sh030106u.pdf - 第35页

1. FUNCTI ONS AND CONF IGURATION 1 - 18 Model: MR-J4- _(-RJ) 10B 1 20B1 40B1 Environm ent Ambient temperat ure Operati on 0 °C to 55 °C ( non-f reezin g) Sto rage -20 °C to 65 °C (non -fre ezin g) Ambient humidity Oper a…

1. FUNCTIONS AND CONFIGURATION

1 - 17

(3) 100 V class

Model: MR-J4-_(-RJ) 10B1 20B1 40B1

Output

Rated voltage 3-phase 170 V AC

Rated current [A] 1.1 1.5 2.8

Main circuit

power supply

input

Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz

Rated current [A] 3.0 5.0 9.0

Permissible voltage

fluctuation

1-phase 85 V AC to 132 V AC

Permissible frequency

fluctuation

Within ±5%

Power supply capacity

[kVA]

Refer to section 10.2.

Inrush current [A] Refer to section 10.5.

Control circuit

power supply

input

Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz

Rated current [A] 0.4

Permissible voltage

fluctuation

1-phase 85 V AC to 132 V AC

Permissible frequency

fluctuation

Within ±5%

Power consumption [W] 30

Inrush current [A] Refer to section 10.5.

Interface power

supply

Voltage 24 V DC ± 10%

Current capacity [A] 0.3 (including CN8 connector signals) (Note 1)

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

SSCNET III/H communication cycle

(Note 6)

0.222 ms, 0.444 ms, 0.888 ms

Fully closed loop control Compatible (Note 5)

Scale measurement function Compatible (Note 7)

Load-side encoder interface (Note 4) Mitsubishi Electric high-speed serial communication

Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)

Encoder output pulses Compatible (A/B/Z-phase pulse)

Analog monitor Two channels

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, magnetic pole

detection protection, and linear servo control fault protection

Functional safety STO (IEC/EN 61800-5-2)

Safety

performance

Standards (Note 8)

EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3,

EN IEC 62061 maximum SIL 3, EN 61800-5-2

Response performance 8 ms or less (STO input off → energy shut off)

Test pulse input (STO)

(Note 3)

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

Mean time to dangerous

failure (MTTFd)

MTTFd ≥ 100 [years] (314a)

Diagnostic coverage (DC) DC = Medium, 97.6 [%]

Probability of dangerous

failures per hour (PFH)

PFH = 6.4 × 10

-9

[1/h]

Global

standards

CE marking

LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2,

EN IEC 62061

UKCA marking

LVD: BS EN 61800-5-1, EMC: BS EN IEC 61800-3, MD: BS EN ISO 13849-1:2015, BS EN 61800-5-2,

BS EN IEC 62061

UL standard UL 61800-5-1

Structure (IP rating) Natural cooling, open (IP20)

Close mounting (Note 2) Possible

1. FUNCTIONS AND CONFIGURATION

1 - 18

Model: MR-J4-_(-RJ) 10B1 20B1 40B1

Environment

Ambient

temperature

Operation 0 °C to 55 °C (non-freezing)

Storage -20 °C to 65 °C (non-freezing)

Ambient

humidity

Operation

5 %RH to 90 %RH (non-condensing)

Storage

Ambience

Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Note 9)

Vibration resistance 5.9 m/s

, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [kg] 0.8 1.0

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 °C to 45 °C or at 75% or smaller

effective load ratio.

3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to

self-dia

nose.

4. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type,

fou

-wire t

pe, and A/B/Z-phase differential output method. Refer to

able 1.1 for details.

5. For the compatible version of full

closed loop s

stem, refer to table 1.1.

6 The communication c

cle depends on the controller specifications and the number of axes connected.

7. For the compatible version for the scale measurement function, refer to table 1.1.

8. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input

dia

nosis b

TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.

9. Follow the restrictions in section 2.7 when usin

this product at altitude exceedin

1000 m and up to 2000 m above sea level.

1. FUNCTIONS AND CONFIGURATION

1 - 19

1.4 Combinations of servo amplifiers and servo motors

POINT

When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot

be achieved with HG-JR series servo motor.

When you use the MR-J4-100B(-RJ) or MR-J4-200B(-RJ) with the 1-phase 200

V AC input, contact your local sales office for the torque characteristics of the

HG-UR series, HG-RR series, and HG-JR series servo motors.

(1) 200 V class

Servo amplifier

Rotary servo motor

Linear servo motor

(primary side)

Direct drive motor

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

MR-J4-10B(-RJ) 053

053

MR-J4-20B(-RJ)

23 23

LM-U2PAB-05M-0SS0

LM-U2PBB-07M-1SS0

TM-RFM002C20

TM-RG2M002C30 (Note 1)

TM-RU2M002C30 (Note 1)

TM-RG2M004E30 (Note 1)

TM-RU2M004E30 (Note 1)

MR-J4-40B(-RJ)

43 43

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-K2P1A-01M-2SS1

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

TM-RFM004C20

TM-RG2M004E30 (Note 1, 3)

TM-RU2M004E30 (Note 1, 3)

TM-RG2M009G30 (Note 1)

TM-RU2M009G30 (Note 1)

MR-J4-60B(-RJ)

LM-U2PBD-15M-1SS0 TM-RFM006C20

TM-RFM006E20

MR-J4-70B(-RJ)

73 73 72 73

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)

102

53 (Note 2)

103

TM-RFM018E20

MR-J4-200B(-RJ)

121

201

152

202

152

103

153

73 (Note 2)

103 (Note 2)

153

203

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)

301

352

202 203

153 (Note 2)

203 (Note 2)

353

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)

421

502

352

502

353

503

353 (Note 2)

503

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)

702

503 (Note 2)

601

701M

703

LM-FP2F-18M-1SS0

LM-FP4D-24M-1SS0

MR-J4-11KB(-RJ)

801

12K1

11K1M

903

LM-FP4F-36M-1SS0

MR-J4-15KB(-RJ)

15K1

15K1M

LM-FP4F-48M-1SS0

MR-J4-22KB(-RJ)

20K1

25K1

22K1M

Note 1. This is available with servo amplifiers with software version C8 or later.

2. This combination increases the maximum torque of the servo motor to 400%.

3. This combination increases the rated torque and the maximum torque.