Mitsubishi Electric MELSERVO MR-J4-B-LL Series User manual

SH(NA)030241-A(1606)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-_B_-LL SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL (SERVO AMPLIFIER)
MR-J4-_B_-LL
SSCNET /H Interface AC Servo for Pressure Control
SERVO AMPLIFIER
INSTRUCTION MANUAL
MODEL (DRIVE UNIT)
MR-J4-DU_B_-LL

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 depending on 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, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit)
until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (between L+ and L- for
converter unit) 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, be sure to 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.
Be sure to 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 off the power supply by
the magnetic contactor. If a magnetic contactor is not connected, continuous flow of a large current may
cause smoke or a fire when the servo amplifier malfunctions.
Be sure to connect a molded-case circuit breaker or a fuse to each servo amplifier between the main
circuit power supply and the power supply (L1, L2, and L3) of the servo amplifier, in order to configure a
circuit that shuts off the power supply by the molded-case circuit breaker or the fuse. If a molded-case
circuit breaker or fuse is not connected, a continuous flow of a large current may cause smoke or a fire
when the servo amplifier malfunctions.
When using a regenerative resistor, shut the power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

A - 3
3. To prevent injury, note the following
CAUTION
Only the 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 the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover 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 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.
As the servo amplifiers and the servo motors are delicate products, avoid dropping or heavy impact.
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 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
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 a 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 a malfunction when entering
our products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation, such as heat treatment.
Additionally, disinfect and protect wood from insects before packing the products.

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 (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 outputs (U, V, and W) to the servo motor power inputs (U, V, and W)
directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a
malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the servo amplifier will malfunction and will not output signals, disabling the
emergency stop and other protective circuits.
DOCOM
Control output
signal
Servo amplifier
RA
For sink output interface
24 V DC
DOCOM
Control output
signal
24 V DC
Servo amplifie
r
RA
For source output interface
When the wires are not tightened enough to the terminal block, the wires or terminal block may generate
heat because of the poor contact. Be sure to tighten the wires with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
(3) Test run and adjustment
CAUTION
Before operation, check and adjust the parameter settings. Improper settings may cause some machines
to operate unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.

A - 5
(4) Usage
CAUTION
Provide an external emergency stop circuit to stop the operation and shut the power 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 affect the electronic equipment used near the servo amplifier.
Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.
Use the servo amplifier with the specified servo motor.
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
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure or product malfunction may result in a hazardous situation, use a
servo motor with an electromagnetic brake or provide an external brake system for holding purpose to
prevent such hazard.
Configure an electromagnetic brake circuit, which is activated by an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the emergency stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
U
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using the servo amplifier that has not been energized for an extended period of time, contact your
local sales office.

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
The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety
standard.
Refer to Appendix 14 for schedule.
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 manual»
You must have this Instruction Manual and the following manuals to use this servo. Be sure to prepare all
the instruction manuals necessary to use the servo safely.
Servo amplifiers and drive units are written as servo amplifiers in this manual under certain
circumstances, unless otherwise stated.
Relevant manuals
Manual name Manual No.
MR-J4-_B(-RJ) Servo Amplifier Instruction Manual SH(NA)030106
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109
MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual (Note 2) SH(NA)030153
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113
EMC Installation Guidelines IB(NA)67310
Note 1. It is necessary for using a rotary servo motor.
2. It is necessary for using an MR-J4-DU_B_(-RJ) drive unit and MR-CR55K_ converter unit.
This Instruction Manual does not describe the following items. The following are the same as those for
MR-J4-_B Servo amplifiers. For the details of the items, refer to each chapter/section indicated in the
detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
"MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".
Item Detailed explanation
INSTALLATION MR-J4-_B_ chapter 2
MR-J4-_DU_ chapter 2
STARTUP MR-J4-_B_ chapter 4
MR-J4-_DU_ chapter 4
NORMAL GAIN ADJUSTMENT (Note) MR-J4-_B_ chapter 6
SPECIAL ADJUSTMENT FUNCTIONS (Note) MR-J4-_B_ chapter 7
DIMENSIONS MR-J4-_B_ chapter 9
MR-J4-_DU_ chapter 7
CHARACTERISTICS MR-J4-_B_ chapter 10
MR-J4-_DU_ chapter 8
ABSOLUTE POSITION DETECTION SYSTEM MR-J4-_B_ chapter 12
USING STO FUNCTION MR-J4-_B_ chapter 13
Note. Refer to chapter 4 for adjustment of pressure control.
«Cables used for wiring»
Wires mentioned in this Instruction Manual are selected based on an ambient temperature of 40 ˚C.

A - 8
MEMO

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-20
1.1 Summary........................................................................................................................................... 1- 1
1.2 Function block diagram..................................................................................................................... 1- 2
1.3 Standard specifications..................................................................................................................... 1- 3
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-13
1.5 Combinations of converter units, drive units and servo motors....................................................... 1-14
1.6 Function list...................................................................................................................................... 1-15
1.7 Model designation............................................................................................................................ 1-18
2. SIGNALS AND WIRING 2- 1 to 2-14
2.1 Input power supply circuit ................................................................................................................. 2- 2
2.2 I/O signal connection example.......................................................................................................... 2- 3
2.2.1 For sink I/O interface.................................................................................................................. 2- 3
2.2.2 For source I/O interface ............................................................................................................. 2- 5
2.3 Connectors and pin assignment ....................................................................................................... 2- 6
2.4 Signal (device) explanations............................................................................................................. 2- 7
2.4.1 Input device ................................................................................................................................ 2- 7
2.4.2 Output device ............................................................................................................................. 2- 8
2.4.3 Input signal ................................................................................................................................ 2-10
2.4.4 Output signal ............................................................................................................................. 2-10
2.4.5 Power supply............................................................................................................................. 2-10
2.5 Interfaces ......................................................................................................................................... 2-11
2.5.1 Internal connection diagram...................................................................................................... 2-11
2.5.2 Detailed explanation of interfaces............................................................................................. 2-12
2.5.3 Source I/O interfaces ................................................................................................................ 2-14
3. PARAMETERS 3- 1 to 3-18
3.1 Parameter list.................................................................................................................................... 3- 1
3.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 3- 2
3.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 3- 3
3.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 3- 4
3.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 3- 6
3.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 3- 7
3.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])............................................................................ 3- 8
3.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ................................................ 3- 9
3.1.8 Pressure control parameters ([Pr. PT_ _ ])............................................................................... 3-10
3.2 Detailed list of parameters ............................................................................................................... 3-11
3.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 3-11
3.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 3-12
3.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 3-13
3.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 3-14
3.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 3-14
3.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 3-14
3.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 3-14
3.2.8 Pressure control parameters ([Pr. PT_ _ ])............................................................................... 3-15