Instructions and Cautions for Safe Use of AC Servos
General-Purpose AC Servo
X
IB(NA)0300175-X(2009)MEE
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Specifications are subject to change without notice.
MR-J4-10_ to MR-J4-22K_
MR-J4-60_4 to MR-J4-22K_4
MR-J4-10_1 to MR-J4-40_1
MR-J4W2-22B to MR-J4W2-1010B
MR-J4W3-222B, MR-J4W3-444B
MR-J4-03A6, MR-J4W2-0303B6
MR-J4 Servo amplifier
Model
Country/Region
USA
Germany
China
Korea
Japan
Sales office
Mitsubishi Electric Automation, Inc.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Mitsubishi Electric Europe B.V. German Branch
Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
Mitsubishi Electric Automation (China) Ltd.
Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China
Mitsubishi Electric Automation Korea Co., Ltd.
7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea
Mitsubishi Electric Corporation
Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan
Tel/Fax
Tel
Fax
Tel
Fax
Tel
Fax
Tel
Fax
Tel
: +1-847-478-2100
: +1-847-478-2253
: +49-2102-486-0
: +49-2102-486-1120
: +86-21-2322-3030
: +86-21-2322-3000
: +82-2-3660-9510
: +82-2-3664-8372/8335
: +81-3-3218-2111
Copyright©2012 Mitsubishi Electric Corporation All Rights Reserved.
Contents of the package
Unpack the product and check the rating plate to see if the servo motor is as you ordered.
Contents Quantit
Servo amplifie
1
MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos (This guide) 1
Rating plate
The following shows an example of rating plate for explanation of each item.
Serial number
Model
Capacity
Applicable power supply
Rated output
Standard, Manual number
Ambient temperature
IP rating
KC certification number
The year and month of manufacture
Country of origin
MODEL
TOKYO 100-8310 , JAPAN MADE IN JAPAN
DATE: 2014-5
MR-J4-10B
SER. A33001001
AC SERVO
POWER
INPUT
OUTPUT
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175
Max. Surrounding Air Temp.: 55°C
IP20
: 100W
: 3AC/AC200-240V 0.9A/1.5A 50/60Hz
: 3PH170V 0-360Hz 1.1A
KCC-REI-MEK- TC300A624G51
Warning plate
The following shows an example of warning plate.
Model
The following describes what each block of a model name indicates.
Not all combinations of the symbols are available.
Symbol
Number of axes
Symbol
Rated output [kW]
0303
22
44
77
1010
222
444
A-axis B-axis C-axis
0.03
0.2
0.4
0.75
1
0.2
0.4
0.03
0.2
0.4
0.75
1
0.2
0.4
0.2
0.4
Series
Number
of axes
Rated output
Symbol
03
10
20
40
60
70
100
200
350
500
700
11K
15K
22K
Rated output [kW]
0.03
0.1
0.2
0.4
0.6
0.75
1
2
3.5
5
7
11
15
22
Corresponding
Symbol
A
B
GF
Corresponding
General-purpose interface
SSCNET III/H
CC-Link IE Field Network
Software special specification
Blank, Jn, Sn, or Un
(n = 00 to 999)
Hardware special specification
Blank or 2 to 5 digit alphanumeric
(RJ, ED, PX, RU, RZ, etc.)
1
2
3
W2
W3
Power supply
Symbol Power supply
3-phase or 1-phase 200 V AC to 240 V AC
1-phase 100 V AC to 120 V AC
3-phase 380 V AC to 480 V AC
48 V DC/24 V DC
None
1
4
6
MR J BW2 2 24---
1.About the manuals
To use the MELSERVO-J4 series safely, read each instruction manual carefully.
1.1 MELSERVO-J4 relevant manuals
This installation guide explains how to mount MR-J4 servo amplifiers. You can also check it with our website for free.
http://www.mitsubishielectric.com/fa/
If you have any questions about the operation or programming of the equipment described in this guide, contact your
local sales office.
In addition, when you mount a protective device, specific technical skills which are not detailed in the guide will be
required.
1.2 Purpose of this guide
This installation guide explains the safe operation of MR-J4 servo amplifiers for engineers of machinery manufacturers
and machine operators. This installation guide does not explain how to operate machines in which safe servo system is,
or will be integrated. For detailed information of the products, refer to each servo amplifier instruction manual.
1.3 Terms related to safety
1.3.1 IEC 61800-5-2 Stop function
STO function (Refer to IEC 61800-5-2: 2007 4.2.2.2 STO.) The MR-J4 servo amplifiers have the STO function. The
STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power
supply in the servo amplifier. The servo amplifiers without the CN8 connector (such as MR-J4-03A6) do not support this
function.
2. About safety
This chapter explains safety of users and machine operators. Please read the chapter carefully before mounting the
equipment. In this installation guide, the specific warnings and cautions levels are classified as follows.
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.
2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers.
Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on
past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the
protective devices (e.g. light curtain) connected to the safety control system.
2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards.
IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1
ISO/EN ISO 13849-1: 2015 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (For combinations of
the servo amplifiers and MR-D30, refer to "MR-D30 Instruction Manual". For combinations of the servo amplifiers and
MR-J3-D05, refer to each servo amplifier instruction manual.)
MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or safety
PLCs. (except for MR-J4-03A6 and MR-J4W2-0303B6)
2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications such as voltage,
temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if
modifications are made to the device, even in the context of mounting and installation.
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure
safety by confirming the power off, etc. Otherwise, it may cause an accident.
It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals
immediately after power off.
2.3.1 Peripheral device and power wiring
The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 274.
(1) Power Wiring (local wiring and crimping tool)
The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C.
Table 1. Recommended wires
Table 2. Recommended crimp terminals
Servo amplifier (Note 7)
75 °C/60 °C stranded wire [AWG] (Note 2)
Symbol
Servo amplifie
-side crimp
terminals
Manu-
facturer
L1/L2/L3
L11/L21 P+/C
U/V/W/
(Note 3)
Crimp terminal
(Note 2)
Applicable tool
MR-J4-03A6/
19/- (Note 5)
19/- (Note 6)
a FVD5.5-4 YNT-1210S
JST
(J.S.T.
Mfg. Co.,
Ltd.)
MR-J4W2-0303B6 b (Note 1) 8-4NS YHT-8S
MR-J4-10
(1)/MR-J4-20
(1)/
MR-J4-40_(1)/MR-J4-60_(4)/
MR-J4-70_/MR-J4-100_(4)/
MR-J4-200_(4) (T)/
MR-J4-350_4
14/14
14/14 14/14
14/14
c FVD2-4 YNT-1614
d FVD14-6 YF-1
e FVD5.5-6 YNT-1210S
f FVD22-6 YF-1
MR-J4-200
(S)
12/12
g FVD38-6 YF-1
MR-J4-350
12/12 h R60-8 YF-1
MR-J4-500_ (Note 1) 10: a/10: a
14: c/14: c
14: c/14: c 10: b/10: b i FVD5.5-8 YNT-1210S
MR-J4-700_ (Note 1) 8: b/8: b 12: a/12: a 8: b/8: b
CB70-S8 YF-1
MR-J4-11K_ (Note 1) 6: d/4: f 12: e/12: e 4: f/4: f
FVD2-6 YNT-1614
MR-J4-15K_ (Note 1) 4: f/3: f 10: e/10: e 3: g/2: g l FVD8-6 YF-1
MR-J4-22K_ (Note 1) 1: h/-: - 10: i/10: i 1: j/-: - m FVD14-8 YF-1
MR-J4-500_4 (Note 1) 14: c/14: c
14: c/14: c
12: a/10: a n FVD22-8 YF-1
MR-J4-700_4 (Note 1) 12: a/12: a 10: a/10: a
Note 1. Coat the crimping part with an insulation tube.
MR-J4-11K_4 (Note 1) 10: e/10: e 14: k/14:
8: l/8: l
.
ome cr
mp term
na
s may not
e mounte
depending on the size. Make sure to use the
recommended ones or equivalent ones.
MR-J4-15K_4 (Note 1) 8: l/8: l 12: e/12: e 6: d/4: d
MR-J4-22K_4 (Note 1) 6: m/4: m 12: i/12: i 6: n/4: n
MR-J4W_-_B
14/14
(Note 4)
14/14 14/14 14/14
ote
.
o connect t
ese mo
e
s to a term
na
oc
,
e sure to use t
e screws t
at
come with the terminal block.
.
p
a
ets
n t
e ta
e
n
cate cr
mp
ng too
s.
e
er to ta
e
or t
e cr
mp
terminals and crim
in
tools.
.
e
ect w
re s
zes
epen
ng on t
e rate
output o
t
e servo motors.
e
values in the table are sizes based on rated out
ut of the servo am
lifiers.
.
se t
e cr
mp term
na
c
or t
e
term
na
o
t
e servo amp
er.
.
This value is of 24/0/PM/
for MR-J4-03A6 and MR-J4W2-0303B6.
.
s va
ue
s o
or
-
-
an
-
-
.
.
means
-p
ase
power
nput an
means
-p
ase
C
ower in
ut in the table.
(2) Selection example of MCCB and fuse
Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The T class fuses
and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers.
When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller
capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T
fuses and molded-case circuit breakers below and selecting a Type E Combination motor controller, refer to each
servo amplifier instruction manual.
Servo am
lifier
100 V class
Molded-case circuit breaker
120 V AC
Fuse
300 V
MR-J4-10_1/MR-J4-20_1/MR-J4-40_1 NV50-SVFU-15A (50 A frame 15 A) 20
Servo am
lifie
200 V class
Note
Molded-case circuit breaker
240 V AC
Fuse
300 V
MR-J4-10
/MR-J4-20
/MR-J4-40
/MR-J4-60
(T)/MR-J4-70
(T)/MR-J4W2-22B (T) NF50-SVFU-5
(50
frame 5 A) 10
MR-J4-60
(S)/MR-J4-70
(S) /MR-J4-100
(T)/MR-J4W2-22B (S)/
MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/MR-J4W3-444B (T)
NF50-SVFU-10A (50 A frame 10 A) 15 A
MR-J4-100_ (S)/MR-J4-200
(T)/MR-J4W2-44B (S)/MR-J4W2-1010B NF50-SVFU-15
(50
frame 15 A) 30
MR-J4-200_ (S)/MR-J4-350
/MR-J4W2-77B (S)/MR-J4W3-444B (S) NF50-SVFU-20
(50
frame 20 A) 40
MR-J4-500
NF50-SVFU-30
(50
frame 30 A) 60
MR-J4-700
NF50-SVFU-40
(50
frame 40 A) 80
MR-J4-11K
NF100-CVFU-60A (100
frame 60 A) 125
MR-J4-15K
NF100-CVFU-80A (100
frame 80 A) 150
MR-J4-22K
NF225-CWU-125A (225 A frame 125 A) 300
Note. "
S
" means 1-phase 200 V AC power input and "
T
" means 3-phase 200 V AC power input in the table.
Servo amplifie
(400 V class) Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-J4-60
4/MR-J4-100_4 NF100-HRU-5A (100 A frame 5 A) 10
MR-J4-200
4 NF100-HRU-10A (100 A frame 10 A) 15
MR-J4-350
4 NF100-HRU-10A (100 A frame 10 A) 20
MR-J4-500
4 NF100-HRU-15A (100 A frame 15 A) 30
MR-J4-700
4 NF100-HRU-20A (100 A frame 20 A) 40
MR-J4-11K
4 NF100-HRU-30A (100 A frame 30 A) 60
MR-J4-15K
4 NF100-HRU-40A (100 A frame 40 A) 80
MR-J4-22K
4 NF100-HRU-60A (100 A frame 60 A) 125
(3) Power supply
This servo amplifier can be supplied from star-connected supply with grounded neutral point of overvoltage
category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MR-J4W2-0303B6) set forth in
IEC/EN 60664-1. For the interface power supply, use an external 24 V DC power supply with reinforced insulation
on I/O terminals.
Provide a reinforced insulation DC power supply for MR-J4-03A6 and MR-J4W2-0303B6. For the main circuit
power supply, provide each axis with a UL certified power supply of 48 V DC, 1.2 A or more; or 24 V DC, 2.4 A or
more.
(4) Grounding
To prevent an electric shock, always connect the protective earth (PE)
terminal (marked
) of the servo amplifier to the protective earth (PE) of
the cabinet. Do not connect two grounding cables to the same protective
earth
PE
terminal. Alwa
s connect cables to the terminals one-to-one.
PE
terminal
PE
terminals
This product can cause a DC current in the protective earthing conductor. To protect direct/indirect contact using
an earth-leakage current breaker (RCD), only an RCD of type B can be used for the power supply side of the
product.
The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the protective
earthing conductor must comply with the local safety regulations.
(5) Motor overload and Over temperature protection
Servo motors do not have the overheat protection function of own. The servo motors are protected by the servo
motor overheat protection function of the servo amplifiers (a protection characteristic based on 120 % of the rated
current). To provide the servo motor with overheat protection, use a magnetic contactor (electromagnetic switch)
with a thermal relay. Alternatively, install a thermal sensor or equivalent equipment near the rating plate of the
servo motor to check that the servo motor temperature is under 105 °C with sensing device. (Refer to Chapter 4)
2.3.2 EU compliance
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of
safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this
marking also applies to machines and equipment incorporating servos.
(1) EMC requirement
MR-J4 servo amplifiers comply with EN 61800-3. As for I/O wires (max. length 10 m. However, 3 m for STO cable
for CN8.) and encoder cables (max. length 50 m), use shielded wires and ground the shields. Install an EMC filter
and surge protector on the primary side for input and output of 200 V class and for output of 400 V class servo
amplifiers. In addition, use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers.
The following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series
Surge protector: Okaya Electric Industries RSPD series Line noise filter: Mitsubishi Electric FR-BLF
The MR-J4 series is not intended to be used with low-voltage distribution lines for household. If it is used in such
an environment, radio frequency interference may be generated. The installer shall provide a guide for Installation
and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation
instructions shall either recommend that the power interface cable be segregated from signal cables.
Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other electric
devices to the DC power supply.
(2) For Declaration of Conformity (DoC)
MITSUBISHI ELECTRIC EUROPE B.V. hereby declares that the servo amplifiers are in compliance with EC
directives (Machinery directive (2006/42/EC), EMC directive (2014/30/EU), Low-voltage directive (2014/35/EU),
and RoHS directive (2011/65/EU)). For the copy of Declaration of Conformity, contact your local sales office.
2.3.3 USA/Canada compliance
This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 274.
(1) Installation
The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the
ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet.
Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN
60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage
category shown in table in section 8.1. The servo amplifier needs to be installed at or below pollution degree 2. For
connection, use copper wires.
(2) Short-circuit current rating (SCCR)
Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500 Volts
Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum for MR-J4-03A6 and MR-J4W2-
0303B6). For SCCR (25 kA and 50 kA) when using a type E combination motor controller (motor circuit breaker),
refer to each servo amplifier instruction manual.
(3) Branch circuit protection
For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical
Code and any applicable provincial codes.
2.3.4 South Korea compliance
This product complies with the Radio Waves Act (KC mark). Please note the following to use the product.
이 기기는 업무용 (A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의 지역에서
사용하는 것을 목적으로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The seller and the
user must note the above point, and use the product in a place except for home.)
In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for inputs. Use a
ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the product and third party
sensitive radio communications for an MR-J4-22K_(4).
2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MR-J4 servo amplifiers.
(1) For safety components and installing systems, only qualified personnel and professional engineers should
perform.
(2) When mounting, installing, and using the MR-J4 servo amplifier, always observe standards and directives
applicable in the country.
2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.
(3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the servo
motor may make a half revolution at a maximum.
(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-1: 2015
Table F.1 No. 5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1: 2015 Table F.1 No. 1)
(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(7) Keep the required clearance/creepage distance depending on voltage you use.
2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-specific
waste disposal regulations. (Example: European Waste 16 02 14)
2.7 Lithium battery transportation
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United Nations
(UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization (IMO).
The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled batteries from
two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods (Class 9) of the UN
Recommendations.
3. Mounting/dismounting
Installation direction and clearances
10 mm or
more
80 mm or longer
for wiring
10 mm or
more
(Note 2)
Top
Bottom
40 mm or
more
(Note 1)
40 mm or
more
Cabine
Servo amplifier
Servo amplifier
Cabine
CAUTION
The devices must be installed in the
specified direction. Not doing so may
cause a malfunction.
Mount the servo amplifier on a cabinet
which meets IP54 in the correct vertical
direction to maintain pollution degree 2.
The regenerative resistor supplied with
11 kW to 22 kW servo amplifiers does
not have a protective cover. Touching
the resistor (including wiring/screw hole
area) may cause a burn injury and
electric shock. Even if the power was
shut-off, be careful until the bus voltage
discharged and the temperature
decreased because of the following
reasons.
It may cause a burn injury due to very
high temperature without cooling.
It may cause an electric shock due to
charged capacitor of the servo
amplifier.
Note 1.
or
to
servo amp
ers, t
e c
earance
between the bottom and ground will be 120 mm or
more.
2.
en mount
ng
-
-
_, ma
nta
n a m
n
mum
clearance of 25 mm on the left side.
To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the amplifier with a
power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited Power Source), or cover the
amplifier and motors connected to the outputs with a fire enclosure.
4. Electrical Installation and configuration diagram
WARNING
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to
the product before starting the installation or wiring.
CAUTION
The installation complies with IEC/EN 60204-1. The voltage supply to machines must be 20
ms or more of tolerance against instantaneous power failure as specified in IEC/EN 60204-1.
Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo amplifier may
cause a malfunction.
Securely connect the cables in the specified method and tighten them with the specified
torque. Otherwise, the servo motor may operate unexpectedly.
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.
(1) 3-phase input for MR-J4 1-axis
servo amplifier
MCCB
or fuse
Controller
STO
Encoder cable
(3-phase
230 V AC)
Power
supply
(3-phase
400 V AC)
Transformer (Note 3, 4)
(star-connected)
(Note 1)
MCCB
or fuse
PE
L11
L21
MC
Servo amplifier
Cabinet side
Machine side
Encoder
Servo motor
L1
C
P+
D
N-
U/V/W/PE
CN2
CN1
CN8
L2L3
Sensing device
(2) 1-phase input for MR-J4 1-axis
servo amplifier
MCCB
or fuse
Controller
STO
Encoder cable
(1-phase
230 V AC)
Power
supply
(3-phase
400 V AC)
Transformer
(star-connected)
(Note 1)
MCCB
or fuse
PE
L11
L21
MC
Servo amplifier
Cabinet side
Machine side
Encoder
Servo motor
L1
C
P+
D
N-
U/V/W/PE
CN2
CN1
CN8
L2L3
(Note 2)
(Note 2)
(Note 4)
Sensing device
(3) Main circuit 48 V DC input for MR-
J4 1-axis servo amplifier
Controller
Encoder cable
CNP1
48 V DC
24 V DC
Servo amplifie
Encoder
Servo motor
CN2
CN1
Cabinet side
Machine side
Sensing device
0
PM
24
U/V/W/E
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. When using a 100 V class servo amplifier, step down the power supply voltage to 100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase 200 V AC servo
amplifiers, connect the lines to L1 and L3.
3. For 400 V class, a step-down transformer is not required.
4. Supply neutral needs to be earthed.
The connectors described by rectangles are safely separated from the main circuits described by circles.
The connected motors will be limited as follows.
(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)
(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)
5. Signals
5.1 Signal
The following shows MR-J4-10B signals as a typical
example. For other servo amplifiers, refer to each
servo amplifier instruction manual.
CN3
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
DI1
MO1
DICOM
LG
DOCOM
DICOM
LZ
DI2
MO2
EM2
LG
MBR
LBR
LA
LB
LZR
LAR
ALM
DI3
INP
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8
1
43
65
87
TOFCOM
STO I/O signal
connector
5.2 I/O device
Input device
Symbol Device Connecto
Pin No.
EM2 Forced stop 2 CN3 20
STOCOM
Common terminal for input signals
STO1/STO2
CN8
3
STO1 STO1 state input 4
STO2 STO2 state input 5
Output device
Symbol Device Connecto
Pin No.
TOFCOM
Common terminal for monitor output signal in
STO state
CN8
8
TOFB1 Monitor output signal in STO1 state 6
TOFB2 Monitor output signal in STO2 state 7
5.3 Signals and STO state
The following table shows the STO1 and STO2 states when the
power is on in normal state and STO1 and STO2 are on (closed)
or off (opened).
STO1 STO2 Monitoring STO1 state Monitoring STO2 state
OFF OFF ON (STO state) ON (STO state)
OFF ON ON (STO state) OFF (STO release)
ON OFF OFF (STO release) ON (STO state)
ON ON OFF (STO release) OFF (STO release)
6. Maintenance and service
WARNING
To avoid an electric shock, only qualified personnel should attempt inspections. For repair
and parts replacement, contact your local sales office.
6.1 Inspection items
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.(Except for MR-J4-03A6 and MR-J4W2-
0303B6)
Servo amplifier
Tightening torque [N•m]
L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE
MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40
(1)/ MR-J4-60
(4)/ MR-J4-70_/
MR-J4-100_(4)/MR-J4-200_(4)/MR-J4-350_(4)
1.2
MR-J4-500_ 1.2 0.8 1.2
MR-J4-700_(4)/MR-J4-500_4 1.2 0.8 1.2
MR-J4-11K_(4)/MR-J4-15K_(4) 3.0 1.2 3.0
MR-J4-22K_(4) 6.0 1.2 6.0
MR-J4W
-
B 1.2
(2) Servo motor bearings, brake section, etc. for unusual noise.
(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating conditions.
(4) Check that the connectors are securely connected to the servo motor.
(5) Check that the wires are not coming out from the connector.
(6) Check for dust accumulation on the servo amplifier.
(7) Check for unusual noise generated from the servo amplifier.
(8) Check the servo motor shaft and coupling for connection.
(9) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately
and a power is shut off by the emergency stop switch.
6.2 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operation and
environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For
parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacito
10 years (Note 3)
Relay
Number of powe
-on, forced stop and controller forced stop times: 100,000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years) (Note 4)
Battery backup time (Note 1) Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 °C)
Battery life (Note 2) 5 years from date of manufacture
Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or MR-BAT6V1BJ. For details and other battery backup time,
refer to each instruction manual.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The
capacitor will be the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 °C or less for use at the maximum 1000 m above sea
level, 30 °C or less for over 1000 m to 2000 m).
4. For MR-J4W_-_B, this will reach the end of its life in 50,000 to 70,000 hours (7 to 8 years). For MR-J4-03A6 and MR-J4W_-_B6, there is no cooling fan.
7. Transportation and storage
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the limited number of product packages is not allowed.
For detailed information on transportation and handling of the battery, refer to the servo
amplifier instruction manual.
Install the product in a load-bearing place of servo amplifier and servo motor in accordance
with the instruction manual.
Do not put excessive load on the machine.
Do not hold the front cover, cables, or connectors when carrying the servo amplifier.
Otherwise, it may drop.
When you keep or use it, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Transportation (Note) [°C] -20 to 65 Class 2K12 (IEC/EN 60721-3-2)
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient
humidity
Operation, transportation,
storage
5 %RH to 90 %RH
Vibration
resistance
Test condition
10 Hz to 57 Hz with constant amplitude of 0.075 mm
57 Hz to 150 Hz with constant acceleration of 9.8 m/s
2
to IEC/EN 61800-5-1 (Test Fc of IEC 60068-2-6)
Operation
5.9 m/s
2
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP rating
IP20 (IEC/EN 60529), Terminal block IP00
Open type (UL 50)
Altitude
Operation, storage Max. 2000 m above sea level
Transportation Max. 10000 m above sea level
Note. In re
ular transport packa
in
8. Technical data
8.1 MR-J4 servo amplifier
Item
MR-J4-10_/MR-J4-20_/
MR-J4-40_/MR-J4-60_/
MR-J4-70_/
MR-J4-100_/
MR-J4-200_/
MR-J4W2-22B/
MR-J4W2-44B/
MR-J4W2-77B/
MR-J4W3-222B/
MR-J4W3-444B
MR-J4-350_/
MR-J4-500_/
MR-J4-700_/
MR-J4W2-1010B/
MR-J4-11K_/
MR-J4-15K_/
MR-J4-22K_
MR-J4-10_1/
MR-J4-20_1/
MR-J4-40_1
MR-J4-60_4/
MR-J4-100_4/
MR-J4-200_4/
MR-J4-350_4/
MR-J4-500_4/
MR-J4-700_4/
MR-J4-11K_4/
MR-J4-15K_4/
MR-J4-22K_4
MR-J4-03A6/
MR-J4W2-0303B6
Power
supply
Main circuit (line
voltage)
3-phase or 1-phase
200 V AC to 240 V AC,
50 Hz/60 Hz (Note 2)
3-phase
200 V AC to
240 V AC,
50 Hz/60 Hz (Note 2)
1-phase
100 V AC to
120 V AC,
50 Hz/60 Hz
3-phase
380 V AC to
480 V AC,
50 Hz/60 Hz
48 V DC or
24 V DC
Control circuit (line
voltage)
1-phase 200 V AC to 240 V AC, 50/60 Hz
(Note 2)
1-phase
100 V AC to
120 V AC,
50 Hz/60 Hz
1-phase
380 V AC to
480 V AC,
50 Hz/60 Hz
24 V DC
Interface (SELV)
24 V DC (required current capacity: MR-J4-
A
, 500 mA; MR-J4-
B
, 300 mA;
MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA)
Control method Sine-wave PWM control, current control method
Safety observation function (STO)
IEC/EN 61800-5-2 (Note 3)
EN ISO 13849-1: 2015 Category 3 PL e, IEC 61508 SIL 3,
EN 62061 SIL CL 3, and EN 61800-5-2
Mean time to dangerous failure
(MTTFd)
MTTFd ≥ 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous failures
per hour (PFH)
PFH = 6.4 × 10
-9
[1/h]
Mission time (TM) TM = 20 [years]
Response performance 8 ms or less (STO input off → energy shut off)
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category
1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1),
3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
II
(IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1)
III
(IEC/EN 61800-5-1)
Short-circuit current rating
(SCCR)
100 kA 5 kA (Note 1)
Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the industrial cabinet.
2. MR-J4-_-RJ also supports a power supply of 283 V DC to 340 V DC.
3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo amplifiers manufactured in China comply with SIL 3
requirements from the December 2015 production.
8.2 Dimensions/mounting hole process drawing
WD
H Front Side
Servo amplifier
Variable dimensions [mm]
Mass [kg]
W H D
MR-J4-03A6 30 100 90 0.2
MR-J4-10
(1)/MR-J4-20
(1) (Note) 40 (50) 168 135 (155) 0.8 (1.0)
MR-J4-40
(1)/MR-J4-60
(Note) 40 (50) 168 170 (155) 1.0
MR-J4-70
/MR-J4-100
60 168 185 1.4
MR-J4-200
(4) 90 168 195 2.1
MR-J4-350
90 168 195 2.3
MR-J4-500
105 250 200 4.0
MR-J4-700
172 300 200 6.2
MR-J4-11K
(4)/MR-J4-15K
(4) 220 400 260 13.4
MR-J4-22K
(4) 260 400 260 18.2
MR-J4-60
4/MR-J4-100
4 60 168 195 1.7
MR-J4-350
4 105 250 200 3.6
MR-J4-500
4 130 250 200 4.3
MR-J4-700
4 172 300 200 6.5
MR-J4W2-0303B6 30 168 100 0.3
MR-J4W2-22B/MR-J4W2-44B 60 168 195 1.4
MR-J4W2-77B/MR-J4W2-1010B 85 168 195 2.3
MR-J4W3-222B/MR-J4W3-444B 85 168 195 2.3
Note. The value in the parenthesis shows the value of MR-J4-
GF_.
dae
c
b
c
d1
a1
e1
f
Servo amplifier
Variable dimensions [mm]
Screw
size
a a1 b c d
d1 e e1 f
MR-J4-03A6 90 ± 0.5 5 4 4 M4
MR-J4-10
(1)/MR-J4-20
(1)/
MR-J4-40_(1)/MR-J4-60_
6 6 156 ± 0.5 6 M5
MR-J4-70
/MR-J4-100
12 12 156 ± 0.5 6 42 ± 0.3 M5
MR-J4-200
(4)/MR-J4-350
6 45 156 ± 0.5 6 78 ± 0.3 M5
MR-J4-500
6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5 M5
MR-J4-700
6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4-11K
(4)/MR-J4-15K
(4) 12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5 M5
MR-J4-22K
(4) 12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5 M10
MR-J4-60
4/MR-J4-100
4 12 12 156 ± 0.5 6 42 ± 0.3
M5
MR-J4-350_4 6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5 M5
MR-J4-500
4 6 6 235 ± 0.5 7.5 118 ± 0.5 118 ± 0.5 M5
MR-J4-700
4 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4W2-0303B6 6 6 156 ± 0.5 6 M5
MR-J4W2-22B/MR-J4W2-44B 6 6 156 ± 0.5 6 M5
MR-J4W2-77B/MR-J4W2-1010B 6 6 156 ± 0.5 6 73 ± 0.3 M5
MR-J4W3-222B/MR-J4W3-444B 6 6 156 ± 0.5 6 73 ± 0.3 M5
9. Check list for user documentation
MR-J4 installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be
responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]
3. Does the protection instrument conform to the category required? Yes [ ], No [ ]
4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ]
5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.
[Warranty]
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the
"Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from
which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer
for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site
readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term]
For terms of warranty, please contact your original place of purchase.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our
service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible
for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases.
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software
problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device
required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and
replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and
acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product
from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of
the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when
any failure or malfunction occurs.
(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants
of electric power companies, and also which require a special quality assurance system, including applications for railway
companies and government or public offices are not recommended, and we assume no responsibility for any failure caused
by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical
treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment
machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these
applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
