LTD 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 MITSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD 12th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng Bangpongpang Khet Yannawa Bangkok 10120 Thailand PT MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam MITSUBISHI ELECTRIC INDIA PVT LTD Pune Branch Emerald House EL 3 J Block M I D C Bhosari Pune 411026 Maharashtra India MITSUBISHI ELECTRIC AUSTRALIA PTY LTD 348 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Fax Tel Fax Tel Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel F
26. 29 6 CH d Setup software K 9 USB cable MR Configurator2 10 m or shorter MR J3USBCBL3M DICOM 21 Note 1 Malfunction 7 1 107 ALM 48 AF Rough match t Ey CPO 22 ke Note 5 4 Home position return ta E 1 ZR 23 WE i A 2 Travel completion t a 1 MEND 5 In position B INP 24 fan Tue E Ready RD 49 2 281 EN 10 m or shorter Upper limit setting ES jx Analog override ri b pus l 11 10 V 0 to 200 14 E E NC 2 CN1 Analog monitor output L 28 U T G 26 MO1 Output voltage 5 V 4 V pper limit setting Cx Mises 1 28 LG Maximum output current 1 mA Analog torque limit le Li Li TLA 27 MEM 29 MO2 rt rt Output voltage 5 V 4 V 10 V maximum torque LEM SD Plate gt Maximum output current 1 mA gt 2 m or shorter Notes 1 2m or shorter USB communication function and RS 422 communication function are mutually exclusive Do not use them at the same time This is for sink wiring Source wiring is also possible However when input devices are assigned to CN1 10 pin and CN1 35 pin be sure to use sink wiring Source wiring is not possible in this case In the positioning mode input devices are assigned in the initial setting Refer to MR J4 A RJ MR J4 03A6 RJ Servo Amplifier Instruction Manual Positioning Mode for details generator To prevent an unexpected restart of the servo amplifier create a circuit to turn off EM2 For
27. 99999 pulse command Setting range of rotation angle 360 000 to 360 000 degree input Set with program language Setting range of feed length 999999 to 999999 x10 um E 99 9999 to 99 9999 x10 inch 999999 to 999999 pulse Setting range of rotation angle 999 999 to 999 999 degree Speed command input Set servo motor speed acceleration deceleration time constants S pattern acceleration deceleration time constants with program language S pattern acceleration deceleration time constants are also settable with Pr Operation mode System Signed absolute value command method signed incremental value command method Analog override 0 V DC to 10 V DC 0 to 200 Torque limit Set by parameters or external analog input 0 V DC to 10 V DC maximum torque Automatic operation Program Depends on the setting of the program language mode 7 Inching operation is executed with DI or RS 422 communication function according to the Manual JOG operation speed command set with a parameter operation Manual pulse generator Manual feeding is executed with a manual pulse generator mode operation Command pulse multiplication select from x1 x10 and x100 with a parameter Returns to home position upon Z phase pulse after passing through proximity dog Dog type Home position return direction selectable home position shift distance settable home position addr
28. B communication function and RS 422 communication function are mutually exclusive Do not use them at the same time 2 This is for sink wiring Source wiring is also possible 3 To prevent an unexpected restart of the servo amplifier create a circuit to turn off EM2 Forced stop 2 when the main circuit power is turned off Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 11 MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor RS 422 Serial Communication Connection Example Servo amplifier MR J4 03A6 MR J4 03A6 RJ Controller june Note1 CN1 RDP m 18 SDP RDN Lore 2 m d 14 SDN SDP 39 RDP SDN Li 40 RDN GND n 31 TRE i Note 5 28 LG Mec E wo Plate SD Note 3 i gt 30 m or shorter Note 4 Notes 1 Twist the wires from SDP and SDN together and RDP and PDN together 2 Refer to the controller manual to connect a termination resistor If a termination resister is not specified terminate with a 150 Q resistor 3 Use of a shielded cable is recommended 4 The cable length must be 30 m or shorter in a low noise environment When connecting multiple axes also keep the overall length within 30
29. HG AK Series Torque Characteristics 2 3 4 HG AK0136 B 0 1 Short duration running range 0 075 o a Torque N m o Ds a T Continuous eed running range 1000 2000 3000 4000 5000 6000 Speed r min Notes 1 m For 48 V DC 2 For 24 V DC HG AK0236 B M 2 3 4 0 2 E d 7 J M 015 Short duration sf z running range EN 0 1 AL 5 EN g o 0 05 Continuous running range 1 1 1000 2000 3000 4000 5000 6000 Speed r min 3 Torque drops when the power supply voltage is below the specified value 4 The torque characteristics are applicable when optional MR JAWOSPWCBLSM H or MR J4WO3PWBRCBLS5M H is used between the servo amplifier and the servo motor When an option cable longer than 5 m is used the torque characteristics in the short duration running range may be lower because of voltage drop HG AK Series Special Shaft End Specifications Motors with the following specifications are also available HG AK0336 B M gt 2 3 9 0 4 0 3 fa ee uL m Short duration 4 running range S 0 1 Continuous running range 1000 2000 3000 4000 5000 6000 Speed r min 0 2 Torque N m Ky D cut shaft 5h6 Unit mm Notes 1 Specifications of HG AK_ S100 is
30. IP setting value Note 1 4 5 Absolute value trip point specification 999999 to 999999 x10 um 99 9999 to 99 9999 x10 inch 360 000 to 360 000 degree 999999 to 999999 pulse Executes the next step after MOV or MOVA commands are started and then the servo motor moves for the travel amount set in TRIP command Be sure to write this command after MOV or MOVA command TRIPI setting value Note 1 4 5 Incremental value trip point specification ITP setting value Note 1 3 4 5 Interrupt positioning 999999 to 999999 x10 um 99 9999 to 99 9999 x10 inch 999 999 to 999 999 degree 999999 to 999999 pulse Executes the next step after MOVI or MOVIA commands are started and then the servo motor moves for the travel amount set in TRIPI command Be sure to write this command after MOVI or MOVIA command Stops the operation after the servo motor moves for the travel amount set when the interrupt signal is inputted Be sure to write this command after SYNC command COUNT setting value Note 1 External pulse count 999999 to 999999 pulse Executes the next step when the value of the pulse counter exceeds the count value set in COUNT command COUNT 0 clears the pulse counter to zero FOR setting value NEXT Step repeat command 0 and 1 to 10000 number of times Repeats the steps between FOR setting value and NE
31. J eQDPN eeeesememo ER L gt LEZ QD75D_N E e LD75P LD75D FXsu r FXsuc FX3G CNP FXsac Ld hec adl FXev GM 9 FXen _PG FXis Junction terminal block MR TBS50 Note 2 Servo motor Notes 1 Be sure to attach a cap to CN1B connector of the final axis 2 Refer to Junction Terminal Block in MELSERVO J4 catalog L NA03058 3 Cables drawn with dashed lines need to be fabricated by user Refer to relevant Servo Amplifier Instruction Manual and Servo Motor Instruction Manual Vol 3 for fabricating the cables 29 Cables and Connectors for Servo Motor MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Qty 20 pcs Item Model Gekte n Description length rating MR J3WO3ENCBL1M A H 1m LA H z Servo amplifier connector Encoder connector MR J3W0OSENCBL2M A H zm Receptacle housing 1 1827862 5 Tab housing J21DPM 10V KX J3W03 5M A 5m Receptacle contact 1827587 2 Tab contact SJ2M 01GF M1 0N MR J3WO3ENCBLS5M A H 1 Encoder cable MR J8WOSENCBL10M A H 10m TE Connectivity Ltd Company J S T Mfg Co Ltd MR J3WOSENCBL20M A H 20m x MR J3WO3ENCBL30M A H 30m Servo amplifier conn
32. MITSUBISHI for a greener tomorrow eco ELECTRIC Changes for the Better General Purpose AC Servo MELSERVO J4 Series Servo amplifier MR J4W2 0303B6 MR J4 03A6 MR J4 03A6 RJ Servo motor HG AK_ S100 January 2015 New Product Release V1501 5E Compact With High Performance Introducing MELSERVO J4 series servo amplifier compatible with our ultra compact servo motor The servo amplifiers are available with SSCNET IMH interface general purpose interface or the buil positioning function Flange size 25 x 25 mm MIRHJ4 09A6 Scale n TW LE Servo amplifier MR J4W2 0303B6 Servo amplifier MR J4 03A6 MR J4 03A6 RJ e 48 V DC and 24 V DC are available for the main circuit power supply 48 V DC and 24 V DC are available for the main circuit power supply e The 2 axis integrated type reduces wiring and saves space Compatible with the high speed optical network SSCNET III H Compatible with general purpose interface Equipped with the positioning function Servo motor HG AK S100 point table program based indexer turret methods With a vertical encoder cable lead Application Examples The ultra compact servo motor with the flange size of 25 mm x 25 mm is suitable for small machines and machine heads Servo amplifiers with SSCNET III H interface general purpose interface and the built in positioning function are available to satisfy demands for a wide variety of applications The
33. Note 4 10 Point table No selection 4 DB Note 4 35 m 219000701 2 CH Fl Setup software k 2 USB cable MR Configurator2 10 m or shorter MR J3USBCBL3M DICOM 21 Note 1 Malfunction T t ALM 48 M Rough match t 1t 3 1 CPO 22 M Note 5 4 Home position return ta ZB 23 bY Travel completion 81 MEND 25 ww In position A INP 24 hi Ready a RD 49 7 1 auc E 10 m or shorter Upper limit settin Analog ai f m f i els 11 10 V 0 to 200 E E 2 Analog monitor output Upper limit setting Mo si LG 28 1 26 1 Output voltage 5 V 4 V EEES 28 LG 63 Maximum output current 1 mA Analog torque limit i TLA 27 10 V maximum torque E SD Plate mo ME E 1mA 2 m or shorter 2 m or shorter Notes 1 USB communication function and RS 422 communication function are mutually exclusive Do not use them at the same time 2 This is for sink wiring Source wiring is also possible However when input devices are assigned to CN1 10 pin and CN1 35 pin be sure to use sink wiring Source wiring is not possible in this case In the positioning mode input devices are assigned in the initial setting Refer to MR J4 A RJ MR J4 03A6 RJ Servo Amplifier Instruction Manual Positioning Mode for details 3 To prevent an unexpected restart of the servo amplifier create a circuit to turn off EM2 Forced stop 2 when the main circuit power i
34. PAN UKAS MANAGEMENT SYSTEMS IP 1501 New publication effective January 2015 Specifications are subject to change without notice
35. RJ and Servo Motor in Refer to Main Control Circuit Power Supply Connection 24 1 3 U this brochure Example for MR J4 03A6 MR J4 03A6 Ru in this brochure 0 5 4 2 TA Ww Power cable E 6 8 CN2 CN1 OPC 12 Encoder cable 24 V DC power supply LL DICOM 20 for interface E DOCOM 46 Encoder Z phase pulse lt az 8 differential line driver IER 9 L3 Encoder A phase pulse lt LA 4 Servo motor differential line driver LLAR 5 Encoder B phase pulse LB 6 differential line driver lt LIBR 7 Control common coe Control common LG 34 Encoder Z phase pulse WT 33 m Open collector E SD Plate hl 2 m or shorter 10 m or shorter Main circuit Note 3 Note 2 Forced stop 2 Power supply 2 42 54 Servo on 4 SON 15 Operation mode selection 1 16 Forward rotation start 911 17 4 1 CN4 Mount an optional battery Reverse rotation start 2 18 goo 1 BAT MR BAT6V1SET A for absolute position Proximity dog DOG 45 gc 2 LG detection system Forward rotation stroke end gt ___ LSP 43 o Reverse rotation stroke end __LSN i Next station No selection 1 DI0 19 5 Personal computer Next station No selection 2 Dl i 9 P Next station No selection 02 Note 4 10 5 Next station No selection 4 DI Note 4 35 77 4 e 2019901
36. SCNET interface general purpose interface and with the built in positioning function In addition the servo amplifiers are able to be mounted on a 35 mm wide DIN rail making it easy to install them in a cabinet H168 x W30 x D100 for two axes HG AK MR J4 03A6 RJ MR J4W2 0303B6 Unit mm Selectable Encoder Cable Leading Direction The HG AK_ B S100 servo motor with a vertical encoder cable lead is now available Therefore servo motors can be selected with the encoder cable leading direction either horizontal or vertical as well as with without electromagnetic brake lt Horizontal Vertical direction direction HG AK HG AK S100 For Various Types of Machines Select a servo amplifier best suited for your machine from using either a two axis SSCNET III H interface MR J4W2 0303B6 one axis with general purpose interface MR J4 03A6 or one with the built in positioning function MR J4 03A6 RJ Two axis servo amplifier with SSCNET interface SSCNET III H allows complete synchronized communication and increases machine performance The fiber optic cables used for SSCNET III H improve noise tolerance and reduce wiring Guards against noise Guards against noise M MR J4 B MR J4W2 0303B6 Servo amplifier with general purpose interface Position control with command pulses by Positioning module and speed torque controls with analog command are available with the controls that are s
37. XT commands for the number of times set Repeats endlessly with FOR 0 NEXT LPOS ete Current position latch Latches the current position with the rising edge of the LPS signal The latched current position data can be read with the communication command TIM setting value Dwell 1 to 20000 ms Waits for the next step until the set time passes ZRT Home position return Executes a manual home position return TIMES setting value Program count command 0 and 1 to 10000 number of times Set the number of program execution by writing TIMES setting value command in the first line of the program The setting is not required for executing once Repeats endlessly with TIMES 0 STOP Program stop Stops the program in execution Be sure to write this command in the final line Notes 1 SYNC OUTON OUTOF TRIP TRIPI ITP COUNT and LPOS commands are valid while the commands are outputted 2 SPN command is valid while MOV MOVA MOVI or MOVIA command is in execution STA STB STC and STD commands are valid while MOV or MOVI command is in execution 3 ITP command will be skipped to the next step when the remaining distance equals to or less than the setting value when the servo motor is not running or when the servo motor is decelerating 4 Change the unit to um inch degree pulse with Pr PTO1 5 STM is the ratio to
38. actor Electronic gear A B multiple A 1 to 16777215 B 1 to 16777215 1 10 lt A B lt 4000 mode Peien Complete pulse to 65535 pulses command pulse unit setting Error excessive 3 rotations Torque limit Set by parameters or external analog input 0 V DC to 10 V DC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command Speed input 0 V DC to 10 V DC rated speed Speed at 10 V is changeable with Pr PC12 sud SOA 0 01 maximum load fluctuation 0 to 10096 0 power fluctuation 10 P 0 2 maximum ambient temperature 25 C 10 only when using analog speed command Torque limit Set by parameters or external analog input 0 V DC to 10 V DC maximum torque Torque Analog torque command control input 0 V DC to x8 V DC maximum torque input impedance 10 to 12 mode Speed limit Set by parameters or external analog input 0 V DC to 10 V DC rated speed Positioning mode Point table method program method Nobegmpatisle indexer turret method Fully closed loop control Not compatible Servo function Advanced vibration suppression control Il adaptive filter Il robust filter auto tuning one touch tuning vibration drive function drive recorder function machine diagnosis function power monitoring function Protective functions Overcurrent shut off regenera
39. ariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo C P 54030 Mexico MITSUBISHI ELECTRIC DO BRASIL COM RCIO E SERVICOS LTDA Rua Jussara 1750 Bloco B Anexo Jardim Santa Cecilia CEP 06465 070 Barueri SP Brasil MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Strasse 8 D 40880 Ratingen Germany MITSUBISHI ELECTRIC EUROPE B V UK Branch Travellers Lane Hatfield Hertfordshire AL10 8XB U K MITSUBISHI ELECTRIC EUROPE B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rub 76 80 Apdo 420 08173 Sant Cugat del Vall s Barcelona Spain MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex France MITSUBISHI ELECTRIC EUROPE B V Czech Branch Avenir Business Park Radlicka 751 113e 158 00 Praha5 Czech Republic MITSUBISHI ELECTRIC EUROPE B V Polish Branch ul Krakowska 50 32 083 Balice Poland MITSUBISHI ELECTRIC EUROPE B V Russian Branch St Petersburg office Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 RU 195027 St Petersburg Russia MITSUBISHI ELECTRIC EUROPE B V Scandinavia Fjeliev gen 8 SE 22736 Lund Sweden MITSUBISHI ELECTRIC TURKEY A S mraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 mraniye istanbul T rkey MITSUBISHI ELECTRIC EUROPE B V Dubai Branch Dubai Silicon Oasis P O BOX 34
40. ax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1 847 478 2100 1 41 847 478 2253 52 55 3067 7500 Fax 55 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 89 039 60531 39 039 6053 312 34 935 65 3131 84 935 89 1579 83 1 55 68 55 68 1 33 1 55 68 57 57 1 420 251 551 470 420 251 551 471 48 12 630 47 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 46 8 625 10 00 46 46 39 70 18 490 216 526 3990 490 216 526 3995 971 4 3724716 4971 4 3724721 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 6473 2308 65 6476 7439 66 2682 6522 to 6531 66 2682 6020 462 21 3192 6461 462 21 3192 3942 84 8 3910 5945 84 8 3910 5947 91 20 2710 2000 91 20 2710 2100 461 2 9684 7777 61 2 9684 7245 Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001 standards for environmental management systems and 1509001 standards for quality assurance management systems ISO 9001 BUREAU VERITAS Certification MANAGEMENT SYSTEMS EC97J1113 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JA
41. ced stop 2 when the main circuit power is turned off DI2 and DIS are assigned to CN1 10 pin and CN1 35 pin respectively in the initial setting Change them with Pr PD44 and Pr PD46 when using a manual pulse Assign the output devices mentioned to CN1 22 pin CN1 23 pin and CN1 25 pin with Pr PD23 Pr PD24 and Pr PD26 Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 24 Servo Amplifier Dimensions e MR JAW2 0303B6 2 6 mounting hole 168 saan N eneen gt een 37 5 CNP1 Approx 80 100 When mounting MR BAT6V1SET A Terminal arrangement CNP1 24 o 12 11 Ut w1 10 Vi E1 9 U2 W2 8 1 V2 E2 7 FR Mounting screw size M5 Unit mm e MR J4 03A6 MR J4 03A6 RJ 30 245
42. chine under 70 of the servo motor rated torque 4 Specifications of HG AK_ S100 is the same as those of HG AK_ except for the dimensions 1 The power supply capacity varies depending on the DC power supply and the 5 Refer to the diagram below for the permissible load for the shaft Do not apply a wiring impedance load exceeding the value specified in the table on the shaft The values in the table 2 The regenerative braking frequency shows the permissible frequency when the are applicable when each load is applied singly servo motor without a load and a regenerative option decelerates from the rated L l 1 Radial load speed to a stop T L Distance between the flange When a load is connected however the value will be the table value m 1 where Thrust load mounting surface and the m Moment of inertia of load Moment of inertia of servo motor When the operating speed exceeds the rated speed the regenerative braking 6 V10 indicates that the amplitude of the servo motor itself is 10 or less The frequency is inversely proportional to the square of operating speed rated speed following shows mounting posture and measuring position of the servo motor Take measures to keep the regenerative power W during operation below the during the measurement tolerable regenerative power W of the built in regenerative resister Use caution Bero motor especially when the operating speed changes frequently or when the regeneration Mea
43. control machine diagnosis function power monitoring function J3 compatibility mode Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal servo motor overheat protection encoder error protection regenerative error protection undervoltage protection instantaneous power failure protection overspeed protection error excessive protection Compliance to global standards Refer to Conformity with Global Standards and Regulations on p 27 in this brochure Structure IP rating Natural cooling open IP20 Close mounting Possible DIN rail mounting 35 mm wide Possible Ambient temperature Operation 0 C to 55 C non freezing storage 20 C to 65 non freezing Ambient humidity Operation storage 90 RH maximum non condensing Environment Ambience Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Altitude 1000 m or less above sea level Vibration resistance 5 9 m s at 10 Hz to 55 Hz directions of X Y and Z axes Mass kg 0 3 Notes 1 2 Rated output and speed of a servo motor are applicable when the servo amplifier combined with the servo motor is operated within the specified power supply voltage Reusable regenerative energy is equivalent to the energy that is generated when the machine whose moment of inertia is equivale
44. deceleration time constants MOV setting value Note 4 5 Absolute value travel command MOVA setting value Note 4 5 Absolute value continuous travel command 999999 to 999999 x10 um 99 9999 to 99 9999 x10 inch 360 000 to 360 000 degree 999999 to 999999 pulse Travels according to the value set as an absolute value Travels continuously according to the value set as an absolute value Be sure to write this command after MOV command MOV setting value Note 4 5 Incremental value travel command MOVIA setting value Note 4 5 Incremental value continuous travel command 999999 to 999999 x10 um 99 9999 to 99 9999 x10 inch 999 999 to 999 999 degree 999999 to 999999 pulse Travels according to the value set as an incremental value Travels continuously according to the value set as an incremental value Be sure to write this command after MOVI command SYNC setting value Waiting for external Stops the next step until 1 Program input 1 to output Note 1 signal to switch on 1103 E on after SOUT SYNC synchronous OUTON setting value External signal on 1103 Turns on OUT1 Program output 1 to OUT3 Program output 9820 output 3 OUTOF setting value External signal off 1103 Turns off OUT1 Program output 1 to OUT3 Program output Note 1 3 which were turned on with OUTON command TR
45. ecause of voltage drop 3 Use a fluorine resin wire of 0 75 mm AWG 19 when connecting to servo motor electromagnetic brake connector 4 This size is applicable for wiring length of 5 m or shorter For over 5 m extend the wire with HIV wire of 3 5 mm AWG 12 Circuit Protector Power supply specifications MR J4W2 0303B6 MR J4 03A6 MR J4 03A6 RJ Control circuit power supply 24 V DC CP30 BA 1P 1 M 1A CP30 BA 1P 1 M 1A Main circuit power supply 48 V DC CP30 BA 1P 1 M 5A CP30 BA 1P 1 M 3A Control circuit power supply main circuit power CP30 BA 1P 1 M 10A CP30 BA 1P 1 M 5A supply 24 V DC Notes 1 Use the circuit protector whose operation characteristics is medium speed type Refer to MELSERVO J4 catalog L NA 03058 for the following options Junction Terminal Block MR TB26A Junction Terminal Block MR TB50 Manual pulse generator MR HDPO1 Data Line Filter 32 33 MEMO MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor MEMO 34 Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Sweden Turkey UAE South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia Sales office MITSUBISHI ELECTRIC AUTOMATION INC 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A MITSUBISHI ELECTRIC AUTOMATION INC Mexico Branch M
46. ector Encoder connector Receptacle housing 1 1827862 5 Tab housing J21DPM 10V KX 2 Encoder connector MR J3WO3CN2 2P Receptacle contact 1827587 2 Tab contact SJ2M 01GF M1 0N set Qty 2 sets TE Connectivity Ltd Company J S T Mfg Co Ltd LL Applicable cable Wire size 0 2 mm to 0 38 mm AWG 24 to 22 Encoder connector 25 Insulator OD 1 11 mm to 1 53 mm 3 set Qty 20 sets Merion Crimping tool 1762846 1 is required for the servo amplifier connector and crimping tool YRS 8861 is required for the encoder connector MR J4WO3PWCBL1M H im x1 Power connector Servo motor power MR JAWOSPWCBL2M H zm Tab housing J21DPM 06V KX 4 cable MR JAWOSPWCBLSM H 5m Tab contact BJ2M 21GF M1 0N 4 for standard servo IMR JAWOSPWCBLIOM H ST Mig motor MR J4W03PWCBL20M H 20m MR JAWOSPWCBLS3OM H 30m MR J4WO3PWBRCBL1M H 1m Servo motor power xi Power connector E Meo WEGENER Em Tab housing J21 DPM 06V KX 5 for the servo motor MR JAWOSPWBRCBL5M H 5m Tab contact BJ2M 21GF M1 0N n TEE J S T Mfg Co Ltd with electromagnetic MR J4WO3PWBRCBL10M H 10m i brake MR J4WO3PWBRCBL20M H 20m E MR JAWO3SPWBRCBL3O0M H 30m Servo motor power Power connector Tabh J21DPM 06V KX 6 connector set MR J4WO3CNP2 2P s conem BJ2M 21GF M1 0N Qty 2 pcs J S T Mfg Co Ltd Applicable cable Servo motor power Wire size 0 34
47. ed Control Operation Main control circuit power supply connection Servo amplifier MR J4 03A6 MR J4 03A6 RJ MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Servo motor connection Refer to Connection Example of JNIA oO CNP1 MR J4 03A6 MR J4 03A6 RJ and Servo Motor in U this brochure V Power cable E The connection differs according to the power voltage CNP1 Refer to Main Control Circuit Power Supply Connection 24 1 Example for MR J4 03A6 MR J4 03A6 Ru in this 0 5 brochure PM 2 a IL z CN1 24 V DC power supply DICOM 20 for interface DOCOM 46 Encoder Z phase pulse lt SoZ 8 differential line driver lt 11 211 LZR 9 Encoder A phase pulse 4 differential line driver lt e 5 Encoder B phase pulse LB 6 differential line driver LBR 7 Control common s El Control common 34 Encoder Z phase pulse 33 A Open collector Plate Zm or shorter 10 m or shorter Main circuit Note 3 Forced stop 2 power supply 2 42 Servo on amp SON 15 Reset amp RES 19 Speed selection 1 34 SP1 41 Speed selection 2 1SP2 16 Forward rotation start amp
48. ess settable automatic retract on dog back to home position automatic stroke retract function Returns to home position upon the encoder pulse count after touching proximity dog Count type Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position without dog Data set type Any position settable as a home position using manual operation etc Home position address settable Stopper type Returns to home position upon hitting the stroke end Home position return direction selectable home position address settable Home position ignorance Sets a home position where SON Servo on signal turns on servo on position as home position Home position address settable Returns to home position with reference to the rear end of proximity dog Dog type rear end i eee m vm Home reference Home position return direction selectable home position shift distance settable home position position address settable automatic retract on dog back to home position automatic stroke retract function Count type front end Returns to home position with reference to the front end of proximity dog 7 referenc Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retrac
49. ignation for 2 Axis Servo Amplifier WB MR J4W2 0303B6 Mitsubishi Symbol Main circuit power supply general 6 48 V DC 24 V DC purpose AC servo amplifier MELSERVO J4 Symbol Interface Series B SSCNET III H Rated output W Symbol A axis Note 1 B axis Note 1 0303 30 30 Symbol Number of axes W2 2 axes Model Designation for Servo Motor HG AKO0136B Special specification Standard I Elect ti gctemagneticibrake S100 Vertical encoder cable lead None None B Installed nstalied Symbol Shaft end N t trai Symbol Power supply 2 rs ah 6 48 V DC 24 V DC Symbol Rated speed r min 3 3000 Symbol Rated output W 01 10 Symbol Inertia capacity 02 20 HG AK Ultra compact size ultra small capacity 03 30 Notes 1 A axis and B axis indicate names of axes of the 2 axis servo amplifier 2 Refer to HG AK Series Electromagnetic Brake Specifications in this brochure for the available models and detailed specifications 3 Refer to HG AK Series Special Shaft End Specifications in this brochure for details Combinations of Servo Amplifier and Servo Motor Servo amplifier Servo motor MR J4W2 0303B6 Kia IA os AMI lagna HG AK0136 HG AK0236 HG AK0336 E MR J4W2 0303B6 EY MR J4 03A6 MR J4 03A6 RJ MR J4W2 0303B6 2 axis SSCNET Interface Specifications Servo amplifie
50. ing to the power voltage CNP1 CNP1 MR J4 03A6 MR J4 03A6 RJ and Servo Motor in Refer to Main Control Circuit Power Supply Connection 24 1 3 U this brochure Example for MR J4 03A6 MR J4 03A6 Ru in this brochure 0 5 4 V PM 2 d Ww Power cable E 6 8 E CN1 E OPC 12 Encoder cable 24 V DC power supply FL DICOM 20 34 i for interface DOCOM 46 Encoder Z phase pulse lt 22 2 8 Em differential line driver H LZR 9 L3 Encoder A phase pulse lt mH LA 4 Servo motor differential line driver iti I TAR 5 Encoder B phase pulse lt LB 6 differential line driver 7 Control common I Control common T Tt LG 34 Encoder Z phase pulse PR 33 wre Open collector SD Plate 2 m or shorter 10 m or shorter Main circuit Note 3 Forced stop 2 power Supply p EM2 42 Servo on 4 SON 15 7 Operation mode selection 1 1 MDO 16 Forward rotation start 3 911 17 reo 4 CN4 Mount an optional battery Reverse rotation start 3 41 S12 18 gom 1 BAT MR BAT6V1SET A for absolute position Proximity dog DOG 45 go 2 LG detection system Forward rotation stroke end 4 4LSP 43 c Reverse rotation stroke end 7 EN Point table No selection 1 D0 19 ry 1 Point table No selection 2 3 DH EN Personal computer Point table No selection 3 D2
51. l Dwell MOVI 100 i 100 ms i 100 ms i 100 ms 100 ms TIM 100 i i NEXT Position address 0 1000 1100 1200 1300 STOP Start signal MR Configurator2 is required to create programs Program No 1 X Indexer turret method MR J4 03A6 Ru E Positioning operation is performed by specifying equally divided stations up to 255 stations By setting the number of teeth on load and motor sides and equally divided stations the travel distance will be calculated automatically The positioning operation is performed with a start signal after selecting the station position No In addition to rotation direction specifying indexer and shortest rotating indexer backlash compensation and override function are also available Station No 0 Station No 7 i Station No 1 p Station No Station No 2 us Station No 3 Station No t x Station No 4 MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Model Designation for 1 Axis Servo Amplifier A EX MR J4 03A6 tL i Symbol Special specification Mitsubishi None Standard R Positioni tibl Symbol Interface Symbol Main circuit power supply 2 ositioniing servo amplifier General purpose 6 48 V DC 24 V DC MELSERVO J4 Series Symbol Rated output W 03 30 Model Des
52. mic brake is electronic The electronic dynamic brake does not operate when the control circuit power is off It may not operate depending on alarms and warnings Refer to MR J4 A RJ MR J4 03A6 RJ Servo Amplifier Instruction Manual for details 4 When using the built in dynamic brake refer to MR J4 A RJ MR J4 03A6 RJ Servo Amplifier Instruction Manual for the permissible load to motor inertia ratio 5 When the servo amplifiers are closely mounted keep the ambient temperature within 0 C to 45 MR J4 03A6 MR J4 03A6 RJ Standard Wiring Diagram Example EX Position Control Operation Connecting to RD75D position servo incremental Servo amplifier MR J4 03A6 MR J4 03A6 RJ Main control circuit power supply connection Seno moter connection The connection differs according to the power voltage Refer 19 conection Example of RS CNP1 CNP1 MR J4 03AG MR J4 03A6 RJ and Servo Motor in Refer to Main Control Circuit Power Supply C
53. mm to 0 75 mm AWG 22 to 19 7 connector set MR J4WO3CNP2 20P Insulator OD 1 4 mm to 1 9 mm Crimping tool YRF 1120 is required for the power connector Cables and Connectors for MR JAW2 0303B6 MR J4 03A6 MR J4 03A6 RJ IP Item Model Gele Description length rating Servo amplifier connector Personal computer connector Personal computer mini B connector 5 pins A connector 8 communication cable MR J3USBCBL3M 3m E USB cable Do not use this cable for SSCNET III H compatible controller For unlisted lengths and fabricating cables i For unlisted lengths of the cables please contact Mitsubishi Electric System amp Service Co Ltd OVERSEAS BUSINESS PROMOTION DIVISION Email osb webmaster melsc jp For fabricating encoder cables with these connectors please contact Mitsubishi Electric System amp Service Co Ltd OVERSEAS BUSINESS PROMOTION DIVISION Email osb webmaster melsc jp 30 Cables and Connectors for MR J4W2 0303B6 Item Model cane 1 Description length rating Lj Power connector
54. ms Servo motor speed 1 Speed T r min 4 Dwell y 100 ms 7 Dwell 100 ms Position address 0 1000 1100 1200 1300 6 Incremental value travel command 100 x 1057 um 3 Absolute value travel command 1000 x 1057 um Steps 6 and 7 are repeated for the number of times specified by step 5 Notes 1 The values in SPN STA STB and STC commands remains valid until they are reset The values will not be initialized at the start of the program The settings are also valid in other programs 20 MR J4 03A6 RJ Standard Wiring Diagram Example Program Method Main control circuit power supply connection Servo amplifier MR J4 03A6 RJ Servo motor connection Refer to Connection Example of The connection differs according to the power voltage CNP1 CNP1 MR J4 03A6 MR J4 03A6 RJ and Servo Motor in Refer to Main Control Circuit Power Supply Connection 24 1 3 U this brochure Example for MR J4 03A6 MR J4 03A6 Ru in this brochure
55. n No decreasing direction with SIG Rotation direction decision off and in the increasing direction with SIG on When ST1 Forward rotation direction turns on the travel amount will be calculated from the current position and the next station position and then the positioning will be executed to the direction specified by the rotation direction decision The following timing chart is an example of the operation executed from the station No 0 where the servo motor is stopped at servo on The number of stations 8 ON MDO d lection 1 Operation mode selection 1 OFF MD1 O ti d lection 2 Operation mode selection 2 OFF SIG Rotation direction decisi Rotation direction decision OFF ON ST1 d rotati tart Forward rotation start OFF i Next station position Next station position input No 1 X Automatic operation speed 1 i Servo motor speed Station position No 1 ON __ pe MEND Ti leti Travel completion OFF Shortest rotating indexer In the shortest rotating indexer the servo motor automatically rotates in the shorter direction Turn on both MDO Operation mode selection 1 and MD1 Operation mode selection 2 When ST1 Forward rotation direction turns on the travel amount will be calculated from the current position and the next station position and then the positioning will be executed in the shorter direction The following timing chart i
56. ng operation is executed with DI or RS 422 communication function according to the speed command set with a parameter Automatic Each positioning operation operation mode Manual JOG operation ER Manual pulse generator Manual feeding is executed with a manual pulse generator operation Command pulse multiplication select from x1 x10 and x100 with a parameter Returns to home position upon Z phase pulse after passing through proximity dog Dog type Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position upon the encoder pulse count after touching proximity dog Count type Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position without dog Data set type Any position settable as a home position using manual operation etc Home position address settable Returns to home position upon hitting the stroke end Home position return direction selectable home position address settable Stopper type Home position ignorance servo on position as home Sets a home position where SON Servo on signal turns on Home position address settable Operation position mode Returns to home position
57. nt of With elect i electromagnetic d inertia J 9 x 10 kg m 0 0042 0 0058 0 0074 Recommended load to motor inertia ratio 30 times or less Sposd nosition detector Absolute incremental 18 bit encoder resolution 262144 pulses rev Oil seal None Insulation class 130 B Structure Totally enclosed natural cooling IP rating IP55 Ambient temperature Operation 0 C to 40 C non freezing storage 15 C to 70 C non freezing Ambient humidity Operation 80 RH maximum non condensing storage 90 RH maximum non condensing Environment Ambience Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Altitude 1000 m or less above sea level Vibration resistance X 49 m s Y 49 m s Vibration rank V10 Compliance to global standards Refer to Conformity with Global Standards and Regulations on p 27 in this brochure Permissible L mm 16 16 16 load for the Radial N 34 44 49 5 shaft Thrust N 14 14 14 Standard kg 0 12 0 14 0 16 Mass With electromagnetic g kg 0 22 0 24 0 26 brake Notes 1 Contact your local sales office if the load to motor inertia ratio exceeds the value in the table 2 The shaft through portion the connector and the power cable leading part are excluded Refer to the asterisk 7 of the following for the shaft through portion 3 When unbalanced torque is generated such as in a vertical lift machine keep the unbalanced torque of the ma
58. nt to the permissible charging amount decelerates from the rated speed to a stop 3 This value is the moment of inertia when the rotary servo motor decelerates from the rated speed to a stop When two axes are simultaneously decelerated the permissible charging amount is equivalent to the total moments of inertia of the two axes Otherwise the permissible charging amount is equivalent to the moment of inertia of each axis Initial value is 48 V DC For 24 V DC set Pr PC05 to 1 Servo motor characteristics vary depending whether the voltage is 48 V DC or 24 V DC Refer to HG AK Series Ultra compact Size Ultra small Capacity Specifications and HG AK Series Torque Characteristics in this brochure 5 The dynamic brake is electronic The electronic dynamic brake does not operate when the control circuit power is off It may not operate depending on alarms and warnings Refer to MR JAW2 B MR JAWS8 B MR J4W2 0303B6 Servo Amplifier Instruction Manual for details 6 When using the built in dynamic brake refer to MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 for the permissible load to motor inertia ratio 7 When the servo amplifiers are closely mounted keep the ambient temperature at 45 or lower or keep the total load of the two axes at 45 W or lower 8 The command communication cycle depends on the controller specifications and the number of axes connected 4 MR J4W2 0303B6 Standard Wiring Diagram Example Main control circuit
59. nuous operation without stopping for the point table selected at the start 9 Executes automatic continuous operation without stopping for the point table No 1 2 When using as incremental value command method 2 Executes automatic operation for a selected point table 3 Executes automatic continuous operation without stopping for the next point table Executes automatic continuous operation without stopping for the point table selected at the start Executes automatic continuous operation without stopping for the point table No 1 10 11 M code 0 to 99 Set a code to be outputted when the positioning completes Notes 1 Change the unit to um inch degree pulse with Pr PTO1 2 STM is the ratio to the setting value of the position data STM can be changed with Pr Example of setting point table data Target position Servo motor Acceleration Deceleration P Point table No Position data speed time constant time constant Sub function M code x 10 um r min ms ms ims Note 1 1 1000 2000 200 200 0 1 2 2000 1600 100 100 0 0 2 255 3000 3000 100 100 0 2 99 The operation of the next point table is set with the sub function When the sub function is set to 1 Automatic continuous operation is executed based on the point table When the sub function is set to 0 Start signal is required for each point table
60. ome position address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position to Z phase pulse with reference to the first Z phase pulse Dogless Z phase reference Home position return direction settable home position shift distance settable home position address settable Dog cradle type Dog type front end reference Automatic positioning to home position function High speed automatic positioning to a defined home position Absolute position detection system backlash compensation overtravel prevention Other functions with external limit switches LSP LSN teaching function roll feed display function software stroke limit mark detection current position latch analog override function Notes 1 STM is the ratio to the setting value of the position data STM can be changed with Pr 2 Up to 99 point tables are settable with the push buttons on the servo amplifier To set 100th or later point table use MR Configurator2 14 MR J4 03A6 RJ Positioning Function Point Table Method Absolute value command method travels to a specified address absolute value with reference to the home position Item Setting range Description Point table No 1to 255 Specify a point table in which a target position servo motor speed acceleration deceleration time constants dwell and sub function will be set Targe
61. onnection 24 1 3 U this brochure Example for MR J4 03A6 MR J4 03A6 Ru in this 0 5 4 V brochure PM 2 7 Power cable es 6 8 E Il CN2 24 V DC power supply T d for interface CN1 Encoder cable 2 Name Pin No DICOM 20 i i 9 CLEAR COM 14 cf ri DOCOM 46 Note 3 CLEAR _ _13 1 CR 41 P RDY COM See Servo motor READY EN E RD 49 44 2 PULSE F ENS 7 H PP 101 amp PULSEF __16 H PG 11 EN USER __i7 35 h PULSER __18 H F1 NG 36 a 5 ES T H 2 8 d PGO COM 210 ts Lj LZR 9 Control common i LG 3 I1 Mount an optional battery Note 1 ITA 1 MR BAT6V1SET A for absolute position Encoder A phase pulse a a LA 4 E detection system differential line driver 53 LAR 5 2 Encoder B phase pulse lt _ LB 6 1 differential line driver 7 Control common d Personal computer Control common oes LG 34 Encoder Z phase pulse lt j OP 33mg Open collector Utt Plate e ILL amp l H etup software 2 m or shorter USB cable R Configurator2 10 m or shorter ote Main circuit Note 4 Note 3 ower su EE Note Forced stop 2 Bow com d EM2 42 534 Servo on 4SON 15 Reset 43 RES 19rg 1 Proportional control gt Pe 17 r External torque limit selection 18 71 Forward rotation stroke end 3
62. ontact must be open when the external emergency stop switch CALM AND malfunction or the Note 3 MBR Electromagnetic brake CNP1 interlock turns off ees Note 4 CN2A CN2B Note 6 4A P5 4B LG L m LZ x 5B BAT ta 1A MR m 1B MRR 77777777777777 Notes 1 Use 24 V DC and 48 V DC power supplies with reinforced insulation and connect the negative side wiring 0 V to the power supply terminal 2 Select either of the following functions for CALM AND malfunction with the controller 1 The contact opens when an alarm occurs on one of the axes 2 The contact opens when an alarm occurs on all axes 3 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 4 Noiseless grounding terminals are connected to E1 and E2 terminals in the servo amplifier Connect the noiseless terminals of CNP1 and the grounding terminal of the cabinet 5 Do not use the 24 V DC interface power supply for the electromagnetic brake Provide a dedicated power supply to the electromagnetic brake 6 Encoder cable is available as an option Refer to Servo Motor Instruction Manual Vol 3 when fabricating the cables Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions
63. open by an Contact must be open when brake external emergency stop switch the ALM Malfunction or the Note 2 MBR Electromagnetic brake CNP1 interlock turns off 8 Note 3 CN2 Note 5 4A P5 z 4B LG F1 E ED 5B BAT 1 MR HT 1B MRR TAE 5A Sb Notes 1 Use 24 V DC and 48 V DC power supplies with reinforced insulation 2 This is for the servo motor with electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity 3 Noiseless grounding A terminal is connected to E terminal in the servo amplifier Connect the noiseless A terminal of CNP1 and the grounding terminal of the cabinet 4 Do not use the 24 V DC interface power supply for the electromagnetic brake Provide a dedicated power supply to the electromagnetic brake 5 Encoder cable is available as an option Refer to Servo Motor Instruction Manual Vol 3 when fabricating the cables Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 13 MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor MR J4 03A6 RJ Positioning Function Point Table Method A Ru Positioning operation is executed by selecting the point table No with a command interface signal according to the position and s
64. peed data set in the point table Item Description Command interface DIO input 11 points excluding EM2 Forced stop 2 output 6 points RS 422 communication Operating specification Positioning by specifying the point table No 255 points Set in the point table Absolute value Setting range of feed length per point 999999 to 999999 x10 um Position command method 99 9999 to 99 9999 x10 inch 999999 to 999999 pulse command Setting range of rotation angle 360 000 to 360 000 degree input Set in the point table Command method Incremental value Setting range of feed length per point 0 to 999999 x10 um command method 0 to 99 9999 x10 inch 0 to 999999 pulse Setting range of rotation angle O to 999 999 degree Set the acceleration deceleration time constants in the point table SPEU Set the S pattern acceleration deceleration time constants with Pr PCO3 System Signed absolute value command method incremental value command method Analog override 0 V DC to 10 V DC 0 to 200 Torque limit Set by parameters or external analog input 0 V DC to 10 V DC maximum torque Point table No input position data input method Each positioning operation is executed based on the position speed commands Automatic continuous Varying speed operation 2 to 255 speeds positioning operation automatic continuous positioning operation 2 to 255 points Inchi
65. r model MR J4W2 0303B6 Rated voltage 3 phase 13 VAC Output ao Soe A 24 Main Voltage 48 V DC 24 V DC circuit For 48 V DC 2 4 A power Rated current A For 24 V DC 48A supply Permissible voltage For 48 V DC 40 8 V DC to 55 2 V DC input fluctuation For 24 V DC 21 6 V DC to 26 4 V DC CONI Voltage 24 V DC d Rated current A 0 5 power Permissible voltage 21 6 V DC to 26 4 V DC fluctuation Supply input Power WW 10 consumption Interface power supply 24 V DC 10 required current capacity 0 25 A Control method Sine wave PWM control current control method Reusable regenerative energy J 0 9 Note 2 Moment of inertia J regeneration E equivalent to permissible 0 18 charging amount i x 10 kg m Tolerable regenerative power of WW 13 the built in regenerative resistor Dynamic brake Built in e 5 9 SSCNET III H command communication cycle Note 8 0 222 ms 0 444 ms 0 888 ms Communication function USB Connect a personal computer MR Configurator2 compatible Encoder output pulse Compatible A B phase pulse Analog monitor 2 channels Fully closed loop control Not compatible Servo function Advanced vibration suppression control Il adaptive filter Il robust filter auto tuning one touch tuning vibration tough drive function drive recorder function tightening amp press fit
66. s Set a time period for the servo motor to decelerate from the rated speed to a stop Dwell 0 to 20000 ms Set a dwell When the dwell is set the position command for the next point table will be started after the position command for the selected point table is completed and the set dwell is passed The dwell is disabled when 0 is set for the sub function Varying speed operation is enabled when 1 8 or 9 is set for the sub function and when 0 is set for the dwell Set sub function 0 Executes automatic operation for the selected point table 1 Executes automatic continuous operation without stopping for the next point table Bo To 8 Executes automatic continuous operation without stopping for the point table selected at the start 9 Executes automatic continuous operation without stopping for the point table 1 M code 0 to 99 Set a code to be outputted when the positioning completes Notes 1 Change the unit to um inch degree pulse with Pr PTO1 2 STM is the ratio to the setting value of the position data STM can be changed with Pr Example of setting point table data Target position servo motor Acceleration Deceleration Point table No VUL e speed time constant time constant lins Sub function M code x Note fs r min ms ms 1 1000 2000 200 200 0 1 2 1000 1600 100 100 0 0 2 255 3000 3000 100 1
67. s an example of the operation executed from the station No O where the servo motor is stopped at servo on 4 3 5 TON 2 6 The number of stations 8 CC 1 Y 7 w 0 ON MDO Operation mode selection 1 OFF MD1 ti d lection 2 On Operation mode selection 2 OFF ON T1 d rotati tart ST1 Forward rotation start OFF i Next station position Next station position input x No 1 i Automatic operation speed 1 i Servo motor speed Station position No 1 ON E MEND Travel completion OFF 23 MR J4 03A6 RJ Standard Wiring Diagram Example Indexer Turret Method Main control circuit power supply connection Servo amplifier MR J4 03A6 RJ MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Servo motor connection Refer to Connection Example of The connection differs according to the power voltage CNP1 CNP1 MR J4 03A6 MR J4 03A6
68. s turned off 4 012 and DI3 are assigned to CN1 10 pin and CN1 35 pin respectively in the initial setting Change them with Pr PD44 and Pr PD46 when using a manual pulse generator 5 Assign the output devices mentioned to CN1 22 pin CN1 23 pin and CN1 25 pin with Pr PD23 Pr PD24 and Pr PD26 Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 17 MR J4 03A6 RJ Positioning Function Program Method MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Positioning operation is executed by selecting programs with command signals The programs including position data servo motor Speed acceleration deceleration time constants and others need to be created beforehand The program method enables more complex positioning operation than the point table method MR Configurator2 is required to create programs Item Description Command method Command interface DIO input 11 points excluding EM2 Forced stop 2 output 6 points RS 422 communication Operating specification Program language program with MR Configurator2 Program capacity 640 steps 256 programs Absolute value Set with program language command Setting range of feed p oap to 999999 10 um Position ey 99 9999 to 99 9999 10 inch 999999 to 9
69. stem amp Service Co Ltd OVERSEAS BUSINESS PROMOTION DIVISION Email osb webmaster melsc jp 31 MR J4W2 0303B6 Servo Amplifier MR J4 03A6 MR J4 03A6 RJ Servo Amplifier HG AK Series Servo Motor Battery MR BAT6V1SET A f A The absolute position data can be retained by mounting the battery on the servo amplifier MR BAT6V1SET A is reusable by replacing the built in MR BAT6V1 batteries MR BAT6V1SET A is not required for incremental system Appearance Mounting method For MR J4W2 0303B6 For MR J4 08A6 MR J4 03A6 RJ Attach the battery and then insert the Attach the battery plug to CN4 connector and then insert the plug to CN4 connector NC d Model MR BAT6V1SET A Nominal voltage 6 V Nominal capacity 1650 mAh Lithium content 1 2 g Primary battery 2CR17335A CR17335A x 2 pcs in series Mass 559 MR J3BAT battery cannot be used because of the difference in voltage Notes 1 MR BAT6V1SET A is an assembled battery composed of lithium metal batteries of CR17335A This battery is not subject to the dangerous goods Class 9 of the UN Recommendations To transport lithium metal batteries and lithium metal batteries contained in equipment by means of transport subject to the UN Recommendations take actions to comply with the following regulations the United Nations Recommendations on the Transport of Dangerous Goods the Technical Instruction ICAO TI
70. suring is constant as with vertical feeds ep position 3 In the environment where the servo motor is exposed to oil mist oil and or water Boto a standard specification servo motor may not be usable Contact your local sales 7 office for more details Li 4 The vibration direction is shown in the diagram to the right Servo motor 7 Refer to the diagram below for shaft through portion The value in the table indicates the maximum value of the component commonly the bracket in the opposite direction of x hy the servo motor shaft Keep the vibration level at approximately a half of the permissible value because fretting tends to occur on the bearing when the servo motor stops Shaft through portion 26 HG AK Series Electromagnetic Brake Specifications Model HG AK 0136B 0236B 0336B Type Spring actuated type safety brake Rated voltage 24 V DC 4996 Power consumption W at 20 1 8 Electromagnetic brake static friction N m 0 095 torque Permissible Per braking J 4 6 braking work Per hour J 46 Electromagnetic Number of brakings Times 20000 brake life Work per braking J 1 Notes 1 The electromagnetic brake is for holding It should not be used for deceleration applications 2 Brake gap is not adjustable Electromagnetic brake life is defined as the time period until the readjustment is needed
71. t LAR B 18 i Encoder B phase pulse for B axis lt LB B 6 2 Powercable differential line driver Lij LBR B 19 E2 Control common 4 325 3 LG 14 CN2B 10 m or shorter 19D Plate _ T Encoder cable Note 6 AND malfunction Rr CALM 1 i Protas Noen 24y I Electromagnetic brake interlock for A axis 4 By MBR A 12 p Electromagnetic brake interlock for B axis 1 MBR B 25 M motor E 8 MR BATOVISET A for absol E ite position 24 V DC power supply H DICOM 23 J or absolu for interface 26 2 detection system Note 8 Main circuit Note 1 Forced stop 2 pane supei y EM2 0 HH Personal compu er Upper stroke limit for A axis FLS 6 1 DI1 A Bu 1 Lower stroke limit for A axis RLS 4 3 4 DI2 A BI 9 1 T J Note 5 Proximity dog for A axis DOG ____ DI3 A eS Setup software Upper stroke limit for B axis FLS amp DI1 B 20 USB cable MR Configurator2 Lower stroke limit for B axis RLS 4 F 4 DI2 B 21 H Proximity dog for B axis DOG DI3 B 22 4 Servo amplifier Note 3 m or shorter MR J3BUS M MR J4W2 0303B6 Analog monitor output ues MR J3BUS M A B cable Output voltage 10 V 5 V H Tf MO1 2 ET pe Maximum output current 1 mA H 1 1 5 Output voltage 10 V 5 V 4 i3 t MO2 15 MR J8BUS M Maximum output current
72. t function Dog cradle type Returns to home position upon the first Z phase pulse with reference to the front end of proximity dog Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Dog type adjacent Z phase reference Returns to home position upon the last Z phase pulse with reference to the front end of proximity dog Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Dog type front end reference Returns to home position to the front end of dog with reference to the front end of proximity dog Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Dogless Z phase reference Returns to home position to Z phase pulse with reference to the first Z phase pulse Home position return direction settable home position shift distance settable home position address settable Automatic positioning to home position function High speed automatic positioning to a defined home position Other functions Absolute position detection system backlash compensation overtravel prevention with ex
73. t position position data 999999 to 999999 x10 um 99 9999 to 99 9999 x10 inch 360 000 to 360 000 degree 999999 to 999999 pulse Set a travel distance 1 When using as absolute value command method Set a target address absolute value 2 When using as incremental value command method Set a travel distance Reverse rotation command is applied with a minus sign Servo motor speed 0 to permissible speed r min Set a command speed for the servo motor in positioning Acceleration time constant 0 to 20000 ms Set a time period for the servo motor to reach the rated speed Deceleration time constant 0 to 20000 ms Set a time period for the servo motor to decelerate from the rated speed to a stop Dwell 0 to 20000 ms Set dwell When the dwell is set the position command for the next point table will be started after the position command for the selected point table is completed and the set dwell is passed The dwell is disabled when 0 or 2 is set for the sub function Varying speed operation is enabled when 1 3 8 9 10 or 11 is set for the sub function and when 0 is set for the dwell Sub function 0 to 3 and 8 to 11 Set sub function 1 When using as absolute value command method 0 Executes automatic operation for a selected point table 1 Executes automatic continuous operation without stopping for the next point table 8 Executes automatic conti
74. ternal limit switches LSP LSN roll feed display function software stroke limit mark detection current position latch analog override function Notes 1 STM is the ratio to the setting value of the position data STM can be changed with Pr 18 MR J4 03A6 RJ Positioning Function Program Method Command List Command Name Setting range Description SPN setting value Note 2 Servo motor speed 0 to instantaneous permissible speed r min Set a command speed for the servo motor in positioning Do not set a value exceeding the instantaneous permissible speed of the servo motor STA setting value Note 2 Acceleration time constant 0 to 20000 ms Set acceleration time constant The setting value is a time period that the servo motor reaches the rated speed from a stop STB setting value Note 2 Deceleration time constant 0 to 20000 ms Set deceleration time constant The setting value is a time period that the servo motor stops from the rated speed STC setting value Note 2 Acceleration deceleration time constants 0 to 20000 ms Set acceleration and deceleration time constants The setting value is a time period that the servo motor reaches the rated Speed from a stop and stops from the rated speed STD setting value Note 2 S pattern acceleration deceleration time constants 0 to 1000 ms Set S pattern acceleration
75. the same as those for HG AK_ except for the dimensions Conformity with Global Standards and Regulations Available model MR J4W2 0303B6 MR J4 03A6 MR J4 03A6 RJ HG AK series Low voltage directive EN 61800 5 1 EN 60034 1 EN 60034 5 m FC directive EN 61800 3 EN 60034 1 RoHS directive Compliant Compliant UL standard UL 508C NMMS2 UL 1004 1 UL 1004 6 CSA standard CSA C22 2 No 14 CSA C22 2 No 100 Measures for Administration of the Pollution Control of Electronic Information Products Chinese RoHS Compliant optional cables and connectors Compliant optional cables and connectors China Compulsory Certification CCC N A N A Korea Radio Wave Law KC Compliant N A Notes 1 When exporting the product follow the local laws and regulations 2 Refer to Servo Amplifier Instruction Manual and EMC Installation Guidelines when your system needs to meet the EMC directive 27 Servo Motor Dimensions e HG AK0136 B HG AK0236 B HG AK0336 B 200 L 16 a gt 8 Note 5 ey 5 4 25 13 i N j h U 4i 7 o5h6 3 4 15 4 sh Encoder cable Housing J21DF 10V KX L CL KL W cH For servo motor withou
76. tive overvoltage shut off overload shut off electronic thermal servo motor overheat protection encoder error protection regenerative error protection undervoltage protection instantaneous power failure protection overspeed protection error excessive protection Compliance to global standards Refer to Conformity with Global Standards and Regulations on p 27 in this brochure Structure IP rating Natural cooling open IP20 Close mounting Possible 5 DIN rail mounting 35 mm wide Possible Ambient temperature Operation 0 C to 55 C non freezing storage 20 C to 65 non freezing Ambient humidity Operation storage 90 RH maximum non condensing Environment Ambience Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Altitude 1000 m or less above sea level Vibration resistance 5 9 m s at 10 Hz to 55 Hz directions of X Y and Z axes Mass kg 0 2 Notes 1 Rated output and speed of a servo motor are applicable when the servo amplifier combined with the servo motor is operated within the specified power supply voltage 2 Initial value is 48 V DC For 24 V DC set Pr PC27 to 1 Servo motor characteristics vary depending whether the voltage is 48 V DC or 24 V DC Refer to HG AK Series Ultra compact Size Ultra small Capacity Specifications HG AK Series Torque Characteristics in this brochure 3 The dyna
77. top 2 when the main circuit power is turned off Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions Main Control Circuit Power Supply Connection Example for MR J4W2 0303B6 KCN e For 48 V DC e For 24 V DC Note 2 Servo amplifier Note 2 Servo amplifier AND malfunction Off On AND malfunction Of On RA1 M RAI M dr T n 5 271 0 HAZ Emergency RA2 stop switch stop switch 1 24V DC 24 V DC Note 1 Circuit CNP1 Note 1 Circuit CNP1 24V DC protector Built in 26 DC protector Built in 24 6 regenerative 24 6 regenerative o 12 resistor o 12 resistor 48 V DC i 2 5 x RAZ PM 5 Note 1 al 11 Connection Example of MR J4W2 0303B6 and Servo Motor WB Servo amplifier MR J4W2 0303B6 cp Servo motor z HG AK series A axis B axis A axis B axis 4 2 U1 U2 3 1 vi V2 10 8 1 W2 Note 4 24 V DC for the gt electromagnetic brake Note 5 Electromagnetic brake Contact must be open by an C
78. turn off EM2 Forced stop 2 when the main circuit power is turned off Be sure to read through Instruction Manual for the actual wiring and use Use the equipment after you have a full knowledge of the equipment safety information and instructions 10 MR J4 03A6 MR J4 03A6 RJ Standard Wiring Diagram Example Torque Control Operation Main control circuit power supply connection Servo amplifier MR J4 03A6 MR J4 03A6 RJ Servo motor connection Refer to Connection Example of The connection differs according to the power voltage CNP1 CNP1 MR J4 03A6 MR J4 03A6 RJ and Servo Motor in Refer to Main Control Circuit Power Supply Connection 24 1 3 U this brochure Example for MR J4 03A6 MR J4 03A6 Ru in this 0 5 4 V brochure PM 2 7 Ww Power cable 4 E 6 8 E CN2 CN1 Encoder cable 1 24 V DC power supply ic DICOM 20 for interface DOCOM 46 Encoder Z phase pulse cz 8 differential line driver L LZR 9 E Servo motor Encoder A phase pulse lt r T r LA 4 differential line driver 1 1 LAR 5 Encoder B phase
79. witchable among position speed and torque Compatible with 4 Mpulses s Positioning module MR J4 03A6 Servo amplifier with built in positioning function Configuring positioning system including point to point control is possible without a Positioning module Point table program based and indexer turret methods are available Point table etc Point table Position Servo motor Acceleration Deceleration Dwell Sub No data speed time constant time constant function esis 1000 2000 200 200 0 1 1 2000 1600 100 100 0 0 2 3000 3000 100 100 0 2 99 Positioning module MR J4 03A6 RJ Features of Servo Amplifiers with Built in Positioning Function MR J4 03A6 RJ has a built in positioning function and enables positioning operation with point table program based and indexer turret methods allowing to configure positioning system without controller such as Positioning module Positioning commands are executed with DI O and RS 422 serial communication maximum 32 axes The positioning data can be set from MR Configurator2 easily Example of a setting display point table MR J4 08A6 RJ J Built in positioning function Point table method Program method Indexer turret method Easy setting of positioning data from MR Configurator2 Personal computer i
80. with reference to the rear end of proximity dog Dog type rear end A uu x que Home Home position return direction selectable home position shift distance settable home position m reference f position address settable automatic retract on dog back to home position automatic stroke retract function return Returns to home position with reference to the front end of proximity dog Count type front end Pe es T mode Home position return direction selectable home position shift distance settable home position referen i ee address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position upon the first Z phase pulse with reference to the front end of proximity dog Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position upon the last Z phase pulse with reference to the front Dog type adjacent Z phase end of proximity dog reference Home position return direction selectable home position shift distance settable home position address settable automatic retract on dog back to home position automatic stroke retract function Returns to home position to the front end of dog with reference to the front end of proximity dog Home position return direction selectable home position shift distance settable h

Servo Amplifier MR-J4W2-0303B6/MR-J4-03A6(-RJ)

Contents

Download Pdf Manuals

Related Search

Related Contents