Contents

Safety Instructions
DISPOSAL OF WASTE
STO function of the servo amplifier
Compliance with global standards
About the manual
Wiring
U.S. customary units
CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 For proper use of the positioning mode
- 1.2 Positioning mode specification list
- 1.3 Function list
- 1.4 Configuration including peripheral equipment
2. SIGNALS AND WIRING
- 2.1 I/O signal connection example
  - 2.1.1 MR-J4-_A_-RJ 100 W or more
  - 2.1.2 MR-J4-03A6-RJ
- 2.2 Connectors and pin assignment
- 2.3 Signal (device) explanations
- 2.4 Analog override
- 2.5 Internal connection diagram
- 2.6 Power-on sequence
  - 2.6.1 MR-J4-_A_-RJ 100 W or more
  - 2.6.2 MR-J4-03A6-RJ
3. DISPLAY AND OPERATION SECTIONS
- 3.1 MR-J4-_A_-RJ 100 W or more
  - 3.1.1 Display sequence
  - 3.1.2 Status display
  - 3.1.3 Diagnostic mode
  - 3.1.4 Alarm mode
  - 3.1.5 Point table setting
  - 3.1.6 Parameter mode
  - 3.1.7 External I/O signal display
  - 3.1.8 Output signal (DO) forced output
  - 3.1.9 Single-Step feed
  - 3.1.10 Teaching function
- 3.2 MR-J4-03A6-RJ
  - 3.2.1 Display flowchart
  - 3.2.2 Status display mode
  - 3.2.3 Diagnostic mode
  - 3.2.4 Alarm mode
  - 3.2.5 Point table setting
  - 3.2.6 Parameter mode
  - 3.2.7 External I/O signal display
  - 3.2.8 Output signal (DO) forced output
  - 3.2.9 Step feed
  - 3.2.10 Teaching function
4. HOW TO USE THE POINT TABLE
- 4.1 Startup
  - 4.1.1 Power on and off procedures
  - 4.1.2 Stop
  - 4.1.3 Test operation
  - 4.1.4 Parameter setting
  - 4.1.5 Point table setting
  - 4.1.6 Actual operation
  - 4.1.7 Troubleshooting at start-up
- 4.2 Automatic operation mode
  - 4.2.1 Automatic operation mode
  - 4.2.2 Automatic operation using point table
- 4.3 Manual operation mode
  - 4.3.1 JOG operation
  - 4.3.2 Manual pulse generator operation
- 4.4 Home position return mode
  - 4.4.1 Outline of home position return
  - 4.4.2 Dog type home position return
  - 4.4.3 Count type home position return
  - 4.4.4 Data set type home position return
  - 4.4.5 Stopper type home position return
  - 4.4.6 Home position ignorance (servo-on position as home position)
  - 4.4.7 Dog type rear end reference home position return
  - 4.4.8 Count type front end reference home position return
  - 4.4.9 Dog cradle type home position return
  - 4.4.10 Dog type last Z-phase reference home position return
  - 4.4.11 Dog type front end reference home position return type
  - 4.4.12 Dogless Z-phase reference home position return type
  - 4.4.13 Automatic retract function used for the home position return
  - 4.4.14 Automatic positioning to home position function
  - 4.4.15 Precautions for using linear servo motors
  - 4.4.16 Precautions for using the fully closed loop system
- 4.5 Roll feed mode using the roll feed display function
- 4.6 Point table setting method
  - 4.6.1 Setting procedure
  - 4.6.2 Detailed setting window
5. HOW TO USE THE PROGRAM
- 5.1 Startup
  - 5.1.1 Power on and off procedures
  - 5.1.2 Stop
  - 5.1.3 Test operation
  - 5.1.4 Parameter setting
  - 5.1.5 Actual operation
  - 5.1.6 Troubleshooting at start-up
- 5.2 Program operation method
  - 5.2.1 Program operation method
  - 5.2.2 Program language
  - 5.2.3 Basic settings of signals and parameters
  - 5.2.4 Timing chart of the program operation
- 5.3 Manual operation mode
  - 5.3.1 JOG operation
  - 5.3.2 Manual pulse generator operation
- 5.4 Home position return mode
  - 5.4.1 Summary of home position return
  - 5.4.2 Dog type home position return
  - 5.4.3 Count type home position return
  - 5.4.4 Data set type home position return
  - 5.4.5 Stopper type home position return
  - 5.4.6 Home position ignorance (servo-on position as home position)
  - 5.4.7 Dog type rear end reference home position return
  - 5.4.8 Count type front end reference home position return
  - 5.4.9 Dog cradle type home position return
  - 5.4.10 Dog type last Z-phase reference home position return
  - 5.4.11 Dog type front end reference home position return type
  - 5.4.12 Dogless Z-phase reference home position return type
  - 5.4.13 Automatic retract function used for the home position return
- 5.5 Serial communication operation
  - 5.5.1 Positioning operation using the program
  - 5.5.2 Multi-drop method (RS-422 communication)
  - 5.5.3 Group specification
- 5.6 Incremental value command method
- 5.7 Roll feed mode using the roll feed display function
- 5.8 Program setting method
  - 5.8.1 Setting procedure
  - 5.8.2 Window for program edit
  - 5.8.3 Indirect addressing window
6. HOW TO USE INDEXER
- 6.1 Startup
  - 6.1.1 Power on and off procedures
  - 6.1.2 Stop
  - 6.1.3 Test operation
  - 6.1.4 Parameter setting
  - 6.1.5 Actual operation
  - 6.1.6 Troubleshooting at start-up
- 6.2 Automatic operation mode
  - 6.2.1 Automatic operation mode
  - 6.2.2 Automatic operation mode 1 (rotation direction specifying indexer)
  - 6.2.3 Automatic operation mode 2 (shortest rotating indexer)
- 6.3 Manual operation mode
  - 6.3.1 Station JOG operation
  - 6.3.2 JOG operation
- 6.4 Home position return mode
  - 6.4.1 Outline of home position return
  - 6.4.2 Torque limit changing dog type home position return
  - 6.4.3 Torque limit changing data set type
  - 6.4.4 Backlash compensation and digital override
  - 6.4.5 Safety precautions
7. PARAMETERS
- 7.1 Parameter list
  - 7.1.1 Basic setting parameters ([Pr. PA_ _ ])
  - 7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
  - 7.1.3 Extension setting parameters ([Pr. PC_ _ ])
  - 7.1.4 I/O setting parameters ([Pr. PD_ _ ])
  - 7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])
  - 7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
  - 7.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
  - 7.1.8 Option setting parameters ([Pr. Po_ _ ])
  - 7.1.9 Positioning control parameters ([Pr. PT_ _ ])
- 7.2 Detailed list of parameters
  - 7.2.1 Basic setting parameters ([Pr. PA_ _ ])
  - 7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
  - 7.2.3 Extension setting parameters ([Pr. PC_ _ ])
  - 7.2.4 I/O setting parameters ([Pr. PD_ _ ])
  - 7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
  - 7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
  - 7.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
  - 7.2.8 Option setting parameters ([Pr. Po_ _ ])
  - 7.2.9 Positioning control parameters ([Pr. PT_ _ ])
- 7.3 How to set the electronic gear
  - 7.3.1 Electronic gear settings in the point table method and program method
  - 7.3.2 Electronic gear setting in the indexer method
- 7.4 Software limit
- 7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off
- 7.6 Stop method at software limit detection
8. TROUBLESHOOTING
- 8.1 Explanation for the lists
- 8.2 Alarm list
- 8.3 Warning list
9. OPTIONS AND PERIPHERAL EQUIPMENT
- 9.1 MR-HDP01 manual pulse generator
10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)
- 10.1 Command and data No. list
  - 10.1.1 Reading command
  - 10.1.2 Writing commands
- 10.2 Detailed explanations of commands
  - 10.2.1 External I/O signal status (DIO diagnosis)
  - 10.2.2 Input device on/off
  - 10.2.3 Input device on/off (for test operation)
  - 10.2.4 Test operation mode
  - 10.2.5 Output signal pin on/off (output signal (DO) forced output)
  - 10.2.6 Point table
- 10.3 Settings equivalent to previous models
  - 10.3.1 Relevant matters to monitor information
  - 10.3.2 Relevant matters to input/output
11. MR-D01 EXTENSION I/O UNIT
- 11.1 Function block diagram
- 11.2 Structure
  - 11.2.1 Parts identification
  - 11.2.2 Installation and removal of the MR-D01 extension I/O unit
- 11.3 Configuration including peripheral equipment
- 11.4 Installation direction and clearances
- 11.5 Signals and wiring
  - 11.5.1 I/O signal connection diagram
  - 11.5.2 Connectors and pin assignment
  - 11.5.3 Signal (device) explanations
  - 11.5.4 Interfaces
- 11.6 Monitor display with MR Configurator2
- 11.7 Operation
  - 11.7.1 Operation mode and selecting method
  - 11.7.2 When using MR-DS60 (6-digit digital switch) for automatic operation with BCD (3-digit 2) inputs
  - 11.7.3 When using a programmable controller for automatic operation with BCD (3 digits 2) inputs
  - 11.7.4 Home position return in the BCD (3 digits 2) input operation
- 11.8 Dimensions
  - 11.8.1 MR-D01 extension I/O unit
  - 11.8.2 When an MR-D01 extension IO unit is connected to a servo amplifier
- 11.9 Options and peripheral equipment
  - 11.9.1 Combinations of cable/connector sets
  - 11.9.2 MR-DS60 (6-digit digital switch)
  - 11.9.3 PS7DW-20V14B-F (Junction terminal block) (recommended)
  - 11.9.4 MR-TB50 (Junction terminal block)
12. APPLICATION OF FUNCTIONS
- 12.1 Simple cam function
  - 12.1.1 Outline of simple cam function
  - 12.1.2 Simple cam function block
  - 12.1.3 Simple cam specification list
  - 12.1.4 Control of simple cam function
  - 12.1.5 Operation in combination with the simple cam
  - 12.1.6 Setting list
  - 12.1.7 Data to be used with simple cam function
  - 12.1.8 Function block diagram for displaying state of simple cam control
  - 12.1.9 Operation
  - 12.1.10 Cam No. setting method
  - 12.1.11 Stop operation of cam control
  - 12.1.12 Restart operation of cam control
  - 12.1.13 Cam axis position at cam control switching
  - 12.1.14 Clutch
  - 12.1.15 Cam position compensation target position
  - 12.1.16 Cam position compensation time constant
- 12.2 Mark detection
  - 12.2.1 Current position latch function
  - 12.2.2 Interrupt positioning function
- 12.3 Infinite feed function (setting degree)
REVISION
Country/Region
Warranty

Mitsubishi Electric MRJ4ARJ, MRJ403A6RJ Instruction Manual

Mitsubishi Electric MRJ4ARJ, MRJ403A6RJ manual cover

Pages 610

Year 2016

Language(s)

of 610

Mitsubishi Electric MRJ4ARJ, MRJ403A6RJ Specification

The Mitsubishi Electric MRJ4ARJ and MRJ403A6RJ are advanced servo amplifiers designed to enhance precision and efficiency in industrial automation systems. These models are part of the MELSERVO-J4 series, known for their high performance and integration capabilities.

The MRJ4ARJ is engineered for superior speed and accuracy, supporting a wide range of applications. It features a compact design, making it suitable for space-constrained environments. This model incorporates advanced auto-tuning functions, which simplify the setup process and ensure optimal performance. It supports a variety of communication protocols, enabling seamless integration into existing control systems. Enhanced safety features, such as built-in safety relay outputs, ensure compliance with international safety standards.

The MRJ403A6RJ builds on the strengths of the MRJ4ARJ, offering additional capabilities for more demanding applications. It supports higher power outputs, making it ideal for more robust industrial tasks. This model also features enhanced vibration suppression technology, which improves the quality and precision of operations by minimizing mechanical resonance. Like its counterpart, it offers comprehensive connectivity options and advanced diagnostics to facilitate maintenance and troubleshooting.

Both models are equipped with energy-saving functions, contributing to reduced operational costs and environmental impact. They support a wide range of motors, including linear and rotary types, providing flexibility across diverse industrial applications. The user-friendly interface and comprehensive software tools simplify configuration, monitoring, and control processes. These servo amplifiers are designed to deliver exceptional performance, reliability, and scalability, catering to the evolving needs of modern automation systems. With their robust design and advanced functionalities, the MRJ4ARJ and MRJ403A6RJ exemplify Mitsubishi Electric's commitment to innovation and quality in industrial automation technology.

Mitsubishi Electric MRJ4ARJ, MRJ403A6RJ F.A.Q.

What is the procedure for initializing the Mitsubishi Electric MRJ4ARJ servo amplifier?

To initialize the MRJ4ARJ servo amplifier, ensure all connections are secure, connect to the controller, power on the unit, and use the manufacturer’s software to set the initial parameters. Follow the startup sequence outlined in the user manual.

How can I troubleshoot a communication error with the MRJ403A6RJ servo amplifier?

Check all cable connections for any signs of damage or disconnection. Verify that the communication settings such as baud rate and protocol match on both the servo amplifier and the controller. Consult the error code displayed on the amplifier for specific troubleshooting steps.

What regular maintenance is required for the MRJ4ARJ servo amplifier?

Regular maintenance includes checking for dust accumulation and cleaning the unit, inspecting connections for wear or damage, and ensuring that the ventilation is unobstructed. Perform a visual inspection of all components at least once every six months.

How do I update the firmware on a Mitsubishi MRJ403A6RJ?

Download the latest firmware from Mitsubishi’s official website. Connect the servo amplifier to your computer using the recommended interface, and use the designated software to upload the new firmware. Ensure that the power supply is stable during the update process.

Can I operate the MRJ4ARJ in a high-temperature environment?

The MRJ4ARJ is designed to operate within a specific temperature range. Check the user manual for the exact limits. If operating in a high-temperature environment, consider additional cooling solutions to maintain optimal performance.

What should I do if the MRJ403A6RJ servo amplifier is overheating?

First, ensure that the cooling system is functional and not blocked. Check the ambient temperature and reduce load if necessary. If the issue persists, inspect for internal faults or consult with a Mitsubishi service technician.

How to reset an error code on the MRJ4ARJ?

First, identify and rectify the cause of the error. Then, use the control interface to clear the error code, or power-cycle the amplifier if needed. Consult the user manual for specific error codes and reset procedures.

What are the indications of a failing MRJ403A6RJ servo motor?

Signs of a failing servo motor include unusual noises, excessive vibration, overheating, and loss of precision in movements. Regular monitoring and early detection can prevent further damage.

Is it possible to connect multiple MRJ4ARJ units in a network?

Yes, multiple MRJ4ARJ units can be networked using compatible communication protocols. Ensure that each unit has a unique address and that network settings are correctly configured to avoid conflicts.

What safety precautions should be observed when handling the MRJ403A6RJ?

Always disconnect power before performing any maintenance. Use appropriate personal protective equipment and follow lockout/tagout procedures. Be aware of moving parts and avoid contact during operation.