Mitsubishi MR-J4-15KA4 Manuals

Manuals and User Guides for Mitsubishi MR-J4-15KA4. We have 1 Mitsubishi MR-J4-15KA4 manual available for free PDF download: Instruction Manual

Mitsubishi MR-J4-15KA4 Instruction Manual

Mitsubishi MR-J4-15KA4 Instruction Manual (640 pages)

Melservo J4 Servo amplifier

Brand: Mitsubishi | Category: Amplifier | Size: 9 MB

Table of Contents

Safety Instructions
2
Table of Contents
10
1 Functions and Configuration

18
2 Installation

62
- Installation Direction and Clearances
  63
- Keep out Foreign Materials
  64
- Encoder Cable Stress
  65
- Inspection Items
  65
- Parts Having Service Lives
  66
3 Signals and Wiring

68
- Input Power Supply Circuit
  69
  - Class
    70
  - Class
    75
- I/O Signal Connection Example
  78
  - Position Control Mode
    78
  - Speed Control Mode
    81
  - Torque Control Mode
    84
- Explanation of Power Supply System
  87
  - Signal Explanations
    87
  - Power-On Sequence
    88
  - Wiring CNP1, CNP2, and CNP3
    89
- Connectors and Pin Assignment
  92
- Signal (Device) Explanations
  95
- Detailed Explanation of Signals
  104
  - Position Control Mode
    104
  - Speed Control Mode
    109
  - Torque Control Mode
    111
  - Position/Speed Control Switching Mode
    114
  - Speed/Torque Control Switching Mode
    116
  - Torque/Position Control Switching Mode
    118
- Forced Stop Deceleration Function
  119
- Alarm Occurrence Timing Chart
  123
  - When You Use the Forced Stop Deceleration Function
    123
  - When You Do Not Use the Forced Stop Deceleration Function
    124
- Interfaces
  125
  - Internal Connection Diagram
    125
  - Detailed Explanation of Interfaces
    126
  - Source I/O Interfaces
    130
- Servo Motor with an Electromagnetic Brake
  131
  - Safety Precautions
    131
  - Timing Chart
    132
- Grounding
  136
4 Startup

138
- Switching Power on for the First Time
  139
  - Startup Procedure
    139
  - Wiring Check
    140
  - Surrounding Environment
    143
- Startup in Position Control Mode
  143
  - Power on and off Procedures
    143
  - Stop
    144
  - Test Operation
    145
  - Parameter Setting
    146
  - Actual Operation
    146
  - Trouble at Start-Up
    146
- Startup in Speed Control Mode
  149
  - Power on and off Procedures
    149
  - Stop
    149
  - Test Operation
    150
  - Parameter Setting
    151
  - Actual Operation
    151
  - Trouble at Start-Up
    151
- Startup in Torque Control Mode
  153
  - Power on and off Procedures
    153
  - Stop
    153
  - Test Operation
    154
  - Parameter Setting
    155
  - Actual Operation
    155
  - Trouble at Start-Up
    156
- Display and Operation Sections
  157
  - Display Flowchart
    158
  - Status Display Mode
    159
  - Diagnostic Mode
    166
  - Alarm Mode
    168
  - Parameter Mode
    169
  - External I/O Signal Display
    171
  - Output Signal (DO) Forced Output
    174
  - Test Operation Mode
    175
5 Parameters

180
- Parameter List
  180
6 NORMAL GAIN ADJUSTMENT 6- 1 to

238
- Different Adjustment Methods
  238
- Auto Tuning
  251
- Manual Mode
  255
- Gain Adjustment Mode
  258
7 Special Adjustment Functions

262
- Filter Setting
  262
  - Machine Resonance Suppression Filter
    262
  - Shaft Resonance Suppression Filter
    262
  - Low-Pass Filter
    262
  - Command Notch Filter
    274
- Gain Switching Function
  276
  - Applications
    276
  - Function Block Diagram
    277
  - Parameter
    278
  - Gain Switching Procedure
    281
- Tough Drive Function
  284
  - Vibration Tough Drive Function
    284
  - Instantaneous Power Failure Tough Drive Function
    286
- Compliance with SEMI-F47 Standard
  289
8 Troubleshooting

292
9 Outline Drawings

300
- Servo Amplifier
  300
- Connector
  317
10 Characteristics

320
11 Options and Auxiliary Equipment

332
- Cable/Connector Sets
  332
  - Combinations of Cable/Connector Sets
    333
  - MR-D05UDL3M-B STO Cable
    336
- Regenerative Options
  337
  - Combination and Regenerative Power
    337
  - Selection of Regenerative Option
    339
  - Parameter Setting
    342
  - Connection of Regenerative Option
    342
  - Dimensions
    347
- FR-BU2-(H) Brake Unit
  351
  - Selection
    352
  - Brake Unit Parameter Setting
    353
  - Connection Example
    354
  - Dimensions
    364
- FR-RC-(H) Power Regeneration Converter
  366
- FR-CV-(H) Power Regeneration Common Converter
  372
  - Model Designation
    372
  - Selection Example
    373
- Junction Terminal Block MR-TB50
  381
- MR Configurator2
  383
  - Specifications
    383
  - System Configuration
    384
  - Precautions for Using USB Communication Function
    385
- Battery
  386
  - MR-BAT6V1SET Battery
    386
  - MR-BAT6V1BJ Battery for Junction Battery Cable
    386
- Selection Example of Wires
  387
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors (Recommended)
  391
- Power Factor Improving DC Reactors
  393
- Power Factor Improving AC Reactors
  397
- Relays (Recommended)
  400
- Noise Reduction Techniques
  401
- Earth-Leakage Current Breaker
  408
- EMC Filter (Recommended)
  411
- External Dynamic Brake
  415
- Heat Sink Outside Mounting Attachment (MR-J4ACN15K/MR-J3ACN)
  421
12 Absolute Position Detection System

426
- Features
  426
- Summary
  426
- Restrictions
  427
- Structure
  427
- Parameter Setting
  428
- Confirmation of Absolute Position Detection Data
  428
- Battery
  429
  - Using MR-BAT6V1SET Battery
    429
  - Using MR-BAT6V1BJ Battery for Junction Battery Cable
    434
- Standard Connection Example
  438
- Signal Explanation
  439
- Startup Procedure
  440
- Absolute Position Data Transfer Protocol
  441
- Absolute Position Data Transfer Errors
  454
- Communication-Based Absolute Position Transfer System
  457
  - Serial Communication Command
    457
  - Absolute Position Data Transfer Protocol
    457
13 Using Sto Function

462
- Introduction
  462
  - Terms Related to Safety
    462
  - Cautions
    462
  - Residual Risks of the STO Function
    463
  - Specifications
    464
  - Maintenance
    465
- STO I/O Signal Connector (CN8) and Signal Layouts
  465
  - Signal Layouts
    465
  - Signal (Device) Explanations
    466
  - How to Pull out the STO Cable
    466
- Connection Example
  467
- Detailed Description of Interfaces
  471
  - Sink I/O Interface
    471
  - Source I/O Interface
    472
14 Communication Function

474
- Structure
  474
  - Configuration Diagram
    474
  - Precautions for Using RS-422/RS-232C/USB Communication Function
    476
- Communication Specifications
  477
  - Outline of Communication
    477
  - Parameter Setting
    477
- Protocol
  478
  - Transmission Data Configuration
    478
  - Character Codes
    479
  - Error Codes
    480
  - Checksum
    480
  - Time-Out Processing
    480
  - Retry Processing
    481
  - Communication Procedure Example
    482
- Command and Data No. List
  483
  - Reading Command
    483
  - Writing Commands
    489
- Detailed Explanations of Commands
  491
  - Data Processing
    491
  - Status Display Mode
    493
  - Parameter
    494
  - External I/O Signal Status (DIO Diagnosis)
    498
  - Input Device On/Off
    500
  - Disabling/Enabling I/O Devices (DIO)
    501
  - Input Devices On/Off (Test Operation)
    502
  - Test Operation Mode
    503
  - Output Signal Pin On/Off (Output Signal (DO) Forced Output)
    507
  - Alarm History
    508
  - Current Alarm
    509
  - Other Commands
    510
15 Using a Linear Servo Motor

512
- Functions and Configuration
  512
  - Configuration Including Peripheral Equipment
    513
- Signals and Wiring
  516
- Operation and Functions
  517
  - Startup
    517
  - Magnetic Pole Detection
    524
  - Home Position Return
    527
  - Test Operation Mode in MR Configurator2
    531
  - Function
    532
  - Absolute Position Detection System
    535
- Characteristics
  536
16 Using a Direct Drive Motor

540
- Configuration Including Peripheral Equipment
  541
- Signals and Wiring
  542
- Operation and Functions
  543
  - Startup Procedure
    544
  - Magnetic Pole Detection
    548
  - Function
    551
- Absolute Position Detection System
  553
- Characteristics
  554
17 Fully Closed Loop System

560
- Functions and Configuration
  560
  - Function Block Diagram
    560
  - Selecting Procedure of Control Mode
    562
  - System Configuration
    563
- Load-Side Encoder
  565
  - Linear Encoder
    565
  - Rotary Encoder
    565
  - Configuration Diagram of Encoder Cable
    566
  - MR-J4FCCBL03M Branch Cable
    568
- Operation and Functions
  569
  - Startup
    569
  - Home Position Return
    576
  - Fully Closed Loop Control Error Detection Functions
    578
  - Auto Tuning Function
    579
  - Machine Analyzer Function
    579
  - Test Operation Mode
    579
  - Absolute Position Detection System under Fully Closed Loop System
    580
  - About MR Configurator2
    581
Appendix

584

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