Name: Mitsubishi Electric MR-J4 B Series
Brand: Mitsubishi Electric
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SH (NA) 030106-A (1203) MEE Printed in Japan Specifications subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

General-Purpose AC Servo

MR-J4-_B SERVO AMPLIFIER INSTRUCTION MANUAL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

MR-J4-_B

SERVO AMPLIFIER

INSTRUCTION MANUAL

SSCNET /H Interface AC Servo

1CW805

MR-J4-B INSTRUCTIONMANUAL

Safety Instructions2
DISPOSAL OF WASTE7
STO function of the servo amplifier7
COMPLIANCE WITH CE MARKING7
COMPLIANCE WITH UL/CSA STANDARD7
About the manuals7
Wiring7
U.S. customary units8
CONTENTS10
1. FUNCTIONS AND CONFIGURATION16
- 1.1 Summary16
- 1.2 Function block diagram17
- 1.3 Servo amplifier standard specifications19
- 1.4 Combinations of servo amplifiers and servo motors21
- 1.5 Function list22
- 1.6 Model designation23
- 1.7 Structure24
  - 1.7.1 Parts identification24
  - 1.7.2 Removal and reinstallation of the front cover28
- 1.8 Configuration including auxiliary equipment30
2. INSTALLATION34
- 2.1 Installation direction and clearances35
- 2.2 Keep out foreign materials36
- 2.3 Encoder cable stress37
- 2.4 SSCNET III cable laying37
- 2.5 Inspection items39
- 2.6 Parts having service lives40
3. SIGNALS AND WIRING42
- 3.1 Input power supply circuit43
- 3.2 I/O signal connection example49
  - 3.2.1 For sink I/O interface49
  - 3.2.2 For source I/O interface51
- 3.3 Explanation of power supply system52
- 3.4 Connectors and pin assignment56
- 3.5 Signal (device) explanations58
- 3.6 Forced stop deceleration function61
- 3.7 Alarm occurrence timing chart65
  - 3.7.1 When you use the forced stop deceleration function65
  - 3.7.2 When you do not use the forced stop deceleration function66
- 3.8 Interfaces67
- 3.9 SSCNET III cable connection71
- 3.10 Servo motor with an electromagnetic brake73
  - 3.10.1 Safety precautions73
  - 3.10.2 Timing chart74
- 3.11 Grounding78
4. STARTUP80
- 4.1 Switching power on for the first time80
- 4.2 Startup84
- 4.3 Switch setting and display of the servo amplifier85
- 4.4 Test operation92
- 4.5 Test operation mode92
  - 4.5.1 Test operation mode in MR Configurator293
  - 4.5.2 Motor-less operation in controller96
5. PARAMETERS98
- 5.1 Parameter list98
- 5.2 Detailed list of parameters108
6. NORMAL GAIN ADJUSTMENT146
- 6.1 Different adjustment methods146
  - 6.1.1 Adjustment on a single servo amplifier146
  - 6.1.2 Adjustment using MR Configurator2147
- 6.2 One-touch tuning148
- 6.3 Auto tuning154
- 6.4 Manual mode158
- 6.5 2 gain adjustment mode162
7. SPECIAL ADJUSTMENT FUNCTIONS164
- 7.1 Filter setting164
- 7.2 Gain switching function177
- 7.3 Tough drive function185
  - 7.3.1 Vibration tough drive function185
  - 7.3.2 Instantaneous power failure tough drive function187
8. TROUBLESHOOTING192
- 8.1 Alarm and warning list192
- 8.2 Troubleshooting at power on198
9. OUTLINE DRAWINGS200
- 9.1 Servo amplifier200
- 9.2 Connector207
10. CHARACTERISTICS210
- 10.1 Overload protection characteristics210
- 10.2 Power supply capacity and generated loss212
- 10.3 Dynamic brake characteristics214
  - 10.3.1 Dynamic brake operation214
  - 10.3.2 Permissible load to motor inertia when the dynamic brake is used215
- 10.4 Cable bending life216
- 10.5 Inrush currents at power-on of main circuit and control circuit216
11. OPTIONS AND AUXILIARY EQUIPMENT218
- 11.1 Cable/connector sets218
- 11.2 Regenerative options224
- 11.3 FR-BU2 Brake unit233
- 11.4 FR-RC Power regenerative converter240
- 11.5 Power regenerative common converter243
- 11.6 Junction terminal block PS7DW-20V14B-F (recommended)247
- 11.7 MR Configurator2248
- 11.8 Battery250
- 11.9 Selection example of wires251
- 11.10 Molded case circuit breakers, fuses, magnetic contactors253
- 11.11 Power factor improving DC reactors253
- 11.12 Power factor improving AC reactors255
- 11.13 Relays (recommended)256
- 11.14 Noise reduction techniques256
- 11.15 Leakage current breaker264
- 11.16 EMC filter (recommended)267
12. ABSOLUTE POSITION DETECTION SYSTEM270
- 12.1 Features270
- 12.2 Specifications271
- 12.3 Battery replacement procedure272
- 12.4 Battery installation and removal procedure273
- 12.5 Confirmation of absolute position detection data275
13. USING STO FUNCTION276
- 13.1 Introduction276
- 13.2 STO I/O signal connector (CN8) and signal layouts279
- 13.3 Connection example281
- 13.4 Detailed description of interfaces285
  - 13.4.1 Sink I/O interface285
  - 13.4.2 Source I/O interface286
14. USING A LINEAR SERVO MOTOR288
- 14.1 Functions and configuration288
  - 14.1.1 Summary288
  - 14.1.2 Servo system with auxiliary equipment289
- 14.2 Signals and wiring290
- 14.3 Operation and functions292
- 14.4 Characteristics313
15. USING A DIRECT DRIVE MOTOR318
- 15.1 Functions and configuration318
  - 15.1.1 Summary318
  - 15.1.2 Servo system with auxiliary equipment319
- 15.2 Signals and wiring320
- 15.3 Operation and functions321
- 15.4 Characteristics333
16. FULLY CLOSED LOOP SYSTEM (available in the future)338
- 16.1 Functions and configuration338
- 16.2 Load-side encoder342
- 16.3 Operation and functions345
APPENDIX362
- App. 1 Auxiliary equipment manufacturer (for reference)362
- App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods362
- App. 3 Symbol for the new EU Battery Directive364
- App. 4 Compliance with the CE marking364
- App. 5 Compliance with UL/CSA standard367
- App. 6 Compliance with KC mark370
- App. 7 MR-J3-D05 Safety logic unit371
- App. 8 EC declaration of conformity390
- App. 9 How to replace servo amplifier without magnetic pole detection391
- App. 10 Two-wire type encoder cable for HG-MR/HG-KR392
- App. 11 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service394
- App. 12 Analog monitor394
REVISIONS399
Country/Region400
Warranty401

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Mitsubishi Electric MR-J4 B Series Specifications

General

Series	MR-J4 B Series
Type	Servo Drives
Manufacturer	Mitsubishi Electric
Protection Class	IP20
Power Supply Voltage	200 - 240 VAC
Voltage	200-230V AC
Feedback System	Incremental Encoder
Communication Interface	Ethernet
Protection Functions	Overcurrent, overvoltage, overheating
Ambient Temperature	0-55°C
Storage Temperature	-20°C to +65°C
Ambient Humidity	90% RH or less (non-condensing)
Vibration Resistance	5.9 m/s² (0.6G) at 10-55Hz
Installation	Panel Mounting
Cooling Method	Natural Cooling or Forced Air Cooling
Weight	Varies by specific model