Name: Mitsubishi Electric MR-J4-100A(-RJ)
Brand: Mitsubishi Electric
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SH(NA)030107ENG-Q(1710)MEE Printed in Japan Specifications are subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

General-Purpose AC Servo

MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

MR-J4-_A_(-RJ)

MR-J4-03A6(-RJ)

General-Purpose Interface

1CW804

MR-J4-A INSTRUCTIONMANUAL

SERVO AMPLIFIER

INSTRUCTION MANUAL

Table of Contents10
Summary20
- Function Block Diagram22
- Servo Amplifier Standard Specifications30
- Combinations of Servo Amplifiers and Servo Motors37
- Function List40
Connector41
- Model Designation43
- Structure44
- Removal and Reinstallation of the Front Cover59
  - Configuration Including Peripheral Equipment61
  - Installation Direction and Clearances77
Keeping out of Foreign Materials79
Inspection Items80
Parts Having Service Life81
- Restrictions When Using this Product at Altitude Exceeding 1000 M and up to 2000 M above Sea Level82
- Input Power Supply Circuit85
- V Class86
- V Class91
- V Class94
- I/O Signal Connection Example95
- Speed Control Mode98
- Torque Control Mode101
- Explanation of Power Supply System104
- Power-On Sequence105
- Wiring CNP1, CNP2, and CNP3106
  - Connectors and Pin Assignment110
  - Signal (Device) Explanations113
Detailed Explanation of Signals123
- Speed Control Mode128
- Torque Control Mode130
- Position/Speed Control Switching Mode133
- Speed/Torque Control Switching Mode135
- Torque/Position Control Switching Mode137
Forced Stop Deceleration Function138
- Base Circuit Shut-Off Delay Time Function140
- Vertical Axis Freefall Prevention Function141
- Alarm Occurrence Timing Chart142
- When You Do Not Use the Forced Stop Deceleration Function143
- Interfaces144
- Detailed Explanation of Interfaces146
- Source I/O Interfaces150
Servo Motor with an Electromagnetic Brake152
- Timing Chart154
- Grounding158
Switching Power on for the First Time161
- Wiring Check162
- Surrounding Environment165
- Stop166
- Test Operation167
- Parameter Setting168
Startup in Speed Control Mode171
- Stop172
- Test Operation173
- Parameter Setting174
Startup in Torque Control Mode176
- Test Operation177
- Parameter Setting178
- Trouble at Start-Up179
Display and Operation Sections180
- Display Flowchart181
- Status Display Mode182
- Diagnostic Mode189
- Alarm Mode191
- Parameter Mode192
- External I/O Signal Display194
- Output Signal (DO) Forced Output197
- Test Operation Mode198
Parameter List205
- Gain/Filter Setting Parameters ([Pr. PB_ _ ])206
- Extension Setting Parameters ([Pr. PC_ _ ])208
- I/O Setting Parameters ([Pr. PD_ _ ])210
- Extension Setting 2 Parameters ([Pr. PE_ _ ])211
- Extension Setting 3 Parameters ([Pr. PF_ _ ])213
- Linear Servo Motor/DD Motor Setting Parameters ([Pr. PL_ _ ])214
- Option Setting Parameters ([Pr. Po_ _ ])215
Detailed List of Parameters216
- Gain/Filter Setting Parameters ([Pr. PB_ _ ])229
- Extension Setting Parameters ([Pr. PC_ _ ])243
- I/O Setting Parameters ([Pr. PD_ _ ])257
- Extension Setting 2 Parameters ([Pr. PE_ _ ])265
- Extension Setting 3 Parameters ([Pr. PF_ _ ])268
- Linear Servo Motor/DD Motor Setting Parameters ([Pr. PL_ _ ])271
- Option Setting Parameters ([Pr. Po_ _ ])274
Different Adjustment Methods280
- Adjustment Using MR Configurator2281
- One-Touch Tuning282
- One-Touch Tuning Flowchart284
- Display Transition and Operation Procedure of One-Touch Tuning287
- Caution for One-Touch Tuning301
Auto Tuning302
- Auto Tuning Mode Basis303
- Adjustment Procedure by Auto Tuning304
- Response Level Setting in Auto Tuning Mode305
Manual Mode306
Gain Adjustment Mode309
Filter Setting312
- Machine Resonance Suppression Filter313
- Adaptive Filter II316
- Shaft Resonance Suppression Filter319
- Low-Pass Filter320
- Command Notch Filter325
Gain Switching Function327
- Function Block Diagram328
- Parameter329
- Gain Switching Procedure332
Tough Drive Function336
- Instantaneous Power Failure Tough Drive Function338
Compliance with SEMI-F47 Standard342
Model Adaptive Control Disabled345
Lost Motion Compensation Function346
Super Trace Control349
Explanation for the Lists352
Alarm List353
Warning List362
- Overload Protection Characteristics388
  - Power Supply Capacity and Generated Loss392
  - Dynamic Brake Characteristics395
- Dynamic Brake Operation396
- Permissible Load to Motor Inertia When the Dynamic Brake Is Used399
Cable Bending Life400
- Inrush Currents at Power-On of Main Circuit and Control Circuit401
- Cable/Connector Sets404
- Combinations of Cable/Connector Sets405
- MR-D05UDL3M-B STO Cable409
- Battery Cable/Junction Battery Cable410
Regenerative Options411
- Selection of Regenerative Option413
- Parameter Setting416
- Dimensions421
FR-BU2-(H) Brake Unit425
- Selection426
- Connection Example427
- Dimensions437
FR-RC-(H) Power Regeneration Converter439
FR-CV-(H) Power Regeneration Common Converter445
- Selection Example446
Junction Terminal Block MR-TB50454
MR Configurator2457
- System Configuration458
- Precautions for Using USB Communication Function459
Battery460
- MR-BAT6V1SET Battery461
- MR-BAT6V1BJ Battery for Junction Battery Cable465
- MR-BAT6V1SET-A Battery469
- MR-BT6VCASE Battery Case473
- MR-BAT6V1 Battery479
- Selection Example of Wires480
Molded-Case Circuit Breakers, Fuses, Magnetic Contactors484
Power Factor Improving DC Reactors487
Power Factor Improving AC Reactors491
Relays (Recommended)494
Noise Reduction Techniques495
Earth-Leakage Current Breaker502
EMC Filter (Recommended)505
External Dynamic Brake512
Panel through Attachment (MR-J4ACN15K/MR-J3ACN)519
- Summary524
- Restrictions525
- Parameter Setting526
Battery527
- Using MR-BAT6V1BJ Battery for Junction Battery Cable528
- Using MR-BT6VCASE Battery Case529
Standard Connection Example530
Signal Explanation531
- Startup Procedure532
Absolute Position Data Transfer Protocol533
- Transfer Method534
- Home Position Setting543
- Use of Servo Motor with an Electromagnetic Brake545
- How to Process the Absolute Position Data at Detection of Stroke End546
Communication-Based Absolute Position Transfer System549
Introduction554
- Residual Risks of the STO Function555
- Specifications556
- Maintenance557
- Signal (Device) Explanations558
Connection Example559
- External I/O Signal Connection Example Using an MR-J3-D05 Safety Logic Unit560
- External I/O Signal Connection Example Using an External Safety Relay Unit563
Detailed Description of Interfaces564
- Source I/O Interface565
Structure569
- Precautions for Using RS-422/RS-232C/USB Communication Function571
Communication Specifications572
Protocol573
- Character Codes574
- Error Codes575
- Retry Processing576
- Communication Procedure Example577
Command and Data No. List578
- Writing Commands584
Detailed Explanations of Commands586
- Status Display Mode588
- Parameter589
- External I/O Signal Status (DIO Diagnosis)593
- Input Device On/Off596
- Disabling/Enabling I/O Devices (DIO)597
- Input Devices On/Off (Test Operation)598
- Test Operation Mode599
- Output Signal Pin On/Off (Output Signal (DO) Forced Output)603
- Alarm History604
- Current Alarm605
- Other Commands606
Functions and Configuration608
- Configuration Including Peripheral Equipment609
Signals and Wiring613
Operation and Functions614
- Magnetic Pole Detection618
- Home Position Return625
- Test Operation Mode in MR Configurator2630
Function631
- Absolute Position Detection System634
Characteristics635
- Power Supply Capacity and Generated Loss636
- Dynamic Brake Characteristics637
- Permissible Load to Motor Mass Ratio When the Dynamic Brake Is Used638
Functions and Configuration640
Configuration Including Peripheral Equipment641
Signals and Wiring642
Operation and Functions643
- Startup Procedure644
- Magnetic Pole Detection645
- Function651
Absolute Position Detection System653
- Characteristics654
- Power Supply Capacity and Generated Loss656
- Dynamic Brake Characteristics657
Functions and Configuration661
- Selecting Procedure of Control Mode662
- System Configuration663
Load-Side Encoder665
- Configuration Diagram of Encoder Cable666
- MR-J4FCCBL03M Branch Cable668
Operation and Functions669
- Home Position Return676
- Fully Closed Loop Control Error Detection Functions679
- Auto Tuning Function680
- Absolute Position Detection System under Fully Closed Loop System681
- About MR Configurator2682
  - Functions and Configuration684
  - Function Block Diagram685
- Servo Amplifier Standard Specifications686
- Combinations of Servo Amplifiers and Servo Motors687
- Function List688
- Model Definition691
- Parts Identification692
- Configuration Including Peripheral Equipment693
Installation694
- Installation Direction and Clearances695
- Installation by DIN Rail697
- Signals and Wiring699
- Input Power Supply Circuit700
- Explanation of Power Supply System702
- Selection of Main Circuit Power Supply/Control Circuit Power Supply705
  - I/O Signal Connection Example706
  - Connectors and Pin Assignment714
  - Signal (Device) Explanations717
- Alarm Occurrence Timing Chart721
- Interfaces (Internal Connection Diagram)723
- Grounding725
- Startup726
- Startup Procedure727
- Troubleshooting When "24 V ERROR" Lamp Turns on728
- Wiring Check729
- Surrounding Environment730
- Display Flowchart731
- Status Display Mode732
- One-Touch Tuning737
- Diagnostic Mode741
- Alarm Mode744
- Parameter Mode746
- External I/O Signal Display751
- Output Signal (DO) Forced Output754
- Test Operation Mode755
Dimensions757
Characteristics758
- Power Supply Capacity and Generated Loss759
- Inrush Currents at Power-On of Main Circuit and Control Circuit761
Options and Peripheral Equipment762
- Combinations of Cable/Connector Sets763
- Selection Example of Wires764
Communication Function (Mitsubishi Electric General-Purpose AC Servo Protocol)765
- Function Block Diagram769
- Structure771
- Installation and Removal of the MR-D01 Extension I/O Unit772
- Configuration Including Peripheral Equipment776
Installation Direction and Clearances778
- Signals and Wiring780
- I/O Signal Connection Example781
- Connectors and Pin Assignment796
- Signal (Device) Explanations798
- Interface804
Monitor Display with MR Configurator2808
- Dimensions810
Options Peripheral Equipment811
- PS7DW-20V14B-F (Junction Terminal Block) (Recommended)812
- MR-TB50 (Junction Terminal Block)814

Mitsubishi Electric MR-J4-100A(-RJ) User Manual

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Mitsubishi Electric MR-J4-100A(-RJ) Specifications

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Brand	Mitsubishi Electric
Model	MR-J4-100A(-RJ)
Category	Servo Drives
Language	English