Related Manuals for Mitsubishi Electric MELSERVO J5 Series
Summary of Contents for Mitsubishi Electric MELSERVO J5 Series
- Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Introduction) -MR-J5-_G_ -MR-J5W_-_G...
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Page 3: Safety Instructions
SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. -
Page 4: Disposal Of Waste
[Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work. -
Page 5: About The Manual
ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •... -
Page 6: U.s. Customary Units
Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr. -
Page 7: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE . - Page 8 Motor-less operation ..............59 Output signal (DO) forced output.
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Page 9: Chapter 1 Specifications
SPECIFICATIONS Outline MR-J5_-_G_ operates in the Ethernet open network (communication speed of up to 1 Gbps). One MR-J5W_-_G servo amplifier can drive two or three servo motors. The footprint of one MR-J5W_-_G servo amplifier is considerably smaller than that of two or three MR-J5-_G_ servo amplifiers. Model designation Rating plate The following shows an example of the rating plate for explanation of each item. - Page 10 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. ■MR-J5-_G_ M R - - 6 0 G Special specification Series Symbol Special specification Rated output None Standard Symbol Rated output [kW] Load-side encoder A/B/Z-phase input compatible Standard model without the dynamic brake MR-J5-_G-RJ without the dynamic brake...
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Page 11: Servo Amplifier/Motor Combinations
■MR-J5W_-_G M R - J 5 W 2 4 4 G Special specification Series Symbol Special specification Number of axes None Standard Number Symbol of axes Without the dynamic brake CC-Link IE TSN interface Rated output Rated output [kW] Symbol A-axis B-axis C-axis... -
Page 12: Servo Amplifier Standard Specifications
MR-J5-_G Mitsubishi Electric high-speed serial communication interface MR-J5-_G-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal 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, excessive error protection,... - Page 13 Compatible (A/B/Z-phase pulse) Analog monitor Two channels Fully closed loop control Supported Scale measurement function Supported Load-side encoder MR-J5-_G4 Mitsubishi Electric high-speed serial communication interface MR-J5-_G4-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal 1 SPECIFICATIONS 1.4 Servo amplifier standard specifications...
- Page 14 Model: MR-J5- 60G4 100G4 200G4 350G4 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, and excessive error protection Satisfied standards CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 UL standard...
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Page 15: Mr-J5W2-_G
Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication 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, excessive error protection,... -
Page 16: Mr-J5W3-_G
MR-J5W3-_G Model: MR-J5W3- 222G 444G Output Voltage 3-phase 0 V AC to 240 V AC Rated current (each axis) [A] Main circuit power Voltage/ At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz supply input Frequency At DC input... -
Page 17: Functional Safety
Functional safety • If using the MR-J5W_-_G, the functional safety is available on servo amplifiers manufactured after November 2019. Servo amplifier specifications Item Specifications MR-J5-_G(4) MR-J5-_G(4)-RJ/MR-J5W_-_G Safety Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC EN ISO 13849-1:2015 Category 4 PL e, IEC performance 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2... - Page 18 Function specifications Item Specifications Safety Shut-off response MR-J5-_G(4) 8 ms or less (when an input device is used) sub-function time (STO input off MR-J5-_G(4)-RJ 8 ms or less (when an input device is used) → energy shut off) *3 *4 *7 MR-J5W_-_G 60 ms or less (with CC-Link IE TSN) Deceleration delay time...
- Page 19 List of safety sub-function compatible units Servo Function Servo motor type Safety sub-function (IEC/EN 61800-5-2) amplifier achieving method SS1-t SS1-r SS2-t, (wiring SS2-r destination) MR-J5- DI/O Servo motor with Cat. _G(4) connection functional safety...
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Page 20: Environment
Environment Item Operation Transportation Storage Ambient temperature 0 ˚C to 60 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) Class 1K4 (IEC 60721-3-1) Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) Ambience... -
Page 21: Function Block Diagram
Function block diagram The following shows the function block diagram of this servo amplifier. MR-J5-_G_ 200 V class Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Diode stack Dynamic brake Relay circuit MCCB Current Power detector supply Regenerative Charge light... - Page 22 400 V class Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Diode stack Dynamic brake circuit Relay MCCB Current Power detector supply Regenerative Charge light Cooling fan Electromagnetic brake Control 24 V DC circuit power supply circuit switch Encoder Base...
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Page 23: Mr-J5W_-_G
MR-J5W_-_G The following is an example using MR-J5W3-_G. Regenerative option P+ C CNP1 CNP2 Diode Built-in stack regenerative A-axis Relay TRM (A) resistor servo motor MCCB Regenerative Power Current A-axis supply detector output Charge Dynamic light brake circuit A Cooling fan A-axis STO circuit Control... -
Page 24: Configuration Including Peripheral Equipment
Configuration including peripheral equipment • To prevent a malfunction, do not connect these connectors to any network other than the specified network. • Equipment other than the servo amplifier and servo motor is optional or a recommended product. The following is an example using MR-J5-20G-RJ. R S T Power supply CN1A... -
Page 25: Special Specifications
Special specifications Servo amplifiers without the dynamic brake (-ED/-RU) Summary This section describes the servo amplifiers without the dynamic brake. Items not described in this section are the same as the MR-J5-_G(4)(-RJ) and MR-J5W_-_G. Specifications The built-in dynamic brakes of the servo amplifiers with capacity of 7 kW or less are removed. Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power supply shut-off. -
Page 26: Chapter 2 Function
FUNCTION Function restrictions Category Detailed functions Network communication cycle restrictions (minimum) MR-J5-_G(4) MR-J5-_G(4)-RJ MR-J5W2-_G MR-J5W3-_G Control mode Profile position mode (pp) 250 μs 250 μs 500 μs 500 μs Profile velocity mode (pv) 250 μs 250 μs Not used Not used Profile torque mode (tq) 250 μs 250 μs... - Page 27 Drive motor Functions Detailed functions Description Ver. Detailed explanation Universal drive Linear servo motor Using the linear servo motor and linear encoder Refer to "USING A LINEAR enables the linear servo system to be SERVO MOTOR" in the configured. following manual. MR-J5 User's Manual (Hardware) Direct drive motor...
- Page 28 Position detection Functions Detailed functions Description Ver. Detailed explanation Control method Semi closed loop system This function uses the servo motor encoder to configure semi closed loop systems. Fully closed loop system This function uses the load-side encoder to Refer to "USING A FULLY configure fully closed loop systems.
- Page 29 Operation function Functions Detailed functions Description Ver. Detailed explanation Stop function Quick Stop This function stops the servo motor with a Refer to "Quick stop" in the specified method and switches to the servo-off following manual. status. MR-J5 User's Manual (Function) Halt This function stops the servo motor while the...
- Page 30 Control function Functions Detailed functions Description Ver. Detailed explanation Vibration Advanced vibration suppression This function suppresses vibration and residual Refer to "Advanced vibration suppression control II vibration at an arm end. suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance suppression This function decreases the gain of the specific...
- Page 31 Adjustment function Functions Detailed functions Description Ver. Detailed explanation Automatic Quick tuning This function automatically adjusts the gain at Refer to "Quick tuning" in the adjustment servo-on in a short time without acceleration/ following manual. deceleration operation of the servo motor. MR-J5 User's Manual Response without overshoot is possible, saving (Adjustment)
- Page 32 I/O, monitor Functions Detailed functions Description Ver. Detailed explanation DI/DO Input signal selection (device This function assigns input devices such as LSP Refer to "Assigning I/O selection) (Forward rotation stroke end) to certain pins of devices" in the following the connector. manual.
- Page 33 Engineering tool Functions Detailed functions Description Ver. Detailed explanation Setup software MR Configurator2 This function performs settings (such as servo 4 STARTUP parameter settings), test operation, and monitoring with a personal computer. *1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.
- Page 34 Functional safety Functions Detailed functions Description Ver. Detailed explanation Safety sub-function STO (Safe torque off) This servo amplifier supports the STO function Refer to "USING STO (When functional safety for functional safety as per IEC/EN 61800-5-2. FUNCTION" in the following parameters are not used) This allows a safety system to be easily manual.
- Page 35 Instantaneous power failure measures Functions Detailed functions Description Ver. Detailed explanation Tough drive SEMI-F47 function This function uses the electrical energy charged Refer to "Compliance with in the capacitor to avoid triggering [AL. 010 SEMI-F47 standard" in the Undervoltage] in case that an instantaneous following manual.
- Page 36 Diagnostics Functions Detailed functions Description Ver. Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo Refer to "Drive recorder" in status and records the state transition before the following manual. and after an alarm for a fixed period of time. The MR-J5 User's Manual recorded data can be checked by the (Function)
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Page 37: Security
Security To completely prevent unauthorized access to the system from external devices, the user also must take safety measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access. 2 FUNCTION 2.2 Security... -
Page 38: Chapter 3 Structure
STRUCTURE Parts identification MR-J5-_G_ The diagram shows MR-J5-10G-RJ. Inside of the display cover SFTY (14) (20) Side (15) (16) (10) (11) (17) (12) (13) (18) (19) Bottom Name Application Detailed explanation Page 40 Switch setting and Display section The 3-digit, 7-segment LED display shows the servo status and alarm number. - Page 39 Name Application Detailed explanation (10) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin assignments" in the following manual. MR-J5 User's Manual (Hardware) (11) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 37 External encoder connector (12)
- Page 40 MR-J5W_-_G (21) Inside of the display cover (10) (12) SFTY (13) (14) (22) Side (15) (16) (17) (18) (19) (20) (11) Name Application Detailed explanation Display section The 3-digit, 7-segment LED display shows the servo status and Page 40 Switch setting and alarm number.
- Page 41 Name Application Detailed explanation (15) Functional safety I/O signal connector Connect an external safety relay to use the STO function. When Refer to "USING STO (CN8) using other safety-sub functions, refer to "FUNCTIONAL SAFETY" FUNCTION" and "USING in the following manual. FUNCTIONAL SAFETY"...
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Page 42: Switch Setting And Display Of The Servo Amplifier
Switch setting and display of the servo amplifier Switching to the test operation mode and configuring network setting can be done with switches on the servo amplifier. The network communication status and alarm status can also be checked on the display (3-digit, 7-segment LED) of the servo amplifier. -
Page 43: 7-Segment Led
Test operation select switch (SW3-1) Turning "ON (up)" the test operation select switch enables the test operation mode. In the test operation mode, functions such as JOG operation, positioning operation, and machine analyzer are available using MR Configurator2. Page 55 Test operation Disabling control axis switches (SW3-2, SW3-3, and SW3-4) Turning "ON (up)"... - Page 44 Alarm display When an alarm/warning occurs, the alarm status is displayed after the network connection status. This is an example of the alarm display for when [AL. 032.2 Overcurrent] is occurring. ■1-axis servo amplifier Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s...
- Page 45 When the network is not connected The network connection status is displayed for each axis. 1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier C-axis network status B-axis network status B-axis network status Network status A-axis network status A-axis network status The 7-segment LED display during initialization is as follows.
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Page 46: Cn1A/Cn1B Connector Led
Other status displays Display Status Description Test operation mode Indicates that the test operation mode is set. CPU error Indicates that a CPU watchdog error has occurred. Updating Indicates that a firmware update is in progress. Initialization in progress Indicates that initialization of settings such as parameters is in progress. IP address setting in Indicates that the IP address is being set via network. -
Page 47: Status Leds
Status LEDs The LED states (RUN MS/ERR NS) indicate the network status of the servo amplifier. SFTY Description Off: Indicates that an alarm is occurring. On: Indicates that the servo amplifier is on. (green) Off: Indicates that no alarm or warning is occurring. Blinking: Indicates that a warning is occurring. -
Page 48: Chapter 4 Startup
STARTUP • MR-J5_-_G_ servo amplifiers can be set with MR Configurator2 with software version 1.100E or later. • This chapter explains how to start up the servo amplifier by using MR Configurator2 with software version 1.100E. • Before starting operation, check each servo parameter. Depending on the machine, an unexpected operation may occur. - Page 49 Start MR Configurator2 and create a new project. For the connection setting, select USB. Select the servo amplifier model. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen. 4 STARTUP...
- Page 50 Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings. After changing the servo parameter, click "Selected Items Write" or "Axis Writing". 4 STARTUP...
- Page 51 Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset. 4 STARTUP...
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Page 52: Turning On Servo Amplifier For The First Time
Turning on servo amplifier for the first time • For the controller settings, refer to the relevant controller manual. • For the gain adjustment, refer to the following. MR-J5 User's Manual (Adjustment) When turning on the servo amplifier for the first time, follow the steps below. Procedure Description Reference... -
Page 53: Test Operation Of The Servo Motor Alone In Test Operation Mode
Test operation of the servo motor alone in test operation mode • If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2). Check that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly. -
Page 54: Equipment Configuration Setting
To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at first and check the operation status. After the test operation is complete, turn off the power and "OFF (down)"... -
Page 55: Operation By Controller Command
Operation by controller command Confirm that the servo motor operates correctly under the commands from the controller. Give a low speed command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input signal. -
Page 56: Instructions On Startup
Instructions on startup Instructions for power-on • When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm. -
Page 57: Duplicate Setting
Duplicate setting Servo amplifier parameters for which setting has been completed can be copied to another servo amplifier. Use this function when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up multiple devices with the same configuration. Restrictions ■The following data is not duplicated. -
Page 58: Test Operation Mode
Test operation mode Setting the servo amplifier to the test operation mode enables the test operation while the personal computer and servo amplifier are connected via a USB cable. Turn off the power. Turn "ON (up)" the test operation select switch (SW3-1). SFTY Set SW3-1 to "ON (up)". - Page 59 Positioning operation Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr.
- Page 60 Program operation Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2. Open the Program Operation screen of MR Configurator2. Item Screen operation Program display...
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Page 61: Motor-Less Operation
Motor-less operation • The motor-less operation cannot be used in the linear servo motor control mode or direct drive motor control mode. Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running. -
Page 62: Output Signal (Do) Forced Output
Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2. Each output signal can be turned on/off by clicking the ON/OFF button next to its name. -
Page 63: Servo Amplifier Setting Initialization
Servo amplifier setting initialization Servo amplifier settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2). However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not initialized. -
Page 64: Chapter 5 Maintenance, Inspection And Parts Replacement
MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items Precautions • Do not disassemble, repair, or modify the product. • For repair and parts replacement, contact your local sales office. • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the servo amplifier. Periodic inspection Perform the following inspections. -
Page 65: Replacing Fan Unit
Servo amplifier cooling fan The cooling fan bearings will reach the end of their service life in 50,000 hours to 70,000 hours. Therefore, the cooling fan must be replaced after seven to eight years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced. -
Page 66: Chapter 6 Compliance With Global Standards
COMPLIANCE WITH GLOBAL STANDARDS Compliance with global standards Refer to the following manual for information about compliance with global standards. Safety Instructions and Precautions for MR-J5 AC Servos (IB(NA)-0300391) Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods Rev. - Page 67 ■Transportation precaution for customers For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric is also required.
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Page 68: Symbol For The New Eu Battery Directive
• This mark is valid only in EU. This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused. -
Page 69: Compliance With China Compulsory Certification (Ccc)
Some products are required to comply with China Compulsory Certification (hereinafter referred to as CCC) if exported, distributed, or sold to China. An outline of CCC is explained in this section. Mitsubishi Electric servo products are not subject to CCC. -
Page 70: Compliance With The China Rohs Directive
Compliance with the China RoHS directive Outline The China RoHS directive: (Management Methods for Controlling Pollution by Electronic 电子信息产品污染控制管理办法 Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: (Management Methods for the Restriction of the Use of 电器电子产品有害物质限制使用管理办法... - Page 71 Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive.
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Page 72: Revisions
Section 1.2, Section 1.4, Section 1.5, Section 1.7, Chapter 2, Section 5.3, Section 6.6 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. -
Page 73: Warranty
WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. -
Page 74: Trademarks
TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030294ENG-D... - Page 76 SH(NA)-030294ENG-D(2011)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.