Mitsubishi Electric Melservo-J4 MR-J4-DU*B4-RJ100 Series User manual

General-Purpose AC Servo
SSCNET III/H Interface
Drive Unit Instruction Manual
-MR-J4-DU_B4-RJ100

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".
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.
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.
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
minor or moderate injury or property damage.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .

2
[To prevent electric shock, note the following]
[To prevent fire, note the following]
WARNING
●Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then,
confirm that the voltage between L+ and L- is safe with a voltage tester or 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 converter unit.
●Ground the converter unit, drive unit, 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 converter unit, drive unit, and servo motor until they have been installed.
Otherwise, it may cause an electric shock.
●Do not operate the 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 converter unit and the drive unit.
Otherwise, it may cause an electric shock.
●Do not operate the converter unit and the drive unit with the front cover removed. High-voltage
terminals and charging area are exposed and you may get an electric shock.
●Except for wiring or periodic inspection, do not remove the front cover of the converter unit and the
drive unit even if the power is off. The converter unit and the drive unit are 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
converter unit and the drive unit to the protective earth (PE) of the cabinet.
●To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
●Install the converter unit, the drive unit, the servo motor, and the 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/L3) of the converter unit, in order to configure a circuit that shuts off the power supply by the
magnetic contactor. If the magnetic contactor is not connected, a continuous flow of a large current
may cause smoke or a fire when the converter unit or the drive unit malfunctions.
●Be sure to connect a magnetic contactor for each converter unit between the power supply and the
power supply (L1/L2/L3) of the converter unit, in order to configure a circuit that shuts off the power
supply by the magnetic contactor. 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 converter unit malfunctions.
●When using the regenerative resistor, shut the power off with an 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 converter unit, the drive unit, and the servo motor.

3
[To prevent injury, note the following]
[Additional instructions]
CAUTION
●Only the power/signal specified in the Instruction Manual should be applied to each terminal.
Otherwise, it may cause an electric shock, fire, injury, etc.
●Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.
●Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.
●The heat sink of the converter unit and drive unit, the regenerative resistor, the servo motor, etc. may
be hot while 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.
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire,
etc.

4
[Transportation and installation]
CAUTION
●Transport the products correctly according to their mass.
●Use the eyebolts of the converter unit and of the drive unit only for transporting. Do not use the
eyebolts for transporting with the converter unit and the drive unit mounted on a machine.
●Do not overtighten the eyebolts of the converter unit and of the drive unit. Tightening too hard may
damage the tap.
●Stacking in excess of the specified number of product packages is not allowed.
●Do not hold the front cover, cables, or connectors when carrying the converter unit and drive unit.
Otherwise, it may drop.
●Install the converter unit, the drive unit, 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. Otherwise, it may cause injury.
●The equipment must be installed in the specified direction.
●Maintain specified clearances between the converter unit/drive unit and the inner surfaces of a control
cabinet or other equipment.
●Do not install or operate the converter unit, the drive unit, and the servo motor which have been
damaged or have any parts missing.
●Do not block the intake and exhaust areas of the converter unit and the drive unit. Otherwise, it may
cause a malfunction.
●Do not drop or apply heavy impact on the converter units, the drive units, and the servo motors.
Otherwise, it may cause injury, malfunction, etc.
●Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
●When you keep or use the equipment, please fulfill the following environment.
●When the equipment has been stored for an extended period of time, contact your local sales office.
●When handling the converter unit and the drive unit, be careful with the sharp edges of the converter
unit and drive unit.
●The converter unit and the drive unit 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.
●To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount,
and wire the servo motor in accordance with the Instruction Manual.
Item Environment
Ambient
temperature
Operation
Storage
Ambient
humidity
Operation
Storage
Ambience
Altitude
Vibration resistance
0 °C to 55 °C (non-freezing)
-20 °C to 65 °C (non-freezing)
5 %RH to 90 %RH (non-condensing)
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
2000 m or less above sea level (Contact your local sales office for the altitude for options.)
5.9 m/s
2
, at 10 Hz to 55 Hz (X, Y, Z axes)

5
[Wiring]
CAUTION
●Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
●Make sure to connect the cables and connectors by using the fixing screws and the locking
mechanism. Otherwise, the cables and connectors may be disconnected during operation.
●Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the drive unit
output side.
●To avoid a malfunction of the servo motor, connect the wires to the correct phase terminals (U/V/W) of
the drive unit and the servo motor.
●Connect the drive unit power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not
connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.
●The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated
otherwise.
●Install the surge absorbing diode to the DC relay for control output signals in the converter unit and the
drive unit in the specified direction. Otherwise, the converter unit and the drive unit will malfunction
and will not output signals, disabling the emergency stop and other protective circuits.
●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 drive unit may cause a
malfunction.
●To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 or EM1 when the
main circuit power is turned off.
●To prevent malfunction, avoid bundling the power lines (input/output) of the converter unit and the
signal cables together or running them in parallel to each other. Separate the power lines from the
signal cables.
U
Servo motor
MV
W
U
V
W
Drive unit
U
Servo motor
MV
W
U
V
W
Drive unit
DOCOM
Control
output signal
Control
output signal
24 V DC
Converter unit
Drive unit
RA
For sink output interface
DOCOM
24 V DC
Converter unit
Drive unit
RA
For source output interface

6
[Test run and adjustment]
[Usage]
CAUTION
●When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it
may cause a malfunction, damage to the machine, or injury.
●Before operation, check and adjust the parameter settings. Improper settings may cause some
machines to operate unexpectedly.
●Never make a drastic adjustment or change to the parameter values as doing so will make the
operation unstable.
●Do not get close to moving parts during the servo-on status.
CAUTION
●For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
●Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire,
injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty.
●Before resetting an alarm, make sure that the run signal of the drive unit is off 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 converter unit and the drive unit.
●Do not burn or destroy the converter unit and the drive unit. Doing so may generate a toxic gas.
●Use the converter unit and the drive unit with the specified servo motor.
●Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
●The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
●For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw
and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor
shaft. To ensure safety, install a stopper on the machine side.
●If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by
an external force. Otherwise, it may cause a fire.

7
[Corrective actions]
[Maintenance, inspection and parts replacement]
[General instruction]
CAUTION
●Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
●If it is assumed that a power failure, machine stoppage, or product malfunction may result in a
hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake
system for holding purpose to prevent such hazard.
●Configure an electromagnetic brake circuit which is interlocked with an external emergency stop
switch.
●When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart
operation.
●If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the converter unit and drive unit, and recheck the
wiring. Otherwise, it may cause smoke, fire, or an electric shock.
●Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
●To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural
disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and
equipment before switching the power on.
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 converter unit and the drive unit be replaced every 10 years when it is
used in general environment.
●When using a converter unit or a drive unit whose power has not been turned on for a long time,
contact your local sales office.
●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.
Servo motor
Electromagnetic brake
B
U
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

8
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 converter unit and the drive unit 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 DRIVE UNIT
When using the STO function of the drive unit, refer to chapter 13 of “MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
For the MR-J3-D05 safety logic unit, refer to app. 5 of “MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
COMPLIANCE WITH GLOBAL STANDARDS
For compliance with global standards, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Instruction Manual".