Precautions for replacing MR-H Series with MR-J3 Series replacement models

Transcription

1 for replacing MR-H with MR-J3 replacement models 1. Outline The functions and performance of the MR-J3 have been greatly improved compared to the MR-H. The outline dimensions and installation dimensions are smaller. However, the wiring method, encoder cable and compatible motor are different. When replacing this, replace the servo amplifier and servomotor as a set. 2. Replacement product type Proposals for the basic replacement models are listed on the assumption that the amplifier and motor will be replaced as a set. Servo amplifier (General-purpose interface) Currently the 3kW or larger is not available for J3. 3-phase 2V generalpurpose interface Production discontinuation schedule Example of replacement model type Installation compatibility Dec., 25 MR-H1A(N) MR-J3-1A Dec., 25 MR-H2 A(N) MR-J3-2A Dec., 25 MR-H4A(N) MR-J3-4A Dec., 25 MR-H6A(N) MR-J3-6A Dec., 25 MR-H1A(N) MR-J3-7/1A Dec., 25 MR-H2A(N) MR-J3-2A Dec., 25 MR-H35A(N) MR-J3-35A Dec., 25 MR-H5A(N) MR-J3-5A The depth is 1mm larger. Dec., 25 MR-H7A(N) MR-J3-7A Dec., 25 MR-H11KA(N) MR-J3-11KA Dec., 25 MR-H15KA(N) MR-J3-15KA Dec., 25 MR-H22KA(N) MR-J3-22KA Servo amplifier (SSCNET interface) Replacing the MR-H-B(N) model also requires a network change, and the MR-J2S-B is therefore recommended, rather than the MR-J3-B. Servo amplifier (CC-link compatible) 3-phase 2V CC-link compatible Production discontinuation schedule Example of replacement model type Installation compatibility MR-H1TN MR-J3-1T MR-H2TN MR-J3-2T MR-H4TN MR-J3-4T MR-H6TN MR-J3-6T MR-H1TN MR-J3-7/1T MR-H2TN MR-J3-2T MR-H35TN MR-J3-35T MR-H5TN MR-J3-5T The depth is 1mm larger. MR-H7TN MR-J3-7T MR-H11KTN MR-J3-11KT MR-H15KTN MR-J3-15KT MR-H22KTN MR-J3-22KT 23

2 Servo amplifier (Built-in positioning function) 3-phase 2V built-in positioning function Production discontinuation schedule MR-H1AC(N) MR-H2AC(N) MR-H4AC(N) MR-H6AC(N) MR-H1AC(N) MR-H2AC(N) MR-H35AC(N) MR-H5AC(N) MR-H7AC(N) MR-H11KAC(N) MR-H15KAC(N) MR-H22KAC(N) Example of replacement model type MR-J3-1T + MR-J3-D1 MR-J3-2T + MR-J3-D1 MR-J3-4T + MR-J3-D1 MR-J3-6T + MR-J3-D1 MR-J3-7/1T + MR-J3-D1 MR-J3-2T + MR-J3-D1 MR-J3-35T + MR-J3-D1 MR-J3-5T + MR-J3-D1 MR-J3-7T + MR-J3-D1 MR-J3-11KT + MR-J3-D1 MR-J3-15KT + MR-J3-D1 MR-J3-22KT + MR-J3-D1 Installation compatibility The depth is 1mm larger. 24

3 <Comparison of servo amplifier outline dimensions> The MR-H and MR-J3 outline dimensions are compared in Table 1. The MR-J3 ' outline dimensions are smaller than the MR-H, enabling replacement in the same panel. Note that the depth of the MR-J3-2/35/5A is larger. (The installation area is smaller.) A C Servo amplifier B Table 1 Comparison of outline dimensions (Comparison of same capacities) Unit: mm MR-H Replacement model MR-J3 A B C A B Note 1 C MR-H1A(N)/TN MR-J3-1A/T 168 4(6) 135 MR-H2A(N)/TN MR-J3-2A/T MR-H4A(N)/TN MR-J3-4A/T 168 4(6) 17 MR-H6A(N)/TN MR-J3-6A/T MR-H1A(N)/TN MR-J3-7A/T MR-J3-1A/T 168 6(8) 185 MR-H2A(N)/TN MR-J3-2A/T MR-H35A(N)/TN MR-J3-35A/T 168 9(15) 195 MR-H5A(N)/TN MR-J3-5A/T 25 13(14) 2 MR-H7A(N)/TN MR-J3-7A/T 3 172(182) 2 MR-H11KA(N)/TN MR-J3-11KA/T MR-H15KA(N)/TN MR-J3-15KA/T 4 26(26) MR-H22KA(N)/TN MR-J3-22KA/T Note 1: Values in parentheses are dimensions when MR-J3-D1 is installed. 25

4 Servomotor ultra-low low low medium Production discontinuation schedule Dec., 25 HC-MF53 Dec., 25 HC-MF13 Dec., 25 HC-MF23 Dec., 25 HC-MF43 Dec., 25 HC-MF73 Example of replacement model type HF-MP53 HF-MP13 HF-MP23 HF-MP43 HF-MP73 Dec., 25 HA-MH53(-Y) HF-MP53 Dec., 25 HA-MH13(-Y) HF-MP13 Dec., 25 HA-MH23(-Y) HF-MP23 Dec., 25 HA-MH43(-Y) HF-MP43 Dec., 25 HA-MH73(-Y) HF-MP73 Dec., 25 HA-FF53 HF-KP53 Dec., 25 HA-FF13 HF-KP13 Dec., 25 HA-FF23 HF-KP23 Dec., 25 HA-FF33 HF-KP43 Dec., 25 HA-FF43 Dec., 25 HA-FF63 HF-KP73 Dec., 25 HA-FH53(-Y) HF-KP53 Dec., 25 HA-FH13(-Y) HF-KP13 Dec., 25 HA-FH23(-Y) HF-KP23 Dec., 25 HA-FH33(-Y) HF-KP43 Dec., 25 HA-FH43(-Y) Dec., 25 HA-FH63(-Y) HF-KP73 Dec., 25 HC-KF53 HF-KP53 Dec., 25 HC-KF13 HF-KP13 Dec., 25 HC-KF23 HF-KP23 Dec., 25 HC-KF43 HF-KP43 Dec., 25 HA-SH52(-Y) HF-SP52 Dec., 25 HA-SH53(-Y) Dec., 25 HA-SH12(-Y) HF-SP12 Dec., 25 HA-SH13(-Y) Dec., 25 HA-SH152(-Y) HF-SP152 Dec., 25 HA-SH153(-Y) Dec., 25 HA-SH22(-Y) HF-SP22 Dec., 25 HA-SH23(-Y) Dec., 25 HA-SH352(-Y) HF-SP352 Dec., 25 HA-SH353(-Y) Dec., 25 HA-SH52(-Y) HF-SP52 Dec., 25 HA-SH72(-Y) HF-SP72 Dec., 25 HA-SH81(-Y) HF-SP81 Dec., 25 HA-SH121(-Y) HF-SP121 Dec., 25 HA-SH21(-Y) HF-SP21 Dec., 25 HC-SF52 HF-SP52 Dec., 25 HC-SF53 Dec., 25 HC-SF12 HF-SP12 Dec., 25 HC-SF13 Dec., 25 HC-SF152 HF-SP152 Dec., 25 HC-SF153 Dec., 25 HC-SF22 HF-SP22 Dec., 25 HC-SF23 Dec., 25 HC-SF352 HF-SP352 Dec., 25 HC-SF353 Dec., 25 HC-SF52 HF-SP52 Dec., 25 HC-SF72 HF-SP72 Dec., 25 HC-SF81 HF-SP81 Dec., 25 HC-SF121 HF-SP121 Dec., 25 HC-SF21 HF-SP21 Installation compatibility The ends of the power cables (U, V, W, E) have been changed from round crimp terminals to connectors. a) The flange and output shaft installation are not compatible in the standard state. (*1 on page 28.) (Consult with Mitsubishi if changing is difficult to the machine's configuration.) b) The ends of the power cables (U, V, W, E) have been changed from round crimp terminals to connectors. The ends of the power cables (U, V, W, E) have been changed from round crimp terminals to connectors. a) The power cables (U, V, W, E) have been changed from the terminal box method to the cannon connector method. b) The motor is approx..5 to.7-fold compared to the HA-SH motor. c) For the HA-SH53 to 353 with 3r/min rated rotation speed, the rotation speed and torque are both covered with the HF-SP52 to 352 replacement products. a) The power cable (U, V, W, E) and encoder connectors are different. b) For the HC-SF53 to 353 with 3r/min rated rotation speed, the rotation speed and torque are both covered with the HF-SP52 to 352 replacement products. 26

5 ultra-low low Large low flat Production discontinuation schedule Example of replacement model type Dec., 25 HC-RF13 HC-RP13 Dec., 25 HC-RF153 HC-RP153 Dec., 25 HC-RF23 HC-RP23 Dec., 25 HC-RF353 HC-RP353 Dec., 25 HC-RF53 HC-RP53 Dec., 25 HA-LH52(-Y) HC-LP52 Dec., 25 HA-LH12(-Y) HC-LP12 Dec., 25 HA-LH152(-Y) HC-LP152 Dec., 25 HA-LH22(-Y) HC-LP22 Dec., 25 HA-LH32(-Y) HC-LP32 Dec., 25 HA-LH52(-Y) HA-LP52 Dec., 25 HA-LH72(-Y) HA-LP72 Dec., 25 HC-LF52 HC-LP52 Dec., 25 HC-LF12 HC-LP12 Dec., 25 HC-LF152 HC-LP152 Dec., 25 HC-LF22 HC-LP22 Dec., 25 HC-LF32 HC-LP32 Dec., 25 HA-LF52 HA-LP52 Dec., 25 HA-LF72 HA-LP72 Dec., 25 HA-LH11K2 HA-LP11K2 Dec., 25 HA-LH15K2 HA-LP15K2 Dec., 25 HA-LH22K2 HA-LP22K2 Dec., 25 HA-LF11K2 HA-LP11K2 Dec., 25 HA-LF15K2 HA-LP15K2 Dec., 25 HA-LF22K2 HA-LP22K2 Dec., 25 HA-LF61 HA-LP61 Dec., 25 HA-LF81 HA-LP81 Dec., 25 HA-LF12K1 HA-LP12K1 Dec., 25 HA-LF15K1 HA-LP15K1 Dec., 25 HA-LF2K1 HA-LP2K1 Dec., 25 HA-LF25K1 HA-LP25K1 Dec., 25 HA-LF71M HA-LP71 Dec., 25 HA-LF11K1M HA-LP11K1M Dec., 25 HA-LF22K1M HA-LP22K1M Dec., 25 HA-UH32(-Y) Dec., 25 HA-UH52(-Y) HF-SP52 Dec., 25 HA-UH12(-Y) HC-UP72 HC-UP12 Dec., 25 HA-UH152(-Y) HC-UP152 Dec., 25 HA-UH222(-Y) HC-UP22 Dec., 25 HA-UH352(-Y) HC-UP352 Dec., 25 HA-UH452(-Y) HC-UP52 Dec., 25 HC-UF72 HC-UP72 Dec., 25 HC-UF152 HC-UP152 Dec., 25 HC-UF22 HC-UP22 Dec., 25 HC-UF352 HC-UP352 Dec., 25 HC-UF52 HC-UP52 Installation compatibility Improved torque characteristics in high-speed range Power cables (U,V,W,E) have been changed from a terminal box to canon connectors. The flange angle dimensions (+6mm) and output shaft step are different. There is no fan, so the fan power is not required. Improved torque characteristics in high-speed range The motor is approx..75 to.9-fold compared to the HA-LH motor. The 15kW and 22kW fan power supply is changed from a single-phase 2V type to a 3-phase 2V type. Improved torque characteristics in high-speed range a) The flange and output shaft installation are not compatible in the standard state. b) The power cables (U, V, W, E) have been changed from the terminal box method to the cannon connector method. Improved torque characteristics in high-speed range 27

6 < (Note *1) Comparison of installation dimensions> LR Q LD Z (4 unless designated) øs ølb øla *1. Comparison of HA-FF/HA-FH and HF-KP installation dimensions Target product Replacement product LA LB LD LR Q S Z LA LB LD LR Q S Z HA-FF53 HA-FH53 HA-FF13 HA-FH13 HA-FF23 HA-FH23 HA-FF33 HA-FH33 HA-FF43 HA-FH43 HA-FF63 HA-FH HF-KP53 HF-KP13 HF-KP23 HF-KP HF-KP Remarks: As a standard, the HA-FF/FH23 to 63 types have a key, but the standard HF-KP is a straight shaft with no key or keyway. *2. Comparison of HA-LH22/32 and HC-LP22/32 installation dimensions Target product Replacement product LA LB LD LR Q S Z LA LB LD LR Q S Z HA-LH22 HA-LH HC-LP22 HC-LP *3. Comparison of HA-UH and HC-UP (and Some HF-SP) installation dimensions Target product Replacement product LA LB LD LR Q S Z LA LB LD LR Q S Z HA-UH32 HA-UH52 HA-UH12 HA-UH152 HA-UH222 HA-UH352 HA-UH HF-SP HC-UP72 2 HF-SP HC-UP152 2 HC-UP22 HC-UP352 HC-UP

7 <Comparison of moment of > ultra-low low low Target product Replacement product Target product Replacement product HC-MF53.19 HC-MF HF-MP53.19 HA-MH53.21 HA-MH43.18 HC-MF13.3 HC-MF73.6 HF-MP13.32 HA-MH13.35 HA-MH73.73 HC-MF23.88 HA-MH23.11 HA-FH53 HA-FF53 HA-FH13 HA-FF13 HA-FH23 HA-FF23 HF-MP HF-KP HF-KP HF-KP23.24 HA-FH33 HA-FF33 HA-FH43 HA-FF43 HA-FH63 HA-FF HF-MP43.15 HF-MP73.6 HF-KP HF-KP HC-KF53.53 HF-KP53.52 HC-KF23.42 HF-KP23.24 HC-KF13.84 HF-KP13.88 HC-KF43.67 HF-KP43.42 medium medium Large low Target product Replacement product Target product Replacement product HA-SH52 HA-SH53 HA-SH12 HA-SH13 HA-SH152 HA-SH153 HA-SH81 HC-SF52 HC-SF53 HC-SF12 HC-SF13 HC-SF152 HC-SF153 HC-SF HF-SP HF-SP HF-SP152 HF-SP HF-SP HF-SP HF-SP152 HF-SP HA-SH22 HA-SH23 HA-SH121 HA-SH352 HA-SH HF-SP22 HF-SP121 HF-SP HA-SH21 HF-SP21 HA-SH HF-SP52 97 HA-SH HF-SP HC-SF22 HC-SF23 HC-SF121 HC-SF352 HC-SF HF-SP22 HF-SP121 HF-SP HC-SF21 HF-SP21 HC-SF52 11 HF-SP52 97 HC-SF72 16 HF-SP HA-LH11K2 118 HA-LP11K2 15 HA-LH15K2 29 HA-LP15K2 22 HA-LH22K2 395 HA-LP22K

8 3. Comparison of functions General-purpose interface Item MR-HA(N) MR-J3-A 1 Capacity range 5W to 55kW 5W to 22kW (Capacity increased sequentially) 1A (N) to 7A (N): Built-in 1A to 7A: Built-in 2 Dynamic brakes 11KA (N) and larger: External option 11KA and larger: External option HA-FH, MH, FF (8192p/rev) HF-KP, MP (262144p/rev) Servomotor HA-SH, LH (K), UH (16384p/rev) HF-SP (262144p/rev) 3 (Encoder resolution) HC-MF, KF, UF (8192p/rev) HC-LP, RP, UP (262144p/rev) HC-SF, RF, UF (16384p/rev) HA-LP (262144p/rev) 4 Encoder cable HC-MF, KF, UF (3r/min), HA-FF : MR-JCCBLM-L (H)+MR-HCN2 HA-FH, MH: MR-H-CBLM-L (H) HA-SH, LH (K), UH, HC-SF, RF, UF (2r/min) : MR-HSCBLM-L(H) Differential line driver (A, B, Z), Open collector output (A, B, Z) HF-KP, MP : MR-J3ENCBLM-A-L (H) HF-SP, HC-LP, RP, UP, HA-LP : MR-J3ENSCBLM-L (H) 5 Encoder output Differential line driver (A, B, Z), Open collector output (Z) 6 Interface power 24V (built-in or supplied from external source) 24V (supplied from external source) 7 Control signal connector (maker) PCR-S5FS (Honda Tsushin Kogyo): 1 pc VE (3M): 1 pc. 8 DI interface 24VDC photo coupler input (sink) 24VDC photo coupler input (sink/source) 12 points (fixed function assignment) + EMG 8 points (selective function assignment) + EMG 9 DO interface Open collector output (sink) Open collector output (sink/source) 5 points (fixed function assignment + 5 points (selective function assignment + (alarm (magnetic brake interlock, warning output, code selection)) alarm code selection)) 1 Analog input VC (speed command (±1V), VC (speed command (±1V), speed limit (±1V)) speed limit (±1V)) TLAP (torque command (±8V), TLA (torque command (±8V), torque limit + (+1V)) torque limit (+1V)) TLAN (torque limit - (-1V)) 11 Analog monitor output 2ch ( to ±1V) 12bit 2ch ( to ±1V) 1bit 12 Automatic tuning (setting) Real-time automatic tuning (1-step) High-level real-time automatic tuning (32-step) 13 Parameter setting method MR-PRU1A, Pushbuttons on front of amplifier, Setup software (MRZJW3-SETUP81) MR Configurator (MRZJW3-SETUP221) 14 Setup software RS422 (96,192,384,576,1152bps), RS232C (96bps) communication USB communication 15 Absolute position DIO transmission/ DIO transmission transmission method serial communication transmission 16 Absolute position holding Absolute position after encoder cable is disconnected from amplifier: Position cannot be held Absolute position after encoder cable is disconnected from amplifier: Position can be held (when using MR-J3BTCBL3M) 17 Amplifier self-diagnosis function Not provided Provided (when using MR-J3ACHECK) 18 Maximum input pulses For differential receiver: 4kpps, For differential receiver: 1Mpps, For open collector: 2kpps For open collector: 2kpps 19 External digital speed 12-bit binary input possible command (when using MR-H-D1) Input not possible 2 21 Electronic gear denominator external setting Auxiliary pulse train input function 16-bit binary input, 5-digit BCD input possible (when using MR-H-DO1) Provided (when using MR-H-DO1) Input not possible Not provided Item 2: with no dynamic brakes is available by special order. Item 3: Change the electronic gear and in-position range. Item 7: Not compatible. Item 1: MR-J3-A does not have TLAN (torque limit -). Item 12: The high performance increases the automatic adjustment compatible range. * Consult with Mitsubishi for special specification products which cannot be replaced, easily. 3

9 CC-link compatible Item MR-HTN MR-J3-T 1 Capacity range 5W to 22kW 5W to 22kW 2 Dynamic brakes 3 Servomotor (Encoder resolution) 4 Encoder cable 5 Encoder output 1TN to 7TN: Built-in 11KTN and larger: External option HA-FH, MH, FF (8192p/rev) HA-SH, LH (K), UH (16384p/rev) HC-MF, KF, UF (8192p/rev) HC-SF, RF, UF (16384p/rev) HC-MF, KF, UF (3r/min), HA-FF : MR-JCCBLM-L(H)+MR-HCN2 HA-FH, MH: MR-H-CBLM-L(H) HA-SH, LH (K), UH, HC-SF, RF, UF (2r/min) : MR-HSCBLM-L(H) Differential line driver (A, B, Z) Open collector output (A, B, Z) 1T to 7T: Built-in 11KT and larger: External option HF-KP, MP (262144p/rev) HF-SP (262144p/rev) HC-LP, RP, UP (262144p/rev) HA-LP (262144p/rev) HF-KP, MP : MR-J3ENCBLM-A-L(H) HF-SP, HC-LP, RP, UP, HA-LP : MR-J3ENSCBLM-L(H) Differential line driver (A, B, Z) 6 Interface power 24V (built-in or supplied from external source) 24V supplied from external source 7 Number of point tables Maximum 8 points Maximum 255 points 8 9 Teaching function (method) Control signal connector (maker) 1 DI interface 11 DO interface 12 Analog input Provided (MR-PRU1A) PCR-S5FS (Honda Tsushin Kogyo): 1 pc. 24VDC photo coupler input (sink) 12 points (fixed function assignment)+ EMG Open collector output (sink) 5 points (fixed function assignment) OVR (override (±1V)) TLAP (torque limit (+1V)) 13 Analog monitor 2ch ( to ±1V) 12bit 14 Automatic tuning 15 Parameter setting method 16 Setup software communication Real-time automatic tuning 1-step responsiveness setting MR-PRU1A, Setup software (MRZJW3-SETUP81) RS232C (96bps) Provided (MR-PRU3) VE (3M): 1 pc. 24VDC photo coupler input (sink/source) 3 points (fixed function assignment) + EMG Open collector output (sink/source) 3 points (fixed function assignment) With optional MR-J3-D1 (available soon) connected. OVR (override (±1V)) TLAP (torque limit (+1V)) With optional MR-J3-D1 (available soon) connected. 2ch ( to ±1V) 1bit High-level real-time automatic tuning (32-step) MR-PRU3, MR Configurator (MRZJW3-SETUP221) RS422(96,192,384,576,1152bps), USB communication 17 M code output 2-bit binary 4-bit binary Item 2: with no dynamic brakes is available by special order. Item 3: Change the electronic gear and in-position range. Item 8, 9: Not compatible. Item 14: The high performance increases the automatic adjustment compatible range. * Consult with Mitsubishi for special specification products which cannot be replaced, easily. 31

10 Built-in positioning function Item MR-HAC (N) MR-J3-T+MR-J3-D1 1 Capacity range 5W to 22kW 5W to 22kW 2 Dynamic brakes 1AC (N) to 7AC (N): Built-in 1T to 7T: Built-in 11KAC (N) and larger: External option 11KT and larger: External option HA-FH, MH, FF (8192p/rev) HF-KP, MP (262144p/rev) 3 Servomotor HA-SH, LH (K), UH (16384p/rev) HF-SP (262144p/rev) (Encoder resolution) HC-MF, KF, UF (8192p/rev) HC-LP, RP, UP (262144p/rev) HC-SF, RF, UF (16384p/rev) HA-LP (262144p/rev) 4 Encoder cable 5 Encoder output HC-MF, KF, UF (3r/min), HA-FF : MR-JCCBLM-L (H)+MR-HCN2 HA-FH, MH: MR-H-CBLM-L (H) HA-SH, LH (K), UH, HC-SF, RF, UF (2r/min) : MR-HSCBLM-L (H) Differential line driver (A, B, Z) Open collector output (A, B, Z) HF-KP, MP : MR-J3ENCBLM-A-L(H) HF-SP, HC-LP, RP, UP, HA-LP : MR-J3ENSCBLM-L(H) Differential line driver (A, B, Z) 6 Interface power 24V (built-in or supplied from external source) 24V supplied from external source Position block Max. of 8 points Max. of 256 points (using MR-H-D1) Speed block: 7 Positioning function External speed setting format: Max. of 8 points (using MR-H-D1) External position data input: Yes (using MR-H-D1) Position block setting format: Position/speed common: Max. of 255 points Max. of 8 points External position data input: Yes 8 Roll feed function Position block Max. of 8 points Max. of 256 points (using MR-H-D1) Speed block: Position block setting format: Max. of 2 points External speed setting format: Max. of 8 points (using MR-H-D1) External position data input: Yes (using MR-H-D1) Position/speed common: Max. of 255 points External position data input: Yes Teaching function 9 Provided (MR-PRU1A) Provided (MR-PRU3) (method) Control signal connector For J3-T VE (3M): 1 pc. 1 PCR-S5FS (Honda Tsushin Kogyo): 1 pc. (maker) For J3-D VE (3M): 1 pc. 24VDC photo coupler input (sink/source) 24VDC photo coupler input (sink) J3-T: 3 points (selective function assignment) + EMG 11 DI interface 12 points (fixed function assignment)+ EMG J3-D1: 3 points (18 of these points have fixed function assignments) Open collector output (sink/source) Open collector output (sink) J3-T: 3 points (selective function assignment) 12 DO interface 5 points (fixed function assignment) J3-D1: 16 points (4 of these points have fixed function assignments) 13 Analog input 14 Analog monitor 2ch ( to ±1V) 12bit 2ch ( to ±1V) 1bit 15 Automatic tuning 16 Parameter setting method Setup software RS422 (96, 192, 384, 576, 17 RS232C (96bps) communication 1152bps), USB communication 2-bit binary 18 M code output 4-bit binary 4-bit binary (when using MR-H-DO1) 19 Battery MR-BAT or A6BAT MR-J3BAT 2 Digital display unit MR-DP6 MR-DP6 21 Manual pulse generator MR-HDP1 MR-HDP1 22 Parameter unit MR-PRU1A MR-PRU3 23 Relay terminal block MR-TB5 MR-TB5 24 Relay terminal block cable MR-HTBL MR-J2M-CN1TBL 25 6-digit digital setting unit MR-DS6 MR-DS6 Item 2: with no dynamic brakes is available by special order. Item 3: Change the electronic gear and in-position range. Item 9, 1: Not compatible. Item 15: The high performance increases the automatic adjustment compatible range. * Consult with Mitsubishi for special specification products which cannot be replaced, easily. OVR (override (±1V)) Real-time automatic tuning MR-PRU1A, OVR (override (±1V)) High-level real-time automatic tuning MR-PRU3, TLAP (torque limit (+1V)) 1-step responsiveness setting Setup software (MRZJW3-SETUP81) TLAP (torque limit (+1V)) (32-step) MR Configurator (MRZJW3-SETUP221) 32