Mitsubishi MR-J4-20B-RJ010, MR-J4-40B-RJ010, MR-J4-60B-RJ010, MR-J4-70B-RJ010, MR-J4-100B-RJ010 Instruction Manual

General-Purpose AC Servo

CC-Link IE Field Network interface with Motion

MODEL (Servo amplifier)

MR-J4-_B-RJ010
MR-J4-_B4-RJ010

MODEL (CC-Link IE Field Network interface unit)

MR-J3-T10

SERVO AMPLIFIER
INSTRUCTION MANUAL

B

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 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, servo motor, and MR-J3-T10.
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 MR-J3-T10 which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier and MR-J3-T10. Otherwise, it may
cause a malfunction.
Do not drop or strike the servo amplifier, servo motor, and MR-J3-T10. Isolate them from all impact
loads.
When you keep or use the equipment, please fulfill the following environment.

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

Ambient

temperature

Operation

Ambient
humidity

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 and MR-J3-T10, be careful about the edged parts such as corners of
them.
The servo amplifier and MR-J3-T10 must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause 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.

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

Storage

90 %RH or less (non-condensing)

A - 3

(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 installation guide 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 amplifier

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 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 close to moving parts at servo-on status.

(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.

A - 4

(4) Usage

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.

(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.

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

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_B_(-RJ) Servo Amplifier
Instruction Manual".
For the MR-J3-D05 safety logic unit, refer to appendix 5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction
Manual".

Compliance with global standards

For the compliance with global standards, refer to appendix 4 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction
Manual".

A - 6

«About the manual»

You must have this Instruction Manual and the following manuals to use the 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 200 V class servo amplifiers)
MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos
(Packed with 400 V class servo amplifiers)
MR-J4-_B_(-RJ) AMPLIFIER INSTRUCTION MANUAL SH(NA)030106
MELSERVO-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109
MELSERVO Servo Motor Instruction Manual (Vol. 3) SH(NA)030113
EMC Installation Guidelines IB(NA)67310
MELSEC-Q QD77GF Simple motion module User's Manual (Positioning Control) IB(NA)0300202
MELSEC-Q QD77GF Simple motion module User's Manual (Network) IB(NA)0300203

IB(NA)0300175

IB(NA)0300197

This Instruction Manual does not describe the following items. The followings are the same as MR-J4-_B_
servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field.
"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Item Detailed explanation
Normal gain adjustment MR-J4-_B_ chapter 6
Special adjustment functions (except gain

switching function)
Characteristics MR-J4-_B_ chapter 10
Absolute position detection system MR-J4-_B_ chapter 12
Using STO function MR-J4-_B_ chapter 13

MR-J4-_B_ chapter 7

«Cables used for 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 [in]
Torque 1 [N•m] 141.6 [oz•in]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•in2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

A - 7

MEMO

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-44

1.1 Summary............................................................................................................................................ 1- 1

1.2 Function block diagram...................................................................................................................... 1- 2

1.3 Standard specifications...................................................................................................................... 1- 8

1.3.1 Servo amplifier............................................................................................................................. 1- 8

1.3.2 MR-J3-T10 Field Network interface unit..................................................................................... 1-10

1.4 Combinations of servo amplifiers and servo motors......................................................................... 1-10

1.5 Function list....................................................................................................................................... 1-12

1.6 Model designation............................................................................................................................. 1-13

1.7 Structure............................................................................................................................................ 1-15

1.7.1 Parts identification ...................................................................................................................... 1-15

1.7.2 Parts identification of MR-J3-T10............................................................................................... 1-27

1.8 Installation and removal of MR-J3-T10............................................................................................. 1-28

1.9 Configuration including peripheral equipment .................................................................................. 1-32

1.9.1 200 V class................................................................................................................................. 1-32

1.9.2 400 V class................................................................................................................................. 1-38

2. INSTALLATION 2- 1 to 2- 4

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

2.2 Keep out foreign materials................................................................................................................. 2- 4

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

3.1 I/O signal connection example........................................................................................................... 3- 3

3.1.1 For sink I/O interface ................................................................................................................... 3- 3

3.1.2 For source I/O interface............................................................................................................... 3- 5

3.2 Servo motor with an electromagnetic brake ...................................................................................... 3- 6

3.2.1 Safety precautions....................................................................................................................... 3- 6

3.2.2 Timing chart................................................................................................................................. 3- 7

4. STARTUP 4- 1 to 4-12

4.1 Switching power on for the first time.................................................................................................. 4- 2

4.1.1 Startup procedure........................................................................................................................ 4- 2

4.1.2 Wiring check................................................................................................................................ 4- 3

4.1.3 Surrounding environment............................................................................................................ 4- 6

4.2 Switch setting and display of the servo amplifier............................................................................... 4- 6

4.2.1 Switches ...................................................................................................................................... 4- 6

4.2.2 Scrolling display .......................................................................................................................... 4- 9

4.2.3 Status display of a station .......................................................................................................... 4-10

4.3 Display of MR-J3-T10 CC-Link IE Field Network interface unit........................................................ 4-12

5. PARAMETERS 5- 1 to 5-36

5.1 Parameter list..................................................................................................................................... 5- 1

5.1.1 Basic setting parameters ([Pr. PA_ _ ])....................................................................................... 5- 2

1

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................................................................................ 5- 3

5.1.3 Extension setting parameters ([Pr. PC_ _ ])................................................................................ 5- 4

5.1.4 I/O setting parameters ([Pr. PD_ _ ])........................................................................................... 5- 5

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]).............................................................................5- 6

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]).............................................................................5- 7

5.1.7 Option setting parameters ([Pr. Po_ _) ....................................................................................... 5- 8

5.2 Detailed list of parameters ................................................................................................................ 5-10

5.2.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5-10

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5-17

5.2.3 Extension setting parameters ([Pr. PC_ _ ])............................................................................... 5-26

5.2.4 I/O setting parameters ([Pr. PD_ _ ]).......................................................................................... 5-31

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5-33

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])............................................................................ 5-34

5.2.7 Option setting parameters ([Pr. Po_ _) ...................................................................................... 5-36

6. TROUBLESHOOTING 6- 1 to 6- 8

6.1 Alarm and warning list........................................................................................................................ 6- 1

6.2 Troubleshooting at power on ............................................................................................................. 6- 6

7. DIMENSIONS 7- 1 to 7-18

7.1 Servo amplifier ................................................................................................................................... 7- 2

7.1.1 200 V class.................................................................................................................................. 7- 2

7.1.2 400 V class................................................................................................................................. 7-11

7.2 MR-J3-T10 CC-Link IE Field Network interface unit......................................................................... 7-18

8. OPTIONS AND PERIPHERAL EQUIPMENT 8- 1 to 8- 4

8.1 Combinations of cable/connector sets............................................................................................... 8- 2

8.2 Cable for CC-Link IE Field Network................................................................................................... 8- 4

APPENDIX App.- 1 to App.- 5

App. 1 Peripheral equipment manufacturer (for reference)................................................................ App.- 1

App. 2 Analog monitor ........................................................................................................................App.- 1

App. 3 Special specification ................................................................................................................App.- 4

2

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

The following item is the same as MR-J4-_B_ Servo amplifiers. For details of the item, refer to the section of
the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Removal and reinstallation of the front cover MR-J4-_B_ section 1.7.2

1.1 Summary

This instruction manual explains about CC-Link IE Field Network interface AC servo amplifier with Motion
MR-J4-_B_-RJ010 and CC-Link IE Field Network interface unit MR-J3-T10. Refer to "MR-J4-_B_(-RJ) Servo
Amplifier Instruction Manual" for the information not given in this manual.
Always use MR-J4-_B_-RJ010 with MR-J3-T10.
Connecting MR-J4-_B_-RJ010 and MR-J3-T10 to CC-Link IE Field simple motion module QD77GF_
enables you to drive a servo motor using CC-Link IE Field motion function.

Item Detailed explanation

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) 200 V class

(a) MR-J4-500B-RJ010 or less

Power factor improving

DC reactor (Note 5)

Regenerative

option

(Note 2)
Power
supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

UU

L3

L11

L21

CN8

P3 P4

Diode

stack

Position

command

input

+

(Note 4)

Relay

Cooling fan

(Note 3)

Control

circuit
power
supply

Model

position

control

Model position

Actual

position

control

P+

(Note 1)

+

Regene­rative
TR

CHARGE

lamp

STO

circuit

Base

amplifier

Voltage

detection

Model
speed
control

Model speed Model torque

Actual
speed
control

N-CD

Overcurrent

protection

Virtual

motor

Current

control

detection

Virtual

encoder

Dynamic

brake
circuit

Current

encoder

Current

U

U

V

V

W

W

RA

24 V DC

CN2

Step­down

circuit

CN4

Optional battery
(for absolute position
detection system)

Servo motor

M

B1

Electromagnetic

B

brake

B2

Encoder

I/F Control

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

Personal

computer

USB

USB

CN5

Analog monitor

(2 channels)

D/A

CN3

Digital I/O

control

Note 1. The built-in regenerative resistor is not provided for the MR-J4-10B-RJ010.

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For power supply specifications, refer to section 1.3.1.

3. Servo amplifiers MR-J4-70B-RJ010 or more have a cooling fan.

4. 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.

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 - 2

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-700B-RJ010

Power factor improving

DC reactor (Note 3)

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
supply

Model

position

control

Model position

Actual

position

control

P+

Regene-

+

rative
TR

CHARGE

lamp

STO

circuit

Model
speed

control

Voltage

detection

Base

amplifier

Model speed Model torque

Actual
speed

control

N-C

Overcurrent

Virtual

motor

Current

protection

control

detection

Virtual

encoder

Dynamic

brake
circuit

Current

encoder

Current

U

U

V

V

W

W

RA

24 V DC

CN2

Step­down

circuit

CN4

Optional battery
(for absolute position
detection system)

Servo motor

M

B1

Electromagnetic

B

brake

B2

Encoder

I/F Control

CN7

USB

CN5

D/A

CN3

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

Personal

computer

USB

Analog monitor

(2 channels)

Digital I/O

control

Note 1. For power supply specifications, refer to section 1.3.1.

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. 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

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KB-RJ010/MR-J4-15KB-RJ010/MR-J4-22KB-RJ010

(Note 1)
Power
supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

(Note 4)

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 3)
External

dynamic brake

(optional)

U

V

W

W

RA

24 V DC

CN2

Servo motor

U

V

M

B1

Electromagnetic

B

brake

B2

Encoder

Position

command

input

Model

position

control

Actual

position

control

I/F Control

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

Model position

Virtual

motor

encoder
Model
speed
control

Model speed Model torque

Actual
speed
control

Current

control

USB

CN5

Personal

computer

Analog monitor

(2 channels)

USB

Virtual

D/A

CN3

Digital I/O

control

Step­down

circuit

CN4

Optional battery
(For absolute
position detection
system)

Note 1. Refer to section 1.3.1 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. 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.

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 - 4

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

(a) MR-J4-350B4-RJ010 or less

(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 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

Optional battery
(For absolute
position detection
system)

Actual

position

control

I/F Control

CN7

Model position

Model speed Model torque

Actual
speed
control

Current

control

USB

CN5

D/A

CN3

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

Personal

computer

USB

Analog monitor

(2 channels)

Digital I/O

control

Note 1. Refer to section 1.3.1 for the power supply specification.

2. Servo amplifiers MR-J4-200B4(-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. 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

(b) MR-J4-500B4-RJ010/MR-J4-700B4-RJ010

(Note 3)

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

Optional battery
(For absolute
position detection
system)

Actual

position

control

I/F Control

CN7

Model position Model speed Model torque

Actual
speed
control

Current

control

USB

CN5

D/A

CN3

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

Personal

computer

USB

Analog monitor

(2 channels)

Digital I/O

control

Note 1. Refer to section 1.3.1 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. 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 - 6

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KB4-RJ010/MR-J4-15KB4-RJ010/MR-J4-22KB4-RJ010

(Note 1)
Power
supply

STO

switch

Servo amplifier

MCMCCB

L1

U

L2

U U

L3

L11

L21

CN8

(Note 4)

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 3)
External

dynamic brake

(optional)

U

V

W

W

RA

24 V DC

CN2

Servo motor

U

V

M

B1

Electromagnetic

B

brake

B2

Encoder

Position

command

input

Model

position

control

Actual

position

control

I/F Control

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

Model position

Virtual

motor

encoder
Model
speed
control

Model speed Model torque

Actual
speed
control

Current

control

USB

CN5

Personal

computer

Analog monitor

(2 channels)

USB

Virtual

D/A

CN3

Digital I/O

control

Step­down

circuit

CN4

Optional battery
(For absolute
position detection
system)

Note 1. Refer to section 1.3.1 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. 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.

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 - 7

1. FUNCTIONS AND CONFIGURATION

1.3 Standard specifications

1.3.1 Servo amplifier

Model: MR-J4-_-RJ010 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB

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 External option (Note 6)
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor 2 channels

Protective functions

Safety function STO (IEC/EN 61800-5-2)

Safety
performance

Compliance to
standards

Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20)

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. 0.3 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 UL or CSA compliant servo motor.

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

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 [A] 0.9 1.5 2.6

Permissible voltage
fluctuation

Permissible frequency
fluctuation

Power supply
capacity

Inrush current [A] MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual 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] MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5
Voltage 24 V DC ± 10%
Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)

Standards certified by CB EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
Response performance 8 ms or less (STO input off → energy shut off)
(Note 3)
Test pulse input (STO)

CE marking

UL standard UL 508C

Ambient
temperature

Ambient
humidity

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)

[kVA] MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.2

[W] 30 45

Operation

Storage

Operation

Storage

3-phase or 1-phase

200 V AC to 240 V AC, 50 Hz/60 Hz

3.2

(Note

3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0

5)

3-phase or 1-phase

170 V AC to 264 V AC

1-phase 170 V AC to 264 V AC

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

overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous

power failure protection, overspeed protection, and error excessive protection

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

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

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

90 %RH or less (non-condensing)

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

3-phase 170 V AC to 264 V AC

Within ±5%

Within ±5%

LVD: EN 61800-5-1

EMC: EN 61800-3

Force cooling, open

(IP20) (Note 4)

I/O points.

75% or smaller effective load ratio.

self-diagnose.

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

1 - 8

1. FUNCTIONS AND CONFIGURATION

Model: MR-J4- 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4

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] MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5
Interface power

supply
Control method Sine-wave PWM control, current control method

Dynamic brake Built-in External option (Note 4)
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

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

Compliance to
standards

Structure (IP rating)

Close mounting Impossible

Environment

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

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

3. Except for the terminal block.

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

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] MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5

Permissible voltage
fluctuation

Permissible frequency
fluctuation

Voltage 24 V DC ± 10%
Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)

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

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

dangerous failures per hour
(PFH)

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)

[kVA] MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.2

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

3-phase 323 V AC to 528 V AC

Within ±5%

1-phase 323 V AC to 528 V AC

Within ±5%

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

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

100 years or longer

1.68 × 10

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

Natural cooling, open

(IP20)

90 %RH or less (non-condensing)

Force cooling, open

(IP20)

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

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]

LVD: EN 61800-5-1

EMC: EN 61800-3

Force cooling, open (IP20) (Note 3)

Indoors (no direct sunlight),

I/O points.

self-diagnose.

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

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.3.2 MR-J3-T10 Field Network interface unit

Model MR-J3-T10
Control circuit

power supply
I/O interfaces CC-Link IE Field Network interface

Number of communication ports 2 (CN10A connector/CN10B connector)
Structure Natural-cooling, open (IP rating: IP 00)

Environment

Mass [g] 150

1.4 Combinations of servo amplifiers and servo motors

(1) 200 V class

MR-J4-10B-RJ010 053

MR-J4-20B-RJ010 23 23
MR-J4-40B-RJ010 43 43
MR-J4-60B-RJ010 51

MR-J4-70B-RJ010 73 73 72 73
MR-J4-100B-RJ010 81

MR-J4-200B-RJ010 121

MR-J4-350B-RJ010 301

MR-J4-500B-RJ010 421

MR-J4-700B-RJ010 702 703 503
MR-J4-11KB-RJ010 903

MR-J4-15KB-RJ010 15K1M
MR-J4-22KB-RJ010 22K1M

Voltage 5 V DC (supplied from the servo amplifier)
Rated current [A] 0.8

Ambient
temperature

Ambient
humidity

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

Operation

Storage

Operation

Storage

POINT

5.9 m/s

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

90 %RH or less (non-condensing)

2

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

Linear servo motors and direct drive motors cannot be used with the MR-J4­_B_-RJ010 servo amplifier.

Rotary servo motor

Servo amplifier

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

13

053

13

53

52

103 53

102

201
152
202

352

502

152 103

153

202 203 353 153

352
502

353
503

153
203

503 353

11K1M

(at maximum torque 400%)

HG-JR

73

103

203

1 - 10

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

Servo amplifier

MR-J4-60B4-RJ010 524 534
MR-J4-100B4-RJ010 1024 734

MR-J4-200B4-RJ010 1524

MR-J4-350B4-RJ010 3524 3534 1534

MR-J4-500B4-RJ010 5024 5034 3534
MR-J4-700B4-RJ010 7024 7034 5034
MR-J4-11KB4-RJ010 9034

MR-J4-15KB4-RJ010 15K1M4
MR-J4-22KB4-RJ010

HG-SR HG-JR

2024

Rotary servo motor

HG-JR

(at maximum torque

400%)

534

1034
1534

2034

11K1M4

22K1M4

734

1034

2034

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section of the
detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Position control mode This servo is used as a position control servo.

Speed control mode

Torque control mode

High-resolution encoder

Absolute position detection
system

Gain switching function This is not available with the MR-J4-_B_-RJ010 servo amplifier.
Advanced vibration

suppression control II
Machine resonance

suppression filter

Shaft resonance suppression
filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration suppression
control

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

Alarm history clear Alarm history is cleared. [Pr. PC21]
Output signal selection

(device settings)
Output signal (DO) forced

output

Test operation mode

Analog monitor output Servo status is output in terms of voltage in real time.

MR Configurator2

Function Description Detailed explanation

This servo is used as a speed control servo.
The speed control mode is used with servo amplifiers with software version

A1 or later.
This servo is used as a torque control servo.
The torque control mode is used with servo amplifiers with software version

A1 or later.
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the

rotary servo motor compatible with the MELSERVO-J4 series.
Merely setting a home position once makes home position return

unnecessary at every power-on.

This function suppresses vibration at the arm end or residual vibration.

This is a filter function (notch filter) which decreases the gain of the specific
frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion
during driving may generate a mechanical vibration at high frequency. The
shaft resonance suppression filter suppresses the vibration.

Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as servo system
response is increased.

Analyzes the frequency characteristic of the mechanical system by simply
connecting a MR Configurator2 installed personal computer and servo
amplifier.

MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response

level that load to motor inertia ratio is high for such as roll send axes.

Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]

Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies.

Used when the regenerative option cannot provide enough regenerative
power.

Can be used for the 5 kW or more servo amplifier.
Used when the regenerative option cannot provide enough regenerative

power.
Can be used for the 5 kW or more servo amplifier.
Used when the built-in regenerative resistor of the servo amplifier does not

have sufficient regenerative capability for the regenerative power generated.

The output devices including ALM (Malfunction) can be assigned to
specified pins of the CN3 connector.

Output signal can be forced on/off independently of the servo status.
Use this function for checking output signal wiring, etc.
Jog operation, positioning operation, motor-less operation, DO forced output,

and program operation
MR Configurator2 is necessary for this function.

Using a personal computer, you can perform the parameter setting, test
operation, monitoring, and others.

Use MR Configurator2 of software version 1.19V or later for the MR-J4-_B_­RJ010 servo amplifier.

MR-J4-_B_ chapter 12

MR-J4-_B_ section

7.1.5
MR-J4-_B_ section

7.1.1

MR-J4-_B_ section

7.1.3

MR-J4-_B_ section

7.1.2
MR-J4-_B_ section

7.1.4

[Pr. PE41]

MR-J4-_B_ section 6.3

MR-J4-_B_ section

11.3

MR-J4-_B_ section

11.4

MR-J4-_B_ section

11.2

[Pr. PD07] to
[Pr. PD09]

MR-J4-_B_ section

4.5.1 (1) (d)

MR-J4-_B_ section 4.5

[Pr. PC09],
[Pr. PC10]

MR-J4-_B_ section

11.7

1 - 12

1. FUNCTIONS AND CONFIGURATION

Function Description Detailed explanation
Linear servo system This is not available with the MR-J4-_B_-RJ010 servo amplifier.
Direct drive servo system This is not available with the MR-J4-_B_-RJ010 servo amplifier.
Fully closed loop system This is not available with the MR-J4-_B_-RJ010 servo amplifier.

Gain adjustment is performed just by one click on a certain button on MR

One-touch tuning

Tough drive function

Drive recorder function

STO function

Servo amplifier life diagnosis
function

Power monitoring function

Machine diagnosis function

Master-slave operation
function

Scale measurement function
J3 compatibility mode
Continuous operation to

torque control

1.6 Model designation

Configurator2.
MR Configurator2 is necessary for this function.
This function makes the equipment continue operating even under the

condition that an alarm occurs.
The tough drive function includes two types: the vibration tough drive and

the instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status

transition before and after an alarm for a fixed period of time. You can check
the recorded data on the drive recorder window on MR Configurator2 by
clicking the "Graph" button.

However, the drive recorder will not operate on the following conditions.

1. You are using the graph function of MR Configurator2.

2. You are using the machine analyzer function.

3. [Pr. PF21] is set to "-1".

4. The controller is not connected (except the test operation mode).

5. An alarm related to the controller is occurring.
This function is a protective functions that complies with IEC/EN 61800-5-2.

You can create a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off

times of the inrush relay. This function gives an indication of the replacement
time for parts of the servo amplifier including a capacitor and a relay before
they malfunction.

MR Configurator2 is necessary for this function.
This function calculates the power running energy and the regenerative

power from the data in the servo amplifier such as speed and current. Power
consumption and others are displayed on MR Configurator2.

From the data in the servo amplifier, this function estimates the friction and
vibrational component of the drive system in the equipment and recognizes
an error in the machine parts, including a ball screw and bearing.

MR Configurator2 is necessary for this function.
This is not available with the MR-J4-_B-RJ010 servo amplifier.

MR-J4-_B_ section 6.2

MR-J4-_B_ section 7.3

[Pr. PA23]

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

AC SERVO

MODEL

MR-J4-10B-RJ010

: 100W

POWER

: 3AC/AC200-240V 0.9A/1.5A 50/60Hz

INPUT

: 3PH170V 0-360Hz 1.1A

OUTPUT
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175
Max. Surrounding Air Temp.: 55°C
IP20

Servo amplifier

SER.S21001001

Serial number
Model

Capacit
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating

The year and month of
manufacture
Country of origin

MODEL

CC-Link IE Field Network interface unit

POWER
INPUT

OUTPUT

SERIAL

MR-J3-T10

:

IP00 MANUAL IB-0300171

:

1.5A 3PH+1PH

2.2A 1PH 200-230V

:

170V 0-360Hz 1.5A

:

1 - 13

Model
IP rating Installation guide

3PH+1PH200-230V

Serial number

Country of origin

1. FUNCTIONS AND CONFIGURATION

(2) Model

The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.

Series

Special specifications

Symbol Special specifications
RJ010 CC-Link IE Field Network interface with Motion
RU010 MR-J4-_B_-RJ010 without a dynamic brake (Note1)
RZ010

Note 1. Dynamic brake which is built in 7 kW or smaller servo amplifiers

Symbol Power supply

Symbol Rated output [kW]

MR-J4-_B_-RJ010 without regenerative resistor (Note2)

is removed. Refer to Appendix 3.1 for details.

2. Indicates a servo amplifier of 11 kW to 22 kW that does not
use a regenerative resistor as standard accessory. Refer to
Appendix 3.2 for details.

Power supply

None

3-phase 200 V AC to 240 V AC

4 3-phase 380 V AC to 480 V AC

Rated output

10 0.1
20 0.2
40 0.4
60 0.6

70 0.75
100 1
200
350 3.5
500 5
700 7
11k
15k 15
22k 22

2

11

1 - 14

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification

(1) 200 V class

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

(a) MR-J4-200B-RJ010 or less

(4)

(13)

(5)

(6)
(15)
(7)

(16)
(8)

(9)
(17)
(18)
(14)

Side
(10)

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

No. Name/Application Detailed explanation

Display

(1)

The 3-digit, seven-segment LED shows the servo

(1)

(3)

(11)

Inside of the display
cover

(20)

(12)

(2)

(19)

status and the alarm number.

Station number setting rotary switch (SW1)

(2)

Used to set a station No. of servo amplifier.

Auxiliary station number setting switch (SW2)

(3)

This consists of the test operation select switch and

auxiliary station number setting switches.

USB communication connector (CN5)

(4)

Connect with the personal computer.

I/O signal connector (CN3)

(5)

Used to connect digital I/O signals.

STO input signal connector (CN8)

(6)

Used to connect MR-J3-D05 safety logic unit and

external safety relay.

Manufacturer setting connector (CN1A)

(7)

This is not available with the servo amplifier. Always

cap the connector.

Manufacturer setting connector (CN1B)

(8)

This is not available with the servo amplifier. Always

cap the connector.

Encoder connector (CN2)

Used to connect the servo motor encoder.

(9)

Battery connector (CN4)

(10)

Used to connect the battery or the battery unit for

absolute position data backup.

Battery holder

(11)

Install the the battery for absolute position data

backup.

Protective earth (PE) terminal

(12)

Grounding terminal

Main circuit power supply connector (CNP1)

(13)

Connect the input power supply.

(14) Rating plate Section 1.6

Control circuit power supply connector (CNP2)

(15)

Connect the control circuit power supply or

regenerative option.

Servo motor power supply connector (CNP3)

(16)

Connect the servo motor.

Charge lamp

(17)

When the main circuit is charged, this will light. While

this lamp is lit, do not reconnect the cables.

Manufacturer setting connector (CN2L)

(18)

This is not available with the servo amplifier.

Optional unit connector (CN7)

(19)

This is for connecting MR-J3-T10.

Manufacturer setting connector (CN9)

(20)

This is not available with the servo amplifier.

Section 4.2

MR-J4-_B_ section

11.7

Section 3.1

MR-J4-_B_ section 3.4

MR-J4-_B_ chapter 13

MR-J4-_B_ app. 5

MR-J4-_B_ section 3.4

"Servo Motor

Instruction Manual

(Vol. 3)"

MR-J4-_B_ chapter 12

MR-J4-_B_ section

12.2

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

Section 1.8

1 - 15

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-350B-RJ010

No. Name/Application Detailed explanation

Main circuit power supply connector (CNP1)

(1)

Connect the input power supply.

(2) Rating plate Section 1.6

Servo motor power supply connector (CNP3)

(3)

Connect the servo motor.

Control circuit power supply connector (CNP2)

(4)

Connect the control circuit power supply or

regenerative option.

Charge lamp

(5)

When the main circuit is charged, this will light.

While this lamp is lit, do not reconnect the cables.

Protective earth (PE) terminal

(6)

Grounding terminal

Battery holder

(7)

Install the the battery for absolute position data

backup.

(1)

(3)

(2)
Side

(4)
(5)

The broken line area is the same as
MR-J4-200B-RJ010 or less.

(6)(7)

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section

12.2

1 - 16

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-500B-RJ010

No. Name/Application Detailed explanation

Control circuit terminal block (TE2)

(1)

Used to connect the control circuit power supply.

Main circuit terminal block (TE1)

(2)

Connect the input power supply.

Battery holder

(3)

Install the the battery for absolute position data

backup.

(4) Rating plate Section 1.6

Regenerative option/power factor improving reactor

terminal block (TE3)

(5)

Used to connect regenerative options and a power

factor improving DC reactor.

Servo motor power supply terminal block (TE4)

(6)

Connect the servo motor.

Charge lamp

(7)

When the main circuit is charged, this will light.

While this lamp is lit, do not reconnect the cables.

Protective earth (PE) terminal

(8)

Grounding terminal

(1)

(2)

(3)
(Note)

(4)
Side

POINT

The servo amplifier is shown with the front cover open. The front cover cannot
be removed.

The broken line area is the same as
MR-J4-200B-RJ010 or less.

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section

12.2

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

(5)

(6)

(7)

(8)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 17

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B-RJ010

No. Name/Application Detailed explanation

Power factor improving reactor terminal block (TE3)

(1)

Used to connect the DC reactor.

Main circuit terminal block (TE1)

(2)

Used to connect the input power supply, regenerative

option, and servo motor.

Control circuit terminal block (TE2)

(3)

Used to connect the control circuit power supply.

Protective earth (PE) terminal

(4)

Grounding terminal

Battery holder

(5)

Install the the battery for absolute position data

backup.

(6) Rating plate Section 1.6

Charge lamp

(7)

When the main circuit is charged, this will light.

While this lamp is lit, do not reconnect the cables.

(7)

(6)

(5)
(Note)

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-_B_(-RJ) Servo Amplifier Instruction
Manual".

The broken line area is the same as
MR-J4-200B-RJ010 or less.

MR-J4-_B_ section 3.1
MR-J4-_B_ section 3.3

MR-J4-_B_ section

12.2

(1)

(2)

(4)

(3)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 18

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11KB-RJ010/MR-J4-15KB-RJ010

No. Name/Application Detailed explanation

Power factor improving reactor terminal block (TE1-2)

(1)

Used to connect a power factor improving DC reactor

and a regenerative option.

Main circuit terminal block (TE1-1)

(2)

Used to connect the input power supply and servo

motor.

Control circuit terminal block (TE2)

(3)

Used to connect the control circuit power supply.

Protective earth (PE) terminal

(4)

Grounding terminal

Battery holder

(5)

Install the battery for absolute position data backup.

(6) Rating plate Section 1.6

Charge lamp

(7)

When the main circuit is charged, this will light up.

While this lamp is lit, do not reconnect the cables.

The broken line area is the same as
MR-J4-200B-RJ010 or less.

(7)

(7)

(6)

(6)

(5)
(Note)

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-_B_(-RJ) Servo Amplifier Instruction
Manual".

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

(2)

(2)

(3)

(3)

(4)

(4)

(1)

(1)

Note. Lines for slots around the battery holder are omitted from the illustration.

1 - 19