Mitsubishi Electric MR-J4-03A6 Manuals

Manuals and User Guides for Mitsubishi Electric MR-J4-03A6. We have 1 Mitsubishi Electric MR-J4-03A6 manual available for free PDF download: Instruction Manual

Mitsubishi Electric MR-J4-03A6 Instruction Manual

Mitsubishi Electric MR-J4-03A6 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

Table of Contents

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

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