Mitsubishi MR-J4-40A - 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

Summary

Safety Instructions

To prevent electric shock, note the following

Instructions to prevent electric shock, including power off procedures, grounding, and terminal insulation.

To prevent fire, note the following

Instructions to prevent fire, including material selection for installation and circuit protection.

To prevent injury, note the following

Wiring

Wiring the equipment correctly and securely

Instructions for correct and secure wiring of servo amplifiers and motors to prevent unexpected operation or injury.

FUNCTIONS AND CONFIGURATION

Summary

Overview of MELSERVO-J4 series features, performance improvements over J3 series, and applicable fields.

Function block diagram

Servo amplifier standard specifications

Detailed specifications for 200 V and 400 V class servo amplifiers, covering ratings, input, control, protective functions, and safety performance.

INSTALLATION

Installation direction and clearances

Guidelines for installing servo amplifiers, including direction, clearances, and mounting hole details.

SIGNALS AND WIRING

Input power supply circuit

Detailed explanation of input power supply circuits for 200 V and 400 V class servo amplifiers.

I;O signal connection example

Examples of I/O signal connections for position, speed, and torque control modes (sink and source interfaces).

Explanation of power supply system

Signal (device) explanations

Forced stop deceleration function

Explanation of the forced stop deceleration function (SS1), including connection diagrams and timing charts.

STARTUP

Switching power on for the first time

Step-by-step procedure for initial startup, including wiring checks, parameter settings, and test operations.

Startup in position control mode

Specific startup procedures for position control mode, including power on/off, stopping, test operations, and parameter settings.

Startup in speed control mode

Specific startup procedures for speed control mode, including power on/off, stopping, test operations, and parameter settings.

Startup in torque control mode

Specific startup procedures for torque control mode, including power on/off, stopping, test operations, and parameter settings.

PARAMETERS

Parameter list

Basic setting parameters ([Pr. PA_ _ ])

List and description of basic setting parameters (PA01 to PA32) for operation and control modes.

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

List and description of gain and filter setting parameters (PB01 to PB64) for various control modes.

Extension setting parameters ([Pr. PC_ _ ])

List and description of extension setting parameters (PC01 to PC80) for various control modes.

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

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

Parameters for setting linear servo motor and DD motor functions, including magnetic pole detection and resolution.

NORMAL GAIN ADJUSTMENT

Different adjustment methods

Explanation of gain adjustment modes: Auto tuning mode 1, Auto tuning mode 2, Manual mode, and 2 gain adjustment modes.

One-touch tuning

Procedure for executing one-touch tuning using MR Configurator2 or push buttons, and list of automatically set parameters.

Caution for one-touch tuning

Auto tuning

Explanation of auto tuning function, including conditions for proper execution and parameters adjusted in different modes.

Adjustment procedure by auto tuning

Manual mode

SPECIAL ADJUSTMENT FUNCTIONS

Filter setting

Overview of available filters: Low-pass, Machine resonance suppression, Shaft resonance suppression, and Robust filters.

Machine resonance suppression filter

Explanation of machine resonance suppression filters (notch filters) and their application in suppressing mechanical system resonance.

Adaptive filter II

Function and parameter settings for Adaptive filter II, which detects and suppresses machine vibration automatically.

Advanced vibration suppression control II

Function and parameter settings for Advanced vibration suppression control II, used to suppress load-side vibration.

Command notch filter

Gain switching function

TROUBLESHOOTING

Alarm list

Comprehensive list of alarms, their detail numbers, names, stop methods, and deactivation procedures.

Warning list

OPTIONS AND AUXILIARY EQUIPMENT

Regenerative options

FR-BU2-(H) Brake unit

Information on brake unit selection, connection examples, and parameter settings.

Power factor improving DC reactors

Power factor improving AC reactors

Noise reduction techniques

External dynamic brake

Information on external dynamic brakes, including selection, connection examples, and timing charts.

ABSOLUTE POSITION DETECTION SYSTEM

Parameter setting

Confirmation of absolute position detection data

Battery

Specifications and mounting procedures for MR-BAT6V1SET and MR-BAT6V1BJ batteries used for absolute position detection.

Absolute position data transfer protocol

USING STO FUNCTION

Summary

Overview of the STO function, its compliance with safety standards, and its purpose.

Terms related to safety

Cautions

Basic safety notes for installation, emphasizing qualified personnel and compliance with local regulations.

Residual risks of the STO function

Specifications

Operation sequence (STO function)

Signal (device) explanations

Connection example

Connection examples for STO function using safety logic unit (MR-J3-D05) and external safety relay.

COMMUNICATION FUNCTION

Structure

Precautions for using RS-422;RS-232 C;USB communication function

Communication specifications

Protocol

Test operation mode

USING A LINEAR SERVO MOTOR

USING A DIRECT DRIVE MOTOR

Configuration including peripheral equipment

Signals and wiring

Safety precautions and wiring guidelines for direct drive motors, including connection diagrams.

Operation and functions

Absolute position detection system

Characteristics

Dynamic brake characteristics

FULLY CLOSED LOOP SYSTEM

Functions and configuration

Overview of fully closed loop system functions and configuration, including function block diagrams.

Selecting procedure of control mode

Configuration diagram of encoder cable

Fully closed loop control error detection functions

Explanation of error detection functions for fully closed loop control, including speed and position deviation.

Absolute position detection system under fully closed loop system

Mitsubishi MR-J4-40A Specifications