Contents

Safety Instructions
DISPOSAL OF WASTE
STO function of the servo amplifier
Compliance with global standards
About the manuals
U.S. customary units
CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Summary
- 1.2 Function List
- 1.3 Communication Specifications
- 1.4 System Configuration
  - 1.4.1 Diagrammatic sketch
  - 1.4.2 Cable connection diagram
2. PARAMETER
- 2.1 Detailed list of parameters
- 2.2 Restrictions on using Modbus-RTU communication
3. MODBUS PROTOCOL
- 3.1 Modbus-RTU Message Format
- 3.2 Broadcast Communication
- 3.3 Modbus-RTU Communication Message Frame
- 3.4 Function Codes
  - 3.4.1 List of function codes
  - 3.4.2 Read Holding Registers (Reading data in holding registers: 03h)
  - 3.4.3 Diagnostics (Function diagnostics: 08h)
  - 3.4.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h)
  - 3.4.5 Processing at occurrence of an error
4. MODBUS REGISTERS
- 4.1 List of Available Registers
- 4.2 Monitor (Address: 2B01h to 2B7Fh)
  - 4.2.1 List of registers
  - 4.2.2 Directions for use
- 4.3 Parameter Setting (Address: 2001h to 27FFh)
  - 4.3.1 List of registers
  - 4.3.2 Directions for use
- 4.4 Point Table Setting (Address: 2801h to 28FFh)
  - 4.4.1 List of registers
  - 4.4.2 Directions for use
- 4.5 Writing Command to EEP-ROM (Address: 1010h)
  - 4.5.1 List of registers
  - 4.5.2 Directions for use
- 4.6 Alarm Information (Address: 1001h)
  - 4.6.1 List of registers
  - 4.6.2 Directions for use
- 4.7 Alarm Number (Address: 2A41h)
  - 4.7.1 List of registers
  - 4.7.2 Directions for use
- 4.8 Alarm Occurrence Monitor (Address: 2B81h to 2BFFh)
  - 4.8.1 List of registers
  - 4.8.2 Directions for use
- 4.9 Alarm History (Address: 2A00h to 2A0Fh)
  - 4.9.1 List of registers
  - 4.9.2 Directions for use
- 4.10 Alarm History Clear (Address: 2A40h)
  - 4.10.1 List of registers
  - 4.10.2 Directions for use
- 4.11 Parameter Error Count (Address: 2A44h)
  - 4.11.1 List of registers
  - 4.11.2 Directions for use
- 4.12 Parameter Error List (Address: 2A45h)
  - 4.12.1 List of registers
  - 4.12.2 Directions for use
- 4.13 Point Table Error (Address: 2A43h)
  - 4.13.1 List of registers
  - 4.13.2 Directions for use
- 4.14 External Input Pin Status (Address: 2C10h)
  - 4.14.1 List of registers
  - 4.14.2 Directions for use
- 4.15 External Output Pin Status (Address: 2C11h)
  - 4.15.1 List of registers
  - 4.15.2 Directions for use
- 4.16 Input Device Status (Address: 2C12h)
  - 4.16.1 List of registers
  - 4.16.2 Directions for use
- 4.17 Output Device Status (Address: 2C13h)
  - 4.17.1 List of registers
  - 4.17.2 Directions for use
- 4.18 Servo Amplifier Model (Address: 1008h)
  - 4.18.1 List of registers
  - 4.18.2 Directions for use
- 4.19 Servo Amplifier Software Version (Address: 100Ah)
  - 4.19.1 List of registers
  - 4.19.2 Directions for use
- 4.20 Broadcast Setting (Address: 2D98h)
  - 4.20.1 List of registers
  - 4.20.2 Directions for use
- 4.21 Servo Motor Rated Speed (Address: 2D28h)
  - 4.21.1 List of registers
  - 4.21.2 Directions for use
- 4.22 Servo Motor Maximum Speed (Address: 2D29h)
  - 4.22.1 List of registers
  - 4.22.2 Directions for use
- 4.23 SDO Abort Code (Address: 2A60h)
  - 4.23.1 List of registers
  - 4.23.2 Directions for use
- 4.24 Access Log 1 (Address: 2A64h)
  - 4.24.1 List of registers
  - 4.24.2 Directions for use
- 4.25 Access Log 2 (Address: 2A65h)
  - 4.25.1 List of registers
  - 4.25.2 Directions for use
- 4.26 Communication Error Count (Address: 2A68h)
  - 4.26.1 List of registers
  - 4.26.2 Directions for use
- 4.27 Supported Profile Information (Address: 1000h)
  - 4.27.1 List of registers
  - 4.27.2 Directions for use
- 4.28 Device Information (Address: 1018h)
  - 4.28.1 List of registers
  - 4.28.2 Directions for use
5. DRIVING MOTOR
- 5.1 Device Control
  - 5.1.1 Function description
  - 5.1.2 Related registers
  - 5.1.3 Details of registers
  - 5.1.4 Directions for use
- 5.2 Control Mode
  - 5.2.1 Function description
  - 5.2.2 Related registers
  - 5.2.3 Details of registers
  - 5.2.4 Directions for use
- 5.3 Home Position Return Mode
  - 5.3.1 Function description
  - 5.3.2 Related registers
  - 5.3.3 Details of registers
  - 5.3.4 Directions for use
- 5.4 JOG Operation Mode
  - 5.4.1 Function description
  - 5.4.2 Related registers
  - 5.4.3 Details of registers
  - 5.4.4 Directions for use
- 5.5 Point Table Operation Mode
  - 5.5.1 Function description
  - 5.5.2 Related registers
  - 5.5.3 Details of registers
  - 5.5.4 Directions for use
- 5.6 Program Operation Mode
  - 5.6.1 Function description
  - 5.6.2 Related registers
  - 5.6.3 Details of registers
  - 5.6.4 Directions for use
- 5.7 Touch Probe (Address: 60B8h to 60BBh)
  - 5.7.1 Function description
  - 5.7.2 List of registers
  - 5.7.3 Details of registers
  - 5.7.4 Directions for use
- 5.8 Function common to the modes
  - 5.8.1 List of registers
  - 5.8.2 Control input (2D01h to 2D09h)
  - 5.8.3 Control output (2D11h to 2D19h)
  - 5.8.4 Simultaneous start bit setting (2D9Ah)
  - 5.8.5 Controller force stop (2D9Bh)
  - 5.8.6 Override (2DB0h)
  - 5.8.7 Forward torque limit value (60E0h)
  - 5.8.8 Reverse torque limit value (60E1h)
  - 5.8.9 Current position (6064h)
  - 5.8.10 Current speed (606Ch)
  - 5.8.11 Current torque (6077h)
  - 5.8.12 Cam number setting (2D80h)
  - 5.8.13 Current cam number (2D82h)
  - 5.8.14 Cam axis one-cycle length setting (2D84h)
  - 5.8.15 Cam stroke length setting (2D85h)
  - 5.8.16 Request store CAM (2D88h)
  - 5.8.17 CAM area (2D89h)
  - 5.8.18 CAM data in CAM area (2D8Bh)
6. LIST OF MODBUS REGISTERS
7. APPLICATION OF FUNCTIONS
- 7.1 Connection with GOT2000 series
  - 7.1.1 Access to Modbus registers
REVISIONS
Country/Region
Warranty

Mitsubishi Electric MRJ4ARJ Instruction Manual

Mitsubishi Electric MRJ4ARJ manual cover

Pages 118

Year 2016

Language(s)

of 118

Mitsubishi Electric MRJ4ARJ Specification

The Mitsubishi Electric MRJ4ARJ is an advanced servo amplifier designed for high-performance industrial automation applications. It features a compact and robust design, ensuring efficient space utilization and high reliability in demanding environments. The MRJ4ARJ is part of the MELSERVO-J4 series, which is renowned for its superior control capabilities and energy efficiency.

This servo amplifier supports a wide range of motor types and feedback options, providing flexibility for various automation needs. It operates with a power supply voltage ranging from 100V to 240V AC, making it suitable for global applications. The MRJ4ARJ delivers precise motion control with a high-resolution encoder, enabling accurate positioning and smooth operation.

Its advanced control algorithms enhance performance by minimizing vibration and overshoot, thus improving the overall efficiency of the system. The amplifier incorporates real-time auto-tuning features, which simplify setup and maintenance by automatically adjusting parameters for optimal performance. The MRJ4ARJ also integrates safety functionality, such as Safe Torque Off (STO), ensuring compliance with international safety standards.

Connectivity is a key feature of the MRJ4ARJ, offering compatibility with various industrial networks, including EtherCAT, CC-Link, and SSCNET III/H, facilitating seamless integration into existing systems. The amplifier is equipped with a user-friendly interface and diagnostic tools, enabling easy monitoring and troubleshooting.

In summary, the Mitsubishi Electric MRJ4ARJ servo amplifier is a versatile and high-performance solution for industrial automation, offering precise control, energy efficiency, and robust safety features. Its compatibility with multiple networks and ease of use make it an ideal choice for enhancing productivity in diverse applications.

Mitsubishi Electric MRJ4ARJ F.A.Q.

How do I perform a basic setup for the Mitsubishi Electric MRJ4ARJ servo amplifier?

To perform a basic setup, connect the servo amplifier to your PLC or controller, set the necessary parameters such as control mode, motor type, and encoder settings, and perform an initial tuning using the MR Configurator2 software.

What should I do if the servo motor does not rotate when commanded?

First, ensure that all connections are secure and that there are no errors displayed on the servo amplifier. Check the power supply, parameter settings for the control mode, and verify that the command signals from the controller are correct.

How can I update the firmware on the MRJ4ARJ servo amplifier?

To update the firmware, download the latest firmware version from the Mitsubishi Electric website, connect the servo amplifier to your PC via USB, and use the MR Configurator2 software to perform the update.

What maintenance is required for the MRJ4ARJ servo amplifier?

Regular maintenance includes checking the cooling fans for dust accumulation, ensuring all electrical connections are tight, and periodically inspecting the servo motor and encoder for any signs of wear or damage.

How do I troubleshoot an overcurrent alarm on the MRJ4ARJ?

Check the wiring for any short circuits or loose connections. Ensure that the motor load is not exceeding the amplifier's capacity and verify that the current limit parameters are correctly set.

Can I use the MRJ4ARJ with a third-party motor?

It is recommended to use Mitsubishi Electric motors for optimal performance. However, if using a third-party motor, ensure compatibility with the amplifier's specifications and perform detailed tuning to match the motor's characteristics.

How do I perform a factory reset on the MRJ4ARJ servo amplifier?

To perform a factory reset, access the parameter settings through the MR Configurator2 software and reset all parameters to their default values. Refer to the user manual for specific instructions.

What is the procedure for connecting the MRJ4ARJ to a network?

Connect the servo amplifier to the network using the appropriate communication interface (e.g., Ethernet/IP, CC-Link), configure the network settings via the MR Configurator2 software, and ensure all devices on the network are addressed correctly.

How can I optimize the performance of the MRJ4ARJ servo system?

Use advanced tuning features in the MR Configurator2 software to fine-tune the servo parameters, including gain adjustments and notch filter settings, to achieve optimal performance for your specific application.

What should I check if the MRJ4ARJ displays a communication error?

Verify that all communication cables are properly connected and undamaged. Check the communication settings and parameters, and ensure that the amplifier and controller are using compatible protocols and addressing.