Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series Instruction Manual
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Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series Instruction Manual

Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series Instruction Manual

General purpose ac servo sscnet iii/h interface drive unit
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General-Purpose AC Servo
SSCNET III/H Interface
Drive Unit Instruction Manual
-MR-J4-DU_B4-RJ100

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Summary of Contents for Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series

  • Page 1 General-Purpose AC Servo SSCNET III/H Interface Drive Unit Instruction Manual -MR-J4-DU_B4-RJ100...

  • 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 Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [To prevent electric shock, note the following] WARNING ● Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others. Otherwise, an electric shock may occur.
  • Page 5 [To prevent injury, note the following] CAUTION ● Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. ● Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. ●...
  • Page 6 [Transportation and installation] CAUTION ● Transport the products correctly according to their mass. ● Use the eyebolts of the converter unit and of the drive unit only for transporting. Do not use the eyebolts for transporting with the converter unit and the drive unit mounted on a machine. ●...
  • Page 7 [Wiring] CAUTION ● Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. ● Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. ●...
  • Page 8 [Test run and adjustment] CAUTION ● When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. ● Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
  • Page 9 [Corrective actions] CAUTION ● Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. ● If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

  • Page 10: Disposal Of Waste

    DISPOSAL OF WASTE • Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM LIFE The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit and the drive unit may malfunction when the EEP-ROM reaches the end of its useful life.

  • Page 11: About The Manuals

    ABOUT THE MANUALS You must have this Instruction Manual and the following manuals to use this servo. Be sure to prepare all the instruction manuals necessary to use the servo safely. Relevant manuals Manual name Manual No. MELSERVO MR-J4-_B(-RJ) Servo Amplifier Instruction Manual SH(NA)030098 MELSERVO MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual SH(NA)030145...

  • Page 12: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE .
  • Page 13 Inrush currents of the power regeneration converter..........60 Inrush current of the drive unit.

  • Page 14: Chapter 1 Functions And Configuration

    FUNCTIONS AND CONFIGURATION The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for details. "MR-J4-DU_B_" means "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual". Item Detailed explanation Function block diagram MR-J4-DU_B_ section 3.1 Standard specifications MR-J4-DU_B_ section 1.4 Structure MR-J4-DU_B_ sections 3.2 and 5.1...

  • Page 15: Model Designation

    Model designation This section describes MR-J4-DU_B4-RJ100 drive units only. For MR-CV55K4_power regeneration converter units, refer to section 1.2 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual". Rating plate The following shows an example of the rating plate for explanation of each item. AC SERVO Serial number SER.

  • Page 16: Compatible Controller

    Compatible controller Motion controller Operating system Remark Q173DSCPU SW8DNC-SV22S87QJ Special operating system Q172DSCPU SW8DNC-SV22S87QL Special operating system *1 Motion controllers with a special operating system can be used. Motion controllers with a standard operating system cannot drive ultrahigh capacity servo motors. For details, contact your local sales office. Function list For the drive unit functions not mentioned in this section, refer to section 1.5 in "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

  • Page 17: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment The diagram shows a system that drives a servo motor with four MR-J4-DU_B4-RJ100 drive units and four MR-CV55K4_ power regeneration converter units connected. Fit a cap Servo system (standard accessory) controller on the unused connector. SSCNET III/H Encoder slave Encoder slave Encoder slave...

  • Page 18: Chapter 2 Installation

    INSTALLATION WARNING • To prevent electric shock, ground each equipment securely. CAUTION • Stacking in excess of the specified number of product packages is not allowed. • Do not hold the front cover, cables, or connectors when carrying the converter unit and drive unit. Otherwise, it may drop. •...

  • Page 19: Installation Direction And Clearances

    Installation direction and clearances CAUTION • The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. • Maintain specified clearances between the converter unit/drive unit and the inner surfaces of a control cabinet or other equipment. Otherwise, it may cause a malfunction.
  • Page 20 ■Clearance between sets of combined power regeneration converter units and drive units mounted above each other Cooling 100 mm exhaust or more 80 mm Converter unit Drive unit or more 220 mm or more 30 mm 220 mm or more Converter unit Drive unit Cooling...
  • Page 21 Mounting hole process drawing (W5) (W10) (W8) (W3) Power regeneration Drive unit converter unit Opening Opening 4-M5 screw 4-M5 screw Unit Variable dimensions [mm]      Power regeneration converter MR-CV55K4  unit      Drive unit MR-J4-DU45KB4-RJ100 ...

  • Page 22: Chapter 3 Signals And Wiring

    SIGNALS AND WIRING WARNING • Any person who is involved in wiring should be fully competent to do the work. • Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others.

  • Page 23: Connection Example Of Power Circuit

    The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-DU_B_" means "MR-CV_/MR- CR55K_/MR-J4-DU_(-RJ) Instruction Manual". Item Detailed explanation I/O signal connection example MR-J4-_B_ section 3.2 Explanation of power supply system MR-J4-DU_B_ sections 3.3 and 5.2...
  • Page 24 Connection example of encoder master servo amplifier Drive unit Emergency malfunction stop switch Operation ready OFF/ON Encoder master servo amplifier Power regeneration converter unit 1 Drive unit 1 Step-down MR-CV55K4 MR-J4-DU_KB4-RJ100 transformer reactor MCCB Power TE2-2 TE2-1 supply Bus bar 3-phase 380 V AC to 480 V AC...
  • Page 25 *1 To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 (Forced stop 2) in the drive unit when the main circuit power is turned off. *2 Always match the phases of the power supply connected to L11 and L21 on the power regeneration converter unit and the drive unit with the phases connected to L1 and L2.
  • Page 26 Connection example of encoder slave servo amplifier This example is the connection for the encoder slave servo amplifier 1. Drive unit Emergency malfunction stop switch Operation ready OFF/ON Encoder slave servo amplifier 1 Power regeneration converter unit 2 Drive unit 2 Step-down MR-CV55K4 MR-J4-DU_KB4-RJ100...
  • Page 27 *1 To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 (Forced stop 2) in the drive unit when the main circuit power is turned off. *2 Always match the phases of the power supply connected to L11 and L21 on the power regeneration converter unit and the drive unit with the phases connected to L1 and L2.

  • Page 28: 3.2 Alarm Occurrence Timing Chart

    Alarm occurrence timing chart CAUTION • When an alarm has occurred, remove its cause, make sure that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting operation. When SSCNET III/H communication is shut off, the servo motor stops with the dynamic brake. In the torque control mode, the forced stop deceleration function is unavailable.

  • Page 29: When You Use The Forced Stop Deceleration Function

    When you use the forced stop deceleration function Set [Pr. PA04] to "2 _ _ _" (initial value). Time constant setting When you use the forced stop deceleration function, set the same value in the forced stop deceleration time constant [Pr. PC24] of the drive unit and the rapid stop deceleration time set with the Motion controller.
  • Page 30 ■Formula for calculating the rapid stop deceleration time Forced stop deceleration time constant [ms] × Speed limit value [pulse/s] × 60 [s] Rapid stop deceleration time [ms] = Servo motor rated speed [r/min] × 4194304 [pulse] *1 In addition to [pulse/s], [mm/min], [inch/min], and [degree/min] are used for the control unit of the Motion controller. When a control unit other than [pulse/s] is used, convert the unit into [pulse/s] to calculate the rapid stop deceleration time.
  • Page 31 If an alarm not subject to the forced stop deceleration function occurs When the dynamic brake is used, a brake operation delay time occurs. For details, refer to the specifications of the magnetic contactor you use. The following timing chart shows that an alarm occurs in any axis in the parallel drive system. Alarm occurrence Braking by the dynamic brake Servo motor speed...

  • Page 32: When You Do Not Use The Forced Stop Deceleration Function

    When SSCNET III/H communication is shut off When an SSCNET III/H communication shut-off occurs in a servo amplifier, the servo amplifier and subsequent servo amplifiers show "AA" on the display. Occurrence of SSCNET III/H communication shut-off Braking by the dynamic brake Servo motor speed 0 r/min Base circuit...

  • Page 33: Grounding

    Grounding WARNING • Ground the power regeneration converter unit, drive unit, and servo motor securely. • To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the power regeneration converter unit and the drive unit to the protective earth (PE) of the cabinet.

  • Page 34: Chapter 4 Startup

    STARTUP WARNING • When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. • Do not operate the switches with wet hands. Otherwise, it may cause an electric shock. CAUTION •...

  • Page 35: Switching Power On For The First Time

    Switching power on for the first time Start up the parallel drive system in the following procedure. Once settings are made, they do not need to be reset. When changes are made to the system settings of the Motion controller, and the drive unit is replaced, start up the system in the following procedure again.

  • Page 36: Startup

    Startup Startup of the MR-J4-DU_B4-RJ100 is the same as that of the MR-J4-_B_(-RJ). For details, refer to section 4.2 in "MR-J4- _B_(-RJ) Servo Amplifier Instruction Manual". The power regeneration converter unit shows "C" (ready-off) on the display at power-on. When an alarm occurs or EM1 (Forced stop) is disabled in the power regeneration converter unit, the operation will stop. 4 STARTUP 4.2 Startup...

  • Page 37: Chapter 5 Parameters

    PARAMETERS CAUTION • Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. • Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the drive unit.  Changing the values of the parameters for manufacturer setting ...
  • Page 38 [Pr. PA02 Regenerative option (**REG)] For parallel drive systems, the regenerative option is unavailable. Set "0700" to this parameter. Setting digit Explanation Initial value _ _ x x Regenerative option selection 00: Regenerative option is not used, or when you use a regenerative option, set the regenerative option with the converter unit.
  • Page 39 [Pr. PA21 Function selection A-3 (*AOP3)] Setting digit Explanation Initial value _ _ _ x One-touch tuning function selection For parallel drive systems, the one-touch tuning is unavailable. The parameter setting is invalid. 0: Disabled 1: Enabled _ _ x _ For manufacturer setting _ x _ _ x _ _ _...
  • Page 40 [Pr. PC24 Forced stop deceleration time constant (RSBR)] Set a deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 r/min in a unit of ms. Setting "0" will be 100 ms. Dynamic brake deceleration Rated speed...
  • Page 41 [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (CVAT)] A combination of the MR-CV55K4_ power regeneration converter unit and drive unit does not comply with SEMI-F47 standard. The parameter setting is invalid. Initial value [unit]: 200 [ms] [Pr. PF37 Parallel drive - Encoder ID setting 1 (**ENID1)] Set a servo motor-side encoder ID.
  • Page 42 [Pr. PF42 Function selection F-13 (*FOP13)] Enable/disable temperature monitoring. For servo motors without a thermistor, temperature monitoring is disabled regardless of the set value. When [AL. 46 Servo motor overheat] detection is enabled in [Pr. PF41 Parallel drive - Motor thermistor setting], temperature monitoring is also enabled regardless of the setting of [Pr.

  • Page 43: Chapter 6 Troubleshooting

    TROUBLESHOOTING • The forced stop deceleration does not function for alarms not subject to the forced stop deceleration function. For parallel drive systems, if [AL. 34 SSCNET receive error 1] or [AL. 36 SSCNET receive error 2] occurs, the servo motor stops with the dynamic brake (DB), not with forced stop deceleration (SD).

  • Page 44: Alarm List

    Alarm list Name Alarm deactivation Alarm reset CPU reset Power cycling    Overcurrent    Frequency error    Process error Open phase    Watchdog       Ground fault  ...

  • Page 45: Troubleshooting For Drive Unit

    Troubleshooting for drive unit [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history. When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"...

  • Page 46: Alarm List

    Alarm list Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Undervoltage 10.1 Voltage drop in the control circuit power    10.2 Voltage drop in the main circuit power   ...
  • Page 47 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Encoder initial communication error 16.1 Encoder initial communication - Receive data error 1 16.2 Encoder initial communication - Receive    data error 2 ...
  • Page 48 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Encoder normal communication 20.1 Encoder normal communication - error 1 Receive data error 1 20.2 Encoder normal communication -    Receive data error 2 ...
  • Page 49 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Regenerative error 30.1 Regeneration heat error 30.2 Regeneration signal error       30.3 Regeneration feedback signal error Overspeed 31.1 Abnormal motor speed ...
  • Page 50 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Servo motor overheat 46.1 Abnormal temperature of servo motor 1    46.2 Abnormal temperature of servo motor 2 46.3 Thermistor disconnected error ...
  • Page 51 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Encoder initial communication error 66.1 Encoder initial communication - Receive (safety observation function) data error 1 (safety observation function) 66.2 Encoder initial communication - Receive ...
  • Page 52 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Load-side encoder initial 70.1 Load-side encoder initial communication communication error 1 - Receive data error 1 70.2 Load-side encoder initial communication    - Receive data error 2 ...
  • Page 53 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    Option card error 1 74.1 Option card error 1 74.2 Option card error 2       74.3 Option card error 3 74.4 Option card error 4 ...
  • Page 54 Alarm Details Stop Alarm deactivation method Name Name Alarm Power reset reset cycling    CC-Link IE communication error 8D.1 CC-Link IE communication error 1    8D.2 CC-Link IE communication error 2 8D.3 Master station setting error 1 ...

  • Page 55: Warning List

    Warning list Warning Details Stop method Name Name *2 *3 Home position return incomplete warning 90.1 Home position return incomplete   90.2 Home position return abnormal termination 90.5 Z-phase unpassed   Servo amplifier overheat warning 91.1 Main circuit device overheat warning ...
  • Page 56 Warning Details Stop method Name Name *2 *3  Absolute position counter warning E3.1 Multi-revolution counter travel distance excess warning  E3.2 Absolute position counter warning E3.4 Absolute positioning counter EEP-ROM writing frequency  warning  E3.5 Encoder absolute positioning counter warning ...

  • Page 57: Chapter 7 Characteristics

    CHARACTERISTICS The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Cable bending life MR-J4-_B_ section 10.4 Overload protection characteristics This section describes MR-J4-DU_B4-RJ100 drive units only.

  • Page 58: Power Supply Capacity And Generated Loss

    Power supply capacity and generated loss Generated heat of the power regeneration converter unit and drive unit The following tables indicate the generated loss under rated load and the power supply capacity per combination of the power regeneration converter unit and drive unit. Power regeneration Power supply Generated heat of power regeneration converter unit [W]...
  • Page 59 Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) which will contain the power regeneration converter unit and drive unit should be designed to ensure that its temperature rise is within +10  at the ambient temperature of 40 . Calculate the necessary cabinet dissipation area (allowing a margin of approximately 5 ...

  • Page 60: Dynamic Brake Characteristics

    Dynamic brake characteristics CAUTION • The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
  • Page 61 Dynamic brake time constant The following shows dynamic brake time constant τ. HG-JR220K24W0C HG-JR200K24W0C HG-JR110K24W0C HG-JR150K24W0C HG-JR180K24W0C 1000 1500 2000 2500 3000 Speed [r/min] Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn.

  • Page 62: Inrush Currents At Power-On Of Main Circuit/Control Circuit

    Inrush currents at power-on of main circuit/control circuit Since large inrush currents flow in the power supplies, be sure to use molded-case circuit breakers and magnetic contactors. (Refer to section 8.5 in "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".) Be sure to install a molded-case circuit breaker and a magnetic contactor for each combination of the power regeneration converter unit and drive unit.

  • Page 63: Chapter 8 Options And Peripheral Equipment

    OPTIONS AND PERIPHERAL EQUIPMENT WARNING • Before connecting any option or peripheral equipment, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the converter unit.

  • Page 64: Mr Configurator2

    MR Configurator2 The MR-J4-DU_B4-RJ100 drive unit can be used with MR Configurator2 with software version 1.60N or later. This section provides descriptions specific to the parallel drive system. For other details, refer to section 11.7 in "MR-J4-_B_(- RJ) Servo Amplifier Instruction Manual". Restrictions For parallel drive systems, the following functions are unavailable.
  • Page 65 Select "Register a new model from a file.", and click "Next" in "Update Parameter Setting Range" window. Click "Browse". 8 OPTIONS AND PERIPHERAL EQUIPMENT 8.1 MR Configurator2...
  • Page 66 Select "J4B-S100_en.rng" stored in "C:\Melservo\MR2\mfr\en", and click "Open" in "Open File" window. Check that "J4B-S100_en.rng" is selected, and click "Next" in "Update Parameter Setting Range" window. 8 OPTIONS AND PERIPHERAL EQUIPMENT 8.1 MR Configurator2...
  • Page 67 Check that reading has been completed without error, and click "Save". The model name of the servo amplifier has been registered. Click "End". 8 OPTIONS AND PERIPHERAL EQUIPMENT 8.1 MR Configurator2...

  • Page 68: How To Select The Model Name Of The Servo Amplifier Registered

    How to select the model name of the servo amplifier registered When creating a project, select "MR-J4-B-RJ100" in "Model". 8 OPTIONS AND PERIPHERAL EQUIPMENT 8.1 MR Configurator2...

  • Page 69: Ac Reactor

    AC reactor Always connect one AC reactor to one power regeneration converter unit. The AC reactor generates heat of 100  higher than the ambient temperature. Fully consider heat dissipation, installation position, wires used, etc., before installing the AC reactor. Magnetism generated from the AC reactor may affect other devices.
  • Page 70 DIMENSIONS [Unit: mm] Mounting screw size: M8 Mass: 56 [kg] 8 OPTIONS AND PERIPHERAL EQUIPMENT 8.2 AC reactor...

  • Page 71: External Dynamic Brake

    External dynamic brake CAUTION • Use an external dynamic brake for this drive unit. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to the following.
  • Page 72 Connection example Use the following wires to connect the dynamic brake. External dynamic brake Wire [mm U/V/W Except U/V/W DBU-P55K-4-B 14 (AWG 6) 2 (AWG 14) *1 Selection conditions of wire size are as follows. Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair Drive unit Emergency...
  • Page 73 DIMENSIONS 17.5 17.5 [Unit: mm] 256.5 320.4 Terminal block Mounting screw size: M8 Mass: 25 [kg] Screw size: M3.5 Screw size: M5 8 OPTIONS AND PERIPHERAL EQUIPMENT 8.3 External dynamic brake...

  • Page 74: Chapter 9 Using Sto Function

    USING STO FUNCTION For items other than the ones described in this chapter, refer to chapter 13 in "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". Wiring example In the parallel drive system, multiple drive units drive one servo motor. Wire the STO signal to all the drive units. The following shows a system that drives a servo motor with four MR-J4-DU_B4-RJ100 drive units and four MR-CV_ power regeneration converter units connected.
  • Page 75 MEMO 9 USING STO FUNCTION...

  • Page 76: Chapter 10 Application Of Functions

    APPLICATION OF FUNCTIONS The following items are the same as those for MR-J4-_B_(-RJ). Refer to the section of the detailed explanation field for details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Master-slave operation function MR-J4-_B_ section 17.2 10.1 Compatible with MR-D30 functional safety unit For items other than the ones described in this section, refer to "MR-D30 Instruction Manual".
  • Page 77 Safety observation function control by I/O device A configuration example of the parallel drive system is shown in the following. With each MR-J4-DU_B4-RJ100 drive unit connected to MR-D30, the servo amplifier complies with safety level Category 4, PL e, SIL 3. Duplicated signal lines Single signal lines STOC...

  • Page 78: Connection Diagram

    Connection diagram Connecting safety controller and MR-D30 With MR-D30 used, the servo amplifier complies with safety level Category 4, PL e, SIL 3. • Install MR-D30 in each MR-J4-DU_B4-RJ100 drive unit. • Connect the wire for STO command (STOC) to each drive unit (the encoder master servo amplifier and each encoder slave servo amplifier).
  • Page 79 Details of MR-D30 Encoder master servo amplifier Encoder slave servo amplifier MR-D30 MR-D30 DI_A(STOC) DI_A(STOC) STO command 1 STO command 1 DI_B(STOC) DI_B(STOC) STO command 2 STO command 2 DI_A(SLS1C) SLS1 command 1 DI_B(SLS1C) SLS1 command 2 DICOMA DICOMA DICOMA DICOMA DICOMB DICOMB...

  • Page 80: Chapter 11 Appendix

    Compliance with global standards MR-J4-DU_B_ EC declaration of conformity MR-J4-DU_B_ Servo amplifier harmonic suppression measures MR-J4-_B_ app. 7 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service MR-J4-_B_ app. 10 Special specifications MR-J4-DU_B_ Optional data monitor function MR-J4-_B_ app. 14 STO function with SIL 3 certification MR-J4-_B_ app.
  • Page 81 MEMO 11 APPENDIX 11.1 Analog monitor...

  • Page 82: Revisions

    Japanese manual number: SH-030279-A 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 83: 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 84: 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)-030280ENG-A...
  • Page 86 SH(NA)-030280ENG-A(1805)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.

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