Mitsubishi Electric MR-J4W2 User manual

SH (NA) 030105-H (1504) 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-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4W2-_B
MR-J4W3-_B
MR-J4W2-0303B6
SERVO AMPLIFIER INSTRUCTION MANUAL
SSCNET /H Interface Multi-axis AC Servo
1CW806
MR-J4W-B INSTRUCTIONMANUAL
H
H

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.
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 (including converter unit),
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.
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.

A - 3
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.
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.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation 0 °C to 55 °C (non-freezing)
Storage -20 °C to 65 °C (non-freezing)
Ambient
humidity
Operation 90% RH or less (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
Vibration resistance 5.9 m/s2at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
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 the equipment has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in 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.
(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 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.

A - 4
CAUTION
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output
signal
24 V DC
Servo amplifier
RA
For sink output interface
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 an encoder for different axis to the CN2A, CN2B, or CN2C connector may cause a
malfunction.
Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector 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.
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.

A - 5
CAUTION
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 CALM (AND
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.
For the MR-J3-D05 safety logic unit, refer to appendix 5.
Compliance with global standards
For the compliance with global standards, refer to appendix 4.

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.
When using an MR-J4W2-0303B6, refer to chapter 18.
Relevant manuals
Manual name Manual No.
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. FUNCTIONS AND CONFIGURATION 1- 1 to 1-14
1.1 Summary........................................................................................................................................... 1- 1
1.2 Function block diagram..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications............................................................................................ 1- 4
1.3.1 Integrated 2-axis servo amplifier................................................................................................ 1- 4
1.3.2 Integrated 3-axis servo amplifier................................................................................................ 1- 6
1.3.3 Combinations of servo amplifiers and servo motors.................................................................. 1- 8
1.4 Function list....................................................................................................................................... 1- 9
1.5 Model designation............................................................................................................................ 1-11
1.6 Parts identification............................................................................................................................ 1-12
1.7 Configuration including auxiliary equipment.................................................................................... 1-13
2. INSTALLATION 2- 1 to 2- 6
2.1 Installation direction and clearances ................................................................................................ 2- 1
2.2 Keep out foreign materials................................................................................................................ 2- 3
2.3 Encoder cable stress ........................................................................................................................ 2- 3
2.4 SSCNET III cable laying ................................................................................................................... 2- 3
2.5 Inspection items................................................................................................................................ 2- 5
2.6 Parts having service lives ................................................................................................................. 2- 6
3. SIGNALS AND WIRING 3- 1 to 3-38
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.2 I/O signal connection example.......................................................................................................... 3- 5
3.2.1 For sink I/O interface.................................................................................................................. 3- 5
3.2.2 For source I/O interface ............................................................................................................. 3- 7
3.3 Explanation of power supply system ................................................................................................ 3- 8
3.3.1 Signal explanations .................................................................................................................... 3- 8
3.3.2 Power-on sequence .................................................................................................................. 3-10
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-11
3.4 Connectors and pin assignment ...................................................................................................... 3-13
3.5 Signal (device) explanations............................................................................................................ 3-14
3.5.1 Input device ............................................................................................................................... 3-14
3.5.2 Output device ............................................................................................................................ 3-15
3.5.3 Output signal ............................................................................................................................. 3-18
3.5.4 Power supply............................................................................................................................. 3-18
3.6 Forced stop deceleration function ................................................................................................... 3-19
3.6.1 Forced stop deceleration function............................................................................................. 3-19
3.6.2 Base circuit shut-off delay time function ................................................................................... 3-21
3.6.3 Vertical axis freefall prevention function ................................................................................... 3-22
3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-22
3.7 Alarm occurrence timing chart......................................................................................................... 3-23
3.7.1 When you use the forced stop deceleration function................................................................ 3-23
3.7.2 When you do not use the forced stop deceleration function..................................................... 3-25
3.8 Interfaces ......................................................................................................................................... 3-26
3.8.1 Internal connection diagram...................................................................................................... 3-26

2
3.8.2 Detailed description of interfaces.............................................................................................. 3-27
3.8.3 Source I/O interfaces ................................................................................................................ 3-28
3.9 SSCNET III cable connection .......................................................................................................... 3-29
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-31
3.10.1 Safety precautions .................................................................................................................. 3-31
3.10.2 Timing chart ............................................................................................................................ 3-33
3.11 Grounding ...................................................................................................................................... 3-38
4. STARTUP 4- 1 to 4-20
4.1 Switching power on for the first time................................................................................................. 4- 2
4.1.1 Startup procedure ...................................................................................................................... 4- 2
4.1.2 Wiring check............................................................................................................................... 4- 3
4.1.3 Surrounding environment........................................................................................................... 4- 4
4.2 Startup .............................................................................................................................................. 4- 4
4.3 Switch setting and display of the servo amplifier.............................................................................. 4- 6
4.3.1 Switches..................................................................................................................................... 4- 6
4.3.2 Scrolling display ........................................................................................................................ 4-11
4.3.3 Status display of an axis ........................................................................................................... 4-12
4.4 Test operation.................................................................................................................................. 4-14
4.5 Test operation mode........................................................................................................................ 4-14
4.5.1 Test operation mode in MR Configurator2................................................................................ 4-15
4.5.2 Motor-less operation in controller.............................................................................................. 4-17
5. PARAMETERS 5- 1 to 5-54
5.1 Parameter list.................................................................................................................................... 5- 2
5.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 3
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])............................................................................... 5- 4
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 5
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 7
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 8
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 5-10
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11
5.2 Detailed list of parameters ............................................................................................................... 5-13
5.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 5-13
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]).............................................................................. 5-23
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-36
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-43
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-47
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 5-49
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-51
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-20
6.1 Different adjustment methods........................................................................................................... 6- 1
6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator2.......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 3
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 4

3
6.2.3 Caution for one-touch tuning...................................................................................................... 6- 9
6.3 Auto tuning....................................................................................................................................... 6-10
6.3.1 Auto tuning mode ...................................................................................................................... 6-10
6.3.2 Auto tuning mode basis............................................................................................................. 6-11
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-12
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-13
6.4 Manual mode ................................................................................................................................... 6-14
6.5 2 gain adjustment mode .................................................................................................................. 6-17
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-32
7.1 Filter setting ...................................................................................................................................... 7- 1
7.1.1 Machine resonance suppression filter ....................................................................................... 7- 2
7.1.2 Adaptive filter II........................................................................................................................... 7- 5
7.1.3 Shaft resonance suppression filter............................................................................................. 7- 7
7.1.4 Low-pass filter ............................................................................................................................ 7- 8
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8
7.1.6 Command notch filter ................................................................................................................ 7-13
7.2 Gain switching function.................................................................................................................... 7-15
7.2.1 Applications............................................................................................................................... 7-15
7.2.2 Function block diagram ............................................................................................................. 7-16
7.2.3 Parameter.................................................................................................................................. 7-17
7.2.4 Gain switching procedure ......................................................................................................... 7-20
7.3 Tough drive function ........................................................................................................................ 7-24
7.3.1 Vibration tough drive function.................................................................................................... 7-24
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-26
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-29
7.5 Model adaptive control disabled ...................................................................................................... 7-31
8. TROUBLESHOOTING 8- 1 to 8-12
8.1 Explanation for the lists..................................................................................................................... 8- 1
8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ....................................................................................................................................... 8- 8
8.4 Troubleshooting at power on ........................................................................................................... 8-10
9. OUTLINE DRAWINGS 9- 1 to 9- 6
9.1 Servo amplifier.................................................................................................................................. 9- 1
9.2 Connector ......................................................................................................................................... 9- 4
10. CHARACTERISTICS 10- 1 to 10-10
10.1 Overload protection characteristics .............................................................................................. 10- 1
10.2 Power supply capacity and generated loss .................................................................................. 10- 2
10.3 Dynamic brake characteristics...................................................................................................... 10- 5
10.3.1 Dynamic brake operation ....................................................................................................... 10- 6
10.3.2 Permissible load to motor inertia when the dynamic brake is used....................................... 10- 8
10.4 Cable bending life ......................................................................................................................... 10- 9
10.5 Inrush currents at power-on of main circuit and control circuit..................................................... 10- 9

4
11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-48
11.1 Cable/connector sets.................................................................................................................... 11- 1
11.1.1 Combinations of cable/connector sets................................................................................... 11- 2
11.1.2 SSCNET III cable ................................................................................................................... 11- 5
11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 7
11.1.4 MR-D05UDL3M-B STO cable................................................................................................ 11- 8
11.2 Regenerative options.................................................................................................................... 11- 8
11.2.1 Combination and regenerative power.................................................................................... 11- 8
11.2.2 Selection of regenerative option ............................................................................................ 11- 9
11.2.3 Parameter setting.................................................................................................................. 11-11
11.2.4 Connection of regenerative option........................................................................................ 11-12
11.2.5 Dimensions ........................................................................................................................... 11-13
11.3 Battery.......................................................................................................................................... 11-14
11.3.1 Selection of battery ............................................................................................................... 11-14
11.3.2 MR-BAT6V1SET-A battery ................................................................................................... 11-15
11.3.3 MR-BT6VCASE battery case................................................................................................ 11-19
11.3.4 MR-BAT6V1 battery.............................................................................................................. 11-25
11.4 MR Configurator2 ........................................................................................................................ 11-26
11.4.1 Specifications ........................................................................................................................ 11-26
11.4.2 System configuration............................................................................................................. 11-27
11.4.3 Precautions for using USB communication function............................................................. 11-28
11.5 Selection example of wires.......................................................................................................... 11-29
11.6 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-31
11.7 Power factor improving AC reactors............................................................................................ 11-33
11.8 Relays (recommended) ............................................................................................................... 11-34
11.9 Noise reduction techniques ......................................................................................................... 11-34
11.10 Earth-leakage current breaker................................................................................................... 11-41
11.11 EMC filter (recommended) ........................................................................................................ 11-44
11.12 Junction terminal block MR-TB26A ........................................................................................... 11-47
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 4
12.1 Summary....................................................................................................................................... 12- 1
12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Structure................................................................................................................................. 12- 1
12.1.3 Parameter setting................................................................................................................... 12- 1
12.1.4 Confirmation of absolute position detection data................................................................... 12- 2
12.2 Battery........................................................................................................................................... 12- 2
12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6) ............................................... 12- 2
12.2.2 Using MR-BT6VCASE battery case....................................................................................... 12- 4
13. USING STO FUNCTION 13- 1 to 13-14
13.1 Introduction ................................................................................................................................... 13- 1
13.1.1 Summary................................................................................................................................ 13- 1
13.1.2 Terms related to safety .......................................................................................................... 13- 1
13.1.3 Cautions ................................................................................................................................. 13- 1
13.1.4 Residual risks of the STO function......................................................................................... 13- 2
13.1.5 Specifications ......................................................................................................................... 13- 3
13.1.6 Maintenance........................................................................................................................... 13- 4

5
13.2 STO I/O signal connector (CN8) and signal layouts..................................................................... 13- 4
13.2.1 Signal layouts......................................................................................................................... 13- 4
13.2.2 Signal (device) explanations .................................................................................................. 13- 5
13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6
13.3.1 Connection example for CN8 connector................................................................................ 13- 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7
13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13- 9
13.3.4 External I/O signal connection example using a motion controller....................................... 13-10
13.4 Detailed description of interfaces ................................................................................................ 13-11
13.4.1 Sink I/O interface................................................................................................................... 13-11
13.4.2 Source I/O interface .............................................................................................................. 13-12
14. USING A LINEAR SERVO MOTOR 14- 1 to 14-32
14.1 Functions and configuration ......................................................................................................... 14- 1
14.1.1 Summary................................................................................................................................ 14- 1
14.1.2 Servo system with auxiliary equipment.................................................................................. 14- 2
14.2 Signals and wiring......................................................................................................................... 14- 3
14.3 Operation and functions................................................................................................................ 14- 5
14.3.1 Startup.................................................................................................................................... 14- 5
14.3.2 Magnetic pole detection ......................................................................................................... 14- 8
14.3.3 Home position return............................................................................................................. 14-16
14.3.4 Test operation mode in MR Configurator2............................................................................ 14-19
14.3.5 Operation from controller ...................................................................................................... 14-22
14.3.6 Function................................................................................................................................. 14-24
14.3.7 Absolute position detection system....................................................................................... 14-26
14.4 Characteristics ............................................................................................................................. 14-27
14.4.1 Overload protection characteristics ...................................................................................... 14-27
14.4.2 Power supply capacity and generated loss .......................................................................... 14-28
14.4.3 Dynamic brake characteristics .............................................................................................. 14-30
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used............................... 14-31
15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-20
15.1 Functions and configuration ......................................................................................................... 15- 1
15.1.1 Summary................................................................................................................................ 15- 1
15.1.2 Servo system with auxiliary equipment.................................................................................. 15- 2
15.2 Signals and wiring......................................................................................................................... 15- 3
15.3 Operation and functions................................................................................................................ 15- 4
15.3.1 Startup procedure .................................................................................................................. 15- 5
15.3.2 Magnetic pole detection ......................................................................................................... 15- 6
15.3.3 Operation from controller ...................................................................................................... 15-14
15.3.4 Function................................................................................................................................. 15-15
15.4 Characteristics ............................................................................................................................. 15-17
15.4.1 Overload protection characteristics ...................................................................................... 15-17
15.4.2 Power supply capacity and generated loss .......................................................................... 15-18
15.4.3 Dynamic brake characteristics .............................................................................................. 15-19

6
16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-24
16.1 Functions and configuration ......................................................................................................... 16- 1
16.1.1 Function block diagram.......................................................................................................... 16- 1
16.1.2 Selecting procedure of control mode ..................................................................................... 16- 3
16.1.3 System configuration.............................................................................................................. 16- 4
16.2 Load-side encoder ........................................................................................................................ 16- 5
16.2.1 Linear encoder ....................................................................................................................... 16- 5
16.2.2 Rotary encoder....................................................................................................................... 16- 5
16.2.3 Configuration diagram of encoder cable................................................................................ 16- 5
16.2.4 MR-J4FCCBL03M branch cable............................................................................................ 16- 6
16.3 Operation and functions................................................................................................................ 16- 7
16.3.1 Startup.................................................................................................................................... 16- 7
16.3.2 Home position return............................................................................................................. 16-14
16.3.3 Operation from controller ...................................................................................................... 16-17
16.3.4 Fully closed loop control error detection functions................................................................ 16-19
16.3.5 Auto tuning function .............................................................................................................. 16-20
16.3.6 Machine analyzer function .................................................................................................... 16-20
16.3.7 Test operation mode ............................................................................................................. 16-20
16.3.8 Absolute position detection system under fully closed loop system..................................... 16-21
16.3.9 About MR Configurator2 ....................................................................................................... 16-22
17. APPLICATION OF FUNCTIONS 17- 1 to 17-58
17.1 J3 compatibility mode ................................................................................................................... 17- 1
17.1.1 Outline of J3 compatibility mode ............................................................................................ 17- 1
17.1.2 Operation modes supported by J3 compatibility mode.......................................................... 17- 2
17.1.3 J3 compatibility mode supported function list ........................................................................ 17- 2
17.1.4 How to switch J4 mode/J3 compatibility mode ...................................................................... 17- 5
17.1.5 How to use the J3 compatibility mode ................................................................................... 17- 6
17.1.6 Cautions for switching J4 mode/J3 compatibility mode ......................................................... 17- 7
17.1.7 Cautions for the J3 compatibility mode.................................................................................. 17- 7
17.1.8 Change of specifications of "J3 compatibility mode" switching process................................ 17- 9
17.1.9 J3 extension function ............................................................................................................ 17-12
17.2 Scale measurement function ....................................................................................................... 17-53
17.2.1 Functions and configuration.................................................................................................. 17-53
17.2.2 Scale measurement encoder................................................................................................ 17-55
17.2.3 How to use scale measurement function.............................................................................. 17-57
18. MR-J4W2-0303B6 SERVO AMPLIFIER 18- 1 to 18-54
18.1 Functions and configuration ......................................................................................................... 18- 1
18.1.1 Summary................................................................................................................................ 18- 1
18.1.2 Function block diagram.......................................................................................................... 18- 2
18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3
18.1.4 Combinations of servo amplifiers and servo motors.............................................................. 18- 4
18.1.5 Function list ............................................................................................................................ 18- 5
18.1.6 Model definition ...................................................................................................................... 18- 7
18.1.7 Parts identification.................................................................................................................. 18- 8
18.1.8 Configuration including peripheral equipment ....................................................................... 18- 9
18.2 Installation.................................................................................................................................... 18-10

7
18.2.1 Installation direction and clearances..................................................................................... 18-11
18.2.2 Installation by DIN rail ........................................................................................................... 18-13
18.3 Signals and wiring........................................................................................................................ 18-15
18.3.1 Input power supply circuit ..................................................................................................... 18-16
18.3.2 Explanation of power supply system..................................................................................... 18-18
18.3.3 Selection of main circuit power supply/control circuit power supply..................................... 18-22
18.3.4 Power-on sequence .............................................................................................................. 18-22
18.3.5 I/O Signal Connection Example ............................................................................................ 18-23
18.3.6 Connectors and pin assignment ........................................................................................... 18-26
18.3.7 Signal (device) explanations ................................................................................................. 18-27
18.3.8 Alarm occurrence timing chart .............................................................................................. 18-34
18.3.9 Interfaces .............................................................................................................................. 18-36
18.3.10 Grounding ........................................................................................................................... 18-39
18.4 Startup ......................................................................................................................................... 18-40
18.4.1 Startup procedure ................................................................................................................. 18-41
18.4.2 Troubleshooting when "24V ERROR" lamp turns on............................................................ 18-42
18.4.3 Wiring check.......................................................................................................................... 18-42
18.4.4 Surrounding environment...................................................................................................... 18-43
18.5 Switch setting and display of the servo amplifier......................................................................... 18-44
18.6 Dimensions .................................................................................................................................. 18-45
18.7 Characteristics ............................................................................................................................. 18-46
18.7.1 Overload protection characteristics ...................................................................................... 18-46
18.7.2 Power supply capacity and generated loss .......................................................................... 18-47
18.7.3 Dynamic brake characteristics .............................................................................................. 18-47
18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-49
18.8 Options and peripheral equipment .............................................................................................. 18-50
18.8.1 Cable/connector sets ............................................................................................................ 18-51
18.8.2 Combinations of cable/connector sets.................................................................................. 18-51
18.8.3 Selection example of wires ................................................................................................... 18-53
18.8.4 Circuit protector..................................................................................................................... 18-54
APPENDIX App.- 1 to App.-47
App. 1 Auxiliary equipment manufacturer (for reference) ................................................................App.- 1
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................App.- 1
App. 3 Symbol for the new EU Battery Directive..............................................................................App.- 3
App. 4 Compliance with global standards ........................................................................................App.- 4
App. 5 MR-J3-D05 Safety logic unit ................................................................................................App.-19
App. 6 EC declaration of conformity................................................................................................App.-37
App. 7 How to replace servo amplifier without magnetic pole detection.........................................App.-39
App. 8 Two-wire type encoder cable for HG-MR/HG-KR................................................................App.-40
App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &
Service .................................................................................................................................App.-42
App. 10 CNP_crimping connector .....................................................................................................App.-42
App. 11 Recommended cable for servo amplifier power supply.......................................................App.-43
App. 12 Amplifier without dynamic brake ..........................................................................................App.-45
App. 13 Driving on/off of main circuit power supply with DC power supply ......................................App.-46

8
MEMO

1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
POINT
In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with
48 V DC and 24 V DC power supplies are available as MR-J4W2-0303B6. Refer
to chapter 18 for details of MR-J4W2-0303B6 servo amplifiers.
1.1 Summary
The MELSERVO-J4 series of multi-axis servo amplifiers inherits the high performance, sophisticated
functions, and usability of the MR-J4-B servo amplifiers, and ensures space saving, reduced wiring, and
energy saving.
The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the fast
synchronization network, SSCNET III/H. The servo amplifier directly receives a command from a controller to
drive a servo motor.
One MR-J4W_-B servo amplifier can drive two or three servo motors. The footprint of one MR-J4W_-B servo
amplifier is considerably smaller than that of two or three MR-J4-B servo amplifiers. You can install MR-
J4W_-B servo amplifiers without clearance between them. This makes your system more compact.
The multi-axis structure enables multiple axes to share the SSCNET III cable, control circuit power supply
cable, and main circuit power supply cable. This ensures reduced wiring.
For the MR-J4W_-B servo amplifier, the parameter settings allows you to use a rotary servo motor, linear
servo motor, and direct drive motor for each axis. The axes can be connected to a rotary servo motor, linear
servo motor, and direct drive motor, which have different capacity. Using a linear servo motor or direct drive
motor simplifies the system, and using the MR-J4W_-B servo amplifier downsizes the equipment, enhances
the equipment performance, and ensures space saving.
Using regenerative energy generated when a servo motor decelerates ensures energy saving.
Depending on the operating conditions, the regenerative option is not required.
As the MR-J4-B servo amplifier, the MR-J4W_-B servo amplifier supports the one-touch tuning and the real-
time auto tuning. This enables you to easily adjust the servo gain according to the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4W_-B servo amplifier supports the improved functions. Additionally,
the preventive maintenance support function detects an error in the machine parts. This function provides
strong support for the machine maintenance and inspection.
On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.
This allows you to create a large system.
The MR-J4W_-B servo amplifier supports the Safe Torque Off (STO) function. When the MR-J4W_-B servo
amplifier is connected to a SSCNET III/H-compatible servo system controller, in addition to the STO function,
the servo amplifier also supports the Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS),
Safely-Limited Speed (SLS), Safe Brake Control (SBC), and Safe Speed Monitor (SSM) functions.
The MR-J4W_-B servo amplifier has a USB communication interface. Therefore, you can connect the servo
amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test
operation, gain adjustment, and others.

1. FUNCTIONS AND CONFIGURATION
1 - 2
Table 1.1 Connectors to connect from external encoders
Operation mode External encoder communication method Connector
MR-J4W2-_B MR-J4W3-_B
Linear servo motor system
Two-wire type CN2A (Note 1)
CN2B (Note 1)
CN2A (Note 1)
CN2B (Note 1)
CN2C (Note 1)
Four-wire type
A/B/Z-phase differential output method
Fully closed loop system
Two-wire type CN2A (Note 2, 3, 4)
CN2B (Note 2, 3, 4)
Four-wire type (Note 6)
A/B/Z-phase differential output method
Scale measurement function
Two-wire type CN2A (Note 2, 3, 5)
CN2B (Note 2, 3, 5)
Four-wire type (Note 6)
A/B/Z-phase differential output method
Note 1. The MR-J4THCBL03M branch cable is necessary.
2. The MR-J4FCCBL03M branch cable is necessary.
3. When the communication method of the servo motor encoder is four-wire type and A/B/Z-phase differential output
method, MR-J4W2-_B cannot be used. Use an MR-J4-_B-RJ.
4. This is used with servo amplifiers with software version A3 or later.
5. This is used with servo amplifiers with software version A8 or later.
6. The synchronous encoder Q171ENC-W8 cannot be used due to the four-wire type.

1. FUNCTIONS AND CONFIGURATION
1 - 3
1.2 Function block diagram
The function block diagram of this servo is shown below.
Virtual
encoder
Virtual
motor
B-axis Servo motor
A-axis Servo motor
C-axis Servo motor
Control (A-axis)
U
V
W
U
V
W
U
V
W
Cooling fan
(Note 1)
Built-in
regenerative
resistor
STO circuit
Servo amplifier
or cap
Servo system
controller or
servo amplifier
STO switch
M
E
M
E
M
E
Regenerativ
e
option
CHARGE
lamp
Diode
stack Relay
Regene-
rative
TR
Current
detector
CNP1
TRM (A)
CNP2
P+ C D
MCCB MC
(Note 2)
Powe
r
s
uppl
y
Model position
control (A)
Model speed
control (A)
Actual position
control (A)
Actual speed
control (A)
Current
control (A)
CNP2
Control
circuit
power
supply Base
amplifier Overcurrent
(A)
Current
detection
(A)
Overvoltage
I/F
Control
Dynamic
brake circuit (A)
CNP3ACN2ACNP3BCN2BCNP3CCN2C
A-axis
output
B-axis
output
C-axis
output
A-axis
F/B
B-axis
F/B
C-axis
F/B
Control (B-axis)
Control (C-axis)
L1
L2
L3
L11
L21
CN8CN1ACN1B
+
+
U
U U
CN5
USB
Personal
computer
Digital I/O
control
MR-BT6VCASE
Battery case +
Battey
(for absolute position
detection system)
Step-down
circuit
CN3
CN4
Note 1. The MR-J4W2-22B has no cooling fan.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3.