Сервоприводы MELSERVO Melservo MR-J4

ROTARY 
SERVOMOTOR 
SERIES

RATED SPEED (MAX. R/MIN)

RATED OUTPUT CAPACITY (KW) (*1)

SERVOMOTOR TYPE

PROTECTIVE DEGREE (*3)

COMPATIBLE SERIES

FEATURES

APPLICATION EXAMPLES

Electro-magnetic
Brake Available

With Reducer (G1) (*2)

With Reducer (G5, G7) (*2)

Small 
Capacity

HG-KR

3000 (6000)

5 Types
0.05, 0.1, 0.2, 0.4, 0.75

X

X

X

IP65

HF-KP

Low inertia, perfect for general industrial machines

• Belt Drive
• Robots
• Mounters
• Sewing Machines
• X-Y Tables
• Food Processing Machines
• Semiconductor manufacturing devices
• Knitting and embroidery machines

HG-MR

3000 (6000)

5 Types
0.05, 0.1, 0.2, 0.4, 0.75

X

-

-

IP65

HF-MP

Ultra-low inertia
Well suited for
high-throughput
operations

• Inserters
• Mounters

Medium Capacity

HG-SR

1000 (1500)

6 Types
0.5, 0.85, 1.2, 2.0, 3.0, 4.2

X

-

-

IP67

HF-SP

Medium inertia
This series is
available with two rated speeds

• Material handling systems
• Robots
• X-Y tables

2000 (3000)

14 types
0.5, 1.0, 1.5, 2.0, 3.5, 5.0, 7.0

0.5, 1.0, 1.5, 2.0, 3.5,5.0, 7.0

X

X

X

IP67

Medium/
Large 
Capacity

HG-JR

3000

(6000: 0.5~5 kW

5000: 7, 9 kW)

18 types
0.5, 0.75, 1.0, 1.5, 2.0, 3.5, 5.0, 7.0, 9.0

0.5, 0.75, 1.0, 1.5, 2.0,3.5, 5.0, 7.0, 9.0

X

-

-

IP67

HF-JP

Low inertia

Well suited for
high-throughput and high-acceleration/
deceleration
operations

• Food packaging machines
• Printing machines

1500

(3000: 11~15 kW

2500: 22 kW_)

14 types
7.0, 11, 15, 22, 30, 37 7.0, 11, 15, 22, 30,37, 45, 55

X (*5)

-

-

IP67/

IP44

(*4)

HF-JP

HA-LP

• Injection molding machines
• Press machines

1000

(2000: 6~12 kW

1500: 15~37 kW_)

16 types
6.0, 8.0, 12, 15, 20, 25, 30, 37

6.0, 8.0, 12, 15, 20, 25, 30, 37

X (*5)

-

-

IP67/

IP44

(*4)

HA-LP

Medium Capacity

HG-RR

3000

(4500)

5 types
1.0, 1.5, 2.0, 3.5, 5.0

X

-

-

IP65

HC-RP

Ultra-low inertia
Well suited for
high-throughput
operations

• Ultra-high-throughput material handling systems

Medium capacity, flat type

HG-UR

2000

(3000: 0.75~2 kW

2500: 3.5, 5 kW)

5 types
0.75, 1.5, 2.0, 3.5, 5.0

X

-

-

IP65

HC-UP

Flat type

The flat design makes
this unit well suited for
situations where the
installation space is
limited

• Robots
• Food processing machines

SERVOMOTOR MODEL HG-KR_

053(B)

13(B)

23(B)

43(B)

73(B)

Servo Amplifier Model

MR-J4-_

Refer to "Combinations of Servomotor and Servo Amplifier" in this selection guide

MR-J4W_-_

Power Supply Capacity (kVA) (*1)

0.3

0.3

0.5

0.9

1.3

Continuous Running Duty

Rated Output (W)

50

100

200

400

750

Rated Torque (N•m) 
(Note 3)

0.16

0.32

0.64

1.3

2.4

Maximum Torque (N•m)

0.56

1.1

2.2

4.5

8.4

Rated Speed (r/min)

3000

Maximum Speed (r/min)

6000

Permissible Instantaneous Speed (r/min)

6900

Power Rate Continuous 
Rated Torque

Standard (kW/s)

5.63

13.0

18.3

43.7

45.2

With Electromagnetic Brake (kW/s)

5.37

12.1

16.7

41.3

41.6

Rated Current (A)

0.9

0.8

1.3

2.6

4.8

Maximum Current (A)

3.2

2.5

4.6

9.1

17

Regenerative Braking Frequency (*2)

MR-J4- (times/min)

(*4)

(*4)

453

268

157

MR-J4W_- (times/min)

2500

1350

451

268

393

Moment of inertia 
J (x10-4kg•m²)

Standard

0.0450

0.0777

0.221

0.371

1.26

With Electromagnetic Brake

0.0472

0.0837

0.243

0.393

1.37

Recommended Load/Motor Inertia Ratio (Note 1)

17 times or less

26 times or less

25 times or less

17 times or less

Speed/Position Detector

Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)

Oil Seal

None

None (Servomotors with oil seal are available. 
(HG-KR_J))

Insulation Class

130 (B)

Structure

Totally enclosed, natural cooling (IP rating: IP65) (Note 2)

Environment (*3)

Ambient Temperature

0°C to 40°C (non-freezing), storage: -15°C to 70°C (non-freezing)

Ambient Humidity

80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Atmosphere

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

Elevation / Vibration (*4)

1000 m or less above sea level; X: 49 m/s² Y: 49 m/s²

Vibration Rank

V10 (*6)

Permissible Load 
for the Shaft (*5)

L (mm)

25

25

30

30

40

Radial (N)

88

88

245

245

392

Thrust (N)

59

59

98

98

147

Weight (kg)

Standard

0.34

0.54

0.91

1.4

2.8

With Electromagnetic Brake

0.54

0.74

1.3

1.8

3.8

SERVOMOTOR MODEL HG-MR_

053(B)

13(B)

23(B)

43(B)

73(B)

Servo Amplifier Model

MR-J4-_

Refer to "Combinations of Servomotor and Servo Amplifier" in this selection guide

MR-J4W_-_

Power Supply Capacity (kVA) (*1)

0.3

0.3

0.5

0.9

1.3

Continuous Running Duty

Rated Output (W)

50

100

200

400

750

Rated Torque (N•m) 
(Note 3)

0.16

0.32

0.64

1.3

2.4

Maximum Torque (N•m)

0.48

0.95

1.9

3.8

7.2

Rated Speed (r/min)

3000

Maximum Speed (r/min)

6000

Permissible Instantaneous Speed (r/min)

6900

Power Rate Continuous Rated Torque

Standard (kW/s)

15.6

33.8

46.9

114.2

97.3

With Electromagnetic Brake (kW/s)

11.3

28.0

37.2

98.8

82.1

Rated Current (A)

1.0

0.9

1.5

2.6

5.8

Maximum Current (A)

3.1

2.5

5.3

9.0

20.0

Regenerative Braking Frequency (*2)

MR-J4- (times/min)

(Note 4)

(Note 4)

1180

713

338

MR-J4W_- (times/min)

7310

3640

1170

710

846

Moment of Inertia 
J (x10-4kg•m²)

Standard

0.0162

0.0300

0.0865

0.142

0.586

With Electromagnetic Brake

0.0224

0.0362

0.109

0.164

0.694

Recommended Load/Motor Inertia Ratio (Note 1)

35 times or less

32 times or less

Speed/Position Detector

Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)

Oil Seal

None

None (Servomotors with oil seal are available. 
(HG-MR_J))

Insulation Class

130 (B)

Structure

Totally enclosed, natural cooling (IP rating: IP65) (Note 2)

Environment (*3)

Ambient Temperature

0°C to 40°C (non-freezing), storage: -15°C to 70°C (non-freezing)

Ambient Humidity

80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Atmosphere

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

Elevation / Vibration (*4)

1000 m or less above sea level; X: 49 m/s² Y: 49 m/s²

Vibration Rank

V10 (*6)

Permissible Load for the Shaft (*5)

L (mm)

25

25

30

30

40

Radial (N)

88

88

245

245

392

Thrust (N)

59

59

98

98

147

Weight (kg)

Standard

0.34

0.54

0.91

1.4

2.8

With Electromagnetic Brake

0.54

0.74

1.3

1.8

3.8

SERVOMOTOR MODEL HG-SR_

52(B)

102(B)

152(B)

202(B)

352(B)

502(B)

702(B)

Servo Amplifier Model

MR-J4-

Refer to "Combinations of Servomotor and Servo Amplifier" in this guide.

MR-J4W_-_

Power Supply Capacity (kVA) (*1)

1.0

1.7

2.5

3.5

5.5

7.5

10

Continuous Running 
Duty

Rated Output (kW)

0.5

1.0

1.5

2.0

3.5

5.0

7.0

Rated Torque (N•m) (Note 3)

2.4

4.8

7.2

9.5

16.7

23.9

33.4

Maximum Torque (N•m)

7.2

14.3

21.5

28.6

50.1

71.6

100

Rated Speed (r/min)

2000

Maximum Speed (r/min)

3000

Permissible Instantaneous Speed (r/min)

3450

Power Rate Continuous 
Rated Torque (kW/s)

Standard (kW/s)

7.85

19.7

32.1

19.5

35.5

57.2

74.0

With ElectromagneticBrake (kW/s)

6.01

16.5

28.2

16.1

31.7

52.3

69.4

Rated Current (A)

2.9

5.6

9.4

9.6

14

22

26

Maximum Current (A)

9.0

17.4

29

31

45

70

83

Regenerative Braking Frequency (*2)

MR-J4- (times/min)

31

38

139

47

28

29

25

MR-J4W_- (times/min)

154

96

-

-

-

-

-

Moment of Inertia 
J (x10-4kg•m²)

Standard

7.26

11.6

16.0

46.8

78.6

99.7

151

With Electromagnetic Brake

9.48

13.8

18.2

56.5

88.2

109

161

Recommended Load/Motor Inertia Ratio (Note 1)

15 times or less

17 times or less

15 times or less

Speed/Position Detector

Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)

Oil Seal

None (Servomotors with oil seal are available. (HG-SR_J))

Insulation Class

155 (F)

Structure

Totally enclosed, natural cooling (IP rating: IP67) (Note 2)

Environment (*3)

Ambient Temperature

0°C to 40°C (non-freezing), storage: -15°C to 70°C (non-freezing)

Ambient Humidity

80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Atmosphere

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

Elevation

1000 m or less above sea level

Vibration (*4)

X: 24.5 m/s² Y: 24.5 m/s²

X: 24.5 m/s² Y: 49 m/s²

X: 24.5 m/s² Y: 29.4 m/s²

Vibration Rank

V10 (*6)

Permissible Load 
for the Shaft (*5)

L (mm)

55

55

55

79

79

79

79

Radial (N)

980

980

980

2058

2058

2058

2058

Thrust (N)

490

490

490

980

980

980

980

Weight (kg)

Standard

4.8

6.2

7.3

11

16

20

27

With Electromagnetic Brake

6.7

8.2

9.3

17

22

26

33

SERVOMOTOR MODEL HG-SR_

524(B)

1024(B)

1524(B)

2024(B)

3524(B)

5024(B)

7024(B)

Servo Amplifier Model

MR-J4-

Refer to "Combinations of Servomotor and Servo Amplifier" in this guide.

Power Supply Capacity (kVA) (*1)

1.0

1.7

2.5

3.5

5.5

7.5

10

Continuous Running Duty

Rated Output (kW)

0.5

1.0

1.5

2.0

3.5

5.0

7.0

Rated Torque (N•m) (Note 3)

2.4

4.8

7.2

9.5

16.7

23.9

33.4

Maximum Torque (N•m)

7.2

14.3

21.5

28.6

50.1

71.6

100

Rated Speed (r/min)

2000

Maximum Speed (r/min)

3000

Permissible Instantaneous Speed (r/min)

3450

Power Rate Continuous Rated Torque (kW/s)

Standard (kW/s)

7.85

19.7

32.1

19.5

35.5

57.2

74.0

With ElectromagneticBrake (kW/s)

6.01

16.5

28.2

16.1

31.7

52.3

69.4

Rated Current (A)

1.5

2.8

4.7

4.9

7

11

13

Maximum Current (A)

4.5

8.9

17

17

27

42

59

Regenerative Braking Frequency (*2)

MR-J4- (times/min)

46

29

139

47

34

29

25

Moment of Inertia 
J (x10-4kg•m²)

Standard

7.26

11.6

16.0

46.8

78.6

99.7

151

With Electromagnetic Brake

9.48

13.8

18.2

56.5

88.2

109

161

Recommended Load/Motor Inertia Ratio (Note 1)

15 times or less

17 times or less

15 times or less

Speed/Position Detector

Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)

Oil Seal

None (Servomotors with oil seal are available. (HG-SR_J))

Insulation Class

155 (F)

Structure

Totally enclosed, natural cooling (IP rating: IP67) (Note 2)

Environment (*3)

Ambient Temperature

0°C to 40°C (non-freezing), storage: -15°C to 70°C (non-freezing)

Ambient Humidity

80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Atmosphere

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

Elevation

1000 m or less above sea level

Vibration (*4)

X: 24.5 m/s² Y: 24.5 m/s²

X: 24.5 m/s² Y: 49 m/s²

X: 24.5 m/s² Y: 29.4 m/s²

Vibration Rank

V10 (*6)

Permissible Load for the Shaft (*5)

L (mm)

55

55

55

79

79

79

79

Radial (N)

980

980

980

2058

2058

2058

2058

Thrust (N)

490

490

490

980

980

980

980

Weight (kg)

Standard

4.8

6.2

7.3

11

16

20

27

With Electromagnetic Brake

6.7

8.2

9.3

17

22

26

33

SERVOMOTOR MODEL HG-JR_

53(B)

73(B)

103(B)

153(B)

203(B)

353(B)

503(B)

703(B)

903(B)

Servo Amplifier Model

MR-J4-

Refer to "Combinations of Servomotor and Servo Amplifier" in this guide.

MR-J4W_-_

Power Supply Capacity (kVA) (*1)

1.0

1.3

1.7

2.5

3.5

5.5

7.5

10

13

Continuous Running 
Duty

Rated Output (kW)

0.5

0.75

1.0

1.5

2.0

3.3 <3.5> (Note 5)

5.0

7.0

9.0

Rated Torque (N•m) (Note 3)

1.6

2.4

3.2

4.8

6.4

10.5 <11.1> (Note 5)

15.9

22.3

28.6

Maximum Torque (N•m) (Note 6)

4.8 <6.4>

7.2 <9.6>

9.6 <12.7>

14.3 <19.1>

19.1 <25.5>

32.0 <44.6>

44.7 <63.7>

66.8

85.8

Rated Speed (r/min)

3000

Maximum Speed (r/min)

6000

5000

Permissible Instantaneous Speed (r/min)

6900

5750

Power Rate Continuous Rated Torque (kW/s)

Standard (kW/s)

16.7

27.3

38.2

60.2

82.4

83.5

133

115

147

With ElectromagneticBrake (kW/s)

12.5

22.0

32.2

53.1

74.8

71.6

119

93.9

125

Rated Current (A)

3.0

5.6

5.6

11

11

17 <18> (Note 5)

27

34

41

Maximum Current (A) (Note 5)

9.0 <12>

17 <23>

17 <23>

32 <43>

32 <43>

51 <71>

81 <108>

103

134

Regenerative Braking Frequency 
(*2, Note 5)

MR-J4- (times/min)

67 <137>

98 <511>

76 <396>

271 <271>

206 <206>

73 <98>

68 <89>

56

204 
(Note 7)

MR-J4W_- (times/min)

328 <328>

237

186

-

-

-

-

-

-

Moment of Inertia 
J (x10-4kg•m²)

Standard

1.52

2.09

2.65

3.79

4.92

13.2

19.0

43.3

55.8

With Electromagnetic Brake

2.02

2.59

3.15

4.29

5.42

15.4

21.2

52.9

65.4

Recommended Load/Motor Inertia Ratio (Note 1)

10 times or less

Speed/Position Detector

Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)

Oil Seal

Attached

Insulation Class

155 (F)

Structure

Totally enclosed, natural cooling (IP rating: IP67) (Note 2)

Environment (*3)

Ambient Temperature

0°C to 40°C (non-freezing), storage: -15°C to 70°C (non-freezing)

Ambient Humidity

80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Atmosphere

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

Elevation

1000 m or less above sea level

Vibration (*4)

X: 24.5 m/s² Y: 24.5 m/s²

X: 24.5 m/s² Y: 29.4 m/s²

Vibration Rank

V10 (*6)

Permissible Load for the Shaft (*5)

L (mm)

40

40

40

40

40

55

55

79

79

Radial (N)

323

323

323

323

323

980

980

2450

2450

Thrust (N)

284

284

284

284

284

490

490

980

980

Weight (kg)

Standard

3.0

3.7

4.5

5.9

7.5

13

18

29

36

With Electromagnetic Brake

4.4

5.1

5.9

7.3

8.9

15

20

35

42

SERVOMOTOR MODEL HG-JR_

534(B)

734(B)

1034(B)

1534(B)

2034(B)

3534(B)

5034(B)

7034(B)

9034(B)

Servo Amplifier Model

MR-J4-

Refer to "Combinations of Servomotor and Servo Amplifier" in this guide

Power Supply Capacity (kVA) (*1)

1.0

1.3

1.7

2.5

3.5

5.5

7.5

10

13

Continuous Running Duty

Rated Output (kW)

0.5

0.75

1.0

1.5

2.0

3.3 <3.5> (Note 5)

5.0

7.0

9.0

Rated Torque (N•m) (Note 3)

1.6

2.4

3.2

4.8

6.4

10.5 <11.1> (Note 5)

15.9

22.3

28.6

Maximum Torque (N•m) (Note 6)

4.8 <6.4>

7.2 <9.6>

9.6 <12.7>

14.3 <19.1>

19.1 <25.5>

32.0 <44.6>

47.2 <63.7>

66.8

85.8

Rated Speed (r/min)

3000

Maximum Speed (r/min)

6000

5000

Permissible Instantaneous Speed (r/min)

6900

5750

Power Rate Continuous Rated Torque (kW/s)

Standard (kW/s)

16.7

27.3

38.2

60.2

82.4

83.5

133

115

147

With Electromagnetic Brake (kW/s)

12.5

22.0

32.2

53.1

74.8

71.6

119

93.9

125

Rated Current (A)

1.5

2.8

2.8

5.4

5.4

8.3 <8.8> (Note 5)

14

17

21

Maximum Current (A) (Note 6)

4.5 <6.0>

8.4 <12>

8.4 <12>

17 <22>

17 <22>

26 <36>

41 <54>

52

67

Regenerative Braking Frequency (*2) (Note 6)

MR-J4- (times/min)

99 <100>

72 <489>

56 <382>

265 <275>

203 <209>

75 <98>

68 <89>

56

205 
(Note 7)

Moment of Inertia 
J (x10-4kg•m²)

Standard

1.52

2.09

2.65

3.79

4.92

13.2

19.0

43.3

55.8

With Electromagnetic Brake

2.02

2.59

3.15

4.29

5.42

15.4

21.2

52.9

65.4

Recommended Load/Motor Inertia Ratio (Note 1)

10 times or less

Speed/Position Detector

Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)

Oil Seal

Attached

Insulation Class

155 (F)

Structure

Totally enclosed, natural cooling (IP rating: IP67) (Note 2)

Environment (*3)

Ambient Temperature

0°C to 40°C (non-freezing), storage: -15°C to 70°C (non-freezing)

Ambient Humidity

80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Atmosphere

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

Elevation

1000 m or less above sea level

Vibration (*4)

X: 24.5 m/s² Y: 24.5 m/s²

X: 24.5 m/s² Y: 29.4 m/s²

Vibration Rank

V10 (*6)

Permissible Load for the Shaft (*5)

L (mm)

40

40

40

40

40

55

55

79

79

Radial (N)

323

323

323

323

323

980

980

2450

2450

Thrust (N)

284

284

284

284

284

490

490

980

980

Weight (kg)

Standard

3.0

3.7

4.5

5.9

7.5

13

18

29

36

With Electromagnetic Brake

4.4

5.1

5.9

7.3

8.9

15

20

35

42

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