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
  - 1.3.1 Integrated 2-axis servo amplifier
  - 1.3.2 Integrated 3-axis servo amplifier
  - 1.3.3 Combinations of servo amplifiers and servo motors
- 1.4 Function list
- 1.5 Model designation
- 1.6 Parts identification
- 1.7 Configuration including auxiliary equipment
2. INSTALLATION
- 2.1 Installation direction and clearances
- 2.2 Keep out foreign materials
- 2.3 Encoder cable stress
- 2.4 SSCNET III cable laying
- 2.5 Inspection items
- 2.6 Parts having service life
- 2.7 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 Forced stop deceleration function
  - 3.6.1 Forced stop deceleration function
  - 3.6.2 Base circuit shut-off 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 you use the forced stop deceleration function
  - 3.7.2 When you do not use the forced stop deceleration function
- 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 SSCNET III cable connection
- 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
- 4.3 Switch setting and display of the servo amplifier
  - 4.3.1 Switches
  - 4.3.2 Scrolling display
  - 4.3.3 Status display of an axis
- 4.4 Test operation
- 4.5 Test operation mode
  - 4.5.1 Test operation mode in MR Configurator2
  - 4.5.2 Motor-less operation in controller
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_ _ ])
- 5.2 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_ _ ])
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
8. TROUBLESHOOTING
- 8.1 Explanation for the lists
- 8.2 Alarm list
- 8.3 Warning list
- 8.4 Troubleshooting at power on
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 SSCNET III cable
  - 11.1.3 Battery cable/junction battery cable
  - 11.1.4 MR-D05UDL3M-B STO 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 Dimensions
- 11.3 Battery
  - 11.3.1 Selection of battery
  - 11.3.2 MR-BAT6V1SET-A battery
  - 11.3.3 MR-BT6VCASE battery case
  - 11.3.4 MR-BAT6V1 battery
- 11.4 MR Configurator2
  - 11.4.1 Specifications
  - 11.4.2 System configuration
  - 11.4.3 Precautions for using USB communication function
- 11.5 Selection example of wires
- 11.6 Molded-case circuit breakers, fuses, magnetic contactors
- 11.7 Power factor improving AC reactors
- 11.8 Relays (recommended)
- 11.9 Noise reduction techniques
- 11.10 Earth-leakage current breaker
- 11.11 EMC filter (recommended)
- 11.12 Junction terminal block MR-TB26A
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 (only for MR-J4W2-0303B6)
  - 12.2.2 Using MR-BT6VCASE battery case
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
  - 13.3.4 External I/O signal connection example using a motion controller
- 13.4 Detailed description of interfaces
  - 13.4.1 Sink I/O interface
  - 13.4.2 Source I/O interface
14. USING A LINEAR SERVO MOTOR
- 14.1 Functions and configuration
  - 14.1.1 Summary
  - 14.1.2 Servo system with auxiliary equipment
- 14.2 Signals and wiring
- 14.3 Operation and functions
  - 14.3.1 Startup
  - 14.3.2 Magnetic pole detection
  - 14.3.3 Home position return
  - 14.3.4 Test operation mode in MR Configurator2
  - 14.3.5 Operation from controller
  - 14.3.6 Function
  - 14.3.7 Absolute position detection system
- 14.4 Characteristics
  - 14.4.1 Overload protection characteristics
  - 14.4.2 Power supply capacity and generated loss
  - 14.4.3 Dynamic brake characteristics
  - 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used
15. USING A DIRECT DRIVE MOTOR
- 15.1 Functions and configuration
  - 15.1.1 Summary
  - 15.1.2 Servo system with auxiliary equipment
- 15.2 Signals and wiring
- 15.3 Operation and functions
  - 15.3.1 Startup procedure
  - 15.3.2 Magnetic pole detection
  - 15.3.3 Operation from controller
  - 15.3.4 Function
- 15.4 Characteristics
  - 15.4.1 Overload protection characteristics
  - 15.4.2 Power supply capacity and generated loss
  - 15.4.3 Dynamic brake characteristics
16. FULLY CLOSED LOOP SYSTEM
- 16.1 Functions and configuration
  - 16.1.1 Function block diagram
  - 16.1.2 Selecting procedure of control mode
  - 16.1.3 System configuration
- 16.2 Load-side encoder
  - 16.2.1 Linear encoder
  - 16.2.2 Rotary encoder
  - 16.2.3 Configuration diagram of encoder cable
  - 16.2.4 MR-J4FCCBL03M branch cable
- 16.3 Operation and functions
  - 16.3.1 Startup
  - 16.3.2 Home position return
  - 16.3.3 Operation from controller
  - 16.3.4 Fully closed loop control error detection functions
  - 16.3.5 Auto tuning function
  - 16.3.6 Machine analyzer function
  - 16.3.7 Test operation mode
  - 16.3.8 Absolute position detection system under fully closed loop system
  - 16.3.9 About MR Configurator2
17. APPLICATION OF FUNCTIONS
- 17.1 J3 compatibility mode
  - 17.1.1 Outline of J3 compatibility mode
  - 17.1.2 Operation modes supported by J3 compatibility mode
  - 17.1.3 J3 compatibility mode supported function list
  - 17.1.4 How to switch J4 mode/J3 compatibility mode
  - 17.1.5 How to use the J3 compatibility mode
  - 17.1.6 Cautions for switching J4 mode/J3 compatibility mode
  - 17.1.7 Cautions for the J3 compatibility mode
  - 17.1.8 Change of specifications of "J3 compatibility mode" switching process
  - 17.1.9 J3 extension function
- 17.2 Scale measurement function
  - 17.2.1 Functions and configuration
  - 17.2.2 Scale measurement encoder
  - 17.2.3 How to use scale measurement function
18. MR-J4W2-0303B6 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
  - 18.3.10 Grounding
- 18.4 Startup
  - 18.4.1 Startup procedure
  - 18.4.2 Troubleshooting when "24V ERROR" lamp turns on
  - 18.4.3 Wiring check
  - 18.4.4 Surrounding environment
- 18.5 Switch setting and display of the servo amplifier
- 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
APPENDIX
- App. 1 Auxiliary 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 How to replace servo amplifier without magnetic pole detection
- App. 8 Two-wire type encoder cable for HG-MR/HG-KR
- App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service
- App. 10 CNP_crimping connector
- App. 11 Recommended cable for servo amplifier power supply
- App. 12 Special specification
- App. 13 Driving on/off of main circuit power supply with DC power supply
- App. 14 Optional data monitor function
- App. 15 STO function with SIL 3 certification
- App. 16 Status of general-purpose AC servo products for compliance with the China RoHS directive
REVISIONS
Warranty

Mitsubishi Electric MRJ4W2B, MRJ4W3B, MRJ4W20303B6 Instruction Manual

Mitsubishi Electric MRJ4W2B, MRJ4W3B, MRJ4W20303B6 manual cover

Pages 588

Year 2017

Language(s)

of 588

Mitsubishi Electric MRJ4W2B, MRJ4W3B, MRJ4W20303B6 Specification

The Mitsubishi Electric MRJ4W2B, MRJ4W3B, and MRJ4W20303B6 are advanced servo amplifiers designed to enhance precision control in industrial automation applications. These models are part of the MR-J4 series, known for high performance and reliability. The MRJ4W2B and MRJ4W3B models support two and three axes, respectively, allowing for flexible integration in multi-axis systems. They are equipped with real-time auto-tuning and vibration suppression functions, which ensure optimal performance and stability. The amplifiers feature a built-in EtherCAT communication interface, enabling seamless connectivity and integration into complex networked environments. The MRJ4W20303B6 variant offers similar capabilities with differentiated configurations suitable for specific system requirements. All models incorporate advanced safety functions, including Safe Torque Off (STO) and Safe Stop 1 (SS1), which comply with international safety standards. They offer high-speed, high-precision control with a fast frequency response, making them ideal for demanding applications. The amplifiers are compact in design, reducing the space required for installation and contributing to more efficient use of control panels. They provide intuitive setup and operation through the MR Configurator2 software, which simplifies parameter setting and system maintenance. Overall, these Mitsubishi Electric servo amplifiers deliver enhanced performance, flexibility, and safety for modern industrial applications.

Mitsubishi Electric MRJ4W2B, MRJ4W3B, MRJ4W20303B6 F.A.Q.

How do I perform a factory reset on the Mitsubishi Electric MRJ4W2B series?

To perform a factory reset, turn off the power supply, and then press and hold the 'Reset' button while turning the power back on. Hold the button until the LED indicators flash, indicating the reset is complete.

What should I do if the MRJ4W3B servo amplifier displays an error code?

Refer to the error code list in the user manual to identify the specific issue. Most errors can be resolved by resetting the device, checking connections, or replacing faulty components.

How can I optimize the performance of the MRJ4W20303B6 servo system?

Ensure that the servo system is properly tuned by adjusting the gain settings according to your application's requirements. Regularly update the firmware to the latest version and keep the system components clean and well-maintained.

What maintenance is required for Mitsubishi Electric MRJ4 series servo amplifiers?

Regular maintenance includes checking for loose wires, cleaning dust from the unit, and inspecting for any signs of wear or damage. It's also recommended to periodically calibrate the system and update the firmware.

How do I troubleshoot communication issues with the MRJ4W2B?

Check the communication cables and connectors for damage or loose connections. Verify that the settings in the controller match those in the servo amplifier. If issues persist, perform a system reset.

Can I use the MRJ4 series in high-vibration environments?

The MRJ4 series is designed to handle moderate vibration levels. However, for high-vibration environments, ensure the unit is properly mounted and consider using additional vibration damping measures.

What are the recommended environmental conditions for operating the MRJ4W3B?

The MRJ4W3B should be operated in a clean, dry environment with temperatures between 0°C and 55°C and humidity levels below 90% (non-condensing). Avoid exposure to direct sunlight and corrosive chemicals.

How do I connect the MRJ4W20303B6 to a PLC?

Connect the servo amplifier to the PLC using compatible communication interfaces such as Ethernet or RS-485. Ensure the communication parameters are correctly set on both the PLC and the amplifier.

What steps should be taken if the MRJ4W2B does not power on?

Check the power supply and ensure it is within the specified voltage range. Inspect the power cables and connections for damage. If the issue persists, consult the user manual for further troubleshooting.

How do I update the firmware on the MRJ4W3B servo amplifier?

Download the latest firmware from the Mitsubishi Electric website and transfer it to the servo amplifier using a compatible connection. Follow the instructions provided with the firmware update package to complete the process.