Contents

Safety Instructions
DISPOSAL OF WASTE
STO function of MR-J3- B Safety servo amplifier
COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES
COMPLIANCE WITH UL/CSA STANDARD
About the manuals
Wiring
CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Summary
- 1.2 Function block diagram
- 1.3 Servo amplifier standard specifications
- 1.4 Function list
- 1.5 Model code definition
- 1.6 Combination with servo motor
- 1.7 Structure
  - 1.7.1 Parts identification
  - 1.7.2 Removal and reinstallation of the front cover
- 1.8 Configuration including auxiliary equipment
2. INSTALLATION
- 2.1 Installation direction and clearances
- 2.2 Keep out foreign materials
- 2.3 Cable stress
- 2.4 SSCNET cable laying
- 2.5 Inspection items
- 2.6 Parts having service lives
3. SIGNALS AND WIRING
- 3.1 Input power supply circuit
- 3.2 I/O signal connection example
  - 3.2.1 Sink I/O interface
  - 3.2.2 Source I/O interface
- 3.3 Explanation of power supply system
  - 3.3.1 Signal explanations
  - 3.3.2 Power-on sequence
  - 3.3.3 CNP1, CNP2, CNP3 wiring method
- 3.4 Connectors and signal arrangements
- 3.5 Signal (device) explanations
- 3.6 Function explanation
  - 3.6.1 Forced stop deceleration function (SS1)
  - 3.6.2 Base cut delay time function
  - 3.6.3 Vertical axis freefall prevention function
  - 3.6.4 Residual risks of the forced stop function (EM2)
- 3.7 Alarm occurrence timing chart
  - 3.7.1 When the forced stop deceleration function is valid
  - 3.7.2 When the forced stop deceleration function is invalid
  - 3.7.3 When SSCNET III communication brake occurs
- 3.8 Interfaces
  - 3.8.1 Internal connection diagram
  - 3.8.2 Detailed description of interfaces
  - 3.8.3 Source I/O interfaces
- 3.9 Treatment of cable shield external conductor
- 3.10 SSCNET III cable connection
- 3.11 Connection of servo amplifier and servo motor
  - 3.11.1 Connection instructions
  - 3.11.2 Power supply cable wiring diagrams
- 3.12 Servo motor with an electromagnetic brake
  - 3.12.1 Safety precautions
  - 3.12.2 Timing charts
  - 3.12.3 Wiring diagrams (HF-MP series HF-KP series servo motor)
- 3.13 Grounding
- 3.14 Control axis selection
4. STARTUP
- 4.1 Switching power on for the first time
  - 4.1.1 Startup procedure
  - 4.1.2 Wiring check
  - 4.1.3 Surrounding environment
- 4.2 Startup
- 4.3 Servo amplifier display
- 4.4 Test operation
- 4.5 Test operation mode
  - 4.5.1 Test operation mode in MR Configurator
  - 4.5.2 Motor-less operation in controller
5. PARAMETERS
- 5.1 Basic setting parameters (No.PA [ ] [ ] )
  - 5.1.1 Parameter list
  - 5.1.2 Parameter write inhibit
  - 5.1.3 Selection of regenerative option
  - 5.1.4 Using absolute position detection system
  - 5.1.5 Forced stop 1 (EM1) and forced stop 2 (EM2) selection
  - 5.1.6 Auto tuning
  - 5.1.7 In-position range
  - 5.1.8 Selection of servo motor rotation direction
  - 5.1.9 Encoder output pulse
  - 5.1.10 Selecting a control mode
- 5.2 Gain/filter parameters (No.PB [ ] [ ] )
  - 5.2.1 Parameter list
  - 5.2.2 Detail list
- 5.3 Extension setting parameters (No.PC [ ] [ ] )
  - 5.3.1 Parameter list
  - 5.3.2 List of details
  - 5.3.3 Analog monitor
  - 5.3.4 Alarm history clear
- 5.4 I/O setting parameters (No.PD [ ] [ ] )
  - 5.4.1 Parameter list
  - 5.4.2 List of details
- 5.5 Extension control parameters (No.PE [ ] [ ] )
  - 5.5.1 Parameter list
  - 5.5.2 List of details
6. GENERAL GAIN ADJUSTMENT
- 6.1 Different adjustment methods
  - 6.1.1 Adjustment on a single servo amplifier
  - 6.1.2 Adjustment using MR Configurator
- 6.2 Auto tuning
  - 6.2.1 Auto tuning mode
  - 6.2.2 Auto tuning mode basis
  - 6.2.3 Adjustment procedure by auto tuning
  - 6.2.4 Response level setting in auto tuning mode
- 6.3 Manual mode
- 6.4 Interpolation mode
- 6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning
7. SPECIAL ADJUSTMENT FUNCTIONS
- 7.1 Function block diagram
- 7.2 Adaptive filter II
- 7.3 Machine resonance suppression filter
- 7.4 Advanced vibration suppression control
- 7.5 Low-pass filter
- 7.6 Gain changing function
  - 7.6.1 Applications
  - 7.6.2 Function block diagram
  - 7.6.3 Parameters
  - 7.6.4 Gain changing procedure
- 7.7 Vibration suppression control filter 2
8. TROUBLESHOOTING
- 8.1 Alarms and warning list
- 8.2 Remedies for alarms
- 8.3 Remedies for warnings
- 8.4 Detailed explanation of linear encoder error 1 (2A)
9. OUTLINE DRAWINGS
- 9.1 Servo amplifier
- 9.2 Connector
10. CHARACTERISTICS
- 10.1 Overload protection characteristics
- 10.2 Power supply equipment capacity and generated loss
- 10.3 Dynamic brake characteristics
  - 10.3.1 Dynamic brake operation
  - 10.3.2 The dynamic brake at the load inertia moment
- 10.4 Cable flexing life
- 10.5 Inrush currents at power-on of main circuit and control circuit
11. OPTIONS AND AUXILIARY EQUIPMENT
- 11.1 Cable/connector sets
  - 11.1.1 Combinations of cable/connector sets
  - 11.1.2 Encoder cable/connector sets
  - 11.1.3 Motor power supply cables
  - 11.1.4 Motor brake cables
  - 11.1.5 MR-D05UDL3M-B STO cable
  - 11.1.6 SSCNET III cable
- 11.2 Regenerative options
- 11.3 FR-BU2-(H) Brake unit
  - 11.3.1 Selection
  - 11.3.2 Brake unit parameter setting
  - 11.3.3 Connection example
  - 11.3.4 Outline dimension drawings
- 11.4 Power regenerative converter
- 11.5 Power regeneration common converter
- 11.6 External dynamic brake
- 11.7 Junction terminal block PS7DW-20V14B-F (recommended)
- 11.8 MR Configurator
- 11.9 Battery MR-J3BAT
- 11.10 Heat sink outside mounting attachment (MR-J3ACN)
- 11.11 Selection example of wires
- 11.12 Molded-case circuit breakers, fuses, magnetic contactors
- 11.13 Power factor improving DC reactors
- 11.14 Power factor improving AC reactors
- 11.15 Relays (recommended)
- 11.16 Noise reduction techniques
- 11.17 Earth-leakage current breaker
- 11.18 EMC filter (recommended)
12. ABSOLUTE POSITION DETECTION SYSTEM
- 12.1 Features
- 12.2 Specifications
- 12.3 Battery installation procedure
  - 12.3.1 When replacing battery with the control circuit power ON
  - 12.3.2 When replacing battery with the control circuit power OFF
- 12.4 Battery installation procedure
- 12.5 Procedure to replace battery with the control circuit power OFF
  - 12.5.1 Preparation for battery replacement
  - 12.5.2 Replacement procedure
- 12.6 Confirmation of absolute position detection data
13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW)
- 13.1 Functions and menus
  - 13.1.1 Function block diagram
  - 13.1.2 Packing list
  - 13.1.3 Standard specifications
  - 13.1.4 Model definition
  - 13.1.5 Combinations of converter units, drive units and servo motors
  - 13.1.6 Parts identification
  - 13.1.7 Removal and reinstallation of the terminal block cover
  - 13.1.8 Servo system with auxiliary equipment
- 13.2 Installation
  - 13.2.1 Installation direction and clearances
  - 13.2.2 Inspection
- 13.3 Signals and wiring
  - 13.3.1 Magnetic contactor control connector (CNP1)
  - 13.3.2 Input power supply circuit
  - 13.3.3 Terminal
  - 13.3.4 How to use the connection bars
  - 13.3.5 Connectors and signal arrangements
  - 13.3.6 Converter unit signal (device) explanations
  - 13.3.7 Timing chart
  - 13.3.8 Servo motor-side details
- 13.4 Display section and operation section of the converter unit
  - 13.4.1 Display flowchart
  - 13.4.2 Status display mode
  - 13.4.3 Diagnostic mode
  - 13.4.4 Alarm mode
  - 13.4.5 Parameter mode
- 13.5 Parameters for converter unit
  - 13.5.1 Parameter list
  - 13.5.2 List of details
- 13.6 Troubleshooting
  - 13.6.1 Converter unit
  - 13.6.2 Drive unit
- 13.7 Outline drawings
  - 13.7.1 Converter unit (MR-J3-CR55K(4))
  - 13.7.2 Drive unit
- 13.8 Characteristics
  - 13.8.1 Overload protection characteristics
  - 13.8.2 Power supply equipment capacity and generated loss
  - 13.8.3 Dynamic brake characteristics
  - 13.8.4 Inrush currents at power-on of main circuit and control circuit
- 13.9 Options
  - 13.9.1 Cables and connectors
  - 13.9.2 Regenerative option
  - 13.9.3 External dynamic brake
  - 13.9.4 Selection example of wires
  - 13.9.5 Molded-case circuit breakers, fuses, magnetic contactors
  - 13.9.6 Power factor improving DC reactor
  - 13.9.7 Line noise filter (FR-BLF)
  - 13.9.8 Earth-leakage current breaker
  - 13.9.9 EMC filter (recommended)
  - 13.9.10 FR-BU2-(H) Brake Unit
14. FULLY CLOSED LOOP SYSTEM
- 14.1 Functions and configuration
  - 14.1.1 Control block diagram
  - 14.1.2 Selecting procedure of control mode
  - 14.1.3 System configuration
- 14.2 Load-side encoder
  - 14.2.1 Compatible linear encoder list
  - 14.2.2 Configuration diagram
- 14.3 Operation and functions
  - 14.3.1 Startup
  - 14.3.2 Home position return
  - 14.3.3 Operation from controller
  - 14.3.4 Fully closed loop control error detection functions
  - 14.3.5 Absolute position detection system under fully closed loop system
  - 14.3.6 About MR Configurator
15. USING STO FUNCTION OF MR-J3- B SAFETY
- 15.1 Introduction
  - 15.1.1 Summary
  - 15.1.2 Terms related to safety
  - 15.1.3 Cautions
  - 15.1.4 Residual risk
  - 15.1.5 Specifications
  - 15.1.6 Maintenance
- 15.2 STO I/O signal connectors (CN8)
  - 15.2.1 Signal layouts
  - 15.2.2 Signal (device) explanations
  - 15.2.3 How to pull out the STO cable
- 15.3 Connection example
  - 15.3.1 Connection example for CN8 connector
  - 15.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
  - 15.3.3 External I/O signal connection example using a motion controller
  - 15.3.4 I/O signal connection example using an external safety relay unit
- 15.4 Detailed description of interfaces
  - 15.4.1 Sink I/O interface
  - 15.4.2 Source I/O interfaces
APPENDIX
- App. 1 Parameter list
- App. 2 Signal layout recording paper
- App. 3 Twin type connector: Outline drawing for 721-2105/026-000(WAGO)
- App. 4 Selection example of servo motor power cable
- App. 5 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods
- App. 6 Symbol for the new EU Battery Directive
- App. 7 Differences among MR-J3- B, MR-J3- B-RJ006 and MR-J3-[ ]S
- App. 8 Compliance with the European EC directives
- App. 9 Conformance with UL/CSA standard
- App. 10 MR-J3-D05 Safety logic unit
- App. 11 EC declaration of conformity
REVISIONS
Country/Region
Warranty

Mitsubishi Electric MRJ3 B Safety Instruction Manual

Mitsubishi Electric MRJ3 B Safety manual cover

Pages 550

Year 2014

Language(s)

of 550

Mitsubishi Electric MRJ3 B Safety Specification

The Mitsubishi Electric MRJ3 B Safety is an advanced servo amplifier designed to enhance automation systems with robust safety features and high precision control. This servo amplifier integrates seamlessly with Mitsubishi's servo motors, providing a comprehensive solution for motion control applications. Its key feature is the built-in safety functionality, which complies with international safety standards, ensuring machine safety and reducing the need for external safety components. The MRJ3 B Safety offers high-speed, high-precision control with a bandwidth of up to 2.5 kHz, allowing for superior performance in demanding environments. It supports a wide range of communication protocols, including SSCNET III/H, enabling easy integration with existing systems. The amplifier's advanced autotuning function ensures optimal performance by automatically adjusting control parameters, which reduces setup time and enhances system stability. Its compact design allows for efficient use of space in control panels. Furthermore, the energy-saving regenerative function helps to reduce operational costs by utilizing energy more efficiently. The Mitsubishi Electric MRJ3 B Safety amplifier is engineered to support a variety of applications, from simple positioning to complex multi-axis systems, making it a versatile choice for industries such as manufacturing, robotics, and material handling. With its combination of safety, precision, and efficiency, the MRJ3 B Safety amplifier stands as a reliable component for modern automation solutions.

Mitsubishi Electric MRJ3 B Safety F.A.Q.

What is the correct procedure to initialize the Mitsubishi Electric MRJ3 B Safety servo amplifier?

To initialize the MRJ3 B Safety servo amplifier, first ensure all connections are secure. Then, power on the unit and use the initial setup wizard in the Servo Configuration software to set parameters such as motor type, encoder settings, and safety configurations.

How can I troubleshoot an E7 error on the MRJ3 B Safety controller?

An E7 error indicates a communication fault. Check the connections between the controller and the servo amplifier. Ensure that all cables are properly connected and not damaged. Also, verify the settings in the communication software to ensure compatibility.

What routine maintenance should be performed on the MRJ3 B Safety servo amplifier?

Regularly inspect the servo amplifier for dust accumulation and clean as necessary. Check all electrical connections for tightness and wear. Update firmware to the latest version and review system logs for any irregularities.

How do I reset the MRJ3 B Safety servo amplifier to factory settings?

To reset the servo amplifier to factory settings, access the configuration menu via the Servo Configuration software, and select the 'Reset to Factory Defaults' option. Follow the on-screen instructions to complete the process.

Can the MRJ3 B Safety servo amplifier be used in a high-vibration environment?

Yes, the MRJ3 B Safety servo amplifier is designed to operate in environments with moderate vibration. However, ensure that the installation adheres to the guidelines specified in the manual to minimize the impact of vibrations.

How to update the firmware on a Mitsubishi Electric MRJ3 B Safety servo amplifier?

Connect the servo amplifier to a computer using the appropriate interface cable. Launch the Mitsubishi Electric firmware update utility, select the correct firmware file, and follow the prompts to update the device.

What could cause the MRJ3 B Safety servo amplifier to overheat and how to prevent it?

Overheating can be caused by inadequate ventilation or excessive load. Ensure that the amplifier is installed in a well-ventilated area and that the load does not exceed the specified limits. Consider using additional cooling if necessary.

How do I connect external safety devices to the MRJ3 B Safety servo amplifier?

External safety devices can be connected via the safety I/O terminals on the servo amplifier. Refer to the wiring diagram in the user manual for correct terminal assignments and ensure all connections meet safety standards.

What steps should be taken if the MRJ3 B Safety servo amplifier fails to start?

First, check the power supply and ensure it meets the required specifications. Verify that all connections are correct and secure. Review the error codes displayed on the amplifier for specific troubleshooting guidance.

How can the performance of the MRJ3 B Safety servo amplifier be optimized?

Performance can be optimized by fine-tuning the servo parameters such as gain settings, response times, and load inertia matching. Regularly update the system software and perform preventive maintenance to ensure optimal performance.