Name: Mitsubishi Electric MELSERVO-J4 series
Brand: Mitsubishi Electric
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General-Purpose AC Servo

CC-Link IE Field Network Interface

Servo Amplifier Instruction Manual

(Motion Mode)

-MR-J4-_GF_

-MR-J4-_GF_-RJ

Default Chapter3
- Safety Precautions3
- Disposal of Waste10
- About the Manuals11
- Table of Contents12
Chapter 1 Functions and Configuration20
- Function Block Diagram21
Servo Amplifier Standard Specifications32
Combinations of Servo Amplifiers and Servo Motors38
Function List40
- Model Designation43
- Structure44
- Removal and Reinstallation of the Front Cover59
- Configuration Including Peripheral Equipment61
Chapter 2 Installation78
- Installation Direction and Clearances79
Keeping out of Foreign Materials81
Parts Having Service Life82
- Level83
Chapter 3 Signals and Wiring84
- Connection Example of Power Circuit85
I/O Signal Connection Example97
- For Source I/O Interface99
Explanation of Power Supply System100
- Power-On Sequence102
- Wiring CNP1, CNP2, and CNP3103
Connectors and Pin Assignment106
- Signal (Device) Explanations107
- Output Device109
- Output Signal110
Forced Stop Deceleration Function111
- Base Circuit Shut-Off Delay Time Function113
- Vertical Axis Freefall Prevention Function114
Alarm Occurrence Timing Chart115
- When You Do Not Use the Forced Stop Deceleration Function116
Interfaces117
- Detailed Explanation of Interfaces118
- Source I/O Interface120
Servo Motor with an Electromagnetic Brake121
- Timing Chart122
Grounding128
Chapter 4 Startup129
- Wiring Check130
- Surrounding Environment132
- Settings of GX Works133
- Startup134
Switch Setting and Display of the Servo Amplifier136
- Scrolling Display137
- Status Display of a Station138
- CC-Link IE Field Status Display LED139
Test Operation140
- Test Operation Mode141
- Motor-Less Operation in Controller144
- Home Position Return Mode145
- Cia 402-Type Homing Method149
- Operation Example of Manufacturer-Specific Homing Method161
Chapter 5 Parameters170
- Basic Setting Parameters ([Pr. PA_ _ ])171
- Gain/Filter Setting Parameters ([Pr. PB_ _ ])172
- Extension Setting Parameters ([Pr. PC_ _ ])174
- Network Setting Parameters ([Pr. PN_ _])184
Detailed List of Parameters185
- Gain/Filter Setting Parameters ([Pr. PB_ _ ])194
- Extension Setting Parameters ([Pr. PC_ _ ])204
- I/O Setting Parameters ([Pr. PD_ _ ])211
- Extension Setting 2 Parameters ([Pr. PE_ _ ])214
- Extension Setting 3 Parameters ([Pr. PF_ _ ])217
- Linear Servo Motor/DD Motor Setting Parameters ([Pr. PL_ _ ])220
- Positioning Control Parameters ([Pr. PT_ _ ])223
- Network Setting Parameters ([Pr. PN_ _ ])227
Software Limit228
Chapter 6 Normal Gain Adjustment229
- Adjustment Using MR Configurator2230
One-Touch Tuning231
- One-Touch Tuning Flowchart232
- Display Transition and Operation Procedure of One-Touch Tuning233
- Caution for One-Touch Tuning236
- One-Touch Tuning Via a Network237
Auto Tuning239
- Auto Tuning Mode Basis240
- Adjustment Procedure by Auto Tuning241
- Response Level Setting in Auto Tuning Mode242
Manual Mode244
Gain Adjustment Mode247
Chapter 7 Special Adjustment Functions249
- Adaptive Filter II252
- Shaft Resonance Suppression Filter254
- Low-Pass Filter255
- Advanced Vibration Suppression Control II256
- Command Notch Filter259
Gain Switching Function261
- Function Block Diagram262
- Parameter263
- Gain Switching Procedure266
Tough Drive Function269
- Instantaneous Power Failure Tough Drive Function271
Compliance with SEMI-F47 Standard275
Model Adaptive Control Disabled277
Lost Motion Compensation Function278
Super Trace Control281
Chapter 8 Troubleshooting282
Alarm List283
Warning List291
Troubleshooting at Power on293
Chapter 9 Dimensions294
Servo Amplifier295
- Connector311
Chapter 10 Characteristics313
- Power Supply Capacity and Generated Loss317
- Dynamic Brake Characteristics320
- Permissible Load to Motor Inertia When the Dynamic Brake Is Used324
Cable Bending Life326
Inrush Currents at Power-On of Main Circuit and Control Circuit327
Chapter 11 Options and Peripheral Equipment329
- Combinations of Cable/Connector Sets330
- MR-D05UDL3M-B STO Cable334
- Battery Cable/Junction Battery Cable335
- Ethernet Cable336
Regenerative Options337
- Selection of the Regenerative Option339
- Parameter Setting343
- Dimensions348
FR-BU2-(H) Brake Unit355
- Brake Unit Parameter Setting356
- Connection Example357
- Dimensions365
FR-RC-(H) Power Regeneration Converter368
FR-CV-(H) Power Regeneration Common Converter372
- Selection373
Junction Terminal Block PS7DW-20V14B-F (Recommended)381
MR Configurator2383
- System Requirements384
- Precautions for Using USB Communication Function385
Battery386
- MR-BAT6V1SET-A Battery387
- MR-BAT6V1BJ Battery for Junction Battery Cable391
- MR-BT6VCASE Battery Case395
- MR-BAT6V1 Battery401
- Selection Example of Wires402
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors406
Power Factor Improving DC Reactors409
Power Factor Improving AC Reactors414
Relay (Recommended)418
Earth-Leakage Current Breaker427
EMC Filter (Recommended)430
External Dynamic Brake437
Panel through Attachment (MR-J4ACN15K/MR-J3ACN)444
Chapter 12 Absolute Position Detection System449
- Structure450
- Confirmation of Absolute Position Detection Data451
Battery452
- Using MR-BAT6V1BJ Battery for Junction Battery Cable453
- Using MR-BT6VCASE Battery Case454
Chapter 13 Using Sto Function455
- Residual Risks of the STO Function456
- Maintenance457
STO I/O Signal Connector (CN8) and Pin Assignment458
- How to Pull out the STO Cable459
- Connection Example460
- External I/O Signal Connection Example Using an MR-J3-D05 Safety Logic Unit461
- External I/O Signal Connection Example Using an External Safety Relay Unit464
Detailed Explanation of Interfaces465
- Source I/O Interface466
Chapter 14 Using a Linear Servo Motor467
- Configuration Including Peripheral Equipment468
Signals and Wiring472
Operation and Functions473
- Magnetic Pole Detection475
- Home Position Return483
- Test Operation Mode in MR Configurator2486
- Operation from Controller488
- Absolute Position Detection System490
Characteristics491
- Power Supply Capacity and Generated Loss492
- Dynamic Brake Characteristics493
- Permissible Load to Motor Mass Ratio When the Dynamic Brake Is Used494
Chapter 15 Using a Direct Drive Motor495
- Configuration Including Peripheral Equipment496
- Signals and Wiring498
Operation and Functions500
- Magnetic Pole Detection501
- Operation from Controller507
- Function508
Characteristics510
- Power Supply Capacity and Generated Loss511
Chapter 16 Fully Closed Loop System515
- Selecting Procedure of Control Mode516
- System Configuration518
Load-Side Encoder520
- MR-J4FCCBL03M Branch Cable522
- Operation and Functions523
- Home Position Return530
- Operation from Controller531
- Fully Closed Loop Control Error Detection Functions532
- Auto Tuning Function533
- Absolute Position Detection System under Fully Closed Loop System534
- About MR Configurator2535
Chapter 17 Application of Functions537
- Scale Measurement Encoder540
- How to Use Scale Measurement Function543
- Controller Setting of the Scale Measurement Function545
Touch Probe546
Backup/Restoration Function550
Parameter Object551
- Enabling Parameters552
Machine Diagnosis Function553
- Friction Vibration Estimation Function556
- Failure Prediction Function558
Appendices565
Appendix 1 When Using the Servo Amplifier with the DC Power Supply Input568
- Power Supply Capacity568
- Molded-Case Circuit Breakers, Fuses, Magnetic Contactors569
- Of Dangerous Goods571
Appendix 2 Handling of AC Servo Amplifier Batteries for the United Nations Recommendations on the Transport573
Appendix 3 Symbol for the New EU Battery Directive573
Appendix 4 Compliance with Global Standards574
- Installation Direction and Clearances580
- Signal582
- Maintenance and Service583
- Transportation and Storage584
- Technical Data585
- Check List for User Documentation587
Appendix 5 MR-J3-D05 Safety Logic Unit588
- Cautions589
- Block Diagram and Timing Chart590
- Functions and Configuration591
- Signal594
- LED Display600
- Rotary Switch Setting601
- Dimensions602
- Installation603
Appendix 6 EC Declaration of Conformity604
Appendix 7 How to Replace Servo Amplifier Without Magnetic Pole Detection606
Appendix 8 Two-Wire Type Encoder Cable for HG-MR/HG-KR608
- Internal Wiring Diagram609
Appendix 9 Analog Monitor610
- Details of the Setting611
- Analog Monitor Block Diagram615
- Maximum Current Command (Maximum Torque) for Analog Monitor ±8 V616
Appendix 10Special Specification623
- Without Regenerative Resistor624
- Special Coating-Specification Product (IEC 60721-3-3 Class 3C2)625
Appendix 11 Driving On/Off of Main Circuit Power Supply with DC Power Supply627
- Magnetic Contactor628
Appendix 12List of Registration Objects629
- Servo Transient Transmission Function631
Appendix 13Status of General-Purpose AC Servo Products for Compliance with the China Rohs Directive634
Appendix 14Encoder Output Pulse Setting Method637
- Revisions639
- Warranty643
- Trademarks644

Mitsubishi Electric MELSERVO-J4 series User Manual

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Brand	Mitsubishi Electric
Model	MELSERVO-J4 series
Category	Amplifier
Language	English