1. FUNCTIONS AND CONFIGURATION
1 - 12
Model:
MR-J4-_(-RJ)
10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA
Position control
mode
Max. input pulse
frequency
4 Mpulses/s (for differential receiver) (Note 6), 200 kpulses/s (for open collector)
Positioning feedback
pulse
Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse
multiplying factor
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting
0 pulse to ±65535 pulses (command pulse unit)
Error excessive
±3 revolutions
Torque limit
Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control
mode
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 °C ± 10 °C) when using analog speed command
Torque limit
Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control
mode
Analog torque command
input
0 V DC to ±8 V DC/maximum torque (input impedance 10 k
Ω
to 12 k
Ω
)
Speed limit
Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Positioning mode
Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
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 protection, magnetic pole detection protection, and linear servo control fault protection
Functional safety
STO (IEC/EN 61800-5-2)
Safety
performance
Standards certified by
CB (Note 15)
EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
Response performance
8 ms or less (STO input off
→
energy shut off)
Test pulse input (STO)
(Note 3)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
Mean time to dangerous
failure (MTTFd)
MTTFd
≥
100 [years] (314a)
Diagnostic coverage
(DC)
DC = Medium, 97.6 [%]
Average probability of
dangerous failures per
hour (PFH)
PFH = 6.4 × 10
-9
[1/h]
Compliance with
global standards
CE marking
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
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)
3-phase power supply
input
Possible Impossible
1-phase power supply
input
Possible Impossible
Environment
Ambient
temperature
Operation 0
˚
C to 55
˚
C (non-freezing)
Storage -20
˚
C to 65
˚
C (non-freezing)
Ambient
humidity
Operation
5 %RH to 90 %RH (non-condensing)
Storage
Ambience
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude
2000 m or less above sea level (Note 16)
Vibration resistance
5.9 m/s
2
, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass
[kg]
0.8 1.0 1.4
2.1 2.3 4.0 6.2 13.4 18.2
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...