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Mitsubishi MR-J4-40A

Mitsubishi MR-J4-40A
640 pages
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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

Table of Contents

Questions and Answers:

Mitsubishi MR-J4-40A Specifications

General IconGeneral
SeriesMR-J4
TypeAC Servo Amplifier
Rated Output0.4 kW
Rated Output Current2.0 A
Position ControlYes
CommunicationSSCNET III/H
Dynamic BrakeBuilt-in
Voltage Class200 V
Protection FunctionsOvercurrent, Overvoltage, Overload, Overheat, Encoder Error, Regenerative Overload
Compatible Motor SeriesHC-SF
Input Voltage200-230 VAC, ±10%, 50/60 Hz
Power Supply Voltage200-230 VAC, ±10%, 50/60 Hz

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.

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.

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.

IO signal connection example

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

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

Basic setting parameters ([Pr. PA ])

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

Gainfilter 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.

Linear servo motorDD 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.

Auto tuning

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

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.

TROUBLESHOOTING

Alarm list

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

OPTIONS AND AUXILIARY EQUIPMENT

FR-BU2-(H) Brake unit

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

External dynamic brake

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

ABSOLUTE POSITION DETECTION SYSTEM

Battery

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

USING STO FUNCTION

Summary

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

Cautions

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

Connection example

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

COMMUNICATION FUNCTION

USING A LINEAR SERVO MOTOR

USING A DIRECT DRIVE MOTOR

Signals and wiring

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

FULLY CLOSED LOOP SYSTEM

Functions and configuration

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

Fully closed loop control error detection functions

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

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