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Mitsubishi MR-J4-70A User Manual

Mitsubishi MR-J4-70A
640 pages
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14. COMMUNICATION FUNCTION
14 - 28
14.5.6 Disabling/enabling I/O devices (DIO)
You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals
(devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and
LSN (Reverse rotation stroke end) cannot be disabled.
Signal Status
Input device (DI) Off
External analog input signal 0 V
Pulse train input None
(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs except
EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end).
Transmit the following communication commands.
(a) Disabling
Command Data No. Data
[9] [0] [0] [0] 1EA5
(b) Enabling
Command Data No. Data
[9] [0] [1] [0] 1EA5
(2) Disabling/enabling the output devices (DO)
Transmit the following communication commands.
(a) Disabling
Command Data No. Data
[9] [0] [0] [3] 1EA5
(b) Enabling
Command Data No. Data
[9] [0] [1] [3] 1EA5

Table of Contents

Questions and Answers:

Mitsubishi MR-J4-70A Specifications

General IconGeneral
BrandMitsubishi
ModelMR-J4-70A
CategoryAmplifier
LanguageEnglish

Summary

Safety Instructions

3. SIGNALS AND WIRING

3.1 Input power supply circuit

Details the power supply connections and precautions for safe operation, including magnetic contactors and circuit breakers.

3.11 Grounding

Provides instructions and diagrams for proper grounding of the servo amplifier and servo motor.

4. STARTUP

4.1 Switching power on for the first time

Details the initial startup procedure, including wiring checks and parameter settings.

4.2 Startup in position control mode

Provides specific startup procedures for the position control mode.

4.3 Startup in speed control mode

Provides specific startup procedures for the speed control mode.

4.4 Startup in torque control mode

Provides specific startup procedures for the torque control mode.

5. PARAMETERS

5.1 Parameter list

Lists all parameters, their symbols, initial values, units, and applicable modes.

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Details the basic setting parameters like operation mode, regenerative option, and absolute position system.

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Lists parameters related to gain adjustment, filters, and vibration suppression.

5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Lists parameters for configuring input and output signals, including function selections.

5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Details parameters specific to linear servo motors and DD motors, including magnetic pole detection.

6. NORMAL GAIN ADJUSTMENT

6.1 Different adjustment methods

Explains manual gain adjustment methods, including auto tuning modes and manual mode.

6.1.1 Adjustment on a single servo amplifier

Details the gain adjustment modes available on a single servo amplifier.

6.2 One-touch tuning

Describes how to perform one-touch tuning using MR Configurator2 or push buttons.

6.3 Auto tuning

Explains the real-time auto tuning function for estimating machine characteristics and setting optimum gains.

7. SPECIAL ADJUSTMENT FUNCTIONS

7.1 Filter setting

Details the available filters for MR-J4 servo amplifiers, including machine resonance and low-pass filters.

7.1.1 Machine resonance suppression filter

Explains the machine resonance suppression filter (notch filter) for suppressing mechanical resonance.

7.1.2 Adaptive filter II

Describes the adaptive filter II function for automatically suppressing mechanical system vibration.

7.1.5 Advanced vibration suppression control II

Explains advanced vibration suppression control for further suppressing load-side vibration.

7.3 Tough drive function

Explains the function that allows equipment to continue operating even under alarm conditions.

8. TROUBLESHOOTING

Table 8.1 Alarm list

Lists all possible alarms, their detail numbers, causes, and recommended actions for troubleshooting.

Table 8.2 Warning list

Lists all possible warnings, their detail numbers, and stop methods for troubleshooting.

10. CHARACTERISTICS

10.1 Overload protection characteristics

Details the electronic thermal protection curves for servo motors and amplifiers under overload conditions.

10.3 Dynamic brake characteristics

Explains dynamic brake operation, including coasting distance calculation and time constants.

11. OPTIONS AND AUXILIARY EQUIPMENT

11.3 FR-BU2-(H) Brake unit

Describes brake unit combinations, parameter settings, and connection examples for safety applications.

11.7 MR Configurator2

Details the specifications and system configuration requirements for the MR Configurator2 software.

11.10 Molded-case circuit breakers, fuses, magnetic contactors (recommended)

Recommends circuit breakers, fuses, and magnetic contactors for main and control circuit power supplies.

11.14 Noise reduction techniques

Provides methods for reducing noise from the servo amplifier and to peripheral devices.

12. ABSOLUTE POSITION DETECTION SYSTEM

12.1.4 Parameter setting

Explains how to set parameters for enabling the absolute position detection system.

12.2 Battery

Details the battery types (MR-BAT6V1SET, MR-BAT6V1BJ) used for absolute position detection.

12.5 Startup procedure

Outlines the steps for starting up the absolute position detection system, including battery installation and parameter setting.

13. USING STO FUNCTION

13.1.2 Terms related to safety

Defines terms related to the STO function, such as uncontrolled stop and preventing unexpected start-up.

13.1.3 Cautions

Provides essential safety notes for personnel involved in installation, start-up, and repair.

13.1.4 Residual risks of the STO function

Outlines residual risks associated with the STO function and manufacturer responsibilities.

15. USING A LINEAR SERVO MOTOR

15.3.1 Startup

Provides the startup procedure for linear servo motors, including setting parameters and checks.

15.3.2 Magnetic pole detection

Details the magnetic pole detection procedures for linear servo motors using different methods.

15.3.6 Absolute position detection system

Explains the requirements and operation of the absolute position detection system for linear servo motors.

15.4.1 Overload protection characteristics

Provides electronic thermal protection curves for linear servo motors under overload conditions.

16. USING A DIRECT DRIVE MOTOR

16.3.1 Startup procedure

Provides the startup procedure for direct drive servo systems, including magnetic pole detection.

16.3.2 Magnetic pole detection

Details the magnetic pole detection procedures for direct drive motors using MR Configurator2.

16.4 Absolute position detection system

Describes the requirements and operation of the absolute position detection system for direct drive motors.

16.5.1 Overload protection characteristics

Provides electronic thermal protection curves for direct drive motors under overload conditions.

17. FULLY CLOSED LOOP SYSTEM

17.1.2 Selecting procedure of control mode

Explains how to select between semi closed loop, fully closed loop, and dual feedback control modes.

17.2 Load-side encoder

Details considerations for load-side encoders, including cable usage and compatibility.

17.3.1 Startup

Provides the startup procedure for the fully closed loop system.

17.3.3 Fully closed loop control error detection functions

Explains error detection functions for fully closed loop control, including speed and position deviation.

17.3.7 Absolute position detection system under fully closed loop system

Describes requirements and restrictions for absolute position detection with linear encoders in fully closed loop systems.

APPENDIX

App. 4.1 Terms related to safety (IEC/EN 61800-5-2 Stop function)

Explains safety terms and the STO function's compliance with IEC/EN standards.

App. 4.2 About safety

Provides general safety notes for users and operators before mounting or operating equipment.

App. 5.2 Terms related to safety

Explains safety terms related to STO, SS1, and emergency operations for safety logic units.

App. 5.2.1 Stop function for IEC/EN 61800-5-2

Describes the STO function, its purpose, and compliance with safety standards.

App. 5.3 Cautions

Provides essential safety notes for personnel involved in installation and operation of safety logic units.

App. 5.4 Residual risk

Outlines residual risks associated with STO/EMG functions and manufacturer responsibilities.

App. 5.11 Troubleshooting

Provides troubleshooting steps for power supply issues and FAULT LED indications on the MR-J3-D05.

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