Contents

Safety Instructions
DISPOSAL OF WASTE
STO function of the servo amplifier
Compliance with global standards
About the manuals
Wiring
CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Summary
- 1.2 Function block diagram
- 1.3 Standard specifications
  - 1.3.1 Servo amplifier standard specifications
  - 1.3.2 Conversion unit for SSCNET of MR-J2S-B
- 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 Parts identification of MR-J4-T20
  - 1.7.3 Removal and reinstallation of the front cover
- 1.8 Installation and removal of MR-J4-T20
- 1.9 Configuration including peripheral equipment
2. INSTALLATION
- 2.1 Installation direction and clearances
- 2.2 Keep out 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
- 3.2 I/O signal connection example
  - 3.2.1 For sink I/O interface
  - 3.2.2 For 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 Wiring CNP1, CNP2, and CNP3
- 3.4 Connectors and pin assignment
- 3.5 Signal (device) explanations
  - 3.5.1 Input device
  - 3.5.2 Output device
  - 3.5.3 Output signal
  - 3.5.4 Power supply
- 3.6 Alarm occurrence timing chart
- 3.7 Interfaces
  - 3.7.1 Internal connection diagram
  - 3.7.2 Detailed explanation of interfaces
  - 3.7.3 Source I/O interfaces
- 3.8 Servo motor with an electromagnetic brake
  - 3.8.1 Safety precautions
  - 3.8.2 Timing chart
- 3.9 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
- 4.3 Switch setting and display of the servo amplifier
  - 4.3.1 Switches
  - 4.3.2 Status display of an axis
- 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 Parameter list
  - 5.1.1 Basic setting parameters
  - 5.1.2 Adjustment parameters
  - 5.1.3 Extension parameters
  - 5.1.4 Extension parameters 2
- 5.2 Detailed list of parameters
  - 5.2.1 Basic setting parameters
  - 5.2.2 Adjustment parameters
  - 5.2.3 Extension parameters
6. NORMAL 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 1 (simple manual adjustment)
  - 6.3.1 Manual mode 1 basis
  - 6.3.2 Adjustment by manual mode 1
- 6.4 Interpolation mode
7. SPECIAL ADJUSTMENT FUNCTIONS
- 7.1 Filter setting
  - 7.1.1 Machine resonance suppression filter
  - 7.1.2 Low-pass filter
  - 7.1.3 Adaptive vibration suppression control function
- 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
8. TROUBLESHOOTING
- 8.1 Alarm and warning list
- 8.2 Remedies for alarms
- 8.3 Remedies for warnings
- 8.4 Troubleshooting at power on
9. DIMENSIONS
- 9.1 Servo amplifier
- 9.2 MR-J4-T20
- 9.3 Connectors
  - 9.3.1 Servo amplifier side connectors
  - 9.3.2 MR-J4-T20 connectors
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 SSCNET cable
  - 11.1.3 RS-232C communication cable
  - 11.1.4 Battery cable/junction battery cable
- 11.2 Regenerative option
  - 11.2.1 Combination and regenerative power
  - 11.2.2 Selection of the regenerative option
  - 11.2.3 Parameter setting
  - 11.2.4 Selection of the regenerative option
  - 11.2.5 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 definition
  - 11.5.2 Selection
- 11.6 Junction terminal block PS7DW-20V14B-F (recommended)
- 11.7 MR Configurator
  - 11.7.1 Specifications
  - 11.7.2 Additional instructions
  - 11.7.3 System requirements
  - 11.7.4 Precautions for using RS-232C 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-BT6VCASE battery case
  - 11.8.5 MR-BAT6V1 battery
- 11.9 Selection example of wires
- 11.10 Molded-case circuit breakers, fuses, magnetic contactors
- 11.11 Power factor improving DC reactor
- 11.12 Power factor improving AC reactor
- 11.13 Relay (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)
12. ABSOLUTE POSITION DETECTION SYSTEM
- 12.1 Summary
  - 12.1.1 Features
  - 12.1.2 Structure
  - 12.1.3 Parameter setting
  - 12.1.4 Confirmation of absolute position detection data
- 12.2 Battery
  - 12.2.1 Using MR-BAT6V1SET battery
  - 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
  - 12.2.3 Using MR-BT6VCASE battery case
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
- 13.1 Mode switching procedure
  - 13.1.1 Switching from the J2S compatibility mode to the J4 mode
  - 13.1.2 Switching from the J4 mode to the J2S compatibility mode
- 13.2 Parameter
  - 13.2.1 Parameters for converter unit
  - 13.2.2 Parameters for converter unit/drive unit
- 13.3 Troubleshooting
  - 13.3.1 Explanation for the lists
  - 13.3.2 Alarm list
  - 13.3.3 Warning list
  - 13.3.4 Troubleshooting at power on
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
- 14.1 Functions and configuration
  - 14.1.1 Summary
  - 14.1.2 Function block diagram
  - 14.1.3 Standard specifications
  - 14.1.4 Combinations of converter units, drive units and servo motors
  - 14.1.5 Model definition
  - 14.1.6 Structure
  - 14.1.7 Configuration including peripheral equipment
- 14.2 Installation
  - 14.2.1 Installation direction and clearances
  - 14.2.2 Keeping out of foreign materials
  - 14.2.3 Inspection items
  - 14.2.4 Parts having service life
  - 14.2.5 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level
- 14.3 Signals and wiring
  - 14.3.1 Input power supply circuit
  - 14.3.2 Explanation of power supply system
  - 14.3.3 Connectors and pin assignment
  - 14.3.4 Signal (device) explanations
  - 14.3.5 Alarm occurrence timing chart
  - 14.3.6 Interfaces
  - 14.3.7 Grounding
- 14.4 Start up
  - 14.4.1 Switching power on for the first time
  - 14.4.2 Startup
  - 14.4.3 Display and operation section of the converter unit
- 14.5 Parameters
  - 14.5.1 Parameters for converter unit
  - 14.5.2 Parameters for drive unit
- 14.6 Troubleshooting
- 14.7 Dimensions
  - 14.7.1 Converter unit (MR-CR55K_)
  - 14.7.2 Drive unit
- 14.8 Characteristics
  - 14.8.1 Overload protection characteristics
  - 14.8.2 Power supply capacity and generated loss
  - 14.8.3 Dynamic brake characteristics
  - 14.8.4 Inrush currents at power-on of main circuit/control circuit
- 14.9 Options and peripheral equipment
  - 14.9.1 Cable/connector sets
  - 14.9.2 Regenerative option
  - 14.9.3 External dynamic brake
  - 14.9.4 Selection example of wires
  - 14.9.5 Molded-case circuit breakers, fuses, magnetic contactors
  - 14.9.6 Power factor improving DC reactor
  - 14.9.7 Noise reduction techniques
  - 14.9.8 Earth-leakage current breaker
  - 14.9.9 EMC filter (recommended)
  - 14.9.10 FR-BU2-(H) Brake Unit
15. FULLY CLOSED LOOP SYSTEM
- 15.1 Functions and configuration
  - 15.1.1 Function block diagram
  - 15.1.2 Selecting procedure of control mode
  - 15.1.3 System configuration
- 15.2 Load-side encoder
  - 15.2.1 Linear encoder
  - 15.2.2 Rotary encoder
  - 15.2.3 Configuration diagram of encoder cable
- 15.3 Operation and functions
  - 15.3.1 Startup
  - 15.3.2 Home position return
  - 15.3.3 Operation from controller
  - 15.3.4 Fully closed loop control error detection functions
  - 15.3.5 Auto tuning function
  - 15.3.6 Machine analyzer function
  - 15.3.7 Test operation mode
  - 15.3.8 Absolute position detection system under fully closed loop system
  - 15.3.9 About MR Configurator
- 15.4 Detailed list of parameters
  - 15.4.1 Basic setting parameters
  - 15.4.2 Adjustment parameters
  - 15.4.3 Extension parameters
- 15.5 Troubleshooting
- 15.6 Details on linear encoder errors ([AL. 2A]) for respective manufacturers
APPENDIX
- App. 1 Using the HC series/HA series servo motor
- App. 2 Linear encoders compatible with MR-J2S
- App. 3 Peripheral equipment manufacturer (for reference)
- App. 4 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods
- App. 5 Symbol for the new EU Battery Directive
- App. 6 Compliance with global standards for servo amplifier
- App. 7 Compliance with global standards for converter unit and drive unit
- App. 8 Analog monitor
- App. 9 Special specification
- App. 10 Setting of added parameters for MR-J4-_B_-RJ020 servo amplifier
- App. 11 Driving on/off of main circuit power supply with DC power supply
- App. 12 Status of general-purpose AC servo products for compliance with the China RoHS directive
REVISIONS
Country/Region
Warranty

Mitsubishi Electric MRJ4BRJ020 Instruction Manual

Mitsubishi Electric MRJ4BRJ020 manual cover

Pages 620

Year 2017

Language(s)

of 620

Mitsubishi Electric MRJ4BRJ020 Specification

The Mitsubishi Electric MRJ4BRJ020 is a high-performance servo amplifier designed for precision control in industrial automation systems. This compact and efficient unit is part of the MR-J4 series, known for its advanced features and reliability. The MRJ4BRJ020 supports a power supply input of three-phase 200-240V, ensuring compatibility with standard industrial power systems. It provides a rated output current of 2.0 A, making it suitable for driving medium-sized servo motors with high precision and responsiveness.

The amplifier is equipped with Mitsubishi's advanced real-time auto-tuning technology, which optimizes performance by automatically adjusting control parameters to match the mechanical characteristics of the system. This feature enhances the servo's ability to maintain accurate positioning and smooth operation, even in dynamic applications. The MRJ4BRJ020 also supports a wide range of communication interfaces, including Ethernet-based protocols, allowing for seamless integration into modern industrial networks and facilitating remote monitoring and control.

Safety is a key consideration in the design of the MRJ4BRJ020, which includes features such as built-in safety functions compliant with international standards, offering reliable protection for both the equipment and operators. The amplifier's compact design allows for efficient space utilization in control panels, and its robust construction ensures durability in demanding industrial environments. Overall, the Mitsubishi Electric MRJ4BRJ020 servo amplifier combines precision control, advanced functionality, and enhanced safety features, making it a versatile choice for various industrial automation applications.

Mitsubishi Electric MRJ4BRJ020 F.A.Q.

What are the basic steps for installing the Mitsubishi Electric MRJ4BRJ020 servo amplifier?

To install the MRJ4BRJ020, first mount the unit securely in a suitable location, ensuring adequate ventilation. Connect the power supply, motor, and encoder cables according to the wiring diagram in the manual. Ensure all connections are tight and secure before powering on the unit.

How can I troubleshoot an overcurrent alarm on the MRJ4BRJ020?

Check for any short circuits in the motor and power cables. Verify that the motor is not mechanically bound or overloaded. Inspect the servo settings and reduce the torque limit if necessary. Reset the alarm and test the system again.

What maintenance is required to keep the MRJ4BRJ020 in optimal condition?

Regularly inspect and clean the unit, ensuring that dust and debris do not accumulate. Check connections for tightness and inspect cables for wear or damage. Perform a functional test periodically to ensure proper operation.

How do I perform a parameter reset on the MRJ4BRJ020?

To reset parameters, access the setup menu using the keypad or software interface. Navigate to the parameter reset option and follow the prompts to restore the default factory settings.

What should I do if the MRJ4BRJ020 does not respond to input commands?

Verify that all connections are correct and secure. Check the control mode and ensure it matches the input commands. Inspect the communication settings and verify they are correctly configured. Restart the system if necessary.

How can I optimize the servo tuning parameters on the MRJ4BRJ020?

Use the auto-tuning function available in the servo setup menu. This function will adjust the parameters to optimize performance based on the current load and application. For fine-tuning, manually adjust the gain settings as needed.

What safety precautions should be taken when handling the MRJ4BRJ020?

Ensure the power supply is turned off before installing or servicing the unit. Use appropriate personal protective equipment (PPE) and follow all safety guidelines in the user manual. Avoid contact with live circuits and moving parts.

How do I update the firmware on the MRJ4BRJ020?

Download the latest firmware from the Mitsubishi Electric website. Transfer the firmware to the servo amplifier using the recommended communication interface and follow the instructions in the firmware update guide.

What should I check if the MRJ4BRJ020 is overheating?

Ensure that the unit has sufficient ventilation and is not obstructed by other equipment. Check that the cooling fans are operational and clean any dust buildup. Verify that the operating environment is within the specified temperature range.

How can I verify the encoder feedback on the MRJ4BRJ020?

Use the diagnostic tools provided in the servo amplifier's software to monitor and verify encoder signals. Check the encoder connections for proper alignment and secure attachment. Replace the encoder if any discrepancies persist.