Contents

Safety Instructions
DISPOSAL OF WASTE
STO function of the servo amplifier
Compliance with global standards
About the manuals
Wiring
U.S. customary units
CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Summary
- 1.2 Function block diagram
- 1.3 Servo amplifier standard specifications
- 1.4 Combinations of servo amplifiers and servo motors
- 1.5 Function list
- 1.6 Model designation
- 1.7 Structure
  - 1.7.1 Parts identification
  - 1.7.2 Removal and reinstallation of the front cover
- 1.8 Configuration including peripheral equipment
2. INSTALLATION
- 2.1 Installation direction and clearances
- 2.2 Keeping out of foreign materials
- 2.3 Encoder cable stress
- 2.4 Inspection items
- 2.5 Parts having service life
- 2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
3. SIGNALS AND WIRING
- 3.1 Input power supply circuit
  - 3.1.1 200 V class
  - 3.1.2 400 V class
  - 3.1.3 100 V class
- 3.2 I/O signal connection example
  - 3.2.1 Position control mode
  - 3.2.2 Speed control mode
  - 3.2.3 Torque control mode
- 3.3 Explanation of power supply system
  - 3.3.1 Signal explanations
  - 3.3.2 Power-on sequence
  - 3.3.3 Wiring CNP1, CNP2, and CNP3
- 3.4 Connectors and pin assignment
- 3.5 Signal (device) explanations
- 3.6 Detailed explanation of signals
  - 3.6.1 Position control mode
  - 3.6.2 Speed control mode
  - 3.6.3 Torque control mode
  - 3.6.4 Position/speed control switching mode
  - 3.6.5 Speed/torque control switching mode
  - 3.6.6 Torque/position control switching mode
- 3.7 Forced stop deceleration function
  - 3.7.1 Forced stop deceleration function
  - 3.7.2 Base circuit shut-off delay time function
  - 3.7.3 Vertical axis freefall prevention function
  - 3.7.4 Residual risks of the forced stop function (EM2)
- 3.8 Alarm occurrence timing chart
  - 3.8.1 When you use the forced stop deceleration function
  - 3.8.2 When you do not use the forced stop deceleration function
- 3.9 Interfaces
  - 3.9.1 Internal connection diagram
  - 3.9.2 Detailed explanation of interfaces
  - 3.9.3 Source I/O interfaces
- 3.10 Servo motor with an electromagnetic brake
  - 3.10.1 Safety precautions
  - 3.10.2 Timing chart
- 3.11 Grounding
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 in position control mode
  - 4.2.1 Power on and off procedures
  - 4.2.2 Stop
  - 4.2.3 Test operation
  - 4.2.4 Parameter setting
  - 4.2.5 Actual operation
  - 4.2.6 Trouble at start-up
- 4.3 Startup in speed control mode
  - 4.3.1 Power on and off procedures
  - 4.3.2 Stop
  - 4.3.3 Test operation
  - 4.3.4 Parameter setting
  - 4.3.5 Actual operation
  - 4.3.6 Trouble at start-up
- 4.4 Startup in torque control mode
  - 4.4.1 Power on and off procedures
  - 4.4.2 Stop
  - 4.4.3 Test operation
  - 4.4.4 Parameter setting
  - 4.4.5 Actual operation
  - 4.4.6 Trouble at start-up
- 4.5 Display and operation sections
  - 4.5.1 Summary
  - 4.5.2 Display flowchart
  - 4.5.3 Status display mode
  - 4.5.4 Diagnostic mode
  - 4.5.5 Alarm mode
  - 4.5.6 Parameter mode
  - 4.5.7 External I/O signal display
  - 4.5.8 Output signal (DO) forced output
  - 4.5.9 Test operation mode
5. PARAMETERS
- 5.1 Parameter list
  - 5.1.1 Basic setting parameters ([Pr. PA_ _ ])
  - 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
  - 5.1.3 Extension setting parameters ([Pr. PC_ _ ])
  - 5.1.4 I/O setting parameters ([Pr. PD_ _ ])
  - 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])
  - 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
  - 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
  - 5.1.8 Option setting parameters ([Pr. Po_ _ ])
- 5.2 Detailed list of parameters
  - 5.2.1 Basic setting parameters ([Pr. PA_ _ ])
  - 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
  - 5.2.3 Extension setting parameters ([Pr. PC_ _ ])
  - 5.2.4 I/O setting parameters ([Pr. PD_ _ ])
  - 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
  - 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
  - 5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
  - 5.2.8 Option setting parameters ([Pr. Po_ _ ])
- 5.3 Stop system when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off
6. NORMAL GAIN ADJUSTMENT
- 6.1 Different adjustment methods
  - 6.1.1 Adjustment on a single servo amplifier
  - 6.1.2 Adjustment using MR Configurator2
- 6.2 One-touch tuning
  - 6.2.1 One-touch tuning flowchart
  - 6.2.2 Display transition and operation procedure of one-touch tuning
  - 6.2.3 Caution for one-touch tuning
- 6.3 Auto tuning
  - 6.3.1 Auto tuning mode
  - 6.3.2 Auto tuning mode basis
  - 6.3.3 Adjustment procedure by auto tuning
  - 6.3.4 Response level setting in auto tuning mode
- 6.4 Manual mode
- 6.5 2 gain adjustment mode
7. SPECIAL ADJUSTMENT FUNCTIONS
- 7.1 Filter setting
  - 7.1.1 Machine resonance suppression filter
  - 7.1.2 Adaptive filter II
  - 7.1.3 Shaft resonance suppression filter
  - 7.1.4 Low-pass filter
  - 7.1.5 Advanced vibration suppression control II
  - 7.1.6 Command notch filter
- 7.2 Gain switching function
  - 7.2.1 Applications
  - 7.2.2 Function block diagram
  - 7.2.3 Parameter
  - 7.2.4 Gain switching procedure
- 7.3 Tough drive function
  - 7.3.1 Vibration tough drive function
  - 7.3.2 Instantaneous power failure tough drive function
- 7.4 Compliance with SEMI-F47 standard
- 7.5 Model adaptive control disabled
- 7.6 Lost motion compensation function
- 7.7 Super trace control
8. TROUBLESHOOTING
- 8.1 Explanation for the lists
- 8.2 Alarm list
- 8.3 Warning list
9. DIMENSIONS
- 9.1 Servo amplifier
- 9.2 Connector
10. CHARACTERISTICS
- 10.1 Overload protection characteristics
- 10.2 Power supply capacity and generated loss
- 10.3 Dynamic brake characteristics
  - 10.3.1 Dynamic brake operation
  - 10.3.2 Permissible load to motor inertia when the dynamic brake is used
- 10.4 Cable bending life
- 10.5 Inrush currents at power-on of main circuit and control circuit
11. OPTIONS AND PERIPHERAL EQUIPMENT
- 11.1 Cable/connector sets
  - 11.1.1 Combinations of cable/connector sets
  - 11.1.2 MR-D05UDL3M-B STO cable
  - 11.1.3 Battery cable/junction battery cable
- 11.2 Regenerative options
  - 11.2.1 Combination and regenerative power
  - 11.2.2 Selection of regenerative option
  - 11.2.3 Parameter setting
  - 11.2.4 Connection of regenerative option
  - 11.2.5 Mounting direction
  - 11.2.6 Dimensions
- 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 Dimensions
- 11.4 FR-RC-(H) power regeneration converter
- 11.5 FR-CV-(H) power regeneration common converter
  - 11.5.1 Model designation
  - 11.5.2 Selection example
- 11.6 Junction terminal block MR-TB50
- 11.7 MR Configurator2
  - 11.7.1 Engineering software
  - 11.7.2 Precautions for using USB communication function
- 11.8 Battery
  - 11.8.1 Selection of battery
  - 11.8.2 MR-BAT6V1SET battery
  - 11.8.3 MR-BAT6V1BJ battery for junction battery cable
  - 11.8.4 MR-BAT6V1SET-A battery
  - 11.8.5 MR-BT6VCASE battery case
  - 11.8.6 MR-BAT6V1 battery
- 11.9 Selection example of wires
- 11.10 Molded-case circuit breakers, fuses, magnetic contactors
- 11.11 Power factor improving DC reactors
- 11.12 Power factor improving AC reactors
- 11.13 Relays (recommended)
- 11.14 Noise reduction techniques
- 11.15 Earth-leakage current breaker
- 11.16 EMC filter (recommended)
- 11.17 External dynamic brake
- 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
- 11.19 Multifunction regeneration converter FR-XC-(H)
  - 11.19.1 Multifunction regeneration converters and dedicated stand-alone reactors
  - 11.19.2 Precautions
  - 11.19.3 Servo amplifier settings
  - 11.19.4 Capacity selection
  - 11.19.5 Connection diagrams
  - 11.19.6 Wiring and peripheral options
12. ABSOLUTE POSITION DETECTION SYSTEM
- 12.1 Summary
  - 12.1.1 Features
  - 12.1.2 Restrictions
  - 12.1.3 Structure
  - 12.1.4 Parameter setting
  - 12.1.5 Confirmation of absolute position detection data
- 12.2 Battery
  - 12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery
  - 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
  - 12.2.3 Using MR-BT6VCASE battery case
- 12.3 Standard connection example
- 12.4 Signal explanation
- 12.5 Startup procedure
- 12.6 Absolute position data transfer protocol
  - 12.6.1 Data transfer procedure
  - 12.6.2 Transfer method
  - 12.6.3 Home position setting
  - 12.6.4 Use of servo motor with an electromagnetic brake
  - 12.6.5 How to process the absolute position data at detection of stroke end
- 12.7 Absolute position data transfer errors
- 12.8 Communication-based absolute position transfer system
  - 12.8.1 Serial communication command
  - 12.8.2 Absolute position data transfer protocol
13. USING STO FUNCTION
- 13.1 Introduction
  - 13.1.1 Summary
  - 13.1.2 Terms related to safety
  - 13.1.3 Cautions
  - 13.1.4 Residual risks of the STO function
  - 13.1.5 Specifications
  - 13.1.6 Maintenance
- 13.2 STO I/O signal connector (CN8) and signal layouts
  - 13.2.1 Signal layouts
  - 13.2.2 Signal (device) explanations
  - 13.2.3 How to pull out the STO cable
- 13.3 Connection example
  - 13.3.1 Connection example for CN8 connector
  - 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
  - 13.3.3 External I/O signal connection example using an external safety relay unit
- 13.4 Detailed description of interfaces
  - 13.4.1 Sink I/O interface
  - 13.4.2 Source I/O interface
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
- 14.1 Structure
  - 14.1.1 Configuration diagram
  - 14.1.2 Precautions for using RS-422/RS-232C/USB communication function
- 14.2 Communication specifications
  - 14.2.1 Outline of communication
  - 14.2.2 Parameter setting
- 14.3 Protocol
  - 14.3.1 Transmission data configuration
  - 14.3.2 Character codes
  - 14.3.3 Error codes
  - 14.3.4 Checksum
  - 14.3.5 Time-out processing
  - 14.3.6 Retry processing
  - 14.3.7 Initialization
  - 14.3.8 Communication procedure example
- 14.4 Command and data No. list
  - 14.4.1 Reading command
  - 14.4.2 Writing commands
- 14.5 Detailed explanations of commands
  - 14.5.1 Data processing
  - 14.5.2 Status display mode
  - 14.5.3 Parameter
  - 14.5.4 External I/O signal status (DIO diagnosis)
  - 14.5.5 Input device on/off
  - 14.5.6 Disabling/enabling I/O devices (DIO)
  - 14.5.7 Input devices on/off (test operation)
  - 14.5.8 Test operation mode
  - 14.5.9 Output signal pin on/off (output signal (DO) forced output)
  - 14.5.10 Alarm history
  - 14.5.11 Current alarm
  - 14.5.12 Specifying servo amplifier groups
  - 14.5.13 Machine diagnosis/service life diagnosis
  - 14.5.14 Other commands
15. USING A LINEAR SERVO MOTOR
- 15.1 Functions and configuration
  - 15.1.1 Summary
  - 15.1.2 Configuration including peripheral equipment
- 15.2 Signals and wiring
- 15.3 Operation and functions
  - 15.3.1 Startup
  - 15.3.2 Magnetic pole detection
  - 15.3.3 Home position return
  - 15.3.4 Test operation mode in MR Configurator2
  - 15.3.5 Function
  - 15.3.6 Absolute position detection system
- 15.4 Characteristics
  - 15.4.1 Overload protection characteristics
  - 15.4.2 Power supply capacity and generated loss
  - 15.4.3 Dynamic brake characteristics
  - 15.4.4 Permissible load to motor mass ratio when the dynamic brake is used
16. USING A DIRECT DRIVE MOTOR
- 16.1 Functions and configuration
  - 16.1.1 Summary
  - 16.1.2 Configuration including peripheral equipment
- 16.2 Signals and wiring
- 16.3 Operation and functions
  - 16.3.1 Startup procedure
  - 16.3.2 Magnetic pole detection
  - 16.3.3 Function
- 16.4 Absolute position detection system
- 16.5 Characteristics
  - 16.5.1 Overload protection characteristics
  - 16.5.2 Power supply capacity and generated loss
  - 16.5.3 Dynamic brake characteristics
17. FULLY CLOSED LOOP SYSTEM
- 17.1 Functions and configuration
  - 17.1.1 Function block diagram
  - 17.1.2 Selecting procedure of control mode
  - 17.1.3 System configuration
- 17.2 Load-side encoder
  - 17.2.1 Linear encoder
  - 17.2.2 Rotary encoder
  - 17.2.3 Configuration diagram of encoder cable
  - 17.2.4 MR-J4FCCBL03M branch cable
- 17.3 Operation and functions
  - 17.3.1 Startup
  - 17.3.2 Home position return
  - 17.3.3 Fully closed loop control error detection functions
  - 17.3.4 Auto tuning function
  - 17.3.5 Machine analyzer function
  - 17.3.6 Test operation mode
  - 17.3.7 Absolute position detection system under fully closed loop system
  - 17.3.8 About MR Configurator2
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
- 18.1 Functions and configuration
  - 18.1.1 Summary
  - 18.1.2 Function block diagram
  - 18.1 3 Servo amplifier standard specifications
  - 18.1.4 Combinations of servo amplifiers and servo motors
  - 18.1.5 Function list
  - 18.1.6 Model definition
  - 18.1.7 Parts identification
  - 18.1.8 Configuration including peripheral equipment
- 18.2 Installation
  - 18.2.1 Installation direction and clearances
  - 18.2.2 Installation by DIN rail
- 18.3 Signals and wiring
  - 18.3.1 Input power supply circuit
  - 18.3.2 Explanation of power supply system
  - 18.3.3 Selection of main circuit power supply/control circuit power supply
  - 18.3.4 Power-on sequence
  - 18.3.5 I/O signal connection example
  - 18.3.6 Connectors and pin assignment
  - 18.3.7 Signal (device) explanations
  - 18.3.8 Alarm occurrence timing chart
  - 18.3.9 Interfaces (Internal connection diagram)
  - 18.3.10 Grounding
- 18.4 Startup
  - 18.4.1 Startup procedure
  - 18.4.2 Troubleshooting when "24 V ERROR" lamp turns on
  - 18.4.3 Wiring check
  - 18.4.4 Surrounding environment
- 18.5 Display and operation sections
  - 18.5.1 Summary
  - 18.5.2 Display flowchart
  - 18.5.3 Status display mode
  - 18.5.4 One-touch tuning
  - 18.5.5 Diagnostic mode
  - 18.5.6 Alarm mode
  - 18.5.7 Parameter mode
  - 18.5.8 External I/O signal display
  - 18.5.9 Output signal (DO) forced output
  - 18.5.10 Test operation mode
- 18.6 Dimensions
- 18.7 Characteristics
  - 18.7.1 Overload protection characteristics
  - 18.7.2 Power supply capacity and generated loss
  - 18.7.3 Dynamic brake characteristics
  - 18.7.4 Inrush currents at power-on of main circuit and control circuit
- 18.8 Options and peripheral equipment
  - 18.8.1 Cable/connector sets
  - 18.8.2 Combinations of cable/connector sets
  - 18.8.3 Selection example of wires
  - 18.8.4 Circuit protector
- 18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol)
19. MR-D01 EXTENSION I/O UNIT
- 19.1 Function block diagram
- 19.2 Structure
  - 19.2.1 Parts identification
  - 19.2.2 Installation and removal of the MR-D01 extension I/O unit
- 19.3 Configuration including peripheral equipment
- 19.4 Installation direction and clearances
- 19.5 Signals and wiring
  - 19.5.1 I/O Signal Connection Example
  - 19.5.2 Connectors and pin assignment
  - 19.5.3 Signal (device) explanations
  - 19.5.4 Interface
- 19.6 Monitor display with MR Configurator2
- 19.7 Dimensions
  - 19.7.1 MR-D01 extension I/O unit
  - 19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier
- 19.8 Options peripheral equipment
  - 19.8.1 Combinations of cable/connector sets
  - 19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended)
  - 19.8.3 MR-TB50 (Junction terminal block)
APPENDIX
- App. 1 Peripheral equipment manufacturer (for reference)
- App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods
- App. 3 Symbol for the new EU Battery Directive
- App. 4 Compliance with global standards
- App. 5 MR-J3-D05 Safety logic unit
- App. 6 EC declaration of conformity
- App. 7 Analog monitor
- App. 8 Two-wire type encoder cable for HG-MR/HG-KR
- App. 9 How to replace servo amplifier without magnetic pole detection
- App. 10 Special specification
- App. 11 Driving on/off of main circuit power supply with DC power supply
- App. 12 STO function with SIL 3 certification
- App. 13 When using the servo amplifier with the DC power supply input
- App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive
- App. 15 Encoder output pulse setting method
- App. 16 How to adjust the error excessive alarm level
REVISIONS
Warranty

Mitsubishi Electric MRJ4A Instruction Manual

Pages 930

Year 2021

Language(s)

of 930

Mitsubishi Electric MRJ4A Specification

The Mitsubishi Electric MRJ4A is an advanced motion controller designed for high-performance automation systems. It features a compact design with a focus on precision and speed, making it ideal for applications requiring meticulous control. The MRJ4A supports a variety of motor types, including servo motors, allowing for versatile integration into diverse industrial environments. It offers high-speed processing capabilities, ensuring rapid response times and smooth operation across multiple axes. The controller is equipped with sophisticated algorithms for enhanced accuracy in motion control, reducing deviations and improving overall system efficiency.

Connectivity is a key aspect of the MRJ4A, with its ability to integrate seamlessly into existing automation networks through multiple communication protocols. Ethernet connectivity facilitates easy integration and data exchange, while supporting remote diagnostics and monitoring. The controller is designed with user-friendly software tools that simplify setup and operation, providing intuitive interfaces for configuration and real-time monitoring.

Safety and reliability are paramount in the MRJ4A, which includes various safety features such as built-in safety circuits and fault detection mechanisms. These features help minimize downtime and protect both the machinery and operators. Additionally, the controller's robust design ensures durability and long-term operation even in demanding industrial conditions.

Energy efficiency is another highlight, with the MRJ4A incorporating energy-saving technologies to reduce operational costs and environmental impact. This is complemented by its capability to optimize motor performance, further enhancing energy conservation. The Mitsubishi Electric MRJ4A thus represents a comprehensive solution for modern automation needs, combining precision, speed, and reliability with advanced connectivity and safety features for optimal performance in industrial applications.

Mitsubishi Electric MRJ4A F.A.Q.

How do I perform a factory reset on the Mitsubishi Electric MRJ4A?

To perform a factory reset on the MRJ4A, navigate to the system settings menu, select 'Reset', and then confirm the reset action. Ensure that you back up your configurations before proceeding.

What are the common troubleshooting steps if the MRJ4A does not power on?

Check the power supply and connections, ensure that the circuit breaker is not tripped, and inspect the fuses. Also, verify that there are no loose wires or connectors.

How can I update the firmware on the MRJ4A?

Download the latest firmware from the Mitsubishi Electric website. Connect your device to a computer via USB and use the provided software to perform the update. Follow the on-screen instructions carefully.

What is the recommended maintenance schedule for the MRJ4A?

Regular maintenance should be performed every 6 months, including cleaning the unit, checking for any signs of wear, and ensuring all connections are secure. Consult the user manual for detailed maintenance procedures.

How can I resolve communication errors with the MRJ4A?

Verify that all communication cables are properly connected and not damaged. Check the configuration settings for any discrepancies and ensure that the communication protocol matches the connected devices.

What should I do if the MRJ4A displays an overcurrent error?

First, check the motor load and ensure it is within the recommended limits. Inspect the motor and drive for any signs of damage or malfunction, and verify that the wiring is correct and secure.

How do I adjust the speed settings on the MRJ4A?

Access the speed settings through the control panel or software interface. Adjust the speed parameters according to your application needs, and test the changes to ensure proper operation.

Is it possible to integrate the MRJ4A with third-party automation systems?

Yes, the MRJ4A can be integrated with third-party systems using compatible communication protocols and interfaces. Refer to the integration guide for specific instructions and supported systems.

What are the steps to calibrate the MRJ4A for optimal performance?

To calibrate the MRJ4A, access the calibration menu and follow the step-by-step instructions. Use the calibration tools recommended by Mitsubishi Electric to ensure accuracy.

How can I extend the lifespan of my MRJ4A unit?

Regular maintenance, avoiding overloading, ensuring proper ventilation, and adhering to operational guidelines can significantly extend the lifespan of your MRJ4A.