Mitsubishi Electric MELSERVO-J4 series User manual

SH (NA) 030208-A (1506) 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)

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.
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.

A - 3
CAUTION
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 prevent accidental contact of
hands and parts (cables, etc.) with them.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, 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 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.
Items 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 Max. 2000 m above sea level
Vibration resistance 5.9 m/s2at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
When the equipment has been stored for an extended period of time, consult 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 the metal cabinet.
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.

A - 4
(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 (FR-BIF-(H) option) 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
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 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 for different axis to the U, V, W, or CN2 may cause a malfunction.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not close to moving parts at servo-on status.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not disassemble, repair, or modify the equipment.
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.

A - 5
CAUTION
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.
(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 recommend that the electrolytic capacitor be replaced every 10 years
when it is used in general environment. Please contact your local sales office.
When using a servo amplifier whose power has not been turned on for a long 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 Specifications and
Instruction Manual.

A - 6
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
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 appendix 5 of "MR-J4-_TM_ Servo Amplifier Instruction
Manual".
Compliance with global standards
For the compliance with global standards, refer to appendix 4 of "MR-J4-_TM_ Servo Amplifier Instruction
Manual".

A - 7
«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)030193
MELSERVO-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.
«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]

A - 8
MEMO

1
CONTENTS
1. EtherCAT COMMUNICATION 1- 1 to 1-10
1.1 Summary........................................................................................................................................... 1- 1
1.2 Function list....................................................................................................................................... 1- 3
1.3 Communication specifications .......................................................................................................... 1- 6
1.4 EtherCAT State Machine (ESM)....................................................................................................... 1- 7
1.4.1 Communication status................................................................................................................ 1- 7
1.4.2 EtherCAT state........................................................................................................................... 1- 8
1.4.3 Startup........................................................................................................................................ 1- 9
1.4.4 Network disconnection procedure.............................................................................................. 1- 9
1.5 Summary of object dictionary (OD).................................................................................................. 1-10
1.5.1 Section definition of object dictionary........................................................................................ 1-10
1.5.2 Saving object dictionary data to EEP-ROM .............................................................................. 1-10
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- 3
2.3.1 LED indication definition............................................................................................................. 2- 3
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- 8
3.1 PDO communication cycle................................................................................................................ 3- 1
3.2 PDO setting-related object................................................................................................................ 3- 2
3.3 PDO default mapping ....................................................................................................................... 3- 3
3.4 PDO variable mapping...................................................................................................................... 3- 5
3.5 Mapping-necessary objects.............................................................................................................. 3- 6
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 5-60
5.1 FSA state .......................................................................................................................................... 6- 1
5.2 Controlword/Control DI ..................................................................................................................... 6- 4
5.2.1 Bit definition of Controlword ....................................................................................................... 6- 4
5.2.2 Bit definition of Control DI .......................................................................................................... 6- 5
5.3 Statusword/Status DO ...................................................................................................................... 6- 7
5.3.1 Bit definition of Statusword......................................................................................................... 6- 7
5.3.2 Bit definition of Status DO .......................................................................................................... 6- 8
5.4 Control mode ................................................................................................................................... 6-11
5.4.1 Selecting control mode (Modes of operation) ........................................................................... 6-11
5.4.2 Control switching....................................................................................................................... 6-12
5.4.3 Cyclic synchronous position mode (csp) .................................................................................. 6-13

2
5.4.4 Cyclic synchronous velocity mode (csv) ................................................................................... 6-15
5.4.5 Cyclic synchronous torque mode (cst)...................................................................................... 6-17
5.4.6 Profile position mode (pp) ......................................................................................................... 6-19
5.4.7 Profile velocity mode (pv).......................................................................................................... 6-22
5.4.8 Profile torque mode (tq) ............................................................................................................ 6-25
5.4.9 Homing mode (hm) ................................................................................................................... 6-27
5.5 Touch probe..................................................................................................................................... 6-54
5.6 Quick stop ........................................................................................................................................ 6-57
5.7 Halt................................................................................................................................................... 6-58
5.8 Software position limit...................................................................................................................... 6-59
5.9 Torque limit ...................................................................................................................................... 6-59
6. MANUFACTURER FUNCTIONS 6- 1 to 6- 6
6.1 Object for status monitor........................................................................................................................1
6.2 Incremental counter ...............................................................................................................................3
6.3 Stroke end..............................................................................................................................................3
6.4 Definition of alarm-related objects .........................................................................................................4
6.5 Parameter object....................................................................................................................................5
6.5.1 Definition of parameter objects .......................................................................................................5
6.5.2 Enabling parameters .......................................................................................................................6
7. OBJECT DICTIONARY 7- 1 to 7-56
7.1 Store Parameter................................................................................................................................ 7- 1
7.2 Supported object dictionary list......................................................................................................... 7- 2
7.3 Object dictionary ............................................................................................................................... 7- 5
7.3.1 General Objects ......................................................................................................................... 7- 5
7.3.2 PDO Mapping Objects ............................................................................................................... 7- 9
7.3.3 Sync Manager Communication Objects.................................................................................... 7-13
7.3.4 Parameter Objects .................................................................................................................... 7-18
7.3.5 Alarm Objects............................................................................................................................ 7-21
7.3.6 Monitor Objects ......................................................................................................................... 7-23
7.3.7 Manufacturer Specific Control Objects ..................................................................................... 7-34
7.3.8 PDS Control Objects ................................................................................................................. 7-38
7.3.9 Position Control Function Objects............................................................................................. 7-41
7.3.10 Profile Velocity Mode Objects ................................................................................................. 7-43
7.3.11 Profile Torque Mode Objects .................................................................................................. 7-45
7.3.12 Profile Position Mode Objects................................................................................................. 7-47
7.3.13 Homing Mode Objects............................................................................................................. 7-49
7.3.14 Factor Group Objects.............................................................................................................. 7-53
7.3.15 Touch Probe Function Objects ............................................................................................... 7-54

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.
(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) of this section.
Control mode Symbol Description Synchronous
mode
Asynchronous
mode
Cyclic synchronous
position mode csp
This is a position control mode where a position command
is received at a constant period to drive the servo motor in
the synchronous communication with a controller.
Use an absolute position address for a command.
Available
Unavailable
(Note)
Cyclic synchronous
velocity mode csv
This is a speed control mode where a speed command is
received at a constant period to drive the servo motor in the
synchronous communication with a controller.
Cyclic synchronous
torque mode cst
This is a torque control mode where a torque command is
received at a constant period to drive the servo motor in the
synchronous 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 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.
Note. 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 ERR LED of the EtherCAT network module (ABCC-M40-ECT) may blink. To
operate the servo amplifier in the asynchronous mode, set the servo parameter [Pr. PA01] to Profile mode (_ _ _ 2).

1. EtherCAT COMMUNICATION
1 - 2
(3) Synchronous mode (DC mode) /asynchronous mode (Free-run mode) in each control mode
Since the cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic torque mode
are designed under the assumption that these modes are used in the cyclic synchronous mode with the
DC (Distributed Clock) function specified in the EtherCAT standard, use these modes in the
synchronous mode (DC mode). When setting the synchronous mode, set Sync0 and Sync1 as follows.
Sync0 Sync1
Cycle time
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 0 -
The profile position mode, profile velocity mode, profile torque mode, and homing mode can be used in
both the synchronous mode and asynchronous mode.
(4) 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 Specificaation – Part2
Physical Layer service definition and protocol specification V1.0.3
ETG.1000.3 EtherCAT Specificaation – Part3
Data Link Layer service definition V1.0.3
ETG.1000.4 EtherCAT Specificaation – Part4
Data Link Layer protocol specification V1.0.3
ETG.1000.5 EtherCAT Specificaation – Part5
Application Layer service definition V1.0.3
ETG.1000.6 EtherCAT Specificaation – 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 - 3
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.
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.
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.
MR-J4-
_TM_
Servo
Amplifier
Instruction
Manual
Absolute position
detection system
Setting a home position once makes home position return unnecessary at
every power-on.
Gain switching function You can switch gains during rotation/stop, and can use input devices to switch
gains during operation.
Advanced vibration
suppression control II This function suppresses vibration at an arm end or residual vibration.
Adaptive filter II The servo amplifier detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical vibration.
Low-pass filter Suppresses high-frequency resonance which occurs as the servo system
response is increased.
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.
Slight vibration
suppression control
This function suppresses vibration of ±1 pulse generated at a servo motor
stop.
Electronic gear Positioning control is performed with the value obtained by multiplying the
position command from the controller by a set electronic gear ratio.
S-pattern
acceleration/deceleration
time constant
Speed can be increased and decreased smoothly.
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies.
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.
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.
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.

1. EtherCAT COMMUNICATION
1 - 4
Function Description Reference
Alarm history clear This function clears alarm histories.
MR-J4-
_TM_
Servo
Amplifier
Instruction
Manual
Torque limit Limits the servo motor torque.
Speed limit This function limits the servo motor speed.
Status display Shows servo status on the 3-digit, 7-segment LED display
Output signal selection
(device settings)
The output devices including ALM (Malfunction) can be assigned to specified
pins of the CN3 connector.
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.
Test operation mode
Jog operation, positioning operation, motor-less operation, DO forced output,
and program operation
MR Configurator2 is necessary for this function.
Analog monitor output This function outputs servo status with voltage in real time.
MR Configurator2 Using a personal computer, you can perform the parameter setting, test
operation, monitoring, and others.
Linear servo system Linear servo system can be configured using a linear servo motor and liner
encoder.
Direct drive servo system The direct drive servo system can be configured to drive a direct drive motor.
Fully closed loop system Fully closed loop system can be configured using the load-side encoder.
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_
Servo
Amplifier
Instruction
Manual
One-touch tuning
Gain adjustment is performed just by one click a certain button on MR
Configurator2.
MR Configurator2 is necessary for this function.
MR-J4-
_TM_
Servo
Amplifier
Instruction
Manual
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.
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.
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.
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.
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.
MR Configurator2 is necessary for this function.
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.
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.
MR Configurator2 is necessary for this function.

1. EtherCAT COMMUNICATION
1 - 5
Function Description Reference
Model adaptive control
disabled
This function drives the servo motor with PID control without using the model
adaptive control.
MR-J4-
_TM_
Servo
Amplifier
Instruction
Manual
Lost motion compensation
function
This function improves the response delay occurred when the machine moving
direction is reversed.
Super trace control This function sets constant and uniform acceleration/deceleration droop pulses to
almost 0.
Limit switch Travel intervals can be limited with the limit switch using forward rotation stroke
end (LSP) and reverse rotation stroke end (LSN).
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_
Servo
Amplifier
Instruction
Manual

1. EtherCAT COMMUNICATION
1 - 6
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 communication Asynchronous
Sending/Receiving: 1 channel each
PDO 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.
(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)

1. EtherCAT COMMUNICATION
1 - 7
1.4 EtherCAT State Machine (ESM)
The communication status of MR-J4-_TM_ servo amplifiers is classified and managed by EtherCAT State
Machine (ESM) that the EtherCAT standard specifies.
1.4.1 Communication status
The following table shows the classification of the communication status. Two communication types are
provided: One is the PDO (process data object) communication where command data and feedback data
are sent and received at a constant period. Another is the SDO (service data object) communication where
object data is sent and received asynchronously. Refer to chapter 3 for details of the PDO communication.
Refer to chapter 4 for details of the SDO communication.
ESM status Description
Init
After the power is on, the communication status is the init state. The SDO communication and PDO
communication cannot be performed. The master accesses the DL-Information register and initializes
communication.
Pre-Operational The SDO communication can be performed. The PDO communication cannot be performed. The initial setting
for network and initial transfer of parameters can be performed in this state.
Safe-Operational
The SDO communication can be performed. Though the PDO communication also can be performed, all
operations (commands) such as servo motor drive are invalid. When the DC mode is selected, synchronization
is established in this state.
Operational Both the SDO communication and PDO communication can be performed. Commands using the PDO
communication are valid and the servo motor can be driven.
Bootstrap
This is not supported by MR-J4-_TM_ servo amplifiers.
The mailbox communication with the FoE protocol can be performed. Firmware can be updated through
EtherCAT in this state.

1. EtherCAT COMMUNICATION
1 - 8
1.4.2 EtherCAT state
EtherCAT states shift under the conditions shown in figure 1.1 and table 1.1.
When the state shifts from the Init state through the Pre-Operational and Safe-Operational state to the
Operational state, the servo amplifier can be operated. When the Operational state shifts to another state,
the servo amplifier executes initialization to clear the internal status.
Power on
Pre-Operational
Safe-Operational
Bootstrap
Init
Operational
(1)
(3)
(2)
(4)
(5)
(7)
(8)
(6)(9)
(12)
(11)
(Note)
(10)
Note. This is not supported by MR-J4-_TM_ servo amplifiers.
Fig. 1.1
Table. 1.1 EtherCAT state transition
Transition No. Description
(1) Power on
(2)
SDO communication configuration
(a) The master sets the registers of the slaves. The following shows the registers to be set.
• DL Address register
• Sync Manager channel for SDO communication
(b) The master requests the slaves to shift to the Pre-Operational state.
(c) The state shifts to the Pre-Operational state.
(4)
PDO communication configuration
(a) Set the configuration parameter of the master (such as PDO mapping) using the SDO communication.
(b) The master sets the Sync Manager channel and FMMU channel for the PDO communication of the slaves.
FMMU (Fieldbus Memory Management Unit) is a mechanism to manage the relationship between the global
address area and the local address area in the EtherCAT communication. The global address area is used for
the PDO communication. The local address area stores object data for each station.
(c) The master requests the slave to shifts to the Safe-Operational state.
(d) The state shifts to the Safe-Operational state.
(7)
Synchronous
(a) The master and slave use Distributed Clocks to synchronize.
(b) The master starts to output a valid command value.
(c) The master requests the slave to shift to the Operational state.
(d) The state shifts to the Operational state.
(5), (12) When the master requests the slave to shifts to the Pre-Operational state, the state shifts to the Pre-Operational
state.
(8) When the master requests the slave to shifts to the Safe-Operational state, the state shifts to the Safe-Operational
state.
(3), (6), (9) In the following case, the state shifts to the init state.
• When the master requests the slave to shifts to the Init state.
(10), (11) These are not supported by MR-J4-_TM_ servo amplifiers.

1. EtherCAT COMMUNICATION
1 - 9
1.4.3 Startup
The following describes the setting and startup of the EtherCAT communication. Refer to section 4.1 of "MR-
J4-_TM_ Servo Amplifier Instruction Manual" for the startup procedure other than the network setting.
(1) Connection with the controller
Set up the controller following the manual of the controller used. For the setup, the EtherCAT Slave
Information (ESI) file listing the information about the communication setting of devices is available.
Store the ESI file in the controller to use it. The controller configures the setting for the slave connected
to the master according to the contents of the ESI file corresponding to the slave connected.
(2) Parameter setting
Set the control mode with [Pr. PA01 Operation mode]. Refer to section 5.2.1 of "MR-J4-_TM_ Servo
Amplifier Instruction Manual" for the parameter setting.
(3) Node address setting
POINT
The node address of MR-J4-_TM_ servo amplifiers complies with the
specifications of Explicit Device Identification. Configure the setting of Set
Explicit Device Identification for the controller.
Do not connect multiple devices with the same node address setting.
Set the node address of EtherCAT with the rotary switch on the display or [Pr. PN01 Node address
setting] as necessary. The node address is set with the setting value of the rotary switch and a
parameter as shown in the following table. After the node address setting is changed, cycle the power.
Rotary switch Pr. PN01 Node address setting value
00h 0000h The node address is not used.
00h 0001h to FFFFh The value of [Pr. PN01] is set as the node address.
01h to FFh 0000h to FFFFh The setting value of the rotary switch is set as the node address.
1.4.4 Network disconnection procedure
To disconnect the network by stopping device operation or other means, follow the procedure shown below.
If the network is disconnected without following the procedure, [AL. 86.1 Network communication error 1]
may occur.
(1) Stop the servo motor.
(2) Set the shutdown command for Controlword (6040h) to establish the servo-off status.
(3) Shift the state to the Pre-Operational state.
(4) Shut off the power of the servo amplifier and controller.