Mitsubishi MR-J4-350A User Manual

SH (NA) 030107-G (1310) 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
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_A(-RJ)
MR-J4-_A4(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
General-Purpose Interface AC Servo
1CW804
MR-J4-A INSTRUCTIONMANUAL
G
G

Mitsubishi MR-J4-350A Specifications

General

Series	MR-J4
Type	Servo Amplifier
Rated Output Power	3.5 kW
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Full-closed control	Yes
Advanced One-touch Tuning	Yes
STO	Yes
SS1	Yes
Voltage Class	200 V
Communication Interface	SSCNET III/H
Protection Functions	Overcurrent, Overvoltage, Overheat
Ambient Temperature	0 °C to +55 °C
Vibration Resistance	5.9 m/s²

Summary

General-Purpose AC Servo

Safety Instructions

WARNING levels

Defines hazard levels for safety instructions and precautions.

CAUTION levels

Defines hazard levels for safety instructions and precautions.

To prevent electric shock, note the following

Grounding the servo amplifier

Emphasizes secure grounding of the servo amplifier and motor to prevent electric shock.

To prevent fire, note the following

Incombustible material installation

Stresses installing equipment on incombustible material to prevent fire hazards.

Signals and wiring

Input power supply circuit

Details the connection requirements for the main and control circuit power supplies.

I/O signal connection example

Illustrates typical I/O signal connections for various control modes.

Detailed explanation of signals

Provides detailed descriptions of various input and output signals.

Grounding

Details proper grounding procedures for safety and noise reduction.

STARTUP

Switching power on for the first time

Outlines the procedure for initial power-on and startup.

Startup in position control mode

Provides specific startup steps for position control mode.

Startup in speed control mode

Provides specific startup steps for speed control mode.

Startup in torque control mode

Provides specific startup steps for torque control mode.

PARAMETERS

Parameter list

Lists all basic and extension parameters with their functions and settings.

Basic setting parameters ([Pr. PA_ _ ])

Details fundamental parameters for configuring the servo amplifier's operation.

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

Details parameters for setting servo amplifier gains and filters.

NORMAL GAIN ADJUSTMENT

Different adjustment methods

Explains various methods for adjusting servo amplifier gains.

One-touch tuning

Describes the automated gain adjustment process via software or push buttons.

Auto tuning

Details the real-time auto tuning function for optimizing servo gains.

Manual mode

Explains manual gain adjustment using specific parameters for fine-tuning.

SPECIAL ADJUSTMENT FUNCTIONS

Filter setting

Covers various filters for suppressing machine vibration and noise.

Machine resonance suppression filter

Details notch filters to suppress mechanical resonance at specific frequencies.

Adaptive filter II

Describes the automatic detection and setting of filters to suppress machine vibration.

Gain switching function

Explains how to switch servo gains based on operating conditions or input signals.

Gain switching procedure

Provides examples and procedures for setting up gain switching.

TROUBLESHOOTING

ABSOLUTE POSITION DETECTION SYSTEM

Parameter setting

Absolute position data transfer protocol

Absolute position data transfer errors

USING STO FUNCTION

Introduction

Summary

Cautions

Residual risks of the STO function

Specifications

STO I/O signal connector (CN8) and signal layouts

Connection example

COMMUNICATION FUNCTION

Test operation mode

USING A LINEAR SERVO MOTOR

USING A DIRECT DRIVE MOTOR

Signals and wiring

Startup procedure

Magnetic pole detection

Absolute position detection system

Characteristics

FULLY CLOSED LOOP SYSTEM

Functions and configuration

Selecting procedure of control mode

Load-side encoder

Operation and functions

Startup

Home position return

Fully closed loop control error detection functions

Absolute position detection system under fully closed loop system