Mitsubishi MR-CR55K Instruction Manual V2
en
ja
AC
MR-CV11K MR-CV55K MR-CV11K4 MR-CV75K4 MR-CR55K/MR-CR55K4 MR-J4-DU700_ MR-J4-DU37K_ MR-J4-DU700_4 MR-J4-DU55K_4
IB()0300228-F(2008)MEE 20208
F
AC
(03)5812-1430 (011)212-3793 (022)216-4546 (048)600-5835 (025)241-7227 (045)224-2623 (076)233-5502 (052)565-3326 (0565)34-4112 (06)6486-4120 (082)248-5445 (087)825-0055 (092)721-2251
1-30-7()
4-1() 1-1-20() 11-2() 1-4-1()
2-2-1() 3-1-1() 3-28-12() 1-5-10() 4-20(A) 7-32() 1-1-8() 2-12-1()
110-0016 060-8693 980-0013 330-6034 950-8504 220-8118 920-0031 450-6423 471-0034 530-8206 730-8657 760-8654 810-8686
100-8310 2-7-3 ()
FA
FA
CAD
FA
1 9:0019:00 9:0017:00
//
/
/
/
/
MELSERVO
(MELSEC iQ-R/Q/L/AnS) (MELSEC iQ-R)
(MELSEC iQ-R/iQ-F/Q/L) CPU (MELSEC iQ-R/Q/AnS) (MR-MT) /
MELSOFT MT/MR/EM
052-712-6607
1:
Copyright2014 Mitsubishi Electric Corporation All Rights Reserved.
(1) (2)
1 1 (55 kW) 2 (30 kW) 2 () 1 (30 kW) 2 MR-CV/MR-CR/MR-J4-DU AC () 1 MR-CV/MR-CR/MR-J4-DU AC
() 1 . MR-CVCN23MR-CRCN1
KC
MODEL
TOKYO 100-8310, JAPAN MADE IN JAPAN DATE: 2014-6
MR-CR55K SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 55kW : 3AC200-240V 191.3A 50Hz/60Hz : DC270-324V 215.9A
MSIP-REI-MEK- TC300A911G51
KC
TOKYO 100-8310, JAPAN MADE IN JAPAN DATE: 2014-6
MR-J4-DU30KB SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 30kW : DC270-324V 117.7A : 3PH170V 0-360Hz 174A
MSIP-REI-MEK- TC300A916G51
MODEL
(a)
: MR-CR/MR-CV
AC 200 V 240 V AC 380 V 480 V4
JnSnUn (n00 999)
2 5 (RJEDPXRURZ)
[kW] 45K 45 55K 55 75K 75
[kW] 11K 11 18K 18 30K 30 37K 37
- C R 5M R 5 K 4
(b)
JnSnUn (n00 999) 2 5 (RJEDPXRURZ)
AC 200 V 240 V 4 AC 380 V 480 V
B
A SSCNET /H
[kW] 30K 30 37K 37 45K 45
[kW] 700 7 900 9 11K 11 15K 15 22K 22
55K 55
- -J 4 DM R U 3 0 K B 4
1 MELSERVO-J4 1.1 MELSERVO-J4 MR-J4 http://www.mitsubishielectric.co.jp/fa/ 1.2 MR-J4 1.3 1.3.1 IEC 61800-5-2 STO (IEC 61800-5-2: 2007 4.2.2.2 STO) STOMR-J4STO
2
2.1 MR-J4
(1) (2) (: )
2.2 MR-J4 ISO/EN ISO 13849-1: 2015 3 PL eIEC/EN 62061 SIL CL 3IEC/EN 61800-5-2 (STO)IEC/EN 61800-5- 1/GB 12668.501IEC/EN/KN 61800-3/GB 12668.3IEC/EN 60204-1 MR-J4MR-D30MR-J3-D05PLC MR-D30"MR-D30" MR-J3-D05 2.3 MR-J4 ()
20
2.3.1 IEC/EN 61800-5-1UL 508CCSA C22.2 No. 274
(1) 75 C/60 C [AWG]
1.
75 C/60 C [AWG] (2)
75 C/60 C [AWG] (2) L1/L2/L3 (3) L11/L21 L+/L- L11/L21 L+/L- U/V/W/ (3)
MR-CV11K (1) 8: h/6: i
14: g/14: g Bus Bar
MR-J4-DU700 (1)
14: g/14: g Bus Bar
8: o/6: m MR-CV18K (1) 4: q/2: - MR-J4-DU900 (1) 4:e/2:n MR-CV30K (1) 2: n/1/0: j MR-J4-DU11K (1) 4: e/2: n MR-CV37K (1) 1/0: j/1/0: j MR-J4-DU15K (1) 2: n/1/0: j MR-CV45K (1) 1/0: j/-: - MR-J4-DU22K (1) 1/0: j/-: - MR-CV55K (1) 3/0: k/-: - MR-J4-DU30K (1) 2/0: d/2/0: - MR-CV11K4 (1) 10: l/10: l MR-J4-DU37K (1) 2 2/0: d (4)/
-: - MR-CV18K4 (1) 8: h/6: i MR-CV30K4 (1) 6: m/4: e MR-J4-DU700_4 (1) 10: p/10: p MR-CV37K4 (1) 4: e/2: n MR-J4-DU900_4 (1) 8: o/6: m MR-CV45K4 (1) 4: e/2: n MR-J4-DU11K_4 (1) 8: o/6: m MR-CV55K4 (1) 2: n/1/0 :- MR-J4-DU15K_4 (1) 6: m/6: m MR-CV75K4 (1) 1/0: j/-: - MR-J4-DU22K_4 (1) 4: e/2: n
MR-CR55K (1) 2 2/0: d (4)/ 2 2/0: -
MR-J4-DU30K_4 (1) 3: f/2: f MR-J4-DU37K_4 (1) 2: f/1: c
MR-CR55K4 (1) 2: c/1/0: - MR-J4-DU45K_4 (1) 1/0: d/1/0: - MR-J4-DU55K_4 (1) 1/0: d/2/0: - 1. 2. 2 3. 4. 175 A2/0: d
2.
(2) (2) a FVD5.5-10 YNT-1210S
JST ( )
h FVD8-5 YF-1/E-4
JST ( )
b FVD22-10 YF-1/E-4 i FVD14-5 YF-1/E-4
c (1) R38-10 YPT-60-21 j (1) 60-S8 YF-1/E-4 YF-1/E-4 k (1) 80-10 YF-1/E-4
d (1) R60-10 YPT-60-21 l FVD5.5-5 YNT-1210S YF-1/E-4 m FVD14-8 YF-1/E-4
e FVD22-8 YF-1/E-4 n FVD38-8 YF-1/E-4
f (1) R38-8 YPT-60-21 o R8-8 YF-1/E-4 YF-1/E-4 p FVD5.5-8 YNT-1210S
g FVD2-4 YNT-1614 q (1) 22-S5 YF-1/E-4 1. 2.
(2) MCCB (T) (UL 489MCCB) (T) (T) (T)
(AC 240 V)
(300 V) (AC 480 V)
(600 V) MR-CV11K NF100-CVFU-60A (100 A60 A) 80 A MR-CV11K4 NF100-HRU-30A (100 A30 A) 40 A MR-CV18K NF100-CVFU-100A (100 A100 A) 150 A MR-CV18K4 NF100-HRU-50A (100 A50 A) 80 A MR-CV30K NF225-CVFU-150A (225 A150 A) 225 A MR-CV30K4 NF100-HRU-80A (100 A80 A) 150 A MR-CV37K NF225-CVFU-200A (225 A200 A) 300 A MR-CV37K4 NF100-HRU-100A (100 A100 A) 150 A MR-CV45K NF225-CWU-225A (225 A225 A) 350 A MR-CV45K4 NF250-SVU-125A (250 A125 A) 200 A MR-CV55K NF400-SKW-300A (400 A300 A) 400 A MR-CV55K4 NF250-SVU-150A (250 A150 A) 225 A MR-CR55K NF225-CWU-175A (225 A175 A) 300 A MR-CV75K4 NF250-SVU-200A (250 A200 A) 300 A MR-CR55K4 NF125-SVU-125A (125 A125 A) 200 A (3)
IEC/EN 60664-1 DC 24 V
(4) (PE) ( ) (PE) (PE) 11
PE
PE
(RCD) BRCD
(5) (120 % ) () 105 C(4)
2.3.2 EU ECEU CEEC
(1) EMC MR-J4EN 61800-3 ( 10 mCN8STO 3 m) ( 50 m) EMC
EMC: HF3000A-UNTF3000C-TX FTB : RSPD : FR-BLF
MR-J4
(2) (DoC) MITSUBISHI ELECTRIC EUROPE B.V.EC ( (2006/42/EC)EMC (2014/30/EU) (2014/35/EU) RoHS (2011/65/EU))
2.3.3 / UL 508CCSA C22.2 No. 274
(1) MR-J4150%55 C
IEC/EN 60204-1 (UL 50) 82
(2) (SCCR) 500 V100 kA
(3) National Electrical Code Canada Electrical Code
2.3.4 (MR-CR55K(4)MR-J4-DU30 kW) (KC) (A) , . ( (A) ) EMC 30 m 2.4 MR-J4
(1) (2) MR-J4
2.5
(1) (2) (3) 0.5 (4)
(ISO 13849-1: 2015 F F.1 No. 5)
(5) (ISO 13849-1: 2015 F F.1 No. 1) (6) () (7) /
2.6 (: European Waste 16 02 14) 2.7 (UN) (ICAO) (IATA) (IMO) (MR-BAT6V1SETMR-BAT6V1MR-BAT6V1BJ) (CR17335A) 2 UN (Class9) 3 / 80 mm
100 mm
120 mm
30 mm30 mm
+
2 IP54
4
(MCCB)
IEC/EN 60204-1IEC/EN 60204-1 20 ms UVWCN2_
IEC/EN/UL/CSA
STO
CN8
CN1
CN2
U/V/W/PE
L+ L-
CN40A
PE L11
L- P1 P2 C
CN40
L1L2L3
L21
L11 L21 PE
(AC 240 V)
MCCB
MCCB
MCCB
(AC 480 V)
()
L+MC CNP1
STO
CN8
CN1
CN2
U/V/W/PE
L+ L-
CN40A
PE L11
L- L1L2L3
L21
L11 L21 PE
(AC 240 V)
MCCB
MCCB
MCCB
(AC 480 V)
L+MC
CN4
MC1 MC2
AC
()
. ( ) ( )
(1) HGHFHCHA (: ) (2) IEC 60034-1 (OBAOSA) 5 5.1 MR-J4-DU30KB
CN3
1 2
3
5
4
6
7
9
8
10
11 12
13 14
15 16
17 18
19 20
DI1
MO1
DICOM
LG
DOCOM
DICOM
LZ
DI2
MO2
EM2
LG
MBR
LBR
LA
LB LZR
LAR ALM
DI3INP
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8
1
4 3
6 5
8 7 TOFCOM
STO
5.2
EM2 2 CN3 20
STOCOM STO1STO2 3 STO1 STO1 CN8 4 STO2 STO2 5
TOFCOM STO 8 TOFB1 STO1 CN8 6 TOFB2 STO2 7
5.3 STO STO1STO2 () () STO1STO2
STO1 STO2 STO1 STO2 (STO ) (STO ) (STO ) (STO ) (STO ) (STO ) (STO ) (STO )
6
6.1
(1)
/ [Nm] L1 L2 L3 P1 P2 C L+ L- L11 L21 U V W PE
MR-J4-DU700_/MR-J4-DU900_/MR-J4-DU11K_/ MR-J4-DU15K_/MR-J4-DU22K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4/MR-J4-DU15K_4/ MR-J4-DU22K_4/MR-J4-DU30K_4/MR-J4-DU37K_4
3.0 1.2
6.0
MR-J4-DU30K_/MR-J4-DU37K_/MR-J4-DU45K_4/ MR-J4-DU55K_4 12.0
MR-CV11K_/MR-CV18K_/MR-CV11K_4/ MR-CV18K_4 2.0
2.0
MR-CV30K_/MR-CV37K_/MR-CV45K_/ MR-CV30K_4/MR-CV37K_4/MR-CV45K_4/ MR-CV55K_4/MR-CV75K_4
6.0 6.0
MR-CV55K 12.0 12.0
MR-CR55K/MR-CR55K4 12.0 (2) (3) (4) (5) (6) (7) (8) (9)
6.2
10 (3)
10STO/10 1 3 (2 3)
(1) 2 (20 C) (2) 5
1. MR-J4MR-BAT6V1SETMR-BAT6V1BJ
2. 5 3.
(1000 m40 C1000 m2000 m30 C) 10
7
[C] 0 55 3K3 (IEC/EN 60721-3-3) () [C] -20 65 2K12 (IEC/EN 60721-3-2) () [C] -20 65 1K4 (IEC/EN 60721-3-1)
5 %RH 90 %RH
10 Hz 57 Hz 0.075 mm 57 Hz 150 Hz IEC/EN 61800-5-1 (Test Fc of IEC 60068-2-6) 9.8 m/s2
5.9 m/s2 () 2M3 (IEC/EN 60721-3-2) 1M2 (IEC/EN 60721-3-2)
2
IP20 (IEC/EN 60529) IP00 (UL 50)
2000 m 10000 m
. 8 8.1
MR-_
CR_ CV_ CR_ CV_ 55K 11K 18K 30K 37K 45K 55K 55K4 11K4 18K4 30K4 37K4 45K4 55K4 75K4
DC 270 V DC 324 V DC 513 V DC 648 V [A] 215.9 41 76 144 164 198 238 113.8 21 38 72 82 99 119 150
()
AC 200 V 240 V50 Hz/60 Hz AC 380 V 480 V50 Hz/60 Hz [A] 191.3 35 65 107 121 148 200 100.7 18 35 61 70 85 106 130
() AC 200 V 240 V50 Hz/60 Hz0.3 A AC 380 V 480 V50 Hz/60 Hz0.2 A (SELV) DC 24 V 10% ( : MR-CR_150 mA; MR-CV_350 mA)
2 (IEC/EN 60664-1) AC 200 V/AC 400 V: III (IEC/EN 60664-1) I (IEC/EN 61800-5-1) (SCCR) 100 kA
8.2
MR-J4-DU_
700_ 900_ 11K_ 15K_ 22K_ 30K_ 37K_ 700_4 900_4 11K_4 15K_4 22K_4 30K_4 37K_4 45K_4 55K_4
AC170 V360 Hz AC323 V360 Hz [A] 37 54 68 87 126 174 204 17 25 32 41 63 87 102 131 143
() AC 200 V 240 V50 Hz/60 Hz0.3 A AC 380 V 480 V50 Hz/60 Hz0.2 A (SELV) DC 24 V 10% ( : MR-J4-DU_A_500 mA; MR-J4-DU_B_300 mA)
PWM (STO) IEC/EN 61800-5-2 () EN ISO 13849-1: 2015 3 PL eIEC 61508 SIL 3EN 62061 SIL CL3EN 61800-5-2 (MTTFd) MTTFd 100 [] (314a) (DC) DC = (Medium)97.6 [%] (PFH) PFH = 6.4 10-9 [1/h] (TM) TM = 20 [] 8 ms (STO ) 2 (IEC/EN 60664-1) AC 200 V/AC 400 V: III (IEC/EN 60664-1) I (IEC/EN 61800-5-1) (SCCR) 100 kA
. SIL 320158 8.3 /
W D
H
W1 W4 W2
W5 W3
(W5) (W3)
1910 34
2 36
0
0. 5
38 0
(1 9)
(1 0)
36 0
0.
5 34
2 1019
(1 0)
(1 9)
/
4-A
/ [mm] [kg] W H D
MR-CR55K/MR-CR55K4 300 380 300 22 MR-CV11K/MR-CV18K/ MR-CV11K4/MR-CV18K4 90 380 270 7.0
MR-CV30K/MR-CV37K/MR-CV45K/ MR-CV30K4/MR-CV37K4/MR-CV45K4 150 380 300 10.7
MR-CV55K/MR-CV55K4/MR-CV75K4 300 380 300 26.5 MR-J4-DU700_/ MR-J4-DU900_/ MR-J4-DU11K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4
150 380 300 9.9
MR-J4-DU15K_/MR-J4-DU22K_ MR-J4-DU15K_4_/MR-J4-DU22K_4 240 380 300 15.2
MR-J4-DU30K_/MR-J4-DU37K_ 300 380 300 21 MR-J4-DU30K_4/MR-J4-DU37K_4 240 380 300 16 MR-J4-DU45K_4/MR-J4-DU55K_4 300 380 300 19
[mm]
W1 W2 W3 W4 W5 A MR-CR55K/MR-CR55K4/MR-J4-DU30K_/
MR-J4-DU37K_/MR-J4-DU45K_4/ MR-J4-DU55K_4
300 260 20 281 9.5 M6
MR-CV11K/MR-CV18K/MR-CV11K4/ MR-CV18K4 90 - 45 82 4 M5
MR-CV30K/MR-CV37K/MR-CV45K/ MR-CV30K4/MR-CV37K4/MR-CV45K4/ MR-J4-DU700_/MR-J4-DU900_/ MR-J4-DU11K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4
150 60 45 142 4 M5
MR-CV55K/MR-CV55K4/MR-CV75K4 300 180 60 282 9 M5 MR-J4-DU15K_/MR-J4-DU22K_/
MR-J4-DU15K_4/MR-J4-DU22K_4/ MR-J4-DU30K_4/MR-J4-DU37K_4
240 120 60 222 9 M5
9
/MR-CV/MR-CR/MR-J4-DU
/
1. / [ ] [ ] 2. / (DoC) [ ] [ ] 3. [ ] [ ] 4. () [ ] [ ] 5. STO () [ ] [ ]
[] 1.
()
[] 12 618
[] (1)
(2)
(3)
(i)
(ii) (iii)
(iv) (v) () (vi) (vii) (viii)
2. (1) 7
(2) () 3.
FAFA
4.
(1) (2) (3) (4) 5.
6. (1) ACAC
(2) AC AC AC
MR-CV11K to MR-CV55K MR-CV11K4 to MR-CV75K4 MR-CR55K/MR-CR55K4 MR-J4-DU700_ to MR-J4-DU37K_ MR-J4-DU700_4 to MR-J4-DU55K_4
Model
General-Purpose
IB(NA)0300228-F(2008)MEE
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Specifications are subject to change without notice.
AC Servo
FInstructions and Cautions for Safe Use of AC Servos Country/Region
USA
Germany
China
Korea
Japan
Sales office
Mitsubishi Electric Automation, Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Mitsubishi Electric Europe B.V. German Branch Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
Mitsubishi Electric Automation (China) Ltd. Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China
Mitsubishi Electric Automation Korea Co., Ltd. 7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea
Mitsubishi Electric Corporation Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan
Tel/Fax
Tel Fax
Tel Fax
Tel Fax
Tel Fax
Tel
: +1-847-478-2100 : +1-847-478-2253
: +49-2102-486-0 : +49-2102-486-1120
: +86-21-2322-3030 : +86-21-2322-3000
: +82-2-3660-9510 : +82-2-3664-8372/8335
: +81-3-3218-2111
Copyright2014 Mitsubishi Electric Corporation All Rights Reserved. Contents of the package Unpack the product and check the rating plate to see if the servo amplifier is as you ordered.
(1) Converter unit (2) Drive unit Contents Quantity Contents Quantity
Converter unit 1 Drive unit 1 Eyebolt (55 kW or more) 2 Bus bar (30 kW or more) 2 Connector set (Note) 1 Eyebolt (30 kW or more) 2 MR-CV/MR-CR/MR-J4-DU Instructions and Cautions for Safe Use of AC Servos (this guide) 1
MR-CV/MR-CR/MR-J4-DU Instructions and Cautions for Safe Use of AC Servos (this guide) 1
Note. A connector set for CN23 is packed together with MR-CV. A
connector set for CN1 is packed together with MR-CR.
Rating plate The following shows an example of rating plate for explanation of each item. Converter unit
Serial number Model Capacity Applicable power supply Rated output Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin
MODEL
TOKYO 100-8310, JAPAN MADE IN JAPAN DATE: 2014-6
MR-CR55K SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 55kW : 3AC200-240V 191.3A 50Hz/60Hz : DC270-324V 215.9A
MSIP-REI-MEK- TC300A911G51
Drive unit Serial number Model Capacity Applicable power supply Rated output Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin
TOKYO 100-8310, JAPAN MADE IN JAPAN DATE: 2014-6
MR-J4-DU30KB SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 30kW : DC270-324V 117.7A : 3PH170V 0-360Hz 174A
MSIP-REI-MEK- TC300A916G51
MODEL
Warning plate The following shows an example of warning plate.
Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
(a) Converter unit
Series: MR-CR/MR-CV
Power supplySymbol 3-phase 200 V AC to 240 V ACNone 3-phase 380 V AC to 480 V AC4
Power supply
Software special specification Blank, Jn, Sn, or Un (n = 00 to 999)
Hardware special specification Blank or 2 to 5 digit alphanumeric (RJ, ED, PX, RU, RZ, etc.)
Capacity
Symbol Capacity [kW] 45K 45 55K 55 75K 75
Symbol Capacity [kW] 11K 11 18K 18 30K 30 37K 37
- C R 5M R 5 K 4
(b) Drive unit
Software special specification Blank, Jn, Sn, or Un (n = 00 to 999) Hardware special specification Blank or 2 to 5 digit alphanumeric (RJ, ED, PX, RU, RZ, etc.)
Symbol Power supply
Series
None 3-phase 200 V AC to 240 V AC 4 3-phase 380 V AC to 480 V AC
Rated output Power supply
Interface
Drive unit
B
Symbol Interface A
SSCNET III/H General-purpose interface
Symbol Rated output [kW] 30K 30 37K 37 45K 45
Symbol Rated output [kW] 700 7
11K 11 900 9
15K 15 22K 22
55K 55
- -J 4 DM R U 3 0 K B 4
1. About the manuals To use the MELSERVO-J4 series safely, read each instruction manual carefully. Converter units and drive units are written as servo amplifiers in this guide under certain circumstances. 1.1 MELSERVO-J4 relevant manuals This installation guide explains how to mount MR-J4 servo amplifiers. You can also check it with our website for free. http://www.mitsubishielectric.com/fa/ If you have any questions about the operation or programming of the equipment described in this guide, contact your local sales office. In addition, when you mount a protective device, specific technical skills which are not detailed in the guide will be required. 1.2 Purpose of this guide This installation guide explains the safe operation of MR-J4 servo amplifiers for engineers of machinery manufacturers and machine operators. This installation guide does not explain how to operate machines in which safety servo system is, or will be integrated. For detailed information of the products, refer to each servo amplifier instruction manual. 1.3 Terms related to safety 1.3.1 IEC 61800-5-2 Stop function STO function (Refer to IEC 61800-5-2: 2007 4.2.2.2 STO.) MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier. 2. About safety This chapter explains safety of users and machine operators. Please read the chapter carefully before mounting the equipment. In this installation guide, the specific warnings and cautions levels are classified as follows. WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.
2.1 Professional engineer Only professional engineers should mount MR-J4 servo amplifiers. Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the protective devices (e.g. light curtain) connected to the safety control system.
2.2 Applications of the devices MR-J4 servo amplifiers comply with the following standards. ISO/EN ISO 13849-1: 2015 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO), IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1 MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or safety PLCs. For combinations of the servo amplifiers and MR-D30, refer to "MR-D30 Instruction Manual". For combinations of the servo amplifiers and MR-J3-D05, refer to each servo amplifier instruction manual. 2.3 Correct use Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident. It takes 20 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.
2.3.1 Selection of peripheral equipment and wire The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 274.
(1) Local wiring and crimping tool The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 C/60 C.
Table 1. Recommended wire
Converter unit 75 C/60 C stranded wire [AWG] (Note 2)
Drive unit 75 C/60 C stranded wire [AWG] (Note 2)
L1/L2/L3 (Note 3) L11/L21 L+/L- L11/L21 L+/L- U/V/W/ (Note 3) MR-CV11K (Note 1) 8: h/6: i
14: g/14: g Exclusive Bus Bar
MR-J4-DU700 (Note 1)
14: g/14: g Exclusive Bus Bar
8: o/6: m MR-CV18K (Note 1) 4: q/2: - MR-J4-DU900 (Note 1) 4:e/2:n MR-CV30K (Note 1) 2: n/1/0: j MR-J4-DU11K (Note 1) 4: e/2: n MR-CV37K (Note 1) 1/0: j/1/0: j MR-J4-DU15K (Note 1) 2: n/1/0: j MR-CV45K (Note 1) 1/0: j/-: - MR-J4-DU22K (Note 1) 1/0: j/-: - MR-CV55K (Note 1) 3/0: k/-: - MR-J4-DU30K (Note 1) 2/0: d/2/0: - MR-CV11K4 (Note 1) 10: l/10: l MR-J4-DU37K (Note 1) 2 2/0: d (Note 4)/
-: - MR-CV18K4 (Note 1) 8: h/6: i MR-CV30K4 (Note 1) 6: m/4: e MR-J4-DU700_4 (Note 1) 10: p/10: p MR-CV37K4 (Note 1) 4: e/2: n MR-J4-DU900_4 (Note 1) 8: o/6: m MR-CV45K4 (Note 1) 4: e/2: n MR-J4-DU11K_4 (Note 1) 8: o/6: m MR-CV55K4 (Note 1) 2: n/1/0 :- MR-J4-DU15K_4 (Note 1) 6: m/6: m MR-CV75K4 (Note 1) 1/0: j/-: - MR-J4-DU22K_4 (Note 1) 4: e/2: n
MR-CR55K (Note 1) 2 2/0: d (Note 4)/ 2 2/0: -
MR-J4-DU30K_4 (Note 1) 3: f/2: f MR-J4-DU37K_4 (Note 1) 2: f/1: c
MR-CR55K4 (Note 1) 2: c/1/0: - MR-J4-DU45K_4 (Note 1) 1/0: d/1/0: - MR-J4-DU55K_4 (Note 1) 1/0: d/2/0: -
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block. 2. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to table 2. 3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of the servo
amplifiers. 4. When the rated current is less than 175 A, 2/0: d can also be used.
Table 2. Recommended crimp terminal Symbol Servo amplifier-side crimp terminals Manufacturer
Symbol Servo amplifier-side crimp terminals Manufacturer Crimp terminal (Note 2) Applicable tool Crimp terminal (Note 2) Applicable tool a FVD5.5-10 YNT-1210S
JST (J.S.T. Mfg. Co., Ltd.)
h FVD8-5 YF-1/E-4
JST (J.S.T. Mfg. Co., Ltd.)
b FVD22-10 YF-1/E-4 i FVD14-5 YF-1/E-4
c (Note 1) R38-10 YPT-60-21 j (Note 1) 60-S8 YF-1/E-4 YF-1/E-4 k (Note 1) 80-10 YF-1/E-4
d (Note 1) R60-10 YPT-60-21 l FVD5.5-5 YNT-1210S YF-1/E-4 m FVD14-8 YF-1/E-4
e FVD22-8 YF-1/E-4 n FVD38-8 YF-1/E-4
f (Note 1) R38-8 YPT-60-21 o FVD8-8 YF-1/E-4 YF-1/E-4 p FVD5.5-8 YNT-1210S
g FVD2-4 YNT-1614 q (Note 1) 22-S5 YF-1/E-4 Note 1. Coat the crimping part with an insulation tube. 2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the recommended ones or equivalent ones.
(2) Selection example of MCCB and fuse Use a fuse (T class) or the molded-case circuit breaker (UL 489 Listed MCCB) indicated in the table below. The T class fuses and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below, refer to each servo amplifier instruction manual.
Converter unit Molded-case circuit breaker (240 V AC) Fuse (300 V) Converter unit Molded-case circuit breaker (480 V AC) Fuse
(600 V) MR-CV11K NF100-CVFU-60A (100 A frame 60 A) 80 A MR-CV11K4 NF100-HRU-30A (100 A frame 30 A) 40 A MR-CV18K NF100-CVFU-100A (100 A frame 100 A) 150 A MR-CV18K4 NF100-HRU-50A (100 A frame 50 A) 80 A MR-CV30K NF225-CVFU-150A (225 A frame 150 A) 225 A MR-CV30K4 NF100-HRU-80A (100 A frame 80 A) 150 A MR-CV37K NF225-CVFU-200A (225 A frame 200 A) 300 A MR-CV37K4 NF100-HRU-100A (100 A frame 100 A) 150 A MR-CV45K NF225-CWU-225A (225 A frame 225 A) 350 A MR-CV45K4 NF250-SVU-125A (250 A frame 125 A) 200 A MR-CV55K NF400-SKW-300A (400 A frame 300 A) 400 A MR-CV55K4 NF250-SVU-150A (250 A frame 150 A) 225 A MR-CR55K NF225-CWU-175A (225 A frame 175 A) 300 A MR-CV75K4 NF250-SVU-200A (250 A frame 200 A) 300 A MR-CR55K4 NF125-SVU-125A (125 A frame 125 A) 200 A
(3) Power supply This servo amplifier can be used on the condition of overvoltage category III set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals.
(4) Grounding To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
PE terminal
PE terminal
This product can cause a DC current in the protective earthing conductor. Where a residual current-operated protective (RCD: earth-leakage current breaker) device is used for protection in case of direct or indirect contact, only an RCD of Type B is allowed on the supply side of this product.
(5) Motor overload and Over temperature protection Servo motors do not have the overheat protection function of own. The servo motors are protected by the servo motor overheat protection function of the servo amplifiers (a protection characteristic based on 120 % of the rated current). To provide the servo motor with overheat protection, use a magnetic contactor (electromagnetic switch) with a thermal relay. Alternatively, install a thermal sensor or equivalent equipment near the rating plate of the servo motor to check that the servo motor temperature is under 105 C with sensing device. (Refer to Chapter 4)
2.3.2 EU compliance The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this marking also applies to machines and equipment incorporating servos.
(1) EMC requirement MR-J4 servo amplifiers comply with EN 61800-3. As for I/O wires (max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m), use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary side of the servo amplifier. In addition, use a line noise filter for outputs of the servo amplifiers. The following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series Surge protector: Okaya Electric Industries RSPD series Line noise filter: Mitsubishi Electric FR-BIF
The MR-J4 series is not intended to be used with low-voltage distribution lines for household. If it is used in such an environment, radio frequency interference may be generated. The installer shall provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables.
(2) For Declaration of Conformity (DoC) MITSUBISHI ELECTRIC EUROPE B.V. hereby declares that the servo amplifiers are in compliance with EC directives (Machinery directive (2006/42/EC), EMC directive (2014/30/EU), Low voltage directive (2014/35/EU), and RoHS directive (2011/65/EU)). For the copy of Declaration of Conformity, contact your local sales office.
2.3.3 USA/Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 274.
(1) Installation The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 C or less. The servo amplifier must be installed in a metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in chapter 8. The servo amplifier needs to be installed at or below pollution degree 2. Use only copper wires or copper bus bars for wiring.
(2) Short-circuit current rating (SCCR) Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500 Volts Maximum.
(3) Branch circuit protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.
2.3.4 South Korea compliance (MR-CR55K(4) and 30 kW or more of MR-J4-DU) This product complies with the Radio Waves Act (KC mark) Please note the following to use the product. (A) , . (The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The seller and the user must note the above point, and use the product in a place except for home.) In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the product and third party sensitive radio communications. 2.4 General cautions for safety protection and protective measures Observe the following items to ensure proper use of the MR-J4 servo amplifiers.
(1) For safety components and installing systems, only qualified personnel and professional engineers should perform.
(2) When mounting, installing, and using the MR-J4 servo amplifier, always observe standards and directives applicable in the country.
2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. (2) Perform all risk assessments and safety level certification to the machine or the system as a whole. (3) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously, the servo
motor may make a half revolution at a maximum. (4) Only qualified personnel are authorized to install, start-up, repair or adjust the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-1: 2015 Table F.1 No. 5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1: 2015 Table F.1 No. 1) (6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.). (7) Keep the required clearance/creepage distance depending on voltage you use.
2.6 Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-specific waste disposal regulations. (Example: European Waste 16 02 14) 2.7 Lithium battery transportation To transport lithium batteries, take actions to comply with the instructions and regulations such as the United Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization (IMO). The batteries (MR-BAT6V1SET, MR-BAT6V1, and MR-BAT6V1BJ) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods (Class 9) of the UN Recommendations.
3. Mounting/dismounting Installation direction and clearances 80 mm or
more
SideFront
100 mm or more
120 mm or more
30 mm or more
30 mm or more
Top
Bottom
Converter unit Drive unit
Converter unit +
Drive unitCAUTION
The devices must be installed in the specified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2.
4. Electrical Installation and configuration diagram
WARNING
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring.
CAUTION
The installation complies with IEC/EN 60204-1. The voltage supply to machines must be 20 ms or more of tolerance against instantaneous power failure as specified in IEC/EN 60204-1. Connecting a servo motor of the wrong axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction. Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards. Connection with resistance regeneration converter unit
Drive unit
STO
Controller
Encoder cable Cabinet sides Machine side
CN8
CN1
CN2
U/V/W/PE
L+ L-
CN40A
PE L11
L- P1 P2 C
CN40
L1L2L3
L21
L11 L21 PE
Resistance regeneration converter unit(3-Phase 240 V AC)
MCCB or
fuse
MCCB or
fuse
MCCB or
fuse
(3-Phase 400 V AC)
Sensing device Servo motor
(Note)
Encoder
L+MC CNP1
Connection with power regeneration converter unit
Drive unit
STO
Controller
Encoder cable Cabinet sides Machine side
CN8
CN1
CN2
U/V/W/PE
L+ L-
CN40A
PE L11
L- L1L2L3
L21
L11 L21 PE
(3-Phase 240 V AC)
MCCB or
fuse
MCCB or
fuse
MCCB or
fuse
(3-Phase 400 V AC)
Sensing device Servo motor
Encoder
L+MC
CN4
Power regeneration converter unit
MC1 MC2
AC reactor
(Note)
Note. Supply neutral needs to be earthed. The connectors described by rectangles are safely separated from the main circuits described by circles. The connected motors will be limited as follows.
(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) (2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)
5. Signals 5.1 Signal The following shows MR-J4-DU30KB signals as a typical example. For other servo amplifiers, refer to each servo amplifier instruction manual.
CN3
1 2
3
5
4
6
7
9
8
10
11 12
13 14
15 16
17 18
19 20
DI1
MO1
DICOM
LG
DOCOM
DICOM
LZ
DI2
MO2
EM2
LG
MBR
LBR
LA
LB LZR
LAR ALM
DI3INP
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8
1
4 3
6 5
8 7 TOFCOM
STO I/O signal connector
5.2 I/O device Input device
Symbol Device Connector Pin No. EM2 Forced stop 2 CN3 20
STOCOM Common terminal for input signals STO1/STO2 CN8
3 STO1 STO1 state input 4 STO2 STO2 state input 5
Output device Symbol Device Connector Pin No.
TOFCOM Common terminal for monitor output signal in STO state CN8
8 TOFB1 Monitor output signal in STO1 state 6 TOFB2 Monitor output signal in STO2 state 7
5.3 Signals and STO state The following table shows the STO1 and STO2 states when the power is on in normal state and STO1 and STO2 are on (closed) or off (opened).
STO1 STO2 Monitoring STO1 state Monitoring STO2 state OFF OFF ON (STO state) ON (STO state) OFF ON ON (STO state) OFF (STO release) ON OFF OFF (STO release) ON (STO state) ON ON OFF (STO release) OFF (STO release)
6. Maintenance and service
WARNING
To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
6.1 Inspection items It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws. Drive unit/converter unit
Tightening torque: [Nm] L1 L2 L3 P1 P2 C L+ L- L11 L21 U V W PE
MR-J4-DU700_/MR-J4-DU900_/MR-J4-DU11K_/ MR-J4-DU15K_/MR-J4-DU22K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4/MR-J4-DU15K_4/ MR-J4-DU22K_4/MR-J4-DU30K_4/MR-J4-DU37K_4
3.0 1.2
6.0
MR-J4-DU30K_/MR-J4-DU37K_/MR-J4-DU45K_4/ MR-J4-DU55K_4 12.0
MR-CV11K_/MR-CV18K_/MR-CV11K_4/ MR-CV18K_4 2.0
2.0
MR-CV30K_/MR-CV37K_/MR-CV45K_/ MR-CV30K_4/MR-CV37K_4/MR-CV45K_4/ MR-CV55K_4/MR-CV75K_4
6.0 6.0
MR-CV55K 12.0 12.0 MR-CR55K/MR-CR55K4 12.0
(2) Check servo motor bearings, brake section, etc. for unusual noise. (3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating
conditions. (4) Check that the connectors are securely connected to the servo motor. (5) Check that the wires are not coming out from the connector. (6) Check for dust accumulation on the servo amplifier. (7) Check for unusual noise generated from the servo amplifier. (8) Check the servo motor shaft and coupling for connection. (9) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately
and a power is shut off by the emergency stop switch. 6.2 Parts having service life Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.
Part name Life guideline Smoothing capacitor 10 years (Note 3) Relay Number of power-on, forced stop and controller forced stop times: 100,000 times
Number of on and off for STO: 100,000 times Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years) Battery backup time (Note 1) Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 C) Battery life (Note 2) 5 years from date of manufacture
Note 1. The time is for using MR-J4 servo amplifier with a rotary servo motor using MR-BAT6V1SET or MR-BAT6V1BJ. For details and other battery backup time, refer to each instruction manual.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The capacitor will be the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 C or less for use at the maximum 1000 m above sea level, 30 C or less for over 1000 m to 2000 m).
7. Transportation and storage
CAUTION
Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. For detailed information on transportation and handling of the battery, refer to the servo amplifier instruction manual. Install the product in a load-bearing place of servo amplifier and servo motor in accordance with the instruction manual. Do not put excessive load on the machine.
When you keep or use it, please fulfill the following environment.
Item Environment
Ambient temperature
Operation [C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3) Transportation (Note) [C] -20 to 65 Class 2K12 (IEC/EN 60721-3-2) Storage (Note) [C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient humidity Operation, transportation, storage 5 %RH to 90 %RH
Vibration resistance
Test condition 10 Hz to 57 Hz with constant amplitude of 0.075 mm
57 Hz to 150 Hz with constant acceleration of 9.8 m/s2 to IEC/EN 61800-5-1 (Test Fc of IEC 60068-2-6)
Operation 5.9 m/s2 Transportation (Note) Class 2M3 (IEC/EN 60721-3-2) Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP rating IP20 (IEC/EN 60529), Terminal block IP00 Open type (UL 50)
Altitude Operation, storage Max. 2000 m above sea level Transportation Max. 10000 m above sea level
Note. In regular transport packaging
8.Technical data 8.1 Converter unit
Item MR-_
CR_ CV_ CR_ CV_ 55K 11K 18K 30K 37K 45K 55K 55K4 11K4 18K4 30K4 37K4 45K4 55K4 75K4
Output Rated voltage 270 V DC to 324 V DC 513 V DC to 648 V DC Rated current [A] 215.9 41 76 144 164 198 238 113.8 21 38 72 82 99 119 150
Power supply
Main circuit (line voltage)
Voltage, Frequency 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Current [A] 191.3 35 65 107 121 148 200 100.7 18 35 61 70 85 106 130
Control circuit (line voltage) 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz, 0.3 A 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 0.2 A Interface (SELV) 24 V DC 10% (required current capacity: MR-CR_, 150 mA; MR-CV_, 350 mA)
Pollution degree 2 (IEC/EN 60664-1) Overvoltage category 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1) Protective class I (IEC/EN 61800-5-1) Short-circuit current rating (SCCR) 100 kA
8.2 Drive unit
Item MR-J4-DU_
700_ 900_ 11K_ 15K_ 22K_ 30K_ 37K_ 700_4 900_4 11K_4 15K_4 22K_4 30K_4 37K_4 45K_4 55K_4
Output Rated voltage 3-phase 170 V AC, 360 Hz 3-phase 323 V AC, 360 Hz Rated current [A] 37 54 68 87 126 174 204 17 25 32 41 63 87 102 131 143
Power supply
Main circuit The main circuit power of the drive unit is supplied by the converter unit. Control circuit (line voltage)
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz, 0.3 A 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 0.2 A
Interface (SELV) 24 V DC 10% (required current capacity: MR-J4-DU_A_, 500 mA; MR-J4-DU_B_, 300 mA) Control method Sine-wave PWM control, current control method Safety observation function (STO) IEC/EN 61800-5-2 (Note)
EN ISO 13849-1: 2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, and EN 61800-5-2
Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a) Diagnostic coverage (DC) DC = Medium, 97.6 [%] Probability of dangerous failures per hour (PFH) PFH = 6.4 10-9 [1/h] Mission time (TM) TM = 20 [years] Response performance 8 ms or less (STO input off energy shut off) Pollution degree 2 (IEC/EN 60664-1) Overvoltage category 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1) Protective class I (IEC/EN 61800-5-1) Short-circuit current rating (SCCR) 100 kA
Note. Servo amplifiers manufactured in August 2015 or later comply with SIL 3 requirements. 8.3 Dimensions/mounting hole process drawing
W D
H Front Side
Approx. W5 Approx. W3
1910 34
2 36
0 38
0
Approx. 10
36 0
34 2
1019
Converter unit/ Drive unit
Opening
4-A screw Approx. 19
Approx. 19 Approx. 10
W1 W4 W2
W5 W3
Converter unit/drive unit Variable dimensions [mm] Mass [kg] W H D MR-CR55K/MR-CR55K4 300 380 300 22 MR-CV11K/MR-CV18K/ MR-CV11K4/MR-CV18K4 90 380 270 7.0 MR-CV30K/MR-CV37K/MR-CV45K/ MR-CV30K4/MR-CV37K4/MR-CV45K4 150 380 300 10.7 MR-CV55K/MR-CV55K4/MR-CV75K4 300 380 300 26.5 MR-J4-DU700_/ MR-J4-DU900_/ MR-J4-DU11K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4
150 380 300 9.9
MR-J4-DU15K_/MR-J4-DU22K_ MR-J4-DU15K_4_/MR-J4-DU22K_4 240 380 300 15.2 MR-J4-DU30K_/MR-J4-DU37K_ 300 380 300 21 MR-J4-DU30K_4/MR-J4-DU37K_4 240 380 300 16 MR-J4-DU45K_4/MR-J4-DU55K_4 300 380 300 19
Converter unit/Drive unit Variable dimensions [mm] Screw size W1 W2 W3 W4 W5 A MR-CR55K/MR-CR55K4/
MR-J4-DU30K_/MR-J4-DU37K_/ MR-J4-DU45K_4/MR-J4-DU55K_4
300 260 20 281 9.5 M6
MR-CV11K/MR-CV18K/ MR-CV11K4/MR-CV18K4 90 - 45 82 4 M5
MR-CV30K/MR-CV37K/ MR-CV45K/MR-CV30K4/ MR-CV37K4/MR-CV45K4/ MR-J4-DU700_/MR-J4-DU900_/ MR-J4-DU11K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4
150 60 45 142 4 M5
MR-CV55K/MR-CV55K4/MR-CV75K4 300 180 60 282 9 M5 MR-J4-DU15K_/MR-J4-DU22K_/
MR-J4-DU15K_4/MR-J4-DU22K_4/ MR-J4-DU30K_4/MR-J4-DU37K_4
240 120 60 222 9 M5
9.Check list for user documentation
MR-CV/MR-CR/MR-J4-DU installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items. Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ] 2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ] 3. Does the protection instrument conform to the category required? Yes [ ], No [ ] 4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ] 5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.
[Warranty] 1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term] For terms of warranty, please contact your original place of purchase.
[Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our
service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases. (i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software
problem (ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device
required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industr