Mitsubishi Electric MELSERVO-J4 series User manual

SH (NA) 030143-A (1404) MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-J4-_A_-RJ SERVO AMPLIFIER INSTRUCTION MANUAL (POSITIONING MODE)
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_A-RJ
MR-J4-_A4-RJ
MR-J4-_A1-RJ
General-Purpose Interface AC Servo
1CW819
SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)
MR-J4-A-RJ
INSTRUCTIONMANUAL(ITIGIME)

A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
When using an earth-leakage current breaker (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1,
L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the
side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a
large current may cause a fire when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a
fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

A - 3
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the
parts (cables, etc.) by hand.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation 0 ˚C to 55 ˚C (non-freezing)
Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient
humidity
Operation 90 %RH or less (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.

A - 4
CAUTION
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF-(H)) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output
signal
Servo amplifier
RA
For sink output interface
24 V DC
DOCOM
Control output
signal
24 V DC
Servo amplifie
r
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.

A - 5
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
Do not disassemble, repair, or modify the equipment.
CAUTION
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the EMG stop switch.
Contacts must be opened when ALM (Malfunction)
or MBR (Electromagnetic brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 6
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary
accident due to a malfunction, it is recommended that the electrolytic capacitor be replaced every 10
years when it is used in general environment. Please contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes
Write to the EEP-ROM due to program changes
STO function of the servo amplifier
When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".
For the MR-J3-D05 safety logic unit, refer to appendix 5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".

A - 7
Compliance with global standards
For the compliance with global standards, refer to appendix 4 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.
MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual SH(NA)030107
MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111
EMC Installation Guidelines IB(NA)67310
Note 1.It is necessary for using a rotary servo motor.
2. It is necessary for using a linear servo motor.
3. It is necessary for using a direct drive motor.
4. It is necessary for using a fully closed loop system.
This Instruction Manual does not describe the following items. The followings are the same as MR-J4-
_A_-RJ Servo amplifiers. For details of the items, refer to each chapter/section of the detailed explanation
field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Item Detailed explanation
NORMAL GAIN ADJUSTMENT MR-J4-_A_ chapter 6
SPECIAL ADJUSTMENT FUNCTIONS MR-J4-_A_ chapter 7
ABSOLUTE POSITION DETECTION SYSTEM (only 12.1
Summary and 12.2 Battery)
MR-J4-_A_ chapter 12
USING STO FUNCTION MR-J4-_A_ chapter 13
USING A LINEAR SERVO MOTOR MR-J4-_A_ chapter 15
USING A DIRECT DRIVE MOTOR MR-J4-_A_ chapter 16
FULLY CLOSED LOOP SYSTEM MR-J4-_A_ chapter 17
«Cables used for wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C.

A - 8
MEMO

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 8
1.1 For proper use of the positioning mode............................................................................................ 1- 1
1.2 Positioning mode specification list.................................................................................................... 1- 2
1.3 Function list....................................................................................................................................... 1- 4
1.4 Configuration including peripheral equipment .................................................................................. 1- 7
2. SIGNALS AND WIRING 2- 1 to 2-38
2.1 I/O signal connection example.......................................................................................................... 2- 3
2.1.1 Point table method ..................................................................................................................... 2- 3
2.1.2 Program method ........................................................................................................................ 2- 5
2.1.3 Indexer method .......................................................................................................................... 2- 7
2.2 Connectors and pin assignment ....................................................................................................... 2- 9
2.3 Signal (device) explanations............................................................................................................ 2-13
2.4 Analog override................................................................................................................................ 2-27
2.5 Interfaces ......................................................................................................................................... 2-29
2.5.1 Internal connection diagram...................................................................................................... 2-29
2.5.2 Detailed explanation of interfaces............................................................................................. 2-32
2.5.3 Source I/O interfaces ................................................................................................................ 2-36
2.6 Power-on sequence......................................................................................................................... 2-37
3. DISPLAY AND OPERATION SECTIONS 3- 1 to 3-26
3.1 Display sequence ............................................................................................................................. 3- 2
3.2 Status display.................................................................................................................................... 3- 4
3.3 Diagnostic mode .............................................................................................................................. 3-11
3.4 Alarm mode...................................................................................................................................... 3-14
3.5 Point table setting ............................................................................................................................ 3-16
3.6 Parameter mode .............................................................................................................................. 3-20
3.7 External I/O signal display ............................................................................................................... 3-22
3.8 Output signal (DO) forced output..................................................................................................... 3-23
3.9 Single-Step feed .............................................................................................................................. 3-24
3.10 Teaching function .......................................................................................................................... 3-26
4. HOW TO USE THE POINT TABLE 4- 1 to 4-72
4.1 Startup .............................................................................................................................................. 4- 2
4.1.1 Power on and off procedures..................................................................................................... 4- 2
4.1.2 Stop ............................................................................................................................................ 4- 2
4.1.3 Test operation ............................................................................................................................ 4- 3
4.1.4 Parameter setting....................................................................................................................... 4- 4
4.1.5 Point table setting....................................................................................................................... 4- 5
4.1.6 Actual operation ......................................................................................................................... 4- 5
4.1.7 Troubleshooting at start-up ........................................................................................................ 4- 5
4.2 Automatic operation mode................................................................................................................ 4- 7
4.2.1 Automatic operation mode ......................................................................................................... 4- 7
4.2.2 Automatic operation using point table....................................................................................... 4-11

2
4.3 Manual operation mode ................................................................................................................... 4-41
4.3.1 JOG operation........................................................................................................................... 4-41
4.3.2 Manual pulse generator operation ............................................................................................ 4-43
4.4 Home position return mode ............................................................................................................. 4-45
4.4.1 Outline of home position return................................................................................................. 4-45
4.4.2 Dog type home position return.................................................................................................. 4-48
4.4.3 Count type home position return............................................................................................... 4-50
4.4.4 Data set type home position return ........................................................................................... 4-52
4.4.5 Stopper type home position return............................................................................................ 4-53
4.4.6 Home position ignorance (servo-on position as home position)............................................... 4-55
4.4.7 Dog type rear end reference home position return ................................................................... 4-56
4.4.8 Count type front end reference home position return ............................................................... 4-58
4.4.9 Dog cradle type home position return ....................................................................................... 4-59
4.4.10 Dog type last Z-phase reference home position return ......................................................... 4-61
4.4.11 Dog type front end reference home position return type ....................................................... 4-63
4.4.12 Dogless Z-phase reference home position return type.......................................................... 4-65
4.4.13 Automatic retract function used for the home position return ................................................ 4-66
4.4.14 Automatic positioning to home position function.................................................................... 4-67
4.5 Roll feed mode using the roll feed display function ......................................................................... 4-68
4.6 Point table setting method ............................................................................................................... 4-70
4.6.1 Setting procedure...................................................................................................................... 4-70
4.6.2 Detailed setting window ............................................................................................................ 4-72
5. HOW TO USE THE PROGRAM 5- 1 to 5-68
5.1 Startup .............................................................................................................................................. 5- 1
5.1.1 Power on and off procedures..................................................................................................... 5- 1
5.1.2 Stop ............................................................................................................................................ 5- 2
5.1.3 Test operation ............................................................................................................................ 5- 3
5.1.4 Parameter setting....................................................................................................................... 5- 4
5.1.5 Actual operation ......................................................................................................................... 5- 5
5.1.6 Troubleshooting at start-up ........................................................................................................ 5- 5
5.2 Program operation method ............................................................................................................... 5- 6
5.2.1 Program operation method ........................................................................................................ 5- 6
5.2.2 Program language...................................................................................................................... 5- 7
5.2.3 Basic settings of signals and parameters ................................................................................. 5-30
5.2.4 Timing chart of the program operation...................................................................................... 5-32
5.3 Manual operation mode ................................................................................................................... 5-34
5.3.1 JOG operation........................................................................................................................... 5-34
5.3.2 Manual pulse generator operation ............................................................................................ 5-35
5.4 Home position return mode ............................................................................................................. 5-37
5.4.1 Summary of home position return............................................................................................. 5-37
5.4.2 Dog type home position return.................................................................................................. 5-40
5.4.3 Count type home position return............................................................................................... 5-42
5.4.4 Data set type home position return ........................................................................................... 5-44
5.4.5 Stopper type home position return............................................................................................ 5-45
5.4.6 Home position ignorance (servo-on position as home position)............................................... 5-46
5.4.7 Dog type rear end reference home position return ................................................................... 5-47
5.4.8 Count type front end reference home position return ............................................................... 5-49
5.4.9 Dog cradle type home position return ....................................................................................... 5-51
5.4.10 Dog type last Z-phase reference home position return ......................................................... 5-53

3
5.4.11 Dog type front end reference home position return type ....................................................... 5-55
5.4.12 Dogless Z-phase reference home position return type.......................................................... 5-57
5.4.13 Automatic retract function used for the home position return ................................................ 5-58
5.5 Serial communication operation ...................................................................................................... 5-59
5.5.1 Positioning operation using the program .................................................................................. 5-59
5.5.2 Multi-drop method ..................................................................................................................... 5-60
5.5.3 Group specification ................................................................................................................... 5-61
5.6 Incremental value command method .............................................................................................. 5-63
5.7 Roll feed mode using the roll feed display function ......................................................................... 5-64
5.8 Program setting method .................................................................................................................. 5-65
5.8.1 Setting procedure...................................................................................................................... 5-65
5.8.2 Window for program edit........................................................................................................... 5-66
5.8.3 Indirect addressing window....................................................................................................... 5-67
6. HOW TO USE INDEXER 6- 1 to 6-30
6.1 Startup .............................................................................................................................................. 6- 1
6.1.1 Power on and off procedures..................................................................................................... 6- 1
6.1.2 Stop ............................................................................................................................................ 6- 2
6.1.3 Test operation ............................................................................................................................ 6- 3
6.1.4 Parameter setting....................................................................................................................... 6- 4
6.1.5 Actual operation ......................................................................................................................... 6- 5
6.1.6 Troubleshooting at start-up ........................................................................................................ 6- 5
6.2 Automatic operation mode................................................................................................................ 6- 7
6.2.1 Automatic operation mode ......................................................................................................... 6- 7
6.2.2 Automatic operation mode 1 (rotation direction specifying indexer).......................................... 6- 8
6.2.3 Automatic operation mode 2 (shortest rotating indexer)........................................................... 6-12
6.3 Manual operation mode ................................................................................................................... 6-15
6.3.1 Station JOG operation............................................................................................................... 6-15
6.3.2 JOG operation........................................................................................................................... 6-18
6.4 Home position return mode ............................................................................................................. 6-20
6.4.1 Outline of home position return................................................................................................. 6-20
6.4.2 Torque limit changing dog type home position return............................................................... 6-22
6.4.3 Torque limit changing data set type .......................................................................................... 6-24
6.4.4 Backlash compensation and digital override ............................................................................ 6-26
6.4.5 Safety precautions .................................................................................................................... 6-29
7. PARAMETERS 7- 1 to 7-82
7.1 Parameter list.................................................................................................................................... 7- 1
7.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 7- 2
7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])............................................................................... 7- 3
7.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 7- 5
7.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 7- 7
7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 7- 9
7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 7-11
7.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 7-12
7.1.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 7-13
7.1.9 Positioning control parameters ([Pr. PT_ _ ])............................................................................ 7-14
7.2 Detailed list of parameters ............................................................................................................... 7-15
7.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 7-16

4
7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]).............................................................................. 7-29
7.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 7-41
7.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 7-52
7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 7-62
7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 7-64
7.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 7-65
7.2.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 7-68
7.2.9 Positioning control parameters ([Pr. PT_ _ ])............................................................................ 7-68
7.3 How to set the electronic gear ......................................................................................................... 7-77
7.3.1 Electronic gear settings in the point table method and program method ................................. 7-77
7.3.2 Electronic gear setting in the indexer method........................................................................... 7-78
7.4 Software limit ................................................................................................................................... 7-79
7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off . 7-80
7.6 Stop method at software limit detection........................................................................................... 7-81
8. TROUBLESHOOTING 8- 1 to 8- 8
8.1 Explanation for the lists..................................................................................................................... 8- 1
8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ....................................................................................................................................... 8- 7
9. OPTIONS AND PERIPHERAL EQUIPMENT 9- 1 to 9- 4
9.1 MR-HDP01 manual pulse generator ................................................................................................ 9- 2
10. COMMUNICATION FUNCTION 10- 1 to 10-38
10.1 Command and data No. list .......................................................................................................... 10- 1
10.1.1 Reading command................................................................................................................. 10- 2
10.1.2 Writing commands ................................................................................................................ 10-10
10.2 Detailed explanations of commands............................................................................................ 10-14
10.2.1 External I/O signal status (DIO diagnosis)............................................................................ 10-14
10.2.2 Input device on/off................................................................................................................. 10-19
10.2.3 Input device on/off (for test operation) .................................................................................. 10-20
10.2.4 Test operation mode ............................................................................................................. 10-21
10.2.5 Output signal pin on/off (output signal (DO) forced output) .................................................. 10-23
10.2.6 Point table ............................................................................................................................. 10-24
10.2.7 Mark detection function (current position latch) .................................................................... 10-32
10.3 Settings equivalent to previous models ....................................................................................... 10-33
10.3.1 Relevant matters to monitor information............................................................................... 10-34
10.3.2 Relevant matters to input/output ........................................................................................... 10-35
11. PARAMETER UNIT 11- 1 to 11-22
11.1 External appearance and key explanations ................................................................................. 11- 2
11.2 Specifications................................................................................................................................ 11- 3
11.3 Dimensions ................................................................................................................................... 11- 3
11.4 Connection with servo amplifier.................................................................................................... 11- 4
11.4.1 Single axis.............................................................................................................................. 11- 4
11.4.2 Multi-drop connection............................................................................................................. 11- 5
11.5 Display .......................................................................................................................................... 11- 7

5
11.5.1 Outline of screen transition .................................................................................................... 11- 7
11.5.2 Parameter unit setting............................................................................................................ 11- 8
11.5.3 Monitor mode (status display)................................................................................................ 11- 8
11.5.4 Alarm/diagnosis mode........................................................................................................... 11-11
11.5.5 Parameter mode ................................................................................................................... 11-13
11.5.6 Point table mode ................................................................................................................... 11-14
11.5.7 Test operation mode ............................................................................................................. 11-15
11.6 Error/message list........................................................................................................................ 11-20

6
MEMO

1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details of them, refer to the section
of the detailed description field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Item Detailed explanation
Combinations of servo amplifiers and servo motors MR-J4-_A_ section 1.4
Model code definition MR-J4-_A_ section 1.6
Structure MR-J4-_A_ section 1.7
1.1 For proper use of the positioning mode
(1) Servo amplifier/MR Configurator2
The positioning mode is used by the servo amplifier and MR Configurator2 with the following software
versions.
Product name Model Software version
Servo amplifier MR-J4-_A_-RJ B3 or later
MR Configurator2 SW1DNC-MRC2-J 1.25b or later
(2) Parameter setting
(a) Selection of the positioning mode
Select a positioning mode with [Pr. PA01 Operation mode] to use.
Control mode selection
6: Positioning mode (point table method
)
7: Positioning mode (program method)
8: Positioning mode (indexer method)
[Pr. PA01]
(b) Positioning control parameters ([Pr. PT_ _ ])
To enable read/write the positioning control parameters ([Pr. PT_ _ ]), set [Pr. PA19 Parameter
writing inhibit] to "0 0 A B".
(c) Assigning recommended input/output devices
Assign recommended input/output devices to the pins of CN1 in accordance with each chapter of
point table/program/indexer method.

1. FUNCTIONS AND CONFIGURATION
1 - 2
1.2 Positioning mode specification list
The specifications only of the positioning mode are listed here. For other specifications, refer to section 1.3
of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Item Description
Servo amplifier model MR-J4-_A_-RJ
Positioning mode
Command method
Point table No. input
Operational specifications Positioning with specification of point table No. (255 points)
Position
command
input
(Note 1)
Absolute
value
command
method
Set in the point table.
Setting range of feed length per point: -999999 to 999999 [×10STM μm], -99.9999 to 99.9999 [×10 STM inch],
-999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]
Incremental
value
command
method
Set in the point table.
Setting range of feed length per point: 0 to 999999 [×10STM μm],
0 to 99.9999 [×10 STM inch], 0 to 999999 [pulse],
Setting range of rotation angle: 0 to 999.999 [degree]
Speed command input Set the acceleration/deceleration time constants in the point table.
Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Analog override 0 V to ±10 V DC/0% to 200%
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Position command data input
RS-422
communica-
tion
Position command input (Note 1)
Absolute value command method
Setting of position command data with RS-422 communication
Setting range of feed length: -999999 to 999999 [×10 STM μm],
-99.9999 to 99.9999 [×10 STM inch], -999999 to 999999 [pulse],
Setting range of rotation angle: -360.000 to 360.000 [degree]
Incremental value command method
Setting of position command data with RS-422 communication
Setting range of feed length: 0 to 999999 [×10 STM μm],
0 to 99.9999 [×10 STM inch], 0 to 999999 [pulse],
Setting range of rotation angle: 0 to 999.999 [degree]
Speed
command
input
Select
Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Analog override 0 V to ±10 V DC/0% to 200%
Torque limit Set with parameter setting or external analog input (0 V DC to +10 V/maximum torque)
Program
Operational specifications Program language (program with MR Configurator2)
Program capacity: 640 steps
Position
command
input
(Note 1)
Absolute
value
command
method
Set with program language.
Setting range of feed length: -999999 to 999999 [×10 STM μm],
-99.9999 to 99.9999 [×10 STM inch], -999999 to 999999 [pulse],
Setting range of rotation angle: -360.000 to 360.000 [degree]
Incremental
value
command
method
Set with program language.
Setting range of feed length: -999999 to 999999 [×10 STM μm],
-99.9999 to 99.9999 [×10 STM inch], -999999 to 999999 [pulse],
Setting range of rotation angle: -999.999 to 999.999 [degree]
Speed command input
Set servo motor speed, acceleration/deceleration time constants, and S-pattern acceleration/deceleration
time constants with program language.
S-pattern acceleration/deceleration time constants are also settable with [Pr. PC03].
System Signed absolute value command method/Signed incremental value command method
Analog override 0 V to ±10 V DC/0% to 200%
Torque limit Set with parameter setting or external analog input (0 V DC to +10 V/maximum torque)
Indexer
Operational specifications Positioning by specifying the station position
The maximum number of divisions: 255
Speed command input Selects the rotation speed and acceleration/deceleration time constant by a contact input.
System rotation direction specifying indexer/shortest rotating indexer
Digital override Selects the override multiplying factor by a contact input.
Torque limit Set with parameter setting or external analog input (0 V DC to +10 V/maximum torque)

1. FUNCTIONS AND CONFIGURATION
1 - 3
Item Description
Positioning mode
Operation mode
Automatic operation mode
Point
table
Each
positioning
operation
Point table No. input method/position data input method
Operates each positioning based on position command and speed command.
Automatic
continuous
positioning
operation
Varying-speed operation (2 to 255 speeds)/automatic continuous positioning operation (2 to 255 points)
Program Depends on settings of program language.
Indexer
Rotation
direction
specifying
indexer
Positions to the specified station. Rotation direction settable
Shortest
rotating indexer Positions to the specified station. Rotates in the shorter direction from the current position.
Manual operation mode
Point
table/
program
JOG operation Inching operation is executed with contact input or RS-422 communication function based on the speed
command set with a parameter.
Manual pulse
generator
operation
Manual feeding is executed with a manual pulse generator.
Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.
Indexer JOG operation Decelerates to a stop regardless of the station.
Home position return mode
Point table/program
Dog type
Returns to home position upon Z-phase pulse after passing through the proximity dog.
home position address settable/home position shift amount settable\home position return direction selectable/
automatic retract on dog back to home position/automatic stroke retract function
Count type
Returns to home position upon the encoder pulse count after touching the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Data set type Returns to home position without dog.
Sets any position as a home position using manual operation, etc./home position address settable
Stopper type Returns to home position upon hitting the stroke end.
Home position return direction selectable/home position address settable
Home position ignorance
(servo-on position as
home position)
Sets a home position where SON (Servo-on) signal turns on.
Home position address settable
Dog type rear end
reference
Returns to home position based on the rear end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Count type front end
reference
Returns to home position based on the front end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Dog cradle type
Returns to home position upon the first Z-phase pulse based on the front end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Dog type last Z-phase
reference (Note 4)
Returns to home position upon the Z-phase pulse right before the proximity dog based on the front end of the
proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Dog type front end
reference
Returns to home position to the front end of the dog based on the front end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Dogless Z-phase
reference (Note 4)
Returns to home position to the Z-phase pulse with respect to the first Z-phase pulse.
Home position return direction selectable/home position shift amount settable/home position address settable
Indexer
Torque limit changing dog
type
Returns to home position upon Z-phase pulse after passing through the front end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address settable
Torque limit automatic changing function
Torque limit changing data
set type
Returns to home position without dog.
Sets any position as home position/home position address settable/torque limit automatic changing function
Automatic positioning to home
position function (Note 2) High-speed automatic positioning to a defined home position
Other functions Absolute position detection/backlash compensation/overtravel prevention with external limit switch
(LSP/LSN)/software stroke limit/mark detection function (Note 3)
Note 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection].
2. Indexer method does not have the automatic positioning to home position function.
3. Indexer method does not have the mark detection function.
4. Dog type last Z-phase reference home position return and dogless Z-phase reference home position return type are not
compatible with direct drive motors and incremental linear encoders.

1. FUNCTIONS AND CONFIGURATION
1 - 4
1.3 Function list
POINT
The symbols in the control mode column mean as follows.
CP: Positioning mode (point table method)
CL: Positioning mode (program method)
PS: Positioning mode (indexer method)
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".
Function Description
Control mode Detailed
explanation
CP CL PS
Positioning mode (point
table method)
Set 255 point tables in advance and select any point table to perform
operation in accordance with the set values. To select point tables, use
external input signals or communication function.
Chapter 4
Positioning mode
(program method)
Set 256 programs in advance and select any program to perform operation
in accordance with the programs. To select programs, use external input
signals or communication function.
Chapter 5
Positioning mode (indexer
method)
Set 2 to 255 divided stations in advance to perform operation to the station
positions. To select station positions, use external input signals or
communication function.
Chapter 6
Roll feed display function Positions based on specified travel distance from a status display "0" of
current/command positions at start. Section 4.5
Mark detection function
(current position latch
function)
Turning on the mark detection signal triggers latching current position. The
latched data can be read with communication commands. Section
10.2.7
home position return
Dog type/count type/data setting type/stopper type/home position
ignorance/dog type rear end reference/count type front end reference/dog
cradle type/dog type last Z-phase reference/dog type Z-phase
reference/dogless Z-phase reference
Section 4.4
Section 5.4
Torque limit changing dog type/torque limit changing data set type Section 6.4
High-resolution encoder High-resolution encoder of 4194304 pulses/rev is used for the encoder of
the rotary servo motor compatible with the MELSERVO-J4 series.
Absolute position
detection system
Setting a home position once makes home position return unnecessary at
every power-on. Only 12.1 Summary and 12.2 Battery will be appropriate
references for the positioning mode.
MR-J4-_A_
chapter 12
Gain switching function You can switch gains during rotation/stop, and can use input devices to
switch gains during operation. MR-J4-_A_
section 7.2
Advanced vibration
suppression control II This function suppresses vibration at the arm end or residual vibration. MR-J4-_A_
section 7.1.5
Machine resonance
suppression filter
This is a filter function (notch filter) which decreases the gain of the specific
frequency to suppress the resonance of the mechanical system. MR-J4-_A_
section 7.1.1
Shaft resonance
suppression filter
When a load is mounted to the servo motor shaft, resonance by shaft torsion
during driving may generate a mechanical vibration at high frequency. The
shaft resonance suppression filter suppresses the vibration.
MR-J4-_A_
section 7.1.3
Adaptive filter II Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration. MR-J4-_A_
section 7.1.2
Low-pass filter Suppresses high-frequency resonance which occurs as servo system
response is increased. MR-J4-_A_
section 7.1.4

1. FUNCTIONS AND CONFIGURATION
1 - 5
Function Description
Control mode Detailed
explanation
CP CL PS
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply
connecting an MR Configurator2 installed personal computer and servo
amplifier.
MR Configurator2 is necessary for this function.
Robust filter This function provides better disturbance response in case low response
level that load to motor inertia ratio is high for such as roll send axes. [Pr. PE41]
Slight vibration
suppression control Suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
Electronic gear Position commands can be multiplied by 1/864 to 33935. [Pr. PA06]
[Pr. PA07]
Position commands can be multiplied by 1/9999 to 9999.
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. MR-J4-_A_
section 6.3
Brake unit
Used when the regenerative option cannot provide enough regenerative
power.
Can be used for the 5 kW or more servo amplifier.
MR-J4-_A_
section 11.3
Power regeneration
converter
Used when the regenerative option cannot provide enough regenerative
power.
Can be used for the 5 kW or more servo amplifier.
MR-J4-_A_
section 11.4
Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not
have sufficient regenerative capability for the regenerative power generated. MR-J4-_A_
section 11.2
Alarm history clear Alarm history is cleared. [Pr. PC18]
Input signal selection
(device settings)
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-
on) and other input device can be assigned to any pins.
[Pr. PD04]
[Pr. PD06]
[Pr. PD08]
[Pr. PD10]
[Pr. PD12]
[Pr. PD14]
[Pr. PD18]
[Pr. PD20]
[Pr. PD22]
[Pr. PD44]
[Pr. PD46]
Output signal selection
(device settings)
The output devices including MBR (Electromagnetic brake interlock) can be
assigned to certain pins of the CN1 connector.
[Pr. PD23] to
[Pr. PD26]
[Pr. PD28]
[Pr. PD47]
Output signal (DO) forced
output
Output signal can be forced on/off independently of the servo status.
Use this function for checking output signal wiring, etc. MR-J4-_A_
section 4.5.8
Command pulse selection Supports only A-axis/B-axis pulse trains. [Pr. PA13]
Torque limit Servo motor torque can be limited to any value. [Pr. PA11]
[Pr. PA12]
Status display Servo status is shown on the 5-digit, 7-segment LED display Section 3.2
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 3.7
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-
bit code. Chapter 8
Test operation mode
Jog operation/positioning operation/motor-less operation/DO forced
output/program operation/single-step feed
However, MR Configurator2 is necessary for positioning operation, program
operation, and single-step feed.
Section 3.8
Section 3.9
MR-J4-_A_
section 4.5.9
Analog monitor output Servo status is outputted in terms of voltage in real time. [Pr. PC14]
[Pr. PC15]
MR Configurator2 Using a personal computer, you can perform the parameter setting, test
operation, monitoring, and others. MR-J4-_A_
section 11.7
Linear servo system Linear servo system can be configured using a linear servo motor and liner
encoder. MR-J4-_A_
chapter 15