Сервоприводы MR-J4

Type (*6)

Number of 
Control Axes

Power Supply

Rated Output (kW)
(*1, *4)

Interface

SSCNET III / H

CC-Link IE Field

Pulse Train

Analog Voltage

RS-422 Multi-Drop

EtherCAT®

EtherNet/IP™

SSCNET III/H Interface

MR-J4-B(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

-

-

-

-

-

-

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

-

-

-

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

X

-

-

-

-

-

-

MR-J4W2-B

2 axes

3-Phase 200VAC

0.2, 0.4, 0.75, 1

X

-

-

-

-

-

-

MR-J4W3-B

3 axes

3-Phase 200VAC

0.2, 0.4

X

-

-

-

-

-

-

CC-Link IE Field Network Interface with Motion

MR-J4-B-RJ010+ 
MR-J3-T10

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

-

X

-

-

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

-

X

-

-

-

-

-

General Purpose Interface

MR-J4-A(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

-

-

X

X

X

-

-

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

-

-

X

X

X

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

-

-

X

X

X

-

-

Multi-Network Interface

MR-J4-TM

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

-

-

-

-

-

X

X

1-Phase 100VAC

0.1, 0.2, 0.4

-

-

-

-

-

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

-

-

-

-

-

X

X

Type (*6)

Number of 
Control Axes

Power Supply

Rated Output (kW)
(*1, *4)

Control Mode

Position

Speed

Torque

Positioning Function

Fully Closed Loop Control (*2)

SSCNET III/H Interface

MR-J4-B(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

X

-

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

X

X

X

-

X

MR-J4W2-B

2 axes

3-Phase 200VAC

0.2, 0.4, 0.75, 1

X

X

X

-

X

MR-J4W3-B

3 axes

3-Phase 200VAC

0.2, 0.4

X

X

X

-

-

CC-Link IE Field Network Interface with Motion

MR-J4-B-RJ010+ 
MR-J3-T10

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

-

-

General Purpose Interface

MR-J4-A(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

X

X
(*3)

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X
(*3)

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

X

X

X

X
(*3)

X

Multi-Network Interface

MR-J4-TM

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

Type (*6)

Number of 
Control Axes

Power Supply

Rated Output (kW)
(*1, *4)

Compatible Motor Series

HG-KR

HG-MR

HG-SR

HG-JR

HG-RR

HG-UR

LM-H3 (*5)

LM-F (*5)

LM-K2 (*5)

LM-U2 (*5)

TM-RFM

SSCNET III/H Interface

MR-J4-B(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

-

-

-

-

X

-

X

X

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X

X

X

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

-

-

X

X

-

-

-

X

-

-

-

MR-J4W2-B

2 axes

3-Phase 200VAC

0.2, 0.4, 0.75, 1

X

X

X

X

-

X

X

-

X

X

X

MR-J4W3-B

3 axes

3-Phase 200VAC

0.2, 0.4

X

X

-

-

-

-

X

-

X

X

X

CC-Link IE Field Network Interface with Motion

MR-J4-B-RJ010+ 
MR-J3-T10

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

X

-

-

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

-

-

X

X

-

-

-

-

-

-

-

General Purpose Interface

MR-J4-A(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

-

-

-

-

X

-

X

X

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X

X

X

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

-

-

X

X

-

-

-

X

-

-

-

Multi-Network Interface

MR-J4-TM

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

X

X

X

X

X

X

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

-

-

-

-

-

-

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

X

-

X

-

-

-

Servo Amplifier

Stocked Item

Rotary Servomotor

Linear Servomotor (Primary Side) (*1)

Direct Drive Motor

MR-J4-10B-RJ
MR-J4-10A-RJ
MR-J4-10TM

S

HG-KR053, 13
HG-MR053, 13

-

-

MR-J4-20B-RJ
MR-J4-20A-RJ
MR-J4-20TM

S

HG-KR23
HG-MR23

LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0

TM-RFM002C20

MR-J4-40B-RJ
MR-J4-40A-RJ
MR-J4-40TM

S

HG-KR43
HG-MR43

LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0

TM-RFM004C20

MR-J4-60B-RJ
MR-J4-60A-RJ
MR-J4-60TM

S

HG-SR51, 52
HG-JR53

LM-U2PBD-15M-1SS0

TM-RFM006C20
TM-RFM006E20

MR-J4-70B-RJ
MR-J4-70A-RJ
MR-J4-70TM

S

HG-KR73
HG-MR73
HG-JR73
HG-UR72

LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0

TM-RFM012E20
TM-RFM012G20
TM-RFM040J10

MR-J4-100B-RJ
MR-J4-100A-RJ
MR-J4-100TM

S

HG-SR81, 102
HG-JR53 (*2), 103

-

TM-RFM018E20

MR-J4-200B-RJ
MR-J4-200A-RJ
MR-J4-200TM

S

HG-SR121, 201, 152, 202
HG-JR73 (*2), 103 (*2), 153, 203
HG-RR103, 153
HG-UR152

LM-H3P3D-48P-CSS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-FP2B-06M-1SS0
LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0

-

MR-J4-350B-RJ
MR-J4-350A-RJ
MR-J4-350TM

S

HG-SR301, 352
HG-JR153 (*2), 203 (*2), 353
HG-RR203
HG-UR202

LM-H3P7D-96P-ASS0
LM-K2P2C-07M-1SS1
LM-K2P3C-14M-1SS1
LM-U2P2C-60M-2SS0

TM-RFM048G20
TM-RFM072G20
TM-RFM120J10

MR-J4-500B-RJ
MR-J4-500A-RJ
MR-J4-500TM

S

HG-SR421, 502
HG-JR353 (*2), 503
HG-RR353, 503
HG-UR352, 502

LM-FP2D-12M-1SS0
LM-FP4B-12M-1SS0
LM-K2P2E-12M-1SS1
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0

TM-RFM240J10

MR-J4-700B-RJ
MR-J4-700A-RJ
MR-J4-700TM

S

HG-SR702
HG-JR503 (*2), 703, 601, 701M

LM-FP2F-18M-1SS0
LM-FP4D-24M-1SS0

-

MR-J4-11KB-RJ
MR-J4-11KA-RJ
MR-J4-11KTM

S

HG-JR903, 801, 12K1, 11K1M

LM-FP4F-36M-1SS0

-

MR-J4-15KB-RJ
MR-J4-15KA-RJ
MR-J4-15KTM

S

HG-JR15K1, 15K1M

LM-FP4H-48M-1SS0

-

MR-J4-22KB-RJ
MR-J4-22KA-RJ
MR-J4-22KTM

S

HG-JR20K1, 25K1, 22K1M

-

-

Servo Amplifier

Stocked Item

Rotary Servomotor

Linear Servomotor (Primary Side) (*1)

Direct Drive Motor

MR-J4-60B4-RJ
MR-J4-60A4-RJ MR-J4-60TM4

S

HG-SR524
HG-JR534

-

-

MR-J4-100B4-RJ
MR-J4-100A4-RJ MR-J4-100TM4

S

HG-SR1024
HG-JR534 (*2), 734, 1034

-

-

MR-J4-200B4-RJ
MR-J4-200A4-RJ
MR-J4-200TM4

S

HG-SR1524, 2024
HG-JR734 (*2), 1034 (*2), 1534,2034

-

-

MR-J4-350B4-RJ
MR-J4-350A4-RJ
MR-J4-350TM4

S

HG-SR3524
HG-JR1534 (*2), 2034 (*2), 3534

-

-

MR-J4-500B4-RJ
MR-J4-500A4-RJ
MR-J4-500TM4

S

HG-SR5024
HG-JR3534 (*2), 5034

-

-

MR-J4-700B4-RJ
MR-J4-700A4-RJ
MR-J4-700TM4

S

HG-SR7024
HG-JR5034 (*2), 7034, 6014,701M4

-

-

MR-J4-11KB4-RJ
MR-J4-11KA4-RJ
MR-J4-11KTM4

-

HG-JR9034, 8014, 12K14, 11K1M4

-

-

MR-J4-15KB4-RJ
MR-J4-15KA4-RJ
MR-J4-15KTM4

-

HG-JR15K14, 15K1M4

-

-

MR-J4-22KB4-RJ
MR-J4-22KA4-RJ
MR-J4-22KTM4

-

HG-JR20K14, 25K14, 22K1M4

LM-FP5H-60M-1SS0

-

Servo Amplifier Model MR-J4-_(-RJ)

10B

20B

40B

60B

70B

100B

200B

350B

500B

700B

11KB

15KB

22KB

10B1

20B1

40B1

Stocked Item

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

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

1.1

1.5

2.8

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase or 1-phase 200 VAC to 240 VAC, 
50 Hz/60 Hz

3-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120VAC, 50Hz/60Hz

Rated Current (A) (*15)

0.9

1.5

2.6

3.2 (*8)

3.8

5.0

10.5

16.0

21.7

28.9

46.0

64.0

95.0

3.0

5.0

9.0

Permissible Voltage Fluctuation

3-phase or 1-phase 170 VAC to 264 VAC

3-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120VAC, 50Hz/60Hz

Rated Current (A)

0.2

0.3

0.4

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

30

Interface Power Supply

24 VDC ±10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method (*8)

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor 
(*2, *3) (W)

-

10

10

10

20

20

100

100

130

170

-

-

-

-

10

10

External Regenerative Resistor (W)(Standard Accessory) (*2, 3, 11, 12)

-

-

-

-

-

-

-

-

-

-

500
(800)

850
(1300)

850
(1300)

-

-

-

Dynamic Brake

Built-in (*4)

External option (*13)

Built-in (*4)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, master-slave operation function (*14), scale measurement function (*14), J3 compatibility mode, super trace control (*16), lost motion compensation (*16)

Fully Closed Loop Control

MR-J4-B(1)

Two-wire type communication method (*9)

MR-J4-B(1)-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-B(1)

Mitsubishi high-speed serial communication

MR-J4-B(1)-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servomotor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Safety Function (*10)

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 x 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Natural cooling,open (IP20)

Close Mounting

Possible (*6)

Not possible

Possible (*6)

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

90 %RH maximum (non-condensing), storage: 90 %RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

0.8

0.8

1.0

1.0

1.4

1.4

2.1

2.3

4.0

6.2

13.4

13.4

18.2

0.8

0.8

1.0

Servo Amplifier Model MR-J4-_(-RJ)

60B4

100B4

200B4

350B4

500B4

700B4

11KB4

15KB4

22KB4

Stocked Item

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

1.5

2.8

5.4

8.6

14.0

17.0

32.0

41.0

63.0

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

1.4

2.5

5.1

7.9

10.8

14.4

23.1

31.8

47.6

Permissible Voltage Fluctuation

3-phase 232 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50/60 Hz

Rated Current (A)

0.1

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

Interface Power Supply

24 VDC ±10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method (*11)

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor (*2, *3) (W)

15

15

100

100

130 (*11)

170 (*11)

-

-

-

External Regenerative Resistor (W) (Standard Accessory) (*2, *3, *11, *12)

-

-

-

-

-

-

500(800)

850(1300)

850(1300)

Dynamic Brake

Built-in (*4)

External option (*13)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Fully Closed Loop Control

MR-J4-B4

Two-wire type communication method

MR-J4-B4-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-B4

Mitsubishi high-speed serial communication

MR-J4-B4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, master-slave operation function (*14), scale measurement function (*14), J3 compatibility mode, super trace control (*16), lost motion compensation (*16)

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servomotor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Safety Function (*13)

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CE

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

Not Possible

Not possible

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.7

1.7

2.1

3.6

4.3

6.5

13.4

13.4

18.2

Servo Amplifier Model MR-J4-_-RJ

10A

20A

40A

60A

70A

100A

200A

350A

500A

700A

11KA

15KA

22KA

10A1

20A1

40A1

Stocked Item

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

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

1.1

1.5

2.8

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase or 1-phase 200VAC to 240VAC, 50/60 Hz

3-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120 VAC, 50 Hz/60 Hz

Rated Current (A) (*14)

0.9

1.5

2.6

3.2 (*8)

3.8

5.0

10.5

16.0

21.7

28.9

46.0

64.0

95.0

3.0

5.0

9.0

Permissible Voltage Fluctuation

3-phase or 1-phase 170 VAC to 264 VAC

3-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120 VAC,50 Hz/60 Hz

Rated Current (A)

0.2

0.3

0.4

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

30

Interface Power Supply

24 VDC ±10% (required current capacity: 0.5 A (including CN8 connector signal))

Control Method

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor 
(*2, *3) (W)

-

10

10

10

20

20

100

100

130

170

-

-

-

-

10

10

External Regenerative Resistor (Standard Accessory) (*2, 3, 11, 12)

-

-

-

-

-

-

-

-

-

-

500(800)

850(1300)

850(1300)

-

-

-

Dynamic Brake

Built-in (*4)

External option (*13)

Built-in (*4)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible); RS-422: 1 : n communication (up to 32 axes) (*28)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servomotor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

PositionControlMode

Maximum Input Pulse Frequency

4 Mpps (when using differential receiver), 200 kpps (when using open-collector)

Positioning Feedback Pulse

Encoder resolution: 22 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

SpeedControlMode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 VDC to ±10 VDC/rated speed (Speed at 10 V is changeable with [Pr. PC12])

Speed Fluctuation Rate

±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10%)
±0.2% maximum (ambient temperature: 25°C ± 10°C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

TorqueControl Mode

Analog Torque Command Input

0 VDC to ±8 VDC/maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 VDC to ± 10 VDC/rated speed)

Fully Closed Loop Control

MR-J4-A(1)

Two-wire type communication method (*9)

MR-J4-A(1)-RJ

Two-wire/four-wire type communication method

Load-Side EncoderInterface

MR-J4-A(1)

Mitsubishi high-speed serial communication

MR-J4-A(1)-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, super trace control (Note 15), lost motion compensation (*15)

Functional Safety

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF — energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Natural cooling, open (IP20)

Close Mounting

Possible (*6)

Not possible

Possible (*6)

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

0.8

0.8

1.0

1.0

1.4

1.4

2.1

2.3

4.0

6.2

13.4

13.4

18.2

0.8

0.8

1.0

Servo Amplifier Model MR-J4-_(-RJ)

60A4

100A4

200A4

350A4

500A4

700A4

11KA4

15KA4

22KA4

Stocked Item

S

S

S

S

S

S

-

-

-

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

1.5

2.8

5.4

8.6

14.0

17.0

32.0

41.0

63.0

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase 380VAC to 480VAC, 50/60 Hz

Rated Current (A)

1.4

2.5

5.1

7.9

10.8

14.4

23.1

31.8

47.6

Permissible Voltage Fluctuation

3-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50/60 Hz

Rated Current (A)

0.1

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

Interface Power Supply

24 VDC ±10% (required current capacity: 0.5 A (including CN8 connector signal))

Control Method

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor (*2, *3) (W)

15

15

100

100

130 (*18)

170 (*18)

-

-

-

External Regenerative Resistor (W) (Standard Accessory) (*2, 3, 11, 12)

-

-

-

-

-

-

500
(800)

850
(1300)

850
(1300)

Dynamic Brake

Built-in (*4)

External option (*13)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible); RS-422: 1 : n communication (up to 32 axes)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servomotor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Position Control Mode

Maximum Input Pulse Frequency

4 Mpps (when using differential receiver), 200 kpps (when using open-collector)

Positioning Feedback Pulse

Encoder resolution: 22 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Speed Control Mode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 VDC to ±10 VDC/rated speed (Speed at 10 V is changeable with [Pr. PC12])

Speed Fluctuation Rate

±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10%)
±0.2% maximum (ambient temperature: 25°C ± 10°C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Torque Control Mode

Analog Torque Command Input

0 VDC to ±8 VDC/maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 VDC to ± 10 VDC/rated speed)

Fully Closed Loop Control

MR-J4-A4

Two-wire type communication method

MR-J4-A4-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-A4

Mitsubishi high-speed serial communication

MR-J4-A4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, super trace control (*16), lost motion compensation (*16)

Safety Function

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

Not Possible

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.7

1.7

2.1

3.6

4.3

6.5

13.4

13.4

18.2