Mitsubishi Electric MELSERVO-J4 User Manual

SH (NA) 030143-A (1404) MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-J4-_A_-RJ SERVO AMPLIFIER INSTRUCTION MANUAL (POSITIONING MODE)
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_A-RJ
MR-J4-_A4-RJ
MR-J4-_A1-RJ
General-Purpose Interface AC Servo
1CW819
SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)
MR-J4-A-RJ
INSTRUCTIONMANUAL(ITIGIME)

Mitsubishi Electric MELSERVO-J4 Specifications

General

Series	MELSERVO-J4
Full-closed Control	Supported
Advanced One-touch Tuning	Supported
Real-time Adaptive Tuning	Supported
Vibration Suppression Control	Supported
Communication Interface	SSCNET III/H
Safety Functions	STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SBC (Safe Brake Control)
Protection Functions	Overcurrent, Overvoltage, Overload, Overheat, Encoder Error, Regenerative Error
Ambient Temperature	0°C to +55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10 to 55 Hz
Feedback System	Absolute/Incremental Encoder, Resolver

Summary

2. SIGNALS AND WIRING

2.1 I/O signal connection example

Example of I/O signal connections for point table and program methods.

2.2 Connectors and pin assignment

Details of connectors and their pin assignments.

2.3 Signal (device) explanations

Explanations of input and output signals and their functions.

2.4 Analog override

Explanation of analog override function for speed control.

2.5 Interfaces

Details on various interfaces.

2.6 Power-on sequence

Procedure and timing chart for powering on the servo amplifier.

3. DISPLAY AND OPERATION SECTIONS

3.1 Display sequence

Transition of display modes and their functions.

3.2 Status display

Displays servo status during operation on a 7-segment LED.

3.3 Diagnostic mode

Displays diagnosis contents and allows changing display data.

3.4 Alarm mode

Displays current alarms, alarm history, and parameter/point table errors.

3.5 Point table setting

Procedures for setting target position, speed, and other parameters in point tables.

3.6 Parameter mode

Procedures for changing parameter settings.

3.9 Single-Step feed

Test operation mode for checking servo operation.

4. HOW TO USE THE POINT TABLE

4.1 Startup

Procedures for powering on and off the servo amplifier.

4.2 Automatic operation mode

Setting point tables and starting operation using signals or communication.

4.3 Manual operation mode

Adjusting position using JOG or manual pulse generator.

4.4 Home position return mode

Explanation of home position return methods and types.

4.5 Roll feed mode using the roll feed display function

Using roll feed display function to change position displays.

4.6 Point table setting method

Steps to set point tables using MR Configurator2.

5. HOW TO USE THE PROGRAM

5.1 Startup

Procedures for powering on and off the servo amplifier.

5.2 Program operation method

Selecting and starting a program using input signals or communication.

5.3 Manual operation mode

Shifting position using JOG or manual pulse generator.

5.4 Home position return mode

Explanation of home position return methods and types.

5.5 Serial communication operation

Operating servo amplifier using RS-422 communication.

5.6 Incremental value command method

Using the incremental value command method.

5.8 Program setting method

Method for setting programs using MR Configurator2.

6. HOW TO USE INDEXER

6.1 Startup

Procedures for powering on and off the servo amplifier.

6.1.2 Stop

Conditions under which the servo motor stops.

6.1.3 Test operation

Steps to confirm normal operation of the machine.

6.1.4 Parameter setting

Necessary parameter settings for the indexer method.

6.2 Automatic operation mode

Positioning execution by selecting stations using DI devices.

6.2.2 Automatic operation mode 1 (rotation direction specifying indexer)

Executing positioning to a station in a fixed direction.

6.2.3 Automatic operation mode 2 (shortest rotating indexer)

Automatically changing rotation direction to shortest distance for positioning.

6.3 Manual operation mode

Shifting position using station JOG or JOG operation.

6.4 Home position return mode

Explanation of home position return methods and types.

6.4.5 Safety precautions

Safety precautions for I/O signals, torque limit, test operation, and deceleration.

7. PARAMETERS

7.1 Parameter list

Lists all parameters and their basic settings.

7.1.1 Basic setting parameters ([Pr. PA_ _ ])

Basic setting parameters for operation mode and electronic gear.

7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Parameters for gain and filter settings, including vibration suppression.

7.1.3 Extension setting parameters ([Pr. PC_ _ ])

Parameters for extension settings, including S-pattern and speed/torque control.

7.1.4 I/O setting parameters ([Pr. PD_ _ ])

Parameters for input device and output device selections.

7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Parameters for fully closed loop control functions.

7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Parameters for drive recorder, vibration tough drive, and SEMI-F47 function.

7.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Parameters for linear servo motor and DD motor settings.

7.1.9 Positioning control parameters ([Pr. PT_ _ ])

Parameters related to positioning control, including command mode and home position return.

7.3 How to set the electronic gear

How to set electronic gear settings.

7.4 Software limit

Setting software limits for stopping shaft motion.

7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off

Selecting servo motor stop method when LSP or LSN is off.

7.6 Stop method at software limit detection

Selecting stop method when software limit is detected.

8. TROUBLESHOOTING

8.2 Alarm list

Comprehensive list of alarms with details, stop methods, and alarm codes.

8.3 Warning list

List of warnings with details and stop methods.

9. OPTIONS AND PERIPHERAL EQUIPMENT

9.1 MR-HDP01 manual pulse generator

Details about the MR-HDP01 manual pulse generator.

10. COMMUNICATION FUNCTION

10.1 Command and data No. list

Lists communication commands and their corresponding data numbers.

10.2 Detailed explanations of commands

Detailed explanations of communication commands.

10.3 Relevant matters to monitor information

Relevant matters for monitoring information compatible with previous models.

10.3.2 Relevant matters to input/output

Input signal mapping for different control modes based on [Pr. PT01].

11. PARAMETER UNIT

11.1 External appearance and key explanations

Shows external appearance and explains keys.

11.2 Specifications

Technical specifications of the parameter unit.

11.3 Dimensions

Physical dimensions of the parameter unit.

11.4 Connection with servo amplifier

How to connect the parameter unit to the servo amplifier.

11.5 Display

How the parameter unit displays information and transitions between modes.

11.5.2 Parameter unit setting

Procedures for setting station number, baud rate, and contrast.

11.5.3 Monitor mode (status display)

How to monitor servo status and display various information.

11.5.4 Alarm/diagnosis mode

Procedures for displaying alarms, alarm history, I/O signals, and diagnosis.

11.5.5 Parameter mode

Procedures for setting parameters.

11.5.6 Point table mode

Procedures for setting point table data.

11.5.7 Test operation mode

Executing test cancel, JOG, positioning, forced output, and single-step feed.

Warranty

1. Warranty period and coverage

Information on warranty period and what is covered.

Term of Warranty

Specifies the warranty period.

Warranty Limitations

Lists cases where repair costs will be charged.

6. Application and use of the Product

Guidelines for product application and recommended uses.