Mitsubishi Electric Melservo-J3 Series MR-J3-B User manual

MODEL
MODEL
CODE
D
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030056-D (0908) MEE Printed in Japan Specifications subject to change without notice.
This Instruction Manual uses recycled paper.
J3 Series MR-J3- B-RJ006 Servo Amplifier Instruction Manual
General-Purpose AC Servo
MODEL
MR-J3- B-RJ006
SERVO AMPLIFIER
INSTRUCTION MANUAL
SSCNET Fully Closed Loop Control
J3 Series
D

A - 1
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended
documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until
you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING 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 medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
: Indicates what must not be done. For example, "No Fire" is indicated by .
: Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier,
whether the charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
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, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get 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 or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor between the main circuit power supply and L1, L2, and L3 of the
servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo
amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing 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.
Always connect a no-fuse breaker to the power supply of the servo amplifier.

A - 3
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Do not block intake and exhaust areas of the servo amplifier and servo motor which has a cooling fan.
Doing so may cause faults.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with a reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.

A - 4
CAUTION
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Servo amplifier Servo motor
[] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
In operation
[] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Ambient
temperature
In storage [] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
In operation 90 RH or less (non-condensing) 80 RH or less (non-condensing)
Ambient
humidity In storage 90 RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
HF-MP series HF-KP series X, Y: 49 m/s2
HF-SP51 81 HF-SP52 to 152
HF-SP524 to 1524 HC-RP Series
HC-UP72 152
X, Y: 24.5 m/s2
HF-SP121 201 HF-SP202 352
HF-SP2024 3524 HC-UP202 to 502 X: 24.5 m/s2Y: 49 m/s2
HF-SP301 421 HF-SP502 702
HF-SP5024 7024 X: 24.5 m/s2Y: 29.4 m/s2
(Note)
Vibration
HC-LP52 to 152 X: 9.8 m/s2Y: 24.5 m/s2
HC-LP202 to 302 X: 19.6 m/s2Y: 49 m/s2
HA-LP601 to 12K1 HA-LP701M to 15K1M
HA-LP502 to 22K2 HA-LP6014 12K14
HA-LP701M4 15K1M4 HA-LP11K24 to 22K24
X: 11.7 m/s2Y: 29.4 m/s2
5.9 m/s2or less at
10 to 55Hz
(directions of X, Y
and Z axes)
HA-LP15K1 to 25K1 HA-LP22K1M
HA-LP15K14 20K14 HA-LP22K1M4 X, Y: 9.8 m/s2
Note. Except the servo motor with a reduction gear.
When treating the servo amplifier be careful about the edged parts such as the corners of the servo
amplifier.
The servo amplifier must install in the metal cabinet (control box).
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the
servo motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Not doing so may cause unexpected operation.

A - 5
CAUTION
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
U
Servo motor
M
V
W
U
V
W
Servo amplifier
U
M
V
W
U
V
W
Servo motorServo amplifier
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output
signal
DICOM
24VDC
Servo amplifier
RA
For the sink output interface
DOCOM
Control output
signal
DICOM
24VDC
Servo amplifier
RA
For the source output interface
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

A - 6
CAUTION
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure a circuit so that the electromagnetic brake activates with the external emergency stop at the
same time.
BU
RA
Circuit must be
opened during
external emergency stop.
Contacts must be open when a trouble
(ALM) and when an electromagnetic
brake interlock (MBR).
24VDC
Servo motor
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this
Specifications and Instruction Manual.

A - 7
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
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 fail 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
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
COMPLIANCE WITH THE EUROPEAN EC
DIRECTIVES
Refer to Appendix 5 for the compliance with EC Directives.
COMPLIANCE WITH UL/C-UL STANDARD
Refer to Appendix 6 for the compliance with UL/C-UL standard.
<<About the manuals>>
This Instruction Manual and the following Servo Amplifier/Servo Motor Instruction Manuals (Vol.2) are
required if you use the General-Purpose AC servo MR-J3- B for the first time. Always purchase them and
use the MR-J3- B safely.

A - 8
Relevant manuals
Manual name Manual No.
MELSERVO-J3 Series MR-J3- B Servo Amplifier Instruction Manual SH(NA)030051
MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077
MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041
EMC Installation Guidelines IB(NA)67310
This Instruction Manual describes the functions unique to the fully closed loop control compatible servo
amplifier MR-J3- B-RJ006. Therefore, when using the MR-J3- B-RJ006, refer to the SSCNET
Compatible MR-J3- B Servo Amplifier Instruction Manual as well. However, the following items are not
described in this Instruction Manual. For details of these items, refer to the MR-J3- B Servo Amplifier
Instruction Manual.
Item MR-J3- B Servo Amplifier Instruction Manual
INSTALLATION CHAPTER 2
STARTUP CHAPTER 4
GENERAL GAIN ADJUSTMENT CHAPTER 6
SPECIAL ADJUSTMENT FUNCTIONS CHAPTER 7
CHARACTERISTICS CHAPTER 10
OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 11
<<About the wires used for wiring>>
Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40
(104 ).

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28
1.1 Overview................................................................................................................................................... 1 - 1
1.2 Control block diagram .............................................................................................................................. 1 - 2
1.3 Servo amplifier standard specifications................................................................................................... 1 - 3
1.4 Function list .............................................................................................................................................. 1 - 5
1.5 Selecting procedure of control mode....................................................................................................... 1 - 6
1.5.1 Control mode configuration............................................................................................................... 1 - 6
1.5.2 Dual feedback filter equivalent block diagram.................................................................................. 1 - 6
1.6 Model code definition ............................................................................................................................... 1 - 7
1.7 Combination with servo motor ................................................................................................................. 1 - 8
1.8 Structure ................................................................................................................................................... 1 - 9
1.8.1 Parts identification ............................................................................................................................. 1 - 9
1.8.2 Removal and reinstallation of the front cover.................................................................................. 1 -16
1.9 Configuration including auxiliary equipment .......................................................................................... 1 -19
1.10 System configuration ............................................................................................................................ 1 -27
2. SIGNALS AND WIRING 2 - 1 to 2 -18
2.1 Precautions for this chapter ..................................................................................................................... 2 - 2
2.2 Input power supply circuit ........................................................................................................................ 2 - 2
2.3 I/O signal connection example ............................................................................................................... 2 -14
2.4 Connector and signal arrangements ...................................................................................................... 2 -16
2.5 Internal connection diagram ................................................................................................................... 2 -17
2.6 Treatment of cable shield external conductor ........................................................................................ 2 -18
3. LOAD SIDE ENCODER 3 - 1 to 3 -20
3.1 Compatible linear encoder list ................................................................................................................. 3 - 1
3.2 Mitsubishi serial interface compatible linear encoder ............................................................................. 3 - 2
3.2.1 Linear scales manufactured by Mitutoyo Corporation (absolute type)............................................ 3 - 2
3.2.2 Linear encoder manufactured by Heidenhain Corporation.............................................................. 3 - 7
3.2.3 Linear encoder manufactured by Sony Manufacturing Systems Corporation (Incremental type) 3 -10
3.2.4 Linear encoder manufactured by Renishaw Inc. (Incremental type).............................................. 3 -12
3.3 ABZ-phase differential output load side encoder................................................................................... 3 -14
3.4 Mitsubishi optional cable connector sets.............................................................................................. 3 -17
3.4.1 MR-EKCBL M-H ............................................................................................................................ 3 -17
3.4.2 MR-ECNM ........................................................................................................................................ 3 -19
3.4.3 MR-J3CN2........................................................................................................................................ 3 -19
4. OPERATION AND FUNCTIONS 4 - 1 to 4 -22
4.1 Startup ...................................................................................................................................................... 4 - 1
4.1.1 Startup procedure.............................................................................................................................. 4 - 1
4.1.2 Selection of fully closed loop system................................................................................................ 4 - 2
4.1.3 Selection of load side encoder communication system................................................................... 4 - 3
4.1.4 Setting of load side encoder polarity ................................................................................................ 4 - 3

2
4.1.5 Setting of feedback pulse electronic gear ........................................................................................ 4 - 4
4.1.6 Confirmation of load side encoder position data.............................................................................. 4 - 6
4.1.7 Setting of fully closed loop dual feedback filter ................................................................................ 4 - 7
4.2 Home position return operation ............................................................................................................... 4 - 8
4.2.1 General precautions.......................................................................................................................... 4 - 8
4.2.2 Load side encoder types and home position return methods.......................................................... 4 - 8
4.3 Operation from controller ........................................................................................................................ 4 -12
4.3.1 Operation from controller ................................................................................................................. 4 -12
4.3.2 Servo system controller setting........................................................................................................ 4 -12
4.4 Functions ................................................................................................................................................. 4 -14
4.4.1 Fully closed loop control error detection.......................................................................................... 4 -14
4.4.2 Auto tuning function ......................................................................................................................... 4 -15
4.4.3 Machine analyzer function ............................................................................................................... 4 -15
4.4.4 Test operation mode ........................................................................................................................ 4 -16
4.5 Absolute position detection system under fully closed loop system ..................................................... 4 -16
4.6 About MR Configurator ........................................................................................................................... 4 -17
5. PARAMETERS 5 - 1 to 5 -20
5.1 Basic setting parameters (No.PA ).................................................................................................... 5 - 1
5.1.1 Parameter list .................................................................................................................................... 5 - 2
5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3
5.1.3 Selecting a control mode .................................................................................................................. 5 - 4
5.1.4 Using absolute position detection system ........................................................................................ 5 - 4
5.1.5 In-position range................................................................................................................................ 5 - 5
5.1.6 Encoder output pulse ........................................................................................................................ 5 - 5
5.2 Gain/filter parameters (No.PB )......................................................................................................... 5 - 7
5.3 Extension setting parameters (No.PC ) ............................................................................................ 5 - 9
5.3.1 Parameter list .................................................................................................................................... 5 - 9
5.3.2 List of details..................................................................................................................................... 5 -10
5.3.3 Analog monitor ................................................................................................................................. 5 -13
5.4 I/O setting parameters (No.PD ) ...................................................................................................... 5 -16
5.4.1 Parameter list ................................................................................................................................... 5 -16
5.5 Extension control parameters (No.PE ) ........................................................................................... 5 -17
5.5.1 Parameter list ................................................................................................................................... 5 -17
5.5.2 List of details..................................................................................................................................... 5 -18
6. TROUBLESHOOTING 6 - 1 to 6 - 6
6.1 Alarms and warning list............................................................................................................................ 6 - 1
6.2 Remedies for alarms................................................................................................................................ 6 - 2
6.3 Detailed explanation of linear encoder error 1 (2A) ................................................................................ 6 - 5
7. OUTLINE DRAWINGS 7 - 1 to 7 -10
APPENDIX App.- 1 to App.-16
App. 1 Parameter list..................................................................................................................................App.- 1

3
App. 2 Signal layout recording paper ........................................................................................................App.- 2
App. 3 Change of connector sets to the RoHS compatible products.......................................................App.- 3
App. 4 MR-J3-200B-RJ006 servo amplifiers manufactured before March 2008.....................................App.- 4
App. 5 Compliance with the european EC directives................................................................................App.- 7
App. 6 Compliance with UL/C-UL standard .............................................................................................App.-10

4
MEMO

1 - 1
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Overview
This Instruction Manual explains the product that imports a position feedback signal from a load side encoder,
such as a linear encoder, to the MR-J3- B servo amplifier to perform fully closed loop control.
A control mode has the semi closed loop control, dual feedback control and fully closed loop control.
The control modes can be changed by the parameter setting.
For the features of each control mode, refer to section 1.2 in this manual.
[Items changed from those of the standard model (MR-J3- B)]
(a) The Mitsubishi serial interface compatible or ABZ-phase pulse train interface compatible linear encoder
is used to detect the position feedback signal of the load side encoder.
(b) In addition to the fully closed loop control that feeds back the position signal of the load side encoder, a
dual feedback control that feeds back a signal composed of the load side encoder's position feedback
signal and the motor position feedback signal has been added as an extended function.
(c) Function to switch output pulse between the load side encoder and motor side encoder
[Functions deleted from the standard model (MR-J3- B)]
(a) Speed torque control (For servo amplifiers with Software version B0 or older.)
(b) Motor-less operation (test operation)

1 - 2
1. FUNCTIONS AND CONFIGURATION
1.2 Control block diagram
A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the load
side encoder unit.
Dual feedback
filter
(Note 2)
Parameter No.PE08
FBD
Servo motor
Linear encoder
Controller
(Motor side)
Cumulative
feedback pulses
(Motor side)
Droop pulses
Load side
cumulative
feedback pulses
(Note 1, 2)
Fully closed loop selection
Parameter No.PE01, PE08
FBN
S
Encoder pulse setting
(Refer to
section 5.1.6.)
Fully closed loop
control error detection
function selection
Parameter No.PE03
Control
Monitoring
Motor side feedback pulse
(Load side resolution unit)
Load side
droop pulses
Load side feedback pulse
Note. 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of
parameter No.PE01.
When semi closed loop control is selected, a control is always performed on the bases of the position data of the motor
encoder independently of whether the motor is at a stop or running.
2. When parameter No.PE01 "fully closed loop system" is valid, dual feedback control in which the motor feedback signal and
load side encoder feedback signal are combined by the dual feedback filter in parameter No.PE08 is performed.
In this case, fully closed loop control is performed when the motor is at a stop, and semi closed loop control is performed when
the motor is operating to improve control performance. When "4500" is set as the filter value of parameter No.PE08, fully
closed loop control is always performed.
The following table shows the functions of each control mode.
Control mode Description
Feature Position is controlled according to the motor side data.
Advantage
Since this control is insusceptible to machine influence (such as machine
resonance), the gains of the servo amplifier can be raised and the settling
time shortened.
Semi closed loop control
Disadvantage If the motor side is at a stop, the side may be vibrating or the load side
accuracy not obtained.
Feature Position is controlled according to the motor side data and load side data.
Dual feedback control Advantage
Control is performed according to the motor side data during operation,
and according to the load side data at a stop in sequence to raise the gains
during operation and shorten the settling time.
A stop is made with the load side accuracy.
Feature Position is controlled according to the load side data.
Advantage The load side accuracy is obtained not only at a stop but also during
operation.
Fully closed loop control
Disadvantage Since this control is susceptible to machine resonance or other influences,
the gains of the servo amplifier do not rise and the settling time increases.

1 - 3
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
(1) 200V class, 100V class
Servo amplifier
MR-J3- -RJ006
Item
10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1
Rated voltage 3-phase 170VAC
output
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 1.1 1.5 2.8
Voltage/frequency 3-phase or 1-phase 200 to
230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz
1-phase 100V to
120VAC,
50/60Hz
Rated current [A] 0.9 1.5 2.6 (Note 3)
3.2 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0 3.0 5.0 9.0
Permissible voltage fluctuation 3-phase or 1-phase 200 to
230VAC: 170 to 253VAC 3-phase 170 to 253VAC 1-phase 85 to 132VAC
Permissible frequency
fluctuation Within 5
Power supply capacity Refer to section 10.2 "MR-J3- B Servo Amplifier Instruction Manual"
Main circuit power supply
Inrush current Refer to section 10.5 "MR-J3- B Servo Amplifier Instruction Manual"
Voltage,
frequency 1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to 120VAC, 50/60Hz
Rated current [A] 0.2 0.3 0.4
Permissible
voltage
fluctuation
1-phase 170 to 253VAC 1-phase 85 to
132VAC
Permissible
frequency
fluctuation
Within 5
Power
consumption [W] 30 45 30
Control circuit
power supply
Inrush current Refer to section 10.5 "MR-J3- B Servo Amplifier Instruction Manual"
Voltage 24VDC 10
Interface
power supply Power supply
capacity (Note 1) 0.15A or more
Serial interface Mitsubishi high-speed serial communication
Input
signal ABZ-phase differential input signal
Load side
encoder
interface
Pulse
train
inter-
face
Minimum
phase
differential
[ns]
200
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in External option Built-in
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay),
servo motor overheat protection, encoder error protection, regenerative brake error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
Structure Self-cooled, open
(IP rating: IP00) Force-cooling, open (IP rating: IP00)
Self-cooled,
open
(IP rating: IP00)
Mounting closely (Note 2)
[] (Note 2) 0 to 55 (non-freezing)
In operation [] (Note 2) 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
Ambient
temperature In storage []4 to 149 (non-freezing)
In operationAmbient
humidity In storage 90 RH or less (non-condensing)
Ambient Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
Environmental conditions
Vibration 5.9m/s2or less at 10 to 55Hz (directions of X, Y and Z axes)
[kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0
Mass [lb] 1.76 1.76 2.21 2.21 3.09 3.09 4.63 5.07 10.1 13.7 39.7 39.7 41.9 1.76 1.76 2.21
Note 1. 0.15A 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 the servo amplifiers are mounting closely, operate them at the ambient temperatures of 0 to 45 (32 to 113 )or at 75
or a smaller effective load ratio.
3. When a UL/CSA-compliant servo motor is used in combination, the value is 2.9A.

1 - 4
1. FUNCTIONS AND CONFIGURATION
(2) 400V class
Servo amplifier
MR-J3- -RJ006
Item
60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4
Rated voltage 3-phase 323VAC
Output
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz
Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6
Permissible voltage fluctuation 3-phase 323 to 528VAC
Permissible frequency
fluctuation Within 5
Power supply capacity Refer to section 10.2 "MR-J3- B Servo Amplifier Instruction Manual"
Main circuit power supply
Inrush current Refer to section 10.5 "MR-J3- B Servo Amplifier Instruction Manual"
Voltage/frequency 1-phase 380 to 480VAC, 50/60Hz
Rated current [A] 0.1 0.2
Permissible
voltage fluctuation 1-phase 323 to 528VAC
Permissible
frequency
fluctuation
Within 5
Power
consumption [W] 30 45
Control circuit
power supply
Inrush current Refer to section 10.5 "MR-J3- B Servo Amplifier Instruction Manual"
Voltage 24VDC 10
Interface
power supply Power supply
capacity (Note) 0.15A or more
Serial interface Mitsubishi high-speed serial communication
Input
signal ABZ-phase differential input signal
Load side
encoder
interface
Pulse
train
inter-
face
Minimum
phase
differential
[ns]
200
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in External option
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay),
servo motor overheat protection, encoder error protection, regenerative brake error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection
Structure Self-cooled, open
(IP rating: IP00) Force-cooling, open (IP rating: IP00)
[] 0 to 55 (non-freezing)
In operation [] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
Ambient
temperature In storage []4 to 149 (non-freezing)
In operationAmbient
humidity In storage 90 RH or less (non-condensing)
Ambient Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
Environmental conditions
Vibration 5.9m/s2or less at 10 to 55Hz (directions of X, Y and Z axes)
[kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19
Mass [lb] 3.75 3.75 4.63 10.1 10.1 13.7 39.7 39.7 41.9
Note. 0.15A 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.

1 - 5
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description Reference
High-resolution encoder High-resolution encoder of 262144 pulses/rev is used as a servo motor
encoder.
Absolute position detection
system
Merely setting a home position once makes home position return
unnecessary at every power-on.
Gain changing function You can switch between gains during rotation and gains during stop or use
an external signal to change gains during operation.
Advanced vibration
suppression control This function suppresses vibration at the arm end or residual vibration.
Adaptive filter Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Low-pass filter Suppresses high-frequency resonance which occurs as servo system
response is increased.
Refer to the MR-J3-
B Servo Amplifier
Instruction Manual.
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply
connecting a MR Configurator-installed personal computer and servo
amplifier.
MR Configurator is necessary for this function.
Machine simulation
Can simulate machine motions on a personal computer screen on the basis
of the machine analyzer results.
MR Configurator is necessary for this function.
Gain search function
Personal computer changes gains automatically and searches for overshoot-
free gains in a short time.
MR Configurator is necessary for this function.
Robust disturbance
compensation
This function provides better disturbance response in case of low response
level due to high load inertia moment ratio for the roll send axes.
MR Configurator is necessary for this function.
Advanced Gain search
Advanced Gain search automatically searches for the optimum parameter for
settle time to be short.
The gain can be adjusted by setting sequentially in accordance with wizard
screens.
MR Configurator is necessary for this function.
Slight vibration suppression
control Suppresses vibration of 1 pulse produced at a servo motor stop.
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. Higher in performance than MR-J2-Super series servo
amplifier.
Brake unit
Used when the regenerative option cannot provide enough regenerative
power.
Can be used the 5kW or more servo amplifier.
Power regenerative converter
Used when the regenerative option cannot provide enough regenerative
power.
Can be used the 5kW 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.
Output signal selection
(Device settings)
The pins that output the output devices, including the trouble (ALM) and the
dynamic brake interlock (MBR), can be changed to certain pins of the CN3
connectors.
Output signal (DO)
forced output
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
Test operation mode JOG operation positioning operation DO forced output program operation.
However, MR Configurator is necessary for positioning operation.
Analog monitor output Servo status is output in terms of voltage in real time.
MR Configurator Using a personal computer, parameter setting, test operation, status display,
etc. can be performed.
Refer to the MR-J3-
B Servo Amplifier
Instruction Manual.

1 - 6
1. FUNCTIONS AND CONFIGURATION
1.5 Selecting procedure of control mode
1.5.1 Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
Also, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback
control can be switched by the parameter No.PE08 settings.
0
4500
0
Fully closed loop
Selection 1
Parameter No.PE01
Control mode selection
Parameter No.PA01
Fully closed loop
control
Semi closed loop
control
MR-J3- B-RJ006
(Refer to section 5.1.3.)
Controller command
Semi closed loop control/
fully closed loop control switching bit
OFF
ON
(Refer to section 5.5.2.) Dual feedback
control
Semi closed loop
control
1 to 4499
Fully closed loop system
Fully closed loop dual
feedback filter
Parameter No.PE08
Semi closed loop system
1
0
1
1.5.2 Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
Positioning
controller
High-pass
filter
Low-pass
filter
Fully closed
loop control
Semi closed
loop control
(Note) <Dual feedback filter>
At motor stop (0 to ) Fully closed loop control
At operating (from )
Operating status Controlling status
Servo motor
Linear encoder
Frequency [rad/s]
Semi closed loop control
Note. (a dual feedback filter band) is set by parameter No.PE08.

1 - 7
1. FUNCTIONS AND CONFIGURATION
1.6 Model code definition
(1) Rating plate
MR-J3-10B-RJ006
AC SERVO
POWER :
INPUT :
OUTPUT:
SERIAL :
100W
0.9A 3PH+1PH200-230V 50Hz
1.3A 1PH 200-230V 50/60Hz
170V 0-360Hz 1.1A
3PH+1PH200-230V 60Hz
A34230001
Model
Capacity
Applicable power supply
Serial number
Rated output current
(2) Model
MR J3 B
Series
None
(Note 1)
3-phase or 1-phase 200
to 230VAC
Symbol Power supply
(Note 2)
11-phase 100 to 120VAC
Power supply
Fully closed loop control symbol
Symbol
Standard regeneration
brake resistor
11kW to 2kW
0.1kW to 7kW
Built-in
(No built-in for
0.1kW)
Standard
attachment
No attachment
RJ006
RZ006
SSCNET compatible
10 0.1
60 0.6
40 0.4
20 0.2
Rated output
Symbol Rated
output [kW]
200 2
100 1
70 0.75
Symbol Rated
output [kW]
350
500
700
11k
15k
22k
3.5
5
7
11
15
22
3-phase 380 to 480VAC
(Note 3)
4
Note 1. 1-phase 200V to 230V is
supported by 750W or less.
2. 1-phase 100V to 120V is
supported by 400W or less.
3. 3-phase 380VAC to 480VAC
is supported by 600W and
1kW or more.