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 MR-J4-03A6-RJ Instruction Manual

Mitsubishi MR-J4-03A6-RJ Servo Amplifier manual cover

Pages 610

Year 2016

Language(s)

of 610

Mitsubishi MR-J4-03A6-RJ Servo Amplifier Specification

The Mitsubishi MR-J4-03A6-RJ Servo Amplifier is a high-performance device designed to enhance precision and efficiency in automation applications. This amplifier is part of Mitsubishi's advanced MR-J4 series, which is renowned for its innovative features and robust performance. The MR-J4-03A6-RJ supports a power output of 0.3 kW, making it suitable for a variety of small to medium-sized industrial applications. It operates on a single-phase or three-phase AC power supply, ensuring flexibility in diverse operational settings. The amplifier incorporates Mitsubishi's cutting-edge servo technology, delivering high-speed, high-accuracy motion control with minimal vibration. It is equipped with a real-time auto-tuning function that adjusts parameters dynamically to optimize performance across different loads and conditions. The MR-J4-03A6-RJ features a built-in safety function including Safe Torque Off (STO), which enhances operational safety by preventing accidental motor activation. The amplifier is compatible with a range of network interfaces, including CC-Link IE Field, Ethernet/IP, and Profinet, facilitating seamless integration into existing systems. Additionally, the unit is designed with energy-saving functions, reducing power consumption without compromising performance. Its compact structure allows for easy installation in tight spaces, while the robust build ensures durability in demanding environments. The amplifier can be configured and monitored via Mitsubishi's intuitive software tools, providing users with comprehensive control over their systems. With its combination of precision, safety, and adaptability, the Mitsubishi MR-J4-03A6-RJ Servo Amplifier stands as a versatile solution for modern automation needs.

Mitsubishi MR-J4-03A6-RJ Servo Amplifier F.A.Q.

What are the key steps to install the Mitsubishi MR-J4-03A6-RJ Servo Amplifier?

To install the Mitsubishi MR-J4-03A6-RJ Servo Amplifier, ensure all power is off, mount the amplifier securely, connect the power supply, connect the motor, and verify all connections. Refer to the installation manual for detailed wiring information.

How can I troubleshoot an overcurrent alarm on my Mitsubishi MR-J4-03A6-RJ?

Check the motor wiring and connections for any short circuits. Ensure the motor load is within specifications and verify that the servo parameters are correctly set. If the problem persists, consult the troubleshooting section of the manual.

What maintenance procedures should be regularly performed on the MR-J4-03A6-RJ?

Regularly check for dust accumulation and clean the amplifier's surface. Inspect all electrical connections for looseness or corrosion. Monitor the cooling fan operation and replace if necessary. Periodic checks should also be made for unusual noises or vibrations.

How do I reset the error codes on the Mitsubishi MR-J4-03A6-RJ?

To reset error codes, first address the root cause of the error. Then, cycle the power or use the reset command through the control interface. If using a parameter unit, navigate to the reset function and follow the prompts.

Can the MR-J4-03A6-RJ Servo Amplifier be used with third-party motors?

While it is designed for Mitsubishi motors, the MR-J4-03A6-RJ can be configured with third-party motors by adjusting servo parameters. However, compatibility and performance are best with Mitsubishi motors. Consult the manual for parameter settings and compatibility verification.

What should I do if the MR-J4-03A6-RJ fails to start?

Verify that the power supply is connected and within voltage specifications. Check for any active alarms or error codes. Ensure that all required connections are secure, and the servo ON command is properly issued.

How can I optimize the performance of the MR-J4-03A6-RJ Servo Amplifier?

Adjust servo parameters such as gain settings to match the application's requirements. Utilize the autotuning function for optimal performance. Monitor and adjust based on application feedback and performance metrics.

What are the environmental requirements for operating the MR-J4-03A6-RJ?

The amplifier should be operated in a clean, dust-free environment with temperatures between 0°C and 55°C. Humidity should be kept below 90% without condensation. Ensure adequate ventilation and avoid exposure to corrosive gases or liquids.

How do I connect the MR-J4-03A6-RJ to a PLC?

Use compatible communication options like Ethernet/IP or CC-Link to connect the amplifier to a PLC. Follow the wiring diagrams provided in the user manual and configure the communication settings in both the amplifier and PLC for successful integration.

What should I do if the servo motor connected to the MR-J4-03A6-RJ is overheating?

Check if the motor load is within specified limits and ensure adequate ventilation around the motor. Verify the motor's duty cycle and reduce if necessary. Inspect for any mechanical obstructions and ensure correct parameter settings.