Mitsubishi Electric MR-J4-11KGF-RJ Manuals

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Mitsubishi Electric MR-J4-11KGF-RJ Instruction Manual (646 pages)

CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode)

Brand: Mitsubishi Electric | Category: Servo Drives | Size: 60.47 MB

Safety Precautions
3
Disposal of Waste
10
About the Manuals
11
Table of Contents
12
Chapter 1 Functions and Configuration

20
- Function Block Diagram
  21
Servo Amplifier Standard Specifications

32
Combinations of Servo Amplifiers and Servo Motors

38
Function List

40
Chapter 2 Installation

78
- Installation Direction and Clearances
  79
Keeping out of Foreign Materials

81
Parts Having Service Life

82
- Level
  
  83
Chapter 3 Signals and Wiring

84
- Connection Example of Power Circuit
  85
I/O Signal Connection Example

97
- For Source I/O Interface
  99
Explanation of Power Supply System

100
- Power-On Sequence
  102
- Wiring CNP1, CNP2, and CNP3
  103
Connectors and Pin Assignment

106
- Signal (Device) Explanations
  107
- Output Device
  109
- Output Signal
  110
Forced Stop Deceleration Function

111
- Base Circuit Shut-Off Delay Time Function
  113
- Vertical Axis Freefall Prevention Function
  114
Alarm Occurrence Timing Chart

115
- When You Do Not Use the Forced Stop Deceleration Function
  116
Interfaces

117
- Detailed Explanation of Interfaces
  118
- Source I/O Interface
  120
Servo Motor with an Electromagnetic Brake

121
- Timing Chart
  122
Grounding

128
Chapter 4 Startup

129
- Wiring Check
  130
- Surrounding Environment
  132
- Settings of GX Works
  133
- Startup
  134
Switch Setting and Display of the Servo Amplifier

136
- Scrolling Display
  137
- Status Display of a Station
  138
- CC-Link IE Field Status Display LED
  139
Test Operation

140
Chapter 5 Parameters

170
Detailed List of Parameters

185
Software Limit

228
Chapter 6 Normal Gain Adjustment

229
- Adjustment Using MR Configurator2
  230
One-Touch Tuning

231
Auto Tuning

239
Manual Mode

244
Gain Adjustment Mode

247
Chapter 7 Special Adjustment Functions

249
- Adaptive Filter II
  252
- Shaft Resonance Suppression Filter
  254
- Low-Pass Filter
  255
- Advanced Vibration Suppression Control II
  256
- Command Notch Filter
  259
Gain Switching Function

261
- Function Block Diagram
  262
- Parameter
  263
- Gain Switching Procedure
  266
Tough Drive Function

269
- Instantaneous Power Failure Tough Drive Function
  271
Compliance with SEMI-F47 Standard

275
Model Adaptive Control Disabled

277
Lost Motion Compensation Function

278
Super Trace Control

281
Chapter 8 Troubleshooting

282
Alarm List

283
Warning List

291
Troubleshooting at Power on

293
Chapter 9 Dimensions

294
Servo Amplifier

295
- Connector
  311
Chapter 10 Characteristics

313
Cable Bending Life

326
Inrush Currents at Power-On of Main Circuit and Control Circuit

327
Chapter 11 Options and Peripheral Equipment

329
- Combinations of Cable/Connector Sets
  330
- MR-D05UDL3M-B STO Cable
  334
- Battery Cable/Junction Battery Cable
  335
- Ethernet Cable
  336
Regenerative Options

337
- Selection of the Regenerative Option
  339
- Parameter Setting
  343
- Dimensions
  348
FR-BU2-(H) Brake Unit

355
- Brake Unit Parameter Setting
  356
- Connection Example
  357
- Dimensions
  365
FR-RC-(H) Power Regeneration Converter

368
FR-CV-(H) Power Regeneration Common Converter

372
- Selection
  373
Junction Terminal Block PS7DW-20V14B-F (Recommended)

381
MR Configurator2

383
- System Requirements
  384
- Precautions for Using USB Communication Function
  385
Battery

386
- MR-BAT6V1SET-A Battery
  387
- MR-BAT6V1BJ Battery for Junction Battery Cable
  391
- MR-BT6VCASE Battery Case
  395
- MR-BAT6V1 Battery
  401
- Selection Example of Wires
  402
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
  406
Power Factor Improving DC Reactors

409
Power Factor Improving AC Reactors

414
Relay (Recommended)

418
Earth-Leakage Current Breaker

427
EMC Filter (Recommended)

430
External Dynamic Brake

437
Panel through Attachment (MR-J4ACN15K/MR-J3ACN)

444
Chapter 12 Absolute Position Detection System

449
- Structure
  450
- Confirmation of Absolute Position Detection Data
  451
Battery

452
- Using MR-BAT6V1BJ Battery for Junction Battery Cable
  453
- Using MR-BT6VCASE Battery Case
  454
Chapter 13 Using Sto Function

455
- Residual Risks of the STO Function
  456
- Maintenance
  457
STO I/O Signal Connector (CN8) and Pin Assignment

458
Detailed Explanation of Interfaces

465
- Source I/O Interface
  466
Chapter 14 Using a Linear Servo Motor

467
- Configuration Including Peripheral Equipment
  468
Signals and Wiring

472
Operation and Functions

473
- Magnetic Pole Detection
  475
- Home Position Return
  483
- Test Operation Mode in MR Configurator2
  486
- Operation from Controller
  488
- Absolute Position Detection System
  490
Characteristics

491
Chapter 15 Using a Direct Drive Motor

495
- Configuration Including Peripheral Equipment
  496
- Signals and Wiring
  498
Operation and Functions

500
- Magnetic Pole Detection
  501
- Operation from Controller
  507
- Function
  508
Characteristics

510
- Power Supply Capacity and Generated Loss
  511
Chapter 16 Fully Closed Loop System

515
- Selecting Procedure of Control Mode
  516
- System Configuration
  518
Load-Side Encoder

520
- MR-J4FCCBL03M Branch Cable
  522
- Operation and Functions
  523
- Home Position Return
  530
- Operation from Controller
  531
- Fully Closed Loop Control Error Detection Functions
  532
- Auto Tuning Function
  533
- Absolute Position Detection System under Fully Closed Loop System
  534
- About MR Configurator2
  535
Chapter 17 Application of Functions

537
Touch Probe

546
Backup/Restoration Function

550
Parameter Object

551
- Enabling Parameters
  552
Machine Diagnosis Function

553
- Friction Vibration Estimation Function
  556
- Failure Prediction Function
  558
Appendices

565
Appendix 1 When Using the Servo Amplifier with the DC Power Supply Input

568
- Power Supply Capacity
  568
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
  569
- Of Dangerous Goods
  
  571
Appendix 2 Handling of AC Servo Amplifier Batteries for the United Nations Recommendations on the Transport

573
Appendix 3 Symbol for the New EU Battery Directive

573
Appendix 4 Compliance with Global Standards

574
- Installation Direction and Clearances
  580
- Signal
  582
- Maintenance and Service
  583
- Transportation and Storage
  584
- Technical Data
  585
- Check List for User Documentation
  587
Appendix 5 MR-J3-D05 Safety Logic Unit

588
- Cautions
  589
- Block Diagram and Timing Chart
  590
- Functions and Configuration
  591
- Signal
  594
- LED Display
  600
- Rotary Switch Setting
  601
- Dimensions
  602
- Installation
  603
Appendix 6 EC Declaration of Conformity

604
Appendix 7 How to Replace Servo Amplifier Without Magnetic Pole Detection

606
Appendix 8 Two-Wire Type Encoder Cable for HG-MR/HG-KR

608
- Internal Wiring Diagram
  609
Appendix 9 Analog Monitor

610
Appendix 10Special Specification

623
- Without Regenerative Resistor
  624
- Special Coating-Specification Product (IEC 60721-3-3 Class 3C2)
  625
Appendix 11 Driving On/Off of Main Circuit Power Supply with DC Power Supply

627
- Magnetic Contactor
  628
Appendix 12List of Registration Objects

629
- Servo Transient Transmission Function
  631
Appendix 13Status of General-Purpose AC Servo Products for Compliance with the China Rohs Directive

634
Appendix 14Encoder Output Pulse Setting Method

637
- Revisions
  639
- Warranty
  643
- Trademarks
  644

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Mitsubishi Electric MR-J4-11KGF-RJ Manuals

Mitsubishi Electric MR-J4-11KGF-RJ Instruction Manual (646 pages)

Table of Contents

Chapter 1 Functions and Configuration

Servo Amplifier Standard Specifications

Combinations of Servo Amplifiers and Servo Motors

Function List

Chapter 2 Installation

Keeping out of Foreign Materials

Parts Having Service Life

Level

Chapter 3 Signals and Wiring

I/O Signal Connection Example

Explanation of Power Supply System

Connectors and Pin Assignment

Forced Stop Deceleration Function

Alarm Occurrence Timing Chart

Interfaces

Servo Motor with an Electromagnetic Brake

Grounding

Chapter 4 Startup

Switch Setting and Display of the Servo Amplifier

Test Operation

Chapter 5 Parameters

Detailed List of Parameters

Software Limit

Chapter 6 Normal Gain Adjustment

One-Touch Tuning

Auto Tuning

Manual Mode

Gain Adjustment Mode

Chapter 7 Special Adjustment Functions

Gain Switching Function

Tough Drive Function

Compliance with SEMI-F47 Standard

Model Adaptive Control Disabled

Lost Motion Compensation Function

Super Trace Control

Chapter 8 Troubleshooting

Alarm List

Warning List

Troubleshooting at Power on

Chapter 9 Dimensions

Servo Amplifier

Chapter 10 Characteristics

Cable Bending Life

Inrush Currents at Power-On of Main Circuit and Control Circuit

Chapter 11 Options and Peripheral Equipment

Regenerative Options

FR-BU2-(H) Brake Unit

FR-RC-(H) Power Regeneration Converter

FR-CV-(H) Power Regeneration Common Converter

Junction Terminal Block PS7DW-20V14B-F (Recommended)

MR Configurator2

Battery

Power Factor Improving DC Reactors

Power Factor Improving AC Reactors

Relay (Recommended)

Earth-Leakage Current Breaker

EMC Filter (Recommended)

External Dynamic Brake

Panel through Attachment (MR-J4ACN15K/MR-J3ACN)

Chapter 12 Absolute Position Detection System

Battery

Chapter 13 Using Sto Function

STO I/O Signal Connector (CN8) and Pin Assignment

Detailed Explanation of Interfaces

Chapter 14 Using a Linear Servo Motor

Signals and Wiring

Operation and Functions

Characteristics

Chapter 15 Using a Direct Drive Motor

Operation and Functions

Characteristics

Chapter 16 Fully Closed Loop System

Load-Side Encoder

Chapter 17 Application of Functions

Touch Probe

Backup/Restoration Function

Parameter Object