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MELSERVO-J4 series
Servo
MELSERVO-J4 SERIES

A Complete system lineup to meet your production and manufacturing needs

Responding to expanding applications such as semiconductor and LCD manufacturing, machine tools, robots, and food processing machines, MELSERVO-J4 is flexibly coordinated with Mitsubishi Electric's other product lines such as Motion controllers, networks as well as displays and programmable controllers. MELSERVO-J4 allows you to freely create an advanced servo system.


Overview

Industry-leading Basic Performance

Industry-leading Level of Servo Amplifier Basic Performance
Speed frequency response of 2.5 kHz is achieved by applying our original high-speed servo control architecture evolved from the conventional two-degrees-of-freedom model adaptive control to the dedicated execution engine. Together with a high-resolution absolute position encoder of 4,194,304 pulses/rev, fast and accurate operation is enabled. The performance of the high-end machines is utilized to the fullest.


Improving Machine Performance with High-performance Servo Motors
Rotary servo motors achieve high-accuracy positioning and smooth rotation with a high-resolution encoder and improved processing speed.


Advanced Servo Gain Adjustment Function

One-touch Tuning
Just turn on the one-touch tuning function to complete servo gain adjustment automatically, including machine resonance filter, advanced vibration suppression control II*1, and robust filter for maximizing your machine performance. This function also sets responsibility automatically, while the real-time auto tuning requires manual setting. Moreover, a new method*2 allows to create an optimum tuning command inside the servo amplifier.
*1.The advanced vibration suppression control II automatically adjusts one frequency.
*2.This new method is available with MR-J4-B/MR-J4W_-B/MR-J4-A with software version of C1 or later.

Advanced Vibration Suppression Control II
The advanced vibration suppression control II suppresses two types of low frequency vibrations owing to vibration suppression algorithm which supports three-inertia system. This function is effective in suppressing residual vibration with relatively low frequency of approximately 100 Hz or less generated at the end of an arm and in a machine, enabling a shorter settling time. Adjustment is easily performed on MR Configurator2.


Robust Filter
Achieving both high responsibility and stability was difficult with the conventional control in high-inertia systems with belts and gears such as printing and packaging machines. Now, this function enables the high responsibility and the stability at the same time without adjustment. The robust filter gradually reduces the fluctuation of torque in a wide frequency range and achieves more stability as compared to the prior model.


Expanded Machine Resonance Suppression Filter
With advanced filter structure, applicable frequency range is expanded from between 100 Hz and 4500 Hz to between 10 Hz and 4500 Hz. Additionally, the number of simultaneously applicable filters is increased from two to five, improving vibration suppression performance of a machine.


Lost Motion Compensation Function
This function suppresses quadrant protrusion caused by friction and torsion generated when the servo motor rotates in reverse direction. Therefore, the accuracy of circular path will be improved in trajectory control used in XY table, etc.
* This function is not available with MR-J4W2-B and MR-J4W3-B.


Super Trace Control
This function controls droop pulse to nearly zero not only during constant operation, but also during constant acceleration/deceleration. The trajectory accuracy will be improved in high rigidity machines.
* This function is not available with MR-J4W2-B and MR-J4W3-B.

A Variety of Functions for Various Applications

*    Use a compatible controller.

    Tightening & Press-fit Control 

Position/speed control switches to torque control smoothly without stopping or changing the speed or the torque rapidly. Load to the machine is reduced, and high-quality molding is achieved for an application where control is switched from position to torque such as Tightening & Press-fit control or insertion of a work, and cap or screw tightening.

* Available with MR-J4-B/MR-J4W2-B/MR-J4W3-B.



Master-slave Operation Function

With the master-slave operation function of MR-J4-B servo amplifier*, the torque of a master axis will be transmitted to slave axes through the driver communication. This enables a torque control operation with the slave axes, using the torque as a command. No additional wiring is required because the torque data is transmitted from the master axis to the slave axes via SSCNETIII/H.

* This function is available with MR-J4-B servo amplifier with software version A8 or later.




Scale Measurement Function 



The scale measurement function of MR-J4-GF/MR-J4-B*1/MR-J4W2-B*1 servo amplifiers*2 enables to transmit position information of a scale measurement encoder to the controller when the scale measurement encoder is connected in semi closed loop control. 
The data of linear or synchronous encoders are transmitted to the servo system controller via the servo amplifier, achieving less wiring.

*1. This function is available with the servo amplifier with software version A8 or later, but not available with MR-J4W2-0303B6.

*2. Use corresponding servo amplifier (MR-J4-GF/MR-J4-GF-RJ/MR-J4-B/MR-J4-B-RJ) for load-side encoder.


Applicable for Various Control and Driving Systems

Compatible Servo Motors


MR-J4 series servo amplifier operates rotary servo motors, linear servo motors, and direct drive motors as standard*.

* Not all of the servo amplifiers are compatible with all three of these servo motors. For the combination, refer to "Product lines" in the catalog.


1-axis/2-axis/3-axis Servo Amplifiers


For SSCNETIII/H compatible servo amplifiers, 2-axis and 3-axis types are available in addition to 1-axis type, enabling flexible systems based on the number of control axes.


Compatible with Fully Closed Loop Control


MRJ4-GF/MR-J4-B/MR-J4-A servo amplifier is compatible with fully closed loop control system*1. Accurate control of load-side position is achieved*2.

*1. MR-J4-GF/MR-J4-B/MR-J4-A servo amplifier is compatible with two-wire type serial linear encoders. For four-wire type serial and pulse train interface (A/B/Z-phase differential output type) linear encoders, use MR-J4-GF-RJ/MR-J4-B-RJ/MR-J4-A-RJ.

*2. Some models are not compatible with the fully closed loop control system. Refer to "Product lines" in the catalog.


Wide Range of Power Supplies and Capacities


MR-J4-B/MR-J4-A servo amplifiers support 3-phase 200 V AC/400 V AC, 1-phase 100 V AC, and 48 V DC/24 V DC for the main circuit power supply, and the capacity ranges from 30 W* to 55 kW.
For MR-J4-GF, 3-phase 200 V AC/400 V AC is supported. In addition, MR-J4-GF-RJ/MR-J4-B-RJ/MR-J4-A-RJ supports DC power input.

* Servo amplifiers of 30 W is compatible with a power supply of 48 V DC/24 V DC.


Maximum Command Pulse Frequency


General-purpose interface compatible MR-J4-A servo amplifier supports maximum command pulse frequency of 4 Mpulses/s (when differential receiver is used). 
When open collector is used, both sink and source inputs are enabled.


Built-in Positioning Function for Simple System

Servo Amplifier with Built-in Positioning Function

MR-J4-A-RJ*1 has a built-in positioning function, enabling positioning operation with point table, program-based, and indexer (turret) methods.
With this servo amplifier, a positioning system is configured without a Positioning module (command pulse). Positioning command is executed by input/output signals or RS-422/RS-485 communication (up to 32 axes). MR Configurator2*2 allows easy setting of the positioning data.



*1. Use MR-J4-A-RJ servo amplifiers with software version B3 or later when using the positioning function.

*2. Use MR Configurator2 with software version 1.25B or later. Be sure to update your MR Configurator2 to the latest version.



Setting position data (target position), servo motor speed, and acceleration/deceleration time constants in point table is as easy as setting a parameter. Up to 255 points are settable for the point table. The positioning operation is performed with a start signal after selecting the point table No.


* Point table can be set with push buttons on the servo amplifier or MR-PRU03 parameter unit along with MR Configurator2.



Create positioning programs with dedicated commands. The positioning operation is performed with a start signal after selecting the program No. The program-based method enables more complex positioning operation than the point table method. Maximum of 256 programs are settable. (The total number of steps of program: 640)

* MR Configurator2 is required to create programs.






Perform positioning operation by specifying equally divided stations (up to 255 stations). The travel distance will be calculated automatically based on the number of equally divided stations set in the parameter. The positioning operation is performed with a start signal after selecting the station position No.
In addition to rotation direction specifying indexer and shortest rotating indexer, backlash compensation and override function are also available.

* Fully closed loop control mode and linear servo motor control mode are not supported by the indexer (turret) method.

New Useful Functions with Positioning Function

New useful functions are added to the positioning function: simple cam function, encoder following function, command pulse input through function, mark sensor input compensation function, and communication functions (MODBUS® RTU, Point to Point positioning, and current position latch function). Apply these useful functions to a wide variety of applications to configure positioning system easily. Use MR-J4-A-RJ servo amplifier with software version B7 or later. These functions are not available with MR-J4-03A6-RJ.


MR Configurator2 enables to create various patterns of cam data. Command pulse or point table/program start signal is used as input to the simple cam. The input command will be outputted to the servo motor according to the cam data.



With the encoder following function, the servo amplifier receives A/B-phase output signal from the synchronous encoder as command pulse, and the input command will be outputted to the servo motor according to the cam data. Setting cam data that matches with the sheet length, a diameter of the rotary knife axis, and the synchronous section of the sheet enables a system in which the conveyor axis and the rotary knife axis are synchronized. Up to 4 Mpulses/s of input from a synchronous encoder is compatible with the servo amplifier.

The command pulse input through function allows the first axis to output A/B-phase pulses which are received from the synchronous encoder to the next axis, enabling a system in which the second and later axes are synchronized with the synchronous encoder.


The actual position of the servo motor is obtained based on the inputs from the sensor that detects the registration marks printed on the high-speed moving film. The servo amplifier calculates compensation amounts and corrects position errors of the rotary knife axis based on those inputs from the sensor so that the film can be cut at the set position.



In addition to RS-422/RS-485 communication (Mitsubishi general-purpose AC servo protocol), RS-485 communication (MODBUS® RTU protocol) is supported. MODBUS® RTU protocol is compatible with function code 03h (Read holding registers), etc. 
Controlling and monitoring of the servo amplifier is possible by external devices.



* RJ-45 junction connector terminal block and RJ-45 compatible cable designed for MR-J4-A-RJ are required.


Up to 255 points of Point to Point positioning are enabled when the target position is set in the point table in advance. Rewriting the next target position during a operation is also possible by the communication function.



Based on the data latched by the mark detection function (current position latch*), a target position is compensated by being written in the point table.

* When the mark detection signal turns on, a current position will be latched, and the latched data will be read with the communication function.

Example: Executing positioning compensation when a product is dispositioned by 50 on a handling pallet.
Start an operation by specifying point table No. 1 (target position: 1000).
Communication function (current latch) measures a position gap with the mark detection function and writes the position gap of 50 to the target position in point table No. 2 for compensation during the operation.
After the operation of point table No. 1 is completed with a position gap of 50, start the operation by specifying point table No. 2. The product will be set to the right position.




All-rounder Network with CC-Link IE Field

All-in-One Network 

The network is designed to simultaneously handle distributed control, I/O control, and motion control. CC-Link IE Field Network lets you connect field devices such as programmable controllers, I/O modules, high-speed counter modules, servo amplifiers, inverters, and displays, providing optimal network which best fits the needs of the application.
Choose from star, line, or ring* topology suitable for layout of lines and machines.


* The Simple Motion modules are not compatible with ring topology.


Product Lineup

Servo Amplifiers

From the industry's top level high-speed, high-accuracy servos to one-touch servos and multi-axis models.
In addition to the high-end MELSERVO-J4 series, a variety of models to match various applications is available.
The Mitsubishi Electric's servo amplifiers support motors from rotary servo motors to linear servo motors and direct drive motors, and greatly enhance system performance.

MELSERVO-J4 series ~Man, Machine, and Environment in Perfect Harmony~

MELSERVO-J4 series is the newest member to the MELSERVO family, backed by Mitsubishi Electric's leadership in all-digital technology.
With safety, Ethernet-based CC-Link IE Field Network, SSCNETIII/H high-speed optical communication and energy-efficient design of the new MELSERVO-J4 series - man, machine, and environment can at last work together in perfect harmony.



This servo amplifier is compatible with CC-Link IE Field Network. Together with the Simple Motion module, advanced synchronous control and interpolation control by sequential commands are enabled. The servo amplifier has a built-in point table function, offering easy positioning with a combination with a master module.

A complete synchronous system with SSCNETIII/H can be configured using 0.222 ms cycle high-speed serial communication between the controller and the servo amplifier. 2-axis/3-axis servo amplifiers are also available, enabling energy-conservative, less-wiring, compact machine at lower cost.



Pulse train and analog input, etc., are provided as a standard for the command interface. The control mode can be switched accordingly for position, speed or torque control. The MR-J4-A-RJ has a built-in positioning function, being compatible with MODBUS®, simple cam, and mark sensor input compensation.




This servo amplifier is compatible with the ultra-compact HG-AK servo motor series (10 W to 30 W) and two types of main circuit power supply of 48 V DC and 24 V DC, being suitable for compact machines. 2-axis servo amplifiers are also available.


*1. MR-J4-GF-RJ, MR-J4-B-RJ, MR-J4-A-RJ and MR-J4-03A6-RJ are servo amplifiers with special specification.

MELSERVO-JE series ~Reliable Basic Performance and Advanced Ease-of-use~

[Easy To Use]

● Advanced one-touch tuning adjusts servo gains with one-touch ease.
● Instantaneous power failure tough drive function and a large capacity capacitor reduce machine downtime.

[High Performance]

● The dedicated engine enables speed frequency response of 2.0 kHz, shortening the cycle time.
● The large capacity main circuit capacitor allows the regenerative energy to be used effectively.

[Global Standard]

● Global servo, MR-JE series, complies with global standards as standard.
● Command pulse input and digital input/output are compatible with both sink and source type connections.



MR-JE-B is compatible with SSCNETIII/H, optical servo system controller network that enables a high-response and multi-axis system with high synchronous performance and less wiring. In addition, absolute position detection system can be configured easily with the MR-JE-B servo amplifiers.

Pulse train and analog input, etc., are provided as a standard for the command interface. The control mode can be switched accordingly for position, speed or torque control. The MR-JE-A has a built-in positioning function, being compatible with MODBUS®, simple cam, and mark sensor input compensation.



Servo Motors

From rotary to linear and direct drive motors

Rotary servo motors are available in capacities from 10 W to 55 kW.
Linear servo motors and direct drive motors satisfy new needs in driving control by providing high rigidity, performance and flexibility in system configurations unique to a direct drive.

Rotary servo motor

A wide range of capacities and series for various system applications


HG series

for MELSERVO-J4 series

HG-KR: Small capacity, low inertia. Perfect for general-purpose industrial machines. HG-MR: Small capacity, ultra-low inertia. Perfect for high-throughput operations.
Capacity: 50 W to 750 W Rated speed: 3000 r/min Maximum speed: 6000 r/min
[Application example] 
● Inserters, mounters and bonders ● PCB drilling machines ● In-circuit testers and label printers ● Knitting and embroidery machines ● Compact robots and robot hand sections



Medium capacity, medium inertia. Suitable for machines having large load inertia.
Capacity: 0.5 kW to 7 kW Rated speed: 1000 r/min and 2000 r/min
[Application example] 
● Material handling systems ● Dedicated machines ● Robots ● Loaders and unloaders ● Winders and tension units ● Turrets ● X-Y tables



Medium to large capacity, low inertia. Perfect for high-throughput positioning or high acceleration/deceleration operations.
Capacity: 0.5 kW to 55 kW Rated speed: 1000 r/min, 1500 r/min, and 3000 r/min
[Application example] 
● Food packaging machines ● Printers ● Injection molding machines ● Press machines



Ultra-compact, ultra-small capacity with flange size of 25 mm. Suitable for small machines.
Capacity: 10 W to 30 W Rated speed: 3000 r/min Maximum speed: 6000 r/min.
[Application example] 
● Mounters and bonders ● Semiconductor manufacturing equipment ● Compact robots ● Electric component manufacturing machines ● Compact X-Y table



Medium capacity, ultra-low inertia. Perfect for high-throughput operation.
Capacity: 1 kW to 5 kW Rated speed: 3000 r/min
[Application example] 
● Roll feeders ● Loaders and unloaders ● Ultra high-throughput material handling systems



Medium capacity, flat type. Perfect for applications with limited mounting space.
Capacity: 0.75 kW to 5 kW Rated speed: 2000 r/min
[Application example] 
● Robots ● Conveyors ● Winders and tension machines ● Food processing machines



HG series

for MELSERVO-JE series


Small capacity, low inertia. Perfect for general-purpose industrial machines.
Capacity: 0.1 kW to 0.75 kW Rated speed: 3000 r/min
[Application example] 
● Inserters, mounters and bonders ● PCB drilling machines ● In-circuit testers and label printers ● Knitting and embroidery machines ● Compact robots and robot hand sections



Medium capacity, medium inertia. Suitable for machines having large load inertia.
Capacity: 0.5 kW to 3 kW Rated speed: 2000 r/min
[Application example] 
● Material handling systems ● Dedicated machines ● Robots ● Loaders and unloaders ● Winders, tension units ● Turrets ● X-Y tables



Linear servo motor

Suitable for linear motion systems requiring high speed and accuracy


Maximum speed: 3 m/s Rated thrust: 70 N to 960 N
Core type suitable for space-saving.
The magnetic attraction force contributes to high rigidity.


Maximum speed: 2 m/s Rated thrust: 300 N to 3000 N (natural cooling), 600 N to 6000 N (liquid cooling)
Core type compact linear servo motor.
The integrated liquid-cooling system doubles the continuous thrust.
The magnetic attraction force contributes to high rigidity.



Maximum speed: 2 m/s Rated thrust: 120 N to 2400 N
Core type with magnetic attraction counter-force.
The magnetic attraction counter-force structure extends life of the linear guides and contributes to lowering audible noise.



Maximum speed: 2 m/s Rated thrust: 50 N to 800 N
Coreless type without cogging resulting in small speed fluctuation.
The structure with no magnetic attraction force extends life of the linear guides.

Application Example



Direct drive motor


For compact and simplified machine driving part with high-accuracy control

TM-RG2M series (Flange Type)




Motor outer diameter: ø180 mm and ø230 mm
Rated torque: 4.5 N·m and 9 N·m in 200 V class
TM-RG2M series is equipped with a pilot for mounting.

TM-RU2M series (Table Type)




Motor outer diameter: ø180 mm and ø230 mm
Rated torque: 4.5 N·m and 9 N·m in 200 V class
TM-RU2M series is equipped with positioning pin holes for mounting.

TM-RFM series




Motor outer diameter: ø130 mm, ø180 mm, ø230 mm, ø330 mm
Rated torque: 2 N·m to 240 N·m (12 models)
[Application example] 
● Material handling systems ● LCD manufacturing systems ● Machine tools

Application Example

Suitable for low speed and high torque applications.



Others

Servo System



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