Mitsubishi Electric MR-J4, Instruction Manual

Page: 34 / 794

1. FUNCTIONS AND CONFIGURATION
1 - 15
(3) 100 V class
Model: MR-J4-_(-RJ) 10A1 20A1 40A1
Output
Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8
Main circuit
power supply
input
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
1-phase 85 V AC to 132 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 100 V AC to 120 V AC, 50Hz/60Hz
Rated current [A] 0.4
Permissible voltage
fluctuation
1-phase 85 V AC to 132 V AC
Permissible frequency
fluctuation
Within ±5%
Power
consumption
[W] 30
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
Fully closed loop control Compatible (Note 5)
Load-side encoder interface (Note 6) 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)
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 4), 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]