Mitsubishi Electric MR-J4, MR-J4-03A6 Instruction Manual

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-J4-_A_(-RJ) MR-J4-03A6(-RJ)

SERVO AMPLIFIER INSTRUCTION MANUAL

K

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

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 that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

Indicates what must not be done. For example, "No Fire" is indicated by .

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

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 and inspections, 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. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. 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 smoke or a fire when the servo amplifier malfunctions. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. Always connect a molded-case circuit breaker, or a fuse to each servo amplifier 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 moldedcase circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. When using the regenerative resistor, switch power off with the alarm signal. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

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 prevent accidental contact of hands and parts (cables, etc.) with them.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and 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.

temperature

When the equipment has been stored for an extended period of time, consult 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 the metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method).Additionally, disinfect and protect wood from insects before packing products.

Items Environment

Ambient

Ambient humidity

Vibration resistance 5.9 m/s

Operation 0 °C to 55 °C (non-freezing)

Storage -20 °C to 65 °C (non-freezing)

Operation

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude Max. 1000 m above sea level

90 %RH or less (non-condensing)

2

at 10 Hz to 55 Hz (directions of X, Y, and Z axes)

A - 3

r

(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 (FR-BIF-(H) option) 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

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated otherwise. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifie

DOCOM

Control output signal

For source output interface

24 V DC

RA

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 for different axis to the U, V, W, or CN2 may cause a malfunction.

(3) Test run and adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. Never adjust or change the parameter values extremely as it will make operation unstable. Do not close to moving parts at servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not disassemble, repair, or modify the equipment.

A - 4

CAUTION

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 (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the EMG stop switch.

Servo motor

B

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.

RA

24 V DC

(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. When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(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 Specifications and Instruction Manual.

A - 5

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 Home position setting in the absolute position detection system

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13. For the MR-J3-D05 safety logic unit, refer to appendix 5.

Compliance with global standards

For the compliance with global standards, refer to appendix 4.

«About the manuals»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely. When using the MR-J4-03A6, refer to chapter 18.

Relevant manuals

Manual name Manual No. MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) (Note 5) SH(NA)030143 MR-J4-DU_(-RJ)/MR-CR55K_ INSTRUCTION MANUAL (Note 6) SH(NA)030153 MR-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 Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112 MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111 EMC Installation Guidelines IB(NA)67310 PARAMETER UNIT MR-PRU03 INSTRUCTION MANUAL (MR-J4) SH(NA)030186

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 direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using an MR-J4-_A_-RJ servo amplifier in the positioning mode.

6. It is necessary for using an MR-J4-DU_A_(-RJ) drive unit and MR-CR55K_ converter unit.

A - 6

«Wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2] Load (thrust load/axial load) 1 [N] 0.2248 [lbf] Temperature N [°C] × 9/5 + 32 N [°F]

A - 7

MEMO

A - 8

1. FUNCTIONS AND CONFIGURATION

POINT

In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with 48 V DC and 24 V DC power supplies are available as MRJ4-03A6. Refer to chapter 18 for details of MR-J4-03A6 servo amplifiers.

1.1 Summary

The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the previous MELSERVO-J3 series. The MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) highresolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and more accurate control is enabled as compared to the MELSERVO-J3 series. The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to the machine. The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the preventive maintenance support function detects an error in the machine parts. This function provides strong support for the machine maintenance and inspection. The MR-J4-_A_ servo amplifier supports the Safe Torque Off (STO) function. By combining with optional MR-J3-D05, the servo amplifier supports Safe stop 1 (SS1) function. The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain adjustment, and others. In the MELSERVO-J4 series, servo amplifiers with the CN2L connector are also available as MR-J4-_A_-RJ. By using the CN2L connector, an A/B/Z-phase differential output method 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 the MR-J4_A_ and MR-J4-_A_-RJ servo amplifiers.

1 - 1

1. FUNCTIONS AND CONFIGURATION

Table 1.1 Connectors to connect from external encoders

Operation

mode

Linear servo motor system

Fully closed loop system

Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A_ cannot be used. Use an MR-J4-_A_-RJ.

4. This is used with software version A5 or later.

5. Connect a thermistor to CN2.

External encoder

communication

method

Two-wire type

Four-wire type

A/B/Z-phase

differential output

method

Two-wire type

Four-wire type

A/B/Z-phase

differential output

method

Connector

MR-J4-_A_ MR-J4-_A_-RJ

CN2

(Note 1, 4)

CN2

(Note 2, 3, 4)

CN2

(Note 1)

CN2L

(Note 5)

CN2L

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative

option

(1) 200 V class

(a) MR-J4-500A(-RJ) or less

POINT

The diagram shows MR-J4-_A_-RJ as an example. The MR-J4-_A_ servo amplifier does not have the CN2L connector.

(Note 6)

Power factor improving

DC reactor

(Note 2) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4

Diode

stack

Position

command

input

+

(Note 4)

Relay

Cooling fan

(Note 3)

Control

circuit

power

Model

position

control

+

CHARGE

lamp

STO

circuit

Base

amplifier

P+

(Note 1)

Regene-

rative

Model speed

control

TR

Voltage

detection

N-CD

Overcurrent

protection

Virtual

motor

detection

Virtual

encoder

Dynamic

brake circuit

Current

encoder

Current

Stepdown

circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

Model position

Actual

position

control

I/F

CN1

DI/O control

Analog

(two channel)

Servo-on Input command pulse. Start Malfunction, etc

Model speed Model torque

Actual speed

control

USB

CN5 CN3 CN6

Personal

computer

USB

Controller

RS-422/

RS-485

Current

control

RS-422/

RS-485

D/AA/D

Analog monitor

(two channel)

CN4

Battery (for absolute position detection system)

External encoder

CN2L

(Note 5)

1 - 3

1. FUNCTIONS AND CONFIGURATION

Note 1. The built-in regenerative resistor is not provided for MR-J4-10A(-RJ).

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.

3. Servo amplifiers MR-J4-70A(-RJ) or more have a cooling fan.

4. The 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 the MR-J3 servo amplifiers.

5. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.

6. 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 - 4

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-700A(-RJ)

(Note 4)

Power factor improving

DC reactor

Regenerative

option

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4

Diode

stack

Position

command

input

+

(Note 2)

Relay

Cooling fan

Control

circuit

power

Model

position

control

+

CHARGE

lamp

STO

circuit

Base

amplifier

P+

Regene-

rative

TR

Model speed

control

Voltage

detection

N-C

Overcurrent

Virtual

motor

protection

detection

Virtual

encoder

Dynamic

brake circuit

Current

encoder

Current

Stepdown

circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

Model position Model speed Model torque

Actual

position

control

Actual speed

control

Current

control

CN4

Battery (for absolute position detection system)

External encoder

CN2L

(Note 3)

RS-422/

RS-485

Controller

RS-422/

RS-485

D/AA/D

Analog monitor

(two channel)

Analog

(two channel)

I/F

CN1

DI/O control

Servo-on Input command pulse. Start Malfunction, etc

USB

CN5 CN3 CN6

Personal computer

USB

Note 1. For the power supply specifications, refer to section 1.3.

2. The 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.

3. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.

4. 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 - 5

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)

External regenerative

regenerative option

(Note 2)

Thyristor

+

CHARGE

lamp

STO

circuit

Base

amplifier

resistor or

Regene-

rative

TR

detection

Voltage

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

(Note 5)

Power factor improving

DC reactor

P3 P+

Diode

stack

P4

Cooling fan

Control

+

circuit

power

(Note 4, 6)

External dynamic

brake (optional)

RA

Servo motor

U

V

M

W

B1

Electromagnetic

B

brake

N-

C

U

Current

encoder

V

W

24 V DC

B2

Overcurrent

protection

Current

detection

CN2

Encoder

Current

control

Virtual

encoder

Stepdown

circuit

CN4

Battery (for absolute position detection system)

External encoder

CN2L

Position

command

input

Model

position

control

Model position

Actual

position

control

Model speed

control

Virtual

motor

Model speed Model torque

Actual speed

control

(Note 3)

RS-422/

RS-485

Controller

RS-422/

RS-485

D/AA/D

Analog monitor

(two channel)

Analog

(two channel)

I/F

CN1

DI/O control

Servo-on Input command pulse. Start Malfunction, etc

USB

CN5 CN3 CN6

Personal

computer

USB

Note 1. For the power supply specifications, refer to section 1.3.

2. The 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 the MR-J3 servo amplifiers.

3. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.

4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor dose 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 chapter 8.

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.

6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

1 - 6

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

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

(Note 5)

Power factor

improving

DC reactor

Regenerative

option

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4 (Note 3)

Diode stack

+

Position

command

input

Relay

(Note 2)

Control

circuit power

supply

Model

position

control

+

Cooling fan

STO

circuit

Base

amplifier

P+

Regenerative TR

Charge

lamp

Model speed control

Voltage

detection

N-CD

Overcurrent

protection

Virtual

motor

detection

Virtual

encoder

Dynamic

brake

circuit

Current

detector

Current

Stepdown circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

CN4

Battery (For absolute position detection system)

External encoder CN2L (Note 4)

Analog

(2 channels)

Model position

Actual

position

control

I/F

CN1

DI/O control

•Servo-on

•Input command pulse.

•Start

•Malfunction, etc

Model speed Model torque

Actual speed control

USB

CN5 CN3 CN6

Personal

computer

USB

Controller

RS-422/

RS-485

Current

control

RS-422/

RS-485

D/AA/D

Analog monitor

(2 channels)

Note 1. Refer to section 1.3 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 - 7

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)

(Note 4)

Power factor

improving

DC reactor

Regenerative

option

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

P3 P4 (Note 2)

Diode stack

+

Position

command

input

Relay

Control

circuit power

supply

Model

position

control

+

Cooling fan

STO

circuit

Base

amplifier

P+

Regenerative TR

Charge

lamp

Model speed control

Voltage

detection

N-C

Overcurrent

Virtual

motor

protection

detection

Virtual

encoder

Dynamic

brake

circuit

Current

detector

Current

Stepdown circuit

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

W

B1

B

B2

M

Electromagnetic brake

Encoder

CN4

Battery (For absolute position detection system)

External encoder

CN2L

(Note 3)

Analog

(2 channels)

Model position

Actual

position

control

I/F

CN1

DI/O control

•Servo-on

•Input command pulse.

•Start

•Malfunction, etc

Model speed Model torque

Actual speed control

USB

CN5 CN3 CN6

Personal

computer

USB

Controller

RS-422/

RS-485

Current

control

RS-422/

RS-485

D/AA/D

Analog monitor

(2 channels)

Note 1. Refer to section 1.3 for the power supply specification.

2. 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.

3. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.

4. 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 - 8

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)

(Note 1) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

(Note 5)

Power factor

improving

DC reactor

P3 P4 (Note 2)

Diode

stack

Control

+

circuit power

supply

Thyristor

Cooling fan

External

regenerative resistor

or

regenerative option

P+

+

Regenerative TR

Charge

lamp

STO

circuit

Base

amplifier

Voltage

detection

N-C

Overcurrent

protection

Current

detector

Current

detection

(Note 4, 6)

External

dynamic brake

(optional)

U

V

W

RA

24 V DC

CN2

Servo motor

U

V

M

B1

Electromagnetic

B

brake

B2

Encoder

Virtual

motor

Current

control

RS-422/

RS-485

Virtual

encoder

D/AA/D

Analog monitor

(2 channels)

Stepdown circuit

CN4

Battery (For absolute position detection system)

CN2L (Note 3)

External encoder

Analog

(2 channels)

Position

command

input

Model

position

control

Actual

position

control

CN1

DI/O control

•Servo-on

•Input command pulse.

•Start

•Malfunction, etc

Model position

I/F

Model speed control

Model speed Model torque

Actual speed control

USB

CN5 CN3 CN6

Personal

computer

USB

Controller

RS-422/

RS-485

Note 1. Refer to section 1.3 for the power supply specification.

2. 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.

3. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.

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 chapter 8.

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.

6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

1 - 9

1. FUNCTIONS AND CONFIGURATION

(3) 100 V class

Regenerative option

(Note 2) Power supply

STO

switch

Servo amplifier

MCMCCB

L1

L2

L11

L21

CN8

U

Relay

Position

command

input

Diode stack

+

Control

circuit power

Model

position

control

U

V

W

RA

Servo motor

M

B1

Electromagnetic

B

brake

B2

P+

(Note 1)

+

Charge

lamp

Regene-

+

rative TR

N-CD

Dynamic brake

circuit

Current

encoder

U

V

W

24 V DC

STO

circuit

Base

amplifier

Voltage

detection

Overcurrent

protection

Current

detection

CN2

Encoder

Model speed

control

Virtual

motor

Virtual

encoder

Stepdown

circuit

Model position

Actual

position

control

Model speed Model torque

Actual

speed

control

Current

control

(Note 3)

RS-422/

RS-485

Controller

RS-422/

RS-485

D/AA/D

Analog monitor

(two channel)

Analog

(two channel)

I/F

CN1

DI/O control

•Servo-on

•Input command pulse.

•Start

•Malfunction, etc

Personal

computer

USB

CN5 CN3 CN6

Note 1. The built-in regenerative resistor is not provided for MR-J4-10A1(-RJ).

2. Refer to section 1.3 for the power supply specifications.

3. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector.

CN4

Battery (For absolute position detection system)

External encoder

CN2L

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

(1) 200 V class

Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA

Output

Main circuit power supply input

Control circuit power supply input

Interface power supply

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

Fully closed loop control Compatible (Note 9) Load-side encoder interface (Note 10) Mitsubishi high-speed serial communication

Communication function

Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Position control mode

Speed control mode

Torque control mode

Positioning mode

Protective functions

Functional safety STO (IEC/EN 61800-5-2)

Safety performance

Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0

Voltage/Frequency

Rated current (Note 11)

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current [A] Refer to section 10.5. Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz Rated current [A] 0.2 0.3 Permissible voltage

fluctuation Permissible frequency

fluctuation Power

consumption Inrush current [A] Refer to section 10.5. Voltage 24 V DC ± 10% Current capacity [A] (Note 1) 0.5 (including the CN8 connector signals)

Max. input pulse frequency

Positioning feedback pulse

Command pulse 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

input

Speed fluctuation ratio

Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) Analog torque command

input Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

Standards certified by CB

Response performance 8 ms or less (STO input off → energy shut off) (Note 3) Test pulse input (STO) Mean time to dangerous

failure (MTTFd) Diagnosis coverage (DC) Medium (90% to 99%) Average probability of

dangerous failures per hour (PFH)

[A] 0.9 1.5 2.6

[kVA] Refer to section 10.2.

[W] 30 45

3-phase or 1-phase

200 V AC to 240 V AC,

50 Hz/60 Hz

3-phase or 1-phase

170 V AC to 264 V AC

USB: Connection to a personal computer or others (MR Configurator2-compatible)

4 Mpulses/s (for differential receiver) (Note 6), 200 kpulses/s (for open collector)

0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)

±0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: ±10%)

±0.2% or less (ambient temperature: 25 °C ± 10 °C) when using analog speed command

Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.

The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),

servo motor overheat protection, encoder error protection, regenerative error protection,

undervoltage protection, instantaneous power failure protection, overspeed protection,

error excessive protection, magnetic pole detection protection, and linear servo control fault protection

3.2

(Note 5)

RS-422/RS-485: 1:n communication (up to 32 axes) (Note 7, 13)

Encoder resolution (resolution per servo motor revolution): 22 bits

Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000

0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ )

EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2,

3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0

1-phase 170 V AC to 264 V AC

and EN 61800-5-2 SIL 2

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

3-phase 170 V AC to 264 V AC

Within ±5%

100 years or longer

-10

1.68 × 10

[1/h]

External option

(Note 8, 12)

1 - 11

1. FUNCTIONS AND CONFIGURATION

Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA

LVD: EN 61800-5-1

Compliance to global standards

Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4) Close mounting (Note 2) Possible Impossible

Environment

Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 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

2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at

3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to

4. Except for the terminal block.

5. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor.

6. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4

7. RS-422 communication is supported by servo amplifier with software version A3.

8. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does

9. For the compatible version for the fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier

10. The MR-J4-_A servo amplifier is compatible only with the two-wire type.

11. This value is applicable when a 3-phase power supply is used.

12. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake

13. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later.

CE marking

UL standard UL 508C

Ambient temperature

Ambient humidity

Ambience

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)

Operation 0 ˚C to 55 ˚C (non-freezing) Storage -20 ˚C to 65 ˚C (non-freezing) Operation Storage

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

free from corrosive gas, flammable gas, oil mist, dust, and dirt

EMC: EN 61800-3

90 %RH or less (non-condensing)

Indoors (no direct sunlight),

I/O points.

75% or smaller effective load ratio.

self-diagnose.

Mpulses/s or lower, change the setting in [Pr. PA13].

not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.

using MR Configurator2.

The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

1 - 12

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

Output

Main circuit power supply input

Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 0.1 0.2

Control circuit power supply input

Power consumption [W] 30 45 Inrush current [A] Refer to section 10.5. Interface power

supply Control method Sine-wave PWM control, current control method Dynamic brake Built-in External option (Note 6, 7) Fully closed loop control Compatible Load-side encoder interface (Note 5) Mitsubishi high-speed serial communication

Communication function

Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Position control mode

Speed control mode

Torque control mode

Positioning mode

Protective functions

Functional safety STO (IEC/EN 61800-5-2)

Standards certified by CB

Response performance 8 ms or less (STO input off → energy shut off)

Safety performance

Rated voltage 3-phase 323 V AC 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

fluctuation Permissible frequency

fluctuation Power supply

capacity Inrush current [A] Refer to section 10.5.

Permissible voltage fluctuation

Permissible frequency fluctuation

Voltage 24 V DC ± 10% Current capacity [A] (Note 1) 0.5 (including CN8 connector signals)

Max. input pulse frequency 4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector) Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 22 bits Command pulse 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

input

Speed fluctuation ratio

Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) Analog torque command

input Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

(Note 2) Test pulse input (STO) Mean time to dangerous

failure (MTTFd) Diagnosis coverage (DC) Medium (90% to 99%) Average probability of

dangerous failures per hour (PFH)

[kVA] Refer to section 10.2.

USB: connection to a personal computer or others (MR Configurator2-compatible) RS-422/RS-485: 1 : n communication (up to 32 axes) (Note 8)

3-phase 323 V AC to 528 V AC

Within ±5%

1-phase 323 V AC to 528 V AC

Within ±5%

Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000

0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)

±0.01% or less (load fluctuation 0 % to 100%), 0% (power fluctuation ±10%), ±0.2% or less (ambient

Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.

The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),

servo motor overheat protection, encoder error protection, regenerative error protection,

undervoltage protection, instantaneous power failure protection, overspeed protection,

error excessive protection, magnetic pole detection protection, and linear servo control fault protection

100 years or longer

1.68 × 10

temperature 25 ± 10 °C) when using analog speed command

0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ )

EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2,

and EN 61800-5-2 SIL 2

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

-10

[1/h]

1 - 13

1. FUNCTIONS AND CONFIGURATION

Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

LVD: EN 61800-5-1

Compliance to standards

Structure (IP rating)

Close mounting Impossible

Storage -20 ˚C to 65 ˚C (non-freezing)

Environment

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) Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2

CE marking

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C

Natural cooling, open

(IP20)

Ambient temperature

Ambient humidity

Ambience

Operation 0 ˚C to 55 ˚C (non-freezing)

Operation Storage

90 %RH or less (non-condensing)

Force cooling, open

(IP20)

free from corrosive gas, flammable gas, oil mist, dust, and dirt

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 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4 Mpulses/s or lower, 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 method. Refer to table 1.1 for details.

6. 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 emergency stop. Ensure the safety in the entire equipment.

7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

8. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later.

EMC: EN 61800-3

Force cooling, open (IP20) (Note 3)

Indoors (no direct sunlight),

1 - 14

1. FUNCTIONS AND CONFIGURATION

(3) 100 V class

Model: MR-J4-_(-RJ) 10A1 20A1 40A1

Output

Main circuit power supply input

Control circuit power supply input

Interface power supply

Control method Sine-wave PWM control, current control method Dynamic brake Built-in Fully closed loop control Compatible (Note 5) Load-side encoder interface (Note 6) Mitsubishi high-speed serial communication

Communication function

Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Position control mode

Speed control mode

Torque control mode

Positioning mode

Protective functions

Functional safety STO (IEC/EN 61800-5-2)

Safety performance

Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 3.0 5.0 9.0 Permissible voltage

fluctuation Permissible frequency

fluctuation Power supply

capacity Inrush current [A] Refer to section 10.5. Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50Hz/60Hz Rated current [A] 0.4 Permissible voltage

fluctuation Permissible frequency

fluctuation Power

consumption Inrush current [A] Refer to section 10.5. Voltage 24 V DC ± 10%

Current capacity [A]

Max. input pulse frequency

Positioning feedback pulse

Command pulse 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

input

Speed fluctuation ratio

Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) Analog torque command

input Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

Standards certified by CB

Response performance 8 ms or less (STO input off → energy shut off) (Note 3) Test pulse input (STO) Mean time to dangerous

failure (MTTFd) Diagnosis coverage (DC) Medium (90% to 99%) Average probability of

dangerous failures per hour (PFH)

[kVA] Refer to section 10.2.

[W] 30

USB: Connection to a personal computer or others (MR Configurator2-compatible) RS-422/RS-485: 1:n communication (up to 32 axes) (Note 7)

4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector)