MR-J4 - Instruction Manual (Supplementary 400V) SH (NA) - 030119-A (02.13)

General-Purpose AC Servo
General-Purpose Interface/SSCNET /H Interface

MODEL
MR-J4-_A4(-RJ) MR-J4_B4(-RJ)
SERVO AMPLIFIER
MR-J4-_A4(-RJ) MR-J4_B4(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

INSTRUCTION MANUAL
MR-J4-A4 MR-J4-B4
MODEL INSTRUCTIONMANUAL
MODEL
CODE 1CW812
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030119-A (1302) MEE Printed in Japan Specifications subject to change without notice.
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".
Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,

CAUTION 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- 1
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- 2
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
Ambient Operation 0 ˚C to 55 ˚C (non-freezing)
temperature Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient Operation
90 %RH or less (non-condensing)
humidity Storage
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- 3
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.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W
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.
Servo amplifier Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM
Control output RA
Control output RA
signal signal
For sink output interface 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- 4
(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.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the EMG stop switch.
brake interlock) turns off.
Servo motor
RA
B 24 V DC
Electromagnetic brake
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- 5
(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 IB(NA)0300197
servo amplifier)
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- 6
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 MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
"Compliance with SEMI-F47 standard") (Note) 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 MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
"Compliance with SEMI-F47 standard") (Note) 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- 7
MEMO
A- 8
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
1
6.2.2 Troubleshooting at power on...................................................................................................... 6-15
7. DIMENSIONS 7- 1 to 7-16
7.1 MR-J4-_A4(-RJ)................................................................................................................................. 7- 2
7.2 MR-J4-_B4(-RJ)................................................................................................................................. 7- 9
8. CHARACTERISTICS 8- 1 to 8- 8
8.1 Overload protection characteristics ................................................................................................... 8- 1

8.2 Power supply capacity and generated loss ....................................................................................... 8- 3
8.3 Dynamic brake characteristics........................................................................................................... 8- 5
8.3.1 Dynamic brake operation ............................................................................................................ 8- 5
8.3.2 Permissible load to motor inertia when the dynamic brake is used ............................................ 8- 6
8.4 Inrush currents at power-on of main circuit and control circuit .......................................................... 8- 7
9. OPTIONS AND PERIPHERAL EQUIPMENT 9- 1 to 9-58
9.1 Cable/connector sets ......................................................................................................................... 9- 2

9.1.1 Combinations of cable/connector sets ........................................................................................ 9- 2
9.1.2 Combinations of cable/connector sets ........................................................................................ 9- 5
9.2 Regenerative option........................................................................................................................... 9- 8
9.2.1 Combination and regenerative power ......................................................................................... 9- 8
9.2.2 Selection of regenerative option.................................................................................................. 9- 9
9.2.3 Parameter setting ....................................................................................................................... 9-11
9.2.4 Selection of regenerative option................................................................................................. 9-12
9.2.5 Dimensions................................................................................................................................. 9-16
9.3 FR-BU2-H brake unit ........................................................................................................................ 9-19
9.3.1 Selection..................................................................................................................................... 9-20
9.3.2 Brake unit parameter setting ...................................................................................................... 9-20
9.3.3 Connection example................................................................................................................... 9-21
9.3.4 Dimensions................................................................................................................................. 9-27
9.4 FR-RC-H power regenerative converter ........................................................................................... 9-29
9.5 FR-CV-H power regenerative common converter ............................................................................ 9-34
9.6 Selection example of wires ............................................................................................................... 9-39
9.7 Molded-case circuit breakers, fuses, magnetic contactors (recommended) .................................... 9-41
9.8 Power factor improving DC reactor................................................................................................... 9-41
9.9 Power factor improving AC reactor................................................................................................... 9-44
9.10 Noise reduction techniques ............................................................................................................ 9-45
9.11 Earth-leakage current breaker ........................................................................................................ 9-53
9.12 EMC filter (recommended).............................................................................................................. 9-56
10. USING A LINEAR SERVO MOTOR 10- 1 to 10- 8
10.1 Signals and wiring.......................................................................................................................... 10- 2

10.2 Characteristics ............................................................................................................................... 10- 4
10.2.1 Overload protection characteristics......................................................................................... 10- 4
10.2.2 Power supply capacity and generated loss............................................................................. 10- 5
10.2.3 Dynamic brake characteristics ................................................................................................ 10- 6
10.2.4 Permissible load to motor mass ratio when the dynamic brake is used ................................. 10- 7
2
APPENDIX App.- 1 to App.-22
App. 1 Compliance with global standards........................................................................................... App.- 1

App. 2 Analog monitor ....................................................................................................................... App.-14
App. 3 Compliance with SEMI-F47 standard..................................................................................... App.-22
3
MEMO
4
1. FUNCTIONS AND CONFIGURATION
The items in the following table 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.
MR-J4-_A4(-RJ) Summary MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 1.1
Function list MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 1.5
Removal and reinstallation of the front cover MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 1.7.2
MR-J4-_B4(-RJ) Summary MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 1.1
Function list MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 1.5
Removal and reinstallation of the front cover MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 1.7.2
In MELSERVO-J4 series, servo amplifiers with CN2L connector are also available as MR-J4-_A4-RJ and
MR-J4-_B4-RJ.
By using CN2L connector, an A/B/Z-phase differential output type external encoder can be connected to the
servo amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well. The
following table indicates the communication method of the external encoder compatible with MR-J4-_A4/MR-
J4-_B4 and MR-J4-_A4-RJ/MR-J4-_B4-RJ servo amplifiers.
Table 1.1 Compatibility of communication methods

Linear encoder
Connector on MR-J4-_A4/MR- Connector on MR-J4-_A4-
Operation mode communication
J4-_B4 RJ/MR-J4-_B4-RJ
method
Linear servo motor Two-wire type
CN2
system Four-wire type
A/B/Z-phase
differential output
type
CN2L
Fully closed loop Two-wire type CN2
system Four-wire type
A/B/Z-phase
differential output
type
1- 1
1.1 Function block diagram
The function block diagram of this servo is shown below.
1.1.1 For MR-J4-_A4(-RJ)
POINT
The diagram shows for MR-J4-A4-RJ as an example. MR-J4-_A4 servo
amplifier does not have CN2L connector.
1- 2
(1) MR-J4-350A4(-RJ) or less

(Note 5)
Power factor
improving Regenerative
DC reactor option
Servo amplifier P3 P4 (Note 3) P+ C D N- Servo motor

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
(Note 2)
RA B1
L11 Control Electromagnetic
+ circuit 24 V DC B brake
L21 power
supply STO B2
circuit
STO
CN8
switch Base Voltage Current
CN2
Overcurrent
amplifier detection protection detection
Encoder
Position Virtual
command Step-
encoder down
input Model Model circuit
position speed
control control
Virtual
motor
CN4 MR-BAT6V1SET
Model position Model speed Model torque

Optional battery
(For absolute
position detection
system)
Actual Actual Current
position speed control
control control
External encoder
CN2L
(Note 4)
A/D USB RS-422 D/A
I/F
CN1 CN5 CN3 CN6
DI/O control
Analog •Servo-on
•Input command pulse. Personal
(2 channels) •Start computer Controller Analog monitor
•Malfunction, etc USB RS-422 (2 channels)
Note 1. Refer to section 1.2.1 for the power supply specification.

2. Servo amplifiers MR-J4-200A4(-RJ) or more have a cooling fan.
3. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.
5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1- 3
(2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)
(Note 4)
Power factor
DC reactor option
Servo amplifier P3 P4 (Note 2) P+ C N- Servo motor

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
+ circuit 24 V DC B Electromagnetic
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command Step-
encoder down
position speed
control control
Virtual
motor
CN4 MR-BAT6V1SET
Model position Model speed Model torque Optional battery

(For absolute
position detection
system)
control control
External encoder
CN2L
(Note 3)
A/D USB RS-422 D/A
I/F
CN1 CN5 CN3 CN6
DI/O control
Analog •Servo-on Personal
•Input command pulse.

1- 4
(3) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)
(Note 5) External
Power factor regenerative resistor
improving or (Note 4)
DC reactor regenerative option External
dynamic brake
(optional)
Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command encoder Step-
down
position speed
control control
Virtual
motor
CN4 MR-BAT6V1SET

Optional battery
(For absolute
position detection
system)
control control
External encoder
CN2L
(Note 3)
A/D USB RS-422 D/A
I/F
CN1 CN5 CN3 CN6
DI/O control
Analog •Servo-on Personal
•Input command pulse.

4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to section 6.1.1.
1- 5
1.1.2 For MR-J4-_B4(-RJ)
POINT
The diagram shows for MR-J4-B4-RJ as an example. MR-J4-_B4 servo
1- 6
(1) MR-J4-350B4(-RJ) or less

(Note 5)
Power factor
DC reactor option
Servo amplifier P3 P4 (Note 3) P+ C D N- Servo motor

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + M
supply Regene- detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
(Note 2)
RA B1
L11 Control Electromagnetic
+ circuit 24 V DC B brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4 MR-BAT6V1SET

Optional battery
(For absolute
position detection
system)
control control
External encoder
CN2L
(Note 4)
USB D/A
IF Control
CN1A CN1B CN5 CN3
Personal Analog monitor Digital I/O

Controller or Servo amplifier computer
servo amplifier or cap (2 channels) control
USB

2. Servo amplifiers MR-J4-200B4(-RJ) or more have a cooling fan.
4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector.
1- 7
(2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ)
(Note 4)
Power factor
DC reactor option

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4 MR-BAT6V1SET

Optional battery
(For absolute
position detection
system)
control control
External encoder
CN2L
(Note 3)
USB D/A
IF Control
CN1A CN1B CN5 CN3

USB

1- 8
(3) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ)
(Note 5) External
Power factor regenerative resistor
improving or (Note 4)
DC reactor regenerative option External
dynamic brake
(optional)
Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4 MR-BAT6V1SET
Model position Model speed Model torque Optional battery

(For absolute
position detection
system)
control control
External encoder
CN2L
(Note 3)
USB D/A
IF Control
CN1A CN1B CN5 CN3

USB

1- 9
1.2 Servo amplifier standard specifications
1.2.1 For MR-J4-_A4(-RJ)

60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4
Model: MR-J4-
(-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ) (-RJ)
Rated voltage 3-phase 323 V AC
Output
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6
Permissible voltage
3-phase 323 V AC to 528 V AC
fluctuation
Main circuit
power supply Permissible frequency Within ±5%
fluctuation
Power supply
[kVA] Refer to section 8.2.
capacity
Inrush current [A] Refer to section 8.4.
Rated current [A] 0.1 0.2
Permissible voltage
Control circuit fluctuation
power supply Permissible frequency
Within ±5%
fluctuation
Power consumption [W] 30 45
Interface Voltage 24 V DC ± 10%
power supply Current capacity [A] (Note 1) 0.5 (including CN8 connector signals)
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in External option (Note 6)
Fully closed loop control Corresponding
Load-side encoder interface (Note 5) Mitsubishi high-speed serial communication
USB: connection to a personal computer or others (MR Configurator2-compatible)
Communication function
RS-422: 1 : n communication (up to 32 axes)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Max. input pulse
4 Mpps (for differential receiver) (Note 4), 200 kpps (for open collector)
frequency
Positioning feedback
Encoder resolution (resolution per servo motor revolution): 22 bits
pulse
Position
Command pulse
control mode Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
multiplying factor
In-position range setting 0 pulse to ±65535 pulses (command pulse unit)
Error excessive ±3 revolutions
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed command
0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed control input
mode ±0.01% or less (load fluctuation 0 % to 100%), 0% (power fluctuation ±10%), ±0.2% or less
Speed fluctuation ratio
(ambient temperature 25 ± 10 °C) when using analog speed command
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Analog torque command
Torque 0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ )
input
control mode
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal), servo motor overheat protection, encoder error protection, regenerative error
Protective functions protection, undervoltage protection, instantaneous power failure protection, overspeed
protection, error excessive protection, magnetic pole detection protection, and linear servo
control fault protection
Safety function STO (IEC/EN 61800-5-2)
1 - 10
60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

Model: MR-J4-
Standards certified by EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2,
CB and EN 61800-5-2 SIL 2
Response performance 8 ms or less (STO input off → energy shut off)
(Note 2) Test pulse interval: 1 Hz to 25 Hz
Test pulse input (STO) Test pulse off time: Up to 1 ms
Safety
Mean time to dangerous
performance 100 years or longer
failure (MTTFd)
Diagnosis coverage (DC) Medium (90% to 99%)
Average probability of
-10
dangerous failures per 1.68 × 10 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
to standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Natural cooling, Force cooling,
Structure (IP rating) Force cooling, open (IP20) (Note 3)
open (IP20) open (IP20)
Close mounting Impossible
Ambient Operation
humidity Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
2
Vibration resistance 5.9 m/s , at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2
Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose.
3. Except for the terminal block.
4. 1 Mpps or lower commands are supported in the initial setting. When inputting commands between 1 Mpps and 4 Mpps,
change the setting in [Pr. PA13].
5. MR-J4-A4 servo amplifier is compatible only with two-wire type. MR-J4-A4-RJ servo amplifier is compatible with two-wire type,
four-wire type, and A/B/Z-phase differential output type. Refer to table 1.1 for details.
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
1 - 11
1.2.2 For MR-J4-_B4(-RJ)

60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4
Model: MR-J4-
Rated voltage 3-phase 323 V AC
Output
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6
Permissible voltage
fluctuation
Main circuit
power supply Permissible frequency Within ±5%
fluctuation
Power supply
[kVA] Refer to section 8.2.
capacity
Rated current [A] 0.1 0.2
Permissible voltage
Control circuit fluctuation
power supply Permissible frequency
Within ±5%
fluctuation
Power consumption [W] 30 45
Interface Voltage 24 V DC ± 10%
power supply Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)
Dynamic brake Built-in External option (Note 6)
SSCNET III/H communication cycle
0.222 ms, 0.444 ms, 0.888 ms
(Note 5)
Fully closed loop control Corresponding
Load-side encoder interface (Note 4) Mitsubishi high-speed serial communication
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal), servo motor overheat protection, encoder error protection, regenerative error
Protective functions protection, undervoltage protection, instantaneous power failure protection, overspeed
protection, error excessive protection, magnetic pole detection protection, and linear servo
control fault protection
Safety function STO (IEC/EN 61800-5-2)
Standards certified by EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2,
CB and EN 61800-5-2 SIL 2
(Note 2) Test pulse interval: 1 Hz to 25 Hz
Test pulse input (STO) Test pulse off time: Up to 1 ms
Safety
Mean time to dangerous
performance 100 years or longer
failure (MTTFd)
Diagnosis converge (DC) Medium (90% to 99%)
Average probability of
-10
dangerous failures per 1.68 × 10 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
to standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Natural cooling, Force cooling,
Structure (IP rating) Force cooling, open (IP20) (Note 3)
open (IP20) open (IP20)
Close mounting Impossible
1 - 12
60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4

Model: MR-J4-
Ambient Operation
humidity Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
2
Vibration resistance 5.9 m/s , at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose.
3. Except for the terminal block.
4. MR-J4-B4 servo amplifier is compatible only with two-wire type. MR-J4-B4-RJ servo amplifier is compatible with two-wire type,
four-wire type, and A/B/Z-phase differential output type. Refer to table 1.1 for details.
5. The communication cycle depends on the controller specifications and the number of axes connected.
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
1.3 Combinations of servo amplifiers and servo motors

Rotary servo motor
HG-JR Linear servo motor (primary
Servo amplifier
HG-SR HG-JR (When the maximum side)
torque is 400%)
MR-J4-60_4(-RJ) 524 534
MR-J4-100_4(-RJ) 1024 734, 1034 534
MR-J4-200_4(-RJ) 1524, 2024 1534, 2034 734, 1034
MR-J4-350_4(-RJ) 3524 3534 1534, 2034
MR-J4-500_4(-RJ) 5024 5034 3534
MR-J4-700_4(-RJ) 7024 7034 5034
MR-J4-11K_4(-RJ) 9034, 11K1M4
MR-J4-15K_4(-RJ) 15K1M4
MR-J4-22K_4(-RJ) 22K1M4 LM-FP5H-60M-1SS0
1 - 13
1.4 Model designation
(1) Rating plate

AC SERVO
SER.A31001001 Serial number
MODEL MR-J4-60A4 Model
POWER : 600W Capacity
INPUT : 3AC380-480V 1.4A 50/60Hz Applicable power supply
OUTPUT: 3PH323V 0-360Hz 1.5A Rated output power
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300197 Standard, Manual number
Max. Surrounding Air Temp.: 55°C Ambient temperature
IP20 IP rating
KC mark number, The year and month of manufacture

TOKYO 100-8310, JAPAN MADE IN JAPAN
Country of origin
(2) Model
The following describes what each block of a model name indicates.
Special specifications
Series Symbol Special specifications
None Standard
Fully closed loop control four-wire
-RJ type/load-side encoder A/B/Z-phase
input compatible
-PX Without regenerative resistor (Note)
MR-J4-_4-RJ without regenerative
-RZ resistor (Note)
Power supply: 3-phase 380 V AC to 480 V AC
Corresponding
Symbol Corresponding
A General-purpose interface
B SSCNET Ⅲ/H
Rated output
Symbol Rated output [kW]
60 0.6
100 1
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22
Note. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative

resistor as standard accessory.
1.5 Structure
1.5.1 Parts identification
(1) For MR-J4-_A4(-RJ)

"MR-J4-_A" means "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual".
1 - 14
(a) For MR-J4-200A4(-RJ) or less

The diagram is for MR-J4-60A4-RJ.
Detailed
No. Name/Application
explanation
Display
(1) MR-J4-_A
(1) The 5-digit, seven-segment LED shows the servo section 4.5
status and the alarm number.
Operation section
(2) Used to perform status display, diagnostic, alarm,
and parameter setting operations. Push the
MODE UP DOWN SET "MODE" and "SET" buttons at the same time for 3 s
or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Inside of the display cover

Used to set data. Push
this button together with MR-J4-_A
(2) the "MODE" button for
3 s or more to switch to section 4.5
the one-touch tuning
mode.
Used to change the
(18) display or data in each
(3) mode.
(16) Used to change the
mode. Push this button
(4) together wish the "SET"
button for 3 s or more to
(12) switch to the one-touch
(5) tuning mode.
(6) USB communication connector (CN5) MR-J4-_A
(3) Connect with the personal computer. section
(14) 11.7
Analog monitor connector (CN6) MR-J4-_A
(4) section 3.2
(7) Outputs the analog monitor.
(8) RS-422 communication connector (CN3) MR-J4-_A
(5) chapter 14
Connect with the personal computer, etc.
(15)
STO input signal connector (CN8)
(17) (6) MR-J4-_A
Used to connect MR-J3-D05 safety logic unit and chapter 13
(9) external safety relay.
(13) I/O signal connector (CN1) MR-J4-_A
Side (7) Used to connect digital I/O signals. section 3.2
(10) Section 3.4
(11) Encoder connector (CN2) MR-J4-_A
(8) section 3.4
Used to connect the servo motor encoder.
Battery connector (CN4)
(9) MR-J4-_A
Used to connect the battery for absolute position chapter 12
data backup.
Battery holder MR-J4-_A
(10) Install the battery for absolute position data backup. section
12.4
Protective earth (PE) terminal
(11)
Grounding terminal
Section 3.1
Main circuit power supply connector (CNP1)
(12)
Connect the input power supply.
(13) Rating plate Section 1.4
Control circuit power supply connector (CNP2)
(14) Connect the control circuit power supply and
regenerative option. Section 3.1
Servo motor power output connector (CNP3)
(15)
Connect the servo motor.
Charge lamp
(16) When the main circuit is charged, this will light.
While this lamp is lit, do not reconnect the cables.
External encoder connector (CN2L) Linear
(17) Used to connect the external encoder. Encoder
(Note) Instruction
Manual
Manufacturer setting connector (CN2L)
(18) This connector is attached on MR-J4-_A4-RJ servo
amplifier, but not for use. MR-J4-_A4 servo amplifier
does not have this connector.
Note. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo
1 - 15
(b) MR-J4-350A4(-RJ)
Detailed
The broken line area is the same as No. Name/Application
MR-J4-200A4(-RJ) or less. explanation
(1) Section 3.1
(1)
(7) regenerative option. Section 3.1
(4)
Charge lamp
(3) (5) When the main circuit is charged, this will light.
(2) (6) Section 3.1
Grounding terminal
Side
Battery holder
MR-J4-_A
(4) (7) Install the battery for absolute position data
section 12.4
backup.
(5)
(6)
1 - 16
(c) MR-J4-500A4(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2 of "MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual".
The broken line area is the same as Detailed

MR-J4-200A4(-RJ) or less. No. Name/Application
explanation
Control circuit terminal block (TE2)
(1)
Used to connect the control circuit power supply.
Main circuit terminal block (TE1) Section 3.1
(6)
(2) Used to connect the input power supply and servo
motor.
Battery holder
(3) MR-J4-_A
(Note) (3) Install the battery for absolute position data
section 12.4
backup.
Regenerative option/power factor improving
(4) reactor terminal block (TE3)
(5) Section 3.1
Used to connect a regenerative option and a
power factor improving DC reactor.
Charge lamp
(1) Protective earth (PE) terminal
(7) Section 3.1
Grounding terminal
(2)
(7)
Note. Lines for slots around the battery holder are omitted from the illustration.
1 - 17
(d) MR-J4-700A4(-RJ)
POINT
Manual".

explanation
Power factor improving reactor terminal block
(1) (TE3)
Used to connect the DC reactor.
Main circuit terminal block (TE1)
(2) Used to connect the input power supply,
(7) Section 3.1
regenerative option, and servo motor.
(6) (3)
(4)
(Note) Grounding terminal
Battery holder
MR-J4-_A
(5) Install the battery for absolute position data
section 12.4
backup.
Charge lamp
(1)
(2)
(4)
(3)
1 - 18
(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
POINT
Manual".

explanation
(TE1-2)
(1)
Used to connect a power factor improving DC
reactor and a regenerative option.
(7) Main circuit terminal block (TE1-1)
(2) Used to connect the input power supply and servo Section 3.1
motor.
(3)
(6) Used to connect the control circuit power supply.
(4)
Grounding terminal
Battery holder
MR-J4-_A
(5) section 12.4
(Note) backup.
(2) Charge lamp
(3) While this lamp is lit, do not reconnect the cables.
(4)
(1)
1 - 19
(f) MR-J4-22KA4(-RJ)
POINT
Manual".

explanation
(TE1-2)
(1)
(7)
Main circuit terminal block (TE1-1)
(5) (2) Used to connect the input power supply and servo Section 3.1
(Note) motor.
(3)
(4)
Grounding terminal
Battery holder
MR-J4-_A
section 12.4
backup.
(2) Charge lamp
(3) While this lamp is lit, do not reconnect the cables.
(1)
(4)
1 - 20
(2) For MR-J4-_B4(-RJ)

"MR-J4-_B" means "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual".
(a) MR-J4-200B4(-RJ) or less

The diagram is for MR-J4-60B4-RJ.
Detailed
No. Name/Application
explanation
Display
(1) (2) (1) The 3-digit, seven-segment LED shows the servo
status and the alarm number.
Axis selection rotary switch (SW1)
(2) MR-J4-_B
(3) Used to set the axis No. of servo amplifier. section 4.3
Control axis setting switch (SW2)
The test operation switch, the control axis
(3)
deactivation setting switch, and the auxiliary axis
number setting switch are available.
Inside of the display cover
USB communication connector (CN5) MR-J4-_B
(4)
Connect with the personal computer. section 11.7
I/O signal connector (CN3) MR-J4-_B
(5) Used to connect digital I/O signals. section 3.2
Section 3.4
(19) STO input signal connector (CN8) MR-J4-_B
(17) (6) Used to connect MR-J3-D05 safety logic unit and chapter 13
external safety relay. App. 1
(4)
SSCNET III cable connector (CN1A)
(5) (7) Used to connect the servo system controller or the
MR-J4-_B
(6) previous axis servo amplifier.
section 3.2
(13) SSCNET III cable connector (CN1B)
Section 3.4
(8) Used to connect the next axis servo amplifier. For
(15)
the final axis, put a cap.
(7) Encoder connector (CN2) MR-J4-_B
(9)
(8) Used to connect the servo motor encoder. section 3.4
(16) Battery connector (CN4)
MR-J4-_B
(10) Used to connect the battery or the battery unit for
(9) chapter 12
absolute position data backup.
(18) Battery holder
MR-J4-_B
section 12.4
Side (10) (11) (12) backup.
Bottom Protective earth (PE) terminal
(12)
Grounding terminal
Section 3.2
(13)
regenerative option. Section 3.2
(16)
Charge lamp
External encoder connector (CN2L) Linear
(18) Used to connect the external encoder. Encoder
(Note) Instruction
Manual
Manufacturer setting connector (CN7)
This connector is attached on MR-J4-_B4-RJ
(19)
servo amplifier, but not for use. MR-J4-_B4 servo
amplifier does not have this connector.
1 - 21
(b) MR-J4-350B4(-RJ)
Detailed
MR-J4-200B4(-RJ) or less. explanation
(1) Section 3.2
(1)
(7) regenerative option. Section 3.2
(4)
Charge lamp
(2) (6) Section 3.2
Side Grounding terminal
Battery holder
MR-J4-_B
section 12.4
backup.
(5)
(6)
1 - 22
(c) MR-J4-500B4(-RJ)
POINT
cover, refer to section 1.7.2 of "MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual".
Detailed
(1)
Section 3.2
(2)
(6) Connect the input power supply.
Battery holder
MR-J4-_B
section 12.4
(3) backup.
(Note) (4) Rating plate Section 1.4
Regenerative option/power factor improving
reactor terminal block (TE3)
(5) Section 3.2
Used to connect a regenerative option and a
(4) power factor improving DC reactor.
Charge lamp
(7) Section 3.2
(1) Grounding terminal
(2)
(7)
1 - 23
(d) MR-J4-700B4(-RJ)
POINT
Manual".
Detailed
(1) (TE3)
Used to connect the DC reactor.
(2) Used to connect the input power supply,
Section 3.2
regenerative option, and servo motor.
(7)
(3)
(5) (4)
Grounding terminal
(Note)
Battery holder
MR-J4-_B
section 12.4
backup.
Charge lamp
(1)
(2)
(4)
(3)
1 - 24
(e) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)
POINT
Manual".
Detailed
(TE1-2)
(1)
Main circuit terminal block (TE1-1)
(7) (2) Used to connect the input power supply and servo Section 3.2
motor.
(3)
(6)
(4)
Grounding terminal
Battery holder
MR-J4-_B
section 12.4
(5) backup.
(Note) (6) Rating plate Section 1.4
Charge lamp
(2)
(3)
(4)
(1)
1 - 25
(f) MR-J4-22KB4(-RJ)
POINT
Manual".
Detailed
(TE1-2)
(1)
(7) Main circuit terminal block (TE1-1)
(2) Used to connect the input power supply and servo Section 3.2
(5) motor.
(Note)
(3)
(4)
Grounding terminal
Battery holder
MR-J4-_B
section 12.4
backup.
(2) Charge lamp
(3)
(1)
(4)
1 - 26
1.6 Configuration including peripheral equipment
Connecting a servo motor for different axis to U, V, W, or CN2 of the servo

CAUTION amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
1.6.1 For MR-J4-_A4(-RJ)
(1) MR-J4-200A4(-RJ) or less

The diagram is for MR-J4-60A4-RJ and MR-J4-100A4-RJ.
RS T
(Note 2) Personal
Power supply computer
MR Configurator2
Molded-case CN5
circuit breaker
(MCCB)
CN6
Analog monitor
(Note 3)
Magnetic CN3
contactor Personal computer and others
(MC)
(Note 1) CN8 To safety relay or
MR-J3-D05 safety
logic unit
Line noise filter

(FR-BSF01)
CN1
Junction terminal block

L1
L2
U
L3 CN2
V
Power factor P3
improving DC CN2L (Note 4)
W
reactor
(FR-HEL-H) P4 CN4
Battery
P+
Regenerative
option
C
L11
L21
Servo motor
1 - 27
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
2. Refer to section 1.2.1 for the power supply specification.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn
off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4-
RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
1 - 28
(2) MR-J4-350A4(-RJ)
RS T
(Note 2)
Power supply
Molded-case Personal
circuit breaker computer
(MCCB) MR Configurator2
CN5
(Note 3)
Magnetic
contactor CN6
(MC) Analog monitor
(Note 1) CN3
Personal computer and others
CN8 To safety relay or
MR-J3-D05 safety
logic unit
Line noise filter
(FR-BSF01)
CN1

L1 CN2
L2 U
CN2L (Note 4)
L3 V
W CN4
Battery
Power factor P3
improving DC
reactor
(FR-HEL-H) P4
P+
Regenerative
option
C
L11
L21
Servo motor
1 - 29
(3) MR-J4-500A4(-RJ)
RS T
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN6
Power factor Analog monitor
improving DC
reactor CN3
(FR-HEL-H) Personal computer and others
Line noise filter P3 CN8 To safety relay or
(FR-BSF01) MR-J3-D05 safety
logic unit
P4
CN1

CN2
CN2L (Note 4)
CN4
Battery
L21
L3 L11
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 30
(4) MR-J4-700A4(-RJ)
RS T
(Note 2)
Power supply Personal
computer
Molded-case MR Configurator2
circuit breaker CN5
(MCCB)
CN6
(Note 3) Analog monitor
Magnetic
contactor CN3
(MC) Personal computer and others
MR-J3-D05 safety
logic unit
Line noise filter CN1

(FR-BLF)
CN2
L21
L11 CN2L (Note 4)
Power factor CN4
improving DC Battery
reactor
(FR-HEL-H)
P3
P4
L3
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 31
(5) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
Personal
computer
RS T MR Configurator2
(Note 2) CN5
Power supply
Molded-case
circuit breaker
(MCCB)
CN6
Analog monitor
CN3
(Note 3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety
(MC) logic unit
(Note 1)
CN1

Line noise filter CN2
(FR-BLF)
CN2L (Note 4)
CN4
L21 Battery
L11
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4
P+ C
Regenerative
option
Servo motor
1 - 32
(6) MR-J4-22KA4(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
CN6
Analog monitor
CN3

Magnetic MR-J3-D05 safety
contactor logic unit
(MC)
(Note 1) CN1

CN2
Line noise filter
(FR-BLF) CN2L (Note 4)
CN4
Battery
L21
L11
L3
L2
L1
Power factor
improving DC U V W
reactor
(FR-HEL-H)
P3
P4
P+ C
Regenerative
option
Servo motor
1 - 33
1.6.2 For MR-J4-_B4(-RJ)
(1) MR-J4-200B4(-RJ) or less

The diagram is for MR-J4-60B4-RJ and MR-J4-100B4-RJ.
RS T
(Note 2)
Power supply
Molded-case Personal
circuit breaker computer
(MCCB) MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN3 Junction terminal
block

Line noise filter MR-J3-D05 safety
(FR-BSF01) logic unit
CN1A Servo system controller
or previous servo
amplifier CN1B
L1
CN1B Next servo amplifier
L2
CN1A or cap
L3
U
Power factor P3 CN2
improving DC V
reactor
(FR-HEL-H) P4 CN2L (Note 4)
W
P+ CN4
Regenerative Battery
option
C
L11
L21
Servo motor
4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4-
1 - 34
(2) MR-J4-350B4(-RJ)
RS T
(Note 2)
Power supply
Molded-case
circuit breaker Personal
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN3 Junction terminal
block

Line noise filter MR-J3-D05 safety
(FR-BSF01) logic unit
or previous servo
amplifier CN1B
L1
L2
CN1A or cap
L3
Power factor P3 CN2

improving DC
reactor U
(FR-HEL-H) P4 CN2L (Note 4)
V
P+ CN4
Regenerative W Battery
option
C
L11
L21
Servo motor
1 - 35
(3) MR-J4-500B4(-RJ)
RS T
(Note 2)
Power supply Personal
computer
Molded-case MR Configurator2
circuit breaker CN5
(MCCB)
(Note 3)
Magnetic
contactor CN3 Junction terminal
(MC) block
(Note 1)
Power factor
improving DC To safety relay or
reactor CN8
MR-J3-D05 safety
(FR-HEL-H) logic unit
P3
Line noise filter CN1A Servo system controller
(FR-BSF01) or previous servo
amplifier CN1B
P4
CN1A or cap
CN2
CN2L (Note 4)
CN4
Battery
L21
L3 L11
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 36
(4) MR-J4-700B4(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
CN3 Junction terminal

block
(Note 3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety
(MC) logic unit
(Note 1) CN1A Servo system controller
or previous servo
amplifier CN1B
Line noise filter CN1B Next servo amplifier

(FR-BLF) CN1A or cap
CN2
L21
L11 CN2L (Note 4)
Power factor CN4
improving DC Battery
reactor
(FR-HEL-H)
P3
P4
L3
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 37
(5) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
CN3 Junction terminal

block
(Note 3) To safety relay or

Magnetic CN8
MR-J3-D05 safety
contactor logic unit
(MC)
(Note 1) or previous servo
amplifier CN1B
Line noise filter CN1B Next servo amplifier

(FR-BLF) CN1A or cap
CN2
L21 CN2L (Note 4)
L11 CN4
Battery
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4
P+ C
Regenerative
option
Servo motor
1 - 38
(6) MR-J4-22K4B(-RJ)
Personal
computer
MR Configurator2
CN5
RS T
(Note 2)
Power supply
Molded-case
circuit breaker CN3 Junction terminal
(MCCB) block

MR-J3-D05 safety
logic unit
(Note 3) CN1A Servo system controller
Magnetic or previous servo
contactor amplifier CN1B
(MC)
(Note 1)
CN1A or cap
CN2
Line noise filter
(FR-BLF) CN2L (Note 4)
CN4
Battery
L21
L11
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4 P+ C
Regenerative
option
Servo motor
1 - 39
MEMO
1 - 40
2. INSTALLATION
2. INSTALLATION
WARNING To prevent electric shock, ground each equipment securely.
Stacking in excess of the specified number of product packages is not allowed.

Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
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. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to
section 1.2.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
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. Isolate it from all impact loads.
CAUTION Do not install or operate the servo amplifier which has been damaged or has any
parts missing.
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.
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- 1
2. INSTALLATION
MR-J4-_A4(-RJ) Keep out foreign materials MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 2.2
Encoder cable stress MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 2.3
Inspection items MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 2.4
Parts having service lives MR-J4-_A(-RJ) Servo Amplifier Instruction Manual
section 2.5
MR-J4-_B4(-RJ) Keep out foreign materials MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 2.2
Encoder cable stress MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 2.3
SSCNET III cable laying MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 2.4
Inspection items MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 2.5
Parts having service lives MR-J4-_B(-RJ) Servo Amplifier Instruction Manual
section 2.6
2.1 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, it may

cause a malfunction.
CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier
Cabinet
Cabinet
40 mm or more
Servo amplifier Wiring allowance
80 mm
or more
10 mm 10 mm
or more or more Top
Bottom
40 mm or more
(Note)
Note. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2- 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
Cabinet
100 mm or more
10 mm or more
Top
30 mm 30 mm
or more or more
Bottom
40 mm or more
(Note)
Note. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground
will be 120 mm or more.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2- 3
2. INSTALLATION
MEMO
2- 4
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, 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.
WARNING Ground the servo amplifier and servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
To avoid an electric shock, insulate the connections of the power supply
terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
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.
24 V DC 24 V DC
DOCOM DOCOM
Control output RA
Control output RA
signal signal
CAUTION For sink output interface For source output interface
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.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-H option)
with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
amplifier may cause a malfunction.
3- 1
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.
CAUTION U
U
U
U
V V
V M V M
W W
W W
POINT
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio → Load mass
Torque → Thrust
(Servo motor) speed → (Linear servo motor) speed
MR-J4-_A4(-RJ) I/O signal connection example MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.2
Connector and pin assignment MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.4
Signal (device) explanations MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.5
Detailed explanation of signals MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.6
Forced stop deceleration function MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.7
Alarm occurrence timing chart MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.8
Interface MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.9
Servo motor with an electromagnetic brake MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.10
Grounding MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.11
MR-J4-_B4(-RJ) I/O signal connection example MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.2
Connector and pin assignment MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.4
Signal (device) explanations MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.5
Forced stop deceleration function MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.6
Alarm occurrence timing chart MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.7
Interface MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.8
SSCNET III cable connection MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.9
Servo motor with an electromagnetic brake MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.10
Grounding MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.11
3- 2
3.1 MR-J4-_A4(-RJ)
3.1.1 Input power supply circuit
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.
Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may
cause a fire when a regenerative transistor malfunctions or the like may overheat
the regenerative resistor.
CAUTION Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier
will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to
suppress lightning surge. The varistor can break down due to its aged
deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input
power supply.
POINT
EM2 has the same function as EM1 in the torque control mode.
Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after
deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit
breaker (MCCB) must be used with the input cables of the main circuit power supply.
3- 3
(1) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)

Malfunction OFF
RA1 ON
MC
MC
Emergency stop switch SK
(Note 11)
Step-down
transformer Servo amplifier Servo motor
CNP1
(Note 6) (Note 10)
MCCB N- CNP3
MC (Note 5)
L1 U U
3-phase Motor
380 V AC or L2 V V
480 V AC M
L3 W W
P3
(Note 9) (Note 1)
P4
CNP2
P+
(Note 2) C
D (Note 10)
CN2 (Note 3) Encoder
L11 Encoder cable
L21
(Note 7)
Main circuit power supply CN1
Forced stop 2 EM2 CN1
(Note 4) 24 V DC (Note 12)
Servo-on SON DOCOM
(Note 4)
DICOM ALM RA1 Malfunction
24 V DC (Note 12)
CN8
(Note 8)
Short-circuit connector
(Packed with the servo amplifier)
Note 1. Always connect between P3 and P4 terminals. (factory-wired) When using the power factor improving DC reactor, refer to
section 9.8. Use either the power factor improving DC reactor or the power factor improving AC reactor.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 9.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction
Manual (Vol. 3)".
4. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.9.3 in MR-J4-_A(-RJ) Servo Amplifier
Instruction Manual.
5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that
may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer
to section 9.7.)
10. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
11. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class.
12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convinence. However,
they can be configured by one.
3- 4
(2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)
Malfunction OFF
RA1 ON
MC
MC
(Note 11) Emergency stop switch SK
Step-down
(Note 6)
MCCB MC
L1 (Note 10)
3-phase (Note 5)
380 V AC or L2 Built-in U U
480 V AC regenerative Motor
L3 resistor V V
M
(Note 2) P+ W W
(Note 9) C
L11
L21
N- (Note 10)
P3 Encoder cable
(Note 1)
P4
(Note 7)
(Note 4) DC 24 V (Note 12)
Servo-on SON DOCOM
DICOM ALM RA1 Malfunction (Note 4)

24 V DC (Note 12)
CN8
(Note 8)
2. When using the regenerative option, refer to section 9.2.
Manual (Vol. 3)".
Instruction Manual.
amplifier.
to section 9.7.)
3- 5
(3) MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ)

Malfunction OFF
RA1 ON
MC
MC
(Note 13)
Emergency stop switch SK Cooling fan
(Note 11)
Step-down power supply
transformer External
Servo amplifier dynamic brake Servo motor
(Note 6)
MCCB MC (optional)
(Note 15)
L1
3-phase (Note 10)
380 V AC or L2 U U
480 V AC Motor
L3 V V MCCB
M
P+ W W
(Note 5)
(Note 9) C
Regenerative
resistor
(Note 2)
L11
L21
N- (Note 10)
P3 Encoder cable
(Note 1)
P4
BU
BV
BW
Cooling fan (Note 12)
(Note 7)
(Note 4) 24 V DC (Note 14)
Servo-on SON DOCOM
(Note 4)
DICOM ALM RA1 Malfunction
24 V DC (Note 14)
CN8
(Note 8)
2. When using the regenerative resistor, refer to section 9.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
Instruction Manual.
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 9.7.)
12. Only HG-JR22K1M4 servo motor is equipped with a cooling fan.
13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
14. The illustration of the 24 V DC power supply is divided between input signal and output signal for convinence. However, they
can be configured by one.
3- 6
3.1.2 Explanation of power supply system
(1) Signal explanations
POINT
For the layout of connector and terminal block, refer to chapter 7 DIMENSIONS.
Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3.
Servo amplifier
Main circuit power MR-J4-60A4(-RJ) to MR-J4-22KA4(-RJ)
L1/L2/L3 Power
supply
3-phase 380 V AC to 480 V AC,
L1/L2/L3
50 Hz/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4. (factory-
Power factor wired)
P3/P4 improving DC When using the power factor improving DC reactor, disconnect P3 and P4, and
reactor connect the power factor improving DC reactor to P3 and P4.
Refer to section 9.8 for details.
1) MR-J4-350A4(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D.
(factory-wired)
When using a regenerative option, disconnect P+ and D, and connect the
regenerative option to P+ and C.
2) MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ)
Regenerative
P+/C/D MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ) do not have D.
option
When using a servo amplifier built-in regenerative resistor, connect P+ and C.
(factory-wired)
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+
and C.
Refer to section 9.2 to 9.5 for details.
Supply the following power to L11 and L21.
Control circuit Servo amplifier

L11/L21 MR-J4-60A4(-RJ) to MR-J4-22KA4(-RJ)
power supply Power
1-phase 380 V AC to 480 V AC L11/L21
Connect them to the servo motor power supply (U, V, and W). Connect the servo
Servo motor amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
U/V/W
power output directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
Power This terminal is used for a power regenerative converter, power regenerative
regenerative common converter, and brake unit.
converter Refer to section 9.3 to 9.5 for details.
N- Power
regenerative
common converter
Brake unit
Protective earth Connect it to the grounding terminal of the servo motor and to the protective earth
(PE) (PE) of the cabinet for grounding.
3- 7
(2) Power-on sequence
POINT
A voltage, output signal, etc. of analog monitor output may be irregular at power-
on.
(a) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the main circuit power supply (3-phase: L1, L2, and L3). Configure up an external sequence to
switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit
power supply or before switching on the main circuit power supply. If the main circuit power
supply is not on, the display shows the corresponding warning. However, by switching on the
main circuit power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply
is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main
circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will
switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (b) in this
section.)
4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(b) Timing chart

SON (Servo-on) accepted
(Note)
(2.5 s to 3.5 s)
Main circuit power supply ON
Control circuit OFF
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
SON (Servo-on)
OFF 95 ms
ON
RES (Reset)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
RD (Ready)
OFF
ALM No alarm (ON)

(Malfunction) Alarm (OFF) 2.5 s to 3.5 s
Note. This time period is longer when detecting magnetic pole for the linear servo motor.
3- 8
(3) Wiring CNP1, CNP2, and CNP3
POINT
For the wire sizes used for wiring, refer to section 9.6.
MR-J4-500A4(-RJ) or more do not have these connectors.
Use the servo amplifier power supply connector for wiring CNP1, CNP2, and CNP3.
(a) Connector
Servo amplifier
(Note)
CNP1
CNP2
CNP3
Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.
Table 3.1 Connector and applicable wire

Applicable wire Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGDK-HT10.5
CNP2 05JFAT-SAXGDK-HT7.5 AWG 16 to 14 3.9 mm or shorter 10 J-FAT-OT-XL JST
3- 9
(b) Cable connection procedure

1) Fabrication on cable insulator
Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables
depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten

the strands.
You can also use a ferrule to connect with the connectors. The following shows references to
select ferrules according to wire sizes.
Ferrule model (Phoenix Contact) Crimp terminal
Servo amplifier Wire size
For 1 cable For 2 cables (Phoenix Contact)
MR-J4-60A4(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
CRIMPFOX-ZA3
MR-J4-350A4(-RJ) AWG 14 AI2.5-10BU
2) Inserting wire
Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the
cable insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely
connected.
The following shows a connection example of the CNP3 connector for 3.5 kW.
1) Push down the open tool.
3) Release the open tool to

fix the wire.
2) Insert the wire.
3 - 10
3.2 MR-J4-_B4(-RJ)
3.2.1 Input power supply circuit
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.
Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may
cause a fire when a regenerative transistor malfunctions or the like may overheat
the regenerative resistor.
CAUTION Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier
will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to
suppress lightning surge. The varistor can break down due to its aged
deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input
power supply.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module
does not operate, and optical transmission of SSCNET III/H communication is
interrupted. Therefore, the next axis servo amplifier displays "AA" at the indicator
and turns into base circuit shut-off. The servo motor stops with starting dynamic
brake.
Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller
forced stop. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit
power supply.
3 - 11
(1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
(Note 12)
Step-down
CNP1
(Note 11)
(Note 7) N-
MCCB MC CNP3 (Note 6)
L1 U U
3-phase Motor
380 V AC or L2 V V
480 V AC M
L3 W W
P3
(Note 10) (Note 1)
P4
CNP2
P+
(Note 2) C
(Note 11)
D
L11 Encoder cable
L21
(Note 8)
Main circuit power supply CN3 CN3 24 V DC (Note 13)
(Note 5) Forced stop 2 EM2 DOCOM
(Note 4)
DICOM ALM RA1 Malfunction (Note 5)
24 V DC (Note 13)
(Note 9) CN8
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 9.2.
Manual (Vol. 3)".
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the controller side.
5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B(-RJ) Servo Amplifier
Instruction Manual.
amplifier.
to section 9.7.)
3 - 12
(2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
(Note 12)
Step-down
(Note 7)
MCCB MC
L1 (Note 11)
3-phase (Note 6)
380 V AC or L2 Built-in U U
480 V AC regenerative Motor
L3 resistor V V
M
(Note 2) P+ W W
(Note 10) C
L11
L21
(Note 11)
N-
P3 Encoder cable
(Note 1)
P4
(Note 8)
DICOM ALM RA1 (Note 4) (Note 5)

24 V DC (Note 13) Malfunction
(Note 9) CN8
2. When using the regenerative option, refer to section 9.2.
Manual (Vol. 3)".
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the controller side.
Instruction Manual.
amplifier.
to section 9.7.)
3 - 13
(3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
(Note 14)
(Note 12) Emergency stop switch SK Cooling fan
Step-down power supply
transformer External
Servo amplifier dynamic brake Servo motor
(Note 7)
MCCB MC (optional)
L1 (Note 16)
3-phase (Note 11)
380 V AC or L2 U U
480 V AC Motor
L3 V V MCCB
M
P+ W W
(Note 6)
(Note 10) C
Regenerative
resistor
(Note 2)
L11
L21
(Note 11)
N-
P3 Encoder cable
(Note 1)
P4
BU
BV
BW
Cooling fan (Note 13)
(Note 8)
DICOM ALM RA1

(Note 4) (Note 5)
24 V DC (Note 15) Malfunction
(Note 9) CN8
2. When using the regenerative resistor, refer to section 9.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic
contactor after detection of alarm occurrence on the controller side.
Instruction Manual.
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 9.7.)
12. Stepdown transformer is required for coil voltage of magnetic contactor more than 200 V class servo amplifiers.
13. Only HG-JR22K1M4 servo motor is equipped with a cooling fan.
14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
3 - 14
3.2.2 Explanation of power supply system
(1) Signal explanations
POINT
For the layout of connector and terminal block, refer to chapter 7 DIMENSIONS.
Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3.
Servo amplifier
Main circuit power MR-J4-60B4(-RJ) to MR-J4-22KB4(-RJ)
L1/L2/L3 Power
supply
3-phase 380 V AC to 480 V AC,
L1/L2/L3
50 Hz/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4. (factory-
Power factor wired)
P3/P4 improving DC When using the power factor improving DC reactor, disconnect P3 and P4, and
reactor connect the power factor improving DC reactor to P3 and P4.
Refer to section 9.8 for details.
1) MR-J4-350B4(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D.
(factory-wired)
When using a regenerative option, disconnect P+ and D, and connect the
regenerative option to P+ and C.
2) MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ)
Regenerative
P+/C/D MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ) do not have D.
option
When using a servo amplifier built-in regenerative resistor, connect P+ and C.
(factory-wired)
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+
and C.
Refer to section 9.2 to 9.5 for details.
Supply the following power to L11 and L21.
Control circuit Servo amplifier

L11/L21 MR-J4-60B4(-RJ) to MR-J4-22KB4(-RJ)
power supply Power
1-phase 380 V AC to 480 V AC L11/L21
Connect them to the servo motor power supply (U, V, and W). Connect the servo
Servo motor amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
U/V/W
power output directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
Power This terminal is used for a power regenerative converter, power regenerative
regenerative common converter, and brake unit.
converter Refer to section 9.3 to 9.5 for details.
N- Power
regenerative
common converter
Brake unit
Protective earth Connect it to the grounding terminal of the servo motor and to the protective earth
(PE) (PE) of the cabinet for grounding.
3 - 15
(2) Power-on sequence
POINT
A voltage, output signal, etc. of analog monitor output may be irregular at power-
on.
(a) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the main circuit power supply (3-phase: L1, L2, and L3). Configure up an external sequence to
switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit
power supply or before switching on the main circuit power supply. If the control circuit power
supply is turned on with the main circuit power supply off, and then the servo-on command is
transmitted, [AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply
stops the warning and starts the normal operation.
3) The servo amplifier receives the servo-on command within 3 s to 4 s after the main circuit power
supply is switched on.
(Refer to (2) of this section.)
(b) Timing chart

Servo-on command accepted
(Note)
(3 s to 4 s)
Main circuit ON
Control circuit power supply OFF
ON
Base circuit
OFF
95 ms 10 ms 95 ms
Servo-on command ON
(from controller) OFF
Note. This time period is longer when detecting magnetic pole for the linear servo motor.
3 - 16
(3) Wiring CNP1, CNP2, and CNP3
POINT
MR-J4-500B4(-RJ) or more do not have these connectors.
Use the servo amplifier power supply connector for wiring CNP1, CNP2, and CNP3.
(a) Connector
Servo amplifier
(Note)
CNP1
CNP2
CNP3
Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.
Table 3.2 Connector and applicable wire

Applicable wire Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP2 05JFAT-SAXGDK-HT7.5 AWG 16 to 14 3.9 mm or shorter 10 J-FAT-OT-XL JST
3 - 17
(b) Cable connection procedure

1) Fabrication on cable insulator
Refer to table 3.2 for stripped length of cable insulator. The appropriate stripped length of cables
depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten

the strands.
You can also use a ferrule to connect with the connectors. The following shows references to
select ferrules according to wire sizes.
Ferrule model (Phoenix Contact) Crimping tool
Servo amplifier Wire size
For 1 cable For 2 cables (Phoenix Contact)
MR-J4-60B4(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
CRIMPFOX-ZA3
MR-J4-350B4(-RJ) AWG 14 AI2.5-10BU
2) Inserting wire
Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the
cable insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely
connected.
The following shows a connection example of the CNP3 connector for 3.5 kW.
1) Push down the open tool.
3) Release the open tool to

fix the wire.
2) Insert the wire.
3 - 18
4. STARTUP (WIRING CHECK)
Do not operate the switches with wet hands. Otherwise, it may cause an electric
WARNING shock.
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot
CAUTION 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.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
MR-J4-_A4(-RJ) Switching power on for the first time MR-J4-_A(-RJ) Servo Amplifier Instruction
(expect wiring check) Manual section 4.1
Startup in position control mode MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 4.2
Startup in speed control mode MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 4.3
Startup in torque control mode MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 4.4
Display and operation sections MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 4.5
MR-J4-_B4(-RJ) Switching power on for the first time MR-J4-_B(-RJ) Servo Amplifier Instruction
(expect wiring check) Manual section 4.1
Startup MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 4.2
Switch setting and display of the servo MR-J4-_B(-RJ) Servo Amplifier Instruction
amplifier Manual section 4.3
Test operation MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 4.4
Test operation mode MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 4.5
4- 1
4.1 Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(1) Power supply system wiring

The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should
satisfy the defined specifications. (Refer to section 1.2.)
(2) Connection of servo amplifier and servo motor

(a) The servo amplifier power output (U, V, and W) should match in phase with the servo motor power
input terminals (U, V, and W).
Servo amplifier Servo motor
U
U
V
V M
W
W
(b) The power supplied to the servo amplifier should not be connected to the power outputs (U, V, and
W). Doing so will fail the connected servo amplifier and servo motor.

U
L1 U
V
L2 V M
W
L3 W
(c) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(d) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor
securely using the encoder cable.
(e) Between P3 and P4 should be connected.

Servo amplifier
P3
P4
(3) When you use an option and peripheral equipment

(a) When you use a regenerative option for 3.5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
A twisted cable should be used. (Refer to section 9.2.4.)
4- 2
(b) When you use a regenerative option for 5 kW or more servo amplifiers
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not
be connected.
The regenerative option should be connected to P+ terminal and C terminal.
A twisted cable should be used when wiring is over 5 m and under 10 m. (Refer to section 9.2.4.)
(c) When you use a brake unit and power regenerative converter for 5 kW or more servo amplifiers
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not
be connected.
Brake unit, power regenerative converter should be connected to P+ terminal and N- terminal.
(Refer to section 9.3 to 9.4.)
(d) When you use a power regenerative common converter for 11 kW or more servo amplifiers
Power regenerative common converter should be connected to P4 terminal and N- terminal.
(Refer to section 9.5.)
(e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to section
9.8.)
Servo amplifier
Power factor improving
DC reactor
P3
(Note)
P4
Note. Always disconnect between P3 and P4.
4.2 I/O signal wiring
(1) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN1/CN3 connector. This function can be
used to perform a wiring check. In this case, switch on the control circuit power supply only.
Refer to "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-_B(-RJ) Servo Amplifier
Instruction Manual" for details of I/O signal connection.
(2) A voltage exceeding 24 V DC is not applied to the pins of the CN1/CN3 connector.
(3) SD and DOCOM of the CN1/CN3 connector is not shorted.

Servo amplifier
CN1/CN3
DOCOM
SD
4- 3
MEMO
4- 4
5. PARAMETERS
5. PARAMETERS
Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not set values other than described values to each parameter.
5.1 MR-J4-_A4(-RJ)
5.1.1 Parameter list
POINT
To enable a parameter whose symbol is preceded by *, cycle the power after
setting it.
The symbols in the control mode column mean as follows.
P: Position control mode
S: Speed control mode
T: Torque control mode
Read the MR-J4-_A(-RJ) Servo Amplifier Instruction Manual for the parameters with "MR-J4-_A" in the
(1) Basic setting parameters ([Pr. PA_ _ ])

Operation Control
mode mode
Initial Detailed
No. Symbol Name Unit
T
Standard
Full.
Lin.
S
value explanation
PA01 *STY Operation mode 1000h Section

PA02 *REG Regenerative option 0000h 5.1.2
PA03 *ABS Absolute position detection system 0000h MR-J4-_A
PA04 *AOP1 Function selection A-1 2000h
PA05 *FBP Number of command input pulses per revolution 10000
PA06 CMX Electronic gear numerator (command pulse multiplication 1
numerator)
PA07 CDV Electronic gear denominator (command pulse multiplication 1
denominator)
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 [pulse]
PA11 TLP Forward rotation torque limit/positive direction thrust limit 100.0 [%]
PA12 TLN Reverse rotation torque limit/negative direction thrust limit 100.0 [%]
PA13 *PLSS Command pulse input form 0100h
PA14 *POL Rotation direction selection/travel direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 *MSR Servo motor series setting 0000h Section
PA18 *MTY Servo motor type setting 0000h 5.1.2
PA19 *BLK Parameter writing inhibit 00AAh MR-J4-_A
PA20 *TDS Tough drive setting 0000h
PA22 For manufacturer setting 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h MR-J4-_A
PA24 AOP4 Function selection A-4 0000h
5- 1
5. PARAMETERS
Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%] MR-J4-_A

PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
(2) Gain/filter setting parameters ([Pr. PB_ _ ])

Operation Control
mode mode
Initial Detailed
T
Standard
Lin.
S
Full.
value explanation
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h MR-J4-_A
PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h
suppression control II)
PB03 PST Position command acceleration/deceleration time constant (position 0 [ms]
smoothing)
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier] MR-J4-_A
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h
PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpps]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain 7.00 [Multiplier]
switching
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain 0.0 [Hz]
switching
5- 2
5. PARAMETERS
Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain 0.0 [Hz] MR-J4-_A
switching
PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after 0.00
gain switching
PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping 0.00
after gain switching
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h MR-J4-_A
switching
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain 0.0 [Hz]
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after 0.00
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
(3) Extension setting parameters ([Pr. PC_ _ ])

Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
value explanation
PC01 STA Acceleration time constant 0 [ms] MR-J4-_A

PC02 STB Deceleration time constant 0 [ms]
PC03 STC S-pattern acceleration/deceleration time constant 0 [ms]
PC04 TQC Torque command time constant/thrust command time constant 0 [ms]
PC05 SC1 Internal speed command 1 100 [r/min]/
Internal speed limit 1 [mm/s]
5- 3
5. PARAMETERS
Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation
PC09 SC5 Internal speed command 5 300 [r/min]/ MR-J4-_A

PC12 VCM Analog speed command - Maximum speed 0 [r/min]/
Analog speed limit - Maximum speed [mm/s]
PC13 TLC Analog torque/thrust command maximum output 100.0 [%]
Analog torque/thrust limit maximum output
PC14 MOD1 Analog monitor 1 output 0000h Section
PC15 MOD2 Analog monitor 2 output 0001h 5.1.2
PC16 MBR Electromagnetic brake sequence output 0 [ms] MR-J4-_A
PC17 ZSP Zero speed 50 [r/min]/
[mm/s]
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station No. setting 0 [station]
PC21 *SOP RS-422 communication function selection 0000h
PC22 *COP1 Function selection C-1 0000h
PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h MR-J4-_A
PC29 0000h
PC30 STA2 Acceleration time constant 2 0 [ms] MR-J4-_A
PC31 STB2 Deceleration time constant 2 0 [ms]
PC32 CMX2 Command input pulse multiplication numerator 2 1
PC35 TL2 Internal torque limit 2/internal thrust limit 2 100.0 [%]
PC36 *DMD Status display selection 0000h
PC37 VCO Analog speed command offset 0 [mV]
Analog speed limit offset
PC38 TPO Analog torque command offset 0 [mV]
Analog torque limit offset
PC39 MO1 Analog monitor 1 offset 0 [mV]
PC41 For manufacturer setting 0
PC42 0
PC43 ERZ Error excessive alarm detection level 0 [rev]/[mm] MR-J4-_A
PC45 *COPA Function selection C-A 0000h
PC47 0
PC48 0
PC49 0
PC50 0000h
PC51 RSBR Forced stop deceleration time constant 100 [ms] MR-J4-_A
PC53 0
PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev] MR-J4-_A
/[0.01mm]
5- 4
5. PARAMETERS
Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation

PC56 100
PC57 0000h
PC58 0
PC59 0000h
PC60 *COPD Function selection C-D 0000h MR-J4-_A
PC62 0000h
PC63 0000h
PC64 0000h
PC65 0000h
PC66 0000h
PC67 0000h
PC68 0000h
PC69 0000h
PC70 0000h
PC71 0000h
PC72 0000h
PC73 0000h
PC74 0000h
PC75 0000h
PC76 0000h
PC77 0000h
PC78 0000h
PC79 0000h
PC80 0000h
(4) I/O setting parameters ([Pr. PD_ _ ])

Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation
PD01 *DIA1 Input signal automatic on selection 1 0000h MR-J4-_A

PD02 For manufacturer setting 0000h
PD03 *DI1L Input device selection 1L 0202h MR-J4-_A
PD04 *DI1H Input device selection 1H 0002h
PD05 *DI2L Input device selection 2L 2100h
PD16 0000h
PD17 *DI8L Input device selection 8L 0A0Ah MR-J4-_A
PD19 *DI9L Input device selection 9L 0B0Bh
PD23 *DO1 Output device selection 1 0004h
5- 5
5. PARAMETERS
Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation
PD24 *DO2 Output device selection 2 000Ch MR-J4-_A

PD28 *DO6 Output device selection 6 0002h MR-J4-_A
PD29 *DIF Input filter setting 0004h
PD30 *DOP1 Function selection D-1 0000h
PD32 *DOP3 Function selection D-3 0000h MR-J4-_A
PD34 DOP5 Function selection D-5 0000h MR-J4-_A
PD36 0000h
PD37 0000h
PD38 0
PD39 0
PD40 0
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h
(5) Extension setting 2 parameters ([Pr. PE_ _ ])

Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
value S explanation
PE01 *FCT1 Fully closed loop function selection 0000h MR-J4-_A

PE02 For manufacturer setting 0000h
PE03 *FCT2 Fully closed loop function selection 2 0003h
PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 - 1
Numerator
PE05 *FBD Fully closed loop control - Feedback pulse electronic gear 1 - 1
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
PE10 FCT3 Fully closed loop function selection 3 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
5- 6
5. PARAMETERS
Operation Control
mode mode
Initial Detailed
T
Standard
Full.
Lin.
S
value explanation

PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - 1 MR-J4-_A
Numerator
PE35 *FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - 1
Denominator
PE36 For manufacturer setting 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h MR-J4-_A
PE42 For manufacturer setting 0
PE43 0.0
PE44 0000h
PE45 0000h
PE46 0000h
PE47 0000h
PE48 0000h
PE49 0000h
PE50 0000h
PE51 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00
5- 7
5. PARAMETERS
(6) Extension setting 3 parameters ([Pr. PF_ _ ])

Operation Control
mode mode
Initial Detailed
T
Standard
Lin.
S
Full.
value explanation
PF01 For manufacturer setting 0000h

PF02 0000h
PF03 0000h
PF04 0
PF05 0
PF06 0000h
PF07 1
PF08 1
PF09 *FOP5 Function selection F-5 0000h MR-J4-_A
PF11 0000h
PF12 10000
PF13 100
PF14 100
PF15 DBT Electronic dynamic brake operating time 2000 [ms] MR-J4-_A
PF17 10
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s] MR-J4-_A
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%] MR-J4-_A
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms]
(instantaneous power failure tough drive - detection time)
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/ MR-J4-_A
[mm/s]
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
5- 8
5. PARAMETERS
(7) Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation Control
mode mode
Initial Detailed
T
Standard
Lin.
S
Full.
value explanation
PL01 *LIT1 Linear servo motor function selection 1 0301h MR-J4-_A

PL02 *LIM Linear encoder resolution - Numerator 1000 [µm]
PL03 *LID Linear encoder resolution - Denominator 1000 [µm]
PL04 *LIT2 Linear servo motor function selection 2 0003h
PL05 LB1 Position deviation error detection level 0 [mm]
PL06 LB2 Speed deviation error detection level 0 [mm/s]
PL07 LB3 Thrust deviation error detection level 100 [%]
PL09 LPWM Magnetic pole detection voltage level 30 [%]
PL10 For manufacturer setting 5
PL11 100
PL12 500
PL13 0000h
PL14 0000h
PL15 20
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - 0000h MR-J4-_A
Function selection
PL18 IDLV Magnetic pole detection - Minute position detection method - 0 [%]
Identification signal amplitude
PL20 0
PL21 0
PL22 0
PL23 0000h
PL24 0
PL25 0000h
PL26 0000h
PL27 0000h
PL28 0000h
PL29 0000h
PL30 0000h
PL31 0000h
PL32 0000h
PL33 0000h
PL34 0000h
PL35 0000h
PL36 0000h
PL37 0000h
PL38 0000h
PL39 0000h
PL40 0000h
PL41 0000h
PL42 0000h
PL43 0000h
PL44 0000h
PL45 0000h
PL46 0000h
PL47 0000h
PL48 0000h
5- 9
5. PARAMETERS
5.1.2 Detailed list of parameters
POINT
"x" in the "Setting digit" columns means which digit to set a value.

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA01 ___x Control mode selection 0h
*STY Select a control mode.
Operation 0: Position control mode
mode 1: Position control mode and speed control mode
2: Speed control mode
3: Speed control mode and torque control mode
4: Torque control mode
5: Torque control mode and position control mode
__x_ Operation mode selection 0h
0: Standard control mode
1: Fully closed loop control mode
4. Linear servo motor control mode
Setting other than above will result in [AL. 37 Parameter error].
_x__ For manufacturer setting 0h
x___ 1h
PA02 __xx Regenerative option 00h
*REG Used to select the regenerative option.
Regenerative Incorrect setting may cause the regenerative option to burn.
option If a selected regenerative option is not for use with the servo amplifier, [AL. 37
Parameter error] occurs.
00: Regenerative option is not used.

For servo amplifier of 0.6 kW to 7 kW, built-in regenerative resistor is used.
Supplied regenerative resistors or regenerative option is used with the servo
amplifier of 11 kW to 22 kW.
01: FR-RC-H/FR-CV-H/FR-BU2-H
When you use FR-RC-H, FR-CV-H, or FR-BU2-H, select "Mode 2 (_ _ _ 1)" of
"Undervoltage alarm detection mode selection" in [Pr. PC27].
80: MR-RB1H-4
81: MR-RB3M-4 (Cooling fan is required.)
82: MR-RB3G-4 (Cooling fan is required.)
84: MR-RB34-4 (Cooling fan is required.)
91: MR-RB3U-4 (Cooling fan is required.)
FA: When the supplied regenerative resistors or the regenerative option is cooled by
the cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW.
x___ 0h
PA17 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h
*MSR Set this and [Pr. PA18] at a time.
Servo motor Refer to the following table for settings.
series setting
Parameter
Linear servo motor Servo motor model
series (primary side) [Pr. PA17] [Pr. PA18]
setting setting
LM-F LM-FP5H-60M-1SS0 00B2h 5801h
5 - 10
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA18 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h
*MTY Set this and [Pr. PA17] at a time.
Servo motor Refer to the table of [Pr. PA17] for settings.
type setting
5 - 11
5. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC14 __xx Analog monitor 1 output selection 00h
MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 3.1 (3) for
Analog detection point of output selection.
monitor 1 Refer to table 5.1 for settings.
output _x__ For manufacturer setting 0h
x___ 0h
Table 5.1 Analog monitor setting value
Operation
mode
(Note 1)
Setting
Item
value
Standard
Lin.
Full.
00 (Linear) servo motor speed
(±8 V/max. speed)
01 Torque or thrust
(±8 V/max. torque or max. thrust) (Note 3)
(+8V/max. speed)
03 Torque or thrust
(+8 V/max. torque or max. thrust) (Note 3)
04 Current command (±8 V/max. current command)
05 Command pulse frequency (±10 V/±4 Mpps)
06 Servo motor-side droop pulses (±10 V/100 pulses) (Note
2)
07 Servo motor-side droop pulses (±10 V/1000 pulses) (Note
2)
08 Servo motor-side droop pulses (±10 V/10000 pulses)
(Note 2)
09 Servo motor-side droop pulses (±10 V/100000 pulses)
(Note 2)
0A Feedback position (±10 V/1 Mpulses) (Note 2)
0B Feedback position (±10 V/10 Mpulses) (Note 2)
0C Feedback position (±10 V/100 Mpulses) (Note 2)
0D Bus voltage (+8 V/800 V)
0E Speed command 2 (±8 V/max. speed)
10 Load-side droop pulses (±10 V/100 pulses) (Note 2)
14 Load-side droop pulses (±10 V/1 Mpulses) (Note 2)
15 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
16 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
17 Encoder inside temperature (±10 V/±128 ˚C)
Note 1. Items with ○ are available for each operation mode.
Standard: Standard (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use
2. Encoder pulse unit
3. 8 V is outputted at the maximum torque. However, when [Pr. PA11] and [Pr. PA12]
are set to limit torque, 8 V is outputted at the torque highly limited.
5 - 12
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC15 __xx Analog monitor 2 output selection 01h
MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 3.1 (3) for
Analog detection point of output selection.
monitor 2 Refer to [Pr. PC14] for settings.
output _x__ For manufacturer setting 0h
x___ 0h
5 - 13
5. PARAMETERS
5.2 MR-J4-_B4(-RJ)
5.2.1 Parameter list
POINT
When you connect the amplifier to a servo system controller, servo parameter
values of the servo system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on
the servo system controller model, servo amplifier software version, and MR
Configurator2 software version. For details, refer to the servo system controller
user's manual.
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
Abbreviations of operation modes indicate the followings.
Read the MR-J4-_B(-RJ) Servo Amplifier Instruction Manual for the parameters with "MR-J4-_B" in the

Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation
PA01 **STY Operation mode 1000h Section

PA02 **REG Regenerative option 0000h 5.2.2
PA03 *ABS Absolute position detection system 0000h MR-J4-_B
PA05 For manufacturer setting 10000
PA06 1
PA07 1
PA08 ATU Auto tuning mode 0001h MR-J4-_B
PA09 RSP Auto tuning response 16
PA10 INP In-position range 1600 [pulse]
PA11 For manufacturer setting 1000.0
PA12 1000.0
PA13 0000h
PA14 *POL Rotation direction selection/travel direction selection 0 MR-J4-_B
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 **MSR Servo motor series setting 0000h Section
PA18 **MTY Servo motor type setting 0000h 5.2.2
PA19 *BLK Parameter writing inhibit 00ABh MR-J4-_B
PA20 *TDS Tough drive setting 0000h
PA22 **PCS Position control composition selection 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
5 - 14
5. PARAMETERS
Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation
PA24 AOP4 Function selection A-4 0000h MR-J4-_B

PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
(2) Gain/filter setting parameters ([Pr. PB_ _ ])

Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h MR-J4-_B
PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h
suppression control II)
PB03 TFBGN Torque feedback loop gain 18000 [rad/s]
PB04 FFC Feed forward gain 0 [%]
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier] MR-J4-_B
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h
PB25 For manufacturer setting 0000h
PB26 *CDP Gain switching function 0000h MR-J4-_B
PB27 CDL Gain switching condition 10 [kpps]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain 7.00 [Multiplier]
switching
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
5 - 15
5. PARAMETERS
Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation
PB31 VG2B Speed loop gain after gain switching 0 [rad/s] MR-J4-_B
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
switching
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after 0.0 [Hz]
gain switching
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping 0.00
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0
PB42 0
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h Section
5.2.2
PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] MR-J4-_B
switching
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after 0.0 [Hz]
gain switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping 0.00
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
5 - 16
5. PARAMETERS

Operation
mode
Initial Detailed
Standard
Full.
Lin.
value explanation
PC01 ERZ Error excessive alarm level 0 [rev]/ MR-J4-_B

[mm]
PC02 MBR Electromagnetic brake sequence output 0 [ms]
PC03 *ENRS Encoder output pulse selection 0000h
PC04 **COP1 Function selection C-1 0000h
PC07 ZSP Zero speed 50 [r/min]/
[mm/s]
PC08 OSL Overspeed alarm detection level 0 [r/min]/
[mm/s]
PC09 MOD1 Analog monitor 1 output 0000h Section
PC10 MOD2 Analog monitor 2 output 0001h 5.2.2
PC11 MO1 Analog monitor 1 offset 0 [mV] MR-J4-_B
PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 [pulse]
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 [10000pulses]
PC16 0000h
PC17 **COP4 Function selection C-4 0000h MR-J4-_B
PC20 *COP7 Function selection C-7 0000h MR-J4-_B
PC21 *BPS Alarm history clear 0000h
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms] MR-J4-_B
PC26 **COP8 Function selection C-8 0000h MR-J4-_B
PC29 *COPB Function selection C-B 0000h MR-J4-_B
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]/ MR-J4-_B
[0.01mm]
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 0000h
PC39 0000h
PC40 0000h
PC41 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
5 - 17
5. PARAMETERS
Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation

PC48 0000h
PC49 0000h
PC50 0000h
PC51 0000h
PC52 0000h
PC53 0000h
PC54 0000h
PC55 0000h
PC56 0000h
PC57 0000h
PC58 0000h
PC59 0000h
PC60 0000h
PC61 0000h
PC62 0000h
PC63 0000h
PC64 0000h
(4) I/O setting parameters ([Pr. PD_ _ ])

Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation

PD02 *DIA2 Input signal automatic on selection 2 0000h MR-J4-_B
PD04 0021h
PD05 0022h
PD06 0000h
PD07 *DO1 Output device selection 1 0005h MR-J4-_B
PD11 0004h
PD12 *DOP1 Function selection D-1 0000h MR-J4-_B
PD14 *DOP3 Function selection D-3 0000h MR-J4-_B
PD16 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0
PD21 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
5 - 18
5. PARAMETERS
Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation

PD28 0000h
PD29 0000h
PD30 0
PD31 0
PD32 0
PD33 0000h
PD34 0000h
PD35 0000h
PD36 0000h
PD37 0000h
PD38 0000h
PD39 0000h
PD40 0000h
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h
(5) Extension setting 2 parameters ([Pr. PE_ _ ])

Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation
PE01 **FCT1 Fully closed loop function selection 1 0000h MR-J4-_B

PE03 *FCT2 Fully closed loop function selection 2 0003h MR-J4-_B
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - 1
Numerator
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - 1
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
PE10 FCT3 Fully closed loop function selection 3 0000h MR-J4-_B
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
5 - 19
5. PARAMETERS
Operation
mode
Initial Detailed
Standard
Lin.
Full.
value explanation

PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - 1 MR-J4-_B
Numerator
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - 1
Denominator
PE36 For manufacturer setting 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h MR-J4-_B
PE42 For manufacturer setting 0
PE43 0.0
PE44 0000h
PE45 0000h
PE46 0000h
PE47 0000h
PE48 0000h
PE49 0000h
PE50 0000h
PE51 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00
5 - 20
5. PARAMETERS
(6) Extension setting 3 parameters ([Pr. PF_ _ ])

Operation
mode
Initial Detailed
Standard
Full.
Lin.
value explanation

PF02 0000h
PF03 0000h
PF04 0
PF05 0000h
PF06 *FOP5 Function selection F-5 0000h MR-J4-_B
PF08 0000h
PF09 0
PF10 0
PF11 0
PF12 DBT Electronic dynamic brake operating time 2000 [ms] MR-J4-_B
PF14 10
PF15 0000h
PF16 0000h
PF17 0000h
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s] MR-J4-_B
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%] MR-J4-_B
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms]
(instantaneous power failure tough drive - detection time)
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/ MR-J4-_B
[mm/s]
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
5 - 21
5. PARAMETERS
(7) Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation
mode
Initial Detailed
Standard
Full.
Lin.
value explanation
PL01 **LIT1 Linear servo motor function selection 1 0301h MR-J4-_B

PL02 **LIM Linear encoder resolution - Numerator 1000 [µm]
PL03 **LID Linear encoder resolution - Denominator 1000 [µm]
PL05 LB1 Position deviation error detection level 0 [mm]
PL06 LB2 Speed deviation error detection level 0 [mm/s]
PL07 LB3 Thrust deviation error detection level 100 [%]
PL09 LPWM Magnetic pole detection voltage level 30 [%]
PL11 100
PL12 500
PL13 0000h
PL14 0
PL15 20
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - 0000h MR-J4-_B
Function selection
PL18 IDLV Magnetic pole detection - Minute position detection method - 0 [%]
Identification signal amplitude
PL20 0
PL21 0
PL22 0
PL23 0000h
PL24 0
PL25 0000h
PL26 0000h
PL27 0000h
PL28 0000h
PL29 0000h
PL30 0000h
PL31 0000h
PL32 0000h
PL33 0000h
PL34 0000h
PL35 0000h
PL36 0000h
PL37 0000h
PL38 0000h
PL39 0000h
PL40 0000h
PL41 0000h
PL42 0000h
PL43 0000h
PL44 0000h
PL45 0000h
PL46 0000h
PL47 0000h
PL48 0000h
5 - 22
5. PARAMETERS
5.2.2 Detailed list of parameters
POINT
"x" in the "Setting digit" columns means which digit to set a value.

Initial
Setting
No. Symbol Name and function value
range
[unit]
PA01 **STY Operation mode Refer to Name
Select a operation mode. and function
column.
Setting Initial
Explanation
digit value
___x For manufacturer setting 0h
__x_ Operation mode selection 0h
0: Standard control mode
1: Fully closed loop control mode
4. Linear servo motor control mode
Setting other than above will result in [AL. 37 Parameter error].
x___ Operation mode selection 1h
To change this digit, use an application software "MR-J4(W)-B
mode selection". When you change it without the application, [AL.
3E Operation mode error] will occur.
0: J3 compatibility mode
1: J4 mode
5 - 23
5. PARAMETERS
Initial
Setting
range
[unit]
PA02 **REG Regenerative option Refer to Name
Used to select the regenerative option. and function
Incorrect setting may cause the regenerative option to burn. column.
If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter
error] occurs.
Setting Initial
Explanation
digit value
__xx Regenerative option selection 00h
For servo amplifier of 0.6 kW to 7 kW, built-in regenerative
resistor is used.
Supplied regenerative resistors or regenerative option is used
with the servo amplifier of 11 kW to 22 kW.
01: FR-RC-H/FR-CV-H/FR-BU2-H
When you use FR-RC-H, FR-CV-H, or FR-BU2-H, select "Mode
2 (_ _ _ 1)" of "Undervoltage alarm detection mode selection" in
[Pr. PC20].
80: MR-RB1H-4
FA: When the supplied regenerative resistors or the regenerative
option is cooled by the cooling fan to increase the ability with
the servo amplifier of 11 kW to 22 kW.
x___ 0h
PA17 **MSR Servo motor series setting 0000h Refer to

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this Name
and [Pr. PA18] at a time. and
Refer to the following table for settings. function
column.
Linear servo motor Servo motor model Parameter
series (primary side) [Pr. PA17] setting [Pr. PA18] setting
LM-F LM-FP5H-60M-1SS0 00B2h 5801h
PA18 **MTY Servo motor type setting 0000h Refer to

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this Name
and [Pr. PA17] at a time. and
Refer to the table of [Pr. PA17] for settings. function
column
of [Pr.
PA17].
5 - 24
5. PARAMETERS

Initial
Setting
range
[unit]
PC09 MOD1 Analog monitor 1 output Refer to Name
Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 3.2 (3) for detection and function
point of output selection. column.
Setting Initial
Explanation
digit value
__xx Analog monitor 1 output selection 00h
Refer to table 5.2 for settings.
x___ 0h
Table 5.2 Analog monitor setting value

Operation
mode
Setting (Note 1)
Item
value
Standard
Full.
Lin.
(±8 V/max. speed)
01 Torque or thrust
(±8 V/max. torque or max. thrust)
(+8V/max. speed)
03 Torque or thrust
(+8 V/max. torque or max. thrust)
04 Current command (±8 V/max. current command)
05 Speed command (±8 V/max. speed)
06 Servo motor-side droop pulses (±10 V/100 pulses) (Note 2)
0A Feedback position (±10 V/1 Mpulses) (Note 2)
0B Feedback position (±10 V/10 Mpulses) (Note 2)
0C Feedback position (±10 V/100 Mpulses) (Note 2)
0D Bus voltage (+8 V/800 V)
0E Speed command 2 (±8 V/max. speed)
14 Load-side droop pulses (±10 V/1 Mpulses) (Note 2)
15 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
16 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
17 Encoder inside temperature (±10 V/±128 ˚C)
Note 1. Items with ○ are available for each operation mode.

2. Encoder pulse unit
5 - 25
5. PARAMETERS
Initial
Setting
range
[unit]
PC10 MOD2 Analog monitor 2 output Refer to Name
Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 3.2 (3) for detection and function
point of output selection. column.
Setting Initial
Explanation
digit value
__xx Analog monitor 2 output selection 01h
Refer to [Pr. PC09] for settings.
x___ 0h
5 - 26
6. TROUBLESHOOTING
6. TROUBLESHOOTING
POINT
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"
for details of alarms and warnings.
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.
6.1 MR-J4-_A4(-RJ)
6.1.1 Alarm and warning list
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or
the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM will turn off.
To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2.
Warnings ([AL. 91] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be
outputted when they occur. The alarm codes will not be outputted in normal condition.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ○ in the
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed.
For the alarms and warnings in which "SD" is written in the stop method column, the axis stops with the
dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written
in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.
Operation
Alarm code Alarm deactivation
mode
Stop
off → on
Alarm reset
(RES)
Press the
"SET" button
Power
Standard
Full.
Lin.
on the current
alarm screen.
Detail method
No. CN1 CN1 CN1 Name Detail name
display (Note 2,
22 23 24 3)
(Bit 2) (Bit 1) (Bit 0)
Voltage drop in the control circuit

Alarm
10.1 EDB
power
10 0 1 0 Undervoltage
Voltage drop in the main circuit
10.2 SD
power
12.1 RAM error 1 DB
Memory error 1 12.2 RAM error 2 DB
12 0 0 0
(RAM) 12.4 RAM error 4 DB
12.5 RAM error 5 DB
13.1 Clock error 1 DB
13 0 0 0 Clock error
14.1 Control process error 1 DB
Control process 14.5 Control process error 5 DB
14 0 0 0
error 14.6 Control process error 6 DB
14.A Control process error 10 DB
Memory error 2 15.1 EEP-ROM error at power on DB
15 0 0 0
(EEP-ROM) 15.2 EEP-ROM error during operation DB
6- 1
6. TROUBLESHOOTING
Operation
mode
Stop
off → on
Alarm reset
(RES)
Press the
"SET" button
Power
Standard
Full.
Lin.
on the current
alarm screen.
Detail method
display (Note 2,
22 23 24 3)
(Bit 2) (Bit 1) (Bit 0)
161 or Encoder initial communication -

Alarm
DB
less Receive data error 1
Encoder initial communication -
16.2 DB
Receive data error 2
16.3 DB
16.5 DB
Transmission data error 1
16.6 DB
Encoder initial 16.7 DB
16 1 1 0 communication error
1 Encoder initial communication -
16.A DB
Process error 1
16.B DB
Process error 2
16.C DB
Process error 3
16.D DB
Process error 4
16.E DB
Process error 5
16.F DB
Process error 6
17.1 Board error 1 DB
17 0 0 0 Board error 17.3 Board error 2 DB
Memory error 3 19.1 FLASH-ROM error 1 DB
19 0 0 0
(FLASH-ROM) 19.2 FLASH-ROM error 2 DB
1A.1 Servo motor combination error DB
Servo motor
1A 1 1 0 Servo motor control mode
combination error 1A.2 DB
combination error
Encoder initial 1E.1 Encoder malfunction DB
1E 1 1 0 communication error
2 1E.2 Load-side encoder malfunction DB
Encoder initial 1F.1 Incompatible encoder DB
1F 1 1 0 communication error
3 1F.2 Incompatible load-side encoder DB
Encoder normal communication -
20.1 EDB
20.2 EDB
20.3 EDB
Encoder normal 20.5 EDB
20 1 1 0 communication error
1 Encoder normal communication -
20.6 EDB
20.7 EDB
20.9 EDB
20.A EDB
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
Encoder normal 21.3 Encoder data waveform error EDB
21 1 1 0 communication error 21.4 Encoder non-signal error EDB
2 21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
6- 2
6. TROUBLESHOOTING
Operation
mode
Stop
off → on
Alarm reset
(RES)
Press the
"SET" button
Power
Standard
Full.
Lin.
on the current
alarm screen.
Detail method
display (Note 2,
22 23 24 3)
(Bit 2) (Bit 1) (Bit 0)
Ground fault detected by hardware

Alarm
24.1 DB
detection circuit
24 1 0 0 Main circuit error
Ground fault detected by software
24.2 DB
detection function
Absolute position Servo motor encoder - Absolute
25 1 1 0 25.1 DB
erased position erased
Initial magnetic pole detection -
27.1 DB
Abnormal termination
27.2 DB
Time out error
27.3 DB
Limit switch error
Initial magnetic pole Initial magnetic pole detection -
27 1 1 0 27.4 DB
detection error Estimated error
27.5 DB
Position deviation error
27.6 DB
Speed deviation error
27.7 DB
Current error
Linear encoder error Linear encoder - Environment error
28 1 1 0 28.1 EDB
2 2
2A.1 Linear encoder error 1-1 EDB
Linear encoder error 2A.4 Linear encoder error 1-4 EDB
2A 1 1 0
1 2A.5 Linear encoder error 1-5 EDB
Encoder counter 2B.1 Encoder counter error 1 EDB
2B 1 1 0
error 2B.2 Encoder counter error 2 EDB
30.1 Regeneration heat error DB

(Note 1) (Note 1) (Note 1)
Regenerative error
30 0 0 1 30.2 Regeneration signal error DB
(Note 1) (Note 1) (Note 1) (Note 1)
30.3 Regeneration feedback signal error DB

31 1 0 1 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at hardware
32.1 DB
detection circuit (during operation)
Overcurrent detected at software
32.2 detection function (during DB
32 1 0 0 Overcurrent operation)
Overcurrent detected at hardware
32.3 DB
detection circuit (during a stop)
Overcurrent detected at software
32.4 DB
detection function (during a stop)
33 0 0 1 Overvoltage 33.1 Main circuit voltage error EDB
Command
35 1 0 1 35.1 Command frequency error SD
frequency error
37.1 Parameter setting range error DB
37 0 0 0 Parameter error
37.2 Parameter combination error DB
Inrush current
Inrush current suppression circuit
3A 0 0 0 suppression circuit 3A.1 EDB
error
error
6- 3
6. TROUBLESHOOTING
Operation
mode
Stop
off → on
Alarm reset
(RES)
Press the
"SET" button
Power
Standard
Full.
Lin.
on the current
alarm screen.
Detail method
display (Note 2,
22 23 24 3)
(Bit 2) (Bit 1) (Bit 0)
Servo control error by position

Alarm
42.1 EDB
deviation (Note 4) (Note 4)
Servo control error by speed
Servo control error 42.2 EDB
Servo control error by torque/thrust
42.3 EDB
42 1 1 0 Fully closed loop control error by
42.8 EDB
position deviation (Note 4) (Note 4)
Fully closed loop control error by
Fully closed loop 42.9 EDB
speed deviation (Note 4) (Note 4)
control error
Fully closed loop control error by
42.A position deviation during command EDB
(Note 4) (Note 4)
stop
Main circuit device
45 0 1 1 45.1 Main circuit device overheat error SD
overheat (Note 1) (Note 1) (Note 1) (Note 1)
Abnormal temperature of servo
46.1 SD
motor 1 (Note 1) (Note 1) (Note 1)
46.2 SD
Servo motor
46 0 1 1 46.3 Thermistor disconnected SD
46.5 DB
46.6 DB
47.1 Cooling fan stop error SD
47 0 1 1 Cooling fan error
47.2 Cooling fan speed reduction error SD
Thermal overload error 1 during
50.1 SD
operation (Note 1) (Note 1) (Note 1)
50.2 SD
50.3 SD
50 0 1 1 Overload 1 (Note 1)
Thermal overload error 1 during a
50.4 SD
stop (Note 1) (Note 1) (Note 1)
50.5 SD
50.6 SD
51.1 DB
51 0 1 1 Overload 2 (Note 1)
51.2 DB
52.1 Excess droop pulse 1 SD
52 1 0 1 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 EDB
54 0 1 1 Oscillation detection 54.1 Oscillation detection error EDB
56.2 Over speed during forced stop EDB
56 1 1 0 Forced stop error Estimated distance over during
56.3 EDB
forced stop
63.1 STO1 off DB
63 1 1 0 STO timing error
63.2 STO2 off DB
6- 4
6. TROUBLESHOOTING
Operation
mode
Stop
off → on
Alarm reset
(RES)
Press the
"SET" button
Power
Standard
Full.
Lin.
on the current
alarm screen.
Detail method
display (Note 2,
22 23 24 3)
(Bit 2) (Bit 1) (Bit 0)
Load-side encoder initial

Alarm
70.1 communication - Receive data error DB

1
2
3
70.5 communication - Transmission data DB
error 1
Load-side encoder 70.6 communication - Transmission data DB
initial error 2
70 1 1 0
communication error Load-side encoder initial
1 70.7 communication - Transmission data DB
error 3
70.A DB
communication - Process error 1
70.B DB
70.C DB
70.D DB
70.E DB
70.F DB
Load-side encoder communication -
71.1 EDB
71.2 EDB
71.3 EDB
Load-side encoder Load-side encoder communication -
71.5 EDB
normal Transmission data error 1
71 1 1 0
communication error Load-side encoder communication -
1 71.6 EDB
71.7 EDB
71.9 EDB
71.A EDB
72.1 Load-side encoder data error 1 EDB
Load-side encoder data update
72.2 EDB
error
Load-side encoder Load-side encoder data waveform
normal 72.3 EDB
72 1 1 0 error
communication error
72.4 Load-side encoder non-signal error EDB
2
72.5 Load-side encoder hardware error 1 EDB
USB communication
USB communication time-out
time-out error/serial
8A 0 0 0 8A.1 error/serial communication time-out SD
communication time-
error
out error
6- 5
6. TROUBLESHOOTING
Operation
mode
Stop
"SET" button
off → on
Alarm reset
(RES)
Press the
Power
Standard
Full.
Lin.
on the current
alarm screen.
Detail method
display (Note 2,
22 23 24 3)
(Bit 2) (Bit 1) (Bit 0)
USB communication receive

Alarm
8E.1 error/serial communication receive SD

error
USB communication checksum
8E.2 error/serial communication SD
checksum error
USB communication USB communication character
8E 0 0 0 error/serial 8E.3 error/serial communication SD
communication error character error
USB communication command
8E.4 error/serial communication SD
command error
USB communication data number
8E.5 error/serial communication data SD
number error
88888 Watchdog 8888._ Watchdog SD
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. Stop method indicates as follows:
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
EDB: Stops with electronic dynamic brake for 600 W or less servo amplifiers
Stops with dynamic brake for 700 W or more servo amplifiers
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. Reset enable or disable can be selected using [Pr. PE03].
6- 6
6. TROUBLESHOOTING
Operation
mode
Stop
Standard
Full.
Lin.
Detail method
No. Name Detail name
display (Note 2,
3)
Servo amplifier
Warning
Main circuit device overheat

91 overheat warning 91.1
warning
(Note 1)
Battery cable Encoder battery cable
92.1
92 disconnection disconnection warning
warning 92.3 Battery degradation
ABS data transfer requirement
ABS data transfer
93 93.1 warning during magnetic pole
warning
detection
95.1 STO1 off detection DB
95 STO warning
In-position warning at home
96.1
positioning
Home position Command input warning at home
96 96.2
setting warning positioning
Servo off warning at home
96.3
positioning
99.1 Forward rotation stroke end off (Note 4)
99 Stroke limit warning
99.2 Reverse rotation stroke end off (Note 4)
9F Battery warning 9F.1 Low battery
Excessive
E0 regeneration E0.1 Excessive regeneration warning
warning
Thermal overload warning 1 during
E1.1
operation
E1.2
operation
E1.3
operation
E1.4
operation
E1 Overload warning 1
E1.5
stop
E1.6
stop
E1.7
stop
E1.8
stop
Servo motor
E2 E2.1 Servo motor temperature warning
overheat warning
Multi-revolution counter travel
E3.1
distance excess warning
Absolute position
E3 Encoder absolute positioning
counter warning E3.2
counter warning
E3.5 Absolute position counter warning
E5.1 Time-out during ABS data transfer
ABS time-out
E5 E5.2 ABSM off during ABS data transfer
warning
E5.3 SON off during ABS data transfer
Servo forced stop
E6 E6.1 Forced stop warning SD
warning
Decreased cooling fan speed
Cooling fan speed E8.1
E8 warning
reduction warning
E8.2 Cooling fan stop
Servo-on signal on during main
E9.1 DB
Main circuit off circuit off
E9
warning Bus voltage drop during low speed
E9.2 DB
operation
ABS servo-on
EA EA.1 ABS servo-on warning
warning
EC Overload warning 2 EC.1 Overload warning 2
6- 7
6. TROUBLESHOOTING
Operation
mode
Stop
Standard
Full.
Lin.
Detail method
display (Note 2,
3)
Output watt excess

Warning
ED ED.1 Output watt excess warning

warning
Instantaneous power failure tough
F0.1
F0 Tough drive warning drive warning
F0.3 Vibration tough drive warning
Drive recorder - Area writing time-
F2.1
Drive recorder - out warning
F2
Miswriting warning Drive recorder - Data miswriting
F2.2
warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning
4. Quick stop or slow stop can be selected using [Pr. PD30].
6- 8
6. TROUBLESHOOTING
6.2 MR-J4-_B4(-RJ)
6.2.1 Alarm and warning list
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or
the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM will turn off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ○ in the
alarm deactivation column in the following table. Warnings are automatically canceled after the cause of
occurrence is removed.
For the alarms and warnings in which "SD" is written in the stop method column, the axis stops with the
dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written
in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.
Operation
Alarm reset
Stop mode
Detail method
Error reset
CPU reset
off → on
Power
Standard
Lin.
Full.
display (Note 4,
5)
10.1 Voltage drop in the control circuit power EDB

Alarm
10 Undervoltage
10.2 Voltage drop in the main circuit power SD
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12 Memory error 1 (RAM) 12.3 RAM error 3 DB
12.4 RAM error 4 DB
12.5 RAM error 5 DB
13 Clock error
14 Control process error
14.A Control process error 10 DB
Memory error 2 15.1 EEP-ROM error at power on DB
15
(EEP-ROM) 15.2 EEP-ROM error during operation DB
16.1 Encoder initial communication - Receive data error 1 DB
Encoder initial communication - Transmission data
16.5 DB
error 1
Encoder initial communication - Transmission data
16.6 DB
error 2
Encoder initial
16 Encoder initial communication - Transmission data
communication error 1 16.7 DB
error 3
16.A Encoder initial communication - Process error 1 DB
16.B Encoder initial communication - Process error 2 DB
16.C Encoder initial communication - Process error 3 DB
16.D Encoder initial communication - Process error 4 DB
16.E Encoder initial communication - Process error 5 DB
16.F Encoder initial communication - Process error 6 DB
6- 9
6. TROUBLESHOOTING
Operation
Alarm reset
Stop mode
Detail method
Error reset
CPU reset
off → on
Power
Standard
Lin.
Full.
display (Note 4,
5)

Alarm

17 Board error
17.8 Board error 6 (Note 6) EDB
Memory error 3 19.1 FLASH-ROM error 1 DB
19
(FLASH-ROM) 19.2 FLASH-ROM error 2 DB
Servo motor combination 1A.1 Servo motor combination error DB
1A
error 1A.2 Servo motor control mode combination error DB
Encoder initial 1E.1 Encoder malfunction DB
1E
communication error 2 1E.2 Load-side encoder malfunction DB
Encoder initial 1F.1 Incompatible encoder DB
1F
communication error 3 1F.2 Incompatible load-side encoder DB
20.1 Encoder normal communication - Receive data error 1 EDB
Encoder normal communication - Transmission data
20.5 EDB
error 1
Encoder normal
20 Encoder normal communication - Transmission data
communication error 1 20.6 EDB
error 2
Encoder normal communication - Transmission data
20.7 EDB
error 3
20.A Encoder normal communication - Receive data error 5 EDB
21.2 Encoder data update error EDB
21.3 Encoder data waveform error EDB
Encoder normal
21 21.4 Encoder non-signal error EDB
communication error 2
24.1 Ground fault detected by hardware detection circuit DB
24 Main circuit error
24.2 Ground fault detected by software detection function DB
25 Absolute position erased 25.1 Servo motor encoder - Absolute position erased DB
27.1 Magnetic pole detection - Abnormal termination DB
27.2 Magnetic pole detection - Time out error DB
27.3 Magnetic pole detection - Limit switch error DB
Initial magnetic pole
27 27.4 Magnetic pole detection - Estimated error DB
detection error
27.5 Magnetic pole detection - Position deviation error DB
27.6 Magnetic pole detection - Speed deviation error DB
27.7 Magnetic pole detection - Current error DB
28 Linear encoder error 2 28.1 Linear encoder - Environment error EDB
2A Linear encoder error 1
2B.1 Encoder counter error 1 EDB
2B Encoder counter error
2B.2 Encoder counter error 2 EDB
6 - 10
6. TROUBLESHOOTING
Operation
Alarm reset
Stop mode
Detail method
Error reset
CPU reset
off → on
Power
Standard
Lin.
Full.
display (Note 4,
5)
Alarm
30.1 Regeneration heat error DB

Regenerative error
30 30.2 Regeneration signal error DB
30.3 Regeneration feedback signal error DB

31 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at hardware detection circuit
32.1 DB
(during operation)
Overcurrent detected at software detection function
32.2 DB
(during operation)
32 Overcurrent
Overcurrent detected at hardware detection circuit
32.3 DB
(during a stop)
Overcurrent detected at software detection function
32.4 DB
(during a stop)
33 Overvoltage 33.1 Main circuit voltage error EDB
34.1 SSCNET receive data error SD

(Note 2)
34 SSCNET receive error 1 34.2 SSCNET connector connection error SD
34.3 SSCNET communication data error SD
34.4 Hardware error signal detection SD
35 Command frequency error 35.1 Command frequency error SD
36 SSCNET receive error 2 36.1 Continuous communication data error SD
37.1 Parameter setting range error DB
37 Parameter error
37.2 Parameter combination error DB
Inrush current suppression
3A 3A.1 Inrush current suppression circuit error EDB
circuit error
3E Operation mode error 3E.1 Operation mode error DB
42.1 Servo control error by position deviation EDB

(Note 3) (Note 3)
Servo control error (linear
42.2 Servo control error by speed deviation EDB
servo motor) (Note 3) (Note 3)
42.3 Servo control error by thrust deviation EDB

(Note 3) (Note 3)
42
42.8 Fully closed loop control error by position deviation EDB
(Note 3) (Note 3)
Fully closed loop control
error (during fully closed 42.9 Fully closed loop control error by speed deviation EDB
(Note 3) (Note 3)
loop control)
Fully closed loop control error by position deviation
42.A EDB
during command stop (Note 3) (Note 3)
Main circuit device
45 45.1 Main circuit device overheat error SD
46.1 Abnormal temperature of servo motor 1 SD

46.2 Abnormal temperature of servo motor 2 SD

Servo motor overheat
46 46.3 Thermistor disconnected SD
46.5 Abnormal temperature of servo motor 3 DB

46.6 Abnormal temperature of servo motor 4 DB

47.1 Cooling fan stop error SD
47 Cooling fan error
47.2 Cooling fan speed reduction error SD
6 - 11
6. TROUBLESHOOTING
Operation
Alarm reset
Stop mode
Detail method
Error reset
CPU reset
off → on
Power
Standard
Lin.
Full.
display (Note 4,
5)
Alarm
50.1 Thermal overload error 1 during operation SD



50 Overload 1 (Note 1)
50.4 Thermal overload error 1 during a stop SD


51.1 Thermal overload error 3 during operation DB

51 Overload 2 (Note 1)
51.2 Thermal overload error 3 during a stop DB
52 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 EDB
54 Oscillation detection 54.1 Oscillation detection error EDB
56.2 Over speed during forced stop EDB
56 Forced stop error
56.3 Estimated distance over during forced stop EDB
63.1 STO1 off DB
63 STO timing error
63.2 STO2 off DB
Load-side encoder initial communication - Receive
70.1 DB
data error 1
70.2 DB
data error 2
70.3 DB
data error 3
Load-side encoder initial communication -
70.5 DB
70.6 DB
70.7 DB
Load-side encoder initial Transmission data error 3
70
communication error 1 Load-side encoder initial communication - Process
70.A DB
error 1
Load-side encoder initial communication - Process
70.B DB
error 2
70.C DB
error 3
70.D DB
error 4
70.E DB
error 5
70.F DB
error 6
6 - 12
6. TROUBLESHOOTING
Operation
Alarm reset
Stop mode
Detail method
Error reset
CPU reset
off → on
Power
Standard
Lin.
Full.
display (Note 4,
5)
Load-side encoder communication - Receive data

Alarm
71.1 EDB
error 1
71.2 EDB
error 2
71.3 EDB
error 3
Load-side encoder communication - Transmission
71.5 EDB
Load-side encoder normal data error 1
71
communication error 1 Load-side encoder communication - Transmission
71.6 EDB
data error 2
71.7 EDB
data error 3
71.9 EDB
data error 4
71.A EDB
data error 5
72.2 Load-side encoder data update error EDB
72.3 Load-side encoder data waveform error EDB
Load-side encoder normal
72 72.4 Load-side encoder non-signal error EDB
communication error 2
USB communication time-
8A 8A.1 USB communication time-out error SD
out error
8E.1 USB communication receive error SD
8E.2 USB communication checksum error SD
8E USB communication error 8E.3 USB communication character error SD
8E.4 USB communication command error SD
8E.5 USB communication data number error SD
888 Watchdog 88._ Watchdog DB
2. In some controller communication status, the alarm factor may not be removed.
3. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".
For the linear servo motor: set [Pr. PL04] to "1 _ _ _".
EDB: Stops with electronic dynamic brake for 600 W or less servo amplifiers
Stops with dynamic brake for 700 W or more servo amplifiers
6. This alarm occurs only in the J3 compatibility mode.
6 - 13
6. TROUBLESHOOTING
Operation
Stop mode
Detail method
Standard
Lin.
Full.
display (Note 2,
3)
Servo amplifier overheat

Warning
91 91.1 Main circuit device overheat warning

warning (Note 1)
Battery cable 92.1 Encoder battery cable disconnection warning
92
disconnection warning 92.3 Battery degradation
95 STO warning
Home position setting 96.1 In-position warning at home positioning
96
warning 96.2 Command input warning at home positioning
9F Battery warning 9F.1 Low battery
Excessive regeneration
E0 E0.1 Excessive regeneration warning
warning (Note 1)
E1.1 Thermal overload warning 1 during operation
Overload warning 1 E1.4 Thermal overload warning 4 during operation
E1
(Note 1) E1.5 Thermal overload error 1 during a stop
E1.6 Thermal overload error 2 during a stop
Servo motor overheat
E2 E2.1 Servo motor temperature warning
warning
Absolute position counter E3.2 Encoder absolute positioning counter warning
E3
warning E3.5 Absolute position counter warning
E4 Parameter warning E4.1 Parameter setting range error warning
E6 Servo forced stop warning E6.1 Forced stop warning SD
Controller forced stop
E7 E7.1 Controller forced stop warning SD
warning
Cooling fan speed E8.1 Decreased cooling fan speed warning
E8
reduction warning E8.2 Cooling fan stop
E9.1 Servo-on signal on during main circuit off DB
E9 Main circuit off warning E9.2 Bus voltage drop during low speed operation DB
E9.3 Ready-on signal on during main circuit off DB
Overload warning 2
EC EC.1 Overload warning 2
(Note 1)
Output watt excess
ED ED.1 Output watt excess warning
warning
F0.1 Instantaneous power failure tough drive warning
F0 Tough drive warning
F0.3 Vibration tough drive warning
Drive recorder - Miswriting F2.1 Drive recorder - Area writing time-out warning
F2
warning F2.2 Drive recorder - Data miswriting warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning
SD: Decelerates to a stop
6 - 14
6. TROUBLESHOOTING
6.2.2 Troubleshooting at power on
When the servo system does not boot and system error occurs at power on of the servo system controller,
improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take
actions according to this section.
Display Description Cause Checkpoint Action
AA Communication with the The power of the servo Check the power of the servo Switch on the power of the servo
servo system controller system controller was system controller. system controller.
has disconnected. turned off.
A SSCNET III cable was "AA" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the servo "AA" is displayed in the Check the power of the servo
amplifier was turned off. corresponding axis and following amplifier.
axes.
Replace the servo amplifier of the
corresponding axis.
Ab Initialization The control axis is Check if the disabling control axis Turn off the disabling control axis
communication with the disabled. switch (SW2-2) is on. switch (SW2-2).
servo system controller The setting of the axis Check that the other servo Set it correctly.
has not completed. No. is incorrect. amplifier is not assigned to the
same axis No.
Axis No. does not match Check the setting and axis No. of Set it correctly.
with the axis No. set to the servo system controller.
the servo system
controller.
Information about the Check the value set in Servo Set it correctly.
servo series has not set series (Pr.100) in the simple
in the simple motion motion module.
module.
Communication cycle Check the communication cycle Set it correctly.
does not match. at the servo system controller
side.
When using 8 axes or less: 0.222
ms
When using 16 axes or less:
0.444 ms
When using 32 axes or less:
0.888 ms
A SSCNET III cable was "Ab" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the servo "Ab" is displayed in an axis and Check the power of the servo
amplifier was turned off. the following axes. amplifier.
The servo amplifier is "Ab" is displayed in an axis and Replace the servo amplifier of the
malfunctioning. the following axes. corresponding axis.
b##. The system has been in Test operation mode has Test operation setting switch Turn off the test operation setting
(Note) the test operation mode. been enabled. (SW2-1) is turned on. switch (SW2-1).
off Operation mode for Operation mode for Check if all of the control axis Set the control axis setting
manufacturer setting is manufacturer setting is setting switches (SW2) are on. switches (SW2) correctly.
set. enabled.
Note. ## indicates axis No.
6 - 15
6. TROUBLESHOOTING
MEMO
6 - 16
7. DIMENSIONS
7. DIMENSIONS
POINT
The dimensions shown are for MR-J4-_A4-RJ and MR-J4-_B4-RJ. MR-J4-_A4
and MR-J4-_B4 servo amplifiers do not have CN2L and CN7 connectors. The
dimensions for MR-J4-_A4 and MR-J4-_B4 servo amplifiers are the same as
those for MR-J4-_A4-RJ and MR-J4-_B4-RJ servo amplifiers except these
connectors.
7- 1
7. DIMENSIONS
7.1 MR-J4-_A4(-RJ)
(a) MR-J4-60A4(-RJ)/MR-J4-100A4(-RJ)
[Unit: mm]
60
φ6 mounting hole 12 Approx. 80 195
Lock knob
6
CNP1
CNP2
161
156
168
CNP3
6
PE
6
Approx. 21
12 42 Approx. 69.3
Approx. 38.5
With
MR-BAT6V1SET
Mass: 1.7 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
N- Tightening torque: 3.24 [N•m]
L1
Approx.
L2
6
Approx. 60
L3
P3
P4
CNP2
Approx. 168
P+
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
Approx.
V
6
W 42 ± 0.3
PE Screw size: M4 Approx. 12 Approx. 6
Tightening torque: 1.2 [N•m] Mounting hole process drawing
7- 2
7. DIMENSIONS
(b) MR-J4-200A4(-RJ)
[Unit: mm]
90
85
φ6 mounting hole
45 Approx. 80 195
Lock knob
Exhaust
6
CNP1
CNP2
161
156
168
CNP3
6
PE Cooling fan
Approx. intake
6 Approx. 21
69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.1 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1
Approx.
Approx. 90
L2
6
L3
P3
P4
CNP2
Approx. 168
P+
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
Approx.
V
6
W
PE Approx. 6 78 ± 0.3 Approx. 6
Screw size: M4
Tightening torque: 1.2 [N•m] Mounting hole process drawing
7- 3
7. DIMENSIONS
(c) MR-J4-350A4(-RJ)
[Unit: mm]
2-φ6 mounting hole 105 Approx. 80 200

6 93 6 Approx. 28 6
Lock knob
7.5
Cooling fan exhaust
Approx. 73.5
CNP1
CNP2
250
235
CNP3
Approx. 69.3
With
MR-BAT6V1SET
7.5
6 Intake
Approx.
38.5
Approx.
34
Mass: 3.6 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1 Approx. 105
L2 Approx. 6 93 ± 0.5 Approx. 6
L3
Approx.
7.5
P3 4-M5 screw
P4
CNP2
P+
C
D
Approx. 250
L11
235 ± 0.5
L21
CNP3
U
V
W
PE
Screw size: M4
Tightening torque: 1.2 [N•m]
Approx.
7.5
Mounting hole process drawing
7- 4
7. DIMENSIONS
(d) MR-J4-500A4(-RJ)
[Unit: mm]
Approx. 73.5
Approx. 28 Approx. 80 200

130
Approx. 200 6 118 Approx. 28 6
7.5
Cooling fan exhaust

250
235
Approx. 69.3
TE2 TE3
TE1
With Intake PE
7.5
MR-BAT6V1SET
Built-in regenerative resistor
Approx.
38.5
lead terminal fixing screw

Screw size: M4
Approx.
60
Mass: 4.3 [kg]

Mounting screw
Terminal
Screw size: M5
TE2 L11 L21 TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
TE1 L1 L2 L3 P+ C U V W Approx. 130

Approx. 6 118 ± 0.5 Approx. 6
PE
Approx.
7.5
4-M5 screw
TE2 Terminal screw: M3.5

TE3 Terminal screw: M4

Approx. 250
235 ± 0.5

PE Screw size: M4
Approx.

7.5
7- 5
7. DIMENSIONS
(e) MR-J4-700A4(-RJ)
[Unit: mm]
172 Approx. 80 200

2-φ6 mounting hole 6 160 6 Approx. 28 6
Cooling fan
7.5
exhaust
300
285
With TE3
MR-BAT6V1SET
TE1
PE TE2
7.5
6 Intake

Approx. Approx.

39
Screw size: M4
101
Mass: 6.5 [kg]

Mounting screw
Terminal
Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
Approx. 172
Approx. 6 160 0.5 Approx. 6
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
Approx.
7.5
4-M5 screw
PE
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
0.5
TE2 Screw size: M3.5

285
PE Screw size: M4
Approx.
7.5
7- 6
7. DIMENSIONS
(f) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
[Unit: mm]
220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
10
exhaust
400
380
PE
24.2 11
TE2 TE1-1
TE1-2
60 43
78.5
With 188 Intake 25.5 22.8
10
6
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.
139.5 39
Mass: 13.4 [kg]

Mounting screw
Terminal
Screw size: M5
TE1-1 L1 L2 L3 U V W Tightening torque: 3.24 [N•m]
Approx. 220
TE1-2 P3 P4 P+ C N- TE2 L11 L21
Approx.
10
4-M5 screw
PE
TE1-1 Screw size: M6

Approx. 400
0.5
TE2 Screw size: M4

380
PE Screw size: M6
Approx.
10
7- 7
7. DIMENSIONS
(g) MR-J4-22KA4(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
exhaust
12
400
376
TE1-1
32.7 11
TE2 TE1-2
39.7
PE
Intake
40.5
12 188.5 22.8
26.8
12
With
MR-BAT6V1SET 223.4 59.9 127.5
235.4
Approx. Approx.
179 39
Mass: 18.2 [kg]

Mounting screw
Terminal
Screw size: M10
Approx. 260
Approx. 12 236 ± 0.5 Approx. 12
TE1-2 P3 P4 P+ C N-
Approx.
12
4-M10 screw
PE TE2 L11 L21


Approx. 400
376 ± 0.5
TE2 Screw size: M4

PE Screw size: M8
Approx.

12
7- 8
7. DIMENSIONS
7.2 MR-J4-_B4(-RJ)
(a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ)
[Unit: mm]
60
φ6 mounting hole Approx. 80
12 195
Lock knob
6
CNP1
161
CNP2
156
168
CNP3
6
PE
6
Approx. 21
12 42 Approx. 69.3
Approx. 38.5
With
MR-BAT6V1SET
Mass: 1.7 [kg]

Terminal Mounting screw
CNP1 Screw size: M5
L1
Approx.
L2 Approx. 60
6
L3
P3
P4
CNP2
P+
Approx. 168
156 ± 0.5
C
D
L11
L21
3-M5 screw
CNP3
U
V
Approx.
W
6
42 ± 0.3
PE Screw size: M4
Tightening torque: 1.2 [N•m] Approx. 12 Approx. 6
7- 9
7. DIMENSIONS
(b) MR-J4-200B4(-RJ)
[Unit: mm]
90
85
φ6 mounting hole
45 Approx. 80 195
Lock knob
Exhaust
6
CNP1
CNP2
161
156
168
CNP3
6
PE Cooling fan
Approx. 21 Approx. intake
6 69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.1 [kg]

CNP1 Screw size: M5
L1
Approx.
L2 Approx. 90
6
L3
P3
P4
CNP2
Approx. 168
P+
156 ± 0.5
C
D
L11
L21
3-M5 screw
CNP3
U
Approx.
V
6
W
PE Screw size: M4 Approx. 6 78 ± 0.3 Approx. 6
7 - 10
7. DIMENSIONS
(c) MR-J4-350B4(-RJ)
[Unit: mm]
105 Approx. 80 200

2-φ6 mounting hole Approx. 28
6 93 6 6
Lock knob
7.5
Cooling fan exhaust
Approx. 73.5
CNP1
CNP2
250
235
CNP3
Approx. 69.3
With
MR-BAT6V1SET
Intake
7.5
6
Approx.
38.5
Approx.
34
Mass: 3.6 [kg]

CNP1 Screw size: M5
L1
Approx. 105
L2
L3
Approx.
P3
7.5
P4 4-M5 screw
CNP2
P+
C
D
L11
Approx. 250
235 ± 0.5
L21
CNP3
U
V
W
PE Screw size: M4
Approx.
7.5
7 - 11
7. DIMENSIONS
(d) MR-J4-500B4(-RJ)
[Unit: mm]
Approx. 28
Approx. 73.5
130 Approx. 80 200

Approx. 200 6
7.5
118 Approx. 28 6
Cooling fan exhaust

250
235
Approx. 69.3
TE2 TE3
TE1
With Intake PE
7.5
MR-BAT6V1SET
Approx.
38.5

Screw size: M4
Approx.
60
Mass: 4.3 [kg]

Screw size: M5
TE2 L11 L21 TE3 N- P3 P4
TE1 L1 L2 L3 P+ C U V W Approx. 130
PE
Approx.
7.5
4-M5 screw
TE2 Terminal screw: M3.5


Approx. 250

235 ± 0.5

PE Screw size: M4
Approx.
7.5
7 - 12
7. DIMENSIONS
(e) MR-J4-700B4(-RJ)
[Unit: mm]
172 Approx. 80 200

2-φ6 mounting hole 6 160 6 Approx. 28 6
Cooling fan
7.5
exhaust
300
285
TE3
With TE1
MR-BAT6V1SET TE2
PE
7.5
6 Intake

Approx. Approx.

39
Screw size: M4
101
Mass: 6.5 [kg]

Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
Approx. 172
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21 Approx. 6 160 0.5 Approx. 6
Approx.
7.5
4-M5 screw
PE
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
285 0.5
TE2 Screw size: M3.5

PE Screw size: M4
Approx.

7.5
7 - 13
7. DIMENSIONS
(f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)
[Unit: mm]
220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
exhaust
10
400
380
24.2 11 PE
TE1-1
TE2
TE1-2
60 43
78.5
6 188 Intake 25.5 22.8
10
With
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.
139.5 39
Mass: 13.4 [kg]

Mounting screw
Terminal
Screw size: M5
Approx. 220
TE1-2 P3 P4 P+ C N- TE2 L11 L21
Approx.
10
4-M5 screw
PE

Approx. 400
380 0.5
TE2 Screw size: M4

PE Screw size: M6
Approx.
10
7 - 14
7. DIMENSIONS
(g) MR-J4-22KB4(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
12
exhaust
400
376
TE1-1
32.7 11
TE2 TE1-2
40
PE
25.5 22.8
40.5
188.5 Intake
26.5
12
12
With
MR-BAT6V1SET 223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
179 39
Mass: 18.2 [kg]

Screw size: M10
Approx. 260
TE1-2 P3 P4 P+ C N- Approx. 12 236 ± 0.5 Approx. 12
Approx.
12
4-M10 screw
PE TE2 L11 L21


Approx. 400
376 ± 0.5
TE2 Screw size: M4

PE Screw size: M8
Approx.
12
7 - 15
7. DIMENSIONS
MEMO
7 - 16
8. CHARACTERISTICS
8. CHARACTERISTICS
MR-J4-_A4(-RJ) Cable bending life MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 10.4
MR-J4-_B4(-RJ) Cable bending life MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 10.4
8.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 8.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that
the unbalanced torque of the machine be kept at 70% or less of the motor's rated torque.
This servo amplifier has servo motor overload protective function. (The servo motor overload current (full
load current) is set on the basis of 120% rated current of the servo amplifier.)
The following table shows the combination of each servo motor and overload protective characteristics.
Rotary servo motor
HG-JR Graph of overload protection
HG-SR HG-JR (standard) (When the maximum torque is characteristics
400%)
534
524
734 534 Characteristics a
1024
1034
734
1524 1534
1034
2024 2034 Characteristics b
1534
3524 3534
2034
5024 5034 3534
Characteristics c
7024 7034 5034
9034
11K1M4
Characteristics d
15K1M4
22K1M4
8- 1
8. CHARACTERISTICS
The following graphs show overload protection characteristics.

1000 1000
Operating Operating
100 100
Operation time [s]
Operation time [s]

Servo-lock Servo-lock
10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
(Note 1, 2) Load ratio [%] (Note 1, 2) Load ratio [%]
Characteristics a Characteristics b
1000 10000
Operating
100 1000
Operation time [s]
Operation time [s]
Operating
Servo-lock
10 100
Servo-lock
1
10
0.1
0 50 100 150 200 250 300 350 400 1
0 50 100 150 200 250 300
(Note 1, 2) Load ratio [%]
(Note 1) Load ratio [%]
Characteristics c
Characteristics d
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
2. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to
400%.
Fig. 8.1 Electronic thermal protection characteristics
8- 2
8. CHARACTERISTICS
8.2 Power supply capacity and generated loss
(1) Amount of heat generated by the servo amplifier

Table 8.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at rated
torque and servo-off according to the duty used during operation. When the servo motor is run at less
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Table 8.1 Power supply capacity and generated loss per servo motor at rated output
(Note 2) Servo amplifier-generated heat [W]
(Note 1) At rated output
[Generated heat Area required
Power supply
Servo amplifier Servo motor in the cabinet for heat
capacity At rated output With servo-off 2
when dissipating dissipation [m ]
[kVA]
heat outside the
cabinet] (Note 3)
HG-SR524 1.0 40 18 0.8
MR-J4-60_4(-RJ)
HG-JR534 1.0 40 18 0.8
HG-SR1024 1.7 60 18 1.2
MR-J4-100_4(-RJ) HG-JR734 1.3 60 18 1.2
HG-JR1034 1.7 60 18 1.2
HG-SR1524 2.5 90 20 1.8
HG-SR2024 3.5 90 20 1.8
MR-J4-200_4(-RJ)
HG-JR1534 2.5 90 20 1.8
HG-JR2034 3.5 90 20 1.8
HG-SR3524 5.5 130 20 2.6
MR-J4-350_4(-RJ)
HG-JR3534 5.5 160 20 2.7
HG-SR5024 7.5 195 25 3.9
MR-J4-500_4(-RJ)
HG-JR5034 7.5 195 25 3.9
HG-SR7024 10 300 25 6.0
MR-J4-700_4(-RJ)
HG-JR7034 10 300 25 6.0
HG-JR9034 13 435 130 45 8.7
MR-J4-11K_4(-RJ)
HG-JR11K1M4 16 530 160 45 11.0
MR-J4-15K_4(-RJ) HG-JR15K1M4 22 640 195 45 13.0
MR-J4-22K_4(-RJ) HG-JR22K1M4 33 850 260 55 17.0
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when
the power factor improving AC reactor or power factor improving DC reactor are not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by
the regenerative option, refer to section 9.2.
3. This value is applicable when the servo amplifier is cooled by using the heat sink outside mounting attachment.
8- 3
8. CHARACTERISTICS
(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within +10 ˚C at the ambient temperature of 40 ˚C. (With
an approximately 5 ˚C safety margin, the system should operate within a maximum 55 ˚C limit.) The
necessary cabinet heat dissipation area can be calculated by equation 8.1.
P
A= ·········································································································································· (8.1)
K • ΔT
A: Heat dissipation area [m2]

P: Loss generated in the cabinet [W]
ΔT: Difference between internal and ambient temperatures [˚C]
K: Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 8.1, assume that P is the sum of all losses
generated in the cabinet. Refer to table 8.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a
cooling fan should be considered. Table 8.1 lists the cabinet dissipation area for each servo amplifier
(guideline) when the servo amplifier is operated at the ambient temperature of 40 ˚C under rated load.
(Outside the cabinet) (Inside the cabinet)
Air flow
Fig. 8.2 Temperature distribution in an enclosed type cabinet
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the
temperature slope inside and outside the cabinet will be steeper.
8- 4
8. CHARACTERISTICS
8.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
Servo motors for MR-J4 may have the different coasting distance from that of
the previous model.
The electronic dynamic brake operates in the initial state for the HG series servo
motors of 600 W or smaller capacity. The time constant "τ" for the electronic
dynamic brake will be shorter than that of normal dynamic brake. Therefore,
coasting distance will be longer than that of normal dynamic brake. For how to
set the electronic dynamic brake, refer to [Pr. PF09] and [Pr. PF15] (MR-J4-_A4)
or [Pr. PF06] and [Pr. PF12] (MR-J4-_B4).
8.3.1 Dynamic brake operation
(1) Calculation of coasting distance

Fig. 8.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 8.2 to calculate an approximate coasting distance to a stop. The dynamic brake
time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) of this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF
Dynamic brake
time constant
V0
Machine speed
te Time
Fig. 8.3 Dynamic brake operation diagram
8- 5
8. CHARACTERISTICS
V0 JL
Lmax = • te + 1+ ··············································································································· (8.2)
60 JM
Lmax: Maximum coasting distance [mm]

V0: Machine's fast feed speed [mm/min]
JM: Moment of inertia of the servo motor [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft [× 10-4 kg•m2]
τ: Dynamic brake time constant ················································································································ [s]
te: Delay time of control section ················································································································ [s]
For 7 kW or lower servo, there is internal relay delay time of about 10 ms. For 11 kW to 22 kW servo,
there is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and
delay caused by the external relay.
(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 8.2.
100 50
524 45
Dynamic brake time

40 11K1M4
Dynamic brake time
80 3524
constant [ms]
35
constant [ms]
60 30 22K1M4
25 15K1M4
2024 20
40 5024 15
1024 10
20 5
7024 0
1524 0 500 1000 1500 2000 2500 3000
0
0 500 1000 1500 2000 2500 3000 Speed [r/min]
Speed [r/min]
HG-SR series HG-JR1500r/min series

120
7034
100
Dynamic brake time
constant [ms]
80 534
9034
60
1034
40 3534
5034
20
2034 1534
734
0
0 1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-SR3000r/min series
8.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the
value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
8- 6
8. CHARACTERISTICS
Permissible load to motor inertia Permissible load to motor inertia

Servo motor Servo motor
ratio [multiplier (×1)] ratio [multiplier (×1)]
HG-SR524 5 (15) HG-JR534
HG-SR1024 HG-JR734
5 (17)
HG-SR1524 HG-JR1034 30 (30)
HG-SR2024 HG-JR1534
HG-SR3524 HG-JR2034
5 (15)
HG-SR5024 HG-JR3534 20 (30) (Note)
HG-SR7024 HG-JR5034 15 (30)
HG-JR7034 11 (30)
HG-JR9034 18 (30)
HG-JR11K1M4
10 (30)
HG-JR15K1M4
HG-JR22K1M4 20 (30)
Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed
of the servo motor is 25 times.
8.4 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference data) that will flow when 480 V AC is applied at
the power supply capacity of 2500 kVA and the wiring length of 1 m.
Inrush currents (A0-P)
Servo amplifier Main circuit power supply Control circuit power supply
(L1, L2, and L3) (L11 and L21)
MR-J4-60_4(-RJ) 65 A
MR-J4-100_4(-RJ) (attenuated to approx. 5 A in 10 ms)
80 A 40 A to 50 A
MR-J4-200_4(-RJ) (Attenuated to approx. 0 A in 2 ms)
(attenuated to approx. 5 A in 10 ms)
100 A
MR-J4-350_4(-RJ)
65 A
MR-J4-500_4(-RJ)
(attenuated to approx. 9 A in 20 ms) 41 A
68 A (attenuated to approx. 0 A in 3 ms)
MR-J4-700_4(-RJ)
339 A
MR-J4-11K_4(-RJ)
339 A 38 A
MR-J4-15K_4(-RJ)
(attenuated to approx. 15 A in 30 ms) (attenuated to approx. 1 A in 30 ms)
339 A
MR-J4-22K_4(-RJ)
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors.
(Refer to section 9.7.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.
8- 7
8. CHARACTERISTICS
MEMO
8- 8
9. OPTIONS AND PERIPHERAL EQUIPMENT
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING 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.
Use the specified peripheral equipment and options to prevent a malfunction or a

CAUTION fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.
MR-J4-_A4(-RJ) MR-D05UDL3M-B STO cable MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 11.1.2
Junction terminal block MR-TB50 MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 11.6
MR Configurator2 MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 11.7
Battery MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 11.8
Relay (recommended) MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 11.13
External dynamic brake MR-J4-_A(-RJ) Servo Amplifier Instruction
Heat sink outside mounting attachment MR-J4-_A(-RJ) Servo Amplifier Instruction
(MR-J4ACN15K/MR-J3ACN) Manual section 11.18
MR-J4-_B4(-RJ) MR-D05UDL3M-B STO cable MR-J4-_B(-RJ) Servo Amplifier Instruction
SSCNET III cable MR-J4-_B(-RJ) Servo Amplifier Instruction
Junction terminal block PS7DW-20V14B-F MR-J4-_B(-RJ) Servo Amplifier Instruction
(recommended) Manual section 11.6
MR Configurator2 MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 11.7
Battery MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 11.8
Relay (recommended) MR-J4-_B(-RJ) Servo Amplifier Instruction
External dynamic brake MR-J4-_B(-RJ) Servo Amplifier Instruction
Heat sink outside mounting attachment MR-J4-_B(-RJ) Servo Amplifier Instruction
(MR-J4ACN15K/MR-J3ACN) Manual section 11.18
9- 1
9.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Please purchase the cable and connector options indicated in this section.
9.1.1 Combinations of cable/connector sets
For MR-J4-_A4 servo amplifier

4)
Operation 3)
panel
Personal computer
2)
Servo amplifier 5)
Controller
1) (packed with the
servo amplifier) CN5 6)
CN6
(Note 1)
CNP1 Safety logic unit
CN3 MR-J3-D05
CN9
CN8 (Note 2) 7)
CNP2 CN10
CN1
CNP3
CN2
CN4
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo
motor power supply, electromagnetic brake, and encoder.
Battery To 24 V DC power supply

for electromagnetic brake Servo motor
Power supply Brake Encoder

connector connector connector
Refer to "Linear Encoder Instruction Manual" for options for

linear encoder.
Linear servo motor
To CN2
Linear encoder
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.
2. When not using the STO function, attach the short-circuit connector ( 8)) came with a servo amplifier.
9- 2
For MR-J4-_A4-RJ servo amplifier

4)
Operation 3)
panel
Personal computer
2)
Servo amplifier 5)
Controller
1) (packed with the
1) servo amplifier) CN5 6)
CN6
(Note 1)
CNP1 Safety logic unit
CN3 MR-J3-D05
CN9
CN8 (Note 2) 7)
CNP2 CN10
CN1
CNP3
CN2
CN2L
CN4
Battery
To 24 V DC power supply

linear encoder.
Linear servo motor
To CN2
Linear encoder

9- 3
No. Product name Model Description Application

1) Servo amplifier Supplied
power connector with servo
set amplifiers
of 3.5 kW
or less
CNP1 connector: CNP2 connector: CNP3 connector:
06JFAT-SAXGDK- 05JFAT-SAXGDK- 03JFAT-SAXGDK-
HT10.5 HT7.5 HT10.5
(JST) (JST) (JST)
2 2
Applicable wire size: 1.25 mm to 2.1 mm
(AWG 16 to 14)
Insulator OD: to 3.9 mm Open tool
J-FAT-OT-XL
(JST)
2) Junction terminal MR-J2M- Junction terminal block connector CN1 connector For
block cable CN1TBL_M Connector: D7950-B500FL Connector: 10150-6000EL junction
Cable length: (3M) Shell kit: 10350-3210-000 terminal
0.5 m, 1 m (3M or equivalent) block
(Refer to section connection
11.6.)
3) CN1 connector MR-J3CN1 Connector: 10150-3000PE

set Shell kit: 10350-52F0-008
(3M or equivalent)
4) Junction terminal MR-TB50 Refer to section 11.6.
block
5) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
6) Monitor cable MR-J3CN6CBL1M CN6 connector
3 (Red)
Cable length: 1 m Housing: 151004-0300
2 (White)
1 (Black) Terminal: 50011-8100
(Molex)
7) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
8) Short-circuit Supplied
connector with servo
amplifier
9- 4
9.1.2 Combinations of cable/connector sets
For MR-J4-_B4 servo amplifier

Safety logic unit
Servo system MR-J3-D05
controller Personal computer
CN9
8) 8)
5) CN10
2)3)4)
Servo amplifier 7) Servo amplifier
1) (packed with the

servo amplifier) CN5 CN5
CN3 6) CN3
(Note 1) (Note 2)
CNP1
CN8 (Note 2) CN8
CNP2 CN1A CN1A

2)3)4)
CN1B CN1B
CNP3
CN2 CN2
Cap
(packed with the
servo amplifier)
CN4 CN4


linear encoder. Linear servo motor
To CN2
Linear encoder

9- 5
For MR-J4-_B4-RJ servo amplifier

Safety logic unit
Servo system MR-J3-D05
controller Personal computer
CN9
8) 8)
5) CN10
2) 3) 4)
Servo amplifier 7) Servo amplifier
1) (packed with the

servo amplifier) CN5 CN5
CN3 6) CN3
(Note 1) (Note 2)
CNP1
CN8 (Note 2) CN8
CNP2 CN1A CN1A

2) 3) 4)
CN1B CN1B
CNP3
CN2 CN2
Cap
CN2L CN2L (packed with the
servo amplifier)
CN4 CN4


linear encoder.
Linear servo motor
To CN2
Linear encoder

9- 6
No. Product name Model Description Application

1) Servo amplifier Supplied
power connector with servo
set amplifiers
of 3.5 kW
or less
CNP1 connector: CNP2 connector CNP3 connector:
06JFAT-SAXGDK- 05JFAT-SAXGDK- 03JFAT-SAXGDK-
HT10.5 HT7.5 HT10.5
(JST) (JST) (JST)
2 2
Applicable wire size: 1.25 mm to 2.1 mm
(AWG 16 to 14)
Insulator OD: to 3.9 mm Open tool
J-FAT-OT-XL
(JST)
2) SSCNET III MR-J3BUS_M Connector: PF-2D103 Connector: PF-2D103 Standard
cable Cable length: (JAE) (JAE) cord
0.15 m to 3 m inside
(Refer to section cabinet
11.1.3.)
3) SSCNET III MR-J3BUS_M-A Standard
cable Cable length: cable
5 m to 20 m outside
(Refer to section cabinet
11.1.3.)
4) SSCNET III MR-J3BUS_M-B Connector: CF-2D103-S Connector: CF-2D103-S Long-
cable Cable length: (JAE) (JAE) distance
30 m to 50 m cable
(Refer to section
11.1.3.)
5) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
6) Connector set MR-CCN1 Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
7) Junction terminal PS7DW-20V14B-F
block (Yoshida Electric Industry)
(recommended)
MR-J2HBUS_M
Junction terminal block PS7DW-20V14B-F is not option. For using the

junction terminal block, option MR-J2HBUS_M is necessary. Refer to
section 11.6 for details.
8) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
9) Short-circuit Supplied
connector with servo
amplifier
9- 7
9.2 Regenerative option
Do not use servo amplifiers with regenerative options other than the combinations
CAUTION specified below.
Otherwise, it may cause a fire.
9.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power [W]
(Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
Servo amplifier Built-in MR-
MR- MR- MR- MR- MR- MR- MR-
regenerative RB1H-4
RB3M-4 RB3G-4 RB5G-4 RB34-4 RB54-4 RB3U-4 RB5U-4
resistor [82 Ω]
[120 Ω] [47 Ω] [47 Ω] [26 Ω] [26 Ω] [22 Ω] [22 Ω]
MR-J4-60_4(-RJ) 15 100 300
MR-J4-100_4(-RJ) 15 100 300
MR-J4-200_4(-RJ) 100 300 500
MR-J4-350_4(-RJ) 100 300 500
MR-J4-500_4(-RJ) 130 300 500
MR-J4-700_4(-RJ) 170 300 500
(Note 2) Regenerative power [W]

External
Servo amplifier regenerative MR-RB5K-4 MR-RB6K-4
resistor [10 Ω] [10 Ω]
(accessory)
MR-J4-11K_4(-RJ) 500 (800) 500 (800)
MR-J4-15K_4(-RJ) 850 (1300) 850 (1300)
MR-J4-22K_4(-RJ) 850 (1300) 850 (1300)
Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.
9- 8
9.2.2 Selection of regenerative option
(1) For rotary servo motor

Use the following method when regeneration occurs continuously in vertical motion applications or when
it is desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation

tf (1 cycle)
Servo motor speed

V
Up
Time
Down
Unbalance torque
M t1 t2 t3 t4
tpsa1 tpsd1 tpsa2 tpsd2
Friction
torque 1)
(+)
(Power running)
Generated torque
2) 4) 8)
TF 5)
TU 6)
3)
(Regenerative) 7)
(-)
Formulas for calculating torque and energy in operation

Regenerative
Torque applied to servo motor [N•m] Energy E [J]
power
(JL/η + JM) • V 1 0.1047
1) T1 = • + TU + TF E1 = • V • T1 • tpsa1
9.55 • 104 tpsa1 2
2) T2 = TU + TF E2 = 0.1047 • V • T2 • t1
-(JL • η + JM) • V 1 0.1047
3) T3 = • + TU + TF E3 = • V • T3 • tpsa2
9.55 • 104 tpsa2 2
4), 8) T4, T8 = TU E4, E8 ≥ 0 (No regeneration)
(JL/η + JM) • V 1 0.1047
5) T5 = • - TU + TF E5 = • V • T5 • tpsd2
9.55 • 104 tpsd2 2
6) T6 = -TU + TF E6 = 0.1047 • V • T6 • t3
-(JL • η + JM) • V 1 0.1047
7) T7 = • - TU + TF E7 = • V • T7 • tpsd2
9.55 • 104 tpsd2 2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
9- 9
(b) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Inverse Capacitor Inverse Capacitor
efficiency [%] charging [J] efficiency [%] charging [J]
MR-J4-60_4(-RJ) 85 12 MR-J4-700_4(-RJ) 90 70
MR-J4-100_4(-RJ) 85 12 MR-J4-11K_4(-RJ) 90 120
MR-J4-200_4(-RJ) 85 25 MR-J4-15K_4(-RJ) 90 170
MR-J4-350_4(-RJ) 85 43 MR-J4-22K_4(-RJ) 90 250
MR-J4-500_4(-RJ) 90 45
Inverse efficiency (η): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the efficiency varies
with the speed and generated torque, allow for about 10%.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = η • Es - Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.
PR [W] = ER/tf
(2) For linear servo motor

(a) Calculation of thrust and energy
Liner servo motor Feed speed
secondary-side (magnet) 2)
V V
M1 Load 1) 3)
Ft Positive
M2 direction
4) 8)
Time
Liner servo motor Negative
primary-side (coil) direction
5) 7)
Liner servo motor 6)
tpsa1 t1 tpsd1 t2 tpsa2 t3 tpsd2 t4
9 - 10
The following shows equations of the linear servo motor thrust and energy at the driving pattern
above.
Section Travel direction of linear servo motor Energy E [J]

1) F1 = (M1 + M2) • V/tpsa1 + Ft E1 = V/2 • F1 • tpsa1
2) F2 = F1 E2 = V • F2 • t1
3) F3 = - (M1 + M2) • V/tpsd1 + Ft E3 = V/2 • F3 • tpsd1
4), 8) F4, F8 = 0 E4, E8 = 0 (No regeneration)
5) F5 = (M1 + M2) • V/tpsa2 + Ft E5 = V/2 • F5 • tpsa2
6) F6 = Ft E6 = V • F6 • t3
7) F7 = - (M1 + M2) • V/tpsd2 + Ft E7 = V/2 • F7 • tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
(b) Losses of servo motor and servo amplifier in regenerative mode

Refer to this section (1) (b) for inverse efficiency and Capacitor charging.
(c) generative energy calculation

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative resistor.
ER [J] = η • Es - Ec
From the total of ER's whose subtraction results are positive and a 1-cycle period, the power
consumption of the regenerative option can be calculated with the following expression.
Power consumption PR [W] total of positive ER's/1-cycle operation period (tf)
Select the regenerative option from the PR value. Regenerative option is not required when the
energy consumption is equal to or less than the built-in regenerative energy.
9.2.3 Parameter setting
Set [Pr. PA02] according to the option to be used.

[Pr. PA02]
0 0
Selection of regenerative option
For servo amplifier of 0.6 kW to 7 kW, built-in regenerative resistor is used.
Supplied regenerative resistors or regenerative option is used with the servo amplifier
of 11 kW to 22 kW.
01: FR-BU2-H/FR-RC-H/FR-CV-H
80: MR-RB1H-4
FA: When the supplied regenerative resistors or the regenerative option is cooled by the
cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW.
9 - 11
9.2.4 Selection of regenerative option
POINT
MR-RB3M-4, MR-RB3G-4, MR-RB5G-4, MR-RB34-4, MR-RB54-4, MR-RB5K-4,
or MR-RB6K-4 is used, a cooling fan is required to cool it. The cooling fan
should be prepared by the customer.
The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider heat
dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant
wires or make the wires flame-resistant and keep them away from the regenerative option. Always use
twisted cables of max. 5 m length for connection with the servo amplifier.
(1) MR-J4-350A4(-RJ) or less/MR-J4-350B4(-RJ) or less

Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and
G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option
overheats abnormally.
Always disconnect between P+ and D terminals.
Servo amplifier Regenerative option
P
P+
C
C
G3
D
(Note 2) G4
5 m or shorter
(Note 1)
Cooling fan
Note 1. When using the MR-RB3M-4, MR-RB3G-4, or MR-RB5G-4, forcibly cool it with a
3
cooling fan (92 × 92, minimum air flow: 1.0 m ).
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
9 - 12
(2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)/MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ)
Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the
regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is
opened when the regenerative option overheats abnormally.
Always remove the wiring (across P+ to C) of the
servo amplifier built-in regenerative resistor.
Servo amplifier Regenerative option
P
P+
C
C
G3
(Note 2) G4
5 m or shorter
(Note 1)
Cooling fan
Note 1. When using the MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-4, forcibly

3
cool it with a cooling fan (92 × 92, minimum air flow: 1.0 m ).
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires
(across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as
shown below.
Attached screw

9 - 13
(3) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)/MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-
J4-22KB4(-RJ) (when using the supplied regenerative resistor)
When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors
(4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the
specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.
Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (1.0 m3/min
or more, 92 mm × 92 mm) improves the regeneration capability. In this case, set "_ _ F A" in [Pr. PA02].
5 m or shorter
Servo amplifier
P+
(Note) C
Series connection
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. The
thermal sensor is not mounted on the attached regenerative resistor. An abnormal
heating of resistor may be generated at a regenerative circuit failure. Install a thermal
sensor near the resistor and establish a protective circuit to shut off the main circuit
power supply when abnormal heating occurs. The detection level of the thermal
sensor varies according to the settings of the resistor. Set the thermal sensor in the
most appropriate position on your design basis, or use the thermal sensor built-in
regenerative option. (MR-RB5E, 5R, 9P, 9F, 5K-4, 6B-4, 60-4, or 6K-4)
Regenerative power [W] Resultant

Number of
Servo amplifier Regenerative resistor resistance
Normal Cooling resistors
[Ω]
MR-J4-11KA4(-RJ)
GRZG400-2.5Ω 500 800 10 4
MR-J4-11KB4(-RJ)
MR-J4-15KA4(-RJ)
MR-J4-22KA4(-RJ)
GRZG400-2Ω 850 1300 10 5
MR-J4-15KB4(-RJ)
MR-J4-22KB4(-RJ)
9 - 14
(4) MR-J4-11K_4-PX to MR-J4-22K_4-PX, and MR-J4-11K_4-RZ to MR-J4-22K_4-RZ (when using the

regenerative option)
The MR-J4-11KA4-PX to MR-J4-22KA4-PX, MR-J4-11KB4-PX to MR-J4-22KB4-PX, MR-J4-11KA4-RZ
to MR-J4-22KA4-RZ, and MR-J4-11KB4-RZ to MR-J4-22KB4-RZ servo amplifiers are not supplied with
regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5K-4 or MR-
RB6K-4 regenerative option.
Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are
thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats
abnormally.
5 m or shorter
Servo amplifier
Regenerative option
P+ P
C C
G3
(Note)
G4
Configure up a circuit which shuts off main circuit

power when thermal protector operates.
Note. G3-G4 contact specifications

Regenerative power
Regenerative Resistance [W]
Servo amplifier
option [Ω] Without With cooling
cooling fans fans
MR-J4-11KA4-PX
MR-J4-11KB4-PX
MR-RB5K-4 10 500 800
MR-J4-11KA4-RZ
MR-J4-11KB4-RZ
MR-J4-15KA4-PX
MR-J4-15KB4-PX
MR-J4-15KA4-RZ
MR-J4-15KB4-RZ
MR-RB6K-4 10 850 1300
MR-J4-22KA4-PX
MR-J4-22KB4-PX
MR-J4-22KA4-RZ
MR-J4-22KB4-RZ
9 - 15
When using cooling fans, install them using the mounting holes provided in the bottom of the
regenerative option.
Top MR-RB5K-4/MR-RB6K-4
Bottom
TE1
Cooling fan × 2
(92 mm × 92 mm,
minimum air flow: 1.0 m3)
TE
Mounting screw 4-M3 G4 G3 C P
9.2.5 Dimensions
(1) MR-RB1H-4
[Unit: mm]
Terminal
G3
40
G4
36
P
15 φ6 mounting hole
C
6
Applicable wire size: AWG 24 to 10

Tightening torque: 0.5 to 0.6 [N•m]
Mounting screw
Screw size: M5
168
156
144
Mass: 1.1 [kg]

Approx. 6
6 6 2
Approx. 24 149
173
9 - 16
(2) MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M4 screw) P
8.5
C
G3
125
82.5
150
142
G4
Terminal screw size: M4

30

7
8.5
101.5 82.5
10 90 23 318
100 Mounting screw
341
Screw size: M6
Air intake Tightening torque: 5.4 [N•m]
Approx.
30
Mass: 2.9 [kg]

79
(3) MR-RB54-4/MR-RB5G-4/MR-RB5U-4
[Unit: mm]
Cooling fan mounting Terminal block
screw (2-M3 screw)
On opposite side P
7 × 14
12.5
49 82.5 slotted hole C

G3
G4
162.5

Mounting screw
Air
82.5
350
intake Screw size: M6

Mass: 5.6 [kg]

162.5
133
2.3 7
12.5
200 23 12 108 Approx. 30

223 120 8
9 - 17
(4) MR-RB5K-4/MR-RB6K-4
[Unit: mm]
Terminal
2-φ10 mounting hole
10
G4 G3 C P
30
Mounting screw
Screw size: M8
427
480
500
Regenerative Mass
option [kg]
MR-RB5K-4 10
MR-RB6K-4 11
43
Cooling fan intake
10 2.3
10
15 230 15 197 15
260 215
15 230 15
Screw for mounting cooling fan
4-M3 screw
82.5
Approx. 42
82.5 82.5
(5) GRZG400-2.5Ω/GRZG400-2.0Ω (standard accessories)

[Unit: mm] Variable dimensions Tightening
Regenerative Mounting Mass
torque
resistor A C K screw size [kg]
Approx. K
[N•m]
Approx. φC GRZG400-2.5Ω
Approx. 2.4 10 5.5 39 M8 13.2 0.8
10 Approx. A
GRZG400-2.0Ω
1.6
40
Approx. 330 9.5

385 40
411 Approx. φ47
9 - 18
9.3 FR-BU2-H brake unit
POINT
When a brake unit and a resistor unit are installed horizontally or diagonally, the
heat dissipation effect diminishes. Install them on a flat surface vertically.
The temperature of the resistor unit case will be higher than the ambient
temperature by 100 ˚C or over. Keep cables and flammable materials away from
the case.
Ambient temperature condition of the brake unit is between -10 ˚C and 50 ˚C.
Note that the condition is different from the ambient temperature condition of the
servo amplifier (between 0 ˚C and 55 ˚C).
Configure the circuit to shut down the power-supply with the alarm output of the
brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 9.3.1.
For executing a continuous regenerative operation, use FR-RC-H power
regenerative converter or FR-CV-H power regenerative common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be used
simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the
brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient
regenerative capability.
When using the brake unit, set [Pr. PA02] to "_ _ 0 1".
When using the brake unit, always refer to the FR-BU2 Brake Unit Instruction Manual.
9 - 19
9.3.1 Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Number of Permissible Resultant
Applicable servo
Brake unit Resistor unit connected continuous resistance
amplifier (Note 2)
units power [kW] [Ω]
400 V FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500_4(-RJ)
class MR-J4-700_4(-RJ)
MR-J4-11K_4(-RJ)
(Note 1)
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11K_4(-RJ)
MR-J4-15K_4(-RJ)
MR-J4-22K_4(-RJ)
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J4-22K_4(-RJ)
Note 1. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo
motor speed to 1800 r/min or less.
2. When the brake unit is selected by using the capacity selection software, a brake unit other than the combinations
listed may be shown. Refer to the combinations displayed on the capacity selection software for detailed
combinations.
9.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.

Parameter Change
possible/ Remarks
No. Name
impossible
0 Brake mode switchover Impossible Do not change the parameter.
1 Monitor display data selection Possible Refer to the FR-BU2 Brake Unit Instruction
Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter.
3 Input terminal function selection 2
77 Parameter write selection
Cumulative energization time
78
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
9 - 20
9.3.3 Connection example
POINT
Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier
results in brake unit malfunction. Always connect the PR terminal of the brake
unit to the PR terminal of the resistor unit.
(1) Combination of FR-BU2-H brake unit and FR-BR-H resistor unit

(a) For MR-J4-_A4(-RJ)
ALM
RA1 OFF ON
MC
MC
Step-down
transformer Servo amplifier
(Note 9) CN1
MCCB MC 24 V DC (Note 12)
(Note 1) L1 46 DOCOM
Power L2
supply 47 DOCOM
L3
L11 48 ALM RA1
L21
(Note 11) FR-BR-H
(Note 5) TH1
P
TH2
(Note 10) PR
P3
EM2 42 (Note 3) FR-BU2-H
P4
SON 15 PR MSG
P+ P/+ SD
DICOM 20 (Note 4) A
(Note 7) N/-
24 V DC B
DICOM 21 N-
(Note 12) C
C BUE
(Note 6)
SD (Note 8)
(Note 2)
Note 1. For the power supply specifications, refer to section 1.2.1.

2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected
to P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+
and C terminals.
3. Always connect between P3 and P4 terminals. (factory-wired) Use either the power factor improving DC reactor or the power
factor improving AC reactor. When using the power factor improving DC reactor, refer to section 9.8.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
7. Do not connect more than one cable to each P+ to N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
amplifier.
11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
9 - 21
(b) For MR-J4-_B4(-RJ)

ALM
RA1 OFF ON
MC
MC
Step-down
transformer Servo amplifier
(Note 9)
MCCB MC
(Note 1) L1
Power CN3 24 V DC (Note 12)
L2
supply L3 3 DOCOM
L11 15 ALM RA1

FR-BR-H
L21
(Note 5) TH1
(Note 11) P
TH2
PR
(Note 10) P3
CN3
Main circuit power supply (Note 3) FR-BU2-H
P4
EM2 20
PR MSG
DICOM 5 P+ P/+ SD
(Note 4) A
24 V DC (Note 12) (Note 7) N/-
DICOM 10 B
N-
C
C BUE
(Note 6)
SD (Note 8)
(Note 2)
Note 1. For the power supply specifications, refer to section 1.2.2.

and C terminals.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
amplifier.
9 - 22
(2) Combination of FR-BU2-H brake unit and MT-BR5-H resistor unit

ALM OFF RA2
RA1 ON
MC
MC
Step-down
transformer
Servo amplifier
(Note 8)
CN1 24 V DC (Note 11)
MCCB MC
(Note 1) L1 46 DOCOM
Power L2
supply L3 47 DOCOM
L11 48 ALM RA1
L21
(Note 10) MT-BR5-H SK
(Note 4) TH1
P RA2
TH2
(Note 9) PR
P3
EM2 42 (Note 2) FR-BU2-H
P4
SON 15 PR MSG
P+ P/+ SD
DICOM 20 (Note 3) A
(Note 6) N/-
24 V DC B
DICOM 21 N-
(Note 11) C
BUE
(Note 5)
SD (Note 7)
Note 1. For power supply specifications, refer to section 1.2.1.

2. Always connect between P3 and P4. (factory-wired) Use either the power factor improving DC reactor or the power factor
improving AC reactor. When using the power factor improving DC reactor, refer to section 9.8.
4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
amplifier.
11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
9 - 23

ALM OFF RA2
RA1 ON
MC
MC
Step-down
transformer
Servo amplifier
(Note 8)
MCCB MC
(Note 1) L1
CN3 24 V DC (Note 11)
Power L2
supply 3 DOCOM
L3
L11 15 ALM RA1
MT-BR5-H SK
L21
(Note 4) TH1
(Note 10) P RA2
TH2
PR
(Note 9) P3
(Note 2) FR-BU2-H
P4
EM2 20
PR MSG
DICOM 5 P+ P/+ SD
(Note 3) A
24 V DC (Note 6) N/-
(Note 11) DICOM 10 B
N-
C
BUE
(Note 5)
SD (Note 7)
Note 1. For power supply specifications, refer to section 1.2.2.

2. Always connect between P3 and P4. (factory-wired) Use either the power factor improving DC reactor or the power factor
improving AC reactor. When using the power factor improving DC reactor, refer to section 9.8.
4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
amplifier.
11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
9 - 24
(3) Connection instructions

The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake
unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per
one meter). Even when the cable is twisted, the cable should be less than 10 m. Using cables longer
than 5 m without twisting or twisted cables longer than 10 m may result in the brake unit malfunction.
Brake unit Resistor unit Brake unit Resistor unit
P+ P/+ P P P+ Twist P/+ P Twist P

N- N/- PR PR N- N/- PR PR
5 m or less 5 m or less 10 m or less 10 m or less
(4) Wires
For the brake unit, HIV wire (600 V Grade heat-resistant polyvinyl chloride insulated wire) is
recommended.
1) Main circuit terminal

Main Crimp
Wire size
circuit terminal Tightenin
Brake unit terminal g torque N/-, P/+, PR,
screw N/-, P/+,
[N•m] HIV wire
size PR, 2 AWG
N/- P/+ PR [mm ]
400 V FR-BU2-H30K M4 5.5-4 1.5 3.5 12
class FR-BU2-H55K M5 5.5-5 2.5 5.5 10
Terminal block FR-BU2-H75K M6 14-6 4.4 14 6
2) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over
tightening can cause a short circuit or malfunction due to damage to the screw
or the brake unit.
RES SD MSG MSG SD SD Insulator Core

PC BUE SD
A B C
Jumper
6 mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5 to 0.6 [N•m]
Wire size: 0.3 mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
9 - 25
(5) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals
POINT
Some crimp terminals may not be mounted depending on the size. Make sure to
use the recommended ones or equivalent ones.
Number of (Note 1)
Servo amplifier Brake unit connected Crimp terminal (Manufacturer) Applicable
units tool
400 V MR-J4-500_4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) b
class MR-J4-700_4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) b
MR-J4-11K_4(-RJ) FR-BU2-H30K 1 FVD5.5-6 (JST) b
FR-BU2-H55K 1 FVD5.5-6 (JST) b
FR-BU2-H75K 1 FVD14-8 (JST) a
Note 1. Symbols in the applicable tool field indicate applicable tools in (4)(b) of this section.
2. Coat the crimping part with an insulation tube.
(b) Applicable tool

Servo amplifier-side crimp terminals
Symbol Applicable tool
Crimp terminal Manufacturer
Body Head Dice
a FVD14-8 YF-1/E-4 YNE-38 DH-112/DH-122
FDV5.5-S4 JST
b YNT-1210S
FDV5.5-6
9 - 26
9.3.4 Dimensions
(1) FR-BU2-H brake unit
[Unit: mm]
FR-BU2-H30K
2-φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5 5
6 96 6 5 18.5 52 59
108 129.5
FR-BU2-H55K, FR-BU2-H75K
2-φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5
5
5
6 158 6 18.5 52 72
170 142.5
9 - 27
(2) FR-BR-H resistor unit
[Unit: mm]
Approx.
H2
2-φC
D1
(Note)
H3 ± 1
H1 ± 3
H±5
Control circuit (Note)
terminal
Main circuit
terminal
Approx.
C C
H2
Approx. 35 W1 ± 1 Approx. 35
D±5
W±5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Approximate
Resistor unit W W1 H H1 H2 H3 D D1 C
mass [kg]
400 V FR-BR-H30K 340 270 600 560 20 582 220 4 10 30
class FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70
(3) MT-BR5-H resistor unit
[Unit’ mm]
Approximate
Resistor unit Resistance
mass [kg]
85
400 V
MT-BR5-H75K 6.5 Ω 70
NP class
800
M4
M6
30
40
85
193 189
37 60 10 21
480
510
75 300 75
4-φ15 mounting hole 7.5 450 7.5
9 - 28
9.4 FR-RC-H power regenerative converter
POINT
When using FR-RC-H, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop
1).
When using FR-RC-H with MR-J4-_A4(-RJ), set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_ _ _ 1". When
using it with MR-J4-_B4(-RJ), set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC20] to "_ _ _ 1".
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to the
servo amplifiers of the 5 kW to 22 kW.
Nominal
Continuous energization time [s]

Power regenerative regenerative 500
Servo amplifier
converter power
[kW] 300
MR-J4-500_4(-RJ) 200
FR-RC-H15K 15
MR-J4-700_4(-RJ)
100
MR-J4-11K_4(-RJ)
FR-RC-H30K 30
MR-J4-15K_4(-RJ)
50
FR-RC-H55K 55 MR-J4-22K_4(-RJ)
30
20
0 50 75 100 150
Nominal regenerative power [%]
9 - 29
(2) Connection example
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.

Servo amplifier
(Note 7)
L11
L21
Power factor
improving AC reactor
MCCB MC FR-HAL-H
L1
(Note 5)
Power L2
supply
L3
(Note 9)
CN1 CN1 24 V DC
Forced stop 1
(Note 6) EM1 DOCOM
(Note 8)
(Note 8) Servo-on SON ALM RA Malfunction
(Note 3)
Step-down DICOM
transformer
24 V DC
(Note 9)
(Note 2)
P3 P4 N- C P+
(Note 4) 5 m or shorter
RD N/- P/+
Lady A
SE
B
RDY output B
C
C
R/L1 Alarm output
S/L2
T/L3
RX
R
SX (Note 1)
Phase detection
S terminals
TX
T
Power regenerative converter
FR-RC-H
FR-RC-H Operation
B C ALM ready
RA OFF
ON
MC
Forced stop 1 MC
SK
(Note 6)
9 - 30
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC-H will not operate.
and C terminals.
5. For the power supply specifications, refer to section 1.2.1.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off.
Instruction Manual.

Servo amplifier
(Note 7)
L11
L21
Power factor
improving AC reactor
MCCB MC FR-HAL-H
L1
(Note 5)
Power L2
supply
L3
(Note 9)
CN3 CN3 24 V DC
Forced stop 1 EM1 DOCOM
(Note 8) (Note 6)
DICOM ALM RA Malfunction (Note 8)
24 V DC (Note 3)
Step-down (Note 9)
transformer
(Note 2)
P3 P4 N- C P+
(Note 4) 5 m or shorter
RD N/- P/+
A
Lady SE
B
RDY output B
C
C
R/L1 Alarm output
S/L2
T/L3
RX
R
SX (Note 1)
Phase detection
S terminals
TX
T
Power regenerative converter
FR-RC-H
FR-RC-H Operation
ALM ready
B C RA OFF
ON
MC
Forced stop 1 MC
SK
(Note 6)
9 - 31
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC-H will not operate.
and C terminals.
5. For the power supply specifications, refer to section 1.2.2.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off.
Instruction Manual.
(3) Dimensions
2-φD hole Mounting foot (removable)
E
Mounting foot (movable)
Rating plate
Front cover Indicator

panel window
BA
B
Cooling fan
D F K
EE
AA
C
A
Heat generation area outside

mounting dimension
[Unit: mm]
Power regenerative Approximate
A AA B BA C D E EE K F
converter mass [kg]
FR-RC-H15K
340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-H30K
FR-RC-H55K 480 410 700 670 250 12 15 15 3.2 135 55
9 - 32
(4) Mounting hole machining dimensions

When the power regenerative converter is installed to an enclosed type cabinet, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
[Unit: mm]
Power regenerative
(AA) a b D AA BA
(2-φD hole) converter
FR-RC-H15K
330 562 10 270 582
FR-RC-H30K
FR-RC-H55K 470 642 12 410 670
(Mounting hole)
(BA)
9 - 33
9.5 FR-CV-H power regenerative common converter
POINT
For details of the power regenerative common converter FR-CV-H, refer to the
FR-CV Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2, and L3)
of the servo amplifier. Doing so will fail the servo amplifier and FR-CV-H.
Connect the DC power supply between the FR-CV-H and servo amplifier with
correct polarity. Connection with incorrect polarity will fail the FR-CV-H and
servo amplifier.
Two or more FR-CV-H's cannot be installed to improve regeneration capability.
Two or more FR-CV-H's cannot be connected to the same DC power supply
line.
When using FR-CV-H, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
When using FR-CV-H with MR-J4-_A4(-RJ), set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_ _ _ 1". When
using it with MR-J4-_B4(-RJ), set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC20] to "_ _ _ 1".
(1) Model
Capacity
Symbol Capacity [kW]
22K 22
30K 30
37K 37
55K 55
Symbol Voltage class

H 400 V class
(2) Selection
FR-CV-H power regenerative common converter can be used for the servo amplifier of 11 kW to 22 kW.
The following shows the restrictions on using the FR-CV-H.
(a) Up to two servo amplifiers can be connected to one FR-CV-H.
(b) FR-CV-H capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV-H.
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV-H.
(d) Among the servo amplifiers connected to the FR-CV-H, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.

FR-CV-H_
Item
22K 30K 37K 55K
Maximum number of connected servo
1 2
amplifiers
Total of connectable servo amplifier
11 15 18.5 27.5
capacities [kW]
Total of connectable servo motor rated
43 57 71 110
currents [A]
Maximum servo amplifier capacity [kW] 11 15 15 22
9 - 34
When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H).
Power regenerative common Dedicated stand-alone
converter reactor
FR-CV-H22K(-AT) FR-CVL-H22K
FR-CV-H30K(-AT) FR-CVL-H30K
FR-CV-H37K FR-CVL-H37K
FR-CV-H55K FR-CVL-H55K
(3) Connection diagram
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.

L11 U U
L21 V V
(Note 7) FR-CVL-H FR-CV-H
W W
MCCB MC R/L11 R2/L12
3-phase R2/L1
380 V AC S/L21 S2/L22
to S2/L2 CN2
480 V AC T/L31 T2/L32
T2/L3
P/L+ P4
(Note 5)
N/L- N-
24 V DC
R/L11
Step-down 24 V DC (Note 8)
S/L21
transformer P24 DOCOM
T/MC1 (Note 1)
SD ALM RA2
RESET
RES
RDYB RA3 (Note 2)
SD
RDYA
(Note 1)
A (Note 1)
RA1 RA2 EM1 OFF RA1
ON
B (Note 2)
MC C RA3 SON
SON
RA1 (Note 4)
MC
EM1
(Note 3) EM1 (Note 1, 6)
RSO RES
SK
SE DICOM
24 V DC (Note 8)
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV-H or servo amplifier.
EM1 (Forced stop 1) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.
3. For the FR-CV-H, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure
a sequence that will make the servo inoperative when the RSO signal is on.
4. Configure a sequence that will make a stop with the forced stop input of the servo amplifier if an alarm occurs in the FR-CV-H.
5. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
9 - 35

L11 U U
L21 V V
(Note 7) FR-CVL-H FR-CV-H
W W
MCCB MC R/L11 R2/L12
R2/L1
3-phase
S/L21 S2/L22
380 V AC to S2/L2 CN2
480 V AC T/L31 T2/L32
T2/L3
P/L+ P4
(Note 5)
N/L- N-
24 V DC (Note 8)
R/L11
Step-down S/L21
transformer P24
T/MC1
SD
RESET Servo system 24 V DC (Note 8)
RES controller DOCOM
RDYB
SD (Note 2)
RDYA ALM RA2
(Note 3)
RSO
(Note 1)
SE
RA1 RA2 EM1 OFF
ON
(Note 1)
A (Note 1, 6)
MC RA1
(Note 4) EM1
B RA1
EM1
MC
C DICOM
SK 24 V DC (Note 8)
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV-H or servo amplifier.
EM1 (Forced stop 1) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.
3. For the FR-CV-H, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure
a sequence that will make the servo inoperative when the RSO signal is on.
4. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
the FR-CV-H. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo
amplifier to make a stop as shown in the diagram.
5. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
9 - 36
(4) Selection example of wires used for wiring
POINT
Selection conditions of wire size is as follows.
Wire type: HIV wire (600 V grade heat-resistant polyvinyl chloride insulated
wire)
Construction condition: One wire is constructed in the air.
(a) Wire size

1) Between P and P4, and between N and N-
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
between the FR-CV-H and servo amplifier.
Total of servo amplifier capacities 2
Wire [mm ]
[kW]
11 8 (AWG 8)
15 8 (AWG 8)
22 14 (AWG 6)
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Power regenerative common Grounding wire size
2
converter [mm ]
FR-CV-H22K/FR-CV-H30K 8 (AWG 8)
FR-CV-H37K/FR-CV-H55K 14 (AWG 6)
(b) Example of selecting the wire sizes

When connecting two servo amplifiers of 11 kW, always use junction terminals for wiring the servo
amplifier terminals P4, N-.
Wire as short as possible.
FR-CV-H55K 22 mm2 8 mm2 Servo amplifier (11kW)
R2/L1 P/L+ P4 First unit: 22 mm2 assuming that total capacity
of servo amplifiers is 22 kW since
S2/L2 N/L- N- 11 kW + 11 kW = 22 kW.
T2/L3 8 mm2
8 mm2 Servo amplifier (11kW)
R/L11 P4 Second unit: 8 mm2 assuming that total capacity
of servo amplifiers is 11 kW since
S/L21 N- 11 kW = 11 kW.
Junction terminals
T/MC1
Total wire length: 5 m or less
9 - 37
(5) Other precautions

(a) Always use the dedicated stand-alone reactor (FR-CVL-H) as the power factor improving reactor. Do
not use the power factor improving AC reactor (FR-HAL-H) or power factor improving DC reactor
(FR-HEL-H).
(b) The inputs/outputs (main circuits) of the FR-CV-H and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment (such
as AM radios) used near them. In this case, interference can be reduced by installing the radio noise
filter (FR-BIF-H) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV-H and servo
amplifiers should be 5 m or less, and the wiring must be twisted.
(6) Specifications
Power regenerative common
converter FR-CV-H_
22K 30K 37K 55K
Item
Total of connectable servo amplifier
[kW] 11 15 185 27.5
capacities
Maximum servo amplifier capacity [kW] 11 15 15 22
Total of connectable servo
[A] 43 57 71 110
motor rated currents
Output
Total capacity of applicable servo motors, 300% torque, 60 s

Regenerative Short-time rating
(Note 1)
braking torque
Continuous rating 100% torque
Rated input AC voltage/frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Power supply
Permissible AC voltage fluctuation 3-phase 323 V AC to 528 V AC, 50 Hz/60 Hz

Permissible frequency fluctuation ±5%
Power supply capacity (Note 2) [kVA] 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient temperature -10 ˚C to 50 ˚C (non-freezing)
Environment
Ambient humidity 90 %RH or less (non-condensing)

Indoors (no direct sunlight), free from corrosive gas,
Ambience
flammable gas, oil mist, dust, and dirt
2
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s
Molded-case circuit breaker or earth- 50AF 60AF 100AF 100AF
leakage current breaker 50A 60A 75A 100A
Magnetic contactor S-N25 S-N35 S-N50 S-N65
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the
servo amplifier is activated in the time indicated in section 8.1.
2. The specified value is the power supply capacity of FR-CV-H. The total power supply capacities of
the connected servo amplifiers are actually required.
9 - 38
9.6 Selection example of wires
POINT
To comply with the UL/CSA standard, use the wires shown in appendix 1 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection conditions of wire size is as follows.
Wire length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1 U
L2 V M
L3 W
2) Control circuit power supply lead
L11
L21 4) Servo motor power lead
5) Power regenerative converter lead
Power regenerative converter N-
Regenerative option
C
P+
3) Regenerative option lead
9 - 39
(1) When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Wire size selection examples for HIV wires are indicated below.
Table 9.1 Wire size selection example (HIV wire)

2
Wires [mm ] (Note 1)
Servo amplifier 4) U/V/W/
1) L1/L2/L3/ 2) L11/L21 3) P+/C
(Note 3)
MR-J4-60_4(-RJ)/
1.25 to 2
MR-J4-100_4(-RJ)
2 (AWG 14) (AWG 16 to 14) 2 (AWG14) AWG 16 to 14
MR-J4-200_4(-RJ)
(Note 4)
MR-J4-350_4(-RJ)
MR-J4-500_4(-RJ)
2 (AWG 14): b 1.25 (AWG 16): a 3.5 (AWG 12): a
(Note 2)
2 (AWG 14): c 2 (AWG14): b
MR-J4-700_4(-RJ)
3.5 (AWG 12): a (Note 4) 5.5 (AWG 10): a
(Note 2)
MR-J4-11K_4(-RJ)
5.5 (AWG 10): d 2 (AWG14): f
(Note 2)
8 (AWG 8): g
MR-J4-15K_4(-RJ)
8 (AWG 8): g 3.5 (AWG 12): d
(Note 2) 1.25 (AWG 16): b
2 (AWG 14): b 5.5 (AWG 10): e
(Note 4) (Note 5)
MR-J4-22K_4(-RJ)
14 (AWG 6): i 3.5 (AWG 12): e 8 (AWG 8):h
(Note 2)
(Note 6)
14 (AWG 6): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo amplifier instruction manual.
2
4. Be sure to use the size of 2 mm when corresponding to UL/CSA standard.
5. This is for connecting to the linear servo motor with natural cooling method.
6. This is for connecting to the linear servo motor with liquid cooling method.
Use wires (5)) of the following sizes with the power regenerative converter (FR-RC-H).
2
Model Wire [mm ]
FR-RC-H15K
FR-RC- H30K 14 (AWG6)
FR-RC- H55K
(2) Selection example of crimp terminals

Crimp terminal selection examples for the servo amplifier terminal blocks are indicated below.
Symbol Crimp terminal Applicable tool Manufacturer
(Note) Body Head Dice
a FVD5.5-4 YNT-1210S
b FVD2-4
YNT-1614
c FVD2-M3
d FVD5.5-6 YNT-1210S
e FVD5.5-8 YNT-1210S JST
f FVD2-6 YNT-1614
g FVD8-6
DH-121/DH-111
h FVD8-8 YF-1 YNE-38
i FVD14-8 DH-122/DH-112
Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
9 - 40
9.7 Molded-case circuit breakers, fuses, magnetic contactors (recommended)
(1) For main circuit power supply

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When
using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in
this section.
Molded-case circuit breaker (Note 1) Fuse Magnetic
Servo amplifier Voltage AC Current Voltage contactor
Frame, rated current Class (Note 2)
[V] [A] AC [V]
MR-J4-60_4(-RJ) 30 A frame 5 A 10
MR-J4-100_4(-RJ) 30 A frame 10 A 15 S-N10
MR-J4-200_4(-RJ) 30 A frame 15 A 25
MR-J4-350_4(-RJ) 30 A frame 20 A 35
S-N18
MR-J4-500_4(-RJ) 30 A frame 20 A 480 T 50 600
MR-J4-700_4(-RJ) 30 A frame 30 A 65 S-N20
MR-J4-11K_4(-RJ) 50 A frame 50 A 100 S-N25
Note 1. When having the servo amplifier comply with the UL/CSA standard, refer to appendix 1.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to
the coil until closure of contacts) of 80 ms or less.
(2) For control circuit power supply

When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit
power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse)
to protect the branch circuit.
Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Servo amplifier
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-60_4(-RJ)
MR-J4-100_4(-RJ)
MR-J4-200_4(-RJ)
MR-J4-350_4(-RJ)
MR-J4-500_4(-RJ) 30 A frame 5 A 480 1 600 1 600
MR-J4-700_4(-RJ)
MR-J4-11K_4(-RJ)
MR-J4-15K_4(-RJ)
MR-J4-22K_4(-RJ)
Note. When having the servo amplifier comply with the UL/CSA standard, refer to appendix 1.
9.8 Power factor improving DC reactor
The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to about 85%.
As compared to the power factor improving AC reactor (FR-HAL-H), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and
P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10
cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.
9 - 41
4-d mounting hole (Note 1)

D or less
(D3) D or less
P P1 (D3)
P P1
H ± 2.5
H ± 2.5
W1 D2 W1 D2
W ± 2.5 D1 ± 1 W ± 2.5 D1 ± 1
Fig. 9.1 Fig. 9.2
D or less
(D3)
P P1
H ± 2.5
6
W1 D2
W ± 2.5 D1 ± 1
Fig. 9.3
Servo amplifier
FR-HEL
P3
(Note 2)
P4
5 m or less
Note 1. Use this for grounding.

2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
9 - 42
Power factor Dimensions [mm] 2

Termina Mass Wire [mm ]
Servo amplifier improving DC Dimensions
W W1 H D D1 D2 D3 d l size [kg] (Note)
reactor
MR-J4-60_4(-RJ) FR-HEL-H1.5K 66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14)
Fig. 9.1
MR-J4-100_4(-RJ) FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14)
MR-J4-200_4(-RJ) FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14)
MR-J4-350_4(-RJ) FR-HEL-H7.5K Fig. 9.2 96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14)
MR-J4-500_4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12)
MR-J4-700_4(-RJ) 5.5 (AWG 10)
FR-HEL-H15K 105 75 152 125 115 95 62 M5 M6 5.0
MR-J4-11K_4(-RJ) 8 (AWG 8)
Fig. 9.3
MR-J4-15K_4(-RJ) FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)
MR-J4-22K_4(-RJ) FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)
Note. Selection conditions of wire size is as follows.

Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
9 - 43
9.9 Power factor improving AC reactor
The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
4-d mounting hole (Note)
(φ5 groove)
R X S Y T Z
D or less
Servo amplifier
3-phase
400 V class
FR-HAL-H
MCCB MC R X
L1
3-phase S Y
380 V AC to L2
H±5
480 V AC T Z
L3
W1 D2
W ± 0.5 D1
Fig. 9.4
R X S Y T Z
R X S Y T Z
(φ6 groove)
(φ8 groove)
150 D or less
125 D or less
H±5
H±5
180
W1 D2
W1 D2
D1 W ± 0.5 D1
W ± 0.5
Fig. 9.5 Fig. 9.6
Note. Use this for grounding.
9 - 44
Power factor Dimensions [mm]

Termina Mass
Servo amplifier improving AC Dimensions D
W W1 H D1 D2 d l size [kg]
reactor (Note)
MR-J4-60_4(-RJ) FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-100_4(-RJ) FR-HAL-H2.2K Fig. 9.4 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-200_4(-RJ) FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
MR-J4-350_4(-RJ) FR-HAL-H7.5K 160 145 142 91 91 75 M4 M4 5.0
MR-J4-500_4(-RJ) FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0
Fig. 9.5
MR-J4-700_4(-RJ)/
FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-11K_4(-RJ)
MR-J4-15K_4(-RJ) FR-HAL-H22K 220 200 215 170 90 70 M5 M8 9.5
Fig. 9.6
MR-J4-22K_4(-RJ) FR-HAL-H30K 220 200 215 170 96 75 M5 M8 11
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
9.10 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral equipment malfunction due to noises produced by the servo amplifier, noise suppression
measures must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques

(a) General reduction techniques
Avoid bundling power lines (input/output) and signal cables together or running them in parallel to
each other. Separate the power lines from the signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11 of "MR-
J4-_A(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual".)
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power
input section of the equipment is recommended.
9 - 45
(c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral equipment located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced Noises transmitted Noise radiated directly Route 1)

by servo amplifier in the air from servo amplifier
Noise radiated from the

Route 2)
power supply cable
Noise radiated from

Route 3)
servo motor cable
Magnetic induction
noise Routes 4) and 5)
Static induction
Route 6)
noise
Noises transmitted Noise transmitted through

through electric Route 7)
power supply cable
channels
Noise sneaking from

grounding cable due to Route 8)
leakage current
9 - 46
5)
7) 7)
2)
7)
Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor
3)
Servo motor M
Noise transmission
Suppression techniques
route
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo
amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted
through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power lines and the signal lines are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together.
4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power supply of peripheral equipment is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the power
7) supply cable and the devices may malfunction.The following techniques are required.
1. Install the radio noise filter (FR-BIF-H) on the power lines (Input lines) of the servo amplifier.
2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.
When the cables of peripheral equipment are connected to the servo amplifier to make a closed loop
8) circuit, leakage current may flow to malfunction the peripheral equipment. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
9 - 47
(2) Noise reduction techniques

(a) Data line filter (recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, and GRFC-13 by Kitagawa
Industries are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. This impedances are reference values and not guaranteed values.
Impedance [Ω] [Unit: mm]
100 MHz to 500
10 MHz to 100 MHz 39 ± 1
MHz Loop for fixing the
34 ± 1 cable band
13 ± 1
80 150
TDK
30 ± 1
Product name Lot number
Outline drawing (ZCAT3035-1330)
(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo
amplifier. Use the following surge killer or equivalent.
OFF
ON
MC
MC
SK
Relay
Surge killer
Surge killer
This distance should be short

(within 20 cm).
(Ex.) CR-50500 Okaya Electric Industries)

Rated
C R
voltage Test voltage Dimensions [Unit: mm]
[µF ± 20%] [Ω ± 30%]
AC [V]
Between terminals: 625 V AC, 50
(18.5 + 2) ± 1
Band (clear) AWG 18 Twisted wire

Hz/60 Hz 60 s 15 ± 1
250 0.5 50 (1/2 W) Between terminal and case: 2000 Soldered
3.6
V AC CR-50500
50 Hz/60 Hz 60 s 6±1 6±1

300 min. 48 ± 1.5 300 min. 16 ± 1
(18.5 + 5) max.
Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than four times the drive voltage of the relay or + -
the like. RA
Maximum current: Not less than twice the drive current of the relay or the
like. Diode
9 - 48
(c) Cable clamp fitting AERSBAN-_SET

Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an grounding plate as
shown below.
Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable
sheath to expose the external conductor, and press that part against the grounding plate with the
cable clamp. If the cable is thin, clamp several cables in a bunch.
The cable clamp comes as a set with the grounding plate.
[Unit: mm]
Strip the cable sheath of

Cable the clamped area. cutter
Cable clamp
(A, B) Earth plate
cable
40
External conductor
Clamp section diagram
Dimensions
[Unit: mm] [Unit: mm]

Earth plate Clamp section diagram
2-φ5 hole 17.5

installation hole
30
L or less 10
B ± 0.3
C
A
6
24 -0.2
0
35
3
24+ 00.3
7
(Note) M4 screw 6 22
35
11
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 Clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1pc. B 45
9 - 49
(d) Line noise filter (FR-BSF01/FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
2
Use the line noise filters for lines of the main power supply (L1, FR-BSF01 (for wire size 3.5 mm (AWG 12) or less)
L2, and L3) and of the servo motor power (U, V, and W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For the main power supply, the effect 95 ± 0.5 2-φ5
Approx. 22.5
of the filter rises as the number of passes increases, but generally
four passes would be appropriate. For the servo motor power
lines, passes must be four times or less. Do not pass the
11.25 ± 0.5
grounding wire through the filter. or the effect of the filter will drop. Approx. 65
Wind the wires by passing through the filter to satisfy the required
number of passes as shown in Example 1. If the wires are too φ33
thick to wind, use two or more filters to have the required number
of passes as shown in Example 2.
Approx. 65
Place the line noise filters as close to the servo amplifier as
possible for their best performance.
4.5
Example 1
MCCB MC Servo amplifier
Power L1
supply
L2 2
FR-BLF (for wire size 5.5 mm (AWG 10) or more))
Line noise L3
filter 7
(Number of turns: 4)
31.5
7
Example 2 130
MCCB MC 85
Power Servo amplifier
80
35
supply
L1
Line noise L2 160
2.3
filter L3 180
Two filters are used

(Total number of turns: 4)
9 - 50
(e) Radio noise filter (FR-BIF-H)

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF-H is designed for the
input only.
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
Leakage current: 4 mA
always required. Red White Blue Green
MR-J4-350_4(-RJ) or less
Approx. 300
Terminal
block Servo amplifier
MCCB MC
L1
Power 29
supply L2
φ5
L3
42
hole
4
58 29 7
Radio noise
filter 44
MR-J4-500_4(-RJ) or more
Servo amplifier
MCCB MC
L1
Power L2
supply
L3
Radio noise
filter
9 - 51
(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-102K, manufactured by NIPPON CHEMI-CON, are
recommended. For detailed specification and usage of the varistors, refer to the manufacturer
catalog.
Maximum
Maximum rating limit Static
Varistor voltage rating
Power voltage capacity
(range)
supply Varistor Surge (reference
Permissible circuit Energy Rated pulse V1 mA
voltage current value)
voltage immunity power [A] [V]
immunity
AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J] [W] [pF] [V]
7500/1
400 V time
TND20V-102K 625 825 400 1.0 100 1650 560 1000 (900 to 1100)
class 6500/2
times
[Unit: mm]
D H T E (Note) L φd W
D T Model
Max. Max. Max. ±1.0 min. ±0.05 ±1.0
TND20V-102K 22.5 25.5 9.5 6.4 20 0.8 10.0
H
Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L
9 - 52
9.11 Earth-leakage current breaker
(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select an earth-leakage current breaker according to the following formula, and ground the servo
amplifier, servo motor, etc. securely.
To minimize leakage currents, make the input and output cables as short as possible, and make the
grounding cable longer than 30 cm.
Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA]··············································· (9.1)
Earth-leakage current breaker

Cable K
Mitsubishi
NV Noise filter Type
products
Servo Cable
amplifier M NV-SP
Models provided with NV-SW
harmonic and surge NV-CP 1
reduction techniques NV-CW
Ig1 Ign Iga Ig2 Igm NV-HW
BV-C1
General models NFB 3
NV-L
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 9.7.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (Found from Fig. 9.7.)
Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF-H)
Iga: Leakage current of the servo amplifier (Found from table 9.3.)
Igm: Leakage current of the servo motor (Found from table 9.2.)
120
Leakage current [mA]
100
80
60
40
20
0
2 5.5 14 38 100
3.5 8 22 60 150
30 80
Cable size [mm2]
Fig. 9.7 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit
9 - 53
Table 9.2 Servo motor leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]
0.5 to 1 0.1
1.5 to 2 0.2
3.5 0.3
5 0.5
7 0.7
9 to 11 1.0
15 13
22 2.3
Table 9.3 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]
0.6 0.1
0.75 to 3.5 0.15
5/7 2
11/15 5.5
22 2.3
Table 9.4 Earth-leakage current breaker selection example

Rated sensitivity current of earth-
Servo amplifier
leakage current breaker [mA]
MR-J4-60_4(-RJ) to
15
MR-J4-350_4(-RJ)
MR-J4-500_4(-RJ) 30
MR-J4-700_4(-RJ) 50
MR-J4-11K_4(-RJ) to
100
MR-J4-22K_4(-RJ)
9 - 54
(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following
conditions.
2 mm2 × 5 m 2 mm2 × 5 m
NV
Servo amplifier
MR-J4-60A4 M Servo motor
HG-SR524
Ig1 Iga Ig2 Igm
Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (9.1) from the diagram.
5
Ig1 = 20 • = 0.1 [mA]
1000
5
Ig2 = 20 • = 0.1 [mA]
1000
Ign = 0 (not used)
Iga = 0.1 [mA]
Igm = 0.1 [mA]
Insert these values in equation (9.1).
Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity
current (Ig) of 4.0 mA or more.
An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.
9 - 55
9.12 EMC filter (recommended)
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC
filters have large in leakage current.
(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)
Servo amplifier Rated current Rated voltage Leakage Mass [kg]
Model
[A] [V AC] current [mA]
MR-J4-60_4(-RJ)/
TF3005C-TX 5
MR-J4-100_4(-RJ)
6
MR-J4-200_4(-RJ) to
TF3020C-TX 20
MR-J4-700_4(-RJ) 500 5.5
MR-J4-11K_4(-RJ) TF3030C-TX 30 7.5
MR-J4-15K_4(-RJ) TF3040C-TX 40
12.5
MR-J4-22K_4(-RJ) TF3060C-TX 60
(2) Connection example

EMC filter Servo amplifier
MCCB MC
1 4 L1
Power
2 5 L2
supply
3 6 L3
E L11
L21
9 - 56
(3) Dimensions
(a) EMC filter
TF3005C-TX/TX3020C-TX/TF3030C-TX
[Unit: mm]
3-M4 6-R3.25 length: 8 M4 M4 3-M4

M4
Approx. 12.2
125 ± 2
140 ± 1
155 ± 2
16 16
IN
100 ± 1 100 ± 1 Approx.6.75 ± 3
290 ± 2 150 ± 2
308 ± 5 Approx. 160
332 ± 5 170 ± 5
9 - 57
TF3040C-TX/TF3060C-TX
[Unit: mm]
3-M6 8-M M4 M4 3-M6
M6
Approx. 17
22 22
G±2
E±2
F±1
IN
D±1 D±1 D±1 Approx. L
C±2 K±2
B±5 Approx. J
A±5 H±5
Dimensions [mm]
Model
A B C D E F G H J K L M
TF3040C-TX R3.25 Length
438 412 390 100 175 160 145 200 (190) 180 (91.5)
TF3060C-TX 8 (for M6)
9 - 58
10. USING A LINEAR SERVO MOTOR
When using the linear servo motor, read "Linear Servo Motor Instruction Manual"
WARNING and "Linear Encoder Instruction Manual".
MR-J4-_A4(-RJ) Functions and configuration MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 15.1
Operation and functions MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 15.3
How to replace servo amplifier without MR-J4-_A(-RJ) Servo Amplifier Instruction
magnetic pole detection Manual app. 10
MR-J4-_B4(-RJ) Functions and configuration MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 14.1
Operation and functions MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 14.3
How to replace servo amplifier without MR-J4-_B(-RJ) Servo Amplifier Instruction
magnetic pole detection Manual app. 8
Refer to [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting] for setting the linear
servo motor.
10 - 1
10.1 Signals and wiring
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, 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.
WARNING Ground the servo amplifier and the linear servo motor securely.
Do not attempt to wire the servo amplifier and the linear servo motor until they
have been installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
To avoid an electric shock, insulate the connections of the power supply
terminals.
Wire the equipment correctly and securely. Otherwise, the linear servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
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.
24 V DC 24 V DC
DOCOM DOCOM
Control output RA
Control output RA
signal signal
For sink output interface For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference.

CAUTION Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-H option)
with the power wire of the linear servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Connect the servo amplifier power output (U, V, and W) to the linear servo motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
U U
U U
V V
V M V M
W W
W W
10 - 2
Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may
cause a malfunction.
Do not modify the equipment.
CAUTION The cables such as power wires deriving from the primary side cannot stand the
long-term bending action. Avoid the bending action by fixing the cables to the
moving part, etc. Also, use the cable that stands the long-term bending action for
the wiring to the servo amplifier.
This section does not describe the following items. For details of the items, refer to each section of the
detailed description field.
MR-J4-_A4 (-RJ) Input power supply circuit MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.1
Explanation of power supply system MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.3
Signal (device) explanations MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.5
Alarm occurrence timing chart MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.8
Interface MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.9
Grounding MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 3.11
Display and operation sections MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual section 4.5
MR-J4-_B4 (-RJ) Input power supply circuit MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.1
Explanation of power supply system MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.3
Signal (device) explanations MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.5
Alarm occurrence timing chart MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.7
Interface MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.8
SSCNET III cable connection MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.9
Grounding MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual section 3.11
Switch setting and display of the servo MR-J4-_B(-RJ) Servo Amplifier Instruction
amplifier Manual section 4.3
10 - 3
10.2 Characteristics
10.2.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and
linear servo motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
This servo amplifier has solid-state linear servo motor overload protection. (The servo motor overload
current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000 1000
100 100
Operating Operating
Operation time [s]
Operation time [s]
10 10 Servo-lock
Servo-lock
1 1
0.1 0.1
0 100 200 300 400 500 600 0 50 100 150 200 250 300
Load ratio [%] Load ratio [%]
a. LM-F (natural cooling) b. LM-F (liquid cooling)
Fig. 10.1 Electronic thermal protection characteristics
10 - 4
10.2.2 Power supply capacity and generated loss
Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at rated
torque and servo-off according to the duty used during operation. When the linear servo motor is run at less
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact
enclosed type cabinet.
Table 10.1 Power supply capacity and generated loss per linear servo motor at rated output
Power supply Servo amplifier-generated heat [W] Area required for
Linear servo motor Servo amplifier capacity [kVA] (Note 2) heat dissipation
(Note 1) At rated output With servo-off [m2]
LM-FP5H-60M-1SS0 MR-J4-22KB4(-RJ) 22 640 45 12.8
MR-J4-22KA4(-RJ)
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when the
power factor improving AC reactor or power factor improving DC reactor are not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 9.2.
10 - 5
10.2.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor mass ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
The approximate coasting distance from when the dynamic break is activated until when the linear servo
motor stops can be calculated with the equation below.
Lmax = V0 • (0.03 + M • (A + B • V02))
Lmax: Coasting distance of the machine [m]

V0: Speed when the brake is activated [m/s]
M: Full mass of the moving part [kg]
A: Coefficient (Refer to the following tables.)
B: Coefficient (Refer to the following tables.)
Linear servo motor Coefficient A Coefficient B

-4 -5
LM-FP5H-60M-1SS0 1.95 × 10 4.00 × 10
The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value is considered to be longer than
the actual distance. However, if an enough breaking distance is not obtained, the
CAUTION linear servo motor may crash into the stroke end, which is very dangerous. Install
the anti-crash mechanism such as an air brake or an electric/mechanical stopper
such as a shock absorber to reduce the shock of moving parts. No linear servo
motor with an electromagnetic brake is available.
10 - 6
10.2.4 Permissible load to motor mass ratio when the dynamic brake is used
Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the ratio is
higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the
value, contact your local sales office.
The values of the permissible load to motor mass ratio in the table are the values when the linear servo
motor is used at the maximum speed.
Permissible load to motor mass ratio
Linear servo motor
[Multiplier]
LM-F series 100
When actual speed does not reach the maximum speed of the servo motor, calculate the permissible load to
motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is 300
times.)
Permissible load to motor mass ratio of the dynamic brake = Value in the table × (Servo motor maximum
speed2/Actual using speed2)
When an actual using speed is 2 m/s, the equation will be as follows.

Permissible load to motor mass ratio of dynamic brake = 100 × 22/22 = 100 [times]
10 - 7
MEMO
10 - 8
APPENDIX
This appendix does not describe the following items. For details of the items, refer to each section of the
detailed description field.
MR-J4-_A4(-RJ) Peripheral equipment manufacturer (for MR-J4-_A(-RJ) Servo Amplifier Instruction
reference) Manual app. 1
Handling of AC servo amplifier batteries for MR-J4-_A(-RJ) Servo Amplifier Instruction
the United Nations Recommendations on the Manual app. 2
Transport of Dangerous Goods
Symbol for the new EU Battery Directive MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual app. 3
MR-J3-D05 Safety logic unit MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual app. 5
EC declaration of conformity MR-J4-_A(-RJ) Servo Amplifier Instruction
Manual app. 6
MR-J4-_B4(-RJ) Peripheral equipment manufacturer (for MR-J4-_B(-RJ) Servo Amplifier Instruction
reference) Manual app. 1
Handling of AC servo amplifier batteries for MR-J4-_B(-RJ) Servo Amplifier Instruction
the United Nations Recommendations on the Manual app. 2
Transport of Dangerous Goods
Symbol for the new EU Battery Directive MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual app. 3
MR-J3-D05 Safety logic unit MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual app. 5
EC declaration of conformity MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual app. 6
SSCNET III cable (SC-J3BUS_M-C) MR-J4-_B(-RJ) Servo Amplifier Instruction
manufactured by Mitsubishi Electric System & Manual app. 10
Service
J3 compatibility mode MR-J4-_B(-RJ) Servo Amplifier Instruction
Manual app. 12
App. 1 Compliance with global standards
App. 1.1 Terms related to safety (IEC/EN 61800-5-2 Stop function)
STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors, thus
removing torque. This function electronically cuts off power supply in the servo amplifier.
App. 1.2 About safety
This section explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.
App. 1.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers.

Here, professional engineers should meet the all conditions below.
(1) A person who took a proper engineering training

Please note if you can take proper engineering training at your local Mitsubishi Electric office. Contact
your local sales office for schedules and locations.
(2) A person who can access to operating manuals for the protective devices (e.g. light curtain) connected
to the safety control system.
A person who have read and familiarized himself/herself with the manuals.
App. - 1
APPENDIX
App. 1.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following safety standards.

ISO/EN ISO 13849-1 Category 3 PL d, IEC/EN 62061 SIL CL 2, IEC/EN 61800-5-2 SIL 2 (STO), IEC/EN
61800-5-1, IEC/EN 61800-3, IEC/EN 60204-1
In addition, MR-J4 servo amplifiers can be used with the MR-J3-D05 safety logic unit or safety PLCs.
App. 1.2.3 Correct use
Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.2
for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or
if modifications are made to the device, even in the context of mounting and installation.
It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals
WARNING immediately after power off.
(1) Peripheral device and power wiring

(a) Local wiring and crimping tool
Use only copper wires rated at 60 ˚C/75 ˚C for wiring. The following table shows the wire sizes
[AWG] and the crimp terminal symbols rated at 75 ˚C.
Wire [AWG] (Note 2)
Servo amplifier L1/L2/L3 U/V/W/
L11/L21 P+/C
(Note 3)
MR-J4-60_4/MR-J4-100_4
MR-J4-200_4 14 14 14 14
MR-J4-350_4
MR-J4-500_4 (Note 1) 14: b 12: a
14: b
MR-J4-700_4 (Note 1) 12: a 10: a
MR-J4-11K_4 (Note 1) 10: d 14: b 14: e 8: f
MR-J4-15K_4 (Note 1) 8: f 12: d 6: c
MR-J4-22K_4 (Note 1) 6: g 12: h 4: i
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
2. Alphabets in the table indicate crimping tools. Refer to the following table for the crimp terminals and crimping tools.
3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of
the servo amplifiers.
App. - 2
APPENDIX
Table: Recommended crimp terminals

Symbol Crimp terminal Applicable tool Manufacturer
(Note) Body Head Dice
a FVD5.5-4 YNT-1210S
b FVD2-4 YNT-1614
DH-122
c FVD14-6 YF-1 YNE-38
DH-112
d FVD5.5-6 YNT-1210S
e FVD2-6 YNT-1614
DH-121 JST
f FVD8-6 YF-1 YNE-38
DH-111
DH-122
g FVD14-8 YF-1 YNE-38
DH-112
h FVD5.5-8 YNT-1210S
DH-123
i FVD22-8 YF-1 YNE-38
DH-113
Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
(b) Selection example of MCCB and fuse

When a servo amplifier is protected by T class fuses or circuit breaker having an interrupting rating
not less than 10 kA effective value and 480 V maximum, use T class fuses or molded-case circuit
breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit
breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you
select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller
capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones
other than Class T fuses and molded-case circuit breakers below, refer to section 9.7.
Servo amplifier Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-J4-60_4 NF100-HRU-5A (100 A frame 5 A) 10 A
MR-J4-11K_4 NF100-HRU-30A (100 A frame 30 A) 60 A
(c) Power supply

This servo amplifier can be used under the conditions of overvoltage category III set forth in IEC/EN
60664-1. For the interface power supply, use an external 24 V DC power supply with reinforced
insulation on I/O terminals.
App. - 3
APPENDIX
(d) Grounding
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. Do not connect two grounding cables to
the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
PE
terminals PE
terminals
If using an earth-leakage current breaker, always ground the protective earth (PE) terminal of the
servo amplifier to prevent an electric shock. Only an RCD (earth-leakage current breaker) of type B
can be used for the power supply side of the product.
(2) EU compliance
The MR-J4 servo amplifiers are designed to comply with the following directions to meet requirements
for mounting, using, and periodic technical inspections: Machinery directive (2006/42/EC), EMC directive
(2004/108/EC), and Low-voltage directive (2006/95/EC).
(a) EMC requirement

MR-J4 servo amplifiers comply with category C3 in accordance with IEC/EN 61800-3. As for I/O
wires (max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50
m), connect them to a shielded grounding.
Use an EMC filter and surge protector on the primary side for inputs. In addition, use a line noise
filter for outputs of the 11 kW and 15 kW servo amplifiers. The following shows recommended
products.
EMC filter: Soshin Electric HF3000A-UN series
Surge protector: Okaya Electric Industries RSPD-250-U4 series
Line noise filter: Mitsubishi Electric FR-BLF
- MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic
premises;
- radio frequency interference is expected if used on such a network.
The installer shall provide a guide for Installation and use, including recommended mitigation
devices.
(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in
compliance with the necessary requirements and standards (2006/42/EC, 2004/108/EC and
2006/95/EC). For the copy of Declaration of Conformity, contact your local sales office.
(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14 standards. Refer to
MR-J4 Servo Amplifier Instruction Manuals for details of UL/CSA standards.
(a) Installation
The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet
so that the ambient temperature in the cabinet is 55 ˚C or less. The servo amplifier must be installed
in a metal cabinet. Environment is open type (UL 50) and overvoltage category III. The servo
amplifier needs to be installed at or below of pollution degree 2. Use copper conductors only.
App. - 4
APPENDIX
(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical
Amperes, 500 Volts Maximum.
(c) Overload protection characteristics

The MR-J4 servo amplifiers have servo motor overload protective function. (It is set on the basis (full
load current) of 120% rated current of the servo amplifier.)
(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.
(e) Capacitor discharge

It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals immediately after
power off.
(f) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the
Canada Electrical Code and any applicable provincial codes.
(4) South Korea compliance

This product complies with the Radio Wave Law (KC mark). Please note the following to use the
product.
이 기기는 업무용 (A급) 전자파적합기기로서 판 매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의
지역에서 사용하는 것을 목적으 로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.
The seller and the user must note the above point, and use the product in a place except for home. In
addition, use an EMC filter, surge protector, and line noise filter on the primary side for inputs. Use a line
noise filter for outputs.)
App. 1.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MELSERVO MR-J4 servo amplifiers.
(1) For safety components and installing systems, only qualified personnel and professional engineers
should perform.
(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards
and directives applicable in the country.
(3) The item about noises of the test notices in the manuals should be observed.
(4) The MR-J4 servo amplifiers fulfill the requirements to conducted emissions at the main connections in
the frequency range from 150 kHz to 30 MHz. (Bases for the evaluation: Product standard IEC/EN
61800, adjustable speed electrical power drive systems, Part 3: EMC)
App. - 5
APPENDIX
App. 1.2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.
(3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum.
(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-
1 Table F.1 No.5)
(5) Separate the wiring for safety function from other signal wirings. (ISO 13849-1 Table F.1 No.1)
(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(7) Keep the required clearance/creepage distance depending on voltage you use.
App. 1.2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-
specific waste disposal regulations.
(Example: European Waste 16 02 14)
App. 1.2.7 Lithium battery transportation
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United
Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime
Organization (IMO).
The battery options (MR-BAT6V1SET and MR-BAT6V1) are assembled batteries from lithium metal battery
CR17335A which are not subject to the dangerous goods (Class 9) of the UN Recommendations.
App. - 6
APPENDIX
App. 1.3 Mounting/dismounting
Installation direction and clearances
The devices must be installed in the specified direction. Not doing so may cause
a malfunction.
CAUTION Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical
direction to maintain pollution degree 2.
Cabinet Top Cabinet
40 mm
or more 80 mm or longer
for wiring
Servo amplifier
10 mm or 10 mm or Servo amplifier
more more
40 mm
or more
(Note)
Bottom
Note. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground
will be 120 mm or more.
App. - 7
APPENDIX
App. 1.4 Electrical Installation and configuration diagram
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or
WARNING damages to the product before starting the installation or wiring.
The installation complies with IEC/EN 60204-1. The voltage supply to machines
must be 20 ms of immunity to instantaneous power failures as specified in
CAUTION IEC/EN 60204-1.
Connecting a servo motor of the wrong axis to U, V, W, or CN2_ of the servo
The following shows representative configuration diagram examples to conform to the IEC/EN/UL/CSA
standards.
(3-phase
400 V AC)
Servo amplifier
MCCB MC L1 L2 L3 P+
or fuse C
D
N-
L11
L21 CN8
STO
(Note) CN1
MCCB Controller
or fuse CN2 Encoder cable
PE
U/V/W/PE
Cabinet side
Machine side
Servo motor
Encoder
Note. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
The control circuit connectors described by rectangles are safely separated from the main circuits described
by circles.
The connected motors will be limited as follows.
(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)
(2) Using a servo motor complied with IEC60034-1 and Mitsubishi Electric encoder (OBA, OSA)
App. - 8
APPENDIX
App. 1.5 Signal
App. 1.5.1 Signal
The following shows MR-J4-60B4 signals as a typical example. Refer to section 3.4 of "MR-J4-_A(-RJ)
Servo Amplifier Instruction Manual" or "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual" for other servo
amplifiers.
CN3
STO I/O signal 1 11
connector 2 12
CN8 LG LG
DI1 DI2
3 13
2 1 4 14
DOCOM MBR
MO1 MO2
5 15
4 3
6 16
STO1 STOCOM DICOM ALM
LA LAR
6 5 7 17
TOFB1 STO2 8 18
LB LBR
8 7 LZ LZR
9 19
TOFCOM TOFB2 10 20
INP DI3
DICOM EM2
App. 1.5.2 Input device
Input device
Symbol Device Connector Pin No.
EM2 Forced stop 2 CN3 20
STOCOM Common terminal for input signals STO1/STO2 3
STO1 STO1 state input CN8 4
STO2 STO2 state input 5
Output device
TOFCOM Common terminal for monitor output signal in STO state 8
TOFB1 Monitor output signal in STO1 state CN8 6
TOFB2 Monitor output signal in STO2 state 7
Power supply
DICOM Digital I/F power supply input 5, 10
DOCOM Digital I/F common CN3 3
SD Shield Plate
App. - 9
APPENDIX
App. 1.6 Maintenance and service
To avoid an electric shock, only qualified personnel should attempt inspections.

WARNING For repair and parts replacement, contact your local sales office.
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
CAUTION cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.
App. 1.6.1 Inspection items
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.
Tightening torque [N•m]
Servo amplifier
L1 L2 L3 N- P3 P4 P+ C L11 L21 U V W PE
MR-J4-60_4/MR-J4-100_4/
1.2
MR-J4-200_4/MR-J4-350_4
MR-J4-500_4 1.2 0.8 1.2
MR-J4-700_4 1.2 0.8 1.2
MR-J4-11K_4/MR-J4-15K_4 3.0 1.2 3.0
MR-J4-22K_4 6.0 1.2 6.0
(2) Check servo motor bearings, brake section, etc. for unusual noise.
(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.
(4) Check that the connectors are securely connected to the servo motor.
(5) Check that the wires are not coming out from the connector.
(6) Check for dust accumulation on the servo amplifier.
(7) Check for unusual noise generated from the servo amplifier.
(8) Check the servo motor shaft and coupling for connection.
App. - 10
APPENDIX
App. 1.6.2 Parts having service lives
Service lives of the following parts are listed below. However, the service life vary depending or operating
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of
their service lives. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor (Note 3) 10 years
Number of power-on, forced stop and controller forced
Relay stop times: 100 000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Rotary servo motor battery backup time Approximately 20,000 hours (equipment power supply:
(Note 1) off, ambient temperature: 20 ˚C)
(Note 2) Battery life 5 years from date of manufacture
Note 1. The data-holding time using a battery of MR-BAT6V1SET on condition that the power supply of
the servo amplifier is off. Replace the batteries within three years since the operation start
whether the power supply of the servo amplifier is on/off. If the battery is used out of
specification, [AL. 25 Absolute position erased] may occur.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the
production date regardless of the connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of
the capacitor greatly depends on ambient temperature and operating conditions. The capacitor
will reach the end of its life in 10 years of continuous operation in normal air-conditioned
environment (40 ˚C surrounding air temperature or less).
App. - 11
APPENDIX
App. 1.7 Transportation and storage
Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.
Do not hold the front cover to transport the servo amplifier. Otherwise, it may
drop.
Install the servo amplifier and servo motor in a load-bearing place in accordance
CAUTION with the Instruction Manual.
Do not get on or put heavy load on the equipment.
For detailed information on transportation and handling of the optional battery,
refer to app. 2 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-
_B(-RJ) Servo Amplifier Instruction".
When you keep or use it, please fulfill the following environment.
Item Environment
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Ambient
Transportation (Note) [°C] -20 to 65 Class 2K4 (IEC/EN 60721-3-2)
temperature
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient Operation, transportation,
5% to 90 %RH
humidity storage
10 Hz to 57 Hz with constant deviation of 0.075 mm
2
Test values 57 Hz to 150 Hz with constant acceleration of 9.8 m/s (1 g) to IEC/EN 61800-5-1 (Test
Vibration Fc of IEC 60068-2-6)
2
load Operation 5.9 m/s (0.6 g)
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
Except terminal block IP20 (IEC/EN 60529) and fan finger guard
IP rating
Open type (UL 50)
Operation, storage 1000 m or less above sea level
Altitude
Transportation 10000 m or less above sea level
Note. In regular transport packaging
App. - 12
APPENDIX
App. 1.8 Technical data
App. 1.8.1 MR-J4 servo amplifier

MR-J4-60_4/MR-J4-100_4/MR-J4-200_4/MR-J4-350_4/MR-J4-500_4/
Item
MR-J4-700_4/MR-J4-11K_4/MR-J4-15K_4/MR-J4-22K_4
Main circuit (line voltage) 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Power Control circuit (line
1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
supply voltage)
Interface (SELV) 24 V DC, (required current capacity: MR-J4-_A4, 500 mA; MR-J4-_B4, 300 mA)
Safety function (STO)
EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
IEC/EN 61800-5-2
Mean time to dangerous failure MTTFd ≥ 100 [years]
Effectiveness of fault monitoring of
DC = 90 [%]
a system or subsystem
Average probability of dangerous -10
PFH = 1.68 × 10 [1/h]
failures per hour
Mission time TM = 20 [years]
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category III (IEC/EN 60664-1)
Protection class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA
App. 1.8.2 Servo amplifier dimensions

Variable dimension table [mm]
Servo amplifier Mass [kg]
W H D
MR-J4-60_4/MR-J4-100_4 60 168 195 1.7
H MR-J4-200_4 90 168 195 2.1
MR-J4-350_4 105 250 200 3.6
MR-J4-500_4 130 250 200 4.3
W D MR-J4-700_4 172 300 200 6.5
MR-J4-11K_4/MR-J4-15K_4 220 400 260 13.4
MR-J4-22K_4 260 400 260 18.2
App. 1.8.3 Mounting hole

Screw
a1 Variable dimensions [mm]
Servo amplifier size
c a a1 b c d d1 e
d1
e MR-J4-60_4/MR-J4-100_4 12 12 156 ± 0.5 6 42 ± 0.3 M5
b MR-J4-200_4 6 45 156 ± 0.5 6 78 ± 0.3 M5
MR-J4-350_4 6 6 235 ± 0.5 7.5 93 ± 0.3 93 ± 0.3 M5
c MR-J4-500_4 6 6 235 ± 0.5 7.5 118 ± 0.5 118 ± 0.5 M5
a d MR-J4-700_4 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4-11K_4/MR-J4-15K_4 12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5 M5
MR-J4-22K_4 12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5 M10
App. - 13
APPENDIX
App. 1.9 Check list for user documentation
MR-J4 installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must
be responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]
3. Does the protection instrument conform to the category required? Yes [ ], No [ ]
4. Are electric shock protective measures (protection class) effective? Yes [ ], No [ ]
5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional
engineers.
App. 2 Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage.
App. 2.1 For MR-J4-_A4(-RJ)
(1) Setting
Change the following digits of [Pr. PC14] and [Pr. PC15].
[Pr. PC14]
0 0
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)
[Pr. PC15]
0 0
[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. Setting
value is -9999 mV to 9999 mV.
Parameter Description Setting range [mV]
This is used to set the offset voltage of MO1 (Analog monitor
PC39
1).
-9999 to 9999
PC40
2).
App. - 14
APPENDIX
(2) Setting
POINT
words.
(servo motor) speed [r/min] →(linear servo motor) speed [mm/s]
CCW direction →Positive direction
CW direction →Negative direction
Torque [N•m] →Thrust[N]
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the
torque to MO2 (Analog monitor 2). The setting can be changed by setting in [Pr. PC09] and [Pr. PC10]
as follows.
Refer to (3) for the detection point.
Setting Setting
Output item Description Output item Description
value value
00 Servo motor speed 01 Torque Power running in
CCW direction CCW direction
8 [V] 8 [V]
Maximum speed Maximum torque

0 Maximum speed 0 Maximum torque
-8 [V] -8 [V]
CW direction Power running in
CW direction
02 Servo motor speed 03 Torque Power running in Power running in

8 [V] CW direction CCW direction
CW direction CCW direction
8 [V]
Maximum speed 0 Maximum speed

Maximum torque 0 Maximum torque
04 Current command CCW direction 05 Command pulse CCW direction

8 [V] 8 [V]
frequency (±10 V/±4
Mpps)
Maximum current command
(Maximum torque command) Maximum speed
0 0 Maximum speed
(Maximum torque command)
-8 [V] -8 [V]
CW direction CW direction
06 Servo motor-side droop CCW direction 07 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/100 pulses) 100 [pulse] (±10 V/1000 pulses) 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]
-10 [V] -10 [V]

10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
0 10000 [pulse] 0 100000 [pulse]
-10 [V] -10 [V]

App. - 15
APPENDIX
Setting Setting
value value
0A Feedback position CCW direction 0B Feedback position CCW direction
10 [V] 10 [V]
(Note 1, 2, 3) (Note 1, 2, 3)
(±10 V/1 Mpulses) (±10 V/10 Mpulses)
1 [Mpulse] 10 [Mpulse]
0 1 [Mpulse] 0 10 [Mpulse]
-10 [V] -10 [V]

0C Feedback position CCW direction 0D Bus voltage

10 [V]
(Note 1, 2, 3)
(±10 V/100 Mpulses) 8 [V]
100 [Mpulse]
0 100 [Mpulse]
0 800 [V]
-10 [V]
CW direction
0E Speed command 2 CCW direction 10 Load-side droop pulses CCW direction

8 [V] 10 [V]
(Note 3) (Note 3, 4, 5, 6)
(±10 V/100 pulses)
Maximum speed 100 [pulse]
0 Maximum speed 0 100 [pulse]
-8 [V] -10 [V]

11 Load-side droop pulses CCW direction 12 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/1000 pulses) (±10 V/10000 pulses)
1000 [pulse] 10000 [pulse]
0 1000 [pulse] 0 10000 [pulse]
-10 [V] -10 [V]

10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/100000 pulses) (±10 V/1 Mpulses)
100000 [pulse] 1 [Mpulse]
0 100000 [pulse] 0 1 [Mpulse]
-10 [V] -10 [V]

15 Motor-side/load-side CCW direction 16 Servo motor-side/load- CCW direction

10 [V] 8 [V]
position deviation side speed deviation
(Note 3, 5, 6)
(±10 V/100000 pulses) 100000 [pulse] Maximum speed
0 100000 [pulse] 0 Maximum speed
-10 [V] -8 [V]

17 Encoder inside 10 [V]

temperature (±10
V/±128 °C)
-128 [°C]
0 128 [°C]
-10 [V]
App. - 16
APPENDIX
Note 1. Encoder pulse unit

2. Available in position control mode
3. This cannot be used in the torque control mode.
4. This can be used with MR Configurator2 with software version 1.19V or later.
5. This cannot be used in the speed control mode.
6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed
loop control.
(3) Analog monitor block diagram
Speed Speed Current +

command Droop pulses command 2 command Bus voltage
Current
Speed encoder
Command + Position command + Speed + Current
pulse control control control PWM M Servo motor
- - -
Encoder inside
temperature
Current feedback
Encoder
Differen-
tiation
Position feedback
Feedback + Servo motor

position speed Torque
-
Home position
(CR input position)
App. 2.2 For MR-J4-_B4(-RJ)
(1) Setting
Change the following digits of [Pr. PC09] and [Pr. PC10].
[Pr. PC09]
0 0
[Pr. PC10]
0 0
[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages. Setting
value is -999 mV to 999 mV.
Parameter Description Setting range [mV]
PC11
1).
-999 to 999
PC12
2).
App. - 17
APPENDIX
(2) Setting
POINT
words.
(servo motor) speed [r/min] →(linear servo motor) speed [mm/s]
CCW direction →Positive direction
CW direction →Negative direction
Torque [N•m] →Thrust[N]
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the
torque to MO2 (Analog monitor 2). The setting can be changed by setting in [Pr. PC09] and [Pr. PC10]
as follows.
Refer to (3) for the detection point.
Setting Setting
value value
00 Servo motor speed 01 Torque Power running in
CCW direction CCW direction
8 [V] 8 [V]
Maximum speed Maximum torque

0 Maximum speed 0 Maximum torque
-8 [V] -8 [V]
CW direction Power running in
CW direction
02 Servo motor speed 03 Torque Power running in Power running in

8 [V] CW direction CCW direction
CW direction CCW direction
8 [V]
Maximum speed 0 Maximum speed

Maximum torque 0 Maximum torque
04 Current command CCW direction 05 Speed command CCW direction

8 [V] 8 [V]

(Maximum torque command) Maximum speed
0 0 Maximum speed
(Maximum torque command)
-8 [V] -8 [V]
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
0 100 [pulse] 0 1000 [pulse]
-10 [V] -10 [V]

10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
0 10000 [pulse] 0 100000 [pulse]
-10 [V] -10 [V]

App. - 18
APPENDIX
Setting Setting
value value
0A Feedback position CCW direction 0B Feedback position CCW direction
10 [V] 10 [V]
(Note 1, 2, 3) (Note 1, 2, 3)
-10 [V] -10 [V]

0C Feedback position CCW direction 0D Bus voltage

10 [V]
(Note 1, 2, 3)
(±10 V/100 Mpulses) 8 [V]
100 [Mpulse]
0 100 [Mpulse]
0 800 [V]
-10 [V]
CW direction
0E Speed command 2 CCW direction 10 Load-side droop pulses CCW direction

8 [V] 10 [V]
(Note 3) (Note 3, 4, 5, 6)
(±10 V/100 pulses)
Maximum speed 100 [pulse]
0 Maximum speed 0 100 [pulse]
-8 [V] -10 [V]

10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/1000 pulses) (±10 V/10000 pulses)
1000 [pulse] 10000 [pulse]
0 1000 [pulse] 0 10000 [pulse]
-10 [V] -10 [V]

10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
-10 [V] -10 [V]

15 Motor-side/load-side CCW direction 16 Servo motor-side/load- CCW direction

10 [V] 8 [V]
position deviation side speed deviation
(Note 3, 5, 6)
(±10 V/10 Mpulses) 10 [Mpulse] Maximum speed
0 10 [Mpulse] 0 Maximum speed
-10 [V] -8 [V]

17 Encoder inside 10 [V]

temperature (±10
V/±128 °C)
-128 [°C]
0 128 [°C]
-10 [V]
App. - 19
APPENDIX
Note 1. Encoder pulse unit

2. Available in position control mode
3. This cannot be used in the torque control mode.
4. This can be used with MR Configurator2 with software version 1.19V or later.
5. This cannot be used in the speed control mode.
6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed
loop control.
(3) Analog monitor block diagram

(a) Semi closed loop control

Differen- Current
tiation Speed encoder
Position command + Position command + Speed + Current
control control control PWM M Servo motor
received from a - - -
controller
Encoder inside
temperature
Current feedback
Encoder
Differen-
tiation
Position feedback data Position feedback

returned to a controller
+
Feedback position - Servo motor
Torque
standard position(Note) speed
Feedback
position
Note. The feedback position is output based on the position data passed between servo system controller and servo amplifier. [Pr.
PC13] and [Pr. PC14] can set up the standard position of feedback position that is output to analog monitor in order to adjust the
output range of feedback position. The setting range is between -9999 pulses and 9999 pulses.
Standard position of feedback position = [Pr. PC14] setting value × 10000 + [Pr. PC13] setting value
Parameter Description Setting range

Sets the lower-order four digits of the standard position of
PC13 -9999 to 9999 [pulse]
feedback position
Sets the higher-order four digits of the standard position of
PC14 -9999 to 9999 [10000 pulses]
feedback position
App. - 20
APPENDIX
(b) Fully closed loop control

Differ- Current Servo

entiation Speed encoder motor
Position + Position command + Speed + Current Load-side
command control control control PWM M encoder
- - -
Encoder inside
temperature
Current feedback Encoder
Differ- Servo motor

entiation speed Torque
FBN
FBD
+ Semi closed loop Position feedback
+ -
Dual filter
Fully closed loop +
Servo motor-side
droop pulses
Servo motor-side feedback pulses
+ - (load-side encoder resolution unit)
Servo motor-side/load-side
Load-side speed deviation
droop pulses
+ - Load-side feedback pulses
Differen- +
tiation
-
Servo motor-side/load-side + Differen-
position deviation -
tiation
App. - 21
APPENDIX
App. 3 Compliance with SEMI-F47 standard
POINT
The control circuit power supply of the servo amplifier can be possible to comply
with SEMI-F47. However, a back-up capacitor may be necessary for
instantaneous power failure in the main circuit power supply depending on the
power supply impedance and operating situation. Be sure to check them by
testing the entire equipment using actual machines.
Use a 3-phase for the input power supply of the servo amplifier.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag
immunity test" of MR-J4 series.
(1) Parameter setting

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47.
Setting
Parameter Description
value
PA20 _1__ SEMI-F47 selection
PF25 200 Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power]
occurrence.
Enabling SEMI-F47 will change operation as follows.
(a) The voltage will drop in the control circuit power with "Rated voltage × 50% or less". 200 ms later,
[AL. 10.1 Voltage drop in the control circuit power] will occur.
(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.
Servo amplifier Bus voltage which triggers alarm
MR-J4-60_4(-RJ)
to 380 V DC
MR-J4-22K_4(-RJ)
(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
(2) Requirements and recommended conditions of SEMI-F47 standard

Table app. 1 shows the permissible time of instantaneous power failure for instantaneous power failure
of SEMI-F47 standard.
Table App. 1 Requirements and recommended conditions of SEMI-F47

standard
Instantaneous power failure Permissible time of instantaneous power failure [s]
voltage Requirement Recommended condition
Rated voltage × 90% 10 to 100
Rated voltage × 80% 0.5 to 1 0.5 to 10
Rated voltage × 70% 0.2 to 0.5 0.2 to 0.5
Rated voltage × 50% 0.05 to 0.2 0.02 to 0.2
Rated voltage × 0% to 0.02
App. - 22
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Feb. 2013 SH(NA)030119-A First edition
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may
occur as a result of using the contents noted in this manual.
© 2013 MITSUBISHI ELECTRIC CORPORATION
Country/Region Sales office Tel/Fax
USA Mitsubishi Electric Automation Inc. Tel : +1-847-478-2100

500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA Fax : +1-847-478-0327
Germany Mitsubishi Electric Europe B.V. German Branch Tel : +49-2102-486-0

Gothaer Strasse 8, D-40880 Ratingen, Germany Fax : +49-2102-486-1120
Italy Mitsubishi Electric Europe B.V. Italian Branch Tel : +39-39-60531

Viale Colleoni 7 Fax : +39-39-6053312
1-20041 Agrate Brianza (Milano), Italy
China Mitsubishi Electric Automation (China) Ltd. Tel : +86-21-6120-0808

4F Zhi Fu Plazz, No. 80 Xin Chang Road Fax : +86-21-6121-2444
Shanghai 200003, China
Taiwan Setsuyo Enterprise Co., Ltd. Tel : +886-2-2299-2499

6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan Fax : +886-2-2299-2509
Korea Mitsubishi Electric Automation Korea Co., Ltd. Tel : +82-2-3660-9552

3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul Fax : +82-2-3664-8372
157-200, Korea
Singapore Mitsubishi Electric Asia Pte, Ltd. Tel : +65-6470-2460

307 Alexandra Road #05-01/02, Fax : +65-6476-7439
Mitsubishi Electric Building Singapore 159943
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be
charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed
to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary
damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any
damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of
local machines and the Product and any other operations conducted by you.
5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system
to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
SH(NA)030119-A
General-Purpose AC Servo
General-Purpose Interface/SSCNET /H Interface

MODEL
MR-J4-_A4(-RJ) MR-J4_B4(-RJ)
SERVO AMPLIFIER
MR-J4-_A4(-RJ) MR-J4_B4(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

INSTRUCTION MANUAL
MR-J4-A4 MR-J4-B4
MODEL INSTRUCTIONMANUAL
MODEL
CODE 1CW812
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030119-A (1302) MEE Printed in Japan Specifications subject to change without notice.

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General-Purpose AC Servo

General-Purpose Interface/SSCNET /H Interface

MR-J4-_A4(-RJ) MR-J4_B4(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

Indicates that incorrect handling may cause hazardous conditions,

Indicates that incorrect handling may cause hazardous conditions,

Indicates what must be done. For example, grounding is indicated by .

2. To prevent fire, note the following

(1) Transportation and installation

(3) Test run and adjustment

(5) Corrective actions

(6) Maintenance, inspection and parts replacement

STO function of the servo amplifier

Compliance with global standards

«About the manual»

Manual name Manual No.

Note 1. It is necessary for using a rotary servo motor.

Note. For compliance with SEMI-F47 standard, refer to appendix 4.

«Cables used for wiring»

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-40

1.1 Function block diagram...................................................................................................................... 1- 2

2.1 Installation direction and clearances.................................................................................................. 2- 2

3. SIGNALS AND WIRING 3- 1 to 3-18

4. STARTUP (WIRING CHECK) 4- 1 to 4- 4

4.1 Power supply system wiring............................................................................................................... 4- 2

8.1 Overload protection characteristics ................................................................................................... 8- 1

9. OPTIONS AND PERIPHERAL EQUIPMENT 9- 1 to 9-58

9.1 Cable/connector sets ......................................................................................................................... 9- 2

10. USING A LINEAR SERVO MOTOR 10- 1 to 10- 8

10.1 Signals and wiring.......................................................................................................................... 10- 2

App. 1 Compliance with global standards........................................................................................... App.- 1

1. FUNCTIONS AND CONFIGURATION

Table 1.1 Compatibility of communication methods

1.1 Function block diagram

The function block diagram of this servo is shown below.

1.1.1 For MR-J4-_A4(-RJ)

(1) MR-J4-350A4(-RJ) or less

Servo amplifier P3 P4 (Note 3) P+ C D N- Servo motor

switch Base Voltage Current

Model position Model speed Model torque

Note 1. Refer to section 1.2.1 for the power supply specification.

Servo amplifier P3 P4 (Note 2) P+ C N- Servo motor

switch Base Voltage Current

Model position Model speed Model torque Optional battery

Note 1. Refer to section 1.2.1 for the power supply specification.

switch Base Voltage Current

Model position Model speed Model torque

Note 1. Refer to section 1.2.1 for the power supply specification.

1.1.2 For MR-J4-_B4(-RJ)

(1) MR-J4-350B4(-RJ) or less

Servo amplifier P3 P4 (Note 3) P+ C D N- Servo motor

switch Base Voltage Current

Model position Model speed Model torque

CN1A CN1B CN5 CN3

Personal Analog monitor Digital I/O

Note 1. Refer to section 1.2.2 for the power supply specification.

Servo amplifier P3 P4 (Note 2) P+ C N- Servo motor

switch Base Voltage Current