Mitsubishi MR-J4-40A User Manual

3. SIGNALS AND WIRING
3 - 58
3.9 Interfaces
3.9.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
3
SON SON SON
CN1
15
SP2 SP2
16
PC ST1 RS2 17
TL ST2 RS1
18
RES RES
19
CR SP1 41
EM2
42
LSP
43
LSN 44
LOP
45
OPC 12
20
21
PP 10
PG
11
NP
35
NG 36
LSP
LSN
LOP
DICOM
DICOM
LOP
RES
SP1
PST
CN1
46
22
23
24
25
48
49
DOCOM
47
DOCOM
INP
SA
ZSP
INP
TLC
RD
ZSP
TLC
ALM
RD
ZSP
TLC
RD
SA
P
ST
CN1 P S T
4
5
6
7
8
9
33
34
5
4
3
6
1
7
CN3 P S T
LA
LAR
LB
LBR
LZ
LZR
OP
LG
SDP
SDN
RDP
RDN
LG
LG
CN6 P S T
MO1
MO2
LG
3
2
1
CN1PST
2VC VLA
27
TLA TLA TC
1
P15R
3
LG
28LG
30LG
SD
RS-422
CN2 P S T
PST
2
4
7
8
MR
MRR
MX
MXR
LG
E
USB
PST
D+
GND
D- 2
3
5
CN5
RA
RA
M
3
(Note 4, 6) CN2L
2
4
7
8
MR2
MRR2
MX2
MXR2
LG
External encoder
Differential line
driver output
(35 mA or less)
Open-collector
output
1.2 kΩ
Approx.
Case
(Note 2)
Isolated
15 V DC
6.2 kΩ
Approx.
6.2 kΩ
Approx.
Analog monitor
Servo amplifier
24 V DC
Encoder
Servo motor
(Note 3)
(Note 3)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
±10 V DC
(Note 5)
1.2 kΩ
Approx.
24 V DC
(Note 5)
Encoder
100 Ω
Approx.
100 Ω
Approx.
±10 V DC

Mitsubishi MR-J4-40A Specifications

General

Series	MR-J4
Type	AC Servo Amplifier
Rated Output	0.4 kW
Rated Output Current	2.0 A
Position Control	Yes
Communication	SSCNET III/H
Dynamic Brake	Built-in
Voltage Class	200 V
Protection Functions	Overcurrent, Overvoltage, Overload, Overheat, Encoder Error, Regenerative Overload
Compatible Motor Series	HC-SF
Input Voltage	200-230 VAC, ±10%, 50/60 Hz
Power Supply Voltage	200-230 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.

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-232C/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