FACTORY AUTOMATION

MR-FAMILY
Servo amplifiers and motors

ƒƒ Industry leading ƒƒ User-friendly

performance
ƒƒ D
 esigned for different
ƒƒ Reliable network solutions

ƒƒ High-speed ƒƒ Flexible
 Global player

Global impact of
Mitsubishi Electric

Through Mitsubishi Electric’s vision, “Changes for the Better“ are possible for a brighter future.

Mitsubishi Electric is involved in many areas including the following

We bring together the best minds to cre- Energy and electric systems
ate the best technologies. At Mitsubishi
A wide range of power and electrical products from generators to large-scale displays.
Electric, we understand that technol-
ogy is the driving force of change in
Electronic devices
our lives. By bringing greater comfort
to daily life, maximising the efficiency of A wide portfolio of cutting-edge semiconductor devices for systems and products.
businesses and keeping things running
across society, we integrate technology Home appliance
and innovation to bring changes for the Dependable consumer products like air conditioners and home entertainment
better. systems.

Information and communication systems

Commercial and consumer-centric equipment, products and systems.

Industrial automation systems

Maximising productivity and efficiency with cutting-edge automation technology.

2
 Contents

Contents

Use tomorrow’s technology today4

What makes a good servo system5

Servo system overview6

Servo amplifiers7

The convincing reasons 8–9

Safety first 10

The best motors 11

Plug and play positioning solutions 12

Motion controller 13

Software 14

Applications 15–16

Your solution partner 17

3
 Mitsubishi Electric servo systems

Use tomorrow’s
technology today

Maximized to the is designed into even the smallest com-

best advantage for ponents. Our systematic pursuit of “best
the machinery practice” means that Mitsubishi Electric
products readily comply with product
Mitsubishi Electric servo systems are glob- directives and global standards.
ally renowned and respected. Offering
a perfect combination of high-end per-
formance and ease of use, they are now Meeting global norms
found in a huge range of applications and standards
throughout all branches of industry –
Mitsubishi Electric’s servo amplifiers
from single and multiple axis systems
and motors meet all the standards and
in mechanical engineering and other
specifications laid down in the EU Low
metal-working sectors to complex, fully- High-speed high-precision control that adapts
Voltage Directive 73/23/EEC and the
synchronised solutions in the semicon- itself to mechanical characteristics
Machinery Directive 98/37/EC. Needless
ductor and motor industries.
to say, all systems carry the CE mark and
are certified as conforming to UL, cUL
Manufactured at the and GOST.
highest standards
Mitsubishi Electric automation products
enjoy a global reputation for outstand-
ing quality and reliability. The process
4 starts at the design stage, where quality
 The success factors

What makes
a good servo system
High speed, high performance
Advanced and evolving Motion Bus system SSCNETIII/H
tuning functions like
The built-in display panel
„One-Touch-Tuning“
indicates servo amplifier
status and alarm numbers.

STO I/O signal

Automatic servo motor connector CN8
recognition
Triple-axes amplifier

Absolute high-resolution encoder

as standard equipment

Cost effectiveness provides these system capabilities while Functionality

Industry leading performance gives
faster production cycles and reduced
material wastage.
the CC-Link IE Field network offers the
communication between various auto-
mation components. The open indus-
trial networks Modbus®, PROFINET,
EtherCAT und EtherNet/IP™ are addi-
The MR-J4 series has incorporated
advanced control capabilities, that are
able to maximize the best advantage
from the machinery.

Plug and play tionally supported.

The availability of pre-made cables of

different length means that connect-
ing a servo motor to an amplifier or any
other combination is quick and error
free.
Simple setup and tuning
In combination with the „One-Touch-­
Tuning“ of the MR-J4 and the software
MR Configuartor2, the amplifier tunes
itself for an easy and fast startup of the
Compact & flexible
Mitsubishi Electric’s servo systems are
both compact and flexible. The reduced
component size means more flexibility
for installation and reduced enclosure
sizes.

Simple networking machine. Not all features are available on all servos. Please check
applicability.

High-speed servo and motion appli-

cations need special high-speed net-
working. Mitsubishi Electric’s Servo Sys-
tem Controller Network (SSCNETIII/H)

5
 Extensive product range

The right solution

every time
A solution for every
application
Mitsubishi Electric always has the right
servo system for straightforward and
MR-J4-A/B/GF/TM complex applications alike. With so
400 V, 0.6–22 kW many motor types, different amplifier
output performances and features, the
right servo solution is available for every
conceivable positioning requirement.
The MELSERVO MR-J4 series of servo
MR-J4-A/B/GF/TM amplifiers and the associated position-
SERVO AMPLIFIERS & MOTORS

ing units, motion modules and high-end

200 V, 0.1–22 kW
motion control systems from Mitsubishi
Electric enable machine builders and
end customers to increase production
safety and improve productivity. The
MR-J4 amplifier range with its high per-
MR-JE-A/B formance potential and wide-ranging
200 V, 0.1–3 kW functionality scores in all areas thanks
to simple operation and commission-
ing. The MR-J4 is of particular interest for
manufacturers of packaging machines,
traversing tables and handling systems.
HG motor series The MR-JE series high performance
0.5–22 kW (400 V) servo amplifiers and servo motors
combine proven reliability with a
2.0 kHz high-frequency response and
an energy-saving design, they offer
the best-in-class performance with the
HG motor series setup ease of advanced one-touch tun-
0.05–22 kW (200 V) ing. Fully compliant with global stand-
ards and ready for deployment world-
wide, the MR-JE series is the right servo
PERFORMANCE solution for all kinds of machines and
applications.

A diverse product range helps you make the right product choice.

“Plug & play” technology

 The new generation servo

The ever-evolving new

generation servo
Powerful amplifiers
The MR-J4 generation of servo drives
delivers state-of-the-art technology
and simple operation in a very compact
package. Functions like the advanced
vibration suppression system and the
further improved real-time auto-tuning
ensure maximum precision, very short
positioning times and simple installa-
tion.
Mitsubishi Electric offers a wide spec-
trum of servo amplifiers to meet the
demands of all types of applications.
The MR-J4-A models are suitable for
drive systems with conventional control
and are designed for regulating speed,
torque and position control tasks. The
MR-J4-B models are specified for com-
plex, multi-axis movement sequences
and for use in networked automation
systems. Handling systems require exceptional precision and dynamic response.
The units configure themselves by Plug
& Play for Mitsubishi Electric’s motion
control and positioning control sys- MR-J4 servos at a glance
tems, to which they are connected via ‹
the high-speed optical SSCNETIII/H net- POWER RANGE NETWORK LINKS
work, which has a cycle period of just MR-J4-A/B/GF/TM (200 V type): 0.1–22 kW MR-J4-B/MR-J4-W2-B/MR-J4-W3-B:
0.22 milliseconds. MR-J4-A/B/GF/TM (400 V type):0.1–22 kW SSCNETIII/H
MR-J4-W2-B:  0.2–1.0 kW MR-J4-GF: CC-Link IE Field
The MR-J4 is currently available with MR-J4-W3-B:  0.2–0.4 kW MR-J4-TM-ECT: EtherCAT
outputs from 50 W to 22 kW. Units with MR-J4-TM-PNT: PROFINET
INPUT
higher outputs are being added to the MR-J4-TM-EIP: EtherNet/IP™
MR-J4-A/B/GF/TM, MR-J4W2-B,
range at regular intervals.
MR-J4W3-B: SAFETY SOLUTIONS
200–230 V AC (50/60 Hz) According to EN IEC 61800-5-2
MR-J4-A4/B4/GF4/TM4: Safe Torque Off (STO)
Built-in positioning
380–480 V AC (50/60 Hz)
function SAFETY OPTION CARD
SPEED FREQUENCY RESPONSE MR-D30 for SS1, SS2, SLS, SOS, SSM, SBC
A simple positioning system can be Up to 2500 Hz
configured without a controller such
as positioning module since the posi- CONTROL FUNCTIONS WITH
tioning function (point table and pro- ­ENHANCED TUNING TECHNOLOGY
Real-time auto-tuning and Model
gram methods, and indexer positioning
adaptive control; Advanced vibra-
operation) is built into the MR-J4-A-RJ
tion suppression
servo amplifier.
INTEGRATED INTERFACES
RS422, Modbus RTU
7
 The power to perform
The power to perform
Feed equipment is one of the servo’s many applications.
Innovative and powerful
The MR-J4 amplifier series has been
developed for the automation require-
ments of tomorrow. Mitsubishi Electric
has incorporated numerous innovative
and user-friendly functions to minimise
the time-consuming and elaborate
matching of mechanical and electronic
systems.
The new one-touch tuning function
minimises time consuming system
adjustments between machine and
electronics by touching one button.
Control parameters are optimised and
resonance frequencies of the machine
and the mechanics are detected and
filtered. An individual adjustment of
single applications is not needed. The
result is a vibration free, high precise
und high speed positioning process –
only by one click.
8 also oscillations at the end of a tool arm.
The absolute encoder which is fitted
as standard has a resolution of 22 bits.
This corresponds to more than 4 million
pulses/revolution. The result is excellent
true-running characteristics and a maxi-
mum positioning accuracy and process-
ing speed which more than satisfy the
performance requirements of modern
high-end machines.
Increased response speed
Three times faster communication
speed
Communication speed is increased to
150 Mbps full duplex (equivalent to
300 Mbps half duplex), three times faster
than the conventional speed. System
response is dramatically improved.
Cycle times as fast as 0.22 ms
Smooth control of machine is possible
using high-speed serial communication
with cycle times of 0.22 ms.
The system tunes itself quickly and eas-
ily thanks to “Real-time auto-tuning” and
“Vibration suppression control”. These
functions are available both at start-up
High speed response
and during operation and thus reduce
commissioning and parameterisation
‹
It offers shortest settling times of
times. 2500 Hz resulting in short cycle
The amplifiers also feature a “Life Diag- times
nosis Function”. This function checks the
3 db
state and quality of the installed com-
ponents, such as capacitors and relays,
over the whole life cycle, and informs
the user and operator of any abnormali-
ties. This virtually eliminates failures and
machine downtime.
Mechanical system characteristics 2500 Hz Frequency
are also monitored, and undesirable
vibration and friction are checked and
directly suppressed, thus preventing
system resonance. This function not
only damps drive train vibrations but
Time
T0

Three-inertia
Vibration at the end
of an arm
system
Vibration in
a machine
Automatic vibration suppression
Baud rate [Mbps]
SSCNETIII/H
3 times faster
MR-J4
SSCNETIII
MR-J3
50 100 150
Network communication speed
Interference Interference
Reduction of interference by the SSCNETIII/H
optical network
Firmware that delivers
performance
All MR-J4 servo amplifiers use the very
latest regulation and control technolo-
gies. These systems ensure fast installa-
tion and setup and make it possible to
configure stable systems with very short
response times – no matter what’s your
application.
Real-time auto-tuning
The real-time auto-tuning function sets
the servo’s control parameters automati-
cally, eliminating the need to calibrate
the system for each individual applica-
tion. But that’s not all – auto-tuning also
works continuously while the system is
in operation, making constant adjust-
ments to cater for applications with fluc-
tuating moments of inertia. This makes
it possible to use these servos in a much
wider range of applications.
Precise tuning functions
Advanced suppression of mechani-
cal vibration
Advanced vibration suppress control
Two types of
the vibrations are is designed to suppress the vibrations
suppressed at
the same time in ­Category 2 and above. It is effective
in suppressing residual vibrations at
the time of settling during positioning
operation.
The primary control method of the
MR-J4 is model adaptive control. In this
method, the motor is driven in such a
manner that the tip of the given machin-
ery moves together with the reference
model applied.
Under advanced vibration suppress
control, it uses a mechanical vibra-
tion model from reference model to
generate a drive pattern that prevents
the tip of machinery from vibrating,
thereby suppressing any residual vibra-
Interference tion. Advanced vibration suppress con-
trol can extract vibration components
from actual motor movements. It identi-
fies the vibration characteristics of the
machinery in real time, and automati-
cally makes adjustment to the mechani-
cal vibration model.
Adaptive filtering
The optimum machine resonance sup-
pression filter is automatically set to sup-
press resonance without even measur-
ing the machine system’s (drive shaft)
frequency characteristics. The adaptive
frequency range has been increased com-
pared to the prior models, so resonance
at the drive shaft can also be suppressed.
When a given machine has a mechani-
cal resonance at a high frequency (in the
range of several hundred Hz and above),
increased control gain will cause the con-
trol system to oscillate in this vibration
mode and subsequently lose control. In
order to overcome the mechanical reso-
nance, it is common practice to insert a
machine resonance suppression filter into
the control loop to prevent oscillation.
Adaptive filter II is a function that auto-
matically sets this machine resonance
suppression filter in real time.
The power to perform
SSCNETIII/H –
The benchmark standard
High-speed motion
In addition to conventional pulse train
positioning, the MR-J4 series also sup-
ports the SSCNETIII/H high-speed
motion control network. The SSCNETIII/H
is a high-speed synchronous network
using an optical fiber cable. The MR-J4-B
servo amplifier is connected to a control
device with SSCNETIII/H interface (e.g.
­F X5-40SSC-S/­F X5-80SSC-S/LD77MS/
QD77MS/RD77MS Simple Motion
module, MR-MQ100/Q170MSCPU/
Q172DSCPU/Q173DSCPU/R16MTCPU/
R32MTCPU/R64MTCPU Motion Control-
ler or FX3U-20SSC-H interface module).
As for the communication specifica-
tions of SSCNETIII/H, it can control up
to 64 axes per master interface.
Since long-distance wiring has become
possible, it is possible to locate the
controller’s control panel and drive
units far apart and spread widely in a
large-scale facility or a large-scale pro-
duction line. This, in turn, will shorten
the cable between amplifier and motor
in machines where there is a relatively
large amount of wiring.
No transmission collision
The fiber-optic cables thoroughly shut
out noise that enters from the power
cable or external devices. Noise toler-
ance is dramatically improved as com-
pared to metal cables.
Powerful setting tools
As for the parameterization of the servo set-
ting and support tool, MR Configurator2
can be used over SSCNETIII/H, just sim-
ply connect a personal computer to the
motion controller makes it possible to
perform controller settings and servo
parameters of all the connected axes
to SSCNETIII/H.
The left figure shows vibrations of the motor shaft,
such as generated in a ball screw, which are sup-
pressed by the Adaptive filter.
9
 MR-J4 / Motion safety solutions

Safety first
Safe control
‹
Maintain safe control of motor
behaviour even in emergency

up to ­situations

STO:
SIL3  v
Safe
Torque
Off

Safe Stop button pressed t

SS1: Safe
Delay time Torque
v Off

Safe Stop button pressed t

SS2: SS2
v

Maintain machine performance while meeting required safety standards

t
Safe Stop button pressed SOS activated
The safe choice for motion Comprehensive
safety functions SLS:
Mitsubishi Electric’s MR family has
become the leading choice for motion Together, these devices offer a compre- v
applications world wide. Industry lead- hensive motion safety solution. Imple- v
max.
ing performance, flexible network con- ment safety functions using just the
nectivity, and patented technology like amplifier, or with both units, depend-
SLS signal t
vibration suppression has lead to a sig- ing on system requirements. The MR-J4
nificant global installed base. Mitsubishi amplifier by itself offers a Safe Torque SOS:
Electric now takes this success one step Off (STO) function according EN 60204-1 Position curve
S1
further by adding safety functions to the that prevents an unexpected re-start S2
MR-J4 line up. and complies with the safety integrity level v
3 (SIL 3) of the functional safety standards
IEC 61508: 2010. In conjunction with the
Standards compliance MR-D30 safety unit, the MR-J4 series can SOS activated
t

The MR-J4 motion safety solution is fully be expanded by the addition of other
SSM: Motor speed above
certified by third party accreditation EN 61800-5-2 safety function such as speed limit
v
organizations like TÜV. It complies with SS1, SBC, SSM and SLS. By using addition- max.
both EN 13849-1 for machine safety and ally the servo motors with safety certified
ISO 61508 for functional safety. Hence encoder, the safety functions SOS and SS2
specifying this solution in a motion sys- can be realized. Hence system designers
ON OFF ON t
tem assists engineering staff to meet can select an economical solution that SSM signal
the requirements of mandatory certifi- provides only the functions they need.
SBC:
10 cations such as the EU Machinery Direc-
v
tive (2006/42/EC).

t
SBC signal on

Servo motors
to add movement
Large choice of different servo motors
Size comparision to conventional motors
Motor solutions for all
Featuring the most advanced concen-
trated winding techniques and the
latest technology, Mitsubishi Electric
servo motors are the most compact in
the market.
MR-J4 series servo amplifier operates
rotary servo motors, linear servo motors
and direct motors as standard.
Motors are available in a range of
options from 50 W to 22 kW in different
designs, including specialised motors
such as hollow shaft and direct drive
motors that suit most application needs.
All Mitsubishi Electric servo motors
provide integrated ABS encoders.
Additional return-to-origin routines,
limit switches or other sensors are not
required.
Moreover, Mitsubishi Electric’s low, ultra
low and medium inertia designs allow
users to select the best motor charac-
teristics for their application.
Servo motors
Speed, accuracy and control, whenever you need it.
Advanced features
Increased motor speed
MR-J4 motors lead the market, combin-
ing speeds of up to 6,000 rpm with high
torques. This makes it easier for design-
ers to select the motors they need to
meet tough performance criteria.
Increased encoder resolution
HG motor series – IP65/IP67 standard protection
All MR-J4 encoders are 22 bit, delivering
industry-leading 4,194,304 pulses per
revolution. This high resolution makes Increase the safety level
it possible to detect and suppress
Optionally the HG-KR, HG-JR and H
­ G-SR
mechanical vibrations. The non-volatile
motors are available with functional
absolute encoder system has a backup
safety encoder and the safety func-
battery, eliminating the need for time-
tions are complient with Category 4
wasting zero-point calibration routines.
PL e, SIL 3.
Improved motor IP ratings
All MR-J4 motors are IP65 rated as
standard (all 400 V motors are IP67). This
means that MR-J4 systems can be used
in heavy-duty industrial environments.
11
 Plug & play positioning solutions
Plug & play
positioning solutions
Fast, high-precision positioning
Using the right positioning solution
can help increase the accuracy of the
work process, reduce waste and rework
as well as provide a higher quality of
production.
The MR-J4 series together with
SSCNETIII/H support a very broad spec-
trum of applications between 1 and
192 axes. Components with a variety
of different PLC and positioning sys-
tems for a modular and fully-scalable
configuration can be combined. This
gives the user full control over the sys-
tem and complete cost transparency,
combined with the dependable con-
troller performance of the MELSEC Sys-
tem Q, MELSEC iQ-R-, MELSEC iQ-F- and
MELSEC L-series with motion controllers.
The range starts from simple pulse train
positioning controllers over dedicated
motion cards to most complex appli-
cations with MELSEC System Q and
MELSEC iQ-R motion CPUs.
12
CPU
Simple Motion modules
Cables
Servo amplifiers
Servo motors
SSCNETIII/H configuration
Positioning modules
MELSEC FX positioning modules
High-speed counter and single axis
positioning modules are available,
which can be used in combination
with the FX series PLCs. This provides a
cost effective solution for small servo/
motion applications. To archive a cost
effective solution for high precision, the
FX3U-20SSC-H module with SSCNETIII/H
connection can be used.
MELSEC Simple Motion module
The MELSEC System Q, MELSEC iQ-F-,
MELSEC iQ-R- and MELSEC L-series lineup
includes Simple Motion modules for var-
ious control functions previously only
possible with Motion Controllers, such
as torque control, synchronous control
and cam control. These functions can be
realized with simple parameter adjust-
ments and via the PLC program.
Mark sensors allow use in packaging
industry, filling plants, etc., without
additional optional modules. A func-
tion for automatic calculation of cam
data for applications with rotating
cutters is implemented – only by set-
ting the length of the product and the
synchronisation path. With positioning
Ethernet
RS232 (via CPU)
GX Works2
USB (via CPU)
High-speed network
Transfer configuration
parameters
functions, like linear interpolation (up
to 4 axes), circular interpolation (2 axes)
and path control it is easy to realize dif-
ferent applications, like X-Y tables, seal-
ing, etc.
Motion control and PLC
in perfect harmony
Motion control systems have huge
potential for optimising produc-
tion processes and improving prod-
uct quality. To control these systems,
MELSEC ­S ystem Q and MELSEC iQ-R
series offers solutions ranging from
individual motion/positioning cards to
advanced motion CPUs capable of syn-
chronised operation across many axes.
The MELSEC ­System Q and MELSEC iQ-R
series unique design allows users to
select and use different combinations
of CPUs from the same platform.
Thanks to the dedicated motion control
network SSCNETIII/H, each motion CPU
can connect up to 64 servo axes. In addi-
tion, three motion CPUs can be used in
a single MELSEC System iQ-R solution
to bring advanced motion control to
192 axes.
 MR-MQ100 / Q170MCPU

A whole solution for

Motion control
Only use what you need
For most applications, a complete
control platform of a PLC and motion
controller will do the job. However,
for smaller systems, this may not
address competitive cost pressures.
The MR-MQ100 allows a single axis to
be completely controlled and synchro-
nised to a separate encoder or virtual
axis with no additional controller hard-
ware. Hence applications such as rotary
cutters, flying saws and labelling can be
economically accomplished without
exceeding a tight control budget.

Limit cost, not options

While the MR-MQ100 is an economical
solution, this doesn’t mean lacking in
features. A complete range of essen-
tial functions are available, including
encoder and virtual axis synchroniza-
tion, registration, point to point posi-
tioning and user defined cam profiles.
In addition, the hardware complements
these powerful software features with
built-in I/O and SSCNETIII motion net-
working capability as well as an Ethernet
port.
Reduced wiring
The MR-MQ100 also helps keep system
costs down with its use of SSCNETIII,
Mitsubishi Electric’s simple but rugged
optical fiber motion network. A single
fiber connection is all that’s needed to
provide full communication and control
over all functions of the MR-J4B servo
amplifier regardless of capacity. A stand-
ard Ethernet connection is also provided
to link the MR-MQ100 to the MT Works2
software.
Fully integrated
The Q170MSCPU offers the ability to
provide a complete automation solu-
tion with a single, compact device. Its
main strength is the ability to control
up to 16 axes over a single SSCNETIII/H
Apply the MR-MQ100 in a wide variety of motion applications
Program by creating virtual mechanical systems
connection. However, rather than just
being a simple motion controller, a com-
prehensive PLC capability is also built in.
Hence the Q170MSCPU offers the abil-
ity to address a range of applications
such as more sophisticated packaging
machinery, labelling and material han-
dling applications.
Flexibility
Most motion systems offer sophisti-
cated axis control functions. However,
the Q170MSCPU also opens up a huge
range of PLC application possibilities
by being compatible with over 100 of
the MELSEC System Q I/O modules. This
means application challenges such as
analogue I/O, high density digital I/O,
networking and others can easily be
tackled by the Q170MSPCU. For com-
panies already using MELSEC System
Q, spare parts will be common to their
other systems, reducing cost and admin-
istration tasks.
Fast, easy system set-up
High performance is less valuable if
it’s hard to use. The MR-MQ100 and
Q170MSCPU avoids this with the intui-
tive MT Works2 software that replaces
abstract programming with graphical
models of the actual mechanical sys-
tem. It’s easy to create virtual clutches,
gears and cam profiles by simple drag
and drop selection.
13
 Servo software
Servo setting
and support software
MR Configurator2 –
a complete engineering
environment
The MR Configurator2 software package
makes configuration and diagnostics quick
and easy and includes powerful graphical
machine analysis and simulation functions.
Machine analysis enables determination of
the frequency response of the connected
drive train without any additional instru-
ments. If necessary, you can then make
design changes or install filters to achieve
better machine performance. The system
can be connected to a personal computer
with a standard USB port.
A wide range of automatic configura-
tion assistants make it easy to set up
your new servo systems correctly, even
for less experienced users. The strong
benefits are:
Preparation
Easy set up
MR Configurtator2 allows for easy set up
and tuning the servo system with a stand-
ard personal computer.
Servo assistant function
Complete setting up the servo ampli-
fier just by following guidance displays.
Setting parameters and tuning are easy
since related functions are called up from
shortcut buttons.
Startup
Multiple monitor functions
Graphic display functions are provided to
display the servo motor status with the
input signal triggers, such as the com-
mand pulse, droop pulse and speed.
Parameter setting function
Display parameter setting in list or visual
formats, and set parameters by selecting
from the drop down list. Set in-position
14
range in mechanical system unit (e.g. μm).
Parameter read/write time is approxi-
mately one tenth of the conventional time.
Just follow the the guidance and setup is com-
plete
Monitoring and checking with the diagnostics
Maintenance features
Test operations with a personal
simultaneously performed via controller
computer
communication.
Test operation of the servo motors can
be performed with a personal computer Machine analyzer function
using multiple test mode menus. Input random torque to the servo motor
automatically and analyze frequency
Machine diagnosis function
characteristics (0.1 Hz to 4.5 kHz) of a
This function estimates and displays machine system just by clicking the [Start]
machine friction and vibration in normal button. This function supports setting of
operation without any special measure- machine resonance suppression filter, etc.
ment. Comparing the data of the first
Improved usability
operation and after years of operation
helps to find out the aging deterioration While automatically fluctuating the gain,
of machine and is beneficial for preven- the setup software MR Configurator2
tive maintenance. searches for values with the shortest set-
tling time and lowest overshooting or
Servo adjustment vibration.
Basic setting parameters can be easily set
One-touch tuning function
in a selection format. Settings in the list
Adjustments including estimating load format are also possible.
to motor inertia ratio, adjusting gain, and
suppressing machine resonance are auto-
matically performed for the maximum
servo performance just by clicking the
start button. Check the adjustment results
of the settling time and overshoot.
Graph function
The number of measurement channels is
increased to 7 channels for analog, and
8 channels for digital. Display various
servo statuses in the waveform at one
measurement, supporting setting and
adjustment. Convenient functions such
as [Overwrite] for overwriting multiple
data and [Graph history] for displaying
graph history are available. Waveform
measurement for the connected axes is
 Vertical form fill & seal

Vertical form fill & seal

Sealing packaging Product in
Pull and feed
solutions Film roller axis
Vertical form fill & seal applications uti-
lize servo motor technology to accu-
rately pull and feed plastic film mate-
rial from a roll stock to be heat formed, Filling
volume dosed with a product, and then MR-J4 servo amplifier
sealed and cut to be carried away by an
Film
unloading conveyor. While the methods index
for filling and sealing vary from machine PLC + Simple axes
Motion Module
to machine, vertical form fill & seal appli-
cations are essentially organized into Conveyer axis Sealing and
two categories: Continuous motion bag- cutting axis
ging machines and intermittent motion
bagging machines. Product entering the
feeder can vary from a viscous fluid to a
solid material and will often play a key
role in how the machine is designed.

Which automation
components are important
As part of the Simple Motion Module
programming environment, virtual
GOT series servo motor movement can be com-
manded through an electronic line shaft
MELSEC iQ-R with in order to ensure that each actual servo
RD77MS16 Simple Motion Servo amplifier
motor’s movement begins at the same
module
time. This control takes place through
the Simple Motion module where the
program is written in GX Works2 (which
is a part of the iQ Works).

Application
Sealing takes place with absolute servo
moves to seal the bottom of a bag, while
Film Film Film Film Conveyer simultaneously sealing the top of the
feed index index roller axis
axis axis axis axis bag that’s already been filled. A blade
moves to cut the material in order to
release each finished bag from the tube.
The bag then falls onto the exit belt to
be carried away for boxing.

15
 XY table application
XY table application
HMI
PLC system Cutting head
Overview
XY tables are used in a variety of appli-
cations with different positioning
requirements. Usually horizontal motion
involves 2 (or more) axes of servo per-
forming linear or circular interpolation.
Which automation
components are important
XY tables utilize servo motor technol-
ogy for accurate positioning. The two
servo motors are connected to a table
to move the application in X and Y
direction. The 2 motors are controlled
by a MR-J4W2-B servo amplifier, which
is the latest technology from Mitsubishi
Electric. The movement and interpo-
lation is calculated with the Simple
Motion module.
16
Motor Y-axis
Motor X-axis
In combination with a L series PLC and
its built in features, a complete solution
can be offered with less components.
Thanks to the SSCNETIII/H Network, all
internal servo parameters can be set
directly from the PLC.
Often the pattern information will be
drawn on a CAD package and exported
as a DXF file. The DXF file can be read
directly into the G-CAD converter soft-
ware to create a Simple Motion program
to follow the motion path.
GOT series
PC with G-CAD converter software
Application
In general, XY tables do not require a
lot of maintenance, and are considered
to be highly accurate and easy-to-use.
However, mechanical parts can still be
a problem after time. Depending on the
weight of the load, ball screws within
XY tables and other mechanical compo-
nents can acquire a significant amount
of wear and may need to be renewed
regularly. Therefore, Mitsubishi Electric
developed new functions to estimate
frictions & vibrations which support
preventative maintenance of machine
components. These functions are inte-
grated in the new MR-J4 series.
Additionally the G-CAD converter soft-
ware package allows the user to import
directly CAD files and move any pattern
without modifying the PLC program.
2-axis MR-J4
servo amplifier
L series with
Simple Motion
module
Motor Motor
X-axis Y-axis
 Servo Amplifiers/Servo Motors

Technical Catalogue
Further Publications within the Mitsubishi Electric family

iQ-R/Q/L Family
Product catalogues for modular programmable logic controllers and
accessories for the MELSEC iQ-R, MELSEC System Q and MELSEC L series

COMPACT PLC Family

Product catalogue for compact programmable logic controllers and
accessories for the MELSEC FX family

Brochures HMI Family

Product catalogue for operator terminals, supervision software
and accessories

FR Family
Product catalogue for frequency inverters and accessoriesr

MELFA Family
Product catalogue for industrial robots and accessories

Low Voltage Switchgears

Product catalogue for low voltage switchgears, magnetic contactors
and circuit breakers

Automation Book
Overview on all Mitsubishi Electric automation products,
like frequency inverters, servo/motion, robots etc.

More information?
This product catalogue is designed to give an overview of the extensive range of MELSERVO amplifiers and motors. If you cannot find the information you
require in this catalogue, there are a number of ways you can get further details on configuration and technical issues, pricing and availability.
For technical issues visit the https://eu3a.mitsubishielectric.com website. Our website provides a simple and fast way of accessing further technical data
and up to the minute details on our products and services. Manuals and catalogues are available in several different languages and can be downloaded
for free.
For technical, configuration, pricing and availability issues contact our distributors and partners. Mitsubishi Electric partners and distributors are only too
happy to help answer your technical questions or help with configuration building. For a list of Mitsubishi Electric partners please see the back of this
catalogue or alternatively take a look at the „contact us“ section of our website https://eu3a.mitsubishielectric.com.

About this product catalogue

This catalogue is a guide to the range of products available. For detailed configuration rules, system building, installation and configuration the
associated product manuals must be read. You must satisfy yourself that any system you design with the products in this catalogue is fit for purpose,
meets your requires and conforms to the product configuration rules as defined in the product manuals.
Specifications are subject to change without notice. All trademarks acknowledged.

© Mitsubishi Electric Europe B.V., Factory Automation - European Business Group

The products of Mitsubishi Electric Europe B.V., that are listed and described in this document, are neither subject to approval for
export nor subject to the Dual-Use List.

2
 Contents

1 System Description
ŠŠ Servo and motion systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
ŠŠ Overview of MELSERVO servo amplifier series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
ŠŠ Interface and function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
ŠŠ Advanced servo gain adjustment function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1
ŠŠ Built-in positioning function, machine diagnosis function,
2-axis/3-axis types, supporting energy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
ŠŠ GOT Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
ŠŠ Servo motor and servo amplifier model designations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2
2 Servo Motors
ŠŠ Description of the servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
ŠŠ Servo motor specifications and matching amplifiers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
ŠŠ
ŠŠ
Servo motor without electromagnetic brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Servo motor with electromagnetic brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3

3 Servo Amplifiers
ŠŠ
ŠŠ
Specifications MR-JE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Specifications MR-J4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4
ŠŠ Specifications MR-J4W2-B/MR-J4W3-B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
ŠŠ Specifications MR-J4-GF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
ŠŠ Specifications MR-J4-TM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
ŠŠ
ŠŠ
Specifications MR-D30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
MR-JE-Aservo amplifier connections with peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 5
ŠŠ MR-JE-A servo amplifier connections with peripheral equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
ŠŠ MR-J4-A servo amplifier connections with peripheral equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
ŠŠ MR-J4-B servo amplifier connections with peripheral equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
ŠŠ MR-J4-GF servo amplifier connections with peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6
4 Options And Peripheral Equipment
ŠŠ Connections with peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
ŠŠ Cables and connectors for servo motors (without electromagnetic brake) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
ŠŠ Cables and connectors for servo motors (with electromagnetic brake). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
ŠŠ Cables and connectors for servo amplifier MR-J4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
ŠŠ Cables and connectors for servo amplifier MR-JE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
ŠŠ Converter MR-ENCOM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
ŠŠ Buffer battery, terminal blocks and manual pulse generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
ŠŠ EMC filters and brake resisitors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
ŠŠ Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
ŠŠ Positioning units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
ŠŠ Motion controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
ŠŠ MELSEC System Q motion CPUs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5 Applications
ŠŠ Configuration of a SSCNETIII/H System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
ŠŠ X-Y table system configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

6 Dimensions
ŠŠ Servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
ŠŠ Servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
ŠŠ EMC filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
ŠŠ Brake resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
ŠŠ Functional safety unit MR-D30, extension I/O unit MR-J3-D01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Appendix
ŠŠ Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

3
 System Description

Servo and Motion Systems

Mitsubishi Electric offers a variety of Servo and
Motion system products providing solutions for
1 applications covering point-to-point and syn-
chronised systems. Systems can be built using a
single axis or multi axes, for example when using
System Description
Therefore operation is possible by standard
pulse train outputs as well as by different
networks like SSCNETIII/H, CC-Link IE Field,
EtherCAT, PROFINET und EtherNet/IP™.
The Servo motors and amplifiers take
with 131072 pulse-per-revolution encoders, all
MR-J3 series motors with 262144 pulse-per-­
revolution encoders, all MR-J4 series motors
with 4194304 pulse-per-revolution encoders.
All Mitsubishi Electric Servo and Motion system

a MELSEC System Q Motion CPU solution up to Mitsubishi Electric Motion Control to new hardware is complimented by a range of soft-
192 axes can be controlled. levels of precision with a wide range of ware packages allowing easy programming and
motors and a wide range of amplifiers (up set-up of the units.
to 110 kW). All MR-JE series motors are fitted

What are the components of a MR-J4 servo system?

Servo motors
Utilising the most advanced concentrated
winding techniques and latest technology, these
brushless servo motors are among the most
compact on the market.
Mitsubishi Electric Servo Motors are made to
high standards and offer a wide range of power,
speed and inertia ratings providing a motor
for all applications. With a range from 50 W to
110 kW and with a considerable number of
motor types like rotary, linear and direct drive
servo motors a complete line-up of products
can be offered by Mitsubishi Electric.
Also, all motors in the MR-J4 series are fitted
with absolute encoders as standard. Therefore,
an absolute position system can be created by
simply providing power to Servo amplifier via
a battery. Once this has been done the super
capacitor inside the motor and back-up battery
allow the Servomotor position to be constantly
monitored.

HG-JR 0.5–22 kW
400 V

HG-SR 0.5–7 kW

HG-RR 1–5 kW

HG-JR 0.5–22 kW
200 V

HG-SR 0.5–7 kW

HG-SN 0.5–3 kW
HG-KR/HG-MR 50–750 W
HG-KN 100–750 W

0 1 kW 2 kW 5 kW 7 kW 10 kW 20 kW 30 kW 40 kW 55 kW 100 kW

Improving machine performance with Rotary servo motors achieve high-accuracy, For rough environment conditions some motor
high-performance motors high-torque output during high speed position- series are also available with higher protection
ing and smooth rotation with a high resolution class like IP65 or IP67.
To raise your machine on a high productive
encoder and improved processing speed. Linear The MR-J4 series servo amplifiers are able
level, you need not only powerful servo ampli-
servo motors support highly accurate tandem to operate rotary servo motors, linear servo
fiers but also high performance servo motors.
synchronous control. Direct drive motors are motors, and direct drive motors as standard.
These motors have to support the high encoder
used for compact and rigid machine and high-
resolution of 22 bits with the MR-J4 series for
torque operations.
improved accuracy and speed. Fully closed loop
control is supported as standard. A variety of
models is available to match various applica-
tions.

[Resolution comparison 16 16 times 4194304-pulse

times encoder
with the prior model]

Rotary Linear Direct

servo motor servo motor drive motor
MR-J3 series MR-J4 series
18 bits = 262144 pulses/rev 22 bits = 4194304 pulses/rev

4
 System Description

Servo amplifiers
Mitsubishi Electric offers a wide range of Servo
amplifiers to meet the demands of all types of
applications. From standard digital pulse and
analogue controlled amplifiers through to dedi-
cated network type amplifiers, there is a product
for all circumstances.
Real Time Adaptive Tuning (RTAT) is a unique
Mitsubishi Electric technology, enabling the
servo to deliver maximum dynamic perfor-
mance, even if the load keeps changing, by
automatically tuning online (during operation)
to the application.
The digital pulse-train and analogue units of
the MR-JE and the MR-J4 series from 100 W to
22 kW. The SSCNETIII/H bus type amplifiers (type
MR-J4-B) offer the user ease of connectivity, via
SSCNETIII/H. 1
Whereby the MR-J4-TM supports Ethernet based
open network communication.

System Description
400 V

MR-J4-A/B/GF/TM 0.6–22 kW

MR-JE-A/B 0.1 kW–3 kW

200 V

MR-J4-A/B/GF/TM 0.1–22 kW

MR-J4W2-B 0.2–1 kW

MR-J4W3-B 0.2–0.4 kW

Positioning controllers
For the compact, cost effective, FX range of
PLCs, the FX2N-10PG unit provides single-axis
control with built-in positioning tables, fast
external start and an output pulse rate of up to
1 MHz. The module FX3U-20SSC-H is a position-
ing module for the MR-JE-B/MR-J4-B series. This
module provides a quick and easy, but efficient
positoning control system for simpler applica-
tions.
For larger and more complex applications
the MELSEC iQ F series, MELSEC iQ-R series,
MELSEC L series and MELSEC System Q provide
numerous positioning and Simple motion mod-
ules (1, 2, 4 and 16 axes).
These are: open-collector output type (LD75P/ Motion Controllers
QD75PN-/RD77P series), Differential output type
For specialist applications requiring the highest
(LD75D/QD75DN-/RD77D series) and SSCNETIII
level of control and precision, the dynamic
bus type (FX3U-20SSC-H), SSCNETIII/H bus type
servo technology provided by the iQ-R-Motion
(LD77MS/QD77MS). Using the SSCNETIII system
CPU is combined with the powerful processing
can provide much improved, easier to use posi-
power of the MELSEC iQ-R PLC CPU, creating a
tioning systems, with reduced wiring and better
completely new generation of motion controller
noise immunity. All positioning modules provide
products.
functions such as interpolation, speed control
This fully integrated and flexible system has
and positioning operations, etc. For advanced
the capability to control up to 192 axes using
motion applications like axes synchronisation
and CAM control the Simple Motion modules SSCNETIII/H, which is more than capable for
((FX5-mSSC-S/LD77/QD77/RD77) are available. hand­ling any motion application.
Additionally the simple motion modules of
the MELSEC iQ-R series and MELSEC System Q
provide a CC-Link IE Field interface.

5
 System Description
MELSERVO MR-J4 Servo Amplifiers
1 The MR-J4 servo drive systems from
System Description
0,768%,6+,
Differences Between the Four MELSERVO Servo Amplifier Series
MR-J4-A (standard/Modbus-RTU type)
The MR-J4-A series is ideal for servo applications
using conventional control systems. The servo
amplifiers have two analog inputs and numer-
ous digital inputs for activating internal applica-
tion functions (i.e. pulse train positioning). Using
the digital pulse train method eliminates the
problems inherent in analog control, such as
offset shifts caused by temperature fluctuations
and drifting when the system is at rest.
The MR-J4-A series can be used in torque, speed
or position control mode.
Additionally, the MR-J4-A-RJ has a built-in posi-
tioning funktion. Simple positioning tasks can
be implemented directly in the servo amplifier,
a higher-level position control is not required.
It is also possible to control positioning tasks via
Modbus-RTU.
Highlights
zz 2 analog inputs
zz 1 digital pulse train input
zz 7 preset speeds
zz Supports three different types of pulse train
signals: standard encoder signals (line driver
or open collector); pulse and direction; pulse
train for right and left rotation
zz Positioning function additionally program or
data tables
zz Safety functions according to EN IEC 61800-
5-2: „ Safe Torque Off“ (STO) and „ Safe Stop 1“
(SS1).
6
MELSERVO
Mitsubishi Electric combine extremely
dynamic response with ultra-fast positioning.
In addition the servo amplifiers are also very
simple to use and their advanced functional-
ity make it possible to achieve maximum per-
formance very quickly, even for users without
special experience in calibrating drive appli-
cations. The significantly improved auto-
tuning function reduces the need for the
time-consuming trial-and-error approach.
In combination with the setup software
package (MR Configurator2) the MR-J4 series
can be used to detect application mechani-
cal critical frequencies. This enables notch
filters to be set to avoid resonant frequencies
enabling vibration- free operation.
When using amplifiers of competitors the
controller response level has to be reduced
for the entire operation range.
The MR-J4 servo amplifiers can be used for
global applications with superb operation in
the toughest environments.
MR-J4-B (SSCNETIII/H network type)
The MR-J4-B series supports connection to
Mitsubishi Electric motion control and position-
ing control systems. The drive systems are
connected to these controllers via SSCNETIII/H,
a high-speed motion network enabling high
precision synchronization and advanced
interpolation. The minimum cycle time of just
0.22 ms increases responsiveness and reduces
tact cycle of machine due to fast data exchange.
Setting up this plug-and-play network couldn’t
be easier; you just have to select the axis address
and connect the preconfigured bus cable, which
also makes wiring errors impossible.
Highlights
zz Plug-and-play SSCNETIII/H network
zz Motor brake can be controlled directly by the
amplifier
zz Emulated encoder outputs for connection of
conventional slave drive systems
zz Amplifier replacement is fast and simple
because data management is performed by
superior controller.
zz Automatic position detection on power-up
thanks to absolute position detection system
(multi-turn absolute positioning is realised by
optional back-up battery)
zz Safety functions according to EN IEC 61800-5-2:
„Safe Torque Off“ (STO) and „Safe Stop 1“
(SS1), Safe Brake Control (SBC), Safely Limited
Speed (SLS), Safe Speed Monitor (SSM)
additionally with the functional safety unit
MR-D30 and the Servoamplifiers MR-J4-B-RJ.
Features
zz High-performance CPU
zz Adaptive vibration supression control
function for compensation for resonance
up to five resonance frequencies
zz Advanced vibration suppression control
for compensation of motion overshoot
zz Separate wiring of the control power
supply
zz High responsiveness
zz One-Touch-Tuning
zz Servo-lock anti-vibration function
zz USB ports for connecting a PC (additional
RS422 port at the MR-JE-A and MR-J4-A)
zz Automatic motor recognition
zz Network capability
zz Complies with global industrial standards
incl. CE, UL and cUL.
zz Integrated safety functions
MR-JE-A (general purpose/Modbus-RTU type)
The servo system MR-JE-A can perform oper-
ation in different control modes, e.g. position/
internal speed control. It fits a wide range of
applications such as precision positioning and
smooth speed control of machine tools and
general industrial machines (e.g. packaging,
processing or labelling machines).
External analog speed command or torque com-
mand are implemented to use this servo system
for applications in which speed or torque has to
be smoothly controlled.
Up to 1 Mpps high-speed pulse train is used to
control the speed and direction of the motor
and execute precision positioning also taking
advantage of the high encoder revolution of
131072 pulses/rev.
Highlights
zz The compact dimensions enable flexible
installation and economical design
zz With an output range of 100 W–3 kW the
system is suitable for any kind of application
zz The system allows high accuracy position-
ing thanks to the integrated high resolution
encoder (131072 pls/rev)
zz It is a well-priced product for cost- effective
and economical servo solutions
zz Auto-tuning and diagnostic tools are availible
for easy and time-saving installation
 System Description

MR-J4-TM (open network solution)

The MR-J4-TM combines industry leading performance, features and
reliability of the MR-J4 series servo system with different open network
interfaces like EtherCAT, EtherNet/IP™ and PROFINET. Even if the con-
trol system is specified by endcustomer, system manufactures can use
Mitsubishi Electric servo technology and benefit of the highly compact,
powerful technology.
1
This technology enables a machine to be adapted for use with various

System Description
Ethernet systems quickly and easily, and consequently makes it suitable
for a worldwide use with different types of control systems and network
technology.

MR-J4-GF (single network solution for motion, I/O and

safety function)
MR-J4-GF(-RJ) is compatible with CC-Link IE Field Network as standard.
CC-Link IE Field Network is a single network which combines the versatility
of Ethernet and highly accurate synchronous operation for Motion control. RD77GF
With the single network, various field devices, such as servo amplifiers,
I/O modules, and high-speed counter modules, are connected with no
restriction.
Beside point-to-point positioning, speed and torque control, advanced
motion functions are availible in combination with the Simple Motion
Module, like axes synchronisation, CAM and print mark control.
The integrated safety function of the MR-J4-GF can be activated by the
CC-Link IE Field network without additional wiring at the servo amplifier.

Combined with the CC-Link IE embedded CPU or a master/local module, PLC CPU module with integrated CC-Link IE
the servo amplifier can perform positioning operations just as easy as I/O Field master
operations, suitable for belt conveyers, rotary tables, ball screws, etc.
Up to 120 servo axes can be controlled in the I/O mode.

MR-J4-GF

Speed

2000

1600

Position Position
table no. 1 table no. 2

0 1000 2000

7
 System Description

Advanced Servo Gain Adjustment Function

Advanced one-touch tuning function

1 Servo gains including machine resonance suppres-

sion filter, advanced vibration suppression control
II, and robust filter are adjusted just by turning on
System Description
the one-touch tuning function. Machine perfor-
mance is utilized to the fullest using the advanced
Result is a vibration-free, high-precision and fast
positioning process.
vibration suppression control function.

Vibration suppression Exactly matched.

—: Command — : Actual operation control and robust filter High-speed
Before adjustment with one-touch. After positioning.

Settling
Settling
Speed

Speed

Speed
time
time

Time Time Time

Operation is unstable. Operation is not following
the command.

Advanced vibration suppression control II

Due to vibration suppression algorithm which the same time. Adjustment is performed on in reducing residual vibration in a machine,
supports three-inertia system, two types of MR Configurator2. This function is effective in enabling a shorter settling time.
low frequency vibrations are suppressed at suppressing vibration at the end of an arm and

Vibration at the end

of an arm
Three-inertia
system Without vibration Advanced vibration Advanced vibration
suppression control suppression control suppression control II

Droop pulses
Two types of the
Vibration in vibrations are
a machine Torque
suppressed at
the same time. Speed command

Machine resonance suppression filter Applicable frequency range

With advanced filter structure, applicable

frequency range is expanded to between 10 Hz
Five filters are
and 4500 Hz. Additionally, the number of simul- settable in range
taneously applicable filters is increased to five, of 10 Hz to
improving vibration suppression per-formance 4500 Hz
of machines.

10 100 4500 [Hz]

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

Robust filter
Conventional control With robust filter
Gain
Conventional low-pass filter

Speed command

Droop pulses

Torque
Robust filter

Vibrating Stable

Machine with a high-inertia ratio Frequency

8
 System Description

Servo Amplifier with Built-in Positioning Function

A simple positioning system can be configured without a controller (position-

ing module) since the positioning function (point table and program methods,
and indexer positioning operation) is built into the MR-J4-A-RJ servo amplifier.
Built-in positioning function. With the direct connection of an Graphic Opera-
0,768%,6+,
Point table method
Point table
No.. Position data Servo motor
speed
Acceleration
time
constant
Deceleration
time
constant
Dwell time Auxiliary
function
1
tion Panel (GOT), the positioning operations can easily be adjusted. Of course
1 1000 2000 200 200 0 1
2 2000 1600 100 100 0 0

System Description
.. .. .. .. .. .. ..
all diagnostic functions of the GOT are available. . . . . . . .

Setting position data (target position), servo motor speed, and

acceleration and deceleration time in the point table is as easy as setting
parameters.
Built-in positioning function: Program method
Positioning operation is performed Program No.1
zz Point table method according to the program that is created in SPN (3000)
STC (20)
advance. For this purpose 25 instructions
zz Program method are provided in the servo amplifier.
MOV (1000)
TIM (100)
FOR (3).................1
MOVI (100).........2
zz Indexer positioning operation TIM (100).............3
NEXT
STOP
Indexer
Positioning to a set number of equally divided stations is possible.

Machine Diagnosis Function

This function detects changes of machine parts (ball screw, guide, bearing, [Monitoring with MR Configurator2]
Machine information is Friction and vibration are
displayed and moni- Servo amplifier
belt, etc.) by analyzing machine friction, load moment of inertia, unbal- tored.
estimated based on the
data in a normal
anced torque, and changes in vibration component from the data inside operation. Particular
PC
the servo amplifier, supporting timely maintenance of the driving parts. measurement is not
required.

Encoder
Ball screw
Servo motor

2-axis/3-axis Types for Energy-conservative, Miniaturized, and Low-cost Machine

2-axis and 3-axis servo amplifiers are available for operating two and three
servo motors, respectively. These servo amplifiers enable energy-con- MR-J4W3-B

servative, compact machine at lower cost. Different types of servo motors Operates any combination of rotary servo motors,
linear servo motors and direct drive motors with
including rotary servo motors, linear servo motors, and direct drive motors various series and capacities.
are freely combined as long as the servo motors are compatible with the
servo amplifier.

A-axis:
rotary servo motor B-axis: linear servo motor C-axis: direct drive motor
(HG-KR/MR) (LM-H3/K2/U2) (TM-RFM)

Supporting Energy-conservative Machine Using Regenerative Energy

In the multi-axis servo amplifier, the regenerative energy of an axis is used A-axis motor speed
Regenerative energy
as driving power energy for the other axes, contributing to energy-conser-
A-axis motor Deceleration
vation of machine. Reusable regenerative energy stored in the capacitor
is increased for MR-J4W2-B/MR-J4W3-B as compared to the prior model. Driving power energy time
Regenerative option is no longer required. Regenerative energy is B-axis motor speed
B-axis motor
temporarily stored and
In the multi-axis servo amplifier, the amount of temporarily stored regen- used as driving power
Driving power energy Acceleration
erative energy can be increased by using a capacitor bank. (Available in the energy.
C-axis motor
future) Contact your local sales office for more details. time
[Reusable energy] C-axis motor speed

MR-J4W3 MR-J3
Acceleration
200 W 21 J 9J
400 W 30 J 11 J time

9
 System Description

GOT Drive – Advanced drive control connectivity provides additional value to your system

The GOT2000 provides advanced functionality need for additional hardware, software and
and improves connectivity with Mitsubishi suits customers’ applications to speed up
1 Electric servo systems. It provides some func-
tions of MR Configurator2. The new GOT Drive
system startup, improve maintenance and
troubleshooting.
enhanced functionality is designed to eliminate
System Description

The following functions are supported by GOT using predefined screens Display the graph waveform
zz Check servo amplifier alarm information on the GOT data that was collected at the
occurrence of a servo alarm in
zz Retrieve servo amplifier data using GOT and analyze it on your com- a window screen.
puter
zz Predict machine deterioration and improve system preventive mainte-
nance without a need for personal computer
zz Supports preventative maintenance functions of servo amplifiers
zz Display power consumption and total power consumption on the GOT
zz Check alarm documentation stored on the GOT
zz Easily backup parameters and programs
zz Support startup, adjustment of servo systems
zz Display and set the values in the point table of a servo amplifier
(MR-J4-A-RJ)

System Configuration

GOT2000
GOT2000

Serial, Ethernet

RS422
Simple Motion Module
Motion Controller
MR-J4-B(-RJ)
MR-J4W2-B
MR-J4-W3-B
MR-JE-B

MR-J4-A(-RJ)

10
 System Description

Servo Amplifiers Model Designation

1
0,768%,6+,

System Description
MITSUBISHI

MODE SET C
N
AUTO 3

C
N
1

C
N
2

L1
L2
L3
P+ C
N
C P
U 1
V
W

MR-JR-10A

MR-J4-A/B/GF/TM MR-J4W2-B MR-J4W3-B MR-JE-A/B

Servo amplifiers 200 V

MR-J4-mA/B/GF/TM -RJ

Series Compatible servomotors Code Type Code Type Code Type

Code
MR-J4 HG-MRm HG-KRm HG-SRm HG-JRm HG-RRm Standard 200–230 V AC — Standard
A —
10 053/13 053/13 — — — general-purpose power supply Integrated positioning
Modbus-RTU compatible A-RJ2 Extended safety functions via
20 23 23 — — —
B SSCNETIII/H compatible functional safety unit MR-D30
40 43 43 — — —
CC-Link IE Field B-RJ Extended safety functions via
60 — — 52 53 — GF compatible GF-RJ 2 functional safety unit MR-D30
70 73 73 — 73 — TM Open network interface TM-ECT Open network EtherCAT
100 — — 102 531/103 — TM-PNT Open network PROFINET
73 1
/1031/ TM-EIP Open network EtherNet/IP™
200 — — 152/202 153/203 103/153
1531/2031
350 — — 352 /353 203
500 — — 502 3531/503 353/503
700 — — 702 5031/703 —
11K — — — 903/11K1M —
1 This combination increases the maximum torque from 300% to 400% of the rated torque.
15K — — — 15K1M — 2 Additional input for external encoder
22K — — — 22K1M —

Servo amplifiers 400 V

MR-J4-mA/B/GF/TM4-RJ

Series Compatible servomotors Code Type Code Type Code Type

Code
MR-J4 HG-SRm HG-JRm Standard 380–480 V AC — Standard
A general-purpose 4
60 524 534 power supply Integrated positioning
Modbus-RTU compatible A-RJ2 Extended safety functions via
100 1024 5341/7341/1034 B SSCNETIII/H compatible functional safety unit MR-D30
200 1524/2024 7341/10341/1534/2034 CC-Link IE Field
GF B-RJ Extended safety functions via
350 3524 15341/20341/3534 compatible GF-RJ 2 functional safety unit MR-D30
500 5024 35341/5034 TM Open network interface TM-ECT Open network EtherCAT
700 7024 50341/7034 TM-PNT Open network PROFINET
11K — 9034/11K1M4 TM-EIP Open network EtherNet/IP™
1 This combination increases the maximum
15K — 15K1M4
torque from 300% to 400% of the rated torque.
22K — 22K1M4 2 Additional input for external encoder
All amplifiers conform to the following standards: CE, UL, cUL

11
 System Description

MR-J4W2-mB

1 Series
MR-J4
Code No. of axes
Code
HG-MRm
Compatible servomotors
HG-KRm HG-SRm HG-JRm
Code Type Code Type
200–230 V AC
W2 2 axes 22 053/13/23 053/13/23 — — B SSCNETIII/H compatible — power supply
System Description

44 053/13/23/43 053/13/23/43 — —
77 43/73 43/73 52 53/73
1010 43/73 43/73 52/102 53/73/103

MR-J4W3-mB

Series Code No. of axes Compatible servomotors Code Type Code Type
Code
MR-J4 HG-MRm HG-KRm HG-SRm HG-JRm 200–230 V AC
W3 3 axes 222 053/13/23 053/13/23 — — B SSCNETIII/H compatible — power supply
444 053/13/23/43 053/13/23/43 — —

MR-JE-mA/B

Series Compatible servomotors Code Type

Code
MR-JE HG-KNm HG-SN m Standard
10 13 — A general-purpose
Modbus-RTU compatible
20 23 —
B SSCNETIII/H compatible
40 43 —
70 73 52
100 — 102
200 — 152/202
300 — 302 All amplifiers conform to the following standards: CE, UL, cUL

12
 System Description

Servo Motors Model Designation

HG-MR series Serie HG-KR/HG-KN Serie HG-SR/HG-SN HG-RR series HG-JR series

System Description
Servo motors 200 V

HG-KR w w w w

Symbol Motor series Code Rated output [W] Code Rated speed [rpm] Electromagnetic Code Type
Code
05 50 2 2000 brake — Standard motor
Low inertia,
HG-KN — —
small capacity 1 100 3 3000 Servo motors with functional safety
W0C
2 200 B U encoder (only HG-KR/HG-JR)
Medium inertia,
HG-SN 4 400
medium capacity
Ultra-low inertia, 5 500
HG-MR 7 750
small capacity
10 1000
Low inertia,
HG-KR 15 1500
small capacity
20 2000
Ultra-low inertia,
HG-RR 35 3500
medium capacity
50 5000
Low inertia,
HG-JR 70 7000
medium capacity
Medium inertia, All motors conform to the following standards:
HG-SR medium capacity CE, UL, cUL

Example: HG-MR 053 B =Ultra-low inertia type with small capacity; 50 W; 3000 rpm; 200 V; with electromagnetic brake

Servo motors 400 V

HG-SR w w 4 w w

Symbol Motor series Serie Rated output [W] Rated speed Code Typ Electromag- Code Type
Code Code
[rpm] netic brake
Low inertia, 5 500 4 400 V — Standard motor
HG-JR 1M 1500 — —
medium capacity 10 1000 Servo motors with
15 1500 2 2000 B U functional safety
Medium inertia, W0C
HG-SR 3 3000 encoder
medium capacity 20 2000 (only HG-KR/HG-JR)
35 3500
50 5000
70 7000
11k 11000
15k 15000
22k 22000

Example: HG-SR 702 4B = Medium inertia type with medium capacity; 7000 W; 2000 rpm; 400 V; with electromagnetic brake
General note:  he above tables show the motor model name break-down. Not all combinations are possible.
T
Please refer to the motor specifications table on page14

13
 Servo Motor Features

Servo Motor Features and Typical Applications

Absolute high-resolution encoder as standard equipment

1 Inclusion of an absolute position detection

system eliminates the need for a homing
sequence, approximate DOG and other sensors,
helping to reduce time and enhance reliability.
With Mitsubishi Electric original absolute mode,
an absolute system can be configured using
conventional I/O even with pulse-train control.

2 With these motors high performance and safety

at low speed is ensured.
Servomotors

Overview
Model designation Features Application example

Low inertia
zz Conveyors
Larger motor inertia moment makes this unit well zz Food preparation machinery

K
suited for machines with fluctuating load inertia
moment or machines with low rigidity such as zz Printers
conveyors. zz Small loaders and unloaders
zz Small robots and component assembly devices
zz Small X-Y tables
zz Small press feeders

Handling systems

Ultra low inertia zz Inserters, mounters, bonders

M
Small motor inertia moment makes this unit well
suited for high-dynamic positioning operations
with extra small cycle times.
zz Printed board hole openers
zz In-circuit testers
zz Label printers
zz Knitting and embroidery machinery
zz Ultra-small robots and robot tips

Inserters, mounters, bonders

Medium inertia zz Conveyor machinery

zz Specialised machinery
Stable control is performed from low to high

S
speeds, enabling this unit to handle a wide range zz Robots
of applications (e.g. direct connection to ball screw zz Loaders and unloaders
components). zz Winders and tension devices
zz Turrets
zz X-Y tables
zz Test devices
Winders and tension devices

Low inertia

R
A compact sized low-inertia moment model with
medium capacity. Well suited for high-frequency zz Roll feeders
operation. zz Loaders and unloaders
zz High-frequency conveyor machinery

Low Inertia (400 V) zz Food and Packaging

J
A 400 V Servo Motor for the MELSERVO-J4 Series zz Printing machine
for a power range up to 22 kW with low inertia zz Pick up robot for Injection molding machine
and high speed. It has a compact size, zz Palletizing machine
is equipped with high resolution encoder zz General machine which require
and is compatible to gloabal standards. High speed and High frequency
Wrapping machinery

Note: Other types of motors are available on request.

14
 Servo Motor Assignment

Achieving High-performance Machine

For higher machine performance For flexible machine configurations

zz Suitable for low-speed and high-torque
operations.
zz Simple, compact, and rigid machine is
achieved. 1
zz High-accuracy positioning is achieved zz Machine stability is enhanced due to the low-
because the motor is directly connected to profile design and a low center of gravity.
the driving part. zz The motor has an inner rotor with hollow
shaft that allows cables and pipes to pass
2
For easier use through.

Servomotors
zz Since transmission mechanism is no longer
required, no backlash and no abrasion occurs,
enabling smooth operation with less audible
noise, clean system, and easy maintenance.
zz Less components are required for the system.
Direct drive motor

Conventional motor + transmission mechanism (gear, belt, etc.)

Product lines

Servo motor Amplifier pairing MR- MR-

Motor Maxi- type MR-J4A/B J4W2B J4W3B
Peak Moment Rated
Motor series outer Rated mum Rated running of inertia output Servo motor Protec-
diam- speed rotation torque
200 V range J [x10-4 capacity model Volt- tive

1010
eter [r/min] speed [Nm] 1

100
200
350
500

222
444
10
20
40
60
70

22
44
77
[Nm] kg m2] [kW] age struc-
[mm] [r/min]
ture
2 6 10.9 0.042 TM-RFM002C20 Q Q Q Q Q
130 200 500 4 12 16.6 0.084 TM-RFM004C20 Q Q Q Q Q
6 18 22.4 0.126 TM-RFM006C20 Q Q Q
6 18 74.0 0.126 TM-RFM006E20 Q Q Q
TM-RFM 180 200 500 12 36 111 0.251 TM-RFM012E20 Q Q Q

TM
18 54 149 0.377 TM-RFM018E20 Q Q
200 V AC IP42
12 36 238 0.251 TM-RFM012G20 Q Q Q
230 200 500 48 144 615 1.005 TM-RFM048G20 Q
72 216 875 1.508 TM-RFM072G20 Q
40 120 1694 0.419 TM-RFM040J10 Q Q Q
330 100 200 120 360 3519 1.257 TM-RFM120J10 Q
240 720 6303 2.513 TM-RFM240J10 Q
1 When unbalanced torque is generated, such as in a vertical lift machine, be sure to use the absolute position detection system. It is also recommended that the unbalanced torque be kept under 70 % of the servo motor rated torque.
Please contact your Mitsubishi Electric sales representative if necessary.

Application examples

Index table for machine tools Rotary axis for material handling robots Painting and vapor deposition systems

LCD/semiconductor spin-type cleaning systems Testing systems (XY tables) Rotary axis for polishing systems

Material
handling/
loader part

Polish part

15
 Servo Motor Assignment

Linear Servo Motor

LM-H3 series LM-F series LM-K2 series LM-U2 series

1 Core type suitable for spacesav-

ing. The magnetic attraction force
Core type compact linear servo
motor. The integrated liquidcool-
contributes to hig rigidity. ing system doubles the continuous
thrust. The magnetic attraction
force contributes to high rigidity.
2 ble noise.
Core type with magnetic attrac-
tion counter-force. The magnetic
attraction counter-force structure
extends life of the linear guides
and contributes to lowering audi-
Coreless type without cogging
resulting in small speed fluctua-
tion. The structure with no mag-
netic attraction force extends life
of the linear guides.

Servo motor type Amplifier

Maxi- Contin- Servomotor pairing MR- MR-
Servomotors

mum uous MR-J4A/B J4W2B J4W3B

Motor series
speed thrust Secondary side Protective

1010
11K
15K
22K
100
200
350
500
700

222
444
Primary side (coil) Voltage

10
20
40
60
70

22
44
77
[m/s] [N] (magnet) structure
LM-H3 LM-H3S20-288-BSS0,

H3
3.0 70 LM-H3P2A-07P-BSS0 LM-H3S20-384-BSS0, Q Q Q Q Q
LM-H3S20-480-BSS0,
LM-H3S20-768-BSS0
120 LM-H3P3A-12P-CSS0 LM-H3S30-288-CSS0, Q Q Q Q Q
240 LM-H3P3B-24P-CSS0 LM-H3S30-384-CSS0, Q Q Q
3.0
360 LM-H3P3C-36P-CSS0 LM-H3S30-480-CSS0, Q Q Q
480 LM-H3P3D-48P-CSS0 LM-H3S30-768-CSS0 Q
240 LM-H3P7A-24P-ASS0 LM-H3S70-288-ASS0, Q Q Q
480 LM-H3P7B-48P-ASSO LM-H3S70-384-ASS0, 200 V AC Q
3.0
720 LM-H3P7C-72P-ASS0 LM-H3S70-480-ASS0, Q
960 LM-H3P7D-96P-ASS0 LM-H3S70-768-ASS0 Q
LM-F 300 LM-FP2B-06M-1SS0 Q

F
LM-FS20-480-1SS0,
2.0 600 LM-FP2D-12M-1SS0 LM-FS20-576-1SS0 Q
900 LM-FP2F-18M-1SS0 Q
600 LM-FP4B-12M-1SS0 Q
1200 LM-FP4D-24M-1SS0 LM-FS40-480-1SS0, Q
2.0
1800 LM-FP4F-36M-1SS0 LM-FS40-576-1SS0 Q
2400 LM-FP4H-48M-1SS0 Q
LM-FS50-480-1SS0,
2.0 3000 LM-FP5H-60M-1SS0 LM-FS50-576-1SS0 400 V AC Q
IP00
LM-K2 LM-K2S10-288-2SS1,

K2
2.0 120 LM-K2P1A-01M-2SS1 Q Q Q Q Q
LM-K2S10-384-2SS1,
LM-K2S10-480-2SS1,
2.0 360 LM-K2P1C-03M-2SS1 LM-K2S10-768-2SS1 Q
240 LM-K2P2A-02M-1SS1 LM-K2S20-288-1SS1, Q Q Q
720 LM-K2P2C-07M-1SS1 LM-K2S20-384-1SS1, Q
2.0 LM-K2S20-480-1SS1,
1200 LM-K2P2E-12M-1SS1 LM-K2S20-768-1SS1 Q
LM-K2S30-288-1SS1,
2.0 1400 LM-K2P3C-14M-1SS1 LM-K2S30-384-1SS1, Q
LM-K2S30-480-1SS1,
2.0 2400 LM-K2P3E-24M-1SS1 LM-K2S30-768-1SS1 200 V AC Q
LM-U2 50 LM-U2PAB-05M-0SS0 LM-U2SA0-240-0SS0, Q Q Q Q Q

U2
2.0 100 LM-U2PAD-10M-0SS0 LM-U2SA0-300-0SS0, Q Q Q Q Q
150 LM-U2PAF-15M-0SS0 LM-U2SA0-420-0SS0 Q Q Q Q Q
75 LM-U2PBB-07M-1SS0 LM-U2SB0-240-1SS0, Q Q Q Q Q
2.0 150 LM-U2PBD-15M-1SSO LM-U2SB0-300-1SS0, Q Q Q
225 LM-U2PBF-22M-1SSO LM-U2SB0-420-1SS0 Q Q Q
400 LM-U2P2B-40M-2SSO Q
LM-U2S20-300-2SS0,
2.0 600 LM-U2P2C-60M-2SS0 LM-U2S20-480-2SS0 Q
800 LM-U2P2D-80M-2SSO Q
Please contact your Mitsubishi Electric sales representative if necessary.

Application examples

Machine tools XYZ stage Semiconductor/LCD manufacturing systems Screen printing systems and large LCD coaters
Electrical parts assembling/manufacturing systems

Material handling systems

Multi-head material handling

between machines

16
 Servo Motor Assignment

Servo Motor Specifications and Matching Amplifiers

The possible combinations of servo amplifiers Details of the braked version motors is given on The detailed specifications of all servo motors
and servo motors are listed in the table below. page 28. are listed on the following pages.
1
Motors for MR-J4 (200 V) series servo amplifiers

Motor
Maxi-
Rated mum Rated Peak Moment of Rated
Servo motor type Amplifier pairing MR-J4 2
running inertia output Servo motor
series speed rotation torque Protec-
range J [x10-4 capacity model
200 V [r/min] speed [Nm] Voltage tive 10 20 40 60 70 100 200 350 500 700 11K 15K 22K Art. no.
[Nm] kg m2] [kW]

Servomotors
[r/min] structure
0.16 0.48 0.0162 0.05 HG-MR053 Q 248661
HG-MR

M
0.32 0.95 0.0300 0.10 HG-MR13 Q 248662
3000 6000 0.64 1.9 0.0865 0.20 HG-MR23 200 V AC IP65 Q 248663
1.3 3.8 0.142 0.40 HG-MR43 Q 248664
2.4 7.2 0.586 0.75 HG-MR73 Q 248665
0.16 0.56 0.0450 0.05 HG-KR053 Q 248651
HG-KR

K
0.32 1.1 0.0777 0.10 HG-KR13 Q 248652
3000 6000 0.64 2.2 0.221 0.20 HG-KR23 200 V AC IP65 Q 248653
1.3 4.5 0.371 0.40 HG-KR43 Q 248654
2.4 8.4 1.26 0.75 HG-KR73 Q 248655
2.4 7.2 7.26 0.50 HG-SR52 Q 248671
4.8 14.3 11.6 1.00 HG-SR102 Q 248672
HG-SR

S
7.2 21.5 16.0 1.50 HG-SR152 Q 248673
2000 3000 9.5 28.6 46.8 2.00 HG-SR202 200 V AC IP67 Q 248674
16.7 50.1 78.6 3.50 HG-SR352 Q 248675
23.9 71,6 99.7 5.00 HG-SR502 Q 248676
33.4 100 151 7.00 HG-SR702 Q 248677
4.8
1,6 <6.4> 1
1.52 0.5 HG-JR53 Q Q2 261539
7.2
2.4 <9.6> 1
2.09 0.75 HG-JR73 Q Q2 261540
9.6
3.2 <12.7> 1
2.65 1.0 HG-JR103 Q Q 2
261541
14.3
6000 4.8 <19.1> 1
3.79 1.5 HG-JR153 Q Q2 261542
HG-JR 3000

J
19.1
6.4 <25.5> 1
4.92 2.0 HG-JR203 Q Q2 261543
200 V AC IP67d
10.5 32.0 3.3
<11.1> 3 <44.6> 1 13.2 <3,5> 3 HG-JR353 Q Q23 261544
47.7
15.9 <63.7> 1
19.0 5.0 HG-JR503 Q Q2 261545
22.3 66.8 43.3 7.0 HG-JR703 Q 261546
5000
28.6 85.8 55.8 9.0 HG-JR903 Q 261547
70.0 210 220 11 HG-JR11K1M Q 261557
3000
1500 95.5 286 315 15 HG-JR15K1M Q 261558
2500 140 420 489 22 HG-JR22K1M Q 261559
3.2 8.0 1.50 1.0 HG-RR103 Q 262896
HG-RR

R
4.8 11.9 1.90 1.5 HG-RR153 Q 262897
3000 4500 6.4 15.9 2.30 2.0 HG-RR203 200 V AC IP65 Q 262898
11.1 27.9 8.30 3.5 HG-RR353 Q 262899
15.9 39.8 12.0 5.0 HG-RR503 Q 262900
1 The value in angle brackets is applicable when the maximum torque is increased. The maximum torque will be increased by changing the servo amplifier to be combined (see 2).
2 This combination of the HG-JR servo motor and the servo amplifier increases the maximum torque from 300 % to 400 % of the rated torque.
3 The value in angle brackets is applicable when the servo motor is used with MR-J4-500B or MR-J4-500A.
4 22 kW of HG-JR series is rated IP44

17
 Servo Motor Assignment

Motors for MR-J4 (400 V) series servo amplifiers

Servo motor type Amplifier pairing MR-J4

Maximum Rated Peak Moment of Rated Servo
Motor Rated rotation torque running inertia output motor
series speed speed range J [x10-4 capacity model Protective
1 400 V [r/min] [r/min] [Nm] [Nm] kg m2] [kW] Voltage structure 60 100 200 350 500 700 11K 15K 22K Art. no.

2.4 7.2 7.26 0.5 HG-SR524 Q 261431

4.8 14.3 11.6 1.0 HG-SR1024 Q 261432
HG-SR
2
S
7.2 21.5 16.0 1.5 HG-SR1524 Q 261433
2000 3000 9.5 28.6 46.8 2.0 HG-SR2024 400 V AC IP67 Q 261434
16.7 50.1 78.6 3.5 HG-SR3524 Q 261435
23.9 71.6 99.7 5.0 HG-SR5024 Q 261436
Servomotors

33.4 100 151 7.0 HG-SR7024 Q 261437

4.8
1.6 <6.4> 1 1.52 0.5 HG-JR534 Q Q 2
261445
7.2
2.4 <9.6> 1
2.09 0.75 HG-JR734 Q Q2 261446
9.6
3.2 <12.7> 1
2.65 1.0 HG-JR1034 Q Q2 261447
14.3
6000 4.8 <19.1> 1
3.79 1.5 HG-JR1534 Q Q2 261448
HG-JR 3000 19.1

J
6.4 <25.5> 1 4.92 2.0 HG-JR2034 Q Q2 261449
400 V AC IP67 4
10.5 32.0 3.3
<11.1> 3 <44.6> 1 13.2 <3.5> 3 HG-JR3534 Q Q 23
261450
47.7
15.9 <63.7> 1
19.0 5.0 HG-JR5034 Q Q2 261451
22.3 66.8 43.3 7.0 HG-JR7034 Q 261452
5000
28.6 85.8 55.8 9.0 HG-JR9034 Q 261453
70.0 210 220 11 HG-JR11K1M4 Q 261384
3000
1500 95.5 286 315 15 HG-JR15K1M4 Q 261535
2500 140 420 489 22 HG-JR22K1M4 Q 261536
1 The value in angle brackets is applicable when the maximum torque is increased. The maximum torque will be increased by changing the servo amplifier to be combined (see ).
2

2 This combination of the HG-JR servo motor and the servo amplifier increases the maximum torque from 300 % to 400 % of the rated torque.
3 The value in angle brackets is applicable when the servo motor is used with MR-J4-500B or MR-J4-500A.
4 22 kW of HG-JR series is rated IP44

Motors for MR-JE-A/B series servo amplifiers

Servo motor type Amplifier pairing MR-JE

Maximum Rated Rated
Motor Rated Peak run- Moment of
series speed rotation torque ning range inertia J output Servo motor
speed capacity model Protective
200 V [r/min] [r/min] [Nm] [Nm] [x10-4 kg m2] Voltage 10 20 40 70 100 200 300 Art. no.
[kW] structure

HG-KN 0.32 0.95 0.088 0.1 HG-KN13 V 282631

K
0.64 1.9 0.24 0.2 HG-KN23K V 282633
3000 4500 200 V AC IP65
1.3 3.8 0.42 0.4 HG-KN43K V 282635
2.4 7.2 1.43 0.75 HG-KN73JK V 268237
2.39 7.16 6.1 0.5 HG-SN52JK V 282639
HG-SN

S
4.77 14.3 11.9 1.0 HG-SN102JK V 282641
2000 3000 7.16 21.5 17.8 1.5 HG-SN152JK 200 V AC IP67 V 282643
9.55 28.6 38.3 2.0 HG-SN202JK V 282645
14.3 42.9 58.5 3.0 HG-SN302JK V 282647

18
 Servo Motor Specifications

„„ HG-KN(B) Series Servo Motor Specifications (200 V Type)

Servo motor model HG-KN13(B) 6 HG-KN23(B)K 6 HG-KN43(B)K 6 HG-KN73(B)JK 6

Servo amplifier model
Power facility capacity 1[kVA]
MR-JE-10A/B
0.3
MR-JE-20A/B
0.5
MR-JE-40A/B
0.9
MR-JE-70A/B
1.3 1
Continuous rated output  [kW] 0.1 0.2 0.4 0.75
characteristics rated torque [Nm] 0.32 0.64 1.3 2.4
Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
0.95
3000
1.9
3000
3.8
3000
7.2
3000 2
Maximum rotation speed  [rpm] 5000 5000 5000 5000
Permissible instantaneous rotation speed  [rpm] 5750 5750 5750 5750

Servomotors
Power rate at continuous rated torque  [kW/s] 12.9 18.0 43.2 44.5
Rated current  [A] 0.8 1.3 2.6 4.8
Maximum current  [A] 2.4 3.9 7.8 14
Moment of inertia standard 0.0783 0.225 0.375 1.28
J [×10-4 kg m2] with electromagnetic brake 0.0843 0.247 0.397 1.39
Regeneration braking frequency 2 3  [1/min] 4 4 276 159
Recommended load/motor inertia ratio Less than 15 times the servo motor's inertia moment 5
Speed/position detector Incremental encoder (resolution servo motor rotation: 131072 p/rev.)
Structure Self-cooling (protection rating: IP65) 7
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment
atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
elevation/vibration 8 1000 m or less above sea level: 49 m/s² , Y: 49 m/s²
Weight  [kg] standard motor 6 0.6 0.98 1.5 3.1

Order information (without brake) Art. no. 282631 282633 282635 282637
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 The regenerative braking frequency of the 600 W or smaller servo amplifier may fluctuate due to the affect of the power voltage since the energy charged by the electrolytic capacitor in the servo amplifier is large.
4 There are no limits on regeneration frequency as long as the effective torque is within the rated torque range. However, the load/motor of inertia moment ratio must be more than15 times.
5 Contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table.
6 For servo motors with electromagnetic brake please refer to page 28.
7 The shaft-through portion and connector for cable terminal are excluded.
8 The vibration direction is shown in the right-side diagramm. The numveric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft).
Fretting of the bearing occurs easily when the motor stops, so maintain vibration ot approximately one-half of the allowable value.

HG-KN Series Servo Motor Torque Characteristics

HG-KN13(B) (Note 1, 2, 3)) HG-KN23(B) (Note 1, 2, 3)) HG-KN43(B) (Note 1, 2, 3))
1.0 2.0 4.0
Peak running range Peak running range Peak running range
0.75 1.5 3.0
Torque [Nm]

Torque [Nm]

Torque [Nm]

0.5 1.0 2.0

0.25 0.5 1.0

Continuous running range Continuous running range Continuous running range

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min] Speed [r/min]

HG-KN73(B) (Note 1, 2, 3))

8.0

Peak running range

6.0
Torque [Nm]

4.0

2.0 Notes:
Continuous running range
1. : For 3-phase 200 V AC.
2. : For 1-phase 230 V AC.
0 1000 2000 3000 4000 5000 3. Torque drops when the power supply
voltage is below the specified value
Speed [r/min]

19
 Servo Motor Specifications

„„ HG-SN(B) Series Servo Motor Specifications (200 V Type)

Servo motor model HG-SN52(B)JK 6 HG-SN102(B)JK 6 HG-SN152(B)JK 6 HG-SN202(B)JK 6 HG-SN302(B)JK 6

1 Servo amplifier model

Power facility capacity 1  [kVA]
MR-JE-70A/B
1.0
MR-JE-100A/B
1.7
MR-JE-200A/B
2.5
MR-JE-200A/B
3.5
MR-JE-300A/B
4.8
Continuous rated output  [kW] 0.5 1.0 1.5 2.0 3.0
characteristics rated torque  [Nm] 2.39 4.77 7.16 9.55 14.3

2 Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
7.16
2000
14.3
2000
21.5
2000
28.6
2000
42.9
2000
Maximum rotation speed  [rpm] 3000 3000 3000 3000 2500
Permissible instantaneous rotation speed  [rpm] 3450 3450 3450 3450 2875
Servomotors

Power rate at continuous rated torque  [kW/s] 7.85 19.7 32.1 19.5 26.1
Rated current  [A] 2,9 5.6 9.4 9.6 11
Maximum current  [A] 9.0 17 29 31 33
Moment of inertia standard 7.26 11.6 16.0 46.8 78.6
J [×10-4 kg m2] with electromagnetic brake 9.48 13.8 18.2 56.5 88.2
Regeneration braking frequency 2 3  [1/min] 62 38 139 47 28
Recommended load/motor inertia ratio Less than 15 times the servo motor's inertia moment 4
Speed/position detector Incremental encoder (resolution servo motor rotation: 131072 p/rev.)
Structure Self-cooling (protection rating: IP67) 6
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
1000 m or less above sea level: 1000 m or less above sea level:
elevation/vibration 7 X: 24.5 m/s², Y: 24.5 m/s² X: 24.5 m/s², Y: 49 m/s²
Weight  [kg] standard motor 6 4.8 6.5 8.3 12 15

Order information  (without brake) Art. no. 253952 253953 253954 253965 269030
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 The regenerative braking frequency of the 600 W or smaller servo amplifier may fluctuate due to the affect of the power voltage since the energy charged by the electrolytic capacitor in the servo amplifier is large.
4 Contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table.
5 The shaft-through portion is excluded.
6 For servo motors with electromagnetic brake please refer to page 28.
7 The vibration direction is shown in the right-side diagramm. The numveric value indicates the maximum value of the component (commonly the bracket in the opposite direction
of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration ot approximately one-half of the allowable value.

HG-SN Series Servo Motor Torque Characteristics

HG-SN52(B)J (Note 1, 2, 3) HG-SN102(B)J (Note 1, 2, 3)) HG-SN152(B)J (Note 1, 2, 3)
9 15 24

Peak running Peak running

range range
6 10 16
Torque [Nm]

Torque [Nm]

Torque [Nm]

Peak running
range
3 5 8

Continuous Continuous
Continuous running range running range
running range
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
Speed [r/min] Speed [r/min] Speed [r/min]

HG-SN202(B)J (Note 1, 2, 3) HG-SN302(B)J (Note 1, 3)

30 45
Peak
Peak running running
range range
20
Torque [Nm]

Torque [Nm]

30

10 15

Continuous Continuous Notes:

running range running range 1. : For 3-phase 200 V AC.
2. : For 1-phase 230 V AC.
0 1000 2000 3000 0 1000 2000 2500 3. Torque drops when the power supply
voltage is below the specified value
Speed [r/min] Speed [r/min]

20
 Servo Motor Specifications

„„ HG-KR(B) Series Servo Motor Specifications (200 V Type)

Servo motor model HG-KR053(B) 6 HG-KR13(B) 6 HG-KR23(B) 6 HG-KR43(B) 6 HG-KR73(B) 6

Servo amplifier model
Power facility capacity 1 
MR-J4-mA/B/GF/TM
[kVA]
10
0.3
10
0.3
20
0.5
40
0.9
70
1.3 1
Continuous rated output  [kW] 0.05 0.1 0.2 0.4 0.75
characteristics rated torque  [Nm] 0.16 0.32 0.64 1.3 2.4
Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
0.56
3000
1.1
3000
2.2
3000
4.5
3000
8.4
3000 2
Maximum rotation speed  [rpm] 6000 6000 6000 6000 6000
Permissible instantaneous rotation speed  [rpm] 6900 6900 6900 6900 6900

Servomotors
Power rate at continuous rated torque  [kW/s] 5.63 13.0 18.3 43.7 45.2
Rated current  [A] 0.9 0.8 1.3 2.6 4.8
Maximum current  [A] 3.2 2.5 4.6 9.1 17.0
Moment of inertia standard 0.0450 0.0777 0.221 0.371 1.26
J [×10-4 kg m2] 2 with electromagnetic brake 0.0472 0.837 0.243 0.393 1.37
Regeneration braking frequency  [1/min] 2 (a) 2 (b) 453 268 393
Less than 26 times the servo Less than 25 times the servo Less than 17 times the servo
Recommended load/motor inertia ratio 3 Less than 17 times the servo motor's inertia moment motor's inertia moment motor's inertia moment motor's inertia moment
Speed/position detector 22-bit encoder (resolution per encoder/servo motor rotation: 4194304 p/rev.)
Structure Self-cooling (protection rating: IP65) 4
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment
atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
elevation/vibration 5 1000 m or less above sea level; X: 49 m/s², Y: 49 m/s²
Weight  [kg] standard motor 6 0.34 0.54 0.91 1.4 2.8

(without brake) 248651 248652 248653 248654 248655

Order information Art. no.
WOC 289372 289373 289374 289385 289386
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
(a)/(b) When a motor decelerates to a stop from the rated speed, the regenerative frequency will not be limited if the effective torque is within the rated torque range. When a motor decelerates to a stop from the maximum speed, the
regenerative frequency will not be limited if the load inertia moment is (a) 26-fold (b) 15-fold or less and the effective torque is within the rated torque range.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side).
Fretting of the bearing occurs easily when the motor stops, so please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.

HG-KR Series Servo Motor Torque Characteristics

HG-KR053(B) (Note 1, 2, 3) HG-KR13(B) (Note 1, 2, 3) HG-KR23(B) (Note 1, 2, 3)

2.5

Peak running range Peak running 2.0 Peak

range running
Torque [Nm]

Torque [Nm]

Torque [Nm]

range
1.5

1.0

Continuous Continuous 0.5

running range running range Continuous running range

Speed [r/min] Speed [r/min] Speed [r/min]

HG-KR43(B) (Note 1, 2, 3) HG-KR73(B) (Note 1, 3, 4)

5.0 10.0

4.0
Peak running 8.0
range
Peak running
Torque [Nm]
Torque [Nm]

3.0 6.0 range

2.0 4.0
Notes:
1.0 2.0
1. : For 3-phase 200 V AC or 1-phase 230 V AC.
2. : For 1-phase 200 V AC.
Continuous running range Continuous running range This line is drawn only where differs from the
other two lines.
3. Torque drops when the power supply voltage is
Speed [r/min] Speed [r/min] below the specified value

21
 Servo Motor Specifications

„„ HG-MR(B) Series Servo Motor Specifications (200 V Type)

Servo motor model HG-MR053(B) 6 HG-MR13(B) 6 HG-MR23(B) 6 HG-MR43(B) 6 HG-MR73(B) 6

1 Servo amplifier model

Power facility capacity 1
MR-J4-mA/B/GF/TM
[kVA]
10
0.3
10
0.3
20
0.5
40
0.9
70
1.3
Continuous rated output  [kW] 0.05 0.1 0.2 0.4 0.75
characteristics rated torque  [Nm] 0.16 0.32 0.64 1.3 2.4

2 Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
0.48
3000
0.95
3000
1.9
3000
3.8
3000
7.2
3000
Maximum rotation speed  [rpm] 6000 6000 6000 6000 6000
Permissible instantaneous rotation speed  [rpm] 6900 6900 6900 6900 6900
Servomotors

Power rate at continuous rated torque  [kW/s] 15.6 33.8 46.9 114.2 97.3
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
Moment of inertia standard 0.0162 0.0300 0.0865 0.142 0.586
J [×10-4 kg m2] 2 with electromagnetic brake 0.0224 0.0362 0.109 0.164 0.694
Regeneration braking frequency  [1/min] 2
(a) 2
(b) 1570 920 420
Less than 35 times the servo Less than 32 times the servo motors inertia moment 3
Recommended load/motor inertia ratio motors inertia moment 3
Speed/position detector 22-bit encoder (resolution per encoder/servo motor rotation: 4194304 p/rev.
Structure Self-cooling (protection rating: IP65) 4
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
elevation/vibration 5 1000 m or less above sea level; X: 49 m/s², Y: 49 m/s²
Weight  [kg] standard motor 6 0.34 0.54 0.91 1.4 2.8

Order information (without brake) Art. no. 248661 248662 248663 248664 248665
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
(a)/(b) When a motor decelerates to a stop from the rated speed, the regenerative frequency will not be limited if the effective torque is within the rated torque range. When a motor decelerates to a stop from the maximum speed, the
regenerative frequency will not be limited if the load inertia moment is (a) 26-fold (b) 15-fold or less and the effective torque is within the rated torque range.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side).
Fretting of the bearing occurs easily when the motor stops, so please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.

HG-MR Series Servo Motor Torque Characteristics

HG-MR053(B) (Note 1, 2, 3) HG-MR13(B) (Note 1, 2, 3) HG-MR23(B) (Note 1, 2, 3)

Peak running Peak running

range range
Peak running range
Torque [Nm]
Torque [Nm]

Torque [Nm]

Continuous running Continuous running

Continuous running range range range

Speed [r/min] Speed [r/min]

HG-MR43(B) (Note 1, 2, 3) HG-MR73(B) (Note 1, 2, 3)

Peak running
range Peak running
range
Torque [Nm]

Torque [Nm]

Notes:
Continuous running 1. : For 3-phase 200 V AC or 1-phase 230 V AC.
Continuous running 2. : For 1-phase 200 V AC.
range range This line is drawn only where differs from the
other two lines.
3. Torque drops when the power supply voltage
Speed [r/min] Speed [r/min] is below the specified value

22
 Servo Motor Specifications

„„ HG-RR(B) Series Servo Motor Specifications (200 V Type)

Servo motor model HG-RR103(B) 6 HG-RR153(B) 6 HG-RR203(B) 6 HG-RR353(B) 6 HG-RR503(B) 6

Servo amplifier model
Power facility capacity 1 
MR-J4-mA/B/GF/TM
[kVA]
200
1.7
200
2.5
350
3.5
500
5.5
500
7.5 1
rated output  [kW] 1.0 1.5 2.0 3.5 5.0
Continuous characteristics
rated torque  [Nm] 3.2 4.8 6.4 11.1 15.9
Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
8.0
3000
11.9
3000
15.9
3000
27.9
3000
39.8
3000 2
Maximum rotation speed  [rpm] 4500 4500 4500 4500 4500
Permissible instantaneous rotation speed  [rpm] 5175 5175 5175 5175 5175

Servomotors
Power rate at continuous rated torque  [kW/s] 67.4 120 176 150 211
Rated current  [A] 6.1 8.8 14 23 28
Maximum current  [A] 18 23 37 58 70
Regeneration braking frequency 2  [1/min] 1090 860 710 174 125
Moment of inertia J [×10-4 kg m2] 2 1.5 1.9 2.3 8.3 12
Recommended load/motor inertia ratio Less than 5 times the servo motors inertia moment 3
Speed/position detector Resolution per encoder/servo motor rotation: 4194304 p/rev (22-bit)
Structure Self-cooling (protection rating: IP65) 4
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment
atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
elevation/vibration 5 3 1000 m or less above sea level; X: 24.5 m/s², Y: 24.5 m/s²
Weight  [kg] standard motor 6 3.9 5.0 6.2 12 17

Order information (without brake) Art.no. 262896 262897 262898 262899 262900
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table.
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side). Fretting of the bearing occurs easily when the motor stops, so
please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.

HG-RR Series Servo Motor Torque Characteristics

HG-RR103(B) (Note) HG-RR153(B) (Note) HG-RR203(B) (Note)

Peak running range Peak running range

Torque [Nm]

Torque [Nm]

Peak running range

Torque [Nm]

Continuous running range Continuous running range Continuous running range

Speed [r/min] Speed [r/min] Speed [r/min]

HG-RR353(B) (Note) HG-RR503(B) (Note)

Peak running range Peak running range

Torque [Nm]

Torque [Nm]

Continuous running range Continuous running range Note:

: For 3-phase 200 V AC.

Speed [r/min] Speed [r/min]

23
 Servo Motor Specifications

„„ HG-SR(B) Series Servo Motor Specifications (200 V Type)

Servo motor model HG-SR52(B) 6 HG-SR102(B) 6 HG-SR152(B) 6 HG-SR202(B) 6 HG-SR352(B) 6 HG-SR502(B) 6 HG-SR702(B) 6

1 Servo amplifier model

Power facility capacity 1 
MR-J4-mA/B/GF/TM
[kVA]
60
1.0
100
1.7
200
2.5
200
3.5
350
5.5
500
7.5
700
10
Continuous rated output  [kW] 0.5 1.0 1.5 2.0 3.5 5.0 7.0
characteristics rated torque  [Nm] 2.4 4.8 7.2 9.5 16.7 23.9 33.4

2 Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
7.2
2000
14.3
2000
21.5
2000
28.6
2000
50.1
2000
71.6
2000
100
2000
Maximum rotation speed  [rpm] 3000 3000 3000 3000 3000 3000 3000
Permissible instantaneous rotation speed  [rpm] 3450 3450 3450 3450 3450 3450 3450
Servomotors

Power rate at continuous rated torque  [kW/s] 7.85 10.7 32.1 19.5 35.5 57.2 74.0
Rated current  [A] 2.9 5.6 9.4 9.6 14 22 26
Maximum current  [A] 9.0 17 29 31 45 70 83
Moment of inertia standard 7.26 11.6 16 46.8 78.6 99.7 151
-4 2 2
J [×10 kg m ] with electromagnetic brake 9.48 13.8 18.2 56.5 88.2 109 161
Regeneration braking frequency  [1/min] 31 38 139 47 28 29 25
Less than 15 times Less than 17 times the servo motors inertia
Recommended load/ motor inertia ratio the servo motors moment 3
Less than 15 times the servo motors inertia moment 3
inertia moment 3
Speed/position detector 22-bit encoder (resolution per encoder/servo motor rotation: 4194304 p/rev.
Structure Self-cooling (protection rating: IP67) 4
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
1000 m or less above sea level; 1000 m or less above sea level; 1000 m or less above sea level;
elevation/vibration 5 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
Weight  [kg] standard motor 6 4.8 6.2 7.3 11 16 20 27

(without brake) 248671 248672 248673 248674 248675 242676 248676

Order information  Art. no.
W0C 7 289376 289377 289378 289379 289380 289381 289382
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side).
Fretting of the bearing occurs easily when the motor stops, so please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.
7 The item has longer delivery time. Please contact your Mitsubishi Electric representative.

HG-SR Series Servo Motor Torque Characteristics

HG-SR52(B) (Note 1, 2) HG-SR102(B) (Note 1, 2) HG-SR152(B) (Note 1, 2)
HG-SR202(B) (Note 1, 2)

Peak running
Peak running range range
Peak running
range
Torque [Nm]
Torque [Nm]

Torque [Nm]

Torque [Nm]

Continuous Continuous Continuous Continuous

running range running range running range running range

Speed [r/min] Speed [r/min] Speed [r/min]

HG-SR352(B) (Note 1, 2) HG-SR502(B) (Note 1, 2) HG-SR702(B) (Note 1, 2)

Peak running range

Peak running
range
Peak running
Torque [Nm]

range
Torque [Nm]

Torque [Nm]

Continuous Continuous Continuous Hinweise:

running range running range running range 1. : For 3-phase 200 V AC.
2. : For 1-phase 200 V AC.
3. : For 1-phase 230 V AC.
Speed [r/min] Speed [r/min] Speed [r/min]

24
 Servo Motor Specifications

„„ HG-SR(B) Series Servo Motor Specifications (400 V Type)

Servo motor model HG-SR524(B) 6 HG-SR1024(B) 6 HG-SR1524(B) 6 HG-SR2024(B) 6 HG-SR3524(B) 6 HG-SR5024(B) 6 HG-SR7024(B) 6
Servo amplifier model
Power facility capacity 1 
MR-J4-mA4/B4/GF4/TM4
[kVA]
60
1.0
100
1.7
200
2.5
200
3.5
350
5.5
500
7.5
700
10 1
Continuous rated output  [kW] 0.5 1.0 1.5 2.0 3.5 5.0 7.0
characteristics rated torque  [Nm] 2.4 4.8 7.2 9.5 16.7 23.9 33.4
Maximum torque 
Rated rotation speed 
[Nm]
[rpm]
7.2
2000
14.3
2000
21.5
2000
28.6
2000
50.1
2000
71.6
2000
100
2000 2
Maximum rotation speed  [rpm] 3000 3000 3000 3000 3000 3000 3000
Permissible instantaneous rotation speed  [rpm] 3450 3450 3450 3450 3450 3450 3450

Servomotors
Power rate at continuous rated torque  [kW/s] 7.85 19.7 32.1 19.5 35.5 57.2 74.0
Rated current  [A] 1.5 2.8 4.7 4.9 7.0 11 13
Maximum current  [A] 4.5 8.9 17 17 27 42 59
Moment of inertia standard 7.26 11.6 16.0 46.8 78.6 99.7 151
J [×10-4 kg m2] 2 with electromagnetic brake 9.48 13.8 18.2 56.5 88.2 109 161
Regeneration braking frequency  [1/min] 46 29 139 47 34 29 25
Less than 15 times Less than 17 times the servo motors inertia
Recommended load/ motor inertia ratio the servo motors moment 3
Less than 15 times the servo motors inertia moment 3
inertia moment 3
Speed/position detector 22-bit encoder (resolution per encoder/servo motor rotation: 4194304 p/rev.
Structure Self-cooling (protection rating: IP67) 4
ambient temperature Operation: 0–40 °C (no freezing); Storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); Storage: 90 % RH max. (no condensation)
Environment atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
1000 m or less above sea level; 1000 m or less above sea level; 1000 m or less above sea level;
elevation/vibration 5 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
Weight  [kg] standard motor 6 4.8 6.2 7.3 11 16 20 27

(without brake) 261431 261432 261433 261434 261435 261436 261437

Order information  Art. no.
W0C 7 289383 289384 289405 289406 289407 289408 289409
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side).
Fretting of the bearing occurs easily when the motor stops, so please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.
7 The item has longer delivery time. Please contact your Mitsubishi Electric representative.

HG-SR Series Servo Motor Torque Characteristics

HG-SR524(B) (Note 1, 2) HG-SR1024(B) (Note 1, 2) HG-SR1524(B) (Note 1, 2) HG-SR2024(B) (Note 1, 2)

Peak running range Peak running Peak running

range Peak running range
range
Torque [Nm]

Torque [Nm]

Torque [Nm]
Torque [Nm]

Continuous Continuous Continuous Continuous

running range running range running range running range

Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HG-SR3524(B) (Note 1, 2) HG-SR5024(B) (Note 1, 2) HG-SR7024(B) (Note 1, 2)

Peak running
range Peak running
Peak running range
Torque [Nm]

Torque [Nm]

Torque [Nm]

range

Continuous Continuous Continuous

running range Notes:
running range running range 1. : For 3-phase 400 V AC.
2. : For 3-phase 380 V AC.
Speed [r/min] Speed [r/min] Speed [r/min]

25
 Servo Motor Specifications

„„ HG-JR(B) Series Servo Motor Specifications (200 V Type)

HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR
Servo motor model 53(B) 6 73(B) 6 103(B) 6 153(B) 6 203(B) 6 353(B) 6 503(B) 6 703(B) 6 903(B) 6 11K1M(B) 6 15K1M(B) 6 22K1M 6
1 Servo amplifier model 1 MR-J4mA/B/GF/TM 60/100 70/200 100/200 200/350 200/350 350/500 500/700 700 11K 11K 15K 22K
Power facility capacity 1[kVA] 1.0 1.3 1.7 2.5 3.5 5.5 7.5 10 13 16 22 33
Continuous rated output [kW] 0.5 0.75 1.0 1.5 2.0 3.3 5.0 7.0 9.0 11 15 22
characteristics 7 rated torque  [Nm] 1.6 2.4 3.2 4.8 6.4 10.5 15.9 22.3 28.6 70 95.5 140
2 Maximum torque 7[Nm]
Rated rotation speed  [U/min]
4.8
3000
7.2
3000
9.6
3000
14.3
3000
19.1
3000
32.0
3000
47.7
3000
66.8
3000
85.8
3000
210
1500
286
1500
420
1500
Maximum rotation speed [U/min] 6000 6000 6000 6000 6000 6000 6000 5000 5000 3000 3000 2500
Servomotors

Permissible instantaneous rotation speed  [U/min] 6900 6900 6900 6900 6900 6900 6900 5750 5750 3450 3450 2875
Power rate at continuous rated torque  [kW/s] 16.7 27.3 38.2 60.2 82.4 83.5 133 115 147 223 290 401
Rated current 7 [A] 3.0 5.6 5.6 11 11 17 27 34 41 61 76 99
Maximum current  [A] 9.0 17 17 32 32 51 81 103 134 200 246 315
Moment of inertia standard 1.52 2.09 2.65 3.79 4.92 13.2 19.0 43.3 55.8 220 315 489
J [×10-4 kg m2] with electromagnetic brake 2.02 2.59 3.15 4.29 5.42 15.4 21.2 52.9 65.4 240 336 —
Regeneration braking frequency 2 7[1/min] 67 98 76 271 206 73 68 56 204 143 162 104
Recommended load/motor inertia ratio Less than 10 times the servo motor's inertia moment 3
Speed/position detector 22-bit encoder (resolution per encoder/servo motor rotation: 4194304 p/rev.)
Fan-cooling
(protection
Structure Self-cooling (protection rating: IP67) 4 rating:
IP44) 4
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
Environment atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
1000 m or less above 1000 m or less above sea level;
elevation/vibration 5 1000 m or less above sea level; X: 24.5 m/s², Y: 24.5 m/s² sea level; X: 24.5 m/s², X: 24.5 m/s², Y: 24.5 m/s²
Y: 29.4 m/s²
Weight  [kg] standard motor 6 3.0 3.7 4.5 5.9 7.5 13 18 29 36 62 86 120

(without brake) 261539 261540 261541 261542 261543 261544 261545 261546 8 261547 8 261557 8 261558 8 261559 8
Order information  Art. no.
W0C 8 289424 289425 289426 289427 289428 289429 289430 289431 289432 289460 289461 289462
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table.
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side).
Fretting of the bearing occurs easily when the motor stops, so please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.
7 The maximum torque of the HG-JR534(B)–HG-JR5034(B) motors can be increased from 300 % to 400 % by increasing the amplifier capacity by one rank.
8 The item has longer delivery time. Please contact your Mitsubishi Electric representative.

HG-JR Series Servo Motor Torque Characteristics

HG-JR53(B) (Note 1, 2, 3, 5) HG-JR73(B) (Note 1, 5) HG-JR103(B) (Note 1, 5) HG-JR153(B) (Note 1, 5) HG-JR203(B) (Note 1, 5) HG-JR353(B) (Note 1, 5)
9 12 15 21 30 54
(Note 4) (Note 4)
(Note 4) (Note 4)
(Note 4)
Torque [Nm]

Torque [Nm]

36
Torque [Nm]

Torque [Nm]

Torque [Nm]

Torque [Nm]

6 9 10 14 20
Peak Peak running Peak running Peak
Peak range range
Peak running running running
running range range range
3 4 5 7 10 18
range

Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range
0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HG-JR503(B) (Note 1, 5) HG-JR703(B) (Note 1, 5) HG-JR903(B) (Note 1, 5) HG-JR11K1M(B) (Note 1, 5) HG-JR15K1M(B) (Note 1, 5) HG-JR22K1M (Note 1, 5)
75 75 90 240 300 450
(Note 4)
Peak running Peak
Peak Peak running range running
Peak running 180 range
running range
Torque [Nm]

50 50 60 range 200 300

Torque [Nm]

Torque [Nm]

range
Torque [Nm]

Torque [Nm]

Torque [Nm]

Peak
running 120
range
25 25 30 100 150
60
Continuous running range Continuous running range Continuous running range
Continuous running range Continuous running range
Continuous running range
0 2000 4000 6000 0 2000 4000 6000
5000 0 2000 4000 5000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 2500
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]
Speed [r/min]

1 : For 3-phase 200 V AC. 4. This value is applicable when the torque is maximally increased. Refer to "Combinations of HG-JR Servo Motor Series and Servo Amplifier (200 V Class) for Increasing the Maximum Torque to 400 %
2 : For 1-phase 200 V AC. of the Rated Torque.
3 : For 1-phase 230 V AC. 5. Torque drops when the power supply voltage is below the specified value.

26
 Servo Motor Specifications

„„ HG-JR(B) Series Servo Motor Specifications (400 V Type)

HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR HG-JR

HG-JR HG-JR
1034(B) HG-JR 6 2034(B) 3534(B) 5034(B) 7034(B) 9034(B) 11K1M4(B) 15K1M4(B) 22K1M4
Servo motor model

Servo amplifier model  MR-J4mA4/B4/GF4/TM4

534(B) 6 734(B) 6 6
60/100 70/200
1534(B) 6

100/200 200/350 200/350 350/500 500/700

6 6 6

700
6

11K
6

11K
6

15K
6

22K
1
Power facility capacity 1[kVA] 1.0 1.3 1.7 2.5 3.5 5.5 7.5 10 13 16 22 33
Continuous rated output [kW] 0.5 0.75 1.0 1.5 2.0 3.3 5.0 7.0 9.0 11 15 22
characteristics 7
Maximum torque 7
rated torque  [Nm]
[Nm]
1.6
4.8
2.4
7.2
3.2
9.6
4.8
14.3
6.4
19.1
10.5
32.0
15.9
47.7
22.3
66.8
28.6
85.8
70
210
95.5
286
140
420
2
Rated rotation speed  [U/min] 3000 3000 3000 3000 3000 3000 3000 3000 3000 1500 1500 1500

Servomotors
Maximum rotation speed [U/min] 6000 6000 6000 6000 6000 6000 6000 5000 5000 3000 3000 2500
Permissible instantaneous rotation speed  [U/min] 6900 6900 6900 6900 6900 6900 6900 5750 5750 3450 3450 2875
Power rate at continuous rated torque [kW/s] 16.7 27.3 38.2 60.2 82.4 83.5 133 115 147 223 290 401
Rated current 7 [A] 1.5 2.8 2.8 5.4 5.4 8.3 14 17 21 31 38 50
Maximum current [A] 4.5 8.4 8.4 17 17 26 41 52 67 100 123 170
Moment of inertia standard 1.52 2.09 2.65 3.79 4.92 13.2 19.0 43.3 55.8 220 315 489
J [×10-4 kg m2] with electromagnetic brake 2.02 2.59 3.15 4.29 5.42 15.4 21.2 52.9 65.4 240 336 —
Regeneration braking frequency 2 7[1/min] 99 72 53 265 203 75 68 56 205 143 162 104
Recommended load/motor inertia ratio Less than 10 times the servo motor's inertia moment 3
Speed/position detector 22-bit encoder (resolution per encoder/servo motor rotation: 4194304 p/rev.)
Fan-cooling
Structure Self-cooling (protection rating: IP67) 4 (protection
rating: IP44) 4
ambient temperature Operation: 0–40 °C (no freezing); storage: -15–70 °C (no freezing)
ambient humidity Operation: 80 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
atmosphere Indoors (no direct sunlight); no corrosive gas, no inflammable gas, no oil mist, no dust
Environment
1000 m or less
above sea level; 1000 m or less above sea level;
elevation/vibration 5 1000 m or less above sea level; X: 24.5 m/s², Y: 24.5 m/s² X: 24.5 m/s², X: 24.5 m/s², Y: 24.5 m/s²
Y: 29.4 m/s²
Weight  [kg] standard motor 6 3.0 3.7 4.5 5.9 7.5 13 18 29 36 62 86 120

(without brake) 261445 261446 261447 261448 261449 261450 261451 2614528 2614538 261384 8 261535 8 261536 8
Order information Art. no.
W0C 8 289433 289434 289435 289436 289437 289438 289440 289441 289441 289463 289464 289465
1 The power facility capacity varies depending on the power supply's impedance.
2 The regenerative braking frequency shown is the permissible frequency for decelerating a stand-alone motor from rated rpm to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the
load inertia moment divided by the motor inertia moment. When the rated rpm is exceeded, the regenerative brake frequency is inversely proportional to the square of (operating speed/rated speed). When the operating speed varies
frequently or when regeneration is constant (as with vertical feeds), find the regeneration heat generated (W) while operating. The heat should not exceed the tolerable regenerative power (W). Refer to the section "OPTIONS AND
PERIPHERAL EQUIPMENT" in this catalog for details on the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software.
3 Please contact Mitsubishi Electric if the load/motor of inertia moment ratio exceeds the value in the table.
4 The shaft-through portion is excluded.
5 The vibration direction is shown in the right side diagram. The numeric value indicates the maximum value of the component (commonly the bracket on the antiload side).
Fretting of the bearing occurs easily when the motor stops, so please maintain vibration to approximately one-half the allowable value.
6 For servo motors with electromagnetic brake please refer to page 28.
7 The maximum torque of the HG-JR534(B)–HG-JR5034(B) motors can be increased from 300 % to 400 % by increasing the amplifier capacity by one rank.
8 The item has longer delivery time. Please contact your Mitsubishi Electric representative.

HG-JR Series Servo Motor Torque Characteristics

HG-JR534(B) (Note 1, 2, 4) HG-JR734(B) (Note 1, 2, 4) HG-JR1034(B) (Note 1, 2, 4) HG-JR1534(B) (Note 1, 2, 4) HG-JR2034(B) (Note 1, 2, 4) HG-JR3534(B) (Note 1, 2, 4)
9 12 15 21 30 54
(Note 3) (Note 3) (Note 4)
(Note 3) (Note 3)
(Note 3)
6 9 10 14 20 36
Torque [Nm]

Torque [Nm]

Torque [Nm]

Torque [Nm]

Torque [Nm]

Torque [Nm]

Peak running Peak running Peak running

Peak range range Peak
Peak running running range running
range range range
3 4 5 7 10 18

Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range
0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HG-JR5034(B) (Note 1, 2, 4) HG-JR7034(B) (Note 1, 2, 4) HG-JR9034(B) (Note 1, 2, 4) HG-JR11K1M4(B) (Note 1, 2, 4) HG-JR15K1M4(B) (Note 1, 2, 4) HG-JR22K1M4 (Note 1, 2, 4)
75 75 90 240 300 450
(Note 3)
Peak running Peak
Peak running running
Peak range 180 Peak running range range
running range
Torque [Nm]

50 50 60 200 300
range
Torque [Nm]

Torque [Nm]

Torque [Nm]

Torque [Nm]

Torque [Nm]

Peak running
range 120

25 25 30 100 150

Continuous running range 60

Continuous running range Continuous running range
Continuous running range Continuous running range
Continuous running range
0 2000 4000 6000 0 2000 4000 6000
5000 0 2000 4000 5000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 2500
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]
Speed [r/min]
Notes:
1. : For 3-phase 400 V AC.
2. : For 3-phase 380 V AC.
3. This value is applicable when the torque is maximally increased. Refer to "Combinations of HG-JR Servo Motor Series and Servo Amplifier (200 V Class) for Increasing the Maximum Torque to 400 % of the Rated Torque.
4. Torque drops when the power supply voltage is below the specified value.

27
 Servo Motor Specifications

„„ Servo Motor with Electromagnetic Brake

For applications requiring the motor shaft to be magnetic brake. The wide variety of servo
held in position (e.g. vertical lift applications), motors allows the user to choose a motor,
1 all offered motors are available with an electro- which suits best according to the task.

2
Servomotors

Motor model HG-KN HG-SN

(200 V) 13B 23KB 43KB 73BJK 52BJK 102BJK 152BJK 202BJK 302BJK
Type Spring-loaded safety brake Spring-loaded safety brake
Rated voltage 24 V DC 24 V DC
Static friction torque  [Nm] 0.32 1.3 1.3 2.4 8.5 8.5 8.5 44 44
Rated current at 20 °C  [A] 0.26 0.33 0.33 0.42 0.8 0.8 0.8 1.4 1.4
Coil resistance at 20 °C  [Ω] 91 73 73 57 29 29 29 16.8 16.8
Power consumption at 20 °C  [W] 6.3 7.9 7.9 10 20 20 20 34 34
Moment of inertia J 2  [10-4 kg m2 ] 0.0843 0.247 0.397 1.39 9.48 13.8 18.2 56.5 88.2
Permissible braking [J]/time 5.6 22 22 64 400 400 400 4500 4500
volume [J]/hour 56 220 220 640 4000 4000 4000 45000 45000
Brake life [times] 3 20000 20000
Brake volume per brake action  [J] 5.6 22 22 64 200 200 200 1000 1000
Weight 1 [kg] 0.8 1.4 1.9 4.0 6,7 8.2 9.3 17.0 22.0

Order information Art. no. 282632 282634 282636 282638 282640 282642 282644 282646 282648
1
Total mass of motor with electromagnetic brake 2
Total moment of inertia of motor with electromagnetic brake 3
Brake gap cannot be adjusted.

Motor model HG-KR HG-MR HG-RR

(200 V) 053B 13B 23B 43B 73B 103B 153B 203B 353B 503B 52B 102B 152B 202B 352B
Type Spring-loaded safety brake Spring-loaded safety brake Spring-loaded safety brake
Rated voltage 24 V DC 24 V DC 24 V DC
Static friction torque  [Nm] 0.32 0.32 1.3 1.3 2.4 0.32 0.32 1.3 1.3 2.4 7.0 7.0 7.0 17 17
Rated current at 20 °C  [A] 0.26 0.26 0.33 0.33 0.42 0.8 0.8 0.8 0.96 0.96 0.8 0.8 0.8 1.4 1.4
Coil resistance at 20 °C  [Ω] 91 91 73 73 57 30 30 30 25 25 19 19 19 23 23
Power consumption at 20 °C  [W] 6.3 6.3 7.9 7.9 10 6.3 6.3 7.9 7.9 10 19 19 19 23 23
Moment of inertia J 2  [10-4 kg m2 ] 0.0452 0.837 0.243 0.393 1.37 0.0224 0.0362 0.109 0.164 0.694 1.58 2.25 2.65 11.8 15.5
Permissible braking [J]/time 5.6 5.6 22 22 64 5.6 5.6 22 22 64 400 400 400 400 400
volume [J]/hour 56 56 220 220 640 56 56 220 220 640 4000 4000 4000 4000 4000
Brake life [times] 3 20000 20000 20000
Brake volume per brake action  [J] 5.6 5.6 22 22 64 5.6 5.6 22 22 64 200 200 200 200 200
Weight 1  [kg] 0.54 0.74 1.3 1.8 3.8 0.54 0.74 1.3 1.8 3.8 6 7 8.3 15 21

Order information Art. no. 248656 248657 248658 248659 248660 248666 248667 248668 248669 248670 262901 262902 262903 262904 262905
Art. no. W0C 4 289387 289388 289389 289390 289391
1
Total mass of motor with electromagnetic brake 2
Total moment of inertia of motor with electromagnetic brake 3
Brake gap cannot be adjusted.
4
The item has longer delivery time. Please contact your Mitsubishi Electric representative.

28
 Servo Motor Specifications

Motor model HG-SR (200) HG-SR (400)

(400 V) 52B 102B 152B 202B 352B 502B 702B 524B 1024B 1524B 2024B 3524B 5024B 7024B
Type Spring-loaded safety brake Spring-loaded safety brake
Rated voltage 24 V DC 24 V DC
Static friction torque  [Nm] 8.5 8.5 8.5 44 44 44 44 8.5 8.5 8.5 44 44 44 44
Rated current at 20 °C
Coil resistance at 20 °C
[A]
[Ω]
0.8
29
0.8
29
0.8
29
1.4
16.8
1.4
16.8
1.4
16.8
1.4
16.8
0.8
29
0.8
29
0.8
29
1.4
16.8
1.4
16.8
1.4
16.8
1.4
16.8
1
Power consumption at 20 °C [W] 20 20 20 34 34 34 34 20 20 20 34 34 34 34
Moment of inertia J 2 [×10-4 kg m2] 9.48 13.8 18.2 56.5 88.2 109 161 9.48 13.8 18.2 56.5 88.2 109 161
Permissible braking
volume
[J]/time
[J]/hour
400
4000
400
4000
400
4000
4500
45000
4500
45000
4500
45000
4500
45000
400
4000
400
4000
400
4000
4500
45000
4500
45000
4500
45000
4500
45000
2
Brake life [times] 3 20000 20000

Servomotors
Brake volume per brake action [J] 200 200 200 1000 1000 1000 1000 200 200 200 1000 1000 1000 1000
Weight 1 [kg] 6.7 8.2 9.3 17 22 26 33 6.7 8.2 9.3 17 22 26 33

Art. no. 248678 248679 248680 248681 248682 248683 248684 261438 261439 261440 261441 261442 261443 261444
Order information
Art. no. W0C 4 289410 289411 289412 289413 289414 289415 289416 289417 289418 289419 289420 289421 289422 289423
1
Total mass of motor with electromagnetic brake 2 Total moment of inertia of motor with electromagnetic brake 3
Brake gap cannot be adjusted.
4
The item has longer delivery time. Please contact your Mitsubishi Electric representative.

Motor model HG-JR (200)

(400 V) 53B 73B 103B 153B 203B 353B 503B 703B 903B 11K1MB 15K1MB
Type Spring-loaded safety brake
Rated voltage 24 V DC
Static friction torque  [Nm] 6.6 6.6 6.6 6.6 6.6 16 16 44 44 126 126
Rated current at 20 °C  [A] 0.5 0.5 0.5 0.5 0.5 1.0 1.0 1.4 1.4 1.3 1.3
Coil resistance at 20 °C  [Ω] 49 49 49 49 49 25 25 16.8 16.8 18 18
Leistungsaufnahme bei 20 °C [W] 11.7 11.7 11.7 11.7 11.7 23 23 34 34 32 32
Moment of inertia J 2 [×10-4 kg m2] 2.02 2.59 3.15 4.29 5.42 15.4 21.2 52.9 65.4 240 336
Permissible braking [J]/time 64 64 64 64 64 400 400 4500 4500 5000 5000
volume [J]/hour 640 640 640 640 640 4000 4000 45000 45000 45200 45200
Brake life [times] 3 5000 5000 5000 5000 5000 5000 5000 20000 20000 20000 20000
Brake volume per brake action [J] 64 64 64 64 64 400 400 1000 1000 400 400
Weight 1[kg] 4.4 5.1 5.9 7.3 8.9 15 20 35 42 74 97

Art. no. 261548 261549 261550 261551 261552 261553 261554 261555 261556 261560 4 261561 4
Order information
Art. no. W0C 4 289442 289443 289444 289445 289446 289447 289448 289449 289450 289466 289467
1
Total mass of motor with electromagnetic brake 2 Total moment of inertia of motor with electromagnetic brake 3
Brake gap cannot be adjusted.
4
The item has longer delivery time. Please contact your Mitsubishi Electric representative.

Motor model HG-JR (400)

(400 V) 534B 734B 1034B 1534B 2034B 3534B 5034B 7034B 9034B 11K1M4B 15K1M4B
Type Spring-loaded safety brake
Rated voltage 24 V DC
Static friction torque  [Nm] 6.6 6.6 6.6 6.6 6.6 16 16 44 44 126 126
Rated current at 20 °C  [A] 0.5 0.5 0.5 0.5 0.5 1.0 1.0 1.4 1.4 1.3 1.3
Coil resistance at 20 °C [Ω] 49 49 49 49 49 25 25 16.8 16.8 18 18
Power consumption at 20 °C [W] 11.7 11.7 11.7 11.7 11.7 23 23 34 34 32 32
Moment of inertia J 2 [×10-4 kg m2] 2.02 2.59 3.15 4.29 5.42 15.4 21.2 52.9 65.4 240 336
Permissible braking [J]/time 64 64 64 64 64 400 400 4500 4500 5000 5000
volume [J]/hour 640 640 640 640 640 4000 4000 45000 45000 45200 45200
Brake life [times] 3 5000 5000 5000 5000 5000 5000 5000 20000 20000 20000 20000
Brake volume per brake action [J] 64 64 64 64 64 400 400 1000 1000 400 400
Weight 1[kg] 4.4 5.1 5.9 7.3 8.9 15 20 35 42 74 97

Art. no. 261454 261455 261456 261457 261458 261459 261460 261382 261383 2615374 261538 4
Order information
Art. no. W0C 4 289451 289452 289453 289454 289455 289456 289457 289458 289459 289468 289469
1
Total mass of motor with electromagnetic brake 2 Total moment of inertia of motor with electromagnetic brake 3
Brake gap cannot be adjusted.
4
The item has longer delivery time. Please contact your Mitsubishi Electric representative.

29
 MR-JE Servo Amplifier Specifications

„„ MR-JE-A/B Servo Amplifier Specifications

The MR-JE was designed to reach high perfor- for achieving high-accuracy positioning and
mance and to get an easy-to-use servo system smooth rotation for applications from 100 W to
1 for all kind of machines. Proven reliability with
a 2.0 kHz highfrequency response, an energy-
3 kW. In combination with the MR Configurator2
software package the servo system is easy to
MITSUBISHI
saving design and the easy setup with start-up, to adjust and to analyze.
Advanced One-Touch Tuning can be offered
2 MODE
AUTO
SET C
N
3
by MR-JE. The servo motors are equipped with
131072 pulses/rev (17-bit) incremental encoder
C
N
1

3 C
N
2

L1
L2
Servo Amplifier

L3
P+ C
N
C P
U 1
V
W

MR-JR-10A

Servo amplifier MR-JE-mA 10A 20A 40A 70A 100A 200A 300A
3-phase
3-phase or 1-phase 200–240 V AC,
Power supply 3-phase or 1-phase 200–240 V AC, 50/60 Hz 200–240 V AC,
50/60 Hz 50/60 Hz
Control system Sinusoidal PWM control/current control system
Dynamic brake Built-in
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), encoder fault protection, regeneration fault
Protective functions protection, undervoltage/sudden power outage protection, overspeed protection, excess error protection
Structure/protection Self-cooling, open (IP20) Fan-cooling, open (IP20)
ambient temperature Operation: 0–55 °C (no freezing); storage: -20–65 °C (no freezing)
Environment ambient humidity Operation: 90 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
others Elevation: 1000 m or less above sea level; oscillation: 5.9 m/s2 (0.6 G) max.
max. input pulse frequency 4 Mpps (differential receiver), 200 kpps (open collector)
Position positioning feedback pulse 131072 pulses per servo motor rotation
control mode
torque limit Set by parameters or external analog input (0–+ 10 V DC/maximumtorque)
control range Analog speed command 1:2000, internal speed command 1:5000
Speed
control mode fluctuation rate ±0.01 % max. (load fluctuation 0–100 %)
torque limit Set by parameters or external analog input (0–+10 V DC/maximum torque)
Torque command input 0–±8 V DC/maximum torque
control mode speed limit Set by parameters or external analog input (0–±10 V DC, rated speed)
Weight kg 0.8 0.8 0.8 1.5 1.5 2.1 2.1
Dimensions (WxHxD) mm 50x168x135 50x168x135 50x168x135 70x168x185 70x168x185 90x168x195 90x168x195

Order information Art.-no. 268792 268793 268794 268795 268796 268797 268798

Servo amplifier MR-JE-mB 10B 20B 40B 70B 100B 200B 300B
3-phasig oder 1-phasig 200–240 V AC, 3-phasig 200–
Power supply 3-phase or 1-phase 200–240 V AC, 50/60 Hz 50/60 Hz (*) 240 V AC, 50/60 Hz
Control system Sinusoidal PWM control/current control system
Dynamic brake Built-in
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), encoder fault protection, regeneration fault
Protective functions protection, undervoltage/sudden power outage protection, overspeed protection, excess error protection
Structure/protection Self-cooling, open (IP20) Fan-cooling, open (IP20)
ambient temperature Operation: 0–55 °C (no freezing); storage: -20–65 °C (no freezing)
Environment ambient humidity Operation: 90 % RH max. (no condensation); storage: 90 % RH max. (no condensation)
others Elevation: 1000 m or less above sea level; oscillation: 5.9 m/s2 (0.6 G) max.
Position-, speed- and torque control mode Possible using SSCNETIII/H control
Kommunikationsgeschwindigkeit 150 Mpps
Weight kg 0.8 0.8 0.8 1.5 1.5 2.1 2.1
Dimensions (WxHxD) mm 50x168x135 50x168x135 50x168x135 70x168x185 70x168x185 90x168x195 90x168x195

Order information Art.-no. 281964 281975 281976 281977 281978 281979 281980
* When 1 phase 200–240 V AC power supply is used, use them with 75 % or less effective load ratio.

30
 MR-J4-A/B Servo Amplifier Specifications

„„ MR-J4-A/B Servo Amplifier Specifications (200 V Type)

The MELSERVO MR-J4 series is designed for ease
of use and setup, safety, energy-efficiency and
user friendly handling. With additional functions
like “One-touch Tuning” and “Advanced Vibration
0,768%,6+,
Suppression Control” the servo performance
achieves industry-leading level. The range cov-
ers 100 W units through to 22 kW.
zz Processing of encoder signals with 22 bit
resolution (4194304 pulses/rev.)
zz Speed frequency response is increased to
2.5 kHz
zz Operating of rotary, linear and direct drive
motors as standard
zz In combination with the MR-D30 functional
safety unit, the MR-J4-B-RJ amplifier series can
be expanded by the additional EN 61800-5-2
safety functions SS1, SBC, SSM and SLS.
1
The MR-J4-B servo amplifier receives a com-
mand signal from a control system via high
speed motion network SSCNETIII/H with a com-
munication speed of 150 Mbps and a cycle time
2
of 0.22 ms. This optical network is very reliable
in operation because it is not affected by EMC.
For control, the MR-J4-A servo amplifier has
a pulse train input and two analog inputs for
3
current or voltage. Possible modes are torque,
speed or position control. In addition the

Servo Amplifier
zz Compatible with integrated safety functions MR-J4-A-RJ has an integrated positioning func-
STO (Safe Torque Off) corresponding EN tion. Simple positioning tasks can be realized
61800-5-2 as standard. directly from the servo amplifier.

MR-J4-10B-RJ

10A-RJ 20A-RJ 40A-RJ 60A-RJ 70A-RJ 100A-RJ 200A-RJ 350A-RJ 500A-RJ 700A-RJ 11KA-RJ 15KA-RJ 22KA-RJ
Servo amplifier MR-J4-A/B
10B-RJ 20B-RJ 40B-RJ 60B-RJ 70B-RJ 100B-RJ 200B-RJ 350B-RJ 500B-RJ 700B-RJ 11KB-RJ 15KB-RJ 22KB-RJ
voltage /frequency 1 1-phase or 3-phase
1-phase or 3-phase 200–240 V AC, 50/60 Hz
Power 200–240 V AC, 50/60 Hz 3-phase 200–240 V AC, 50/60 Hz
supply permissible voltage fluctuation 1-phase or 3-phase 170–264 V AC 3-phase 170–264 V AC
permissible frequency fluctuation ±5 % max.
Control system Sinusoidal PWM control/current control system
Dynamic brake Built-in External option
Speed frequency response 2500 Hz
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault
Protective functions protection, regeneration fault protection, undervoltage/sudden power outage protection, overspeed protection, excess error protection.
Safety function STO (IEC/EN 61800-5-2); (The functions SS1, SS2, SOS, SBC, SLS and SSM are available in combination with the optional functional safety unit MR-D30.)
Structure Self-cooling, open (IP20) Fan cooling, open (IP20)
ambient temperature Operation: 0–55 °C (no freezing), storage: -20–65 °C (no freezing)
ambient humidity Operation: 90 % RH max. (no condensation), storage: 90 % RH max. (no condensation)
Environment atmosphere Inside control panel; no corrosive gas, no flammable gas, no oil mist, no dust
elevation 1000 m or less above sea level
oscillation 5.9 m/s2 (0.6 G) max.
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
mm 40x 40x 40x 40x 60x 60x 90x 90x 105x 172x 220x 220x 260x
Dimensions (WxHxD) 168x135 168x135 168x170 168x170 168x185 168x185 168x195 168x195 250x200 300x200 400x260 400x260 400x260
Order information
A type Art. no. 269247 269248 269249 269250 269251 269252 269253 269254 269265 269266 269267 269268 269269
B type Art. no. 269279 269280 269281 269282 269283 269284 269285 269286 269287 269288 269289 269290 269291
1 Rated output capacity and rated rotation speed of the servo motor used in combination with the servo amplifier are as indicated when using the power voltage and frequency listed.
Output and speed cannot be guaranteed when the power supply voltage is less than specified.
2 When 1 phase 200–240 V AC power supply is used, use them with 75 % or less effective load ratio.

Servo amplifier MR-J4-A 10A-RJ 20A-RJ 40A-RJ 60A-RJ 70A-RJ 100A-RJ 200A-RJ 350A-RJ 500A-RJ 700A-RJ 11KA-RJ 15KA-RJ 22KA-RJ
maximum input pulse frequency 4 Mpps (when using differential receiver), 200 kpps (when using open collector)
Position positioning feedback pulse Resolution per encoder/servo motor rotation: 4194304 pulses/revolution (22 Bit)
control mode command pulse multiple Electronic gear A/B multiple; A: 1–16777216, B: 1–16777216, 1/10 <A/B <4000
torque limit input Set by parameters or external analog input (0–± 10 V DC/maximum torque)
speed control range Analog speed command 1:2000, internal speed command 1:5000
analog speed command input 0–± 10 V DC/rated speed (The speed at 10 V can be changed by parameter)
Speed
control mode ±0.01 % max. (load fluctuation 0–100 %); 0 % (power fluctuation ±10 %)
speed fluctuation rate ±0.2 % max. (ambient temperature 25 °C ±10 °C ), when using external analog speed command
torque limit Set by parameters or external analog input (0–± 10 V DC/maximum torque)
Torque control torque command input 0–±8 V DC/maximum torque (input impedance 10–12 kΩ)
specifications speed limit Set by parameters or external analog input (0–± 10 V DC, rated speed)
position tables 255 table entries for target position, set speed value, acceleration/deceleration time, braking
Integrated programming style 256 programs, 640 program steps, 25 commands
positioning
indexing function 255 stations, rotational direction tightly adjustable or automatically shortest path

Servo amplifier MR-J4-B (SSCNETIII/H) 10B-RJ 20B-RJ 40B-RJ 60B-RJ 70B-RJ 100B-RJ 200B-RJ 350B-RJ 500B-RJ 700B-RJ 11KB-RJ 15KB-RJ 22KB-RJ
Position and speed control Possible using SSCNETIII/H control
Communication speed 150 Mbps

31
 MR-J4-A/B Servo Amplifier Specifications

„„ MR-J4-A/B Servo Amplifier Specifications (400 V Type)

The MELSERVO MR-J4 servo amplifiers for 400 V

power supply offer the same industry leading
1 performance as the 200 V types. The range of
rated output is from 600 W to 22 kW.
0,768%,6+,

3
Servo Amplifier

MR-J4-10B-RJ

60A4-RJ 100A4-RJ 200A4-RJ 350A4-RJ 500A4-RJ 700A4-RJ 11KA4-RJ 15KA4-RJ 22KA4-RJ

Servo amplifier MR-J4-A4/B4
60B4-RJ 100B4-RJ 200B4-RJ 350B4-RJ 500B4-RJ 700B4-RJ 11KB4-RJ 15KB4-RJ 22KB4-RJ
voltage /frequency 1 3-phase 380–480 V AC, 50/60 Hz
Power
supply permissible voltage fluctuation 3-phase 323–528 V AC, 50/60 Hz
permissible frequency fluctuation ±5 % max.
Control system Sinusoidal PWM control/current control system
Dynamic brake Built-in
Speed frequency response 2500 Hz
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault
Protective functions protection, regeneration fault protection, undervoltage/sudden power outage protection, overspeed protection, excess error protection.
Safety function STO (IEC/EN 61800-5-2); (The functions SS1, SS2, SOS, SBC, SLS and SSM are available in combination with the optional functional safety unit MR-D30.)
Structure Self-cooling, open (IP20) Fan cooling, open (IP20)
ambient temperature Operation: 0–55 °C (no freezing), storage: -20–65 °C (no freezing)
ambient humidity Operation: 90 % RH max. (no condensation), storage: 90 % RH max. (no condensation)
Environment atmosphere Inside control panel; no corrosive gas, no flammable gas, no oil mist, no dust
elevation 1000 m or less above sea level
oscillation 5.9 m/s2 (0.6 G) max.
Weight  kg 1.7 1.7 2.1 3.6 4.3 6.5 13.4 13.4 18.2
Dimensions (WxHxD) mm 60x168x195 60x168x195 90x168x195 105x250x200 130x250x200 172x350x200 220x400x260 220x400x260 260x400x260
Order information
A type Art. no. 269270 269271 269272 269273 269274 269275 269276 269277 269278
B type Art. no. 269292 269293 269294 269295 269296 269297 269298 269299 269300
1 Rated output capacity and rated rotation speed of the servo motor used in combination with the servo amplifier are as indicated when using the power voltage and frequency listed.
Output and speed cannot be guaranteed when the power supply voltage is less than specified.

Servo amplifier MR-J4-A4 60A4-RJ 100A4-RJ 200A4-RJ 350A4-RJ 500A4-RJ 700A4-RJ 11KA4-RJ 15KA4-RJ 22KA4-RJ
maximum input pulse frequency 4 Mpps (when using differential receiver), 200 kpps (when using open collector)
Position positioning feedback pulse Resolution per encoder/servo motor rotation: 4194304 pulses/revolution (22 Bit)
control mode command pulse multiple A/B multiple; A: 1–16777215, B: 1–16777215, 1/10 <A/B <4000
torque limit input Set by parameters or external analog input (0–± 10 V DC/maximum torque)
speed control range Analog speed command 1:2000, internal speed command 1:5000
analog speed command input 0–± 10 V DC/rated speed (The speed at 10 V can be changed by parameter.)
Speed
control mode ±0.01 % max. (load fluctuation 0–100 %); 0 % (power fluctuation ±10 %)
speed fluctuation rate ±0.2 % max. (ambient temperature 25 °C ±10 °C ), when using external analog speed command
torque limit Set by parameters or external analog input (0–± 10 V DC/maximum torque)
Torque control torque command input 0–±8 V DC/maximum torque (input impedance 10–12 kΩ)
specifications speed limit Set by parameters or external analog input (0–± 10 V DC, rated speed)
position tables 255 table entries for target position, set speed value, acceleration/deceleration time, braking
Integrated
positioning programming style 256 programs, 640 program steps, 25 commands
indexing function 255 stations, rotational direction tightly adjustable or automatically shortest path

Servo amplifier MR-J4-B4 (SSCNETIII/H) 60B4-RJ 100B4-RJ 200B4-RJ 350B4-RJ 500B4-RJ 700B4-RJ 11KB4-RJ 15KB4-RJ 22KB4-RJ
Position and speed control Possible using SSCNETIII/H control
Communication speed 150 Mbps

32
 MR-J4W2-B/MR-J4W3-B Servo Amplifier Specifications

„„ MR-J4W2-B/MR-J4W3-B Servo Amplifier Specifications

Additional to the standard version of the MR-J4 two axes is from 0.2 to 1 kW, for three axes from
amplifiers (SSCNETIII/H Motion Network) for 0.2 to 0.4 kW per axis. All other specification
one servo motor Mitsubishi Electric now offers
also servo amplifiers for two or three servo
items are identical with the standard version of
the MR-J4-B for one axis.
1
motors. The amplifiers for two (MR-J4W2-B) and
three axes (MR-J4W3-B) are space and wiring
saving and more efficient than two or three
single amplifiers. Therefore the engineer saves
2
not only space inside the cabinet and costs due
to less wires, but also valuable energy what
reduces the pollution of CO2 at the same time.
The range of output power for the amplifier for 3

Servo Amplifier
Servo amplifier MR-J4W-B W2-22B W2-44B W2-77B W2-1010B W3-222B W3-444B
voltage /frequency 1 3-phase 200–240 V AC,
1-phase or 3-phase 200–240 V AC, 50/60 Hz 1-phase or 3-phase 200–240 V AC, 50/60 Hz
50/60 Hz
Power
supply permissible voltage fluctuation 1-phase or 3-phase 170–264 V AC 3-phase 170–264 V AC
1-phase or 3-phase 170–264 V AC
permissible frequency ±5 % max.
fluctuation
Control system Sinusoidal PWM control/current control system
Dynamic brake Built-in
Speed frequency response 2500 Hz
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault
Protective functions protection, regeneration fault protection, undervoltage/sudden power outage protection, overspeed protection, excess error protection.
Safety function STO (IEC/EN 61800-5-2)
Structure Self-cooling, open (IP20) Fan cooling, open (IP20)
ambient temperature Operation: 0–55 °C (no freezing), storage: -20–65 °C (no freezing)
atmosphere Inside control panel; no corrosive gas, no flammable gas, no oil mist, no dust
Environment
elevation 1000 m or less above sea level
oscillation 5.9 m/s2 (0.6 G) max.
Weight  kg 1.5 1.5 2.0 2.0 1.9 1.9
Dimensions (WxHxD) mm 60x168x195 60x168x195 85x168x195 85x168x195 85x168x195 85x168x195

Order information  Art. no. 248645 248646 248647 248648 248649 248650
1 Rated output capacity and rated rotation speed of the servo motor used in combination with the servo amplifier are as indicated when using the power voltage and frequency listed.
Output and speed cannot be guaranteed when the power supply voltage is less than specified.

33
 Technische Daten MR-J4-GF

„„ MR-J4-GF Servo Amplifier Specifications

Compatible with CC-Link IE Field Network

1 CC-Link IE Field Network compatible servo

amplifier MR-J4-GF executes positioning of
one or multiple axes, synchronous control, and
speed-torque control by being connected to
the various master modules compatible with
2 PULL
CC-Link IE Field Network, including the Simple
Motion module, and CC-Link IE embedded CPU
In combination with the Simple Motion Module
RD77GF, that can be used in the CC-Link IE Field
network, the system offers extraordinary speed
and performance, excellent flexibility, reduced
wiring and simple programming.
zz Gigabit CC-Link IE Field network

module, etc. zz Outstanding motion performance

Two types of modes are available according to zz Two types of communication for maximum
3 your needs: flexibility
zz Advanced synchronous control
zz Motion mode for a wide range of motion
control such as positioning of multiple axes, zz Single-Software solution
Servo Amplifier

synchronous control, etc. zz One-Touch Auto-Tuning™

zz I/O mode for positioning of one axis zz Advanced Vibration suppression II™
zz High resolution 22 bit encoder
zz Industry leading speed frequency response
of 2.5 kHz

Servo amplifier MR-J4-m(-RJ) (200 V-Type) 10GF 20GF 40GF 60GF 70GF 100GF 200GF 350GF 500GF 700GF 11KGF 15KGF 22KGF
1-phase or 3-phase
AC input 1-phase or 3-phase 200–240 V AC, 50/60 Hz 3-phase 200–240 V AC, 50/60 Hz
voltage /frequency 1 200–240 V AC, 50/60 Hz 3
DC input 2 283–340 V DC
Power
supply 1-phase or 3-phase
permissible voltage AC input 1-phase or 3-phase 170–264 V AC 170–264 V AC 3 3-phase 170–264 V AC
fluctuation
DC input 2
241–374 V DC
Speed frequency response ±5 % max.
Dynamic brake Built-in Externe Option
Structure Self-cooling, open (IP20) Fan cooling, open (IP20) Fan cooling, open (IP20) 5
Weight  kg 1.0 1.0 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2 13.4 13.4 18.2
mm 50x168x 50x168x 50x168x 50x168x 60x168x 60x168x 90x168x 90x168x 105x250x 172x300x 220x400x 220x400x 260x400x
Dimensions (WxHxD) 155 155 155 155 185 185 195 195 200 200 260 260 260

Order information  Art. no. 295435 295436 295437 295438 295439 295440 295441 295442 295443 295444 306875 306876 306877

Servo amplifier MR-J4-m(-RJ) (400 V-Type) 60GF4 100GF4 200GF4 350GF4 500GF4 700GF4 11KGF4 15KGF4 22KGF4
voltage /frequency 1 3-phase 380–480 V AC, 50/60 Hz
Power
supply permissible voltage fluctuation 3-phase 323–528 V AC
Speed frequency response ±5 % max.
Dynamic brake Built-in Externe Option
Structure Self-cooling, open (IP20) Fan cooling, open (IP20) Kühlung über Lüfter, offen (IP20) 5
Weight  kg 1,7 1,7 2,1 3,6 4,3 6,5 13,4 13,4 18,2
Dimensions (WxHxD) mm 60x168x195 60x168x195 90x168x195 105x250x200 130x250x200 172x300x200 220x400x260 220x400x260 260x400x260

Order information  Art. no. 295445 295446 295447 295448 295449 295450 306878 305879 306880

Common specifications
Control system Sinusoidal PWM control/current control system
Speed frequency response 2500 Hz
CC-Link IE Field communication cycle 4 0,5 ms, 1,0 ms, 2,0 ms, 4,0 ms
Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault
Protective functions protection, regeneration fault protection, undervoltage/sudden power outage protection, overspeed protection, excess error protection.
Safety function STO (IEC/EN 61800-5-2); (The functions SS1, SS2, SOS, SBC, SLS and SSM are available in combination with the optional functional safety unit MR-D30.)
ambient temperature Operation: 0–55 °C (no freezing), storage: -20–65 °C (no freezing)
ambient humidity Operation: 90 % RH max. (no condensation), storage: 90 % RH max. (no condensation)
Environment atmosphere Inside control panel; no corrosive gas, no flammable gas, no oil mist, no dust
elevation 2000 m or less above sea level
oscillation 5.9 m/s2 (0.6 G) max.
1 Rated output capacity and rated rotation speed of the servo motor used in combination with the servo amplifier are as indicated when using the power voltage and frequency listed.
Output and speed cannot be guaranteed when the power supply voltage is less than specified.
2 The DC power supply iput is available only with MR-J4-mGF-RJ servo amplifiers.
3 When 1 phase 200–240 V AC power supply is used, use them with 75 % or less effective load ratio.
4 The communication cycle depends on the controller specifications and the number of axes connected.
5 Except for the terminal block.

34
 Technische Daten MR-J4-TM

„„ MR-J4-TM-ECT/MR-J4-TM-PNT/MR-J4-TM-EIP Servo Amplifier Specifications

With the MR-J4-TM servo amplifier the industry zz High resolution 4,194,304 pulse/rev absolute
leading performance, features and reliability of encoders for high-accuracy positioning and
the MR-J4 series servo system is combined with
Ethernet based open network interface.
smooth rotation 1
zz Compact design for saving space in the
zz Industry-leading performance with 2.5 kHz cabinet
speed frequency response for shortest
settling time 2
zz Dedicated Servo amplifier control loops by
Mitsubishi Electric developed components
like One-Touch-Tuning, Vibration suppression
control, Adaptive Real-Time Autotuning. 3

Servo Amplifier
Servo amplifier MR-J4-TM (200 V Type) 10TM 20TM 40TM 60TM 70TM 100TM 200TM 350TM 500TM 700TM
1-phase or 3-phase
Power supply voltage /frequency 1-phase or 3-phase 200–240 V AC, 50/60 Hz 3-phase 200–240 V AC, 50/60 Hz
200–240 V AC, 50/60 Hz 1
Weight  kg 1.0 1.0 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2
Dimensions (WxHxD) mm 50x168x161 50x168x161 50x168x161 50x168x161 60x168x191 60x168x191 90x168x201 90x168x201 105x250x206 172x300x206

MR-J4-mTM-ECT 290156 290157 290158 290159 290160 290161 290162 290263 290164 290205
Order information MR-J4-mTM-PNT Art. no. 298566 298567 298568 298569 298570 298571 298572 298573 298574 298695
MR-J4-mTM-EIP 298708 298709 298710 298711 298712 298713 298714 298715 298716 298717

Servo amplifier MR-J4-TM4 (400 V Type) 60TM4 100TM4 200TM4 350TM4 500TM4 700TM4 11KTM4 15KTM4 22KTM4
Power supply voltage /frequency 1 3-phase 380–480 V AC, 50 Hz/60 Hz
Weight  kg 1.7 1.7 2.1 3.6 4.3 6.5 13.4 13.4 18.2
Dimensions (WxHxD) mm 60x168x201 60x168x201 90x168x201 105x250x206 130x250x206 172x300x206 220x400x266 220x400x266 260x400x266

MR-J4-mTM4-ECT 290206 290207 290208 290209 290210 290211 294050 294051 294052
Order information MR-J4-mTM4-PNT Art. no. 298696 298697 298698 298699 298700 298701 298705 298706 298707
MR-J4-mTM-EIP 298718 298719 298720 298721 298722 298723 298727 298728 298729
1 Bei einphasiger Spannungsversorgung 200 V AC bis 240 V AC darf die Belastung nur maximal 75 % der Nennlast betragen

Common specifications MR-J4-TM-ECT MR-J4-TM-PNT MR-J4-TM-EIP

Safety function STO (IEC/EN 61800-5-2)
Ethernet Interfaces 2 ports RJ45 100 BASE-TX
IEC61158 Type12 CAN application protocol over PROFINET IO, Real Time (RT) communikation, THE CIP NETWORKS LIBRARY Volume 2, EtherNet/IP
Communication protocol EtherCAT (CoE), IEC61800-7 CiA402 Drive Profile PROFIdrive v4.1 Adaptation of CIP
1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms, 64 ms,
Cycle time 250 μs, 500 μs, 1 ms, 2 ms 1 – 100 ms
128 ms, 256 ms, 512 ms
Cyclic synchronous position mode (csp),
Cyclic synchronous velocity mode (csv), Profile position mode (pp), Profile position mode (pp),
Cyclic synchronous torque mode (cst), Profile velocity mode (pv), Profile velocity mode (pv),
Control functions Profile position mode (pp), Profile torque mode (tq), Profile torque mode (tq),
Profile velocity mode (pv), Homing mode (hm) Homing mode (hm)
Profile torque mode (tq), Homing mode (hm)
Latch function Hardware and Software latch method, 2 channels (1 ch. 55 μs + 1 ch. 2 μs)

35
 MR-D30 Functional Safety Unit

„„ MR-D30 Functional Safety Unit

In combination with the optional MR-D30 func- The activation is possible by wiring the signals
tional safety unit, additional safety functions directly to the MR-D30 or in combination with
1 according to EN IEC 61800-5-2 can be realized.
By combining the MR-D30 functional safety unit
the Motion Controller via a safe SSCNETIII/H
communication. Additionally the wiring will be
with a MR-J4 servo amplifier, safety functions reduced by activating via network.
"Safe Stop 1" (SS1), "Safe Brake Control" (SBC),
2 "Safely Limited Speed" (SLS) and "Safe Speed
Monitor" (SSM) according to EN IEC 61800-5-2
are available.
If additionally a servo motor with functional

3 saftey encoder is used, "Safe Stop 2" (SS2) and

"Safe Operating Stop" (SOS) can be used.
Servo Amplifier

Common specifications MR-D30

voltage /frequency 24 V DC
Control power supply permissible voltage fluctuation 24 V DC ±10 %
power supply capacity 800 mA
Supported amplifiers MR-J4-mA-RJ/B-RJ/GF-RJ/TM
Shut-off input (Safety devices) 6 redundant input points, source or sink logic
Shut-off release input (restart devices) 3 redundant output points, source logic
Response time 15 ms or less for Safe Torque Off (STO)
ambient temperature Operation: 0–55 °C (no freezing), storage: -20–65 °C (no freezing)
ambient humidity Operation: 90 % RH or less (no condensation), storage: 90 % RH or less (no condensation)
Environment atmosphere Inside control panel; no corrossive gas, no flammable gas, no oil mist, no dust
elevation 1000 m or less above sea level
oscillation 5.9 m/s2 or less at 10 to 57 Hz (directions of X, Y and Z axes)
Weight kg 0.15
Dimensions (WxHxD) mm 22.5x192x86

Order information Art. no. 275670

Safety specifications MR-D30

EN ISO 13849-1 category 3 PL d and category 4 PL e
IEC 61508 SIL 2 and SIL 3
Safety standards EN 62061 SIL CL 2 and SIL CL 3
EN 61800-5-2 SIL 2 and SIL 3
Response time 15 ms or less for Safe Torque Off (STO)
Category 4 PL e, SIL 3
direct wiring to functional Safe Torque (STO), Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS), Safely Limited Speed (SLS),
Servo motor safety unit Safe Brake Control (SBC), Safe Speed Monitor (SSM)
with functional
safety Category 3 PL d, SIL 2
reduced wiring Safe Torque (STO), Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS), Safely Limited Speed (SLS),
through SSCNETIII/H
Safety Safe Brake Control (SBC), SSafe Speed Monitor (SSM)
functions direct wiring to functional Category 4 PL e, SIL 3 (Safe Torque (STO), Safe Stop 1 (SS1), Safe Brake Control (SBC))
safety unit Category 3 PL d, SIL 2 (Safely Limited Speed (SLS), Safe Speed Monitor (SSM))
Servo motor reduced wiring through Category 3 PL d, SIL 2
SSCNETIII/H or CC-Link Safe Torque (STO), Safe Stop 1 (SS1) Safely Limited Speed (SLS), Safe Brake Control (SBC),
IE Field Safe Speed Monitor (SSM)
MTTFd
Expectation of the average ≥100 years
time for a dangerous failure to occur
DC
Diagnostic Coverage (DC) is the effectiveness of fault ≥90 %
monitoring of a system or subsystem
PFH
Average probability of dangerous 6.57 x 10-9 1/h
failure taking place during one (1) hour

36
 MR-JE-A Servo Amplifier Peripherals

„„ MR-JE-A Servo Amplifier Connections with Peripheral Equipment

Peripheral equipment is connected to the only the connecting cables, expansion options A complete overview with detailed specifica-
MR-JE-A as shown below. To ensure fast, efficient and other accessories supplied or recommended tions of all cables and accessories can be found
configuration and reliable operation always use by Mitsubishi Electric. in the next chapter. 1

1 Power supply
Display panel USB communication via CN3
2
Displays monitoring data, parameters and alarms. Monitoring, batch parameter entry and saving, graph display
and test operation can be performed with MR Configurator2

Setting section
(setup software) when connecting to user’s personal com-
puter. Optional USB cable (MR-J3USBCBL3M) is necessary. 3
Parameter settings and monitoring etc. can be
executed with push buttons.

Servo Amplifier
Servo amplifier
MR-JE-A

MITSUBISHI

MODE SET C
N
AUTO 3 Junction terminal block (option)
All signals can be received easily at this terminal block without
connecting the signals.
C
N
1
Positioning controllers
Controllers with pulse chain output from Mitsubishi Electric or
third-party manufacturers can be connected here.
C
N
2
Encoder cable
L1 (option) FX2N-mPG
L2
L3
P+ C
N
C P
U 1
V
W

QD75m RD75m LD75m

Control signal

Protective earth Connector for I/O signals of programmable controllers or

machine oprating units

2 Optional regeneration unit

can be connected here L61P
POWER

INPUT

Servo motor
100-240VAC
50/60Hz 130VA
OUTPUT5VDC 5A

(FG)

(FG)
N
INPUT
100-240
VAC
L

3 Charge lamp

1 Power supply 2 R
 egeneration unit (option) 3 Charge lamp
This unit can be installed in situations Lights up when the main power supply is on.
3~, 200–240 V AC
involving frequent regeneration and large Power lines should not be plugged or
1~, 200–240 V AC for servo drives ≤2 kW
load inertia moments. For more details refer unplugged when this lamp is on.
to the MR-JE-A Instruction manual.

37
 MR-JE-B Servo Amplifier Peripherals

„„ MR-JE-B Servo Amplifier Connections with Peripheral Equipment

Peripheral equipment is connected to the only the connecting cables, expansion options A complete overview with detailed specifica-
MR-JE-B as shown below. To ensure fast, efficient and other accessories supplied or recom- tions of all cables and accessories can be found
1 configuration and reliable operation always use mended by Mitsubishi Electric. in the next chapter.

2 1 Power supply
Display panel USB communication via CN5
Displays monitoring data, parameters and alarms. Monitoring, batch parameter entry and saving, graph display
and test operation can be performed with MR Configurator2
(setup software) when connecting to user’s personal com-
3 Battery via CN4 (option) puter. Optional USB cable (MR-J3USBCBL3M) is necessary.
Connect a battery (MR-BAT6V1SET-A) when configuring an
absolute position detection system. The battery is not used
for an incremental position system.
Servo Amplifier

Servo amplifier
MR-JE-B
Axis setting
Selects an axis using the integrated axis selection rotary
switch (SW1)

I/O signal connector CN3

This interface connector is used for input and output of
signals like forced stop, in-position, magnetic brake interlock
or malfunction.
MITSUBISHI

SSCNETIII/H
CN1A for connecting SSCNETIII/H (previous)
Encoder cable
(option) Connect the previous servo amplifier axis

To SSCNETIII/H compatible motion modules

QD75MS RD75MS LD75MS

Protective earth
2 Optional regeneration unit
can be connected here FX5-40SSC-S FX5-80SSC-S

Servo motor CN1A for connecting SSCNETIII/H (next)

Connect the next servo amplifier axis

3 Charge lamp

1 Power supply 2 R
 egeneration unit (option)
3~, 200–240 V AC This unit can be installed in situations
1~, 200–240 V AC for servo drives ≤2 kW involving frequent regeneration and large
load inertia moments. For more details refer
to the MR-JE-B Instruction manual.
3 Charge lamp
Lights up when the main power supply is on.
Power lines should not be plugged or
unplugged when this lamp is on.

38
 MR-J4-A Servo Amplifier Peripherals

„„ MR-J4-A Servo Amplifier Connections with Peripheral Equipment

Peripheral equipment is connected to
the MR-J4-A as shown below. To ensure fast,
efficient configuration and reliable operation
1 Power supply
always use only the connecting cables, A complete overview with detailed specifica-
expansion options and other accessories tions of all cables and accessories can be found
supplied or recommended by Mitsubishi
Electric.
in the next chapter. 1
Display panel (behind the cover)
2
USB communication via CN5

Displays monitoring data, parameters and alarms. Monitoring, batch parameter entry and saving, graph display
and test operation can be performed with MR Configurator2
(setup software) when connecting to user’s personal com-
Setting section (behind the cover) puter. Optional USB cable (MR-J3USBCBL3M) is necessary.

Parameter settings and monitoring etc. can be executed with 3

push buttons.

Servo Amplifier
Servo amplifier
MR-J4-A

Analogmonitor output via CN6

The speed or torque’s analog signal is output
(2 channels).

RS422 communication via CN3

A GOT operator panel can be connected. (Note 4)

Power factor improvement

reactor (optional)

STO I/O signal port CN8

Connect safety logic unit or an external safety relay.
2 Optional Use an optional STO cable (MR-D05UDL3M-B).
regeneration
unit can be
connected Junction terminal block (option)
here All signals can be received easily at this terminal block without
3 Charge connecting the signals.
lamp
Positioning controllers
Controllers with pulse chain output from Mitsubishi Electric or
third-party manufacturers can be connected here.
MR-J4-A-RJ
Additional input for Encoder cable (option)
external encoder

Protective earth
Servo motor
QD75P2
RUN AX1
AX2

ERR.
AX1
AX2

Battery (option)
The battery (MR-BAT6V1SET) is required when the servo
system is in absolute mode. Not required when the servo
system is in incremental mode.

LD75m RD75m QD75m FX2N-mPG

Control signal
Connector for I/O signals of programmable controllers or
1 Power supply 3 Charge lamp machine oprating units
3~, 200–240 V AC Lights up when the main power supply is on.
1~, 200–240 V AC for servo drives ≤2 kW Power lines should not be plugged or
3~, 380–400 V AC for servo drives ≥ 600 W (A4) unplugged when this lamp is on.

2 Regeneration unit (option) 4 RS422 Communication

This unit can be installed in situations involving A personal computer can be connected using
frequent regeneration and large load inertia a RS-422/RS-232C converter and a conversion
moments. For more details refer to the MR-J4-A cable.
users manual.

39
 MR-J4-B Servo Amplifier Peripherals

„„ MR-J4-B Servo Amplifier Connections with Peripheral Equipment

Peripheral equipment is connected to the
MR-J4-B as shown below. Connectors, cables,
1 options, and other necessary equipment are
available so that users can set up MR-J4-B easily
Through its SSCNETIII/H-compatible simple A complete overview with detailed
connections (optical fibre bus, 150 Mbps ), the specifications of all cables and accessories can
MR-J4-B series reduce wiring time and chances
of wiring errors.
be found in the next chapter.

and begin using it right away.

Motion Controller MELSEC System Q: Motion-/ Positioning modules Stand Alone Motion-Controller Simple Motion Module
2 Q172DSCPU (for max. 16 axes control)
Q173DSCPU (for max. 32 axes control)
MELSEC FX: FX3U-20SSC-H MR-MQ100, Q170MSCPU MELSEC System Q: QD77MS
MELSEC iQ-R System: RD77MS
Motion Controller MELSEC iQ-R System: MELSEC L series: LD77MS
R16MTCPU (for max. 16 axes control) MELSEC FX: FX5-40SSC-S/
R32MTCPU (for max. 32 axes control) FX5-80SSC-S
3 R64MTCPU (for max. 64 axes control)

S
QD75P2
RUN AX1
AX2

ERR.
Servo Amplifier

AX1
AX2

MELSEC System Q Personal Computer Display panel (behind the cover)

with Displays status and alarm numbers.
MR Configurator2
Servo amplifier
MR-J4-B
Axis setting section
Selects an axis using the integrated axis selection
rotary switch (SW1)
CN1A for connecting SSCNETIII/H (previous)

MITSUBISHI The previous amplifier is connected here.

CNP1 connector
MITSUBISHI MITSUBISHI

For main circuit power supply

CNP2 connector
For control circuit power supply
SSCNETIII/H

CNP3 connector
SSCNETIII/H
For motor power supply
Charge
lamp Connector
CN2
MR-J4-B-RJ MR-J4-10B-RJ
Additional input for
Connector CN2
external encoder

Servo motor
Protective earth

CN3 for input/output signal CN1B for connecting SSCNETIII/H (next)

Battery (option)
The battery (MR-BAT6V1SET) is required
when the servo system is in absolute
mode. Not required when the servo
system is in incremental mode.
This option is required for using the The next amplifier is connected here.
forced stop input, in-position, magnetic
brake interlock or malfunction signal.
STO I/O signal port CN8
Connect safety logic unit or an external
safety relay. Use an optional STO cable
(MR-D05UDL3M-B).

40
 MR-J4-GF Servo Amplifier Peripherals

„„ MR-J4-GF Servo Amplifier Connections with Peripheral Equipment

Peripheral equipment is connected to the A complete overview with detailed

MR-J4-GF as shown below. Connectors, cables, specifications of all cables and accessories can
options, and other necessary equipment are
available so that users can set up MR-J4-B easily
be found in the next chapter. 1
and begin using it right away

2
Motion Controller Simple Motion Module Local Master Module
MELSEC System Q MELSEC System Q: QD77GF4, QD77GF8, QD77GF16 MELSEC System Q: QJ71GF11-T2
MELSEC iQ-R System: RmCPU, MELSEC iQ-R System: RD77GF4, RD77GF8, RD77GF16/ MELSEC iQ-R System: RJ71EN71, RJ71GF11-T2
RmENCPU (CC-Link IE embedded CPU module) RD77GF32
3

Servo Amplifier
POWER

R61P 06
I / 04 07
I / 05
I / 02 I / 03 Q38B(N)
I / 00 I / 01 E.S.D
POWER CPU
0
0
0
1
1

BASE UNIT
1
2
2
2
L ER L ER

MODEL Q38B
3
3
3
P1 P1
017-A 4

SERIAL 0205020E0100
4
4
5 LINK
5 LINK
5
6
6
6
7
7
7 L ER L ER
8
8
8
9
P1 P1
9
9
A
A LINK LINK
A
B
B
B
C
C
C
D
D
D
E
E
E
F
F
F

Personal Computer Display panel (behind the cover)

MELSEC iQ-R System with
MR Configurator2
Displays status and alarm numbers.
Servo amplifier
MR-J4-GF Axis setting section
Selects an axis using the integrated axis selection
rotary switch (SW1)

CN1A for connecting SSCNETIII/H (previous)

The previous amplifier is connected here.

CC-Link IE Field

PULL

CNP1 connector
For main circuit power supply PULL PULL

CNP2 connector
For control circuit power supply
CC-Link IE Field

CNP3 connector
CC-Link IE Field
For motor power supply Connector
Charge CN2
lamp
Connector CN2

Servo motor Protective earth

STO I/O signal port CN8 CN1B for connecting SSCNETIII/H

Connect safety logic unit or an external (next)
safety relay. Use an optional STO cable The next amplifier is connected here.
(MR-D05UDL3M-B).
Battery (option)
The battery (MR-BAT6V1SET) is
required when the servo system is in
absolute mode. Not required when the
servo system is in incremental mode.
CN3 for input/output signal
This option is required for using the forced stop input,
in-position, magnetic brake interlock or malfunction
signal.

41
 Cables and Connectors

„„ Cables and Connectors for MR-JE-A Servo Amplifiers up to 1 kW

Servo amplifier
Controller
RD75P
1 RD75D
QD70P
QD70D CN3
QD75P_N GL MR Configurator2
GT CN1
QD75D_N (Setup-Software)
2 L02, L06, L26CPU
LD75P
LD75D
FX3S, GK
FX3U, FX3UC
3 FX3G, FX3GC,
FX3GE,
CN2
FX5U, FX5UC
FX2N-10PG Terminal block CNP1
FX3U-1PG TB-50-EG To servo motor encoder

4 Connector
(Note 1)
Options and Peripheral Equipment

„„ Cables and Connectors for MR-JE-A Servo Amplifiers 2 kW and 3 kW

Controller
RD75P
RD75D
QD70P
QD70D GT
QD75P_N
QD75D_N Servo amplifier
L02, L06, L26CPU
LD75P
LD75D GK
FX3S, CNP1 CN3
FX3U, FX3UC
FX3G, FX3GC, GL
FX3GE, MR Configurator2
FX5U, FX5UC Terminal (Setup-Software)
FX2N-10PG block
FX3U-1PG TB-50-EG

CN1
Connector (Note 1)

CNP2

CN2

To servo motor encoder

Notes:
1 Part of the delivery contents

42
 Cables and Connectors

„„ Cables and Connectors for MR-JE-B Servo Amplifiers up to1 kW

Servo amplifier Servo amplifier
Controller CN3 CN3

1
CN4 CN5 CN4 CN5
FX5-40SSC-S EQ, ER, ES
FX5-80SSC-S FT
CN1A CN1A
QD77MS
LD77MS MR Configurator2
RD77MS FQ (Setup-Software)

2
CN1B CN1B

EQ, ER, ES
CN2 CN2

CNP1 CNP1

Connector (Note 1)
To servo motor encoder
3

FP
4
Protectioncap
(Note 1)

Options and Peripheral Equipment

FO

Battery: MR-BAT6V1SE-A Battery case: MR-BT6VCASE (Note 1)

Battery: 5 pcs MR-BAT6V1

„„ Cables and Connectors for MR-JE-B Servo Amplifiers 2 kW and 3 kW

Controller
FX5-40SSC-S
FX5-80SSC-S EQ, ER, ES
QD77MS
LD77MS
RD77MS
Servo amplifier Servo amplifier

CNP1 CN5 CNP1 CN5

MR Configurator2
CN3 FQ (Setup-Software) CN3

CN1A
FT CN1A

Connector (Note 1)
CN1B CN1B

CNP2 CNP2
EQ, ER, ES
CN2 CN2 Protectioncap
(Note 1)
CN4 CN4
To servo motor encoder

FP

FO

Battery: MR-BAT6V1SET-A Battery case: MR-BT6VCASE

(Note 1)
Battery: 5 pcs MR-BAT6V1

Notes:
1 Part of the delivery contents

43
 Cables and Connectors

„„ Cables and Connectors for MR-J4-A Servo Amplifiers up to 3.5 kW

Controller Servo amplifier

1 RD75P
RD75D
QD70P CN5
QD70D CNP1
QD75P_N CN6 FQ
EO MR Configurator2

2 QD75D_N
L02, L06, L26CPU
LD75P
CN3 FR
(Setup-Software)

LD75D CNP2 CN8

EP Con- Short circuit RS-422/RS-232C conversion cable
FX3S,
nector CN1 connector (Note 1)

3
FX3U, FX3UC
(Note )
1
FX3G, FX3GC,
FX3GE, CNP3
FX5U, FX5UC FS
FX2N-10PG
Terminal block

4
FX3U-1PG
TB-50-EG
CN2

Note 2 CN2L
Options and Peripheral Equipment

To servo motor encoder

To servo motor power CN4
To load-side encoder

„„ Cables and Connectors for MR-J4-A Servo Amplifiers 5 kW or more

Controller Servo amplifier

RD75P
RD75D
QD70P CN5
QD70D
QD75P_N CN6 FQ
EO MR Configurator2
QD75D_N (Setup-Software)
L02, L06, L26CPU CN3 FR
LD75P
LD75D CN8
Short circuit RS422/RS232C conversion cable
FX3S, EP connector (Note 1)
CN1
FX3U, FX3UC
FX3G, FX3GC,
FX3GE, FS
FX5U, FX5UC
FX2N-10PG
Terminal block
FX3U-1PG
TB-50-EG CN2

Note 2 CN2L
To servo motor encoder
CN4
To load-side encoder

Notes:
1 Part of the delivery contents
2 CN2L connector is available for MR-J4-B-RJ servo amplifier.

44
 Cables and Connectors

„„ Cables and Connectors for MR-J4-B Servo Amplifiers up to 3.5 kW

Servo amplifier Servo amplifier

1
Controller
Q172DSCPU
CN5 FQ MR Configurator2 CN5
Q173DSCPU CNP1 CNP1
Q170MSCPU EQ, ER, ES CN3 (Setup-Software) CN3
R16MTCPU
FT
R32MTCPU
R64MTCPU
FX5-40SSC-S Connector
CNP2 CN8 CNP2 CN8 2
(Note 1) CN1A Short circuit connector CN1A
FX5-80SSC-S (Note 1)
QD77MS CNP3 CNP3

3
LD77MS CN1B CN1B
FS Protectioncap
RD77MS (Note 1)
MR-MQ100 CN2 EQ, ER, ES CN2

(Note 2) CN2L (Note 2) CN2L

To servo motor encoder
To servo motor power
CN4
To load-side encoder
CN4
4

Options and Peripheral Equipment

„„ Cables and Connectors for MR-J4-B Servo Amplifiers 5 kW or more

Servo amplifier Servo amplifier

Controller
Q172DSCPU FQ
CN5 CN5
Q173DSCPU
EQ, ER, ES MR Configurator2
Q170MSCPU CN3 CN3
(Setup-Software)
R16MTCPU
R32MTCPU FT
R64MTCPU CN8 CN8
FX5-40SSC-S CN1A Short circuit connector CN1A
FX5-80SSC-S (Note 1)
QD77MS
LD77MS CN1B CN1B
FS Protec-
RD77MS
tioncap
MR-MQ100 CN2 EQ, ER, ES CN2 (Note 1)

(Note 2) CN2L (Note 2) CN2L

To servo motor encoder
CN4 CN4
To load-side encoder

Notes:
1 Part of the delivery contents
2 CN2L connector is available for MR-J4-B-RJ servo amplifier.

45
 Cables and Connectors

„„ Cables and Connectors for MR-J4W2-B and MR-J4W3-B Servo Amplifiers

Controller
EQ, ER, ES
1 Q172DSCPU
Q173DSCPU
Q170MSCPU
Servo amplifier FQ
MR Configurator2 Servo amplifier
QD77MS CN5 (Setup-Software) CN5
FL
LD77MS CN3 CN3
Junction terminal
2
CNP1 CNP1
MR-MQ100
block TB-26-EG
CN8
FM CN8
CNP2 Short circuit connector (Note 1) CNP2
CN1A CN1A

FS
3
CN1B CN1B
Connector (Note 1) CNP3A CNP3A Protectioncap
(Note 1)
CN2A EQ, ER, ES CN2A
CNP3B CNP3B
CN2B CN2B

CNP3C CNP3C

4 To A-axis servo motor encoder

CN2C CN2C

CN4
To B-axis servo motor encoder CN4
To C-axis servo motor encoder
To C-axis servo motor power
Options and Peripheral Equipment

To B-axis servo motor power

To A-axis servo motor power
FP FO

Battery case: MR-BT6VCASE

Battery: 5 pcs MR-BAT6V1

„„ Cables and Connectors for MR-J4-TM

Servo amplifier Servo amplifier

CN5 Short circuit CN5

CNP1 MR Configurator2 CNP1
connector (Note 1)
CN8 (Setup-Software) CN8

CN3 CN3

CNP2 CNP2
Connector (Note 1)
Junction terminal
block TB-20-EG
Controller CNP3 CNP3

CN2 CN2
Ethernet cable
CN2L Cat 5e (100BASE-TX) CN2L

To servo motor power or more

CN4 CN4

Notes:
1 Part of the delivery contents
2 CN2L connector is available for MR-J4-B-RJ servo amplifier.

46
 Cables and Connectors

„„ Cables and Connectors for Servo Motors

For HG-KR/HG-MR servo motor series: encoder cable length ≤10 m

Cables leading in the direction of the motor shaft Cables leading in the opposite direction of the motor shaft 1
To CNP3/A/B/C
Motor power supply cable Motor power supply cable

BT, BL, BN
Motor brake cable
To CN2/A/B/C BK, BM, BO
Motor brake cable
2
DO DP Encoder cable
Encoder cable

1 2 3
Servo- Servo-
motor motor

Options and Peripheral Equipment

For HG-KR/HG-MR servo motor series: encoder cable length >10 m

Cables leading in the direction of the motor shaft Cables leading in the opposite direction of the motor shaft

To CNP3/A/B/C
BP Motor power supply cable BQ Motor power supply cable
To CNP3/A/B/C

DQ Motor brake cable DR Motor brake cable

To CN2/A/B/C To CN2/A/B/C
Encoder cable Encoder cable

3 5 4 5

Encoder cable 6 Encoder cable 6

7 9 8 9

AT AT

Servo- Servo-
motor motor

For HG-SR servo motor series

Motor power supply cable

To CNP3/TE4/TE1/CNP3A/B

BR, BS, CT, CK, CL, CM, CN

DT, DK, DL
Motor brake cable
To CN2/A/B
ET, EK

EL, EM
Encoder cable

Servo- AT, AK
motor

AL, AM

47
 Cables and Connectors

For HG-JR servo motor series ≤9 kW

Motor power supply cable

To CNP3/TE4/TE1/TE1-1/CNP3A/B

1 BR, BS, CT, CM, CN

Motor power supply cable

DT, DK, DL
Motor brake cable

2 ET, EK
To CN2/A/B

EL, EM
3 Encoder cable

Servo- AT, AK

4 motor
AL, AM
Options and Peripheral Equipment

For HG-JR servo motor series 11 kW and 15 kW

Motor power supply cable

To TE1-1
CN
Motor power supply cable To CN2

DL
Motor brake cable

EN
Encoder cable

AN

Servo-
AT, AK
motor

For HG-JR servo motor series 22 kW

To CN2

Power connection via terminal box Encoder cable

AN

AT, AK

Servo-
motor
Note:
Electromagnetic brake not existing

48
 Cables and Connectors

For HG-RR servo motor series

To CNP3/TE4/CNP3A/B

Power/brake cable

CQ, CR
Power supply cable
To CN2/A/B 1
CO, CP

2
AT, AK
Servo-
motor
3
AL, AM

4
For fully closed loop control (MR-J4-B/A or MR-J4W2-B, and rotary servo motor)

Options and Peripheral Equipment

Servo amplifier MR-J4-A/B

Motor encoder CN2

Encoder cable,
dependent on the selected motor type
AR
Load-side
encoder
HG-KR/HG-MR/HG-SR/ Plug dependent on
external encoder
HG-JR/HG-RR manufacturer Servo amplifier MR-J4W2-B
servo motor
6 CN2A

To load-side encoder CN2B

5
AS
6

For fully closed loop control (MR-J4-B-RJ/A-RJ and rotary servo motor)

Servo amplifier MR-J4-A-RJ/B-RJ

CN2

Encoder cable, CN2L

dependent on the selected motor type

HG-KR/HG-MR/HG-SR/ Plug dependent on

external encoder
HG-JR/HG-RR
manufacturer
servo motor
6
To load-side encoder

49
 Cables and Connectors

For HG-KN servo motor series: encoder cable length ≤10 m

Cables leading in the direction of the motor shaft Cables leading in the opposite direction of the motor shaft

To CNP1

1
Motor power supply cable Motor power supply cable

BT, BL, BN To CN2 BK, BM, BO

Motor brake cable Motor brake cable

DO DP
Encoder cable Encoder cable

2 1 2
Servo- Servo-
motor motor

4
For HG-KN servo motor series: encoder cable length >10 m
Options and Peripheral Equipment

Cables leading in the direction of the motor shaft Cables leading in the opposite direction of the motor shaft

To CNP1
BP Motor power supply cable BQ Motor power supply cable
To CNP1

DQ Motor brake cable DR Motor brake cable

To CN2 To CN2
Encoder cable Encoder cable

3 5 4 5

Encoder cable 6 Encoder cable 6

7 9 8 9

AT AT

Servo- Servo-
motor motor

For HG-SN servo motor series

Motor power supply cable

up to 1 kW to CNP1
2 kW or more to CNP2
BR, BS, CT, CL, CM
Motor power supply cable

DT, DK
Motor brake cable
To CN2
ET

EL
Encoder cable
Servo-
motor 9

AT

AL, AM

Note:
The online servo selection tool on our website helps you to select the right components for your system requirements. The corresponding
article numbers of the selected configuration will be listed.

50
 Cables and Connectors

„„ Cables and Connectors for Servo Amplifier (general)

Item Description Model Protection Length Art. no.

Encoder cable for

HG-KR/HG-MR/HG-KN
Encoder connector
(Tyco Electronics AMP)
Amplifier connector
36210-0100PL (receptacle, 3M)
MR-J3ENCBLmM-A1-H
m=Cable length:
2, 5, 10 m 1
IP65
2m
5m
10 m
160312
161547
161548
1
1 1674320-1 36310-3200-008 (shell kit, 3M) oder
Lead out in direction of 54599-1019 (connector set, Molex) MR-J3ENCBLmM-A1-L 2m 161549
motor shaft m=Cable length: IP65 5m 161550

Encoder cable for

2, 5, 10 m 1
MR-J3ENCBLmM-A2-H
m=Cable length: IP65
10 m
2m
5m
161551
160230
161552
2
HG-KR/HG-MR/HG-KN 2, 5, 10 m 1 10 m 161553
2 MR-J3ENCBLmM-A2-L 2m 161554
Lead out in opposite direc-
tion of motor shaft m=Cable length:
2, 5, 10 m 1
IP65 5m
10 m
161555
161556 3
Motor-side encoder cable Encoder connector Junction connector
for HG-KR/HG-MR/HG-KN (Tyco Electronics AMP) (Tyco Electronics AMP) MR-J3JCBL03M-A1-L
3 1674320-1 1473226-1 (with ring) (contact) Cable length: 0.3 m 1 IP20 0.3 m 161557
Lead out in direction of
motor shaft
1-172169-9 (housing)
316454-1 (cable clamp) 4
Motor-side encoder cable
for HG-KR/HG-MR/HG-KN MR-J3JCBL03M-A2-L

Options and Peripheral Equipment

4 Cable length: 0.3 m 1 IP20 0.3 m 154367
Lead out in opposite direc-
tion of motor shaft
Junction connector (Tyco Electronics AMP) Amplifier connector 20 m 161559
1-172161-9 (housing) 36210-0100PL (receptacle, 3M) MR-EKCBLmM-H 30 m 161560
170359-1 (connector pin) 36310-3200-008 (shell kit, 3M) or m=Cable length: IP20 40 m 269075
Amplifier-side encoder MTI-0002 (cable clamp, 54599-1019 (connector set, Molex) 20, 30, 40, 50 m 1 50 m 229788
5 cable for HG-KR/HG-MR/ TOA ELECTRIC INDUSTRIAL)
HF-KN
MR-EKCBLmM-L 20 m 161561
m=Cable length: IP20 30 m 161562
Use these in combination of 3 or 4. 20, 30 m 1

Junction connector (Tyco Electronics AMP) Amplifier connector

1-172161-9 (housing) 54599-1019 (connector set, Molex), or
170359-1 (connector pin) 36210-0100PL (receptacle, 3M)
Select MTI-0002 (cable clamp, 36310-3200-008 (shell kit, 3M)
one for TOA ELECTRIC INDUSTRIAL)
connect- Junction connector,
ing the 6 Amplifier-side encoder B MR-ECNM IP20 — 161572
encoder for HG-KR/HG-MR/HG-KN
to CN2
<Applicable cable example>
Wire size: 0.3 mm2 (AWG22) Use these in combination of 3 or 4.
Completed cable outer diameter: Ø 8.2 mm
Crimping tool (91529-1) is required.
Encoder cable for Encoder connector Junction connector (DDK)
HG-KR/HG-MR/HG-KN (TE Connectivity Ltd. Company) CM10-CR10P-M (straight plug) MR-J3JSCBL03M-A1-L
7 2174053-1 Cable length: 0.3 m 1 IP65 0.3 m 239651
Lead out in direction of
motor shaft
Encoder cable for
HG-KR/HG-MR/HG-KN MR-J3JSCBL03M-A2-L
8 Cable length: 0.3 m 1 IP65 0.3 m 239652
Lead out in opposite direc-
tion of motor shaft
Encoder connector (DDK) Amplifier connector 2m 160226
<Für Kabel bis 10 m Länge> 36210-0100PL (receptacle, 3M) 5m 161563
CM10-SP10S-M (straight plug) 36310-3200-008 (shell kit, 3M) oder MR-J3ENSCBLmM-H 10 m 161564
CM10-#22SC(C1)-100 (socket contact) 54599-1019 (connector set, Molex) m=Cable length: 2, 5, 10, 20, 30, IP67 20 m 161565
40,50 m 1 30 m 161566
Encoder cable for HG-KR/ 40 m 269076
9 HG-MR/HG-SR/HG-JR/ 50 m 244812
HG-RR/HG-KN/HG-SN
2m 161567
MR-J3ENSCBLmM-L 5m 161568
<For exceeding 10 m> m=Cable length: 2, 5, 10, 20, IP67 10 m 161569
CM10-SP10S-M (straight plug) 30 m 1 20 m 161570
CM10-#22SC(C2)-100 (socket contact) 30 m 161571
Encoder connector (DDK) Amplifier connector
CM10-SP10S-M (straight plug) 36210-0100PL (receptacle, 3M)
CM10-#22SC(S1)-100 (socket contact) 36310-3200-008 (shell kit, 3M) oder
Encoder connector set for 54599-1019 (connector set, Molex)
HG-KR/HG-MR/HG-SR/
AT HG-JR/HG-RR/HG-KN/ MR-J3SCNS IP67 — 161576
HG-SN
<Applicable cable example>
Wire size: 0.5 mm2 (AWG20) or smaller
Completed cable outer diameter: Ø 6.0 – 9.0 mm

Note:
1 -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
2 Concerning the making of the cables please refer to the user's manual of the servo amplifier MR-JE/MR-J4.

51
 Cables and Connectors

Item Description Model Protection Length Art. no.

Encoder connector (DDK) Amplifier connector
CM10-SP10S-M (straight plug) 36210-0100PL (receptacle, 3M)
CM10-#22SC(S1)-100 (socket contact) 36310-3200-008 (shell kit, 3M) oder
54599-1019 (connector set, Molex)

1
Encoder connector set for
AK HG-KR/HG-MR/HG-SR/ MR-ENCNS2 IP67 — 248686
HG-JR/HG-RR
<Applicable cable example>
Wire size: 0.5 mm2 (AWG20) oder kleiner

2 Completed cable outer diameter: Ø 5.5 – 9.0 mm

Encoderstecker (DDK) Amplifier connector

CM10-SP10S-M (straight plug) 36210-0100PL (receptacle, 3M)
CM10-#22SC(S1)-100 (socket contact) 36310-3200-008 (shell kit, 3M) or
AL 54599-1019 (connector set, Molex)
MR-J3SCNSA IP67 — 227425

3 Encoder connector set

for HG-SR/HG-JR/HG-RR/
HG-SN
<Applicable cable example>
AM MR-ENCNS2A IP67 — 248687
4
Wire size: 0.5 mm2 (AWG20) or smaller
Completed cable outer diameter: Ø 5.5 – 9.0 mm

Encoder connector (DDK) Amplifier connector

D/MS3106A-29S (D190) (plug) 36210-0100PL (receptacle, 3M) 2m 268160
Options and Peripheral Equipment

Encoder cable for CE02-20BS-S-D (backshell, straight) 36310-3200-008 (shell kit, 3M) or MR-ENECBLmM-H-MTH 5m 268161
AN HG-JR11K1M (4),15K1M(4), CE3057-12A-3-D (cable clamp) 54599-1019 (connector set, Molex) m=Cable length IP67 10 m 268162
22K1M(4) 2, 5, 10, 20, 30, 40, 50 m 20 m 268163
30 m 268164

Encoder connector (DDK) Amplifier connector

D/MS3106A-29S (D190) (plug) 36210-0100PL (receptacle, 3M)
CE02-20BS-S-D (backshell, straight) 36310-3200-008 (shell kit, 3M) or
Select CE3057-12A-3-D (cable clamp) 54599-1019 (connector set, Molex)
Encoder connector set for
one for
connect- AO HG-JR11K1M (4), MR-ENECNS IP67 — 210966
15K1M(4), 22K1M(4)
ing the
encoder <Applicable cable example>
to CN2 Wire size: 0.3 mm2 (AWG22) to 1.25 mm2 (AWG16)
Completed cable outer diameter: Ø 6.8 – 10 mm

Encoder connector Amplifier connector

RM15WTPZK-12S(plug) 36210-0100PL (receptacle, 3M)
Encoder connector set for JR13WCCA-8(72) (cable clamp) 36310-3200-008 (shell kit, 3M) or
AP TM-RFM 54599-1019 (connector set, Molex) MR-J3DDCNS IP67 — 227979

Encoder connector Encoder connector

RM15WTPZK-12S(plug) RM15WTPZ-12P(72) (plug)
Encoder connector set for JR13WCCA-8(72) (cable clamp) JR13WCCA-8(72) (cable clamp)
AQ TM-RFM MR-J3DDSPS IP67 — 227980

Encoder connector Amplifier connector

36110-3000FD (plug) 36210-0100PL (receptacle, 3M)
36310-F200-008 (shell kit, 3M) 36310-3200-008 (shell kit, 3M)
Y cable for fully closed loop
AR function MR-J4FCCBL03M — 0.3 m 248690

Encoder connector Amplifier connector

36110-3000FD (plug) 36210-0100PL (receptacle, 3M)
36310-F200-008 (shell kit, 3M) 36310-3200-008 (shell kit, 3M)
Set for fully closed loop
AS function MR-J3THMCN2 — — 227110

52
 Cables and Connectors

Item Description Model Protection Length Art. no.

MR-PWS1CBLmM-A1-H 2m 160227
Power supply cable for m=Cable length: IP65 5m 161592
HG-KR/HG-MR/HG-KN 2, 5, 10 m 1 10 m 161593
BT
Lead out in direction of MR-PWS1CBLmM-A1-L 2m 161594
motor shaft, unshielded m=Cable length:
2, 5, 10 m 1
IP65 5m
10 m
161595
161596 1
Power supply cable for MR-PWS1CBLmM-A2-H 2m 160228
HG-KR/HG-MR/HG-KN m=Cable length: IP65 5m 161597
2, 5, 10 m 1 10 m 161598
BK Lead out in opposite
direction of motor shaft,
unshielded
MR-PWS1CBLmM-A2-L
m=Cable length:
2, 5, 10 m 1
IP65
2m
5m
10 m
161599
161600
161601
2
Power supply cable for Motor power supply connector (Japan Aviation Electronics Industry)
HG-KR/HG-MR/HG-KN JN4FT04SJ1-R (connector) MR-PWS3CBLmM-A1-L 2m 210799

3
BL ST-TMH-S-C1B-100-(A534G) (socket contact) m=Cable length: IP65 5m 210800
Lead out in direction of 2, 5, 10 m 1 10 m 210801
motor shaft, shielded
Power supply cable for
HG-KR/HG-MR/HG-KN Lead out
MR-PWS3CBLmM-A2-L 2m 210802
m=Cable length:
BM Lead out in opposite
4
IP65 5m 210803
direction of motor shaft, 2, 5, 10 m 1 10 m 210814
shielded
Power supply cable for
HG-KR/HG-MR/HG-KN

Options and Peripheral Equipment

PWS007N-m.0-A1 2m 220009
BN Lead out in direction of m=Cable length: IP65 5m 220010
motor shaft, shielded, 2, 5, 10 m 10 m 220012
power chain.
Power supply cable for
Select HG-KR/HG-MR/HG-KN
one PWS007N-m.0-A2 2m 220002
for the BO Lead out in opposite m=Cable length: IP65 5m 220005
motor direction of motor shaft, 2, 5, 10 m 10 m 220007
power shielded, power chain.
supply Power supply cable for Motor power supply connector (Japan Aviation Electronics Industry)
HG-KR/HG-MR/HG-KN JN4FT04SJ1-R (connector) MR-PWS2CBL03M-A1-L
BP ST-TMH-S-C1B-100-(A534G) (socket contact) Cable length: 0.3 m 1 IP55 0.3 m 161602
Lead out in direction of
motor shaft

Power supply cable for

HG-KR/HG-MR/HG-KN Lead out
MR-PWS2CBL03M-A2-L
BQ Cable length: 0.3 m 1 IP55 0.3 m 161603
Lead out in opposite direc-
tion of motor shaft

Power supply cable for 2m 202275

HG-SR52/HG-SN52, PCS015N-m.0-0C4 5m 202276
BR HG-SR524–1524/ m=Cable length: IP67 10 m 202277
HG-JR53–73/ 2, 5, 10, 20, 30 m 20 m 202278
HG-JR534–1034 30 m 202279
Motor power supply connector (DDK) 2m 202280
Power supply cable for
CE05-6Am-mSD-D-BSS (straight plug) PCS025N-m.0-0C4 5m 202281
HG-SN102/HG-SN102,
BS HG-JR103–203/ CE3057-mA-m-D (cable clamp) m=Cable length: IP67 10 m 202282
2, 5, 10, 20, 30 m 20 m 202283
HG-JR1534–3534 30 m 202294
2m 202295
Power supply cable for PCS040N-m.0-0C4 5m 202296
CT HG-SR152/HG-SN152/ m=Cable length: IP67 10 m 202297
HG-JR5034 2, 5, 10, 20, 30 m 20 m 202298
30 m 202299
2m 207465
PCS025N-m.0-0C5 5m 207467
Power supply cable for
CK HG-SR2024 m=Cable length: IP67 10 m 207468
2, 5, 10, 20, 30 m 20 m 207469
30 m 207470

Notes:
1 -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
2 The HG-RR motors with brake don't have an additional connector for brake. The contacts for brake are inside the power connector.

53
 Cables and Connectors

Item Description Model Protection Length Art. no.

2m 202300
Power supply cable for PCS040N-m.0-0C5 5m 202301
CL HG-SR202/HG-SR3524/ m=Cable length: IP67 10 m 202302
HG-JR353/HG-SN202 2, 5, 10, 20, 30 m 20 m 202303
30 m 202304
1 Power supply cable for
HG-SR352–502/ PCS060N-m.0-0C5
2m
5m
202468
202469
CM HG-SR5024/HG-JR503/ m=Cable length: IP67 10 m 202470
2, 5, 10, 20, 30 m 20 m 202471
HG-SN302 30 m 202472
2 Power supply cable for
HG-SR702/HG-SR7024 PCS100N-m.0-0C3
2m
5m
150771
150772
CN HG-JR703/ m=Cable length: IP67 10 m 150819
Motor power supply connector(DDK) 2, 5, 10, 20, 30 m 20 m 150821
HG-JR7034-15K1M4
CE05-6Am-mSD-D-BSS (straight plug) 30 m 150822

3 Select
one
for the Power supply cable for
CE3057-mA-m-D (cable clamp)
PCS040N-m.0-0C1
m=Cable length:
2m
5m
150734
150735
motor CO HG-RR103–203 IP67 10 m 150737
2, 5, 10, 20, 30 m 20 m 150738
power 30 m 150739
supply Lead out

4 Power supply cable for

CP HG-RR353–503
PCS060N-m.0-0C2
m=Cable length: IP67
2m
5m
10 m
150757
150758
150760
2, 5, 10, 20, 30 m 20 m 150761
30 m 150762
Options and Peripheral Equipment

2m 150741
Power supply cable with PCS040B-m.0-C1 5m 150742
CQ integrated brake cable for m=Cable length: IP67 10 m 150744
HG-RR103B–203B 2 2, 5, 10, 20, 30 m 20 m 150745
30 m 150746
2m 150764
Power supply cable with PCS060B-m.0-C2 5m 150765
CR integrated brake cable for m=Cable length: IP67 10 m 150766
HG-RR353B–503B 2 2, 5, 10, 20, 30 m 20 m 150767
30 m 150768
Motor power supply connector (DDK)
CE05-6A14S-2SD-D (plug) (straight)
Motor power supply YSO14-9–11 (cable clamp) (Daiwa Dengyo ) MR-PWCNF
connector set (motor side)
CS for TM-RFMmC20/ <Applicable cable example> (Straight type) IP67 — 64037
Wire size: 0.3 mm² (AWG22) to 1.25 mm²
TM-RFMmE20 (AWG16)
Completed cable outer diameter: Ø 8.3 – 11.3 mm
Motor power supply
connector set (motor side) Motor power supply connector (DDK)
for HG-SR52–152, CE05-6A18-10SD-D-BSS (plug) (straight)
HG-SR524–1524, CE3057-10A-1-D (cable clamp) MR-PWCNS4
DT HG-JR53–203, <Applicable cable example> (Straight type) IP67 — 161573
HG-JR534–2034, 3534 Wire size: 2 mm² (AWG14) to 3.5 mm² (AWG12)
and 5034 Completed cable outer diameter: Ø 10.5 – 14.1 mm
TM-RFM_G20,
HG-SN52–152
Motor power supply
connector set (motor side) Motor power supply connector (DDK)
for HG-SR202–502, CE05-6A22-22SD-D-BSS (plug) (straight)
Motor HG-SR2024–5024, CE3057-12A-1-D (cable clamp) MR-PWCNS5
power DK HG-JR353–503 <Applicable cable example> (Straight type) IP67 — 161574
supply Wire size: 5.5 mm² (AWG10) to 8 mm² (AWG8)
connec- TM-RFM040J10,
TM-RFM120J10, Completed cable outer diameter: Ø 12.5 – 16 mm
tors
HG-SN202–302
Motor power supply Motor power supply connector (DDK)
connector set (motor side) CE05-6A32-17SD-D-BSS (plug) (straight)
for HG-SR702, 7024, CE3057-20A-1-D (cable clamp) MR-PWCNS3
DL HG-JR703–15K1M <Applicable cable example> (Straight type) IP67 — 136358
HG-JR7034–15K1M4 Wire size: 14 mm² (AWG6) to 22 mm² (AWG4)
TM-RFM240J10 Completed cable outer diameter: Ø 22 – 23.8 mm
Motor power supply connector (DDK)
CE05-6A22-23SD-D-BSS (plug) (straight)
Motor power supply CE3057-12A-2-D (cable clamp) MR-PWCNS1
DM connector set (motor side) <Applicable cable example> (Straight type) IP67 — 64036
for HG-RR103–203 Wire size: 2 mm² (AWG14) to 3.5 mm²
(AWG12)
Completed cable outer diameter: Ø 9.5 – 13 mm
Motor power supply connector (DDK)
CE05-6A24-10SD-D-BSS (plug) (straight)
Motor power supply CE3057-16A-2-D (cable clamp) MR-PWCNS2
DN connector set (motor side) <Applicable cable example> (Straight type) IP67 — 64035
for HG-RR353–503 Wire size: 5.5 mm² (AWG10) to 8 mm² (AWG8)
Completed cable outer diameter: Ø 13 – 15.5 mm

Notes:
1 -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
2 The HG-RR motors with brake don't have an additional connector for brake. The contacts for brake are inside the power connector.

54
 Cables and Connectors

„„ Cables and Connectors for Servo Amplifier (with electromagnetic brake)

Item Description Model Protection Length Art. no.

Brake cable for HG-KR/

MR-BKS1CBLmM-A1-H
m=Cable length: 2, 5, 10 m 1 1
IP65
2m
5m
10 m
161604
161605
161606
1
HG-MR/HG-KN Motor power supply connector (Japan Aviation Electronics Industry)
DO JN4FT04SJ1-R (plug)
Lead out in direction of 2m 161607
motor shaft ST-TMH-S-C1B-100-(A534G) (socket contact) MR-BKS1CBLmM-A1-L IP65 5m 161608
m=Cable length: 2, 5, 10 m 1 10 m
2m
161609
160311
2
MR-BKS1CBLmM-A2-H IP65 5m 161610
Brake cable for r HG-KR/ Lead out m=Cable length: 2, 5, 10 m 1
HG-MR/HG-KN 10 m 161611
DP
Lead out in opposite direc-
tion of motor shaft
MR-BKS1CBLmM-A2-L
m=Cable length: 2, 5, 10 m 1
IP65
2m
5m
10 m
161612
161613
161614
3
Brake cable for HG-KR/ Motor power supply connector (Japan Aviation Electronics Industry)
HG-MR/HG-KN JN4FT04SJ1-R (plug) MR-BKS2CBL03M-A1-L
DQ
Lead out in direction of
motor shaft
ST-TMH-S-C1B-100-(A534G) (socket contact) Cable length: 0.3 m 1 IP55 0.3 m 161615
4
Brake cable for HG-KR/
HG-MR/HG-KN MR-BKS2CBL03M-A2-L

Options and Peripheral Equipment

DR Lead out Cable length: 0.3 m 1 IP55 0.3 m 161616
Lead out in opposite direc-
tion of motor shaft
Select Motor power supply connector (DDK) (soldered type)
one CM10-SP2S-L (straight plug), 2m 202249
for the CM10-#22SC (S2)-100 (socket contact) BCS015S-m.0-BKS1 5m 202250
Brake cable for HG-SN/
motor DS HG-SR/HG-JR m=Cable length: IP67 10 m 202251
electro- 2, 5, 10, 20, 30 m 20 m 202252
magnetic Lead out 30 m 202253
brak
Motor power supply connector (DDK)
Brake connector for (soldered type) MR-BKCNS1
ET HG-SR, HG-JR53B–903B CMV1-SP2S-L (straight plug), (Straight type) IP67 — 161575
HG-JR534B–9034B, HG-SN CMV1-#22BSC-S2-100 (socket contact)
Motor power supply connector (DDK)
Brake connector for <Applicable cable example> (soldered type) MR-BKCNS2
EK HG-SR, HG-JR53B–903B Wire size: 1.25 mm² (AWG16) or smaller CMV1S-SP2S-L (straight plug), (Straight type) IP67 — 248688
HG-JR534B–9034B Completed cable outer diameter: Ø 9.0 – 11.6 mm CMV1-#22BSC-S2-100 (socket contact)
Motor power supply connector (DDK)
Brake connector for (soldered type)
EL HG-SR, HG-JR53B–903B CMV1-AP2S-L(straight plug), MR-BKCNS1A IP67 — 227427
HG-JR534B–9034B, HG-SN CMV1-#22BSC-S2-100 (socket contact)
Motor power supply connector (DDK)
Brake connector for <Applicable cable example> (soldered type)
EM HG-SR, HG-JR53B–903B Wire size: 1.25 mm² (AWG16) or smaller CMV1S-AP2S-L(straight plug), MR-BKCNS2A IP67 — 248689
HG-JR534B–9034B Completed cable outer diameter: Ø 9.0 – 11.6 mm CMV1-#22BSC-S2-100 (socket contact)
Motor power supply connector
D/MS3106A10SL-4S(D190) (plug, DDK)
YSO10-5 bis 8 (straight plug),
Brake connector for Daiwa Dengyo) MR-BKCN
EN HG-JR11K1MB, 15K1MB, <Applicable cable example> (Straight type) IP65 — 64034
11K1M4B, 15K1M4B Wire size: 0.3 mm² (AWG22) to 1.25 mm²
(AWG16)
Completed cable outer diameter: Ø 5 – 8.3 mm

Note:
1 -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.

Encoder cables, battery connection relay cable, power supply cables, brake cables, USB cable and servo amplifier power supply connector set from 1 to EL are same for the servo amplifier series MR-JE, MR-J4-A, MR-J4-B, MR-J4W2 and
MR-J4W3.

55
 Cables and Connectors

„„ Cables and Connectors for MR-J4 Servo Amplifier

Item Description Model Protection Length Art. no.

1 Connector set
Amplifier connector
(3M or an equivalent product)
EO for MR-J4-A/MR-JE-A 10150-3000PE (connector) MR-J3CN1 — — 160225
10350-52F0-008 (shell kit)

2 For CN1 Junction terminal block connector

(3M) D7950-B500FL (connector)
Amplifier connector
(3M or an equivalent product) 10150-6000EL
(connector) 10350-3210-000 (shell kit) 3
Cable of junction
MR-J2M-CN1TBLmM m= 0.5 m 146794
EP terminal block TB-50-EG Cable length: 0.5, 1m
— 1m 189864
and MR-J4-A/MR-JE-A
3
0.15 m 161579
MR-J3BUSmM 0.3 m 161580
SSCNETIII/H cable
4 EQ (standard) for
MR-J4-B
Connector: PF-2D103
(Japan Aviation Electronics Industry)
m=Cable length:
0.15, 0.3, 0.5, 1, 3 m
— 0.5 m
1m
3m
161581
161582
161583
MR-J4W2-B
MR-J4W3-B Connector: PF-2D103 MR-J3BUSmM-A 5m 161584
For
Options and Peripheral Equipment

CN1A/ ER MR-JE-B (Japan Aviation Electronics Industry) m=Cable length: — 10 m 161585

CN1B 5, 10, 20 m 20 m 161586
SSCNETIII/H cable
(long flex) for
MR-J3BUSmM-B 30 m 161587
MR-J4-B
ES MR-J4W2-B m=Cable length: — 40 m 161588
30, 40, 50 m 50 m 161589
MR-J4W3-B
MR-JE-B
Connector set
for MR-J4-B
FT MR-J4-B/MR-J4-GF/ MR-J2CN1 — — 55912
MR-J4-TM/MR-JE-B
Amplifier connector
(3M or an equivalent product) Junction terminal block connector
Cable for junction 10120-3000PE (connector) (3M) 3421-6020 (connector)
terminal block TB-20-EG 10320-52F0-008 (shell kit) 2 MR-J3TBL-CN3-mM-EG 0.5 m 212096
FK and MR-J4-B/MR-J4-GF/ m=Cable length: — 1m 212095
MR-J4-TM/MR-JE-B 0.5, 1 m

Amplifier connector
Connector set (Qty:1 pc) for
For (3M or an equivalent product)
FL MR-J4W2-B 10126-3000PE (connector) MR-J2CMP2 — — 149764
CN3 MR-J4W3-B 10326-52F0-008 (shell kit)
Amplifier connector Junction terminal block connector (3M)
(3M or an equivalent product) 3421-6020 (connector)
10120-3000PE (connector)
Cable of junction
10320-52F0-008 (shell kit) 2 MR-ESTBL-CN1-mM-EG 0.5 m 215135
FM terminal block TB-26-EG and m=Cable length: — 1m 215137
MR-J4W2-B/MR-J4W3-B 0.5, 1 m

Amplifier connector RJ45 Connector GOT D-SUB DE-9

RS422-Kabel für GT01-C30RJ45-9P-EG 3m 304011
FN MR-J4-A GT01-C50RJ45-9P-EG 5m 304010

Cable of battery MR-BT6V1CBLmM 0.3 m 248694

FO MR-BT6VCASE and m=Cable length: — 1.0 m 248695
MR-J4W2-B/MR-J4W3-B 0.3, 1 m
For
CN4
Cable for MR-BT6V2CBLmM 0.3 m 248696
FP MR-J4W2-B and m=Cable length: — 1.0 m 248697
MR-J4W3-B 0.3, 1 m

USB cable for Amplifier connector Personal computer connector

MR-J4-B/ MR-J4-A/ mini B connector (5 pin) A connector
For MR-J3USBCBL3M
CN5 FQ MR-J4-GF/MR-J4-TM/ Cable length: 3 m — 3m 160229
MR-J4W2-B/MR-J4W3-B/
MR-JE-A/MR-JE-B

For MR-J3CN6CBL1M
CN6 FR Monitor cable Cable length: 1 m — 1m 161578

Safety logic unit connector Amplifier connector (Tyco Electronics)

(Tyco Electronics) 2013595-1 (connector set)
For 2013595-1 (connector set)
CN8 FS STO cable MR-D05UDL3M-B — 3m 227986

56
 Cables, Connectors and Converter

„„ Cables and Connectors for MR-JE Servo Amplifier

Item Description Model Protection Length Art. no.

Connector Set for

Amplifier connector
(3M or an equivalent product)
1
GT MR-JE-A 10150-3000PE (connector) MR-J3CN1 — — 160225
10350-52F0-008 (shell kit)

For
Amplifier connector Junction terminal block connector 2
(3M or an equivalent product) 10150-6000EL (3M) D7950-B500FL (connector)
CN1 (connector) 10350-3210-000 (shell kit) 3
Cable of junction

3
MR-J2M-CN1TBLmM 0.5 m 146794
GK terminal block TB-50-EG m=Cable length: 0.5, 1m
— 1m 189864
and MR-JE-A

Amplifier connector
mini B connector (5 pin)
Personal computer connector
A connector
4
For MR-J3USBCBL3M
CN3 GL USB cable for MR-JE-A/B Cable length: 3 m — 3m 160229

Options and Peripheral Equipment

Note:
1 -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
2 Concerning the making of the cables please refer to the user's manual of the servo amplifier MR-J4.
3 Connector and shell kit are press bonding type. The solder type is 10120-3000PE (connector) and 10350-52F0-008 (shell kit).

„„ Converter MR-ENCOM

The interface module MR-ENCOM is a gateway
to convert the Endat 2.2 or Hipeface DSL com-
munication to Mitsubishi Electric serial encoder
communication. By changing the external wir-
ing the module is compatible to both Endat2.2
and Hyperface DSL.
In addition to the variety of compatible rotary/
linear servo motors offered by Mitsubishi
Electric, also motors from third-party manufac-
turers can be driven by MR-J4 servo amplifiers
by using the gateway MR-ENCOM.

Specifications MR-ENCOM-SET
Endat 2.1 (without analog signals and sense signal), Endat 2.2 (without safety function),
Communication Hiperface DSL (without safety function)
Absolute/incremental Both
Rotary/linear Both
Resolution 10–40 Bits
Rated output voltage 10 ±0.3 V (at CN1 connector)
Max. continuous output current 200 mA
Protection class IP30
Dimensions (WxHxD) mm 23x114x101

Order information Art. no. 275133

Connection cables Length 0.3 m; part of the set.

MR-J4-A-RJ and MR-J4-B-RJ (compatible with MR-ENCOM).
Servoamplifier Please contact your Mitsubishi Electric sales representative if necessary.

57
 Battery, Pulse Generator and Terminal Blocks

„„ Buffer Battery

The servomotor's absolute value can be main-

tained by mounting the MR-BAT6V1SET(-A)
1 battery on the servo amplifier. The battery is
not required when the servo system is used in
incremental mode.

2 Battery MR-BAT6V1SET MR-BAT6V1SET-A

Buffering absolute positioning data for MR-JE-B/
Application Buffering absolute positioning data for MR-J4-A/B MR-J4-GF/MR-J4-TM

3 Order information  Art. no. 248691 281981

4
„„ Terminal Blocks
Options and Peripheral Equipment

These terminal blocks TB-20-EG, TB-26-EG and amplifiers. In addition preconfigured system
TB-50-EG are adapter modules that simplify the cabling is available for all of these terminal
wiring of the inputs and outputs of the servo blocks.

Specifications TB-20-EG TB-26-EG TB-50-EG

Terminal block type Input/output block Input/output block Input/output block
Channels 8/16 26 50
Design 20 pin terminal module 26 pin terminal module 50 pin terminal module
Connection type Screw terminals Screw terminals Screw terminals
Servoamplifier MR-J4W2-B/ Servoamplifier MR-J4-A/
Servoamplifier MR-JE-B/
Application MR-J4W3-B MR-JE-A
MR-J4-B/MR-J4-GF/MR-J4-TM Motion controller Q170MSCPU Motion controller MR-MQ100
Dimensions (WxHxD) mm 75x45x52 73x81x58 102x81x80

Order information Art. no. 212032 215134 212033

MR-J3TBL-CN3-05M-EG; MR-ESTBL-CN1-05M-EG; MR-J2M-CN1TBL05M;

length 0.5 m; Art. no.: 212096, length 0.5 m; Art. no.: 215135 length 0.5 m; Art. no.: 146794
Connection cables MR-J3TBL-CN3-1M-EG; MR-ESTBL-CN1-1M-EG; MR-J2M-CN1TBL1M;
length 1 m; Art. no.: 212095 length 1 m; Art. no.: 215137 length 1 m; Art. no.: 189864

„„ Manual Pulse Generator

MR-HDP01
0 By this serial handwheel an external incremen-
90
10 tal setting value can be generated.
80
20

Specifications MR-HDP01
30

Resolution 25 pls/rev (100 pls/rev at magnification of 4)

40 Output voltage Input voltage > 1 V
Consumtion current Max. 60 mA
Weight kg 0.4

Order information  Art. no.. 128728

58
 EMC Filters and Brake Resistors

„„ EMC Filters

For complying with the EMC directives of the The filter units are designed to reduce mains
European Community regarding the elec- conducted RFI emissions to meet the European
1
U1 V1 W1

tromagnetic compatibility, the servo ampli- standard EN 61800-3.

fiers have to be equipped with a EMC filter More details are enclosed in the installation
across the input circuit. Additionally it has to sheet of the MR-J4 filters.
be installed and wired according to the EMC
directives.
2
Rated Leakage 2
Power Weight
Filter 1 Servo amplifier current current Art. no.
loss [W] [kg]
MF-2F230-006.230MFa MR-J4-10A/B–MR-J4-60A/B 10
[A]
6
[mA]
<26 0.45 189332 3
MF-2F230-006.230MFb MR-J4-70A/B/GF/TM 10 6 <26 0.45 189331
MF-2F230-006.230MFc MR-J4-10GF/TM–MR-J4-60GF/TM 10 6 <26 0,75 291739
MF-2F230-006.232MF

MF-2F230-015.232MF
MR-J4W2-22B–MR-J4W2-44B
MR-J4W2-77B and MR-J4W3-222B–
MR-J4W3-444B
2

4
6

15
<39

<39
1.2

1.2
258685

258261
4
MR-J4-100A/B/GF/TM and

Options and Peripheral Equipment

MF-3F480-010.233MF MR-J4-60A4/B4/GF4/TM4– 9 10 <7 1.0 208775
MR-J4-100A4/B4/GF4/TM4
MR-J4-200A/B/GF/TM,
MF-3F480-015.230MF3 MR-J4-200A4/B4/GF4/TM4, 12 15 <4 2 1.5 200463
MR-JE-200A/B and MR-JE-300A/B
MF-3F480-015.234MF MR-J4-350A4/B4/GF4/TM4 4 15 <11,7 1,5 270474
MR-J4-350A/B/GF/TM and
MF-3F480-025.230MF3 3 MR-J4-500A4/B4/GF4/TM4 – 20 25 <4 3,0 203854
MR-J4-700A4/B4/GF4/TM4
MF-3F480-050.230MF3 3 MR-J4-500A/B/GF/TM and MR-J4-700A/B/GF/TM 40 50 <4 4.0 203855
MR-J4W2-1010B and MR-J4W3-222B–
MF-3F480-015.232MF 4 15 <15 1.3 258262
MR-J4W3-444B
FMR-ES-3A-RS1-FP MR-JE-10A/B–MR-JE-40A/B 1 3 <3.5 0.32 219207
FMR-ES-6A-RS1-FP MR-JE-70A/B and MR-JE-100A/B 1-pahse 4.4 6 <3.5 0.37 219208
1 All filters can provide conformity with the limits for environment 1, restricted distribution up to 50 m or environment 1, unrestricted distibution up to 20 m.
2 At normal operation: voltage difference between 2 phases < 3 %/at fault occurrence (value in brackets) : 2 dead phases (worst case)
3 No foot print filter

„„ Brake Resistors

If the regenerative power exceeds the power

of the built-in resistor, the following listed
optional brake resistors can be used.

Dimen-
Power Resist- Weight sions
Resistor Servo amplifier capacity ance Art. no.
[kg] (WxHxD)
[W] [Ω] [mm]
MR-J4-10A/B/GF/TM–MR-J4-100A/B/GF/TM,
MR-RFH75-40 and MR-JE-10A/B–MR-JE-100A/B 150 40 0.16 36x27x90 137279
MR-J4-70A/B/GF/TM–MR-J4-100A/B/GF/TM and
MR-RFH220-40 400 40 0.42 36x27x200 137278
MR-JE-70A/B–MR-JE-100A/B
MR-J4-200A/B/GF/TM and
MR-RFH400-13 600 13 0.73 36x27x320 137277
MR-JE-200A/B–MR-JE-300A/B
MR-J4-500A/B/GF/TM–
MR-RFH400-6.7 600 6.7 0.73 36x27x320 137275
MR-J4-700A/B/GF/TM
MR-J4-60A4/B4/GF4/TM4–
MR-PWR-R T 400-120 400 120 0.4 36x27x200 154746
MR-J4-100A4/B4/GF4/TM4
MR-J4-500A4/B4/GF4/TM4–
MR-J4-700A4/B4/GF4/TM4,
MR-PWR-R T 600-26 600 26 0.64 36x27x320 154752
MR-J4W2-22B–MR-J4W2-44B and
MR-J4W3-222B–MR-J4W3-444B
MR-J4W2-77B–MR-J4W2-1010B and
MR-PWR-R T 400-9 MR-J4-350A/B/GF/TM 400 9 0.64 36x27x320 269425
MR-J4-200A4/B4/GF4/TM4–
MR-PWR-R T 600-47 600 47 0.64 36x27x320 154751
MR-J4-350A4/B4/GF4/TM4
Note: The MR-J4-11KA4/B4/GF4/TM4–MR-J4-22KA4/B4/GF4/TM4 have the external brake resistors included.

59
 Software

„„ Setup Software (MR Configurator2)

The comfortable setup software for Windows
based personal computers allows perfect tun-
1 ing of the servo amplifiers and the connected
servo motors.
The software makes it easy to read and write
parameters, monitor, diagnose and test the
servo system via a personal computer.

2 Functions
Monitor
Parameters
3 Diagnostics
Alarms
4 Test operations
Advanced function
Others
Options and Peripheral Equipment
MR Configurator2
Batch display, input/output I/F display, high speed monitor, graph display
Parameter setting, device setting, tuning, display of change list, display of detailed information,
converter, parameter copy
Rotation failure reason display, systeminformation display, tuning data display, absolute data display,
axis name setting, amplifier diagnostic
Alarms Alarm display, alarmhistory, display of data that generated alarm
JOG operation, positioning operation, operation witout motor, forced digital output, program operation
using simple language
Advanced function Machine analyser, gain search,machine simulation
Others Automatic operation, help display, project and data administration

Order information Art. no. 251540

„„ G-CAD Converter Software

The G-CAD converter software enables the
import of 2D CAD files and G code programs
and converts these into programs processable
with Simple Motion/Motion Controllers.
The process profile can be edited and opti-
mized before transfer.
With the help of the G-CAD converter software
the user can arrange different process profiles
quick and easily, without touching the PLC
program.

Functions G-CAD Converter

Data import DXF file and G code program as text file
Data transfer Direct positioning data transmission to Simple Motion modules
Data export Positioning data export to a CSV file
Others Automatic shortcut of single elements, shifting an rotation possible, move sequence changing
Supported languages English, German, Italian, Polish, Turkish
Supported devices FX3U-20SSC-H, LD77MS, QD75MH, QD77MS

60
 Positioning Units

„„ MELSEC FX Positioning Units

The high-speed counter and single axis position-
ing modules described below can be used in
combination with the FX series PLCs.
This provides a cost effective solution for small
servo/motion applications.
1
High speed counter and pulse train modules
These high speed modules provide additional The FX3U-2HSY-ADP pulse train output module
2
counting and pulse train output features to can provide pulse streams up to 200 kHz for use
the FX3U/FX3UC PLC. The high speed counters in basic positioning applications.
allow 1- or 2-phase pulses with counting
speeds up to a maximum of 50 kHz for the
The MR-JE-A and MR-J4-A series amplifers can
be directly driven by these units.
3
FX2N-1HC and 200 kHz for the FX3U modules.

Single-axis positioning module

The positioning modules FX3U-1PG and The configuration and allocation of the posi-
4
FX2N-10PG are extremely efficient single-axis tion data are carried out directly via the PLC

Options and Peripheral Equipment

positioning modules for controlling servo program.
drives like MR-JE-A and MR-J4-A, (by external A very wide range of manual and automatic
controller) with a pulse train. It is very suitable functions are available to the user.
POWER
ERROR
for achieving accurate positioning in combina-
START
DOG
tion with the MELSEC FX series.
X0 PGO
X1 FP
RP
FX 2N -10PG øA
øB CLR

Specifications FX3U-1PG FX2N-10PG

Accessible axes 1 1
Output frequency pulse/s 10–100 000 1–1 000 000
Signal level for digital inputs 24 V DC/40 mA 5 V DC/100 mA; 24 V DC/70 mA
5 V DC 55 mA (from base unit) 120 mA (from base unit)
Power supply
24 V DC — —
Related I/O points 8 8
Dimensions (WxHxD) mm 43x90x87 43x90x87

Order information Art. no. 259298 140113

SSCNETIII module FX3U-20SSC-H

The SSCNET module FX3U-20SSC-H can be
used in combination with a FX3U programma-
ble controller to achieve a cost effective solu-
tion for high precision, high speed positioning.
The plug-and-play fiber optic SSCNETIII cabling
reduces setup time and increases control
distance for positioning operations in a wide
range of applications.
Servo parameters and positioning information
for the FX3U-20SSC-H are easily set up with an
FX3U base unit and a personal computer. For
parameter setting, monitoring and testing the
easy programming software FX Configurator-FP
is available.
For further specifications please refer to the
MELSEC FX technical catalogue.

Specifications FX3U-20SSC-H
Accessible axes 2 (independent or interpolation) via SSCNETIII
Output frequency 1 Hz to 50 MHz
Communications speed 50 Mbps
Starting time ms 1.6 (+1.7 SSCNETIII cycle time)
Max. to PLC connectable modules Up to 8 can be connected to the FX3U PLC
5 V DC 100 mA
Power supply
24 V DC —
Related I/O points 8
Dimensions (WxHxD) mm 55x90x87

Order information Art. no. 231512

Note: The FX3U-20SSC-H can only be used in combination with a FX3U series base unit.

61
 Positioning Units

„„ MELSEC System Q Positioning Units

The MELSEC System Q offers two different The open-collector output type modules pro-
positioning module series for control of up to vide positioning with open loop control. The
1 four axes: modules generate the travel command via the
pulse chain. The speed is proportional to the
zz Open-collector output type (QD75P series)
QD75P2 pulse frequency and the distance travelled is
RUN AX1
AX2 zz Differential output type (QD75D series) proportional to the pulse length.
2 The open-collector and differential output con-
ERR.
AX1
AX2 The differential output type modules are
trollers can be used with standard type servo suitable for bridging long distances between
amplifiers (MR-JE-A/MR-J4-A). the module and the drive system due to the
All QD75 series positioning modules can fact that the output allows large motor cable

3 provide functionality such as interpolation and

speed-position operation etc.
lengths.

4
Options and Peripheral Equipment

Specifications QD75D1 QD75D2 QD75D4 QD75P1 QD75P2 QD75P4

Number of control axes 1 2 4 1 2 4
2, 3, or 4 axes linear 2, 3, or 4 axes linear
2 axes linear and 2 axes linear and
Interpolation — and 2 axes circular — and 2 axes circular
circular interpolation circular interpolation
interpolation interpolation
Positioning data items 600
Output type Differential driver Differential driver Differential driver Open collector Open collector Open collector
Output signal Pulse chain Pulse chain Pulse chain Pulse chain Pulse chain Pulse chain
PTP control: absolute data and/or incremental; speed/position switching control: incremental; locus/speed control: incremental;
method path control: absolute data and/or incremental
Absolute data: Incremental method: Speed/position switching control:
-2 147 483 648 – 2 147 483 647 pulse -2 147483 648 – 2 147 483 647 pulse 0 – 2 147 483 647 pulse
units -214 748 364.8 – 214 748 364.7 µm -214 748 364.8 – 214 748 364.7 µm 0 – 21 4748 364.7 µm
-21 474.83648 – 21 474.83647 inch -21 474.83648 – 21 474.83647 inch 0 – 21 474.83647 inch
0 – 35.99999 degree -21 474.83648 – 21 474.83647 degree 0 – 21 474.83647 degree
Positioning 1 – 1 000 000 pulse/s
0.01 – 20 000 000.00 mm/min
speed 0.001 – 200 000.000 degree/min
0.001 – 200 000.000 inch/min
acceleration/deceleration processing Automatic trapezoidal or S-pattern acceleration and deceleration or automatic S-pattern acceleration and deceleration
acceleration and deceleration time 1–8388608 ms (4 patterns, each can be set)
rapid stop deceleration time 1–8388608 ms
I/O points 32 32 32 32 32 32
Dimensions (WxHxD)  mm 27.4x98x90 27.4x98x90 27.4x98x90 27.4x98x90 27.4x98x90 27.4x98x90

Order information Art. no. 129675 132581 129676 132582 129677 132583

Accessories 40-pin connector and ready to use connection cables and system terminals; Programming software: GX Configurator QP, art. no.: 132219

62
 Positioning Units

„„ MELSEC L Series Positioning Units

Control of high resolution drives

The MELSEC L series offers two different posi-
tioning modules for control of up to four axes.
zz Differential output type (LD75Dm )
zz Open-collector output type (LD75Pm)
These positioning modules can be used with
standard type servo amplifiers (Mitsubishi
­Electric MR-JE-A, MR-J4-A).
All MELSEC L series positioning modules can
provide functionality such as interpolation,
speed positioning operation etc.
The open-collector output type module pro-
vides positioning with open loop control. The
module generates the travel command via the
pulse chain. The speed is proportional to the
pulse frequency and the distance travelled is
proportional to the pulse length.
The differential output type module is suitable
for bridging long distances between the mod- 1
ule and the drive system due to the fact that
the output allows large cable lengths.
zz Up to 600 positioning data per axis
zz Maximum output pulse of 200 k pulses/s for
2
LD75P4 and 4 Mpulses/s for LD75D4)
zz High speed control of high resolution
devices such as linear servos and direct drive
motors
3
zz Reduced machine vibration by using the
optional acceleration/deceleration system
zz Visualization of positioning module buffer 4
data with customizable graphs

Options and Peripheral Equipment

Specifications LD75D1 LD75D2 LD75D4 LD75P1 LD75P2 LD75P4
Accessible axes 1 2 4 1 2 4
2-axis linear interpolation, 2-/3-/4-axis linear inter- 2-axis linear interpolation, 2-/3-/4-axis linear inter-
Output frequency pulse/s — 2-axis circular interpolation polation, 2-axis circular — 2-axis circular interpolation polation, 2-axis circular
interpolation interpolation
Positioning data items per axis 600
Output type Differential driver Open collector
Output signal Pulse chain
method PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed-position switching control, position-speed switching control
Absolute/incremental system:
–214 748 364.8–214 748 364.7 µm
–21 474.83648–21 474.83647 inch
0–359.99999 degree (absolute); 21 474.83648–21 474.83647 (incremental)
–2 147 483 648–2 147 483 647 pulse
range
In speed-position switching control (INC mode)/position-speed switching control:
0–214 748 364.7 µm
0–21 474.83647 inch
0–21 474.83647 degree
Positioning 0–2 147 483 647 pulse
1–1 000 000 pulse/s
0.01–20 000 000.00 mm/min
speed 0.001–200 000.000 degree/min
0.001–200 000.000 inch/min
acceleration/ Automatic trapezoidal or S-pattern acceleration and deceleration or automatic S-pattern acceleration and deceleration
deceleration processing
acceleration/ 1–83 88 608 ms
deceleration time (four patterns can be set for each of acceleration time and deceleration time)
rapid stop 1–8 388 608 ms
deceleration time
Number of occupied I/O points 32 32 32 32 32 32
Internal current consumption mA 510 620 760 440 480 550
Dimensions (WxHxD) mm 45x90x95 45x90x95 45x90x95 45x90x95 45x90x95 45x90x95

Order information Art. no. 251448 251449 238095 251446 251447 238096

63
 Simple Motion Module

„„ MELSEC Simple Motion module

The MELSEC L-, MELSEC iQ-R-, MELSEC iQ-F- Proved and tested programs for the QD77MS
series and the MELSEC System Q, lineup and the LD77MS are compatible with the
1 S includes Simple Motion modules in addition
to the regular positioning modules. Various
QD75MH.

control functions previously only possible with zz Compatible with QD75MH

Motion Controllers, such as speed control, zz Up to 600 positions per axis
2 torque control, synchronous control and cam
control, are now available with the Simple
zz External encoder input for axis
synchronisation
Motion modules. These functions can be real-
ized with simple parameter adjustments and zz Electronic cam control

3 via the PLC program.

Mark sensors allow use in packaging industry,
filling plants, etc., without additional optional
modules. A function for automatic calcula-
tion of cam data for applications with rotating
4 cutters is implemented – only by setting the
length of the product and the synchronisation
path. With positioning functions, like linear
Options and Peripheral Equipment
zz High-speed digital inputs for mark sensors
to capture encoder position, motor position
etc.
zz Parameterization, programming, diagnostics
and test operation by GX Works2/GX Works3
zz Certified PLCopen function blocks
zz Communication between the Simple Motion
module and servo amplifiers via the high-

interpolation (up to 4 axes), circular interpo-

lation (2 axes) and path control it is easy to speed network SSCNETIII/H
realize different applications, like X-Y tables,
sealing, etc.

Specifications LD77MS2 LD77MS4 LD77MS16 QD77MS2 QD77MS4 QD77MS16 FX5-40SSC-S FX5-80SSC-S

Number of controllable axes 2 4 16 2 4 16 4 8
2 axes linear Linear interpolation for up to 4 axes, 2and axes linear Linear interpolation for up to 4 axes,
Interpolation functions and circular circular
circular interpolation for 2 axes circular interpolation for 2 axes
interpolation interpolation
Output type SSCNETIII/H SSCNETIII/H SSCNETIII/H SSCNETIII/H SSCNETIII/H SSCNETIII/H SSCNETIII/H SSCNETIII/H
Output signal Bus Bus Bus Bus Bus Bus BUS BUS
Servo amplifier MR-JE-B/MR-J4-B
Operation cycle 0.88 ms 0.88 ms 0.88 ms/1.7 ms 0.88 ms 0.88 ms 0.88 ms/1.7 ms 1.77 ms 0.88 ms/1.7 ms
method PTP (Point To Point) control, path control (linear and arc), speed control, speed-position switching control, position-speed switching control, torque control
acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Positioning
compensation Backlash compensation, electronic gear, near pass function
OPR control 5 different methods
Number of positioning points 600 per axis (can be set with GX Works2/GX Works3 or PLC program)
External encoder 1 encoder, A/B phase
input signals high speed inputs 4 digital inputs [DI1–DI4]
storage area cam data 256 kbytes
Max. 64 Max. 128
number of cams Max. 256 (depends on resolution) (depends on (depends on
Cam function resolution) resolution)
256, 512, 1024, 2048, 4096, 8192,
resolution per cycle 16384, 32768
stroke resolution 2–16284
I/O points 32 32 32 32 32 32 8 8
Dimensions (WxHxD) mm 90x45x95 90x45x95 90x45x95 27.4x98x90 27.4x98x90 27.4x98x90 90x50x83 90x50x83

Order information Art. no. 268199 268200 268201 248702 248703 248704 281405 304187

Specifications RD77MS2 RD77MS4 RD77MS8 RD77MS16

Number of controllable axes 2 4 8 16
Interpolation functions 2 axes linear and circular interpolation Linear interpolation for up to 4 axes, circular interpolation for 2 axes
Output type SSCNETIII/H SSCNETIII/H SSCNETIII/H SSCNETIII/H
Output signal Bus Bus Bus Bus
Servo amplifier MR-JE-B/MR-J4(W2/W3)-B over SSCNETIII/H
PTP (Point To Point) control, path control (linear and arc), speed control, speed-position switching control,
method position-speed switching control, speed-torque switching control, advanced synchonous control
Positioning acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
compensation Backlash compensation, electronic gear, near pass function
Number of positioning points 600 per axis (can be set with GX Works3 or PLC program)
External input signals 1 encoder, A/B phase, 4 digital inputs [DI1–DI4]
Cam function 256 kbytes, max. 256 (depends on resolution)

Order information Art. no. 280229 280230 280231 280232

64
 Simple Motion Module

„„ MELSEC Simple Motion module

The RD77GF Simple Motion Module for the

iQ-R Series controller is capable of everything
from simple point table operation to advanced
Synchronous control, for complex applications
1
in an easy to program solution. Combined with
the CC-Link® IE Field compatible MR-J4-GF-RJ
servo system, its superior speed and perfor-
mance make it a great product to tackle a wide
2
range of applications. This solution also provides
excellent flexibility, reduced wiring, improved
noise-immunity, and easy programming.
3

Options and Peripheral Equipment

Specifications RD77GF4 RD77GF8 RD77GF16 RD77GF32
Number of controllable axes 4 8 16 32
Interpolation functions 2-/3-/4-axis linear interpolation, 2-axis circular interpolation, 3-axis helical interpolation
Output type CC-Link IE Field CC-Link IE Field CC-Link IE Field CC-Link IE Field
Output signal Ethernet Ethernet Ethernet Ethernet
Servo amplifier MR-J4-GF
Operation cycle 0.5 ms/1.0 ms/2.0 ms/4.0 ms 0.5 ms/1.0 ms/2.0 ms/4.0 ms 0.5 ms/1.0 ms/2.0 ms/4.0 ms 0.5 ms/1.0 ms/2.0 ms/4.0 ms
PTP (Point To Point) control (incremental/absolute), Positionsermittlung (incremental/absolute), speed-position switching control (incremental/absolute),
method position-speed switching control (incremental)
Absolute/incremental system:
-214 748 364.8–214 748 364.7 µm
-21 474.83648–21 474.83647 inch
0–359.99999 degree (absolute); 21 474.83648–21 474.83647 (incremental)
-2 147 483 648–2 147 483 647 pulse
In speed-position switching control (INC mode)/position-speed switching control:
range 0–214 748 364.7 µm
0–21 474.83647 inch
0–21 474.83647 degree
Positioning 0–2 147 483 647 pulse
In speed-position switching control (ABS mode) 1:
0–359.99999 Grad
1–1 000 000 000 pulse/s
0.01–20 000 000.00 mm/min
speed 2 0.001–200 000.000 degree/min
0.001–200 000.000 inch/min
acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
1–83 88 608 ms
acceleration/deceleration time (four patterns can be set for each of acceleration time and deceleration time)
rapid stop deceleration time 1–8 388 608 ms
Manual Pulse Input signal Link device
Generator Input magnification 1 impulse Max. 100,000 times
Positioning data 600 per axis (can be set with buffer memory)
32 (I/O allocation: Intelligent, 32 (I/O allocation: Intelligent, 32 (I/O allocation: Intelligent, 64 (I/O allocation: Intelligent,
I/O points 32 points) 32 points) 32 points) 64 points)
Dimensions (WxHxD) mm 27.8x106x110 27.8x106x110 27.8x106x110 27.8x106x110

Order information  Art. no 295077 295078 295079 304200

1 The speed-position switching control (ABS mode) can be used only when the control unit is “degree”.
2 When “Speed control 10 times multiplier setting for degree axis function” is valid, the setting range is 0.01 to 20000000.00 (degree/min).

65
 Single Axis Motion Controller

„„ Single Axis Motion Controller MR-MQ100

The MR-MQ100 allows a single axis to be A standard Ethernet connection is also pro-
completely controlled and synchronised to vided to link the MR-MQ100 to the MT Works2
1 a separate encoder or virtual axis with no
additional controller hardware like a PLC.
software and to the control system.
zz Stand-alone Motion Control Systen only with
Applications such as rotary cutters, flying saws servo amplifier without additional hardware
and labelling can be realized cost-effectively.
2 A complete range of essential functions are
available, including encoder and virtual axis
zz Optical high-speed SSCNETIII network
zz Ethernet interface 100/10 Mbps
synchronization, registration, point to point zz High speed inputs for mark sensors
positioning and user defined cam profiles. In
zz External encoder input for axis sychronisa-
3 addition, the hardware complements these
powerful software features with built-in I/O and
SSCNETIII motion networking capability as well
tion
zz MC protocol Ethernet communication
as an Ethernet port. zz Extension I/O unit MR-J3-D01 can be con-
The MR-MQ100 uses Mitsubishi’s simple but ncted to the MR-J3-BSafety amplifer series to
4 rugged optical fiber motion network SSCNETIII.
A single fiber connection is all that’s needed to
increase the number of in- and outputs
zz Integrated serial interface (RS422) for com-
provide full communication and control over munication with HMI
Options and Peripheral Equipment

all functions of the MR-J4/MR-J3-BSafety servo

amplifier regardless of capacity.

Items MR-MQ100
Power supply 24 V DC ±10 % (required current capacity: 400 mA)
Digital inputs (mark sensors) 4 inputs (24 V DC)
Digital outputs 2 outputs (24 V DC)
signal type A/B phase pulse train input
Synchronous voltage input/open- Up to 800 kpps (after magnification by 4), up to 10 m
encoder collector type (5 V DC)
differential input type Up to 4 Mpps (after magnification by 4), up to 30 m
Peripheral interface 100 Mbps/10 Mbps Ethernet (for programming and additional options)
(PTP (Point to Point) control, Speed control/Speed-position control, Fixed-pitch feed, Constant speed control, Position follow-up control, Speed control with fixed position
method stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22))
Positioning acceleration/deceleration Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
control
compensation Backlash compensation, Electronic gear, Phase compensation
Servo program capacity 16 k steps
Number of positioning points 3200
Number of contral axis 1 axis
Operation cycle 0.44 ms
Servo amplifier MR-J3-BSafety/MR-J4-B (over SSCNETIII)
Programming language Motion SFC, dedicated instruction, mechanical support language (SV22)
Memory back up (included) Q6BAT
number of cams Up to 256 cam profiles may be stored internally.
resolution per cycle 256, 512, 1024, 2048
Cam function
stroke resolution 32767
control mode Two-way cam, feed cam
Weight [kg] 0.7
Dimensions (WxHxD) mm 30x168x135 1

Order information Art. no. 217705

1 H without battery (Height with battery = 178 mm)

Accessories Q170MCPU-EXTIO-05M-EG Q170MCPU-EXTIO-1M-EG Q170MCPU-EXTIO-3M

Application Cable between Q170MCPU IO I/F and TB-50-EG Cable between Q170MCPU IO I/F and TB-50-EG Cable for Q170MCPU IO I/F with open ends
Length m 0.5 1 3

Order information Art. no. 229275 229276 229277

66
 Stand-alone Motion Controller

„„ Stand-alone Motion Controller Q170MSCPU/Q170MSCPU-S1

The Q170MSCPU/Q170MSCPU-S1 combines zz Small size

a PLC CPU, a Motion CPU and a power supply
module into one compact unit. No base unit
is required, although an extension base unit
zz Controls up to 16 axes
zz Communication with servo amplifier via
1
with standard PLC modules can be connected high-speed network SSCNETIII/H and a com-
if required. An encoder interface is included as munication speed up to 150 Mbps.
standard, enabling multiple axes synchroniza-
tion with an external encoder.
zz Programming and configuration is
performed using the familiar software
2
The well-reputed mechanical support language GX Works2 and MT Works2.
(SV13, SV22) from the MELSEC System Q zz Expandable with an extension base unit (up
Motion Controller is incorporated. to 5 slots) and I/O modules, intelligent mod-
ules, and network-related modules. 3
zz MC protocol Ethernet communication

Options and Peripheral Equipment

Specificatons Q170MSCPU Q170MSCPU-S1
number of controllable axes 16
operation cycle 0.22 ms, 0.44 ms, 0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms
Motion-CPU programming languages Motion SFC, dedicated instruction, mechanical support language (SV22)
servo program capacity 16 k steps
servo amplifier MR-J4-B
Interpolation functions Linear interpolation for up to 4 axes, circular interpolation for 2 axes, helical interpolation for 3 axes
number of I/O points 4096 points
programming languages Ladder, instruction list, SFC, structured text
PLC CPU program capacity 30 k steps (120 k bytes) 60 k steps (240 k bytes)
processing speed 20 ns (LD instruction); 40 ns (MOV instruction) 9.5 ns (LD instruction); 19 ns (MOV instruction)
total number of instructions 858 (including real number operation instruction)
(PTP (Point To Point) control, speed control/speed-position control, fixed-pitch feed, constant speed control, position follow-up control,
method
speed control with fixed position stop, speed switching control, high-speed oscillation control, synchronous control (SV22))
Positioning acceleration/deceleration control Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
compensation Backlash compensation, electronic gear, phase compensation
Memory card interface 1 slot for memory card for MELSEC System Q
number of cams Up to 256 cam profiles may be stored internally.
resolution per cycle 256, 512, 1024, 2048, 4096, 8192, 16384, 32768
Cam function
stroke ratio data -2147483648 to 2147483647
control mode Two-way cam, feed cam
Dimensions (WxHxD) mm 52x178x135

Order information Art. no. 266524 266535

67
 Motion-Controller-CPUs

„„ MELSEC System Q and MELSEC iQ-R Motion-Controller-CPUs

The Q-Motion controller CPU controls and zz Using multiple CPUs to distribute the load
synchronises the connected servo amplifiers improves the overall performance of the
1 and servo motors. A motion system besides the
controller CPU, also includes a PLC CPU. Only
whole system
zz Use of up to 3 motion CPUs within
after combining a highly dynamic positioning one system
control CPU and a PLC, an innovative motion
2 control system is created.
While the Motion CPU controls large-scale
zz Large scale control system for up to
96 axes per MELSEC System Q, and 192 axes
per MELSEC iQ-R series.
C
servo movements the PLC CPU is responsible
N
1 for the machine control and the communica- zz Interpolation of 4 axes simultaneously

3 C
N
2
tion. zz Electronic cam control
zz Virtual and real master axes
zz Integration in the high-speed SSCNETIII/H
SPEED network for communication with high-per-
4 SD/RD
formance MR-J4-B servo amplifiers at up to
150 Mbps
Options and Peripheral Equipment

Specifications Q172DSCPU Q173DSCPU R16MTCPU R32MTCPU R64MTCPU

Type Motion CPU Motion CPU Motion-CPU Motion-CPU Motion-CPU
I/O points 8192 8192 8192 8192 8192
No. of control axes 16 32 16 32 64
Interpolation functions Linear interpolation for up to 4 axes, circular interpolation for 2 axes, helical interpolation for 3 axes
PTP (point to point), speed control/speed-position control, fixed pitch feed, constant speed control, position follow-up control, speed switching control,
method high-speed oscillation control, synchronous control (SV22)
Positioning acceleration/deceleration control Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
compensation Backlash compensation, electronic gear
Programming language Motion SFC, dedicated instructions, software for conveyor assembly (SV13), virtual mechanical support language (SV22)
Servo program capacity 16 k steps 16 k steps 32 k steps 32 k steps 32 k steps
No. of positioning points 3200 3200 6400 6400 6400
Ethernet 100 Mbps/10 Mbps (for programming and additional options), SSCNETIII/H (for connection to servo amplifier with optical cable)
Interfaces (USB, RS232C via PLC-CPU)
Servo amplifier MR-J4-B
Dimensions (WxHxD) mm 27.4x120.5x120.3 27.4x120.5x120.3 27.8x106.0x110.0 27.8x106.0x110.0 27.8x106.0x110.0

Order information Art. no. 248700 248701 280227 280228 295076

„„ MELSEC System Q Motion System Modules

Servo external signals interface module
Q172DLX
The Q172DLX input module is used in conjunc-
tion with a Q Motion CPU to capture external
servo signals.
Up to 8 axes can be evaluated per module. In
this way, proximity dog sensor, upper/lower limit
switch, stop signal input and operating mode
switching input can be easily incorporated into
the system.
zz 32 address points for 8 axes for each 4 inputs
zz Bipolar inputs for positive and negative logic
zz Galvanic isolation of the inputs by means of
photocoupler
zz Shortest response time of < 0.4 ms
zz Modular extension possible
Serial absolute synchronous encoder
interface module Q172DEX
The serial absolute synchronous encoder
interface module Q172DEX is a Motion system
module for receiving and evaluating up to two
serial absolute-value encoders (Incremental
encoders cannot be connected). Via an external
encoder it is possible to feed a setpoint source to
the Motion system, which in turn is programmed
as a master axis.
In addition to the interfaces for the signals of
two absolute-value encoders, the Q172DEX has
two digital inputs with
ultra-rapid responsetimes.
zz Transfer rate of 2.5 Mbit per second
zz Resolution of 22 Bit with Q170ENC-WB
zz Voltage-failure security of the absolute values
by means of built-in buffer battery
zz Shortest response times of < 0.4 ms
zz Modular extension possible
Manual pulse generator interface module
Q173DPX
The Manual pulse generator interface module is
used in a Motion system to receive the signals of
up to 3 external incremental encoders or manual
impulse generators (hand wheels).
In addition to the inputs for the encoders, the
Q173DPX has three digital inputs with which
the encoder signal counting procedure can be
started (Encoder start signal).
zz Bipolar inputs for positive and negative logic
zz Galvanic isolation of the inputs by means of
photo coupler
zz Shortest response times of < 0.4 ms
zz Modular extension possible
Safety signal module Q173DSXY
The safety signal module is a combined I/O
extension module with 20 safety input points
x 2 paths and 12 safety output points x 2 paths.
It passes input and output informations on to a
Motion CPU or PLC CPU module.
With its safety monitor function the system fulfils
the requirements of the following safety functions:
STO, SS1, SS2, SOS, SLS, SBC, SSM (IEC61800-5-2:2007)

68
 System Configuration SSCNETIII/H

Configuration of a SSCNETIII/H System

„„

PLC CPU a Motion CPU

Software: GX Works3 Software: MT Works2
1

Hauptbaugruppenträger
2
Q35DB/Q38DB/Q312DB

Applications
MR-HDP01

Manual pulse
generator

Encoder Encoder External Safety signal

interface Interface signal interface module
Q173DPX Q172DEX Q172DLX Q173DSXY

Serial absolute syn-

chronous encoder
Q170ENC-W8
Cable
MR-J3BUSmM

0,768%,6+, 0,768%,6+, Cable 0,768%,6+,

MR-J3BUSmM

Servo amplifier
MR-J4-mB

Servo motors

Note:
a The first CPU on the main base unit must always be a PLC CPU (e.g. QmUD(E)(H) Serie)

69
 System Configuration

X-Y Table System Configurations

„„

An X-Y table is a typical two axes servo applica-
tion, commonly used in industry for pick and
1 place systems such as PCB component insertion
machines through to welding machines.
The following information provides two examp- The first is a FX3G-24MT/ESS based system and
les of possible X-Y table system configurations, the second is a more complex interpolating
using Mitsubishi Electric automation equipment. QD77MS2 (SSCNETIII/H) based system.

2
System 1: FX3G PLC based system

3 Products Function
The FX3G is a compact PLC for comprehensive
machine control. It combines
For expanding the system, the FX3G is also con-
nectable to the majority of existing FX3U Special
PLC with integrated positioning
FX3G-24MT/ESS the functions of a PLC with positioning func- Function Blocs.
control
tions. In this configuration the FX3G-24MT/ESS is zz User friendly positioning
MR-JE-10A Servo amplifier
4 HG-KN13 Motor
used to control the
X and Y axes. Via the transistor open collector
zz Easy setting in GX Works2
zz Cost effective
outputs the PLC provides the Servo amplifiers
MR-JE-70A Servo amplifier of the MR-JE-A Series with pulse train signals zz Simple functionality

5 HG-SN52JK Motor
for controlling the two axes. The setting of the
system can be done with the GX Works2.
GX Works2 has a special section for the general
positioning parameter setup and for the setup
Applications

of each positioning command in a easy to use

table. This table for each axis can contain 100
instructions with the frequency and number
of pulses stored in the user data area and can
be manipulated and uploaded for setting into
operation of the machine.

System 2: QD77MS based system

Products Function
The QD77MS based system uses the power-
ful modular Qn PLC Series, providing greater
Q00J PLC of MELSEC System Q functionality and expandability options. The
QD77MS system is connected using SSCNETIII/H
QD77MS2 Simple motion modul (Servo System Controller Network), which is
MR-J4-10B Servo amplifier
Mitsubishi’s dedicated motion control network.
SSCNETIII/H simplifies the set-up of the system
and reduces the wiring required. SSCNETIII/H
HG-KR13 Motor
systems are created by simply plugging an
MR-J4-60B Servo amplifier amplifier into the main controller (QD77MS)
and then "daisy-chaining" each additional axis
HG-SR52 Motor that is added. SSCNETIII/H connectivity requires
MR-J4-B type amplifiers to be used.
MR-BAT6V1SET Battery (for servo amplifier)
Furthermore, as the Servo amplifiers are con-
nected by a bus system, all Servo data, such as
current position, torque etc. can all be monito-
red back at the main controller (Q00J PLC) as the
data is automatically updated on the QD77MS
module.
Also, all of the internal Servo parameters can be
set from the PLC, again due to the bus system
used.
The bus system also means that position data
is sent serially, therefore reducing any possible
interference due to noise.
Finally, as both axes are controlled from one
high function module (QD77MS), interpolation
between the two axes is possible.
zz SSCNETIII/H capability
zz Easy of set-up
zz High functionality
zz Expandability
zz Module options
zz Reduced wiring

X-Y table control

70
 Dimensions Servo Motors

Servo Motors
„„

HG-KR053(B), HG-KR13(B), HG-MR053(B), HG-MR13(B)

Type
HG-KR053(B)
L [mm] KL [mm] 1
66.4 (107) 23.8
HG-MR053(B)
HG-KR13(B) 82.4 (123) 39.8
HG-MR13(B)
Dimensions for motors with brake in brackets ( ).
2
Unit: mm

HG-KR23(B), HG-KR43(B), HG-MR23(B), HG-MR43(B) 4

Type L [mm] KL [mm]
HG-KR23(B)
HG-MR23(B)
HG-KR43(B)
76.6 (113.4) 36.4
5
98.3 (135.1) 58.1
HG-MR43(B)
Dimensions for motors with brake in brackets ( ).
6
Unit: mm

Dimensions
HG-KR73(B), HG-MR73(B)
Type L [mm] KL [mm]
HG-KR73(B) 112 (152.3) 69.6
HG-MR73(B)
Dimensions for motors with brake in brackets ( ).

Unit: mm

HG-SR52(B), HG-SR524(B), HG-SR102(B), HG-SR1024(B), HG-SR152(B), HG-SR1524(B)

Type L [mm] KL [mm] X [mm]

HG-SR52(B) 118.5 (153.0) 57.8 38.2 (43.5)
HG-SR524(B)
HG-SR102(B) 132.5 (167) 71.8 38.2 (43.5)
HG-SR1024(B)
HG-SR152(B) 146.5 (181) 85.8 38.2 (43.5)
HG-SR1524(B)
Dimensions for motors with brake in brackets ( ).

Unit: mm

71
 Dimensions Servo Motors

HG-SR202(B), HG-SR352(B), HG-SR502(B), HG-SR702(B), HG-SR2024(B), HG-SR3524(B), HG-SR5024(B), HG-SR7024(B),

38.5
Type L [mm] KL [mm] KA [mm] KB [mm]
(45.5)
HG-SR202(B) 138.5 (188) 74.8
HG-SR2024(B)

1 HG-SR352(B)
HG-SR3524(B) 162.5 (212) 98.8 24.8 140.9
HG-SR502(B) 178.5 (228) 114.8
HG-SR5024(B)
HG-SR702(B)
2
218.5 (268) 146.8 32 149.1
HG-SR7024(B)
Dimensions for motors with brake in brackets ( ).

KB
Unit: mm
3 KA

5 HG-JR53(B), HG-JR534(B), HG-JR73(B), HG-JR734(B), HG-JR103(B), HG-JR1034(B),

HG-JR153(B), HG-JR1534(B), HG-JR203(B), HG-JR2034(B)
Type L [mm] KL [mm]
6 HG-JR53(B)
HG-JR534(B) 127.5 (173) 76
HG-JR73(B) 145.5 (191) 94
HG-JR734(B)
Dimensions

HG-JR103(B) 163.5 (209) 112

HG-JR1034(B)
HG-JR153(B) 199.5 (245) 148
HG-JR1534(B)
HG-JR203(B) 235.5 (281) 184
HG-JR2034(B)
Dimensions for motors with brake in brackets ( ).

Unit: mm

HG-JR353(B), HG-JR503(B)

Type L [mm] KL [mm]

HG-JR353(B) 213 (251.5) 228
HG-JR5034(B) 267 (305.5) 282
Dimensions for motors with brake in brackets ( ).

Unit: mm

B C
A D

72
 Dimensions Servo Motors

HG-JR3534(B), HG-JR5034(B)

Type L [mm] KL [mm]

HG-JR3534(B) 213 (251.5) 161
HG-JR5034(B) 267 (305.5) 215
Dimensions for motors with brake in brackets ( ). 1
Unit: mm

HG-JR703(B), HG-JR903(B), HG-JR7034(B), HG-JR9034(B) 5

Type L [mm] KL [mm]
HG-JR703(B)
HG-JR7034(B)
HG-JR903(B)
263.5 (313) 285.4
6
303.5 (353) 325.4
HG-JR9034(B)

Dimensions
Dimensions for motors with brake in brackets ( ).

Unit: mm

HG-JR11K1M(B), HG-JR15K1M(B), HG-JR11K1M4(B), HG-JR15K1M4(B)

Type L [mm] KL [mm]

HG-JR11K1M(B) 339.5 (412) 265.5
HG-JR11K1M4(B)
HG-JR15K1M(B) 439.5 (512) 365.5
HG-JR15K1M4(B)
Dimensions for motors with brake in brackets ( ).

Unit: mm

C D
B A A

73
 Dimensions Servo Motors

HG-JR22K1M, HG-JR22K1M4

5 HG-RR103(B), HG-RR153(B), HG-RR203(B)

Type L [mm] KL [mm]

HG-RR103(B) 145.5 (183) 69.5
6 HG-RR153(B)
HG-RR203(B)
170.5 (208)
195.5 (233)
94.5
119.5
Dimensions for motors with brake in brackets ( ).
Dimensions

Unit: mm

HG-RR353(B), HG-RR503(B)

Type L [mm] KL [mm]

HG-RR353(B) 215.5 (252) 147.5
HG-RR503(B) 272.5 (309) 204.5
Dimensions for motors with brake in brackets ( ).

Unit: mm

74
 Dimensions Servo Motors

HG-KN13(B)
82.4 (123) 25
40
5 2.5
21.5 45°

ø4
1
6

ø30h7
2

37.1
ø8h6
10.9
11.7 11.7
21.7
9.9
19.2
49.8
13.9
27.5
6.4 3
58.8 18.4

HG-KN23(B), HG-KN43(B) 5
L 30 60
Type L [mm] KL [mm]
7 3 45°
HG-KN23(B) 76.6 (113.4) 36.4
26

ø7
HG-KN43(B) 98.3 (135.1) 58.1 6
0 Dimensions for motors with brake in brackets ( ).
ø50h7

Dimensions
Unit: mm
ø14h6

47.1

10.9 9.5
13.9 5.9
11.8 11.7 19.2
21.7 27.8
KL
57.8

75
 Dimensions Servo Motors

HG-KN73(B)J
122.2 (162.5) 40 80
°
8 3 45

1 36
ø9
0

ø70h7
ø19h6
2

57.1
3 10.7
14
21.7
11.7
9.5
19.2
77.6
14
27.8
12

65.3

5 HG-SN52(B)J, HG-SN102(B)J, HG-SN152(B)J

L 55 130
Type L [mm] KL [mm]
38.2 (43.5) 12 3 HG-SN52(B)J 118.5 (153) 57.8
6
45°
50
HG-SN102(B)J 132.5 (167) 71.8
HG-SN152(B)J 146.5 (181) 85.8
Ø24h6

45

Dimensions for motors with brake in brackets ( ).

ø1
Dimensions

Ø110h7

ø1
6 5
Unit: mm
50.9
79.9

112.5

13
W (PE)
59
Key
Key
20.9 C D
13.5
A B
KL 58
V U

HG-SN202(B)J, HG-SN302(B)J

L 79 176 Type L [mm] KL [mm]

38.5 (45.5) 18 3
75
45° HG-SN202(B)J 138.5 (188) 74.8
HG-SN302(B)J 162.5 (212) 98.8
ø35 +0.01

ø2
30
0

Dimensions for motors with brake in brackets ( ).

-0.025
0

Unit: mm
ø114.3
50.9

Oil seal
96.9

140.9
00
ø2

13
W (PE)
66.5
Key
Key
C D
24.8 82
A B

KL
V U

76
 Dimensions Servo Amplifiers

Servo Amplifiers MR-J4-A(4)/B(4)/MR-J4W2/3-B/MR-J4-GF(4)/MR-J4TM(4)

„„

MR-J4-10A, MR-J4-20A
Terminal
arrangement
Terminal
arrangement 1

1-phase 100 V AC 3-phase 200 V AC, or

1-phase 200 V AC
5
Unit: mm

MR-J4-40A, MR-J4-60A 6
Terminal Terminal
arrangement arrangement

Dimensions
1-phase 100 V AC 3-phase 200 V AC, or
1-phase 200 V AC
Unit: mm

MR-J4-70A, MR-J4-100A
Terminal
arrangement

Exhaust

Intake
Cooling fan

Unit: mm

77
 Dimensions Servo Amplifiers

MR-J4-60A4, MR-J4-100A4

Terminal
arrangement

1 C
N
5
C
N
6
C
N
3 C
N
C 7
N
8

2 C
N
1

C
N
2
C
N
2

3
L
C
N
4

PE

4
Unit: mm

5
MR-J4-200A

6 Exhaust
Terminal
arrangement
Dimensions

Intake
Cooling fan

Unit: mm

MR-J4-200A4

Terminal
arrangement
Exhaust N-
CN5 L1
CN6
L2
CN3
L3
CN8 (Note 2)
P3
CN1 P4

CN2 P+
CN2L
C
CN4
CNP2 D

L11
Intake
Cooling fan L21

U
CNP3 V

Unit: mm

78
 Dimensions Servo Amplifiers

MR-J4-350A
Terminal
arrangement

1
Exhaust
Ø6 mounting
hole

3
Intake
Cooling fan

4
Unit: mm
5
MR-J4-350A4

Terminal
6
Cooling fan arrangement
Exhaust

Dimensions
Intake

Unit: mm

MR-J4-500A

Cooling fan Terminal diagram Terminal

Exhaust (with front cover open) arrangement

Intake

Unit: mm

79
 Dimensions Servo Amplifiers

MR-J4-500A4

Cooling fan Terminal diagram

Exhaust (with front cover open)

2
Terminal arrangement

3
PE
Intake

5 Unit: mm

MR-J4-700A, MR-J4-700A4

6 Cooling fan Terminal diagram

Exhaust (with front cover open)
Dimensions

Terminal arrangement

Intake

L12

Unit: mm

MR-J4-11KA, MR-J4-11KA4, MR-J4-15KA, MR-J4-15KA4

Cooling fan
Exhaust

Terminal arrangement

Intake

Unit: mm

80
 Dimensions Servo Amplifiers

MR-J4-22KA, MR-J4-22KA4

Cooling fan Terminal diagram

Exhaust (with front cover open)

2
Terminal arrangement

Intake 3

4
Unit: mm
5
MR-J4-10B, MR-J4-20B
Terminal
arrangement
Terminal
arrangement
6

Dimensions
1-phase 100 V AC 3-phase 200 V AC, or
1-phase 200 V AC
Unit: mm

MR-J4-40B, MR-J4-60B

Terminal Terminal
arrangement arrangement

1-phase 100 V AC 3-phase 200 V AC, or

1-phase 200 V AC

Unit: mm

81
 Dimensions Servo Amplifiers

MR-J4-70B, MR-J4-100B
Terminal
arrangement

Exhaust

1 C
N
9

C
N

2
7

3
Intake
Cooling fan

5 Unit: mm

MR-J4-60B4, MR-J4-100B4

6 Terminal
arrangement
Dimensions

C
N
9

C
N
7

PE

Unit: mm

MR-J4-200B

Terminal
arrangement
Exhaust

C
C N
L1 N 9
5
L2

L3 C
N
N- 3 C
N
P3 7

P4 C
N
8

P+ C
N
C 1
D A
L11
L21 C
N
1
B
U
C
V N
2
W C
N
2
C
N
4

Intake
Cooling fan

Unit: mm

82
 Dimensions Servo Amplifiers

MR-J4-200B4

Terminal
arrangement

1
Exhaust

Intake
3
Cooling fan

4
Unit: mm
5
MR-J4-350B

Terminal
arrangement
6
Exhaust

Dimensions
C
N
9
Ø6 Mounting hole

C
N
7

Intake
Cooling fan

Unit: mm

MR-J4-350B4

Cooling fan Terminal

arrangement
Exhaust

Intake

Unit: mm

83
 Dimensions Servo Amplifiers

MR-J4-500B
Terminal
arrangement

Cooling fan Terminal diagram

(with front cover open)

1
Exhaust

3
Intake

5 Unit: mm

MR-J4-500B4

6
Cooling fan Terminal diagram
Exhaust (with front cover open)
Dimensions

Terminal arrangement

Intake

Unit: mm

MR-J4-700B, MR-J4-700B4

Terminal diagram
Cooling fan
(with front cover open)
Exhaust

Terminal arrangement

Intake

Unit: mm

84
 Dimensions Servo Amplifiers

MR-J4-11KB, MR-J4-11KB4, MR-J4-15KB, MR-J4-15KB4

Terminal diagram
Cooling fan
Exhaust (with front cover open)

2
Terminal arrangement

Intake
3

4
Unit: mm
5
MR-J4-22KB, MR-J4-22KB4

Cooling fan Terminal diagram

(with front cover open)
6
Exhaust

Dimensions
C
C N
N 5
5
C
C N
N 3
3
C
C N
N 8
8 C
C N
N 1
1 A
A C
C N
N 1
1 B
B

Terminal arrangement

Intake

Unit: mm

MR-J4W2-22B, MR-J4W2-44B

Cooling fan
Exhaust
Terminal
(only for MR-J4W2-44B)
arrangement

Intake

Unit: mm

85
 Dimensions Servo Amplifiers

MR-J4W2-77B, MR-J4W2-1010B

Terminal
Cooling fan arrangement
Exhaust

3
Intake

5 Unit: mm

MR-J4W3-222B, MR-J4W3-444B

6 Cooling fan
Terminal
Exhaust arrangement
Dimensions

Intake

Unit: mm

86
 Dimensions Servo Amplifiers

MR-J4-GF 200-V-Ausführungen

MR-J4-10GF–MR-J4-60GF
50
6 Approx. 80 155
1
6

CNP1

CNP2
Terminal arrangement

CNP1 CNP2 CNP3 2

L1 P+ U
161
156

168

CNP3 L2 C V
L3 D W
N-
P3
L11
L21
3
P4
6

6
PE
Approx. 51
4
Approx. 37.5

Approx. 28.4

PE
5
5 Unit: mm

MR-J4-70GF, MR-J4-100GF
60
6
12 Approx. 80 185

Dimensions
Exhaust
6

CNP1

CNP2 Terminal arrangement

CNP1 CNP2 CNP3

161
156

168

CNP3 L1 P+ U
L2 C V
L3 D W
N- L11
P3 L21
6

PE Intake P4
6 Cooling fan
Approx. 51
Approx. 37.5

12 42
Approx. 28.4

PE

6 Unit: mm

MR-J4-200GF
90
85
45 Approx. 80 195

Exhaust
6

CNP1

CNP2 Terminal arrangement

161
156

168

CNP1 CNP2 CNP3

CNP3 L1 P+ U
L2 C V
L3 D W
N- L11
6

PE P3 L21
Intake
Cooling fan P4
Approx. 51
Approx.
37.5

6
6 78 6
Approx. 28.4

PE

6 Unit: mm

87
 Dimensions Servo Amplifiers

MR-J4-350GF
90
85
45 Approx. 80 195

1 Exhaust
6

CNP1

Terminal arrangement

2 CNP3
161
156

168

CNP1 CNP2 CNP3

L1 P+ U
CNP2
L2 C V
L3 D W

3
N- L11
P3
6

L21
PE Intake P4
Cooling fan Ø13 mounting phole
Approx. 51
Approx. 37.5

6
6 78 6 6

4 Approx. 28.4 (R
)

PE

10
5 6 Unit: mm

MR-J4-500GF

6 Approx. 25
6
105
93 6
Approx. 80 200
6 Terminal diagram
37.5 Cooling fan (with front cover open)
7.5

Terminal arrangement
Dimensions

Exhaust
TE2 L11

TE2 L21

TE1 TE1 L1
L2
L3
250
235

TE3
N-
TE3 P3
TE4
P4
P+
6 PE C
7.5

Intake
TE4 D
U
V PE
Approx.
28.4

W
Approx.
35.9

Unit: mm

MR-J4-700GF

172 Approx. 80 200

6 160 6 6 Terminal diagram
37.5 Cooling fan (with front cover open)
7.5

Exhaust

Terminal arrangement

TE3 N- P3 P4
300
285

TE1 L1 L2 L3 P+ C U V W TE2 L11 L21

TE3
PE

TE1
PE TE2
6 Intake
7.5

Built-in regenerative resistor

Approx. Approx.
28.4

lead terminal fixing screw

Screw size: M4
Tightening torque: 1,2 [Nm]
102.9

Unit: mm

88
 Dimensions Servo Amplifiers

MR-J4-11KGF/MR-J4-15KGF

220 Approx. 80 260

12 196 12 Approx. 37.5 10.5
Cooling fan Terminal diagram
10

Exhaust (with front cover open)

1
Terminal arrangement

TE1-1 L1 L2 L3 U V W
2
400
380

24.2 11
PE
TE2 TE1-1 TE1-2 P3 P4 P+ C N- TE2 L11 L21
TE1-2

60 43
PE
3
78.5
6 188 25.5 22.8
10

224.2 57.9
237.4 5 × 25.5 (= 127.5)

4
Approx. Approx.
28.4

Intake

5
140

Unit: mm

MR-J4-22KGF

12
260
236 12
Approx. 80 260
Approx. 37.5
Cooling fan
Terminal diagram
(with front cover open)
6
Exhaust
12

Dimensions
Terminal arrangement

TE1-1 L1 L2 L3 U V W
400
376

TE1-2 P3 P4P+ C N-

32.7 11 TE1-1
TE1-2 PE TE2 L11 L21
TE2
40

PE
188.5 25.5 22.8
40.5

12
26.5
12

223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
28.4

Intake
181

Unit: mm

MR-J4-GF 400-V-Ausführungen

MR-J4-60GF4/MR-J4-100GF4
60
12 Approx. 80 195
CNP1 Terminal arrangement
N-
6

CNP1 L1
L2
L3
P3
CNP2 P4
161
156

168

CNP2
CNP3 P+
C
D
L11
6

PE L21
6 CNP3
Approx. 51
Approx. 37.5

U
12
V
Approx. 28.4 W
PE

6 Unit: mm

89
 Dimensions Servo Amplifiers

MR-J4-200GF4
90
85
45 Approx. 80 195
CNP1 Terminal arrangement

1 Exhaust N-
6

CNP1 L1
L2
L3

2 CNP2
P3
156

168
161

P4
CNP2
CNP3 P+
C

3 D
6

PE Intake
L11
L21
6 Approx. 51 Cooling fan
Approx. 37.5

CNP3
6 78 6

4 Approx. 28.4
U
V
W
PE

5 6 Unit: mm

MR-J4-350GF4

6 6
105
93 6
Approx. 80 200
6
37.5
Cooling fan
7.5
Dimensions

Exhaust
Terminal arrangement
CNP1
CNP1
N-
L1
L2
CNP2 L3
P3
250
235

P4
CNP3
CNP2
P+
C
D
L11
L21
Intake
7.5

6 CNP3
U
V
Approx.
28.4

W
Approx.

PE
35.9

Unit: mm

MR-J4-500GF4
130
6 118 Approx. 80 200
37.5 6
Cooling fan Terminal diagram
7.5

Exhaust (with front cover open)

Terminal arrangement

TE2 L11 L21 TE3 N- P3 P4

250
235

TE1 L1 L2 L3 P+ C U V W
TE2 TE3
TE1 PE

Intake PE
7.5

Approx.

Built-in regenerative resistor

28.4

lead terminal fixing screw

Screw size: M4
Approx.
60.9

Tightening torque: 1,2 [Nm]

Unit: mm

90
 Dimensions Servo Amplifiers

MR-J4-700GF4

172 Approx. 80 200

6 160 6 6
37.5 Cooling fan Terminal diagram
7.5

Exhaust (with front cover open)

1
Terminal arrangement

TE3 N- P3 P4

2
300
285

TE1 L1 L2 L3 P+ C U V W TE2 L11 L21

TE3

TE1
PE
3
Intake PE TE2
6
7.5

4
Approx. Approx.

Built-in regenerative resistor

28.4

lead terminal fixing screw

Screw size: M4
Tightening torque: 1,2 [Nm]
102.9

Unit: mm
5
MR-J4-11KGF4/MR-J4-15KGF4

12
220
196 12
Approx. 80 260
Approx. 37.5 10.5
6
Cooling fan Terminal diagram
(with front cover open)
10

Exhaust

Dimensions
Terminal arrangement

TE1-1 L1 L2 L3 U V W
400
380

24.2 11
PE
TE1-2 P3 P4 P+ C N- TE2 L11 L21
TE2 TE1-1
TE1-2
60 43

PE
78.5

6 188 25.5 22.8

10

224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.

Intake
140 28.4

Unit: mm

MR-J4-22KGF4

260 Approx. 80 260

12 236 12 Approx. 37.5 Terminal diagram
Cooling fan (with front cover open)
Exhaust
12

Terminal arrangement

TE1-1 L1 L2 L3 U V W
400
376

TE1-2 P3 P4P+ C N-
32.7 11 TE1-1
TE2 TE1-2
PE TE2
40

L11 L21
PE
188.5 25.5 22.8
40.5

12
26.5
12

223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
28.4

Intake
181

Unit: mm

91
 Dimensions Servo Amplifiers

MR-J4-10TM/10TM4–MR-J4-60TM/60TM4
50
6 Approx. 80 161

1
Terminal arrangement
6

CNP1 CNP1 CNP2 CNP3

L1 P+ U
L2 C V
CNP2 L3 D W
2
161

N-
168

L11
156

CNP3
P3 L21
P4

3 PE
6

PE
6 Approx. 51
Approx. 37.5

4 Approx. 28.4

5 5 Unit: mm

MR-J4-70TM/70TM4–MR-J4-100TM/100TM4

6 12
60
Approx. 80 191

Exhaust
Dimensions
6

CNP1

CNP2 Terminal arrangement

PE
156

161

CNP3
168

CNP1 CNP2 CNP3

L1 P+ U
C
6

Intake L2 V
PE
6 Cooling fan L3 D W
Approx. 51
N-
Approx. 37.5

L11
12 42
P3 L21
Approx. 28.4
P4

6 Unit: mm

MR-J4-200TM/200TM4
90
85
45 Approx. 80 201

Exhaust
Terminal arrangement
6

CNP1
CNP1 CNP2 CNP3
L1 P+ U
L2 C V
CNP2 L3 D W
168
161
156

N- L11
CNP3 P3 L21
P4
PE
6

PE Intake
Approx. 37.5

6 Approx. 51 Cooling fan

6 78 6

Approx. 28.4

6 Unit: mm

92
 Dimensions Servo Amplifiers

MR-J4-350TM/350TM4
90
85
45 Approx. 80 201

Exhaust
Terminal arrangement 1
6

CNP1 CNP1 CNP2 CNP3

L1 P+ U
L2 C V

2
161

CNP3
156

168

L3 D W
N- L11
CNP2
P3 L21
P4
PE

3
6

PE
Intake
Approx. 37.5

Approx. 51 Cooling fan

6
6
Approx. 28.4
78 6
4
6 Unit: mm
5
MR-J4-500TM/500TM4
25
6
105
93 6
Approx. 80 206
6
6
37.5 Cooling fan
7.5

Exhaust

Dimensions
Terminal diagram
(with front cover open) Terminal arrangement

TE2 L11

TE2 L21

TE1 TE1 L1
250
235

L2
TE3 L3
N-

TE4 TE3 P3
P4
P+
7.5

6 Intake
PE C
Approx.

TE4 D
28.4

U
V PE
Approx.

W
35.9

Unit: mm

MR-J4-700TM/700TM4

172 Approx. 80 206

6 160 6 6
37.5 Cooling fan Terminal diagram
7.5

Exhaust (with front cover open)

Terminal arrangement

TE3 N- P3 P4
300
285

TE1 L1 L2 L3 P+ C U V W TE2 L11 L21

TE3
PE

TE1
TE2
6
7.5

Intake PE

Built-in regenerative resistor

Approx. Approx.
28.4

lead terminal fixing screw

Screw size: M4
Tightening torque: 1,2 [Nm]
102.9

Unit: mm

93
 Dimensions Servo Amplifiers

Servo Amplifiers MR-JE-A

„„

MR-JE-10A, MR-JE-20A, MR-JE-40A

5
Unit: mm

6 MR-JE-70A, MR-JE-100A
Dimensions

Unit: mm

MR-JE-200A, MR-JE-300A

Exhaust

Intake
Cooling fan

Unit: mm

94
 Dimensions Servo Amplifiers

Servo Amplifiers MR-JE-B

„„

MR-JE-10B, MR-JE-20B, MR-JE-40B

6
50

Approx. 80 135
1
CN5
CNP1
CN5
6

2
CN3 L1
CN4 C
N C
4 N
3 L2
CN1A L3
C
N
1
A
P+
CN1B

3
C
N
1 C
156

168

B
CN2
C
N
2
U
CNP1
L1 V
L2
L3
P+
C
W

4
U
V
W CNP1
PE
6

PE
6

5
6

2.9 Unit: mm

MR-JE-70B, MR-JE-100B 6
70

Dimensions
22 Approx. 80 185
CN5
CNP1
CN5
6

CN3 L1
C
N C

L2
4 N
3
CN4
CN1A
C L3
N
1
A
CN1B P+
C
N
CN2
168

C
1
B
156

C
N

CNP1
2
U
L1
L2
L3 V
P+
C
U
W
V
W CNP1
PE
6

6
PE
22 42

3.3
Unit: mm

MR-JE-200B, MR-JE-300B
90
Approx. 80 195
85
45
Exhaust
6

CNP1 CN5 L1
C
L1 N

L2
5
CN3 L2
L3 C
N
N- 3
L3
C

N-
D
161

CN1A
156

168

P+
C
N
1
A
C
CN1B
CNP2 C
N D
1
B
U

V CN2 P+
W C
N
2
CN4
C
N
4 CNP2
6

U
Intake
Cooling fan V PE
6 W
6 78

6
Unit: mm

95
 Dimensions Options

EMC Filters
„„

MF-2F230-006.230MFa to MF-3F480-015.230MF3 and MF-3F480-035.230

1 A
A1 C
Type A A1 B B1 B2 C

2 M5 MF-2F230-
006.230MFa
MF-2F230-
40 28 200 190 170 40

60 42 200 190 170 40

006.230MFb
MF-2F230-
3 006.230MFc
MF-3F480- 130
50 38

118
200

282
190

270 —
170

66
40

015.233MF
MF-3F480- 60 42 202 192 172 55
4 010.233MF
B1
B2
B

MF-3F480- 90 78 204 192 172 55

015.230MF3
MF-3F480- 105 93 282 270 235 55
015.234MF
5 MF-3F480-
035.230 75 60 168 156 140 195

6 Unit: mm
Dimensions

MF-3F230-011.230, MF-3F480-025.230MF3, MF-3F480-050.230MF3

A
A1 C
M5 PE Type A A1 B B1 B2 C
MF-3F230- 45 36 168 156 140 135
011.230
L1 L2 L3
MF-3F480- 76 60 168 156 140 195
025.230MF3
MF-3F480- 75 45 250 235 220 200
050.230MF3
B1
B2
B

PE M5

L1, L2, L3
Unit: mm

96
 Dimensions Options

FMR-ES-3A-RS1-FP, FMR-ES-6A-RS1-FP
1
Type A A1 A2 A3 A4 B B1 B2 B3 C C1
FMR-ES-3A-RS1-FP 52±1 8 44 30 11 156 172±1 198 208±1 30 15
FMR-ES-6A-RS1-FP 72±1 — 42 50 11 156 172±1 198 208±1 30 15
2

3
5
20±1

4
8

6
208±1
198

Dimensions
172±1
156
16±1

Unit: mm

Brake Resistors
„„

MR-RFH, MR-PWR-R

Type L I
MR-RFH75-40 90 79
MR-RFH220-40 200 189
MR-RFH400-13 320 309
MR-RFH400-6.7 320 309
MR-PWR-R T 400-120 200 189
MR-PWR-R T 600-26 320 309
MR-PWR-R T 600-9 320 309
MR-PWR-R T 600-47 320 309

Unit: mm

97
 Dimensions Options

Functional safety unit MR-D30

„„

1
104,2
28 99,2
2 20 95,4

4
161

114,5
5
97
6
Dimensions

24,5

Unit: mm

98
Index

Symbole Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2-axis/3-axis Types for Energy-conservative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Direct drive motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Linear Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
A
Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Advanced Servo Gain Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Specifications (200 V Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
B HG-KN(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Brake Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 HG-KR(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Buffer Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 HG-MR(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
HG-RR(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
C HG-SN(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Cables and Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 HG-SR(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Detailed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Specifications (400 V Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Overview for Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 HG-JR(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Overview for Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 HG-SR(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Connections with Peripheral Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Specifications and Matching Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 With electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
MR-J4-GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Simple Motion module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
MR-JE-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
MR-JE-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 G-CAD Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Converter MR-ENCOM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
D Specifications Servo Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 MR-D30 Functional Safety Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
EMC Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 MR-J4-A/B (200 V Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Functional safety unit MR-D30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 MR-J4-A/B (400 V Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 MR-J4-GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 MR-J4-TM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
MR-J4W2-B/MR-J4W3-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
E MR-JE-A/B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
EMC Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 SSCNETIII Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
M Supporting Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Machine Diagnosis Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Manual Pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 SSCNETIII/H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 X-Y Table System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
MELSEC System Q . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 T
MR-MQ100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Q170MSCPU/Q170MSCPU-S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
MR-MQ100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
P
Positioning Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
MELSEC L Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
MELSEC System Q . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Positioning Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
S
Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Servo Amplifier with Built-in Positioning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Servo and Motion Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Positioning controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Simple Motion module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

99

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Mitsubishi Electric offers a wide range of automation equipment from PLCs and HMIs to CNC and
EDM machines
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covering a spectrum of finance, com-
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Electrobit OÜ UTU Automation Oy UTECO A.B.E.E. MELTRADE Kft. TOO Kazpromavtomatika OAK Integrator Products SIA Automatikos Centras, UAB
Pärnu mnt. 160i Peltotie 37 5, Mavrogenous Str. Fertő utca 14. Ul. Zhambyla 28 Ritausmas iela 23 Neries krantiné 14A-101
EST-11317, Tallinn FIN-28400 Ulvila GR-18542 Piraeus HU-1107 Budapest KAZ-100017 Karaganda LV-1058 Riga LT-48397 Kaunas
Phone: +372 6518 140 Phone: +358 (0)207 / 463 500 Phone: +30 (0)211 / 1206-900 Phone: +36 (0)1 / 431-9726 Phone: +7 7212 / 50 10 00 Phone: +371 67842280 Phone: +370 37 262707

Malta Moldova Portugal Romania Serbia Slovakia Slovenia

ALFATRADE Ltd. INTEHSIS SRL Fonseca S.A. Sirius Trading & Services INEA SR d.o.o. SIMAP SK INEA RBT d.o.o.
99, Paola Hill bld. Traian 23/1 R. João Francisco do Casal 87/89 Aleea Lacul Morii Nr. 3 Ul. Karadjordjeva 12/217 Dolné Pažite 603/97 Stegne 11
Malta-Paola PLA 1702 MD-2060 Kishinev PT-3801-997 Aveiro, Esgueira RO-060841 Bucuresti, Sector 6 SER-11300 Smederevo SK-911 06 Trenčín SI-1000 Ljubljana
Phone: +356 (0)21 / 697 816 Phone: +373 (0)22 / 66 4242 Phone: +351 (0)234 / 303 900 Phone: +40 (0)21 / 430 40 06 Phone: +386 (026) 461 54 01 Phone: +421 (0)32 743 04 72 Phone: +386 (0)1 / 513 8116

Switzerland Ukraine
OMNI RAY AG CSC- AUTOMATION Ltd.
Im Schörli 5 4 B, Yevhenа Sverstyuka Str.
CH-8600 Dübendorf UA-02002 Kiev
Phone: +41 (0)44 / 802 28 80 Phone: +380 (0)44 / 494 33 44

Israel Lebanon South Africa

SHERF MOTION TECHN. Ltd. CEG LIBAN
Rehov Hamerkava 19 Cebaco Center/Block A
IL-58851 Holon Autostrade DORA
Phone: +972 (0)3 / 559 54 62 Lebanon-Beirut
Phone: +961 (0)1 / 240 445
ADROIT TECHNOLOGIES
20 Waterford Office Park 189
Witkoppen Road
ZA-Fourways
Phone: + 27 (0)11 / 658 8100

Version check
Mitsubishi Electric Europe B.V.
FA - European Business Group
Mitsubishi-Electric-Platz 1
D-40882 Ratingen Germany
Tel.: +49(0)2102-4860 Fax: +49(0)2102-4861120
info@mitsubishi-automation.com
https://eu3a.mitsubishielectric.com
Art. no. 209265-F Specifications subject to change. All trademarks and copyrights acknowledged. Printed April 2017