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 MR-J4W2-0303B6 Instruction Manual

Mitsubishi MR-J4W2-0303B6 Servo Amplifier manual cover

Pages 588

Year 2017

Language(s)

of 588

Mitsubishi MR-J4W2-0303B6 Servo Amplifier Specification

The Mitsubishi MR-J4W2-0303B6 Servo Amplifier is a high-performance, dual-axis servo drive designed to optimize precision and efficiency in industrial automation applications. This servo amplifier is part of the MR-J4 series, renowned for its cutting-edge technology and robust functionality. It supports an output power of 300W per axis, making it suitable for a wide range of motion control tasks.

Engineered with an advanced real-time auto-tuning feature, the MR-J4W2-0303B6 ensures optimal performance by automatically adjusting control parameters to match load conditions. The servo amplifier also integrates a built-in Ethernet-based CC-Link IE Field network communication interface, facilitating seamless integration with various automation systems and ensuring high-speed data transmission. It supports a wide input voltage range of 200-240V AC, providing flexibility in diverse operating environments.

Safety and reliability are paramount, with the amplifier featuring Safe Torque Off (STO) functionality, which is TÜV certified to SIL 2 and PL d safety standards. This capability enhances operational safety by preventing unintended motor startups. The device also boasts a high-resolution absolute position encoder, ensuring accurate positioning and improved repeatability.

The MR-J4W2-0303B6 is designed with a compact form factor, allowing for efficient use of panel space and easy installation. It also supports energy regeneration, which contributes to reduced energy consumption and operational costs. Additionally, its compatibility with Mitsubishi's MR Configurator2 software provides a user-friendly interface for configuration, monitoring, and diagnostics, streamlining setup and maintenance processes. Overall, the Mitsubishi MR-J4W2-0303B6 Servo Amplifier offers a comprehensive solution for precision motion control, combining advanced features, safety, and ease of integration in a versatile package.

Mitsubishi MR-J4W2-0303B6 Servo Amplifier F.A.Q.

What are the basic steps to set up the Mitsubishi MR-J4W2-0303B6 Servo Amplifier?

To set up the Mitsubishi MR-J4W2-0303B6, ensure it is properly mounted, connect power and motor cables, configure the parameters using the MR Configurator2 software, and perform a test run to confirm functionality.

How do I perform a factory reset on the MR-J4W2-0303B6 Servo Amplifier?

To perform a factory reset, access the amplifier's parameters through the MR Configurator2 software and select the 'Restore Factory Settings' option. Follow the on-screen prompts to complete the reset.

What should I do if the MR-J4W2-0303B6 Servo Amplifier shows an overvoltage error?

Check the power supply voltage and ensure it is within the specified range. Inspect the wiring for any short circuits or grounding issues. If the issue persists, consider using a regenerative resistor.

Can I use the MR-J4W2-0303B6 Servo Amplifier with a third-party motor?

Yes, the MR-J4W2-0303B6 can be used with a third-party motor, but it is crucial to ensure compatibility by matching the motor's specifications with the amplifier's requirements and configuring the parameters accordingly.

How do I troubleshoot communication issues between the MR-J4W2-0303B6 and a PLC?

Verify the communication cable and connections, ensure both devices are configured to use the same communication protocol, and check the baud rate and network settings. Use diagnostic tools in the MR Configurator2 software for further analysis.

What maintenance is required for the MR-J4W2-0303B6 Servo Amplifier?

Regularly inspect the amplifier for dust and debris, ensure proper ventilation, check for loose connections, and periodically update the firmware. Perform a visual inspection for any signs of wear or damage.

How can I optimize the performance of the MR-J4W2-0303B6 Servo Amplifier?

Tune the servo parameters using auto-tuning functions in the MR Configurator2 software, ensure proper load balancing, and adjust the gain settings for optimal responsiveness and stability.

What are the safety precautions to take when handling the MR-J4W2-0303B6?

Always power off the device before maintenance, use insulated tools, avoid touching electrical components directly, and follow all manufacturer guidelines and safety standards during installation and operation.

What are common causes of overheating in the MR-J4W2-0303B6 Servo Amplifier?

Common causes include inadequate ventilation, excessive load or current, and environmental factors such as high ambient temperature. Ensure proper installation and consider using external cooling methods if necessary.

How do I update the firmware of the MR-J4W2-0303B6 Servo Amplifier?

Connect the amplifier to a PC using the appropriate communication cable, launch the MR Configurator2 software, and follow the firmware update instructions provided by Mitsubishi Electric. Ensure a stable power supply during the update process.