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
- 1.4 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 Removal and reinstallation of the front cover
- 1.8 Configuration including peripheral equipment
2. INSTALLATION
- 2.1 Installation direction and clearances
- 2.2 Keeping out of 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
  - 3.1.1 200 V class
  - 3.1.2 400 V class
  - 3.1.3 100 V class
- 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 explanation 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
- 7.6 Lost motion compensation function
- 7.7 Super trace control
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 MR-D05UDL3M-B STO cable
  - 11.1.3 SSCNET III cable
  - 11.1.4 Battery cable/junction battery 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 Mounting direction
  - 11.2.6 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 designation
  - 11.5.2 Selection
- 11.6 Junction terminal block PS7DW-20V14B-F (recommended)
- 11.7 MR Configurator2
  - 11.7.1 Engineering software
  - 11.7.2 Precautions for using USB 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 reactors
- 11.12 Power factor improving AC reactors
- 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)
- 11.19 Multifunction regeneration converter FR-XC-(H)
  - 11.19.1 Multifunction regeneration converters and dedicated stand-alone reactors
  - 11.19.2 Precautions
  - 11.19.3 Servo amplifier settings
  - 11.19.4 Capacity selection
  - 11.19.5 Connection diagrams
  - 11.19.6 Wiring and peripheral options
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 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 Master-slave operation function
- 17.3 Scale measurement function
  - 17.3.1 Functions and configuration
  - 17.3.2 Scale measurement encoder
  - 17.3.3 How to use scale measurement function
APPENDIX
- App. 1 Peripheral 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 Analog monitor
- App. 11 Special specification
- App. 12 Driving on/off of main circuit power supply with DC power supply
- App. 13 Optional data monitor function
- App. 14 STO function with SIL 3 certification
- App. 15 When using the servo amplifier with the DC power supply input
- App. 16 Status of general-purpose AC servo products for compliance with the China RoHS directive
- App. 17 Encoder output pulse setting method
- App. 18 How to adjust the error excessive alarm level
REVISION
Warranty

Mitsubishi MR-J4-B Instruction Manual

Mitsubishi MR-J4-B Servo Amplifier manual cover

Pages 724

Year 2021

Language(s)

of 724

Mitsubishi MR-J4-B Servo Amplifier Specification

The Mitsubishi MR-J4-B Servo Amplifier is a high-performance device designed to meet the demanding requirements of advanced motion control systems. It is part of the MR-J4 series, known for its precision, speed, and reliability. This servo amplifier supports a wide range of applications, from simple positioning tasks to complex multi-axis systems. The MR-J4-B features a compact and lightweight design, facilitating easy integration into various automation setups. It offers seamless compatibility with Mitsubishi's comprehensive range of servo motors, ensuring optimized performance and energy efficiency.

The amplifier is equipped with an advanced real-time auto-tuning function that dynamically adjusts control parameters to maintain optimal performance, even in changing conditions. It includes a built-in Ethernet interface for easy networking and communication, supporting protocols such as CC-Link IE Field and SSCNET III/H. Safety is a key component, with integrated safety functions like STO (Safe Torque Off) and SS1 (Safe Stop 1) to comply with international safety standards.

The MR-J4-B provides high-resolution encoder feedback, enhancing motion accuracy and allowing for precise control. A wide power range is supported, accommodating different application needs. It also features a user-friendly design with intuitive software tools for setup, monitoring, and diagnostics, making it easy to configure and maintain. The amplifier’s advanced vibration suppression functions reduce machine oscillations, extending the life of mechanical components and improving overall system stability. Its energy regeneration capability helps reduce power consumption, contributing to cost savings and environmental sustainability. The Mitsubishi MR-J4-B Servo Amplifier represents a robust solution for various industrial automation challenges.

Mitsubishi MR-J4-B Servo Amplifier F.A.Q.

How do I perform basic setup for the Mitsubishi MR-J4-B Servo Amplifier?

To perform a basic setup, connect the amplifier to your PLC or controller, configure the parameters using the MR Configurator2 software, and ensure all connections are secure. Follow the manual to set the control mode and tune the servo for optimal performance.

What should I do if the MR-J4-B Servo Amplifier displays an alarm?

Check the alarm code displayed on the amplifier. Refer to the troubleshooting section in the manual to identify the cause. Common solutions include checking wiring, resetting the system, and ensuring the motor is not overloaded.

How can I reduce noise in my MR-J4-B Servo Amplifier system?

Ensure proper grounding and shielding of cables. Use ferrite cores to suppress electromagnetic interference and check that the power supply is stable. Avoid running power and signal cables in parallel.

What maintenance is required for the MR-J4-B Servo Amplifier?

Regularly inspect the amplifier for dust and debris, verify that all connections are tight, and check for any unusual noises during operation. Schedule periodic software updates and parameter backups.

How do I configure the MR-J4-B Servo Amplifier for network communication?

Use the MR Configurator2 software to set the network parameters such as IP address and subnet mask. Ensure the amplifier is properly connected to the network and that the communication settings match those of your control system.

Can the MR-J4-B Servo Amplifier be used with a third-party motor?

Yes, but it requires careful parameter configuration to match the motor specifications. Ensure compatibility and consult both the motor and amplifier manuals for guidance on setup and tuning.

How do I update the firmware on my MR-J4-B Servo Amplifier?

Download the latest firmware from the Mitsubishi Electric website. Connect your amplifier to a PC using the appropriate communication cable and use the MR Configurator2 software to perform the update.

What are the common causes of overheating in the MR-J4-B Servo Amplifier?

Overheating can be caused by inadequate ventilation, excessive current draw, or ambient temperatures exceeding the specified limits. Ensure proper cooling and check load conditions.

How can I improve the response time of my MR-J4-B Servo Amplifier?

Tune the servo parameters using the MR Configurator2 software to optimize the response. Adjust gain settings and use advanced filters if necessary to achieve the desired performance.

What diagnostic tools are available for the MR-J4-B Servo Amplifier?

The MR Configurator2 software provides diagnostic tools such as waveform monitoring, alarm history, and parameter adjustment. Use these tools to troubleshoot and optimize amplifier performance.