Installation guide

MR-J4-DU30K_/MR-J4-DU37K_
MR-J4-DU30K_4 to MR-J4-DU55K_4
MR-CR55K/MR-CR55K4
Instructions and Cautions for
Safe Use of AC Servos
General-Purpose AC Servo
IB(NA)0300228-A(1406)MEE
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Printed in Japan
This guide uses recycled paper.
Specifications are subject to change without notice.
AC Servo
Country/Region
USA
Germany
China
Korea
Sales office
MITSUBISHI ELECTRIC AUTOMATION, INC.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
MITSUBISHI ELECTRIC EUROPE B.V. German Branch
Gothaer Strasse 8, D-40880 Ratingen, Germany
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD.
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Changning District, Shanghai,
China
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.
1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, Korea
Tel/Fax
Tel
Fax
Tel
Fax
Tel
Fax
Tel
Fax
: [phone]
: [phone]
: [phone]
: [phone]
: [phone]
: [phone]
: [phone]
: [phone]/8335
Copyright©2014 Mitsubishi Electric Corporation All Right 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
Contents Quantit
y
Converter unit 1
Eyebol
t
2
MR-J4-DU/MR-CR Instructions and Cautions for Safe Use of AC Servos (this guide) 1
(2) Drive unit
Contents Quantit
y
Drive unit 1
Bus ba
r
2
Eyebol
t
2
MR-J4-DU/MR-CR Instructions and Cautions for Safe Use of AC Servos (this guide) 1
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 current
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.: 55°C
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 current
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.: 55°C
IP20 (Terminal block IP00)
: 30kW
: DC270-324V 117.7A
: 3PH170V 0-360Hz 174A
MSIP-REI-MEK- TC300A916G51
MODEL
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
Power supplySymbol
3-phase 200 V AC to 240 V ACNone
3-phase 380 V AC to 480 V AC4
Rated output: 55 kW
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.)
(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.)
37K
Symbol Power supply
Series
None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Symbol Rated output [kW]
30K
Rated output
37
Power supply
Interface
45K 45
55K
55
30
Drive unit
B
Symbol Interface
A
SSCNET III/H
General-purpose interface
1. About the manuals
Converter units and drive units are written as servo amplifiers in this guide under certain circumstances.
1.1 MELSERVO MR-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 the all conditions below.
(1) Persons who took a proper engineering training or qualified persons who are engaged in electrical equipment.
Check if applicable technical training is available at your local Mitsubishi Electric office. Contact your local sales
office for schedules and locations.
(2) A person who can access to operating manuals for the protective devices (e.g. light curtain) connected to the
safety control system. A person who have read and familiarized himself/herself with the manuals.
2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards.
ISO/EN ISO 13849-1 Category 3 PL d, IEC/EN 62061 SIL CL 2, IEC/EN 61800-5-2 SIL 2 (STO), IEC/EN 61800-5-1,
IEC/EN 61800-3, IEC/EN 60204-1
In addition, MR-J4 servo amplifiers can be used with the MR-J3-D05 safety logic unit, or safety PLCs.
2.3 Correct use
Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to each instruction manual
for details.). 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
It takes 20 minutes 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.14.
(1) Local wiring and crimping tool
Use only copper wires or copper bus bars for wiring. The following table shows the stranded wire sizes [AWG] and
the crimp terminal symbols rated at 75 ˚C/60 ˚C.
Table 1. Recommended wire
Table 2. Recommended crimp terminal
Drive unit
Converter
unit
75 ˚C/60 ˚C stranded wire [AWG] (Note 2)
Symbol
Servo amplifie
r
-side crimp
terminals
Manufactu
rer
L1/L2/L3
L11/L21 P2/C
U/V/W/
(Note 3)
Crimp terminal
(Note 2)
Applicable tool
MR-J4-DU30K_
(Note 1)
MR-CR55K
1: c/1/0: -
14: g/14: g 10: a/10: a
2/0: d/2/0: -
a FVD5.5-10 YNT-1210S
JST
(J.S.T.
Mfg. Co.,
Ltd.)
b FVD22-10 YF-1/E-4
MR-J4-DU37K_
(Note 1)
2/0: d/2/0: - 2/0: d/-: -
c
(Note 1)
R38-10
YPT-60-21
YF-1/E-4
MR-J4-DU30K_4
(Note 1)
MR-CR55K4
4: e/3: f 3: f/2: f
d
(Note 1)
R60-10
YPT-60-21
YF-1/E-4
MR-J4-DU37K_4
(Note 1)
2: f/1: c 2: f/1: c
e FVD22-8 YF-1/E-4
f
(Note 1)
R38-8
YPT-60-21
MR-J4-DU45K_4
(Note 1)
2: c/2: - 1/0: d/1/0: -
YF-1/E-4
g FVD2-4 YNT-1614
MR-J4-DU55K_4
(Note 1)
2: c/1/0: - 1/0: d/2/0: -
Note 1. Coat the crimpin
g
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.
Note 1 To connect these models to a terminal block, be sure to use the screws that
come with the terminal block.
2.
A
lphabets 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 out
p
ut of the servo am
p
lifiers.
(2) Selection example of MCCB and fuse
Use a fuse (T class) or the molded-case circuit breaker (UL489 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 Drive unit Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-CR55K
MR-J4-DU30K
_
NF225-CWU-150A (225 A frame 150 A) 250
A
MR-J4-DU37K
_
NF225-CWU-175A (225 A frame 175 A) 300
A
Converter unit Drive unit Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-CR55K4
MR-J4-DU30K_4 NF100-HRU-75A (100 A frame 75 A) 125
A
MR-J4-DU37K_4 NF100-HRU-100A (100 A frame 100 A) 150
A
MR-J4-DU45K_4 NF100-HRU-100A (100 A frame 100 A) 175
A
MR-J4-DU55K_4 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. Alwa
y
s connect cables to the terminals one-to-one.
PE terminal PE terminal
If using an earth-leakage current breaker, always ground the protective earth (PE) terminal of the servo amplifier to
prevent an electric shock. 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.
2.3.2 EU compliance
The MR-J4 servo amplifiers are designed to comply with the following directions to meet requirements for mounting,
using, and periodic technical inspections: Machinery directive (2006/42/EC), EMC directive (2004/108/EC), and Low-
voltage directive (2006/95/EC).
(1) EMC requirement
MR-J4 servo amplifiers comply with category C3 in accordance 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 (200 V class), TF3000C-TX series (400 V class)
Surge protector: Okaya Electric Industries RSPD-250-U4 series
Line noise filter: Mitsubishi Electric FR-BIF
MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic premises;
Radio frequency interference is expected if used on such a network. The installer shall provide a guide for
Installation and use, including recommended mitigation devices.
(2) For Declaration of Conformity (DoC)
Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in compliance with the
necessary requirements and standards (2006/42/EC, 2004/108/EC and 2006/95/EC). 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.14.
(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/EN60204-1 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 of pollution
degree 2. For connection, use only copper wires.
(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) Overload protection characteristics
The MR-J4 servo amplifiers have servo motor overload protective function. (It is set on the basis (full load current)
of 120% rated current of the servo amplifier.)
(4) Over-temperature protection for motor
Motor Over temperature sensing is not provided by the drive.
Integral thermal protection(s) is necessary for motor and refer to chapter 4 for the proper connection.
(5) 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
This product complies with the Radio Wave Law (KC mark) Please note the following to use the product.
이 기기는 업무용 (A급) 전자파적합기기로서 판 매자 또는 사용자는 이 점을 주의하시기 바라며，가정외의
지역에서 사용하는 것을 목적으 로 합니다.
(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 MELSERVO 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 MELSERVO MR-J4 servo amplifier, always observe standards and
directives applicable in the country.
(3) The item about noises of the test notices in the manuals should be observed.
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 Table
F.1 No.5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 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 battery options (MR-BAT6V1SET and MR-BAT6V1) 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
CAUTION
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.
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
unit
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 immunity to instantaneous power failures 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.
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.
MCCB
or fuse
(3-phase 240 V AC
)
(3-phase 400 V AC
)
MCCB
or fuse
PE
L11
L21
MC
Converter
unit
L1
L-
L+
P1
C
CNP1
CN40
P2
L2L3
Controller
STO
Encoder
cable
MCCB
or fuse
PE
L11
L21
Drive unit
Cabinet side
Machine side
Encoder
Servo motor
L+
L-
U/V/W/PE
CN2
CN1
CN8
CN40A
To protective equipment
(Thermal signal) (Note)
Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.
The control circuit 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 IEC60034-1 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
DI3
INP
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8
1
43
65
87
TOFCOM
STO I/O signal
connector
5.2 I/O device
Input device
Symbol Device Connecto
r
Pin No.
EM2 Forced stop 2 CN3 20
STOCOM
Common terminal for input signals
STO1/STO2
CN8
3
STO1 STO1 state inpu
t
4
STO2 STO2 state inpu
t
5
Output device
Symbol Device Connecto
r
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
Power supply
Symbol Device Connecto
r
Pin No.
DICOM Digital I/F power supply inpu
t
5, 10
DOCOM Digital I/F common CN3 3
SD Shield Plate
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: [N•m]
L1 L2 L3 P1 P2 C L+ L- L11 L21 U V W PE
MR-J4-DU30K_/MR-J4-DU37K_/MR-J4-DU45K_4/
MR-J4-DU55K_4
3.0 1.2
12.0
MR-J4-DU30K_/MR-J4-DU37K_4 6.0
MR-J4-CR55K(4) 12.0 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.
6.2 Parts having service lives
Service lives of the following parts are listed below. However, the service life varies depending or operating methods
and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacito
r
(Note 3) 10 years
Relay
Number of powe
r
-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)
(Note 1) Battery backup time Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 ˚C)
(Note 2) Battery life 5 years from date of manufacture
Note 1. The time is for using MR-J4 1-axis servo amplifier with a rotary servo motor using MR-BAT6V1SET. 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 life of the capacitor greatly depends on ambient
temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-
conditioned environment
(
40 ˚C surroundin
g
air temperature or less
)
.
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 to transport the servo amplifier. Otherwise, it may drop.
For detailed information on transportation and handling of the optional battery, refer to the
instruction manual.
Install the servo amplifier and servo motor in a load-bearing place in accordance with the
Instruction Manual.
Do not get on or put heavy load on the equipment.
When you keep or use it, please fulfill the following environment.
Item Environmen
t
Ambient
temperature
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Transportation (Note) [°C] -20 to 65 Class 2K4 (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/s
2
to IEC/EN 61800-5-1 (Test Fc of IEC
60068-2-6)
Operation
5.9 m/s
2
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 1000 m or less above sea level
Transportation 10000 m or less above sea level
Note. In re
g
ular trans
p
ort
p
acka
g
in
g
8.Technical data
8.1 Converter unit
Item MR-CR55K MR-CR55K4
Output
Rated voltage 270 V DC to 324 V DC 513 V DC to 648 V DC
Rated current [A] 215.9 113.8
Power
supply
Main circuit (line
voltage)
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz, 191.3 A 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 100.7 A
Control circuit (line
voltage)
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz, 0.2 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: 130 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-DU30K_ MR-J4-DU37K_ MR-J4-DU30K_4 MR-J4-DU37K_4 MR-J4-DU45K_4 MR-J4-DU55K_4
Output
Rated voltage 3-phase 170 V AC, 360 H
z
3-phase 323 V AC, 360 H
z
Rated current [A] 174 204 87 102 131 143
Power
supply
Main circui
t
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, 0.2 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
EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
Mean time to dangerous failure MTTFd ≥ 100 [years]
Effectiveness of fault monitoring
of a system or subsystem
DC = 90 [%]
Average probability of dangerous
failures per hour
PFH = 1.68 × 10
-10
[1/h]
Mission time 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
8.3 Dimensions
WD
H Front Side
Converter unit/drive unit
Variable dimension table [mm]
Mass [kg]
WHD
MR-CR55K(4) 300 380 300 22
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
8.4 Mounting hole process drawing
9.5
Converter unit
Punched hole
Drive unit
Punched hole
4-M6 screw
380
300
360 ± 0.5 10
20
260 ± 0.5
Approx. 10
281
342 19
Approx. 19
A
pprox. 9.5
Approx. 20
4-A screw
W1
W3
W2
W4
A
pprox. W5
Approx. W3
W5
360 ± 0.5 10
Approx. 10
342 19
Approx. 19
Drive unit
Variable dimensions [mm] Screw size
W1 W2 W3 W4 W5
A
MR-J4-DU30K
_
MR-J4-DU37K_
MR-J4-DU45K_4
MR-J4-DU55K_4
300 260 ± 0.5 20 281 9.5 M6
MR-J4-DU30K_4
MR-J4-DU37K_4
240 120 ± 0.5 60 222 9 M5
9.Check list for user documentation
MR-J4-DU/MR-CR 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 [ ]
Checkin
g
the items will not be instead of the first test o
p
eration or
p
eriodic ins
p
ection b
y
p
rofessional en
g
ineers.
[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]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by
you or eighteen (18) months from the date of manufacture whichever comes first ("Warranty Period"). Warranty period for
repaired Product cannot exceed beyond the original warranty period before any repair work.
[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 industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and
replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and
acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product
from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of
the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are
not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary
damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company,
any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test
run of local machines and the Product and any other operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if
any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an
external system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other
power plants of electric power companies, and also which require a special quality assurance system, including
applications for railway companies and government or public offices are not recommended, and we assume no
responsibility for any failure caused by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines,
medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment,
entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any
failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality
for a specific application. Please contact us for consultation.