Mitsubishi Electric MELSERVO-J4 MR-J4 A Series User manual
SH (NA) 030107-A (1203) MEE Printed in Japan Specifications subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-J4-_A SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
General-Purpose Interface AC Servo
1CW804
MR-J4-A INSTRUCTIONMANUAL
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0(02
1 Functions and configuration
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher
functions compared to the previous MELSERVO-J3 series.
MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high-
resolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and
more accurate control is enabled as compared to MELSERVO-J3 series.
The servo amplifier has position, speed, and torque control modes. In the position control mode, the
maximum pulse train of 4 Mpps is supported. Further, it can perform operation with the control modes
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the
preventive maintenance support function detects an error in the machine parts. This function provides strong
support for the machine maintenance and inspection.
The servo amplifier supports the Safe Torque Off (STO) function for safety. By combining with optional MR-
J3-D05, the servo amplifier supports Safe stop 1 (SS1) function.
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to
the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain
adjustment, and others.
1 Functions and configuration
1 - 2
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J4-500A or less
U U
U
ࣔࢹࣝ⨨
㟁ὶไᚚ
ᐇ⨨
ไᚚ
ᐇ㏿ᗘ
ไᚚ
௬
࣮ࣔࢱ
௬
࢚ࣥࢥ࣮ࢲ
L11
L21
෭༷ࣇࣥ
(ὀ3)
࢚ࣥࢥ࣮ࢲ
㟁☢
ࣈ࣮ࣞ࢟
(ὀ4) N-CD
L3
L2
L1
ࢲࢼ࣑ࢵࢡ
ࣈ࣮ࣞ࢟ᅇ㊰
ຊ⋡ᨵၿ
DCࣜࢡࢺࣝ
㟁ὶ᳨ฟ
㐣㟁ὶ
ಖㆤ
㟁ᅽ᳨ฟ
(ὀ2)
㟁※
MCMCCB
࣮࣋ࢫ
ࣥࣉ
STO
ᅇ㊰
⨨ᣦ௧
ධຊ
ࢧ࣮࣎ࣥࣉ
U
V
W
U
V
W
P3 P4
ࢲ࣮࢜ࢻ
ࢫࢱࢵࢡ ࣮ࣜࣞ
P+
+
+B
RA
DC24V
B1
B2
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
(⤯ᑐ⨨᳨ฟࢩࢫࢸ࣒
ࡢሙྜ)
CN4
MR-BAT6V1SET
STO
ࢫࢵࢳ
ࣔࢹࣝ㏿ᗘ ࣔࢹࣝࢺࣝࢡ
M
CN2
CN8
ไᚚᅇ㊰
㟁※
ࣔࢹࣝ
⨨ไᚚ
ࣔࢹࣝ
㏿ᗘไᚚ
ࢧ࣮࣮࣎ࣔࢱ
CHARGE
ࣛࣥࣉ
ᅇ⏕
TR
㟁ὶ
᳨ฟჾ
ᅇ⏕
࢜ࣉࢩࣙࣥ
CN5 CN3 CN6
ࢼࣟࢢࣔࢽࢱ
(2ࢳࣕࣥࢿࣝ)
I/F
USB RS-422 D/AA/D
USB RS-422
ࢥࣥࢺ࣮ࣟࣛ
(ὀ5)
ࣃ࣮ࢯࢼࣝ
ࢥࣥࣆ࣮ࣗࢱ
ࢼࣟࢢ
(2ࢳࣕࣥࢿࣝ)
D I/Oไᚚ
࣭ࢧ࣮࣎࢜ࣥ
࣭ᣦ௧ࣃࣝࢫิධຊ
࣭ጞື
࣭ᨾ㞀࡞
CN1
㝆ᅽ
ᅇ㊰
Note 1.
2.
3.
4.
5.
The built-in regenerative resistor is not provided for the MR-J4-10A.
For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For power supply specifications, refer to section 1.3.
Servo amplifiers MR-J4-70A or greater have a cooling fan.
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.
Available in the future.
Power factor improving
DC reactor
Regenerative
option
Servo amplifier (Note 4) Servo motor
(Note 2)
Power
supply
Diode
stack Relay
Dynamic brake
circuit
Current
detector
CHARGE
lamp
Regene-
rative TR
Cooling fan
(Note 3)
Control
circuit
power
supply STO
circuit
Base
amplifier
Voltage
detection
Overcurrent
detection
Current
detection
STO
switch
24V DC Electro-
magnetic
brake
Encoder
Position
command
input Model position
control
Model speed
control
Virtual
encoder
Virtual
motor
Step-down
circuit
Option battery
(for absolute position
detection system)
Model
position
Model
speed
Model torque
Current
control
Actual speed
control
Actual position
control
Analog monitor
(2 channels)
Personal
computer
Controller
(Note5)
DI/O control
Servo-on
Input command pulse
Start
Malfunction, etc
Analog
(2 channels)
1 Functions and configuration
1 - 3
(2) MR-J4-700A
U U
U
ࣔࢹࣝ⨨
㟁ὶไᚚ
ᐇ⨨
ไᚚ
ᐇ㏿ᗘ
ไᚚ
௬
࣮ࣔࢱ
௬
࢚ࣥࢥ࣮ࢲ
L11
L21
෭༷ࣇࣥ
࢚ࣥࢥ࣮ࢲ
㟁☢
ࣈ࣮ࣞ࢟
N-C
L3
L2
L1
ࢲࢼ࣑ࢵࢡ
ࣈ࣮ࣞ࢟ᅇ㊰
ຊ⋡ᨵၿ
DCࣜࢡࢺࣝ
㟁ὶ᳨ฟ
㐣㟁ὶ
ಖㆤ
㟁ᅽ᳨ฟ
(ὀ1)
㟁※
MCMCCB
࣮࣋ࢫ
ࣥࣉ
STO
ᅇ㊰
⨨ᣦ௧
ධຊ
ࢧ࣮࣎ࣥࣉ
U
V
W
U
V
W
P3 P4
ࢲ࣮࢜ࢻ
ࢫࢱࢵࢡ ࣮ࣜࣞ
(ὀ2) P+
+
+B
RA
DC24V
B1
B2
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
(⤯ᑐ⨨᳨ฟࢩࢫࢸ࣒
ࡢሙྜ)
CN4
MR-BAT6V1SET
STO
ࢫࢵࢳ
ࣔࢹࣝ㏿ᗘ ࣔࢹࣝࢺࣝࢡ
M
CN2
CN8
ไᚚᅇ㊰
㟁※
ࣔࢹࣝ
⨨ไᚚ
ࣔࢹࣝ
㏿ᗘไᚚ
ࢧ࣮࣮࣎ࣔࢱ
CHARGE
ࣛࣥࣉ
ᅇ⏕
TR
㟁ὶ
᳨ฟჾ
ᅇ⏕
࢜ࣉࢩࣙࣥ
CN5 CN3 CN6
ࢼࣟࢢࣔࢽࢱ
(2ࢳࣕࣥࢿࣝ)
I/F
USB RS-422 D/AA/D
USB RS-422
ࢥࣥࢺ࣮ࣟࣛ
(ὀ3)
ࣃ࣮ࢯࢼࣝ
ࢥࣥࣆ࣮ࣗࢱ
ࢼࣟࢢ
(2ࢳࣕࣥࢿࣝ)
D I/Oไᚚ
࣭ࢧ࣮࣎࢜ࣥ
࣭ᣦ௧ࣃࣝࢫิධຊ
࣭ጞື
࣭ᨾ㞀࡞
CN1
㝆ᅽ
ᅇ㊰
Note 1.
2.
3.
For power supply specifications, refer to section 1.3.
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.
Available in the future.
Power factor improving
DC reactor
Regenerative
option
Servo amplifier (Note 4) Servo motor
(Note 2)
Power
supply
Diode
stack Relay
Dynamic brake
circuit
Current
detector
CHARGE
lamp
Regene-
rative TR
Cooling fan
24V DC
Electro-
magnetic
brake
Control
circuit
power
supply STO
circuit
Base
amplifier
Voltage
detection
Overcurrent
detection
Current
detection
Encoder
STO
switch
Position
command
input Model position
control
Model speed
control
Virtual
encoder
Virtual
motor
Step-down
circuit
Model
position
Model
speed
Model torque Option battery
(for absolute position
detection system)
Actual position
control
Actual speed
control Current
control
Analog
(2 channels)
DI/O control
Servo-on
Input command pulse
Start
Malfunction, etc
Personal
computer
Controller
(Note5) Analog monitor
(2 channels)
1 Functions and configuration
1 - 4
1.3 Servo amplifier standard specifications
Model MR-J4- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Rated voltage 3-phase 170 V AC
Output Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0
Power
supply/Freque
ncy 3-phase or 1-phase 200 V AC to 240 V AC,
50 Hz /60 Hz 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.9 1.5 2.6
3.2
(Note 5) 3.8 5.0 10.5 16.0 21.7 28.9
Permissible
voltage
fluctuation 3-phase or 1-phase 170 V AC to 264V AC 3-phase 170 V AC to 264V
AC
Main circuit
power supply
input Permissible frequency
fluctuation Within ±5%
Power supply
capacity [kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5.
Power
supply/Freque
ncy 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.2 0.3
Permissible
voltage
fluctuation 1-phase 170 V AC to 264V AC
Control circuit
power supply Permissible frequency
fluctuation Within ±5%
Power
consumption [W] 30 45
Inrush current [A] 20 to 30 30
Voltage/Frequ
ency 24 V DC ± 10%
Interface
power supply Power supply
capacity [A] (Note 1) 0.5 (including CN8 connector signals)
Control
method Sine-wave PWM control, current control method
Dynamic brake Built-in
USB Connection to a personal computer or others (MR Configurator2-compatible)
Communicati
on function RS-422 Available in the future.
Max. input pulse
frequency 4 Mpps (for differential receiver), 200 kpps (for open collector)
Positioning feedback
pulse Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse
multiplying factor Electronic gear A:1 to 16777216, B:1 to 16777216, 1/10 < A/B < 4000
In-position range
setting 0 pulse to ±65535 pulses (command pulse unit)
Error
excessive ±3 revolutions
Position
control mode
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control
range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed
command input 0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed
fluctuation
ratio 0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less
(ambient temperature 25 ± 10 °C) when using analog speed command
Speed control
mode
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Analog torque
command input 0 V DC to ±8 V DC/maximum torque (input impedance 10 kȍto 12 kȍ)
Torque
control mode Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
1 Functions and configuration
1 - 5
Model MR-J4- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Protective
functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection,
encoder error protection, regenerative error protection, undervoltage protection, instantaneous
power failure protection, overspeed protection,
Error excessive warning
Safety
function STO (IEC/EN 61800-5-2)
Standards certified by
CB (Note 6) EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2
SIL 2
Response
performance 8 ms or less (STO input off ĺenergy shut off)
Safety
performance
(Note 3) Testpulse
input (STO)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
CE marking
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Compliance
to standards
UL standard UL 508C
Structure (IP rating) Natural cooling,
open (IP20) Force cooling, open (IP20) Force cooling,
open (IP20)
(Note 4)
Close mounting (Note 2) Possible Impossible
Oper
ation 0 ÛC to 55 ÛC (non-freezing)
Ambient
temperature Stora
ge -20 ÛC to 65 ÛC (non-freezing)
Oper
ation
Environment
Ambient
humidity Stora
ge
90% RH or less (non-condensing)
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
Vibration 5.9 m/s2or less at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
Mass [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2
Note 1.
2.
3.
4.
5.
6.
0.5A 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.
When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ÛC to 45 ÛC or at
75% or smaller effective load ratio.
This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to
the servo amplifier at a constant period while input signals of the servo amplifier are on.
Except for the terminal block.
The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
Available in the future.
This manual suits for next models
10
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