MR-CV11K to MR-CV55K
MR-CV11K4 to MR-CV75K4
MR-CR55K/MR-CR55K4
MR-J4-DU700_ to MR-J4-DU37K_
MR-J4-DU700_4 to MR-J4-DU55K_4
Model
General-Purpose
IB(NA)0300228-F(2008)MEE
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Specifications are subject to change without notice.
AC Servo
F
Instructions and Cautions for Safe Use of AC Servos
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©2014 Mitsubishi Electric Corporation All Rights Reserved.
Contents of the package
Unpack the product and check the rating plate to see if the servo amplifier is as you ordered.
(1) Converter unit
(2) Drive unit
Contents Quantity Contents Quantity
Converter unit 1 Drive unit 1
Eyebolt (55 kW or more) 2 Bus bar (30 kW or more) 2
Connector set (Note) 1 Eyebolt (30 kW or more) 2
MR-CV/MR-CR/MR-J4-DU Instructions and Cautions
for Safe Use of AC Servos (this guide)
1
MR-CV/MR-CR/MR-J4-DU Instructions and Cautions
for Safe Use of AC Servos (this guide)
1
Note.
connector set for CN23 is packed together with MR-CV. A
connector set for CN1 is packed to
ether with MR-CR.
Rating plate
The following shows an example of rating plate for explanation of each item.
Converter unit
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: 2014-6
MR-CR55K
SER. A33001001
AC SERVO
POWER
INPUT
OUTPUT
STD.: IEC/EN61800-5-1 MAN.: IB0300228
Max. Surrounding Air Temp.: 55°C
IP20 (Terminal block IP00)
: 55kW
: 3AC200-240V 191.3A 50Hz/60Hz
: DC270-324V 215.9A
MSIP-REI-MEK- TC300A911G51
Drive unit
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
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2014-6
MR-J4-DU30KB
SER. A33001001
AC SERVO
POWER
INPUT
OUTPUT
STD.: IEC/EN61800-5-1 MAN.: IB0300228
Max. Surrounding Air Temp.: 55°C
IP20 (Terminal block IP00)
: 30kW
: DC270-324V 117.7A
: 3PH170V 0-360Hz 174A
MSIP-REI-MEK- TC300A916G51
MODEL
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.
(a) Converter unit
Series: MR-CR/MR-CV
Power supplySymbol
3-phase 200 V AC to 240 V ACNone
3-phase 380 V AC to 480 V AC4
Power supply
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.)
Capacity
Symbol Capacity [kW]
45K 45
55K 55
75K 75
Symbol Capacity [kW]
11K 11
18K 18
30K 30
37K 37
-
CR5MR 5 K 4
(b) Drive unit
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.)
Symbol Power supply
Series
None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Rated output
Power supply
Interface
Drive unit
B
Symbol Interface
A
SSCNET III/H
General-purpose interface
Symbol Rated output [kW]
30K 30
37K 37
45K 45
Symbol Rated output [kW]
700 7
11K 11
900 9
15K 15
22K 22
55K 55
--J4 DM
U30KB4
1. About the manuals
To use the MELSERVO-J4 series safely, read each instruction manual carefully.
Converter units and drive units are written as servo amplifiers in this guide under certain circumstances.
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 safety 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.)
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.
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.
ISO/EN ISO 13849-1: 2015 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO), IEC/EN 61800-5-1/GB
12668.501, IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1
MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or safety PLCs.
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.
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 20 minutes maximum for capacitor discharging. Do not touch the unit and terminals
immediately after power off.
2.3.1 Selection of peripheral equipment and wire
The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 274.
(1) 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 wire
Converter unit
75 ˚C/60 ˚C stranded wire [AWG]
Note 2
Drive unit
75 ˚C/60 ˚C stranded wire [AWG]
Note 2
L1/L2/L3 (Note 3) L11/L21 L+/L- L11/L21 L+/L- U/V/W/ (Note 3)
MR-CV11K (Note 1) 8: h/6: i
14: g/14: g
Exclusive
Bus Bar
MR-J4-DU700 (Note 1)
14: g/14: g
Exclusive
Bus Bar
8: o/6: m
MR-CV18K (Note 1) 4: q/2: - MR-J4-DU900 (Note 1) 4:e/2:n
MR-CV30K
Note 1
2: n/1/0:
MR-J4-DU11K
Note 1
4: e/2: n
MR-CV37K (Note 1) 1/0:
/1/0:
MR-J4-DU15K (Note 1) 2: n/1/0:
MR-CV45K (Note 1) 1/0:
/-: - MR-J4-DU22K (Note 1) 1/0:
/-: -
MR-CV55K (Note 1) 3/0: k/-: - MR-J4-DU30K (Note 1) 2/0: d/2/0: -
MR-CV11K4 (Note 1) 10: l/10: l
MR-J4-DU37K (Note 1)
2 × 2/0: d (Note 4)/
-: -
MR-CV18K4 (Note 1) 8: h/6: i
MR-CV30K4
Note 1
6: m/4: e MR-J4-DU700_4
Note 1
10: p/10: p
MR-CV37K4 (Note 1) 4: e/2: n MR-J4-DU900_4 (Note 1) 8: o/6: m
MR-CV45K4 (Note 1) 4: e/2: n MR-J4-DU11K_4 (Note 1) 8: o/6: m
MR-CV55K4 (Note 1) 2: n/1/0 :- MR-J4-DU15K_4 (Note 1) 6: m/6: m
MR-CV75K4 (Note 1) 1/0:
/-: - MR-J4-DU22K_4 (Note 1) 4: e/2: n
MR-CR55K (Note 1)
2 × 2/0: d (Note 4)/
2 × 2/0: -
MR-J4-DU30K_4 (Note 1) 3: f/2: f
MR-J4-DU37K_4
Note 1
2: f/1: c
MR-CR55K4 (Note 1) 2: c/1/0: - MR-J4-DU45K_4 (Note 1) 1/0: d/1/0: -
MR-J4-DU55K_4 (Note 1) 1/0: d/2/0: -
ote
.
o connect t
ese mo
e
s to a term
na
oc
,
e sure to use t
e screws t
at come w
t
t
e term
na
oc
.
.
a
ets
n t
e ta
e
n
cate cr
m
n
too
s.
or cr
m
term
na
s an
a
ca
e too
s, re
er to ta
e
.
.
e
ect w
re s
zes
epen
ng on t
e rate
output o
t
e servo motors.
e va
ues
n t
e ta
e are s
zes
ase
on rate
output o
t
e servo
am
lifiers.
.
en t
e rate
current
s
ess t
an
,
:
can a
so
e use
.
Table 2. Recommended crimp terminal
Symbol
Servo amplifie
-side crimp terminals
Manufacturer
Symbol
Servo amplifie
-side crimp terminals
Manufacturer
Crimp terminal (Note 2) Applicable tool Crimp terminal (Note 2) Applicable tool
a FVD5.5-10 YNT-1210S
JST
(J.S.T. Mfg.
Co., Ltd.)
h FVD8-5 YF-1/E-4
JST
(J.S.T. Mfg.
Co., Ltd.)
b FVD22-10 YF-1/E-4 i FVD14-5 YF-1/E-4
c (Note 1) R38-10
YPT-60-21
Note 1
60-S8 YF-1/E-4
YF-1/E-4 k (Note 1) 80-10 YF-1/E-4
d (Note 1) R60-10
YPT-60-21 l FVD5.5-5 YNT-1210S
YF-1/E-4 m FVD14-8 YF-1/E-4
e FVD22-8 YF-1/E-4 n FVD38-8 YF-1/E-4
f (Note 1) R38-8
YPT-60-21 o FVD8-8 YF-1/E-4
YF-1/E-4 p FVD5.5-8 YNT-1210S
g FVD2-4 YNT-1614 q (Note 1) 22-S5 YF-1/E-4
ote
.
oat t
e cr
m
n
art w
t
an
nsu
at
on tu
e.
.
ome cr
m
term
na
s ma
not
e mounte
e
en
n
on t
e
r s
zes.
a
e sure to use t
e recommen
e
ones or e
u
va
ent ones.
(2) Selection example of MCCB and fuse
Use a fuse (T class) or the molded-case circuit breaker (UL 489 Listed MCCB) indicated in the table below. 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, refer to each servo amplifier instruction manual.
Converter unit Molded-case circuit breaker (240 V AC)
Fuse
300 V
Converter unit Molded-case circuit breaker (480 V AC)
Fuse
600 V
MR-CV11K NF100-CVFU-60A (100 A frame 60 A) 80
MR-CV11K4 NF100-HRU-30A (100 A frame 30 A) 40
MR-CV18K NF100-CVFU-100A (100 A frame 100 A) 150
MR-CV18K4 NF100-HRU-50A (100 A frame 50 A) 80
MR-CV30K NF225-CVFU-150A (225 A frame 150 A) 225
MR-CV30K4 NF100-HRU-80A (100 A frame 80 A) 150
MR-CV37K NF225-CVFU-200A (225 A frame 200 A) 300
MR-CV37K4 NF100-HRU-100A (100 A frame 100 A) 150
MR-CV45K NF225-CWU-225A
225 A frame 225 A
350
MR-CV45K4 NF250-SVU-125A
250 A frame 125 A
200
MR-CV55K NF400-SKW-300A (400 A frame 300 A) 400
MR-CV55K4 NF250-SVU-150A (250 A frame 150 A) 225
MR-CR55K NF225-CWU-175A (225 A frame 175 A) 300
MR-CV75K4 NF250-SVU-200A (250 A frame 200 A) 300
MR-CR55K4 NF125-SVU-125A (125 A frame 125 A) 200
(3) Power supply
This servo amplifier can be used on the condition of overvoltage category III 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.
(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 terminal
This product can cause a DC current in the protective earthing conductor. Where a residual current-operated
protective (RCD: earth-leakage current breaker) device is used for protection in case of direct or indirect contact,
only an RCD of Type B is allowed on the supply side of this product.
(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 of the servo amplifier. In addition, use a line noise filter for outputs of the
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-BIF
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.
(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 a 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 chapter 8. The servo amplifier needs to be installed at or below pollution degree 2. Use
only copper wires or copper bus bars for wiring.
(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.
(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 (MR-CR55K(4) and 30 kW or more of MR-J4-DU)
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.
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 modules 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 adjust 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-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
80 mm or
more
SideFront
100 mm
or more
120 mm or
more
30 mm or
more
30 mm or
more
Top
Bottom
Converter unit
Drive unit
Converter
unit
+
Drive
unit
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.
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 of the wrong 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.
Connection with resistance regeneration converter unit
Drive unit
STO
Controller
Encoder
cable
Cabinet sides
Machine side
CN8
CN1
CN2
U/V/W/PE
L+
L-
CN40A
PE
L11
L-
P1
P2
C
CN40
L1L2L3
L21
L11
L21
PE
Resistance regeneration converter unit
(3-Phase 240 V AC)
MCCB
or
fuse
MCCB
or
fuse
MCCB
or
fuse
(3-Phase 400 V AC)
Sensing device
Servo motor
(Note)
Encoder
L+MC
CNP1
Connection with power regeneration converter unit
Drive unit
STO
Controller
Encoder
cable
Cabinet sides
Machine side
CN8
CN1
CN2
U/V/W/PE
L+
L-
CN40A
PE
L11
L-
L1L2L3
L21
L11
L21
PE
(3-Phase 240 V AC)
MCCB
or
fuse
MCCB
or
fuse
MCCB
or
fuse
(3-Phase 400 V AC)
Sensing device
Servo motor
Encoder
L+MC
CN4
Power regeneration converter unit
MC1
MC2
C reactor
(Note)
Note. Su
l
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-DU30KB 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 inpu
4
STO2
STO2 state inpu
5
Output device
Symbol Device Connecto
Pin No.
TOFCOM
Common terminal for monitor output
si
nal 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.
Drive unit/converter unit
Tightening torque: [N•m]
L1 L2 L3 P1 P2 C L+ L- L11 L21 U V W PE
MR-J4-DU700_/MR-J4-DU900_/MR-J4-DU11K_/
MR-J4-DU15K_/MR-J4-DU22K_/MR-J4-DU700_4/
MR-J4-DU900_4/MR-J4-DU11K_4/MR-J4-DU15K_4/
MR-J4-DU22K_4/MR-J4-DU30K_4/MR-J4-DU37K_4
3.0 1.2
6.0
MR-J4-DU30K_/MR-J4-DU37K_/MR-J4-DU45K_4/
MR-J4-DU55K_4
12.0
MR-CV11K_/MR-CV18K_/MR-CV11K_4/
MR-CV18K_4
2.0
2.0
MR-CV30K_/MR-CV37K_/MR-CV45K_/
MR-CV30K_4/MR-CV37K_4/MR-CV45K_4/
MR-CV55K_4/MR-CV75K_4
6.0 6.0
MR-CV55K 12.0
12.0
MR-CR55K/MR-CR55K4 12.0
(2) Check 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 operating methods 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
Smoothin
capacito
10
ears
Note 3
Relay
Number of powe
-on, forced stop and controller forced stop times: 100,000 times
Number of on and off for STO: 100,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Battery backup time (Note 1) Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 ˚C)
Batter
life
Note 2
5
ears from date of manufacture
Note 1. The time is for using MR-J4 servo amplifie
with a rotary servo motor using MR-BAT6V1SET or MR-BAT6V1BJ. For details and other
batter
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 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
.
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.
Do not hold the front cover, cables, or connectors when carrying the servo amplifier.
Otherwise, it may drop.
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.
When you keep or use it, please fulfill the following environment.
Item Environmen
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 humidit
Operation, transportation, stora
e 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 trans
ort
acka
in
8.Technical data
8.1 Converter unit
Item
MR-
CR
CV
CR
CV
55K 11K 18K 30K 37K 45K 55K 55K4 11K4 18K4 30K4 37K4 45K4 55K4 75K4
Output
Rated voltage 270 V DC to 324 V DC 513 V DC to 648 V DC
Rated current [A] 215.9 41 76 144 164 198 238 113.8 21 38 72 82 99 119 150
Power
supply
Main circuit
(line
voltage)
Voltage,
Frequenc
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Current [A] 191.3 35 65 107 121 148 200 100.7 18 35 61 70 85 106 130
Control circuit (line
volta
e
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz, 0.3 A 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 0.2 A
Interface (SELV) 24 V DC ± 10% (required current capacity: MR-CR_, 150 mA; MR-CV_, 350 mA)
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1)
Short-circuit current rating
(SCCR)
100 kA
8.2 Drive unit
Item
MR-J4-DU_
700
900
11K
15K
22K
30K
37K
700_4
900_4 11K_4 15K_4 22K_4 30K_4 37K_4 45K_4 55K_4
Output
Rated voltage 3-phase 170 V AC, 360 H
3-phase 323 V AC, 360 H
Rated current [A] 37 54 68 87 126 174 204 17 25 32 41 63 87 102 131 143
Power
supply
Main circui
The main circuit power of the drive unit is supplied by the converter unit.
Control circuit (line
volta
e
1-phase 200 V AC to 240 V AC,
50 Hz/60 Hz, 0.3
1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 0.2 A
Interface
SELV
24 V DC ± 10%
required current capacit
: MR-J4-DU_A_, 500 mA; MR-J4-DU_B
, 300 mA
Control method Sine-wave PWM control, current control method
Safety observation function
(STO)
IEC/EN 61800-5-2 (Note)
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)
Dia
nostic covera
e
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 de
ree 2
IEC/EN 60664-1
Overvoltage category 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1)
Short-circuit current rating
SCCR
100 kA
Note. Servo am
lifiers manufactured in Au
ust 2015 or later com
l
with SIL 3 re
uirements.
8.3 Dimensions/mounting hole process drawing
WD
H Front Side
pprox. W5
pprox. W3
19
10
342
360
380
Approx. 10
360
342
10
19
Converter unit/
Drive unit
Opening
4-A screw
Approx. 19
Approx. 19
Approx. 10
W1
W4
W2
W5
W3
Converter unit/drive unit
Variable dimensions [mm]
Mass [kg]
W H D
MR-CR55K/MR-CR55K4 300 380 300 22
MR-CV11K/MR-CV18K/
MR-CV11K4/MR-CV18K4
90 380 270 7.0
MR-CV30K/MR-CV37K/MR-CV45K/
MR-CV30K4/MR-CV37K4/MR-CV45K4
150 380 300 10.7
MR-CV55K/MR-CV55K4/MR-CV75K4
300 380 300 26.5
MR-J4-DU700_/ MR-J4-DU900_/
MR-J4-DU11K_/MR-J4-DU700_4/
MR-J4-DU900_4/MR-J4-DU11K_4
150 380 300 9.9
MR-J4-DU15K_/MR-J4-DU22K
MR-J4-DU15K_4_/MR-J4-DU22K_4
240 380 300 15.2
MR-J4-DU30K_/MR-J4-DU37K
300 380 300 21
MR-J4-DU30K_4/MR-J4-DU37K_4
240 380 300 16
MR-J4-DU45K_4/MR-J4-DU55K_4 300 380 300 19
Converter unit/Drive unit
Variable dimensions [mm] Screw size
W1 W2 W3 W4 W5
MR-CR55K/MR-CR55K4/
MR-J4-DU30K_/MR-J4-DU37K_/
MR-J4-DU45K_4/MR-J4-DU55K_4
300 260 20 281 9.5 M6
MR-CV11K/MR-CV18K/
MR-CV11K4/MR-CV18K4
90 - 45 82 4 M5
MR-CV30K/MR-CV37K/
MR-CV45K/MR-CV30K4/
MR-CV37K4/MR-CV45K4/
MR-J4-DU700_/MR-J4-DU900_/
MR-J4-DU11K_/MR-J4-DU700_4/
MR-J4-DU900_4/MR-J4-DU11K_4
150 60 45 142 4 M5
MR-CV55K/MR-CV55K4/MR-CV75K4 300 180 60 282 9 M5
MR-J4-DU15K_/MR-J4-DU22K_/
MR-J4-DU15K_4/MR-J4-DU22K_4/
MR-J4-DU30K_4/MR-J4-DU37K_4
240 120 60 222 9 M5
9.Check list for user documentation
MR-CV/MR-CR/MR-J4-DU 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 [ ]
Checkin
the items will not be instead of the first test o
eration or
eriodic ins
ection b
rofessional en
ineers.
[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.
