Servo Amplifier MR-J4W2-B Q173DSCPU Q172DSCPU QD77MS. Power cable Power cable. Personal computer. Setup software MR Configurator2.

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1 FX2N1PG POWER ERROR TART DOG X PGO X1 FP RP CLR ø MRJ4 ervomotors and Amplifiers With a capacity range of W to 7kW (2V only), both the amplifier and motor size is reduced. We added a high resolution encoder of 4 million pulse/rev, with a speed frequency response of 2Hz. Additional fetures include advanced onetouch auto tuning and advanced vibration suppression control II functions. The MRJ4 motors ahve the same flance size as J3 notors with the lenght of the motor bing the same or smaller than the J3. The same cables for power, encoder and brake can be used for the MRJ3 and MRJ4. MRJ4 eries has four models: MRJ4A (analog/pulse train), MRJ4B, (CNET III/H), MRJ4W2B (Dual axis amplifier with CNET III/H) and MEJ4W3B (Three axis in one amplifier with CNET III/H). In addition, MRJ4 has three motor models available: HGKR similar to HFKP, HGMR similar to HFMP, and HGR similar to HFP eries. Mize software is used to size HG eries motors and setup is made easy using MRConfigurator. MRJ4B ervo Amplifier MRJ4B MRJ4W2B ervo Amplifier MRJ4W2B (1st and 2nd axis) Personal computer D Personal computer D UB cable MRJ3UBCBL3M etup software MR Configurator2 UB cable MRJ3UBCBL3M etup software MR Configurator2 Main circuit power supply Junction Terminal Block Cable Junction Terminal Block Cable MRTBNATBL_M MRTBNATBL_M A Control circuit power supply TO I/O ignal Connector MRDUDL3MB MRJ3BU_M, MRJ3BU_MA/B cable Controller Q173DCPU Q172DCPU QD77M A TO I/O ignal Connector MRDUDL3MB MRJ3BU_M, MRJ3BU_MA/B cable Controller Q173DCPU Q172DCPU QD77M MRJ3BU_M, MRJ3BU_MA/B cable MRJ3BU_M, MRJ3BU_MA/B cable Connects to CN1A, CN1B ervo amplifier MRJ4B, MRJ4W_B Connects to CN1A, CN1B ervo amplifier MRJ4B, MRJ4W_B Encoder cable C Encoder cable C Power cable Power cable B B ervo motor ervo motor MRJ4W3B ervo Amplifier MRJ4W3B (1st and 2nd axis) Personal computer D MRJ4A ervo Amplifier MRJ4A UB cable MRJ3UBCBL3M etup software MR Configurator2 Personal computer D Junction Terminal Block Cable UB cable MRJ3UBCBL3M etup software MR Configurator2 MRTBNATBL_M Analog Monitor Output Connector MRJ3CN6CBL1M TO I/O ignal Connector A A MRDUDL3MB MRJ3BU_M, MRJ3BU_MA/B cable Controller Q173DCPU Q172DCPU QD77M A TO I/O ignal Connector MRDUDL3MB MRJ3BU_M, MRJ3BU_MA/B cable Connects to CN1A, CN1B I/O ignal Connector MRJ2MCN1TBL_M ervo amplifier MRJ4B, MRJ4W_B Encoder cable C Encoder cable C Power cable B Power cable B ervo motor ervo motor A. MRJ4 Amplifiers B. MRJ4 ervomotors C. Cables and Connectors...38 D. oftware and Manuals E. ystem Options Mitsubishi Electric Automation ervomotors and Amplifiers 371

2 ERVOMOTOR AND AMPLIFIER A. MRJ4 Amplifiers Amplifier Types Type MRJ4B Interface Pulse Train Analog CNET III / H R422 MultiDrop Control Mode Position peed Torque Fully Closed Loop Control Number of Control Axes X X X X X 1 axis Power 3Phase 2VAC Rated Output (kw) (*1) Compatible Motor eries HGKR HGMR HGR LMH3 X = Compatible = Not compatible LMF LMK2 LMU2.1 ~ 7kW X X X X X X X X TMRFM CNET III / H Interface MRJ4W2B MRJ4W3B X X X X X 2 axes 3Phase 2VAC.2 ~ 1kW X X X X X X X X X X X 3 axes 3Phase 2VAC.2 ~.4kW X X X X X X MRJ4A General Purpose Interface X X X X X X X 1 axis 3Phase 2VAC.1 ~ 7kW X X X X X X X X Note: 1. The values in the table shows the rated output of the servo amplifiers. Refer to themrj4 brochure for the compatible servo motor. 1Axis ervo Amplifier election (Example Part No. = MRJ41BED) MultiAxis ervo Amplifier election (Example Part No. = MRJ4W222BED) MRJ4 ED MRJ4W BED ymbol pecial pecification ymbol pecial pecification Mitsubishi General Purpose AC ervo Amplifier ED Without a dynamic brake (*1) ymbol Interface A Generalpurpose Mitsubishi General Purpose AC ervo Amplifier ED Without a dynamic brake (*1) ymbol B Interface CNET III/H B CNET III/H ymbol Rated Output [kw] ymbol Rated Output [kw] AAxis BAxis CAxis (*2) ymbol W2 W3 Number of Axes 2 axes 3 axes 1. When using the servo amplifier without a dynamic brake, the servo motor does not stop immediately at alarm occurrence or power failure. Take measures to ensure safety on the entire system. 2. For 3axis servo amplifier. 372

3 Combinations of 1Axis ervo Amplifier and ervo Motor ervo Amplifier tocked Rotary ervo Motor Linear ervo Motor (Primary ide) (*1) Direct Drive Motor MRJ41B MRJ42B MRJ44B HGKR3, 13 HGMR3, 13 HGKR23 HGMR23 HGKR43 HGMR43 LMU2PABM LMU2PBB7M1 LMH3P2A7PB LMH3P3A12PC LMK2P1A1M21 LMU2PAD1M LMU2PAF1M MRJ46B HGR1, 2 LMU2PBD1M1 MRJ47B HGKR73 HGMR73 MRJ42B HGR121, 21, 12, 22 MRJ43B HGR31, 32 MRJ4B HGR421, 2 MRJ47B HGR72 LMH3P3B24PC LMH3P3C36PC LMH3P7A24PA LMK2P2A2M11 LMU2PBF22M1 LMH3P3D48PC LMH3P7B48PA LMH3P7C72PA LMFP2B6M1 LMK2P1C3M21 LMU2P2B4M2 LMH3P7D96PA LMK2P2C7M11 LMK2P3C14M11 LMU2P2C6M2 LMFP2D12M1 LMFP4B12M1 LMK2P2E12M11 LMK2P3E24M11 LMU2P2D8M2 LMFP2F18M1 LMFP4D24M1 TMRFM2C2 TMRFM4C2 TMRFM6C2 TMRFM6E2 TMRFM12E2 TMRFM12G2 TMRFM4J1 TMRFM48G2 TMRFM72G2 TMRFM12J1 TMRFM24J1 With MRJ4A servo amplifier ervo Amplifier tocked Rotary ervo Motor Linear ervo Motor (Primary ide) (*1) Direct Drive Motor MRJ41A HGKR3, 13 HGMR3, 13 MRJ42A HGKR23 HGMR23 MRJ44A HGKR43 HGMR43 MRJ46A HGR1, 2 MRJ47A HGKR73 HGMR73 Available in the future Available in the future MRJ41A HGR81, 12 MRJ42A HGR121, 21, 12, 22 MRJ43A HGR31, 32 MRJ4A HGR421, 2 MRJ47A HGR72 Note: 1. Refer to Combinations of Linear ervo Motor and ervo Amplifier under section 3 Linear ervo Motor for the combinations of the primary and the secondary sides of the linear servo motors. Mitsubishi Electric Automation ervomotors and Amplifiers 373

4 ERVOMOTOR AND AMPLIFIER Combinations of MultiAxis ervo Amplifier and ervo Motor With MRJ4W2B ervo Amplifier ervo Amplifier tocked Rotary ervo Motor Linear ervo Motor (Primary ide) (*1) Direct Drive Motor MRJ4W222B HGKR3, 13, 23 LMU2PABM HGMR3, 13, 23 LMU2PBB7M1 TMRFM2C2 LMH3P2A7PB LMH3P3A12PC MRJ4W244B LMK2P1A1M21 HGKR3, 13, 23, 43 TMRFM2C2 LMU2PABM HGMR3, 13, 23, 43 TMRFM4C2 LMU2PAD1M LMU2PAF1M LMU2PBB7M1 MRJ4W277B MRJ4W211B HGKR43, 73 HGMR43, 73 HGR1, 2 HGKR43, 73 HGMR43, 73 HGR1, 81, 2, 12 LMH3P2A7PB LMH3P3A12PC LMH3P3B24PC LMH3P3C36PC LMH3P7A24PA LMK2P1A1M21 LMK2P2A2M11 LMU2PAD1M LMU2PAF1M LMU2PBD1M1 LMU2PBF22M1 LMH3P2A7PB LMH3P3A12PC LMH3P3B24PC LMH3P3C36PC LMH3P7A24PA LMK2P1A1M21 LMK2P2A2M11 LMU2PAD1M LMU2PAF1M LMU2PBD1M1 LMU2PBF22M1 TMRFM4C2 TMRFM6C2 TMRFM6E2 TMRFM12E2 TMRFM12G2 TMRFM4J1 TMRFM4C2 TMRFM6C2 TMRFM6E2 TMRFM12E2 TMRFM18E2 TMRFM12G2 TMRFM4J1 With MRJ4W3B ervo Amplifier ervo Amplifier tocked Rotary ervo Motor Linear ervo Motor (Primary ide) (*1) Direct Drive Motor MRJ4W3222B HGKR3, 13, 23 LMU2PABM HGMR3, 13, 23 LMU2PBB7M1 TMRFM2C2 LMH3P2A7PB LMH3P3A12PC MRJ4W3444B LMK2P1A1M21 HGKR3, 13, 23, 43 TMRFM2C2 LMU2PABM HGMR3, 13, 23, 43 TMRFM4C2 LMU2PAD1M LMU2PAF1M LMU2PBB7M1 Note: 1. Refer to Combinations of Linear ervo Motor and ervo Amplifier in this guide for the combinations of the primary and the secondary sides of the linear servo motors. 374

5 MRJ4B (CNET III/H Interface) pecifications ervo Amplifier Model MRJ4 1B 2B 4B 6B 7B 1B 2B 3B B 7B tocked Output Main Circuit Power upply Control Circuit Power upply Rated Voltage Interface Power upply 3phase 17 VAC Rated Current (A) Voltage/Frequency (*1, *2) 3phase or 1phase 2 VAC to 24 VAC, /6 Hz 3phase 2 VAC to 24 VAC, /6 Hz Rated Current (A) (*9) Permissible Voltage Fluctuation 3phase or 1phase 17 VAC to 264 VAC 3phase 17 VAC to 264 VAC Permissible Frequency Fluctuation ±% maximum Voltage/Frequency 1phase 2 VAC to 24 VAC, /6 Hz Rated Current (A).2.3 Permissible Voltage Fluctuation 1phase 17 VAC to 264 VAC Permissible Frequency Fluctuation ±% maximum Power Consumption (W) 3 4 Loadide Encoder Interface (*8) Tolerable Regenerative Power of the Builtin Regenerative Resistor (*2, *3) (W) Control Method 24 VDC ±1% (required current capacity:.3 A (including CN8 signal)) Mitsubishi highspeed serial communication inewave PWM control/current control method Dynamic Brake Builtin (*4) Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal), servo motor overheat protection, Protective Functions encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection Fully Closed Loop Control Available in the future afety Function (*1) TO (IEC/EN 6182) tandards Certified by CB EN IO Category 3 PL d, EN 618 IL 2, EN 6261 IL CL 2, EN 6182 IL 2 Response Performance Test Pulse Input (TO) (*7) afety Mean Time to Dangerous Performance Failure (MTTFd) Average Diagnostic Coverage (DCavg) Probability of Dangerous Failure Per Hour (PFH) Communication Function Compliance to tandards 8 ms or less (TO input OFF energy shutoff) Test pulse frequency: 1 Hz to 2 Hz; Test pulse off time: 1 ms maximum 1 years 9% [1/h] UB: Connect a personal computer (MR Configurator2 compatible) CE Marking LVD: EN 6181; EMC: EN 6183; MD: EN IO , EN 6182, EN 6261 UL tandard (*1) UL 8C tructure (IP Rating) Natural cooling, open (IP2) Force cooling, open (IP2) Force cooling, open (IP2) (*) Close Mounting Possible (*6) Not possible Weight kg Rated output and speed of a rotary servo motor and a direct drive motor; and rated thrust and maximum speed of a linear servo motor are applicable when the servo amplifier, combined with the servo motor, is operated within the specified power supply voltage and frequency. 2. Optimal regenerative option varies for each system. elect the most suitable regenerative option for your system with our capacity selection software. 3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used. 4. When using the builtin dynamic brake, refer to "MRJ4_B ervo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to mass ratio.. Terminal blocks are excluded. 6. When the servo amplifiers are closely mounted, keep the ambient temperature within C to 4 C, or use them with 7% or less of the effective load rate. 7. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on. 8. Not compatible with pulse train interface (A/B/Zphase differential output type). 9. The rated current is 2.9 A when the servo amplifier is used with UL or CA compliant servo motor. 1. ome of the models are under application. Contact your local sales office for more details. Mitsubishi Electric Automation ervomotors and Amplifiers 37

6 ERVOMOTOR AND AMPLIFIER MRJ4W2B (2Axis) pecifications ervo Amplifier Model MRJ4W2 22B 44B 77B 11B tocked Rated Output Output Main Circuit Power upply Control Circuit Power upply Rated Voltage Interface Power upply 3phase 17 VAC Rated Current (A) Voltage/Frequency (*1, *2) 3phase or 1phase 2 VAC to 24 VAC, /6 Hz 3phase 2 VAC to 24 VAC, /6 Hz Rated Current (A) Permissible Voltage Fluctuation 3phase or 1phase 17 VAC to 264 VAC 3phase 17 VAC to 264 VAC Permissible Frequency Fluctuation ±% maximum Voltage/Frequency 1phase 2 VAC to 24 VAC, /6 Hz Rated Current (A).4 Permissible Voltage Fluctuation 1phase 17 VAC to 264 VAC Permissible Frequency Fluctuation Power Consumption (W) ±% maximum 24 VDC ±1% (required current capacity:.3 A (including CN8 signal)) Loadide Encoder Interface (*8) Mitsubishi highspeed serial communication Tolerable Regenerative Power of the Builtin Regenerative Resistor (*2, *3) (W) Capacitor Regeneration Moment of inertia (J) Equivalent to Permissible Charging Amount ( 1 4 kg m²) (*6) Mass Equivalent to Permissible LMH Charging Amount LMK2 (kg) (*7) LMU Tolerable Regenerative Power of the Builtin Regenerative Resistor (*2, *3) (W) 2 1 Control Method inewave PWM control/current control method Dynamic Brake Builtin (*4) Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, Protective Functions overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection Fully Closed Loop Control Available in the future afety Function (*1) TO (IEC/EN 6182) tandards Certified by CB EN IO Category 3 PL d, EN 618 IL 2, EN 6261 IL CL 2, EN 6182 IL 2 Response Performance Test Pulse Input (TO) (*7) afety Mean Time to Dangerous Performance Failure (MTTFd) Average Diagnostic Coverage (DCavg) Probability of Dangerous Failure Per Hour (PFH) Communication Function Compliance to tandards 8 ms or less (TO input OFF energy shutoff) Test pulse frequency: 1 Hz to 2 Hz; Test pulse off time: 1 ms maximum 1 years 9% [1/h] UB: Connect a personal computer (MR Configurator2 compatible) CE Marking LVD: EN 6181; EMC: EN 6183; MD: EN IO , EN 6182, EN 6261 UL tandard (*1) UL 8C tructure (IP Rating) Natural cooling, open (IP2) Force cooling, open (IP2) Close Mounting Possible Weight kg Rated output and speed of a rotary servo motor and a direct drive motor; and rated thrust and maximum speed of a linear servo motor are applicable when the servo amplifier, combined with the servo motor, is operated within the specified power supply voltage and frequency. 2. Optimal regenerative option varies for each system. elect the most suitable regenerative option for your system with our capacity selection software. 3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used. 4. When using the builtin dynamic brake, refer to "MRJ4W B ervo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to mass ratio.. For rotary servo motors and direct drive motors, "regenerative energy" is the energy generated when a machine, which has a moment of inertia equivalent to the permissible charging amount, decelerates from the rated speed to a stop. For linear servo motors, "regenerative energy" is the energy generated when a machine, which has mass equivalent to the permissible charging amount, decelerates from the maximum speed to a stop. 6. This is applicable for the rotary servo motor and the direct drive motor. When two axes are simultaneously decelerated, the permissible charging amount is equivalent to the total moments of inertia of the two axes. Otherwise, the permissible charging amount is equivalent to the moment of inertia of each axis. 7. This is applicable for the linear servo motor. Mass of primary side (coil) is included. When two axes are simultaneously decelerated, the permissible charging amount is equivalent to the total masses of the two axes. Otherwise, the permissible charging amount is equivalent to the mass of each axis. 8. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on. 9. Not compatible with pulse train interface (A/B/Zphase differential output type). 1. TO is common for all axes. 11. ome of the models are under application. Contact your local sales office for more details. 376

7 MRJ4W3B (3Axis) pecifications ervo Amplifier Model MRJ4W3 222B 444B tocked Rated Output.2.4 Output Main Circuit Power upply Control Circuit Power upply Rated Voltage Interface Power upply 3phase 17 VAC Rated Current (A) Voltage/Frequency (*1, *2) 3phase or 1phase 2 VAC to 24 VAC, /6 Hz Rated Current (A) Permissible Voltage Fluctuation 3phase or 1phase 17 VAC to 264 VAC Permissible Frequency Fluctuation ±% maximum Voltage/Frequency 1phase 2 VAC to 24 VAC, /6 Hz Rated Current (A).4 Permissible Voltage Fluctuation 1phase 17 VAC to 264 VAC Permissible Frequency Fluctuation Power Consumption (W) ±% maximum 24 VDC ±1% (required current capacity:.4 A (including CN8 signal)) Loadide Encoder Interface (*8) Mitsubishi highspeed serial communication Tolerable Regenerative Power of the Builtin Regenerative Resistor 21 3 (*2, *3) (W) Capacitor Regeneration Moment of inertia (J) Equivalent to Permissible Charging Amount ( 1 4 kg m²) (*6) Mass Equivalent to Permissible LMH Charging Amount LMK2 (kg) (*7) LMU Tolerable Regenerative Power of the Builtin Regenerative Resistor (*2, *3) (W) 3 Control Method inewave PWM control/current control method Dynamic Brake Builtin (*4) Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, Protective Functions overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection Fully Closed Loop Control Not compatible afety Function (*1) TO (IEC/EN 6182) (*9) tandards Certified by CB EN IO Category 3 PL d, EN 618 IL 2, EN 6261 IL CL 2, EN 6182 IL 2 Response Performance Test Pulse Input (TO) (*7) afety Mean Time to Dangerous Performance Failure (MTTFd) Average Diagnostic Coverage (DCavg) Probability of Dangerous Failure Per Hour (PFH) Communication Function Compliance to tandards tructure (IP Rating) Close Mounting 8 ms or less (TO input OFF energy shutoff) Test pulse frequency: 1 Hz to 2 Hz; Test pulse off time: 1 ms maximum 1 years 9% [1/h] UB: Connect a personal computer (MR Configurator2 compatible) CE Marking LVD: EN 6181; EMC: EN 6183; MD: EN IO , EN 6182, EN 6261 UL tandard (*1) UL 8C Natural cooling, open (IP2) Possible Weight kg Rated output and speed of a rotary servo motor and a direct drive motor; and rated thrust and maximum speed of a linear servo motor are applicable when the servo amplifier, combined with the servo motor, is operated within the specified power supply voltage and frequency. 2. Optimal regenerative option varies for each system. elect the most suitable regenerative option for your system with our capacity selection software. 3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used. 4. When using the builtin dynamic brake, refer to "MRJ4W B ervo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to mass ratio.. For rotary servo motors and direct drive motors, "regenerative energy" is the energy generated when a machine, which has a moment of inertia equivalent to the permissible charging amount, decelerates from the rated speed to a stop. For linear servo motors, "regenerative energy" is the energy generated when a machine, which has mass equivalent to the permissible charging amount, decelerates from the maximum speed to a stop. 6. This is applicable for the rotary servo motor and the direct drive motor. When three axes are simultaneously decelerated, the permissible charging amount is equivalent to the total moments of inertia of the three axes. Otherwise, the permissible charging amount is equivalent to the moment of inertia of each axis. 7. This is applicable for the linear servo motor. Mass of primary side (coil) is included. When three axes are simultaneously decelerated, the permissible charging amount is equivalent to the total masses of the three axes. Otherwise, the permissible charging amount is equivalent to the mass of each axis. 8. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on. 9. TO is common for all axes. 1. ome of the models are under application. Contact your local sales office for more details. Mitsubishi Electric Automation ervomotors and Amplifiers 377

8 ERVOMOTOR AND AMPLIFIER MRJ4A (General Purpose Interface) pecifications ervo Amplifier Model MRJ4 1A 2A 4A 6A 7A 1A 2A 3A A 7A tocked Output Rated Voltage 3phase 17 VAC Rated Current (A) Voltage/Frequency (*1, *2) 3phase or 1phase 2 VAC to 24 VAC, /6 Hz 3phase 2 VAC to 24 VAC, /6 Hz Main Circuit Power Rated Current (A) (*8) upply Permissible Voltage Fluctuation 3phase or 1phase 17 VAC to 264 VAC 3phase 17 VAC to 264 VAC Permissible Frequency Fluctuation ±% maximum Voltage/Frequency 1phase 2 VAC to 24 VAC, /6 Hz Control Rated Current (A).2.3 Circuit Power Permissible Voltage Fluctuation 1phase 17 VAC to 264 VAC upply Permissible Frequency Fluctuation ±% maximum Power Consumption (W) 3 4 Interface Power upply 24 VDC ±1% (required current capacity:. A (including CN8 signal)) Loadide Encoder Interface (*8) Mitsubishi highspeed serial communication Tolerable Regenerative Power of the Builtin Regenerative Resistor (*2, *3) (W) Control Method inewave PWM control/current control method Dynamic Brake Builtin (*4) Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal), servo motor overheat protection, Protective Functions encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection Maximum Input Pulse Frequency 4 Mpps (when using differential receiver), 2 kpps (when using opencollector) Positioning Feedback Pulse Encoder resolution: 22 bits Position Command Pulse Multiplying Factor Electronic gear A/B multiple, A: 1 to , B: 1 to , 1/1 < A/B < 4 Control Mode Positioning Complete Width etting pulse to ±63 pulses (command pulse unit) Error Excessive ±3 rotations Torque Limit et by parameters or external analog input ( V DC to +1 V DC/maximum torque) peed Control Range Analog speed command 1:2, internal speed command 1: peed Analog peed Command Input V DC to ±1 V DC/rated speed (peed at 1 V is changeable with [Pr. PC12].) Control ±.1% maximum (load fluctuation % to 1%), % (power fluctuation: ±1%) Mode peed Fluctuation Rate ±.2% maximum (ambient temperature: 2 C ± 1 C) only when using analog speed command Torque Limit et by parameters or external analog input ( V DC to +1 V DC/maximum torque) Torque Analog Torque Command Input V DC to ±8 V DC/maximum torque (input impedance: 1 kω to 12 kω) Control Mode peed Limit et by parameters or external analog input ( V DC to ± 1 V DC/rated speed) Fully Closed Loop Control Available in the future afety Function (*1) TO (IEC/EN 6182) tandards Certified by CB EN IO Category 3 PL d, EN 618 IL 2, EN 6261 IL CL 2, EN 6182 IL 2 Response Performance Test Pulse Input (TO) (*7) afety Mean Time to Dangerous Performance Failure (MTTFd) Average Diagnostic Coverage (DCavg) Probability of Dangerous Failure Per Hour (PFH) Communication Function Compliance to tandards 8 ms or less (TO input OFF energy shutoff) Test pulse frequency: 1 Hz to 2 Hz; Test pulse off time: 1 ms maximum 1 years 9% [1/h] UB: Connect a personal computer (MR Configurator2 compatible) CE Marking LVD: EN 6181; EMC: EN 6183; MD: EN IO , EN 6182, EN 6261 UL tandard (*1) UL 8C UB: Connect a personal computer (MR Configurator2 compatible) Communication Function R422: 1 : n communication (up to 32 axes) (Available in the future) tructure (IP Rating) Natural cooling, open (IP2) Force cooling, open (IP2) Force cooling, open (IP2) (*) Close Mounting Possible (*6) Not possible Weight kg Rated output and speed of a rotary servo motor are applicable when the servo amplifier, combined with the rotary servo motor, is operated within the specified power supply voltage and frequency. 2. Optimal regenerative option varies for each system. elect the most suitable regenerative option for your system with our capacity selection software. 3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used. 4. When using the builtin dynamic brake, refer to "MRJ4_A ervo Amplifier Instruction Manual" for the permissible load to motor inertia ratio.. Terminal blocks are excluded. 6. When the servo amplifiers are closely mounted, keep the ambient temperature within C to 4 C, or use them with 7% or less of the effective load rate. 7. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on. 8. The rated current is 2.9 A when the servo amplifier is used with UL or CA compliant servo motor. 9. Not compatible with pulse train interface (A/B/Zphase differential output type). 1. ome of the models are under application. Contact your local sales office for more details. 378

9 B. MRJ4 Rotary ervomotors X = Available = Not Available Rotary servo motor series HGKR mall Capacity HGMR Rated peed (Max. r/min) 3 (6) Rated Output Capacity (kw) Types.,.1,.2,.4,.7 ervo Motor Type Electromagnetic Brake Available With Reducer (G1) (*1) With Reducer (G, G7) (*1) Protective Degree (*2) Compatible eries X X X IP6 HFKP Features Low inertia: perfect for general industrial machines Application Examples Belt Drive Robots Mounters ewing Machines XY Tables Food Processing Machines emiconductor manufacturing devices Knitting and embroidery machines 3 (6) Types.,.1,.2,.4,.7 X IP6 HFMP Ultralow inertia Well suited for highthroughput operations Inserters Mounters Medium Capacity HGR 1 (1) 2 (3) 6 Types.,.8, 1.2, 2., 3., Types., 1., 1., 2., 3.,., 7. X IP67 X X X IP67 HFP Medium inertia This series is available with two rated speeds Material handling systems Robots XY tables 1. G1 for general industrial machines. G and G7 for high precision applications. 2. The shaftthrough portion is excluded. Refer to the asterisk 7 of "Annotations for Rotary ervo Motor pecifications" on p. 213 in this catalog for the shaftthrough portion. For geared servo motor, IP rating of the reducer portion is equivalent to IP44. Mitsubishi Electric Automation ervomotors and Amplifiers 379

10 ERVOMOTOR AND AMPLIFIER ervo Motor election (Example Part No. = HGKR3BG1) Not all options available for every motor. HG ymbol Oil eal None None J Installed (*2, *3, *4) ymbol Electromagnetic Brake None None B Installed (*1) ymbol Rated peed [r/min] ymbol Rated Output [kw]. 1 to 8.1 to.8 1 to 7 1. to 7. ymbol HGKR HGMR HGR Inertia/Capacity Low inertia, small capacity Ultralow inertia, small capacity Medium inertia, medium capacity ymbol Reducer (*) None None With reducer for general G1 industrial machines, flange mounting With reducer for general G1H industrial machines, foot mounting (*6) With flangeoutput type reducer for high precision G applications, flange mounting With shaftoutput type reducer for high precision G7 applications, flange mounting 1. Refer to electromagnetic brake specifications of each servo motor series in this catalog for the available models and detailed specifications. 2. Available in.1 kw or larger HGKR/HGMR series and all HGR series. 3. Oil seal is not installed in the geared servo motor. 4. Dimensions for HGKR/HGMR/HGR series with an oil seal are different from the standard models. Contact your local sales office for more details.. Refer to "Geared ervo Motor pecifications" in this catalog for the available models and detailed specifications. 6. Available only in HFR 2 r/min series. 7. tandard HGR G1/G1H has a key shaft (with key). 8. Refer to special shaft end specifications of each servo motor series in this catalog for the available models and detailed specifications. ymbol haft End tandard (traight None shaft) (*7) Key shaft (with/without K key) (*8) D Dcut shaft (*8) tocked Motors HGKR3(B) HGKR13(B) HGKR23(B) HGKR43(B) HGKR73(B) HGKR3(B)D HGKR13(B)D HGKR23(B)K HGKR43(B)K HGKR73(B)K HGMR3(B) HGMR13(B) HGMR23(B) HGMR43(B) HGMR73(B) HGMR3(B)D HGMR13(B)D HGMR23(B)K HGMR43(B)K HGMR73(B)K HGR2(B) HGR12(B) HGR12(B) HGR22(B) HGR32(B) HGR2(B) HGR72(B) HGR2(B)K HGR12(B)K HGR12(B)K HGR22(B)K HGR2(B)K HGR72(B)K Combinations of Rotary ervo Motor and ervo Amplifier With MRJ4 ervo Amplifier Rotary ervo Motor HGKR HGMR HGR ervo Amplifier 3, 13 3, 13 MRJ41A/B MRJ42A/B MRJ44A/B 1, 2 MRJ46A/B MRJ47A/B 81, 12 MRJ41A/B 121, 21, 12, 22 MRJ42A/B 31, 32 MRJ43A/B 421, 2 MRJ4A/B 72 MRJ47A/B With MRJ4W2 ervo Amplifier Rotary ervo Motor HGKR HGMR HGR ervo Amplifier Axis (*1) 3, 13, 23 3, 13, 23 MRJ4W222B A/B 3, 13, 23, 43 3, 13, 23, 43 MRJ4W244B A/B 43, 73 43, 73 1, 2 MRJ4W277B A/B 43, 73 43, 73 1, 81, 2, 12 MRJ4W211B A/B With MRJ4W3 ervo Amplifier Rotary ervo Motor HGKR HGMR HGR ervo Amplifier Axis (*2) 3, 13, 23 3, 13, 23 MRJ4W3222B A/B/C 3, 13, 23, 43 3, 13, 23, 43 MRJ4W3444B A/B/C 1. Any combination of the servo motors is available such as rotary servo motor for Aaxis, and linear servo motor or direct drive motor for Baxis. Refer to "Combinations of Linear ervo Motor and ervo Amplifier" and "Combinations of Direct Drive Motor and ervo Amplifier" in the MRJ4 brochure. 2. Any combination of the servo motors is available such as rotary servo motor for Aaxis, linear servo motor for Baxis, and direct drive motor for Caxis. Refer to "Combinations of Linear ervo Motor and ervo Amplifier" and "Combinations of Direct Drive Motor and ervo Amplifier" in the MRJ4 brochure. 38

11 HGKR eries (Low Inertia, mall Capacity) pecifications ervomotor Model HGKR_ 3(B) 13(B) 23(B) 43(B) 73(B) ervo Amplifier Model MRJ4_ MRJ4W Refer to "Combinations of ervo Motor and ervo Amplifier" in this guide. Power upply Capacity (kva) (*1) Rated Output (kw) Running Duty Rated Torque (N m) (*3) Maximum Torque (N m) Rated peed (r/min) 3 Maximum peed (r/min) 6 Permissible Instantaneous peed (r/min) 69 tandard (kw/s) Power Rate Rated Torque (kw/s) With Electromagnetic Brake (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking MRJ4 (times/min) (*4) (*4) Frequency (times/min) (*2) MRJ4W_ (times/min) Moment of inertia J tandard (x1 4 kg m²) [J (oz in²)] With Electromagnetic Brake Recommended Load/Motor Inertia Moment Ratio 1 times or less 24 times or less 22 times or less 1 times or less peed/position Detector Absolute/incremental 22bit encoder (resolution: pulses/rev) Oil eal None None (ervo motors with oil seal are available. (HGKR_J)) Insulation Class 13 (B) tructure Totally enclosed, natural cooling (IP rating: IP6) (*2) Ambient Temperature C to 4 C (nonfreezing), storage: 1 C to 7 C (nonfreezing) Environment Ambient Humidity 8% RH maximum (noncondensing), storage: 9% RH maximum (noncondensing) Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust Elevation / Vibration (*) 1 m or less above sea level; X: 49 m/s² Y: 49 m/s² Vibration Rank V1 (*6) Permissible Load for the haft (*) Weight kg L (mm) Radial (N) Thrust (N) tandard With Electromagnetic Brake Contact your local sales office if the load to motor inertia ratio exceeds the value in the table. 2. The shaftthrough portion is excluded. IP67 for the servo motor with oil seal. Equivalent to IP44 for the reducer portion on the geared servo motor. Refer to this guide for the shaftthrough portion. 3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 7% of the servo motor rated torque. 4. When the servo 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 the servo motor decelerates to a stop from the maximum speed, the regenerative frequency will not be limited if the following requirements are met. HGKR3(B): The load to motor inertia ratio is 8 times or less, and the effective torque is within the rated torque range. HGKR13(B): The load to motor inertia ratio is 4 times or less, and the effective torque is within the rated torque range.. The vibration direction is shown in the diagram below. The numeric 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 to approximately onehalf of the allowable value. X Y 6. Refer to the MRJ4 ervo Amplifier and Motors brochure for more detailed specifications. HGKR eries Electromagnetic Brake pecifications (*1) ervomotor Model HGKR_ 3B 13B 23B 43B 73B Type pring actuated type safety brake Rated Voltage 24 VDC 1 % Power Consumption (W) at 2 C Electromagnetic Brake tatic Friction Torque (N m) Permissible Braking Per Braking (J) Work Per Hour (J) Electromagnetic Brake Number of Times (Times) 2 Life (*2) Work Per Braking (J) The electromagnetic brake is for holding. It should not be used for deceleration applications. 2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed. HGKR3(B) (* 1, *2) HGKR13(B) (*1, *2) HGKR23(B) (*1, *2) HGKR43(B) (*1, *2) HGKR73(B) (*1, *2) hortduration peed [r/min] hortduration peed [r/min] 2. hortduration running range peed [r/min] 4. hortduration running range peed [r/min] hortduration peed [r/min] 1. : For 3phase 2 VAC or 1phase 23 VAC. 2. : For 1phase 2 VAC. 3. Torque drops when the power supply voltage is below the specified value. Mitsubishi Electric Automation ervomotors and Amplifiers 381

12 ERVOMOTOR AND AMPLIFIER HGMR eries (Ultra Low Inertia, mall Capacity) pecifications ervomotor Model HGMR_ 3(B) 13(B) 23(B) 43(B) 73(B) ervo Amplifier Model MRJ4_ MRJ4W Refer to "Combinations of ervo Motor and ervo Amplifier" in this guide. Power upply Capacity (kva) (*1) Rated Output (kw) Running Duty Rated Torque (N m) (*3) Maximum Torque (N m) /2 Rated peed (r/min) 3 Maximum peed (r/min) 6 Permissible Instantaneous peed (r/min) 69 tandard (kw/s) Power Rate Rated Torque (kw/s) With Electromagnetic Brake (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking MRJ4 (times/min) (*4) (*4) Frequency (times/min) (*2) MRJ4W_ (times/min) Moment of Inertia J tandard (x1 4 kg m²) [J (oz in²)] With Electromagnetic Brake Recommended Load/Motor Inertia Moment Ratio 3 times or less peed/position Detector Absolute/incremental 22bit encoder (resolution: pulses/rev) Oil eal None None (ervo motors with oil seal are available. (HGMR_J)) Insulation Class 13 (B) tructure Totally enclosed, natural cooling (IP rating: IP6) (*2) Ambient Temperature C to 4 C (nonfreezing), storage: 1 C to 7 C (nonfreezing) Environment Ambient Humidity 8% RH maximum (noncondensing), storage: 9% RH maximum (noncondensing) Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust Elevation / Vibration (*) 1 m or less above sea level; X: 49 m/s² Y: 49 m/s² Vibration Rank V1 (*6) Permissible Load for the haft (*) Weight kg L (mm) Radial (N) Thrust (N) tandard With Electromagnetic Brake Contact your local sales office if the load to motor inertia ratio exceeds the value in the table. 2. The shaftthrough portion is excluded. IP67 for the servo motor with oil seal. Refer to the asterisk 7 of "Annotations for Rotary ervo Motor pecifications" on p. 213 in this catalog for the shaftthrough portion. 3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 7% of the servo motor rated torque. 4. When the servo 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 the servo motor decelerates to a stop from the maximum speed, the regenerative frequency will not be limited if the following requirements are met. HGMR3(B): The load to motor inertia ratio is 24 times or less, and the effective torque is within the rated torque range. HGMR13(B): The load to motor inertia ratio is 12 times or less, and the effective torque is within the rated torque range.. The vibration direction is shown in the diagram below. The numeric 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 to approximately onehalf of the allowable value. X Y 6. Refer to the MRJ4 ervo Amplifier and Motors brochure for more detailed specifications. HGMR eries Electromagnetic Brake pecifications (*1) ervomotor Model HGMR_ 3B 13B 23B 43B 73B Type Rated Voltage 24 VDC 1 % pring actuated type safety brake Power Consumption (W) at 2 C Electromagnetic Brake tatic Friction Torque (N m) Permissible Braking Per Braking (J) Work Per Hour (J) Electromagnetic Brake Number of Times (Times) 2 Life (*2) Work Per Braking (J) The electromagnetic brake is for holding. It should not be used for deceleration applications. 2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed. HGMR3(B) (*1, *2) HGMR13(B) (*1, *2) HGMR23(B) (*1, *2) HGMR43(B) (*1, *2) HGMR73(B) (*1, *2) hortduration peed [r/min].7..2 hortduration running range peed [r/min] hortduration running range peed [r/min] hortduration running range peed [r/min] hortduration peed [r/min] 1. : For 3phase 2 VAC or 1phase 23 VAC. 2. : For 1phase 2 VAC. 3. Torque drops when the power supply voltage is below the specified value. 382

13 HGR 1 eries (Medium Inertia, Medium Capacity) pecifications ervomotor Model HGR_ 1(B) 81(B) 121(B) 21(B) 31(B) 421(B) ervo Amplifier Model MRJ4_ MRJ4W Refer to "Combinations of ervo Motor and ervo Amplifier" in this guide. Power upply Capacity (kva) (*1) Rated Output (kw) Running Duty Rated Torque (N m) (*3) Maximum Torque (N m) Rated peed (r/min) 1 Maximum peed (r/min) 1 Permissible Instantaneous peed (r/min) 172 tandard (kw/s) Power Rate Rated Torque (kw/s) With Electromagnetic Brake (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking MRJ4 (times/min) Frequency (times/min) (*2) MRJ4W_ (times/min) Moment of Inertia J tandard (x1 4 kg m²) [J (oz in²)] With Electromagnetic Brake Recommended Load/Motor Inertia Moment Ratio 1 times or less peed/position Detector Absolute/incremental 22bit encoder (resolution: pulses/rev) Oil eal None (ervo motors with oil seal are available. (HGR_J)) Insulation Class 1 (F) tructure Totally enclosed, natural cooling (IP rating: IP67) (*2) Ambient Temperature C to 4 C (nonfreezing), storage: 1 C to 7 C (nonfreezing) Ambient Humidity 8% RH maximum (noncondensing), storage: 9% RH maximum (noncondensing) Environment Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust Elevation 1 m or less above sea level Vibration (*4) X: 24. m/s² Y: 24. m/s² X: 24. m/s² Y: 49 m/s² X: 24. m/s² Y: 29.4 m/s² Vibration Rank V1 (*6) Permissible Load for the haft (*) Weight kg L (mm) Radial (N) Thrust (N) tandard With Electromagnetic Brake Contact your local sales office if the load to motor inertia ratio exceeds the value in the table. 2. The shaftthrough portion is excluded. IP67 for the servo motor with oil seal. Refer to the asterisk 7 of "Annotations for Rotary ervo Motor pecifications" on p. 213 in this catalog for the shaftthrough portion. 3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 7% of the servo motor rated torque. 4. The vibration direction is shown in the diagram below. The numeric 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 to approximately onehalf of the allowable value. X Y. Refer to the MRJ4 ervo Amplifier and Motors brochure for more detailed specifications. HGR 1 eries Electromagnetic Brake pecifications (*1) ervomotor Model HGR_ 1B 81B 121B 21B 31B 421B Type pring actuated type safety brake Rated Voltage 24 VDC 1 % Power Consumption (W) at 2 C Electromagnetic Brake tatic Friction Torque (N m) Permissible Braking Per Braking (J) Work Per Hour (J) Electromagnetic Brake Number of Times (Times) 2 Life (*2) Work Per Braking (J) The electromagnetic brake is for holding. It should not be used for deceleration applications. 2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed. HGR1(B) (*1, *2, *3) HGR81(B) (*1) HGR121(B) (*1) HGR21(B) (*1) HGR31(B) (*1) HGR421(B) (*1) hortduration running range 1 1 peed [r/min] 2 1 hortduration 1 1 peed [r/min] 3 hortduration peed [r/min] 4 2 hortduration 1 1 peed [r/min] 6 3 hortduration 1 1 peed [r/min] 1 hortduration 1 1 peed [r/min] 1. : For 3phase 2 V AC. 2. : For 1phase 23 V AC. 3. : For 1phase 2 V AC. This line is drawn only where differs from the other two lines. 4. Torque drops when the power supply voltage is below the specified value. Mitsubishi Electric Automation ervomotors and Amplifiers 383

14 ERVOMOTOR AND AMPLIFIER HGR 2 eries (Medium Inertia, Medium Capacity) pecifications ervomotor Model HGR_ 2(B) 12(B) 12(B) 22(B) 32(B) 2(B) 72(B) ervo Amplifier Model MRJ4 MRJ4W Refer to "Combinations of ervo Motor and ervo Amplifier" in this guide. Power upply Capacity (kva) (*1) Running Rated Output (kw) Duty Rated Torque (N m) (*3) Maximum Torque (N m) Rated peed (r/min) 2 Maximum peed (r/min) 3 Permissible Instantaneous peed (r/min) 34 tandard (kw/s) Power Rate Rated Torque (kw/s) With Electromagnetic Brake (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking MRJ4 (times/min) Frequency (times/min) (*2) MRJ4W_ (times/min) Moment of inertia J tandard (x1 4 kg m²) [J (oz in²)] With Electromagnetic Brake Recommended Load/Motor Inertia Moment Ratio 1 times or less peed/position Detector Absolute/incremental 22bit encoder (resolution: pulses/rev) Oil eal None (ervo motors with oil seal are available. (HGR_J)) Insulation Class 1 (F) tructure Totally enclosed, natural cooling (IP rating: IP67) (*2) Ambient Temperature C to 4 C (nonfreezing), storage: 1 C to 7 C (nonfreezing) Ambient Humidity 8% RH maximum (noncondensing), storage: 9% RH maximum (noncondensing) Environment Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust Elevation 1 m or less above sea level Vibration (*4) X: 24. m/s² Y: 24. m/s² X: 24. m/s² Y: 49 m/s² X: 24. m/s² Y: 29.4 m/s² Vibration Rank V1 (*6) Permissible Load for the haft (*) Weight kg L (mm) Radial (N) Thrust (N) tandard With Electromagnetic Brake Contact your local sales office if the load to motor inertia ratio exceeds the value in the table. 2. The shaftthrough portion is excluded. IP67 for the servo motor with oil seal. Refer to the asterisk 7 of "Annotations for Rotary ervo Motor pecifications" on p. 213 in this catalog for the shaftthrough portion. 3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 7% of the servo motor rated torque. 4. The vibration direction is shown in the diagram below. The numeric 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 to approximately onehalf of the allowable value. X Y. Refer to the MRJ4 ervo Amplifier and Motors brochure for more detailed specifications. HGR 2 eries Electromagnetic Brake pecifications (*1) ervomotor Model HGR_ 2B 12B 12B 22B 32B 2B 72B Type pring actuated type safety brake Rated Voltage 24 VDC 1 % Power Consumption (W) at 2 C Electromagnetic Brake tatic Friction Torque (N m) Permissible Braking Per Braking (J) Work Per Hour (J) Electromagnetic Brake Number of Times (Times) 2 Life (*2) Work Per Braking (J) The electromagnetic brake is for holding. It should not be used for deceleration applications. 2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed. HGR2(B) (*1, *2, *3) 9 6 hortduration peed [r/min] HGR12(B) (*1) 1 hortduration peed [r/min] HGR12(B) (*1) 24 hortduration peed [r/min] HGR22(B) (*1) 3 hortduration peed [r/min] HGR32(B) (*1) 6 4 hortduration peed [r/min] HGR72(B) (*1) 12 hortduration peed [r/min] HGR2(B) (*1) 7 hortduration peed [r/min] : For 3phase 2 V AC. 2. : For 1phase 23 V AC. 3. : For 1phase 2 V AC. This line is drawn only where differs from the other two lines. 4. Torque drops when the power supply voltage is below the specified value.

15 C. ervo Amplifier Cables and Connectors MRJ4B Type Amplifier Cables and Connectors For 3. kw or smaller Q173DCPU Q172DCPU QD77M MR Configurator2 (etup software) MRZJW3ETUP221E Controller ervo amplifier CN CNP1 CN3 CN8 CNP2 CN1A CN1B CN2 CNP afety Logic Unit MRJ3D ervo amplifier CN CNP1 CN3 CN8 CNP2 CN1A CN1B CN2 CNP3 1 To servo motor power supply CN4 To servo motor encoder CN4 Attach a cap to the unused. For kw or larger Q173DCPU Q172DCPU QD77M MR Configurator (etup software) MRZJW3ETUP221E Controller ervo amplifier CN CN afety Logic Unit MRJ3D ervo amplifier CN CN3 CN8 CN1A CN8 CN1A CN1B CN CN1B CN2 1 CN4 CN4 To servo motor encoder Note: Attach a CNET III cap to the unused. Attach a cap to the unused. MRJ4W2B and MRJ4W3B Type Amplifier Cables and Connectors 24 Controller Q173DCPU Q172DCPU QD77M MR Configurator (etup software) MRZJW3ETUP221E Drive unit afety Logic Unit MRJ3D Drive unit CN CN CN CN3 CN4A CN8 CN1A CN4A CN8 CN1A CN4B CN1B CN2 CN2L CN4 To servo motor encoder CN4B CN1B CN2 CN2L CN4 Attach a cap to the unused MRBT6VCAE and MRBAT6V1 are not required when using the linear servo motor or when configuring incremental system with the MRJ4W_B servo amplifier. 2. Attach a CNET III cap to the unused. 3. Refer to "Junction Terminal Block" in this catalog. 4. CNP3C and CN2C s are available for MRJ4W3B servo amplifier. Mitsubishi Electric Automation ervomotors and Amplifiers 38

16 ERVOMOTOR AND AMPLIFIER MRJ4A Type Amplifier Cables and Connectors For 3. kw or smaller Controller QD7P QD7D QD7P_N QD7D_N LD7P LD7D FX2N2GM FX2N1GM FX2N1PG FX2N1PG ervo amplifier CN CNP1 CN6 CN3 CNP2 CN8 CN1 CNP R422/R232C conversion cable (*2) etup software MR Configurator2 Junction terminal block MRTB (*1) CN2 To servo motor power CN4 To servo motor encoder For kw or larger ervo amplifier Controller QD7P QD7D QD7P_N QD7D_N LD7P LD7D FX 2N2GM FX 2N1GM FX 2N1PG FX 2N1PG 3 4 CN CN6 CN3 CN8 CN etup software MR Configurator2 R422/R232C conversion cable (Note 2) 8 27 Junction terminal block MRTB (Note 1) CN2 CN4 To servo motor encoder 1. Refer to "Junction Terminal Block" in this catalog. 2. Refer to "Products on the Market for ervo Amplifiers" in this catalog. For CNP1, CNP2, CNP3 tocked Protection Level ervo Amplifier Power Connector et (Insertion Type) For MRJ41A or maller/mrj41b or maller (*1) upplied with Amplifier CNP1 CNP2 CNP3 Open tool 1 ervo Amplifier Power Connector et (Insertion Type) For MRJ42A/MRJ42B/MRJ43A/ MRJ43B (*1) upplied with Amplifier CNP1 CNP2 CNP3 Open tool 2 ervo Amplifier Power Connector et (Insertion Type) For MRJ4W2B/MRJ4W3B (*3) upplied with Amplifier CNP1 CNP2 CNP3A/CNP3B/ CNP3C Open tool 1. This set is not required for kw or larger servo amplifiers since terminal blocks are mounted. Refer to servo amplifier dimensions in this catalog for more details. 2. The wire size shows wiring specification of the. Refer to "election Example in HIV Wires for ervo Motors" in this catalog for examples of wire size selection. 3. Press bonding type is also available. Refer to "MRJ4W B ervo Amplifier Instruction Manual" for details. 386