MITSUBISHI ELECTRICMITSUBISHI ELECTRICINDUSTRIAL AUTOMATIONMELSERVOServo Amplifiers and MotorsBeginners ManualMR-J4-A(-RJ)/A4(-RJ)MR-J4-B(-RJ)/B4(-RJ)
Safety GuidelinesIVSpecific safety information and precautionsThe following safety precautions are intended as a general guideline for using PLC syste
Installation and wiring Wiring examples4 - 42For connecting servo motor power wires, refer to “Servo Motor Instruction Manual (Vol. 3)”.Use a magnet
EM-Compatible Installation Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 434.11 EM-Compatible InstallationFast switching o
Installation and wiring EM-Compatible Installation4 - 444.11.2 WiringAll analog and digital signal cables should be shielded or routed in metal cable
EM-Compatible Installation Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 454.11.3 Optional EMC filtersEMC filters (mains
Installation and wiring EM-Compatible Installation4 - 46
Preparations StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 15Startup5.1 PreparationsBefore switching on the servo amplifier for the first
Startup Startup of servo amplifier series MR-J4-A(-RJ)5 - 25.2 Startup of servo amplifier series MR-J4-A(-RJ)5.2.1 Power on and off the servo amplif
Startup of servo amplifier series MR-J4-A(-RJ) StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 35.2.2 Stop of operationIf any of the follow
Startup Startup of servo amplifier series MR-J4-A(-RJ)5 - 45.2.3 Test operationBefore starting actual operation, perform test operation to make sure t
Startup of servo amplifier series MR-J4-A(-RJ) StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 55.2.4 Parameter settingIn the position contr
Safety GuidelinesBeginners Manual Servo Amplifiers MELSERVO J4 VSpecific safety precautionsbWARNING:● Install the servo equipment with full considera
Startup Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B5 - 65.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B5.3.1 Power o
Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 75.3.2 Stop of operationIf any
Startup Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B5 - 85.3.3 Test operationBefore starting actual operation, perform test operation t
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 16 Operation and Settings6.1
Operation and Settings Display and operation section of MR-J4-A series6 - 26.1.2 Display flowchart MR-J4-APress the “MODE” button once to shift to th
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 36.1.3 Status display mode M
Operation and Settings Display and operation section of MR-J4-A series6 - 4
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 5The displays in the frames
Operation and Settings Display and operation section of MR-J4-A series6 - 6The displays in the frames are the standard control modes in one cycle wit
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 76.1.4 Display flowchart MR-J
Safety GuidelinesVIStructureEnvironmentOperate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this pur-pose, i
Operation and Settings Display and operation section of MR-J4-A series6 - 8When the axis name is set to the servo amplifier using MR Configurator2, t
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 9Display transitionAfter sele
Operation and Settings Display and operation section of MR-J4-A series6 - 10The displays in the frames are from the cumulative feedback pulses of pos
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 11The displays in the frames
Operation and Settings Display and operation section of MR-J4-A series6 - 126.1.6 Display examples6.1.7 Changing the status display screenThe status
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 136.1.8 Alarm modeThe current
Operation and Settings Display and operation section of MR-J4-A series6 - 14NOTES Any mode screen displays the current alarm.Even during alarm occurre
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 156.1.9 Parameter modeParamet
Operation and Settings Display and operation section of MR-J4-A series6 - 16To shift to the next parameter, press the “UP” or “DOWN” button.When chang
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 176.1.10 Test operation modeM
Typographic ConventionsBeginners Manual Servo Amplifiers MELSERVO J4 VIITypographic ConventionsUse of notesNotes containing important information are
Operation and Settings Display and operation section of MR-J4-A series6 - 18JOG operationJOG operation can be performed when there is no command from
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 19Positioning operationPositi
Operation and Settings Display and operation section of MR-J4-A series6 - 20! Enable repeat operation To perform repeat operation, click the check. Th
Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 21Motor-less operationWithout
Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 226.2 Display and operation section of MR-J4-B(-RJ) seriesOn the servo
Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 236.2.2 Scrolling displa
Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 246.2.3 Display sequenceThe segment of the last 2 digits shows the axi
Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 256.2.4 Test operationBy
Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 26● Positioning operationPositioning operation can be performed without
Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 27● Output signal (DO) f
Typographic ConventionsVIII
Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 286.2.5 Motor-less operation in controllerMotor-less operationWithout
Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 29Operation procedure S
Operation and Settings Display and operation section of MR-J4W-B series6 - 306.3 Display and operation section of MR-J4W-B seriesOn the servo amplifi
Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 316.3.2 Scrolling displayDis
Operation and Settings Display and operation section of MR-J4W-B series6 - 326.3.3 Display sequenceThe segment of the last 2 digits shows the axis nu
Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 336.3.4 Test operationBy usi
Operation and Settings Display and operation section of MR-J4W-B series6 - 34● Positioning operationPositioning operation can be performed without usi
Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 35● Output signal (DO) force
Operation and Settings Display and operation section of MR-J4W-B series6 - 366.3.5 Motor-less operation in controllerMotor-less operationWithout conn
Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 37Operation procedure Set t
Table of ContentsBeginners Manual Servo Amplifiers MELSERVO J4 1Table of Contents1 Introduction1.1 What is a servo amplifier?. . . . . . . . . . . .
Operation and Settings Display and operation section of MR-J4W-B series6 - 38
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 17 Parameters7.1 MR-J4-A7.1.1 Basic setting parametersbWARNING:● Never make a dr
Parameters MR-J4-A7 - 2Parameters PANo. Symbol NameInitial valueUnitOperation modeControl modeStandardFull.Lin.DDPSTPA01 *STY Operation mode 1000H—
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 3Description of basic setting parametersNumber Symbol Initial value Unit Setting
Parameters MR-J4-A7 - 4PA03 *ABS 0000HRefer to text PAbsolute position detection systemSet this parameter when using the absolute position detection s
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 5PA06 CMX 1 1–16777215 PElectronic gear numerator (command pulse multiplication n
Parameters MR-J4-A7 - 6PA08 ATU 0001HRefer to text P SAuto tuning modeGain adjustment mode selectionSetting value Gain adjustment mode Automatically a
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 7PA09 RSP 16 1–40 P SAuto tuning responseSet a response of the auto tuning.Settin
Parameters MR-J4-A7 - 8PA13 *PLSS 0100HRefer to text PCommand pulse input formSetting value Pulse train formForward rotation (positive direction) com
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 9PA14 *POL 0 0, 1 PRotation direction selection/travel direction selectionSelect
Table of Contents23.3 Direct drive servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameters MR-J4-A7 - 10PA17 *MSR 0000HRefer to text P S TServo motor series settingWhen you use a linear servo motor, select its model from parameter
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 11PA19 *BLK 00AAHRefer to text P S TParameter writing inhibitSelect a reference r
Parameters MR-J4-A7 - 12PA21 *AOP3 0001HRefer to text P (S)Function selection A-3PA23 DRAT 0000HRefer to text P S TDrive recorder arbitrary alarm trig
MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 13PA26 *AOP5 0000HRefer to text P SFunction selection A-5Number Symbol Initial va
Parameters MR-J4-A-RJ7 - 147.2 MR-J4-A-RJ7.2.1 Basic setting parametersNOTES To enable a parameter whose symbol is preceded by *, cycle the power aft
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 15Parameters PANo. Symbol NameInitial valueUnitOperation modeControl modeSta
Parameters MR-J4-A-RJ7 - 16Description of basic setting parametersNumber Symbol Initial value Unit Setting rangeControl modePA01 *STY 1000HRefer to te
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 17PA03 *ABS 0000HRefer to text CP CL PSAbsolute position detection systemSetti
Parameters MR-J4-A-RJ7 - 18PA06 *CMX 1 1–16777215 CP CLElectronic gear numerator (command pulse multiplication numerator)Set an electronic gear numera
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 19PA08 ATU 0001HRefer to text CP CL PSAuto tuning modeGain adjustment mode sel
Table of Contents35.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65.3.1 Po
Parameters MR-J4-A-RJ7 - 20PA09 RSP 16 1–40 CP CL PSAuto tuning responseSet a response of the auto tuning.Setting valueMachine characteristicSetting v
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 21PA11 TLP 100.0 % 0.0–100.0 CP CL PSForward rotation torque limit/positive di
Parameters MR-J4-A-RJ7 - 22PA13 *PLSS 0100HRefer to text CP CLCommand pulse input formSetting value Pulse train formForward rotation (positive direct
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 23PA14 *POL 0 0, 1 CP CL PSRotation direction selection/travel direction selec
Parameters MR-J4-A-RJ7 - 24PA17 *MSR 0000HRefer to text CP CLServo motor series settingWhen you use a linear servo motor, select its model from parame
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 25PA19 *BLK 00AAHRefer to text CP CL PSParameter writing inhibitSelect a refer
Parameters MR-J4-A-RJ7 - 26PA21 *AOP3 0001HRefer to text CP CL PSFunction selection A-3PA23 DRAT 0000HRefer to text CP CL PSDrive recorder arbitrary a
MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 27PA26 *AOP5 0000HRefer to text CP CL PSFunction selection A-5Number Symbol In
Parameters MR-J4-B(-RJ)7 - 287.3 MR-J4-B(-RJ)7.3.1 Basic setting parametersNOTES When you connect the amplifier to a servo system controller, servo p
MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 29Parameters PANo. Symbol NameInitial valueUnitOperation modeStandardFull.
Table of Contents48Troubleshooting8.1 Alarm and warning list MR-J4-A(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameters MR-J4-B(-RJ)7 - 30Description of basic setting parametersNumber Symbol Initial value Unit Setting rangePA01 **STY 1000HRefer to textOperati
MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 31PA03 *ABS 0000HRefer to textAbsolute position detection systemSet this par
Parameters MR-J4-B(-RJ)7 - 32PA08 ATU 0001HRefer to textAuto tuning modeGain adjustment mode selectionSetting value Gain adjustment mode Automatically
MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 33PA09 RSP 16 1–40Auto tuning responseSet a response of the auto tuning.Sett
Parameters MR-J4-B(-RJ)7 - 34PA14 *POL 0 0, 1Rotation direction selection/travel direction selectionThis is used to select a rotation direction or tra
MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 35PA17 **MSR 0000HRefer to textServo motor series settingWhen you use a line
Parameters MR-J4-B(-RJ)7 - 36PA19 *BLK 00ABHRefer to textParameter writing inhibitSelect a reference range and writing range of the parameter.Refer to
MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 37PA20 *TDS 0000HRefer to textTough drive settingAlarms may not be avoided w
Parameters MR-J4-B(-RJ)7 - 38PA23 DRAT 0000HRefer to textDrive recorder arbitrary alarm trigger settingSetting example: To activate the drive recorder
MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 397.4 MR-J4W-B7.4.1 Basic setting parametersNOTES When you connect the amplifie
What is a servo amplifier? IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 11 IntroductionThis english document is the original instruc
Parameters MR-J4W-B7 - 40Parameters PANo. Symbol NameInitial valueUnitEach/ CommonOperation modeStandardFull.Lin.DDPA01 **STY Operation mode 1000H—E
MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 41Description of basic setting parametersNumber Symbol Initial value Unit Settin
Parameters MR-J4W-B7 - 42PA03 *ABS 0000HRefer to text EachAbsolute position detection systemSet this parameter when using the absolute position detect
MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 43PA08 ATU 0001HRefer to text EachAuto tuning modeGain adjustment mode selection
Parameters MR-J4W-B7 - 44PA09 RSP 16 1–40 EachAuto tuning responseSet a response of the auto tuning.Setting valueMachine characteristicSetting valueMa
MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 45PA14 *POL 0 0, 1 EachRotation direction selection/travel direction selectionTh
Parameters MR-J4W-B7 - 46PA17 **MSR 0000HRefer to text EachServo motor series settingWhen you use a linear servo motor, select its model from paramete
MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 47PA19 *BLK 00ABHRefer to text EachParameter writing inhibitSelect a reference r
Parameters MR-J4W-B7 - 48PA20 *TDS 0000HRefer to text EachTough drive settingAlarms may not be avoided with the tough drive function depending on the
MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 49PA23 DRAT 0000HRefer to text EachDrive recorder arbitrary alarm trigger settin
Introduction What is a servo amplifier?1 - 21.1.2 Function of a servo amplifierServo amplifiers are specially designed frequency inverters for drivin
Parameters Other parameters7 - 507.5 Other parametersOnly the basic setting parameters PA are described in this manual for beginners.The Appendix sh
Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 18 Troubleshooting8.1 Alarm and warning list MR
Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 2No.Alarm codeNameDetail numberDetail nameStop method , Alarm deactivationCN1-22(Bit 2)CN1-23
Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 3Alarm17 0 0 0 Board error17.1 Board error 1 DB
Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 4Alarm27 110Initial magnetic pole detection error27.1Initial magnetic pole detection - Abnormal
Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 5Alarm42 110Servo control error (for linear serv
Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 6Alarm61 101Operation error61.1 Point table setting range error DB ✔✔✔63 110STO timing error63
Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 7Leave for about 30 minutes of cooling time aft
Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 8No. NameDetail numberDetail nameStop method , Warning90Home position return incomplete war
Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 9Leave for about 30 minutes of cooling time aft
What is a servo amplifier? IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 31.1.3 Servo motorsToday servo motors are generally used to
Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 108.2 Alarm and warning list MR-J4-B(-RJ)When an error occurs during operation, the correspond
Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 11Alarm16Encoder initial communication error 116
Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 12Alarm20Encoder normal communication error 120.1Encoder normal communication - Receive data er
Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 13Alarm2A Linear encoder error 12A.1 Linear enco
Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 14Alarm45Main circuit device overheat 45.1 Main circuit device overheat error SD ✔ ✔ ✔ 46Se
Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 15Alarm70Load-side encoder initial communication
Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 16Leave for about 30 minutes of cooling time after removing the cause of occurrence.In some c
Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 17Leave for about 30 minutes of cooling time af
Troubleshooting Alarm and warning list MR-J4W-B8 - 188.3 Alarm and warning list MR-J4W-BWhen an error occurs during operation, the corresponding alar
Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 19Alarm15Memory error 2 (EEP-ROM)15.1 EEP-ROM error
Introduction What is a servo amplifier?1 - 41.1.4 Features of servo amplifiers and motors of the MELSERVO J4 seriesThe motion CPU controls the connec
Troubleshooting Alarm and warning list MR-J4W-B8 - 20Alarm20Encoder normal communication error 120.1Encoder normal communication - Receive data error
Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 21Alarm2A Linear encoder error 12A.1 Linear encoder
Troubleshooting Alarm and warning list MR-J4W-B8 - 22Alarm42 Servo control error42.1Servo control error by position deviationEach axis Each axis EDB ✔
Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 23Alarm63 STO timing error63.1 STO1 off Common All a
Troubleshooting Alarm and warning list MR-J4W-B8 - 24Leave for about 30 minutes of cooling time after removing the cause of occurrence.In some contr
Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 25No. NameDetail numberDetail nameProcessing syste
Troubleshooting Alarm and warning list MR-J4W-B8 - 26Leave for about 30 minutes of cooling time after removing the cause of occurrence.The following
Remedies for alarms TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 278.4 Remedies for alarmsRemove the cause of the alarm in accord
Troubleshooting Remedies for warnings8 - 288.5 Remedies for warningsIf AL. E6, AL. E7, AL. E9, AL. EA, or AL. EB occurs, the servo-off status is esta
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 1AAppendixA.1 Additional information about
Environmental conditions IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 51.2 Environmental conditionsStore and use the servo amplifier
Appendix Additional information about the series MR-J4-AA - 2The status display item of the servo amplifier display shown at power-on can be changed b
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 3A.1.2 Basic setting parameters (PA)No.
Appendix Additional information about the series MR-J4-AA - 4A.1.3 Gain/filter setting parameters (PB)No. Symbol NameInitial valueUnitOperation mod
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 5PB37 —For manufacturer setting1600 — —————
Appendix Additional information about the series MR-J4-AA - 6A.1.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitOperation modeC
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 7PC35 TL2 Internal torque limit 2/internal
Appendix Additional information about the series MR-J4-AA - 8PC75 —For manufacturer setting0000H— ———————PC76 — 0000H— ———————PC77 — 0000H— ———————PC7
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 9A.1.5 I/O setting parameters (PD)No. Sy
Appendix Additional information about the series MR-J4-AA - 10PD43 —For manufacturer setting0000H— ———————PD44 — 0000H— ———————PD45 — 0000H— ———————PD
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 11A.1.6 Extension setting 2 parameters (PE
Introduction Terminology1 - 61.3 TerminologyThe terms and abbreviations below are important for servo amplifiers and are used frequently in this guide
Appendix Additional information about the series MR-J4-AA - 12PE42 —For manufacturer setting0 — ———————PE43 — 0.0 — ———————PE44 — 0000H— ———————PE45 —
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 13A.1.7 Extension setting 3 parameters (PF
Appendix Additional information about the series MR-J4-AA - 14PF43 —For manufacturer setting0000H— ———————PF44 — 0000H— ———————PF45 — 0000H— ———————PF
Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 15A.1.8 Linear servo motor/DD motor settin
Appendix Additional information about the series MR-J4-AA - 16PL41 —For manufacturer setting0000H— ———————PL42 — 0000H— ———————PL43 — 0000H— ———————PL
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 17A.2 Additional information about the
Appendix Additional information about the series MR-J4-A-RJA - 18Position within one-revolution (1000 pulse unit)Cy21000pulsesThe within one-revolutio
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 19Load-side encoder information 1 (1 pu
Appendix Additional information about the series MR-J4-A-RJA - 20CP: Positioning mode (point table method) CL: Positioning mode (program method) PS:
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 21A.2.2 Basic setting parameters (PA)
Terminology IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 7Fully closed loop systemThe MR-J4-B(-RJ)/A(-RJ) servo amplifier is compati
Appendix Additional information about the series MR-J4-A-RJA - 22A.2.3 Gain/filter setting parameters (PB)NOTES To enable the following parameters
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 23PB29 GD2B Load to motor inertia ratio/
Appendix Additional information about the series MR-J4-A-RJA - 24A.2.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitOperation m
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 25PC34 CMX4 Command input pulse multipli
Appendix Additional information about the series MR-J4-A-RJA - 26PC76 —For manufacturer setting0000H— ———————PC77 — 0000H— ———————PC78 — 0000H— ——————
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 27A.2.5 I/O setting parameters (PD)No
Appendix Additional information about the series MR-J4-A-RJA - 28PD43 *DI11L Input device selection 11L 0000H— ———————PD44 *DI11H Input device selecti
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 29A.2.6 Extension setting 2 parameters
Appendix Additional information about the series MR-J4-A-RJA - 30PE42 —For manufacturer setting0 — ———————PE43 — 0.0 — ———————PE44 — 0000H— ———————PE4
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 31A.2.7 Extension setting 3 parameters
Introduction Terminology1 - 8
Appendix Additional information about the series MR-J4-A-RJA - 32PF42 —For manufacturer setting0 — ———————PF43 — 0 — ———————PF44 — 0000H— ———————PF45
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 33A.2.8 Linear servo motor/DD motor set
Appendix Additional information about the series MR-J4-A-RJA - 34PL40 —For manufacturer setting0000H— ———————PL41 — 0000H— ———————PL42 — 0000H— ——————
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 35A.2.9 Option setting parameters (Po
Appendix Additional information about the series MR-J4-A-RJA - 36A.2.10 Positioning control parameters (PT)No. Symbol NameInitial valueUnitOperatio
Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 37PT27 *ODM Operation mode selection 000
Appendix Additional information about the series MR-J4-B(-RJ)A - 38A.3 Additional information about the series MR-J4-B(-RJ)A.3.1 Status displayThe m
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 39A.3.2 Basic setting parameters (PA
Appendix Additional information about the series MR-J4-B(-RJ)A - 40A.3.3 Gain/filter setting parameters (PB)No. Symbol NameInitial valueUnitOperati
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 41PB41 —For manufacturer setting0 — ——
Servo amplifier series MR-J4-A(-RJ) Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 12 Introduction of the devices2.1 S
Appendix Additional information about the series MR-J4-B(-RJ)A - 42A.3.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitOperation
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 43It is available when the scale meas
Appendix Additional information about the series MR-J4-B(-RJ)A - 44A.3.5 I/O setting parameters (PD)No. Symbol NameInitial valueUnitOperation modeS
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 45PD43 —For manufacturer setting0000H—
Appendix Additional information about the series MR-J4-B(-RJ)A - 46A.3.6 Extension setting 2 parameters (PE)No. Symbol NameInitial valueUnitOperati
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 47PE43 —For manufacturer setting0.0 —
Appendix Additional information about the series MR-J4-B(-RJ)A - 48A.3.7 Extension setting 3 parameters (PF)No. Symbol NameInitial valueUnitOperati
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 49PF42 —For manufacturer setting0000H—
Appendix Additional information about the series MR-J4-B(-RJ)A - 50A.3.8 Linear servo motor/DD motor setting parameters (PL)No. Symbol NameInitial
Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 51PL41 —For manufacturer setting0000H—
Introduction of the devices Servo amplifier series MR-J4-B(-RJ)2 - 22.2 Servo amplifier series MR-J4-B(-RJ)Geräteansicht MR-J4-B(4).epsFig. 2-2: Mod
Appendix Additional information about the series MR-J4W-BA - 52A.4 Additional information about the series MR-J4W-BA.4.1 Status displayThe meanings
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 53A.4.2 Basic setting parameters (PA)No
Appendix Additional information about the series MR-J4W-BA - 54A.4.3 Gain/filter setting parameters (PB)No. Symbol NameInitial valueUnitEach/ Commo
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 55PB37 —For manufacturer setting1600 — — —
Appendix Additional information about the series MR-J4W-BA - 56A.4.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitEach/ CommonO
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 57It is available when the scale measurem
Appendix Additional information about the series MR-J4W-BA - 58A.4.5 I/O setting parameters (PD)No. Symbol NameInitial valueUnitEach/ CommonOperati
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 59PD43 —For manufacturer setting0000H— — —
Appendix Additional information about the series MR-J4W-BA - 60A.4.6 Extension setting 2 parameters (PE)No. Symbol NameInitial valueUnitEach/ Commo
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 61PE42 —For manufacturer setting0— — ————P
Servo amplifier series MR-J4W-B Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 32.3 Servo amplifier series MR-J4W-BGer
Appendix Additional information about the series MR-J4W-BA - 62A.4.7 Extension setting 3 parameters (PF)No. Symbol NameInitial valueUnitEach/ Commo
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 63PF42 —For manufacturer setting0000H— — —
Appendix Additional information about the series MR-J4W-BA - 64A.4.8 Linear servo motor/DD motor setting parameters (PL)No. Symbol NameInitial valu
Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 65PL41 —For manufacturer setting0000H— — —
Appendix Additional information about the series MR-J4W-BA - 66
IndexBeginners Manual Servo Amplifiers MELSERVO J4 1IndexAAlarm listMR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index2LLine filter1-phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-453-phase . . . . . . . . . . . . . . . . . . .
IndexBeginners Manual Servo Amplifiers MELSERVO J4 3SSafe Torque Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6Semi clo
Index4
About This ManualThe texts, illustration, diagrams and examples in this manual are provided forinformation purposes only. They are intended as aids to
Introduction of the devices Model designation and output power2 - 42.4 Model designation and output powerServo amplifiers up to MR-J4-70A or MR-J4-7
Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2
Combinations of servo amplifiers and servo motors Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 52.5 Combinations of
Introduction of the devices Combinations of servo amplifiers and servo motors2 - 6When the maximum torque is 400 %MR-J4-15KA(-RJ) MR-J4-15KB(-RJ)HG-J
Combinations of servo amplifiers and servo motors Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 72.5.2 400 V classWh
Introduction of the devices Removal and reinstallation of the front cover2 - 82.6 Removal and reinstallation of the front coverThe following shows ho
Removal and reinstallation of the front cover Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 9 Pull up the cover, supp
Introduction of the devices Removal and reinstallation of the front cover2 - 102.6.2 Reinstallation of the front cover Insert the front cover settin
Removal and reinstallation of the front cover Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 11 Press the cover agains
Introduction of the devices Rating plate2 - 122.7 Rating plateThe following shows two examples of the rating plate for explanation of each item.2.7.1
Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 13 Introduction of the servo motorsThis chapt
Introduction of the servo motors Rotatory servo motors3 - 23.1.2 Rating plateThe rating plate of the servo motor HG-JR153 is shown below. This rating
Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 33.1.3 Servo motor series HG-MR and HG-KR● M
Introduction of the servo motors Rotatory servo motors3 - 4Model designation Fig. 3-3: Model designation of the servo motor series HG-MR and HG-KRZei
Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 53.1.4 Servo motor series HG-SRModel HG-SR –
Introduction of the servo motors Rotatory servo motors3 - 6Zeichnung HG-SR502B.eps Fig. 3-6: Servo motor series HG-SRNOTE Servo motors without electr
Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 73.1.5 Servo motor series HG-JRModel HG-JR –
Introduction of the servo motors Rotatory servo motors3 - 8Zeichnung HG-JR153B.eps Fig. 3-8: Servo motor series HG-JRNOTE Servo motors without electr
Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 93.1.6 Servo motor series HG-RRModel HG-RR –
Introduction of the servo motors Rotatory servo motors3 - 10The brake connector is combined with the power connector.Zeichnung HG-RR153B.eps Fig. 3-1
Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 113.1.7 Servo motor series HG-URModel HG-UR
Beginners manual for servo amplifiersseries MR-J4-A, MR-J4-B and MR-J4W-BArt. no.: 280214 Version Revisions/Additions/CorrectionsA 10/2014 pdp - rw —
Introduction of the servo motors Rotatory servo motors3 - 12Zeichnung HG-UR352B.eps Fig. 3-12: Servo motor series HG-URNOTE Servo motors without elec
Linear servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 133.2 Linear servo motors3.2.1 Model overview3.
Introduction of the servo motors Linear servo motors3 - 143.2.3 Servo motor series LM-H3The core type linear servo motor LM-H3 is suitable for space-
Linear servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 153.2.4 Servo motor series LM-U2The characteri
Introduction of the servo motors Linear servo motors3 - 16Zeichnung LM-U2P2B-40M-2SS0.eps Fig. 3-19: Servo motor series LM-U2 (Primary side – coil)Po
Linear servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 173.2.5 Servo motor series LM-FThe linear serv
Introduction of the servo motors Linear servo motors3 - 183.2.6 Servo motor series LM-K2Due to the magnetic attraction counter-force structure the se
Direct drive servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 193.3 Direct drive servo motors3.3.1 Mod
Introduction of the servo motors Direct drive servo motors3 - 203.3.3 Servo motor series TF-RFMThe magnetic design and winding technology of the serv
Wiring of power supply, motor and PE terminal Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 14 Installation and wiring4.1
Installation and wiring Wiring of power supply, motor and PE terminal4 - 2Power supply of MR-J4W2-22B to MR-J4W2-77B, MR-J4W3-222B and MR-J4W3-444BPow
Wiring of power supply, motor and PE terminal Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 3MCCB = Molded-case circuit b
Installation and wiring Wiring of power supply, motor and PE terminal4 - 4Abbreviation Termin al s DescriptionL1, L3Main circuit power supply(1-phase)
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 54.2 Connectors and signal arrangementsA
Installation and wiring Connectors and signal arrangements4 - 6Signal assignmentThe MR-J4-A(4)-RJ servo amplifiers have CN2L connectors.The device a
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 7I: Input signal, O: Output signalP: Po
Installation and wiring Connectors and signal arrangements4 - 8Pin No.SignalI/O I/O signals in control modes Pr.CP CL PS1 — P15R P15R P15R —2 I VC V
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 9I: input signal, O: output signalCP: P
Installation and wiring Connectors and signal arrangements4 - 10Meaning of the symbolsThe most important signals are explained in the table below. You
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 11Only for MR-J4-AOnly for MR-J4-A-RJ
Safety GuidelinesBeginners Manual Servo Amplifiers MELSERVO J4 ISafety GuidelinesGeneral safety information and precautionsFor use by qualified staff
Installation and wiring Connectors and signal arrangements4 - 124.2.2 Servo amplifier series MR-J4-BThe shown front view is that of servo amplifier M
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 13Signal assignmentThe MR-J4-B(4)-RJ se
Installation and wiring Connectors and signal arrangements4 - 14Meaning of symbolsThe most important signals are explained in the table below. You wil
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 154.2.3 Servo amplifier series MR-J4W-BT
Installation and wiring Connectors and signal arrangements4 - 16Signal assignmentFor the MR-J4 3-axis servo amplifier (MR-J4W3-B)Signal arrangement o
Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 17Meaning of symbolsThe most important si
Installation and wiring Wiring the interfaces4 - 184.3 Wiring the interfaces4.3.1 I/O interfaces in negative logic (sink type)Digital input interface
Wiring the interfaces Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 194.3.2 I/O interfaces in positive logic (source type
Installation and wiring Wiring the interfaces4 - 204.3.3 Analog interfacesAnalog input (only MR-J4-A(-RJ))Analog output (only MR-J4-A(-RJ) and MR-J4-B
Communication function Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 214.4 Communication function4.4.1 Serial interface R
Safety GuidelinesII● Fire safety regulations● Accident prevention regulations–VBG Nr.4 Electrical systems and equipmentSafety warnings in this manualI
Installation and wiring Communication function4 - 224.4.2 USB interfaceThe servo amplifiers of the MR-J4 series have an USB communication interface. T
Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 234.5 Optical
Installation and wiring Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B)4 - 24NOTES Put a cap on CN1A and CN1B connector to protect the l
Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 254.6 Sett
Installation and wiring Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B)4 - 26Switch combination list for the control axis No. setting
Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 274.6.2 MR-
Installation and wiring Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B)4 - 28Switch combination list for the control axis No. setting
Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 29● MR-J4 3
Installation and wiring Disabling of control axes (only MR-J4W-B)4 - 304.7 Disabling of control axes (only MR-J4W-B)Turning “ON (up)” a disabling con
Servo motor Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 314.8 Servo motor4.8.1 Connecting the servo motorThe servo ampl
Safety GuidelinesBeginners Manual Servo Amplifiers MELSERVO J4 IIICompliance with EC directivesEU directives exist to facilitate free trade within th
Installation and wiring Servo motor4 - 32For power supply specifications, refer to section 4.1.For the MR-J4 3-axis servo amplifier (MR-J4W3-B)Be s
Servo motor Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 334.8.2 Servo motor with electromagnetic brakeNote the followin
Installation and wiring Servo motor4 - 34Do not use the 24 V DC interface power supply for the electromagnetic brake.Create the circuit in order to
Forced stop Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 354.9 Forced stop4.9.1 Forced stop deceleration functionWhen EM
Installation and wiring Wiring examples4 - 364.10 Wiring examplesWire the power supply/main circuit as shown below. Connect the 1-phase 200 V AC to 24
Wiring examples Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 37For the encoder cable, use of the option cable is recomme
Installation and wiring Wiring examples4 - 38The power factor improving AC reactor can also be used. In this case, the power factor improving DC reac
Wiring examples Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 394.10.2 Servo amplifier series MR-J4-B(-RJ)Between P3 and
Installation and wiring Wiring examples4 - 40When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circui
Wiring examples Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 414.10.3 Multi axes servo amplifier series MR-J4W-BBetween
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