Mitsubishi Electric MELSERVO-J4 series User manual

SH(NA)030208ENG-E(1811)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-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL (EtherCAT)
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_TM_
Multi-network Interface AC Servo
SERVO AMPLIFIER
INSTRUCTION MANUAL
(EtherCAT)
E
E

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 and inspections, 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.
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 smoke or 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 smoke or a fire when the servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier 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 molded-
case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a
fire when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

A - 3
3. To prevent injury, note the following
CAUTION
Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise,
it may cause an electric shock, fire, injury, etc.
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 the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, 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, cables, or connectors when carrying 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 product. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet 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 apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause
injury, malfunction, etc.
Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
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 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo motor, be careful with the sharp edges of the servo motor.
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 a 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, such as heat treatment.
Additionally, disinfect and protect wood from insects before packing the products.
To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and
wire the servo motor in accordance with the Instruction Manual.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
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/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not connect a magnetic contactor and others between them. 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 converter unit and the drive unit will malfunction and will not output signals,
disabling the emergency stop and other protective circuits.
DOCOM
24 V DC
Servo amplifier
RA
For sink output interface
Control output
signal
DOCOM
Control output
signal
24 V DC
Servo amplifier
RA
For source output interface
When the wires are not tightened enough to the terminal block, the wires or terminal block may generate
heat because of the poor contact. Be sure to tighten the wires 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.
Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an
unexpected restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.

A - 5
(3) Test run and adjustment
CAUTION
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or injury.
Before operation, check and adjust 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
Provide an external emergency stop circuit to stop the operation and shut the power off immediately.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury,
etc. Disassembled, repaired, and/or modified products are not covered under warranty.
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 affect the electronic equipment used near the servo amplifier.
Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.
Use the servo amplifier with the specified servo motor.
Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
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 incorrect wiring, 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.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.

A - 6
(5) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with
the emergency stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock,
injury, or fire.
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using the servo amplifier that has not been energized for an extended period of time, 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.

A - 7
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 setting changes
STO function of the servo amplifier
When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_TM_ Servo Amplifier
Instruction Manual".
For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".
Compliance with global standards
For the compliance with global standards, refer to app. 4 of "MR-J4-_TM_ Servo Amplifier Instruction
Manual".
«About the manuals»
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.
MELSERVO MR-J4-_TM_ Servo Amplifier Instruction Manual SH(NA)030193ENG
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG
MELSERVO MR-D30 Instruction Manual (Note 5) SH(NA)030132ENG
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
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.
5. It is necessary for using an MR-D30 functional safety unit.

A - 8
«Wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

1
CONTENTS
1. EtherCAT COMMUNICATION 1- 1 to 1-12
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function list ....................................................................................................................................... 1- 4
1.3 Communication specifications .......................................................................................................... 1- 7
1.4 EtherCAT State Machine (ESM) ....................................................................................................... 1- 8
1.4.1 Communication status ................................................................................................................ 1- 8
1.4.2 EtherCAT state ........................................................................................................................... 1- 9
1.4.3 Startup ....................................................................................................................................... 1-10
1.4.4 Network disconnection procedure ............................................................................................. 1-11
1.5 Summary of object dictionary (OD).................................................................................................. 1-12
1.5.1 Section definition of object dictionary ........................................................................................ 1-12
1.5.2 Saving object dictionary data to EEP-ROM .............................................................................. 1-12
2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2- 1 to 2- 4
2.1 Specifications .................................................................................................................................... 2- 1
2.2 Parts identification ............................................................................................................................. 2- 2
2.3 LED indication ................................................................................................................................... 2- 2
2.3.1 LED indication definition ............................................................................................................. 2- 2
2.3.2 LED indication list ....................................................................................................................... 2- 3
2.4 Connecting Ethernet cable ............................................................................................................... 2- 4
3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3- 1 to 3- 6
3.1 PDO communication cycle ................................................................................................................ 3- 1
3.2 PDO setting-related object ................................................................................................................ 3- 1
3.3 PDO default mapping ....................................................................................................................... 3- 2
3.4 PDO variable mapping ...................................................................................................................... 3- 4
3.5 Mapping-necessary objects .............................................................................................................. 3- 5
4. SDO (SERVICE DATA OBJECT) COMMUNICATION 4- 1 to 4- 2
4.1 SDO communication-related service ................................................................................................ 4- 1
4.2 SDO Abort Code ............................................................................................................................... 4- 2
5. CiA 402 DRIVE PROFILE 5- 1 to 5-90
5.1 FSA state .......................................................................................................................................... 5- 1
5.2 Controlword/Control DI ..................................................................................................................... 5- 4
5.2.1 Bit definition of Controlword ....................................................................................................... 5- 4
5.2.2 Bit definition of Control DI .......................................................................................................... 5- 5
5.3 Statusword/Status DO ...................................................................................................................... 5- 7
5.3.1 Bit definition of Statusword ......................................................................................................... 5- 7
5.3.2 Bit definition of Status DO .......................................................................................................... 5- 8
5.4 Control mode ................................................................................................................................... 5-12
5.4.1 Selecting control mode (Modes of operation) ........................................................................... 5-12
5.4.2 Control switching ....................................................................................................................... 5-12
5.4.3 Cyclic synchronous position mode (csp) .................................................................................. 5-13

2
5.4.4 Cyclic synchronous velocity mode (csv) ................................................................................... 5-16
5.4.5 Cyclic synchronous torque mode (cst) ...................................................................................... 5-18
5.4.6 Profile position mode (pp) ......................................................................................................... 5-20
5.4.7 Profile velocity mode (pv) .......................................................................................................... 5-24
5.4.8 Profile torque mode (tq) ............................................................................................................ 5-27
5.4.9 Homing mode (hm) ................................................................................................................... 5-30
5.4.10 Point table mode (pt) ............................................................................................................... 5-59
5.4.11 Jog mode (jg) .......................................................................................................................... 5-64
5.4.12 Indexer mode (idx) .................................................................................................................. 5-71
5.5 Touch probe ..................................................................................................................................... 5-78
5.6 Quick stop ........................................................................................................................................ 5-82
5.7 Halt ................................................................................................................................................... 5-83
5.8 Software position limit ...................................................................................................................... 5-84
5.9 Torque limit ...................................................................................................................................... 5-84
5.10 Polarity ........................................................................................................................................... 5-85
5.11 Degree function ............................................................................................................................. 5-87
5.12 Torque offset .................................................................................................................................. 5-89
6. MANUFACTURER FUNCTIONS 6- 1 to 6-12
6.1 Object for status monitor ................................................................................................................... 6- 1
6.2 Incremental counter .......................................................................................................................... 6- 3
6.3 Stroke end ......................................................................................................................................... 6- 3
6.4 Definition of alarm-related objects .................................................................................................... 6- 4
6.5 Parameter object ............................................................................................................................... 6- 5
6.5.1 Definition of parameter objects .................................................................................................. 6- 5
6.5.2 Enabling parameters .................................................................................................................. 6- 6
6.6 Scale measurement function ............................................................................................................ 6- 7
6.7 One-touch tuning .............................................................................................................................. 6- 8
6.8 Machine diagnosis function ............................................................................................................. 6-10
6.9 Servo amplifier life diagnosis function ............................................................................................. 6-12
7. OBJECT DICTIONARY 7- 1 to 7-82
7.1 Store Parameters .............................................................................................................................. 7- 1
7.2 Supported object dictionary list ......................................................................................................... 7- 2
7.3 Object dictionary ............................................................................................................................... 7- 6
7.3.1 General Objects ......................................................................................................................... 7- 6
7.3.2 PDO Mapping Objects .............................................................................................................. 7-12
7.3.3 Sync Manager Communication Objects .................................................................................... 7-16
7.3.4 Parameter Objects .................................................................................................................... 7-21
7.3.5 Alarm Objects ............................................................................................................................ 7-24
7.3.6 Monitor Objects ......................................................................................................................... 7-27
7.3.7 Manufacturer Specific Control Objects ..................................................................................... 7-40
7.3.8 PDS Control Objects ................................................................................................................. 7-51
7.3.9 Position Control Function Objects ............................................................................................. 7-55
7.3.10 Profile Velocity Mode Objects ................................................................................................. 7-58
7.3.11 Profile Torque Mode Objects .................................................................................................. 7-60
7.3.12 Profile Position Mode Objects ................................................................................................. 7-62
7.3.13 Homing Mode Objects............................................................................................................. 7-66
7.3.14 Factor Group Objects .............................................................................................................. 7-72

3
7.3.15 Touch Probe Function Objects ............................................................................................... 7-75
7.3.16 Optional application FE Objects .............................................................................................. 7-76
7.3.17 Point Table Mode Objects ....................................................................................................... 7-79
7.3.18 Cyclic synchronous position mode Objects ............................................................................ 7-82

4
MEMO

1. EtherCAT COMMUNICATION
1 - 1
1. EtherCAT COMMUNICATION
1.1 Summary
EtherCAT is the abbreviation of Ethernet for Control Automation Technology. It is open network
communication between a master and slaves developed by Beckhoff Automation that uses real-time
Ethernet. ETG (EtherCAT Technology Group) owns EtherCAT.
The EtherCAT communication is available when the EtherCAT network module (ABCC-M40-ECT
manufactured by HMS Industrial Networks) is connected to the MR-J4-_TM_ servo amplifier. The MR-J4-
_TM_ servo amplifier to which the EtherCAT network module is connected operates as a slave station
compliant with CAN application protocol over EtherCAT (CoE) standards. The device type is a power drive
system and is compatible with the CiA 402 drive profile.
(1) CiA 402 drive profile compatible
The MR-J4-_TM_ servo amplifier operates as a slave station compliant with CAN application protocol
over EtherCAT (CoE) standards. The device type is a power drive system and is compatible with the CiA
402 drive profile.

1. EtherCAT COMMUNICATION
1 - 2
(2) Various control modes supported
The MR-J4-_TM_ servo amplifier supports the following control modes. In the table below, whether the
synchronous mode and asynchronous mode can be used in each control mode. For the synchronous
mode and asynchronous mode, refer to (3) in this section.
Control mode Symbol Description Synchronous
mode
Asynchronous
mode
Cyclic synchronous
position mode csp
This is a position mode where a position command is received
at a constant period to drive the servo motor in the
synchronous or asynchronous communication with a
controller.
Use an absolute position address for a command.
Available
Available
(Note 1, 2)
Cyclic synchronous
velocity mode csv
This is a speed mode where a speed command is received at
a constant period to drive the servo motor in the synchronous
or asynchronous communication with a controller.
Cyclic synchronous
torque mode cst
This is a torque mode where a torque command is received at
a constant period to drive the servo motor in the synchronous
or asynchronous communication with a controller.
Profile position mode pp
This is a positioning operation mode where an end position
command is received to drive the servo motor in the
synchronous or asynchronous communication with a
controller.
Use an absolute position address or relative position address
for a command.
Available
Profile velocity mode pv
This is a mode where a target speed command is received to
drive the servo motor in the synchronous or asynchronous
communication with a controller.
Profile torque mode tq
This is a mode where a target torque command is received to
drive the servo motor in the synchronous or asynchronous
communication with a controller.
Homing mode hm
This is a mode where the servo amplifier performs a home
position return operation using the method directed by the
controller.
Point table mode pt
In this control mode, the servo motor is driven according to
the travel distance and speed stored in the point table No.
which is specified in the synchronous or asynchronous
communication with a controller. This control mode is specific
to Mitsubishi Electric, not in CiA 402 standard.
This is available with servo amplifiers with software version
B2 or later.
JOG mode jg
In this control mode, the servo motor is manually driven at a
speed set in the synchronous or asynchronous
communication with a controller. This control mode is not in
CiA 402 standard (Mitsubishi Electric original).
This is available with servo amplifiers with software version
B2 or later.
Indexer mode idx
In this control mode, the servo motor is driven to the station
specified in the synchronous or asynchronous communication
with a controller. This control mode is not in CiA 402 standard
(Mitsubishi Electric original).
This is available with servo amplifiers with software version
B2 or later.
Note 1. Servo amplifiers with software version B3 or earlier cannot be used in the asynchronous mode. When the controller sends an
operation command in the asynchronous mode, the error code that indicates the state transition is not allowed is notified and
the ERROR LED of the network module blinks.
2. Servo amplifiers with software version B4 or later can be used in the asynchronous mode. When it is used in the asynchronous
mode, Cycle time (1C32h: 2) setting is required. For details on Cycle time (1C32h: 2), refer to (4) in this section.

1. EtherCAT COMMUNICATION
1 - 3
(3) Synchronous mode (DC mode)
In the synchronous mode, it is necessary to keep the synchronous jitter 2 μs or less. When the
synchronous jitter is 2 μs or more, an error may be detected and an alarm may set off.
Synchronous mode setting
Sync0 Sync1
Cycle time
(1C32h: 2)
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Unused
Shift time
(1C32h: 3) 0
(4) Asynchronous mode (Free-run mode)
In the asynchronous mode, when using the cyclic synchronous position mode, the cyclic synchronous
speed mode, and the cyclic synchronous torque mode, set as shown in the following table. Input the
command value for each communication cycle set in Cycle time (1C32h: 2). If the command is not
inputted on each communication cycle, the previously input command will be maintained.
Local Cycle time
Cycle time
(1C32h: 2)
(Note)
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Note. If the value is not set for Cycle time, the PDO communication cycle is 0.25 ms (initial
value).
(5) Compliance with standards
MR-J4-_TM_ servo amplifiers comply with the following standards. Refer to the following standards for
the description not written in this Instruction Manual.
Standards Version
ETG.1000.2 EtherCAT Specification – Part2
Physical Layer service definition and protocol specification V1.0.3
ETG.1000.3 EtherCAT Specification – Part3
Data Link Layer service definition V1.0.3
ETG.1000.4 EtherCAT Specification – Part4
Data Link Layer protocol specification V1.0.3
ETG.1000.5 EtherCAT Specification – Part5
Application Layer service definition V1.0.3
ETG.1000.6 EtherCAT Specification – Part6
Application Layer protocol specification V1.0.3
ETG.1020 EtherCAT Protocol Enhancements V1.1.0
ETG.1300 EtherCAT Indicator and Labeling Specification V1.1.0
ETG.2000 EtherCAT Slave Information (ESI) Specification V1.0.7
ETG.6010 Implementation Directive for CiA 402 Drive Profile V1.1.0
IEC 61800-7-201 Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Edition 1.0
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies
Edition 1.0

1. EtherCAT COMMUNICATION
1 - 4
1.2 Function list
The following table lists the functions available with the MR-J4-_TM_ servo amplifier to which the EtherCAT
network module is connected. "MR-J4-_TM_" means "MR-J4-_TM_ Servo Amplifier Instruction Manual".
Function Description Reference
Cyclic synchronous position
mode (csp)
The position control operation performed by a synchronous sequential position
command through network is supported.
Section 5.4
Cyclic synchronous velocity
mode (csv)
The speed control operation performed by a synchronous sequential speed
command through network is supported.
Cyclic synchronous torque mode
(cst)
The torque control operation performed by a synchronous sequential torque
command through network is supported.
Profile position mode (pp) The positioning operation performed by an asynchronous end position command
through network is supported.
Profile velocity mode (pv) The speed control operation performed by an asynchronous speed command
through network is supported.
Profile torque mode (tq) The torque control operation performed by an asynchronous torque command
through network is supported.
Homing mode (hm) The home position return operation specified in each network is supported.
Point table mode (pt)
Select any 1 to 255 point table and perform operation in accordance with the set
values.
This is available with servo amplifiers with software version B2 or later.
Indexer mode (idx) Perform operation to the station positions divided into 2 to 255.
This is available with servo amplifiers with software version B2 or later.
JOG mode (jg)
This is a control mode where the servo motor speed is set to drive the servo motor
manually.
This is available with servo amplifiers with software version B2 or later.
Model adaptive control
This function achieves a high response and stable control following the ideal
model. The two-degrees-of-freedom model adaptive control enables you to set a
response to the command and a response to the disturbance separately.
Additionally, this function can be disabled. To disable this function, refer to section
7.5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".
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.
MR-J4-_TM_
Chapter 12
Gain switching function You can switch gains during rotation/stop, and can use input devices to switch
gains during operation.
MR-J4-_TM_
Section 7.2
Advanced vibration suppression
control II This function suppresses vibration at an arm end or residual vibration. MR-J4-_TM_
Section 7.1.5
Machine resonance suppression
filter
This filter function (notch filter) decreases the gain of the specific frequency to
suppress the resonance of the mechanical system.
MR-J4-_TM_
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 of high frequency. The shaft
resonance suppression filter suppresses the vibration.
MR-J4-_TM_
Section 7.1.3
Adaptive filter II The servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
MR-J4-_TM_
Section 7.1.2
Low-pass filter Suppresses high-frequency resonance which occurs as the servo system response
is increased.
MR-J4-_TM_
Section 7.1.4
Machine analyzer function
This function analyzes the frequency characteristic of the mechanical system by
simply connecting an MR Configurator2-installed personal computer and the servo
amplifier.
MR Configurator2 is necessary for this function.
Robust filter For roll feed axis, etc. of which a response level cannot be increased because of
the large load to motor inertia ratio, this function improves a disturbance response. [Pr. PE41]
Slight vibration suppression
control This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
Electronic gear Positioning control is performed with the value obtained by multiplying the position
command from the controller by a set electronic gear ratio.
[Pr. PA06]
[Pr. PA07]
S-pattern acceleration/
deceleration time constant Speed can be increased and decreased smoothly. [Pr. PT51]

1. EtherCAT COMMUNICATION
1 - 5
Function Description Reference
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
MR-J4-_TM_
Section 6.3
Brake unit
Use the brake unit when the regenerative option cannot provide sufficient
regenerative capability.
The brake unit can be used for the servo amplifiers of the 5 kW or more.
MR-J4-_TM_
Section 11.3
Power regeneration converter
Use the power regeneration converter when the regenerative option cannot provide
sufficient regenerative capability.
The power regeneration converter can be used for the servo amplifiers of the 5 kW
or more.
MR-J4-_TM_
Section 11.4
Regenerative option
Use a regenerative option when the built-in regenerative resistor of the servo
amplifier does not have sufficient regenerative capacity for a large regenerative
power generated.
MR-J4-_TM_
Section 11.2
Alarm history clear This function clears alarm histories. [Pr. PC21]
Torque limit Limits the servo motor torque. [Pr. PA11]
[Pr. PA12]
Speed limit This function limits the servo motor speed. [Pr. PT67]
Status display Shows servo status on the 3-digit, 7-segment LED display MR-J4-_TM_
Section 4.3
Input signal selection (device
settings)
LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end) and other
input device can be assigned to any pins.
[Pr. PD03] to
[Pr. PD05]
Output signal selection (device
settings)
The output devices including ALM (Malfunction) can be assigned to specified pins
of the CN3 connector.
[Pr. PD07] to
[Pr. PD09]
Output signal (DO) forced output Turns on/off the output signals forcibly independently of the servo status.
Use this function for checking output signal wiring, etc.
MR-J4-_TM_
Section 4.5.1
(1) (d)
Test operation mode
Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation
MR Configurator2 is necessary for this function.
MR-J4-_TM_
Section 4.5
Analog monitor output This function outputs servo status with voltage in real time. [Pr. PC09]
[Pr. PC10]
MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
MR-J4-_TM_
Section 11.7
Linear servo system Linear servo system can be configured using a linear servo motor and linear
encoder.
MR-J4-_TM_
Chapter 14
Direct drive servo system The direct drive servo system can be configured to drive a direct drive motor. MR-J4-_TM_
Chapter 15
Fully closed loop system Fully closed loop system can be configured using the load-side encoder. MR-J4-_TM_
Chapter 16
Latch function
(Touch probe)
This function latches the current position at the rising edge of the external latch
input signal.
Section 5.5
MR-J4-_TM_
Section 3.5
[Pr. PD37]
One-touch tuning
Gain adjustment is performed just by one click a certain button on MR
Configurator2.
Also, one-touch tuning can be performed via a network. One-touch tuning via a
network is available with servo amplifiers with software version B0 or later.
Section 6.7
MR-J4-_TM_
Section 6.2
SEMI-F47 function
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical
energy charged in the capacitor in case that an instantaneous power failure occurs
during operation. Use a 3-phase for the input power supply of the servo amplifier.
Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply
with SEMI-F47 standard.
MR-J4-_TM_
Section 7.4
[Pr. PA20]
[Pr. PF25]
Tough drive function
This function makes the equipment continue operating even under the condition
that an alarm occurs. The tough drive function includes two types: the vibration
tough drive and the instantaneous power failure tough drive.
MR-J4-_TM_
Section 7.3

1. EtherCAT COMMUNICATION
1 - 6
Function Description Reference
Drive recorder function
This function continuously monitors the servo status and records the status
transition before and after an alarm for a fixed period of time. You can check the
recorded data on the drive recorder window on MR Configurator2 by clicking the
"Graph" button.
However, the drive recorder is not available when:
1. The graph function of MR Configurator2 is being used.
2. The machine analyzer function is being used.
3. [Pr. PF21] is set to "-1".
4. The controller is not connected (except the test operation mode).
5. An alarm related to the controller is occurring.
[Pr. PA23]
STO function This amplifier complies with the STO function as functional safety of IEC/EN
61800-5-2. You can create a safety system for the equipment easily.
MR-J4-_TM_
Chapter 13
Servo amplifier life diagnosis
function
You can check the cumulative energization time and the number of on/off times of
the inrush relay. This function gives an indication of the replacement time for parts
of the servo amplifier including a capacitor and a relay before they malfunction.
This function is available with MR Configurator2 or via a network.
The servo amplifier life diagnosis function via a network is available with servo
amplifiers with software version B0 or later.
Section 6.9
Power monitoring function
This function calculates the power running energy and the regenerative power from
the data in the servo amplifier such as speed and current. Power consumption and
others are displayed on MR Configurator2. Also, the power monitoring function can
be used via a network.
Section 6.1
Machine diagnosis function
From the data in the servo amplifier, this function estimates the friction and
vibrational component of the drive system in the equipment and recognizes an
error in the machine parts, including a ball screw and bearing.
This function is available with MR Configurator2 or via a network.
The machine diagnosis function via a network is available with servo amplifiers
with software version B0 or later.
Section 6.8
Scale measurement function
The function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop
control.
This is used with servo amplifiers with software version B0 or later.
Section 6.6
MR-J4-_TM_
Section 17.1
MR-D30 functional safety unit MR-D30 functional safety unit is supported. MR-J4-_TM_
Section 17.2
Lost motion compensation
function
This function improves the response delay occurred when the machine moving
direction is reversed.
MR-J4-_TM_
Section 7.6
Super trace control This function sets constant and uniform acceleration/deceleration droop pulses to
almost 0.
MR-J4-_TM_
Section 7.7
Limit switch Travel intervals can be limited with the limit switch using LSP (Forward rotation
stroke end) and LSN (Reverse rotation stroke end)
Software limit Limits travel intervals by address using parameters.
The same function with the limit switch is enabled by setting parameters.
Section 5.8
MR-J4-_TM_
Section 5.3
[Pr. PT15] to
[Pr. PT18]
FoE (File Access over
EtherCAT)
This servo amplifier supports FoE (File Access over EtherCAT). For details,
contact your local sales office.
This is used with servo amplifiers with software version B3 or later.

1. EtherCAT COMMUNICATION
1 - 7
1.3 Communication specifications
The following table shows the communication specifications.
Item Description Remark
EtherCAT communication
specifications
IEC 61158 Type121
CAN application protocol over EtherCAT
(CoE), IEC 61800-7 CiA 402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
Communication connector RJ45, 2 ports (IN port, OUT port)
Communication cable CAT5e, shielded twisted pair (4 pair) straight
cable
Double-shielded type recommended
Network topology Line, Tree, Star, or a connection topology
where the topologies are used together
Variable communication speed 100 Mbps (Full duplex)
Transmission speed between
stations
Max. 100 m
Number of nodes
Max. 65535 The number of connection nodes for actual use
varies depending on the specifications of the
master controller used.
SDO (Mailbox) communication Asynchronous
Sending/Receiving: 1 channel each
Maximum data size in sending/receiving
1486 bytes each
PDO (Process Data)
communication
Cycle time: Select from 0.25 ms, 0.5 ms, 1
ms, and 2 ms.
Receive (RxPDO): 1 channel
Send (TxPDO): 1 channel
Data size at PDO default mapping
RxPDO: 29 bytes
TxPDO: 41 bytes
PDO mapping
Variable PDO mapping supported Maximum size of RxPDO and TxPDO: 64 bytes
each
Maximum number of object mapping: 32 each
Distributed clock (DC)
The DC mode and Free-run mode can be
selected.
(In servo amplifiers with software version B3
or earlier, the DC mode is required in the csp,
csv, and cst mode.)
Sync0: Set the same cycle as the PDO
communication cycle.
Sync1: Not used
Explicit Device Identification Supported
LED display RUN, ERROR, LINK/Activity (IN, OUT)