Servo amplifier model MR-J4-A |
10A |
20A |
40A |
60A |
70A |
Output |
Rated voltage |
3-phase 170 V AC |
Rated current [A] |
1.1 |
1.5 |
2.8 |
3.2 |
5.8 |
Main circuit
power
supply |
Voltage/frequency (Note 1) |
3-phase or 1-phase 200 V AC to 240 V AC
50/60 Hz |
Rated current [A] |
0.9 |
1.5 |
2.6 |
3.2 |
3.8 |
Permissible voltage
fluctuation |
3-phase or 1-phase 170 V AC to 264 V AC |
Permissible frequency
fluctuation |
±5% maximum |
Control
circuit
power
supply |
Voltage/frequency |
1-phase 200 V AC to 240 V AC, 50/60 Hz |
Rated current [A] |
0.2 |
Permissible voltage
fluctuation |
1-phase 170 V AC to 264 V AC |
Permissible frequency
fluctuation |
±5% maximum |
Power consumption [W] |
30 |
Interface power supply |
24 V DC ± 10% (required current capacity: 0.3 A (including CN8 connector signal)) |
Control method |
Sine-wave PWM control/current control method |
Tolerable regenerative power of
the built-in regenerative resistor
(Note 2, 3)
[W] |
- |
10 |
10 |
10 |
20 |
Dynamic brake |
Built-in (Note 4) |
Communication function |
USB: Connect a personal computer (MR Configurator2 compatible) |
RS-422: 1 : n communication (up to 32 axes) (Note 11) |
Encoder output pulse |
Compatible (A/B/Z-phase pulse) |
Analog monitor |
2 channels |
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 16777216, B: 1 to 16777216, 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 V DC to +10 V DC/maximum torque) |
Speed
control
mode |
Speed control range |
Analog speed command 1:2000, internal speed command 1:5000 |
Analog speed command input |
0 V DC to ±10 V DC/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 V DC to +10 V DC/maximum torque) |
Torque
control mode |
Analog torque command input |
0 V DC to ±8 V DC/maximum torque (input impedance: 10 kΩ to 12 kΩ) |
Speed limit |
Set by parameters or external analog input (0 V DC to ± 10 V DC/rated speed) |
Fully closed loop control (Note 10) |
Available in the future |
Load-side encoder interface (Note 9) |
Mitsubishi high-speed serial communication |
Protective functions |
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection |
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) (Note 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 |
Refer to "Conformity with global standards and regulations" on p. 22 in this catalog. |
Structure (IP rating) |
Natural cooling, open (IP20) |
Force cooling, open (IP20) |
Close mounting |
Possible (Note 6) |
Mass [kg] |
0.8 |
0.8 |
1.0 |
1.0 |
1.4 |