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MR-J4-40A
Mitsubishi MR-J4-40A User Manual
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12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 25
(b)
If forced stop is activated during servo-on
ABSM is permissible while in the forced stop state.
In this case, the base circuit and RD are turned
on after the forced stop state is reset.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95 ms
OFF
ON
OFF
ON
SON
EM2
A
BSM
A
BSR
A
BST
A
BSB0
A
BSB1
Base circu
it
RD
During transfe
r of ABS
Operation
enabled
Absolute p
osition
data
449
451
Table of Contents
Default Chapter
2
Safety Instructions
2
Table of Contents
10
1 Functions and Configuration
18
Function Block Diagram
19
Servo Amplifier Standard Specifications
26
Combinations of Servo Amplifiers and Servo Motors
30
Function List
31
Model Designation
33
Structure
34
Parts Identification
34
Removal and Reinstallation of the
46
Configuration Including Peripheral Equipment
48
2 Installation
62
Installation Direction and Clearances
63
Keep out Foreign Materials
64
Encoder Cable Stress
65
Inspection Items
65
Parts Having Service Lives
66
3 Signals and Wiring
68
Input Power Supply Circuit
69
Class
70
Class
75
I/O Signal Connection Example
78
Position Control Mode
78
Speed Control Mode
81
Torque Control Mode
84
Explanation of Power Supply System
87
Signal Explanations
87
Power-On Sequence
88
Wiring CNP1, CNP2, and CNP3
89
Connectors and Pin Assignment
92
Signal (Device) Explanations
95
Detailed Explanation of Signals
104
Position Control Mode
104
Speed Control Mode
109
Torque Control Mode
111
Position/Speed Control Switching Mode
114
Speed/Torque Control Switching Mode
116
Torque/Position Control Switching Mode
118
Forced Stop Deceleration Function
119
Forced Stop Deceleration Function (SS1)
119
Base Circuit Shut-Off Delay Time Function
121
Vertical Axis Freefall Prevention Function
122
Residual Risks of the Forced Stop Function (EM2)
122
Alarm Occurrence Timing Chart
123
When You Use the Forced Stop Deceleration Function
123
When You Do Not Use the Forced Stop Deceleration Function
124
Interfaces
125
Internal Connection Diagram
125
Detailed Explanation of Interfaces
126
Source I/O Interfaces
130
Servo Motor with an Electromagnetic Brake
131
Safety Precautions
131
Timing Chart
132
Grounding
136
4 Startup
138
Switching Power on for the First Time
139
Startup Procedure
139
Wiring Check
140
Surrounding Environment
143
Startup in Position Control Mode
143
Power on and off Procedures
143
Stop
144
Test Operation
145
Parameter Setting
146
Actual Operation
146
Trouble at Start-Up
146
Startup in Speed Control Mode
149
Power on and off Procedures
149
Stop
149
Test Operation
150
Parameter Setting
151
Actual Operation
151
Trouble at Start-Up
151
Startup in Torque Control Mode
153
Power on and off Procedures
153
Stop
153
Test Operation
154
Parameter Setting
155
Actual Operation
155
Trouble at Start-Up
156
Display and Operation Sections
157
Display Flowchart
158
Status Display Mode
159
Diagnostic Mode
166
Alarm Mode
168
Parameter Mode
169
External I/O Signal Display
171
Output Signal (DO) Forced Output
174
Test Operation Mode
175
5 Parameters
180
Parameter List
180
Gain/Filter Setting Parameters ([Pr. PB_ _ ])
182
Basic Setting Parameters ([Pr. PA
191
Gain/Filter Setting Parameters ([Pr. PB
202
Extension Setting Parameters ([Pr. PC
213
I/O Setting Parameters ([Pr. PD
225
Extension Setting 2 Parameters ([Pr. PE
231
Extension Setting 3 Parameters ([Pr. PF
233
Linear Servo Motor/DD Motor Setting Parameters ([Pr. PL_ _ ])
235
6 NORMAL GAIN ADJUSTMENT 6- 1 to
238
Different Adjustment Methods
238
Adjustment Using MR Configurator2
239
One-Touch Tuning Flowchart
240
Display Transition and Operation Procedure of One-Touch Tuning
242
Caution for One-Touch Tuning
250
Auto Tuning
251
Auto Tuning Mode Basis
252
Adjustment Procedure by Auto Tuning
253
Response Level Setting in Auto Tuning Mode
254
Manual Mode
255
Gain Adjustment Mode
258
7 Special Adjustment Functions
262
Filter Setting
262
Machine Resonance Suppression Filter
262
Shaft Resonance Suppression Filter
262
Low-Pass Filter
262
Command Notch Filter
274
Gain Switching Function
276
Applications
276
Function Block Diagram
277
Parameter
278
Gain Switching Procedure
281
Tough Drive Function
284
Vibration Tough Drive Function
284
Instantaneous Power Failure Tough Drive Function
286
Compliance with SEMI-F47 Standard
289
8 Troubleshooting
292
9 Outline Drawings
300
Servo Amplifier
300
Connector
317
10 Characteristics
320
Overload Protection Characteristics
320
Power Supply Capacity and Generated Loss
323
Dynamic Brake Characteristics
326
Dynamic Brake Operation
326
Permissible Load to Motor Inertia When the Dynamic Brake Is Used
329
Cable Bending Life
330
Inrush Currents at Power-On of Main Circuit and Control Circuit
331
11 Options and Auxiliary Equipment
332
Cable/Connector Sets
332
Combinations of Cable/Connector Sets
333
MR-D05UDL3M-B STO Cable
336
Regenerative Options
337
Combination and Regenerative Power
337
Selection of Regenerative Option
339
Parameter Setting
342
Connection of Regenerative Option
342
Dimensions
347
FR-BU2-(H) Brake Unit
351
Selection
352
Brake Unit Parameter Setting
353
Connection Example
354
Dimensions
364
FR-RC-(H) Power Regeneration Converter
366
FR-CV-(H) Power Regeneration Common Converter
372
Model Designation
372
Selection Example
373
Junction Terminal Block MR-TB50
381
MR Configurator2
383
Specifications
383
System Configuration
384
Precautions for Using USB Communication Function
385
Battery
386
MR-BAT6V1SET Battery
386
MR-BAT6V1BJ Battery for Junction Battery Cable
386
Selection Example of Wires
387
Molded-Case Circuit Breakers, Fuses, Magnetic Contactors (Recommended)
391
Power Factor Improving DC Reactors
393
Power Factor Improving AC Reactors
397
Relays (Recommended)
400
Noise Reduction Techniques
401
Earth-Leakage Current Breaker
408
EMC Filter (Recommended)
411
External Dynamic Brake
415
Heat Sink Outside Mounting Attachment (MR-J4ACN15K/MR-J3ACN)
421
12 Absolute Position Detection System
426
Features
426
Summary
426
Restrictions
427
Structure
427
Parameter Setting
428
Confirmation of Absolute Position Detection Data
428
Battery
429
Using MR-BAT6V1SET Battery
429
Using MR-BAT6V1BJ Battery for Junction Battery Cable
434
Standard Connection Example
438
Signal Explanation
439
Startup Procedure
440
Absolute Position Data Transfer Protocol
441
Data Transfer Procedure
441
Transfer Method
442
Home Position Setting
451
Use of Servo Motor with an Electromagnetic Brake
453
How to Process the Absolute Position Data at Detection of Stroke End
454
Absolute Position Data Transfer Errors
454
Communication-Based Absolute Position Transfer System
457
Serial Communication Command
457
Absolute Position Data Transfer Protocol
457
13 Using Sto Function
462
Introduction
462
Terms Related to Safety
462
Cautions
462
Residual Risks of the STO Function
463
Specifications
464
Maintenance
465
STO I/O Signal Connector (CN8) and Signal Layouts
465
Signal Layouts
465
Signal (Device) Explanations
466
How to Pull out the STO Cable
466
Connection Example
467
Connection Example for CN8 Connector
467
External I/O Signal Connection Example Using an MR-J3-D05 Safety Logic Unit
468
External I/O Signal Connection Example Using an External Safety Relay Unit
470
Detailed Description of Interfaces
471
Sink I/O Interface
471
Source I/O Interface
472
14 Communication Function
474
Structure
474
Configuration Diagram
474
Precautions for Using RS-422/RS-232C/USB Communication Function
476
Communication Specifications
477
Outline of Communication
477
Parameter Setting
477
Protocol
478
Transmission Data Configuration
478
Character Codes
479
Error Codes
480
Checksum
480
Time-Out Processing
480
Retry Processing
481
Communication Procedure Example
482
Command and Data No. List
483
Reading Command
483
Writing Commands
489
Detailed Explanations of Commands
491
Data Processing
491
Status Display Mode
493
Parameter
494
External I/O Signal Status (DIO Diagnosis)
498
Input Device On/Off
500
Disabling/Enabling I/O Devices (DIO)
501
Input Devices On/Off (Test Operation)
502
Test Operation Mode
503
Output Signal Pin On/Off (Output Signal (DO) Forced Output)
507
Alarm History
508
Current Alarm
509
Other Commands
510
15 Using a Linear Servo Motor
512
Functions and Configuration
512
Configuration Including Peripheral Equipment
513
Signals and Wiring
516
Operation and Functions
517
Startup
517
Magnetic Pole Detection
524
Home Position Return
527
Test Operation Mode in MR Configurator2
531
Function
532
Absolute Position Detection System
535
Characteristics
536
Overload Protection Characteristics
536
Power Supply Capacity and Generated Loss
537
Dynamic Brake Characteristics
538
Permissible Load to Motor Mass Ratio When the Dynamic Brake Is Used
539
16 Using a Direct Drive Motor
540
Configuration Including Peripheral Equipment
541
Signals and Wiring
542
Operation and Functions
543
Startup Procedure
544
Magnetic Pole Detection
548
Function
551
Absolute Position Detection System
553
Characteristics
554
Overload Protection Characteristics
554
Power Supply Capacity and Generated Loss
556
Dynamic Brake Characteristics
557
17 Fully Closed Loop System
560
Functions and Configuration
560
Function Block Diagram
560
Selecting Procedure of Control Mode
562
System Configuration
563
Load-Side Encoder
565
Linear Encoder
565
Rotary Encoder
565
Configuration Diagram of Encoder Cable
566
MR-J4FCCBL03M Branch Cable
568
Operation and Functions
569
Startup
569
Home Position Return
576
Fully Closed Loop Control Error Detection Functions
578
Auto Tuning Function
579
Machine Analyzer Function
579
Test Operation Mode
579
Absolute Position Detection System under Fully Closed Loop System
580
About MR Configurator2
581
Appendix
584
App. 1 Peripheral Equipment Manufacturer (for Reference)
584
Transport of Dangerous Goods
584
App. 3 Symbol for the New EU Battery Directive
586
App. 4 Compliance with Global Standards
586
App. 5 MR-J3-D05 Safety Logic Unit
602
App. 6 EC Declaration of Conformity
620
App. 7 Analog Monitor
622
App. 8 Two-Wire Type Encoder Cable for HG-MR/HG-KR
626
App. 9 How to Replace Servo Amplifier Without Magnetic Pole Detection
627
5
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Mitsubishi MR-J4-40A Specifications
General
Brand
Mitsubishi
Model
MR-J4-40A
Category
Amplifier
Language
English
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