Mitsubishi Electric MR-J4, Instruction Manual

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1. FUNCTIONS AND CONFIGURATION
1 - 11
1.3 Servo amplifier standard specifications
(1) 200 V class
Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA
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
Main circuit
power supply
input
Voltage/Frequency
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
(Note 11)
[A] 0.9 1.5 2.6
3.2
(Note 5)
3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0
Permissible voltage
fluctuation 3-phase or 1-phase
170 V AC to 264 V AC
3-phase 170 V AC to 264 V AC
Permissible frequency
fluctuation
Within ±5%
Power supply
capacity
[kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5.
Control circuit
power supply
input
Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.2 0.3
Permissible voltage
fluctuation
1-phase 170 V AC to 264 V AC
Permissible frequency
fluctuation
Within ±5%
Power
consumption
[W] 30 45
Inrush current [A] Refer to section 10.5.
Interface power
supply
Voltage 24 V DC ± 10%
Current capacity [A] (Note 1) 0.5 (including the CN8 connector signals)
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
External option
(Note 8, 12)
Fully closed loop control Compatible (Note 9)
Load-side encoder interface (Note 10) Mitsubishi high-speed serial communication
Communication function
USB: Connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: 1:n communication (up to 32 axes) (Note 7, 13)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
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
EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2,
and EN 61800-5-2 SIL 2
Response performance 8 ms or less (STO input off → energy shut off)
(Note 3)
Test pulse input (STO) Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
Mean time to dangerous
failure (MTTFd)
100 years or longer
Diagnosis coverage (DC) Medium (90% to 99%)
Average probability of
dangerous failures per
hour (PFH)
1.68 × 10
-10
[1/h]