Mitsubishi Electronics MR-J4-_B_(-RJ) User Manuals

Table of Contents

• Safety Instructions

  2
• DISPOSAL OF WASTE

  7
• STO function of the servo amplifier

  7
• Compliance with global standards

  7
• About the manuals

  8
• Wiring

  8
• U.S. customary units

  8
• CONTENTS

  10
• 1. FUNCTIONS AND CONFIGURATION

  18
  • 1.1 Summary

    18
  • 1.2 Function block diagram

    20
  • 1.3 Servo amplifier standard specifications

    30
  • 1.4 Combinations of servo amplifiers and servo motors

    36
  • 1.5 Function list

    38
  • 1.6 Model designation

    40
  • 1.7 Structure

    41
    • 1.7.1 Parts identification

      41
    • 1.7.2 Removal and reinstallation of the front cover

      54
  • 1.8 Configuration including peripheral equipment

    56
• 2. INSTALLATION

  70
  • 2.1 Installation direction and clearances

    71
  • 2.2 Keeping out of foreign materials

    72
  • 2.3 Encoder cable stress

    73
  • 2.4 SSCNET III cable laying

    73
  • 2.5 Inspection items

    75
  • 2.6 Parts having service lives

    76
• 3. SIGNALS AND WIRING

  78
  • 3.1 Input power supply circuit

    80
    • 3.1.1 200 V class

      81
    • 3.1.2 400 V class

      87
    • 3.1.3 100 V class

      91
  • 3.2 I/O signal connection example

    92
    • 3.2.1 For sink I/O interface

      92
    • 3.2.2 For source I/O interface

      94
  • 3.3 Explanation of power supply system

    95
    • 3.3.1 Signal explanations

      95
    • 3.3.2 Power-on sequence

      96
    • 3.3.3 Wiring CNP1, CNP2, and CNP3

      97
  • 3.4 Connectors and pin assignment

    101
  • 3.5 Signal (device) explanations

    102
    • 3.5.1 Input device

      102
    • 3.5.2 Output device

      103
    • 3.5.3 Output signal

      104
    • 3.5.4 Power supply

      104
  • 3.6 Forced stop deceleration function

    105
    • 3.6.1 Forced stop deceleration function

      105
    • 3.6.2 Base circuit shut-off delay time function

      106
    • 3.6.3 Vertical axis freefall prevention function

      107
    • 3.6.4 Residual risks of the forced stop function (EM2)

      107
  • 3.7 Alarm occurrence timing chart

    108
    • 3.7.1 When you use the forced stop deceleration function

      108
    • 3.7.2 When you do not use the forced stop deceleration function

      109
  • 3.8 Interfaces

    110
    • 3.8.1 Internal connection diagram

      110
    • 3.8.2 Detailed explanation of interfaces

      111
    • 3.8.3 Source I/O interfaces

      113
  • 3.9 SSCNET III cable connection

    114
  • 3.10 Servo motor with an electromagnetic brake

    116
    • 3.10.1 Safety precautions

      116
    • 3.10.2 Timing chart

      117
  • 3.11 Grounding

    121
• 4. STARTUP

  122
  • 4.1 Switching power on for the first time

    123
    • 4.1.1 Startup procedure

      123
    • 4.1.2 Wiring check

      124
    • 4.1.3 Surrounding environment

      127
  • 4.2 Startup

    127
  • 4.3 Switch setting and display of the servo amplifier

    129
    • 4.3.1 Switches

      129
    • 4.3.2 Scrolling display

      132
    • 4.3.3 Status display of an axis

      133
  • 4.4 Test operation

    135
  • 4.5 Test operation mode

    135
    • 4.5.1 Test operation mode in MR Configurator2

      136
    • 4.5.2 Motor-less operation in controller

      139
• 5. PARAMETERS

  142
  • 5.1 Parameter list

    142
    • 5.1.1 Basic setting parameters ([Pr. PA_ _ ])

      143
    • 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

      144
    • 5.1.3 Extension setting parameters ([Pr. PC_ _ ])

      145
    • 5.1.4 I/O setting parameters ([Pr. PD_ _ ])

      147
    • 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

      148
    • 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

      149
    • 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

      150
  • 5.2 Detailed list of parameters

    152
    • 5.2.1 Basic setting parameters ([Pr. PA_ _ ])

      152
    • 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

      163
    • 5.2.3 Extension setting parameters ([Pr. PC_ _ ])

      176
    • 5.2.4 I/O setting parameters ([Pr. PD_ _ ])

      183
    • 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

      189
    • 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

      192
    • 5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

      193
• 6. NORMAL GAIN ADJUSTMENT

  196
  • 6.1 Different adjustment methods

    196
    • 6.1.1 Adjustment on a single servo amplifier

      196
    • 6.1.2 Adjustment using MR Configurator2

      197
  • 6.2 One-touch tuning

    198
    • 6.2.1 One-touch tuning flowchart

      198
    • 6.2.2 Display transition and operation procedure of one-touch tuning

      199
    • 6.2.3 Caution for one-touch tuning

      203
  • 6.3 Auto tuning

    204
    • 6.3.1 Auto tuning mode

      204
    • 6.3.2 Auto tuning mode basis

      205
    • 6.3.3 Adjustment procedure by auto tuning

      206
    • 6.3.4 Response level setting in auto tuning mode

      207
  • 6.4 Manual mode

    208
  • 6.5 2 gain adjustment mode

    211
• 7. SPECIAL ADJUSTMENT FUNCTIONS

  214
  • 7.1 Filter setting

    214
    • 7.1.1 Machine resonance suppression filter

      215
    • 7.1.2 Adaptive filter II

      218
    • 7.1.3 Shaft resonance suppression filter

      220
    • 7.1.4 Low-pass filter

      221
    • 7.1.5 Advanced vibration suppression control II

      221
    • 7.1.6 Command notch filter

      226
  • 7.2 Gain switching function

    228
    • 7.2.1 Applications

      228
    • 7.2.2 Function block diagram

      229
    • 7.2.3 Parameter

      230
    • 7.2.4 Gain switching procedure

      233
  • 7.3 Tough drive function

    237
    • 7.3.1 Vibration tough drive function

      237
    • 7.3.2 Instantaneous power failure tough drive function

      239
  • 7.4 Compliance with SEMI-F47 standard

    243
  • 7.5 Model adaptive control disabled

    246
  • 7.6 Lost motion compensation function

    247
  • 7.7 Super trace control

    250
• 8. TROUBLESHOOTING

  252
  • 8.1 Explanation for the lists

    252
  • 8.2 Alarm list

    253
  • 8.3 Warning list

    258
  • 8.4 Troubleshooting at power on

    259
• 9. OUTLINE DRAWINGS

  260
  • 9.1 Servo amplifier

    260
  • 9.2 Connector

    279
• 10. CHARACTERISTICS

  282
  • 10.1 Overload protection characteristics

    282
  • 10.2 Power supply capacity and generated loss

    286
  • 10.3 Dynamic brake characteristics

    289
    • 10.3.1 Dynamic brake operation

      289
    • 10.3.2 Permissible load to motor inertia when the dynamic brake is used

      292
  • 10.4 Cable bending life

    293
  • 10.5 Inrush currents at power-on of main circuit and control circuit

    294
• 11. OPTIONS AND PERIPHERAL EQUIPMENT

  296
  • 11.1 Cable/connector sets

    296
    • 11.1.1 Combinations of cable/connector sets

      297
    • 11.1.2 MR-D05UDL3M-B STO cable

      301
    • 11.1.3 SSCNET III cable

      302
    • 11.1.4 Battery cable/junction battery cable

      304
  • 11.2 Regenerative options

    305
    • 11.2.1 Combination and regenerative power

      305
    • 11.2.2 Selection of regenerative option

      307
    • 11.2.3 Parameter setting

      310
    • 11.2.4 Selection of regenerative option

      310
    • 11.2.5 Dimensions

      315
  • 11.3 FR-BU2-(H) brake unit

    319
    • 11.3.1 Selection

      319
    • 11.3.2 Brake unit parameter setting

      320
    • 11.3.3 Connection example

      321
    • 11.3.4 Dimensions

      329
  • 11.4 FR-RC-(H) power regeneration converter

    332
  • 11.5 FR-CV-(H) power regeneration common converter

    336
    • 11.5.1 Model designation

      337
    • 11.5.2 Selection

      337
  • 11.6 Junction terminal block PS7DW-20V14B-F (recommended)

    345
  • 11.7 MR Configurator2

    346
    • 11.7.1 Specifications

      346
    • 11.7.2 System configuration

      347
    • 11.7.3 Precautions for using USB communication function

      348
  • 11.8 Battery

    349
    • 11.8.1 Selection of battery

      349
    • 11.8.2 MR-BAT6V1SET battery

      349
    • 11.8.3 MR-BAT6V1BJ battery for junction battery cable

      353
    • 11.8.4 MR-BT6VCASE battery case

      357
    • 11.8.5 MR-BAT6V1 battery

      363
  • 11.9 Selection example of wires

    364
  • 11.10 Molded-case circuit breakers, fuses, magnetic contactors

    368
  • 11.11 Power factor improving DC reactors

    370
  • 11.12 Power factor improving AC reactors

    372
  • 11.13 Relay (recommended)

    375
  • 11.14 Noise reduction techniques

    376
  • 11.15 Earth-leakage current breaker

    383
  • 11.16 EMC filter (recommended)

    386
  • 11.17 External dynamic brake

    390
  • 11.18 Heat sink outside mounting attachment (MR-J4ACN15K/MR-J3ACN)

    396
• 12. ABSOLUTE POSITION DETECTION SYSTEM

  402
  • 12.1 Summary

    402
    • 12.1.1 Features

      402
    • 12.1.2 Structure

      403
    • 12.1.3 Parameter setting

      403
    • 12.1.4 Confirmation of absolute position detection data

      403
  • 12.2 Battery

    404
    • 12.2.1 Using MR-BAT6V1SET battery

      404
    • 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable

      405
    • 12.2.3 Using MR-BT6VCASE battery case

      406
• 13. USING STO FUNCTION

  408
  • 13.1 Introduction

    408
    • 13.1.1 Summary

      408
    • 13.1.2 Terms related to safety

      408
    • 13.1.3 Cautions

      408
    • 13.1.4 Residual risks of the STO function

      409
    • 13.1.5 Specifications

      410
    • 13.1.6 Maintenance

      411
  • 13.2 STO I/O signal connector (CN8) and signal layouts

    411
    • 13.2.1 Signal layouts

      411
    • 13.2.2 Signal (device) explanations

      412
    • 13.2.3 How to pull out the STO cable

      412
  • 13.3 Connection example

    413
    • 13.3.1 Connection example for CN8 connector

      413
    • 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit

      414
    • 13.3.3 External I/O signal connection example using an external safety relay unit

      416
    • 13.3.4 External I/O signal connection example using a motion controller

      417
  • 13.4 Detailed description of interfaces

    418
    • 13.4.1 Sink I/O interface

      418
    • 13.4.2 Source I/O interface

      420
• 14. USING A LINEAR SERVO MOTOR

  422
  • 14.1 Functions and configuration

    422
    • 14.1.1 Summary

      422
    • 14.1.2 Servo system with auxiliary equipment

      423
  • 14.2 Signals and wiring

    427
  • 14.3 Operation and functions

    429
    • 14.3.1 Startup

      429
    • 14.3.2 Magnetic pole detection

      432
    • 14.3.3 Home position return

      440
    • 14.3.4 Test operation mode in MR Configurator2

      444
    • 14.3.5 Operation from controller

      445
    • 14.3.6 Function

      447
    • 14.3.7 Absolute position detection system

      449
  • 14.4 Characteristics

    450
    • 14.4.1 Overload protection characteristics

      450
    • 14.4.2 Power supply capacity and generated loss

      451
    • 14.4.3 Dynamic brake characteristics

      452
    • 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used

      453
• 15. USING A DIRECT DRIVE MOTOR

  454
  • 15.1 Functions and configuration

    454
    • 15.1.1 Summary

      454
    • 15.1.2 Servo system with auxiliary equipment

      455
  • 15.2 Signals and wiring

    456
  • 15.3 Operation and functions

    457
    • 15.3.1 Startup procedure

      458
    • 15.3.2 Magnetic pole detection

      459
    • 15.3.3 Operation from controller

      467
    • 15.3.4 Function

      468
  • 15.4 Characteristics

    470
    • 15.4.1 Overload protection characteristics

      470
    • 15.4.2 Power supply capacity and generated loss

      472
    • 15.4.3 Dynamic brake characteristics

      473
• 16. FULLY CLOSED LOOP SYSTEM

  476
  • 16.1 Functions and configuration

    476
    • 16.1.1 Function block diagram

      476
    • 16.1.2 Selecting procedure of control mode

      478
    • 16.1.3 System configuration

      479
  • 16.2 Load-side encoder

    481
    • 16.2.1 Linear encoder

      481
    • 16.2.2 Rotary encoder

      481
    • 16.2.3 Configuration diagram of encoder cable

      481
    • 16.2.4 MR-J4FCCBL03M branch cable

      483
  • 16.3 Operation and functions

    484
    • 16.3.1 Startup

      484
    • 16.3.2 Home position return

      491
    • 16.3.3 Operation from controller

      494
    • 16.3.4 Fully closed loop control error detection functions

      496
    • 16.3.5 Auto tuning function

      497
    • 16.3.6 Machine analyzer function

      497
    • 16.3.7 Test operation mode

      497
    • 16.3.8 Absolute position detection system under fully closed loop system

      498
    • 16.3.9 About MR Configurator2

      499
• 17. APPLICATION OF FUNCTIONS

  502
  • 17.1 J3 compatibility mode

    502
    • 17.1.1 Outline of J3 compatibility mode

      502
    • 17.1.2 Operation modes supported by J3 compatibility mode

      503
    • 17.1.3 J3 compatibility mode supported function list

      503
    • 17.1.4 How to switch J4 mode/J3 compatibility mode

      506
    • 17.1.5 How to use the J3 compatibility mode

      507
    • 17.1.6 Cautions for switching J4 mode/J3 compatibility mode

      508
    • 17.1.7 Cautions for the J3 compatibility mode

      508
    • 17.1.8 Change of specifications of "J3 compatibility mode" switching process

      510
    • 17.1.9 J3 extension function

      513
  • 17.2 Master-slave operation function

    560
  • 17.3 Scale measurement function

    564
    • 17.3.1 Functions and configuration

      564
    • 17.3.2 Scale measurement encoder

      567
    • 17.3.3 How to use scale measurement function

      570
• APPENDIX

  572
  • App. 1 Peripheral equipment manufacturer (for reference)

    572
  • App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

    572
  • App. 3 Symbol for the new EU Battery Directive

    574
  • App. 4 Compliance with global standards

    574
  • App. 5 MR-J3-D05 Safety logic unit

    590
  • App. 6 EC declaration of conformity

    608
  • App. 7 How to replace servo amplifier without magnetic pole detection

    610
  • App. 8 Two-wire type encoder cable for HG-MR/HG-KR

    611
  • App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service

    613
  • App. 10 Analog monitor

    613
  • App. 11 Special specification

    618
  • App. 12 Driving on/off of main circuit power supply with DC power supply

    620
• REVISION

  622
• Country/Region

  634
• Warranty

  635