Mitsubishi Electric MR-J4 Manuals

Manuals and User Guides for Mitsubishi Electric MR-J4. We have 2 Mitsubishi Electric MR-J4 manuals available for free PDF download: Instruction Manual

Mitsubishi Electric MR-J4 Instruction Manual (794 pages)

Servo Amplifers MR-J4-_A_(-RJ), MR-J4-03A6(-RJ) Melservo-J4

Brand: Mitsubishi Electric | Category: Amplifier | Size: 8.33 MB

Safety Instructions
2
Table of Contents
10
1 Functions and Configuration

20
2 Installation

74
3 Signals and Wiring

80
- Input Power Supply Circuit
  81
  - Class
    82
  - Class
    87
  - Class
    90
- I/O Signal Connection Example
  91
  - Position Control Mode
    91
  - Speed Control Mode
    94
  - Torque Control Mode
    97
- Explanation of Power Supply System
  100
  - Signal Explanations
    100
  - Power-On Sequence
    101
  - Wiring CNP1, CNP2, and CNP3
    102
- Connectors and Pin Assignment
  106
- Signal (Device) Explanations
  109
- Detailed Explanation of Signals
  119
  - Position Control Mode
    119
  - Speed Control Mode
    124
  - Torque Control Mode
    126
  - Position/Speed Control Switching Mode
    129
  - Speed/Torque Control Switching Mode
    131
  - Torque/Position Control Switching Mode
    133
- Forced Stop Deceleration Function
  134
- Alarm Occurrence Timing Chart
  138
  - When You Use the Forced Stop Deceleration Function
    138
  - When You Do Not Use the Forced Stop Deceleration Function
    139
- Interfaces
  140
  - Internal Connection Diagram
    140
  - Detailed Explanation of Interfaces
    142
  - Source I/O Interfaces
    146
- Servo Motor with an Electromagnetic Brake
  148
  - Safety Precautions
    148
  - Timing Chart
    150
- Grounding
  154
4 Startup

156
- Switching Power on for the First Time
  157
  - Startup Procedure
    157
  - Wiring Check
    158
  - Surrounding Environment
    161
- Startup in Position Control Mode
  161
  - Power on and off Procedures
    161
  - Stop
    162
  - Test Operation
    163
  - Parameter Setting
    164
  - Actual Operation
    164
  - Trouble at Start-Up
    164
- Startup in Speed Control Mode
  167
  - Power on and off Procedures
    167
  - Stop
    168
  - Test Operation
    169
  - Parameter Setting
    170
  - Actual Operation
    170
  - Trouble at Start-Up
    170
- Startup in Torque Control Mode
  172
  - Power on and off Procedures
    172
  - Stop
    172
  - Test Operation
    173
  - Parameter Setting
    174
  - Actual Operation
    174
  - Trouble at Start-Up
    175
- Display and Operation Sections
  176
  - Display Flowchart
    177
  - Status Display Mode
    178
  - Diagnostic Mode
    185
  - Alarm Mode
    187
  - Parameter Mode
    188
  - External I/O Signal Display
    190
  - Output Signal (DO) Forced Output
    193
  - Test Operation Mode
    194
5 Parameters

200
- Parameter List
  201
- Detailed List of Parameters
  211
  - Basic Setting Parameters ([Pr. PA
    211
6 NORMAL GAIN ADJUSTMENT 6- 1 to

266
- Adjustment on a Single Servo Amplifier
  266
- Different Adjustment Methods
  266
  - Adjustment Using MR Configurator2
    267
- One-Touch Tuning
  267
- Auto Tuning
  279
- Manual Mode
  283
- Gain Adjustment Mode
  286
7 Special Adjustment Functions

290
- Filter Setting
  290
  - Machine Resonance Suppression Filter
    290
  - Shaft Resonance Suppression Filter
    290
  - Low-Pass Filter
    290
  - Advanced Vibration Suppression Control II
    298
  - Command Notch Filter
    302
- Gain Switching Function
  304
  - Applications
    304
  - Function Block Diagram
    305
  - Parameter
    306
  - Gain Switching Procedure
    309
- Tough Drive Function
  313
  - Vibration Tough Drive Function
    313
  - Instantaneous Power Failure Tough Drive Function
    315
- Compliance with SEMI-F47 Standard
  319
- Model Adaptive Control Disabled
  322
- Lost Motion Compensation Function
  323
- Super Trace Control
  326
8 Troubleshooting

328
- Explanation for the Lists
  328
- Alarm List
  329
- Warning List
  334
9 Outline Drawings

336
- Servo Amplifier
  336
- Connector
  355
10 Characteristics

358
11 Options and Auxiliary Equipment

372
- Cable/Connector Sets
  372
- Regenerative Options
  379
  - Combination and Regenerative Power
    379
  - Selection of Regenerative Option
    381
  - Parameter Setting
    384
  - Connection of Regenerative Option
    384
  - Dimensions
    389
- FR-BU2-(H) Brake Unit
  393
  - Selection
    394
  - Brake Unit Parameter Setting
    394
  - Connection Example
    395
  - Dimensions
    405
- FR-RC-(H) Power Regeneration Converter
  410
- FR-CV-(H) Power Regeneration Common Converter
  413
  - Model Designation
    413
  - Selection Example
    414
- Junction Terminal Block MR-TB50
  422
- MR Configurator2
  425
  - Specifications
    425
  - System Configuration
    426
  - Precautions for Using USB Communication Function
    427
- Battery
  428
  - Selection of Battery
    428
  - MR-BAT6V1SET Battery
    429
  - MR-BAT6V1BJ Battery for Junction Battery Cable
    433
  - MR-BAT6V1SET-A Battery
    437
  - MR-BT6VCASE Battery Case
    441
  - MR-BAT6V1 Battery
    447
- Selection Example of Wires
  448
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
  452
- Power Factor Improving DC Reactors
  454
- Power Factor Improving AC Reactors
  458
- Relays (Recommended)
  461
- Noise Reduction Techniques
  462
- Earth-Leakage Current Breaker
  469
- EMC Filter (Recommended)
  472
- External Dynamic Brake
  476
- Heat Sink Outside Mounting Attachment (MR-J4ACN15K/MR-J3ACN)
  483
12 Absolute Position Detection System

488
- Features
  488
- Summary
  488
- Restrictions
  489
- Structure
  489
- Parameter Setting
  490
- Confirmation of Absolute Position Detection Data
  490
- Battery
  491
- Standard Connection Example
  494
- Signal Explanation
  495
- Startup Procedure
  496
- Absolute Position Data Transfer Protocol
  497
- Absolute Position Data Transfer Errors
  510
- Communication-Based Absolute Position Transfer System
  513
  - Serial Communication Command
    513
  - Absolute Position Data Transfer Protocol
    513
13 Using Sto Function

518
- Introduction
  518
  - Terms Related to Safety
    518
  - Cautions
    518
  - Residual Risks of the STO Function
    519
  - Specifications
    520
  - Maintenance
    521
- STO I/O Signal Connector (CN8) and Signal Layouts
  521
  - Signal Layouts
    521
  - Signal (Device) Explanations
    522
  - How to Pull out the STO Cable
    522
- Connection Example
  523
- Detailed Description of Interfaces
  527
  - Sink I/O Interface
    527
  - Source I/O Interface
    528
14 Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

530
- Structure
  530
  - Configuration Diagram
    530
  - Precautions for Using RS-422/RS-232C/USB Communication Function
    532
- Communication Specifications
  533
  - Outline of Communication
    533
  - Parameter Setting
    533
- Protocol
  534
  - Transmission Data Configuration
    534
  - Character Codes
    535
  - Error Codes
    536
  - Checksum
    536
  - Time-Out Processing
    536
  - Retry Processing
    537
  - Initialization
    537
  - Communication Procedure Example
    538
- Command and Data No. List
  539
  - Reading Command
    539
  - Writing Commands
    545
- Detailed Explanations of Commands
  547
  - Data Processing
    547
  - Status Display Mode
    549
  - Parameter
    550
  - External I/O Signal Status (DIO Diagnosis)
    554
  - Input Device On/Off
    557
  - Disabling/Enabling I/O Devices (DIO)
    558
  - Input Devices On/Off (Test Operation)
    559
  - Test Operation Mode
    560
  - Output Signal Pin On/Off (Output Signal (DO) Forced Output)
    564
  - Alarm History
    565
  - Current Alarm
    566
  - Other Commands
    567
  - Configuration Including Peripheral Equipment
    569
- Signals and Wiring
  573
- Operation and Functions
  574
  - Startup
    574
  - Magnetic Pole Detection
    582
  - Home Position Return
    585
  - Test Operation Mode in MR Configurator2
    589
  - Function
    590
  - Absolute Position Detection System
    593
- Characteristics
  594
16 Using a Direct Drive Motor

598
- Functions and Configuration
  598
  - Configuration Including Peripheral Equipment
    599
- Signals and Wiring
  600
- Operation and Functions
  601
  - Startup Procedure
    602
  - Magnetic Pole Detection
    606
  - Function
    609
- Absolute Position Detection System
  611
- Characteristics
  612
17 Fully Closed Loop System

618
- Functions and Configuration
  619
  - Function Block Diagram
    619
  - Selecting Procedure of Control Mode
    620
  - System Configuration
    621
- Load-Side Encoder
  623
  - Linear Encoder
    623
  - Rotary Encoder
    623
  - Configuration Diagram of Encoder Cable
    624
  - MR-J4FCCBL03M Branch Cable
    626
- Operation and Functions
  627
  - Startup
    627
  - Home Position Return
    634
  - Fully Closed Loop Control Error Detection Functions
    636
  - Auto Tuning Function
    637
  - Machine Analyzer Function
    637
  - Test Operation Mode
    637
  - Absolute Position Detection System under Fully Closed Loop System
    638
  - About MR Configurator2
    639
18 Mr-J4-03A6 Servo Amplifier

642
- Functions and Configuration
  642
  - Function Block Diagram
    643
  - Servo Amplifier Standard Specifications
    644
  - Combinations of Servo Amplifiers and Servo Motors
    645
  - Function List
    646
  - Model Definition
    649
  - Parts Identification
    650
  - Configuration Including Peripheral Equipment
    651
- Installation
  652
  - Installation Direction and Clearances
    653
  - Installation by DIN Rail
    655
- Signals and Wiring
  657
  - Input Power Supply Circuit
    658
  - Explanation of Power Supply System
    660
  - Selection of Main Circuit Power Supply/Control Circuit Power Supply
    663
  - Power-On Sequence
    663
  - I/O Signal Connection Example
    664
  - Connectors and Pin Assignment
    672
  - Signal (Device) Explanations
    675
  - Alarm Occurrence Timing Chart
    679
  - Interfaces (Internal Connection Diagram)
    681
  - Grounding
    683
- Startup
  684
  - Startup Procedure
    685
  - Troubleshooting When "24 V ERROR" Lamp Turns on
    686
  - Wiring Check
    687
  - Surrounding Environment
    688
- Display and Operation Sections
  688
  - Display Flowchart
    689
  - Status Display Mode
    690
  - One-Touch Tuning
    695
  - Diagnostic Mode
    699
  - Alarm Mode
    702
  - Parameter Mode
    704
  - External I/O Signal Display
    709
  - Output Signal (DO) Forced Output
    712
  - Test Operation Mode
    713
- Dimensions
  715
- Characteristics
  716
- Options and Peripheral Equipment
  720
  - Cable/Connector Sets
    720
  - Combinations of Cable/Connector Sets
    721
  - Selection Example of Wires
    722
  - Circuit Protector
    722
- Mitsubishi General-Purpose AC Servo Protocol Communication Function
  723
Appendix

726

Mitsubishi Electric MR-J4 Instruction Manual (638 pages)

Servo Amplifers MR-J4-_B_(-RJ) Melservo-J4

Brand: Mitsubishi Electric | Category: Amplifier | Size: 7.69 MB

Safety Instructions
2
Table of Contents
10
1 Functions and Configuration

18
- Summary
  18
- Function Block Diagram
  20
- Servo Amplifier Standard Specifications
  30
- Combinations of Servo Amplifiers and Servo Motors
  36
- Function List
  38
- Model Designation
  40
- Structure
  41
  - Parts Identification
    41
  - Removal and Reinstallation of the
    54
- Configuration Including Peripheral Equipment
  56
2 Installation

70
- Installation Direction and Clearances
  71
- Keeping out of Foreign Materials
  72
- Encoder Cable Stress
  73
- SSCNET III Cable Laying
  73
- Inspection Items
  75
- Parts Having Service Lives
  76
3 Signals and Wiring

78
- Input Power Supply Circuit
  80
  - Class
    81
  - Class
    87
  - Class
    91
- I/O Signal Connection Example
  92
  - For Sink I/O Interface
    92
  - For Source I/O Interface
    94
- Explanation of Power Supply System
  95
  - Signal Explanations
    95
  - Power-On Sequence
    96
  - Wiring CNP1, CNP2, and CNP3
    97
- Connectors and Pin Assignment
  101
- Signal (Device) Explanations
  102
  - Input Device
    102
  - Output Device
    103
  - Output Signal
    104
  - Power Supply
    104
- Forced Stop Deceleration Function
  105
- Alarm Occurrence Timing Chart
  108
  - When You Use the Forced Stop Deceleration Function
    108
  - When You Do Not Use the Forced Stop Deceleration Function
    108
- Interfaces
  110
  - Internal Connection Diagram
    110
  - Detailed Explanation of Interfaces
    111
  - Source I/O Interfaces
    113
- SSCNET III Cable Connection
  114
- Servo Motor with an Electromagnetic Brake
  116
  - Safety Precautions
    116
  - Timing Chart
    117
- Grounding
  121
4 Startup

122
- Startup Procedure
  123
  - Wiring Check
    123
  - Switching Power on for the First Time
    123
    
    Surrounding Environment
    127
  - Switch Setting and Display of the Servo Amplifier
    129
    
    Scrolling Display
    132
    
    Status Display of an Axis
    132
  - Test Operation Mode
    134
    
    Test Operation Mode in MR Configurator2
    134
  - Test Operation
    135
    
    Test Operation Mode in MR Configurator2
    136
    
    Motor-Less Operation in Controller
    139
5 Parameters

142
- Parameter List
  142
6 Normal Gain Adjustment

196
- Different Adjustment Methods
  196
- Auto Tuning
  204
  - Auto Tuning Mode
    204
  - Auto Tuning Mode Basis
    205
  - Adjustment Procedure by Auto Tuning
    206
  - Response Level Setting in Auto Tuning Mode
    207
- Manual Mode
  208
- Gain Adjustment Mode
  211
7 Special Adjustment Functions

214
- Filter Setting
  214
  - Machine Resonance Suppression Filter
    215
  - Adaptive Filter II
    218
  - Shaft Resonance Suppression Filter
    220
  - Low-Pass Filter
    221
  - Advanced Vibration Suppression Control II
    222
  - Command Notch Filter
    226
- Gain Switching Function
  228
  - Applications
    228
  - Function Block Diagram
    229
  - Parameter
    230
  - Gain Switching Procedure
    233
- Tough Drive Function
  237
  - Vibration Tough Drive Function
    237
  - Instantaneous Power Failure Tough Drive Function
    239
- Compliance with SEMI-F47 Standard
  243
- Model Adaptive Control Disabled
  246
- Lost Motion Compensation Function
  247
- Super Trace Control
  250
8 Troubleshooting

252
- Explanation for the Lists
  252
- Alarm List
  253
- Warning List
  258
- Troubleshooting at Power on
  259
9 Outline Drawings

260
- Servo Amplifier
  260
- Connector
  279
10 Characteristics

282
11 Options and Peripheral Equipment

296
- Cable/Connector Sets
  296
  - Combinations of Cable/Connector Sets
    297
  - MR-D05UDL3M-B STO Cable
    301
  - SSCNET III Cable
    302
  - Battery Cable/Junction Battery Cable
    304
- Regenerative Options
  305
  - Combination and Regenerative Power
    305
  - Selection of Regenerative Option
    307
  - Parameter Setting
    310
  - Selection of Regenerative Option
    310
  - Dimensions
    315
- FR-BU2-(H) Brake Unit
  319
  - Selection
    319
  - Brake Unit Parameter Setting
    320
  - Connection Example
    321
  - Dimensions
    329
- FR-RC-(H) Power Regeneration Converter
  334
- FR-CV-(H) Power Regeneration Common Converter
  336
  - Model Designation
    337
  - Selection
    337
- Junction Terminal Block PS7DW-20V14B-F (Recommended)
  345
- MR Configurator2
  346
- Specifications
  346
  - System Configuration
    347
  - Precautions for Using USB Communication Function
    348
- Battery
  349
  - Selection of Battery
    349
  - MR-BAT6V1SET Battery
    349
  - MR-BAT6V1BJ Battery for Junction Battery Cable
    353
  - MR-BT6VCASE Battery Case
    357
  - MR-BAT6V1 Battery
    363
- Selection Example of Wires
  364
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
  368
- Power Factor Improving DC Reactors
  370
- Power Factor Improving AC Reactors
  372
- Relay (Recommended)
  375
- Noise Reduction Techniques
  376
- Earth-Leakage Current Breaker
  383
- EMC Filter (Recommended)
  386
- External Dynamic Brake
  390
- Heat Sink Outside Mounting Attachment (MR-J4ACN15K/MR-J3ACN)
  396
- Summary
  402
  - Structure
    403
  - Battery
    404
  - Using MR-BAT6V1BJ Battery for Junction Battery Cable
    405
  - Using MR-BT6VCASE Battery Case
    406
13 Using Sto Function

408
- Introduction
  408
- Detailed Description of Interfaces
  418
  - Source I/O Interface
    420
  - Functions and Configuration
    422
  - Servo System with Auxiliary Equipment
    423
- Signals and Wiring
  427
- Operation and Functions
  429
  - Magnetic Pole Detection
    432
  - Home Position Return
    440
  - Test Operation Mode in MR Configurator2
    444
  - Operation from Controller
    445
  - Function
    447
12 Absolute Position Detection System

449
- Characteristics
  450
  - Power Supply Capacity and Generated Loss
    451
  - Dynamic Brake Characteristics
    452
  - Permissible Load to Motor Mass Ratio When the Dynamic Brake Is Used
    453
    
    Functions and Configuration
    454
    
    Servo System with Auxiliary Equipment
    455
    
    Signals and Wiring
    456
    
    Operation and Functions
    457
  - Startup Procedure
    458
    
    Magnetic Pole Detection
    459
    
    Operation from Controller
    467
  - Function
    468
    
    Characteristics
    470
    
    Power Supply Capacity and Generated Loss
    472
  - Dynamic Brake Characteristics
    473
16 Fully Closed Loop System

476
- Functions and Configuration
  476
  - Selecting Procedure of Control Mode
    478
  - System Configuration
    479
- Load-Side Encoder
  481
  - MR-J4FCCBL03M Branch Cable
    483
- Operation and Functions
  484
17 Application of Functions

502
- J3 Compatibility Mode
  502
Appendix

572

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Mitsubishi Electric MR-J4 Manuals

Mitsubishi Electric MR-J4 Instruction Manual (794 pages)

Table of Contents

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Startup

5 Parameters

6 NORMAL GAIN ADJUSTMENT 6- 1 to

7 Special Adjustment Functions

8 Troubleshooting

9 Outline Drawings

10 Characteristics

11 Options and Auxiliary Equipment

12 Absolute Position Detection System

13 Using Sto Function

14 Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

16 Using a Direct Drive Motor

17 Fully Closed Loop System

18 Mr-J4-03A6 Servo Amplifier

Appendix