Worldwide
Product Features
Seamless Integration with Existing System
Easy Replacement of MR-J3 Series
Compatible mounting
MR-J4-B/MR-J4-A has the same mounting dimensions*1 with MR-J3-B/MR-J3-A. HG rotary servo motor series has the same mounting dimensions*2 and uses the same option cables for the power, the encoder*3, and the electromagnetic brake as HF series or HC-RP/HC-UP series.
*1. Mounting dimensions are smaller for servo amplifiers rated 200 V 5 kW, 400 V 3.5 kW, 200 V/400 V 11 kW, and 200 V/400 V 15 kW.
*2. For replacing HA-LP series to HG-JR series, contact your local sales office for more detail.
*3. HG-JR series of 11 kW to 55 kW uses a different encoder cable from HF-JP series.
When not changing the controller to SSCNET III/H controller
MR-J4-B/MR-J4W2-B/MR-J4W3-B servo amplifier has J3 compatibility mode. By operating in J3 compatibility mode, MR-J4 series servo amplifier and MR-J3 series servo amplifier can be used together in a same system without changing the existing controller.
* When the SSCNET III compatible products are in the system, the communication speed is 50 Mbps, and the function and the performance are equivalent to those of MR-J3.
* Some functions may not be supported by the J3 compatibility mode. Refer to relevant Servo Amplifier Instruction Manual for details.
The following new functions of MR-J4 series are available with J3 extension function of J3 compatibility mode.
- · One-touch tuning function
- · Robust filter
- · SEMI-F47 function
- · Drive recorder function
- · Power monitoring function
- · Advanced vibration suppression control II
- · Machine resonance suppression filter (5 filters)
- · Tough drive function
- · Machine diagnosis function
- · Lost motion compensation function
Parameter conversion
Parameters are automatically converted by changing MR-J3-B to MR-J4-B with MELSOFT MT Works2*1. MR-J3-A and MR-J3-T parameters can also be converted to MR-J4-A parameters using the parameter converter function of MR Configurator2*1.
*1. Be sure to update your MT Works2 and MR Configurator2 to the latest version.
Wide variety of product lines
MELSERVO-J3 series is replaceable with MELSERVO-J4 series with a wide variety of power supplies and capacities. MR-J4-B/MR-J4-A is available from 100 W to 55 kW, and the main circuit power supply is selectable from 3-phase 200 V AC, 3-phase 400 V AC and 1-phase 100 V AC.
* For the product lines, refer to "MELSERVO-J4 Product Lines" in the catalog.
Supporting Replacement of MR-J2-Super Series
MELSERVO-J4 series product lines include general-purpose interface, positioning function, and SSCNET III/H interface. MELSERVO-J4 series is compatible with a wide variety of command interface and also replaceable from MELSERVO-J2S series.
For renewing the units to MR-J4 series
Parameters are automatically converted with MELSOFT MT Works2*1 when the servo amplifier is changed from MR-J2S-B to MR-J4-B.
With the parameter converter function of MR Configurator2*1, parameters of MR-J2S-A are converted to those of MR-J4-A, and parameters of MR-J2S-CP and MR-J2S-CL are converted to those of MR-J4-A-RJ.
*1. Be sure to update your MT Works2 and MR Configurator2 to the latest version.
When not changing the controller to SSCNET III/H controller
A combination of MR-J4-B-RJ020 and MR-J4-T20 conversion unit for SSCNET of MR-J2S-B is capable of connecting to the SSCNET of MR-J2S-B compatible servo system controller.*
Thus, renewing the units other than the controller to MR-J4 series is possible without changing the existing controller.
* The function and performance are equivalent to those of MR-J2S-B. (J2S compatibility mode)
* Refer to "New Product Release of Conversion Unit for SSCNET of MR-J2S-B" and "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for details.
The set of MR-J4-B-RJ020 and MR-J4-T20 is compatible with the following servo system controllers:
A171SHCPU(N), A172SHCPU(N), A173UHCPU, A273UHCPU,
A1SD75M, QD75M, Q172CPU(N), and Q173CPU(N)
When using the existing wiring
MR-J2S-B renewal tool manufactured by Mitsubishi Electric
System & Service Co., Ltd. is available for using the existing
HC/HA series servo motors or for replacing MR-J2S using the existing connections.
This renewal tool enables to use the existing mounting holes and wiring, and the replacement and wiring can be completed in a short period of time.
For MR-J2S renewal tool, contact your local sales office.
Renewal related materials
We provide support for the renewal with the following materials from the catalog of renewal introduction, the handbook with detailed information to the instruction manual for the renewal tool to use the existing wiring.
MR-J2S series has been discontinued since August 2015, and MR-J3/J3W series has been discontinued since May 2019.
Offering Various Basic Functions
Various Basic Functions
Position / Speed / Torque control
Position, speed, and torque controls are available. The position control performs positioning by following position commands and is suitable when synchronous or interpolation control is used. Speed and torque are controlled to be constant by the speed and torque controls following the speed and torque commands respectively.
Control switching
Control can be switched among position, speed, and torque controls.
* Control can be switched between two of the controls for MR-J4-A.
Real - time auto tuning
The load to motor inertia ratio of a machine is always estimated from the servo motor current and speed during acceleration/deceleration. Therefore, gains such as model loop gain, position loop gain, and speed loop gain are automatically set just by setting the response level.
Model adaptive control
Control with high responsivity and high stability is achieved according to the model control.
The two-degrees-of-freedom model adaptive control enables to set the response for command and disturbance respectively.
Adaptive filter II
Adaptive filter II is a function in which the servo amplifier detects machine resonance for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency and depth) are set automatically, it is not necessary to consider the resonance frequency of a mechanical system.
This function is effective for the relatively high frequency of machine resonance around 100 Hz to 2.25 kHz.
Low - pass filter
The low-pass filter suppresses high-frequency resonance which occurs as servo system response is increased. The filter is enabled as default, and the set frequency is automatically adjusted.
Dynamic brake
The dynamic brake is designed to decelerate the servo motor immediately at an alarm occurrence, power failure, or forced stop. The dynamic brake is not for holding a shaft at a stop.
* The dynamic brake is built in the 7 kW or smaller servo amplifiers.
* The external dynamic brake is required for the 9 kW or larger servo amplifiers.
Close mounting
Close mounting is possible for 200 V 3.5 kW or smaller, 100 V, and 48 V DC/24 V DC servo amplifiers. Mounting space efficiency is significantly improved.
* When the servo amplifiers are closely mounted, the operation environment condition is different.
* Close mounting is not possible when the servo amplifiers of 1 kW and 2 kW in 200 V class are used with 1-phase power supply.
Input signal selection (device settings)
Function assigned to each pin for digital input can be changed by setting parameters.
* Available with MR-J4-GF and MR-J4-A.
Output signal selection (device settings)
Function assigned to each pin for digital output can be changed by setting parameters.
Encoder output pulse
Encoder output pulses can be outputted in the differential line driver type as A/B/Z-phase pulse. Output pulse per servo motor revolution can be set with the parameter.
* MR-J4W2-B outputs A/B-phase pulse. MR-J4W3-B is not compatible with this function.
A / B - phase pulse through output
With this function, when an A/B/Z-phase differential output type linear encoder is used, A/B/Z-phase signals from the linear encoder are outputted as encoder output pulses.
The signals from the linear encoder are used by a controller without being branched.
* Available only with MR-J4-GF-RJ/MR-J4-B-RJ/MR-J4-A-RJ.
Monitoring (Status display)
Servo status such as regenerative load ratio, effective load ratio, instantaneous torque, or servo motor speed can be monitored on MR Configurator2. For MR-J4-A, the status is also confirmed on the seven-segment LED display.
Slight vibration suppression control
This function suppresses vibration of ±1 pulse produced at a servo motor stop.
Gain switching function
This function enables to switch gains. Gains during rotation and during stop can be switched. Using a switching signal to switch gains is also possible during operation.
Feed forward
With this function, a position deviation is reduced to nearly zero during constant-velocity operation.
This function improves the tracking of position command during trajectory control, etc.
Internal speed command
Up to seven internal speed commands can be stored in parameters. Speed control is possible without using the analog voltage command by selecting the internal speed command with input device.
* Supported only by MR-J4-A.
Absolute position detection system
Merely setting a home position once makes home position return unnecessary at every power-on.
Built-in regenerative resistor
Servo amplifiers from 0.2 kW to 7 kW have a built-in regenerative resistor, saving installation space for an option and enabling more compact system.
Regenerative option
Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability. For 5 kW or larger servo amplifiers, the brake unit is available when the regenerative option does not provide enough regenerative power.
* Available as an option.
Power regeneration converter
Regenerative energy is returned to the power supply and used for other systems, contributing to energy-saving.
MR-CV_ power regeneration converter unit is compatible with MR-J4-DU_B_(-RJ) drive unit and MR-J4-_B_(-RJ) servo amplifier. FR-XC multifunction regeneration converter unit is compatible with the servo amplifiers of 100 W to 22 kW in 200 V class and 0.6 kW to 22 kW in 400 V class.
Analog monitor output
Servo status such as torque and servo motor speed is outputted in terms of voltage in real time.
* Not available with MR-J4W2-B/MR-J4-W3-B.
Alarm history
The past 16 alarms are recorded in the servo amplifier. The alarms can be checked in a list with MR Configurator2.
Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally. The following can be performed using MR Configurator2.
● JOG operation
Test operation function for checking a speed control operation without a command from a controller.
● Positioning operation
Test operation function for checking a positioning operation by position control without a command from a controller.
● Motor-less operation
Without connecting a servo motor, this function outputs signals in response to the input device and displays status as if the servo motor is actually running. The motor-less operation is useful for checking the sequence of controller, etc.
● Program operation
Without using a controller, this function enables positioning operation consisting of multiple simple operation patterns.
● Output signal (DO) forced output
This function switches output signals on/off forcibly independently of the servo status, useful for checking the output signal wirings.
Multi-axis adjustment function
This function simultaneously adjusts parallel drive axes which make the same motion and also executes test operation and gain adjustment for up to four axes at the same time. The target axes can be selected with a simple operation on engineering software.
* This function is available when the servo amplifier is used with RnMTCPU or RD77MS.
Pressure control function
Pressure sensor signals are directly inputted to the servo amplifier, enabling high-response feedback control and pressure control.
* Pressure control-compatible servo amplifier (MR-J4-B-LL) is necessary.
Some functions may not be available depending on the models.
Refer to relevant Servo Amplifier Instruction Manual for details.