Mitsubishi MR-J4-10GF, MR-J4-100GF, MR-J4-70GF, MR-J4-20GF, MR-J4-200GF Instruction Manual

General-Purpose AC Servo

CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode)

-MR-J4-_GF_

-MR-J4-_GF_-RJ

SAFETY PRECAUTIONS

WARNING

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

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

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

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

(Please read the instructions carefully before using the equipment.)

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read

through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you

have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Note that the CAUTION level may lead to a serious consequence 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.

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.

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.

[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/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.

● 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/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. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

● Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

2

[To prevent injury, note the following]

CAUTION

● Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc.

● Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.

● Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.

● The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is

on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

3

[Additional instructions]

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

etc.

[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, cables, or connectors when carrying 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. Otherwise, it may cause injury.

● The equipment must be installed in the specified direction.

● Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet

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 apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause injury, malfunction, etc.

● Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.

● When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Ambient humidity

Vibration resistance

Operation

Storage

Operation

Storage

Ambience

Altitude

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

2000 m or less above sea level (Contact your local sales office for the altitude for options.)

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

5 %RH to 90 %RH (non-condensing)

2

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

5.9 m/s

● When the product has been stored for an extended period of time, contact your local sales office.

● When handling the servo motor, be careful with the sharp edges of the servo motor.

● The servo amplifier must be installed in a metal cabinet.

● When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are

used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.

● To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

4

[Wiring]

24 V DC

RA

DOCOM

Control output signal

Servo amplifier

For sink output interface

24 V DC

RA

DOCOM

Control output signal

Servo amplifier

For source output interface

CAUTION

● Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

● Make sure to connect the cables and connectors by using the fixing screws and the locking

mechanism. Otherwise, the cables and connectors may be disconnected during operation.

● Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side.

● To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.

● Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

● 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 converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

M

W

● When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.

● Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

● Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier.

● To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

[Test run and adjustment]

CAUTION

● When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

● Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.

● Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

● Do not get close to moving parts during the servo-on status.

5

[Usage]

CAUTION

● Provide an external emergency stop circuit to stop the operation and shut the power off immediately.

● For equipment in which the moving part of the machine may collide against the load side, install a limit

switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

● Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty.

● Before resetting an alarm, make sure that the run signal of the 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 affect the electronic equipment used near the servo amplifier.

● Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.

● Use the servo amplifier with the specified servo motor.

● Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may

cause an electric shock, fire, injury, etc.

● The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

● For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

● If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

6

[Corrective actions]

Servo motor

Electromagnetic brake

B

U

RA

Contacts must be opened with the emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

24 V DC

CAUTION

● Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.

● If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

● Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

● When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.

● If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.

● Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

● After an earthquake or other natural disasters, ensure safety by checking the conditions of the

installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.

[Maintenance, inspection and parts replacement]

CAUTION

● Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

● It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.

● When using the servo amplifier that has not been energized for an extended period of time, contact your local sales office.

[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.

7

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 the following. Page 453 USING STO FUNCTION

For the MR-J3-D05 safety logic unit, refer to the following. Page 586 MR-J3-D05 Safety logic unit

COMPLIANCE WITH GLOBAL STANDARDS

For the compliance with global standards, refer to the following. Page 572 Compliance with global standards

8

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.

Relevant manuals

Manual name Manual No.

MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) SH(NA)030221ENG

MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (CC-Link IE Field Network Basic) SH(NA)030273ENG

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO MR-D30 Instruction Manual

MELSERVO Servo Motor Instruction Manual (Vol. 3)

MELSERVO Linear Servo Motor Instruction Manual

MELSERVO Direct Drive Motor Instruction Manual

MELSERVO Linear Encoder Instruction Manual

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

*1 It is necessary for using an MR-D30 functional safety unit. *2 It is necessary for using a rotary servo motor. *3 It is necessary for using a linear servo motor. *4 It is necessary for using a direct drive motor. *5 It is necessary for using a fully closed loop system.

*1

*2

*3

*4

*3*5

SH(NA)030132ENG

SH(NA)030113ENG

SH(NA)030110ENG

SH(NA)030112ENG

SH(NA)030111ENG

WIRING

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

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]

-4

Moment of inertia 1 [(× 10

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [] × 9/5 + 32 N []

kg.m2)] 5.4675 [oz.inch2]

9

*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-_GF_ cannot be used. Use an MR-J4-_GF_-RJ. *4 Connect a thermistor to CN2. *5 This is used with servo amplifiers with software version A1 or later.

18

1 FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Function block diagram

The function block diagram of this servo is shown below.

The diagram shows for MR-J4-_GF_-RJ as an example. MR-J4-_GF_ servo amplifier does not have CN2L

connector.

1

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

19

200 V class

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

L11

L21

Cooling fan

*3

Encoder

N-CD

L3

L2

L1

Dynamic

brake circuit

Power factor improving

DC reactor

*6

Current

detection

Overcurrent

protection

Voltage

detection

Power supply

*2

MCMCCB

Base

amplifier

STO

circuit

CN5

USB

Personal

computer

Controller or

servo amplifier

Controller or

servo amplifier

CN1A

CN1B

D/A

Analog monitor

(2 channels)

Position

command

input

CN3

Servo amplifier

U

V

W

U

V

W

P3

P4

*4

Diode

stack

Relay

P+

+

B

RA

24 V DC

B1

B2

Battery (For absolute position detection system)

CN4

STO

switch

Model speed Model torque

M

CN2

CN8

Control

circuit power

supply

Model

position

control

Model speed

control

I/F Control

Servo motor

CHARGE

lamp

Regenerative TR

Current

detector

Digital I/O

control

Regenerative

option

UU

U

Stepdown circuit

Electromagnetic brake

*1

*5

External encoder

CN2L

■MR-J4-500GF(-RJ) or less

20

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

*1 The built-in regenerative resistor is not provided for MR-J4-10GF(-RJ). *2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to the following for the power supply

specifications. Page 30 Servo amplifier standard specifications

*3 Servo amplifiers MR-J4-70GF(-RJ) 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 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have 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

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

21

■MR-J4-700GF(-RJ)

L11

L21

Cooling fan

N-C

MCMCCB

STO

circuit

CN5

USB

CN1A

CN1B

D/A

CN3

Servo amplifier

U

V

W

U

V

W

P3

P4

*2

Relay

P+

+

B

RA

B1

CN4

M

CN2

CN8

Control

circuit

power

supply

CHARGE

lamp

Regenerative TR

Regenerative

option

L3

L2

L1

U U

U

Current

detection

Overcurrent

protection

Voltage

detection

Base

amplifier

STO

switch

Servo motor

24 V DC

Encoder

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

Position

command

input

Model speed Model torque

Model

position

control

Model speed

control

Stepdown circuit

Battery (For absolute position detection system)

I/F Control

Personal

computer

Analog monitor

(2 channels)

Digital I/O

control

Diode

stack

CN2L

External encoder

Controller or

servo amplifier

Controller or

servo amplifier

Power factor improving

DC reactor

*4

Power supply

*1

Electromagnetic brake

*3

Dynamic

brake

circuit

Current

detector

*1 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications *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-_GF-RJ servo amplifier. MR-J4-_GF 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 FUNCTIONS AND CONFIGURATION

22

1.2 Function block diagram

■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)/MR-J4-22KGF(-RJ)

L11

L21

Encoder

N-C

Power factor improving

DC reactor

*5

MCMCCB

CN5

USB

CN1A

CN1B

D/A

CN3

P3

P4

*2

P+

+

B

RA

B1

B2

CN4

M

CN2

CN8

Servo motor

External regenerative

resistor or

regenerative option

L3

L2

L1

U U

U

Thyristor

External

dynamic brake

(optional)

*4*6

U

V

W

U

V

W

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

Cooling fan

Current

detection

Overcurrent

protection

Voltage

detection

Power supply

*1

Base

amplifier

STO

circuit

Personal

computer

Analog monitor

(2 channels)

Position

command

input

Servo amplifier

24 V DC

Battery (For absolute position detection system)

STO

switch

Model speed Model torque

Control

circuit power

supply

Model

position

control

Model speed

control

I/F Control

CHARGE

lamp

Regenerative TR

Current

detector

Digital I/O

control

Stepdown

circuit

Electromagnetic brake

Diode

stack

CN2L

External encoder

Controller or

servo amplifier

Controller or

servo amplifier

*3

1

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

23

*1 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications *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-_GF-RJ servo amplifier. MR-J4-_GF 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 the following.

Page 280 TROUBLESHOOTING *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.

PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

24

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

400 V class

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

L11

L21

Cooling fan

*2

Encoder

N-CD

L3

L2

L1

Dynamic

brake

circuit

Current

detection

Overcurrent

protection

Voltage

detection

Power supply

*1

MCMCCB

Base

amplifier

STO

circuit

CN5

USB

Personal

computer

CN1A

CN1B

D/A

Analog monitor

(2 channels)

Position

command

input

CN3

Servo amplifier

U

V

W

U

V

W

P3 P4

*3

Diode

stack

Relay

P+

+

B

RA

24 V DC

B1

B2

Battery (For absolute position detection system)

CN4

STO

switch

Model speed Model torque

M

CN2

CN8

Control

circuit power

supply

Model

position

control

Model speed

control

I/F Control

Servo motor

Charge

lamp

Regenerative TR

Current

detector

Digital I/O

control

Regenerative

option

U U

U

Stepdown

circuit

Power factor improving

DC reactor

*5

CN2L

External encoder

Controller or

servo amplifier

Controller or

servo amplifier

*4

Electromagnetic brake

■MR-J4-350GF4(-RJ) or less

1

*1 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications *2 Servo amplifiers MR-J4-200GF4(-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-_GF4-RJ servo amplifier. MR-J4-_GF4 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 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

25

■MR-J4-500GF4(-RJ)/MR-J4-700GF4(-RJ)

Dynamic

brake

circuit

Current

detector

Virtual

motor

Virtual

encoder

L11

L21

Cooling fan

Encoder

N-C

Current

detection

Overcurrent

protection

Voltage

detection

Power supply

*1

MCMCCB

Base

amplifier

STO

circuit

CN5

USB

CN1A

CN1B

D/A

Position

command

input

CN3

Servo amplifier

Diode

stack

U

V

W

U

V

W

P3 P4

*2

Relay

P+

+

B

RA

24 V DC

B1

B2

Battery (For absolute position detection system)

CN4

STO

switch

M

CN2

CN8

Control

circuit power

supply

Model

position

control

Model speed

control

Servo motor

Regenerative

option

L3

L2

L1

U U

U

Stepdown

circuit

Power factor improving

DC reactor

*4

Charge

lamp

Regenerative TR

Electromagnetic brake

Model position Model speed Model torque

Current

control

Actual

position

control

Actual speed

control

I/F Control

Personal

computer

Analog monitor

(2 channels)

Digital I/O

control

CN2L

External encoder

Controller or

servo amplifier

Controller or

servo amplifier

*3

*1 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications *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-_GF4-RJ servo amplifier. MR-J4-_GF4 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 FUNCTIONS AND CONFIGURATION

26

1.2 Function block diagram

Current

detector

Thyristor

External

dynamic brake

(optional)

*4*6

U

V

W

U

V

W

L3

L2

L1

U U

U

Power factor improving

DC reactor

*4

Charge

lamp

Regenerative TR

Cooling fan

L11

L21

Encoder

N-C

Power supply

*1

MCMCCB

CN5

USB

CN1A

CN1B

D/A

CN3

Servo amplifier

Diode

stack

P3 P4

*2

P+

+

B

RA

24 V DC

B1

B2

Battery (For absolute position detection system)

CN4

M

CN2

CN8

Servo motor

External

regenerative resistor

or

regenerative option

Electromagnetic brake

STO

switch

Control

circuit power

supply

Current

detection

Overcurrent

protection

Voltage

detection

Base

amplifier

STO

circuit

Stepdown

circuit

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

Position

command

input

Model speed Model torque

Model

position

control

Model speed

control

Personal

computer

Analog monitor

(2 channels)

Digital I/O

control

I/F Control

CN2L

External encoder

Controller or

servo amplifier

Controller or

servo amplifier

*3

■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)/MR-J4-22KGF4(-RJ)

1

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

27

*1 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications *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-_GF4-RJ servo amplifier. MR-J4-_GF4 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 the following.

Page 280 TROUBLESHOOTING *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.

PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

28

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

100 V class

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

L11

L21

Encoder

N-

*1

CD

L2

L1

Dynamic

brake circuit

Current

detection

Overcurrent

protection

Voltage

detection

Power supply

*2

MCMCCB

Base

amplifier

STO

circuit

Position

command

input

Servo amplifier

U

V

W

U

V

W

Diode stack

Relay

P+

+

B

RA

24 V DC

B1

B2

Battery (For absolute position detection system)

CN4

STO

switch

Model speed Model torque

M

CN2

CN8

Control

circuit

power

supply

Model

position

control

Model speed

control

Servo motor

Charge

lamp

Regene-

rative

TR

Current

detector

Regenerative

option

U

Stepdown

circuit

External encoder

+

CN5

USB

Personal

computer

Controller or

servo amplifier

Controller or

servo amplifier

CN1A

CN1B

D/A

Analog monitor

(2 channels)

CN3

I/F Control

Digital I/O

control

*3

CN2L

Electromagnetic brake

1

*1 The built-in regenerative resistor is not provided for MR-J4-10GF1(-RJ). *2 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications *3 This is for MR-J4-_GF1-RJ servo amplifier. MR-J4-_GF1 servo amplifier does not have CN2L connector.

1 FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

29

1.3 Servo amplifier standard specifications

200 V class

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

Output 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

Output frequency Less than 590 Hz

Output frequency accuracy

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

CC-Link IE Field communication cycle

*12

Fully closed loop control Compatible

Scale measurement function Compatible

Load-side encoder interface

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

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

Voltage/ Frequency

Rated current

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity [kVA]

Inrush current [A] Page 325 Inrush currents at power-on of main circuit and control circuit

Voltage/ Frequency

Rated current [A] 0.2 0.3

Permissible voltage fluctuation

Permissible frequency fluctuation

Power consumption [W] 30 45

Inrush current [A] Page 325 Inrush currents at power-on of main circuit and control circuit

Voltage 24 V DC  10%

Current capacity [A] 0.3 (including CN8 connector signals)

At AC input

At DC input

*5

At AC input

At DC input

At AC input

At DC input

At AC input

At DC input

*11

0.01%

3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

283 V DC to 340 V DC

*8

[A] 0.9 1.5 2.6 3.2 *63.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0

3-phase or 1-phase 170 V AC to 264 V AC3-phase or 1-

241 V DC to 374 V DC

*8

Within 5%

Page 315 Power supply capacity and generated loss

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

283 V DC to 340 V DC

*8

1-phase 170 V AC to 264 V AC

241 V DC to 374 V DC

*8

Within 5%

0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms

*15

Mitsubishi Electric serial interface

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-phase or 1phase 200 V AC to 240 V AC, 50 Hz/60 Hz

phase 170 V AC to 264 V AC

*1

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

*7

3-phase 170 V AC to 264 V AC

*7

*13*14

30

1 FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

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

Safety performance

Compliance to global standards

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

Close mounting

Environment Ambient

Mass [kg] 1.0 1.4 2.1 2.3 4.0 6.2 13.4 13.4 18.2

Standards certified by

*10

CB

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

Test pulse input (STO)

*3

Mean time to dangerous failure (MTTFd)

Diagnostic coverage (DC)

Probability of dangerous Failure per Hour (PFH)

CE marking LVD: EN 61800-5-1

UL standard UL 508C

3-phase power supply

*2

input

1-phase power supply input

temperature

Ambient humidity

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Operation 0  to 55  (non-freezing)

Storage -20  to 65  (non-freezing)

Operation 5 %RH to 90 %RH (non-condensing)

Storage

EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2

Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms

MTTFd  100 [years] (314a)

DC = Medium, 97.6 [%]

-9

PFH = 6.4  10

EMC: EN 61800-3 MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Possible Impossible

Possible Impossible 

[1/h]

*9

*4

*1 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. *2 When closely mounting the servo amplifier, operate it at an ambient temperature of 0  to 45  or at 75% or smaller effective load ratio. *3 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. *4 Except for the terminal block. *5 This value is applicable when a 3-phase power supply is used. *6 The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor. *7 When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio. *8 The DC power supply input is available only with MR-J4-_GF-RJ servo amplifiers. For the connection example of the power circuit when

a DC input is used, refer to the following.

Page 563 When using the servo amplifier with the DC power supply input *9 Follow the restrictions below when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level.

Page 81 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level *10 The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by

TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] below.

Page 215 Extension setting 3 parameters ([Pr. PF_ _ ]) *11 The MR-J4-_GF servo amplifier is compatible only with the two-wire type. The MR-J4-_GF-RJ servo amplifier is compatible with the two-

wire type, four-wire type, and A/B/Z-phase differential output method.

Page 18 Summary *12 The communication cycle depends on the controller specifications and the number of axes connected. *13 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. *14 The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr.

PD07] to [Pr. PD09]. Doing so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs. *15 This is used with servo amplifiers with software version A1 or later.

1

1 FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

31

400 V class

Model: MR-J4-_(-RJ) 60GF4 100GF4 200GF4 350GF4 500GF4 700GF4 11 KGF 4 15KGF4 22KGF4

Output 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

Output frequency Less than 590 Hz

Output frequency accuracy

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

CC-Link IE Field communication cycle *70.5 ms, 1.0 ms, 2.0 ms, 4.0 ms

Fully closed loop control Compatible

Scale measurement function Compatible

Load-side encoder interface

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

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

Safety performance

Compliance to global standards

Close mounting Impossible

Structure (IP rating) Natural cooling, open

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 [kVA]

Inrush current [A] Page 325 Inrush currents at power-on of main circuit and control circuit

Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 0.1 0.2

Permissible voltage fluctuation

Permissible frequency fluctuation

Power consumption [W] 30 45

Inrush current [A] Page 325 Inrush currents at power-on of main circuit and control circuit

Voltage 24 V DC  10%

Current capacity [A] 0.3 (including CN8 connector signals)

*6

Standards certified by CB

*5

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

Test pulse input (STO)

Mean time to dangerous failure (MTTFd)

Diagnostic coverage (DC) DC = Medium, 97.6 [%]

Probability of dangerous Failure per Hour (PFH)

CE marking LVD: EN 61800-5-1

UL standard UL 508C

0.01%

3-phase 323 V AC to 528 V AC

Within 5%

Page 315 Power supply capacity and generated loss

1-phase 323 V AC to 528 V AC

Within 5%

*1

*8*9

*10

Mitsubishi Electric serial interface

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

EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2

*2

Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms

MTTFd  100 [years] (314a)

-9

PFH = 6.4  10

EMC: EN 61800-3 MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

(IP20)

[1/h]

Force cooling, open (IP20)

*3

32

1 FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Model: MR-J4-_(-RJ) 60GF4 100GF4 200GF4 350GF4 500GF4 700GF4 11 KGF 4 15KGF4 22KGF4

Environment Ambient

temperature

Ambient humidity

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/, 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 13.4 18.2

*1 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. *2 Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-

diagnose. *3 Except for the terminal block. *4 Follow the restrictions below when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level.

Page 81 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level *5 The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by

TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] below.

Page 215 Extension setting 3 parameters ([Pr. PF_ _ ]) *6 The MR-J4-_GF servo amplifier is compatible only with the two-wire type. The MR-J4-_GF-RJ servo amplifier is compatible with the two-

wire type, four-wire type, and A/B/Z-phase differential output method.

Page 18 Summary *7 The communication cycle depends on the controller specifications and the number of axes connected. *8 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. *9 The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr.

PD07] to [Pr. PD09]. Doing so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs. *10 This is used with servo amplifiers with software version A1 or later.

Operation 0  to 55  (non-freezing)

Storage -20  to 65  (non-freezing)

Operation 5 %RH to 90 %RH (non-condensing)

Storage

*4

1

1 FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

33

100 V class

Model: MR-J4-_(-RJ) 10GF1 20GF1 40GF1

Output Rated voltage 3-phase 170 V AC

Rated current [A] 1.1 1.5 2.8

Output frequency Less than 590 Hz

Main circuit power supply input

Control circuit power supply input

Interface power supply

Output frequency accuracy

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 [kVA]

Inrush current [A] Page 325 Inrush currents at power-on of main circuit and control circuit

Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz

Rated current [A] 0.4

Permissible voltage fluctuation

Permissible frequency fluctuation

Power consumption [W] 30

Inrush current [A] Page 325 Inrush currents at power-on of main circuit and control circuit

Voltage DC 24 V  10%

Current capacity [A] 0.3 (including CN8 connector signals)

0.01%

1-phase 85 V AC to 132 V AC

Within 5%

Page 315 Power supply capacity and generated loss

1-phase 85 V AC to 132 V AC

Within 5%

*1

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

*7

CC-Link IE Field communication cycle

Fully closed loop control Supported

Scale measurement function Supported

Load-side encoder interface

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

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

Safety performance

Compliance with global standards

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

Close mounting

Standards certified by CB

*5

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

Test pulse input (STO)

Mean time to dangerous failure (MTTFd)

Diagnostic coverage (DC) DC = High, 97.6 [%]

Probability of dangerous Failure per Hour (PFH)

CE marking LVD: EN 61800-5-1

UL standard UL 508C

*2

*6

0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms

Mitsubishi Electric serial interface

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 error protection

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2

*3

Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms

MTTFd  100 [years] (314a)

-9

PFH = 6.4  10

EMC: EN 61800-3 MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Possible

[1/h]

34

1 FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Model: MR-J4-_(-RJ) 10GF1 20GF1 40GF1

Environment Ambient

temperature

Ambient humidity

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

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/, at 10 Hz to 55 Hz (X, Y, Z axes)

Mass [kg] 1.0

*1 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. *2 When closely mounting the servo amplifiers, operate them at the ambient temperature of 0  to 45  or at 75% or smaller effective

load ratio. *3 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. *4 Follow the restrictions below when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

Page 81 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level *5 The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by

TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] as follows.

Page 215 Detailed list of parameters *6 The MR-J4-_GF1 servo amplifier is compatible only with the two-wire type. The MR-J4-_GF1-RJ servo amplifier is compatible with the

two-wire type, four-wire type, and A/B/Z-phase differential output method.

Page 18 Summary *7 The communication cycle depends on the controller specifications and the number of axes connected.

Operation 0  to 55  (non-freezing)

Storage -20  to 65  (non-freezing)

Operation 5 %RH to 90 %RH (non-condensing)

Storage

*4

1

1 FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

35

1.4 Combinations of servo amplifiers and servo

motors

• When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot be achieved with HG-JR

series servo motor.

• When you use the MR-J4-100GF(-RJ) or MR-J4-200GF(-RJ) with the 1-phase 200 V AC input, contact your

local sales office for the torque characteristics of the HG-UR series and HG-RR series servo motors.

200 V class

Servo amplifier Rotary servo motor Linear servo motor

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

MR-J4-10GF(-RJ) 053

13

MR-J4-20GF(-RJ) 23 23 LM-U2PAB-05M-0SS0

MR-J4-40GF(-RJ) 43 43 LM-H3P2A-07P-BSS0

MR-J4-60GF(-RJ) 51

MR-J4-70GF(-RJ) 73 73  72  73 LM-H3P3B-24P-CSS0

MR-J4-100GF(-RJ) 81

MR-J4-200GF(-RJ) 121

MR-J4-350GF(-RJ) 301

MR-J4-500GF(-RJ) 421

MR-J4-700GF(-RJ) 702 503

MR-J4-11KGF(-RJ) 801

MR-J4-15KGF(-RJ) 15K1

053 13

 

53 LM-U2PBD-15M-1SS0 TM-RFM006C20

52

102

201 152 202

352

502

53

152 103

153

202 203 153

352 502

353 503

103

73 103 153 203

203 353

353 503

601 701M 703

12K1 11K 1M 903

15K1M

(primary side)

LM-U2PBB-07M-1SS0

LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0

LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P2A-02M-1SS1 LM-U2PBF-22M-1SS0

*3

 TM-RFM018E20

*3

LM-H3P3D-48P-CSS0

*3

LM-H3P7B-48P-ASS0 LM-H3P7C-72P-ASS0 LM-FP2B-06M-1SS0 LM-K2P1C-03M-2SS1 LM-U2P2B-40M-2SS0

*3

LM-H3P7D-96P-ASS0

*3

LM-K2P2C-07M-1SS1 LM-K2P3C-14M-1SS1 LM-U2P2C-60M-2SS0

*3

LM-FP2D-12M-1SS0 LM-FP4B-12M-1SS0 LM-K2P2E-12M-1SS1 LM-K2P3E-24M-1SS1 LM-U2P2D-80M-2SS0

*3

LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0 

LM-FP4F-48M-1SS0 

*1

Direct drive motor

TM-RFM002C20 TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30

TM-RFM004C20 TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30

TM-RFM006E20

TM-RFM012E20 TM-RFM012G20 TM-RFM040J10



TM-RFM048G20 TM-RFM072G20 TM-RFM120J10

TM-RFM240J10



*1

*2

*2*4

*2

36

1 FUNCTIONS AND CONFIGURATION

1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Rotary servo motor Linear servo motor

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

MR-J4-22KGF(-RJ) 20K1

25K1 22K1M

(primary side)



*1

Direct drive motor

*1 This is available with servo amplifiers with software version A1 or later. *2 This is available with servo amplifiers with software version A5 or later. *3 This combination increases the maximum torque of the servo motor to 400%. *4 The combination increases the rated torque and the maximum torque.

400 V class

Servo amplifier Rotary servo motor Linear servo motor (primary side)

HG-SR HG-JR

MR-J4-60GF4(-RJ) 524 534 

MR-J4-100GF4(-RJ) 1024 534

MR-J4-200GF4(-RJ) 1524

2024

MR-J4-350GF4(-RJ) 3524 1534

MR-J4-500GF4(-RJ) 5024 3534

MR-J4-700GF4(-RJ) 7024 5034

MR-J4-11KGF4(-RJ)  8014

MR-J4-15KGF4(-RJ)  15K14

MR-J4-22KGF4(-RJ)  20K14

*2

734 1034

*2

734

*2

1034 1534 2034

*2

2034 3534

*2

5034

*2

6014 701M4 7034

12K14 11K 1M4 9034

15K1M4

25K14 22K1M4

*1 This is available with servo amplifiers with software version A1 or later. *2 The combination is for increasing the maximum torque of the servo motor to 400%.



LM-FP5H-60M-1SS0

*1

1

*1

100 V class

Servo amplifier Rotary servo motor Linear servo motor

HG-KR HG-MR

MR-J4-10GF1(-RJ) 053

13

MR-J4-20GF1(-RJ) 23 23 LM-U2PAB-05M-0SS0

MR-J4-40GF1(-RJ) 43 43 LM-H3P2A-07P-BSS0

053 13

*1 The combination increases the rated torque and the maximum torque.

(primary side)



LM-U2PBB-07M-1SS0

LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0

1 FUNCTIONS AND CONFIGURATION

1.4 Combinations of servo amplifiers and servo motors

Direct drive motor

TM-RFM002C20 TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30

TM-RFM004C20 TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30

*1

37

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 explanation

field.

Function Description Detailed

explanation

Model adaptive control This realizes a high response and stable control following the ideal model. The two-degrees-of-

freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately. Additionally, this function can be disabled. Refer to the following for disabling this function. Page 275 Model adaptive control disabled

Cyclic synchronous position mode (CSP)

Cyclic synchronous velocity mode (CSV)

Cyclic synchronous torque mode (CST)

Touch probe When the touch probe signal is turned on, the current position is latched. This is used with servo

High-resolution encoder High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary servo motor

Absolute position detection system Merely setting a home position once makes home position return unnecessary at every power-on. Page 447

Gain switching function You can switch gains during rotation and during stop, and can use an input device to switch gains

Advanced vibration suppression control 

Machine resonance suppression filter

Shaft resonance suppression filter When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may

Adaptive filter  Servo amplifier detects mechanical resonance and sets filter characteristics automatically to

Low-pass filter Suppresses high-frequency resonance which occurs as servo system response is increased. Page 253

Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a MR

Robust filter This function provides better disturbance response in case low response level that load to motor

Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop. [Pr. PB24]

Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Page 237

Brake unit Used when the regenerative option cannot provide enough regenerative power.

Operation is performed in the cyclic synchronous position mode. 

Operation is performed in the cyclic synchronous velocity mode. 

Operation is performed in the cyclic synchronous torque mode. 

amplifiers with software version A1 or later.

compatible with the MELSERVO-J4 series.

during operation.

This function suppresses vibration at the arm end or residual vibration. Page 254

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

generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.

suppress mechanical vibration.

Configurator2 installed personal computer and servo amplifier. MR Configurator2 is necessary for this function.

inertia ratio is high for such as roll send axes.

Can be used for the 5 kW or more servo amplifier.



Page 544

Touch probe



ABSOLUTE POSITION DETECTION SYSTEM

Page 259 Gain switching function

Advanced vibration suppression control II

Page 247 Machine resonance suppression filter

Page 252 Shaft resonance suppression filter

Page 250 Adaptive filter II

Low-pass filter



[Pr. PE41]

Auto tuning

Page 353 FR-BU2-(H) brake unit

38

1 FUNCTIONS AND CONFIGURATION

1.5 Function list

Function Description Detailed

explanation

Power regeneration converter Used when the regenerative option cannot provide enough regenerative power.

Can be used for the 5 kW or more servo amplifier.

Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not have sufficient

regenerative capability for the regenerative power generated.

Alarm history clear Alarm history is cleared. [Pr. PC21]

Input signal selection (device settings)

Output signal selection (device settings)

Output signal (DO) forced output Output signal can be forced on/off independently of the servo status.

Torque limit Servo motor torque can be limited to any value. [Pr. PA11]

Speed limit Servo motor speed can be limited to any value. [Pr. PT67]

Test operation mode Jog operation, positioning operation, motor-less operation, DO forced output, and program

Analog monitor output Servo status is output in terms of voltage in real time. [Pr. PC09], [Pr.

MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and

Linear servo system Linear servo system can be configured using a linear servo motor and linear encoder. For the

Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. For the software version of

Fully closed loop system Fully closed loop system can be configured using the load-side encoder. This is used with servo

One-touch tuning Gain adjustment is performed just by one click on a certain button on MR Configurator2.

SEMI-F47 function Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the

Tough drive function This function makes the equipment continue operating even under the condition that an alarm

Drive recorder function This function continuously monitors the servo status and records the status transition before and

The input devices including LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) can be assigned to certain pins of the CN3 connector.

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN3 connector.

Use this function for checking output signal wiring, etc.

operation MR Configurator2 is necessary for this function.

others.

software version of the servo amplifier that is compatible, refer to the following. Page 36 Combinations of servo amplifiers and servo motors

the servo amplifier that is compatible, refer to the following. Page 36 Combinations of servo amplifiers and servo motors

amplifiers with software version A1 or later.

Also, the one-touch tuning can be used through network.

capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

occurs. The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

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.

• You are using the graph function of MR Configurator2.

• You are using the machine analyzer function.

• [Pr. PF21] is set to "-1".

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

• An alarm related to the controller is occurring.

Page 366 FR-RC-(H) power regeneration converter

Page 335 Regenerative options

[Pr. PD03] to [Pr. PD05]

[Pr. PD07] to [Pr. PD09]

Page 140 Output signal (DO) forced output

[Pr. PA12]

Page 139 Test operation mode

PC10]

Page 381 MR Configurator2

Page 465 USING A LINEAR SERVO MOTOR

Page 493 USING A DIRECT DRIVE MOTOR

Page 513 FULLY CLOSED LOOP SYSTEM

Page 229 One-touch tuning

[Pr. PA20] [Pr. PF25] Page 273 Compliance with SEMI-F47 standard

Page 267 Tough drive function

[Pr. PA23]

1

1 FUNCTIONS AND CONFIGURATION

1.5 Function list

39

Function Description Detailed

explanation

STO function This function is a functional safety that complies with IEC/EN 61800-5-2. You can create a safety

system for the equipment easily.

Servo amplifier life diagnosis function

Power monitoring function This function calculates the power running energy and the regenerative power from the data in the

Machine diagnosis function From the data in the servo amplifier, this function estimates the friction and vibrational component of

Scale measurement function The function transmits position information of a scale measurement encoder to the controller by

Home position return mode The servo amplifier operates in the home position return mode. Page 143

Lost motion compensation function This function improves the response delay occurred when the machine moving direction is reversed. Page 276

Super trace control This function sets constant and uniform acceleration/deceleration droop pulses to almost 0. Page 279

Backup/restoration function This function is to back up and restore all parameter data and point table data in the servo amplifier

Functional safety unit MR-D30 can be used to expand the safety observation function. This is available with servo

CC-Link IE Field diagnosis "Selected Station Communication Status Monitor" is available. This is available with servo amplifiers

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. Also, the servo amplifier life diagnosis function can be used through network. Page 627 List of registration objects

servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.

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. Also, the machine diagnosis function can be used through network. Page 627 List of registration objects

connecting the scale measurement encoder in semi closed loop control. This is used with servo amplifiers with software version A1 or later.

to GOT using SLMP. This is used with servo amplifiers with software version A1 or later.

amplifiers with software version A3 or later.

with software version A3 or later. "Operation Test", "Information Confirmation/Set", and "Selected Station Operation" are not available.

Page 453 USING STO FUNCTION



Page 535

Scale measurement function

Home position return mode

Lost motion compensation function

Super trace control

Page 548 Backup/ restoration function



40

1 FUNCTIONS AND CONFIGURATION

1.5 Function list

1.6 Model designation

TOKYO 100-8310, JAPAN MADE IN JAPAN

Country of origin

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

KC certification number, The year and month of manufacture

Serial number

IP20

KCC-REI-MEK-TC301A079G51

Max. Surrounding Air Temp.: 55°C

POWER :100W

MR-J4-10GF

AC SERVO

SER.A5X001001

OUTPUT: 3PH170V 0-360Hz 1.1A

MAN.: IB(NA)0300175

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

STD.: IEC/EN 61800-5-1

DATE:2015-10

MODEL

Series

Rated output

CC-Link IE Field Network

Special specifications

Symbol Rated output [kW]

10 0.1 20 0.2 40 0.4

Symbol Special specifications

None Standard

MR-J4-_GF_-RJ without a dynamic brake

*2

MR-J4-_GF_-RJ without regenerative resistor

*1

-RJ

Fully closed loop control four-wire type/load-side encoder A/B/Z-phase input compatible

60 0.6 70

0.75

100

1

200

2

350

3.5

500

5

700

7

11K

11

15K

15

22K

22

-RU

-RZ MR-J4-_GF_ with a special coating specification (3C2)

*3

-EB MR-J4-_GF_-RJ with a special coating specification (3C2)

*3

-KS

Power supply

Symbol

Power supply

None

3-phase or 1-phase 200 V AC to 240 V AC

4

3-phase 380 V AC to 480 V AC

1

1-phase 100 V AC to 120 V AC

MR-J4-_GF_ without a dynamic brake

*2

-ED

MR-J4-_GF_ without regenerative resistor

*1

-PX

MR RJJF446-- -0G

Rating plate

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

Model

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

1

*1 Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.

Page 622 Without regenerative resistor

*2 Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed.

Page 621 Amplifiers without dynamic brake

*3 Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2).

Page 623 Special coating-specification product (IEC 60721-3-3 Class 3C2)

1 FUNCTIONS AND CONFIGURATION

1.6 Model designation

41

1.7 Structure

1ON2

(6)

(18)

(13)

(10)

(17)

(9)

(5)

(7)

(11) Bottom

(16)

(15)

(8)

(4)

(14) Side

(12)

(19)(20)

(1)

(3)

(2)

Inside of the display cover

Parts identification

CAUTION

• When the servo amplifier is used for CC-Link IE Field Network, use the CN1A connector and CN1B connector. Do not connect these connectors to other than CC-Link IE Field Network. Otherwise, a malfunction may occur.

• When the servo amplifier is used for CC-Link IE Field Network Basic, use the CN1A connector only. Do not connect this connector to other than CC-Link IE Field Network Basic. Otherwise, a malfunction may occur.

200 V class

■MR-J4-200GF(-RJ) or less

The diagram shows MR-J4-10GF-RJ.

No. Name/Application Detailed explanation

(1) Display

The 3-digit, 7-segment LED shows the servo status and the alarm number.

(2) Station number setting rotary switch (SW2/SW3)

Used to set the station number of the servo amplifier.

(3) Mode select switch (SW1)

(4) USB communication connector (CN5)

(5) I/O signal connector (CN3)

(6) STO input signal connector (CN8)

(7) Ethernet cable connector (CN1A)

(8) Ethernet cable connector (CN1B)

(9)

(10) Battery connector (CN4)

To change mode to the test operation mode, set the switch. (SW1-1)

Used to connect a personal computer.

Used to connect digital I/O signals.

Used to connect the MR-J3-D05 safety logic unit and external safety relay.

Used to connect the controller or the servo amplifier.

*2

Encoder connector (CN2) Used to connect the servo motor encoder or external encoder. Refer to the following for the compatible external encoders. Page 18 Summary

Used to connect the battery for absolute position data backup.

Page 134 Switch setting and display of the servo amplifier

Page 381 MR Configurator2

Page 95 I/O signal connection

example Page 104 Connectors and pin assignment

Page 453 USING STO FUNCTION Page 586 MR-J3-D05 Safety logic unit

Page 59 Configuration including

peripheral equipment Page 137 CC-Link IE Field status display LED

Page 104 Connectors and pin assignment "Servo Motor Instruction Manual (Vol. 3)"

Page 450 Battery

42

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

No. Name/Application Detailed explanation

(11) Battery holder

Used to house the battery for absolute position data backup.

(12) Protective earth (PE) terminal Page 83 Connection example of power

(13) Main circuit power connector (CNP1)

(14) Rating plate Page 41 Model designation

(15) Control circuit power connector (CNP2)

(16) Servo motor power output connector (CNP3)

(17) Charge lamp

(18)

(19) Optional unit connector 1 (CN7)

(20) Optional unit connector 2 (CN9)

Used to connect the input power supply.

Used to connect the control circuit power supply and regenerative option.

Used to connect the servo motor.

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

*1*2

External encoder connector (CN2L) Used to connect the external encoder. Refer to the following for the compatible external encoders. Page 18 Summary

This connector is used for connection with an optional unit. The connector is attached only on MR-J4_GF_-RJ.

Page 384 Battery

circuit Page 98 Explanation of power supply system

Page 83 Connection example of power circuit Page 98 Explanation of power supply system



Page 104 Connectors and pin

assignment "Linear Encoder Instruction Manual"



*1 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. *2 "External encoder" is a term for linear encoder used in the linear servo system, load-side encoder used in the fully closed loop system,

and scale measurement encoder used with the scale measurement function in this manual.

1

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

43

■MR-J4-350GF(-RJ)

(1)

(3)

(2) Side

(4) (5)

(7)

(6)

The broken line area is the same as MR-J4-200GF(-RJ) or less.

The diagram shows MR-J4-350GF-RJ.

No. Name/Application Detailed explanation

(1) Main circuit power connector (CNP1)

Connect the input power supply.

(2) Rating plate Page 41 Model designation

(3) Servo motor power output connector (CNP3)

Connect the servo motor.

(4) Control circuit power connector (CNP2)

Connect the control circuit power supply and regenerative option.

(5) Charge lamp

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

(6) Protective earth (PE) terminal Page 83 Connection example of power

(7) Battery holder

Install the battery for absolute position data backup.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system



circuit Page 98 Explanation of power supply system

Page 384 Battery

1 FUNCTIONS AND CONFIGURATION

44

1.7 Structure

■MR-J4-500GF(-RJ)

The broken line area is the same as MR-J4-200GF(-RJ) or less.

(1)

(3)

*1

(2)

(8)

(4) Side

(5)

(6)

(7)

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

The diagram shows MR-J4-500GF-RJ.

1

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

No. Name/Application Detailed explanation

(1) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(2) Main circuit terminal block (TE1)

Connect the input power supply.

(3) Battery holder

Install the battery for absolute position data backup.

(4) Rating plate Page 41 Model designation

(5) Regenerative option/power factor improving reactor terminal block (TE3)

Used to a connect a regenerative option and a power factor improving DC reactor.

(6) Servo motor power output terminal block (TE4)

Connect the servo motor.

(7) Charge lamp

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery

Page 83 Connection example of power

circuit Page 98 Explanation of power supply system



1 FUNCTIONS AND CONFIGURATION

1.7 Structure

45

No. Name/Application Detailed explanation

(1)

(5)

*1

(2)

(4)

(3)

(6)

The broken line area is the same as MR-J4-200GF(-RJ) or less.

(7)

(8) Protective earth (PE) terminal Page 83 Connection example of power

circuit Page 98 Explanation of power supply system

■MR-J4-700GF(-RJ)

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram shows MR-J4-700GF-RJ.

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

No. Name/Application Detailed explanation

(1) Power factor improving reactor terminal block (TE3)

Used to connect a power factor improving DC reactor.

(2) Main circuit terminal block (TE1)

Used to connect the input power supply, regenerative option, and servo motor.

(3) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4) Protective earth (PE) terminal

(5) Battery holder

Install the battery for absolute position data backup.

(6) Rating plate Page 41 Model designation

(7) Charge lamp

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery



1 FUNCTIONS AND CONFIGURATION

46

1.7 Structure

■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)

The broken line area is the same as MR-J4-200GF(-RJ) or less.

(1)

(5)

*1

(2)

(4)

(3)

(6)

(7)

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ.

1

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

No. Name/Application Detailed explanation

(1) Power factor improving reactor terminal block (TE1-2)

Used to connect a power factor improving DC reactor and a regenerative option.

(2) Main circuit terminal block (TE1-1)

Used to connect input power and servo motor.

(3) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4) Protective earth (PE) terminal

(5) Battery holder

Used to house the battery for absolute position data backup.

(6) Rating plate Page 41 Model designation

(7) Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery



1 FUNCTIONS AND CONFIGURATION

1.7 Structure

47

■MR-J4-22KGF(-RJ)

(7)

(6)

(5)

*1

(2)

(3)

(4)

(1)

The broken line area is the same as MR-J4-200GF(-RJ) or less.

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram shows MR-J4-22KGF-RJ.

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

No. Name/Application Detailed explanation

(1) Power factor improving reactor terminal block (TE1-2)

Used to connect a power factor improving DC reactor and a regenerative option.

(2) Main circuit terminal block (TE1-1)

Used to connect input power and servo motor.

(3) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4) Protective earth (PE) terminal

(5) Battery holder

Used to house the battery for absolute position data backup.

(6) Rating plate Page 41 Model designation

(7) Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery



48

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

400 V class

1ON2

(4)

(13)

(15)

(14) Side

(9)

(17) (6)

(5)

(7)

(8)

(16)

(19)(20)

(18)

(10)

(11) Bottom

(12)

Inside of the display cover

(1)

(3)

(2)

■MR-J4-200GF4(-RJ) or less

The diagram shows MR-J4-60GF4-RJ.

No. Name/Application Detailed explanation

(1) Display

The 3-digit, 7-segment LED shows the servo status and the alarm number.

(2) Station number setting rotary switch (SW2/SW3)

Set the station number of the servo amplifier.

(3) Mode select switch (SW1)

(4) USB communication connector (CN5)

(5) I/O signal connector (CN3)

(6) STO input signal connector (CN8)

(7) Ethernet cable connector (CN1A)

(8) Ethernet cable connector (CN1B)

(9)

(10) Battery connector (CN4)

(11) Battery holder

(12) Protective earth (PE) terminal Page 83 Connection example of power

(13) Main circuit power connector (CNP1)

(14) Rating plate Page 41 Model designation

(15) Control circuit power connector (CNP2)

(16) Servo motor power output connector (CNP3)

To change mode to the test operation mode, set the switch. (SW1-1)

Used to connect a personal computer.

Used to connect digital I/O signals.

Used to connect the MR-J3-D05 safety logic unit and external safety relay.

Used to connect the controller or the servo amplifier.

*2

Encoder connector (CN2) Used to connect the servo motor encoder or external encoder. Refer to the following for the compatible external encoders. Page 18 Summary

Used to connect the battery for absolute position data backup.

Used to house the battery for absolute position data backup.

Used to connect the input power supply.

Used to connect the control circuit power supply and regenerative option.

Used to connect the servo motor.

Page 134 Switch setting and display of the servo amplifier

Page 381 MR Configurator2

Page 95 I/O signal connection

example Page 104 Connectors and pin assignment

Page 453 USING STO FUNCTION Page 586 MR-J3-D05 Safety logic unit

Page 95 I/O signal connection

example Page 104 Connectors and pin assignment

Page 104 Connectors and pin assignment "Servo Motor Instruction Manual (Vol. 3)"

Page 450 Battery

Page 384 Battery

circuit Page 98 Explanation of power supply system

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

1

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

49

No. Name/Application Detailed explanation

(1)

(3)

(2) Side

(4)

(5)

(6)

(7)

*1

The broken line area is the same as MR-J4-200GF4(-RJ) or less.

(17) Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

*1*2

(18)

(19) Optional unit connector 1 (CN7)

(20) Optional unit connector 2 (CN9)

External encoder connector (CN2L) Used to connect the external encoder. Refer to the following for the compatible external encoders. Page 18 Summary

This connector is used for connection with an optional unit. This connector is attached only on MR-J4_GF_-RJ.



Page 104 Connectors and pin

assignment "Linear Encoder Instruction Manual"



*1 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. *2 "External encoder" is a term for linear encoder used in the linear servo system, load-side encoder used in the fully closed loop system,

and scale measurement encoder used with the scale measurement function in this manual.

■MR-J4-350GF4(-RJ)

The diagram shows MR-J4-350GF4-RJ.

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

No. Name/Application Detailed explanation

(1) Main circuit power connector (CNP1)

Connect the input power supply.

(2) Rating plate Page 41 Model designation

(3) Control circuit power connector (CNP2)

Connect the control circuit power supply and regenerative option.

(4) Servo motor power output connector (CNP3)

Connect the servo motor.

(5) Charge lamp

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

(6) Protective earth (PE) terminal Page 83 Connection example of power

(7) Battery holder

Install the battery for absolute position data backup.

1 FUNCTIONS AND CONFIGURATION

50

1.7 Structure

Page 83 Connection example of power circuit Page 98 Explanation of power supply system



circuit Page 98 Explanation of power supply system

Page 384 Battery

■MR-J4-500GF4(-RJ)

(1)

(3)

*1

(2)

(5)

(6)

(7)

The broken line area is the same as MR-J4-200GF4(-RJ) or less.

(4)

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram shows MR-J4-500GF4-RJ.

1

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

No. Name/Application Detailed explanation

(1) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(2) Main circuit terminal block (TE1)

Used to connect the input power supply, regenerative option, and servo motor.

(3) Battery holder

Install the battery for absolute position data backup.

(4) Rating plate Page 41 Model designation

(5) Power factor improving reactor terminal block (TE3)

Used to connect a power factor improving DC reactor.

(6) Charge lamp

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

(7) Protective earth (PE) terminal Page 83 Connection example of power

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery

Page 83 Connection example of power

circuit Page 98 Explanation of power supply system



circuit Page 98 Explanation of power supply system

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

51

■MR-J4-700GF4(-RJ)

(1)

(5)

*1

(2)

(4)

(3)

(6)

The broken line area is the same as MR-J4-200GF4(-RJ) or less.

(7)

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram shows MR-J4-700GF4-RJ.

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

No. Name/Application Detailed explanation

(1) Power factor improving reactor terminal block (TE3)

Used to connect a power factor improving DC reactor.

(2) Main circuit terminal block (TE1)

Used to connect the input power supply, regenerative option, and servo motor.

(3) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4) Protective earth (PE) terminal

(5) Battery holder

Install the battery for absolute position data backup.

(6) Rating plate Page 41 Model designation

(7) Charge lamp

When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery



52

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)

The broken line area is the same as MR-J4-200GF4(-RJ) or less.

(1)

(5)

*1

(2)

(4)

(3)

(6)

(7)

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram is for MR-J4-11KGF4-RJ and MR-J4-15KGF4-RJ.

1

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

No. Name/Application Detailed explanation

(1) Power factor improving reactor terminal block (TE1-2)

Used to connect a power factor improving DC reactor or a regenerative option.

(2) Main circuit terminal block (TE1-1)

Used to connect input power and servo motor.

(3) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4) Protective earth (PE) terminal

(5) Battery holder

Used to house the battery for absolute position data backup.

(6) Rating plate Page 41 Model designation

(7) Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery



1 FUNCTIONS AND CONFIGURATION

1.7 Structure

53

■MR-J4-22KGF4(-RJ)

(7)

(6)

(5)

*1

(2)

(3)

(4)

(1)

The broken line area is the same as MR-J4-200GF4(-RJ) or less.

The servo amplifier is shown without the front cover. For removal of the front cover, refer to the following. Page 57 Removal and reinstallation of the front cover

The diagram shows MR-J4-22KGF4-RJ.

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

No. Name/Application Detailed explanation

(1) Power factor improving reactor terminal block (TE1-2)

Used to connect a power factor improving DC reactor or a regenerative option.

(2) Main circuit terminal block (TE1-1)

Used to connect input power and servo motor.

(3) Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4) Protective earth (PE) terminal

(5) Battery holder

Used to house the battery for absolute position data backup.

(6) Rating plate Page 41 Model designation

(7) Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

Page 83 Connection example of power circuit Page 98 Explanation of power supply system

Page 384 Battery



54

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

100 V class

The diagram shows MR-J4-10GF1-RJ.

(19)(20)

(3)

(1)

1ON2

Inside of the display cover

No. Name/Application Detailed explanation

(1) Display

The 3-digit, 7-segment LED shows the servo status and the alarm number.

(2) Station number setting rotary switch (SW2/SW3)

Used to set the station number of the servo amplifier.

(3) Mode select switch (SW1)

To change mode to the test operation mode, set the switch. (SW1-1)

(4) USB communication connector (CN5)

Connect with the personal computer.

(5) I/O signal connector (CN3)

Used to connect digital I/O signals.

(6) STO input signal connector (CN8)

Used to connect the MR-J3-D05 safety logic unit and external safety relay.

(7) Ethernet cable connector (CN1A)

Used to connect the controller or servo amplifier.

(8) Ethernet cable connector (CN1B)

Used to connect the controller or servo amplifier.

*2

Encoder connector (CN2)

(9)

Used to connect the servo motor encoder or external encoder. Refer to the following for the compatible external encoders. Page 18 Summary

(10) Battery connector (CN4)

Used to connect the battery for absolute position data backup.

(11) Battery holder

Install the battery for absolute position data backup.

(12) Protective earth (PE) terminal Page 83 Connection example of power

(13) Main circuit power connector (CNP1)

Used to connect to the input power supply.

(14) Rating plate Page 41 Model designation

(15) Control circuit power connector (CNP2)

Used to connect the control circuit power supply and regenerative option.

(16) Servo motor power output connector (CNP3)

Used to connect the servo motor.

(17) Charge lamp

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the wires.

(2)

(4) (6) (13) (5) (15) (7)

(16) (8) (9) (17) (18) (10) (14)

Side

(11) Bottom

(12)

Page 134 Switch setting and display of the servo amplifier

Page 381 MR Configurator2

Page 95 I/O signal connection

example Page 104 Connectors and pin assignment

Page 453 USING STO FUNCTION Page 586 MR-J3-D05 Safety logic unit

Page 59 Configuration including

peripheral equipment Page 137 CC-Link IE Field status display LED

Page 104 Connectors and pin assignment "Servo Motor Instruction Manual (Vol. 3)"

Page 447 ABSOLUTE POSITION DETECTION SYSTEM

Page 384 Battery

circuit Page 98 Explanation of power supply system

Page 83 Connection example of power circuit Page 98 Explanation of power supply system



1

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

55

No. Name/Application Detailed explanation

*1*

(18)

External encoder connector (CN2L)

2

Used to connect the external encoder. Refer to the following for the compatible external encoders. Page 18 Summary

(19) Optional unit connector 1 (CN7)

This connector is used for connection with an optional unit. The connector is attached only on MR-J4_GF1_-RJ.

(20) Optional unit connector 2 (CN9)

This connector is used for connection with an optional unit. The connector is attached only on MR-J4_GF1_-RJ.

Page 104 Connectors and pin assignment "Linear Encoder Instruction Manual"



*1 This is for MR-J4-_GF1-RJ servo amplifier. MR-J4-_GF1 servo amplifier does not have CN2L connector. *2 "External encoder" is a term for linear encoder used in the linear servo system, load-side encoder used in the fully closed loop system,

and scale measurement encoder used with the scale measurement function in this manual.

56

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

Removal and reinstallation of the front cover

WARNING

• Before removing or installing the front cover, 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.

The following shows how to remove and reinstall the front cover of MR-J4-700GF(-RJ) to MR-J4-22KGF(-RJ) and MR-J4-

500GF4(-RJ) to MR-J4-22KGF4(-RJ).

The diagram is for MR-J4-700GF-RJ.

Removal of the front cover

A)

1

1) Hold the ends of lower side of the front cover with both hands.

A)

2) Pull up the cover, supporting at point A).

3) Pull out the front cover to remove.

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

57

Reinstallation of the front cover

Front cover setting tab

Setting tab

A)

1) Insert the front cover setting tabs into the sockets of servo amplifier (2 places).

3) Press the cover against the terminal box until the installing knobs click.

2) Push down the cover, supporting at point A).

58

1 FUNCTIONS AND CONFIGURATION

1.7 Structure

1.8 Configuration including peripheral equipment

CN4

Line noise filter (FR-BSF01)

CN5

Regenerative option

P+

C

L11

L21

P3

P4

Servo motor

Personal computer

MR Configurator2

CN3

CN8

CN2

CN2L

*4

W

V

U

Magnetic contactor

*3

L1 L2 L3

*1

(MC)

Power factor improving DC reactor (FR-HEL)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

RS T

Power supply

*2

D

*5

CN1A

CN1B

Servo system controller or servo amplifier

CAUTION

• Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

• The CN1A and CN1B connectors are designed for CC-Link IE Field Network only. Do not connect these connectors to other than CC-Link IE Field Network. Doing so may cause a malfunction.

• Equipment other than the servo amplifier and servo motor are optional or recommended products.

• When using the MR-J4-_GF-RJ servo amplifier with the DC power supply input, refer to the following. Page 563 When using the servo amplifier with the DC power supply input

200 V class

■MR-J4-200GF(-RJ) or less

The diagram shows MR-J4-20GF-RJ.

1

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

59

*1 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.

*2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to the following for the power supply

specifications. Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-_GF-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 Always connect between P+ and D terminals. When using the regenerative option, refer to the following.

Page 335 Regenerative options

60

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

■MR-J4-350GF(-RJ)

CN5

P+

C

L11

L21

P3

P4

MR Configurator2

CN3

CN8

CN2

CN2L

*4

W

V

U

L1

L2

L3

CN4

RS T

CN1A

CN1B

Line noise filter (FR-BSF01)

Regenerative option

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

D

*5

The diagram shows MR-J4-350GF-RJ.

1

*1 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.

*2 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

*4 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-_GF-RJ

*5 Always connect between P+ and D terminals. When using the regenerative option, refer to the following.

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders.

Page 18 Summary

Page 335 Regenerative options

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

61

■MR-J4-500GF(-RJ)

CN5

P+

C

L11

L21

P3

P4

MR Configurator2

CN2

CN2L

*4

W

V

U

L1 L2 L3

CN3

CN4

RS T

D

*5

CN8

CN1A

CN1B

Line noise filter (FR-BLF)

Regenerative option

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

The diagram shows MR-J4-500GF-RJ.

*1 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.

*2 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-_GF-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 Always connect between P+ and D terminals. When using the regenerative option, refer to the following.

Page 335 Regenerative options

62

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

■MR-J4-700GF(-RJ)

CN5

P+

C

L11

L21

P4

P3

MR Configurator2

CN3

CN2

CN2L

*4

WVU

L3

CN8

L2

L1

CN4

RS T

CN1A

CN1B

Line noise filter (FR-BLF)

Regenerative option

*5

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

The diagram shows MR-J4-700GF-RJ.

1

*1 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.

*2 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-_GF-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

1.8 Configuration including peripheral equipment

1 FUNCTIONS AND CONFIGURATION

63

■MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)

P3

P4

CN5

P+ C

MR Configurator2

CN3

CN2

CN2L

*4

W

V

U

CN4

L11

L21

CN8

CN1A

CN1B

RS T

L1

L3

L2

Line noise filter (FR-BLF)

Regenerative option

*5

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ.

64

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

*1 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.

*2 Refer to the following for the power supply specifications.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-_GF-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

1

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

65

■MR-J4-22KGF(-RJ)

MR Configurator2

Line noise filter (FR-BLF)

Regenerative option

*5

Servo motor

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

CN5

L11

L21

MR Configurator2

CN2

CN2L

*4

L1

CN4

RS T

P3

P4

CN3

CN8

L3

P+

C

L2

W

V

U

CN1A

CN1B

Personal computer

The diagram shows MR-J4-22KGF-RJ.

*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not

*2 Refer to the following for the power supply specifications.

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

using the power factor improving DC reactor, short P3 and P4.

Page 30 Servo amplifier standard specifications

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-_GF-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

1 FUNCTIONS AND CONFIGURATION

66

1.8 Configuration including peripheral equipment

400 V class

CN4

CN5

P+

C

L11

L21

P3

P4

MR Configurator2

CN2

CN2L

*4

W

V

U

L1 L2 L3

CN3

CN8

RS T

CN1A

CN1B

Line noise filter (FR-BSF01)

Regenerative option

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL-H)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

D

*5

Servo system controller or servo amplifier

■MR-J4-200GF4(-RJ) or less

The diagram is for MR-J4-60GF4-RJ and MR-J4-100GF4-RJ.

1

*1 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.

*2 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-_GF4-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 Always connect between P+ and D terminals. When using the regenerative option, refer to the following.

Page 335 Regenerative options

1.8 Configuration including peripheral equipment

1 FUNCTIONS AND CONFIGURATION

67

■MR-J4-350GF4(-RJ)

CN5

P+

C

L11

L21

P3

P4

MR Configurator2

CN3

CN8

CN2

W

V

U

L1 L2 L3

CN4

RS T

CN1A

CN1B

CN2L

*4

RS T

Line noise filter (FR-BSF01)

Regenerative option

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL-H)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

D

*5

Servo system controller or servo amplifier

The diagram shows MR-J4-350GF4-RJ.

68

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

*1 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.

*2 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-_GF4-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 Always connect between P+ and D terminals. When using the regenerative option, refer to the following.

Page 335 Regenerative options

1

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

69

■MR-J4-500GF4(-RJ)

P+ C

L21

L11

W

V

U

L1

L2

L3

P3

P4

CN4

RS T

CN5

MR Configurator2

CN3

CN8

CN1A

CN1B

CN2L

*4

Line noise filter (FR-BSF01)

Regenerative option

*5

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL-H)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

The diagram shows MR-J4-500GF4-RJ.

*1 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.

*2 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-_GF4-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

70

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

■MR-J4-700GF4(-RJ)

CN2L

*4

Line noise filter (FR-BLF)

Regenerative option

*5

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL-H)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

CN5

MR Configurator2

CN3

CN2

CN8

CN4

CN1A

CN1B

P+

C

L11

L21

P4

P3

WVU

L3

L2

L1

RS T

The diagram shows MR-J4-700GF4-RJ.

1

*1 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.

*2 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-_GF4-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

1.8 Configuration including peripheral equipment

1 FUNCTIONS AND CONFIGURATION

71

■MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)

P3

P4

P+ C

W

V

U

L1

RS T

L3

L11

L21

L2

CN5

CN3

CN2

CN4

CN8

CN1A

CN1B

CN2L

*4

Line noise filter (FR-BLF)

Regenerative option

*5

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL-H)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

MR Configurator2

CN4

The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ.

72

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

*1 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.

*2 Refer to the following for the power supply specification.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-_GF4-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

1

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

73

■MR-J4-22KGF4(-RJ)

CN2L

*4

Line noise filter (FR-BLF)

Regenerative option

*5

Servo motor

Personal computer

Magnetic contactor

*3

*1

(MC)

Power factor improving DC reactor (FR-HEL-H)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

MR Configurator2

CN4

CN5

L11

L21

CN2

L1

CN4

RS T

P3

P4

CN3

CN8

L3

P+

C

L2

W

V

U

CN1A

CN1B

The diagram shows MR-J4-22KGF4-RJ.

*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not

*2 Refer to the following for the power supply specification.

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

using the power factor improving DC reactor, short P3 and P4.

Page 30 Servo amplifier standard specifications

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

*4 This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-_GF4-RJ

servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to the following and "Linear Encoder Instruction Manual" for the compatible external encoders. Page 18 Summary

*5 When using the regenerative option, refer to the following.

Page 335 Regenerative options

1 FUNCTIONS AND CONFIGURATION

74

1.8 Configuration including peripheral equipment

100 V class

CN4

CN5

MR Configurator2

CN3

CN8

CN2

CN2L

*4

W

V

U

D

*5

CN1A

CN1B

P+

C

L11

L21

L1

L2

*1

RT

*1

Line noise filter (FR-BSF01)

Regenerative option

Servo motor

Personal computer

Magnetic contactor

*3

(MC)

Junction terminal block

Safety relay or MR-J3-D05 safety logic unit

Battery

Molded-case circuit breaker (MCCB)

Power supply

*2

Servo system controller or servo amplifier

Power factor improving AC reactor (FR-HAL)

The diagram shows MR-J4-20GF1-RJ.

1

*1 The power factor improving DC reactor cannot be used. *2 For the power supply specifications, refer to the following.

Page 30 Servo amplifier standard specifications

*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to

*4 When this is used as a fully closed loop system, the external encoder status is returned. Refer to the following and "Linear Encoder

*5 Be sure to connect between P+ and D terminals. When using the regenerative option, refer to the following.

shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.

Instruction Manual" for the compatible external encoders.

Page 18 Summary

Page 335 Regenerative options

1 FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

75

2 INSTALLATION

WARNING

• To prevent electric shock, ground each equipment securely.

CAUTION

• Stacking in excess of the specified number of product packages is not allowed.

• Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.

• Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire.

• Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.

• Do not get on or put heavy load on the product. Otherwise, it may cause injury.

• Use the equipment within the specified environment. For the environment, refer to the following. Page 30 Servo amplifier standard specifications

• Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.

• Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

• Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause injury, malfunction, etc.

• Do not drop or strike the servo amplifier. Isolate it from all impact loads.

• Do not install or operate the servo amplifier which have been damaged or have any parts missing.

• When the equipment has been stored for an extended period of time, contact your local sales office.

• When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

• The servo amplifier must be installed in 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.

76

2 INSTALLATION

2.1 Installation direction and clearances

40 mm or more

10 mm or more

*2

40 mm or more

*1

Servo amplifier

Cabinet Cabinet

Wiring allowance

80 mm or more

Top

Bottom

CAUTION

• The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.

• Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

Installation clearances of the servo amplifier

■Installation of one servo amplifier

2

*1 For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. *2 When mounting MR-J4-500GF(-RJ), maintain a minimum clearance of 25 mm on the left side.

2.1 Installation direction and clearances

2 INSTALLATION

77

■Installation of two or more servo amplifiers

Cabinet Cabinet

100 mm or more

10 mm or more

*2

30 mm or more

40 mm or more

*1

100 mm or more

30 mm or more

40 mm or more

Leaving clearance Mounting closely

Top

Bottom

1 mm 1 mm

• Close mounting is possible depending on the capacity of the servo amplifier. Refer to the following for

availability of close mounting. Page 30 Servo amplifier standard specifications

• When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth

than that on the left. Otherwise, the CNP1, CNP2, and CNP3 connectors cannot be removed.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the

internal temperature of the cabinet from exceeding the environment.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within 0  to 45  or use the servo

amplifier with 75% or less of the effective load ratio.

*1 For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. *2 When mounting MR-J4-500GF(-RJ), maintain a minimum clearance of 25 mm between the MR-J4-500GF(-RJ) and a servo amplifier

mounted on the left side.

Others

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation

so that the servo amplifier is not affected.

Install the servo amplifier on a perpendicular wall in the correct vertical direction.

78

2 INSTALLATION

2.1 Installation direction and clearances

2.2 Keeping out of foreign materials

• When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.

• Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or a cooling fan

installed on the ceiling.

• When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force clean air into the

cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from

entering the cabinet.

2.3 Encoder cable stress

• The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied

to the cable connection.

• For use in any application where the servo motor moves, fix the cables (encoder, power supply, and brake) with having

some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part.

Use the optional encoder cable within the bending life range. Use the power supply and brake wiring cables within the

bending life of the cables.

• Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner, or stamped by

workers or vehicles.

• For installation on a machine where the servo motor moves, the bending radius should be made as large as possible. Refer

to the following for the bending life. Page 324 Cable bending life

2

2.4 Inspection items

WARNING

• Before starting maintenance and/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.

• To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.

CAUTION

• Do not perform insulation resistance test on the servo amplifier. Otherwise, it may cause a malfunction.

• Do not disassemble and/or repair the equipment on customer side.

It is recommended that the following points periodically be checked.

• Check for loose terminal block screws. Retighten any loose screws.

• Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions

especially when the servo motor is movable.

• Check that the connector is securely connected to the servo amplifier.

• Check that the wires are not coming out from the connector.

• Check for dust accumulation on the servo amplifier.

• Check for unusual noise generated from the servo amplifier.

• Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a

power is shut off by the emergency stop switch.

2 INSTALLATION

2.2 Keeping out of foreign materials

79

2.5 Parts having service life

Service life of the following parts is listed below. However, the service life varies depending on operation and environment. If

any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement,

please contact your local sales office.

Part name Life guideline

Smoothing capacitor 10 years

Relay Number of power-on, forced stop by EM1 (Forced stop 1), and sudden stop command from controller:

100,000 times Number of on and off for STO: 1,000,000 times

Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)

Absolute position battery Page 450 Battery

Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends

on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation

in air-conditioned environment (ambient temperature of 40 °C or less for use at the maximum 1000 m above sea level, 30 °C

or less for over 1000 m to 2000 m).

Relays

Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of their lives when the

power has been turned on, forced stop by EM1 (Forced stop 1) has occurred, and sudden stop command from controller has

been executed 100,000 times in total, or when the STO has been turned on and off 1,000,000 times while the servo motor is

stopped under servo-off state. However, the lives of relays may depend on the power supply capacity.

Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore, the cooling fan must

be replaced in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is

found during inspection. The life indicates under the yearly average ambient temperature of 40 , free from corrosive gas, flammable gas, oil mist,

dust and dirt.

80

2 INSTALLATION

2.5 Parts having service life

2.6 Restrictions when using the servo amplifiers at

0

20001000

Altitude

95

100

0

Regenerative load ratio

Effective load ratio

[%]

[m]

altitude exceeding 1000 m and up to 2000 m above sea level

Effective load ratio and regenerative load ratio

Heat dissipation effects decrease in proportion to decreasing air density, and hence use the servo amplifiers with the effective

load ratio and the regenerative load ratio within the following range.

When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0  to 45  or at 75% or smaller effective load ratio. Page 77 Installation direction and clearances

Input voltage

Generally, withstand voltage decreases as altitude increases; however, there is no restriction on the withstand voltage. Use in the same manner as in 1000 m or less. Page 30 Servo amplifier standard specifications

2

Parts having service life

■Smoothing capacitor

The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (30  ambient

temperature or less).

■Relays

There is no restriction. Use in the same manner as in 1000 m or less. Page 80 Parts having service life

■Servo amplifier cooling fan

There is no restriction. Use in the same manner as in 1000 m or less. Page 80 Parts having service life

2 INSTALLATION

2.6 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level

81

3 SIGNALS AND WIRING

24 V DC

RA

DOCOM

Control output signal

Servo amplifier

For sink output interface

24 V DC

RA

DOCOM

Control output signal

Servo amplifier

For source output interface

U

Servo motor

M

V

W

U

V

W

U

M

V

W

U

V

W

Servo amplifier

Servo motorServo amplifier

WARNING

• Any person who is involved in wiring should be fully competent to do the work.

• Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

• Ground the servo amplifier and servo motor securely.

• Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

• The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

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

CAUTION

• Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

• Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

• Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

• The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

• Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

• Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(-H)) with the power line of the servo motor.

• When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

• Do not modify the equipment.

• Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

• Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

• Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

82

3 SIGNALS AND WIRING

When you use a linear servo motor, replace the following left words to the right words.

Load to motor inertia ratio  Load mass

Torque  Thrust

3.1 Connection example of power circuit

CAUTION

• Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

• Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

• Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier will break down.

• The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply.

• Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

• The N- terminal is not a neutral point of the power supply. Incorrect wiring will cause a burst, damage, etc.

• Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power

supply has been switched off, network communication is interrupted. Therefore, the next servo amplifier

displays "AA" at the indicator and turns into base circuit shut-off. The servo motor stops with starting

dynamic brake.

• EM2 has the same function as EM1 in the torque mode.

• When using the MR-J4-_GF-RJ servo amplifier with the DC power supply input, refer to the following.

Page 563 When using the servo amplifier with the DC power supply input

Configure the wiring so that the main circuit power supply is shut off and the servo-on command turns off after deceleration to

a stop due to an alarm occurring, an enabled servo forced stop, or a sudden stop command from controller. A molded-case

circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

3

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

83

200 V class

ALM

DOCOM

CN3

RA1

L1

L2

L3

P3

P4

P+

L11

L21

N-

D

C

U

V

W

CNP1

CNP3

*11

CNP2

U

V

W

M

CN2

*11

MC

SK

CN3

EM2

DICOM

CN8

MCCB

24 V DC

*12

MC

*7

*5

24 V DC

*12

Malfunction

*4

3-phase 200 V AC to 240 V AC

Servo amplifier

*1*10

*2

Servo motor

Motor

Encoder

cable

*3

*6

Malfunction

*4

RA1

OFF

ON

Emergency stop switch

Forced stop 2

*5

Short-circuit connector

*9

(Packed with the servo amplifier)

Main circuit power supply

*8

For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10GF(-RJ) to MR-J4-350GF(RJ)

*1 Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and

P4. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously. Page 407 Power factor improving DC reactors

*2 Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to the following.

Page 335 Regenerative options

*3 For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual (Vol. 3)". *4 If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic contactor

after detection of alarm occurrence on the controller side.

*5 This diagram shows sink I/O interface. For source I/O interface, refer to the following.

Page 118 Source I/O interface

*6 For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". *7 Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80

ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the

magnetic contactor. *8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier. *9 When not using the STO function, attach the short-circuit connector came with a servo amplifier. *10 When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.

Page 404 Molded-case circuit breakers, fuses, magnetic contactors *11 Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. *12 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be

configured by one.

84

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10GF(-RJ) to MR-J4-200GF(-

L1

L2

L3

P3

P4

P+

L11

L21

N-

D

C

U

V

W

CNP1

CNP3

*11

CNP2

U

V

W

M

CN2

*11

MC

SK

CN8

MCCB

ALM

DOCOM

CN3

RA1

CN3

EM2

DICOM

MC

*7

*5

24 V DC

*12

Malfunction

*4

1-phase 200 V AC to 240 V AC

*1

*10

*2

Servo motor

Motor

Encoder

cable

*3

*6

Malfunction

*4

RA1

OFF

ON

Emergency stop switch

Forced stop 2

*5

Short-circuit connector

*9

(Packed with the servo amplifier)

Main circuit power supply

*8

24 V DC

*12

Servo amplifier

RJ)

3

*1 Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and

P4. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

Page 407 Power factor improving DC reactors *2 Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to the following.

Page 335 Regenerative options *3 For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual (Vol. 3)". *4 If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic contactor

after detection of alarm occurrence on the controller side. *5 This diagram shows sink I/O interface. For source I/O interface, refer to the following.

Page 118 Source I/O interface *6 For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". *7 Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80

ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop

deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the

magnetic contactor. *8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier. *9 When not using the STO function, attach the short-circuit connector came with a servo amplifier. *10 When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker.

Page 404 Molded-case circuit breakers, fuses, magnetic contactors *11 Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. *12 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be

configured by one.

3 SIGNALS AND WIRING

3.1 Connection example of power circuit

85

MR-J4-500GF(-RJ)