Mitsubishi Electric MELSERVO-J4 series User manual

SH (NA) 030119-A (1302) MEE Printed in Japan Specifications subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-J4-_A4(-RJ) MR-J4_B4(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_A4(-RJ) MR-J4_B4(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
General-Purpose Interface/SSCNET
/H Interface
1CW812
MR-J4-A4 MR-J4-B4
INSTRUCTIONMANUAL

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

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

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

A - 4
CAUTION
When you disinfect or protect wooden packing from insects, take measures except by fumigation.
Fumigating the servo amplifier or packing the servo amplifier with fumigated wooden packing can cause
a malfunction of the servo amplifier due to halogen materials (such as fluorine, chlorine, bromine, and
iodine) which are contained in fumigant.
The servo amplifier must not be used with parts which contain halogen-series flame retardant materials
(such as bromine) under coexisting conditions.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF-H) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The 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 amplifie
r
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts in servo-on status.

A - 5
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the EMG stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(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.

A - 6
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
STO function of the servo amplifier
When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_A(-RJ) Servo Amplifier
Instruction Manual" or "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual".
For the MR-J3-D05 safety logic unit, refer to appendix 5 of "MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual" or "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual".
Compliance with global standards
Refer to Appendix 1 for the compliance with global standard.
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.
MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos (packed with the
servo amplifier)
IB(NA)0300197
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 Linear Encoder Instruction Manual (Note 2, 3) 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 fully closed loop system.

A - 7
This Instruction Manual does not describe the following items. These items are the same as those for MR-
J4-_A(-RJ) or MR-J4-_B(-RJ) servo amplifier. For details of the items, refer to each chapter/section of the
detailed explanation field.
Model Item Detailed explanation
MR-J4-_A4(-RJ) Normal gain adjustment MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
chapter 6
Special adjustment functions (except
"Compliance with SEMI-F47 standard") (Note)
MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
chapter 7
Absolute position detection system MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
chapter 12
Using STO function MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
chapter 13
Communication function MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
chapter 14
MR-J4-_B4(-RJ) Normal gain adjustment MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
chapter 6
Special adjustment functions (except
"Compliance with SEMI-F47 standard") (Note)
MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
chapter 7
Absolute position detection system MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
chapter 12
Using STO function MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
chapter 13
Using fully closed loop system MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
chapter 16
Note. For compliance with SEMI-F47 standard, refer to appendix 4.
«Cables used for wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C.

A - 8
MEMO

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-40
1.1 Function block diagram...................................................................................................................... 1- 2
1.1.1 For MR-J4-_A4(-RJ).................................................................................................................... 1- 2
1.1.2 For MR-J4-_B4(-RJ).................................................................................................................... 1- 6
1.2 Servo amplifier standard specifications ............................................................................................ 1-10
1.2.1 For MR-J4-_A4(-RJ)................................................................................................................... 1-10
1.2.2 For MR-J4-_B4(-RJ)................................................................................................................... 1-12
1.3 Combinations of servo amplifiers and servo motors......................................................................... 1-13
1.4 Model designation............................................................................................................................. 1-14
1.5 Structure............................................................................................................................................ 1-14
1.5.1 Parts identification ...................................................................................................................... 1-14
1.6 Configuration including peripheral equipment .................................................................................. 1-27
1.6.1 For MR-J4-_A4(-RJ)................................................................................................................... 1-27
1.6.2 For MR-J4-_B4(-RJ)................................................................................................................... 1-34
2. INSTALLATION 2- 1 to 2- 4
2.1 Installation direction and clearances.................................................................................................. 2- 2
3. SIGNALS AND WIRING 3- 1 to 3-18
3.1 MR-J4-_A4(-RJ)................................................................................................................................. 3- 3
3.1.1 Input power supply circuit............................................................................................................ 3- 3
3.1.2 Explanation of power supply system........................................................................................... 3- 7
3.2 MR-J4-_B4(-RJ)................................................................................................................................ 3-11
3.2.1 Input power supply circuit........................................................................................................... 3-11
3.2.2 Explanation of power supply system.......................................................................................... 3-15
4. STARTUP (WIRING CHECK) 4- 1 to 4- 4
4.1 Power supply system wiring............................................................................................................... 4- 2
4.2 I/O signal wiring ................................................................................................................................. 4- 3
5. PARAMETERS 5- 1 to 5-26
5.1 MR-J4-_A4(-RJ)................................................................................................................................. 5- 1
5.1.1 Parameter list .............................................................................................................................. 5- 1
5.1.2 Detailed list of parameters.......................................................................................................... 5-10
5.2 MR-J4-_B4(-RJ)................................................................................................................................ 5-14
5.2.1 Parameter list ............................................................................................................................. 5-14
5.2.2 Detailed list of parameters.......................................................................................................... 5-23
6. TROUBLESHOOTING 6- 1 to 6-16
6.1 MR-J4-_A4(-RJ)................................................................................................................................. 6- 1
6.1.1 Alarm and warning list ................................................................................................................. 6- 1
6.2 MR-J4-_B4(-RJ)................................................................................................................................. 6- 9
6.2.1 Alarm and warning list ................................................................................................................. 6- 9