L 03058 e

SERVO AMPLIFIERS & MOTORS
M a n , m a c h i n e a n d e nv i r o n m e n t i n
MELSERVO-J4 trusted technology makes an evolutionary leap forward

Introducing the MELSERVO-J4 series. Offering more than just improved performance, these servos
perfect harmony
are designed to drive the industries of tomorrow. Backed by Mitsubishi leadership in all-digital
technology, MELSERVO has become one of the most globally respected names in factory automation.
And now with the safety, ease of use, and energy-efficient design of the new MELSERVO-J4 series
man, machine and environment can at last work together in perfect harmony.
A complete system lineup to meet your production and manufacturing
Responding to expanding applications such as semiconductor and LCD manufacturing, machine tools, robots, and food processing machines,
Electrics other product lines such as Motion controllers, servo system networks as well as displays and programmable controllers. MELSERVO-J4
HUMAN MACHINE I/F
Graphic Operation Terminal
SOFTWA RE
PC/AT compatible computer
GOT2000/GOT1000 series
C ON T R OL L E R
Programmable controllers
MELSEC iQ-R series

Motion controller
SSCNET III/H compatible

Motion controller
R32MTCPU
R16MTCPU
N ET W O R K
S ERV O A M PL IF I E R
Simple Motion module


Stand-Alone Motion controller

LD77MS16
RD77MS16/RD77MS8 LD77MS4
RD77MS4/RD77MS2 LD77MS2
Q170MSCPU
Q170MSCPU-S1
SSCNET III/H serial bus
MR-J4W2-B

Position Board

C Controller
Interface Module

Position Board
Q173SCCF
MR-MC210
MR-MC211
Pulse train input
MR-J4-B-RJ010
MR-J4-A
CC-Link IE Field Network

servo amplifier with Motion
General-purpose interface
compatible servo amplifier
+MR-J3-T10
SSCNET III/H compatible SSCNET III/H compatible

2-axis servo amplifier
3-axis servo amplifier
MR-J4-B(-RJ)
C Controller
Interface Module
MR-J4-B/MR-J4W2-B/MR-J4W3-B

servo amplifier
MELSEC-QS/WS series
MELSEC-Q series
MR-J4W3-B
MR-J4-B-RJ010
+MR-J3-T10
MR-J4-A(-RJ)
*1
SE RVO M OTO R
Rotary servo motor
Linear servo motor
Small capacity,
low inertia
Small capacity,
ultra-low inertia
Medium capacity,
medium inertia
Capacity: 50 to 750 W
Capacity: 50 to 750 W
Capacity: 0.5 to 7 kW
HG-KR series
Medium/large
capacity,
low inertia
HG-JR series
HG-MR series
HG-SR series
Medium capacity,
ultra-low inertia
Medium capacity,
flat type
Capacity: 1 to 5 kW
HG-RR series
HG-UR series
Core type
LM-H3 series
Rating: 70 to 960 N
Core type with magnetic

attraction counter-force
LM-K2 series
Rating: 120 to 2400 N
*1. For the combination, refer to Combinations of 1-Axis Servo Amplifier and Servo Motor on pp. 1-3 to 1-5, and Combinations of Multi-Axis
Servo Amplifier and Servo Motors on p. 1-6.
SOL U T IO N
Mitsubishi Electrics integrated FA solution for achieving seamless

information collaboration between information systems and control
systems, and enabling lateral integration of production sites.
needs
MELSERVO-J4 is flexibly coordinated with Mitsubishi

allows you to freely create an advanced servo system.
Programmable Controller Engineering Software
MELSOFT GX
Works3
Motion Controller Engineering Software
MELSOFT MT
Works2
MELSOFT MR
Servo Setup Software
Configurator2
Capacity Selection Software
MELSERVO-J4 Product Lines
p. 5
Harmony with Machine

Basic Performance
Servo Gain Adjustment Function
A Variety of Functions
Network
p. 8
p. 8
p. 10
p. 13
Harmony with Man

MELSEC-L series
MELSEC-F series
Positioning module
Safety Observation Function

Maintenance Function
Easy to Use (Software)
p. 18
p. 21
p. 23
Harmony with the Environment
CC-Link IE
Field Network
QD77GF16
Multi-axis Servo Amplifier

Energy-conservative System
RD75P2/4
RD75D2/4
LD75P1/2/4
LD75D1/2/4
p. 26
p. 27
FX2N-10PG
Heritage
LOW-VOLTAGE SWITCHGEAR
Molded-case circuit breaker
Magnetic contactor
WS-V
MS-T
Core type
(natural/liquid cooling)
Direct drive motor
Replacement
p. 30
Basic Functions
Servo Amplifiers/Compatible Servo Motors
Rotary Servo Motors
Linear Servo Motors
Direct Drive Motors
Controllers
Solution
FA Products
Production/Development System
SSCNET Partner Association
Global Support System
p. 33
p. 35
p. 37
p. 39
p. 41
p. 43
p. 47
p. 49
p. 53
p. 54
p. 55
Conformity with Global Standards

and Regulations
p. 57
LM-F series

(natural cooling)
(liquid cooling)
Coreless type
LM-U2 series
Rating: 50 to 800 N
Product Specifications
TM-RFM series
Rating: 2 to 240 Nm
Mitsubishi Electrics integrated FA platform for achieving

lateral integration of controllers & HMI, engineering
environments and networks at production sites.
Servo Amplifiers
Rotary Servo Motors
Linear Servo Motors
Direct Drive Motors
Options/Peripheral Equipment
LVS/Wires
Product List
Cautions
p. 1-1
p. 2-1
p. 3-1
p. 4-1
p. 5-1
p. 6-1
p. 7-1
p. 8-1
4
MELSERVO-J4 Product Lines

Servo amplifier
Control mode
: Not compatible
Compatible servo motor series

TM-RFM
LM-U2
LM-K2
LM-F
LM-H3
HG-UR
HG-RR
HG-JR
HG-SR
HG-MR
HG-KR
Fully closed loop control
Positioning function
Speed
Torque
Position
RS-422 multi-drop
(Note 1, 4)
Pulse train
1-phase
100 V AC
Rated output
[kW]
Analog voltage
Power
supply
specifications
SSCNET III/H
MR-J4-B(-RJ)
Command interface
CC-Link IE Field
(Note 6)
Number of control axes
Servo amplifier
: Compatible
(Note 5)
(Note 2)
SSCNET III/H interface
0.1, 0.2, 0.4
1 3-phase
axis 200 V AC
0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15,

22, 30, 37
3-phase
400 V AC
0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55
2 3-phase
axes 200 V AC
0.2, 0.4, 0.75, 1
3 3-phase
axes 200 V AC
0.2, 0.4
MR-J4W2-B
CC-Link IE Field
Network interface
with Motion
General-purpose
interface
MR-J4W3-B
MR-J4-B-RJ010
+MR-J3-T10
3-phase
200 V AC
0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15,

22
3-phase
400 V AC
0.6, 1, 2, 3.5, 5, 7, 11, 15, 22
1-phase
100 V AC
0.1, 0.2, 0.4
0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15,

22, 30, 37
0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55
1
axis
MR-J4-A(-RJ)
1 3-phase
axis 200 V AC
3-phase
400 V AC
(Note 3)
(Note 3)
(Note 3)
Notes: 1. The listed are the rated output of the servo amplifier. For the compatible servo motor capacities, refer to "Combinations of 1-Axis Servo Amplifier and Servo Motor" on
pp. 1-3 to 1-5, and "Combinations of Multi-Axis Servo Amplifier and Servo Motors" on p. 1-6.
2. MR-J4-B/A servo amplifier is compatible with two-wire type serial linear encoder. For four-wire type serial and pulse train interface (A/B/Z-phase differential output
type) linear encoders, Use MR-J4-B-RJ/A-RJ servo amplifier.
3. Positioning function is available only with MR-J4-A-RJ.
4. 30 kW or lager is drive unit. One unit of converter unit is required for each drive unit.
5. MR-J4-B/A servo amplifier is compatible with two-wire type and four-wire type serial linear encoders. For pulse train interface (A/B/Z-phase differential output type)
linear encoder, use MR-J4-B-RJ/A-RJ servo amplifier.
6. Some functions are available only with the servo amplifier with specific versions. Refer to relevant Servo Amplifier Instruction Manual for detail.
Linear servo motor

Linear servo motor
series
Maximum speed Continuous thrust

[m/s]
[N]
LM-H3 series
LM-F series
Core type
Coreless type
5
Features
Application
examples
Suitable for space-saving.

Compact size and high thrust.
Maximum speed: 3 m/s.
Semiconductor mounting
systems
Wafer cleaning systems
LCD assembly machines
Material handlings
Compact size.
The integrated liquid-cooling system doubles
the continuous thrust.
Press feeders
NC machine tools
Material handlings
Natural
cooling
High thrust density.

Magnetic attraction counter-force structure
enables longer life of the linear guides and
lower audible noise.
Semiconductor mounting
systems
Wafer cleaning systems
LCD assembly machines
Natural
cooling
Screen printing systems

Scanning exposure
No cogging and small speed fluctuation.
No magnetic attraction force structure extends systems
Inspection systems
life of the linear guides.
Material handlings
9 types
70, 120, 240, 360,
480, 720, 960
175, 300, 600, 900,

1200, 1800, 2400
Natural
cooling
2.0
8 types
300, 600, 900, 1200,
1800, 2400, 3000
1800, 3600, 5400,

7200, 10800, 14400,
18000
Natural
cooling
2.0
8 types
600, 1200, 1800,
2400, 3600, 4800,
6000
1800, 3600, 5400,

7200, 10800,
14400, 18000
Liquid
cooling
2.0
7 types
120, 240, 360, 720,
1200, 1440, 2400
300, 600, 900, 1800,

3000, 3600, 6000
2.0
9 types
50, 75, 100, 150,
225, 400, 600, 800
150, 225, 300, 450,

675, 1600, 2400, 3200
LM-U2 series
: For 400 V.
Cooling
method
3.0
LM-K2 series
Note: 1.
Maximum thrust
[N]
Man, machine, environment

in perfect harmony
M a n M a c h i n e E nv i r o n m e nt
: Available
Rotary servo motor
: Not available
Servo motor type

Rated speed
(maximum speed)
[r/min]
Rotary servo motor

series
Rated output
[kW]
(Note 1)
With
electromagnetic
brake
(B)
With
reducer
(G1)
(Note 2)
With
IP rating Replaceable
reducer
(Note 3)
series
(G5, G7)
Features
Application
examples
(Note 2)
IP65
HF-KP
series
Low inertia
Perfect for general
industrial machines.
Belt drives
Robots
Mounters
Sewing machines
X-Y tables
Food processing machines
Semiconductor
manufacturing equipment
Knitting and embroidery machines
IP65
HF-MP
series
Ultra-low inertia
Well suited for
high-throughput
operations.
Inserters
Mounters
IP67
HF-SP
series
Medium inertia
This series is
available with two
rated speeds.
Material handling systems

Robots
X-Y tables
HG-KR series
Small capacity
Medium capacity
3000
(6000)
5 types
0.05, 0.1, 0.2, 0.4,
0.75
3000
(6000)
5 types
0.05, 0.1, 0.2, 0.4,
0.75
1000
(1500)
6 types
0.5, 0.85, 1.2, 2.0,
3.0, 4.2
2000
(3000)
14 types
0.5, 1.0, 1.5, 2.0, 3.5,
5.0, 7.0
0.5, 1.0, 1.5, 2.0, 3.5,
5.0, 7.0
3000
6000: 0.5 to
5 kW
5000: 7, 9 kW
18 types
0.5, 0.75, 1.0, 1.5, 2.0,
3.5, 5.0, 7.0, 9.0
0.5, 0.75, 1.0, 1.5, 2.0,
3.5, 5.0, 7.0, 9.0
IP67
IP67/
IP44
HG-MR series
HG-SR series
HG-JR series
Medium/large capacity
1500
3000: 7 to
15 kW
2500: 22 to
55 kW
1000
2000: 6 to
12 kW
1500: 15 to
37 kW
14 types
7.0, 11, 15, 22, 30, 37
7.0, 11, 15, 22, 30,
37, 45, 55
(Note 5)
16 types
6.0, 8.0, 12, 15, 20, 25,
30, 37
6.0, 8.0, 12, 15,
20, 25, 30, 37
IP67
(Note 4)
IP67/
IP44
HF-JP
series
HF-JP
HA-LP
series
Food packaging machines

Printing machines
Low inertia
Well suited for
high-throughput and
high-acceleration/
deceleration
operations.
Injection molding
machines
Press machines
HA-LP
series
capacity,
Medium capacity Medium
flat type
(Note 5)
(Note 4)
IP65
HC-RP
series
Ultra-low inertia
Well suited for
high-throughput
operations.
IP65
HC-UP
series
Flat type
The flat design makes
this unit well suited for
situations where the
installation space is
limited.
HG-RR series
HG-UR series
3000
(4500)
5 types
1.0, 1.5, 2.0,
3.5, 5.0
2000
3000: 0.75 to
2 kW
2500: 3.5, 5 kW
5 types
0.75, 1.5, 2.0,
3.5, 5.0
Ultra-high-throughput
material handling systems
Robots
Notes: 1.
: For 400 V.
2. G1 for general industrial machines. G5 and G7 for high precision applications.
3. The shaft-through portion is excluded. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-33 in this catalog for the shaft-through
portion. For geared servo motor, IP rating of the reducer portion is equivalent to IP44.
4. For HG-JR1500 r/min series, 15 kW or smaller is rated IP67, and 22 kW or larger is rated IP44. For HG-JR 1000 r/min series, 12 kW or smaller is rated IP67, and
15 kW or lager is rated IP44.
5. The servo motor with electromagnetic brake is not available for HG-JR 1500 r/min series 22 kW or larger, and 1000 r/min series 15 kW or larger.
Direct drive motor

Direct drive motor
series
TM-RFM series
Motor outer Hollow

shaft
diameter diameter
[mm]
[mm]
130
20
Rated
speed
[r/min]
Maximum
speed
[r/min]
Rated
torque
[Nm]
Maximum
torque
[Nm]
IP
rating
(Note 1)
200
500
3 types
2, 4, 6
6, 12, 18
IP42
18, 36, 54
IP42
180
47
200
500
3 types
6, 12, 18
230
62
200
500
3 types
12, 48, 72
36, 144,
216
IP42
330
104
100
200
3 types
40, 120,
240
120, 360,
720
IP42
Features
Suitable for low-speed and

high-torque operations.
Smooth operation with less
audible noise.
The motors low profile design
contributes to compact
construction and a low center of
gravity for enhanced machine
stability.
Clean room compatible.
Application
examples
Semiconductor
manufacturing devices
Liquid crystal
manufacturing devices
Machine tools
Note: 1. Connectors and gap between rotor and stator are excluded.
Machine
The leading edge in drive control,

with unrivaled accuracy and
response for next-generation
machine performance.
Backed by Mitsubishi MELSERVO's
global track record of proven reliability,
the new MR-J4 takes machine
performance to the highest level.
Harmony with machine
M achine
Industry leading level 2.5 kHz speed frequency response, with servo amplifiers,
servo motors, and optical networks linked in symphonic productivity
I n d u s t r y -leading Ba sic Performa nce
Industryleading
levels
Industry-Leading Level of Servo Amplifier Basic Performance

Our original high-speed servo control
architecture is evolved from the
conventional two-degrees-of-freedom model
adaptive control and applied to the
dedicated execution engine. Speed
frequency response is increased to
2.5 kHz. Compatible servo motors are
equipped with a high-resolution absolute
position encoder of 4,194,304 pulses/rev
(22-bit), enabling high-speed and
high-accuracy operation. The performance of
the high-end machine is utilized to the fullest.
[Settling time comparison with the prior model]
[Dedicated execution engine]

Servo amplifier control loop
[MR-J3]
Dedicated execution engine
Settling time [MR-J4]

reduced by
40%*
Model-based control
Command
Servo motor
Position control
Settling time
Command
Speed control
Current control
Settling time
Torque
Droop pulses
In-position
* The result is based on our evaluation condition.
Industryleading
levels
Improving Machine Performance with High-performance Servo Motors

Rotary servo motors achieve
high-accuracy positioning and smooth
rotation with a high-resolution encoder
and improved processing speed.
16 times
[Resolution comparison
with the prior model]
16 times
4000000pulse encoder
MR-J4 series
22 bits = 4,194,304 pulses/rev
MR-J3 series
18 bits = 262,144 pulses/rev
A d va n c e d Servo Ga in Adjustment Function
Advanced One-touch Tuning Function

Vibration suppression
control and robust filter
adjustment with one-touch.
: Actual operation
Before
Speed
Settling
time
After
Speed
: Command
Speed
Servo gain adjustment is complete just by

turning on the one-touch tuning function. With
this function, machine resonance filter, advanced
vibration suppression control II*, and robust filter
are automatically adjusted to maximize your
machine performance. This function also sets
responsivity automatically while the real-time
auto tuning requires manual setting.
Enhanced
functions
Time
Time
Exactly matched.
High-speed
positioning.
One-touch tuning window
Settling
time
Time
Operation is not following

the command.
Operation is unstable.
One-touch
tuning
* The advanced vibration suppression control II automatically adjusts one frequency.
Advanced Vibration Suppression Control II

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

of an arm
Patent
pending
Without vibration
suppression control
Advanced vibration
suppression control
Enhanced
functions
Advanced vibration
suppression control II
Droop pulses
Vibration in
a machine
Torque
Speed command
Two types of
the vibrations are
suppressed at
the same time.
Application examples
[Pick and place robots]
[Automatic assembly equipment]
[Material handling systems]
Robust Filter
Patent
pending
NEW
Achieving both high responsivity and stability was difficult with the conventional control in high-inertia systems with belts and gears
such as printing and packaging machines. Now, this function enables the high responsivity and the stability at the same time
without adjustment. The robust filter gradually reduces the fluctuation of torque in a wide frequency range and achieves more
stability as compared to the prior model.
[Robust filter]
Gain
Conventional
low-pass filter
Conventional control
With robust filter
[Printing machines]
Speed command
[Packaging machines]
Droop pulses
Torque
Robust filter
Frequency
Vibrating
Stable
Expanded Machine Resonance Suppression Filter

With advanced filter structure,
applicable frequency range is
expanded from between 100 Hz and
4500 Hz to between 10 Hz and 4500
Hz. Additionally, the number of
simultaneously applicable filters is
increased from two to five, improving
vibration suppression performance of a
machine.
Wider applicable
frequency range
Enhanced
functions
Applicable frequency range of MR-J4
The number of notch

filters is increased
from two to five.
Applicable frequency range of MR-J3
[MR-J3]
[MR-J4]
Filter
Filter
Filter
Filter
Filter
Filter
Filter
10
4500 [Hz]
100
Lost Motion Compensation Function

This function suppresses quadrant
protrusion caused by friction and
Before
NEW
Validate the
lost motion
compensation
function.
torsion generated when the servo
motor rotates in reverse direction.
After
Therefore, the accuracy of circular path
Application example
[X-Y table]
will be improved in trajectory control

used in XY table, etc.
* This function is not available with MR-J4-B-RJ010/

MR-J4W2-B/MR-J4W3-B.
Suppression of quadrant protrusion of circular trajectory
Super Trace Control
NEW
This function controls droop pulse to

nearly zero not only during constant
operation, but also during constant
Conventional control
Speed
improved in high rigidity machines.
Speed
Time
Droop
pulses
Time
Droop
pulses
* This function is not available with MR-J4-B-RJ010/

MR-J4W2-B/MR-J4W3-B.
Time
Droop
pulses
Time
Droop pulses are

increased depending
on the speed.
Super trace control
Speed
acceleration/deceleration.
The trajectory accuracy will be
Feed forward
Time
Droop pulses during

constant-velocity operation
are nearly zero.
Time
Droop pulses during constant

acceleration/deceleration
are nearly zero.
M achine
A Va r i e t y o f Functions for Va rious Applic ations
Tightening & Press-fit Control
RnMTCPU
Q17nDSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
Patent
pending
NEW
Position/speed control switches to torque control smoothly without stopping or changing the speed or the torque rapidly. Load to
the machine is reduced, and high-quality molding is achieved for an application where control is switched from position to torque
such as Tightening & Press-fit control or insertion of a work, and cap or screw tightening.
* Available in MR-J4-B/MR-J4W2-B/MR-J4W3-B.
Motion controller
MR-J4-B
MR-J4W2-B
MR-J4W3-B
Tightening & Press-fit control with

setting torque after collision
Position
feedback
Position
feedback
Control mode
command
Motor current
Tightening &
Press-fit control
Servo motor
[Press-fit machines]
[Screw tightening machines]
Workpiece
Position/speed
control
Torque
control
Master-slave Operation Function
RnMTCPU
Q17nDSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
NEW
For MR-J4-B servo amplifier*, the master-slave operation function transmits a master axis torque to slave axes using driver
communication, and the torque as a command drives slave axes by torque control. Since torque data is transmitted from the
master axis to slave axes via SSCNET III/H, additional wiring is not required.
* This function is available with MR-J4-B servo amplifier with software version A8 or later.
Motion controller
Master axis
Position
control or
speed control
MR-J4-B
Command
Slave axis
Torque
control
MR-J4-B
Command
[Press machines]
Drives the servo

motor with the same
torque as the master
axis.
Scale Measurement Function

For MR-J4-B*2/(-RJ)/MR-J4W2-B servo amplifier*1,
the scale measurement function enables to
transmit position information of a scale
measurement encoder to the controller when the
scale measurement encoder is connected in semi
closed loop control.
The data of linear or synchronous encoders are
transmitted to the servo system controller via the
servo amplifier, achieving less wiring.
*1. This function is available with the MR-J4-B(-RJ)/MR-J4W2-B servo
amplifier with software version A8 or later.
*2. Use corresponding servo amplifier (MR-J4-B or MR-J4-B-RJ) for
load-side encoder.
[Material handling systems]
RnMTCPU
Q17nDSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
NEW

Motion controller
Command
Synchronous
encoder data
Synchronous
encoder
Rotary Knife
MR-J4-B-RJ
10
Fully closed loop control supported as standard.

Operate rotary servo motors, linear servo motors, or direct drive motors.
A p p l i c a b l e for Various Control and Driving Systems
Compatible Servo Motors

MR-J4 series servo amplifier operates
rotary servo motors, linear servo motors,
and direct drive motors as standard*.
* Not all of the servo amplifiers are compatible with all
three of these servo motors. For the combination, refer
to "Product lines" on p. 35 in this catalog.
Rotary servo motor
Linear servo motor
Direct drive motor
1-axis/2-axis/3-axis Servo Amplifiers

For SSCNET III/H compatible servo
amplifiers, 2-axis and 3-axis types are
available in addition to 1-axis type, enabling
flexible systems based on the number of
control axes.
MR-J4-B
MR-J4W2-B
MR-J4W3-B
Compatible with Fully Closed Loop Control

MR-J4-B/MR-J4-A servo amplifier is compatible
with fully closed loop control system*. Accurate
control of load-side position is achieved.
* MR-J4-B/MR-J4-A servo amplifier is compatible with two-wire
type serial linear encoder. For four-wire type serial and pulse
train interface (A/B/Z-phase differential output type) linear
encoders, MR-J4-B-RJ/MR-J4-A-RJ servo amplifier is available.
* Some models are not compatible with the fully closed loop
control system. Refer to "Product lines" on p. 35 in this catalog.
Standard
equipment
Servo
amplifier
Load-side
encoder signal
Accurately controls
load-side position.
Linear encoder
Servo motor
Linear encoder head
Wide Range of Power Supplies and Capacities

For MR-J4-B/MR-J4-A servo amplifier,
1-phase 100 V AC main circuit power supply
type is added to product lines in addition to
3-phase 200 V AC and 3-phase 400 V AC.
Capacities varying from 100 W to 55 kW are
available for MR-J4 series servo amplifier.
CN 6
C
N
40
CN 1
CNP 1
C
N
3
MR-CR55K4
SER: XXXXXXXXX
L+
L-
L-
L1
MR-J4-22KB
L2
L3
Controller
P2
L11
L21
P1
MR-CR55K4 + MR-J4-DU55KB4
Maximum Command Pulse Frequency

Compatible
with 4 Mpulses/s.
MR-J4-A
11
MR-J4-DU55K4
SER: XXXXXXXXX
L+
AWG14
MR-J4-10B1
General-purpose interface compatible

MR-J4-A servo amplifier supports
maximum command pulse frequency of 4
Mpulses/s.
C
N
40
A
CHARGE
M achine
B u i l t - i n P o s i tioning Function for Simple Syste m
Servo Amplifier with Built-in Positioning Function
NEW
Positioning operation with point table, program, and indexer (turret) methods became capable by built-in positioning function in
MR-J4-A-RJ*1, allowing to configure positioning system without controller such as Positioning module. Command interface is selectable
from DI/O and RS-422 serial communication (maximum 32 axes). The positioning data can be set from MR Configurator2*2 easily.
MR-J4-A-RJ
Example of a setting display (point table)
Built-in positioning function

Positioning module is not required.
Point table method
Program method
Indexer (turret) method
Fully closed loop control is also available with
point table and program methods.
Easy setting of
positioning data from
MR Configurator2.
Personal computer
Rotary servo motor, linear servo

motor, and direct drive servo motor
are compatible.
*1. Use MR-J4-A-RJ servo amplifiers with software version B3 or later when using the positioning function.
*2. Be sure to update your MR Configurator2 to the latest version.
Point table method
Setting position data (target position), servo motor speed, and acceleration/deceleration time constants in point table is as easy as
setting a parameter. Up to 255 points are settable for the point table. The positioning operation is performed with a start signal after
selecting the point table No.
Operation
Point table example

Point table
No.
Position
data
Servo motor Acceleration Deceleration

speed
time constant time constant
1000
2000
200
2000
1600
100
255
3000
3000
100
Dwell
Sub
function
M code
200
100
100
99
Speed
2000
1600
Point table No. 1
Point table No. 2
Position address
1000
2000
Start signal
Program method *
Create positioning programs with dedicated commands. The positioning operation is performed with a start signal after selecting the
program No. The program method enables more complex positioning operation than the point table method. Maximum of 256 programs
are settable. (The total number of steps of program: 640)
Repeats (2) and (3)
Acceleration
Operation time constant
Program example
Speed
3000
256 programs max
(20 ms)
Deceleration
time constant
(20 ms)
for the number of

times specified by (1).
Program No. 1
SPN (3000)
STC (20)
MOV (1000)
TIM (100)
FOR (3)
MOVI (100)
TIM (100)
NEXT
STOP
(1)
(2)
(3)
* MR Configurator2 is required to create programs.
Dwell
(100 ms)
Position address
Dwell
(100 ms)
1000
1100
Dwell
(100 ms)
1200
Dwell
(100 ms)
1300
Start signal
Program No.
Indexer (turret) method*
Positioning operation is performed by specifying equally divided
MR-J4-A-RJ
stations (up to 255 stations). By setting the number of teeth on load
and motor sides and equally divided stations, the travel distance will
be calculated automatically. The positioning operation is performed
with a start signal after selecting the station position No.
In addition to rotation direction specifying indexer and shortest
Station No. 7
rotating indexer, backlash compensation and override function are
Station No. 6
* Fully closed loop control mode and linear servo motor control mode are not
available with the indexer (turret) method.
Station No. 5
also available.
Station No. 0
Station No. 1
Station No. 2
Station No. 3
Station No. 4
12
The blazingly fast
H i g h - r e s ponse Syste m Ac hieved with SSCNET III/H

Three Times Faster Communication
Speed
Industryleading
levels
Communication speed is increased to 150 Mbps full duplex

(equivalent to 300 Mbps half duplex), three times faster than
the conventional speed. System response is dramatically
improved.
Network communication speed
3 times faster
Baud rate [Mbps]
SSCNET III/H
MR-J4
SSCNET III
MR-J3
100
50
150
Cycle Times as Fast as 0.222 ms
Industryleading
levels
Smooth control of machine is possible using high-speed serial

communication with cycle times of 0.222 ms.
Deterministic and Synchronized

Communication
Complete deterministic and synchronized communication is
achieved with SSCNET III/H, offering technical advantages in
machines such as printing and food processing machines that
require synchronous accuracy.
Timing of servo amplifier processing
Pulse train command (asynchronous)
1st servo
amplifier axis
2nd servo
amplifier axis
3rd servo
amplifier axis
Receives position command.
SSCNET III/H command (synchronous)

1st servo
amplifier axis
2nd servo
amplifier axis
3rd servo
amplifier axis
Position command
SSCNET III
No Transmission Collision
Communication cycle
0.444 ms
Time
SSCNET III/H
Position command
Guards
against noise.
Noise
0.222 ms
13
The fiber-optic cables thoroughly shut out noise that enters

from the power cable or external devices. Noise tolerance is
dramatically improved as compared to metal cables.
Communication cycle
Time
Guards
against noise.
Noise
Guards
against noise.
Noise
M achine
speed and response of 150 Mbps full-duplex baud rate SSCNET III/H optical networking
Dramatically Reduced Wiring

The SSCNET III/H Head module allows the controller to connect remotely with
various modules (I/O, analog, high-speed counter, etc.) via SSCNET III/H.
This results in reduced wiring since the Motion controller receives the I/O and
analog I/O signals directly from the servo amplifier side.
The control panel on controller side
Long Distance Wiring up to 1600 m
Long distance wiring is possible up to 1600 m per system

(maximum of 100 m between stations 16 axes). Thus, it is
suitable for large-scale systems.
* This is when all axes are connected via SSCNET III/H.
16 axes maximum
Specifications
Maximum number of stations:
4 stations
Maximum I/O points per system
Input points 256 bytes
Output points 256 bytes
Maximum I/O points per station
Input points 64 bytes
Output points 64 bytes
The control panel on servo amplifier side

SSCNET III/H
Head module
LJ72MS15
Central Control with Network

Large amounts of servo data are exchanged in real-time
between the controller and the servo amplifier.
Using MELSOFT MR Configurator2 on a personal computer
that is connected to the Motion controller or the Simple Motion
module helps consolidate information such as parameter
settings and monitoring for the multiple servo amplifiers.
Enhanced
performance
Standard code/standard cable: Max. 20 m between stations

Long distance cable: Max. 100 m between stations
Maximum overall distance per system
Standard code/standard cable: 320 m (20 m 16 axes)
Long distance cable: 1600 m (100 m 16 axes)
SSCNET III/H Compatible and SSCNET III

Compatible Products Connected in a Same System
SSCNET III/H and SSCNET III compatible controllers support
the use of SSCNET III/H and SSCNET III compatible servo
amplifiers together in a same system.
SSCNET III/H compatible controller + MR-J4-B/MR-J4W_-B
SSCNET III/H compatible controller
MR-J4-B
MR-J4-B
MR-J4-B
MR-J4-B

Data write
Data read
Communication speed: 150 Mbps

Reconnecting cables is
not required.
MR Configurator2
MR-J4-B
MR-J4W2-B
MR-J4W3-B
SSCNET III compatible controller and MR-J3_-B in a same system

SSCNET III compatible controller
MR-J3-B
MR-J4-B*
MR-J3-B
MR-J4-B*
Communication speed: 50 Mbps

* When the SSCNET III compatible products are in the system, the communication speed
is 50 Mbps interactive, and the function and the performance are equivalent to those of
MR-J3.
14
CC-Link IE Field Ethernet-based open network

A l l - r o u n d e r Ne twork to Ope n up New Areas of Control
All-rounder Network
Motion Control Achieved
CC-Link IE Filed Network is an Ethernet-based open

network. Its highly flexible wiring to match your device
layout can perform high-speed controller distributed
control, I/O control and safety control. Because the
CC-Link IE Field Network is based on the Ethernet, cables
and connectors are highly available in the world.
QD77GF16
External command signal (4 points)

Forced stop input (24 V DC)
USB/
Ethernet
MR-J4-B-RJ010 * MR-J4-B-RJ010 *
MR-J3-T10
MR-J3-T10
MR-J4-B-RJ010 *
MR-J3-T10
Up to 16 Servo amplifiers
can be synchronized.
CC-Link IE Field Network is now equipped with Motion

function. High-speed positioning control, synchronous
control and cam control can be performed easily at a
control cycle of 0.888 ms/1.777 ms/3.555 ms just with
simple parameter settings and startup from the sequence
program. This network is suitable for food processing
machines and machine tools which require synchronous
control.
CC-Link IE Field Network is compatible with speed and
torque control, and suitable for spinners.
Pulse train command (asynchronous)
1st servo amplifier axis
2nd servo amplifier axis
3rd servo amplifier axis
Up to 104 devices
Inverter
FR-A800 +
FR-A8NCE
Remote
I/O
Head
module
Rotary servo
motor
Rotary servo
motor
Analog
module
Rotary servo
motor
HMI
Bridge
module
High-speed counter
module
* As MR-J4-B-RJ010 servo amplifier is designed exclusively for Motion control, use

QD77GF Simple Motion module for a controller. (As of September 2014)
CC-Link IE Field Network communication

command (synchronous)
1st servo amplifier axis
2nd servo amplifier axis
3rd servo amplifier axis
Flexible Network Topology

Line, star, and line/star mixed topologies are available for the CC-Link IE Field Network wiring layout.
Line/star mixed topology
Line topology
Star topology is available using an industrial switching

HUB.
HUB applied: DT135TX (manufactured by Mitsubishi
Electric System & Service Co., Ltd.)
The Simple Motion modules (Master station) can be

connected to slave devices without using a HUB, which
reduces cost.
QD77GF16
QD77GF16
Star topology
Line topology
Line topology
Line topology
Line topology
HMI
15
Remote I/O
Remote I/O
Inverter
HMI
Inverter
M achine
Seamless communication between upper-level information systems and lower-level field systems
FA I n t eg r a t e d Network for Optima l FA Environme nt
Seamless Data Communication with FA Integrated Network

Large
Computer
level network
Low
One seamless solution that matches different

demands with the appropriate network type.
Data and information can easily be shared
among the different networks without the
need for any special converters or overly
complicated configuration process.
Ethernet
Information communication
Seamless
data
communication
Data Real time

capacity performance
Controller
level network
Distributed control
* Supporting motion function

Device
level network
I/O control
Safety control
Motion control
Small
High
FA Integrated Network System Architecture

Connections and accesses to various devices are possible through CC-link IE Control, the controller network; CC-Link IE Field,
the field network; and SSCNET III/H, the Motion network; and Anywire, the sensor network.
The network wiring layout is highly flexible to best fit the needs of the application.
MES (Manufacturing execution system)
Programmable controller
engineering software
Computer level
(production management/
data system)
LAN (Ethernet)
GOT
(HMI)
Personal computer
interface board
MELSEC iQ-R
Series
MODE
RUN
Controller level
(control system)
ERR
USER
BAT
BOOT
MODE
RUN
PULL
ERR
USER
BAT
BOOT
PULL
PULL
USB
PULL
USB
MELSEC-Q
Series
MELSEC iQ-R
Series
Seamless data
coordination
MELSEC-Q
Series
MELSEC iQ-R
Series
Motion CPU
module/
Simple Motion
module
Industrial-use
switching hub
Industrial-use
switching hub
Field level
(device system)
Ethernet
adapter
Analog
Remote
I/O module I/O module
Inverter
GOT
(HMI)
Servo
amplifier
Personal computer
interface board
MELSEC-L
Series
PULL
PULL
USB
MELSEC-Q
Series
safety
programmable
controller
Remote I/O
module Servo Servo
amplifier amplifier
Ethernet
24V
0V
DP
DN
LG
DA
DB
DG
SLD
FG
Vision
sensor
CC-Link Remote
MELSEC-F
GOT Wireless LAN
CC-Link/LT I/O module Series
(HMI) adapter
Bridge module
(access point)
CC-LinkAnyWire CC-Link IE
FieldAnyWire
DB A20
ASLINK
Bridge module
Bridge module
Safety
Safety
Remote
remote I/O module
remote
I/O module
I/O module
AnyWire DB A20
S3D
1D-
L
2X1
Servo
amplifier
Servo
amplifier
C
ALT27XB-02G-P
ADDRESS
I/O module
No.
Sensor
Photoelectric Proximity Photo

sensor
sensor interrupter
(diffuse reflection type)
Robot
Warning
light
Emergency
stop switch
Optimal network proposals for each level

CC-Link IE Control is a high-reliability distributed
control network designed to handle very large data
communications (128 K word) over a high-speed (1Gbps)
dual-loop optical cable topology.
SSCNET III/H is a dedicated high-speed,
high-performance, highly reliable servo
system control network that offers flexible
long-distance wiring capabilities based on
optical-fiber cable topology.
CC-Link IE Field is a versatile gigabit Ethernet-based

network integrating controller, I/O control, safety control,
and motion control in a flexible wiring topology supporting
star, ring, and line configurations.
CC-Link is a high-speed and highly reliable deterministic

I/O control network that realizes reduced wiring while offering
multi-vendor compatible products.
AnyWire
AnyWire is a sensor level distributed control network that

is designed to reduce installation costs by utilizing generalpurpose wiring and robot cables.
16
The leading edge in safety
Man
and convenience, designed to
harmonize with the way you work.

The easy-to-use MR-J4 was created with human
needs in mind. It meets world-class safety standards

and is exceptionally simple to maintain, ensuring
optimum setup and operating ease for both design

and manufacturing personnel.
Ma n
Harmony with man
Advanced features for world-class safety

E q u i p p e d w i th the Safe ty Obse rva tion Function
Functions According to IEC/EN 61800-5-2

STO (Safe torque off) and SS1*1 (Safe
stop 1) are integrated as standard,
enabling the safety system to be
configured easily in the machine.
Turning off the control power of servo
amplifier is not required, cutting out

the time for restart. Additionally, home
position return is not required.
[Shut-off by STO]
[Shut-off by STO and SS1]
Molded-case
circuit breaker (MCCB)
Shut-off
Safety
relay circuit
Molded-case
circuit breaker (MCCB)
Magnetic contactor for

preventing unexpected
start is no longer required.
Magnetic contactor (MC)
for servo alarm*2
Magnetic contactor for preventing

unexpected motor start is not
required.*2
SS1 (Safe stop 1) *1
SS1 signal
Servo
amplifier
Stops
motor
Servo motor
IEC/EN 61800-5-2:2007 function

for servo alarm*2
Safety equipment
MR-J3-D05, safety programmable
controller MELSEC QS/WS series, etc.
Servo
amplifier
STO (Safe torque off)
Magnetic contactor for

preventing unexpected
start is no longer required.
Servo motor
Stops
motor
Contents
Category 3, PL d, SIL 2
*1. Safety equipment (MR-J3-D05, safety programmable controller MELSEC QS/WS series, etc.) is required.
*2. For MR-J4 series servo amplifier, magnetic contactors are not required to meet the STO requirements. However this figure has a magnetic contactor installed to prevent the
short circuit of servo amplifier or electric shock.
Increasing Safety Level by Combining MR-J4 with Motion Controller

The safety observation function of
Q17nDSCPU*1 is compatible with the
following functions defined as
"Power drive system function" in
IEC/EN 61800-5-2.
Contents
Safety function with a combination of Motion controller and servo amplifier

MR-J4-B/MR-J4-B-RJ/
MR-J4W2-B/MR-J4W3-B
Q173DSXY
Q17nDSCPU
Motion controller side
Programmable
controller side
Safety signal

SS1 (Safe stop 1)
(Input)
SS2 (Safe stop 2)

SOS (Safe operating stop)
(Input)
SLS (Safely-limited speed)

SBC (Safe brake control)
Light curtain
Safety switch
Power shut-off
(STO cable)
Servo motor
Servo motor
SSM (Safe speed monitor)

*1. The safety function has obtained the approval of
Certification Body by the combination of
Q17nDSCPU, Q173DSXY and QnUD(E)(H)CPU.
18
Increasing Safety Level with MR-D30 Functional Safety Unit
NEW
The safety level will be increased by inputting signals directly to the functional safety unit, and the wiring will be reduced by
inputting the safety signals through SSCNET III/H.
Safety Signals Via SSCNET III/H
By combining MR-J4-B-RJ servo amplifier and MR-D30

functional safety unit, safety signals are inputted from
Q17nDSCPU Motion controller*1 through SSCNET III/H.
Therefore, the previously required power shut-off (STO
cable) wiring between controller and servo amplifier is
not necessary. Attachment of MR-D30 is required only
for the axis that needs the safety function.
In addition, because the safety function is achieved on
MR-D30 side, cost of designing ladder program on
controller side can be dramatically reduced.
Contents
Safety function with a combination of Motion controller and servo amplifier

MR-J4-B/MR-J4-B-RJ/
MR-J4W2-B/MR-J4W3-B
Q173DSXY
Q17nDSCPU
Programmable
controller side
Safety signal
(Input)
(Input)
Light curtain
Safety switch
SS1 (Safe stop 1)

Servo motor
Servo motor
Less
wiring
*1. The safety function has obtained the approval of Certification Body by the
combination of Q17nDSCPU, Q173DSXY and QnUD(E)(H)CPU.
Power shut-off
(STO cable)
Reduced wiring with a combination of functional safety unit and Motion controller
MR-D30
MR-J4-B-RJ
MR-D30
Q173DSXY
Q17nDSCPU
Safety communication MR-J4-B-RJ

via SSCNET III/H
(STO/SS1/SBC/SLS/SSM)
Safety signal
Programmable
controller side
Safety
signal
(Input)
(Input)
Light curtain
Safety switch
Servo motor
Servo motor
Achieving Category 4, PL e, SIL 3 by wiring to functional safety unit
Higher safety level, Category 4, SIL 3, is achieved by

wiring the safety input signals directly to MR-D30
functional safety unit. The safety function is easily
enabled just by setting parameters.
Attachment of MR-D30 is required only for the axis that
needs the safety function.
Increasing safety level by wiring to functional safety unit

SSCNET III/H
compatible controller
QD77MS
MR-D30
MR-J4-B-RJ
Safety controller
Contents
WS0-CPU0,
WS0-CPU1,
etc.
Category 4, PL e, SIL 3

19
(Input)
Safety signal

SS1 (Safe stop 1)
Safety input/output via DI/O

(STO/SS1/SBC/SLS/SSM)
To other servo amplifier axes

Servo motor
Safety switch
(Input)
Safety signal
Light curtain
Harmony with man
Ma n
Achieving IEC/EN 61800-5-2 Functions

(1) Functions achievable with MR-J4-B(-RJ)/MR-J4W_-B/MR-J4-B-RJ010/MR-J4-A(-RJ)
(2) Functions achievable with MR-J3-D05 + MR-J4-B(-RJ)/MR-J4W_-B/MR-J4-B-RJ010/MR-J4-A(-RJ)

(3) Functions achievable with Q17nDSCPU + Q173DSXY + MR-J4-B(-RJ)/MR-J4W_-B
(4) Functions achievable with MR-D30 + MR-J4-B-RJ
NEW
: Supported (SIL 3)
IEC61800-5-2 Safety standard

Safe torque off
(STO)
(1) (2) (3) (4)
Speed
IEC61800-5-2 Safety standard

Safely-limited speed
(SLS)
The STO function shuts off power to

the motor electronically using the
internal circuit by responding to the
input signal from external equipment
(shuts off through secondary-side
output).
This function corresponds to the Stop STO signal
category 0 of IEC/EN 60204-1.
(Normally closed)
Stop category 0
Speed
(Uncontrolled stop)
Time
: Supported (SIL 2)
: Unsupported
(1) (2) (3) (4)
Speed
This function monitors the motor

V
not to exceed the required speed
limit. If the speed exceeds the limit,
Vmax
the motor power is shut off by the
STO.
SLS signal
Time
Execute the STO function after the motor is

stopped in servo off state.
Safe stop 1
(SS1)
Speed
Responding to the input signal

from external equipment, the motor
starts to decelerate. After the set
delay time for motor stop is
passed, the STO function starts.
This function corresponds to the
Stop category 1 of IEC 60204-1.
Safe brake control

(SBC)
Stop category 1
Speed
SS1 signal
(Normally closed)
Speed
V
The SBC signals are outputted for

external brake control.
(Controlled stop)
SBC output signal

(Normally closed)
Time
Time
SS1
STO signal (Normally closed)
Safe stop 2
(SS2)
Responding to the input signal
from external equipment, the motor
starts to decelerate. After the set
delay time for motor stop is
passed, the SOS function starts.
This function corresponds to the
Stop category 2 of IEC/EN
60204-1.
Speed
V
Stop category 2
Safe speed monitor

(SSM)
Speed
The SSM signals are outputted

Vmax
when the motor speed is below the
specified speed limit.
Time
SS2 signal
(Normally closed)
Time
SS2
SSM output signal
STO signal (Normally closed)
Safe operating stop

(SOS)
This function monitors the position
of the motor not to deviate from the
specified range. Power is still
supplied to the motor during the
SOS function.
Speed
Position
S1
S2
V
SOS signal
V: Speed
Vmax: User specified speed limit value
S1, S2: Specified stop position
Position
curve
Ensured safety range
Time
20
Enhanced operating ease and drive stability

M a i n t e n a n c e F u nc tion to Ac hieve TCO * Re duction
* TCO : Total Cost of Ownership
Compatible with SEMI-F47

MELSERVO-J4 series servo amplifier complies with SEMI-F47 standard* corresponding to semiconductors and LCD
manufacturing systems.(SEMI-F47 is not applicable to 1-phase 100 V AC and 1-phase 200 V AC. To comply with SEMI-F47 by
using 11 kW or larger servo amplifiers, the dynamic brake is not usable.)
* The control power supply of the servo amplifier complies with SEMI-F47. Note that the backup capacitor may be required depending on the power impedance and operating
situation for the instantaneous power failure of the main circuit power supply. Be sure to perform a test on your machine to meet the SEMI-F47 Voltage Sag Immunity Standard.
Please use the 3-phase power supply for the servo amplifier input.
Tough Drive Function
Enhanced
functions
Instantaneous power failure tough drive
This function detects instantaneous power failure in the input

power, reducing the occurrence of undervoltage alarm.
Speed
Instantaneous
power failure
detected
Instantaneous
power failure
Reduce the possibility of
undervoltage alarm
at acceleration.
Vibration tough drive
Machine resonance suppression filter is automatically readjusted

when a change in machine resonance frequency is detected by
the servo amplifier. Losses from the machine stop due to
age-related deterioration are reduced.
Vibration
detected
Suppresses vibration
by readjusting the machine
resonance suppression filter.
Motor current
Time
Large Capacity Drive Recorder
Patent
pending
Enhanced
functions
Servo data such as motor current and position command before and after the alarm occurrence are stored in non-volatile
memory of the servo amplifier. Reading the servo data on MELSOFT MR Configurator2 helps you analyze the cause of the
alarm.
Check the waveform ((analog 16 bits 7 channels + digital 8 channels) 256 points) and the monitor values of 16 alarms in the
alarm history.
Data are stored
in non-volatile
memory at alarm
occurrence.
Data over certain

period of time are
stored in the memory.
Lowered bus voltage

It is revealed that the main
circuit power is turned off.
21
Alarm No., waveform, and monitor

value at alarm occurrence are
displayed in MR Configurator2.
Waveform display
Monitor value display
Ma n
Harmony with man
Machine Diagnosis Function
Patent
pending
NEW
This function detects changes of machine parts (ball screw, guide, bearing, belt, etc.) by analyzing machine friction, load moment
of inertia, unbalanced torque, and changes in vibration component from the data inside the servo amplifier, supporting timely
maintenance of the driving parts.
[Machine diagnosis function window on MR Configurator2]
Machine information
is displayed and
monitored.
Servo amplifier
Friction estimated value

is displayed
Friction and vibration are

estimated based on the
data in a normal
operation. Particular
measurement is not
required.
Personal
computer
Vibration estimated
value is displayed
Encoder
Servo motor
Ball screw
Three-digit Alarm
In MR-J4 series, servo alarms are displayed in three
digits.
Troubleshooting at alarm occurrence is easy.

[Three-digit alarm display]
This display is of MR-J4-A.
[Example of an alarm window on MR Configurator2]
For the undervoltage alarm, whether the alarm

occurred in the main or the control circuit is
identified by the alarm No.
22
User-friendly software for easy setup, tuning and operation

Servo setup software
MR Configurator2
(SW1DNC-MRC2-E)
Tuning, monitor display, diagnosis, reading/writing parameters, and test operations are easily
performed on a personal computer.
This startup support tool achieves a stable machine system, optimum control, and short
setup time.
Pre para tion
Servo Assistant Function
Using MR Configurator2 via Motion Controller
Complete setting up the servo amplifier just by following
MR Configurator2 can be used with MT Developer2 on a
since related functions are called up from shortcut buttons.
Information such as parameter settings and monitoring for
personal computer that is connected to a Motion controller.
guidance displays. Setting parameters and tuning are easy
the multiple servo amplifiers is consolidated easily just by
connecting the Motion controller and the personal computer
Easy use
with cables.

Data write
Data read
Easy connection
for multiple axes
Reconnecting
cables is not
required.
MR Configurator2
MR-J4-B
MR-J4W2-B
MR-J4W3-B
Se tting and Startup
Parameter Setting Function
Monitor Function
Display parameter setting in list or visual formats, and
set parameters by selecting from the drop down list. Set

in-position range in mechanical system unit (e.g. m).
Parameter read/write time is approximately one tenth of the

conventional time.
Monitor operation status on the [Display all] window.
Measurement equipment such as electric power meter is not

required since power consumption is monitored. Assigning
input/output signals and monitoring ON/OFF status are also

performed on the "I/O monitor" window.
[Display all] window
Set without
manuals.
23
Display details of
relevant parameters
in a docking window.
[I/O monitor] window

Monitor without
measurement
equipment.
Harmony with man
Ma n
Servo Adjustme nt
One-touch Tuning Function
NEW
Adjustments including estimating load to motor inertia ratio,

adjusting gain, and suppressing machine resonance are
automatically performed for the maximum servo performance
Tuning Function
Adjust control gain finely on the [Tuning] window manually for
further performance after the one-touch tuning.
just by clicking the start button. Check the adjustment results of

settling time and overshoot.
Pursue higher
performance
with manual
setting.
Easy adjustment
Click
Display
adjustment
results.
Adjust gains
finely.
Adjustment
completed
Graph Function
Enhanced
functions
Display
adjustment
results.
Machine Analyzer Function
The number of measurement channels is increased to 7
Input random torque to the servo motor automatically and
various servo statuses in the waveform at one measurement,
machine system just by clicking the [Start] button. This
channels for analog, and 8 channels for digital. Display
supporting setting and adjustment. Convenient functions such
as [Overwrite] for overwriting multiple data and [Graph history]

for displaying graph history are available. Waveform
analyze frequency characteristics (0.1 Hz to 4.5 kHz) of a
function supports setting of machine resonance suppression

filter, etc.
measurement for the connected axes is simultaneously

performed via Motion controller communication.
Measure
mechanical
characteristics
Check the servo

operation in
waveform.
Maintenance
Servo Amplifier Life Diagnosis Function

Check cumulative
operation time and on/off
times of inrush relay. This

function provides an
indication of replacement
time for servo amplifier
parts such as capacitor

and relays.
Support
the preventive
maintenance
of the servo
amplifier.
Machine Diagnosis Function

This function estimates
and displays machine
friction and vibration in
NEW
Prevent
machine failure
with advanced
preventive
maintenance
beforehand.
normal operation without
any special measurement.

Comparing the data of the
first operation and after
years of operation helps to find out the aging deterioration of

machine and is beneficial for preventive maintenance.
24
The
Environment
The new MR-J4 series:
an evolution in eco-friendly design
that's winning acclaim worldwide.
The MR-J4 series was designed with the environment
in mind. In addition to helping you reduce your energy
consumption, MR-J4 servos have a small footprint and

simple wiring requirements that help save space and
valuable resources.
Harmony with the environment
T h e E nv i r o n m e n t
Designed to cut waste and save on space, wiring, and energy use
M u l t i - a x i s S e r vo A mplifie r in Ha rmony with Eco-frie ndly Society
2-axis/3-axis Types for Energy-conservative, Miniaturized, and Low-cost Machine

2-axis and 3-axis servo amplifiers are available for
operating two and three servo motors, respectively.
These servo amplifiers enable
energy-conservative, compact machine at lower
cost. Different types of servo motors including
rotary servo motors, linear servo motors, and direct
drive motors are freely combined as long as the
servo motors are compatible with the servo
amplifier*.
* For the combination, refer to "Combinations of Multi-Axis Servo
Amplifier and Servo Motors" on p. 1-6 in this catalog.
Operates any combination of rotary

servo motors, linear servo motors,
and direct drive motors with various
series and capacities.
MR-J4W3-B
A-axis rotary servo motor

(HG-KR/MR)
Space-saving with Industry's

Smallest* 3-axis Type
B-axis linear servo motor

(LM-H3/K2/U2)
C-axis direct drive motor

(TM-RFM)
Reduced Wiring by Approx. 50% with

3-axis Type
2-axis servo amplifier MR-J4W2-B requires 26% less

installation space than two units of MR-J4-B. 3-axis servo
amplifier MR-J4W3-B requires 30% less installation space
than three units of MR-J4-B.
In 3-axis servo amplifier MR-J4W3-B, the three axes use the

same connections for main and control circuit power,
peripheral equipment, control signal wire, etc. Thus, the
number of wirings and devices is greatly reduced.
[Installation space: structure example of installing two units of each 100W, 200W, 400W, and 750W]
[Comparison of the number of wirings]
MR-J4W3-B
MR-J4-B 3 units
(Depth 195 mm)
(3-axis type)
MR-J4W3-B (3-axis type) 1 unit
85
168 mm
100 W 2
200 W 1
200 W 1
400 W 2
750 W 2
Installation space
reduced by
30%
Industry's
smallest*
255 mm = 85 mm (unit width) 3
MR-J4W2-B
MCCB
MCCB MCCB MCCB

MC MC MC
50%
85
60
168 mm
100 W
2
200 W
2
400 W
2
750 W
2
Installation space
reduced by
26%
265 mm = 60 mm (unit width) 3 + 85 mm (unit width) 1
MR-J4-B
(Depth 135 mm, 170 mm, 185 mm)

40
168 mm
100 W 100 W 200 W 200 W 400 W 400 W
Controller
Reduced
wiring by
(Depth 195 mm)
(2-axis type)
MC
Controller
60
750 W
750 W
360 mm = 40 mm (unit width) 6 + 60 mm (unit width) 2
[Number of wirings]
[Number of wirings]
of )
SSCNET III/H
3 ( number
units
of )
Main circuit power supply 3 ( number
units
of )
Control circuit power supply 3 ( number
units
of )
Magnetic contactor connection 3 ( number
units
of )
Magnetic contactor control 3 ( number
units
of )
Encoder
3 ( number
axes
of )
Motor power input 3 ( number
axes
Total
21
SSCNET III/H
Main circuit power supply
Control circuit power supply
Magnetic contactor connection
Magnetic contactor control
Encoder
Motor power input
Total
1
1
1
1
1
3
3
11
* Based on Mitsubishi Electric research as of September 2014.
26
Eco-friendly performance, designed to save energy in every detail

O p t i m a l E nergy-conse rva tive Syste m for Your Syste m
Supporting Energy-conservative Machine Using Regenerative Energy

In the multi-axis servo amplifier, the
regenerative energy of an axis is used as driving
power energy for the other axes, contributing to
energy-conservation of machine. Reusable
regenerative energy stored in the capacitor is
increased for MR-J4W2-B/MR-J4W3-B as
compared to the prior model. Regenerative
option is no longer required*1.
*1. Regenerative option may be required depending on the
conditions.
Regenerative energy
A-axis motor speed
A-axis motor
Deceleration
Driving power energy

Regenerative energy
is temporarily stored
and used as driving
power energy.
[Reusable energy]
B-axis motor
Driving power energy
C-axis motor
MR-J4W3
21 J
30 J
200 W
400 W
MR-J3
9J
11 J
Time
B-axis motor speed

Acceleration
Time
C-axis motor speed

Acceleration
Time
* In the multi-axis servo amplifier, the amount of temporarily stored regenerative energy can be increased by using a capacitor bank. (Available in the future) Contact your local sales office for more details.
Power Monitor Function

Driving power and regenerative energy are calculated from the data in the servo amplifier such as speed and current.
Motor current value, power consumption, and total power consumption are monitored with MR Configurator2. In SSCNET III/H
system, data are transmitted to a Motion controller, and the power consumption is analyzed and displayed.
controller
Displays power consumption and total power consumption.
Analysis by Motion controller

Energy-conservative
system examination
Calculation data
Servo amplifier
Calculates power consumption
in the servo amplifier.
Personal computer
* The diagram shows an example of using
MR-J4-B/MR-J4W2-B/MR-J4W3-B servo
amplifier. For MR-J4-A servo amplifier, this
function is available by connecting the
servo amplifier directly to the personal
computer.
Servo motor
Driving power
energy
M
Regenerative
energy
Advanced Function and Performance for More Energy-conservation

Reduced energy loss of servo amplifier and servo motor
[Servo amplifier]
Efficiency is increased
by the use of a new
power module.
[Servo motor]
Motor efficiency is
increased by optimized
design of magnetic
circuit.
27
Reduced loss
Energy-conservation due to the improved machine performance
The servo amplifiers and

the servo motors with the
industry-leading level of
high performance reduce
machine tact time and
operation time, resulting
less energy consumption.
Reduced machine
operation time
T h e E nv i r o n m e n t
Harmony with the environment
Optimal Energy-conservative Machine System

PN bus voltage connection +
power regeneration common converter
Regenerative energy is used efficiently when multiple

servo amplifiers and inverters are connected through
common PN bus to the power regeneration common
converter.
* System only with common PN bus connection is also possible to be
configured without using the power regeneration common converter.
However, there are restrictions depending on the system. Contact your
local sales office for more details.
* Refer to each Servo Amplifier Instruction Manual for selection of FR-CV
series power regeneration common converter.
Power factor
improving
AC reactor
ACL
FR-CV series
power regeneration
common converter
FR-A800
FR-A800
MR-J4
MR-J4
MR-J4
Tension detector
Winding axis
Tension detector
Feed-out axis
Servo motor
Printer
Regenerative power is efficiently

used in the system with continuous
driving power axis and continuous
regenerative axis.
Energy-conservation Achieved by LM-H3 Linear Servo Motor Series

Reduced motor driving power
LM-H3 has achieved a reduction of 25% in motor driving

current due to a new magnetic design with optimized magnet
form, contributing to power conservation for machines. The
motor coil is lighter as compared to the prior model, which
also contributes to saving energy for driving the moving part.
* For 720 N rated linear servo motor.
Motor driving current
Reduced by 25%
LM-H2
Space saving
For LM-H3, widths of the motor coil and the magnet are
reduced by 10% from the prior model. Increased thrust to
current ratio results in using the servo amplifier in smaller
capacity, contributing to more compact machine (the
reduction of materials).
[LM-H2 series]
Narrower
by 10%
[LM-H3 series]
LM-H3
Contribution to Resource-saving
The new environment-friendly HG
rotary servo motor series uses 30%
less permanent magnet than the
prior HF series due to the optimized
design of magnetic circuit. The total
mass is also reduced.
Environment-friendly
servo motor
* For HG-KR43.
28
Heritage
A heritage of trust and

continuity the hallmark of
every MELSERVO product.
The MR-J4 series integrates seamlessly with
your existing manufacturing assets, ensuring
a smooth transition to the speed and cost
benefits of leading-edge MELSERVO technology.

in perfect harmony
The speed and cost benefits achieved with

the existing manufacturing assets
S e a m l e s s Integra tion with Existing Syste m
Easy Replacement of MR-J3 Series

Compatible mounting
MR-J4-B/MR-J4-A has the same mounting dimensions*1

with MR-J3-B/MR-J3-A. HG rotary servo motor series has
the same mounting dimensions*2 and uses the same
optional cables for the power, the encoder*3, and the
electromagnetic brake as HF series or HC-RP/HC-UP
series.
*1. Mounting dimensions are smaller for 200 V 5 kW, 400 V 3.5 kW, 200 V/400 V
11 kW, and 200 V/400 V 15 kW servo amplifiers.
*2. For replacing HA-LP series to HG-JR series, contact your local sales office for
more detail.
*3. HG-JR series of 11 kW to 55 kW uses a different encoder cable from HF-JP
series.
Same mounting
dimensions with
MR-J3
Same cables with

MR-J3
Servo motor power cable
Same mounting
dimensions of
servo motor
Encoder cable
MR-J4-B
MR-J4-A
Servo motor
When not changing the controller to SSCNET III/H controller
MR-J4-B/MR-J4W2-B/MR-J4W3-B servo amplifier has J3

compatibility mode. By operating in J3 compatibility mode,
MR-J4 series servo amplifier and MR-J3 series servo
amplifier can be used together in a same system without
changing the existing controller.
SSCNET III compatible

controller
* When the SSCNET III compatible products are in the system, the communication
speed is 50 Mbps, and the function and the performance are equivalent to those
of MR-J3.
* Some functions may not be available in the J3 compatibility mode. Refer to
relevant Servo Amplifier Instruction Manual for details.
MR-J3_-B MR-J4_-B MR-J3_-B MR-J4_-B
MR-J3_-B
MR-J4_-B
Equipped with J3
compatibility mode
The following new functions of MR-J4 series are available

with J3 extension function of J3 compatibility mode.
Advanced one-touch tuning function
Advanced vibration suppression control
Robust filter
Machine resonance filter (5 filters)
Drive recorder function
Machine diagnosis function
SEMI-F47 function
Power monitoring function
New functions of MR-J4

are also available with J3
extension function.
Tough drive function
Parameter conversion
Parameters are automatically converted by changing

MR-J3-B to MR-J4-B with MELSOFT MT Works2*1.
Parameters of MR-J3-A are converted to those of
MR-J4-A, using the parameter converter function of
MELSOFT MR Configurator2*1.
[Parameter converter window]
Parameters are
converted by
selecting the
parameter file of the
prior model servo
amplifier.
*1. Be sure to update your MT Works2 and MR Configurator2 to the latest version.
Wide variety of product lines
MELSERVO-J3 series is replaceable with MELSERVO-J4

series with a wide variety of power supplies and capacities.
MR-J4-B/MR-J4-A is available from 100 W to 55 kW, and
the main circuit power supply is selectable from 3-phase
200 V AC, 3-phase 400 V AC and 1-phase 100 V AC.
CN 6
C
N
40
CN 1
CNP 1
C
N
40
A
CHARGE
C
N
3
MR-CR55K4
SER: XXXXXXXXX
MR-J4-DU55K4
Available from 100 W

to 55 kW
SER: XXXXXXXXX
L+
L+
L-
LAWG14
*1. For the product lines, refer to "MELSERVO-J4 Product Lines" on p.5 in this
catalog.
L1
MR-J4-10B
L2
L3
P2
L11
L21
P1
MR-CR55K4 + MR-J4-DU55KB4
30
Easy Replacement of MR-J2-Super Series

MELSERVO-J4 series product lines include
general-purpose interface, positioning function, and
SSCNET III/H interface. MELSERVO-J4 series is
compatible with a wide variety of command interface and
also replaceable from MELSERVO-J2S series.
MR-J2S-A
MR-J4-A
MR-J2S-B
MR-J4-B
MR-J2S-CP
MR-J2S-CL
MR-J4-A-RJ
For renewing the units to MR-J4 series
Parameters are automatically converted by changing MR-J2S-B to MR-J4-B with MELSOFT MT Works2*1.
Parameters of MR-J2S-A are converted to those of MR-J4-A, and parameters of MR-J2S-CP and MR-J2S-CL are converted to
those of MR-J4-A-RJ, using the parameter converter function of MR Configurator2*1.
*1. Be sure to update your MT Works2 and MR Configurator2 to the latest version.
[MT Works2 window]
Diversion of other format project window
Servo amplifier conversion window
When not changing the controller to SSCNET III/H controller
A combination of MR-J4-B-RJ020 and MR-J4-T20 conversion unit

for SSCNET of MR-J2S-B is capable of connecting to the SSCNET
of MR-J2S-B compatible servo system controller.*
Thus, renewing the units other than the controller to MR-J4 series
is possible without changing the existing controller.
SSCNET of MR-J2S-B compatible controller
MR-J4-B-RJ020
MR-J4-T20
* The function and performance are equivalent to those of MR-J2S-B. (J2S compatibility mode)
* Refer to "New Product Release of Conversion Unit for SSCNET of MR-J2S-B" and
"MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier Instruction Manual" for details.
The set of MR-J4-B-RJ020 and MR-J4-T20 is compatible

with the following servo system controllers:
A171SHCPU(N), A172SHCPU(N), A173UHCPU,
A1SD75M, QD75M, Q172CPU(N), and Q173CPU(N)
HG series
When using the existing connections
MR-J2S-B renewal tool manufactured by Mitsubishi Electric

System & Service Co., Ltd. is available when using the existing
HC/HA series servo motors or when replacing MR-J2S-B using the
existing connections.
This renewal tool enables to use the existing mounting holes and
wiring, and the replacement and wiring can be completed in a short
period of time.
For MR-J2S-B renewal tool, contact your local sales office.
Renewal tool
MR-J4-B-RJ020
MR-J4-T20
Renewal tool
MR-J4-A
Mitsubishi Electric System & Service Co., Ltd.
31

in perfect harmony
Renewal related materials
We provide support for the renewal with the following materials from the catalog of renewal introduction, the handbook with
detailed information to the instruction manual for the renewal tool to use the existing connections.
General-Purpose AC Servo MELSERVO-J4
Conversion Unit for SSCNET of MR-J2S-B Compatible Servo Amplifier: MR-J4-B-RJ020
Conversion Unit for SSCNET of MR-J2S-B: MR-J4-T20
March 2014
New Product Release

S V 1306- 1E - B
100 V AC type is added to

product lines for
MR-J4-B-RJ020 servo
amplifier for connecting to
SSCNET of MR-J2S-B.
By using the conversion unit for SSCNET of MR-J2S-B,
MR-J4 series servo amplifier can be connected to the
SSCNET of MR-J2S-B compatible servo system
controller *.
MR-J4-B-RJ020 is now available in the following
capacities:
200 V 0.1 kW to 22 kW,
NEW 100 V 0.1 kW to 0.4 kW, and
400 V 0.6 kW to 22 kW
* For compatible controllers, refer to p. 1 in this brochure.
Conversion Unit for SSCNET of MR-J2S-B Compatible Servo Amplifier: MR-J4-_B_-RJ020

Conversion Unit for SSCNET of MR-J2S-B: MR-J4-T20
OA combination of MR-J4-B-RJ020 and MR-J4-T20 is capable of connecting to the SSCNET of MR-J2S-B compatible servo
system controller and drives MR-J4 compatible HG series servo motors.
OUse the existing program.
* For the outline of precautions, refer to p. 2 in this brochure. Refer to "MR-J4-_B_-RJ020 MR-J4-T20 Servo Amplifier
Instruction Manual" for details.
MELSERVO-J2-Super
Transition Guide catalog
L(NA)03091
Upgrading MR-J2S to MR-J4 is introduced.
MR-J2S Renewal Tool Catalog

X901307-312
This guide introduces a renewal tool for

replacing MR-J2S to MR-J4. The renewal tool
allows to use the existing wiring and mounting
holes, making the replacement simple and fast.
Transition from
MELSERVO-J2-Super/J2M Series to
J4 Series Handbook
L(NA)03093
This handbook explains how to replace your

MR-J2S/J2M to MR-J4 series.
New Product Release of Conversion

Unit for SSCNET of MR-J2S-B
SV1306-1
This brochure announces a new release of
MR-J4-B-RJ020 and a conversion unit for
connecting to SSCNET of MR-J2S-B.
Specifications of the servo amplifier and the
conversion unit are also listed.
Conversion Unit for SSCNET of

MR-J2S-B Compatible
MR-J4-_B_-RJ020/MR-J4-T20
SERVO AMPLIFIER INSTRUCTION
MANUAL
SH-030125
This instruction manual describes
MR-J4-B-RJ020 and MR-J4-T20 conversion
unit for SSCNET of MR-J2S-B.
Manual for Replacement from

MELSERVO-J2S Series Using
MR-J2S Renewal Tool
X903130707
This handbook explains how to replace your

MR-J2S to MR-J4, using the renewal tool. Be
sure to read through this handbook when
considering and implementing the
replacement.
Mitsubishi Electric System & Service Co., Ltd.
32
Introducing basic functions from the conventional to the latest

Offering Va rious Ba sic Functions
Various Basic Functions

P o s i t i o n / S p e e d / To r q u e c o n t r o l
Slight vibration suppression control
Position, speed, and torque controls are available. The

position control performs positioning by following position
command and is suitable when synchronous or
interpolation control is used. Speed and torque are
controlled to be constant by the speed and torque controls
following the speed and torque commands respectively.
This function suppresses vibration of 1 pulse produced at

a servo motor stop.
Control switching
Control can be switched among position, speed, and

torque controls.
* Control can be switched between two of the controls for MR-J4-A.
Real-time auto tuning
The load to motor inertia ratio of a machine is always

estimated from the servo motor current and speed during
acceleration/deceleration. Therefore, gains such as model
loop gain, position loop gain, and speed loop gain are
automatically set just by setting the response level.
Model adaptive control
Control with high responsivity and high stability is achieved

according to the model control.
The two-degrees-of-freedom model adaptive control
enables to set the response for command and disturbance
respectively.
Adaptive filter II
Adaptive filter II is a function in which the servo amplifier

detects machine resonance for a predetermined period of
time and sets the filter characteristics automatically to
suppress mechanical system vibration. Since the filter
characteristics (frequency and depth) are set automatically,
it is not required to consider the resonance frequency of a
mechanical system.
This function is effective for the comparatively high
frequency of machine resonance around 100 Hz to 2.25
kHz.
Low-pass filter
The low-pass filter suppresses high-frequency resonance

which occurs as servo system response is increased. The
filter is enabled as default, and the set frequency is
automatically adjusted.
Gain switching function
This function enables to switch gains. Gains during rotation

and during stop can be switched. Using a switching signal
to switch gains is also possible during operation.
* Will be available with MR-J4-B-RJ010 in the future.
Feed forward
By setting the feed forward gain, the droop pulses will be

nearly zero during constant-velocity operation.
This function improves the tracking of position command
during trajectory control, etc.
Internal speed command
Up to seven internal speed commands can be stored in

parameters. Speed control is possible without using the
analog voltage command by selecting the internal speed
command with input device.
* Available only with MR-J4-A.
Absolute position detection system
Merely setting a home position once makes home position

return unnecessary at every power-on.
Built-in regenerative resistor
Servo amplifiers from 0.2 kW to 7 kW have a built-in

regenerative resistor, saving installation space for option
and enabling more compact system.
Regenerative option
Use a regenerative option when the built-in regenerative

resistor of the servo amplifier does not have sufficient
regenerative capability. For 5 kW or larger servo amplifiers,
the brake unit is available when the regenerative option
does not provide enough regenerative power.
* Available as an option.
Power regenerative common converter
Use a power regeneration common converter when the

regenerative option does not provide enough regenerative
power. The excessive regenerative energy is returned to
the power supply, which contributes to
energy-conservation.
* Available as an option.
* Available with 200 V 100 W to 22 kW and 400V 11 kW to 22 kW servo amplifiers.
Some functions may not be available depending on the models.

Refer to relevant Servo Amplifier Instruction Manual for details.
33

in perfect harmony
Dynamic brake
Alarm history
The dynamic brake is designed to decelerate the servo

motor immediately at an alarm occurrence, power failure,
or forced stop. The dynamic brake is not for holding a shaft
at a stop.
The last 16 alarms are recorded in the servo amplifier. The

alarms can be confirmed in list using MR Configurator2.
* The dynamic brake is built in the 7 kW or smaller servo amplifiers.

* The external dynamic brake is required for the 11 kW or larger servo amplifiers.
Close mounting
Close mounting is possible for 200 V 3.5 kW or smaller

servo amplifiers. Mounting space efficiency is significantly
improved.
* When the servo amplifiers are closely mounted, the operation environment condition
is different.
Input signal selection (device settings)
Function assigned to each pin for digital input can be

changed by setting parameters.
* Available only with MR-J4-A.
Output signal selection (device settings)
Function assigned to each pin for digital output can be

changed by setting parameters.
Encoder output pulse
Encoder output pulses can be outputted in the differential

line driver type as A/B/Z-phase pulse. Output pulse per
servo motor revolution can be set with the parameter.
* MR-J4W3-B is not compatible with this function.
Te s t o p e r a t i o n
Before starting actual operation, perform test operation to

make sure that the machine operates normally. The
following can be performed using MR Configurator2.
JOG operation
Test operation function for checking a speed control
operation without a command from a controller.
Positioning operation
Test operation function for checking a positioning
operation by position control without a command from a
controller.
Motor-less operation
Without connecting a servo motor, this function outputs
signals in response to the input device and displays
status as if the servo motor is actually running. The
motor-less operation is useful for checking the
sequence of controller, etc.
Program operation
Without using a controller, this function enables
positioning operation consisting of multiple simple
operation patterns.
Output signal (DO) forced output
This function switches output signals on/off forcibly
independently of the servo status, useful for checking
the output signal wirings.
A/B-phase pulse through output
When using A/B/Z-phase differential output, A/B/Z-phase

signal from linear encoder can be output from servo
amplifier as encoder output pulse.
This function can be used by controller without branching
the signal from linear encoder.
* Available only with MR-J4-B-RJ/MR-J4-A-RJ.
Monitoring (Status display)
Servo status such as regenerative load ratio, effective load

ratio, instantaneous torque, servo motor speed, or droop
pulses can be monitored on MR Configurator2. For
MR-J4-A, the status is also confirmed on the
seven-segment LED display.
Analog monitor output
Servo status such as torque, servo motor speed, and

droop pulses is outputted in terms of voltage in real time.
* MR-J4W2-B/MR-J4-W3-B is not compatible with this function.
Some functions may not be available depending on the models.

34
A wide-ranging lineup to meet virtually every drive control need
The new MR-J4 series lineup includes

servo amplifiers and servo motors to meet virtually
every production need because every production site is different,
with unique problems that require unique and
innovative solutions.
2-axis and 3-axis types

are available for your system.
Servo amplifier
Product lines
MR-J4-B(-RJ)
MR-J4W2-B
With the SSCNET III/H compatible

servo amplifier, a complete
synchronous system can be
configured using high-speed serial
optical communication. Servo
system performance and functions
are utilized to the fullest when
MR-J4-B(-RJ) is used combined
with the servo system controller.
The SSCNET III/H compatible

2-axis servo amplifier drives two
servo motors, enabling
energy-conservative, less-wiring,
compact machine at lower cost.
: Compatible : Not compatible
SSCNET III/H compatible, CC-Link IE Field Network interface with Motion compatible, and general-purpose
interface compatible products are available.
Model
MR-J4-B(-RJ)*1
Power supply
Fully closed loop control*2
Rotary
Linear*3
Direct drive
1-phase 100 V AC
3-phase 200 V AC
*4
*4
3-phase 400 V AC
MR-J4W2-B
3-phase 200 V AC 2-axis
MR-J4W3-B
3-phase 200 V AC 3-axis
MR-J4-B-RJ010 +
MR-J3-T10
3-phase 200 V AC
3-phase 400 V AC
1-phase 100 V AC
MR-J4-A(-RJ)*1
3-phase 200 V AC
3-phase 400 V AC
Command interface
Compatible servo motor
SSCNET/H

with Motion
General-purpose pulse train/
analog voltage
*1. MR-J4-B-RJ/A-RJ servo amplifier is compatible with two-wire and four-wire type serial, and pulse train interface (A/B/Z-phase differential output type) linear encoders.
*2. MR-J4-B/A servo amplifier is compatible only with two-wire type serial linear encoder. For four-wire type serial and pulse train interface (A/B/Z-phase differential output type) linear encoders, use MR-J4-B-RJ/A-RJ.
*3. MR-J4-B/A servo amplifier is compatible only with two-wire type and four-wire type serial linear encoders. For pulse train interface (A/B/Z-phase differential output type) linear encoder, use MR-J4-B-RJ/A-RJ.
*4. Available only in some models.
35

in perfect harmony
MR-J4W3-B
MR-J4-B-RJ010
The SSCNET III/H

compatible 3-axis servo
amplifier drives three servo
motors, enabling
energy-conservative,
less-wiring, compact
machine at lower cost.
The CC-Link IE Field Network

interface servo amplifier with
Motion is compatible with the
Motion control in the
Ethernet-based open network.
+MR-J3-T10
MR-J4-A(-RJ)
The general-purpose interface
compatible servo amplifier
enables position control by
pulse train command and
speed/torque control by analog
voltage command.
The maximum command pulse
frequency is 4 Mpulses/s.
Capacity
0.1 kW to 0.4 kW
0.1 kW to 37 kW
0.6 kW to 55 kW
0.2 kW to 1 kW
0.2 kW to 0.4 kW
0.1 kW to 22 kW
0.6 kW to 22 kW
0.1 kW to 0.4 kW
0.1 kW to 37 kW
0.6 kW to 55 kW
0.1 kW
1 kW
10 kW
100 kW
36
High-speed, high-torque servo motors for fast, precise machine operation
HG
Rotary servo motor
Series
HG-KR/HG-MR Series
Comparison with motors with max. speed of 4500 r/min
Time
Torque Nm
Shorter positioning
time
6000
37
[High torque]
[High speed]
Speed r/min
Rated speed: 3000 r/min

Maximum speed: 6000 r/min
Maximum torque is 350%* of the rated
torque, and high torque is achieved during
high-speed. * Available only in HG-KR.
For HG-KR43
Maximum
torque
Short-duration running range
350%
2
1
Continuous running range

0
1000
2000
3000
4000
5000
6000
Speed r/min
HG-SR Series
HG-JR Series
This medium capacity, medium inertia

servo motor enables stable operation.
The industry's shortest length is achieved
by optimizing the structural design.
This medium/large capacity, low inertia

servo motor is suitable for high-throughput
and high-acceleration/deceleration
operations.
HG-RR Series
HG-UR Series
This medium capacity, ultra-low inertia

servo motor is perfect for high-throughput
operations.
This medium capacity, flat type servo

motor is well suited for situations where
the installation space is limited.

in perfect harmony
Product Lines
Wide range of series and capacities are available.
HG-KR series Low inertia
200 V AC
50 to 750 W
HG-MR series Ultra-low inertia 200 V AC
50 to 750 W
HG-SR series Medium inertia

HG-JR series
Low inertia
200 V AC
0.5 to 7 kW
400 V AC
0.5 to 7 kW
200 V AC
0.5 to 37 kW
400 V AC
0.5 to 55 kW
HG-RR series Ultra-low inertia 200 V AC

HG-UR series Flat type
1 to 5 kW
200 V AC
0.75 to 5 kW
0.1 kW
1 kW
10 kW
100 kW
Equipped with High-resolution Absolute Position Encoder

Servo motors are equipped with a high-resolution absolute position encoder of 4,194,304 pulses/rev (22-bit) as standard. Positioning accuracy is increased.
Improved Environmental Safety

HG-KR/HG-MR/HG-RR/HG-UR
and HG-SR/HG-JR are rated
IP65 and IP67*1, respectively. *2
Reduced Torque Ripple during Conduction
Protected from
water and dust.
*1. HG-JR1000 r/min series 15 kW or larger, and

HG-JR1500 r/min series 22 kW or larger are rated IP44.
*2. The shaft-through portion is excluded.
By optimizing the combination of the number of motor poles and the

number of slots, torque ripple during conduction is greatly reduced.
Smooth constant-velocity operation of machine is achieved.
Torque ripple
[Prior model (HF-KP series)]
Cable Leading Direction

The power cable, the encoder
cable, and the electromagnetic
brake cable are led out to either in
direction of or in opposite direction
of the load side, depending on the
selected cables. (HG-KR and
HG-MR series)
Selectable mounting direction

[New model (HG-KR series)]
In direction
of load side
In opposite
direction of
load side
1/4
(As compared to
the prior series.)
* For 400 W
Application Examples
For various applications of every kinds of machine.
Semiconductor/LCD/photovoltaic
manufacturing systems
Mounters/bonders
X-Y tables
Robots
Loaders/unloaders, feeders
and sliders
Food packaging machines
Press machines
(filling machine, mixer, measuring machine, etc.)
38
Servo motors for high-speed, high-accuracy, linear drive systems
LM
Linear servo motor
Series
Sophisticated Performance
Maximum speed: 3 m/s (LM-H3 series)
Maximum thrust range: 150 N to 18000 N
Small size and high thrust are achieved by increasing the

winding density and by optimizing core and magnet
geometries using electromagnetic field analysis.
Four series are available: core, liquid-cooling core, magnetic
attraction counter-force core, and coreless types.
The linear servo motors are compatible with a variety of serial

interface linear encoders including A/B/Z-phase differential
output type linear encoders*. The linear encoder resolution
ranges from 0.005 m and up.
* A/B/Z-phase differential output type linear encoder is compatible with
MR-J4-B-RJ/MR-J4-A-RJ servo amplifier.
High-performance systems such as high-accuracy tandem
synchronous control are achieved using MR-J4 series servo

amplifier and an SSCNET III/H compatible Motion controller.
Achieving High-performance Machine

For higher machine performance
Improved productivity due to high-speed driving part.

High-accuracy positioning by fully closed loop control system.
For easier use
The linear servo motor enables simple and compact

machine with high rigidity.
Smooth operation and clean system are achieved.

For flexible machine configurations
Multi-head and tandem systems are easily configured.

The linear servo motor is suitable for long-stroke applications.
39
[Offers more advantage than conventional ball

screw driving systems]

in perfect harmony
Product Lines
Four series are available depending on applications.
Thrust
Core type (natural/liquid cooling)
LM-F series
Maximum speed: 2 m/s

Rated thrust: 300 N to 3000 N (natural cooling)
600 N to 6000 N (liquid cooling)
Max. thrust: 1800 N to 18000 N (natural/liquid cooling)
Press feeders
Compact core type linear servo motor.

The integrated liquid-cooling system
doubles the continuous
thrust.
Material
handlings
NC machine
tools
LCD assembly
systems
Coreless type
LM-U2 series
Core type with magnetic

attraction counter-force

Rated thrust: 50 N to 800 N
Max. thrust: 150 N to 3200 N
LM-K2 series
No cogging, small speed fluctuation.

No magnetic attraction force, longer
life of the linear guides.
Screen printing
systems
Scanning exposure
systems
Core type
LM-H3 series

Core type suitable for space-saving,

high speed and high acceleration/
deceleration.
Semiconductor
mounting
systems

Longer life of the linear guides

due to the magnetic attraction
counter-force structure.
Low audible noise.
Feed speed-oriented
Positioning-oriented
Optimum for a direct acting system which requires a high speed and high accuracy. Easily achieve a tandem configuration or
multi-head configuration.
Machine tools XYZ stage
Material handling systems
Tandem configuration
Multi-head configuration
The linear servo motors configured in

tandem are suitable for large systems that
require highly accurate synchronous
operation between two axes.
Multi-head systems enable control of two

motor coils independently, thereby
simplifying machine mechanisms. This
system is suitable for machines that
require short tact time.
Semiconductor/LCD manufacturing systems

Electrical parts assembling/manufacturing systems
Screen printing systems and large LCD coaters
Multi-head material handling between machines
40
Compact and robust direct drive motors for high-accuracy applications
TM RFM
Direct drive motor
Series
Sophisticated Performance
High performance due to the latest technologies
Our latest magnetic design and winding technologies enable

high torque density. In addition, extremely smooth rotation is
achieved by minimizing torque ripple.
Compact and low-profile design
Due to high level of structural design technology, compact

and low-profile design is achieved. This design enables a
small mounting space and a low center of gravity.
20-bit high-resolution absolute position encoder
Hollow shaft diameter range: 20 mm to 104 mm
The servo motor is equipped with 20-bit high-resolution

absolute position encoder (1,048,576 pulses/rev) as standard.
High-accuracy machine is achieved.
The motor is equipped with a large hollow shaft resulting from

using bearing and encoder with large diameter. It allows
cables and air tubing to pass through.
Achieving High-performance Machine

For higher machine performance
Suitable for low-speed and high-torque operations.

High-accuracy positioning is achieved because the motor is
directly connected to the driving part.
For easier use
Since transmission mechanism is no longer required, no
backlash and no abrasion occurs, enabling smooth operation

with less audible noise, clean system, and easy maintenance.
Less components are required for the system.
41
For flexible machine configurations
Simple, compact, and rigid machine is achieved.

Machine stability is enhanced due to the low-profile design
and a low center of gravity.
The motor has an inner rotor with hollow shaft that allows
cables and pipes to pass through.
[No transmission mechanism contributing to no warp or distortion.]

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

in perfect harmony
Product Lines
12 models with 4 different diameters are available.
Series
Motor outer
diameter
Torque output range

2 to 6 Nm
130 mm
TM-RFM
Rated torque
Maximum torque
6 to 18 Nm
6 to 18 Nm
180 mm
18 to 54 Nm
12 to 72 Nm
230 mm
36 to 216 Nm
40 to 240 Nm
330 mm
1 Nm
10 Nm
120 to 720 Nm
100 Nm
1000 Nm
Suitable for low speed and high torque applications.
Index table for machine tools
Rotary axis for material handling robots
Painting and vapor deposition systems
LCD/semiconductor spin-type
cleaning systems
LCD/semiconductor testing systems

(XYq tables)
Rotary axis for polishing systems
Material handling/
loader part
Polish part
C a p a c i t y S e l e c t i o n S o f t w a r e M R Z J W 3 - M O T S Z111 E
Select the most suitable servo amplifier, servo motor, and regenerative option for your machine just by setting machine
specifications and operation pattern. Select the operation pattern from either position control mode or speed control mode. The
capacity selection software is available for free download. Contact your local sales office for more details.
Amplifier series selection
Horizontal ball screws, vertical ball screws, rack and pinions, roll
feeds, rotating tables, carts, elevators, conveyors, linear servo,
other devices
Prints entered specifications, operating pattern, calculation
process, graph of selection process feed speed and torque, and
sizing results.
Motor series selection
Calculation result
Operation pattern
42
Motion controller
MELSEC iQ-R series
MELSEC-Q series

Motion controller

Stand-Alone Motion controller
R32MTCPU
R16MTCPU
Q170MSCPU
Q170MSCPU-S1
Achieves the high-speed operation
Integrates a power supply, a PLC,
R32MTCPU controls up to 32 axes.
Equipped with an incremental
Supports the security key
Supports the vision system
cycle of 0.222 ms/6 axes
and a Motion controller
(up to 96 axes by use of three

modules of R32MTCPU)
synchronous encoder interface and

the mark detection function
authentication
Features of Motion Controller

The Motion controller is a CPU module used with PLC CPU for Motion control.
Using Motion SFC programs, the Motion CPU separately operates controls from the PLC CPU. Thus CPU loads are
distributed, achieving advanced Motion control.
Various advanced Motion controls, such as advanced synchronous control, cam control, position follow-up, and tandem
operation can be performed.
COGNEX vision system can be directly connected to the controller with Ethernet.
PLC CPU
Motion CPU
Motion SFC program
Sequence program
Axis 2
10: Transfer
Start program
No. specification
Motion SFC program

start request instruction
Start of Motion SFC
Target CPU (No.2) specification

M0
DP.SFCS
Command
execution
instruction
H3E1
RST
K10
M0
Data exchange through

CPU buffer memory, etc.
[K10 : Real]
1 INC-2 (Vector speed)
Axis
1
Movement amount 10000 PLS
Axis
2
Movement amount 20000 PLS
Vector speed
30000 PLS/s
20000
Servo motor
start
SSCNET III/H
10000
[G101]
!M2001 * !M2002 //Start accept flag turn off check
[G200]
SET M12000 // Axis1 starts synchronous control
SET M12001 // Axis2 starts synchronous control
M10880 * M10881 // Executing synchronous control
[K201 : Command generation axis]
1 VF
Axis
1
Speed
10000 PLS/s
10000
Command
generation
axis start
Axis 1
(Main shaft
gear)
Input axis module
(Main shaft
gear)
Input axis module
(Command
generation axis)
(Command
generation axis)
(Clutch)
(Clutch)
Output axis
module
END
Output axis
module
(Cam)
(Cam)
Comparison with RD77MS:

R32MTCPU
Number of
control axes
Positioning
control
Sub function
43
Q170MSCPU-S1
Up to 32 axes
Operation
cycle
Programming
language
Control
mode
R16MTCPU
Superior
Equivalent
Others
Q170MSCPU
Up to 16 axes
0.222 ms or more
0.222 ms or more
Q06UDH or equivalent
0.222 ms or more
Q03UD or equivalent
Motion SFC
Position control
Speed control
Torque control
Tightening & press-fit control
Circular interpolation
Trajectory control
Helical interpolation
Synchronous control
Cam control
Advanced synchronous control

Linear interpolation
Position follow-up control Speed control with fixed position stop
High-speed oscillation control Speed/position switching control

Absolute position system Amplifier-less operation
Forced stop
Hardware stroke limit
Software stroke limit
Optional data monitor
Mark detection
ROM operation
M-code output
Error history
Unlimited length feed

Digital oscilloscope
Vision system connection
Software security key
Cam auto-generation
High-speed reading
Limit switch output
Safety observation

in perfect harmony
MELSEC iQ-R series
MELSEC-Q series


QD77GF16
RD77MS16
RD77MS8
RD77MS4
RD77MS2
MELSEC-L series
LD77MS16
LD77MS4
LD77MS2
MELSEC iQ-R series SSCNET/H compatible Simple Motion module

RD77MS is newly released. The product line also includes MELSEC-L
series Simple Motion module LD77MS and MELSEC-Q series CC-Link
IE Field network compatible QD77GF.
Features of Simple Motion Module

The Simple Motion module is an intelligent function module which performs positioning control by following the instructions of PLC
CPU.
The positioning functions are used in the same manner as those of the Positioning module.
Linear interpolation control and other controls can be achieved easily just by writing positioning data to the buffer memory with
sequence programs.
Positioning/advanced synchronous/cam controls are performed with simple parameter setting and a start from a sequence program.
Supports GX Works3/GX Works2 as an engineering software.
PLC CPU
Sequence program
Axis 1 Positioning Data
Writing data to the

buffer memory
Positioning data No.1

M0
DX10 DX11
MOVP K1
BUSY BUSY
U0\
G4300
Reading data from

the buffer memory
SET Y10
Program start
M1
DX12
No. Operation pattern Control system Axis to be interpolated Acceleration time No. Deceleration time No. Positioning address
Output signal ON/OFF
RST M0
Command speed
1: CONT
0Bh: INC Linear 2 Axis #2
0: 1000
0: 1000
100000.0 m
20000.00 mm/min
0: END
0Bh: INC Linear 2 Axis #2
0: 1000
0: 1000
-100000.0 m
10000.00 mm/min
Axis 2 Positioning Data

No. Operation pattern Control system Axis to be interpolated Acceleration time No. Deceleration time No. Positioning address
Command speed
200000.0 m
0.00 mm/min
-200000.0 m
0.00 mm/min
SSCNET III/H
Axis 2
200,000
100,000
Axis 1
100,000
Reference for input signal
Start device reset
MOVP
H4
BUSY
U0\
G36320
Synchronous/
cam controls
Axis-3 synchronous
control start
(Main shaft
gear)
Input axis module
Speed
(Clutch)
Cam axis length per cycle
Output axis
module
(Cam)
Number of
control axes
RD77MS16
RD77MS8
RD77MS4
RD77MS2
LD77MS16
LD77MS4
LD77MS2
QD77GF16
Up to 16 axes
Up to 8 axes
Up to 4 axes
Up to 2 axes
Up to 16 axes
Up to 4 axes
Up to 2 axes
Up to 16 axes
Operation
cycle
Programming
language
Control
mode
Positioning
control
0.444 ms
Position control
Speed control
Torque control
Circular interpolation
Trajectory control
0.888 ms
Tightening & press-fit control*1
0.888 / 1.777 / 3.555 ms
Cam control
Advanced synchronous control

Linear interpolation
Speed/position switching control (ABS)
Speed/position switching control (INC) Position/speed switching control

Forced stop
Sub function
0.888 / 1.777 ms
Optional data monitor*
Hardware stroke limit
Software stroke limit
Mark detection
Flash ROM backup

Cam auto-generation
Absolute position system Amplifier-less operation*1

M-code output
Error history
Unlimited length feed

Digital oscilloscope
Safety observation*1
*1. Available only with RD77MS/LD77MS.
44
Positioning Module
The Positioning module is an intelligent function module which performs positioning control easily by following the instructions of
PLC CPU. The Positioning module is compatible with the general-purpose pulse train as the command I/F and is used with
MR-J4-A.
Pulse train compatible
MELSEC iQ-R series
RD75P4, RD75D4
RD75P2, RD75D2
MELSEC-L series
LD75P4, LD75D4
LD75P2, LD75D2
LD75P1, LD75D1
MELSEC-Q series
QD70P8, QD70D8
QD70P4, QD70D4
MELSEC-L series
L02SCPU, L02CPU
L02CPU-P, L06CPU
L26CPU, L26CPU-BT
L26CPU-PBT
MELSEC-F series
FX 2N-20GM
FX 2N-10GM

MELSEC-F series
FX 3UC-32MT-LT
FX 3UC-32MT-LT-2
45
Maximum number of controlled axes:

4 axes (RD75P4), 2 axes (RD75P2), 4 axes (RD75D4), and
2 axes (RD75D2)
Open-collector type or differential line driver type is selectable for
pulse train output
Equipped with various positioning functions, such as circular
interpolation and target position change function

4 axes (LD75P4), 2 axes (LD75P2), 1 axis (LD75P1),
4 axes (LD75D4), 2 axes (LD75D2), and 1 axis (LD75D1)
pulse train output
Equipped with various positioning functions, such as circular
interpolation and target position change function

8 axes (QD70P8), 4 axes (QD70P4), 8 axes (QD70D8),
and 4 axes (QD70D4)
pulse train output
Connectable to a stepping motor
Controls up to 2 axes
Supports S-curve acceleration/deceleration
Equipped with various functions as standard, such as positioning,
high-speed counter, pulse catch, interrupt input, and general
input/output functions

2 axes (FX2N-20GM), 1 axis (FX2N-10GM)
Equipped with various positioning operation modes
Controls up to 3 axes
Programmable controller equipped with the built-in positioning
function

in perfect harmony
C Controller/Personal Computer Embedded Type

Servo System Controller
C Controller Interface Module

Position Board
Q173SCCF
MR-MC210
MR-MC211
Connected directly to a C Controller

through PCI Express, this module
is used for controlling MR-J4_-B,
through a user program.
High-speed access and
interrupt detection are
achieved with PCI Express.
Event-driven programs, which
use interrupts, can be created.
Connected to a personal computer

through PCI bus, this board type
controller is used for controlling
MR-J4_-B, through a user program.
Event-driven programs, which use
interrupts, can be created.
Various existing assets such as
boards and programs for PC can
be effectively used.
Real-time OS is supported.
Features of C Controller/Personal Computer Embedded Type Servo System Controller

Select from a combination of C Controller and the Interface Module or a personal computer and the Position Board
Programmable controllers are not required in the system
Equipped with Point to Point positioning functionality as standard (set with Point table)
High-speed processing (1 cycle startup, 0.222 ms/8 axes)
Various API functions and a test tool help user develop applications
C Controller Interface Module system configuration
C Controller
(Q24DHCCPU-V)
Position Board system configuration
Q173SCCF
PCI bus compatible Position Board

MR-MC210/MR-MC211
PCI bus
Servo amplifier external input signals

FLS, RLS, DOG
Servo amplifier external input signals

FLS, RLS, DOG
PCI Express
(Memory access, interrupts)
MR-J4-B
MR-J4W2-B
MR-J4W3-B
MR-J4-B
MR-J4-B
MR-J4W3-B
MR-J4-B
USB
USB
Test tool is available for maintenance

(graph and error check, etc.) of
Q173SCCF and servo amplifier
Forced stop input
(24 VDC)
MR-J4W2-B
Linear
servo motor
Rotary
servo motor
Direct
drive motor
Rotary
servo motor
Direct
drive motor
Test tool is available for

maintenance (graph and
error check, etc.) of Position
Board and servo amplifier
Linear
servo motor
Rotary
servo motor
Direct
drive motor
Forced stop input

(24 VDC)
Rotary
servo motor
Direct
drive motor
MR-MC210: Up to 20 axes
MR-MC211: Up to 32 axes
Up to 20 axes
Main basic functions

JOG operation, Incremental feed, Automatic operation, Linear interpolation, Home position return, Electronic gear, Speed units
setting, Smoothing filter, S-curve acceleration/deceleration, Stop function, Command change, Stroke limit, Interlock, Rough match
output, Torque limit, Backlash compensation, Interference check, Position switch, Home position search limit, Absolute position
detection system, Other axes start, Tandem operation, Pass position interrupt, Log function, etc.
Related Catalogs
C Controller/Personal Computer Embedded Type Servo System Controller
Programmable Controllers
MELSEC-L series
MITSUBISHI SERVO SYSTEM CONTROLLERS

MELSEC iQ-R SERIES
C Controller/Personal Computer Embedded Type

Servo System Controller
Safety Warning
To ensure proper use of the products listed in this catalog,
please be sure to read the instruction manual prior to use.
Country/Region Sales office

USA
MITSUBISHI ELECTRIC AUTOMATION, INC.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Tel : +1-847-478-2100
Fax : +1-847-478-2253
Brazil
MITSUBISHI ELECTRIC DO BRASIL COMRCIO E SERVIOS LTDA.

Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070,
Barueri, San Paulo, Brazil
Tel : +55-11-4689-3000
Fax : +55-11-4689-3016
MITSUBISHI ELECTRIC EUROPE B.V. German Branch

Gothaer Strasse 8, D-40880 Ratingen, Germany
Tel : +49-2102-486-0
Fax : +49-2102-486-1120
Germany
Little on size, Large on performance

The new L series has a small footprint and is loaded with features.
Simple!
Tel/Fax
UK
MITSUBISHI ELECTRIC EUROPE B.V. UK Branch

Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.
Tel : +44-1707-28-8780
Fax : +44-1707-27-8695
Italy
MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch

Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate
Brianza(Milano) Italy
Tel : +39-039-60531
Fax : +39-039-6053-312
Spain
MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch

Tel : +34-935-65-3131
Carretera de Rub 76-80-AC.420, E-08190 Sant Cugat del Valls (Barcelona), Spain Fax : +34-935-89-1579
France
MITSUBISHI ELECTRIC EUROPE B.V. French Branch

25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel : +33-1-55-68-55-68
Fax : +33-1-55-68-57-57
Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch

Avenir Business Park, Radicka 751/113e, 158 00 Praha5, Czech Republic
Tel : +420-251-551-470
Fax : +420-251-551-471
Poland
Tel : +48-12-630-47-00
Fax : +48-12-630-47-01
MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch

32-083 Balice ul. Krakowska 50, Poland
Russia
MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office

Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; 195027,
St. Petersburg, Russia
Tel : +7-812-633-3497
Fax : +7-812-633-3499
South Africa
ADROIT TECHNOLOGIES
20 Waterford Office Park, 189 Witkoppen Road, ZA-Fourways, South Africa
Tel : +27-11-658-8100
Fax : +27-11-658-8101
China
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD.

No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Changning
District, Shanghai, China
Tel : +86-21-2322-3030
Fax : +86-21-2322-3000
Taiwan
SETSUYO ENTERPRISE CO., LTD.

6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan,
R.O.C.
Tel : +886-2-2299-2499
Fax : +886-2-2299-2509
Korea
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.

1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, Korea
Tel : +82-2-3660-9510
Fax : +82-2-3664-8372/8335
Singapore
MITSUBISHI ELECTRIC ASIA PTE. LTD -Industrial Division

307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Tel : +65-6473-2308
Fax : +65-6476-7439
Thailand
MITSUBISHI ELECTRIC AUTOMATION (THAILAND) CO., LTD.

Bang-Chan Industrial Estate No.111 Soi Serithai 54, T.Kannayao, A.Kannayao,
Bangkok 10230, Thailand
Tel : +66-2906-3238
Fax : +66-2906-3239
Indonesia
PT. MITSUBISHI ELECTRIC INDONESIA

Tel : +62-21-3192-6461
Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia Fax : +62-21-3192-3942
India
MITSUBISHI ELECTRIC INDIA PVT. LTD.

Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026, Maharashtra
State, India
Tel : +91-20-2710-2000
Fax : +91-20-2710-2100
Australia
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.

348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia
Tel : +61-2-9684-7777
Fax : +61-2-9684-7245
Total system performance, not individual component
Unique Servo Control Available Through

C Language Based Programming
void sample()
{
PNT_DATA_EX PntData[2] =
{
{ 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } ,
{ 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } ,
};
ans = sscSetPointDataEx( board_id, channel, axnum, &PntData[0] );
ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt );
ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 );
}
Connected to a C Controller via PCI Express

for controlling MELSERVO-J4
specifications leads to maximum performance
C Controller Interface Module

Embedded in a personal computer for controlling MELSERVO-J4
Position Board
L(NA)03097-A 1401 Printed in Japan (MDOC)
Mitsubishi Servo System

Controllers MELSEC iQ-R
series catalog
L(NA)03100ENG
Mitsubishi Servo System

Controllers catalog
L(NA)03062
MELSEC iQ-R Series

iQ Platform-compatible PAC
catalog
L(NA)08298ENG
Programmable Controllers
MELSEC-L series catalog
L(NA)08159E
New publication, effective Jan. 2014.

Specifications are subject to change without notice.
PROGRAMMABLE LOGIC
CONTROLLERS
MELSEC FX catalog
HIME-B213
C Controller/Personal Computer
Embedded Type Servo System
Controller catalog
L(NA)03097
46
Our total solution for your satisfaction

MELSERVO Solution
Introducing the MELSERVO solutions for problems in production sites.

We offer the optimal solutions for various problems in various production sites.
Vertical Form, Fill & Seal
For food/beverage bag filling and packing

Solution
01
Solution
02
Solution
03
Rotary Knife
Synchronous Control
Shorter tact time without increasing shock to a machine
Cam Control
Creating a safety system
Safety Observation Function
For steel & paper cutting, stamping and labeling

Solution
01
Solution
02
Motion Alignment(X-Y- )
01
Solution
02
Solution
03
Gantry Application
Cam creation on HMI screen
Cam Auto-generation Function

Cutting the sheet using the registration mark as a reference
Mark Detection Function
For equipment requiring more accurate positioning

Solution
More accurate positioning
COGNEX Vision System

More precise drive operation
Direct Drive Motor

Shorter tact time
Target Position Change Function
For material handling, automatic assembly and scanning

Solution
01
Solution
02
Solution
03
Pick and Place Robot
Suppression of the machine vibration
Vibration Suppression Functions

Simpler multi-head configuration
Linear Servo Motor

Synchronized movement of axis-1 and axis-2
Tandem Configuration
For material loading/unloading and sealing

Solution
01
Solution
02
Solution
47
Stabilizing the packing quality
03
Suppression of the machine vibration
Advanced Vibration Suppression Control II

Simpler setting of the suppression function
Machine Analyzer and Machine Resonance Suppression Filter

Smaller size machine
3-axis Type Servo Amplifier
Press-fit Machine

in perfect harmony
For pressing, bonding, clamping, and cap tightening

Solution
01
Solution
02
Pressing of the material with less shock to a machine

Monitoring of the machine movement
Safety Signal Comparison Function
Conveyor System Utilizing Safety Observation Function

Solution
01
Solution
02
For safety observation of printing, packing, and other lines
Safety measures in case of a person entering in a restricted area
Shut-off Function
Ensuring safe speed for manned assembly line
Speed Monitoring Function (SLS)
Eco-friendly Conveyors and Product Handling Equipment

Solution
01
Solution
02
Solution
03
Film Slitting Machine
For conveyors, Motion alignment, packing, and robots
Managing of total power consumption
Power Monitor Function

Reduction of power consumption
Multi-axis Servo Amplifier

Minimizing waste of power
Capacity Selection Software
For equipment with rollers

Solution
01
Solution
02
Screw Tightening Machine
Sending film with a constant speed or tension
Speed Control, Torque Control

Utilizing regenerative energy
PN Bus Voltage Connection +

Power Regeneration Common Converter
For tightening, pressing, and clamping

Solution
01
Solution
02
Tightening screws without using a torque sensor

Repeated accuracy in screw tightening operation
Reduced Torque Ripple During Conduction
Every production site has unique problems that require unique
and innovative solutions. MELSERVO offers the best solutions

you have been looking for.
Servo Amplifiers & Motors

Servo System Controllers
SOLUTIONS
For your all production needs
Exceptional Solutions for

All of Your Production Needs
Refer to "MELSERVO SOLUTIONS catalog
(L(NA)03094)" for details.
48
Revolutionary, next-generation controllers

building a new era in automation
As the core for the next-generation automation environment, realizing

an automation controller with added value while reducing TCO
Refer to "MELSEC iQ-R Series iQ

Platform-compatible PAC catalog"
for details.
To succeed in highly competitive markets, its important to build automation systems that ensure high productivity and consistent product quality. The
MELSEC iQ-R Series has been developed from the ground up based on common problems faced by customers and rationalizing them into seven key
areas: Productivity, Engineering, Maintenance, Quality, Connectivity, Security and Compatibility. Mitsubishi Electric is taking a three-point approach to
solving these problems: Reduce TCO*, increasing Reliability and Reuse of existing assets.
As a bridge to the next generation in automation, the MELSEC iQ-R Series is a driving force behind revolutionary progress in the future of manufacturing.
*TCO: Total cost of ownership
MELSEC iQ-R series
Reduce TCO
Productivity
Improve productivity through

advanced performance/functionality
New high-speed system bus realizing shorter production cycle

Super-high-accuracy motion control utilizing advanced multiple CPU features
Inter-modular synchronization resulting in increased processing accuracy
Engineering
Reducing development costs through

intuitive engineering
Intuitive engineering environment covering the product development cycle

Simple point-and-click programming architecture
Understanding globalization by multiple language support
Maintenance
Reduce maintenance costs and downtime

utilizing easier maintenance features
Visualize entire plant data in real-time

Extensive preventative maintenance functions embedded into modules
Connectivity
Seamless network reduces system

costs
Seamless connectivity within all levels of manufacturing

High-speed and large data bandwidth ideal for large-scale control
systems
Easy connection of third-party components utilizing device library
Reuse
Compatibility
Extensive compatibility with existing

products
Utilize existing assets while taking advantage of cutting-edge technology

Compatible with most existing MELSEC-Q Series I/O
One Software, Many Possibilities

Intuitive and easy engineering
49
With GX Works3 programming cannot be made any

easier with various intuitive features such as
graphic-based system configuration and an extensive
module library provided as standard. In addition to
multiple language support realizing a global
engineering tool required for current automation needs.
Reliability
Security
Robust security that can be relied on
Protect intellectual property

Unauthorized access protection across distributed control network
Quality
Reliable and trusted MELSEC

product quality
Robust design ideal for harsh industrial environments

Improve and maintain actual manufacturing quality
Conforms to main international standards

in perfect harmony
Your window to better production control
Refer to "iQ Platform Graphic

Operation Terminal GOT2000
Series catalog" for details.
The Mitsubishi Electric Graphic Operation Terminal GOT2000 series

continues to impress with solutions that fulfill all demands.
The GOT2000 boasts advanced functionality, acts as a seamless gateway to other industrial automation devices, all while
increasing productivity and efficiency. The high quality display is designed to optimize operator control and monitoring of
device and line statuses. If you are looking for an intuitive operation terminal, the new tablet-like operability and the higher
functionality of operation terminal makes the GOT2000 the ideal choice.
Graphic Operation Terminal

GOT2000 series GT27, GT25, GT23, GT21
GOT1000 series GT16, GT15, GT14, GT12, GT11, GT10
Connection to AC servos
All models
Direct connection to Mitsubishi AC servo

amplifiers with RS-422 makes it easy to
adjust parameter settings etc.
Monitoring
Parameter
adjustment
Can connect
32
axes of
up to
Mitsubishi
general-purpose
AC servos with a
total extension of
30m.
GT27, GT25, GT16, GT15
GT27, GT25, GT23, GT16, GT15, GT14, GT12, GT11
GT27, GT25, GT16, GT15
FA transparent function
The GOT acts as a

transparent gateway to
enable programming, start up,
and adjustment of equipment
using MT Works2,
GX Configurator-QP,
MR Configurator2, or
GX Works2. Users do not
have to bother with opening
the cabinet or changing cable
connections.
Servo amplifier monitor function
In a system which outputs pulse train, the GOT

can be connected to a servo amplifier in a serial
connection to perform the following operations:
monitoring, alarm display, diagnosis, parameter
setting, and test operations.
MT Works2
GX Works2, etc.
GT27, GT25, GT23, GT16, GT15, GT14, GT12
GT27, GT25, GT16, GT15
Q series motion monitor function
Intelligent module monitor function
The GOT enables easy monitoring of

Motion controllers (Q series), changing of
servo parameters, and display of errors
on the screen.
Buffer memory values of modules such

as the QD77MS and I/O information can
be monitored and changed.
Backup/restoration function
Motion controller (Q series) programs and

parameters can be backed up to the CF
card or USB memory in the GOT. Users can
then perform batch operation to restore the
data to the Motion controller.
Q25HCPU
MODE
RUN
ERR
USER
BAT
BOOT
USB
Replace CPU
CF card,
etc.
Restore
PULL
Q series Motion monitor window
Intelligent module monitor window
Motion
program,
etc.
50
Unparalleled Performance.
Uncompromising Quality.
INVERTER
Model
FR-A 800
Unparalleled Performance.
Uncompromising Quality.
Channeling inherited techniques to deliver
the ultimate in inverter technology.
FR-A842-315K to 500K EMERGED
Refer to "Inverter FR-A800

catalog" for details.
Achieving higher drive performance

and energy conservation with inverters
The inverter is a variable frequency power device that can easily and freely change the speed of a 3-phase induction motor.
The Mitsubishi inverter is high-performance and environment-conscious, and complies with global standards.
Select a model from our diverse lineup to match your needs.
FR-A800 series
Introducing our high-value, next-generation inverter delivering outstanding drive performance in any environment,
and a wealth of functionality covering startup to maintenance.
We offer a comprehensive line-up in response to the challenges of globalization.
01
LEADING
DRIVE PERFORMANCE
03
EASY SETUP
&
EASY TO USE
05
SYSTEM SUPPORT
Excellent Drive
Performance
The new series is equipped with the new state-of-the-art

high-speed processor developed by Mitsubishi. With better
control performance and response level, safe and accurate
operation is assured in a diverse range of applications.
Easy Setup
&
Easy to use
A range of equipment and functions are prepared allowing

work to be performed anywhere to suit product life cycles.
System Support
Numerous functions and the extensive lineup

of models are ready to support various systems.
51
02
SECURITY & SAFETY
04
ECO-FRIENDLY
FACTORIES
06
ENVIRONMENTAL
ADAPTABILITY
Security & Safety
Swift recovery ensured by preventing trouble beforehand.

The FR-A800 has been developed with reliability and safety
foremost in mind.
Eco Factory
The power consumption by motors is said to amount about the

half of all power consumption made by the Japanese
manufacturing industry.
Factories can save more energy without dropping their
production.
Less energy and more productionthe FR-A800 series will
help you to get the both.
Environmental
Adaptability
The FR-A800 series complies with various

standards and is usable in different scenes.

in perfect harmony
Performing like humans

and surpassing their abilities
The Mitsubishi Electric industrial robot will revolutionize your
manufacturing site with faster, more intrinsic and simpler functions.
Mitsubishi Electric aims to easily achieve automated production equipment. We propose
the MELFA F series which is equipped with the improved performance and with
intelligent technology that we have developed and verified at our own production facilities.
The iQ Platform compatible robot
controller increases the speed of data

communications between CPUs and
dramatically reduces I/O processing
Refer to "Mitsubishi INDUSTRIAL

ROBOT MELFA F Series catalog"
for details.
times using a high-speed standard base

between multiple CPUs.
Industrial robot MELFA F series

Additional axis function
The layout can be set up to include the robot traveling axis

and turntable as well as user machines separate from the
robot such as loaders and positioning devices.
Up to 8 additional axes can be controlled by the controller.
Additional axes and user machines can be operated from
the robot program and teaching pendant without any
additional motion control hardware. The same JOG
operation as for the robot can be used. Robot language
can be used for control operations.
The robot controller has plug-and-play compatibility with
MR-J4-B. (J3 compatibility mode)
Standard interface function (Separate servo amplifier and
servo motor required.)
Robot
Up to 8 additional axes
(Up to 3 groups)
Additional
axis
User
machine
User
machine
Up to
2 axes
Up to 3
axes
Up to 3
axes
Machine 1
Machine 2
Machine 3
Additional axis
Simultaneous control
Intelligence solution
By utilizing the force sensor to adjust the power, automation of the procedures with high difficulty is now achieved.
Force sensor
Collision avoidance
Coordinated control
Product lines
RV-F series
RV-2F
Load capacity: 2kg

Reach: 504mm
RV-4F
Load capacity: 4kg

Reach: 515mm
RV-4FL
Load capacity: 4kg

Reach: 649mm
RV-7F
Load capacity: 7kg

Reach: 713mm
RV-7FL
Load capacity: 7kg

Reach: 908mm
RV-7FLL
Load capacity: 7kg

Reach: 1503mm
RV-13F
Load capacity: 13kg

Reach: 1094mm
RV-13FL
Load capacity: 13kg

Reach: 1388mm
RV-20F
Load capacity: 20kg

Reach: 1094mm
RH-F series
RH-3FH
Load capacity: 3kg

Reach:350450550mm
RH-6FH
Load capacity: 6kg

Reach:350450550mm
RH-12FH
Load capacity: 12kg

Reach:550700850mm
RH-20FH
Load capacity: 20kg

Reach:8501,000mm
52
As a recognized leader in factory automation,

Mitsubishi Electric offers a world-class level of customer satisfaction.
Production/Development System
For more than 80 years from the start of operations in 1924, Mitsubishi Electric Nagoya Works has manufactured various universal
devices including motors, programmable controllers and inverters. The history of AC servo production at Nagoya Works spans
over 30 years. We have expanded our production system based on the technology and tradition amassed during this time, and
have incorporated world-class research and development to create high-performance, high-quality products that can be supplied
for a long time.
Production system
To guarantee the high quality and performance of MELSERVO, Mitsubishi

Electric has built a cooperative system of three facilities - Shinshiro
Factory, a branch factory of Nagoya Works; Mitsubishi Electric Automation
Manufacturing (Changshu) Co., Ltd., a manufacturing base; and Nagoya
Works at the core. Mitsubishi Electric responds to various needs
throughout the world by uniting technologies and know-how of these
facilities. Mitsubishi Electrics FA energy solutions, "e&eco-F@ctory", are
at work in the servo motor factory at the Nagoya Works. They are being
used to boost capacity utilization and product quality, and reduce energy
consumption.
53
Development system
To spread advanced servo systems to the world as

quickly as possible, Mitsubishi Electric has
established FA-related development centers at its
Nagoya Works, and in North America and Europe.
Furthermore, we have established strong
connections between our Advanced Technology
R&D Center, which pushes technology
development beyond the limits of FA, and
Information Technology R&D Center. We are
moving forward with the development of new
products that reflect the latest technological
directions and customer input.
Mitsubishi Electric Nagoya Works
FA Development Center
e&eco-F@ctory implementation
EDC (Europe Development Center)

in perfect harmony
Promoting the popularity of SSCNET in Japan and around the world

SSCNET Partner Association
The SSCNET Partner Association (SNP) carries
activities to introduce the advanced servo system
controller network "SSCNET" and compatible products
to many users. In cooperation with partner
corporations, SNP widely promotes the performance
attainable with SSCNET. In recent years, SNP holds
partner meetings in Japan and other countries such as
Taiwan and India. SNP and aims to make "SSCNET" a
more global servo system controller network.
The SSCNET Partner Association (SNP)

acting to spread SSCNET throughout the world.
Transition of number of SSCNET nodes introduced

3,510,000
3,000,000
Exceeded
3,500,000
nodes in
FY2013!
2,500,000
(No. of nodes)
2,000,000
1,500,000
1,000,000
500,000
02
"SSCNET" increases the freedom of

system configurations with the
Mitsubishi servo as well as the
variety of SSCNET compatible
partner products including stepping
motors and direct drive motors.
Main membership
benefits
03
04
05
06
07
08
09
controller network
10
11
12
13 (Fiscal year)
Ethernet
Controller
Servo amplifier
Servo
motor
Servo amplifier
Inverter
Linear
servo motor
Induction
motor
Stepping
motor driver
Stepping
motor
Access to the latest trends and information on motion network SSCNET and Mitsubishi Electric FA businesses
Participation in partner meetings in Japan and overseas Expanding business opportunities Introduction of member
products and SSCNET compatible products to various tools and media Free of registration fees and annual dues.
Members of The SSCNET Partner Association (in alphabetical order)
Asahi Engineering Co., Ltd.
GMC Hillstone Co., Ltd.
Mitsubishi Electric Corporation
Mitsubishi Electric Engineering

Co., Ltd.
ORIENTAL MOTOR Co., Ltd.
SANYO DENKI CO., LTD.
Hamamatsu Photonics K.K.

Murata Machinery, Ltd.
ShinMaywa Industries, Ltd.
Harmonic Drive Systems Inc.
HOKUYO AUTOMATIC CO., LTD.
Nikki Denso Co., Ltd.
NIPPON THOMPSON
CO., LTD.
TESSERA TECHNOLOGY INC.
THK CO.,LTD.
IAI Corporation
NSD Corporation
238 corporations in Japan

and other countries
54
A global support network for MELSERVO users

Across the globe, FA Centers provide customers with local assistance for purchasing Mitsubishi Electric
products and with after-sales service. To enable national branch offices and local representatives to work
together in responding to local needs, we have developed a service network throughout the world. We
provide repairs, on-site engineering support, and sales of replacement parts. We also provide various
services from technical consulting services by our expert engineers to practical training for equipment
operations.
Global FA Center
Ratingen, Germany
Germany FA Center/
Europe Development Center
Krakowska, Poland
Europe FA Center (Poland)

Russia FA Center
Pune/Gurgaon/Bangalore/
Chennai/Ahmadabad, India
India FA Center
Bangkok, Thailand
Thailand FA Center
Hatfield, U.K.
UK FA Center
Praha, Czech Republic
Czech Republic FA Center
Istanbul, Turkey
Turkey FA Center
China (including Hong Kong District)

Beijing, China
Changshu, China
Beijing FA Center
Shenyang
Tianjin, China
Beijing
Tianjin FA Center
Xiangyang
Complies with EN, UL, CSA (c-UL) standards,

and Korea Radio Wave Law (KC).
55
Dalian
Mitsubishi Electric
Automation Manufacturing
(Changshu) Co., Ltd.
Shanghai, China
Shanghai FA Center
Shanghai
Wuhan
Chongqing
Guangzhou FA Center
Tianjin
Qingdao
Chengdu
Guangzhou, China
China Local Factory
Changchun
Fuzhou
Taipei
Taichung
Hong Kong
Guangzhou
Shenzhen
MELSERVO-J4 series conforms to global standards.
* This product is not subject to China Compulsory Certification (CCC).

* Refer to "Servo Amplifier Instruction Manual" and "EMC Installation Guidelines" when your
system needs to meet the EMC directive.
* For corresponding standards and models, contact your local sales office.
Global FA Center
FA Center Satellite (China)
Production Facility
Seoul, Korea
Korea FA Center

in perfect harmony
Mechatronics Service Base (China)
Mitsubishi Sales Offices
Development Center
Nagoya, Japan
Nagoya Works
Taipei / Taichung, Taiwan
Left: Taipei FA Center/

Right: Taichung FA Center
Chicago IL, U.S.A.
North America FA Center/

North American Development Center
Tlalnepantla Edo., Mexico
Mexico FA Center
Sao Paulo SP, Brazil
Hanoi / Ho Chi Minh, Vietnam
Brazil FA Center
Left: Hanoi FA Center/

Right: Ho Chi Minh FA Center
Singapore
ASEAN FA Center
Bekasi, Indonesia
Indonesia FA Center
Human and environment-friendly MELSERVO-J4 series is compliant with RoHS Directive.
Complies with Restriction

of Hazardous Substances
Directive (RoHS).
About RoHS directive

RoHS Directive requires member nations to guarantee that new electrical and
electronic equipment sold in the market after July 1, 2006 do not contain lead,
cadmium, mercury, hexavalent chromium, polybrominated biphenyl (PBB)
and polybrominated diphenyl ether (PBDE) flame retardants. <G> mark
indicating RoHS Directive compliance is printed on the package.
* Refer to "Servo Amplifier Instruction Manual" and "EMC

Installation Guidelines" when your system needs to meet the
EMC directive.
Our optional cables and connectors comply with

"Measures for Administration of the Pollution Control of
Electronic Information Products" (Chinese RoHS).
56
Conformity with Global Standards and Regulations

MELSERVO-J4 series conforms to global standards.
For corresponding standards and models, contact your local sales office.
Servo amplifier
European EC directive
Low voltage directive
EN 61800-5-1
EMC directive
EN 61800-3
Machinery directive
RoHS directive
EN ISO 13849-1 Category 3 PL d / IEC 61508 SIL 2 /

EN 62061 SIL CL 2 / EN 61800-5-2 SIL 2
Compliant
UL standard
UL 508C
CSA standard
CSA C22.2 No.14
Measures for Administration of the Pollution Control of Electronic

Information Products (Chinese RoHS)
Compliant (optional cables and connectors)
China Compulsory Certification (CCC)
N/A
Korea Radio Wave Law (KC)
Compliant
* MR-D30 has obtained the functional safety certification by TV SD.
Rotary servo motor

EN 60034-1
EMC directive
EN 60034-1
Machinery directive
RoHS directive
Compliant
UL standard
UL 1004-1 / UL 1004-6
CSA standard
CSA C22.2 No.100

N/A
N/A
Linear servo motor

DIN VDE 0580
EMC directive
Machinery directive
RoHS directive
Compliant
UL standard
UL-1004-6
CSA standard
CSA C22.2 No.100

N/A
N/A
Direct drive motor

EN 60034-1
EMC directive
EN 60034-1
Machinery directive
RoHS directive
Compliant
UL standard
CSA standard

57
N/A
N/A
Model Designation...........................................................................................................1-1
Combinations of 1-Axis Servo Amplifier and Servo Motor...............................................1-3
Combinations of Multi-Axis Servo Amplifier and Servo Motors.......................................1-6
MR-J4-B/MR-J4-B-RJ
Connections with Peripheral Equipment.........................................................................1-7
Specifications..................................................................................................................1-8
MR-CR Converter Unit Specifications...........................................................................1-14
Standard Wiring Diagram Example...............................................................................1-15
STO I/O Signal Connector (CN8) Connection Example................................................1-16
Main/Control Circuit Power Supply Connection Example.............................................1-17
Servo Motor Connection Example (For MR-J4-B(-RJ010)/MR-J4-A)...........................1-20
Encoder Connection Specifications...............................................................................1-29
Servo Motor Connection Example (For MR-J4-B-RJ/MR-J4-A-RJ)..............................1-30
Dimensions....................................................................................................................1-36
MR-CR Dimensions.......................................................................................................1-42
Panel Cut Dimensions for Converter Unit and Drive unit..............................................1-42
MR-J4W2-B/MR-J4W3-B
Connections with Peripheral Equipment.......................................................................1-43
Specifications................................................................................................................1-44
Servo Motor Connection Example.................................................................................1-50
Dimensions....................................................................................................................1-56
MR-J4-B-RJ010
Specifications................................................................................................................1-59
CC-Link IE Field Network Interface Unit........................................................................1-63
Dimensions....................................................................................................................1-65
MR-J4-A/MR-J4-A-RJ
Specifications................................................................................................................1-71
Positioning Function......................................................................................................1-82
Dimensions....................................................................................................................1-93
B
A
MR-J4-B/MR-J4-DU_B B-RJ MR-J4-B-RJ/MR-J4-DU_B-RJ WB MR-J4W2-B/MR-J4W3-B B-RJ010 MR-J4-B-RJ010

MR-J4-A/MR-J4-DU_A A-RJ MR-J4-A-RJ/MR-J4-DU_A-RJ
* Refer to p. 5-65 in this catalog for conversion of units.

* In this section, a term of servo amplifier includes a combination of drive unit and converter unit.
Servo Amplifiers
Servo Amplifiers
1-Axis Servo Amplifier Model Designation
MR-J4-10B
Mitsubishi
generalpurpose AC
servo amplifier
MELSERVO-J4
Series
B-RJ
B-RJ010
A-RJ
Symbol
None
Symbol
B
A
Interface
SSCNET /H (Note 7)
General-purpose
Symbol
10
20
40
60
70
100
200
350
500
700
11K
15K
22K
Rated output [kW]

0.1
0.2
0.4
0.6
0.75
1
2
3.5
5
7
11
15
22
Symbol
Power supply
1-phase 100 V AC
3-phase 400 V AC
3-phase 200 V AC or
None 1-phase 200 V AC
(Note 3)
(Note 8)
(Note 4)
Special specification
Standard
Fully closed loop control four-wire type/
load-side encoder A/B/Z-phase
RJ
input compatible/
Functional safety unit compatible (Note 11)/
Positioning mode compatible (Note 12)
CC-Link IE Field Network interface
RJ010
with Motion (Note 5)
ED
Without a dynamic brake (Note 1)

Without an enclosed
PX
regenerative resistor (Note 6)
MR-J4-_-RJ without
RU
a dynamic brake (Note 1)
MR-J4-_-RJ without an enclosed
RZ
regenerative resistor (Note 6)
MR-J4-_B-RJ010 without
RU010
a dynamic brake (Note 1)
MR-J4-_B-RJ010 without
RZ010
an enclosed regenerative
resistor (Note 6)
EG
DC power input type (Note 10)
KJ
MR-J4-_-RJ with DC power input type (Note 10)
LL
Pressure control type (Note 9)
Multi-Axis Servo Amplifier Model Designation
WB
MR-J4W2-22BMitsubishi
generalpurpose AC
servo amplifier
MELSERVO-J4
Series
Symbol
B
Symbol
Symbol
W2
W3
Number of axes
2 axes
3 axes
22
44
77
1010
222
444
Interface
SSCNET III/H
Symbol
None
Standard
ED Without a dynamic brake (Note 1)
EG
DC power input type (Note 10)
Rated output [kW]

A-axis (Note 2) B-axis (Note 2) C-axis (Note 2)
0.2
0.2
0.4
0.4
0.75
0.75
1
1
0.2
0.2
0.2
0.4
0.4
0.4
Notes: 1. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. 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.
When the following servo motors are used, an electronic dynamic brake may operate at alarm occurrence.
HG-KR053, HG-KR13, HG-KR23, HG-KR43, HG-MR053, HG-MR13, HG-MR23, HG-MR43, HG-SR51, and HG-SR52
Disable the electronic dynamic brake by setting the following parameter to "_ _ _ 2."
For MR-J4-B/MR-J4-B-RJ/MR-J4-B-RJ010: [Pr. PF06]
For MR-J4W_-B: Disable the electronic dynamic brake for all axes with [Pr. PF06]
For MR-J4-A/MR-J4-A-RJ: [Pr. PF09]
In addition, when [Pr. PA04] is set to "2 _ _ _" (initial value), the servo motor may be decelerated to a stop forcibly at alarm occurrence. The forced stop deceleration
function will be disabled by setting [Pr. PA04] to "0 _ _ _."

2. A-axis, B-axis, and C-axis indicate names of axes of the multi-axis servo amplifier. The C-axis is available for the 3-axis servo amplifier.

3. Servo amplifiers of 0.75 kW or smaller are available for 1-phase 200 V AC.

4. Servo amplifiers of 0.6 kW, and 1 kW or larger are available for 3-phase 400 V AC.

5. CC-Link IE Field Network interface with Motion is available only with MR-J4-_B-RJ010. CC-Link IE Field Network interface unit (MR-J3-T10) is required.

6. Available in 11 kW to 22 kW servo amplifier. A regenerative resistor (standard accessory) is not enclosed.

7. MR-J4-_B-RJ010 has CC-Link IE Field Network interface with Motion.

8. Servo amplifiers of 0.4 kW or smaller are available.

9. MR-J4-_B_-LL is available. Contact your local sales office for the pressure control compatible servo amplifiers.

10. Contact your local sales office for the DC power input type servo amplifier.

11. MR-D30 functional safety unit is compatible with MR-J4-B-RJ servo amplifiers. When using MR-D30, use MR-J4-B-RJ servo amplifier with software version B3 or later.
MR-D30 will be compatible with MR-J4-B-RU/MR-J4-B-RZ/MR-J4-B-KJ servo amplifiers in the future.

12. The positioning mode is available with MR-J4-A-RJ servo amplifiers. Use MR-J4-A-RJ servo amplifiers with software version B3 or later.
1-1
Drive Unit Model Designation (Note 4)
B-RJ
A-RJ
Symbol
Power supply
None 3-phase 200 V AC (Note 1)
4
3-phase 400 V AC
Interface
SSCNET/H
General-purpose
Symbol
30K
37K
45K
55K
Rated output [kW]

30
37
45
55
Symbol
None
4
Power supply
3-phase 200 V AC
3-phase 400 V AC
Symbol
55K
Rated output [kW]

55
LL
Linear Servo Motors
Symbol
B
A
RJ (Note 2)
Standard
four-wire type/load-side encoder
A/B/Z-phase input compatible/
Positioning mode compatible (Note 3)
Pressure control type (Note 5)
Rotary Servo Motors
Mitsubishi
generalpurpose AC
servo amplifier
MELSERVO-J4
Series
Symbol
None
Servo Amplifiers
MR-J4-DU30KB
Converter Unit Model Designation (Note 4)

Direct Drive Motors
MR-CR55K
Options/Peripheral
Equipment
LVS/Wires
Notes: 1. Drive units of 37 kW or smaller are available in 3-phase 200 V AC.

2. MR-D30 functional safety unit is not compatible with the drive unit.

3. Positioning mode is available with MR-J4-DU_A_-RJ drive unit.

4. One unit of converter unit is required for each drive unit.

5. MR-J4-DU_B_-LL is available. Contact your local sales office for the pressure control compatible drive units.
Product List
Cautions
1-2
Servo Amplifiers
Combinations of 1-Axis Servo Amplifier and Servo Motor
B-RJ
A-RJ
MR-J4-B/MR-J4-B-RJ/MR-J4-A/MR-J4-A-RJ (200 V)
Servo amplifier
MR-J4-10B(-RJ)
MR-J4-10A(-RJ)
MR-J4-20B(-RJ)
MR-J4-20A(-RJ)
Rotary servo motor

HG-KR053, 13
HG-MR053, 13
HG-KR23
HG-MR23
MR-J4-40B(-RJ)
MR-J4-40A(-RJ)
HG-KR43
HG-MR43
MR-J4-60B(-RJ)
MR-J4-60A(-RJ)
HG-SR51, 52
HG-JR53
MR-J4-70B(-RJ)
MR-J4-70A(-RJ)
HG-KR73
HG-MR73
HG-JR73
HG-UR72
MR-J4-100B(-RJ)
MR-J4-100A(-RJ)
HG-SR81, 102
HG-JR53 (Note 2), 103
MR-J4-200B(-RJ)
MR-J4-200A(-RJ)
HG-SR121, 201, 152, 202

HG-JR73 (Note 2), 103 (Note 2), 153, 203
HG-RR103, 153
HG-UR152
MR-J4-350B(-RJ)
MR-J4-350A(-RJ)
HG-SR301, 352
HG-JR153 (Note 2), 203 (Note 2), 353
HG-RR203
HG-UR202
MR-J4-500B(-RJ)
MR-J4-500A(-RJ)
HG-SR421, 502
HG-JR353 (Note 2), 503
HG-RR353, 503
HG-UR352, 502
MR-J4-700B(-RJ)
MR-J4-700A(-RJ)
MR-J4-11KB(-RJ)
MR-J4-11KA(-RJ)
MR-J4-15KB(-RJ)
MR-J4-15KA(-RJ)
MR-J4-22KB(-RJ)
MR-J4-22KA(-RJ)
Linear servo motor (primary side) (Note 1)
Direct drive motor
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0
-
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM012G20
TM-RFM040J10
TM-RFM018E20
HG-SR702
HG-JR503 (Note 2), 703, 601, 701M
LM-H3P3D-48P-CSS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-FP2B-06M-1SS0
LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0
LM-H3P7D-96P-ASS0
LM-K2P2C-07M-1SS1
LM-K2P3C-14M-1SS1
LM-U2P2C-60M-2SS0
LM-FP2D-12M-1SS0
LM-FP4B-12M-1SS0
LM-K2P2E-12M-1SS1
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0
LM-FP2F-18M-1SS0
LM-FP4D-24M-1SS0
HG-JR903, 801, 12K1, 11K1M
LM-FP4F-36M-1SS0
HG-JR15K1, 15K1M
LM-FP4H-48M-1SS0
HG-JR20K1, 25K1, 22K1M
TM-RFM048G20
TM-RFM072G20
TM-RFM120J10
TM-RFM240J10
Notes: 1. Models of the linear servo motor primary side are listed in this page. For compatible models of the secondary side, refer to "Combinations of Linear Servo Motor and
Servo Amplifier" under section 3 Linear Servo Motor in this catalog.

2. The maximum torque can be increased from 300% to 400% of the rated torque with this combination.
MR-J4-DU_B/MR-J4-DU_B-RJ/MR-J4-DU_A/MR-J4-DU_A-RJ (200 V)
Drive unit
MR-J4-DU30KB(-RJ)
MR-J4-DU30KA(-RJ)
MR-J4-DU37KB(-RJ)
MR-J4-DU37KA(-RJ)
1-3
Rotary servo motor

HG-JR30K1
HG-JR30K1M
HG-JR37K1
HG-JR37K1M
Linear servo motor (primary side)
Direct drive motor
B-RJ
A-RJ
Rotary servo motor

HG-KR053, 13
HG-MR053, 13
HG-KR23
HG-MR23
MR-J4-40B1(-RJ)
MR-J4-40A1(-RJ)
HG-KR43
HG-MR43
Direct drive motor
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
TM-RFM002C20
Rotary Servo Motors
Servo amplifier
MR-J4-10B1(-RJ)
MR-J4-10A1(-RJ)
MR-J4-20B1(-RJ)
MR-J4-20A1(-RJ)
Servo Amplifiers
MR-J4-B1/MR-J4-B1-RJ/MR-J4-A1/MR-J4-A1-RJ (100 V)
TM-RFM004C20
MR-J4-B4/MR-J4-B4-RJ/MR-J4-A4/MR-J4-A4-RJ (400 V)
MR-J4-200B4(-RJ)
MR-J4-200A4(-RJ)
MR-J4-700B4(-RJ)
MR-J4-700A4(-RJ)
Direct drive motor
HG-JR9034, 8014, 12K14, 11K1M4
HG-JR15K14, 15K1M4
HG-JR20K14, 25K14, 22K1M4
LM-FP5H-60M-1SS0
Options/Peripheral
Equipment
MR-J4-11KB4(-RJ)
MR-J4-11KA4(-RJ)
MR-J4-15KB4(-RJ)
MR-J4-15KA4(-RJ)
MR-J4-22KB4(-RJ)
MR-J4-22KA4(-RJ)
Direct Drive Motors
MR-J4-350B4(-RJ)
MR-J4-350A4(-RJ)
MR-J4-500B4(-RJ)
MR-J4-500A4(-RJ)
Rotary servo motor

HG-SR524
HG-JR534
HG-SR1024
HG-JR534 (Note 2), 734, 1034
HG-SR1524, 2024
HG-JR734 (Note 2), 1034 (Note 2), 1534,
2034
HG-SR3524
HG-JR1534 (Note 2), 2034 (Note 2), 3534
HG-SR5024
HG-JR3534 (Note 2), 5034
HG-SR7024
HG-JR5034 (Note 2), 7034, 6014,
701M4
Linear Servo Motors
Servo amplifier
MR-J4-60B4(-RJ)
MR-J4-60A4(-RJ)
MR-J4-100B4(-RJ)
MR-J4-100A4(-RJ)
MR-J4-DU_B4/MR-J4-DU_B4-RJ/MR-J4-DU_A4/MR-J4-DU_A4-RJ (400 V)
Rotary servo motor
HG-JR30K14
HG-JR30K1M4
HG-JR37K14
HG-JR37K1M4
Linear servo motor (primary side)
Direct drive motor
HG-JR45K1M4
HG-JR55K1M4
LVS/Wires
Drive unit
MR-J4-DU30KB4(-RJ)
MR-J4-DU30KA4(-RJ)
MR-J4-DU37KB4(-RJ)
MR-J4-DU37KA4(-RJ)
MR-J4-DU45KB4(-RJ)
MR-J4-DU45KA4(-RJ)
MR-J4-DU55KB4(-RJ)
MR-J4-DU55KA4(-RJ)

Product List
Cautions
1-4
Servo Amplifiers

MR-J4-B-RJ010 (200 V)
Servo amplifier
MR-J4-10B-RJ010
MR-J4-20B-RJ010
MR-J4-40B-RJ010
MR-J4-60B-RJ010
MR-J4-70B-RJ010
MR-J4-100B-RJ010
MR-J4-200B-RJ010
MR-J4-350B-RJ010
MR-J4-500B-RJ010
MR-J4-700B-RJ010
MR-J4-11KB-RJ010
MR-J4-15KB-RJ010
MR-J4-22KB-RJ010
Rotary servo motor

HG-KR053, 13
HG-MR053, 13
HG-KR23
HG-MR23
HG-KR43
HG-MR43
HG-SR51, 52
HG-JR53
HG-KR73
HG-MR73
HG-JR73
HG-UR72
HG-SR81, 102
HG-JR53 (Note 1), 103
HG-SR121, 201, 152, 202
HG-JR73 (Note 1), 103 (Note 1), 153, 203
HG-RR103, 153
HG-UR152
HG-SR301, 352
HG-JR153 (Note 1), 203 (Note 1), 353
HG-RR203
HG-UR202
HG-SR421, 502
HG-JR353 (Note 1), 503
HG-RR353, 503
HG-UR352, 502
HG-SR702
HG-JR503 (Note 1), 703, 601, 701M
HG-JR903, 801, 12K1, 11K1M
HG-JR15K1, 15K1M
HG-JR20K1, 25K1, 22K1M
MR-J4-B4-RJ010 (400 V)
Servo amplifier
MR-J4-60B4-RJ010
MR-J4-100B4-RJ010
MR-J4-200B4-RJ010
MR-J4-350B4-RJ010
MR-J4-500B4-RJ010
MR-J4-700B4-RJ010
MR-J4-11KB4-RJ010
MR-J4-15KB4-RJ010
MR-J4-22KB4-RJ010
Notes: 1. The maximum torque can be increased from 300% to 400% of the rated torque with this combination.
1-5
B-RJ010
Rotary servo motor

HG-SR524
HG-JR534
HG-SR1024
HG-JR534 (Note 1), 734, 1034
HG-SR1524, 2024
HG-JR734 (Note 1), 1034 (Note 1), 1534,
2034
HG-SR3524
HG-JR1534 (Note 1), 2034 (Note 1), 3534
HG-SR5024
HG-JR3534 (Note 1), 5034
HG-SR7024
HG-JR5034 (Note 1), 7034, 6014, 701M4
HG-JR9034, 8014, 12K14, 11K1M4
HG-JR15K14, 15K1M4
HG-JR20K14, 25K14, 22K1M4
Combinations of Multi-Axis Servo Amplifier and Servo Motors
WB
Any combination of the servo motors with different series and capacities is possible as long as the servo motors are compatible with the
servo amplifier.
Servo amplifier
MR-J4W2-22B
Rotary servo motor

HG-KR053, 13, 23
HG-MR053, 13, 23
MR-J4W2-1010B
HG-KR43, 73
HG-MR43, 73
HG-SR51, 81, 52, 102
HG-JR53 (Note 2), 73, 103
HG-UR72
TM-RFM002C20
TM-RFM004C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM012G20
TM-RFM040J10
Direct Drive Motors
MR-J4W2-77B
HG-KR43, 73
HG-MR43, 73
HG-SR51, 52
HG-JR53, 73
HG-UR72
TM-RFM002C20
Linear Servo Motors
HG-KR053, 13, 23, 43

HG-MR053, 13, 23, 43
Direct drive motor
Rotary Servo Motors
MR-J4W2-44B
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM040J10
MR-J4W3-B
Any combination of the servo motors with different series and capacities is possible as long as the servo motors are compatible with the
servo amplifier.
Servo amplifier
MR-J4W3-222B
HG-KR053, 13, 23, 43

HG-MR053, 13, 23, 43

LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
Direct drive motor

TM-RFM002C20
LVS/Wires
MR-J4W3-444B
Rotary servo motor

HG-KR053, 13, 23
HG-MR053, 13, 23
Options/Peripheral
Equipment

LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
Servo Amplifiers
MR-J4W2-B
TM-RFM002C20
TM-RFM004C20
Product List
Cautions
1-6
Servo Amplifiers
MR-J4-B/MR-J4-B-RJ Connections with Peripheral Equipment (Note 1)
B-RJ
Peripheral equipment is connected to MR-J4-B/MR-J4-B-RJ as described below. Connectors, cables, options, and other
necessary equipment are available so that users can set up the servo amplifier easily and start using it right away.
Display (Note 2)
Servo amplifier
status and alarm
number are
displayed.

(MCCB)
Axis setting part (Note 2)
Select an axis with the axis selection rotary switch (SW1)

and auxiliary axis number setting switches (SW2-3 and
SW2-4).
USB communication connector (CN5)
This protects the power supply line.
Connect with a personal computer and use MR Configurator2.

Parameter setting and monitoring are possible. Use an
optional USB cable (MR-J3USBCBL3M).
This turns off the power to the servo

amplifier when an alarm is triggered.
I/O signal connector (CN3)
Power factor improving DC reactor

(optional)
This connector is used for forced stop input, in-position,

electromagnetic brake interlock and malfunction signals.
This boosts the power factor of servo

amplifier and reduces the power
supply capacity.
STO I/O signal connector (CN8)
Connect MR-J3-D05 safety logic unit or an

external safety relay. Use an optional STO
cable (MR-D05UDL3M-B).
Regenerative option
(optional)
Servo motor power cable (optional)
Charge lamp
SSCNET III cable

(optional)
The lamp lights when the main circuit power

supply is charged.
SSCNET III/H compatible servo system controller

R32MTCPU/R16MTCPU
Q170MSCPU RD77MS/
Q173DSCPU/Q172DSCPU
QD77MS
Encoder connector (CN2)
Connect the servo motor encoder using an

optional cable or a connector set.
Load-side encoder connector (CN2L)

CN2L connector is available only on
MR-J4-B-RJ servo amplifier. Refer to
pp. 1-29 to 1-34 in this catalog for the
connection.
LD77MS
Battery connector (CN4)
Connect MR-BAT6V1SET battery when

configuring absolute position detection
system.
Battery
Encoder cable (optional)
SSCNET III cable

(optional)
Servo motor
SSCNET III/H connector (CN1A)
Connect the servo system controller or the

previous servo amplifier axis.
SSCNET III/H connector (CN1B)
Connect the next servo amplifier axis.

Be sure to attach a cap to CN1B connector of the
final axis.
(The picture is as of
HG-KR053.)
Notes: 1. The connection with the peripheral equipment is an example for MR-J4-350B/MR-J4-350B-RJ or smaller servo amplifiers. Refer to "MR-J4-_B_(-RJ) Servo Amplifier
Instruction Manual" for the actual connections.

2. This picture shows when the display cover is open.
1-7
MR-J4-B(1)/MR-J4-B(1)-RJ (SSCNET III/H Interface) Specifications (200 V/100 V)
0.2
0.3
1-phase 170 V AC to 264 V AC
3.0
5.0
9.0
1-phase 85 V AC
to 132 V AC
1-phase 100 V AC to
120 V AC, 50 Hz/60 Hz
0.4
1-phase 85 V AC
to 132 V AC
5% maximum
30
45
30
24 V DC 10% (required current capacity: 0.3 A (including CN8 connector signals))
Sine-wave PWM control/current control method
10
10
10
20
20
100
100
130
170
Built-in (Note 4)
500 850 850

(800) (1300) (1300)
External option (Note 13)
10
10
Built-in (Note 4)
0.222 ms, 0.444 ms, 0.888 ms
LVS/Wires
Product List
Cautions
1-8
Options/Peripheral
Equipment
USB: Connect a personal computer (MR Configurator2 compatible)

Compatible (A/B/Z-phase pulse)
2 channels
Two-wire type communication method (Note 9)
Two-wire/four-wire type communication method
Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive
function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring
Servo function
function, master-slave operation function (Note 14), scale measurement function (Note 14), J3 compatibility mode,
super trace control (Note 16), lost motion compensation (Note 16)
MR-J4-B(1)
Mitsubishi high-speed serial communication
Load-side encoder
interface
MR-J4-B(1)-RJ
Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
Protective functions
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, linear servo control fault protection
Functional safety
STO (IEC/EN 61800-5-2)
Standards certified by CB
EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2
Response performance
8 ms or less (STO input OFF energy shut-off)
Test pulse input (STO) (Note 7)
Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum
Safety
Mean time to dangerous
100 years or longer
performance failure (MTTFd)
Diagnostic coverage (DC)
Medium (90% to 99%)
Probability of dangerous
1.68 5 10-10 [1/h]
Failure per Hour (PFH)
Compliance to standards
Refer to "Conformity with Global Standards and Regulations" on p. 57 in this catalog.
Natural cooling, open
Force cooling, open
Force cooling, open
Natural cooling,
Structure (IP rating)
(IP20)
(IP20)
(IP20) (Note 5)
open (IP20)
Close mounting
Possible (Note 6)
Not possible
Possible (Note 6)
Ambient temperature
Operation: 0 C to 55 C (non-freezing), storage: -20 C to 65 C (non-freezing)
Ambient humidity
Operation/storage: 90 %RH maximum (non-condensing)
Environment Ambience
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude
1000 m or less above sea level
Vibration resistance
5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass
[kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2 13.4 13.4 18.2 0.8 0.8 1.0
Direct Drive Motors
Linear Servo Motors
Rated current
[A]
Permissible voltage
fluctuation
Permissible frequency
fluctuation
Power consumption
[W]
Interface power supply
Control method
Built-in regenerative
[W]
resistor (Note 2, 3)
Tolerable
regenerative External regenerative
power
resistor (standard
[W]
accessory) (Note 2, 3, 11, 12)
Dynamic brake
SSCNET III/H command
communication cycle (Note 10)
Communication function
Analog monitor
MR-J4-B(1)
Fully closed loop
control
MR-J4-B(1)-RJ
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
1.1 1.5 2.8

1-phase 100 V AC to
120 V AC, 50 Hz/60 Hz
Rotary Servo Motors
Control
circuit
power
supply
input
Voltage/frequency
10B1 20B1 40B1
Servo Amplifiers
Servo amplifier model MR-J4-_(-RJ) 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB
Rated voltage
3-phase 170 V AC
Output
Rated current
[A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0
3-phase or 1-phase 200 V AC
Voltage/frequency (Note 1)
to 240 V AC, 50 Hz/60 Hz
Main
3.2
Rated current (Note 15)
[A] 0.9 1.5 2.6 (Note 8) 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0
circuit
power
Permissible voltage
3-phase or 1-phase 170 V AC
supply
fluctuation
to 264 V AC
input
5% maximum
fluctuation
B-RJ
Servo Amplifiers
MR-J4-B(1)/MR-J4-B(1)-RJ (SSCNET III/H Interface) Specifications (200 V/100 V)
B-RJ
Notes: 1. Rated output and speed of a rotary servo motor and a direct drive motor; and continuous 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. Select 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 built-in dynamic brake, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load
to mass ratio.

5. Terminal blocks are excluded.

6. When the servo amplifiers are closely mounted, keep the ambient temperature within 0 C to 45 C, or use them with 75% or less of the effective load ratio.

7. The test pulse is a signal for the external circuit to perform self-diagnosis by turning off the signals to the servo amplifier instantaneously at regular intervals.

8. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.

9. Fully closed loop control is compatible with the servo amplifiers with software version A3 or later.

10. The command communication cycle depends on the controller specifications and the number of axes connected.

11. The value in brackets is applicable when cooling fans (2 units of 92 mm 5 92 mm, minimum air flow: 1.0 m3/min) are installed, and then [Pr. PA02] is changed.

12. Servo amplifiers without an enclosed regenerative resistor are also available. Refer to "1-Axis Servo Amplifier Model Designation" in this catalog for details.

13. Use an optional external dynamic brake with the servo amplifier. Without the external dynamic brake, a servo motor does not stop immediately at emergency stop and falls
in free-run status, causing an accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.

14. This function is available with the servo amplifiers with software version A8 or later.

15. This value is applicable for 750 W or smaller servo amplifiers in 200 V class when a 3-phase power supply is used.

16. This function is available with the servo amplifiers with software version B4 or later.

1-9
MR-J4-DU_B/MR-J4-DU_B-RJ (SSCNET III/H Interface) Specifications (200 V)

5% maximum
45
0.222 ms, 0.444 ms, 0.888 ms
2 channels
Two-wire type communication method
Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning,
tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function,
power monitoring function, master-slave operation function, scale measurement function,
J3 compatibility mode, super trace control, lost motion compensation
Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder
error protection, undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection,
STO (IEC/EN 61800-5-2)
100 years or longer
Options/Peripheral
Equipment
Medium (90% to 99%)

1.68 10-10 [1/h]
LVS/Wires

Force cooling, open (IP20) (Note 1)
Not possible
21
Notes: 1. Terminal blocks are excluded.

2. The test pulse is a signal for the external circuit to perform self-diagnosis by turning off the signals to the drive unit instantaneously at regular intervals.



5. One unit of converter unit is required for each drive unit. Refer to "MR-CR Converter Unit Specifications (200 V/400 V)" on p. 1-14 in this catalog for the specifications of
the converter unit.
Product List
Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
174
204
Main circuit power is supplied from the converter unit to the drive unit (Note 5)
0.3
Direct Drive Motors
DU37KB
Linear Servo Motors
Load-side encoder MR-J4-DU_B

interface
MR-J4-DU_B-RJ
MR-CR55K (Note 5)
3-phase 170 V AC
Rotary Servo Motors
Servo function
DU30KB
B-RJ
Servo Amplifiers
Drive unit model MR-J4-_(-RJ)

Compatible converter unit model
Rated voltage
Output
Rated current
[A]
Main circuit power supply input
Voltage/frequency
[A]
Control Rated current
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
Dynamic brake
Analog monitor
MR-J4-DU_B
Fully closed loop
control
MR-J4-DU_B-RJ
Cautions
1-10
Servo Amplifiers
MR-J4-B4/MR-J4-B4-RJ (SSCNET III/H Interface) Specifications (400 V)

Servo amplifier model MR-J4-_(-RJ)
Rated voltage
Output
Rated current
[A]
Main
Rated current
[A]
circuit
Permissible
voltage
power
fluctuation
supply
input
fluctuation
Voltage/frequency
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
[W]
Tolerable
power
resistor (standard
[W]
Dynamic brake
Analog monitor
MR-J4-B4
Fully closed loop
control
MR-J4-B4-RJ
Servo function
Load-side encoder
interface
MR-J4-B4
MR-J4-B4-RJ
Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
1-11
60B4
100B4
1.5
2.8
1.4
2.5
200B4
350B4
500B4
700B4
11KB4
3-phase 323 V AC
5.4
8.6
14.0
17.0
32.0
5.1
7.9
10.8
14.4
23.1
B-RJ
15KB4
22KB4
41.0
63.0
31.8
47.6

5% maximum
0.2
0.1

5% maximum
30
45
15
15
100
100
130 (Note 11) 170 (Note 11)

-
Built-in (Note 4)
500
(800)
850
(1300)
850
(1300)
0.222 ms, 0.444 ms, 0.888 ms

2 channels
power monitoring function, master-slave operation function (Note 12), scale measurement function (Note 12),
J3 compatibility mode, super trace control (Note 13), lost motion compensation (Note 13)
STO (IEC/EN 61800-5-2)
100 years or longer
Medium (90% to 99%)
1.68 5 10-10 [1/h]

Natural cooling, open Force cooling, open
(IP20)
(IP20)
Not possible
[kg]
1.7
1.7
2.1
3.6
4.3
6.5
13.4
13.4
18.2
MR-J4-B4/MR-J4-B4-RJ (SSCNET III/H Interface) Specifications (400 V)
B-RJ
Servo Amplifiers
Rotary Servo Motors
Notes: 1. Rated output and speed of a rotary servo motor, and continuous 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.



to mass ratio.






10. Use an optional external dynamic brake with the servo amplifier. Without the external dynamic brake, a servo motor does not stop immediately at emergency stop and falls in
free-run status, causing an accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.

11. The servo amplifier built-in regenerative resistor is compatible with the maximum torque deceleration when the servo motor is used within the rated speed and the
recommended load to motor inertia ratio. Contact your local sales office if the operating motor speed or the load to motor inertia ratio exceeds the rated speed or the
recommended ratio.


Linear Servo Motors

Direct Drive Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-12
Servo Amplifiers
MR-J4-DU_B4/MR-J4-DU_B4-RJ (SSCNET III/H Interface) Specifications (400 V)

Rated voltage
Output
Rated current
[A]
Voltage/frequency
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
Dynamic brake
Analog monitor
MR-J4-DU_B4
Fully closed loop
control
MR-J4-DU_B4-RJ
Servo function
Load-side encoder MR-J4-DU_B4
interface
MR-J4-DU_B4-RJ
Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
B-RJ
DU30KB4
DU37KB4
DU45KB4
DU55KB4
MR-CR55K4 (Note 5)
3-phase 323 V AC
87
102
131
143
0.2
5% maximum
45
0.222 ms, 0.444 ms, 0.888 ms
2 channels
power monitoring function, master-slave operation function, scale measurement function,
J3 compatibility mode, super trace control, lost motion compensation
STO (IEC/EN 61800-5-2)
100 years or longer
Medium (90% to 99%)
1.68 10-10 [1/h]
Not possible
16
19




the converter unit.
1-13
MR-CR Converter Unit Specifications (200 V/400 V)
Mass
MR-CR55K
270 V DC to 324 V DC
215.9
191.3
MR-CR55K4
513V DC to 648 V DC
113.8
100.7

5% maximum

0.3

0.2

5% maximum
45
24 V DC 10% (required current capacity: 0.15 A)
55
1300 W (one unit of MR-RB139)
1300 W (one unit of MR-RB137-4)
3900 W (three units of MR-RB137)
3900 W (three units of MR-RB13V-4)
Regenerative overvoltage shut-off, overload shut-off (electronic thermal), regenerative error protection,
undervoltage protection, instantaneous power failure protection
[kg]

22
Options/Peripheral
Equipment
Notes: 1. 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.

Direct Drive Motors
Altitude
A-RJ
Linear Servo Motors
Ambient temperature
Ambient humidity
Rotary Servo Motors
B-RJ
Servo Amplifiers
Converter unit model

Rated voltage
Output
Rated current
[A]
Main
Rated current
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Voltage/frequency
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Rated output
[kW]
Regenerative power
(when regenerative option is used)
LVS/Wires
Product List
Cautions
1-14
Servo Amplifiers
MR-J4-B/MR-J4-B-RJ Standard Wiring Diagram Example (Note 8)
Servo amplifier
MR-J4-B/MR-J4-B-RJ
L1
L3
L2
The connection differs according to the power

voltage.
Refer to "Main/Control Circuit Power Supply
Connection Example" in this catalog.
Control circuit
power supply
CN3
Encoder Z-phase pulse

(differential line driver)
Encoder A-phase pulse
Encoder B-phase pulse
Control common
Output voltage: 10 V
Maximum output current: 1 mA
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR
LG
5
3
8
18
6
16
7
17
11
MO1
LG
MO2
4
1
14
CN2
Encoder cable
CN2L
Refer to "STO I/O Signal Connector (CN8)

1
2
R16MTCPU
Q172DSCPU
QD77MS
MR-MC211
MR-J3BUS_M,
MR-J3BUS_M-A/-B cable
CN4
Mount an optional battery (MR-BAT6V1SET) ,

or battery case (MR-BT6VCASE) and
batteries (MR-BAT6V1) for absolute position
detection system.
BAT
LG
CN1B
CN5
Personal computer
10 m or shorter
CN1A
R32MTCPU
Q173DSCPU
Q170MSCPU
RD77MS
LD77MS
Q173SCCF
MR-MC210
CN2L connector connection
CN8 (Note 6) CN8 connector connection
(Note 1)
Servo motor
MR-J4-B-RJ servo amplifier. Refer to pp. 1-29
to 1-34 in this catalog for the connection.
Plate
SD
2 m or shorter
10 m or shorter
(Note 7)
(Note 5)
Forced stop 2
20
EM2
2
DI1
Upper stroke limit (FLS)
DI2
12
(Note 4) Lower stroke limit (RLS)
DI3
19
Proximity dog (DOG)
3
DOCOM
10 m or shorter
10
DICOM
R
A
Malfunction
ALM
15
1
R
9
INP
A
In-position
2
R
13
MBR
A
Electromagnetic brake interlock
Controller
Power cable
L11
L21
24 V DC power supply for interface
The connection differs according to each servo motor.

Refer to "Servo Motor Connection Example" in this catalog.
MR-J3BUS_M,
MR-J3BUS_M,
(Note 3) (Note 3)
SW2
SW1
1
Setup software
MR Configurator2
USB cable
MR-J3USBCBL3M
0
Be sure to attach a cap to CN1B
connector of the final axis.
Servo amplifier (Note 2)

MR-J4-B(-RJ), MR-J4W_-B
CN1B CN1A
Main/control circuit power supply

connection
Servo motor connection

CN1B CN1A
Main circuit
power supply
B-RJ
Notes: 1. For details such as setting the controllers, refer to programming manual or user's manual for the controllers.

2. Connections for the second and following axes are omitted.

3. Up to 64 axes are set by using a combination of an axis selection rotary switch (SW1) and auxiliary axis number setting switches (SW2-3 and SW2-4). Note that the
number of the connectable axes depends on the controller specifications.

4. Devices can be assigned for DI1, DI2 and DI3 with controller setting. Refer to the controller instruction manuals for details on setting.

5. This is for sink wiring. Source wiring is also possible.

6. Be sure to attach a short-circuit connector supplied with the servo amplifier when the STO function is not used.

7. Create a circuit to turn off EM2 (Forced stop 2) when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.

8. This standard wiring diagram is common for 200 V AC, 100 V AC and 400 V AC type servo amplifiers.
Be sure to read through Instruction Manual for the actual wiring and use. Use the equipment after you have a full knowledge of
the equipment, safety information and instructions.
1-15
STO I/O Signal Connector (CN8) Connection Example
B-RJ
WB
B-RJ010
A-RJ
Servo Amplifiers
When used with MR-J3-D05
Servo amplifier
STO1A
STO2A
Safety logic unit

MR-J3-D05
STO cable
MR-D05UDL3M-B
6
7
8
4
5
3
TOFB1
TOFB2
TOFCOM
STO1
STO2
STOCOM
Linear Servo Motors
(Note 2)
Main circuit
power supply
(Note 3, 4) Forced stop 2
CN8
Rotary Servo Motors
Refer to "Safety Logic Unit" in this catalog for

the connection of each signal.
(Note 5)
EM2
DOCOM
Direct Drive Motors
When using a safety door
Options/Peripheral
Equipment
Servo amplifier
CN8
STO2
Door
(Note 1)
6
7
8
4
5
3
Open
(Note 2)
Main circuit
power supply
(Note 3, 4) Forced stop 2
LVS/Wires
24 V DC
(Note 1)
TOFB1
TOFB2
TOFCOM
STO1
STO2
STOCOM
(Note 5)
EM2
DOCOM
1-16
Cautions
Product List
Notes: 1. When using the STO function, turn off STO1 and STO2 at the same time. Be sure to turn off STO1 and STO2 after the servo motor stops in servo-off state or after the
servo motor stops with deceleration by turning off EM2 (Forced stop 2).


3. If the controller does not have a forced stop function, install a forced stop 2 switch (normally closed contact).

4. Turn on EM2 (Forced stop 2) before starting the operation.

5. The connector and the pin numbers for each signal vary depending on the servo amplifier. Refer to the standard wiring diagram example for relevant servo amplifier in this
catalog for details.
Servo Amplifiers
Main/Control Circuit Power Supply Connection Example (Note 7)

For 1-phase 100 V AC
SK
MC
MCCB
L1
blank
L2
Nblank
blank
Regenerative option
(Note 3)
P+
C
The servo amplifier may be damaged

if the regenerative option is incorrectly
connected.
CNP1
A-RJ
Power factor
improving
(Note 2)
DC reactor
FR-HEL
Regenerative option
(Note 3)

if the regenerative option or the DC
reactor is incorrectly connected.
Servo amplifier
MC
L1
L2
L3
Power factor
improving
DC reactor (Note 2)
FR-HEL
NP3
P4
P+
Regenerative option
(Note 3)
CNP2
CNP1
(Note 4)
CNP2
L11 Built-in
L21 regenerative
resistor
L11 Built-in
L21 regenerative
resistor

For 3-phase 400 V AC, 3.5 kW or smaller

Malfunction
RA1
Servo amplifier
L1
L2
L3
NP3
P4
P+
C
CNP1
(Note 4)
CNP2
Power supply
3-phase 380 V AC
to 480 V AC
Off
Emergency
stop switch
(Note 6)
Step-down transformer
MC
(Note 5)
SK
MC
MCCB
SK
MC
On
MCCB
On
MC
MCCB
MC
Emergency
stop switch
Power supply
1-phase 200 V AC
to 240 V AC
(Note 1)
(Note 5)
For 3-phase 200 V AC, 3.5 kW or smaller
On
Off
Emergency
stop switch
MC
Off
Malfunction
RA1
Servo amplifier
(Note 5)
Power supply
3-phase 200 V AC
to 240 V AC
B-RJ010
MC
On
MC
Off
Emergency
stop switch
Malfunction
RA1
B-RJ
Malfunction
RA1
Power supply
1-phase 100 V AC
to 120 V AC
SK
MC
MC
(Note 5)
Power factor (Note 2)

improving
DC reactor
FR-HEL-H
Regenerative option
(Note 3)
Servo amplifier
N-
L1
L2
L3
CNP1
P3
P4
(Note 4)
P+
C
CNP2
L11 Built-in
L21 regenerative
resistor
L11 Built-in
L21 regenerative
resistor

Notes: 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3 terminals. Do not connect anything to L2. The connections are different from MR-J3 series
servo amplifiers. Be careful not to make a connection error when replacing MR-J3 with MR-J4.
2. Disconnect a short-circuit bar between P3 and P4 when using the power factor improving DC reactor.
3. Disconnect a short-circuit bar between P+ and D when connecting the regenerative option externally.
4. MR-J4 series servo amplifiers have P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 (downstream of the inrush
current suppression circuit) of MR-J3 series servo amplifiers. Refer to relevant Servo Amplifier Instruction Manual for details.

5. When wires used for L11 and L21 are thinner than those for L1, L2, and L3, use a molded-case circuit breaker.

6. A step-down transformer is required if coil voltage of the magnetic contactor is in 200 V class.

7. To control main circuit power supply on/off by DC power supply, refer to relevant Servo Amplifier Instruction Manual for details.

1-17
On
L1
L2
L3
Power factor
improving
DC reactor (Note 1)
FR-HEL
TE1
N-
P3
P4
P+
(Note 3)
TE3
TE4
U
Built-in regenerative V
resistor
W
L11
L21
MCCB
On
SK
MC
MC
(Note 6)
Regenerative
option
(Note 2)
Power factor
improving (Note 1)
DC reactor
FR-HEL-(H)
TE2

Servo amplifier
L1
L2
L3
TE1
P+
U
V
W
Built-in
regenerative resistor
NP3
P4
L11
L21
TE3
(Note 3)
TE2
Direct Drive Motors

For 3-phase 200 V AC/400 V AC, 11 kW to 22 kW
MCCB
On
SK
MC
MC
Servo amplifier
TE1-1
L1
L2
L3
U
V
W
TE1-2
P3
P4
P+
(Note 5)
LVS/Wires
(Note 6)
Power factor
improving
DC reactor (Note 1)
FR-HEL-(H)
Regenerative resistor
(standard accessory)
or regenerative option
(Note 4)
Options/Peripheral
Equipment
Emergency
stop switch
(Note 7)
Power supply
3-phase 200 V AC
to 240 V AC
or
3-phase 380 V AC
to 480 V AC
Off
MC
Malfunction
RA1
Linear Servo Motors
Regenerative option
(Note 8)
Power supply
3-phase 200 V AC
to 240 V AC
or
3-phase 380 V AC
to 480 V AC
Off
Emergency
stop switch
(Note 7)
MC
Power supply
3-phase 200 V AC
to 240 V AC
Malfunction
RA1
Servo amplifier
SK
MC
MCCB
(Note 6)
A-RJ
Rotary Servo Motors
Emergency
stop switch
For 3-phase 200 V AC/400 V AC, 7 kW

MC
Off
B-RJ010
For 3-phase 400 V AC, 5 kW
MC
Malfunction
RA1
B-RJ
Servo Amplifiers
For 3-phase 200 V AC, 5 kW
C
N-
TE2
L11
L21
Product List

Cautions
Notes: 1. Disconnect a short-circuit bar between P3 and P4 when using the power factor improving DC reactor.

2. Disconnect the wires for the built-in regenerative resistor (P+ and C) when connecting the regenerative option externally.

3. MR-J4 series servo amplifiers have P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P2 (downstream of the inrush

4. 11 kW or larger servo amplifiers do not have a built-in regenerative resistor.

5. MR-J4 series servo amplifiers have P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and P (downstream of the inrush


7. A step-down transformer is required if the servo amplifier is in 400 V class, and coil voltage of the magnetic contactor is in 200 V class.

8. Disconnect a short-circuit bar between P+ and D when connecting the regenerative option externally.

1-18
Servo Amplifiers
B-RJ
A-RJ
For 3-phase 200 V AC/400 V AC, 30 kW or larger

Converter unit
Power supply
3-phase 200 V AC
to 240 V AC
or
3-phase 380 V AC
to 480 V AC
MC
MCCB
Drive unit
TE1-1
TE2-2
L1
(Note 9)
L+
L+
L
L2
L3
TE3 CN40
(Note 7)
CN40A
L11
MR-J3CDL05M
cable
L21
MC1
MC2
Power factor improving
DC reactor
MR-DCL _(-4)
(Note 2)
CNP1
1
2
CN1
TE1-2
P1
P2
C
(Note 4)
DICOM
DOCOM
DICOM
ALM
EM1
DOCOM
CN8
24 V DC
CN8 connector connection (Note 6)

R
A
2
CN3
P
G3
G4
Regenerative option
(Note 1)
G3
G4
Regenerative option
(Note 1)
G3
G4
Regenerative option
(Note 1)
Cooling fan
Cooling fan
Cooling fan
R_
S_
R_
S_
R_
R
A
3
Drive unit
malfunction
RA1
Converter unit
malfunction
RA2
Optional
thermal
RA3
(Note 5)
Controller
forced stop
RA4
15
ALM
DICOM
DOCOM
20
EM2
24 V DC
SD
R
A
1
24 V DC
Main circuit
power supply
(Note 3)
TE3
L21
L11
Emergency
stop switch
Ready
on/off
MC
Step-down
transformer
DICOM
Plate
S_
(Note 4, 5)
10
SK
Notes: 1. This connection is applicable when MR-RB137 (for 200 V) or MR-RB13V-4 (for 400 V) is used. Note that three units of MR-RB137 or MR-RB13V-4 are required for each
converter unit. (Permissible regenerative power: 3900 W)


3. Create a circuit to turn off EM2 (Forced stop 2) when the main circuit power is turned off to prevent an unexpected restart of the drive unit.


5. This connection is applicable for MR-J4-DU_B/MR-J4-DU_B4. For MR-J4-DU_A/MR-J4-DU_A4, refer to "MR-J4-DU_(-RJ) MR-CR-55K_ Instruction Manual."

6. Be sure to attach a short-circuit connector supplied with the drive unit when the STO function is not used.



9. Terminal varies depending on the drive unit capacities. Refer to the dimensions of the relevant drive unit in this catalog for details.
1-19
Servo Motor Connection Example (Rotary Servo Motor)
B-RJ010
A
Servo Amplifiers
Semi Closed Loop Control System with MR-J4-B/MR-J4-B-RJ010/MR-J4-A

For HG-KR/HG-MR series
Servo amplifier
MR-J4-B/MR-J4-B1
MR-J4-B-RJ010
MR-J4-A/MR-J4-A1
Rotary servo motor
CNP3
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 5)
CN2
B2
1
2
Contact must be open when

the ALM (Malfunction) or the
MBR (Electromagnetic brake
interlock) turns off.
(Note 1)
P5
LG
MR
MRR
BAT
SD
P5
LG
MR
MRR
BAT
SD
(Note 6)
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
9
Plate
Linear Servo Motors
Contact must be open by

an external emergency
stop switch.
1
B1
RA
Rotary Servo Motors
Direct Drive Motors
For HG-SR/HG-JR (9 kW or smaller) series

Servo amplifier
MR-J4-B/MR-J4-B4
MR-J4-B-RJ010/MR-J4-B4-RJ010
MR-J4-A/MR-J4-A4
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 5)

stop switch.
P5
LG
MR
MRR
BAT
SD
(Note 1)
(Note 6)
B2
1
2

P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
LVS/Wires
CN2
Encoder
1
2
3
4
9
Plate
B
D
B1
RA
Options/Peripheral
Equipment
Rotary servo motor
(Note 4)
Product List
Notes: 1. The signals shown is applicable when using a two-wire type encoder cable. Four-wire type is also compatible.

2. This is for the servo motor with electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have polarity.

3. Connect the grounding wire to the cabinet protective earth (PE) terminal via the servo amplifier protective earth (PE) terminal for grounding.

4. Connector or terminal varies depending on the servo amplifier capacities. Refer to the dimensions of the relevant servo amplifier in this catalog for details.

5. Do not use the 24 V DC interface power supply for the electromagnetic brake. Provide a dedicated power supply to the electromagnetic brake.

6. Encoder cable is available as an option. Refer to "Servo Motor Instruction Manual (Vol. 3)" when fabricating the cables.
Cautions
1-20
Servo Amplifiers
B-RJ010

For HG-JR 1500 r/min series (11 kW and 15 kW)
Servo amplifier
MR-J4-B/MR-J4-B4
MR-J4-A/MR-J4-A4
U
(Note 6)
Dynamic
brake
(optional)
TE1-1
Rotary servo motor

U
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
stop switch.
CN2
B2
A
B

(Note 1)
P5
LG
MR
MRR
BAT
SD
P5
LG
MR
MRR
BAT
SD
(Note 5)
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
9
Plate
B
D
B1
RA
For HG-JR 1000 r/min series (15 kW or larger) and HG-JR 1500r/min series (22 kW or larger)
Servo amplifier
MR-J4-B/MR-J4-B4
MR-J4-A/MR-J4-A4
Drive unit
MR-J4-DU_B/MR-J4-DU_B4
MR-J4-DU_A/MR-J4-DU_A4
(Note 6)
Dynamic
brake
(optional)
(Note 8)
Rotary servo motor

U
(Note 3)
(Note 3)
CN2
(Note 1)
(Note 5)
P5
LG
MR
MRR
BAT
THM1
THM2
SD
Encoder
P5
1
2
LG
3
MR
4
MRR
9
BAT
5
THM1
6
THM2
Plate
SD
Cooling fan
A
B
C
BU
MCCB
BV
BW
(Note 7)





in free-run status, causing an accident such as machine collision, etc. Refer to relevant Servo Amplifier Instruction Manual when wiring the dynamic brake.

7. Be sure to supply power to the cooling fan terminals. Refer to the cooling fan power supply described in the servo motor specifications in this catalog for the required
power.

1-21
B-RJ010
A
Servo Amplifiers

For HG-RR/HG-UR series
Servo amplifier
MR-J4-B
MR-J4-B-RJ010
MR-J4-A
U
(Note 3)
(Note 3)
P5
LG
MR
MRR
BAT
SD
C
D
B1
RA

stop switch.
(Note 1)
(Note 6)
B2

P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Linear Servo Motors
CN2
24 V DC for the
electromagnetic
brake
(Note 5)
Encoder
1
2
3
4
9
Plate
Rotary Servo Motors
Rotary servo motor
(Note 4)
Direct Drive Motors

2. This is for the servo motor with electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have polarity. A separate connector from the motor power
connector is prepared as an electromagnetic brake connector for HG-UR202B to HG-UR502B. The pin numbers vary depending on the servo motor capacity. Refer to the
dimensions of the relevant servo motor in this catalog for details.




Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-22
Servo Amplifiers
Fully Closed Loop Control System with MR-J4-B/MR-J4-A

Servo amplifier
MR-J4-B/MR-J4-B1
MR-J4-A/MR-J4-A1
U
Rotary servo motor
CNP3
(Note 3)
(Note 3)
CN2
P5
LG
MR
MRR
MX
MXR
BAT
SD

stop switch.
(Note 1, 9)
MOTOR
B2
P5
LG
MR
MRR
BAT
SD
SCALE
P5
LG
MX
MXR
SD

1
P5
2
LG
(Note 7)
3
MR
MRR
4
9
BAT
Plate
SD
Junction cable for fully closed loop control
MR-J4FCCBL03M
1
2
3
4
Plate
4
1
B1
RA
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
7
8
9
Plate
24 V DC for the
electromagnetic
brake
(Note 5)
Load-side encoder
(Note 8)
(Note 6)
Refer to "Linear Encoder Connection Example (for MR-J4-B/MR-J4-A)" in

this catalog for connecting signals with a linear encoder.

Servo amplifier
MR-J4-B/MR-J4-B4
MR-J4-A/MR-J4-A4
Rotary servo motor
(Note 4)
(Note 3)
(Note 3)
CN2
P5
LG
MR
MRR
MX
MXR
BAT
SD

stop switch.
(Note 1, 9)
MOTOR
SCALE
P5
LG
MX
MXR
SD
B2
1
2

1
P5
LG
2
(Note 7)
3
MR
MRR
4
BAT
9
Plate
SD
MR-J4FCCBL03M
1
2
3
4
Plate
C
D
B1
RA
(Note 8)
P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
7
8
9
Plate
24 V DC for the
electromagnetic
brake
(Note 5)
Load-side encoder
(Note 6)
Refer to "Linear Encoder Connection Example (for MR-J4-B/MR-J4-A)" in

this catalog for connecting signals with a linear encoder.
Notes: 1. For fully closed loop control, the load-side encoder and the servo motor encoder are compatible only with two-wire type communication method. Four-wire type cannot be used.





6. For linear encoders, refer to "List of Linear Encoders" under section 3 Linear Servo Motors in this catalog. Refer to relevant Servo Amplifier Instruction Manual for the fully
closed loop control with a rotary encoder.


8. Necessary encoder cables vary depending on the load-side encoder. Refer to relevant Instruction Manual.

9. When configuring a fully closed loop control system with MR-J4-B_ or MR-J4-A_ servo amplifier, be sure to connect MR-J4FCCBL03M junction cable or a junction cable
fabricated using MR-J3THMCN2 connector set to CN2 connector.
1-23
A
Servo Amplifiers

Servo amplifier
MR-J4-B/MR-J4-B4
MR-J4-A/MR-J4-A4
Dynamic
brake
(optional)
TE1-1
Rotary servo motor

U
(Note 3)
(Note 3)
P5
LG
MR
MRR
MX
MXR
BAT
SD
(Note 1, 9)
MOTOR
1
2
3
4
9
Plate
P5
LG
MR
MRR
BAT
SD
(Note 6)
SCALE
(Note 7)
P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Load-side encoder
(Note 5)
Refer to "Linear Encoder Connection Example

(for MR-J4-B/MR-J4-A)" in this catalog for
connecting signals with a linear encoder.
LVS/Wires
Options/Peripheral
Equipment








9. When configuring a fully closed loop control system with MR-J4-B_/MR-J4-A_ servo amplifier, be sure to connect MR-J4FCCBL03M junction cable or a junction cable
Direct Drive Motors
P5
LG
MX
MXR
SD


MR-J4FCCBL03M
1
2
3
4
Plate
B2
Linear Servo Motors
CN2

stop switch.
C
D
B1
RA
Encoder
1
2
3
4
7
8
9
Plate
24 V DC for the
electromagnetic
brake
(Note 4)
Rotary Servo Motors
(Note 8)
Product List
Cautions
1-24
Servo Amplifiers

Servo amplifier
MR-J4-B/MR-J4-B4
MR-J4-A/MR-J4-A4
Drive unit
MR-J4-DU_B/MR-J4-DU_B4
MR-J4-DU_A/MR-J4-DU_A4
U
(Note 6)
Dynamic
brake
(optional)
(Note 9)
Rotary servo motor

U
(Note 2)
(Note 2)
CN2
(Note 1, 8)
MOTOR
1
2
3
4
9
5
6
Plate
P5
LG
MR
MRR
BAT
THM1
THM2
SD
(Note 4)

MR-J4FCCBL03M
P5
LG
MR
MRR
BAT
THM1
THM2
SD
Encoder
1
P5
2
LG
3
MR
MRR
4
MX
7
MXR
8
BAT
9
THM1
5
THM2
6
Plate
SD
Cooling fan
A
B
C
SCALE
1
2
3
4
Plate
P5
LG
MX
MXR
SD
(Note 5)
BU
MCCB
BV
BW
(Note 7)
Load-side encoder
(Note 3)

(for MR-J4-B/MR-J4-A)" in this catalog for connecting
signals with a linear encoder.
Notes: 1. For fully closed loop control, the load-side encoder and the servo motor encoder are compatible only with two-wire type communication method. Four-wire type cannot be
used.






power.

8. When configuring a fully closed loop control system with MR-J4-B_/MR-J4-A_ servo amplifier, be sure to connect MR-J4FCCBL03M junction cable or a junction cable

1-25
A
Servo Amplifiers

Servo amplifier
MR-J4-B
MR-J4-A
Rotary servo motor
(Note 4)
(Note 3)
(Note 3)

stop switch.
(Note 1, 9)
C
D
B1
RA
MOTOR
SCALE
(Note 8)
Electromagnetic
brake
(Note 2)
P5
LG
MR
MRR
BAT
SD
Load-side encoder
(Note 6)

(for MR-J4-B/MR-J4-A)" in this catalog for connecting
LVS/Wires
Options/Peripheral
Equipment
Notes: 1. For fully closed loop control, the load-side encoder and the servo motor encoder are compatible only with two-wire type communication method. Four-wire type cannot be
used.

2. This is for the servo motor with electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have polarity. A separate connector from the motor power
connector is prepared as an electromagnetic brake connector for HG-UR202B to HG-UR502B. The pin numbers vary depending on the servo motor capacity.
Refer to the dimensions of the relevant servo motor in this catalog for details.







9. When configuring a fully closed loop control system with MR-J4-B/MR-J4-A servo amplifier, be sure to connect MR-J4FCCBL03M junction cable or a junction cable
Direct Drive Motors
P5
LG
MX
MXR
SD
B2

1
P5
LG
2
(Note 7)
3
MR
MRR
4
BAT
9
Plate
SD
MR-J4FCCBL03M
1
2
3
4
Plate
Linear Servo Motors
P5
LG
MR
MRR
MX
MXR
BAT
SD
Encoder
1
2
3
4
7
8
9
Plate
CN2
24 V DC for the
electromagnetic
brake
(Note 5)
Rotary Servo Motors
Product List
Cautions
1-26
Servo Amplifiers
Servo Motor Connection Example (Linear Servo Motor)
Linear Servo Motor System with MR-J4-B/MR-J4-A

For LM-H3/LM-F/LM-K2/LM-U2 series
Servo amplifier
MR-J4-B/MR-J4-B1/MR-J4-B4
MR-J4-A/MR-J4-A1/MR-J4-A4
Linear servo motor
(Note 5)
U
(Note 1)
(Note 1)
CN2 (Note 8)
5
THM1
6
THM2
1
P5
2
LG
MR
3
MRR
4
MX
7
MXR
8
Plate
SD
Thermistor
G1
THM
THM1
5
6
THM2
Junction cable for linear servo motor (Note 3)
MR-J4THCBL03M
G2
SCALE
1
2
3
4
7
8
P5
LG
MR
MRR
MX
MXR
Linear encoder
(Note 6)
(Note 2)

(for MR-J4-B/MR-J4-A)" in this catalog for
Linear Encoder Connection Example (for MR-J4-B/MR-J4-A)
2
1
3
4
Plate
LG
P5
MR
MRR
SD
LG
P5
MR
MRR
Case SD
Servo amplifier side

(Note 4)
(Note 9)
(Note 9)
2
1
3
4
Plate
LG
P5
MR
MRR
SD

(Note 4)
(Note 9)
(Note 9)
2
1
3
4
Plate
LG
P5
MR
MRR
SD
0V
5V
SD/RQ
-SD/-RQ
FG
Vcc
GND
RQ DT
/RQ /DT
Plate

(Note 4, 7)
2
1
7
8
3
4
Plate
LG
P5
MX
MXR
MR
MRR
SD
0V
5V
SD
/SD
RQ
/RQ
FG
Heidenhain
Linear encoder
(Note 9)
(Note 9)
Renishaw
Linear encoder

(Note 4)
LG
P5
RQ
/RQ
FG
Nidec Sankyo Corporation

Linear encoder
LG
P5
MR
MRR
SD
Magnescale Co., Ltd.

Linear encoder
(Note 9)
(Note 9)
2
1
3
4
Plate
Mitutoyo Corporation
Linear scale

(Note 4)
Notes: 1. Connect the grounding wire to the cabinet protective earth (PE) terminal via the servo amplifier protective earth (PE) terminal for grounding.

2. For linear encoders, refer to "List of Linear Encoders" under section 3 Linear Servo Motors in this catalog.

3. MR-J4THCBL03M junction cable for linear servo motor is compatible with both two-wire and four-wire type linear encoders.

4. For the number of the wire pairs for LG and P5, refer to "Linear Encoder Instruction Manual."


6. Necessary encoder cables vary depending on the linear encoder. Refer to relevant Instruction Manual.

7. When fully closed loop control is configured with a rotary servo motor, the load-side encoder and the servo motor encoder are compatible only with two-wire type
communication method. Four-wire type cannot be used.

8. When using a linear servo motor with MR-J4-B_/MR-J4-A_ servo amplifier, be sure to connect MR-J4THCBL03M junction cable or a junction cable fabricated using
MR-J3THMCN2 connector set to CN2 connector.

9. For the fully closed loop control, the signals of 3-pin and 4-pin are as follows:
3-pin: MX
4-pin: MXR
1-27
Servo Motor Connection Example (Direct Drive Motor)
B-RJ
A-RJ
Servo Amplifiers
For TM-RFM series (incremental system)

Servo amplifier
MR-J4-B(-RJ)
MR-J4-A(-RJ)
U
Direct drive motor
(Note 3)
(Note 4)
Rotary Servo Motors
(Note 4)
(Note 2)
9
10
7
8
5
THM1 6
THM2 11
Encoder
P5
LG
MR
MRR
FG
Linear Servo Motors
CN2
P5
1
LG
2
MR
3
MRR
4
Plate SD
5
THM1
6
THM2
Thermistor
Direct Drive Motors
For TM-RFM series (absolute position detection system)
Direct drive motor
(Note 3)
(Note 4)
(Note 4)
Plate SD
5 THM1
6 THM2
CN4
BAT
LG
MR-BTAS01 (Note 1)
P5
LG
MR
MRR
BAT
9
10
7
8
2
5
FG
THM1 6
THM2 11
9
P5
10 LG
7
MR
8 MRR
2 BAT
1
VB
5
FG
6 THM1
11 THM2
Battery
MR-BAT6V1SET
(Note 2)
P5
LG
MR
MRR
BAT
VB
FG
9
10
7
8
2
1
5
THM1 6
THM2 11
Thermistor
Product List
1
2
(Note 2)
LVS/Wires
P5
LG
MR
MRR
BAT
Absolute position
storage unit
Encoder
1
2
3
4
9
CN2
Options/Peripheral
Equipment
Servo amplifier
MR-J4-B(-RJ)
MR-J4-A(-RJ)
(Note 1)
1-28
Cautions
Notes: 1. Optional MR-BTAS01 absolute position storage unit and MR-BAT6V1SET battery are required for absolute position detection system. Refer to relevant Servo Amplifier
Instruction Manual and "Direct Drive Motor Instruction Manual" for details.

2. Fabricate this encoder cable. Refer to "Direct Drive Motor Instruction Manual" for fabricating the encoder cable.


Servo Amplifiers
Encoder Connection Specifications
B-RJ
WB
A-RJ
When configuring a linear servo motor system or a fully closed loop control system, or when using the scale measurement
function, use the servo amplifier with the following software version.
Refer to the following tables for the encoder communication method compatible with each system and for the servo amplifier
connector to which a load-side encoder should be connected.
Operation mode
Linear servo
motor system
(Note 9)
Fully closed loop

control system
Scale
measurement
function
External encoder
communication
method
Two-wire type
Four-wire type
Connector to be connected with the external encoder

MR-J4-B_
MR-J4-B_-RJ
MR-J4-A_
MR-J4-A_-RJ
MR-J4W2-B
MR-J4-DU_B_ MR-J4-DU_B_-RJ MR-J4-DU_A_ MR-J4-DU_A_-RJ
CN2 (Note 1)
A/B/Z-phase
differential output type
Two-wire type
Four-wire type
A/B/Z-phase
CN2 (Note 1, 6)
CN2L (Note 8)
CN2 (Note 1)
CN2A (Note 1)
CN2B (Note 1)
CN2A (Note 1)
CN2B (Note 1)
CN2C (Note 1)
CN2L (Note 8)
CN2A
CN2
CN2
(Note 2, 3, 5)
CN2L
Four-wire type
A/B/Z-phase
Two-wire type
CN2 (Note 1)
MR-J4W3-B
(Note 2, 4, 5)
(Note 2, 3, 6)
CN2L
CN2B
(Note 2, 4, 5)
CN2A
(Note 2, 4, 7)
CN2 (Note 2, 3, 7)
CN2L (Note 7)
CN2B
(Note 2, 4, 7)
Notes: 1. MR-J4THCBL03M junction cable is required.

2. MR-J4FCCBL03M junction cable is required.

3. MR-J4-B_/MR-DU_B_/MR-J4-A_/MR-J4-DU_A_ servo amplifier is not compatible with a servo motor encoder with four-wire type communication method.
Use MR-J4-B_-RJ/MR-DU_B_-RJ/MR-J4-A_-RJ/MR-J4-DU_A_-RJ servo amplifier.

4. MR-J4W2-B servo amplifier is not compatible with a servo motor encoder with four-wire communication method. Use MR-J4-B-RJ servo amplifier.

5. The servo amplifier with software version A3 or later is compatible.



8. Connect a thermistor to CN2 connector.

9. Refer to pp. 1-3 to 1-6 in this catalog for servo amplifier that is compatible with linear servo motors.
1-29
B-RJ
A-RJ
Servo Amplifiers
Fully Closed Loop Control System with MR-J4-B-RJ/MR-J4-A-RJ

Servo amplifier
MR-J4-B-RJ/MR-J4-B1-RJ
MR-J4-A-RJ/MR-J4-A1-RJ
Rotary servo motor
CNP3
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 5)
(Note 3)
P5
LG
MR
MRR
BAT
SD
(Note 1, 9, 10)
(Note 7)
CN2L
1
2

P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
(Note 1, 10)
Load-side encoder
(Note 8)
(Note 6)
Direct Drive Motors
P5
1
2
LG
3
MR2
4
MRR2
7
MX2
8
MXR2
Plate
SD
B2
Linear Servo Motors
CN2
Encoder
1
2
3
4
9
Plate

stop switch.
3
1
B1
RA
Rotary Servo Motors

(for MR-J4-B-RJ/MR-J4-A-RJ)" in this catalog
for connecting signals with a linear encoder.

Servo amplifier
Rotary servo motor
(Note 4)
(Note 3)
(Note 3)
P5
LG
MR
MRR
BAT
SD
CN2L

1
2
P5
LG
MR
MRR
BAT
SD
(Note 7)
Electromagnetic
brake
(Note 2)
(Note 1, 10)
(Note 8)
Load-side encoder
(Note 6)

(for MR-J4-B-RJ/MR-J4-A-RJ)" in this catalog
for connecting signals with a linear encoder.
1-30
Cautions
Notes: 1. The load-side encoder and the servo motor encoder are compatible with both two-wire and four-wire type communication methods.








9. This wiring of the servo motor encoder is applicable for the two-wire type communication method.

10. When configuring a fully closed loop control system with MR-J4-B_-RJ or MR-J4-A_-RJ servo amplifier, be sure to connect a servo motor encoder to CN2 connector and a
load-side encoder to CN2L connector. Do not use MR-J4FCCBL03M junction cable or a junction cable fabricated using MR-J3THMCN2 connector set.
Product List
P5
1
2
LG
3
MR2
4
MRR2
7
MX2
8
MXR2
Plate
SD
(Note 1, 9, 10)
B2
LVS/Wires
CN2

stop switch.
C
D
B1
RA
Encoder
1
2
3
4
9
Plate
24 V DC for the
electromagnetic
brake
(Note 5)
Options/Peripheral
Equipment
Servo Amplifiers
B-RJ
A-RJ

Servo amplifier
U
(Note 9)
Dynamic
brake
(optional)
TE1-1
Rotary servo motor

U
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
stop switch.
CN2
P5
LG
MR
MRR
BAT
SD
CN2L
P5
1
2
LG
3
MR2
4
MRR2
7
MX2
8
MXR2
Plate
SD
B2
A
B

(Note 1, 8, 10)
P5
LG
MR
MRR
BAT
SD
(Note 6)
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
9
Plate
B
D
B1
RA
(Note 1, 10)
(Note 7)
Load-side encoder
(Note 5)

(for MR-J4-B-RJ/MR-J4-A-RJ)" in this catalog for









10. When configuring a fully closed loop control system with MR-J4-B_-RJ/MR-J4-A_-RJ servo amplifier, be sure to connect a servo motor encoder to CN2 connector and a
1-31
B-RJ
A-RJ
Servo Amplifiers

Servo amplifier
Drive unit
MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ
MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ
Dynamic
brake
(optional)
(Note 10)
Rotary Servo Motors
(Note 7)
Rotary servo motor

U
(Note 2)
CN2
(Note 1, 6, 9)
P5
LG
MR
MRR
BAT
THM1
THM2
SD
(Note 4)
Encoder
P5
1
2
LG
3
MR
4
MRR
9
BAT
5
THM1
6
THM2
Plate
SD
Linear Servo Motors
(Note 2)
A
B
CN2L
MCCB
BV
BW
(Note 1, 9)
(Note 5)
(Note 8)
Load-side encoder
(Note 3)

LVS/Wires







power.

9. When configuring a fully closed loop control system with MR-J4-B_-RJ/MR-J4-A_-RJ servo amplifier, be sure to connect a servo motor encoder to CN2 connector and a

Options/Peripheral
Equipment
P5
1
2
LG
3
MR2
4
MRR2
7
MX2
8
MXR2
Plate
SD
BU
Direct Drive Motors
Cooling fan
Product List
Cautions
1-32
Servo Amplifiers
B-RJ
A-RJ

Servo amplifier
MR-J4-B-RJ
MR-J4-A-RJ
U
Rotary servo motor
(Note 4)
(Note 3)
(Note 3)
CN2
P5
LG
MR
MRR
BAT
SD
CN2L
P5
1
2
LG
3
MR2
4
MRR2
7
MX2
8
MXR2
Plate
SD
C
D
B1
RA

stop switch.
(Note 1, 9, 10)
(Note 7)
B2

P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
9
Plate
24 V DC for the
electromagnetic
brake
(Note 5)
(Note 1, 10)
(Note 8)
Load-side encoder
(Note 6)


2. This is for the servo motor with electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have polarity. A separate connector from the motor
power connector is prepared as an electromagnetic brake connector for HG-UR202B to HG-UR502B. The pin numbers vary depending on the servo motor capacity.
Refer to the dimensions of the relevant servo motor in this catalog for details.








10. When configuring a fully closed loop control system with MR-J4-B-RJ/MR-J4-A-RJ servo amplifier, be sure to connect a servo motor encoder to CN2 connector and a loadside encoder to CN2L connector. Do not use MR-J4FCCBL03M junction cable or a junction cable fabricated using MR-J3THMCN2 connector set.
1-33
B-RJ
A-RJ
Servo Amplifiers
Linear Servo Motor System with MR-J4-B-RJ/MR-J4-A-RJ (LM-H3, LM-F, LM-K2, LM-U2 Series)
Connecting a serial linear encoder
Servo amplifier
U
Rotary Servo Motors
Linear servo motor
(Note 3)
U
(Note 1)
(Note 1)
Thermistor
G1
THM
THM1
5
6
THM2
MR-J4THCBL03M
Linear Servo Motors
CN2 (Note 5)
5
THM1
6
THM2
1
P5
2
LG
MR
3
MRR
4
MX
7
MXR
8
Plate
SD
G2
SCALE
1
2
3
4
7
8
CN2L
P5
LG
MR
MRR
MX
MXR
(Note 4)
Linear encoder
(Note 2)
Direct Drive Motors

Connecting an A/B/Z-phase differential output linear encoder
Options/Peripheral
Equipment
Servo amplifier
Linear servo motor
(Note 3)
U
V
(Note 1)
W
E
(Note 1)
CN2 (Note 6)
CN2L (Note 6)
P5
LG
PA
PAR
PB
PBR
PZ
PZR
PSEL
SD
(Note 4)
Linear encoder
(Note 2)

1-34
Cautions
Notes: 1. Connect the grounding wire to the cabinet protective earth (PE) terminal via the servo amplifier protective earth (PE) terminal for grounding.



4. Necessary encoder cables vary depending on the linear encoder. Refer to "Linear Encoder Instruction Manual."

5. When configuring a linear servo system with MR-J4-B_-RJ/MR-J4-A_-RJ servo amplifier and a serial linear encoder, be sure to connect MR-J4THCBL03M junction cable
or a junction cable fabricated using MR-J3THMCN2 connector set to CN2 connector.

6. When configuring a linear servo system with MR-J4-B_-RJ/MR-J4-A_-RJ servo amplifier and an A/B/Z-phase differential output type linear encoder, be sure to connect a
thermistor to CN2 connector and the linear encoder to CN2L connector. Do not use MR-J4THCBL03M junction cable or a junction cable fabricated using MR-J3THMCN2
connector set.

7. MR-J4THCBL03M junction cable for linear servo motor is compatible with two-wire and four-wire type linear encoders.
Product List
1
2
3
4
5
6
7
8
10
Plate
G2
LVS/Wires
Thermistor
G1
THM1
THM2
Servo Amplifiers
Linear Encoder Connection Example (for MR-J4-B-RJ/MR-J4-A-RJ)
LG
P5
MR
MRR
Case SD
LG
P5
MR
MRR
SD

(Note 1)
(Note 3)
(Note 3)
2
1
3
4
Plate
LG
P5
MR
MRR
SD
0V
5V
SD/RQ
-SD/-RQ
FG
Vcc
GND
RQ DT
/RQ /DT
Plate
(Note 3)
(Note 3)
(Note 3)
(Note 3)
2
1
7
8
3
4
Plate
LG
P5
MX
MXR
MR
MRR
SD

(Note 1)
1
2
3
4
5
6
7
8
10
Plate
P5
LG
PA
PAR
PB
PBR
PZ
PZR
PSEL
SD
0V
5V
SD
/SD
RQ
/RQ
FG
(Note 2)
5V
0V
A-phase
A-phase
B-phase
B-phase
Z-phase
Z-phase
FG
A/B/Z phase differential output

linear encoder
LG
P5
MR
MRR
SD
(Note 3)
(Note 3)
2
1
3
4
Plate

Linear encoder
(Note 3)
(Note 3)
2
1
3
4
Plate
Renishaw
Linear encoder

(Note 1)
LG
P5
RQ
/RQ
FG

(Note 1)
A-RJ
Heidenhain
Linear encoder
LG
P5
MR
MRR
SD

(Note 1)

Linear encoder
(Note 3)
(Note 3)
2
1
3
4
Plate
Linear scale

(Note 1)
B-RJ
Notes: 1. For the number of the wire pairs for LG and P5, refer to "Linear Encoder Instruction Manual."

2. If the encoder's current consumption exceeds 350 mA, supply power from an external source.

3. For CN2L connector, the signals of 3-pin, 4-pin, and 7-pin, and 8-pin are as follows:
3-pin: MR2
4-pin: MRR2
7-pin: MX2
8-pin: MXR2
1-35
MR-J4-B/MR-J4-B-RJ Dimensions
B-RJ
Servo Amplifiers
MR-J4-10B, MR-J4-10B-RJ, MR-J4-10B1, MR-J4-10B1-RJ

Approx. 80
40
6 mounting hole
135
Terminal arrangement
L1
L1
P4
P+
C
CN1A
D
L11
L21
U
CN1B
CNP3
(Note 1)
P3
V
W
CN3
(Note 2)
CN8
CN1A
L2
CNP1
(Note 2)
161
CNP2
(Note 1)
CN8
156
N-
L3
CNP1
N-
N-
CN7
CN3
L3
P+
P+
L11
L21
L21
(69.3)
L11
CNP3
U
CNP3

or 1-phase 200 V AC
(38.5)
[Unit: mm]

6 mounting hole
Approx. 80
40
170
L1
L1
Direct Drive Motors
MR-J4-60B, MR-J4-60B-RJ
N-
CNP2 P4
(Note 1) P+
CN1A
156
CN8
C
D
L11
L21
V
W
(Note 2)
CN3
(Note 2)
CN8
CN1A
CNP1
L2
CNP1
N-
P+
CN2 CN2 CN4
CNP2
When mounting
MR-BAT6V1SET
CNP3
6
(38.5)
Mounting screw size: M5
C
CNP2
L11
L11
L21
L21
U
(69.3)
Screw size: M4
P+
(21)
NP4
CN2
CN2L(Note 2)
CN4
PE
L3
P3
CN1B
PE
Options/Peripheral
Equipment
CN1B
CNP3
(Note 1)
L2
CN7
CN3
L3
P3
161
L2
CN5
168
L1
CN9
CN5
CNP1
(Note 1)
U
CNP3

or 1-phase 200 V AC
[Unit: mm]
Approx. 80
60
185
12
6 mounting hole
L1
Exhaust
6
L2
P+
C
D
L11
L21
CN1B
U
V
W
(Note 2)
CN8
(Note 2)
CN1A
161
156
P4
CN3
CNP1
12
P+
CN1B
CN2
CN2L(Note 2)
CN4
CNP2
D
L11
(21)
(38.5)
Screw size: M4
When mounting
MR-BAT6V1SET
(69.3)
L21
Intake
Cooling fan
U
CNP3
42
V
W
Notes: 1. CNP1, CNP2 and CNP3 connectors (insertion type) are supplied with the servo amplifier.

2. CN2L, CN7, and CN9 connectors are not available for MR-J4-B servo amplifier.
Cautions
NP4
CN2 CN2 CN4
PE
L3
P3
CN7
P3
CN1A
CNP3
(Note 1)
N-
CN8
CNP2
(Note 1)
CN3
L3
168
L2
PE
Product List
L1
CN5
CN9
CN5
CNP1
(Note 1)
LVS/Wires
Linear Servo Motors
When mounting
MR-BAT6V1SET
C
CNP2
CN2 CN2 CN4
CNP2
(21)
P4
CN2
CN2L(Note 2)
CN4
PE
Screw size: M4
P3
CN1B
Rotary Servo Motors
L2
168
L1
PE
L2
CN5
CN9
CN5
CNP1
(Note 1)
[Unit: mm]
1-36
Servo Amplifiers
B-RJ
MR-J4-60B4, MR-J4-60B4-RJ
MR-J4-100B4, MR-J4-100B4-RJ
60
Approx. 80
12
6 mounting hole
195
N-
P4
P+
C
D
CN1B
L11
L21
CN2CN2CN4
CNP3
(Note 1)
P3
CN1A
CNP2
(Note 1)
CN8
156
L3
U
V
(Note 2)
CN1A
CNP1
P4
CN2
CN2L(Note 2)
CN4
P+
Screw size: M4
C
CNP2
(38.5)
12
L3
CN1B
(21)
PE
PE
L2
P3
(Note 2)
CN8
168
L2
CN3
CN7
CN3
L1
L1
161
N-
CN5
CN9
CN5
CNP1
(Note 1)
When mounting
MR-BAT6V1SET
D
L11
L21
(69.3)
42
U
CNP3
V
W
[Unit: mm]
90
6 mounting hole
Approx. 80
195
Exhaust
L1
45
85
156
P4
(Note 2)
CNP1
78
C
CNP2
(21)
Screw size: M4
P+
(38.5)
NP4
6
PE
PE
L3
P3
CN2
CN2L(Note 2)
CN4
CN2CN2CN4
CN8
CN1B
CN1B
P+
C
D
L11
L21
(Note 2)
CN1A
CN1A
CNP3
(Note 1)
P3
CN8
CNP2
(Note 1)
CN3
CN7
CN3
L3
161
L2
168
L1
N-
L2
CN9
CN5
CN5
CNP1
(Note 1)
When mounting
MR-BAT6V1SET
Intake
(69.3)
D
L11
L21
Cooling fan
6
CNP3
V
W
[Unit: mm]
MR-J4-200B4, MR-J4-200B4-RJ
90
6 mounting hole
45
85
Approx. 80
195
N-
P4
CN1A
CNP2
(Note 1)
CN8
156
L3
P+
C
D
CN1B
L11
L21
CN2
CNP3
(Note 1)
CN2L CN4
(Note 2)
CN8
(Note 2)
CN1A
(38.5)
78
PE
L2
L3
P3
P4
CN2
CN2L(Note 2)
CN4
PE
6
CNP1
CN1B
Screw size: M4
P+
C
(21)
CN3
CN7
CN3
L2
P3
L1
161
168
NL1
CN5
CN9
CN5
CNP1
(Note 1)
Exhaust
CNP2
When mounting
MR-BAT6V1SET
(69.3)
D
L11
Intake
Cooling fan
L21
U
CNP3
V
W

1-37
[Unit: mm]
B-RJ
Servo Amplifiers
90
45
195
Exhaust
L1
Mounting hole
Approx. 80
85
V
W
CN2CN2CN4
156
(Note 2)
CN1A
L3
CNP1
N-
10
CN8
(R
P3
CN1B
13 hole
CN2
CN2L(Note 2)
CN4
Mounting hole dimensions
P+
P4
U
CNP3
C
CNP2
L11
L21
(21)
P+
C
D
L11
L21
(Note 2)
Rotary Servo Motors
CN1B
CNP2
(Note 1)
P4
CN1A
CNP3
(Note 1)
CN8
P3
CN3
CN7
CN3
L3
161
L2
N-
L2
168
L1
CN9
CN5
CNP1
(Note 1)
CN5
PE
When mounting
MR-BAT6V1SET
(38.5)
78
PE
Intake
(69.3)
Cooling fan
MR-J4-350B4, MR-J4-350B4-RJ
2-6 mounting hole
105
93
200
Approx. 80
(28)
[Unit: mm]
7.5
Exhaust
NCN5
NL1
CN3
L2
250
P3
P4
P+
C
CN1B CN2
CNP2
(Note 1)
CN8 CN1A
235
L3
D
L11
L21
U
V
L1
CN5
CN3
CNP1
CN8
PE
L2
L3
CN1A
P3
CN1B
CN2
CN2L(Note 2)
CN4
P4
Screw size: M4
P+
Options/Peripheral
Equipment
CN2L CN4
CNP3
(Note 1)
Direct Drive Motors
Cooling fan
CNP1
(Note 1)
CNP2
When mounting
MR-BAT6V1SET
D
L11
Intake
PE
U
CNP3
V
W
(34)
(38.5)
7.5
L21
6
[Unit: mm]
LVS/Wires
(25)
6
105
93
Approx. 80
(28)
200
Cooling fan
Exhaust
7.5
2-6 mounting hole
Terminal diagram
(with front cover open)
TE2
PE
L1
CN3
CN8
CN1A
CN5
TE2
TE1
CN8
CN3
TE1
CN1B
TE3
TE4
When mounting
MR-BAT6V1SET
L2
L3
N-
CN1A
CN1B
CN2
CN2L(Note 2)
CN4
CN4 CN2L CN2
CN8
CN1A
CN4 CN2L CN2
CN1B
250
235
L11
L21
P3
TE3
P4
P+
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
TE4: M4
PE: M4
Product List
CN3
CN5
CN5
7.5
Linear Servo Motors
Screw size: M4
C
Intake
PE
U
V
Cautions
(34) (38.5)
TE4
[Unit: mm]

1-38
Servo Amplifiers
B-RJ
MR-J4-500B4, MR-J4-500B4-RJ
Approx. 80
(28)
130
118
6
7.5
2-6 mounting hole
200
6
Cooling fan
Exhaust
Terminal diagram
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
PE: M4
CN5
CN5
CN3
CN3
CN8
CN1A
CN1B
CN4 CN2L CN2
250
235
CN8
CN1A
CN1B
CN2
CN2L(Note 1)
CN4
TE2
TE3
TE1
When mounting
MR-BAT6V1SET
TE2
L11 L21
PE
N- P3 P4
TE1
resistor lead terminal
fixing screw
L1 L2 L3 P+
PE
(60)
(38.5)
7.5
Intake
TE3
[Unit: mm]

6
172
160
Approx. 80
(28)
7.5
2-6 mounting hole
200
6
Cooling fan
Exhaust
Terminal diagram
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
PE: M4
CN5
CN3
CN1B
CN1A
CN8
CN3
CN8
CN1A
CN1B
CN2
CN2L(Note 1)
CN4
CN4 CN2L CN2
CN4 CN2L CN2
300
285
CN1B
CN1A
CN8
CN3
CN5
CN5
When mounting
MR-BAT6V1SET
TE3
TE3
Intake
PE
fixing screw
N- P3 P4
TE2
TE2
TE1
L1 L2 L3 P+
L11 L21
PE
(101)
(38.5)
7.5
TE1
[Unit: mm]
Notes: 1. CN2L, CN7, and CN9 connectors are not available for MR-J4-B servo amplifier.
1-39
B-RJ
Servo Amplifiers
MR-J4-11KB, MR-J4-11KB-RJ, MR-J4-11KB4, MR-J4-11KB4-RJ

220
196
10
12
2-6 mounting hole
260
10.5
Cooling fan
Exhaust
Terminal diagram
380
CN8CN1A CN1B
CN8CN1A CN1B
Terminal screw size

TE1-1: M6
TE1-2: M6
TE2: M4
PE: M6
CN3
CN3
PE Mounting screw size: M5

TE1-1
TE1-2
TE2
When mounting
MR-BAT6V1SET
L1 L2 L3
Linear Servo Motors
TE1-1
Intake
TE1-2
188
224.2
237.4
P3 P4 P+
N-
TE2
L11 L21
(38.5)
10
Rotary Servo Motors
CN5
CN5
CN3
CN8
CN1A
CN1B
CN2
CN2L(Note 1)
CN4
CN5
400
Approx. 80
(28)
12
(139.5)
PE

260
12
12
236
Approx. 80
(28)
12
2-12 mounting hole
Terminal diagram
Cooling fan
Exhaust
When mounting
MR-BAT6V1SET

TE2
TE1-1
TE1-2
PE
Intake
188.5
223.4
235.4
(38.5)
12
TE1-1
L1 L2 L3
LVS/Wires
12
Options/Peripheral
Equipment
CN8CN1A CN1B
CN8CN1A CN1B
Terminal screw size

TE1-1: M8
TE1-2: M8
TE2: M4
PE: M8
CN3
CN3
CN5
CN3
CN8
CN1A
CN1B
CN2
CN2L(Note 1)
CN4
CN5
CN5
400
376
260
Direct Drive Motors
[Unit: mm]
TE1-2
P3 P4 P+
N-
TE2
L11 L21
(179)
PE
Notes: 1. CN2L, CN7, and CN9 connectors are not available for MR-J4-B servo amplifier.
Product List
[Unit: mm]
Cautions
1-40
Servo Amplifiers
MR-J4-DU_B/MR-J4-DU_B-RJ Dimensions
B-RJ
MR-J4-DU30KB, MR-J4-DU30KB-RJ
MR-J4-DU37KB, MR-J4-DU37KB-RJ
MR-J4-DU45KB4, MR-J4-DU45KB4-RJ
20
300
260
10
2-7 mounting hole
20
Terminal diagram
195
CN5 CN3
CN8 CN1A CN1B CN2
CN8 CN1A CN1B CN2
40
TE2-1
CN4
10
TE2-2
TE3
Terminal screw size

TE1: M10
TE2-1: M6
TE2-2: M6
TE3: M4
PE: M10
155
CN4
380
360
10
CN
CN5
CN3
CN8
CN1A
CN1B
CN2
CN2L(Note 1)
CN4
CN3
CN A
40
100
200
180
Cooling fan
Exhaust
CN5
CN40A
(80)
When mounting
MR-BAT6V1SET
175.5
178.5
Exhaust
PE
TE1
TE2-1
TE2-2
L+
L+
L-
LTE3
130.1
162.5
L11
L21
PE
TE1
U
[Unit: mm]
240
120
60
10
10
Terminal diagram
Cooling fan
Exhaust
40
CN4
CN4
TE2
CN8 CN1A CN1B CN2
CN1BCN2
Terminal screw size

TE1: M8
TE2: M6
TE3: M4
PE: M8
CN3
CN
CN8 CN1A
380
360
100
CN5
CN3
40
200
180
CN5
CN3
CN8
CN1A
CN1B
CN2
CN2L(Note 1)
CN4
CN5
CN A
CN40A
2-6
mounting hole
(80)
195
60
TE3
155
10
6
Exhaust
When mounting
MR-BAT6V1SET
175.5
178.5
PE
TE1
TE2
TE3
L+
L11
L-
L21
PE
TE1
V
170.5
152.5
[Unit: mm]
Notes: 1. CN2L, CN7, and CN9 connectors are not available for MR-J4-DU_B_ drive unit.
1-41
MR-CR Dimensions
B-RJ
A-RJ
Servo Amplifiers
2-7 mounting hole
CNP1
100
Terminal diagram
192
Cooling fan
Exhaust
CN6
CN40
CN3
380
360
TE2-1
Terminal screw size

TE1: M10
TE2: M6
TE3: M4
PE: M10
TE2-2
TE3
10
155
175.5
178.5
Exhaust
2.3
TE1-1
PE
TE1-2
TE2-1
PE
L+
TE2-2
L+
L-
Linear Servo Motors
Rotary Servo Motors
CN1
200
180
20
98.6
300
260
195
20
10
MR-CR55K, MR-CR55K4
LTE3
162.5
130.3
L11
L21
PE
TE1-1
L1 L2 L3
TE1-2
PE
C P2 P1
Panel Cut Dimensions for Converter Unit and Drive Unit (Note 1)
300
9.5
2600.5
W1
(9.5) W5
W4
(20)
W20.5
W3
(W5)
(W3)
Hole
342
Hole
3600.5
Drive unit
380
3600.5
342
Converter unit
Options/Peripheral
Equipment
10
10
19
19
20
281
Direct Drive Motors
[Unit: mm]
(10)
(10)
(19)
Drive unit model
(19)
LVS/Wires
4-M6 screw
4-A screw
Variable dimensions
W2
W3
W4
W5
MR-J4-DU30KB/A, 37KB/A, 45KB4/A4, 55KB4/A4
300
260
20
281
9.5
M6
MR-J4-DU30KB4/A4, 37KB4/A4
240
120
60
222
M5
[Unit: mm]
Notes: 1. The panel cut dimensions for coverter unit and drive unit are applicable for MR-J4-DU_B_/MR-J4-DU_B_-RJ/MR-J4-DU_A_/MR-J4-DU_A_-RJ.
Product List
W1
Cautions
1-42
Servo Amplifiers
MR-J4W_-B Connections with Peripheral Equipment (Note 1)
WB
Peripheral equipment is connected to MR-J4W_-B as described below. Connectors, cables, options, and other necessary
equipment are available so that users can set up the servo amplifier easily and start using it right away.
Charge lamp
Display (Note 2)
The lamp lights when the main circuit

power supply is charged.
Servo amplifier status

and alarm number are
displayed.

(MCCB)

SW2-6).
Connect with a personal computer and use MR Configurator2.

Parameter setting and monitoring are possible. Use an
optional USB cable (MR-J3USBCBL3M).

Power factor improving AC reactor

(optional)


amplifier and reduces the power supply capacity.
Regenerative option
(optional)

Encoder cable
(optional)
Servo motor
power cable
(optional)
SSCNET III cable

(optional)
SSCNET III/H compatible servo system controller
R32MTCPU/R16MTCPU
Q170MSCPU RD77MS/
QD77MS
Q173DSCPU/Q172DSCPU
(PE)
Rotary servo motor

HG-KR053.)
Linear servo motor
Direct drive motor
(Note 3)
LD77MS
Encoder connector (CN2A/B)

SSCNET III/H connector (CN1A)

Battery case (MR-BT6VCASE) and

batteries (MR-BAT6V1) are required when
system with a rotary servo motor or a
direct drive motor.
Connect the servo system controller or the

previous servo amplifier axis.
SSCNET III/H connector (CN1B)
Connect the next servo amplifier axis.

Be sure to attach a cap to CN1B connector of the
final axis.
SSCNET III cable

(optional)
Battery case
Battery
Notes: 1. The connection with the peripheral equipment is an example for MR-J4W2-22B. CNP3C and CN2C connectors are available for MR-J4W3-B servo amplifier. Refer to
"MR-J4W_-_B Servo Amplifier Instruction Manual" for the actual connections of the multi-axis servo amplifier.


3. Connect the grounding terminal of the servo motor to
of CNP3A, CNP3B, and CNP3C. Connect the protective earth (PE) terminal (
) located on the lower front of
the servo amplifier to the cabinet protective earth (PE).
1-43
MR-J4W2-B (2-axis, SSCNET III/H Interface) Specifications

44B
1.5
2.8
3-phase or 1-phase 200 V AC to 240 V AC,
50 Hz/60 Hz
5.2
Servo function
6.0
3-phase 200 V AC to
240 V AC, 50Hz/60 Hz
9.8
3-phase 170 V AC to
264 V AC
7.5
3-phase or 1-phase 170 V AC to 264 V AC

5% maximum
0.4
5% maximum
55
17
21
44
3.45
4.26
8.92
3.8
4.7
9.8
8.5
10.5
22.0
20
100
Built-in (Note 4)
0.222 ms, 0.444 ms, 0.888 ms
Compatible (A/B-phase pulse)
None
Available (Note 12)
power monitoring function, scale measurement function (Note 14), J3 compatibility mode
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage
LVS/Wires
Load-side encoder interface (Note 9)
5.8
Options/Peripheral
Equipment
Dynamic brake
SSCNET III/H command communication cycle (Note 13)
Analog monitor
Fully closed loop control (Note 11)
1010B
Direct Drive Motors
(Note 2, 3)
2.9
77B
Linear Servo Motors

[A]
Permissible voltage
fluctuation
fluctuation
Voltage/frequency
Rated current
[A]
Control
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
Reusable regenerative
[J]
energy (Note 5)
Moment of inertia (J)
equivalent to permissible
charging amount (Note 6)
Capacitor
[ 10-4 kgm2]
regeneration
Mass equivalent LM-H3
to permissible
LM-K2
charging amount
LM-U2
(Note 7)
[kg]
Tolerable regenerative power of
the built-in regenerative resistor
[W]
3-phase 170 V AC
Rotary Servo Motors
Main
circuit
power
supply
input
22B
Servo Amplifiers
Servo amplifier model MR-J4W2Rated voltage

Output
Rated current (each axis) [A]
WB
Product List
Cautions
1-44
Servo Amplifiers

Servo amplifier model MR-J4W2Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
WB
22B
44B
77B
1010B
STO (IEC/EN 61800-5-2) (Note 10)
100 years or longer
Medium (90% to 99%)
1.68 5 10-10 [1/h]
Force cooling, open (IP20)
(IP20)
Possible
1.5
1.5
2.0
2.0



4. When using the built-in dynamic brake, refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to
mass ratio.

5. Reusable regenerative energy is equivalent to the energy generated under the following conditions.
For rotary servo motor: the energy that is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the
rated speed to a stop.
For linear servo motor: the energy that is generated when the machine, whose mass is equivalent to the permissible charging amount, decelerates from the maximum
speed to a stop.
For direct drive motor: the energy that is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the

6. This value is the moment of inertia when the rotary servo motor decelerates from the rated speed to a stop. 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. The value also applies to the direct drive motor.

7. This value is the mass when the linear servo motor decelerates from maximum speed to a stop. 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.


9. Not compatible with pulse train interface (A/B/Z-phase differential output type).

10. STO is common for all axes.

11. The load-side encoder and the servo motor encoder are compatible only with two-wire type communication method.




15. This value is applicable when a 3-phase power supply is used.
1-45

1.5

5% maximum
0.4
5% maximum
55
21
30
4.26
6.08
4.7
6.7
10.5
15.0
30
Built-in (Note 4)
0.222 ms (Note 11), 0.444 ms, 0.888 ms

Not compatible
None
Not compatible
power monitoring function, J3 compatibility mode
LVS/Wires
Servo function
7.8
Options/Peripheral
Equipment
Dynamic brake
SSCNET III/H command communication
cycle (Note 10)
Analog monitor
2.8
Direct Drive Motors
(Note 2, 3)
4.3
3-phase or 1-phase 200 V AC to 240 V AC,

50 Hz/60 Hz
444B
Linear Servo Motors

[A]
Permissible voltage
fluctuation
fluctuation
Voltage/frequency
Rated current
[A]
Control
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
Reusable regenerative
[J]
energy (Note 5)
Moment of inertia (J)
equivalent to permissible
charging amount (Note 6)
Capacitor
[ 10-4 kgm2]
regeneration
Mass equivalent LM-H3
to permissible
LM-K2
charging amount
LM-U2
(Note 7)
[kg]
Tolerable regenerative power of
the built-in regenerative resistor
[W]
3-phase 170 V AC
Rotary Servo Motors
Main
circuit
power
supply
input
222B
Servo Amplifiers
Servo amplifier model MR-J4W3Rated voltage

Output
Rated current (each axis) [A]
WB
Product List
Cautions
1-46
Servo Amplifiers

Servo amplifier model MR-J4W3Functional safety
Safety
performance
failure (MTTFd)
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
WB
222B
444B
STO (IEC/EN 61800-5-2) (Note 9)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: 1 ms maximum
100 years or longer
Medium (90% to 99%)
1.68 5 10-10 [1/h]
Possible
1.9
1.9



4. When using the built-in dynamic brake, refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to
mass ratio.

5. Reusable regenerative energy is equivalent to the energy generated under the following conditions.
For rotary servo motor: the energy that is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the
For linear servo motor: the energy that is generated when the machine, whose mass is equivalent to the permissible charging amount, decelerates from the maximum
speed to a stop.
For direct drive motor: the energy that is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the

6. This value is the moment of inertia when the rotary servo motor decelerates from the rated speed to a stop. 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. The value also applies to the direct drive motor.

7. This value is the mass when the linear servo motor decelerates from maximum speed to a stop. 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.


9. STO is common for all axes.


11. Servo amplifier with software version A3 or later is compatible with the command communication cycle of 0.222 ms. However, note that the following functions are not
available when 0.222 ms is used: auto tuning (real time, one-touch, and vibration suppression control), adaptive filter II, vibration tough drive, and power monitoring.

12. This value is applicable when a 3-phase power supply is used.
1-47
MR-J4W2-B Standard Wiring Diagram Example (Note 13)
R
A
4
Main circuit (Note 12)

power supply
CALM
(Note 10)
MBR-A
MBR-B
11
24
12
25
DICOM
DOCOM
23
26
EM2
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
10
7
8
9
20
21
22
Mount an optional battery case

(MR-BT6VCASE) and batteries
(MR-BAT6V1) for absolute position
detection system.
Personal computer
Setup software
MR Configurator2
USB cable
MR-J3USBCBL3M
MR-J3BUS_M,
MR-J3BUS_M,


(Note 4)
SW1
(Note 4)
SW2
QD77MS
1
MR-MC211
BAT
LG

Connection Example" on p. 1-16 in this catalog.
(Note 6)
10 m or shorter
MR-J3BUS_M,
CN4
CN8 connector connection
CN1B CN1A
R
A
3
1
2
(Note 11)
CN1B CN1A
R16MTCPU
Q172DSCPU
R
A
2
CN8
LVS/Wires
R32MTCPU
Q173DSCPU
Q170MSCPU
RD77MS
LD77MS
Q173SCCF
MR-MC210
R
A
1
Servo motor
3
16
4
17
5
18
6
19
14
Plate
CN1A
(Note 2)
10 m or shorter
LA-A
LAR-A
LB-A
LBR-A
LA-B
LAR-B
LB-B
LBR-B
LG
SD
Encoder cable
1A
2A
3A
1B Built-in
2B regenerative
resistor
3B
Options/Peripheral
Equipment
(Note 1) Forced stop 2

Upper stroke limit for A-axis (FLS)
Lower stroke limit for A-axis (RLS)
Proximity dog for A-axis (DOG)
Upper stroke limit for B-axis (FLS)
Lower stroke limit for B-axis (RLS)
Proximity dog for B-axis (DOG)
CN3
CN2A/CN2B
Direct Drive Motors
24 V DC power supply
for interface
P+
C
D
L11
L21
N-
Power cable
Linear Servo Motors
Electromagnetic brake interlock for A-axis
CNP2
1
2
3
CN5
(Note 7)
Electromagnetic brake interlock for B-axis
Controller
L1
L2
L3
Regenerative option
AND malfunction
(Note 5)
CNP1
MC
Encoder A-phase pulse for A-axis

Encoder B-phase pulse for A-axis
Encoder A-phase pulse for B-axis
Encoder B-phase pulse for B-axis
Control common
Rotary Servo Motors
Power supply
3-phase 200 V AC
to 240 V AC
or
1-phase 200 V AC
to 240 V AC
(Note 9)
MCCB

Refer to "Servo Motor Connection Example" in this
catalog.
SK
MC
CN1B
Emergency stop switch
On
Servo Amplifiers
Off
Servo amplifier
MR-J4W2-B
(1st and 2nd axis)
MC
(Note 8)
AND malfunction
RA1
WB

1-48
Cautions
Product List
Notes: 1. The forced stop signal is issued for two axes of the servo amplifier. For overall system, apply the emergency stop on the controller side.

2. For details such as setting the controllers, refer to programming manual or user's manual for the controllers.

3. Connections for the third and following axes are omitted.

4. Up to 64 axes can be set by using a combination of an axis selection rotary switch (SW1) and auxiliary axis number setting switches (SW2-5 and SW2-6). Note that the

5. Devices can be assigned for DI1-A/B, DI2-A/B and DI3-A/B with controller setting. Refer to the controller instruction manuals for details on setting.


7. When not using a regenerative option, connect a short-circuit bar between P+ and D to use the built-in regenerative resistor. When using a regenerative option,
disconnect the short-circuit bar between P+ and D, and then connect the regenerative option to P+ and C.

8. Select either of the following functions for CALM (AND malfunction) with the controller.
1) The contact opens when an alarm occurs on one of the axes.
2) The contact opens when an alarm occurs on all axes.

9. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3 terminals. Do not connect anything to L2. The connections are different from MR-J3W-B
series servo amplifiers. Be careful not to make a connection error when replacing MR-J3W-B with MR-J4W2-B. Refer to "MR-J4W2-B (2-axis, SSCNET III/H Interface)
Specifications" in this catalog for power supply specifications.

10. CINP (AND in-position) is assigned to this pin as default. Device for this pin can be changed by [Pr. PD08].



Servo Amplifiers
MR-J4W3-B Standard Wiring Diagram Example (Note 13)
CNP1
MC
L1
L2
L3
CNP2
Regenerative option
(Note 7)
AND malfunction
Electromagnetic brake interlock for A-axis
Electromagnetic brake interlock for B-axis

Electromagnetic brake interlock for C-axis
24 V DC power supply
for interface
Controller
(Note 2)
R32MTCPU
Q173DSCPU
Q170MSCPU
RD77MS
LD77MS
Q173SCCF
MR-MC210
R16MTCPU
Q172DSCPU
R
A
2
R
A
3
R
A
4
R
A
5

power supply
CN3
CN2A/CN2B/CN2C
Encoder cable
1A
2A
3A
1B Built-in
2B regenerative
resistor
3B
CALM
(Note 10)
MBR-A
MBR-B
MBR-C
11
24
12
25
13
DICOM
DOCOM
23
26
EM2
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
DI1-C
DI2-C
DI3-C
10
7
8
9
20
21
22
1
2
15
Servo motor
CN8
(Note 6)
1
2
10 m or shorter
MR-J3BUS_M,
CN4
BAT
LG
(Note 11)

Mount an optional battery case

detection system.
Personal computer
CN1B
(Note 5)
(Note 1) Forced stop 2

Upper stroke limit for A-axis (FLS)
Lower stroke limit for A-axis (RLS)
Proximity dog for A-axis (DOG)
Upper stroke limit for B-axis (FLS)
Lower stroke limit for B-axis (RLS)
Proximity dog for B-axis (DOG)
Upper stroke limit for C-axis (FLS)
Lower stroke limit for C-axis (RLS)
Proximity dog for C-axis (DOG)
R
A
1
P+
C
D
L11
L21
N-
1
2
3
Power cable
QD77MS
MR-MC211
Setup software
MR Configurator2
USB cable
MR-J3USBCBL3M
MR-J3BUS_M,
MR-J3BUS_M,

CN1B CN1A
MCCB
CN1A
Power supply
3-phase 200 V AC
to 240 V AC
or
1-phase 200 V AC
to 240 V AC
(Note 9)

Refer to "Servo Motor Connection Example" in this
catalog.
SK
MC

(Note 4) (Note 4)
SW2
SW1
1
CN1B CN1A
Emergency stop switch
On
CN5
Off
Servo amplifier
MR-J4W3-B
(1st, 2nd, and 3rd axis)
MC
(Note 8)
AND malfunction
RA1
WB

Notes: 1. The forced stop signal is issued for three axes of the servo amplifier. For overall system, apply the emergency stop on the controller side.

2. For details such as setting the controllers, refer to programming manual or user's manual for the controllers.

3. Connections for the fourth and following axes are omitted.

4. Up to 64 axes can be set by using a combination of an axis selection rotary switch (SW1) and auxiliary axis number setting switches (SW2-5 and SW2-6). Note that the

5. Devices can be assigned for DI1-A/B/C, DI2-A/B/C and DI3-A/B/C with controller setting. Refer to the controller instruction manuals for details on setting.


7. When not using a regenerative option, connect a short-circuit bar between P+ and D to use the built-in regenerative resistor. When using a regenerative option,
disconnect the short-circuit bar between P+ and D, and then connect the regenerative option to P+ and C.

8. Select either of the following functions for CALM (AND malfunction) with the controller.
1) The contact opens when an alarm occurs on one of the axes.
2) The contact opens when an alarm occurs on all axes.

9. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3 terminals. Do not connect anything to L2. Refer to "MR-J4W3-B (3-axis, SSCNET III/H Interface)
Specifications" in this catalog for power supply specifications.

10. CINP (AND in-position) is assigned to this pin as default. Device for this pin can be changed by [Pr. PD08].



1-49
Servo Motor Connection Example
WB
Servo Amplifiers
(Rotary Servo Motor, Semi-Closed Loop Control System)

Servo amplifier
MR-J4W2-B
MR-J4W3-B
2B
1A
2A
CNP3A/CNP3B/CNP3C
U
U
V
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
RA
(Note 1)
B2
1
2
Contact must be open when the

CALM (AND malfunction) or the
MBR-_ (Electromagnetic brake
(Note 5)
P5
LG
MR
MRR
BAT
SD
(Note 6)
Electromagnetic
brake
(Note 2)
Encoder
P5
LG
MR
MRR
BAT
SD
3
4
Linear Servo Motors
CN2A/CN2B/CN2C
1
B1

stop switch.
1
2
3
4
9
Plate
Rotary servo motor
(Note 5)
Rotary Servo Motors
1B
Direct Drive Motors
For HG-SR series

Servo amplifier
MR-J4W2-B
1B
1A
2A
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
stop switch.
CN2A/CN2B
(Note 1)
(Note 6)
1
2

P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
LVS/Wires
P5
LG
MR
MRR
BAT
SD
B2
Encoder
1
2
3
4
9
Plate
B
C
D
B1
RA
Options/Peripheral
Equipment
2B
Rotary servo motor
CNP3A/CNP3B
Product List




5. CNP3C and CN2C connectors are available for MR-J4W3-B servo amplifier.

Cautions
1-50
Servo Amplifiers
Servo Motor Connection Example (Rotary Servo Motor, Semi-Closed Loop Control System)
WB
For HG-UR series

Servo amplifier
MR-J4W2-B
1B
2B
1A
2A
Rotary servo motor
CNP3A/CNP3B
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
stop switch.
CN2A/CN2B
P5
LG
MR
MRR
BAT
SD
(Note 1)
(Note 5)
B2
G
H

P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Encoder
1
2
3
4
9
Plate
C
D
B1
RA
A
B


of CNP3A and CNP3B. Connect the protective earth (PE) terminal (
) located on the lower front of the servo
amplifier to the cabinet protective earth (PE).


1-51
Servo Motor Connection Example (Rotary Servo Motor, Fully Closed Loop Control System)
WB
Servo Amplifiers

Servo amplifier
MR-J4W2-B (Note 8)
1B
Rotary servo motor
CNP3A/CNP3B
2B
2A
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
stop switch.
P5
LG
MR
MRR
MX
MXR
BAT
SD
1
P5
2
LG
(Note 6)
3
MR
MRR
4
9
BAT
Plate
SD
MR-J4FCCBL03M
Electromagnetic
brake
(Note 2)
Load-side encoder
(Note 7)
(Note 5)
Direct Drive Motors
P5
LG
MX
MXR
SD
P5
LG
MR
MRR
BAT
SD
SCALE
1
2
3
4
Plate

MOTOR
(Note 1)
B2
Linear Servo Motors
CN2A/CN2B
Encoder
1
2
3
4
7
8
9
Plate
B1
RA
3
4
Rotary Servo Motors
1A

(for MR-J4W_-B)" in this catalog for connecting
For HG-SR/HG-JR series

Servo amplifier
MR-J4W2-B(Note 8)
2B
1A
2A
(Note 3)
(Note 3)
24 V DC for the
electromagnetic
brake
(Note 4)
(Note 1)
1
P5
2
LG
(Note 6)
3
MR
MRR
4
9
BAT
Plate
SD
MR-J4FCCBL03M
SCALE
(Note 7)
P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Load-side encoder
Product List
P5
LG
MX
MXR
SD

MOTOR
1
2
3
4
Plate
Encoder
P5
LG
MR
MRR
MX
MXR
BAT
SD
B2
LVS/Wires
CN2A/CN2B
B
C
D
B1
RA

stop switch.
1
2
3
4
7
8
9
Plate
Options/Peripheral
Equipment
1B
Rotary servo motor
CNP3A/CNP3B
(Note 5)

1-52
Cautions




5. For linear encoders, refer to "List of Linear Encoders" under section 3 Linear Servo Motors in this catalog. Refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for
the fully closed loop control with rotary encoder.



8. MR-J4W3-B is not compatible with fully closed loop control.
Servo Amplifiers
Servo Motor Connection Example (Rotary Servo Motor, Fully Closed Loop Control System)
WB
For HG-UR series

Servo amplifier
MR-J4W2-B (Note 8)
1B
2B
1A
2A
(Note 3)
CN2A/CN2B
24 V DC for the
electromagnetic
brake
(Note 4)
(Note 1)
D
B1
RA

stop switch.
MOTOR
SCALE
P5
LG
MX
MXR
SD
B2
G
H

1
P5
2
LG
(Note 6)
3
MR
MRR
4
9
BAT
Plate
SD
MR-J4FCCBL03M
1
2
3
4
Plate
(Note 7)
B
C
P5
LG
MR
MRR
BAT
SD
Electromagnetic
brake
(Note 2)
Encoder
P5
LG
MR
MRR
MX
MXR
BAT
SD
(Note 3)
1
2
3
4
7
8
9
Plate
Rotary servo motor
CNP3A/CNP3B
Load-side encoder
(Note 5)



of CNP3A and CNP3B. Connect the protective earth (PE) terminal (
) located on the lower front of the servo
amplifier to the cabinet protective earth (PE).


5. For linear encoders, refer to "List of Linear Encoders" under section 3 Linear Servo Motors in this catalog. Refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for
the fully closed loop control with rotary encoder.



8. MR-J4W3-B is not compatible with fully closed loop control.
1-53
WB
Servo Amplifiers
For LM-H3/LM-K2/LM-U2 series

Servo amplifier
MR-J4W2-B
MR-J4W3-B
1B
Linear servo motor
CNP3A/CNP3B/CNP3C (Note 5)
U
U
V
1A
2A
(Note 1)
Rotary Servo Motors
2B
W
E
(Note 1)
CN2A/CN2B/CN2C (Note 5)
5
6
Thermistor
G1
THM
THM1
THM2
G2

MR-J4THCBL03M
Linear Servo Motors
5
THM1
THM2
6
P5
1
2
LG
3
MR
MRR
4
7
MX
MXR
8
SD
Plate
SCALE
1
2
3
4
7
8
P5
LG
MR
MRR
MX
MXR
(Note 6)
Linear encoder
(Note 2)

Direct Drive Motors
Linear Encoder Connection Example (for MR-J4W_-B)
LG
P5
MR
MRR
SD
LG
P5
MR
MRR
Case SD
2
1
3
4
Plate
LG
P5
MR
MRR
SD

(Note 4)
(Note 8)
(Note 8)
2
1
3
4
Plate
LG
P5
MR
MRR
SD
0V
5V
SD/RQ
-SD/-RQ
FG
Vcc
GND
RQ DT
/RQ /DT
Plate
2
1
7
8
3
4
Plate
LG
P5
MX
MXR
MR
MRR
SD
0V
5V
SD
/SD
RQ
/RQ
FG
LVS/Wires
2
1
3
4
Plate
(Note 8)
(Note 8)
Options/Peripheral
Equipment
(Note 8)
(Note 8)
Renishaw
Linear encoder

(Note 4)
LG
P5
RQ
/RQ
FG

(Note 4, 7)
Heidenhain
Linear encoder
LG
P5
MR
MRR
SD

Linear encoder
2
1
3
4
Plate

(Note 4)

Linear encoder
(Note 8)
(Note 8)
Linear scale

(Note 4)
Cautions
Product List
Notes: 1. Connect the grounding terminal of the servo motor to



3. MR-J4THCBL03M junction cable for linear servo motor is compatible with both two-wire and four-wire type linear encoders.

4. For the number of the wire pairs for LG and P5, refer to "Linear Encoder Instruction Manual."


6. Necessary encoder cables vary depending on the linear encoder. Refer to relevant Instruction Manual.

7. For fully closed loop control, the load-side encoder and the servo motor encoder are compatible only with two-wire type communication method. Four-wire type cannot be
used.

8. For the fully closed loop control, the signals of 3-pin and 4-pin are as follows:
3-pin: MX
4-pin: MXR
1-54
Servo Amplifiers
Servo Motor Connection Example (Direct Drive Motor)
WB
For TM-RFM series (incremental system)

Servo amplifier
MR-J4W2-B
MR-J4W3-B
1B
CNP3A/CNP3B/CNP3C
2B
1A
2A
Direct drive motor
(Note 4)
(Note 3)
B
C
D
(Note 3)
CN2A/CN2B/CN2C (Note 4)
P5 9
LG 10
MR 7
MRR 8
FG 5
(Note 1)
THM1 6
THM2 11
Encoder
1
P5
2
LG
3
MR
4
MRR
Plate SD
5
THM1
THM2
6
Thermistor
For TM-RFM series (absolute position detection system)

Servo amplifier
MR-J4W2-B
MR-J4W3-B
1B
CNP3A/CNP3B/CNP3C
U
2B
1A
2A
(Note 3)
CN2A/CN2B/
CN2C (Note 4)
CN4
BAT
LG
(Note 1)
A
B
C
Absolute position
storage unit
MR-BTAS01 (Note 2)
9
P5
LG 10
7
MR
MRR 8
BAT 2
5
FG
THM1 6
THM2 11
CN10
P5
9
10 LG
MR
7
8 MRR
2 BAT
VB
1
FG
5
6 THM1
11 THM2
(Note 1)
Battery case (Note 2)

MR-BT6VCASE
+
Battery (Note 2)
MR-BAT6V1 5 pcs
P5
LG
MR
MRR
BAT
VB
FG
9
10
7
8
2
1
5
THM1 6
THM2 11
Encoder
P5
LG
MR
MRR
BAT
Plate SD
5
THM1
THM2
6
1
2
U
V
(Note 3)
1
2
3
4
9
Direct drive motor
(Note 4)
Thermistor
Notes: 1. Fabricate this encoder cable. Refer to "Direct Drive Motor Instruction Manual" for fabricating the encoder cable.

2. Optional MR-BTAS01 absolute position storage unit, MR-BT6VCASE battery case, and MR-BAT6V1 batteries are required for absolute position detection system. Refer to
relevant Servo Amplifier Instruction Manual and "Direct Drive Motor Instruction Manual" for details.


1-55
MR-J4W2-B Dimensions
WB
Servo Amplifiers
MR-J4W2-22B
MR-J4W2-44B
Approx. 80
60
6 mounting hole
Cooling fan
6.2
Exhaust
(Only for MR-J4W2-44B)
CN5
C
N
5
CNP1
CN3
L1
L2
C
N
3
L3
CN8
C
N
8
CNP3A
(Note 1)
CNP3B
(Note 1)
C
N
1
A
U
V
C
N
1
B
U
V
C
N
2
A
C
N
2
B
PE
CN1A
CN1B
168
CNP2
(Note 1)
CN2A
CN2B
P+
L11
L2
L21
L3
N-
CNP3A
W
CN4
CNP3B
C
N
4
CNP2
L1
Linear Servo Motors
Rotary Servo Motors
CNP1
(Note 1)
156
195
Intake
PE
6
6
Screw size: M4
[Unit: mm]
Direct Drive Motors
MR-J4W2-77B
MR-J4W2-1010B
Approx. 80
85
6 mounting hole
Cooling fan
CN5
Exhaust
CNP1
C
N
5
CN3
L1
L2
CN8
CNP2
(Note 1)
C
N
8
CNP3A
(Note 1)
CNP3B
(Note 1)
C
N
1
A
U
V
C
N
1
B
U
V
C
N
2
A
C
N
2
B
PE
CN1A
CN1B
P+
L11
L2
L21
L3
N-
CN4
Intake
CNP3A
CN2A
CN2B
C
N
4
6.2
CNP3B
PE
73
LVS/Wires
CNP2
L1
Options/Peripheral
Equipment
C
N
3
L3
168
CNP1
(Note 1)
156
195
Screw size: M4
Notes: 1. CNP1, CNP2, CNP3A and CNP3B connectors (insertion type) are supplied with the servo amplifier.
Product List
[Unit: mm]
Cautions
1-56
Servo Amplifiers
MR-J4W3-B Dimensions
WB
MR-J4W3-222B
MR-J4W3-444B
Approx. 80
85
Exhaust
C
N
5
CNP2
(Note 1)
CNP1
CN3
L1
L2
C
N
3
L3
CN8
C
N
8
CNP3A
(Note 1)
CNP3B
(Note 1)
CNP3C
(Note 1)
PE
C
N
1
A
U
V
C
N
1
B
U
V
C
N
2
A
C
N
2
B
C
N
2
C
U
V
CN1A
CN1B
168
CNP1
(Note 1)
CN2A
CN2B
CN2C
CN4
P+
L11
L2
L21
L3
N-
CNP3A
W
Intake
6
6
CNP2
L1
C
N
4
156
195
Cooling fan
CN5
6 mounting hole
73
CNP3C
CNP3B
6.2
PE
Screw size: M4
[Unit: mm]
Notes: 1. CNP1, CNP2, CNP3A, CNP3B and CNP3C connectors (insertion type) are supplied with the servo amplifier.
1-57
B-RJ010
B-RJ010
MR-J4-B-RJ010 Connections with Peripheral Equipment (Note 1)
Display (Note 2)
Servo amplifier
status and alarm
number are
displayed.

SW2-4).
Connect with a personal computer and use

MR Configurator2. Parameter setting and monitoring are
possible. Use an optional USB cable (MR-J3USBCBL3M).

interface unit (MR-J3-T10) (Note 4)

A set of MR-J4-B-RJ010 and MR-J3-T10 is compatible

with CC-Link IE Field Network with Motion.
Linear
Linear Servo
Servo Motors
Motors

(optional)


amplifier and reduces the power supply
capacity.

(Note 3)

Direct
Direct Drive
Drive Motors
Motors
Regenerative option
(optional)
Rotary
Rotary Servo
Servo Motors
Motors
Molded-case circuit breaker (MCCB)
Servo
Servo Amplifiers
Amplifiers
Peripheral equipment is connected to MR-J4-B-RJ010 as described below. Connectors, cables, options, and other necessary
equipment are available so that users can set up the servo amplifier easily and start using it right away.

Ethernet cable (Note 5)
Charge lamp
Options/Peripheral
Options/Peripheral
Equipment
Equipment
The lamp lights when the main circuit

power supply is charged.

QD77GF
Connect the servo motor encoder using

an optional cable or a connector set.
Manufacturer setting connector

(CN2L)
This connector is not for use.
LVS/Wires
LVS/Wires
Ethernet cable (Note 5)

system.
Battery
(Note 3)
Product
Product List
List

communication connector
(CN10A/CN10B)
Connect to a CC-Link IE Field Network
compatible device.
Servo motor
HG-KR053.)
1-58
Cautions
Cautions
Notes: 1. The connection with the peripheral equipment is an example for MR-J4-350B-RJ010 or smaller servo amplifiers. Refer to "MR-J4-_B_-RJ010 MR-J3-T10 Servo Amplifier
3. This connector is not for use. Be sure to attach a cap supplied with the servo amplifier.
4. Refer to "CC-Link IE Field Network Interface Unit" in this catalog for details on CC-Link IE Field Network Interface Unit (MR-J3-T10).
5. For specifications of the Ethernet cable, refer to "Ethernet cable specifications" on p. 5-31 in this catalog.
Servo Amplifiers
MR-J4-B-RJ010
B-RJ010
(CC-Link IE Field Network interface with Motion) Specifications (200 V AC)

Servo amplifier model MR-J4-_-RJ010 10B
20B
40B
60B
70B 100B 200B 350B 500B 700B 11KB
15KB
22KB
Rated voltage
3-phase 170 V AC
Output
Rated current
[A] 1.1
1.5
2.8
3.2
5.8
6.0
11.0 17.0 28.0 37.0
68.0
87.0
126.0
3-phase or 1-phase 200 V AC to
(Note
1)
Voltage/frequency
240 V AC, 50 Hz/60 Hz
Main
3.2
[A] 0.9
1.5
2.6
3.8
5.0
10.5 16.0 21.7 28.9
46.0
64.0
95.0
circuit
(Note 8)
power
Permissible voltage
supply
fluctuation
264 V AC
input
5% maximum
fluctuation
Voltage/frequency
Rated
current
[A]
0.2
0.3
Control
circuit
Permissible voltage
power
fluctuation
supply
5% maximum
input
fluctuation
Power consumption
[W]
30
45
Control method
[W]
10
10
10
20
20
100
100
130
170
Tolerable
500
850
850
power
resistor (standard
[W]
(800) (1300) (1300)
(Note
2,
3,
9,
10)
accessory)
Dynamic brake
Built-in (Note 4)
Analog monitor
2 channels
Not compatible
Servo function
tough drive function, drive recorder function, machine diagnosis function, power monitoring function
Load-side encoder interface
Not compatible
protection, instantaneous power failure protection, overspeed protection, error excessive protection
Functional safety
STO (IEC/EN 61800-5-2)
Safety
performance
100 years or longer
failure (MTTFd)
Medium (90% to 99%)
1.68 5 10-10 [1/h]
Natural cooling, open (IP20) Force cooling, open (IP20)
(Note
6)
Close mounting
Possible
Not possible
Ambient temperature
Ambient humidity
Altitude
Mass (Note 12)
[kg] 0.8
0.8
1.0
1.0
1.4
1.4
2.1
2.3
4.0
6.2
13.4
13.4
18.2
1-59
MR-J4-B-RJ010
B-RJ010
Rotary Servo Motors
Notes: 1. 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.



4. When using the built-in dynamic brake, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio.








12. The value is applicable for the MR-J4-_B-RJ010 servo amplifier only.

Servo Amplifiers
Linear Servo Motors

Direct Drive Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-60
Servo Amplifiers
MR-J4-B4-RJ010
B-RJ010

Servo amplifier model MR-J4-_-RJ010
Rated voltage
Output
Rated current
[A]
Main
Rated current
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Voltage/frequency
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
[W]
Tolerable
power
resistor (standard
[W]
Dynamic brake
Analog monitor
Servo function
Load-side encoder interface
Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass (Note 11)
1-61
60B4
100B4
1.5
2.8
1.4
2.5
200B4
350B4
500B4
700B4
11KB4
3-phase 323 V AC
5.4
8.6
14.0
17.0
32.0
5.1
7.9
10.8
14.4
23.1
15KB4
22KB4
41.0
63.0
31.8
47.6

5% maximum
0.2
0.1

5% maximum
30
45
15
15
100
100
130 (Note 10) 170 (Note 10)

-
500
(800)
850
(1300)
850
(1300)
Built-in (Note 4)
2 channels
Not compatible
tough drive function, drive recorder function, machine diagnosis function, power monitoring function
Not compatible
protection, instantaneous power failure protection, overspeed protection, error excessive protection
STO (IEC/EN 61800-5-2)
100 years or longer
Medium (90% to 99%)
1.68 5 10-10 [1/h]

(IP20)
(IP20)
Not possible
[kg]
1.7
1.7
2.1
3.6
4.3
6.5
13.4
13.4
18.2
MR-J4-B4-RJ010
B-RJ010
Rotary Servo Motors
Notes: 1. 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.



to mass ratio.





9. Use an optional external dynamic brake with the servo amplifier. Without the external dynamic brake, a servo motor does not stop immediately at emergency stop and falls in
free-run status, causing an accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.

recommended ratio.

11. The value is applicable for the MR-J4-_B4-RJ010 servo amplifier only.
Servo Amplifiers
Linear Servo Motors

Direct Drive Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-62
Servo Amplifiers
CC-Link IE Field Network Interface Unit (MR-J3-T10)
B-RJ010
Specifications
Model
Item
Control circuit Voltage

power supply
Rated current
Input/output interface
Number of communication ports
Ambient temperature
Ambient humidity
Altitude
Mass
[A]
[g]
Description
MR-J3-T10
5 V DC
(Control circuit power for the CC-Link IE Field Network interface unit is supplied from the servo
amplifier.)
0.8
2 ports (CN10A and CN10B connectors)
Natural cooling, open (IP00)
150
Dimensions
103
28
98
20
94
PUSH
MR-J3-T10
5 6 mounting hole for grounding
RUN
ERR.
D LINK
SD
RD
161
1-63
97
24.5
PUSH
CN10B
CN10A
CN10A
CN10B
114.5
L.ERR
[Unit: mm]
MR-J4-B-RJ010 Standard Wiring Diagram Example (Note 7)
B-RJ010

voltage.
Connection Example" on pp. 1-17, 1-18 in
this catalog.
Main circuit
power supply
L1
L3
L2
Control circuit
power supply
CN3
5
3
8
18
6
16
7
17
11
MO1
LG
MO2
4
1
14
Encoder cable
CN2L
CN8
CN1A
1
2
CN4
Mount an optional battery

(MR-BAT6V1SET) for absolute position
detection system.
BAT
LG
CN1B
CN5
Personal computer
CN7
USB cable
MR-J3USBCBL3M
Setup software
MR Configurator2
Options/Peripheral
Equipment
This connector is not for use. Be sure

to attach a cap supplied with the
servo amplifier.
CC-Link IE Field
Network interface unit
MR-J3-T10
CN10B
Data line filter
80 mm or shorter ZCAT1730-0730 (TDK)
LVS/Wires
CN10A
CC-Link IE
Field Network
Data line filter
(Note 6)
ZCAT1730-0730 (TDK) 80 mm or shorter
(Note 4)

(Note 1) (Note 1)
SW2
SW1
This connector is not for use. Be sure to attach a

cap supplied with the servo amplifier.
Connector for manufacturer setting

This connector is not for use.
SD
Plate
2 m or shorter
10 m or shorter
(Note 5)
(Note 3)
20
Forced stop 2
EM2
2
DI1
Upper stroke limit (FLS)
DI2
12
(Note 2) Lower stroke limit (RLS)
DI3
19
Proximity dog (DOG)
3
DOCOM
10 m or shorter
10
DICOM
R
A
Malfunction
ALM
15
1
R
A
13
MBR
Electromagnetic brake interlock
2
10 m or shorter
Servo motor
Direct Drive Motors
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR
LG
CN2
Linear Servo Motors

Control common
Power cable
L11
L21

Refer to "Servo Motor Connection Example" on pp. 1-20 to
1-22 in this catalog.
Rotary Servo Motors

connection
Servo Amplifiers
Servo amplifier
MR-J4-B-RJ010
CC-Link IE
Field Network
(Note 6)
Product List
Notes: 1. Up to 63 stations are set by using a combination of a station selection rotary switch (SW1) and auxiliary station number setting switches (SW2-3 and SW2-4). Note that the
number of the connectable stations depends on the controller specifications.

2. Devices can be assigned for DI1, DI2 and DI3 with controller setting. Refer to the controller instruction manuals for details on setting.




6. When branching off CC-Link IE Field Network with a switching HUB, use DT135TX (Mitsubishi Electric System & Service Co., Ltd.).

Cautions
1-64
Servo Amplifiers
MR-J4-B-RJ010 Dimensions (Note 2)
B-RJ010
MR-J4-10B-RJ010
MR-J4-20B-RJ010
40
6
60
Approx. 80
135
L1
6 mounting hole
L2
CN5
CNP1
(Note 1)
L1
RUN
RD
P4
161
C
D
CN10A
CN10B
Screw size: M4
P+
CN1B
NP4
168
P+
L11
L21
L3
P3
L.ERR
P3
CN1A
156
N-
SD
CN8
CNP3
(Note 1)
D LINK
CN3
L3
CNP2
(Note 1)
CNP1
ERR.
L2
PE
CN2
CNP2
CN2L CN4
L11
(21)
L21
When mounting
MR-BAT6V1SET
PE
(69.3)
CNP3
(38.5)
V
W
[Unit: mm]
MR-J4-40B-RJ010
MR-J4-60B-RJ010
6 mounting hole
40
60
Approx. 80
170
L1
L2
CN5
L1
N-
SD
RD
L.ERR
P3
P4
CN1A
C
D
CN10B
Screw size: M4
P+
CN1B
NP4
CN10A
L11
168
P+
L21
PE
L3
P3
CN8
156
CN3
CNP3
(Note 1)
CNP1
D LINK
L3
CNP2
(Note 1)
RUN
ERR.
L2
161
CNP1
(Note 1)
CN2
CNP2
CN2L CN4
L11
(21)
L21
When mounting
MR-BAT6V1SET
PE
(69.3)
CNP3
(38.5)
V
W
[Unit: mm]
MR-J4-70B-RJ010
MR-J4-100B-RJ010
12
6 mounting hole
80
60
Approx. 80
185
L1
Exhaust
L2
CN5
L1
D LINK
SD
L.ERR
P3
P4
P+
C
D
L11
L21
P4
CN2
CNP2
CN2L CN4
(21)
(38.5)
12
D
L11
6
PE
Screw size: M4
CN10B
N-
P+
CN1B
U
W
PE
L3
P3
RD
CN10A
156
N-
CN8 CN1A
CNP3
(Note 1)
CN3
L3
CNP2
(Note 1)
CNP1
RUN
ERR.
L2
161
168
CNP1
(Note 1)
When mounting
MR-BAT6V1SET
(69.3)
Intake
Cooling fan
L21
U
CNP3
42
V
W
[Unit: mm]

2. The dimensions are applicable when MR-J4-B-RJ010 and MR-J3-T10 are combined. Refer to "MR-J4-B/MR-J4-B-RJ Dimensions" in this catalog for the dimensions of
1-65 MR-J4-B-RJ010 servo amplifiers alone.
B-RJ010
Servo Amplifiers
MR-J4-60B4-RJ010
MR-J4-100B4-RJ010
80
12
Approx. 80
195
N-
6 mounting hole
60
CNP1
(Note 1)
L3
Screw size: M4
P3
168
161
CNP2
(Note 1)
P4
CNP3
(Note 1)
Rotary Servo Motors
L2
CNP1
156
PE
L1
P+
C
PE
(21)
CNP2
6
When mounting
MR-BAT6V1SET
(69.3)
L21
42
U
CNP3
V
W
[Unit: mm]
MR-J4-200B-RJ010
Approx. 80
195
Exhaust
L1
CN5
L1
ERR.
L3
CNP1
SD
RD
L.ERR
CN1B
C
(21)
CNP2
When mounting
MR-BAT6V1SET
(38.5)
78
P+
PE
Screw size: M4
Options/Peripheral
Equipment
V
W
NP4
CN2 CN2L CN4
161
CN1A
P+
C
D
L11
L21
PE
L3
P3
CN10A
P4
168
CN8
156
NP3
CNP3
(Note 1)
D LINK
CN3
L2
CNP2
(Note 1)
L2
RUN
CN10B
CNP1
(Note 1)
Direct Drive Motors
45
6 mounting hole
110
90
85
(69.3)
D
L11
Intake
L21
Cooling fan
U
CNP3
Linear Servo Motors
(38.5)
12
D
L11
V
W
MR-J4-200B4-RJ010
105
6 mounting hole
Approx. 80
195
Exhaust
45
85
N-
CNP1
(Note 1)
L1
161
168
156
L3
P4
Screw size: M4
P+
C
CNP2
(21)
6
PE
(38.5)
6
78
When mounting
MR-BAT6V1SET
(69.3)
Intake
D
L11
Cooling fan
L21
U
CNP3
Cautions
L2
P3
CNP3
(Note 1)
PE
Product List
CNP1
CNP2
(Note 1)
LVS/Wires
[Unit: mm]
V
W
[Unit: mm]

MR-J4-B-RJ010 servo amplifiers alone.
1-66
Servo Amplifiers

MR-J4-350B-RJ010
B-RJ010
110
90
Mounting hole
45
85
Approx. 80
195
L1
Exhaust
6
L2
CN5
ERR.
L3
N-
RD
CN1B
V
W
L3
N-
161
168
P3
13 hole
(21)
PE
(38.5)
78
C
CNP2
U
CNP3
L11
L21
PE
Intake
(69.3)
P+
P4
CN2 CN2L CN4
P+
C
D
L11
L21
CN10A
CN1A
156
P4
CN8
CNP2
(Note 1)
SD
L.ERR
P3
CNP3
(Note 1)
(R
D LINK
CN3
L2
CNP1
RUN
10
L1
CN10B
CNP1
(Note 1)
Cooling fan
When mounting
MR-BAT6V1SET
Screw size: M4
[Unit: mm]
MR-J4-350B4-RJ010
115
105
93
7.5
2-6 mounting hole

6
200
Approx. 80
(28)
94.2
Cooling fan
N-
Exhaust
L1
235
250
CNP1
(Note 1)
CNP1
L3
P4
Screw size: M4
P+
CNP3
(Note 1)
C
CNP2
L21
U
Intake
PE
CNP3
V
W
(34)
(38.5)
D
L11
When mounting
MR-BAT6V1SET
7.5
L2
P3
177
CNP2
(Note 1)
PE
[Unit: mm]
MR-J4-500B-RJ010
(25)
6
115
105
93
Approx. 80
(28)
200
Cooling fan
Exhaust
7.5
2-6 mounting hole
Terminal diagram
TE2
L11
L21
PE
CN3
D LINK
SD
CN5
ERR.
CN8
RD
TE1
(34) (38.5)
TE3
P4
P+
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
TE4: M4
PE: M4
Intake
L3
P3
CN1B
CN10B
CN4 CN2L CN2
CN4 CN2L CN2
TE4
L2
N-
CN1A
CN10A
CN1A
CN10A
CN1B
CN10B
250
235
SD
L.ERR
TE3
When mounting
MR-BAT6V1SET
7.5
ERR.
CN8
L.ERR
RUN
D LINK
TE1
RD
CN3
CN5
L1
TE2
RUN
PE
TE4
U
V
W
[Unit: mm]

1-67
B-RJ010
Servo Amplifiers
MR-J4-500B4-RJ010
2-6 mounting hole
140
130
118
Approx. 80
(28)
7.5
200
6
Cooling fan
Exhaust
Terminal diagram
177
250
235

TE3
TE2
When mounting
MR-BAT6V1SET
TE1
TE2
Intake
L11 L21
PE
TE3
N- P3 P4
TE1
L1 L2 L3 P+
(60)
PE
[Unit: mm]
Linear Servo Motors
fixing screw
(38.5)
7.5
Rotary Servo Motors
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
PE: M4
MR-J4-700B-RJ010, MR-J4-700B4-RJ010
6
Approx. 80
(28)
D LINK
200
6
Cooling fan
Exhaust
Terminal diagram
CN6 CN5
CN5
RUN
CN3 CN6
ERR.
SD
CN3
7.5
2-6 mounting hole
RD
RUN
ERR.
D LINK
SD
RD
L.ERR
CN8
CN1
CN10A
CN10B
CN4 CN2L CN2
TE3
Options/Peripheral
Equipment
When mounting
MR-BAT6V1SET
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
PE: M4
CN4 CN2L CN2
CN8
CN1A
CN10A
CN1B
CN10B
L.ERR
300
285
Direct Drive Motors
182
172
160
TE3
N- P3 P4
Intake
PE
fixing screw
TE2
TE2
TE1
L1 L2 L3 P+
L11 L21
PE
[Unit: mm]
LVS/Wires
(101)
(38.5)
7.5
TE1
Notes: 1. The dimensions are applicable when MR-J4-B-RJ010 and MR-J3-T10 are combined. Refer to "MR-J4-B/MR-J4-B-RJ Dimensions" in this catalog for the dimensions of
Product List
Cautions
1-68
Servo Amplifiers
B-RJ010
MR-J4-11KB-RJ010, MR-J4-11KB4-RJ010
Approx. 80
220
10
12
196
(28)
12
260
10.5
Cooling fan
Exhaust
2-6 mounting hole
Terminal diagram
CN5
CN3
CN3
CN8CN1A CN1B
CN8CN1A CN1B
CN10B
380
400
CN10B
CN10A
CN10A
CN5
Terminal screw size

TE1-1: M6
TE1-2: M6
TE2: M4
PE: M6
PE
TE1-1
TE1-2
TE2
When mounting
MR-BAT6V1SET
TE1-1
L1 L2 L3
Intake
188
224.2
237.4
TE1-2
P3 P4 P+
N-
TE2
L11 L21
(38.5)
10
(139.5)
PE
[Unit: mm]
12
12
260
236
2-12 mounting hole
12
Approx. 80
(28)
260
Terminal diagram
Cooling fan
Exhaust
CN5
CN5
CN3
CN3
Terminal screw size

TE1-1: M8
TE1-2: M8
TE2: M4
PE: M8
CN8CN1A CN1B
CN8CN1A CN1B
400
376
CN2
When mounting
MR-BAT6V1SET

TE2
TE1-1
TE1-2
Intake
188.5
223.4
235.4
12
(38.5)
12
PE
TE1-1
L1 L2 L3
TE1-2
P3 P4 P+
N-
TE2
L11 L21
(179)
PE
[Unit: mm]
Notes: 1. The dimensions are applicable when MR-J4-B-RJ010 and MR-J3-T10 are combined. Refer to "MR-J4-B/MR-J4-B-RJ Dimensions" in this catalog for the dimensions of
1-69
A
A
MR-J4-A/MR-J4-A-RJ Connections with Peripheral Equipment (Note 1)
A-RJ
A-RJ
Servo
Servo Amplifiers
Amplifiers
Peripheral equipment is connected to MR-J4-A/MR-J4-A-RJ as described below. Connectors, cables, options, and other
necessary equipment are available so that users can set up the servo amplifier easily and start using it right away.
Setting section (Note 2)
Servo amplifier
status, parameter,
and alarm number
are displayed.
Parameter settings and monitoring etc. are executed with

push buttons.
Rotary
Rotary Servo
Servo Motors
Motors

(MCCB)
Display (Note 2)

Connect a personal computer and perform monitoring,
batch parameter writing and saving, graph display, and
test operation with MR Configurator2. Use an optional
USB cable (MR-J3USBCBL3M).
Linear
Linear Servo
Servo Motors
Motors

Analog monitor output connector (CN6)

Speed and torque are output with analog voltage signals.
(ch2)

(optional)
This boosts the power factor of servo amplifier
and reduces the power supply capacity.
RS-422 communication connector (CN3)

Direct
Direct Drive
Drive Motors
Motors
Connect GOT.
Regenerative option
(optional)
GOT
The lamp lights when the main circuit power

supply is charged.
Options/Peripheral
Options/Peripheral
Equipment
Equipment

Charge lamp

Load-side encoder connector (CN2L)

MR-J4-A-RJ servo amplifier. Refer to
pp. 1-29 to 1-34 for the connection.
LVS/Wires
LVS/Wires
Connect to a Mitsubishi controller or any pulse train

output controller.
Battery
FX3U FX3UC
FX3G FX3GC
FX1S
FX 2N-_PG
RD75P_
QD70P_
QD75P_N
LD75P_
RD75D_
QD70D_
QD75D_N
LD75D_
Product
Product List
List

system.
Connect all signals via the junction terminal

block.
Servo motor
Connect to a programmable controller I/O port

or a control cabinet of a machine.
Cautions
Cautions
HG-KR053.)
Notes: 1. The connection with the peripheral equipment is an example for MR-J4-350A/MR-J4-350A-RJ or smaller servo amplifiers. Refer to "MR-J4-_A_(-RJ) Servo Amplifier
1-70
Servo Amplifiers
MR-J4-A(1)/MR-J4-A(1)-RJ (General-purpose Interface) Specifications (200 V/100 V)

Servo amplifier model MR-J4-_(-RJ) 10A
Rated voltage
Output
Rated current
[A] 1.1
Main
circuit
power
supply
input
Control
circuit
power
supply
input
1-phase 100 V AC
to 120 V AC,
50 Hz/60 Hz
0.4
1-phase 85 V AC
to 132 V AC

[A]
0.2
0.3

5% maximum
[W]
30
45
30
[W]
10
10
10
20
20
100
100
130
170
[W]
Built-in (Note 4)
Analog monitor
Maximum input pulse
frequency
Positioning feedback pulse
Position Command pulse multiplying
factor
control
Positioning complete width
mode
setting
Error excessive
Torque limit
Speed control range
Analog speed command
Speed
input
control
mode
Speed fluctuation rate
Torque limit
Analog torque command
input
Speed limit
Positioning mode
MR-J4-A(1)
Fully closed loop
control
MR-J4-A(1)-RJ
Torque
control
mode
Servo function
1-phase 85 V AC
to 132 V AC

5% maximum
Dynamic brake
Load-side encoder
interface
60A

264 V AC
Voltage/frequency
Rated current
Permissible voltage
fluctuation
fluctuation
Power consumption
Control method
Tolerable
power
resistor (standard
1-71
40A
A-RJ
70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1
3-phase 170 V AC
1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0 1.1 1.5 2.8
3-phase or 1-phase
1-phase 100 V AC
200 V AC to 240 V AC,
to 120 V AC,
50 Hz/60 Hz
50 Hz/60 Hz
3.2
[A] 0.9 1.5 2.6 (Note 8) 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0 3.0 5.0 9.0
Permissible voltage
fluctuation
fluctuation
20A
MR-J4-A(1)
MR-J4-A(1)-RJ
500 850 850

(800) (1300) (1300)
10
10
External option
(Note 13)
Built-in (Note 4)

RS-422: 1 : n communication (up to 32 axes) (Note 10)
2 channels
4 Mpulses/s (when using differential receiver), 200 kpulses/s (when using open collector)
Encoder resolution: 22 bits
Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000
0 pulse to 65535 pulses (command pulse unit)
3 rotations
Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)
Analog speed command 1:2000, internal speed command 1:5000
0 V DC to 10 V DC/rated speed (Speed at 10 V is changeable with [Pr. PC12].)
0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: 10%)
0.2% maximum (ambient temperature: 25 C 10 C) only when using analog speed command
0 V DC to 8 V DC/maximum torque (input impedance: 10 k to 12 k)
Set by parameters or external analog input (0 V DC to 10 V DC/rated speed)
Point table method, program method, indexer (turret) method
Two-wire type communication method (Note 9)
tough drive function, drive recorder function, machine diagnosis function, power monitoring function,
MR-J4-A(1)/MR-J4-A(1)-RJ (General-purpose Interface) Specifications (200 V/100 V)
A-RJ
Rotary Servo Motors

Linear Servo Motors
Direct Drive Motors
Options/Peripheral
Equipment



4. When using the built-in dynamic brake, refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load
to mass ratio.






10. RS-422 communication is compatible with the servo amplifiers with software version A3 or later.





Servo Amplifiers
Servo amplifier model MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1
Functional safety
STO (IEC/EN 61800-5-2)
Safety
100 years or longer
Medium (90% to 99%)
1.68 5 10-10 [1/h]
Force cooling, open
Natural cooling,
(Note 5)
(IP20)
(IP20)
open (IP20)
Close mounting
Possible (Note 6)
Not possible
Possible (Note 6)
Ambient temperature
Ambient humidity
Altitude
Mass
[kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2 13.4 13.4 18.2 0.8 0.8 1.0
LVS/Wires
Product List
Cautions
1-72
Servo Amplifiers
MR-J4-DU_A/MR-J4-DU_A-RJ (General-purpose Interface) Specifications (200 V)

Rated voltage
Output
Rated current
[A]
Voltage/frequency
Rated current
[A]
Control
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
Dynamic brake
Analog monitor
Maximum input pulse
frequency
factor
control
mode
setting
Error excessive
Torque limit
Speed control range
Speed
input
control
mode
Torque limit
input
Speed limit
Positioning mode
MR-J4-DU_A
Fully closed loop
control
MR-J4-DU_A-RJ
Torque
control
mode
Servo function
Load-side encoder
interface
1-73
DU30KA
MR-CR55K (Note 4)
3-phase 170 V AC
A-RJ
DU37KA
174
204
0.3
5% maximum
45
RS-422: 1 : n communication (up to 32 axes)
2 channels
3 rotations

super trace control, lost motion compensation
MR-J4-DU_A
MR-J4-DU_A-RJ
error excessive protection
MR-J4-DU_A/MR-J4-DU_A-RJ (General-purpose Interface) Specifications (200 V)
A-RJ
Servo Amplifiers
DU30KA
DU37KA
STO (IEC/EN 61800-5-2)
100 years or longer
Rotary Servo Motors
Medium (90% to 99%)

1.68 10-10 [1/h]
Not possible
21
Direct Drive Motors



the converter unit.
Linear Servo Motors

Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-74
Servo Amplifiers
MR-J4-A4/MR-J4-A4-RJ (General-purpose Interface) Specifications (400 V)

Rated voltage
Output
Rated current
[A]
Main
Rated current
[A]
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Voltage/frequency
Rated current
[A]
Control
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
[W]
Tolerable
power
resistor (standard
[W]
Dynamic brake
Analog monitor
Maximum input pulse
frequency
factor
control
mode
setting
Error excessive
Torque limit
Speed control range
Speed
input
control
mode
Torque limit
input
Speed limit
Positioning mode
MR-J4-A4
Fully closed loop
control
MR-J4-A4-RJ
Torque
control
mode
Servo function
Load-side encoder
interface
1-75
MR-J4-A4
MR-J4-A4-RJ
60A4
100A4
1.5
2.8
1.4
2.5
200A4
350A4
500A4
700A4
11KA4
3-phase 323 V AC
5.4
8.6
14.0
17.0
32.0
5.1
7.9
10.8
14.4
23.1
A-RJ
15KA4
22KA4
41.0
63.0
31.8
47.6

5% maximum
0.2
0.1

5% maximum
30
45
15
15
100
100
130 (Note 10) 170 (Note 10)

-
500
(800)
850
(1300)
850
(1300)
Built-in (Note 4)
2 channels
3 rotations
MR-J4-A4/MR-J4-A4-RJ (General-purpose Interface) Specifications (400 V)

200A4
350A4
500A4
700A4
11KA4
15KA4
22KA4
STO (IEC/EN 61800-5-2)
100 years or longer
Medium (90% to 99%)
1.68 5 10-10 [1/h]

(IP20)
(IP20)
Not possible
[kg]
1.7
1.7
2.1
3.6
4.3
6.5
13.4
13.4
18.2
Direct Drive Motors

Options/Peripheral
Equipment
Notes: 1. Rated output and speed of a rotary servo motor, and continuous 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.



4. When using the built-in dynamic brake, refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load
to mass ratio.






recommended ratio.

Linear Servo Motors
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
100A4
Rotary Servo Motors
60A4
A-RJ
Servo Amplifiers

Functional safety
Safety
LVS/Wires
Product List
Cautions
1-76
Servo Amplifiers
MR-J4-DU_A4/MR-J4-DU_A4-RJ (General-purpose Interface) Specifications (400 V)

Rated voltage
Output
Rated current
[A]
Voltage/frequency
Rated current
[A]
Control
circuit
Permissible voltage
power
fluctuation
supply
input
fluctuation
Power consumption
[W]
Control method
Dynamic brake
Analog monitor
Maximum input pulse
frequency
factor
control
mode
setting
Error excessive
Torque limit
Speed control range
Speed
input
control
mode
Torque limit
input
Speed limit
Positioning mode
MR-J4-DU_A4
Fully closed loop
control
MR-J4-DU_A4-RJ
Torque
control
mode
A-RJ
DU30KA4
DU37KA4
DU45KA4
DU55KA4
MR-CR55K4 (Note 4)
3-phase 323 V AC
87
102
131
143
0.2
5% maximum
45
2 channels
3 rotations

Servo function
super trace control, lost motion compensation
Load-side encoder MR-J4-DU_A4
interface
MR-J4-DU_A4-RJ
1-77
MR-J4-DU_A4/MR-J4-DU_A4-RJ (General-purpose Interface) Specifications (400 V)
A-RJ
Servo Amplifiers
DU30KA4
DU37KA4
DU45KA4
DU55KA4
STO (IEC/EN 61800-5-2)
100 years or longer
Rotary Servo Motors
Medium (90% to 99%)

1.68 10-10 [1/h]
Not possible
16
19
Direct Drive Motors



the converter unit.
Linear Servo Motors

Functional safety
Safety
Close mounting
Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-78
Servo Amplifiers
MR-J4-A/MR-J4-A-RJ Standard Wiring Diagram Example:

Position Control Operation (Note 6)
A-RJ
Connecting to RD75D (position servo, incremental)

Servo amplifier
MR-J4-A/MR-J4-A-RJ
Main circuit
power supply

connection
Control circuit
power supply
Positioning module RD75D
2 m or shorter
10 m or shorter

power supply
10 m or shorter
Malfunction
Zero speed detection
Limiting torque
In-position range
Power cable
L11
R
A
1
R
A
2
R
A
3
R
A
4
CN2
DICOM
DOCOM
CR
20
46 (Note 3)
41
RD
PP
PG
NP
NG
LZ
LZR
LG
49
10
11
35
36
8
9
3
LA
LAR
LB
LBR
4
5
6
7
LG
OP
SD
EM2
SON
RES
PC
TL
LSP
LSN
DOCOM
42
15
19
17
18
43
44
47
DICOM
ALM
ZSP
TLC
INP
21
48
23
25
24
Upper limit setting
2 m or shorter
P15R
TLA
LG
SD
1
27
28
Plate
Encoder cable
Servo motor
CN2L
CN8
5
4
3
6
1
7
8
34
33
Plate
10 m or shorter
Analog torque limit

+10 V/maximum torque

MR-J4-A-RJ servo amplifier. Refer to pp. 1-29 to
1-34 in this catalog for the connection.
(Note 4)

CN3
SDP
SDN
RDP
RDN
LG
LG
TRE
RS-422
(Note 2)
RDP
RDN
SDP
SDN
GND
GND
30 m or shorter
(Note 3)
CN4
1
2
Parameter unit
MR-PRU03 (Note 7)

(MR-BAT6V1SET) , or battery case
detection system.
BAT
LG
Personal computer
CN5
CN1
Pin No.
_ _ 14
_ _ 13
_ _ 12
_ _ 11
_ _ 15
_ _ 16
_ _ 17
_ _ 18
__ 9
_ _ 10
Forced stop 2
Servo-on
Reset
Proportional control
External torque limit selection
Forward rotation stroke end
Reverse rotation stroke end
L3
L21
Control common
(Note 1)
Control common
Control common
(Open collector)

1-28 and 1-30 to 1-34 in this catalog.
L2

voltage.
Connection Example" on pp. 1-17 to 1-19 in
this catalog.
Name
CLEAR COM
CLEAR
RDY COM
READY
PULSE F+
PULSE F PULSE R+
PULSE R PG05
PG0 COM
L1
3
1
2
USB cable
MR-J3USBCBL3M
CN6
MO1
Setup software
MR Configurator2
LG
MO2
2 m or shorter
Notes: 1. This connection is not necessary for RD75D Positioning module. Note that the connection between LG and control common terminal is recommended for some Positioning
modules to improve noise tolerance.
2. It is also possible to connect a personal computer to CN3 connector with an RS-422/RS-232C conversion cable. However, USB interface (CN5 connector) and RS-422
interface (CN3 connector) are mutually exclusive. Do not use them at the same time. Refer to "Products on the Market for Servo Amplifiers" in this catalog for the RS-422/
RS-232C conversion cable.





7. Use a commercial LAN cable (EIA568 compliant), and keep the wiring length to 10 m or less.

1-79
Servo amplifier
MR-J4-A/MR-J4-A-RJ
Main circuit
power supply
Control circuit
power supply
L3
Power cable
L11
L21
DICOM
DOCOM
LG
OP
SD
8
9
4
5
6
7
CN8
34
33
Plate
10 m or shorter

power supply
Malfunction
Limiting torque
R
A
1
Ready
Speed reached
R
A
4
R
A
2
R
A
3
R
A
5
42
15
19
41
16
17
18
43
44
47
DICOM
ALM
ZSP
TLC
21
48
23
25
RD
SA
49
24
P15R
TLA
LG
1
27
28
(Note 2)
5
4
3
6
1
7
8

(Note 3)

CN3 RS-422
(Note 1)
SDP
SDN
RDP
RDN
LG
LG
TRE
RDP
RDN
SDP
SDN
GND
GND
Parameter unit
MR-PRU03 (Note 6)
30 m or shorter
Options/Peripheral
Equipment
10 m or shorter
EM2
SON
RES
SP1
SP2
ST1
ST2
LSP
LSN
DOCOM
Servo motor
CN2L
Direct Drive Motors
2 m or shorter
Encoder cable
Personal computer
USB cable
MR-J3USBCBL3M
Setup software
MR Configurator2
Analog torque limit

10 V/rated speed
(in this wiring diagram,
+10 V/rated speed)
Upper limit setting
VC
SD
1
2
CN6
MO1
LG
MO2
2 m or shorter
Notes: 1. It is also possible to connect a personal computer to CN3 connector with an RS-422/RS-232C conversion cable. However, USB interface (CN5 connector) and RS-422





Product List
2 m or shorter
2
Plate
LVS/Wires
10 m or shorter
Upper limit setting
Linear Servo Motors
LZ
LZR
LA
LAR
LB
LBR
CN2
20
46
CN5
CN1
Forced stop 2
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation start
Reverse rotation start

Refer to "Servo Motor Connection Example" on pp. 1-20
to 1-28 and 1-30 to 1-34 in this catalog.
L2

voltage.
this catalog.

Control common
Control common
(Open collector)
L1
Rotary Servo Motors

connection
A-RJ
Servo Amplifiers

Speed Control Operation (Note 5)
Cautions
1-80
Servo Amplifiers

Torque Control Operation (Note 5)
A-RJ
Servo amplifier
MR-J4-A/MR-J4-A-RJ
Main circuit
power supply

connection
Control circuit
power supply

1-28 and 1-30 to 1-34 in this catalog.
U
V
L3
Power cable
L11
L21
CN1
DICOM
DOCOM
Forced stop 2
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation selection
Reverse rotation selection
L1
L2

voltage.
this catalog.

Control common
Control common
(Open collector)
LZ
LZR
LA
LAR
LB
LBR
2 m or shorter
10 m or shorter

power supply
LG
OP
SD
CN2
20
46
Encoder cable
8
9
4
5
6
7
34
33
Plate
EM2
SON
RES
SP1
SP2
RS1
RS2
DOCOM
42
15
19
41
16
18
17
47
R
A
3
DICOM
ALM
ZSP
VLC
21
48
23
25
R
A
4
RD
49
P15R
TC
LG
1
27
28
Servo motor
CN2L
CN8
(Note 2)
5
4
3
6
1
7
8

(Note 3)
CN3 RS-422
SDP
SDN
RDP
RDN
LG
LG
TRE

(Note 1)
RDP
RDN
SDP
SDN
GND
GND
Parameter unit
MR-PRU03 (Note 6)
30 m or shorter
10 m or shorter
Ready
R
A
1
R
A
2
Personal computer
CN5
Malfunction
Limiting speed
USB cable
MR-J3USBCBL3M
10 m or shorter
8 V/maximum torque
+8 V/max. torque)
Analog speed limit
10 V/rated speed
+10 V/rated speed)
Upper limit setting
Upper limit setting
VLA
SD
2 m or shorter
2
Plate
1
2
CN6
MO1
Setup software
MR Configurator2
LG
MO2
2 m or shorter





1-81
MR-J4-A-RJ Positioning Function: Point Table Method
Item
Command interface
Operating specification
Direct Drive Motors

Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-82
Linear Servo Motors
Notes: 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].

2. Home position return modes of dog type adjacent Z-phase reference and dogless Z-phase reference are not available when the direct drive motor or
incremental type linear encoder is used.
Rotary Servo Motors
Description
DIO (input: 11 points (excluding forced stop input (EM2)), and output: 8 points), RS-422
Positioning by specifying the point table No. (255 points)
Set in the point table.
Absolute value
Setting range of feed length per point: -999999 to 999999 [10STM m],
-99.9999 to 99.9999 [10STM inch], -999999 to 999999 [pulse],
Position command method
Setting range of rotation angle: -360.000 to 360.000 [degree]
command
input
Set in the point table.
Incremental value
Setting range of feed length per point: 0 to 999999 [10STM m],
Command method (Note 1)
command method
0 to 99.9999 [10STM inch], 0 to 999999 [pulse],
Setting range of rotation angle: 0 to 999.999 [degree]
Set the acceleration/deceleration time constants in the point table.
Speed command input
Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].
System
Signed absolute value command method, incremental value command method
Analog override
0 V DC to 10 V DC/0% to 200%
Torque limit
Point table No. input, position data input method
Automatic Each positioning operation
Each positioning operation is executed based on the position/speed commands.
operation
Automatic continuous
Varying-speed operation (2 to 255 speeds),
mode
positioning operation
automatic continuous positioning operation (2 to 255 points)
Inching operation is executed with DI or RS-422 communication function according to the
Manual JOG operation
speed command set with a parameter.
operation
Manual pulse generator
Manual feeding is executed with a manual pulse generator.
mode
operation
Command pulse multiplication: select from 1, 10, and 100 with a parameter.
Returns to home position upon Z-phase pulse after passing through proximity dog.
Dog type
Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the encoder pulse count after touching proximity dog.
Count type
Returns to home position without dog.
Data set type
Any position settable as a home position using manual operation, etc.
Home position address settable
Returns to home position upon hitting the stroke end.
Stopper type
Home position return direction selectable, home position address settable
Home position ignorance
Sets a home position where SON (Servo-on) signal turns on.
(servo-on position as home
Operation
position)
mode
Returns to home position with reference to the rear end of proximity dog.
Dog type rear end
Home
reference
position
return
Returns to home position with reference to the front end of proximity dog.
Count type front end
mode
reference
Returns to home position upon the first Z-phase pulse with reference to the front
end of proximity dog.
Dog cradle type
Returns to home position upon the last Z-phase pulse with reference to the front
Dog type adjacent Z-phase
reference (Note 2)
Returns to home position to the front end of dog with reference to the front end of proximity dog.
Dog type front end
reference
Returns to home position to Z-phase pulse with reference to the first Z-phase pulse.
Dogless Z-phase reference
Home position return direction settable, home position shift distance settable,
(Note 2)
home position address settable
Automatic positioning to home
High-speed automatic positioning to a defined home position
position function
Absolute position detection system, backlash compensation, overtravel prevention
Other functions
with external limit switches (LSP/LSN), teaching function, roll feed display function, software
stroke limit, mark detection (current position latch) function, analog override function
Servo Amplifiers
Positioning operation is executed by selecting the point table No. with a command interface signal according to the position and speed
data set in the point table.
Servo Amplifiers

Absolute value command method: travels to a specified address (absolute value) with reference to the home
position
Item
Setting range
Description
Specify a point table in which a target position, servo motor speed,
Point table No.
1 to 255
acceleration/deceleration time constants, dwell, and sub function will be set.
Set
a travel distance.
-999999 to 999999 [10STM m]
(1) When using as absolute value command method
(Note
1,
3)
STM
Target position
-99.9999 to 99.9999 [10
inch]
Set a target address (absolute value).
(position data)
-360.000 to 360.000 [degree]
(2) When using as incremental value command method
-999999 to 999999 [pulse]
Set a travel distance. Reverse rotation command is applied with a minus sign.
Servo motor speed (Note 2) 0 to permissible speed [r/min] [mm/s] Set a command speed for the servo motor in positioning.
Acceleration time constant 0 to 20000 [ms]
Set a time period for the servo motor to reach the rated speed.
Deceleration time constant 0 to 20000 [ms]
Set a time period for the servo motor to decelerate from the rated speed to a stop.
Set dwell.
When the dwell is set, the position command for the next point table will be
started after the position command for the selected point table is completed
Dwell
0 to 20000 [ms]
and the set dwell is passed.
The dwell is disabled when 0 or 2 is set for the sub function.
Varying-speed operation is enabled when 1, 3, 8, 9, 10, or 11 is set for the sub
function and when 0 is set for the dwell.
Set sub function.
(1) When using as absolute value command method

0: Executes automatic operation for a selected point table.

1: Executes automatic continuous operation without stopping for the next
point table.

8: Executes automatic continuous operation without stopping for the point
table selected at the start.

Sub function
0 to 3, and 8 to 11
table No. 1.
(2) When using as incremental value command method

2: Executes automatic operation for a selected point table.

3: Executes automatic continuous operation without stopping for the next
point table.
table selected at the start.
table No. 1.
M code
0 to 99
Set a code to be outputted when the positioning completes.
Notes: 1. Change the unit to m/inch/degree/pulse with [Pr. PT01].

2. The speed unit is r/min for the rotary servo motors and the direct drive motors, and mm/s for the linear servo motors.

3. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].
Example of setting point table data

Point table No.
Target position
(position data)
[ 10STM m]
Servo motor
speed
[r/min]
Acceleration
time constant
[ms]
Deceleration
time constant
[ms]
Dwell
[ms]
Sub function
M code
1
2
:
255
1000
2000
:
3000
2000
1600
:
3000
200
100
:
100
200
100
:
100
0
0
:
0
0
:
2
1
2
:
99
(Note 1)
The operation of the next point table is set with the sub function.
When the sub function is set to 0:
Start signal is required for each point table.

Automatic continuous operation is executed based on
the point table.
Speed
Speed
Point table
No. 1
Point table
No. 2
Point table
No. 1
Point table
No. 2
Time
Position address
1000
1000
2000
Position address
M code data No. 1
M code data No. 2
M code
1-83
1000
2000
Start signal
Start signal
M code
Time
M code data No. 1

Item
Setting range
Point table No.
1 to 255
Sub function
0, 1, 8, and 9
M code
0 to 99
Notes: 1. Change the unit to m/inch/degree/pulse with [Pr. PT01].

2. The speed unit is r/min for the rotary servo motors and the direct drive motors, and mm/s for the linear servo motors.

Direct Drive Motors
0 to 20000 [ms]
Set a command speed for the servo motor in positioning.

Set a time period for the servo motor to reach the rated speed.
Set a time period for the servo motor to decelerate from the rated speed to a stop.
Set a dwell.
When the dwell is set, the position command for the next point table will be
started after the position command for the selected point table is completed
and the set dwell is passed.
The dwell is disabled when 0 is set for the sub function.
Varying-speed operation is enabled when 1, 8, or 9 is set for the sub function
and when 0 is set for the dwell.
Set sub function.
0: Executes automatic operation for the selected point table.
1: Executes automatic continuous operation without stopping for the next point
table.
8: E
xecutes automatic continuous operation without stopping for the point table
selected at the start.
table No. 1.
Set a code to be outputted when the positioning completes.
Linear Servo Motors
Dwell
Set a travel distance.

Operation starts with ST1 (Forward rotation start) or ST2 (Reverse rotation
start).
Rotary Servo Motors
0 to 999999 [10STM m]
0 to 99.9999 [10STM inch]
0 to 999.999 [degree]
0 to 999999 [pulse]
Servo motor speed (Note 2) 0 to permissible speed [r/min] [mm/s]
Acceleration time constant 0 to 20000 [ms]
Deceleration time constant 0 to 20000 [ms]
Target position (Note 1, 3)

(position data)
Description
Specify a point table in which a target position, servo motor speed,
acceleration/deceleration time constants, dwell, and sub function will be set.
Servo Amplifiers
Incremental value command method: travels from a current position according to the set position data
Example of setting point table data

Servo motor
speed
[r/min]
Acceleration
time constant
[ms]
Deceleration
time constant
[ms]
Dwell
[ms]
Sub function
M code
1000
1000
:
3000
2000
1600
:
3000
200
100
:
100
200
100
:
100
0
0
:
0
0
:
0
1
2
:
99
(Note 1)
1
2
:
255
The operation of the next point table is set with the sub function.
LVS/Wires

Start signal is required for each point table.
Options/Peripheral
Equipment
Point table No.
Target position
(position data)
[ 10STM m]

Automatic continuous operation is executed based on
the point table.
Speed
Speed
Point table
No. 1
Point table
No. 2
Point table
No. 1
Point table
No. 2
Time
0
1000
1000
2000
1000
2000
Start signal
Start signal
M code
Time
Position address
Product List
Position address
M code data No. 1
M code data No. 2
M code
M code data No. 1
Cautions
1-84
Servo Amplifiers
MR-J4-A-RJ Standard Wiring Diagram Example: Point Table Method

Servo amplifier
MR-J4-A-RJ
connection
Control circuit
power supply
CN1
OPC
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR

Control common
Control common
(Open collector)
2 m or shorter
10 m or shorter
power supply
10 m or shorter
Malfunction
Rough match
(Note 8) Home position return
Travel completion
In-position
Ready
R
A
1
R
A
2
R
A
3
R
A
4
R
A
5
R
A
6
Preliminary DO
Upper limit setting
LG
OP
SD
EM2
SON
MD0
ST1
ST2
DOG
LSP
LSN
DI0
DI1
DI2 (Note 6)
DI3 (Note 6)
DOCOM

to 1-19 in this catalog.
L2

voltage.
this catalog.
Forced stop 2
Servo-on
Operation mode selection 1
Proximity dog
Point table No. selection 1
L1
L3
Power cable
L11
L21
CN2
12
20
46
8
9
4
5
6
7
Encoder cable
34
33
Plate
42
15
16
17
18
45
43
44
19
41
10
35
47
DICOM
ALM
CPO
ZP
MEND
INP
RD
(Note 5)
(Note 5)
21
48
22
23
25
24
49
13
14
P15R
VC
LG
1
2
28
(Note 2)
5
4
3
6
1
7
8
Servo motor
CN2L
CN8 (Note 3)
Refer to pp. 1-29 to 1-34 in this catalog for the

connection.

Connection Example" in on p. 1-16 in this catalog.
CN3 RS-422 (Note 1)
RDP
RDN
SDP
SDN
GND
GND
SDP
SDN
RDP
RDN
LG
LG
TRE
30 m or shorter
CN4
1
2
Parameter unit
MR-PRU03 (Note 7)

(MR-BAT6V1SET), or a battery case
detection system.
BAT
LG
Personal computer
CN5
Main circuit
power supply
Setup software
MR Configurator2
USB cable
MR-J3USBCBL3M
10 m or shorter
Analog override
10 V/0% to 200%
Upper limit setting
Analog torque limit

TLA
SD
2 m or shorter
27
Plate
3
1
2
CN6
MO1
LG
MO2
2 m or shorter

2. This is for sink wiring. Source wiring is also possible. However, when input devices are assigned to CN1-10 pin and CN1-35 pin, be sure to use sink wiring. Source
wiring is not possible in this case. In the positioning mode, input devices are assigned in the initial setting. Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual
(Positioning Mode)" for details.



5. No output device is assigned in the initial setting. Assign an output device with [Pr. PD47] as necessary.

6. DI2 and DI3 are assigned to CN1-10 pin and CN1-35 pin respectively in the initial setting. Change them with [Pr. PD44] and [Pr. PD46] when using a manual pulse
generator.

7. Use a commercial LAN cable (EIA568 compliant), and keep the wiring distance within 10 m when using MR-PRU03 parameter unit.

8. Assign the output devices mentioned to CN1-22 pin, CN1-23 pin, and CN1-25 pin with [Pr. PD23], [Pr. PD24] and [Pr. PD26].
Be sure to read through Instruction Manual for the actual wiring and use. Use the equipment after you have a full knowledge
of the equipment, safety information and instructions.
1-85
MR-J4-A-RJ Positioning Function: Program Method
Item
Command interface
Command method
Position
command
input
(Note 1)
Absolute value
command
method
Incremental
value command
method
System
Analog override
Torque limit
Depends on the setting of the program language
Product List
Cautions
1-86
LVS/Wires

2. Home position return modes of dog type adjacent Z-phase reference and dogless Z-phase reference are not available when the direct drive motor or
incremental type linear encoder is used.
Options/Peripheral
Equipment
Inching operation is executed with DI or RS-422 communication function according to the

speed command set with a parameter.
Manual feeding is executed with a manual pulse generator.
Command pulse multiplication: select from 1, 10, and 100 with a parameter.
Returns to home position upon Z-phase pulse after passing through proximity dog.
Dog type
Returns to home position upon the encoder pulse count after touching proximity dog.
Count type
Data set type
Any position settable as a home position using manual operation, etc.
Returns to home position upon hitting the stroke end.
Stopper type
Home position return direction selectable, home position address settable
Home position ignorance
Sets a home position where SON (Servo-on) signal turns on.
(servo-on position as home position)
Operation
Returns to home position with reference to the rear end of proximity dog.
Dog type rear end
mode
reference
Home
position
Returns to home position with reference to the front end of proximity dog.
return
Count type front end
mode
reference
Returns to home position upon the first Z-phase pulse with reference to the front
Dog cradle type
Returns to home position upon the last Z-phase pulse with reference to the front
Dog type adjacent Z-phase
reference (Note 2)
Returns to home position to the front end of dog with reference to the front end of proximity dog.
Dog type front end
reference
Returns to home position to Z-phase pulse with reference to the first Z-phase pulse.
Dogless Z-phase reference
Home position return direction settable, home position shift distance settable,
(Note 2)
home position address settable
Automatic positioning to home
High-speed automatic positioning to a defined home position
position function
Absolute position detection system, backlash compensation, overtravel prevention
Other functions
with external limit switches (LSP/LSN), roll feed display function, software stroke limit, mark
detection (current position latch) function, analog override function
Manual JOG operation
operation
mode
operation
Direct Drive Motors
Automatic
operation Program
mode
Linear Servo Motors
Speed command input
Rotary Servo Motors
Operating specification
Description
Program language (program with MR Configurator2)
Program capacity: 640 steps (256 programs)
Set with program language.
Setting range of feed length: -999999 to 999999 [10STM m],
Set with program language.
Setting range of feed length: -999999 to 999999 [10STM m],
Set servo motor speed, acceleration/deceleration time constants, S-pattern acceleration/
deceleration time constants with program language.
S-pattern acceleration/deceleration time constants are also settable with [Pr. PC03].
Signed absolute value command method/signed incremental value command method
0 V DC to 10 V DC/0% to 200%
Servo Amplifiers
Positioning operation is executed by selecting programs with command signals. The programs including position data, servo motor
speed, acceleration/deceleration time constants and others need to be created beforehand. The program method enables more
complex positioning operation than the point table method. MR Configurator2 is required to create programs.
Servo Amplifiers

Command List
Command
SPN(setting value)
(Note 2)
STA(setting value)
(Note 2)
STB(setting value)
(Note 2)
STC(setting value)
(Note 2)
STD(setting value)
(Note 2)
MOV(setting value)
(Note 4, 5)
MOVA(setting value)
(Note 4, 5)
MOVI(setting value)
Name
Servo motor speed
Acceleration time
constant
Deceleration time
constant
Acceleration/
deceleration time
constants
S-pattern acceleration/
deceleration time
constants
Absolute value travel
command
Absolute value
continuous travel
command
Incremental value
travel command
Incremental value
continuous travel
command
Setting range
Description
Set a command speed for the servo motor in positioning.
0 to instantaneous permissible speed
Do not set a value exceeding the instantaneous permissible
[r/min] [mm/s]
speed of the servo motor.
Set acceleration time constant. The setting value is a time period
0 to 20000 [ms]
that the servo motor reaches the rated speed from a stop.
Set deceleration time constant. The setting value is a time
0 to 20000 [ms]
period that the servo motor stops from the rated speed.
Set acceleration and deceleration time constants. The setting
0 to 20000 [ms]
value is a time period that the servo motor reaches the rated
speed from a stop and stops from the rated speed.
0 to 1000 [ms]
Set S-pattern acceleration/deceleration time constants.
-999999 to 999999 [10STM m] Travels according to the value set as an absolute value.
-99.9999 to 99.9999 [10STM inch]
-360.000 to 360.000 [degree]
Travels continuously according to the value set as an absolute
-999999 to 999999 [pulse]
value. Be sure to write this command after [MOV] command.
-999999 to 999999 [10STM m] Travels according to the value set as an incremental value.
-99.9999 to 99.9999 [10STM inch]
Travels continuously according to the value set as an
-999999 to 999999 [degree]
MOVIA(setting value)
incremental value. Be sure to write this command after
(Note 4, 5)
-999999 to 999999 [pulse]
[MOVI] command.
Stops the next step until PI1 (Program input 1) to PI3
SYNC(setting value)
Waiting for external
1 to 3
(Program input 3) turn on after SOUT (SYNC synchronous
(Note 1)
signal to switch on
output) is outputted.
OUTON(setting value) External signal on
Turns on OUT1 (Program output 1) to OUT3 (Program output
1 to 3
(Note 1)
output
3).
OUTOF(setting value) External signal off
Turns off OUT1 (Program output 1) to OUT3 (Program output
1 to 3
(Note 1)
output
3) which were turned on with [OUTON] command.
-999999 to 999999 [10STM m] Executes the next step after [MOV] or [MOVA] commands are
TRIP(setting value)
Absolute value trip
-99.9999 to 99.9999 [10STM inch] started and then the servo motor moves for the travel amount
(Note 1, 4, 5)
point specification
-360.000 to 360.000 [degree]
set in [TRIP] command. Be sure to write this command after
-999999 to 999999 [pulse]
[MOV] or [MOVA] command.
Executes the next step after [MOVI] or [MOVIA] commands
TRIPI(setting value)
Incremental value trip
are started and then the servo motor moves for the travel
-999999 to 999999 [10STM m]
(Note 1, 4, 5)
point specification
amount set in [TRIPI] command. Be sure to write this
STM
-99.9999 to 99.9999 [10
inch]
command after [MOVI] or [MOVIA] command.
-999999 to 999999 [degree]
Stops the operation after the servo motor moves for the travel
-999999 to 999999 [pulse]
ITP(setting value)
Interrupt positioning
amount set when the interrupt signal is inputted. Be sure to
(Note 1, 3, 4, 5)
write this command after [SYNC] command.
Executes the next step when the value of the pulse counter
COUNT(setting value)
External pulse count
-999999 to 999999 [pulse]
exceeds the count value set in [COUNT] command. [COUNT
(Note 1)
(0)] clears the pulse counter to zero.
Repeats the steps between [FOR (setting value)] and [NEXT]
FOR(setting value)
0, and 1 to 10000
Step repeat command
commands for the number of times set. Repeats endlessly
NEXT
[number of times]
with [FOR (0) NEXT].
Latches the current position with the rising edge of the LPS
LPOS (Note 1)
Current position latch
signal. The latched current position data can be read with the
communication command.
TIM(setting value)
Dwell
1 to 20000 [ms]
Waits for the next step until the set time passes.
ZRT
Home position return
Executes a manual home position return.
Set the number of program execution by writing [TIMES
Program count
0, and 1 to 10000
(setting value)] command in the first line of the program. The
TIMES(setting value)
command
[number of times]
setting is not required for executing once. Repeats endlessly
with [TIMES (0)].
Stops the program in execution. Be sure to write this
STOP
Program stop
command in the final line.
(Note 4, 5)
Notes: 1. [SYNC], [OUTON], [OUTOF], [TRIP], [TRIPI], [ITP], [COUNT], and [LPOS] commands are valid while the commands are outputted.

2. [SPN] command is valid while [MOV], [MOVA], [MOVI], or [MOVIA] command is in execution. [STA], [STB], [STC], and [STD] commands are valid while [MOV] or [MOVI]
command is in execution.

3. [ITP] command will be skipped to the next step when the remaining distance equals to or less than the setting value, when the servo motor is not running, or when the
servo motor is decelerating.

4. Change the unit to m/inch/degree/pulse with [Pr. PT01].

1-87

Command
Name
Setting range
Program example 1
Program (Note 1)
SPN(3000)
STA(200)
STB(300)
MOV(1000)
TIM(100)
MOV(2500)
STOP
Description
Servo motor speed: 3000 [r/min]
Acceleration time constant: 200 [ms]
Deceleration time constant: 300 [ms]
Absolute value travel command: 1000 [10STM m]
Dwell: 100 [ms]
Program stop
Direct Drive Motors
Step
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(2) Acceleration
(3) Deceleration
(3) Deceleration (2) Acceleration
time constant
time constant
time constant
time constant
(200 [ms])
(200 [ms])
(300 [ms])
(300 [ms])
Servo motor
speed
(1) Speed
(1) Speed
(3000 [r/min])
(3000 [r/min])
1000
(5) Dwell (100 [ms])

1000
Options/Peripheral
Equipment
Position address
2500
(6) Absolute value travel command

(2500 10STM [m])

(1000 10STM [m])
Linear Servo Motors
The following is an example of executing two types of operations with the same servo motor speed and acceleration/deceleration time
constants but the different travel commands.
Rotary Servo Motors
Description
Limits the torque generated by the servo motor driving in CCW and regenerating in
Forward rotation
TLP(setting value)
0, and 1 to 1000 [0.1%] CW, as the maximum torque is 100%. The setting remains valid until the program is
torque limit
stopped. [TLP (0)] enables the setting of [Pr. PA11].
Limits the torque generated by the servo motor driving in CW and regenerating in
Reverse rotation
TLN(setting value)
0, and 1 to 1000 [0.1%] CCW, as the maximum torque is 100%. The setting remains valid until the program
torque limit
is stopped. [TLN (0)] enables the setting of [Pr. PA12].
Limits the torque generated by the servo motor, as the maximum torque is 100%.
TQL(setting value) Torque limit
0, and 1 to 1000 [0.1%] The setting remains valid until the program is stopped. [TQL (0)] enables the settings
of [Pr. PA11] and [Pr. PA12].
Servo Amplifiers
Command list
Program example 2
The following is an example of repeating the steps between [FOR (setting value)] and [NEXT] commands for the number of times set.
Servo motor
speed
(2) Acceleration
time constant
(20 [ms])
Description
Servo motor speed: 3000 [r/min]
Acceleration/deceleration time constants: 20 [ms]
Dwell: 100 [ms]
Starting the step repeat command: 3 [number of times]
Incremental value travel command: 100 [10STM m]
Dwell: 100 [ms]
Ending the step repeat command
Program stop
Product List
Program (Note 1)
SPN(3000)
STC(20)
MOV(1000)
TIM(100)
FOR(3)
MOVI(100)
TIM(100)
NEXT
STOP
LVS/Wires
Step
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(2) Deceleration
time constant
(20 [ms])
(1) Speed
(3000 [r/min])
(4) Dwell
(100 [ms])
(7) Dwell (100 [ms])

1000

(1000 10STM [m])
1100
1200
1300
Cautions
Position address
(6) Incremental value travel command(100 10STM [m])
Steps (6) and (7) are repeated for the number of times specified by step (5).
Notes: 1. The values in [SPN], [STA], [STB], and [STC] commands remains valid until they are reset. The values will not be initialized at the start of the program. The settings are
also valid in other programs.
1-88
Servo Amplifiers
MR-J4-A-RJ Standard Wiring Diagram Example: Program Method

Servo amplifier
MR-J4-A-RJ
Control circuit
power supply
CN1
OPC
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR
Forced stop 2
Servo-on
Operation mode selection
Proximity dog
Program No. selection 1
2 m or shorter
10 m or shorter
power supply
10 m or shorter
Malfunction
Rough match
Travel completion
In-position
Ready
R
A
1
R
A
2
R
A
3
R
A
4
R
A
5
R
A
6
Preliminary DO
Upper limit setting
L1
LG
OP
SD
EM2
SON
MD0
ST1
ST2
DOG
LSP
LSN
DI0
DI1
DI2 (Note 6)
DI3 (Note 6)
DOCOM

L2

voltage.
this catalog.

Control common
Control common
(Open collector)
L3
Power cable
L11
L21
CN2
12
20
46
8
9
4
5
6
7
Encoder cable
34
33
Plate
42
15
16
17
18
45
43
44
19
41
10
35
47
DICOM
ALM
CPO
ZP
MEND
INP
RD
(Note 5)
(Note 5)
21
48
22
23
25
24
49
13
14
P15R
VC
LG
1
2
28
(Note 2)
5
4
3
6
1
7
8
Servo motor
CN2L
CN8 (Note 3)

connection.

CN3 RS-422 (Note 1)
RDP
RDN
SDP
SDN
GND
GND
SDP
SDN
RDP
RDN
LG
LG
TRE
30 m or shorter
CN4
1
2
Parameter unit
MR-PRU03 (Note 7, 8)

detection system.
BAT
LG
Personal computer
CN5
Main circuit
power supply

connection
Setup software
MR Configurator2
USB cable
MR-J3USBCBL3M
10 m or shorter
Analog override
10 V/0% to 200%
Upper limit setting
Analog torque limit

TLA
SD
2 m or shorter
27
Plate
3
1
2
CN6
MO1
LG
MO2
2 m or shorter





generator.


8. Programs cannot be edited with the parameter unit.

9. Assign the output devices mentioned to CN1-22 pin, CN1-23 pin, and CN1-25 pin with [Pr. PD23], [Pr. PD24] and [Pr. PD26].
1-89
MR-J4-A-RJ Positioning Function: Indexer (Turret) Method
Description
Positioning by specifying the station position
The maximum number of divisions: 255
Selects the rotation speed and acceleration/deceleration time
Rotation direction specifying indexer, shortest rotating indexer
Linear Servo Motors

Direct Drive Motors
Selects the override multiplying factor by DI

Positions to the specified station.
Rotation direction settable
Positions to the specified station.
Rotates in the shorter direction from the current position.
Decelerates to a stop regardless of the station
Rotates in a direction specified by the rotation direction decision when the start signal turns on.
Positions to the nearest station where the servo motor can decelerate to a stop when the start
signal turns off.
Returns to home position upon Z-phase pulse after passing through the front
Torque limit changing
dog type
Home position return direction selectable, home position shift distance settable,
Home position
home position address settable, torque limit automatic switching function
return mode
Torque limit changing
Any position settable as home position, home position address settable, torque limit automatic
data set type
switching function
Absolute position detection system, backlash compensation, overtravel
Other functions
prevention with external limit switches (LSP/LSN), digital override function
Rotary Servo Motors
Item
Command interface
Operating
specification
Speed command
Command method
input
System
Digital override
Torque limit
Rotation direction
Automatic
specifying indexer
operation
Shortest rotating
mode
indexer
JOG operation
Manual
operation
Station JOG
Operation mode
operation
mode
Servo Amplifiers
Positioning is executed by specifying stations (maximum of 255 stations).

Travel distance is automatically calculated with parameters by setting the numbers of stations.
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
1-90
Servo Amplifiers
MR-J4-A-RJ Positioning Function: Indexer (Turret) Method

Rotation direction specifying indexer
In the rotation direction specifying indexer, the servo motor always rotates in a definite direction.
Turn off MD0 (Operation mode selection 1), and turn on MD1 (Operation mode selection 2). The servo motor moves in the station No.
decreasing direction with SIG (Rotation direction decision) off, and in the increasing direction with SIG on. When ST1 (Forward rotation
direction) turns on, the travel amount will be calculated from the current position and the next station position, and then the positioning
will be executed to the direction specified by the rotation direction decision.
The following timing chart is an example of the operation executed from the station No. 0 where the servo motor is stopped at servo-on.
5
6
The number of stations: 8
MD0 (Operation mode selection 1)
ON
OFF
ON
OFF
SIG (Rotation direction decision)
ON
OFF
ST1 (Forward rotation start)
ON
OFF
Next station position

No. 1
Next station position input
Automatic operation speed 1

Station position
No. 1
Servo motor speed
MEND (Travel completion)
ON
OFF
Shortest rotating indexer

In the shortest rotating indexer, the servo motor automatically rotates in the shorter direction.
Turn on both MD0 (Operation mode selection 1) and MD1 (Operation mode selection 2). When ST1 (Forward rotation direction) turns on,
the travel amount will be calculated from the current position and the next station position, and then the positioning will be executed in the
shorter direction.
The following timing chart is an example of the operation executed from the station No. 0 where the servo motor is stopped at servo-on.
3
5
6
The number of stations: 8
ON
OFF
ON
OFF
ST1 (Forward rotation start)
ON
OFF
Next station position

No. 1
Next station position input
Automatic operation speed 1

Station position
No. 1
Servo motor speed
MEND (Travel completion)
1-91
ON
OFF
MR-J4-A-RJ Standard Wiring Diagram Example: Indexer (Turret) Method

Servo Amplifiers
Servo amplifier
MR-J4-A-RJ
connection
CN1

Control common
Control common
(Open collector)
2 m or shorter
10 m or shorter
power supply
R
A
2
R
A
3
R
A
4
R
A
5
R
A
6
Preliminary DO
Power cable
L11
L21
CN2
12
20
46
8
9
4
5
6
7
Encoder cable
CN2L
34
33
Plate
42
15
16
17
18
45
43
44
19
41
10
35
47
DICOM
ALM
CPO
ZP
MEND
INP
RD
(Note 5)
(Note 5)
21
48
22
23
25
24
49
13
14
P15R
LG
TLA
SD
1
28
27
Plate
CN8 (Note 3)
(Note 2)
5
4
3
6
1
7
8
Servo motor

connection.

CN3 RS-422 (Note 1)
RDP
RDN
SDP
SDN
GND
GND
SDP
SDN
RDP
RDN
LG
LG
TRE
30 m or shorter
CN4
1
2
Parameter unit
MR-PRU03 (Note 7)
Options/Peripheral
Equipment
Rough match
Travel completion
In-position
Ready
R
A
1
EM2
SON
MD0
ST1
MD1
SIG
LSP
LSN
DI0
DI1
DI2 (Note 6)
DI3 (Note 6)
DOCOM
Direct Drive Motors
10 m or shorter
LG
OP
SD
L3
Linear Servo Motors
OPC
DICOM
DOCOM
LZ
LZR
LA
LAR
LB
LBR

Rotary Servo Motors
Control circuit
power supply
Malfunction
L1
L2

voltage.
this catalog.
Forced stop 2
Servo-on
Operation mode selection 1
(Note 8) Operation mode selection 2
External limit/rotation direction decision/automatic speed selection
Next station No. selection 1

detection system.
BAT
LG
Personal computer
CN5
Main circuit
power supply
Setup software
MR Configurator2
USB cable
MR-J3USBCBL3M
Upper limit setting
Analog torque limit

2 m or shorter
3
1
2
CN6
LVS/Wires
10 m or shorter
MO1
LG
MO2
2 m or shorter
1-92
Cautions
Product List





generator.


8. Assign the output devices mentioned to CN1-18, CN1-22 pin, CN1-23 pin, and CN1-25 pin with [Pr. PD10], [Pr. PD23], [Pr. PD24] and [Pr. PD26].
Servo Amplifiers
MR-J4-A/MR-J4-A-RJ Dimensions
A-RJ
MR-J4-10A, MR-J4-10A-RJ, MR-J4-10A1, MR-J4-10A1-RJ

40
135
Approx. 80
L1
L1
6 mounting hole
C
N
3
NP3
CN8
C
N
8
P4
CNP1
CN3
(Note 2)
161
156
L3
CNP3
(Note 1)
CN6
C
N
5
C
N
6
L1
L2
CNP2
(Note 1)
L2
CN5
P+
C
CN1
D
L11
L21
C
N
1
U
V
C
N
2
C
N
2
L
C
N
4
P+
(21)
When mounting
MR-BAT6V1SET
PE
N-
CNP3
(38.5)
C
CNP2
L11
L11
L21
L21
U
(69.3)
Screw size: M4
P+
C
CNP2
PE
L3
P4
CN4
CNP1
N-
P3
CN2
CN2L(Note 2)
L2
C
N
7
168
CNP1
(Note 1)
U
CNP3

or 1-phase 200 V AC
[Unit: mm]

MR-J4-60A, MR-J4-60A-RJ
6 mounting hole
40
Approx. 80
170
L1
L1
L2
CN5
156
L3
CNP2
(Note 1)
CNP3
(Note 1)
CN3
C
N
3
NP3
CN8
C
N
8
P4
(Note 2)
P+
C
D
CN1
L11
L21
CNP1
N-
CN2
CN2L(Note 2)
C
N
2
C
N
2
L
C
N
4
CNP2
(21)
CN4
When mounting
MR-BAT6V1SET
PE
CNP3
(38.5)
C
CNP2
L11
L11
L21
L21
U
(69.3)
Screw size: M4
P+
NP4
P+
PE
L3
P3
C
N
1
L2
C
N
7
168
L2
CNP1
CN6
C
N
5
C
N
6
L1
161
CNP1
(Note 1)
U
CNP3

or 1-phase 200 V AC
[Unit: mm]
60
6 mounting hole
Approx. 80
L1
Exhaust
L2
CN5
L2
L3
C
N
3
N-
CNP2
(Note 1)
P3
C
N
8
P4
P+
C
D
CNP3
(Note 1)
CN6
CN8
CN1
L11
L21
CNP1
CN3
(Note 2)
161
C
N
5
C
N
6
L1
U
V
6
(38.5)
12
D
L11
When mounting
MR-BAT6V1SET
L21
Intake
(69.3)
Cooling fan
U
CNP3
42

2. CN2L and CN7 connectors are not available for MR-J4-A servo amplifier.
V
W
1-93
C
CNP2
(21)
PE
Screw size: M4
P+
CN2
CN2L(Note 2)
CN4
C
N
2
C
N
2
L
C
N
4
NP4
C
N
1
PE
L3
P3
C
N
7
168
CNP1
(Note 1)
156
185
12
[Unit: mm]
A-RJ
Servo Amplifiers
MR-J4-60A4, MR-J4-60A4-RJ
MR-J4-100A4, MR-J4-100A4-RJ
60
N-
L2
CNP2
(Note 1)
L1
CN3
CN8
(Note 2)
P3
P4
P+
CN1
156
L3
N-
CN5
CN6
C
D
CNP3
(Note 1)
L11
L21
CN2 CN2LCN4
U
V
CN1
CN2
CN2L(Note 2)
CN4
Screw size: M4
P+
C
CNP2
(21)
When mounting
MR-BAT6V1SET
D
L11
L21
(69.3)
42
CNP3
V
W
[Unit: mm]
90
85
Approx. 80
L1
L3
156
N-
CNP3
(Note 1)
C
N
8
P3
P4
P+
C
C
N
1
D
L11
L21
U
CN3
CN8
CN1
(Note 2)
CNP1
C
N
7
(21)
78
(38.5)
Screw size: M4
P+
CNP2
PE
NP4
CN2
CN2L(Note 2)
CN4
PE
L3
P3
C
N
2
L
C
N
4
L2
When mounting
MR-BAT6V1SET
D
L11
Intake
(69.3)
Options/Peripheral
Equipment
C
N
2
V
W
L1
CN5
CN6
161
C
N
5
C
N
6
C
N
3
L2
CNP2
(Note 1)
168
CNP1
(Note 1)
195
Exhaust
45
Direct Drive Motors
6 mounting hole
Linear Servo Motors
(38.5)
12
L3
P4
PE
6
L2
P3
CNP1
PE
Rotary Servo Motors
L1
CN7
CN5CN6 CN3 CN8
CNP1
(Note 1)
195
168
Approx. 80
161
12
6 mounting hole
L21
Cooling fan
U
CNP3
V
W
MR-J4-200A4, MR-J4-200A4-RJ
90
Approx. 80
C
N
5
C
N
6
N-
L2
C
N
3
L3
C
N
8
P3
CNP1
CN8
(Note 2)
C
N
7
D
L11
L21
U
C
N
2
C
N
2
L
C
N
4
78
When mounting
MR-BAT6V1SET
Intake
(69.3)
D
L11
L21
Cooling fan
CNP3
Cautions
C
CNP2
(21)
(38.5)
Screw size: M4
P+
CN2
CN2L(Note 2)
CN4
PE
L3
P4
PE
L2
P3
C
N
1
CNP3
(Note 1)
L1
CN3
CN1
P4
P+
N-
CN5
CN6
Product List
156
L1
CNP2
(Note 1)
168
CNP1
(Note 1)
195
Exhaust
45
85
161
6 mounting hole
LVS/Wires
[Unit: mm]
V
W

[Unit: mm]
1-94
Servo Amplifiers
A-RJ
90
Mounting hole
Approx. 80
85
45
195
L1
Exhaust
6
L2
L2
L3
N-
CNP3
(Note 1)
(R
(Note 2)
P4
CNP2
(Note 1)
CN2
P+
C
D
L11
L21
CN1
U
CNP3
C
CNP2
L11
L21
PE
(21)
78
P+
P4
CN2L CN4
CN2
CN2L(Note 2)
CN4
(38.5)
NP3
PE
6
L3
CNP1
13 hole
168
161
CN1
156
P3
CN5
CN6
CN3
CN8
10
L1
CN7
CN5CN6 CN3 CN8
CNP1
(Note 1)
When mounting
MR-BAT6V1SET
Intake
(69.3)
Cooling fan
Screw size: M4
[Unit: mm]
MR-J4-350A4, MR-J4-350A4-RJ
2-6 mounting hole
105
93
Approx. 80
200
(28)
7.5
CN5CN6 CN3
CNP1
(Note 1)
NL1
L2
235
P3
P4
CN1
CNP2
(Note 1)
CN8
L3
250
6
Cooling fan
Exhaust
P+
C
D
L11
L21
CN2 CN2L CN4
CNP3
(Note 1)
U
V
N-
PE
L1
CN5
CN6
CN3
CN8
CNP1
L2
L3
Screw size: M4
P3
CN1
P4
CN2
CN2L(Note 2)
CN4
P+
C
CNP2
When mounting
MR-BAT6V1SET
D
L11
L21
7.5
Intake
PE
U
CNP3
(34) (38.5)
[Unit: mm]
(25)
6
105
93
Approx. 80
(28)
200
6
Cooling fan
Exhaust
7.5
2-6 mounting hole
C
N
5
C
N
6
C
N
3
250
235
C
N
8
C
N
1
C
N
2
C
N
2
L
CN5
CN6
CN3
CN8
Terminal diagram
TE2
TE2
C
N
5
C
N
6
TE1
C
N
3
C
N
1
TE3
TE4
L3
P3
TE3
Intake
L2
N-
C
N
2
L
C
N
4
When mounting
MR-BAT6V1SET
7.5
TE1
C
N
2
C
N
4
L11
L21
PE
L1
C
N
8
CN1
CN2
CN2L(Note 2)
CN4
PE
P4
P+
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
TE4: M4
PE: M4
(34) (38.5)
D
TE4
U
V
W
[Unit: mm]

1-95
A-RJ
Servo Amplifiers
MR-J4-500A4, MR-J4-500A4-RJ
Approx. 80
(28)
130
118
6
7.5
2-6 mounting hole
200
Cooling fan
Exhaust
Terminal diagram
250
235
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
PE: M4
C
N
5
C
N
6
C
N
3
C
N
8
CN2
CN2L(Note 1)
CN4
C
N
1
C
N
2
C
N
2
L
C
N
4
TE2
Intake
TE2
L11 L21
PE
TE3
N- P3 P4
TE1
fixing screw
L1 L2 L3 P+
(60)
PE
[Unit: mm]
7.5
Approx. 80
(28)
2-6 mounting hole
6
Cooling fan
Terminal diagram
Exhaust
C
N
5
C
N
6
C
N
3
C
N
8
C
N
1
300
285
200
C
N
2
C
N
2
L
CN5
CN6
CN3
CN8
CN1
Terminal screw size

TE1: M4
TE2: M3.5
TE3: M4
PE: M4
C
N
5
C
N
6
C
N
3
C
N
8
C
N
1
CN2
CN2L(Note 1)
CN4
C
N
2
C
N
2
L
C
N
4
When mounting
MR-BAT6V1SET
Options/Peripheral
Equipment
C
N
4
Direct Drive Motors
172
160
TE3
Intake
TE1
PE
fixing screw
TE2
N- P3 P4
TE2
TE1
L1 L2 L3 P+
L11 L21
PE
[Unit: mm]
Notes: 1. CN2L and CN7 connectors are not available for MR-J4-A servo amplifier.
LVS/Wires
(101)
(38.5)
7.5
TE3
6
Linear Servo Motors
(38.5)
7.5
TE3
TE1
When mounting
MR-BAT6V1SET
Rotary Servo Motors
CN5
CN6
CN3
CN8
CN1
Product List
Cautions
1-96
Servo Amplifiers
A-RJ
MR-J4-11KA, MR-J4-11KA-RJ, MR-J4-11KA4, MR-J4-11KA4-RJ

Approx. 80
220
12
196
2-6 mounting hole
10
10.5
Cooling fan
Exhaust
Terminal diagram
CN5
CN6
CN3
CN8
CN1
CN2
CN2L(Note 1)
CN4
380
400
260
(28)
12
Terminal screw size

TE1-1: M6
TE1-2: M6
TE2: M4
PE: M6
PE
TE1-1
TE1-2
TE2
When mounting
MR-BAT6V1SET
TE1-1
U
TE1-2
P3 P4 P+
N-
TE2
L11 L21
(38.5)
10
L1 L2 L3
Intake
188
224.2
237.4
(139.5)
PE
[Unit: mm]
12
12
Approx. 80
260
236
2-12 mounting hole
260
Cooling fan
Exhaust
Terminal diagram
Terminal screw size

TE1-1: M8
TE1-2: M8
TE2: M4
PE: M8
CN1
CN1
CN5
CN6
CN3
CN8
CN1
CN2
CN2L(Note 1)
CN4
When mounting
MR-BAT6V1SET
CN3 CN8
CN3 CN8
400
376
(28)
12

TE2
TE1-1
TE1-2
Intake
188.5
223.4
235.4
12
(38.5)
12
PE
TE1-1
L1 L2 L3
TE1-2
P3 P4 P+
N-
TE2
L11 L21
(179)
PE
[Unit: mm]
Notes: 1. CN2L and CN7 connectors are not available for MR-J4-A servo amplifier.
1-97
MR-J4-DU_A/MR-J4-DU_A-RJ Dimensions (Note 1)
A-RJ
Servo Amplifiers
MR-J4-DU30KA, MR-J4-DU30KA-RJ
MR-J4-DU37KA, MR-J4-DU37KA-RJ
MR-J4-DU45KA4, MR-J4-DU45KA4-RJ
300
260
2-7 mounting hole
(80)
20
10
Terminal diagram
Cooling fan
Exhaust
CN5CN6CN3 CN8
195
CN
CN1
CN2
CN2L(Note 2)
CN4
40
40
CN1
CN1
CN2
CN2
TE2-1
CN4
TE2-2
TE3
10
Linear Servo Motors
Exhaust
When mounting
MR-BAT6V1SET
Terminal screw size

TE1: M10
TE2-1: M6
TE2-2: M6
TE3: M4
PE: M10
155
CN4
380
360
100
CN5
CN6
CN3
CN8
CN5CN6CN3 CN8
CN A
CN40A
200
180
Rotary Servo Motors
20
10
PE
175.5
TE1
178.5
TE2-1
TE2-2
L+
L+
L-
LTE3
130.1
162.5
L11
L21
PE
TE1
V
[Unit: mm]
240
60
120
60
(80)
200
180
195
10
360
CN4
TE3
When mounting
MR-BAT6V1SET

Exhaust
175.5
PE
178.5
TE1
TE2
TE3
L+
L11
L-
L21
PE
TE1
V
170.5
152.5
LVS/Wires
10
155
CN4
TE2
CN2
CN2
380
40
CN1
CN1
Terminal screw size

TE1: M8
TE2: M6
TE3: M4
PE: M8
CN5CN6CN3 CN8
CN2
CN2L(Note 2)
CN4
Terminal diagram
CN A
CN
CN1
40
10
Cooling fan
Exhaust
CN5
CN6
CN3
CN8
CN5CN6 CN3 CN8
CN40A
100
Options/Peripheral
Equipment
2-6 mounting hole
Direct Drive Motors
Product List
[Unit: mm]
Notes: 1. For the panel cut dimensions, refer to "Panel Cut Dimensions for Converter Unit and Drive Unit" in this catalog.

2. CN2L and CN7 connectors are not available for MR-J4-DU_A_ drive unit.
Cautions
1-98
MEMO
Model Designation...........................................................................................................2-1
Combinations of Rotary Servo Motor and Servo Amplifier..............................................2-3

Specifications
HG-KR series..................................................................................................................2-7
HG-MR series..................................................................................................................2-9
HG-SR series................................................................................................................ 2-11
HG-JR series.................................................................................................................2-17
HG-RR series................................................................................................................2-29
HG-UR series................................................................................................................2-31
Dimensions
HG-KR series................................................................................................................2-34
HG-MR series................................................................................................................2-34
HG-SR series................................................................................................................2-35
HG-JR series.................................................................................................................2-36
HG-RR series................................................................................................................2-40
HG-UR series................................................................................................................2-41
Geared Servo Motor Specifications
HG-KR series (G1, G5, and G7)...................................................................................2-42
HG-SR series (G1, G1H, G5, and G7)..........................................................................2-49
Sizing Example..............................................................................................................2-60
Rotary Servo Motors
Rotary Servo Motors
Model Designation
For 200 V class
HG-KR 05 3 B
Symbol
Symbol
None
Symbol
None
J
Oil seal
None (Note 8)
Installed (Note 2, 3, 4)
Symbol Electromagnetic brake

None
None
B
Installed (Note 1)
Symbol
1
1M
2
3
Rated speed [r/min]

1000
1500
2000
3000
Symbol
05
1
2
4
5
7
8
10
12
15
20
30
35
42
Rated output [kW]

0.05
0.1
0.2
0.4
0.5
0.75
0.85
1.0
1.2
1.5
2.0
3.0
3.5 (Note 9)
4.2
G1
G1H
G5
G7
Symbol
50
60
70
80
90
11K
12K
15K
20K
22K
25K
30K
37K
Reducer (Note 5)
None
With reducer for general
industrial machines,
flange mounting
industrial machines, foot
mounting
With flange-output type
reducer for high precision
applications, flange
mounting
With shaft-output type
mounting
None
K
D
Shaft end
Standard (Straight
shaft) (Note 6)
Key shaft (with/without

key) (Note 7)
D-cut shaft (Note 7)
Rated output [kW]

5.0
6.0
7.0
8.0
9.0
11
12
15
20
22
25
30
37
Symbol
Inertia/capacity
HG-KR
Low inertia, small capacity
HG-MR
Ultra-low inertia, small capacity
HG-SR Medium inertia, medium capacity
HG-JR Low inertia, medium-large capacity
HG-RR Ultra-low inertia, medium capacity
HG-UR
Flat type, medium capacity
Notes: 1. Refer to electromagnetic brake specifications of each servo motor series in this catalog for the available models and detailed specifications.

2. Available in 0.1 kW or larger HG-KR/HG-MR series and all HG-SR series.

3. Oil seal is not installed in the geared servo motor.

4. Dimensions for HG-KR/HG-MR series with oil seal are different from those for the standard models. Contact your local sales office for more details.

5. Refer to "Geared Servo Motor Specifications" in this catalog for the available models and detailed specifications.

6. Standard HG-SR G1/G1H has a key shaft (with key).

7. Refer to special shaft end specifications of each servo motor series in this catalog for the available models and detailed specifications.

8. Oil seal is installed in HG-JR, HG-RR, and HG-UR series as a standard.

9. For HG-JR353(B), the rated output varies depending on the servo amplifier to be combined. Refer to "HG-JR 3000 r/min Series (Low Inertia, Medium Capacity) (200 V
Class) Specifications" for details.
2-1
Model Designation
Servo Amplifiers
For 400 V class
HG-SR 5 2 4 B
Symbol
Symbol
None
J
Oil seal
None (Note 4)
Installed (Note 2, 3)
400 V class
Rated output [kW]

0.5
0.75
1.0
1.5
2.0
3.5 (Note 8)
5.0
6.0
7.0
8.0
9.0
Symbol
11K
12K
15K
20K
22K
25K
30K
37K
45K
55K
Rated output [kW]

11
12
15
20
22
25
30
37
45
55
LVS/Wires
Symbol
5
7
10
15
20
35
50
60
70
80
90
G7
Key shaft (with/without

key) (Note 7)
Options/Peripheral
Equipment
Rated speed [r/min]

1000
1500
2000
3000
G5
Direct Drive Motors
Symbol
1
1M
2
3
G1H
None
Linear Servo Motors
Symbol Electromagnetic brake

None
None
B
Installed (Note 1)
G1
Reducer (Note 5)
None
industrial machines,
flange mounting
industrial machines, foot
mounting
With flange-output type
mounting
With shaft-output type
mounting
Rotary Servo Motors
Symbol
None
Shaft end
Standard (Straight
shaft) (Note 6)
Symbol
Inertia/capacity
HG-SR Medium inertia, medium capacity
HG-JR Low inertia, medium-large capacity
Product List
Notes: 1. Refer to electromagnetic brake specifications of each servo motor series in this catalog for the available models and detailed specifications.

2. Available in HG-SR series.

3. Oil seal is not installed in the geared servo motor.

4. Oil seal is installed in HG-JR series as a standard.

5. Refer to "Geared Servo Motor Specifications" in this catalog for the available models and detailed specifications.

6. Standard HG-SR G1/G1H has a key shaft (with key).

7. Refer to special shaft end specifications of each servo motor series in this catalog for the available models and detailed specifications.

8. For HG-JR3534(B), the rated output varies depending on the servo amplifier to be combined. Refer to "HG-JR 3000 r/min Series (Low Inertia, Medium Capacity) (400 V
Class) Specifications" for details.
Cautions
2-2
Rotary Servo Motors
Combinations of Rotary Servo Motor and Servo Amplifier (200 V/100 V Class)
Rotary servo motor
HG-KR053(B)
HG-KR13(B)
HG-KR
series
HG-KR23(B)
HG-KR43(B)
HG-KR73(B)
HG-MR053(B)
HG-MR13(B)
HG-MR
series
HG-MR23(B)
HG-MR43(B)
HG-MR73(B)
HG-SR51(B)
HG-SR81(B)
HG-SR121(B)
HG-SR
1000 r/min
series
HG-SR201(B)
HG-SR301(B)
HG-SR421(B)
HG-SR52(B)
HG-SR102(B)
HG-SR152(B)
HG-SR
2000 r/min HG-SR202(B)
series
HG-SR352(B)
HG-SR502(B)
HG-SR702(B)
HG-JR53(B)
HG-JR
3000 r/min HG-JR73(B)
series
HG-JR103(B)
MR-J4
MR-J4-10B(-RJ), MR-J4-10B1(-RJ),
MR-J4-10B-RJ010,
MR-J4-10A(-RJ), MR-J4-10A1(-RJ)
MR-J4-10B(-RJ), MR-J4-10B1(-RJ),
MR-J4-10B-RJ010,
MR-J4-10A(-RJ), MR-J4-10A1(-RJ)
MR-J4-20B(-RJ), MR-J4-20B1(-RJ),
MR-J4-20B-RJ010,
MR-J4-20A(-RJ), MR-J4-20A1(-RJ)
MR-J4-40B(-RJ), MR-J4-40B1(-RJ),
MR-J4-40B-RJ010,
MR-J4-40A(-RJ), MR-J4-40A1(-RJ)
MR-J4-70B(-RJ), MR-J4-70B-RJ010,
MR-J4-70A(-RJ)
MR-J4-10B(-RJ), MR-J4-10B1(-RJ),
MR-J4-10B-RJ010,
MR-J4-10A(-RJ), MR-J4-10A1(-RJ)
MR-J4-10B(-RJ), MR-J4-10B1(-RJ),
MR-J4-10B-RJ010,
MR-J4-10A(-RJ), MR-J4-10A1(-RJ)
MR-J4-20B(-RJ), MR-J4-20B1(-RJ),
MR-J4-20B-RJ010,
MR-J4-20A(-RJ), MR-J4-20A1(-RJ)
MR-J4-40B(-RJ), MR-J4-40B1(-RJ),
MR-J4-40B-RJ010,
MR-J4-40A(-RJ), MR-J4-40A1(-RJ)
MR-J4-70B(-RJ), MR-J4-70B-RJ010,
MR-J4-70A(-RJ)
MR-J4-60B(-RJ), MR-J4-60B-RJ010,
MR-J4-60A(-RJ)
MR-J4-100B(-RJ), MR-J4-100B-RJ010,
MR-J4-100A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-350B(-RJ), MR-J4-350B-RJ010,
MR-J4-350A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
MR-J4-60B(-RJ), MR-J4-60B-RJ010,
MR-J4-60A(-RJ)
MR-J4-100B(-RJ), MR-J4-100B-RJ010,
MR-J4-100A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-350B(-RJ), MR-J4-350B-RJ010,
MR-J4-350A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
MR-J4-700B(-RJ), MR-J4-700B-RJ010,
MR-J4-700A(-RJ)
MR-J4-60B(-RJ), MR-J4-60B-RJ010,
MR-J4-60A(-RJ)
MR-J4-70B(-RJ), MR-J4-70B-RJ010,
MR-J4-70A(-RJ)
MR-J4-100B(-RJ), MR-J4-100B-RJ010,
MR-J4-100A(-RJ)
Servo amplifier
MR-J4W2 (Note 1)
MR-J4W3 (Note 1)
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W3-444B
-
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-1010B
MR-J4W3-444B
-
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-1010B
MR-J4W2-77B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-1010B
Notes: 1. Any combination of the servo motors is possible as long as the servo motors are compatible with the servo amplifier. Refer to "Combinations of Multi-Axis Servo Amplifier
and Servo Motors" on p. 1-6 in this catalog.
2-3
Combinations of Rotary Servo Motor and Servo Amplifier (200 V Class)
HG-JR153(B)
HG-JR203(B)
HG-JR703(B)
HG-JR903(B)
HG-JR801(B)
HG-JR12K1(B)
HG-JR15K1
HG-JR
1000 r/min
series
HG-JR20K1
HG-JR30K1
HG-JR37K1
HG-JR701M(B)
HG-JR15K1M(B)
HG-JR
1500 r/min
series
HG-JR22K1M
HG-JR30K1M
HG-JR37K1M
HG-RR153(B)
HG-RR
series
HG-RR203(B)
HG-RR353(B)
HG-UR72(B)
HG-UR152(B)
HG-UR
series
HG-UR202(B)
HG-UR502(B)
MR-J4W2-77B
MR-J4W2-1010B
2-4
Cautions
HG-UR352(B)
Product List
HG-RR503(B)
LVS/Wires
HG-RR103(B)
Options/Peripheral
Equipment
HG-JR11K1M(B)
Direct Drive Motors
HG-JR25K1
MR-J4W3 (Note 1)
Linear Servo Motors
HG-JR601(B)
Servo amplifier/drive unit

MR-J4W2 (Note 1)
Rotary Servo Motors
HG-JR353(B)
HG-JR
3000 r/min
series
HG-JR503(B)
MR-J4
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-350B(-RJ), MR-J4-350B-RJ010,
MR-J4-350A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
MR-J4-700B(-RJ), MR-J4-700B-RJ010,
MR-J4-700A(-RJ)
MR-J4-11KB(-RJ), MR-J4-11KB-RJ010,
MR-J4-11KA(-RJ)
MR-J4-700B(-RJ), MR-J4-700B-RJ010,
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ)
MR-J4-11KA(-RJ)
MR-J4-15KA(-RJ)
MR-J4-22KA(-RJ)
MR-J4-22KA(-RJ)
MR-J4-DU30KB(-RJ),
MR-J4-DU30KA(-RJ)
MR-J4-DU37KB(-RJ),
MR-J4-DU37KA(-RJ)
MR-J4-700B(-RJ), MR-J4-700B-RJ010,
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ)
MR-J4-15KA(-RJ)
MR-J4-22KA(-RJ)
MR-J4-DU30KB(-RJ),
MR-J4-DU30KA(-RJ)
MR-J4-DU37KB(-RJ),
MR-J4-DU37KA(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-350B(-RJ), MR-J4-350B-RJ010,
MR-J4-350A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
MR-J4-70B(-RJ), MR-J4-70B-RJ010,
MR-J4-70A(-RJ)
MR-J4-200B(-RJ), MR-J4-200B-RJ010,
MR-J4-200A(-RJ)
MR-J4-350B(-RJ), MR-J4-350B-RJ010,
MR-J4-350A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
MR-J4-500B(-RJ), MR-J4-500B-RJ010,
MR-J4-500A(-RJ)
Servo Amplifiers
Rotary servo motor
Rotary Servo Motors
Combinations of Rotary Servo Motor and Servo Amplifier (400 V Class)

Rotary servo motor
HG-SR524(B)
HG-SR1024(B)
HG-SR1524(B)
HG-SR
2000 r/min HG-SR2024(B)
series
HG-SR3524(B)
HG-SR5024(B)
HG-SR7024(B)
HG-JR534(B)
HG-JR734(B)
HG-JR1034(B)
HG-JR1534(B)
HG-JR
3000 r/min HG-JR2034(B)
series
HG-JR3534(B)
HG-JR5034(B)
HG-JR7034(B)
HG-JR9034(B)
HG-JR6014(B)
HG-JR8014(B)
HG-JR12K14(B)
HG-JR15K14
HG-JR
1000 r/min
series
HG-JR20K14
HG-JR25K14
HG-JR30K14
HG-JR37K14
HG-JR701M4(B)
HG-JR11K1M4(B)
HG-JR15K1M4(B)
HG-JR22K1M4
HG-JR
1500 r/min
series
HG-JR30K1M4
HG-JR37K1M4
HG-JR45K1M4
HG-JR55K1M4
2-5
Servo amplifier/drive unit

MR-J4
MR-J4W2
MR-J4-60B4(-RJ), MR-J4-60B4-RJ010,
MR-J4-60A4(-RJ)
MR-J4-100B4(-RJ), MR-J4-100B4-RJ010,
MR-J4-100A4(-RJ)
MR-J4-200B4(-RJ), MR-J4-200B4-RJ010,
MR-J4-200A4(-RJ)
MR-J4-200B4(-RJ), MR-J4-200B4-RJ010,
MR-J4-200A4(-RJ)
MR-J4-350B4(-RJ), MR-J4-350B4-RJ010,
MR-J4-350A4(-RJ)
MR-J4-500B4(-RJ), MR-J4-500B4-RJ010,
MR-J4-500A4(-RJ)
MR-J4-700B4(-RJ), MR-J4-700B4-RJ010,
MR-J4-700A4(-RJ)
MR-J4-60B4(-RJ), MR-J4-60B4-RJ010,
MR-J4-60A4(-RJ)
MR-J4-100B4(-RJ), MR-J4-100B4-RJ010,
MR-J4-100A4(-RJ)
MR-J4-100B4(-RJ), MR-J4-100B4-RJ010,
MR-J4-100A4(-RJ)
MR-J4-200B4(-RJ), MR-J4-200B4-RJ010,
MR-J4-200A4(-RJ)
MR-J4-200B4(-RJ), MR-J4-200B4-RJ010,
MR-J4-200A4(-RJ)
MR-J4-350B4(-RJ), MR-J4-350B4-RJ010,
MR-J4-350A4(-RJ)
MR-J4-500B4(-RJ), MR-J4-500B4-RJ010,
MR-J4-500A4(-RJ)
MR-J4-700B4(-RJ), MR-J4-700B4-RJ010,
MR-J4-700A4(-RJ)
MR-J4-11KB4(-RJ), MR-J4-11KB4-RJ010,
MR-J4-11KA4(-RJ)
MR-J4-700B4(-RJ), MR-J4-700B4-RJ010,
MR-J4-700A4(-RJ)
MR-J4-11KB4(-RJ), MR-J4-11KB4-RJ010,
MR-J4-11KA4(-RJ)
MR-J4-11KB4(-RJ), MR-J4-11KB4-RJ010,
MR-J4-11KA4(-RJ)
MR-J4-15KB4(-RJ), MR-J4-15KB4-RJ010,
MR-J4-15KA4(-RJ)
MR-J4-22KB4(-RJ), MR-J4-22KB4-RJ010,
MR-J4-22KA4(-RJ)
MR-J4-22KB4(-RJ), MR-J4-22KB4-RJ010,
MR-J4-22KA4(-RJ)
MR-J4-DU30KB4(-RJ),
MR-J4-DU30KA4(-RJ)
MR-J4-DU37KB4(-RJ),
MR-J4-DU37KA4(-RJ)
MR-J4-700B4(-RJ), MR-J4-700B4-RJ010,
MR-J4-700A4(-RJ)
MR-J4-11KB4(-RJ), MR-J4-11KB4-RJ010,
MR-J4-11KA4(-RJ)
MR-J4-15KB4(-RJ), MR-J4-15KB4-RJ010,
MR-J4-15KA4(-RJ)
MR-J4-22KB4(-RJ), MR-J4-22KB4-RJ010,
MR-J4-22KA4(-RJ)
MR-J4-DU30KB4(-RJ),
MR-J4-DU30KA4(-RJ)
MR-J4-DU37KB4(-RJ),
MR-J4-DU37KA4(-RJ)
MR-J4-DU45KB4(-RJ),
MR-J4-DU45KA4(-RJ)
MR-J4-DU55KB4(-RJ),
MR-J4-DU55KA4(-RJ)
MR-J4W3
-
The following combination of the HG-JR servo motor and the servo amplifier increases the maximum torque from 300% to 400%
of the rated torque.
Rotary servo motor
HG-JR73(B)
HG-JR103(B)
HG-JR
3000 r/min HG-JR153(B)
series
HG-JR203(B)
HG-JR503(B)
MR-J4W2 (Note 1)
MR-J4W2-1010B
MR-J4W3 (Note 1)
-
The following combination of the HG-JR servo motor and the servo amplifier increases the maximum torque from 300% to 400%
of the rated torque.
Rotary servo motor
HG-JR534(B)
HG-JR1034(B)
HG-JR
3000 r/min HG-JR1534(B)
series
HG-JR2034(B)
HG-JR3534(B)
MR-J4W2 (Note 1)
MR-J4W3 (Note 1)
LVS/Wires
HG-JR5034(B)
Servo amplifier
Options/Peripheral
Equipment
HG-JR734(B)
MR-J4-100B4(-RJ/-RJ010),
MR-J4-100A4(-RJ)
MR-J4-200B4(-RJ/-RJ010),
MR-J4-200A4(-RJ)
MR-J4-200B4(-RJ/-RJ010),
MR-J4-200A4(-RJ)
MR-J4-350B4(-RJ/-RJ010),
MR-J4-350A4(-RJ)
MR-J4-350B4(-RJ/-RJ010),
MR-J4-350A4(-RJ)
MR-J4-500B4(-RJ/-RJ010),
MR-J4-500A4(-RJ)
MR-J4-700B4(-RJ/-RJ010),
MR-J4-700A4(-RJ)
MR-J4
Direct Drive Motors
Combinations of HG-JR Servo Motor Series and Servo Amplifier (400 V Class) for Increasing the
Maximum Torque to 400% of the Rated Torque
Linear Servo Motors
HG-JR353(B)
MR-J4-100B(-RJ/-RJ010),
MR-J4-100A(-RJ)
MR-J4-200B(-RJ/-RJ010),
MR-J4-200A(-RJ)
MR-J4-200B(-RJ/-RJ010),
MR-J4-200A(-RJ)
MR-J4-350B(-RJ/-RJ010),
MR-J4-350A(-RJ)
MR-J4-350B(-RJ/-RJ010),
MR-J4-350A(-RJ)
MR-J4-500B(-RJ/-RJ010),
MR-J4-500A(-RJ)
MR-J4-700B(-RJ/-RJ010),
MR-J4-700A(-RJ)
Servo amplifier
Rotary Servo Motors
HG-JR53(B)
MR-J4
Servo Amplifiers
Combinations of HG-JR Servo Motor Series and Servo Amplifier (200 V Class) for Increasing the
Maximum Torque to 400% of the Rated Torque
Product List
Cautions
2-6
Rotary Servo Motors
HG-KR Series (Low Inertia, Small Capacity) Specifications

Rotary servo motor model
Compatible servo amplifier model
Power supply capacity *1
Rated output
Continuous
running duty Rated torque (Note 3)
Maximum torque
Rated speed
Maximum speed
Permissible instantaneous speed
Power rate at Standard
continuous
With electromagnetic
rated torque
brake
Rated current
Maximum current
Regenerative MR-J4braking
MR-J4W_frequency *2
HG-KR
053(B)
13(B)
23(B)
43(B)
73(B)
MR-J4Refer to "Combinations of Rotary Servo Motor and Servo Amplifier" on p. 2-3 in this catalog.
MR-J4W_[kVA]
0.3
0.3
0.5
0.9
1.3
[W]
50
100
200
400
750
[Nm]
0.16
0.32
0.64
1.3
2.4
[Nm]
0.56
1.1
2.2
4.5
8.4
[r/min]
3000
[r/min]
6000
[r/min]
6900
[kW/s]
5.63
13.0
18.3
43.7
45.2
[kW/s]
5.37
12.1
16.7
41.3
41.6
[A]
[A]
0.9
3.2
0.8
2.5
1.3
4.6
2.6
9.1
4.8
17
[times/min]
(Note 4)
(Note 4)
453
268
157
[times/min]
2500
1350
451
268
393
Standard
[ 10-4 kgm2]
0.0450
0.0777
0.221
0.371
1.26
Moment of
inertia J
[ 10-4 kgm2]
0.0472
0.0837
0.243
0.393
1.37
brake
Recommended load to motor inertia ratio (Note 1)
17 times or less
26 times or less 25 times or less 17 times or less
Speed/position detector
Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)
Oil seal
None
None (Servo motors with oil seal are available. (HG-KR_J))
Insulation class
130 (B)
Structure
Totally enclosed, natural cooling (IP rating: IP65) (Note 2)
Ambient temperature
Ambient humidity
Operation: 80 %RH maximum (non-condensing), storage: 90 %RH maximum (non-condensing)
Environment *3 Ambience
Altitude
Vibration resistance *4
X: 49 m/s2 Y: 49 m/s2
Vibration rank
V10 *6
L
[mm]
25
25
30
30
40
Permissible
load for the
Radial
[N]
88
88
245
245
392
shaft *5
Thrust
[N]
59
59
98
98
147
Standard
[kg]
0.34
0.54
0.91
1.4
2.8
Mass
With electromagnetic brake [kg]
0.54
0.74
1.3
1.8
3.8
Notes: 1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.

2. The shaft-through portion is excluded. For geared servo motor, IP rating of the reducer portion is equivalent to IP44. Refer to the asterisk 7 of "Annotations for Rotary
Servo Motor Specifications" on p. 2-33 in this catalog for the shaft-through portion.

3. When unbalanced torque is generated, such as in a vertical lift machine, keep the unbalanced torque of the machine under 70% 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.
HG-KR053(B): The load to motor inertia ratio is 8 times or less, and the effective torque is within the rated torque range.
HG-KR13(B): The load to motor inertia ratio is 4 times or less, and the effective torque is within the rated torque range.
Refer to "Annotations for Rotary Servo Motor Specifications" on p. 2-33 in this catalog for the asterisks 1 to 6.
2-7
HG-KR Series Electromagnetic Brake Specifications (Note 1)

053B
73B
6.3
13B
23B
43B
Spring actuated type safety brake
24 V DC-100%
6.3
7.9
7.9
0.32
0.32
2.4
5.6
5.6
56
220
220
640
20000
20000
20000
20000
20000
5.6
5.6
22
22
64
10
1.3
22
22
64
Rotary Servo Motors
56
1.3
Servo Amplifiers
Model
HG-KR
Type
Rated voltage
Power consumption
[W] at 20 C
Electromagnetic brake static friction
[Nm]
torque
Per braking
[J]
Permissible braking work
Per hour
[J]
Number of brakings
Electromagnetic brake
[Times]
life (Note 2)
Work per braking
[J]
Notes: 1. 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.
HG-KR053(B) (Note 1, 2, 3, 4)
HG-KR13(B) (Note 1, 2, 3, 4)
0.6
0.5
0.25
Continuous
running range
1000 2000 3000 4000 5000 6000
Speed [r/min]
8.0
Short-duration
running range
Torque [Nm]
Torque [Nm]
0.5
Continuous
running range
1000 2000 3000 4000 5000 6000
Continuous running
range
1000 2000 3000 4000 5000 6000
Speed [r/min]
6.0
Short-duration
running range
Notes: 1.
: For 3-phase 200 V AC or

1-phase 230 V AC.
2.
: For 1-phase 100 V AC.
3.
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.
4.0
2.0
Continuous running
range
1000 2000 3000 4000 5000 6000
Speed [r/min]
Continuous
running range
1000 2000 3000 4000 5000 6000
Speed [r/min]
LVS/Wires
HG-KR Series Special Shaft End Specifications

Motors with the following specifications are also available.
D-cut shaft (Note 1): 50 W and 100 W
25
21.5
20.5
[Unit: mm]
Key shaft (with key) (Note 1, 2): 200 W, 400 W, and 750 W
R
Q
QK
QL
14h6
30
26
20
M4 screw
Depth: 15
HG-KR73(B)K
19h6
40
36
25
3.5
M5 screw
Depth: 20
QK
A
QL
Cautions
HG-KR23(B)K,
43(B)K
Variable dimensions
T
Product List
8h6
Model
Options/Peripheral
Equipment
1.0
10.0
2.0
1.0
Short-duration
running range
HG-KR73(B) (Note 1, 3, 4)
5.0
3.0
1.5
Speed [r/min]
HG-KR43(B) (Note 1, 2, 3, 4)
4.0
2.0
Short-duration
running range
Torque [Nm]
Torque [Nm]
0.2
0.75
2.5
Direct Drive Motors
Torque [Nm]
1.0
0.4
HG-KR23(B) (Note 1, 2, 3, 4)
1.25
Linear Servo Motors
HG-KR Series Torque Characteristics
A-A
[Unit: mm]
Notes: 1. The servo motors with special shaft end are not suitable for frequent start/stop applications.

2. 2 round end key is attached.
2-8
Rotary Servo Motors
HG-MR Series (Ultra-low Inertia, Small Capacity) Specifications

HG-MR
053(B)
13(B)
23(B)
43(B)
73(B)
MR-J4Compatible servo amplifier model
Refer to "Combinations of Rotary Servo Motor and Servo Amplifier" on p. 2-3 in this catalog.
MR-J4W_Power supply capacity *1
[kVA]
0.3
0.3
0.5
0.9
1.3
Rated output
[W]
50
100
200
400
750
Continuous
running duty
Rated torque (Note 3)
[Nm]
0.16
0.32
0.64
1.3
2.4
Maximum torque
[Nm]
0.48
0.95
1.9
3.8
7.2
Rated speed
[r/min]
3000
Maximum speed
[r/min]
6000
[r/min]
6900
[kW/s]
15.6
33.8
46.9
114.2
97.3
continuous
[kW/s]
11.3
28.0
37.2
98.8
82.1
rated torque
brake
Rated current
[A]
1.0
0.9
1.5
2.6
5.8
Maximum current
[A]
3.1
2.5
5.3
9.0
20
Regenerative
braking
frequency *2
MR-J4-
[times/min]
(Note 4)
(Note 4)
1180
713
338
MR-J4W_-
[times/min]
7310
3620
1170
710
846
Standard
[ 10 kgm ]
0.0162
0.0300
0.0865
0.142
0.586
-4
2
[ 10 kgm ]
0.0224
0.0362
0.109
0.164
0.694
brake
(Note
1)
Recommended load to motor inertia ratio
35 times or less
32 times or less
Oil seal
None
None (Servo motors with oil seal are available. (HG-MR_J))
Insulation class
130 (B)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 49 m/s2 Y: 49 m/s2
Vibration rank
V10 *6
L
[mm]
25
25
30
30
40
Permissible
load for the
Radial
[N]
88
88
245
245
392
shaft *5
Thrust
[N]
59
59
98
98
147
Standard
[kg]
0.34
0.54
0.91
1.4
2.8
Mass
With electromagnetic brake [kg]
0.54
0.74
1.3
1.8
3.8
Moment of
inertia J
-4

2. The shaft-through portion is excluded. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-33 in this catalog for the shaft-through portion.


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.
HG-MR053(B): The load to motor inertia ratio is 24 times or less, and the effective torque is within the rated torque range.
HG-MR13(B): The load to motor inertia ratio is 12 times or less, and the effective torque is within the rated torque range.
2-9
HG-MR Series Electromagnetic Brake Specifications (Note 1)

053B
73B
6.3
13B
23B
43B
24 V DC-100%
6.3
7.9
7.9
0.32
0.32
2.4
5.6
5.6
56
220
220
640
20000
20000
20000
20000
20000
5.6
5.6
22
22
64
10
1.3
22
22
64
Rotary Servo Motors
56
1.3
Servo Amplifiers
Model
HG-MR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
Electromagnetic brake life
[Times]
(Note 2)
Work per braking [J]

HG-MR053(B) (Note 1, 2, 3, 4)
HG-MR13(B) (Note 1, 2, 3, 4)
Continuous
running range
0.75
0.5
0.25
0
1000 2000 3000 4000 5000 6000
Speed [r/min]
0.5
Continuous running
range
1000 2000 3000 4000 5000 6000
Continuous running
range
1000 2000 3000 4000 5000 6000
Speed [r/min]
Short-duration
6.0 running range
Torque [Nm]
Short-duration
running range
Notes: 1.
4.0
2.0
Continuous running
range
1000 2000 3000 4000 5000 6000
Speed [r/min]
: For 3-phase 200 V AC or

1-phase 230 V AC.
2.
3.
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.
Continuous
running range
1000 2000 3000 4000 5000 6000
Speed [r/min]
LVS/Wires
HG-MR Series Special Shaft End Specifications

D-cut shaft (Note 1): 50 W and 100 W
25
21.5
20.5
[Unit: mm]
Key shaft (with key) (Note 1, 2): 200 W, 400 W, and 750 W
R
Q
QK
14h6
30
26
20
HG-MR73(B)K
19h6
40
36
25
M4 screw
Depth: 15
3.5
M5 screw
Depth: 20
QK
A
QL
Cautions
QL
Variable dimensions
HG-MR23(B)K,
43(B)K
Product List
8h6
Model
Options/Peripheral
Equipment
Torque [Nm]
1.0
8.0
2.0
Short-duration
running range
HG-MR73(B) (Note 1, 3, 4)
4.0
1.0
1.5
Speed [r/min]
HG-MR43(B) (Note 1, 2, 3, 4)
3.0
Short-duration
running range
Torque [Nm]
0.2
2.0
1.0
Torque [Nm]
0.4
HG-MR23(B) (Note 1, 2, 3, 4)
Direct Drive Motors
Torque [Nm]
0.6
Linear Servo Motors
HG-MR Series Torque Characteristics
A-A
[Unit: mm]

2. 2 round end key is attached.
2-10
Rotary Servo Motors
HG-SR 1000 r/min Series (Medium Inertia, Medium Capacity) Specifications

HG-SR
51(B)
81(B)
121(B)
201(B)
301(B)
421(B)
MR-J4Compatible servo amplifier model
Refer to "Combinations of Rotary Servo Motor and Servo Amplifier" on p. 2-3 in this catalog.
MR-J4W_Power supply capacity *1
[kVA]
1.0
1.5
2.1
3.5
4.8
6.3
Rated output
[kW]
0.5
0.85
1.2
2.0
3.0
4.2
Continuous
running duty
[Nm]
4.8
8.1
11.5
19.1
28.6
40.1
Maximum torque
[Nm]
14.3
24.4
34.4
57.3
85.9
120
Rated speed
[r/min]
1000
Maximum speed
[r/min]
1500
[r/min]
1725
Standard
[kW/s]
19.7
41.2
28.1
46.4
82.3
107
Power rate at
continuous
[kW/s]
16.5
36.2
23.2
41.4
75.3
99.9
rated torque
brake
Rated current
[A]
2.8
5.2
7.1
9.4
13
19
Maximum current
[A]
9.0
17
23
30
42
61
Regenerative
MR-J4[times/min]
77
114
191
113
89
76
braking
MR-J4W_[times/min]
392
286
frequency *2
-4
2
Standard
[ 10 kgm ]
11.6
16.0
46.8
78.6
99.7
151
Moment of
-4
2
inertia J
[ 10 kgm ]
13.8
18.2
56.5
88.2
109
161
brake
(Note
1)
17 times or less
15 times or less
Oil seal
None (Servo motors with oil seal are available. (HG-SR_J))
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
X: 24.5 m/s2 Y: 49 m/s2
X: 24.5 m/s2 Y: 29.4 m/s2
*6
Vibration rank
V10
L
[mm]
55
55
79
79
79
79
Permissible
load for the
Radial
[N]
980
980
2058
2058
2058
2058
shaft *5
Thrust
[N]
490
490
980
980
980
980
Standard
[kg]
6.2
7.3
11
16
20
27
Mass
[kg]
8.2
9.3
17
22
26
33
brake

2. The shaft-through portion is excluded. The servo motor with oil seal is rated IP67 as well (excluding the shaft-through portion). Refer to the asterisk 7 of "Annotations for
Rotary Servo Motor Specifications" on p. 2-33 in this catalog for the shaft-through portion.

2-11
HG-SR 1000 r/min Series Electromagnetic Brake Specifications (Note 1)

51B
81B
20
20
8.5
8.5
44
400
4500
301B
421B
34
34
44
44
44
4500
4500
4500
4000
4000
45000
45000
45000
45000
20000
20000
20000
20000
20000
20000
200
200
1000
1000
1000
1000
Rotary Servo Motors
400
121B
201B
24 V DC-100%
34
34
Servo Amplifiers
Model
HG-SR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-SR51(B) (Note 1, 2, 3, 4)
HG-SR81(B) (Note 1, 4)
30
HG-SR201(B) (Note 1, 4)
500
1000
Speed [r/min]
Torque [Nm]
Torque [Nm]
1500
10
Continuous
running range
500
1000
Speed [r/min]
1500
HG-SR421(B) (Note 1, 4)
150
Short-duration
running range
30
0
20
Continuous
running range
500
1000
Speed [r/min]
100
50
0
1500
Short-duration
running range
Options/Peripheral
Equipment
Continuous
running range
60
30 Short-duration
running range
1500
90
Short-duration
running range
20
0
Continuous
running range
500
1000
Speed [r/min]
HG-SR301(B) (Note 1, 4)
60
40
10
0
1500
Short-duration
running range
Torque [Nm]
Continuous running
range
500
1000
Speed [r/min]
20
40
Torque [Nm]
Short-duration
running range
Torque [Nm]
10
HG-SR121(B) (Note 1, 4)
Direct Drive Motors
Torque [Nm]
15
Linear Servo Motors
HG-SR 1000 r/min Series Torque Characteristics
Continuous
running range
500
1000
Speed [r/min]
1500

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.
LVS/Wires
Notes: 1.
2.
3.
HG-SR 1000 r/min Series Special Shaft End Specifications

HG-SR121(B)K, 201(B)K,
301(B)K, 421(B)K
S
24h6
+0.010
35 0
55
50
0
8 -0.036
79
75
10 -0.036
QK QL
+0.2
M8
screw
Depth:
20
36
+0.2
4 0
55
5 0
QL
A-A
Cautions

2. A key is not supplied with the servo motor. The key shall be installed by the user.
QK
HG-SR51(B)K, 81(B)K
Variable dimensions
Model
Product List
Key shaft (without key) (Note 1, 2)
[Unit: mm]
2-12
Rotary Servo Motors
HG-SR 2000 r/min Series (Medium Inertia, Medium Capacity) (200 V Class) Specifications
Rated output
Continuous
Maximum torque
Rated speed
Maximum speed
continuous
rated torque brake
Rated current
Maximum current
MR-J4W_frequency *2
Moment of
inertia J
Standard
brake
HG-SR
52(B)
102(B)
152(B)
202(B)
352(B)
502(B)
702(B)
MR-J4W_[kVA]
1.0
1.7
2.5
3.5
5.5
7.5
10
[kW]
0.5
1.0
1.5
2.0
3.5
5.0
7.0
[Nm]
2.4
4.8
7.2
9.5
16.7
23.9
33.4
[Nm]
7.2
14.3
21.5
28.6
50.1
71.6
100
[r/min]
2000
[r/min]
3000
[r/min]
3450
[kW/s]
7.85
19.7
32.1
19.5
35.5
57.2
74.0
[kW/s]
6.01
16.5
28.2
16.1
31.7
52.3
69.4
[A]
[A]
2.9
9.0
5.6
17
9.4
29
9.6
31
14
45
22
70
26
83
[times/min]
31
38
139
47
28
29
25
[times/min]
154
96
[ 10-4 kgm2]
7.26
11.6
16.0
46.8
78.6
99.7
151
[ 10-4 kgm2]
9.48
13.8
18.2
56.5
88.2
109
161

Oil seal
Insulation class
Structure
Ambient temperature
Ambient humidity
Altitude
Vibration rank
L
Permissible
load for the
Radial
shaft *5
Thrust
Standard
Mass
brake
[mm]
[N]
[N]
[kg]
[kg]
15 times or
less
17 times or less
15 times or less

155 (F)
X: 24.5 m/s2 Y: 24.5 m/s2
X: 24.5 m/s2 Y: 49 m/s2 X: 24.5 m/s2 Y: 29.4 m/s2
V10 *6
55
55
55
79
79
79
79
980
980
980
2058
2058
2058
2058
490
490
490
980
980
980
980
4.8
6.2
7.3
11
16
20
27
6.7
8.2
9.3
17
22
26
33

2. The shaft-through portion is excluded. The servo motor with oil seal is rated IP67 as well (excluding the shaft-through portion), and for geared servo motor, IP rating of the
reducer portion is equivalent to IP44. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-33 in this catalog for the shaft-through portion.

2-13
HG-SR 2000 r/min Series (200 V Class) Electromagnetic Brake Specifications (Note 1)
52B
102B
20
20
8.5
8.5
8.5
400
400
44
4500
44
4500
502B
702B
34
34
44
44
4500
4500
4000
4000
4000
45000
45000
45000
45000
20000
20000
20000
20000
20000
20000
20000
200
200
200
1000
1000
1000
1000

HG-SR102(B) (Note 1, 4)
15
3
Continuous
running range
0
1000
2000
Speed [r/min]
3000
1000
2000
Speed [r/min]
25
0
3000
Continuous
running range
1000
2000
Speed [r/min]
3000
Short-duration
running range
10
0
Continuous
running range
1000
2000
Speed [r/min]
3000
120
Short-duration
running range
Torque [Nm]
Torque [Nm]
Continuous
running range
20
Continuous
running range
1000
2000
Speed [r/min]
Short-duration
running range
80
40
Continuous
running range
3000
Options/Peripheral
Equipment
20
50
16
HG-SR702(B) (Note 1, 4)
75
Short-duration
running range
Short-duration
running range
3000
HG-SR502(B) (Note 1, 4)
60
Torque [Nm]
5
Continuous
running range
0
1000
2000
Speed [r/min]
HG-SR352(B) (Note 1, 4)
10
30
24
Short-duration
running range
Torque [Nm]
Torque [Nm]
6 Short-duration
running range
HG-SR202(B) (Note 1, 4)
Direct Drive Motors
Torque [Nm]
40
HG-SR152(B) (Note 1, 4)
Torque [Nm]
HG-SR52(B) (Note 1, 2, 3, 4)
Linear Servo Motors
HG-SR 2000 r/min Series (200 V Class) Torque Characteristics
Rotary Servo Motors
400
152B
202B
352B
24 V DC-100%
20
34
34
Servo Amplifiers
Model
HG-SR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)
1000
2000
Speed [r/min]
3000

LVS/Wires
Notes: 1.
2.
3.
HG-SR 2000 r/min Series (200 V Class) Special Shaft End Specifications
HG-SR202(B)K, 352(B)K,
502(B)K, 702(B)K
Variable dimensions
S
24h6
55
50
8 -0.036
79
75
10 -0.036
+0.010
35 0
QK QL
36
4 0
+0.2
+0.2
M8
screw
Depth:
20
55
5 0
QL
A-A
Cautions

QK
HG-SR52(B)K, 102(B)K,
152(B)K
Model
Product List
[Unit: mm]
2-14
Rotary Servo Motors
HG-SR 2000 r/min Series (Medium Inertia, Medium Capacity) (400 V Class) Specifications
HG-SR
524(B)
1024(B)
1524(B)
2024(B)
3524(B)
5024(B)
7024(B)
[kVA]
1.0
1.7
2.5
3.5
5.5
7.5
10
Rated output
[kW]
0.5
1.0
1.5
2.0
3.5
5.0
7.0
Continuous
[Nm]
2.4
4.8
7.2
9.5
16.7
23.9
33.4
Maximum torque
[Nm]
7.2
14.3
21.5
28.6
50.1
71.6
100
Rated speed
[r/min]
2000
Maximum speed
[r/min]
3000
[r/min]
3450
[kW/s]
7.85
19.7
32.1
19.5
35.5
57.2
74.0
continuous
[kW/s]
6.01
16.5
28.2
16.1
31.7
52.3
69.4
rated torque brake
Rated current
[A]
1.5
2.8
4.7
4.9
7.0
11
13
Maximum current
[A]
4.5
8.9
17
17
27
42
59
Regenerative
braking
MR-J4[times/min]
46
29
139
47
34
29
25
frequency *2
Standard
[ 10-4 kgm2]
7.26
11.6
16.0
46.8
78.6
99.7
151
Moment of
inertia J
[ 10-4 kgm2]
9.48
13.8
18.2
56.5
88.2
109
161
brake
15 times or
17 times or less
15 times or less
less
Oil seal
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
X: 24.5 m/s2 Y: 49 m/s2 X: 24.5 m/s2 Y: 29.4 m/s2
Vibration rank
V10 *6
L
[mm]
55
55
55
79
79
79
79
Permissible
load for the
Radial
[N]
980
980
980
2058
2058
2058
2058
shaft *5
Thrust
[N]
490
490
490
980
980
980
980
Standard
[kg]
4.8
6.2
7.3
11
16
20
27
Mass
[kg]
6.7
8.2
9.3
17
22
26
33
brake

2. The shaft-through portion is excluded. The servo motor with oil seal is rated IP67 as well (excluding the shaft-through portion), and for geared servo motor, IP rating of the
reducer portion is equivalent to IP44. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-33 in this catalog for the shaft-through portion.

2-15
HG-SR 2000 r/min Series (400 V Class) Electromagnetic Brake Specifications (Note 1)
524B
1024B
20
20
8.5
8.5
8.5
400
400
44
4500
44
4500
5024B
7024B
34
34
44
44
4500
4500
4000
4000
4000
45000
45000
45000
45000
20000
20000
20000
20000
20000
20000
20000
200
200
200
1000
1000
1000
1000

HG-SR1024(B) (Note 1, 2, 3)
15
1000
2000
Speed [r/min]
3000
HG-SR3524(B) (Note 1, 2, 3)
Torque [Nm]
Short-duration
running range
Continuous
running range
1000
2000
Speed [r/min]
50
25
0
3000
Short-duration
running range
16
Continuous
running range
3000
1000
2000
Speed [r/min]
3000
20
10
0
Short-duration
running range
Continuous
running range
1000
2000
Speed [r/min]
3000
HG-SR7024(B) (Note 1, 2, 3)
120
Short-duration
running range
Continuous
running range
1000
2000
Speed [r/min]
Short-duration
running range
80
40
Continuous
running range
3000
Options/Peripheral
Equipment
Torque [Nm]
1000
2000
Speed [r/min]
75
20
0
Continuous
running range
HG-SR5024(B) (Note 1, 2, 3)
60
40
Torque [Nm]
Continuous
running range
10
30
24
Short-duration
running range
Torque [Nm]
Torque [Nm]
Short-duration
running range
HG-SR2024(B) (Note 1, 2, 3)
Direct Drive Motors
Torque [Nm]
9
6
HG-SR1524(B) (Note 1, 2, 3)
Torque [Nm]
HG-SR524(B) (Note 1, 2, 3)
Linear Servo Motors
HG-SR 2000 r/min Series (400 V Class) Torque Characteristics
Rotary Servo Motors
400
1524B
2024B
3524B
24 V DC-100%
20
34
34
Servo Amplifiers
Model
HG-SR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)
1000
2000
Speed [r/min]
3000
LVS/Wires
Notes: 1.
2.
HG-SR 2000 r/min Series (400 V Class) Special Shaft End Specifications

S
24h6
+0.010
35 0
55
50
0
8 -0.036
79
75
10 -0.036
QK QL
+0.2
M8
screw
Depth:
20
36
+0.2
4 0
55
5 0

QK
QL
HG-SR2024(B)K, 3524(B)K,
5024(B)K, 7024(B)K
Variable dimensions
HG-SR524(B)K, 1024(B)K,
1524(B)K
Product List
Model
A-A
2-16
Cautions
[Unit: mm]
Rotary Servo Motors
HG-JR 3000 r/min Series (Low Inertia, Medium Capacity) (200 V Class) Specifications
Continuous
running duty
HG-JR
MR-J4MR-J4W_[kVA]
Rated output
Maximum torque (Note 5)

Rated speed
Maximum speed
continuous
rated torque brake
53(B)
1.0
[kW]
0.5
[Nm]
1.6
[Nm]
4.8
<6.4>
[r/min]
[r/min]
[r/min]
[kW/s]
16.7
73(B)
103(B)
153(B)
203(B)
353(B)
503(B)
703(B)
903(B)
Refer to "Combinations of Rotary Servo Motor and Servo Amplifier"
on pp. 2-3 and 2-4 in this catalog.
1.3
1.7
2.5
3.5
5.5
7.5
10
13
3.3
0.75
1.0
1.5
2.0
5.0
7.0
9.0
<3.5> (Note 4)
10.5
2.4
3.2
4.8
6.4
15.9
22.3
28.6
<11.1> (Note 4)
7.2
9.6
14.3
19.1
32.0
47.7
66.8
85.8
<9.6>
<12.7>
<19.1>
<25.5>
<44.6>
<63.7>
3000
6000
5000
6900
5750
27.3
38.2
60.2
82.4
83.5
133
115
147
[kW/s]
12.5
22.0
32.2
53.1
74.8
Rated current
[A]
3.0
5.6
5.6
11
11
Maximum current (Note 5)
[A]
9.0
<12>
67
<137>
328
<328>
1.52
17
<23>
98
<511>
17
<23>
76
<396>
32
<43>
271
<271>
237
186
Regenerative
MR-J4braking
frequency *2
MR-J4W_(Note 5)
[times/min]
[times/min]
71.6
119
93.9
125
27
34
41
103
134
56
(Note 6)
32
<43>
206
<206>
17
<18> (Note 4)
51
<71>
73
<98>
81
<108>
68
<89>
204
Standard
[ 10 kgm ]
2.09
2.65
3.79
4.92
13.2
19.0
43.3
55.8
-4
2
[ 10 kgm ]
2.02
2.59
3.15
4.29
5.42
15.4
21.2
52.9
65.4
brake
(Note
1)
10 times or less
Oil seal
Attached
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Ambience
Environment *3
Altitude
X: 24.5 m/s2
*4
X: 24.5 m/s2 Y: 24.5 m/s2
Y: 29.4 m/s2
Vibration rank
V10 *6
L
[mm]
40
40
40
40
40
55
55
79
79
Permissible
load for the
Radial
[N]
323
323
323
323
323
980
980
2450
2450
shaft *5
Thrust
[N]
284
284
284
284
284
490
490
980
980
Standard
[kg]
3.0
3.7
4.5
5.9
7.5
13
18
29
36
Mass
[kg]
4.4
5.1
5.9
7.3
8.9
15
20
35
42
brake
Moment of
inertia J
-4



4. The value in angle brackets is applicable when the servo motor is used with MR-J4-500B/MR-J4-500B-RJ/MR-J4-500B-RJ010/MR-J4-500A/MR-J4-500A-RJ.

5. The value in angle brackets is applicable when the maximum torque is increased. The maximum torque will be increased by changing the servo amplifier to be combined.
Refer to "Combinations of HG-JR Servo Motor Series and Servo Amplifier (200 V Class) for Increasing the Maximum Torque to 400% of the Rated Torque" on p. 2-6 in this
catalog for the available combinations.

6. The value is applicable when the external regenerative resistors, GRZG400-_ (standard accessory) are used with cooling fans (2 units of 92 mm 5 92 mm, minimum
airflow: 1.0 m3/min). Note that [Pr. PA02] must be changed.
2-17
HG-JR 3000 r/min Series (200 V Class) Electromagnetic Brake Specifications (Note 1)
53B
73B
11.7
11.7
153B
203B
353B
503B
24 V DC-100%
11.7
11.7
11.7
23
23
6.6
6.6
6.6
64
6.6
64
64
6.6
64
16
16
400
400
703B
903B
34
34
44
44
4500
4500
640
640
640
640
640
4000
4000
45000
45000
5000
5000
5000
5000
5000
5000
5000
20000
20000
64
64
64
64
64
400
400
1000
1000

Short-duration
3 running range
2000
4000
6000
Speed [r/min]
54
(Note 4)
Torque [Nm]
Short-duration
running range

0
2000
4000
6000
Speed [r/min]
Short-duration
running range

2000
4000
6000
Speed [r/min]
HG-JR503(B) (Note 1, 5)
75
(Note 4)
36
Short-duration
running range
18
10

0
2000
4000
6000
Speed [r/min]
Short-duration
running range
2000
4000
Speed [r/min]

2000
4000
6000
Speed [r/min]
HG-JR703(B) (Note 1, 5)
75
50
Short-duration
running range
7
0
(Note 4)
25
14
(Note 4)
6000
50 Short-duration
running range
25
Options/Peripheral
Equipment
Torque [Nm]

2000
4000
6000
Speed [r/min]
HG-JR353(B) (Note 1, 5)
20
10
4
0
HG-JR203(B) (Note 1, 5)
30
Short-duration
running range
21
(Note 4)
Direct Drive Motors
HG-JR153(B) (Note 1, 5)
Torque [Nm]
(Note 4)
15
(Note 4)
Torque [Nm]
12
Torque [Nm]
Torque [Nm]
HG-JR103(B) (Note 1, 5)
Torque [Nm]
HG-JR73(B) (Note 1, 5)
Torque [Nm]
HG-JR53(B) (Note 1, 2, 3, 5)
Linear Servo Motors
HG-JR 3000 r/min Series (200 V Class) Torque Characteristics
Rotary Servo Motors
64
103B
Servo Amplifiers
Model
HG-JR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)
Continuous
running range
2000
4000 5000
Speed [r/min]
HG-JR903(B) (Note 1, 5)
Short-duration
60 running range
30
0
Notes: 1.
2.
3.

4. This value is applicable when the torque is maximally increased. Refer to "Combinations of HG-JR Servo Motor Series and
Servo Amplifier (200 V Class) for Increasing the Maximum Torque to 400% of the Rated Torque" on p. 2-6 in this catalog.
Continuous
running range
2000
4000 5000
Speed [r/min]
Product List
HG-JR 3000 r/min Series (200 V Class) Special Shaft End Specifications

R
40
30
HG-JR353(B)K, 503(B)K
28h6
55
50
8 -0.036
79
75
10 -0.036
+0.010
35 0
25
+0.1
3 0
36
4 0
55
5 0
2.5
M4
screw
Depth:
15
+0.2
+0.2
M8
screw
Depth:
20

QK
QL
Cautions
16h6
0
5 -0.030
QK QL
HG-JR53(B)K, 73(B)K,
103(B)K, 153(B)K, 203(B)K
HG-JR703(B)K, 903(B)K
Variable dimensions
Model
LVS/Wires
Torque [Nm]
90
A-A
[Unit: mm]
2-18
Rotary Servo Motors
HG-JR 3000 r/min Series (Low Inertia, Medium Capacity) (400 V Class) Specifications
Continuous
running duty
Rated output
Maximum torque (Note 5)

Rated speed
Maximum speed
continuous
rated torque brake
HG-JR
534(B)
734(B) 1034(B) 1534(B) 2034(B) 3534(B) 5034(B) 7034(B) 9034(B)
[kVA]
1.0
1.3
1.7
2.5
3.5
5.5
7.5
10
13
3.3
[kW]
0.5
0.75
1.0
1.5
2.0
5.0
7.0
9.0
<3.5> (Note 4)
10.5
[Nm]
1.6
2.4
3.2
4.8
6.4
15.9
22.3
28.6
<11.1> (Note 4)
4.8
7.2
9.6
14.3
19.1
32.0
47.7
[Nm]
66.8
85.8
<6.4>
<9.6>
<12.7>
<19.1>
<25.5>
<44.6>
<63.7>
[r/min]
3000
[r/min]
6000
5000
[r/min]
6900
5750
[kW/s]
16.7
27.3
38.2
60.2
82.4
83.5
133
115
147
[kW/s]
12.5
22.0
32.2
53.1
74.8
Rated current
[A]
1.5
2.8
2.8
5.4
5.4
Maximum current (Note 5)
[A]
4.5
<6.0>
8.4
<12>
8.4
<12>
17
<22>
[times/min]
99
<100>
72
<489>
56
<382>
265
<275>
Regenerative
braking
MR-J4frequency *2
(Note 5)
71.6
119
93.9
125
14
17
21
17
<22>
8.3
<8.8> (Note 4)
26
<36>
41
<54>
52
67
203
<209>
75
<98>
68
<89>
56
(Note 6)
205
1.52
2.09
2.65
3.79
4.92
13.2
19.0
43.3
55.8
Standard
[ 10-4 kgm2]
-4
2
[ 10 kgm ]
2.02
2.59
3.15
4.29
5.42
15.4
21.2
52.9
65.4
brake
(Note
1)
10 times or less
Oil seal
Attached
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Ambience
Environment *3
Altitude
X: 24.5 m/s2
*4
X: 24.5 m/s2 Y: 24.5 m/s2
Y: 29.4 m/s2
Vibration rank
V10 *6
L
[mm]
40
40
40
40
40
55
55
79
79
Permissible
load for the
Radial
[N]
323
323
323
323
323
980
980
2450
2450
shaft *5
Thrust
[N]
284
284
284
284
284
490
490
980
980
Standard
[kg]
3.0
3.7
4.5
5.9
7.5
13
18
29
36
Mass
[kg]
4.4
5.1
5.9
7.3
8.9
15
20
35
42
brake
Moment of
inertia J



4. The value in angle brackets is applicable when the servo motor is used with MR-J4-500B4/MR-J4-500B4-RJ/MR-J4-500A4/MR-J4-500A4-RJ.

5. The value in angle brackets is applicable when the maximum torque is increased. The maximum torque will be increased by changing the servo amplifier to be combined.
Refer to "Combinations of HG-JR Servo Motor Series and Servo Amplifier (400 V Class) for Increasing the Maximum Torque to 400% of the Rated Torque" on p. 2-6 in this
catalog for the available combinations.

2-19
534B
734B
11.7
11.7
1534B
2034B
3534B
5034B
24 V DC-100%
11.7
11.7
11.7
23
23
6.6
6.6
6.6
64
6.6
64
64
6.6
64
16
7034B
9034B
34
34
44
44
16
400
400
4500
4500
640
640
640
640
640
4000
4000
45000
45000
5000
5000
5000
5000
5000
5000
5000
20000
20000
64
64
64
64
64
400
400
1000
1000

Short-duration
3 running range
2000
4000
6000
Speed [r/min]
HG-JR2034(B) (Note 1, 2, 4)
HG-JR3534(B) (Note 1, 2, 4)
54
(Note 3)
Torque [Nm]
20
10

2000
4000
6000
Speed [r/min]
Short-duration
running range

2000
4000
6000
Speed [r/min]
Short-duration
running range

2000
4000
6000
Speed [r/min]
HG-JR5034(B) (Note 1, 2, 4)
75
(Note 3)
36
Short-duration
18 running range
0
10

2000
4000
6000
Speed [r/min]
Short-duration
running range
25

2000
4000
6000
Speed [r/min]
Short-duration
running range
7
0

2000
4000
6000
Speed [r/min]
HG-JR7034(B) (Note 1, 2, 4)
75
(Note 3)
50
14
(Note 3)
50 Short-duration
running range
25
0
Options/Peripheral
Equipment
Torque [Nm]
30
Short-duration
running range
21
(Note 3)
Direct Drive Motors
HG-JR1534(B) (Note 1, 2, 4)
Torque [Nm]
(Note 3)
15
(Note 3)
Torque [Nm]
12
Torque [Nm]
Torque [Nm]
HG-JR1034(B) (Note 1, 2, 4)
Torque [Nm]
HG-JR734(B) (Note 1, 2, 4)
Torque [Nm]
HG-JR534(B) (Note 1, 2, 4)
Linear Servo Motors
Rotary Servo Motors
64
1034B
Servo Amplifiers
Model
HG-JR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)
Continuous
running range
2000
4000 5000
Speed [r/min]
HG-JR9034(B) (Note 1, 2, 4)
Short-duration
60 running range
30
0
Notes: 1.
2.
3. This value is applicable when the torque is maximally increased. Refer to "Combinations of HG-JR Servo Motor Series and
Servo Amplifier (400 V Class) for Increasing the Maximum Torque to 400% of the Rated Torque" on p. 2-6 in this catalog.
Continuous
running range
2000
4000 5000
Speed [r/min]
Product List

R
40
30
HG-JR3534(B)K, 5034(B)K
28h6
55
50
8 -0.036
79
75
10 -0.036
+0.010
35 0
25
+0.1
3 0
36
4 0
55
5 0
2.5
M4
screw
Depth:
15
+0.2
+0.2
M8
screw
Depth:
20

QK
QL
Cautions
16h6
0
5 -0.030
QK QL
HG-JR534(B)K, 734(B)K,
1034(B)K, 1534(B)K,
2034(B)K
HG-JR7034(B)K, 9034(B)K
Variable dimensions
Model
LVS/Wires
Torque [Nm]
90
A-A
[Unit: mm]
2-20
Rotary Servo Motors
HG-JR 1000 r/min Series (Low Inertia, Medium/Large Capacity) (200 V Class) Specifications
HG-JR
601(B)
801(B)
12K1(B)
15K1
20K1
25K1
30K1
37K1
[kVA]
8.6
12
18
22
30
38
48
59
Rated output
[kW]
6.0
8.0
12
15
20
25
30
37
Continuous
[Nm]
57.3
76.4
115
143
191
239
286
353
Maximum torque
[Nm]
172
229
345
429
573
717
858
1059
Rated speed
[r/min]
1000
Maximum speed
[r/min]
2000
1500
[r/min]
2300
1725
[kW/s]
187
265
420
418
582
748
594
761
continuous
[kW/s]
167
243
394
rated torque brake
Rated current
[A]
31
47
60
67
94
95
121
152
Maximum current
[A]
108
165
208
231
318
313
399
495
Regenerative
322
224
234
183
150
braking
MR-J4[times/min]
82
(Note 4)
(Note 4)
(Note 4)
(Note 4)
(Note 4)
frequency *2
Standard
[ 10-4 kgm2]
176
220
315
489
627
764
1377
1637
Moment of
inertia J
[ 10-4 kgm2]
196
240
336
brake
10 times or less
Oil seal
Attached
Insulation class
155 (F)
Totally enclosed, natural cooling
Structure
Totally enclosed, force cooling (IP rating: IP44) (Note 2)
(IP rating: IP67) (Note 2)
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
X: 9.8 m/s2 Y: 9.8 m/s2
Vibration rank
V10 *6
L
[mm]
116
116
116
140
140
140
140
140
Permissible
load for the
Radial
[N]
2940
2940
2940
3234
3234
3234
4900
4900
shaft *5
Thrust
[N]
980
980
980
1470
1470
1470
1960
1960
Standard
[kg]
53
62
86
120
145
165
215
240
Mass
[kg]
65
74
97
brake
Voltage/
frequency
Power supply
Cooling fan
Input
[W]
65 (50 Hz)/85 (60 Hz)
120 (50 Hz)/175 (60 Hz)
Rated current
[A]
0.20 (50 Hz)/0.22 (60 Hz)
0.39 (50 Hz)/0.52 (60 Hz)



2-21
601B
12K1B
32
801B
24 V DC-100%
32
126
126
126
32
5000
5000
45200
45200
45200
20000
20000
20000
400
400
400
Rotary Servo Motors
5000
Servo Amplifiers
Model
HG-JR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-JR801(B) (Note 1, 2)
250
150
100
50
Continuous running
range
0
500 1000 1500 2000
Speed [r/min]
Continuous running
range
0
500 1000 1500 2000
Speed [r/min]
HG-JR20K1 (Note 1, 2)
500
1000
Speed [r/min]
Torque [Nm]
Torque [Nm]
Torque [Nm]
Continuous running
range
400
200
0
1500
Continuous running
range
500
1000
Speed [r/min]
600
1500
Continuous running
range
500
1000
Speed [r/min]
1500
1200
Short-duration
running range
300
150
900
Short-duration
600 running range
300
Short-duration
running range
Continuous running
range
500
1000
Speed [r/min]
1500
Short-duration
900 running range
Options/Peripheral
Equipment
200
100
800
Short-duration
running range
200
Continuous running
range
0
500 1000 1500 2000
Speed [r/min]
600
300 Short-duration
running range
Direct Drive Motors
50
450
Torque [Nm]
100
400
200 Short-duration
running range
Torque [Nm]
Short-duration
150 running range
Torque [Nm]
Torque [Nm]
200
400
HG-JR12K1(B) (Note 1, 2)
Torque [Nm]
HG-JR601(B) (Note 1, 2)
Linear Servo Motors
600
300
0
Continuous running
range
500
1000
Speed [r/min]
1500

Notes: 1.
LVS/Wires
QK
QL
85
79
12 -0.040
70
5 0
+0.2
HG-JR801(B)K, 12K1(B)K
55m6
116
110
16 -0.040
90
6 0
+0.2
HG-JR15K1K, 20K1K,
25K1K
65m6
140 130
18 -0.040
120
7 0
+0.2
HG-JR30K1K, 37K1K
80m6
140 140
22 -0.040
132
9 0
+0.2
11
M8 screw
Depth:
19.8
M10
screw
Depth: 27
M12
screw
Depth: 25
M16
screw
Depth: 30

Fig.
QK
A
QL
A-A
Fig. A
R
B
r
Cautions
42h6
Product List
HG-JR601(B)K
A
S
Variable dimensions
Model
A
QK
QL
Fig. B
A-A
[Unit: mm]
2-22
Rotary Servo Motors
HG-JR
6014(B)
8014(B) 12K14(B)
15K14
20K14
25K14
30K14
37K14
[kVA]
8.6
12
18
22
30
38
48
59
Rated output
[kW]
6.0
8.0
12
15
20
25
30
37
Continuous
[Nm]
57.3
76.4
115
143
191
239
286
353
Maximum torque
[Nm]
172
229
345
429
573
717
858
1059
Rated speed
[r/min]
1000
Maximum speed
[r/min]
2000
1500
[r/min]
2300
1725
[kW/s]
187
265
420
418
582
748
594
761
continuous
[kW/s]
167
243
394
rated torque brake
Rated current
[A]
16
23
30
33
47
48
60
76
Maximum current
[A]
54
80
104
114
161
160
202
248
Regenerative
331
229
239
187
152
braking
MR-J4[times/min]
83
(Note 4)
(Note 4)
(Note 4)
(Note 4)
(Note 4)
frequency *2
Standard
[ 10-4 kgm2]
176
220
315
489
627
764
1377
1637
Moment of
inertia J
[ 10-4 kgm2]
196
240
336
brake
10 times or less
Oil seal
Attached
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
X: 9.8 m/s2 Y: 9.8 m/s2
Vibration rank
V10 *6
L
[mm]
116
116
116
140
140
140
140
140
Permissible
load for the
Radial
[N]
2940
2940
2940
3234
3234
3234
4900
4900
shaft *5
Thrust
[N]
980
980
980
1470
1470
1470
1960
1960
Standard
[kg]
53
62
86
120
145
165
215
240
Mass
[kg]
65
74
97
brake
Voltage/
3-phase 380 V AC to 480 V AC,
3-phase 380 V AC to
frequency
50 Hz/60 Hz
460 V AC, 50 Hz/60 Hz
Power supply
Cooling fan
Input
[W]
65 (50 Hz)/85 (60 Hz)
110 (50 Hz)/150 (60 Hz)
Rated current
[A]
0.12 (50 Hz)/0.14 (60 Hz)
0.20 (50 Hz)/0.22 (60 Hz)



2-23
6014B
12K14B
32
8014B
24 V DC-100%
32
126
126
126
32
5000
5000
45200
45200
45200
20000
20000
20000
400
400
400
Rotary Servo Motors
5000
Servo Amplifiers
Model
HG-JR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-JR8014(B) (Note 1, 2, 3)
250
200 Short-duration
running range
150
100
50
Continuous running
range
0
500 1000 1500 2000
Speed [r/min]
Continuous running
range
0
500 1000 1500 2000
Speed [r/min]
HG-JR20K14 (Note 1, 2, 3)
Continuous running
range
500
1000
Speed [r/min]
600 Short-duration
running range
Torque [Nm]
Torque [Nm]
200
900
400
200
0
1500
Continuous running
range
500
1000
Speed [r/min]
600
300
1500
300
150
Short-duration
running range
Continuous running
range
500
1000
Speed [r/min]
1500
HG-JR37K14 (Note 1, 2, 3)
1200
Short-duration
running range
Continuous running
range
500
1000
Speed [r/min]
1500
Short-duration
900 running range
Options/Peripheral
Equipment
Torque [Nm]
400
100
HG-JR30K14 (Note 1, 2, 3)
800
Short-duration
running range
200
Continuous running
range
0
500 1000 1500 2000
Speed [r/min]
HG-JR25K14 (Note 1, 2, 3)
600
300 Short-duration
running range
Direct Drive Motors
50
450
Torque [Nm]
100
HG-JR15K14 (Note 1, 2, 3)
400
Torque [Nm]
Short-duration
running range
Torque [Nm]
Torque [Nm]
200
150
HG-JR12K14(B) (Note 1, 2, 3)
Torque [Nm]
HG-JR6014(B) (Note 1, 2, 3)
Linear Servo Motors
600
300
0
Continuous running
range
500
1000
Speed [r/min]
1500

Notes: 1.
2.
LVS/Wires
QK
QL
42h6
85
79
12 -0.040
70
5 0
+0.2
HG-JR8014(B)K,
12K14(B)K
55m6
116
110
16 -0.040
90
6 0
+0.2
HG-JR15K14K, 20K14K,
25K14K
65m6
140 130
18 -0.040
120
7 0
+0.2
HG-JR30K14K, 37K14K
80m6
140 140
22 -0.040
132
9 0
+0.2
11
Y
M8 screw
Depth:
19.8
M10
screw
Depth: 27
M12
screw
Depth: 25
M16
screw
Depth: 30

Fig.
QK
A
QL
A-A
Fig. A
R
Cautions
HG-JR6014(B)K
B
r
A
S
Variable dimensions
Product List
Model
A
QK
QL
Fig. B
A-A
[Unit: mm]
2-24
Rotary Servo Motors
HG-JR
701M(B)
11K1M(B)
15K1M(B)
22K1M
30K1M
37K1M
[kVA]
10
16
22
33
48
59
Rated output
[kW]
7.0
11
15
22
30
37
Continuous
[Nm]
44.6
70.0
95.5
140
191
236
Maximum torque
[Nm]
134
210
286
420
573
707
Rated speed
[r/min]
1500
Maximum speed
[r/min]
3000
2500
[r/min]
3450
2875
[kW/s]
113
223
289
401
582
726
continuous
[kW/s]
101
204
271
rated torque brake
Rated current
[A]
34
61
76
99
139
151
Maximum current
[A]
111
200
246
315
479
561
Regenerative
143
162
104
braking
MR-J4[times/min]
36
(Note 4)
(Note 4)
(Note 4)
frequency *2
Standard
[ 10-4 kgm2]
176
220
315
489
627
764
Moment of
inertia J
[ 10-4 kgm2]
196
240
336
brake
10 times or less
Oil seal
Attached
Insulation class
155 (F)
Totally enclosed, force cooling
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
Vibration rank
V10 *6
L
[mm]
116
116
116
140
140
140
Permissible
load for the
Radial
[N]
2940
2940
2940
3234
3234
3234
shaft *5
Thrust
[N]
980
980
980
1470
1470
1470
Standard
[kg]
53
62
86
120
145
165
Mass
[kg]
65
74
97
brake
Voltage/
frequency
Power supply
Cooling fan
Input
[W]
65 (50 Hz)/85 (60 Hz)
Rated current
[A]
0.20 (50 Hz)/0.22 (60 Hz)



2-25
701MB
15K1MB
32
11K1MB
24 V DC-100%
32
126
126
126
32
5000
5000
45200
45200
45200
20000
20000
20000
400
400
400
Rotary Servo Motors
5000
Servo Amplifiers
Model
HG-JR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-JR11K1M(B) (Note 1, 2)
250
50
200
100
Continuous running
range
0
1000 2000
Speed [r/min]
3000
3000
300
Short-duration
running range
150
Continuous running
range
1000
2000 2500
Speed [r/min]
HG-JR37K1M (Note 1, 2)
600
800
Torque [Nm]
Short-duration
running range
200
Continuous running
range
Short-duration
600 running range
400
200
0
1000
2000 2500
Speed [r/min]
Continuous running
range

Notes: 1.
1000
2000 2500
Speed [r/min]
LVS/Wires

R
QK
QL
HG-JR701M(B)K
42h6
85
79
12 -0.040
70
5 0
+0.2
HG-JR11K1M(B)K,
15K1M(B)K
55m6
116
110
16 -0.040
90
6 0
140 130
0
18 -0.040
+0.2
7 0
HG-JR22K1MK, 30K1MK,
37K1MK
65m6
120
+0.2
Y
M8 screw
Depth:
19.8
M10
screw
Depth: 27
M12
screw
Depth: 25

QK
QL
Product List
Variable dimensions
S
Model
Options/Peripheral
Equipment
Torque [Nm]
50
Continuous running
0 range
1000 2000
Speed [r/min]
Short-duration
running range
100
3000
450
Short-duration
running range
Direct Drive Motors
Continuous running
range
0
1000 2000
Speed [r/min]
150
300
Torque [Nm]
200
Short-duration
100 running range
Torque [Nm]
Torque [Nm]
150
400
HG-JR15K1M(B) (Note 1, 2)
Torque [Nm]
HG-JR701M(B) (Note 1, 2)
Linear Servo Motors
A-A
[Unit: mm]
Cautions
2-26
Rotary Servo Motors
HG-JR
701M4(B) 11K1M4(B) 15K1M4(B) 22K1M4
30K1M4
37K1M4
45K1M4
55K1M4
[kVA]
10
16
22
33
48
59
71
80
Rated output
[kW]
7.0
11
15
22
30
37
45
55
Continuous
[Nm]
44.6
70.0
95.5
140
191
236
286
350
Maximum torque
[Nm]
134
210
286
420
573
707
859
1050
Rated speed
[r/min]
1500
Maximum speed
[r/min]
3000
2500
[r/min]
3450
2875
[kW/s]
113
223
289
401
582
726
596
749
continuous
[kW/s]
101
204
271
rated torque brake
Rated current
[A]
17
31
38
50
68
79
85
110
Maximum current
[A]
56
100
123
170
235
263
288
357
Regenerative
143
162
104
braking
MR-J4[times/min]
36
(Note 4)
(Note 4)
(Note 4)
frequency *2
Standard
[ 10-4 kgm2]
176
220
315
489
627
764
1377
1637
Moment of
inertia J
[ 10-4 kgm2]
196
240
336
brake
10 times or less
Oil seal
Attached
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
X: 9.8 m/s2 Y: 9.8 m/s2
Vibration rank
V10 *6
L
[mm]
116
116
116
140
140
140
140
140
Permissible
load for the
Radial
[N]
2940
2940
2940
3234
3234
3234
4900
4900
shaft *5
Thrust
[N]
980
980
980
1470
1470
1470
1960
1960
Standard
[kg]
53
62
86
120
145
165
215
240
Mass
[kg]
65
74
97
brake
Voltage/
3-phase 380 V AC to 480 V AC,
3-phase 380 V AC to
frequency
50 Hz/60 Hz
460 V AC, 50 Hz/60 Hz
Power supply
Cooling fan
Input
[W]
65 (50 Hz)/85 (60 Hz)
110 (50 Hz)/150 (60 Hz)
Rated current
[A]
0.12 (50 Hz)/0.14 (60 Hz)
0.20 (50 Hz)/0.22 (60 Hz)



2-27
701M4B
15K1M4B
32
11K1M4B
24 V DC-100%
32
126
126
126
32
5000
5000
45200
45200
45200
20000
20000
20000
400
400
400
Rotary Servo Motors
5000
Servo Amplifiers
Model
HG-JR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-JR11K1M4(B) (Note 1, 2, 3) HG-JR15K1M4(B) (Note 1, 2, 3) HG-JR22K1M4 (Note 1, 2, 3)

250
50
Torque [Nm]
Continuous running
range
400
1000
2000 2500
Speed [r/min]
1000 2000
Speed [r/min]
Continuous running
range
600
1000
2000 2500
Speed [r/min]
150
Continuous running
range
1000
2000 2500
Speed [r/min]
HG-JR55K1M4 (Note 1, 2, 3)
1200
Short-duration
running range
300
Short-duration
300 running range
3000
900
Short-duration
600 running range
200
Continuous running
range
HG-JR45K1M4 (Note 1, 2, 3)
800
200
100
3000
HG-JR37K1M4 (Note 1, 2, 3)
Short-duration
running range
200
Continuous running
range
1000
2000 2500
Speed [r/min]
900
600
300
0
Short-duration
running range
Options/Peripheral
Equipment
Torque [Nm]
50
3000
600
100
Continuous running
range
0
1000 2000
Speed [r/min]
HG-JR30K1M4 (Note 1, 2, 3)
400
Short-duration
running range
Direct Drive Motors
Continuous running
range
0
1000 2000
Speed [r/min]
150
Short-duration
running range
Torque [Nm]
200
Torque [Nm]
Short-duration
running range
450
300
Torque [Nm]
100
Torque [Nm]
Torque [Nm]
150
Torque [Nm]
HG-JR701M4(B) (Note 1, 2, 3)
Linear Servo Motors
Continuous running
range
1000
2000 2500
Speed [r/min]
LVS/Wires

Notes: 1.
2.
QK
QL
42h6
85
79
12 -0.040
70
5 0
+0.2
HG-JR11K1M4(B)K,
15K1M4(B)K
55m6
116
110
16 -0.040
90
6 0
+0.2
HG-JR22K1M4K,
30K1M4K, 37K1M4K
65m6
140 130
18 -0.040
120
7 0
+0.2
HG-JR45K1M4K,
55K1M4K
80m6
140 140
22 -0.040
132
9 0
+0.2
11
Y
M8 screw
Depth:
19.8
M10
screw
Depth: 27
M12
screw
Depth: 25
M16
screw
Depth: 30

Fig.
QK
A
QL
A-A
Fig. A
R
Cautions
HG-JR701M4(B)K
B
r
A
S
Variable dimensions
Product List
Model
A
QK
QL
Fig. B
A-A
[Unit: mm]
2-28
Rotary Servo Motors
HG-RR Series (Ultra-low Inertia, Medium Capacity) Specifications

HG-RR
103(B)
153(B)
203(B)
353(B)
503(B)
[kVA]
1.7
2.5
3.5
5.5
7.5
Rated output
[kW]
1.0
1.5
2.0
3.5
5.0
Continuous
[Nm]
3.2
4.8
6.4
11.1
15.9
Maximum torque
[Nm]
8.0
11.9
15.9
27.9
39.8
Rated speed
[r/min]
3000
Maximum speed
[r/min]
4500
[r/min]
5175
[kW/s]
67.4
120
176
150
211
continuous
[kW/s]
54.8
101
153
105
163
rated torque brake
Rated current
[A]
6.1
8.8
14
23
28
Maximum current
[A]
18
23
37
58
70
Regenerative
braking
MR-J4[times/min]
1090
860
710
174
125
frequency *2
Standard
[ 10-4 kgm2]
1.50
1.90
2.30
8.30
12.0
Moment of
inertia J
[ 10-4 kgm2]
1.85
2.25
2.65
11.8
15.5
brake
5 times or less
Oil seal
Attached
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
Vibration rank
V10 *6
L
[mm]
45
45
45
63
63
Permissible
load for the
Radial
[N]
686
686
686
980
980
shaft *5
Thrust
[N]
196
196
196
392
392
Standard
[kg]
3.9
5.0
6.2
12
17
Mass
[kg]
6.0
7.0
8.3
15
21
brake


2-29
HG-RR Series Electromagnetic Brake Specifications (Note 1)

103B
153B
203B
353B
24 V DC-100%
19
19
23
19
7.0
7.0
400
503B
23
17
400
17
400
400
4000
4000
4000
4000
4000
20000
20000
20000
20000
20000
200
200
200
200
200
Rotary Servo Motors
400
7.0
Servo Amplifiers
Model
HG-RR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-RR153(B) (Note 1, 2)
Continuous
running range
10
5
0
1000 2000 3000 4000 4500

Speed [r/min]
18
Short-duration
running range
Torque [Nm]
Short-duration
running range
Torque [Nm]
15
HG-RR353(B) (Note 1, 2)
Continuous
running range
30
Short-duration
running range
12
Continuous
running range
1000 2000 3000 4000 4500

Speed [r/min]
1000 2000 3000 4000 4500

Speed [r/min]
20
10
Short-duration
running range
Continuous
running range
Direct Drive Motors
Torque [Nm]
HG-RR203(B) (Note 1, 2)
Torque [Nm]
HG-RR103(B) (Note 1, 2)
Linear Servo Motors
HG-RR Series Torque Characteristics
1000 2000 3000 4000 4500

Speed [r/min]
HG-RR503(B) (Note 1, 2)
Short-duration
30 running range
15
0
Continuous
running range
Options/Peripheral
Equipment
Torque [Nm]
45
Notes: 1.
1000 2000 3000 4000 4500

Speed [r/min]
LVS/Wires
HG-RR Series Special Shaft End Specifications

45
40
HG-RR353(B)K, 503(B)K
28h6
63
58
8 -0.036
QK QL
+0.2
M8
screw
Depth:
20
25
+0.2
4 0
53
4 0

QK
QL
Product List
24h6
0
8 -0.036
HG-RR103(B)K, 153(B)K,
203(B)K
Model
Variable dimensions
A-A
[Unit: mm]
Cautions
2-30
Rotary Servo Motors
HG-UR Series (Flat Type, Medium Capacity) Specifications

Rated output
Maximum torque
Rated speed
Maximum speed
continuous
rated torque brake
Rated current
Maximum current
Continuous
running duty
frequency *2
MR-J4W_-
HG-UR
72(B)
152(B)
202(B)
352(B)
502(B)
MR-J4W_[kVA]
1.3
2.5
3.5
5.5
7.5
[kW]
0.75
1.5
2.0
3.5
5.0
[Nm]
3.6
7.2
9.5
16.7
23.9
[Nm]
10.7
21.5
28.6
50.1
71.6
[r/min]
2000
[r/min]
3000
2500
[r/min]
3450
2875
[kW/s]
12.3
23.2
23.9
36.5
49.6
[kW/s]
10.3
21.2
19.5
32.8
46.0
[A]
[A]
5.4
16
9.7
29
14
42
23
69
28
84
[times/min]
53
124
68
44
31
[times/min]
107
Standard
[ 10 kgm ]
10.4
22.1
38.2
76.5
115
-4
2
[ 10 kgm ]
12.5
24.2
46.8
85.1
124
brake
(Note
1)
15 times or less
Oil seal
Attached
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
X: 24.5 m/s2 Y: 24.5 m/s2
X: 24.5 m/s2 Y: 49 m/s2
*6
Vibration rank
V10
L
[mm]
55
55
65
65
65
Permissible
load for the
Radial
[N]
637
637
882
1176
1176
shaft *5
Thrust
[N]
490
490
784
784
784
Standard
[kg]
8.0
11
16
20
24
Mass
[kg]
10
13
22
26
30
brake
Moment of
inertia J
-4


2-31
HG-UR Series Electromagnetic Brake Specifications (Note 1)

72B
152B
202B
352B
24 V DC-100%
19
34
34
19
8.5
8.5
400
502B
34
44
4500
44
4500
4500
4000
4000
45000
45000
45000
20000
20000
20000
20000
20000
200
200
1000
1000
1000
Rotary Servo Motors
400
44
Servo Amplifiers
Model
HG-UR
Type
Rated voltage
Power consumption
[W] at 20 C
[Nm]
torque
Per braking
[J]
Per hour
[J]
Number of brakings
[Times]
(Note 2)

HG-UR152(B) (Note 1, 4)
24
Continuous
running range
1000
2000
Speed [r/min]
Short-duration
running range
16
8
Continuous
running range
3000
60
30
Torque [Nm]
Torque [Nm]
Short-duration
running range
HG-UR352(B) (Note 1, 4)
1000
2000
Speed [r/min]
Short-duration
running range
20
10
Continuous
running range
3000
1000
2000
Speed [r/min]
3000
Short-duration
40 running range
20
Direct Drive Motors
Torque [Nm]
12
HG-UR202(B) (Note 1, 4)
Torque [Nm]
HG-UR72(B) (Note 1, 2, 3, 4)
Linear Servo Motors
HG-UR Series Torque Characteristics
Continuous
running range
1000
2000 2500
Speed [r/min]
HG-UR502(B) (Note 1, 4)
Short-duration
60 running range
40
20
0
Options/Peripheral
Equipment
Torque [Nm]
80
Notes: 1.
2.
3.

Continuous
running range
1000
2000 2500
Speed [r/min]
LVS/Wires
HG-UR Series Special Shaft End Specifications


R
22h6
55
50
HG-UR152(B)K
28h6
55
50
8 -0.036
65
60
10 -0.036
+0.010
35 0
r
3
+0.2
+0.2
42
+0.1
3.5 0
40
4 0
50
5 0
Y
QK
M8
screw
Depth:
20
QL
Product List
HG-UR72(B)K
QK QL
0
6 -0.036
HG-UR202(B)K, 352(B)K,
502(B)K
Model
Variable dimensions
A-A

[Unit: mm]
Cautions
2-32
Rotary Servo Motors
Annotations for Rotary Servo Motor Specifications

* 1. The power supply capacity varies depending on the power supply impedance.
* 2. The regenerative braking frequency shows the permissible frequency when the servo motor, without a load and a regenerative option, decelerates from the rated speed to a
stop. When a load is connected; however, the value will be the table value/(m+1), where m = Moment of inertia of load/Moment of inertia of servo motor.
When the operating speed exceeds the rated speed, the regenerative braking frequency is inversely proportional to the square of (operating speed/rated speed). Take
measures to keep the regenerative power [W] during operation below the tolerable regenerative power [W]. Use caution, especially when the operating speed changes
frequently or when the regeneration is constant (as with vertical feeds). Select the most suitable regenerative option for your system with our capacity selection software.
Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used.
* 3. In the environment where the servo motor is exposed to oil mist, oil and/or water, a standard specification servo motor may not be usable. Contact your local sales office for
more details.
* 4. The vibration direction is shown in the diagram below. The numerical value indicates the maximum value of the component (commonly the bracket in the opposite direction
of the servo motor shaft).
Fretting more likely occurs on the bearing when the servo motor stops. Thus, maintain vibration level at approximately one-half of the allowable value.
Servo motor
* 5. Refer to the diagram below for the permissible load for the shaft. Do not apply a load exceeding the value specified in the table on the shaft. The values in the table are
applicable when each load is applied singly.
L
Radial load
Thrust load
L: Distance between the flange mounting surface and the center of load
* 6. V10 indicates that the amplitude of the servo motor itself is 10 m or less. The following shows mounting posture and measuring position of the servo motor during the
measurement:
Servo motor
Top
Measuring position
Bottom
* 7. Refer to the diagram below for shaft-through portion.
Shaft-through portion
2-33
HG-KR/HG-MR Series Dimensions (Note 1, 5, 6)

Power connector
HG-MR053(B), HG-MR13(B)
Electromagnetic brake connector (Note 2)

Pin No. Signal name
1
1
B1
2
2
B2
4.9
10.9
11.7 11.7
21.7
58.8 (Note 3)
9.9
19.2
KL
18.4
(Note 3)
Encoder connector
13.7
27.4
37.1
30h7
8h6
20.7
21
Power connector
13.9
27.5
Electromagnetic brake connector

(Note 3)
6.4
11.7
13
11.7
58.8 (Note 3)
18.4
(Note 3)
9.9
Power
connector
KL
HG-KR053(B)
HG-MR053(B)
66.4
(107)
23.8
HG-KR13(B)
HG-MR13(B)
82.4
(123)
39.8
connector (Note 3)
21.7
[Unit: mm]
HG-KR23(B), HG-KR43(B)
Power connector
45
26
1
2
3
4
60
4-5.8 mounting hole

Use hexagonal cap
head bolts.
30
47.1
14h6

Pin No. Signal name
1
1
B1
2
2
B2
1
47.1 (Note 3)
46
50h7
Pin No. Signal name

1
(PE)
2
U
3
V
4
W
Direct Drive Motors
HG-MR23(B), HG-MR43(B)
Variable
dimensions (Note 4)
Linear Servo Motors
(Note 3)
9
Model
When the cables are led out in opposite direction of load side
Encoder
connector
Pin No. Signal name

1
(PE)
2
U
3
V
4
W
Rotary Servo Motors
38.8 (Note 3)
36
45
1
2
3
4
40
2-4.5 mounting hole

Use hexagonal cap
head bolts.
20.7
25
2.5
21.5
20.5
Servo Amplifiers
HG-KR053(B), HG-KR13(B)
10.9
11.8 11.7
21.7
57.8 (Note 3)
Power connector
9.5
19.2
13.9
5.9
27.8
KL
connector (Note 3)
Power
connector
(Note 3)
Encoder
connector
13.5
Model
11.8 11.7
18.3
(Note 3)
57.8 (Note 3)
9.5
connector (Note 3)
KL
HG-KR23(B)
HG-MR23(B)
76.6
(113.4)
36.4
HG-KR43(B)
HG-MR43(B)
98.3
(135.1)
58.1
21.7
[Unit: mm]
Power connector
4-6.6 mounting hole
Use hexagonal cap
head bolts.
45
36
1
2
3
4
80
40
112 (152.3) (Note 4)
27.4
11.5
11.7
21.7
63.1 (Note 3)
9.5
19.2
Power
connector
69.6
connector (Note 3)
7
7
(Note 3)
19h6
Encoder connector
10.7
11.8
13.7
57.1
56

Pin No. Signal name
1
1
B1
2
2
B2
14 12
27.8
Product List
70h7
Pin No. Signal name

1
(PE)
2
U
3
V
4
W
LVS/Wires
HG-KR73(B)
HG-MR73(B)
Variable
dimensions (Note 4)
Options/Peripheral
Equipment
Encoder
connector
13.7 10
28.4
11.8 11.7
18.4
(Note 3)
63.1 (Note 3)
21.7
Power
connector
9.5
connector (Note 3)
Notes: 1. For dimensions without tolerance, general tolerance applies.

2. The electromagnetic brake terminals (B1, B2) do not have polarity.

3. Only for the models with electromagnetic brake.

4. Dimensions in brackets are for the models with electromagnetic brake.

5. Use a friction coupling to fasten a load.

6. Servo motors with oil seal (HG-KR_J and HG-MR_J) have different dimensions. Contact your local sales office for more details.
[Unit: mm]
2-34
Cautions
Encoder
connector
Rotary Servo Motors
HG-SR Series Dimensions (Note 1, 5)

HG-SR51(B), HG-SR81(B)
HG-SR52(B), HG-SR102(B), HG-SR152(B),

HG-SR524(B), HG-SR1024(B), HG-SR1524(B)
L
38.2 (43.5)
(Note 4)
12
55
130
4-9 mounting hole

Use hexagonal cap
head bolts.
45
50
29
(Note 3)
110h7
(Note 3)
65
112.5
79.9 (Note 3)
50.9
(Note 3)
45
24h6
(Note 3)
Encoder connector 13
CMV1-R10P
59 (Note 3)
CMV1-R2P (Note 3)
Power connector
MS3102A18-10P
(Note 3)
20.9
13.5
58
KL
(PE)
Key
Main key
Position mark
(Note 2)

Servo motor flange direction
Variable
dimensions (Note 4)
Model
1000 r/min
KL
HG-SR52(B)
HG-SR524(B)
2000 r/min
118.5 (153)
57.8
HG-SR51(B)
HG-SR102(B)
HG-SR1024(B)
132.5 (167)
71.8
HG-SR81(B)
HG-SR152(B)
HG-SR1524(B)
146.5 (181)
85.8
Power connector
[Unit: mm]
HG-SR121(B), HG-SR201(B), HG-SR301(B), HG-SR421(B)
HG-SR202(B), HG-SR352(B), HG-SR502(B), HG-SR702(B),

HG-SR2024(B), HG-SR3524(B), HG-SR5024(B), HG-SR7024(B)
*2
(Note 3)
0
20
*5
0
-0.025
*3
23
*2
13
66.5
(Note 3)
KA
CMV1-R2P (Note 3)
Power connector
MS3102A22-22P (3.5 kW or smaller, and 5 kW)
MS3102A32-17P (4.2 kW and 7 kW)
Main key
Position mark
(Note 2)
Electromagnetic
brake
(Note 3)
Encoder connector
CMV1-R10P
(Note 3)
44
(Note 3)

4-13.5 mounting hole

Use hexagonal cap
head bolts.
45
75
+0.010
0
*6
176
79
KB
*5
*4
114.3
*3
18
*1
(Note 3)
*4
96.9 (Note 3)
50.9
*1
*6
35
38.5
(45.5)
(Note 4)
82
KL
(PE)
Key
W
C
B
D
A
U
V
Power connector
*1, *2, *3, *4, *5 and *6 are screw holes (M8) for eyebolt.
HG-SR201(B), 301(B), 352(4)(B), 502(4)(B): *1, *2
HG-SR421(B), 702(4)(B): *3, *4, *5, *6
Model
1000 r/min
2000 r/min
Variable dimensions (Note 4)

L
KL
HG-SR121(B)
HG-SR202(B)
HG-SR2024(B)
138.5
(188)
74.8
HG-SR201(B)
HG-SR352(B)
HG-SR3524(B)
162.5
(212)
98.8
HG-SR301(B)
HG-SR502(B)
HG-SR5024(B)
178.5
(228)
114.8
HG-SR421(B)
HG-SR702(B)
HG-SR7024(B)
218.5
(268)
146.8
KA
KB
24.8
140.9
32
149.1
[Unit: mm]

2. The electromagnetic brake terminals do not have polarity.



2-35
HG-JR Series Dimensions (Note 1, 5)

Servo Amplifiers
HG-JR53(B), HG-JR73(B), HG-JR103(B), HG-JR153(B), HG-JR203(B),

HG-JR534(B), HG-JR734(B), HG-JR1034(B), HG-JR1534(B), HG-JR2034(B)
4-6.6 mounting hole
Use hexagonal cap
head bolts.
L
90
40
7.5
5
30
45
18
1
4.5
Rotary Servo Motors
38.2 (38)
(Note 4)
50.9
80h7
41
16h6
00
57.4
(Note 3)
Power connector
Model
KL from the flange surface
35
MS3102A18-10P
21
16
15
(PE)
U
Key

10.6

(Note 3)
(Note 2)
Electromagnetic
brake
(Note 3)
CMV1-R10P
Power connector
(View from front of
the connector)
Variable
dimensions (Note 4)
L
KL
HG-JR53(B)
HG-JR534(B)
127.5
(173)
76
HG-JR73(B)
HG-JR734(B)
145.5
(191)
94
HG-JR103(B)
HG-JR1034(B)
163.5
(209)
112
HG-JR153(B)
HG-JR1534(B)
199.5
(245)
148
HG-JR203(B)
HG-JR2034(B)
235.5
(281)
184
CMV1-R2P
[Unit: mm]
Direct Drive Motors
36
.8
Encoder connector
.2
25.7
42
66.5
(Note 3)
13
Main key
Position mark
Linear Servo Motors
93.8
Oil seal
(Note 3)
HG-JR353(B), HG-JR503(B)
Options/Peripheral
Equipment
4-9 mounting hole

Use hexagonal cap
head bolts.
38.2 (43.5)
(Note 4)
130
55
L
12
45
50
1
28h6
110h7
50.9
(Note 3)
13
Oil seal
45
79.9 (Note 3)
116.8
(Note 3)
95.8
(Note 3)
34
Encoder connector
CMV1-R10P
80
KL
Product List
71
63
(Note 3)
(Note 3)
29
LVS/Wires
(Note 3)
15.5
65
(Note 3)
(Note 3)
Power connector
MS3102A22-22P
Main key
Position mark

(Note 3)
CMV1-R2P
W
B
A
(Note 2)
U
Key
Model
C
D
(PE)
Power connector
(View from front of
the connector)
Variable
dimensions (Note 4)
L
KL
HG-JR353(B)
213
(251.5)
228
HG-JR503(B)
267
(305.5)
282




2-36
Cautions
[Unit: mm]
Rotary Servo Motors

HG-JR3534(B), HG-JR5034(B)
4-9 mounting hole
Use hexagonal cap
head bolts.
L
38.2 (43.5)
130
55
12
(Note 4)
45
50
1
(Note 3)
65
(Note 3)
(Note 3)
50.9
114.8
Oil seal
1
4
(Note 3)
25.7
Main key
Position mark
.2
42
Power connector
KL from the flange surface
35
63
13 (Note 3)
21
MS3102A18-10P
.8
Encoder connector
CMV1-R10P
13.5
79.9 (Note 3)
(Note 3)
110h7
28h6
(Note 3)
B
A
29
(Note 3)
36
13.1

(Note 3)
CMV1-R2P
(Note 2)
U
Key

C
D
Variable
dimensions (Note 4)
Model
(PE)
Power connector
(View from front of
the connector)
KL
HG-JR3534(B)
213
(251.5)
161
HG-JR5034(B)
267
(305.5)
215
[Unit: mm]
HG-JR703(B), HG-JR903(B), HG-JR7034(B), HG-JR9034(B)

Use hexagonal cap
head bolts.
L
38.5 (45.5)
(Note 4)
*3
45
(Note 3)
13
0
-0.025
+0.010
0
35
Oil seal
*1
114.3
50.9
(Note 3)
96.9 (Note 3)
*2
163.3
*1
*4
*2
133.5
(Note 3)
3
75
(Note 3)
*4 (Note 3)
176
79
18
20
*3
3
2
44
(Note 3)
28.5
Encoder connector
CMV1-R10P
Electromagnetic
brake connector (Note 3)
CMV1-R2P
Power connector
MS3102A32-17P
66.5
(Note 3)
92.1
44
KL
Main key
Position mark
102.3
W
B
A
(Note 2)
*1, *2, *3, and *4 are screw holes (M8) for eyebolt.
U
Key
Model
C
D
(PE)
Power connector
(View from front of
the connector)
Variable
dimensions (Note 4)
L
KL
HG-JR703(B)
HG-JR7034(B)
263.5
(313)
285.4
HG-JR903(B)
HG-JR9034(B)
303.5
(353)
325.4
[Unit: mm]




2-37

Servo Amplifiers
HG-JR601(B), HG-JR701M(B), HG-JR6014(B), HG-JR701M4(B)
299.5 (372) (Note 4)
85
20
220
4
79
*3
81
200h7
(Note 3)
27
35
M8 screw
Oil seal
*3,4
Linear Servo Motors
171.1
*4(Note 3)
136.2 (Note 3)
(Note 3)

Use hexagonal cap
head bolts.
50
(Note 3)
45
25
42h6
*1,2
(Note 3)
(Note 3) *2
*1
2-M8 screw
37.5
19.5
Encoder connector
MS3102A20-29P
130 (Note 3)
32

MS3102A10SL-4P
225.5
54
82 (Note 3)
Power connector
MS3102A32-17P
Key

Power connector
[Unit: mm]
Direct Drive Motors
(Note 2)
(PE)
Key
A
Rotary Servo Motors
40
HG-JR801(B), HG-JR12K1(B), HG-JR8014(B), HG-JR12K14(B)

Use hexagonal cap
head bolts.
116
40
220
20
110
*1,2
(Note 3)
*3
27
200h7
81
(Note 3)
35
M10 screw
Oil seal
*3,4
171.1
*4
136.2 (Note 3)
(Note 3)
27
LVS/Wires
(Note 3)
45
37.5
50
55m6
(Note 3)
*2
2-M8 screw
*1
Options/Peripheral
Equipment
HG-JR11K1M(B), HG-JR15K1M(B), HG-JR11K1M4(B), HG-JR15K1M4(B)
19.5
Encoder connector
MS3102A20-29P
130
(Note 3)
32
KL
Power connector
MS3102A32-17P
Key
82
(PE)
Key
(Note 2)
Power connector
54
(Note 3)
Variable
dimensions (Note 4)
Model
1000 r/min
Product List

MS3102A10SL-4P
1500 r/min
KL
HG-JR801(B)
HG-JR8014(B)
HG-JR11K1M(B)
HG-JR11K1M4(B)
339.5
(412)
265.5
HG-JR12K1(B)
HG-JR12K14(B)
HG-JR15K1M(B)
HG-JR15K1M4(B)
439.5
(512)
365.5
[Unit: mm]




2-38
Cautions
Rotary Servo Motors
HG-JR Series Dimensions (Note 1, 2, 6)

HG-JR15K1, HG-JR20K1, HG-JR25K1, HG-JR15K14, HG-JR20K14, HG-JR25K14
HG-JR22K1M (Note 7), HG-JR30K1M, HG-JR37K1M, HG-JR22K1M4 (Note 7), HG-JR30K1M4, HG-JR37K1M4
Power lead hole

(Note 4)
(2)
(42)
Cooling fan
connector
65
300
35
130
33
(8)
*1
(Note 3)
*3,4
*1,2
125
65m6
Intake
*2
247
62
45
Eyebolt
(Note 5, 8)
Exhaust
174
163
220
250
62
63
CE05-2A14S-2P
Encoder connector
MS3102A20-29P
Cooling fan
rotating
direction
KL
140
140
LT
181
150
230h7
133
30
4-24 mounting hole

Use hexagonal cap
head bolts.
65
*3
*4
M12 screw
Oil seal
Key
Model
Do not use.
1000 r/min
BU
BV
BW
Cooling fan connector
Variable dimensions
1500 r/min
KL
LT
HG-JR15K1
HG-JR15K14
HG-JR22K1M
HG-JR22K1M4
476
229
174
HG-JR20K1
HG-JR20K14
HG-JR30K1M
HG-JR30K1M4
538
291
236
HG-JR25K1
HG-JR25K14
HG-JR37K1M
HG-JR37K1M4
600
353
298
[Unit: mm]
HG-JR30K1, HG-JR37K1, HG-JR30K14, HG-JR37K14

HG-JR45K1M4, HG-JR55K1M4
Power lead hole

(Note 4)
(25)
Cooling fan
(65)
connector
CE05-2A14S-2P
Encoder connector
MS3102A20-29P
150
65
300
140
140
LT
KL
280
247
Eyebolt
(Note 5, 9)
63
35
*1
(Note 3)
*1,2
*3,4
147
4-24 mounting hole

Use hexagonal cap
head bolts.
210
140
Intake
80m6
202
*2
45
80
M16 screw
192
250
Exhaust
Cooling fan
rotating
direction
80
Oil seal
39
70
*3
250h7
133
305
00
*4
(9)
Key
Do not use.
BU
BW
Model
1000 r/min
BV
Cooling fan connector

HG-JR30K1
HG-JR30K14
HG-JR37K1
HG-JR37K14
Variable dimensions
L
KL
LT
HG-JR45K1M4
600
330
275
HG-JR55K1M4
664
394
339
1500 r/min
[Unit: mm]


3. Leave a clearance of at least 150 mm between the intake side of the servo
motor and wall.

4. Prevent oil, water, dust, and other foreign matter from entering the servo motor
through the lead hole.

5. A washer is placed between the eyebolt and the servo motor to adjust the bolt angle.
2-39
6. The terminal block in the terminal box consists of M10 screws for the motor
power input (U, V, and W),
7. HG-JR22K1M/HG-JR22K1M4 have been modified from September 2014 production.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the previous dimensions.
8. When using the servo motor without the eyebolt, plug the threaded hole with a
bolt of M12 20 or shorter.
9. When using the servo motor without the eyebolt, plug the threaded hole with a
bolt of M16 20 or shorter.
HG-RR Series Dimensions (Note 1, 5)

4-9 mounting hole
Use hexagonal cap
head bolts.
45
L
38
10
100
45
(Note 3)
50.9
95h7
(Note 3)
(Note 3)
(Note 3)
Rotary Servo Motors
(Note 3)
24h6
40
(Note 3)
Servo Amplifiers
HG-RR103(B), HG-RR153(B), HG-RR203(B)
35
15
1
94.8
Oil seal
Encoder connector
CMV1-R10P
13
KL
44
(Note 2)
(PE)
Key
E F
D H G
A
C
B
Variable
dimensions (Note 4)
Model
KL
Power connector
HG-RR103(B)
69.5
HG-RR153(B)
170.5
(208)
94.5
HG-RR203(B)
195.5
(233)
119.5
[Unit: mm]
Direct Drive Motors
L
145.5
(183)
U
V
Linear Servo Motors
Power connector
CE05-2A22-23P
HG-RR353(B), HG-RR503(B)
Options/Peripheral
Equipment
4-9 mounting hole

Use hexagonal cap
head bolts.
L
130
63
38.2 (42)
12
45
58
(Note 3)
(Note 3)
50.9
(Note 3)
65
Oil seal
117.4
Encoder connector
CMV1-R10P
45
LVS/Wires
(Note 3)
110h7
28h6
(Note 3)
13
KL
Power connector
CE05-2A24-10P
46
(PE)
D
C
E
G
B
Key
F
A
Model
Power connector
Variable
dimensions (Note 4)
L
KL
HG-RR353(B)
215.5
(252)
147.5
HG-RR503(B)
272.5
(309)
204.5
Product List
(Note 2)




2-40
Cautions
[Unit: mm]
Rotary Servo Motors
HG-UR Series Dimensions (Note 1, 5)

HG-UR72(B), HG-UR152(B)
176
55
L
40
13
3
2-M6 screw
50
Sh6
(Note 3)
00
0
114.3 -0.025
(Note 3)
50.9
(Note 3)
30
(Note 3)

Use hexagonal cap
head bolts.
45
1
2
(Note 3)
40
Oil seal
141.3
13
Encoder connector
CMV1-R10P
Power connector
CE05-2A22-23P
44
KL
(Note 2)
(PE)
E F
D H G
A
C
B
U
V
Model
Key
Power connector
KL
HG-UR72(B)
109
(142.5)
38
22
HG-UR152(B)
118.5
(152)
47.5
28
[Unit: mm]
HG-UR202(B), HG-UR352(B), HG-UR502(B)

L
220
65
16
39.2
4
2-M8 screw
60

Use hexagonal cap
head bolts.
+0.010
0
35
(Note 3)
35
27
0
200 -0.046
50.9
Oil seal
13
164.9
138.7 (Note 3)
50
(Note 3)
45
(Note 3)
(Note 3)
(Note 3)
37.5
Encoder connector
CMV1-R10P
42
(Note 3)
connector (Note 3)
MS3102A10SL-4P
53.5
(Note 3)
KL
Power connector
CE05-2A24-10P
47
(PE)
Key
Key
Electromagnetic
brake (Note 2)
E
G
B
Model
KL
HG-UR202(B)
116.5
(159.5)
42.5
HG-UR352(B)
140.5
(183.5)
66.5
HG-UR502(B)
164.5
(207.5)
90.5
F
A
U
V
Power connector
Variable
dimensions (Note 4)
[Unit: mm]




2-41
HG-KR Series Geared Servo Motor Specifications
Model
Output
[W]
HG-KR13(B)G1
50
100
200
HG-KR43(B)G1
400
HG-KR73(B)G1
750
9/44
49/576
25/484
9/44
49/576
25/484
19/96
961/11664
513/9984
19/96
961/11664
7/135
1/5
7/87
625/12544
Item
Mounting method
Output shaft rotating direction
Maximum torque
Permissible speed (at servo motor shaft)
IP rating (reducer part)
Reducer efficiency (Note 3)
0.0820
0.104
0.0860
0.115
0.137
0.119
0.375
0.418
0.391
0.525
0.568
0.881
1.68
2.35
2.41
0.0840
0.106
0.0880
0.121
0.143
0.125
0.397
0.440
0.413
0.547
0.590
0.903
1.79
2.46
2.52
5 times or less
5 times or less
7 times or less
7 times or less
5 times or less
Mass [kg]
With
Standard electromagnetic
brake
1.4
Lubrication
method
Mounting
direction
Grease
(filled)
Any direction
1.6
1.8
2.0
1.6
1.8
2.0
2.2
3.3
3.7
3.9
4.3
3.7
4.3
5.4
6.0
7.1
10
4.1
4.7
5.8
7.0
8.1
11
Specifications
Flange mounting
Same as the servo motor output shaft direction
60 minutes or less at reducer output shaft
Direct Drive Motors
Backlash (Note 4)
With
Standard electromagnetic
brake
Permissible load to motor

inertia ratio (Note 2)
(when converted into the
servo motor shaft)
Linear Servo Motors
HG-KR23(B)G1
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Rotary Servo Motors
HG-KR053(B)G1
Reduction
ratio
Actual
reduction
ratio
Servo Amplifiers
With reducer for general industrial machines: G1
Three times of the rated torque

(Refer to HG-KR series specifications in this catalog for the rated torque.)
4500 r/min (permissible instantaneous speed: 5175 r/min)
Equivalent to IP44
45% to 75%
Options/Peripheral
Equipment
Notes: 1. The moments of inertia in the table are the values that are converted into motor shaft for the servo motor with reducer (and with electromagnetic brake).

2. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.

3. The reducer efficiency varies depending on the reduction ratio. It also changes depending on the conditions of use, such as output torque, speed, and temperature.
The values in the table represent typical values at the rated torque and speed and at the normal temperature. They are not guaranteed values.

4. The backlash can be converted: 1 minute = 0.0167
LVS/Wires
Product List
Cautions
2-42
Rotary Servo Motors
HG-KR Series Geared Servo Motor Dimensions (Note 1, 5)

With reducer for general industrial machines
HG-KR_(B)G1
Drawing is schematic only, and the shapes or the mounting screws may differ from those of the actual servo motor. Refer to "Servo
Motor Instruction Manual (Vol. 3)" for details.
Rotation direction
For reverse rotation command
L
For forward rotation command
LR
LG
LK
LD
LH
4-M
45
LC
S
KB
KA
(LE)
Encoder
connector
LT
Power connector
LP (Note 3)
KL
Power connector
(Note 3)
3
4
13
LP (Note 3)
Model
HG-KR053(B)G1

(Note 3)
[Unit: mm]
Reduction ratio
(Actual reduction ratio)
1/5
110.1
(9/44)
(150.7)
LA
LC
LD
LE
LH
LK
KL
LG
LR
KA
34.5
25
60.5
36
38
35
74
KB
LT
LP
67.5
1/12
(49/576)
128.9
1/20
(169.5)
(25/484)
HG-KR13(B)G1
LT
Pin No. Signal name

1
B1
2
B2
Power connector
Encoder connector
Pin No. Signal name

(PE)
1
U
2
V
3
W
4
1
2
3
4
1/5
126.1
(9/44)
(166.7)
86.3
75
60h7
65
51
16h6
6.5
8
83.5
37.1
(38.8)
11.7
(58.8)
1/12
(49/576)
144.9
1/20
(185.5)
102.3
(25/484)
HG-KR23(B)G1
1/5
129.8
(19/96)
(166.6)
(961/11664)
149.6
1/20
(186.4)
(513/9984)
HG-KR43(B)G1
HG-KR73(B)G1
76
89.6
1/12
1/5
151.5
(19/96)
(188.3)
1/12
171.3
(961/11664)
(208.1)
1/20
175.3
(7/135)
(212.1)
1/5
177
(1/5)
(217.3)
1/12
199
(7/87)
(239.3)
1/20
212
(625/12544)
(252.3)
75
100
82h7
90
109.4
25h6
46
76
111.3
10
75
95h7
100
81
32h6
83
140
115h7
120
98
(57.8)
9
11.8
131.1
83
115
47.1
(47.1)
40h6
9.5
135.1
10
134.6
9.5
156.6
11.5
15
169.6
39
50
90
56
44.5
60
105.5
57.1
(57.1)
(63.1)
14
Notes: 1. For dimensions without tolerance, general tolerance applies. The actual dimensions may be 1 mm to 3 mm larger than the dimensions indicated since the outer frame of
the reducer is made by casting. Make allowance for the actual dimensions in the design of a machine.




2-43
Model
Output
[W]
Reduction ratio
1/5 (40 40)
HG-KR13(B)G5
HG-KR73(B)G5
100
200
400
750

Backlash (Note 4)
Maximum torque
10 times or less
10 times or less
14 times or less
14 times or less
10 times or less
0.55
1.1
0.56
With
electromagnetic
brake
Lubrication
method
Mounting
direction
Grease
(filled)
Any direction
0.75
1.3
0.76
1.2
1.4
0.75
1.3
0.95
1.5
1.4
1.6
2.6
2.8
1.8
1.9
2.2
2.3
3.4
3.8
2.3
2.7
3.9
4.3
6.0
6.4
4.8
5.1
5.8
6.1
7.2
8.2
Specifications
Options/Peripheral
Equipment
Item
Mounting method
0.0507
0.115
0.0497
0.107
0.0980
0.0920
0.0920
0.0872
0.152
0.144
0.135
0.146
0.145
0.444
0.446
0.741
0.695
0.694
0.594
0.969
0.891
0.943
0.937
2.02
1.93
2.12
1.90
1.90
Standard
Direct Drive Motors
HG-KR43(B)G5
1/5 (60 60)

1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
0.0485
0.113
0.0475
0.105
0.0960
0.0900
0.0900
0.0812
0.146
0.138
0.129
0.140
0.139
0.422
0.424
0.719
0.673
0.672
0.572
0.947
0.869
0.921
0.915
1.91
1.82
2.01
1.79
1.79
Mass [kg]
Linear Servo Motors
HG-KR23(B)G5
50
Standard

With
electromagnetic
servo motor shaft)
brake
Rotary Servo Motors
HG-KR053(B)G5
1/5 (60 60)

1/9
1/11
1/21
1/33
1/45
1/5 (40 40)
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Servo Amplifiers
With flange-output type reducer for high precision applications, flange mounting: G5
Flange mounting
Equivalent to IP44
LVS/Wires
1/5 (60 60), 1/11, 1/21, 1/33 and 1/45 of HG-KR053(B)G5: 22% to 41%
1/5 (40 40) and 1/9 of HG-KR053(B)G5, and HG-KR13(B)G5 to HG-KR73(B)G5: 58% to 87%



Product List
Cautions
2-44
Rotary Servo Motors
HG-KR Series Geared Servo Motor Dimensions (Note 1)

With flange-output type reducer for high precision applications, flange mounting
HG-KR_(B)G5
Rotation direction
L
LM
LK
LG
N-P screw
depth R
LH
LD
4-M
45
LE
LC
KB
KA
LF
L
L
(Note 5)
LT
Encoder connector
Power connector
KL
1
2
13
Model
Reduction ratio
1/5 (40 40)
1/5 (60 60) (Note 5)
HG-KR053(B)G5
1/ 9
Power connector
LT
Pin No. Signal name

1
B1
2
B2
1
Encoder connector
Pin No. Signal name

(PE)
1
U
2
V
3
W
4
(Note 3)
Power connector
LP (Note 3)

(Note 3)
LP (Note 3)
[Unit: mm]

L
105.9
(146.5)
130.4
(171)
105.9
(146.5)
LA
LB
LC
LD
LE
LF
46
18
40h7
40
24
5H7
15
LG
LH
LK
LM
KL
+0.25
-0.20
2.5
34.5
63.3
70
30
56h7
60
40
14H7
3.4
21
+0.4
-0.5
56
87.8
5.5
2.5
34.5
63.3
3.4
56
87.8
5.5
46
18
40h7
40
24
5H7
15
+0.25
-0.20
70
30
56h7
60
40
14H7
21
+0.4
-0.5
KA
KB
LT
LP
1/11 (Note 5)
1/21 (Note 5)
130.4
1/33 (Note 5)
(171)
M4
36
1/45 (Note 5)
1/5 (40 40)
1/5 (60 60) (Note 5)
HG-KR13(B)G5
HG-KR23(B)G5
1/11 (Note 5)
1/21 (Note 5)
(187)
148.9
1/45 (Note 5)
(189.5)
1/5
140.6
1/11
(177.4)
1/21 (Note 5)
1/33 (Note 5)
1/5
HG-KR73(B)G5
146.4
1/33 (Note 5)
1/45 (Note 5)
HG-KR43(B)G5
121.9
(162.5)
147.6
(184.4)
162.3
(199.1)
1/11
169.3
1/21
(206.1)
1/33
181.3
1/45
(218.1)
1/5
190
1/11
(230.3)
1/21
1/33
1/45
200
(240.3)
46
18
40h7
40
24
5H7
15
+0.25
-0.20
2.5
34.5
79.3
70
30
56h7
60
40
14H7
21
+0.4
-0.5
56
103.8
105
45
85h7
90
59
24H7
27
+0.4
-0.5
10
56.5
106.3
56
3.4
5.5
M6
10
100.4
M4
5.5
M6
10
M4
5.5
70
30
56h7
60
40
14H7
21
+0.4
-0.5
105
45
85h7
90
59
24H7
27
+0.4
-0.5
10
61
107.4
70
30
56h7
60
40
14H7
21
+0.4
-0.5
56
122.1
105
45
85h7
90
59
24H7
27
+0.4
-0.5
10
61
129.1
M6
10
135
60
115h7
120
84
32H7
35
+0.4
-0.5
13
13
70
141.1
M8
12
11
105
45
85h7
90
59
24H7
27
+0.4
-0.5
10
68
147.6
M6
10
135
60
115h7
120
84
32H7
35
+0.4
-0.5
13
13
75
157.6
M8
12
11
46
37.1
(38.8)
11.7
(58.8)
47.1
(47.1)
(57.8)
11.8
56
57.1
(57.1)
(63.1)




5. Lead out the power cable in opposite direction of the motor shaft.
2-45
Model
Output
[W]
HG-KR13(B)G7
HG-KR73(B)G7
100
200
400
750

Backlash (Note 4)
Maximum torque
10 times or less
10 times or less
14 times or less
14 times or less
10 times or less
0.58
1.2
0.58
With
electromagnetic
brake
Lubrication
method
Mounting
direction
Grease
(filled)
Any direction
0.78
1.4
0.78
1.3
1.5
0.78
1.4
0.98
1.6
1.5
1.7
3.0
3.2
1.9
2.0
2.3
2.4
3.8
4.2
2.4
2.8
4.3
4.7
7.4
7.8
5.2
5.5
6.2
6.5
8.6
9.6
Specifications
Options/Peripheral
Equipment
Item
Mounting method
0.0534
0.121
0.0514
0.108
0.0980
0.0920
0.0920
0.0899
0.158
0.145
0.135
0.147
0.145
0.450
0.446
0.743
0.696
0.694
0.600
0.977
0.893
0.949
0.940
2.06
1.94
2.14
1.91
1.90
Standard
Direct Drive Motors
HG-KR43(B)G7
50
0.0512
0.119
0.0492
0.106
0.0960
0.0900
0.0900
0.0839
0.152
0.139
0.129
0.141
0.139
0.428
0.424
0.721
0.674
0.672
0.578
0.955
0.871
0.927
0.918
1.95
1.83
2.03
1.80
1.79
With
electromagnetic
brake
Mass [kg]
Linear Servo Motors
HG-KR23(B)G7
1/5 (40 40)

1/5 (60 60)
1/9
1/11
1/21
1/33
1/45
1/5 (40 40)
1/5 (60 60)
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Standard

servo motor shaft)
Rotary Servo Motors
HG-KR053(B)G7
Reduction ratio
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Servo Amplifiers
With shaft-output type reducer for high precision applications, flange mounting: G7
Flange mounting
Equivalent to IP44
LVS/Wires
1/5 (60 60), 1/11, 1/21, 1/33 and 1/45 of HG-KR053(B)G7: 22% to 41%
1/5 (40 40) and 1/9 of HG-KR053(B)G7, and HG-KR13(B)G7 to HG-KR73(B)G7: 58% to 87%



Product List
Cautions
2-46
Rotary Servo Motors
HG-KR Series Geared Servo Motor Dimensions (Note 1, 5, 7)

With shaft-output type reducer for high precision applications, flange mounting
HG-KR_(B)G7
Rotation direction
L
LM
LK
LG
LR
LD
Q
LH
45
4-M
LC
LE
KB
KA
LA
Power connector
(Note 6)
Encoder connector
LT
KL
LP (Note 3)
Power connector
13
9
1/5 (40 40)
1/5 (60 60) (Note 6)
HG-KR053(B)G7
1/ 9
Reduction ratio
Model
1
Encoder connector

(Note 3)
LP (Note 3)
Pin No. Signal name

(PE)
1
U
2
V
3
W
4
Power connector
LT
3
4
1
2
(Note 3)
Pin No. Signal name

1
B1
2
B2
[Unit: mm]

L
105.9
(146.5)
130.4
(171)
105.9
(146.5)
LA
LC
LD
LE
LG
LH
LR
LK
LM
KL
46
40h7
40
29
10h7
15
2.5
20
42
34.5
63.3
3.4
70
56h7
60
40
16h7
21
28
58
56
87.8
5.5
46
40h7
40
29
10h7
15
2.5
20
42
34.5
63.3
3.4
70
56h7
60
40
16h7
21
28
58
56
87.8
5.5
KA
KB
LT
LP
1/11 (Note 6)
1/21 (Note 6)
130.4
1/33 (Note 6)
(171)
36
1/45 (Note 6)
1/5 (40 40)
1/5 (60 60) (Note 6)
HG-KR13(B)G7
HG-KR23(B)G7
1/11 (Note 6)
1/21 (Note 6)
(187)
148.9
1/45 (Note 6)
(189.5)
1/5
140.6
1/11
(177.4)
1/21 (Note 6)
1/33 (Note 6)
1/5
HG-KR73(B)G7
146.4
1/33 (Note 6)
1/45 (Note 6)
HG-KR43(B)G7
121.9
(162.5)
147.6
(184.4)
162.3
(199.1)
1/11
169.3
1/21
(206.1)
1/33
181.3
1/45
(218.1)
1/5
190
1/11
(230.3)
1/21
1/33
1/45
200
(240.3)
46
40h7
40
29
10h7
15
2.5
20
42
34.5
79.3
3.4
70
56h7
60
40
16h7
21
28
58
56
103.8
5.5
105
85h7
90
59
25h7
27
42
80
10
56.5
106.3
70
56h7
60
40
16h7
21
28
58
56
100.4
5.5
105
85h7
90
59
25h7
27
42
80
10
61
107.4
70
56h7
60
40
16h7
21
28
58
56
122.1
5.5
105
85h7
90
59
25h7
27
42
80
10
61
129.1
135
115h7
120
84
40h7
35
13
82
133
13
70
141.1
11
105
85h7
90
59
25h7
27
42
80
10
68
147.6
135
115h7
120
84
40h7
35
13
82
133
13
75
157.6
11
46
37.1
(38.8)
11.7
(58.8)
47.1
(47.1)
(57.8)
11.8
56
57.1
(57.1)
(63.1)





6. Lead out the power cable in opposite direction of the motor shaft.

7. HG-KR_(B)G7K is also available for key shaft motor (with key). Refer to the following page for the shaft-end shape.
2-47
HG-KR Series Geared Servo Motor Special Shaft End Specifications

Servo Amplifiers
Standard HG-KR_(B)G1 (with reducer for general industrial machines) has a straight shaft. Key shaft (with key) is also
available as a special specification. Contact your local sales office for more details.
Standard HG-KR_(B)G7 (with shaft-output type reducer for high precision applications, flange mounting) has a straight shaft.
HG-KR_(B)G7K is also available for key shaft motor (with key). Refer to the following for the shaft-end shape.
Key shaft (with key) (Note 1, 2, 3)

Reduction
ratio
1/5
(40 40)
1/5
(60 60)
1/9
QK
10
20
15
2.5
16
28
25
10
20
15
2.5
16
28
25
M4 screw
Depth: 8
1/11
1/33
20
15
2.5
16
28
25
M4 screw
Depth: 8
25
42
36
M6 screw
Depth: 12
16
28
25
M4 screw
Depth: 8
1/33
25
42
36
M6 screw
Depth: 12
1/5
16
28
25
M4 screw
Depth: 8
25
42
36
M6 screw
Depth: 12
40
82
12
70
M10 screw
Depth: 20
25
42
36
M6 screw
Depth: 12
40
82
12
70
M10 screw
Depth: 20
1/33
1/45
1/5
1/11
1/21
1/45
1/11
1/21
1/33
1/45
1/5
HG-KR73(B)G7K
1/11
1/21
1/33
1/45
[Unit: mm]
Options/Peripheral
Equipment
HG-KR43(B)G7K
QK
Direct Drive Motors
10
1/21
HG-KR23(B)G7K
M3 screw
Depth: 6
HG-KR13(B)G7K
1/45
1/5
(40 40)
1/5
(60 60)
1/11
Linear Servo Motors
1/21
M3 screw
Depth: 6
M4 screw
Depth: 8
M3 screw
Depth: 6
Sh7
HG-KR053(B)G7K
Variable dimensions
S
Rotary Servo Motors
Model
LVS/Wires

2. Single pointed key is attached.

3. The dimensions not mentioned in the drawings are the same as those of the straight shaft. Refer to HG-KR_(B)G7 dimensions in this catalog.
Product List
Cautions
2-48
Rotary Servo Motors
HG-SR Series Geared Servo Motor Specifications

With reducer for general industrial machines, flange mounting: G1
Model
HG-SR52(B)G1
HG-SR524(B)G1
HG-SR102(B)G1
HG-SR1024(B)G1
HG-SR152(B)G1
HG-SR1524(B)G1
HG-SR202(B)G1
HG-SR2024(B)G1
HG-SR352(B)G1
HG-SR3524(B)G1
HG-SR502(B)G1
HG-SR5024(B)G1
HG-SR702(B)G1
HG-SR7024(B)G1
Output
[kW]
0.5
1.0
1.5
2.0
3.5
5.0
7.0
Reduction ratio
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Standard
8.08
7.65
7.53
7.47
8.26
8.22
8.18
14.8
13.3
12.9
12.6
12.6
13.8
19.1
19.2
17.7
17.3
18.4
18.3
23.6
23.5
50.0
48.4
48.1
54.8
54.5
54.3
54.2
87.1
82.8
81.5
86.6
86.3
105
104
126
114
110
141
140
139
138
177
190
182
192
192
267
266
With
electromagnetic
brake
10.3
9.85
9.73
9.67
10.5
10.4
10.4
17.0
15.5
15.1
14.8
14.8
16.0
21.3
21.4
19.9
19.5
20.6
20.5
25.8
25.7
59.4
57.8
57.5
64.2
63.9
63.7
63.6
96.5
92.2
90.9
96.0
95.7
114
113
135
123
119
150
150
149
147
187
199
192
202
201
277
275
Permissible load to
motor inertia ratio (Note 2)
(when converted into
the servo motor shaft)
Mass [kg]
Standard
With
electromagnetic
brake
18
20
4 times or less
4 times or less
4 times or less
Lubrication
method (Note 5)
Mounting
direction
Grease
(filled)
Any direction
Any direction
27
29
30
32
Grease
(filled)
49
81
51
83
Oil (Note 3)
31
33
Grease
(filled)
50
52
82
84
36
42
Grease
(filled)
87
93
Oil (Note 3)
60
66
92
98
134
140
Oil
96
102
Oil (Note 3)
Oil (Note 3)
4 times or less
4 times or less
Oil (Note 3)
(Note 4)
Any direction
Shaft horizontal
(Note 4)
Any direction
Shaft horizontal
(Note 4)
Shaft horizontal
(Note 4)
Shaft horizontal
4 times or less
4 times or less
Shaft horizontal
(Note 4)
165
171
Oil
103
109
Oil (Note 3)
145
151
172
178
240
246
Oil
Shaft horizontal
(Note 4)


3. Use the grease lubricated servo motor (special specification) instead of the oil lubricated for applications where the servo motor moves.

4. Do not mount the servo motor in a way tilted to the shaft direction or to the shaft rotation direction. Refer to the asterisk 1 of "Annotations for Geared Servo Motor
Specifications" on p. 2-59 in this catalog. Note that servo motors with special specifications may be available to be mounted with other than the shaft horizontal.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the available models.

5. Be sure to fill the reducer with lubricant oil since the oil is removed before the shipment.
2-49

Servo Amplifiers
With reducer for general industrial machines, flange mounting: G1

Item
Mounting method
Backlash (Note 3)
Maximum torque

Opposite from the servo motor output shaft direction

40 minutes to 2 at reducer output shaft (Note 2)
(Refer to HG-SR 2000 r/min series specifications in this catalog for the rated torque.)
For grease lubrication: 3000 r/min (permissible instantaneous speed: 3450 r/min)
For oil lubrication: 2000 r/min (permissible instantaneous speed: 2300 r/min)
Rotary Servo Motors
Specifications
Flange mounting
Equivalent to IP44
85% to 94%
Notes: 1. The reducer efficiency varies depending on the reduction ratio. It also changes depending on the conditions of use, such as output torque, speed, and temperature.

2. This is a designed value, not guaranteed value.

Linear Servo Motors

Direct Drive Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
2-50
Rotary Servo Motors
HG-SR Series Geared Servo Motor Dimensions (Note 1, 5)

With reducer for general industrial machines, flange mounting
HG-SR_(B)G1
Drawing is schematic only, and the oil cap, the shapes, or the mounting screws may differ from those of the actual servo motor.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for details.
KL
LP (Note 3)
KB
KD
50.9
13
KA
Rotation direction
LR
H
LT
LG
K
Z
QK
LCf8
LD
LK
LW
KE
Main key
Position mark
Reduction ratio
(PE)
Key
C
B
D
A
LS
Encoder connector
CMV1-R10P
CMV1-R2P (Note 3)
Power connector
MS3102A18-10P (1.5 kW or smaller)
MS3102A22-22P (2 kW to 5 kW)
MS3102A32-17P (7 kW)
Electromagnetic brake (Note 2)

Model
A
L
(Note 3)
(Side view of the motor only)
IE
Oil cap
KC
V
U
Power connector
Sh6
A-A
[Unit: mm]

L
LA
LC
LD
LG
LK
LR
IE
KL
119
60.7
(95.2)
KA
LP
LT
LS
KE
KB
KD
KC
QK
(59)
38.2
(43.5)
20.9
132
60.7
(95.2)
20.9
69
132
60.7
(95.2)
230
76
145
20
300
89
210
13
204
260
15
230
LW
13.5 (29)
58
4-11
45
108
112.5
(79.9)
130
35
32
28
(59)
38.2
(43.5)
13.5 (29)
58
6-11
30
117
112.5
(79.9)
130
55
50
38
10
20.9
(59)
38.2
(43.5)
13.5 (29)
58
6-11
30
117
112.5
(79.9)
130
55
50
38
10
60.7
(95.2)
20.9
(59)
38.2
(43.5)
13.5 (29)
58
6-11
60
164
112.5
(79.9)
130
70
56
50
5.5
14
192
60.7
(95.2)
20.9
(59)
38.2
(43.5)
13.5 (29)
58
6-11
60
219
112.5
(79.9)
130
90
80
60
11
18
69
132
60.7
(95.2)
20.9
(59)
38.2
(43.5)
13.5 (29)
58
6-11
30
117
112.5
(79.9)
130
55
50
38
10
76
145
60.7
(95.2)
20.9
(59)
38.2
(43.5)
13.5 (29)
58
6-11
60
164
112.5
(79.9)
130
70
56
50
5.5
14
20.9
(59)
38.2
(43.5)
13.5 (29)
58
6-11
60
219
112.5
(79.9)
130
90
80
60
11
18
1/6
1/11
HG-SR52(B)G1
HG-SR524(B)G1
275
(309.5)
134
267.5
(302)
180
140
210
13
204
69
281.5
(316)
180
140
210
13
204
1/43
327
(361.5)
230
200
260
15
1/59
384.5
(419)
310
270
340
295.5
(330)
180
140
341
(375.5)
230
200
1/17
110
160
150
48
M8 screw
Depth: 20
1/29
1/35
1/43
1/59
1/6
1/11
1/17
HG-SR102(B)G1
HG-SR1024(B)G1
1/29
1/35
1/6
1/11
HG-SR152(B)G1
HG-SR1524(B)G1
1/17
1/29
1/35
1/43
1/59
1/6
1/11
HG-SR202(B)G1
HG-SR2024(B)G1
M8 screw
Depth: 20
1/17
M10 screw
Depth: 18
M8 screw
Depth: 20
M10 screw
Depth: 18
398.5
(433)
310
270
340
20
300
89
192
60.7
(95.2)
305.5
(355)
180
140
210
13
204
69
142
63.7
(113.2)
24.8
(66.5)
38.5
(45.5)
(44)
82
6-11
30
117
140.9
(96.9)
176
55
50
38
10
M8 screw
Depth: 20
402.5
(452)
310
270
340
20
300
89
181
63.7
(113.2)
24.8
(66.5)
38.5
(45.5)
(44)
82
6-11
60
219
140.9
(96.9)
176
90
80
60
11
18
M10 screw
Depth: 18
372
(421.5)
230
200
260
15
230
76
145
63.7
(113.2)
24.8
(66.5)
38.5
(45.5)
(44)
82
6-11
60
164
140.9
(96.9)
176
70
56
50
5.5
14
24.8
(66.5)
38.5
(45.5)
(44)
82
6-11
60
219
140.9
(96.9)
176
90
80
60
11
18
1/29
1/35
1/43
1/59
1/6
1/11
HG-SR352(B)G1
HG-SR3524(B)G1
1/17
1/29
1/35
1/43
1/59
1/6
1/11
HG-SR502(B)G1
HG-SR5024(B)G1
1/17
M10 screw
Depth: 18
426.5
(476)
310
270
340
20
300
89
181
63.7
(113.2)
466
(515.5)
360
316
400
22
340
94
181
63.7
(113.2)
24.8
(66.5)
38.5
(45.5)
(44)
82
8-14
22.5
258
140.9
(96.9)
176
90
80
70
12
7.5
20
M12 screw
Depth: 24
442.5
(492)
310
270
340
20
300
89
181
63.7
(113.2)
24.8
(66.5)
38.5
(45.5)
(44)
82
6-11
60
219
140.9
(96.9)
176
90
80
60
11
18
M10 screw
Depth: 18
506
(555.5)
390
345
430
22
370
110
176
63.7
(113.2)
24.8
(66.5)
38.5
(45.5)
(44)
82
8-18
22.5
279
140.9
(96.9)
176
110
100
80
14
22
M12 screw
Depth: 24
482.5
(532)
310
270
340
20
300
89
181
71.7
(121.2)
32
(66.5)
38.5
(45.5)
(44)
82
6-11
60
219
149.1
(96.9)
176
90
80
60
11
18
M10 screw
Depth: 18
1/29
1/35
1/43
1/59
1/6
1/11
HG-SR702(B)G1
HG-SR7024(B)G1
1/17
1/29
1/35
1/43
1/59
522
(571.5)
360
316
400
22
340
94
181
71.7
(121.2)
32
(66.5)
38.5
(45.5)
(44)
82
8-14
22.5
258
149.1
(96.9)
176
90
80
70
12
7.5
20
546
(595.5)
390
345
430
22
370
110
176
71.7
(121.2)
32
(66.5)
38.5
(45.5)
(44)
82
8-18
22.5
279
149.1
(96.9)
176
110
100
80
14
22
602
(651.5)
450
400
490
30
430
145
210
71.7
(121.2)
32
(66.5)
38.5
(45.5)
(44)
82
12-18
15
320
149.1
(96.9)
176
135
125
95
14
25
M12 screw
Depth: 24
M20 screw
Depth: 34




2-51
Model
HG-SR152(B)G1H
HG-SR1524(B)G1H
HG-SR502(B)G1H
HG-SR5024(B)G1H
3.5
5.0
7.0
Standard
20
Lubrication
With
method (Note 5)
electromagnetic
brake
22
4 times or less
4 times or less
4 times or less
Grease
(filled)
Any direction
Any direction
28
30
31
33
Grease
(filled)
50
86
52
88
Oil (Note 3)
32
34
Grease
(filled)
51
53
87
89
37
43
Grease
(filled)
92
98
Oil (Note 3)
61
67
97
103
137
143
Oil
101
107
Oil (Note 3)
Oil (Note 3)
4 times or less
4 times or less
Oil (Note 3)
Shaft horizontal
(Note 4)
Any direction
Shaft horizontal
(Note 4)
Any direction
Shaft horizontal
(Note 4)
Shaft horizontal
(Note 4)
Shaft horizontal
4 times or less
4 times or less
Mounting
direction
(Note 4)
178
184
Oil
108
114
Oil (Note 3)
148
154
185
191
256
262
Oil
LVS/Wires
HG-SR702(B)G1H
HG-SR7024(B)G1H
2.0
10.3
9.85
9.73
9.67
10.5
10.4
10.4
17.0
15.5
15.1
14.8
14.8
16.0
21.3
21.4
19.9
19.5
20.6
20.5
25.8
25.7
59.4
57.8
57.5
64.2
63.9
63.7
63.6
96.5
92.2
90.9
96.0
95.7
114
113
135
123
119
150
150
149
147
187
199
192
202
201
277
275
Mass [kg]
Options/Peripheral
Equipment
HG-SR352(B)G1H
HG-SR3524(B)G1H
1.5
8.08
7.65
7.53
7.47
8.26
8.22
8.18
14.8
13.3
12.9
12.6
12.6
13.8
19.1
19.2
17.7
17.3
18.4
18.3
23.6
23.5
50.0
48.4
48.1
54.8
54.5
54.3
54.2
87.1
82.8
81.5
86.6
86.3
105
104
126
114
110
141
140
139
138
177
190
182
192
192
267
266
Permissible load to
(when converted into
the servo motor shaft)
Direct Drive Motors
HG-SR202(B)G1H
HG-SR2024(B)G1H
1.0
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
Standard
With
electromagnetic
brake
Linear Servo Motors
HG-SR102(B)G1H
HG-SR1024(B)G1H
0.5
Reduction ratio
Rotary Servo Motors
HG-SR52(B)G1H
HG-SR524(B)G1H
Output
[kW]
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Servo Amplifiers
With reducer for general industrial machines, foot mounting: G1H
Shaft horizontal
(Note 4)
Product List


3. Use the grease lubricated servo motor (special specification) instead of the oil lubricated for applications where the servo motor moves.

4. Do not mount the servo motor in a way tilted to the shaft direction or to the shaft rotation direction. Refer to the asterisk 1 of "Annotations for Geared Servo Motor
Specifications" on p. 2-59 in this catalog. Note that servo motors with special specifications may be available to be mounted with other than the shaft horizontal.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the available models.

Cautions
2-52
Rotary Servo Motors

With reducer for general industrial machines, foot mounting: G1H
Item
Mounting method
Backlash (Note 3)
Maximum torque
Specifications
Foot mounting
Opposite from the servo motor output shaft direction
40 minutes to 2 at reducer output shaft (Note 2)
For grease lubrication: 3000 r/min (permissible instantaneous speed: 3450 r/min)
For oil lubrication: 2000 r/min (permissible instantaneous speed: 2300 r/min)
Equivalent to IP44
85% to 94%
Notes: 1. The reducer efficiency varies depending on the reduction ratio. It also changes depending on the conditions of use, such as output torque, speed, and temperature.

2. This is a designed value, not guaranteed value.

2-53
HG-SR Series Geared Servo Motor Dimensions (Note 1, 5)

Servo Amplifiers
With reducer for general industrial machines, foot mounting

HG-SR_(B)G1H
Drawing is schematic only, and the oil cap, the shapes, or the mounting screws may differ from those of the actual servo motor.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for details.
KL
KA
KD
13
QK
Oil cap
LB
KE
FE
FC
FA

CMV1-R2P (Note 3)
FA
Main key
Position mark
Power connector
MS3102A22-22P (2 kW to 5 kW)
MS3102A32-17P (7 kW)
FD
FF
4-Z
FG
(PE)
FH
Key
C
B
FG
D
A
Sh6
V
U
Power connector
A-A
[Unit: mm]

L
LA
LB
LK
LS
LT
LP
LW
KL
KA
KB
KD
KC
KE
FA
FB
FC
FD
FE
FF
FG
FH
QK
323
(357.5)
100
219
150
(29)
38.2
(43.5)
(59)
13.5
121
60.7
(95.2)
20.9
112.5
(79.9)
130
58
11
45
135
60
15
12
40
75
180
35
32
28
336.5
(371)
120
252
204
(29)
38.2
(43.5)
(59)
13.5
131
60.7
(95.2)
20.9
112.5
(79.9)
130
58
14
57.5
155
82
20
15
55
95
230
55
50
38
10
350.5
(385)
120
252
204
(29)
38.2
(43.5)
(59)
13.5
131
60.7
(95.2)
20.9
112.5
(79.9)
130
58
14
57.5
155
82
20
15
55
95
230
55
50
38
10
1/43
403
(437.5)
150
295
230
(29)
38.2
(43.5)
(59)
13.5
170
60.7
(95.2)
20.9
112.5
(79.9)
130
58
18
72.5
195
100
25
22
65
145
330
70
56
50
5.5
14
1/59
473.5
(508)
160
352
300
(29)
38.2
(43.5)
(59)
13.5
218
60.7
(95.2)
20.9
112.5
(79.9)
130
58
18
75
238
139
44
25
75
185
410
90
80
60
11
18
364.5
(399)
120
252
204
(29)
38.2
(43.5)
(59)
13.5
131
60.7
(95.2)
20.9
112.5
(79.9)
130
58
14
57.5
155
82
20
15
55
95
230
55
50
38
10
417
(451.5)
150
295
230
(29)
38.2
(43.5)
(59)
13.5
170
60.7
(95.2)
20.9
112.5
(79.9)
130
58
18
72.5
195
100
25
22
65
145
330
70
56
50
5.5
14
(59)
13.5
218
60.7
(95.2)
20.9
112.5
(79.9)
130
58
18
75
238
139
44
25
75
185
410
90
80
60
11
18
1/6
1/11
HG-SR52(B)G1H
HG-SR524(B)G1H
1/17
M8 screw
Depth: 20
1/29
1/35
1/43
1/59
Direct Drive Motors

Reduction ratio
FB
Encoder connector
CMV1-R10P
Model
Linear Servo Motors
(Side view of the motor only)
(Note 3)
LA
LS
LW
LK
50.9
LT
Rotary Servo Motors
LP (Note 3)
KB
KC
Rotation direction
1/6
1/11
HG-SR102(B)G1H
HG-SR1024(B)G1H
1/35
1/6
1/11
HG-SR152(B)G1H
HG-SR1524(B)G1H
1/17
1/29
1/35
1/43
1/59
1/17
M10 screw
Depth: 18
M8 screw
Depth: 20
M10 screw
Depth: 18
487.5
(522)
160
352
300
(29)
38.2
(43.5)
374.5
(424)
120
262
204
(44)
38.5
(45.5)
(66.5)
131
63.7
(113.2)
24.8
140.9
(96.9)
176
82
14
57.5
155
82
20
15
55
95
230
55
50
38
10
M8 screw
Depth: 20
491.5
(541)
160
341
300
(44)
38.5
(45.5)
(66.5)
218
63.7
(113.2)
24.8
140.9
(96.9)
176
82
18
75
238
139
44
25
75
185
410
90
80
60
11
18
M10 screw
Depth: 18
448
(497.5)
150
295
230
(44)
38.5
(45.5)
(66.5)
170
63.7
(113.2)
24.8
140.9
(96.9)
176
82
18
72.5
195
100
25
22
65
145
330
70
56
50
5.5
14
(66.5)
218
63.7
(113.2)
24.8
140.9
(96.9)
176
82
18
75
238
139
44
25
75
185
410
90
80
60
11
18
1/29
1/35
1/43
LVS/Wires
1/6
1/11
HG-SR202(B)G1H
HG-SR2024(B)G1H
M8 screw
Depth: 20
Options/Peripheral
Equipment
1/17
1/29
1/59
1/6
1/11
HG-SR352(B)G1H
HG-SR3524(B)G1H
1/17
1/29
1/35
1/59
1/6
1/11
HG-SR502(B)G1H
HG-SR5024(B)G1H
1/17
160
341
300
(44)
38.5
(45.5)
560
(609.5)
200
381
340
(44)
38.5
(45.5)
(66.5)
262
63.7
(113.2)
24.8
140.9
(96.9)
176
82
22
137.5
335
125
30
30
80
190
430
90
80
70
12
7.5
20
M12 screw
Depth: 24
531.5
(581)
160
341
300
(44)
38.5
(45.5)
(66.5)
218
63.7
(113.2)
24.8
140.9
(96.9)
176
82
18
75
238
139
44
25
75
185
410
90
80
60
11
18
M10 screw
Depth: 18
616
(665.5)
220
405
370
(44)
38.5
(45.5)
(66.5)
279
63.7
(113.2)
24.8
140.9
(96.9)
176
82
22
160
380
145
30
30
85
210
470
110
100
80
14
22
M12 screw
Depth: 24
571.5
(621)
160
341
300
(44)
38.5
(45.5)
(66.5)
218
71.7
(121.2)
32
149.1
(96.9)
176
82
18
75
238
139
44
25
75
185
410
90
80
60
11
18
M10 screw
Depth: 18
1/29
1/35
1/43
Product List
1/43
M10 screw
Depth: 18
515.5
(565)
1/59
1/6
1/11
HG-SR702(B)G1H
HG-SR7024(B)G1H
1/17
1/29
1/43
1/59
200
381
340
(44)
38.5
(45.5)
(66.5)
262
71.7
(121.2)
32
149.1
(96.9)
176
82
22
137.5
335
125
30
30
80
190
430
90
80
70
12
7.5
20
656
(705.5)
220
405
370
(44)
38.5
(45.5)
(66.5)
279
71.7
(121.2)
32
149.1
(96.9)
176
82
22
160
380
145
30
30
85
210
470
110
100
80
14
22
747
(796.5)
250
465
430
(44)
38.5
(45.5)
(66.5)
330
71.7
(121.2)
32
149.1
(96.9)
176
82
26
190
440
170
30
35
90
240
530
135
125
95
14
25
M12 screw
Depth: 24
M20 screw
Depth: 34




2-54
Cautions
1/35
616
(665.5)
Rotary Servo Motors

With flange-output type reducer for high precision applications, flange mounting: G5
Model
HG-SR52(B)G5
HG-SR524(B)G5
HG-SR102(B)G5
HG-SR1024(B)G5
HG-SR152(B)G5
HG-SR1524(B)G5
Output
[kW]
Reduction ratio
0.5
1.0
1.5
HG-SR202(B)G5
HG-SR2024(B)G5
2.0
HG-SR352(B)G5
HG-SR3524(B)G5
3.5
HG-SR502(B)G5
HG-SR5024(B)G5
5.0
HG-SR702(B)G5
HG-SR7024(B)G5
7.0
Item
Mounting method
Backlash (Note 4)
Maximum torque
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Standard
Permissible load to
With
electromagnetic
servo motor shaft)
brake
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
7.91
7.82
10.2
9.96
9.96
12.3
14.9
14.5
16.3
16.2
16.7
19.3
21.7
20.7
20.6
51.4
51.2
53.2
52.2
52.2
83.2
86.7
85.0
10.1
10.0
12.4
12.2
12.2
14.5
17.1
16.7
18.5
18.4
18.9
21.5
23.9
22.9
22.8
61.1
60.9
62.9
61.9
61.9
92.8
96.3
94.6
1/5
110
119
1/11
108
117
1/5
161
171
10 times or less
10 times or less
10 times or less
10 times or less
10 times or less
10 times or less
10 times or less
Mass [kg]
Standard
7.6
7.8
12
With
electromagnetic
brake
Lubrication
method
Mounting
direction
Grease
(filled)
Any direction
9.5
9.7
14
9.0
11
13
15
23
25
11
14
13
16
24
26
19
25
29
35
24
30
34
40
36
42
38
44
43
49
Specifications
Flange mounting
Equivalent to IP44
77% to 92%



2-55
HG-SR Series Geared Servo Motor Dimensions (Note 1)

Servo Amplifiers
With flange-output type reducer for high precision applications, flange mounting
HG-SR_(B)G5
LM
LT
KC
Rotation direction
LG
LK LH
Rotary Servo Motors
For forward rotation command 4-M
LD
(Note 5)
N-P screw depth R
60
45
KD
50.9
LF
LE
LC
B
L
KB
Linear Servo Motors
(Note 3)
13
LS
LP
(Note 3)
LW
KL
Front view A
KE
Rotation direction
Main key
Position mark
45
.5
22


N-P screw depth R
4-M
LD
(PE)
Key
Power connector
Direct Drive Motors
Power connector
MS3102A22-22P (2 kW to 5 kW)
MS3102A32-17P (7 kW)
622.5 ( = 135)
Encoder connector
CMV1-R10P
Electromagnetic
brake connector
CMV1-R2P (Note 3)
Front view B (Note 6)
HG-SR52(B)G5
HG-SR524(B)G5
ratio
LA
LB
LC
LD
LE
LF
1/5
213.5
(248)
105
45
85h7
90
59
24H7
27
225.5
(260)
135
60
115h7
120
84
32H7
227.5
(262)
105
45
85h7
90
59
24H7
1/11
1/21
1/33
1/45
1/5
HG-SR102(B)G5
HG-SR1024(B)G5
1/11
1/21
1/33
120
84
32H7
KL
LP
LW
LS
KB
KD
KC
KE
view
+0.4
-0.5
10
85
38.2
(43.5)
152.8
(59)
13.5
(29)
M6
10
112.5
(79.9)
130
58
35
+0.4
-0.5
13
13
94
38.2
(43.5)
164.8
(59)
13.5
(29)
M8
12
11
112.5
(79.9)
130
58
27
+0.4
-0.5
10
85
38.2
(43.5)
166.8
(59)
13.5
(29)
M6
10
112.5
(79.9)
130
58
35
+0.4
-0.5
94
38.2
(43.5)
178.8
(59)
13.5
(29)
M8
12
11
112.5
(79.9)
130
58
13
13
100
165h8
170
122
47H7
53
13
16
107
194.8
(59)
13.5
(29)
14
M8
12
14
112.5
(79.9)
130
58
105
45
85h7
90
59
24H7
27
+0.4
-0.5
10
85
38.2
(43.5)
180.8
(59)
13.5
(29)
M6
10
112.5
(79.9)
130
58
1/11
253.5
(288)
135
60
115h7
120
84
32H7
35
+0.4
-0.5
13
13
94
38.2
(43.5)
192.8
(59)
13.5
(29)
M8
12
11
112.5
(79.9)
130
58
269.5
(304)
190
100
165h8
170
122
47H7
53
+0.5
-0.8
13
16
107
38.2
(43.5)
208.8
(59)
13.5
(29)
14
M8
12
14
112.5
(79.9)
130
58
38.5
(45.5)
203.8
(66.5)
(44)
M8
12
11
140.9
(96.9)
176
82
1/21
1/11
1/21
1/33
1/21
1/5
1/11
1/5
135
60
115h7
120
84
32H7
35
+0.4
-0.5
13
13
116
(Note 5)
287.5
(337)
190
100
165h8
170
122
47H7
53
+0.5
-0.8
13
16
133
(Note 5)
38.5
(45.5)
223.8
(66.5)
(44)
14
M8
12
14
140.9
(96.9)
176
82
291.5
(341)
135
60
115h7
120
84
32H7
35
+0.4
-0.5
13
13
116
(Note 5)
38.5
(45.5)
227.8
(66.5)
(44)
M8
12
11
140.9
(96.9)
176
82
13
16
133
(Note 5)
38.5
(45.5)
247.8
(66.5)
(44)
14
M8
12
14
140.9
(96.9)
176
82
13
16
133
(Note 5)
38.5
(45.5)
263.8
(66.5)
(44)
14
M8
12
14
140.9
(96.9)
176
82
16
133
(Note 5)
38.5
(45.5)
295.8
(66.5)
(44)
14
M8
12
14
149.1
(96.9)
176
82
311.5
(361)
190
100
165h8
170
122
47H7
53
+0.5
-0.8
327.5
(377)
190
100
165h8
170
122
47H7
53
+0.5
-0.8
53
+0.5
-0.8
367.5
( 417)
190
100
165h8
170
122
47H7
13
2-56
Cautions




5. The models with (Note 5) in the LM column of the variable dimension table have the maximum dimension of 180 mm 180 mm in this part.

6. For the front view B, the screws are not placed at equal intervals.
Product List
1/5
1/11
267.5
(317)
LVS/Wires
190
241.5
(276)
1/45
HG-SR702(B)G5
HG-SR7024(B)G5
115h7
LT
1/5
1/5
HG-SR502(B)G5
HG-SR5024(B)G5
60
LM
38.2
(43.5)
1/45
HG-SR352(B)G5
HG-SR3524(B)G5
135
LK
+0.5
-0.8
1/33
HG-SR202(B)G5
HG-SR2024(B)G5
239.5
(274)
Front
LH
LG
255.5
(290)
1/45
HG-SR152(B)G5
HG-SR1524(B)G5
[Unit: mm]
Reduction
Options/Peripheral
Equipment
Model
Rotary Servo Motors

With shaft-output type reducer for high precision applications, flange mounting: G7
Model
Output
[kW]
Reduction ratio
1/5
HG-SR52(B)G7
HG-SR524(B)G7
0.5
1/11
1/21
1/33
1/45
1/5
HG-SR102(B)G7
HG-SR1024(B)G7
1.0
1/11
1/21
1/33
1/45
1/5
HG-SR152(B)G7
HG-SR1524(B)G7
1.5
1/11
1/21
1/33
1/45
1/5
HG-SR202(B)G7
HG-SR2024(B)G7
2.0
1/11
1/21
1/33
1/45
HG-SR352(B)G7
HG-SR3524(B)G7
3.5
HG-SR502(B)G7
HG-SR5024(B)G7
5.0
HG-SR702(B)G7
HG-SR7024(B)G7
7.0
Item
Mounting method
Backlash (Note 4)
Maximum torque
1/5
1/11
1/21
Moment of inertia J
[ 10-4 kgm2] (Note 1)
Standard
7.95
7.82
10.2
9.96
9.96
12.3
15.0
14.5
16.3
16.3
16.7
19.4
21.7
20.7
20.7
51.7
51.3
53.3
52.2
52.2
83.5
87.0
Permissible load to
With
electromagnetic
servo motor shaft)
brake
10.2
10.0
12.4
12.2
10 times or less
12.2
14.5
17.2
16.7
18.5
10 times or less
18.5
18.9
21.6
23.9
22.9
10 times or less
61.4
61.0
61.9
10 times or less
61.9
93.1
96.6
85.1
94.7
1/5
111
121
1/11
108
117
1/5
163
173
Standard
With
electromagnetic
brake
8.0
9.9
13
15
9.4
12
15
17
26
28
8.2
11
22.9
63.0
Mass [kg]
10 times or less
10 times or less
10 times or less
Lubrication
method
Mounting
direction
Grease
(filled)
Any direction
11
13
16
18
27
29
20
26
21
27
32
38
25
31
37
43
39
45
41
47
46
52
Specifications
Flange mounting
Equivalent to IP44
77% to 92%



2-57
HG-SR Series Geared Servo Motor Dimensions (Note 1, 5, 7)

HG-SR_(B)G7
Rotary Servo Motors
Rotation direction
LR
L
LT
KC
LK
LM
LG
4-M
LD
LH
Servo Amplifiers
With shaft-output type reducer for high precision applications, flange mounting
45
LE
LC
S
(Note 6)
50.9
KB
KD
Linear Servo Motors
(Note 3)
13
LS
LP
(Note 3)
LW
Electromagnetic
brake connector
CMV1-R2P (Note 3)
Power connector
MS3102A22-22P (2 kW to 5 kW)
MS3102A32-17P (7 kW)
1/5
HG-SR52(B)G7
HG-SR524(B)G7
1/11
1/21
1/33
1/45
1/5
HG-SR102(B)G7
HG-SR1024(B)G7
1/11
1/21
1/33
[Unit: mm]

L
LA
LC
LD
LE
LG
LH
LR
LK
LM
LT
KL
LP
LW
LS
KB
KD
KC
KE
213.5
(248)
105
85h7
90
59
25h7
27
42
80
10
85
38.2
(43.5)
152.8
(59)
13.5
(29)
112.5
(79.9)
130
58
225.5
(260)
135
115h7
120
84
40h7
35
13
82
133
13
94
38.2
(43.5)
164.8
(59)
13.5
(29)
11
112.5
(79.9)
130
58
166.8
(59)
13.5
(29)
112.5
(79.9)
130
58
178.8
(59)
13.5
(29)
11
112.5
(79.9)
130
58
227.5
(262)
105
85h7
90
59
25h7
27
42
80
10
85
38.2
( 43.5)
239.5
(274)
135
115h7
120
84
40h7
35
13
82
133
13
94
38.2
(43.5)
165h8
170
122
50h7
53
13
82
156
16
107
194.8
(59)
13.5
(29)
14
112.5
(79.9)
130
58
85h7
90
59
25h7
27
42
80
10
85
38.2
( 43.5)
180.8
(59)
13.5
(29)
112.5
(79.9)
130
58
1/11
253.5
( 288)
135
115h7
120
84
40h7
35
13
82
133
13
94
38.2
( 43.5)
192.8
(59)
13.5
(29)
11
112.5
(79.9)
130
58
208.8
(59)
13.5
(29)
14
112.5
(79.9)
130
58
1/21
1/11
1/21
1/33
1/21
1/5
1/11
1/5
190
165h8
170
122
50h7
53
13
82
156
16
107
38.2
(43.5)
267.5
(317)
135
115h7
120
84
40h7
35
13
82
133
13
116
(Note 6)
38.5
(45.5)
203.8
(66.5)
(44)
11
140.9
(96.9)
176
82
38.5
(45.5)
223.8
(66.5)
(44)
14
140.9
(96.9)
176
82
287.5
(337)
190
165h8
170
122
50h7
53
13
82
156
16
133
(Note 6)
291.5
( 341)
135
115h7
120
84
40h7
35
13
82
133
13
116
(Note 6)
38.5
( 45.5)
227.8
(66.5)
(44)
11
140.9
(96.9)
176
82
16
133
(Note 6)
38.5
(45.5)
247.8
(66.5)
(44)
14
140.9
(96.9)
176
82
38.5
(45.5)
263.8
(66.5)
(44)
14
140.9
(96.9)
176
82
38.5
( 45.5)
295.8
(66.5)
(44)
14
149.1
(96.9)
176
82
311.5
(361)
190
165h8
170
122
50h7
53
13
82
156
327.5
(377)
190
165h8
170
122
50h7
53
13
82
156
16
133
(Note 6)
367.5
(417)
190
165h8
170
122
50h7
53
13
82
156
16
133
(Note 6)
2-58
Cautions
6. The models with (Note 6) in the LM column of the variable dimension table have the maximum dimension of 180 mm 180 mm in this part.
7. HG-SR_(B)G7K is also available for key shaft motor (with key). Refer to the following page for the shaft-end shape.
Product List
1/5
1/11
269.5
(304)
LVS/Wires
190
105
1/45
HG-SR702(B)G7
HG-SR7024(B)G7
Power connector
241.5
( 276)
1/5
HG-SR502(B)G7
HG-SR5024(B)G7
1/5
1/45
HG-SR352(B)G7
HG-SR3524(B)G7
38.2
(43.5)
1/33
HG-SR202(B)G7
HG-SR2024(B)G7
255.5
(290)
1/45
HG-SR152(B)G7
HG-SR1524(B)G7
Options/Peripheral
Equipment
Reduction ratio
Key

Model
(PE)
Main key
Position mark
KL
Direct Drive Motors
Encoder connector
CMV1-R10P
KE
Rotary Servo Motors
HG-SR Series Geared Servo Motor Special Shaft End Specifications

Standard HG-SR_(B)G1/G1H (with reducer for general industrial machines) has a key shaft (with key).
Standard HG-SR_(B)G7 (with shaft-output type reducer for high precision applications, flange mounting) has a straight shaft.
HG-SR_(B)G7K is also available for key shaft motor (with key). Refer to the following for the shaft-end shape.
Key shaft (with key) (Note 1, 2, 3)

1/5
HG-SR52(B)G7K
HG-SR524(B)G7K
36
1/33
40
82
12
70
M10 screw
Depth: 20
1/5
25
42
36
M6 screw
Depth: 12
40
82
12
70
M10 screw
Depth: 20
50
82
14
70
5.5
M10 screw
Depth: 20
1/5
25
42
36
M6 screw
Depth: 12
1/11
40
82
12
70
M10 screw
Depth: 20
50
82
14
70
5.5
M10 screw
Depth: 20
40
82
12
70
M10 screw
Depth: 20
1/33
50
82
14
70
5.5
M10 screw
Depth: 20
1/5
40
82
12
70
M10 screw
Depth: 20
50
82
14
70
5.5
M10 screw
Depth: 20
1/21
1/11
1/21
1/21
1/33
1/45
1/5
1/11
1/21
1/45
HG-SR352(B)G7K
HG-SR3524(B)G7K
QK
42
1/45
HG-SR202(B)G7K
HG-SR2024(B)G7K
25
1/11
1/33
HG-SR152(B)G7K
HG-SR1524(B)G7K
M6 screw
Depth: 12
1/45
HG-SR102(B)G7K
HG-SR1024(B)G7K
Variable dimensions
S
HG-SR702(B)G7K
HG-SR7024(B)G7K
1/5
1/11
1/5

2. Single pointed key is attached.

3. The dimensions not mentioned in the drawings are the same as those of the straight shaft. Refer to HG-SR_(B)G7 dimensions in this catalog.
Annotations for Geared Servo Motor Specifications

* 1. Do not mount the following servo motor in a way tilted to the shaft direction or to the shaft rotation direction.
HG-SR102(4)(B)G1/G1H 1/43, 1/59
HG-SR152(4)(B)G1/G1H 1/29, 1/35, 1/43, 1/59
HG-SR202(4)(B)G1/G1H 1/29, 1/35, 1/43, 1/59
HG-SR352(4)(B)G1/G1H all reduction ratios
2-59
QK
1/11
1/21
HG-SR502(B)G7K
HG-SR5024(B)G7K
Sh7
Reduction
ratio
Model
[Unit: mm]
Rotary Servo Motor Sizing Example

(1) Configurations
Servo motor
Gear ratio 5 : 8
(2) Servo motor speed
= ball screw diameter

20 mm
= ball screw length
500 mm
= gear diameter (servo motor shaft) 25 mm
= gear diameter (load shaft)
40 mm
= gear tooth thickness
10 mm
(3) Select a servo motor

Selection criteria
Load torque , Rated torque of servo motor
Moment of inertia of all loads , JR Moment of inertia of servo motor
JR: Recommended load to motor inertia ratio
Select the following servo motor to meet the criteria above.
HG-KR23 (rated torque: 0.64 Nm, max. torque: 2.2 Nm,
moment of inertia: 0.221 10-4 kgm2)
1
30000
8
= 3000 r/min
1/n
16
5
(3) Acceleration/deceleration time constant

R
- ts = 0.05 s
V0/60
ts: settling time. Here assumed 0.15 s.
tpsa = tpsd = t0 -
(4) Operating pattern
(4) Acceleration/deceleration torque

Direct Drive Motors
Torque required during acceleration

(JL / h + JM) N0
TMa =
+ TL = 1.84 Nm
9.55 104 t psa
JM: moment of inertia of servo motor
Speed
[r/min]
3000
Time [s]
0.05
tpsa
0.05
t psd
0.15
Torque required during acceleration/deceleration must be equal

to or lower than the max. torque of the servo motor.
2. Selecting rotary servo motor
(5) Continuous effective load torque
(1) Load torque (converted into the servo motor shaft)

Travel distance per servo motor revolution
1
S = PB
= 10 mm
n
JL1 = W
S 10
2
-3
) = 1.52 10
2
-4
kgm2
-4
kgm2
0.23
0
-4
kgm2
Moment of inertia of all loads (converted into the servo motor

shaft)
JL = JL1 + JL2 + JL3 + JL4 = 1.87 10-4 kgm2
0.75
0.05
0.15
Time [s]
1.5
(7) Result
( 1n ) = 0.08 10
2
0.05
Select the following:

Servo motor: HG-KR23
Servo amplifier: MR-J4-20B
[Free capacity selection software]
Capacity selection software (MRZJW3-MOTSZ111E) does all the
calculations for you. The capacity selection software is available for
free download. Contact your local sales office for more details.
* Be sure to update your MRZJW3-MOTSZ111E to the latest version.
2-60
Cautions
DG24
Torque
[Nm]
-0.85
Gear (servo motor shaft)

LG
JL3 =
DG14 = 0.03 10-4 kgm2
32
Gear (load shaft)
LG
JL4 =
32
(6) Torque pattern
1.84
( ) = 0.24 10
2
= 0.40 Nm
Product List
Ball screw
LB
1
JL2 =
DB4
32
n
= 7.8 103 kg/m3 (iron)
TMa2 t psa + TL2 tc + TMd2 t psd

tf
tc = t0 - ts - t psa - t psd
Continuous effective load torque must be equal to or lower than

the rated torque of the servo motor.
= 0.23 Nm
(2) Moment of inertia of load (converted into the servo motor shaft)
Moving part
Trms =
LVS/Wires
Wg S
2 103 h
Torque required during deceleration

(JL h + JM) N0
TMd = + TL = -0.85 Nm
9.55 104 t psd
Options/Peripheral
Equipment
t0 1.0
ts
1 cycle tf 1.5
TL =
DB
LB
DG1
DG2
LG
Linear Servo Motors
N0 =
V0
PB
V0 = 30000 mm/min
R = 400 mm
t0 = within 1 s
40 times/min
tf = 1.5 s)
1/n = 5/8
W = 60 kg
h = 0.8
= 0.2
PB = 16 mm
Rotary Servo Motors
Feed speed of moving part

Feed length per cycle
Positioning time
Number of feed times
(Operating cycle
Reduction ratio
Moving part mass
Drive system efficiency
Friction coefficient
Ball screw lead
V0
Servo Amplifiers
1. Selection criteria
MEMO
3
Model Designation........................................3-1
Combinations of Linear Servo Motor and
Servo Amplifier.............................................3-5
Specifications
LM-H3 series................................................3-7
LM-F series...................................................3-9
LM-K2 series..............................................3-11
LM-U2 series..............................................3-13
Dimensions
LM-H3 series..............................................3-15
LM-F series.................................................3-17
LM-K2 series..............................................3-19
LM-U2 series..............................................3-21
List of Linear Encoders...............................3-23

Sizing Example...........................................3-24
Linear Servo Motors
Linear Servo Motors
Model Designation
LM-H3 series
LM-H3P2 A-07 P-
(Primary side: coil)
Symbol Maximum speed [m/s]

P
3.0
Symbol
A
B
C
D
Length (nominal) [mm]

128
224
320
416
Symbol
2
3
7
Width (nominal) [mm]

50
65
100
Symbol Continuous thrust [N]

07
70
12
120
24
240
36
360
48
480
72
720
96
960
Symbol Linear servo motor model

BSS0
LM-H3P2A-07P
LM-H3P3A-12P
LM-H3P3B-24P
CSS0
LM-H3P3C-36P
LM-H3P3D-48P
LM-H3P7A-24P
LM-H3P7B-48P
ASS0
LM-H3P7C-72P
LM-H3P7D-96P
Primary side (coil)
LM-H3S 20- 2 8 8 -
Symbol
2
3
7
(Secondary side: magnet)

42
60
95
Secondary side (magnet)
3-1
Symbol Length (nominal) [mm]

288
288
384
384
480
480
768
768

LM-H3S20-288
LM-H3S20-384
BSS0
LM-H3S20-480
LM-H3S20-768
LM-H3S30-288
LM-H3S30-384
CSS0
LM-H3S30-480
LM-H3S30-768
LM-H3S70-288
LM-H3S70-384
ASS0
LM-H3S70-480
LM-H3S70-768
Model Designation
LM-FP2B-06 M-
(primary side: coil)
Symbol

120
200
240
Direct Drive Motors
Symbol
2
4
5
06
12
18
24
36
48
60
Continuous thrust [N]

Natural cooling Liquid cooling
300
600
600
1200
900
1800
1200
2400
1800
3600
2400
4800
3000
6000
Linear Servo Motors

B
290
D
530
F
770
H
1010
Maximum speed [m/s]

2.0
Primary side (coil)
Symbol
2
4
5
Length (nominal) [mm]

480
576
LVS/Wires
Symbol
480
576

LM-FS20-480
LM-FS20-576
LM-FS40-480
1SS0
LM-FS40-576
LM-FS50-480
LM-FS50-576
Options/Peripheral
Equipment
LM-FS 20-480-
Rotary Servo Motors
Symbol
M

LM-FP2B-06M
LM-FP2D-12M
LM-FP2F-18M
LM-FP4B-12M
1SS0
LM-FP4D-24M
LM-FP4F-36M
LM-FP4H-48M
LM-FP5H-60M
Servo Amplifiers
LM-F series

120
200
240

Product List
Cautions
3-2
Linear Servo Motors
Model Designation
LM-K2 series
LM-K2P1 A-01 M-

M
2.0

A
138
C
330
E
522
Symbol Height (nominal) [mm]
1
54
2
74.5
3
114.5

01
120
02
240
03
360
07
720
12
1200
14
1440
24
2400

LM-K2P1A-01M
2SS1
LM-K2P1C-03M
LM-K2P2A-02M
LM-K2P2C-07M
LM-K2P2E-12M
1SS1
LM-K2P3C-14M
LM-K2P3E-24M
Primary side (coil)
LM-K2S 10-288-
Symbol
1
2
3

46
61
101
3-3

288
288
384
384
480
480
768
768

LM-K2S10-288
LM-K2S10-384
2SS1
LM-K2S10-480
LM-K2S10-768
LM-K2S20-288
LM-K2S20-384
LM-K2S20-480
LM-K2S20-768
1SS1
LM-K2S30-288
LM-K2S30-384
LM-K2S30-480
LM-K2S30-768
Model Designation
LM-U2PAB-05 M-

M
2.0
Linear Servo Motors
Symbol Width (nominal) [mm]

A
66.5
B
86.5

05
50
07
75
10
100
15
150
22
225

LM-U2PAB-05M
0SS0
LM-U2PAD-10M
LM-U2PAF-15M
LM-U2PBB-07M
1SS0
LM-U2PBD-15M
LM-U2PBF-22M
Rotary Servo Motors

B
130
D
250
F
370
Servo Amplifiers
LM-U2 (medium thrust) series
Primary side (coil)
LM-U2SA0-240-
LM-U2P2 B-40 M-

M
2.0
40
400
60
600
80
800

LM-U2P2B-40M
2SS0
LM-U2P2C-60M
LM-U2P2D-80M
LVS/Wires

B
286
C
406
D
526
Options/Peripheral
Equipment
LM-U2 (large thrust) series

LM-U2SA0-240
0SS0
LM-U2SA0-300
LM-U2SA0-420
LM-U2SB0-240
1SS0
LM-U2SB0-300
LM-U2SB0-420
Direct Drive Motors
Symbol Width (nominal) [mm]

A
62
B
82

240
240
300
300
420
420
Primary side (coil)

300
300
480
480
Product List
LM-U2S20-300-

LM-U2S20-300
2SS0
LM-U2S20-480

Cautions
3-4
Linear Servo Motors
Combinations of Linear Servo Motor and Servo Amplifier

Linear servo motor
Primary side (coil)
LM-H3S20-288-BSS0,
LM-H3S20-384-BSS0,
LM-H3P2A-07P-BSS0
LM-H3S20-480-BSS0,
LM-H3S20-768-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3
series
LM-H3P3C-36P-CSS0
LM-H3S30-288-CSS0,
LM-H3S30-384-CSS0,
LM-H3S30-480-CSS0,
LM-H3S30-768-CSS0
LM-H3P3D-48P-CSS0
LM-H3P7A-24P-ASS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-H3S70-288-ASS0,
LM-H3S70-384-ASS0,
LM-H3S70-480-ASS0,
LM-H3S70-768-ASS0
LM-H3P7D-96P-ASS0
LM-FP2B-06M-1SS0
LM-FP2D-12M-1SS0
LM-FS20-480-1SS0,
LM-FS20-576-1SS0
LM-FP2F-18M-1SS0
LM-F
series
LM-FP4B-12M-1SS0
LM-FP4D-24M-1SS0
LM-FP4F-36M-1SS0
LM-FS40-480-1SS0,
LM-FS40-576-1SS0
LM-FP4H-48M-1SS0
LM-FP5H-60M-1SS0
LM-FS50-480-1SS0,
LM-FS50-576-1SS0
MR-J4
MR-J4-40B(-RJ),
MR-J4-40B1(-RJ),
MR-J4-40A(-RJ),
MR-J4-40A1(-RJ)
MR-J4-40B(-RJ),
MR-J4-40B1(-RJ),
MR-J4-40A(-RJ),
MR-J4-40A1(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-200B(-RJ),
MR-J4-200A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-200B(-RJ),
MR-J4-200A(-RJ)
MR-J4-200B(-RJ),
MR-J4-200A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
MR-J4-200B(-RJ),
MR-J4-200A(-RJ)
MR-J4-500B(-RJ),
MR-J4-500A(-RJ)
MR-J4-700B(-RJ),
MR-J4-700A(-RJ)
MR-J4-500B(-RJ),
MR-J4-500A(-RJ)
MR-J4-700B(-RJ),
MR-J4-700A(-RJ)
MR-J4-11KB(-RJ),
MR-J4-11KA(-RJ)
MR-J4-15KB(-RJ),
MR-J4-15KA(-RJ)
MR-J4-22KB4(-RJ),
MR-J4-22KA4(-RJ)
Servo amplifier
MR-J4W2 (Note 1)
MR-J4W3 (Note 1)
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
Notes: 1. Any combination of the servo motors is available. Refer to "Combinations of Multi-Axis Servo Amplifier and Servo Motors" on p. 1-6 in this catalog.
3-5
Combinations of Linear Servo Motor and Servo Amplifier
LM-K2P1A-01M-2SS1
LM-K2
series
LM-K2P2A-02M-1SS1
LM-K2P2C-07M-1SS1
LM-K2P2E-12M-1SS1
LM-K2P3E-24M-1SS1
LM-K2S30-288-1SS1,
LM-K2S30-384-1SS1,
LM-K2S30-480-1SS1,
LM-K2S30-768-1SS1
LM-U2PAB-05M-0SS0
LM-U2SA0-240-0SS0,
LM-U2SA0-300-0SS0,
LM-U2SA0-420-0SS0
LM-U2PAF-15M-0SS0
LM-U2
series
LM-U2PBB-07M-1SS0
LM-U2PBF-22M-1SS0
LM-U2P2B-40M-2SS0
LM-U2P2C-60M-2SS0
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
LVS/Wires
LM-U2P2D-80M-2SS0
LM-U2S20-300-2SS0,
LM-U2S20-480-2SS0
Options/Peripheral
Equipment
LM-U2PBD-15M-1SS0
LM-U2SB0-240-1SS0,
LM-U2SB0-300-1SS0,
LM-U2SB0-420-1SS0
MR-J4W3-444B
Direct Drive Motors
LM-U2PAD-10M-0SS0
MR-J4-500B(-RJ),
MR-J4-500A(-RJ)
MR-J4-20B(-RJ),
MR-J4-20B1(-RJ),
MR-J4-20A(-RJ),
MR-J4-20A1(-RJ)
MR-J4-40B(-RJ),
MR-J4-40B1(-RJ),
MR-J4-40A(-RJ),
MR-J4-40A1(-RJ)
MR-J4-40B(-RJ),
MR-J4-40B1(-RJ),
MR-J4-40A(-RJ),
MR-J4-40A1(-RJ)
MR-J4-20B(-RJ),
MR-J4-20B1(-RJ),
MR-J4-20A(-RJ),
MR-J4-20A1(-RJ)
MR-J4-60B(-RJ),
MR-J4-60A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-200B(-RJ),
MR-J4-200A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
MR-J4-500B(-RJ),
MR-J4-500A(-RJ)
MR-J4W2-44B,
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W3 (Note 1)
Linear Servo Motors
LM-K2P3C-14M-1SS1
LM-K2S20-288-1SS1,
LM-K2S20-384-1SS1,
LM-K2S20-480-1SS1,
LM-K2S20-768-1SS1
Servo amplifier
MR-J4W2 (Note 1)
Rotary Servo Motors
LM-K2P1C-03M-2SS1
LM-K2S10-288-2SS1,
LM-K2S10-384-2SS1,
LM-K2S10-480-2SS1,
LM-K2S10-768-2SS1
MR-J4
MR-J4-40B(-RJ),
MR-J4-40B1(-RJ),
MR-J4-40A(-RJ),
MR-J4-40A1(-RJ)
MR-J4-200B(-RJ),
MR-J4-200A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
MR-J4-500B(-RJ),
MR-J4-500A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
Servo Amplifiers
Linear servo motor

Primary side (coil)
Product List
Cautions
3-6
Linear Servo Motors
LM-H3 Series Specifications

Primary side
(coil)
P2A-07P- P3A-12P- P3B-24P- P3C-36P- P3D-48P- P7A-24P- P7B-48P- P7C-72P- P7D-96PBSS0

CSS0
CSS0
CSS0
CSS0
ASS0
ASS0
ASS0
ASS0
Linear servo
S20-288-BSS0
S30-288-CSS0
S70-288-ASS0
motor model Secondary
S20-384-BSS0
S30-384-CSS0
S70-384-ASS0
LM-H3
side (magnet)
S20-480-BSS0
S30-480-CSS0
S70-480-ASS0
S20-768-BSS0
S30-768-CSS0
S70-768-ASS0
MR-J4Refer to "Combinations of Linear Servo Motor and Servo Amplifier"
Compatible servo amplifier
on p. 3-5 in this catalog.
model
MR-J4W_Power supply capacity
[kVA]
0.9
0.9
1.3
1.9
3.5
1.3
3.5
3.8
5.5
Cooling method
Natural cooling
Continuous (Note 5)
[N]
70
120
240
360
480
240
480
720
960
Thrust
Maximum
[N]
175
300
600
900
1200
600
1200
1800
2400
Maximum speed (Note 1)
[m/s]
3.0
Magnetic attraction force
[N]
630
1100
2200
3300
4400
2200
4400
6600
8800
Rated current
[A]
1.8
1.7
3.4
5.1
6.8
3.4
6.8
10.2
13.6
Maximum current
[A]
5.8
5.0
9.9
14.9
19.8
9.6
19.1
28.6
38.1
[times/min]
175
95
108
78
300
108
308
210
159
Regenerative braking MR-J4frequency (Note 2)
MR-J4W_- [times/min] 173 (Note 3) 95 (Note 4)
271
197
241
Recommended load to motor mass ratio
Maximum of 35 times the mass of the linear servo motor primary side
Insulation class
155 (F)
Structure
Open (IP rating: IP00)
Ambient temperature
Ambient humidity
Ambience
Environment
Altitude
49 m/s2
Primary side (coil)
[kg]
0.9
1.3
2.3
3.3
4.3
2.2
3.9
5.6
7.3
288 mm/
pc: 0.7
384 mm/
288 mm/pc: 1.0
288 mm/pc: 2.8
Mass
Secondary side
pc: 0.9
384 mm/pc: 1.4
384 mm/pc: 3.7
[kg]
(magnet)
480 mm/
480 mm/pc: 1.7
480 mm/pc: 4.7
pc: 1.1
768 mm/pc: 2.7
768 mm/pc: 7.4
768 mm/
pc: 1.8
LM-H3
Notes: 1. The maximum speed of the linear servo motor or the rated speed of the linear encoder, whichever is smaller, is the upper limit of the linear servo motor speed.

2. The regenerative braking frequency shows the permissible frequency when the linear servo motor, without a load and a regenerative option, decelerates from the
maximum speed to a stop. When a load is connected; however, the value will be the table value/(m+1), where m = Mass of load/Mass of motor primary side (coil). Take

3. This value is applicable when MR-J4W2-44B or MR-J4W3-444B is used. The value is 942 for MR-J4W2-77B or MR-J4W2-1010B.


5. Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion.
3-7
LM-H3 Series Thrust Characteristics

LM-H3P3A-12P-CSS0 (Note 1, 2, 4)
300
1
2
Speed [m/s]
LM-H3P3C-36P-CSS0 (Note 1, 3, 4)

1
2
Speed [m/s]
Thrust [N]
Thrust [N]
Thrust [N]

1
2
Speed [m/s]
480
240
Short-duration
running range

1
2
Speed [m/s]
LM-H3P7D-96P-ASS0 (Note 1, 4)
2400
Short-duration
running range

1
2
Speed [m/s]
1920
960
Short-duration
running range

1
2
Speed [m/s]
Options/Peripheral
Equipment
2
1
Speed [m/s]
720
Direct Drive Motors
1440
1
2
Speed [m/s]
LM-H3P7A-24P-ASS0 (Note 1, 3, 4)
1800
960 Short-duration
running range
600
Short-duration
running range
LM-H3P7C-72P-ASS0 (Note 1, 4)
1200
480
480
LM-H3P7B-48P-ASS0 (Note 1, 4)
960
240
1200
Short-duration
running range
Thrust [N]
Thrust [N]
1
2
Speed [m/s]
480 Short-duration
running range
Linear Servo Motors
360
LM-H3P3D-48P-CSS0 (Note 1, 4)
900
720
120
Thrust [N]
240
600
Short-duration
running range
Thrust [N]
70
Thrust [N]
140 Short-duration
running range
Rotary Servo Motors
Thrust [N]
175
LM-H3P3B-24P-CSS0 (Note 1, 3, 4)
Servo Amplifiers
LM-H3P2A-07P-BSS0 (Note 1, 2, 4)
Notes: 1.
2.
: For 1-phase 200 V AC or 1-phase 100 V AC.
3.
4. Thrust drops when the power supply voltage is below the specified value.
LVS/Wires
Product List
Cautions
3-8
Linear Servo Motors
LM-F Series Specifications

Primary side (coil)
Linear servo
motor model Secondary side
(magnet)
LM-F
LM-F
P2B-06M- P2D-12M- P2F-18M- P4B-12M- P4D-24M- P4F-36M- P4H-48M- P5H-60M1SS0

1SS0
1SS0
1SS0
1SS0
1SS0
1SS0 1SS0 (Note 3)
S50-480S20-480-1SS0
S40-480-1SS0
1SS0 (Note 3)
S20-576-1SS0
S40-576-1SS0
S50-5761SS0 (Note 3)
Refer to "Combinations of Linear Servo Motor and Servo Amplifier" on p. 3-5 in this catalog.
3.5
7.5
10
7.5
10
14
18
22
Natural cooling or liquid cooling
300
600
900
600
1200
1800
2400
3000
600
1200
1800
1200
2400
3600
4800
6000
1800
3600
5400
3600
7200
10800
14400
18000
2.0
4500
9000
13500
9000
18000
27000
36000
45000
4.0
7.8
12
7.8
15
21
28
22
7.8
16
23
17
31
44
59
45
30
58
87
57
109
159
212
157

MR-J4Power supply capacity
[kVA]
Cooling method
Continuous (natural cooling) (Note 4)
[N]
Thrust
Continuous (liquid cooling) (Note 4)
[N]
Maximum
[N]
[m/s]
[N]
Natural cooling
[A]
Rated current
Liquid cooling
[A]
Maximum current
[A]
Regenerative
Natural cooling [times/min]
348
264
318
393
169
577
715
4230
braking
MR-J4Liquid cooling [times/min]
671
396
No limit
366
224
859
1050
No limit
frequency (Note 2)
Insulation class
155 (F)
Structure
Ambient temperature
Ambient humidity
Altitude
49 m/s2
Primary side (coil)
[kg]
9.0
18
27
14
28
42
56
67
480 mm/
Mass
Secondary side
480 mm/pc: 7.0
480 mm/pc: 12
pc: 20
[kg]
(magnet)
576 mm/pc: 9.0
576 mm/pc: 15
576 mm/
pc: 24


3. Use 400 V AC type servo amplifier for this linear servo motor.

3-9
LM-F Series Thrust Characteristics

LM-FP2D-12M-1SS0 (Note 1, 5)
300
0
Cont. running range (Note 3)
LM-FP4B-12M-1SS0 (Note 1, 5)
Short-duration running
range
Cont. running range
1
Speed [m/s]

1
Speed [m/s]
LM-FP4F-36M-1SS0 (Note 1, 5)
10800
range
Cont. running range
3600
1800
(Note 4)
1
Speed [m/s]
7200
range
1
Speed [m/s]
LM-FP5H-60M-1SS0 (Note 2, 5)
18000
Thrust [N]
Thrust [N]
range
6000
3000

1
Speed [m/s]
12000
range
1
Speed [m/s]
Options/Peripheral
Equipment
range
Direct Drive Motors
2400
2400
0
14400
4800
4800
1200
(Note 4)
LM-FP4H-48M-1SS0 (Note 1, 5)
9600
1
Speed [m/s]
1800
900
7200
Thrust [N]
Thrust [N]
600
3600
Linear Servo Motors
1200
range
LM-FP4D-24M-1SS0 (Note 1, 5)
3600
2400
1200
600

1
Speed [m/s]
2400
Thrust [N]
range
5400
Thrust [N]
600
Thrust [N]
1200
3600
Rotary Servo Motors
Thrust [N]
1800
LM-FP2F-18M-1SS0 (Note 1, 5)
Servo Amplifiers
LM-FP2B-06M-1SS0 (Note 1, 5)
Notes: 1.
2.
3. Continuous running range (liquid cooling)
4. Continuous running range (natural cooling)
LVS/Wires
Product List
Cautions
3-10
Linear Servo Motors
LM-K2 Series Specifications

Primary side (coil)
Linear servo
(magnet) (Note 4)
LM-K2
LM-K2
MR-J4MR-J4W_[kVA]
Power supply capacity

Cooling method
Continuous (Note 5)
[N]
Thrust
Maximum
[N]
[m/s]
[N]
Rated current
[A]
Maximum current
[A]
MR-J4[times/min]
Regenerative braking
frequency (Note 2)
MR-J4W_- [times/min]
Insulation class
Structure
Ambient temperature
Ambient humidity
Altitude
Primary side (coil)
[kg]
Mass
Secondary side
(magnet)
[kg]
P1A-01M- P1C-03M- P2A-02M- P2C-07M- P2E-12M- P3C-14M- P3E-24M2SS1

2SS1
1SS1
1SS1
1SS1
1SS1
1SS1
S10-288-2SS1
S20-288-1SS1
S30-288-1SS1
S10-384-2SS1
S20-384-1SS1
S30-384-1SS1
S10-480-2SS1
S20-480-1SS1
S30-480-1SS1
S10-768-2SS1
S20-768-1SS1
S30-768-1SS1
Refer to "Combinations of Linear Servo Motor and Servo Amplifier"
0.9
3.5
1.3
5.5
7.5
5.5
7.5
Natural cooling
120
360
240
720
1200
1440
2400
300
900
600
1800
3000
3600
6000
2.0
0
2.3
6.8
3.7
12
19
15
25
7.6
23
13
39
65
47
79
111
427
142
281
226
152
124
110 (Note 3)
355
155 (F)
49 m/s2
2.5
6.5
4.0
10
16
18
27
288 mm/pc: 1.5
384 mm/pc: 2.0
480 mm/pc: 2.5
768 mm/pc: 3.9
288 mm/pc: 1.9

384 mm/pc: 2.5
480 mm/pc: 3.2
768 mm/pc: 5.0
288 mm/pc: 5.5

384 mm/pc: 7.3
480 mm/pc: 9.2
768 mm/pc: 14.6



4. LM-K2 series has a structure of magnetic attraction counter-force and requires at least two blocks of identical secondary side (magnet).

3-11
LM-K2 Series Thrust Characteristics

1
Speed [m/s]
1200
720
600
0
1
Speed [m/s]
3000
Thrust [N]
1
Speed [m/s]
2000
1200
1000
0

1
Speed [m/s]
LM-K2P3C-14M-1SS1 (Note 2, 4)
3600
range

1
Speed [m/s]
240
200
0
LM-K2P2E-12M-1SS1 (Note 2, 4)
range
400
range
2400
1440
1200
0
range
Linear Servo Motors
Thrust [N]
1800
360
300
0
600
600
range
Thrust [N]
Thrust [N]
120
100
Thrust [N]
200
900
range
LM-K2P2A-02M-1SS1 (Note 1, 4)

1
Speed [m/s]
Direct Drive Motors
LM-K2P3E-24M-1SS1 (Note 2, 4)
Thrust [N]
6000
4000
2400
2000
range

1
Speed [m/s]
Options/Peripheral
Equipment
Rotary Servo Motors
Thrust [N]
300
Servo Amplifiers
LM-K2P1A-01M-2SS1 (Note 1, 3, 4)
Notes: 1.
2.
3.
LVS/Wires
Product List
Cautions
3-12
Linear Servo Motors
LM-U2 Series Specifications

Primary side (coil)
Linear servo
(magnet)
LM-U2
LM-U2
Compatible servo amplifier MR-J4model

MR-J4W_Power supply capacity
[kVA]
Cooling method
Continuous (Note 3)
[N]
Thrust
Maximum
[N]
[m/s]
[N]
Rated current
[A]
Maximum current
[A]
[times/min]
Regenerative braking MR-J4frequency (Note 2)
MR-J4W_- [times/min]
Insulation class
Structure
Ambient temperature
Ambient humidity
Altitude
Primary side (coil)
[kg]
Mass
Secondary side
(magnet)
[kg]
PAB-05M- PAD-10M- PAF-15M- PBB-07M- PBD-15M- PBF-22M- P2B-40M- P2C-60M- P2D-80M0SS0

0SS0
0SS0
1SS0
1SS0
1SS0
2SS0
2SS0
2SS0
SA0-240-0SS0
SB0-240-1SS0
S20-300-2SS0
SA0-300-0SS0
SB0-300-1SS0
S20-480-2SS0
SA0-420-0SS0
SB0-420-1SS0
Refer to "Combinations of Linear Servo Motor and Servo Amplifier"
0.5
0.9
0.9
0.5
1.0
1.3
3.5
5.5
7.5
Natural cooling
50
100
150
75
150
225
400
600
800
150
300
450
225
450
675
1600
2400
3200
2.0
0
0.9
1.9
2.7
1.5
3.0
4.6
6.6
9.8
13.1
2.7
5.5
8.3
4.5
8.9
13.7
26.7
40.3
53.7
No limit
No limit
No limit
No limit
3480
No limit
1820
2800
1190
No limit
No limit
No limit
6030
No limit
No limit
155 (F)
49 m/s2
0.3
0.6
0.8
0.4
0.8
1.1
2.9
4.2
5.5
240 mm/pc: 2.0
240 mm/pc: 2.6
300 mm/pc: 9.6
300 mm/pc: 2.5
300 mm/pc: 3.2
480 mm/pc: 15.3
420 mm/pc: 3.5
420 mm/pc: 4.5


3-13
LM-U2 Series Thrust Characteristics

2
LM-U2PBD-15M-1SS0 (Note 1, 4)
Thrust [N]

1
Speed [m/s]
1
Speed [m/s]
Thrust [N]
1000

1
Speed [m/s]
LM-U2P2D-80M-2SS0 (Note 2, 4)

1
Speed [m/s]
2400 range
1200
800
0

1
Speed [m/s]
Options/Peripheral
Equipment
240
225
range
Direct Drive Motors
3200
2000
range
600
480
2400
1200 range
1
Speed [m/s]
LM-U2P2C-60M-2SS0 (Note 2, 4)
1600
180
150
1
Speed [m/s]
LM-U2PBF-22M-1SS0 (Note 1, 4)
675
360 range
LM-U2P2B-40M-2SS0 (Note 2, 4)
600
400
Linear Servo Motors
1
Speed [m/s]
180
150
0
450
225
200
range
100
75
Thrust [N]
1
Speed [m/s]
120
100
Thrust [N]
60
50
Thrust [N]
360 Short-duration
running range
Thrust [N]
450
240 Short-duration
running range
Rotary Servo Motors
Thrust [N]
300
120 Short-duration
running range
LM-U2PBB-07M-1SS0 (Note 1, 3, 4)
Thrust [N]
LM-U2PAF-15M-0SS0 (Note 1, 3, 4)
150
Thrust [N]
LM-U2PAD-10M-0SS0 (Note 1, 3, 4)
Servo Amplifiers
LM-U2PAB-05M-0SS0 (Note 1, 3, 4)
Notes: 1.
2.
3.
LVS/Wires
Product List
Cautions
3-14
Linear Servo Motors
LM-H3 Series Primary Side (Coil) Dimensions (Note 1, 2)

LM-H3P2A-07P-BSS0
Power lead wire (U, V, and W): black, Grounding lead wire (E): green/yellow
4 wires-AWG 20 (standard OD: 2.12 mm)
Effective length: 400 mm
+ 40
320.3
(40)
32
20
(20)
(25)
Wire mark
Round crimp terminal
(1.25-4)
(40)
3-M5 screw depth 9

(for primary-side mounting)
21010
Thermistor lead wire (G1, G2): blue

2 wires-AWG 20
(standard OD: 2.12 mm)
+ 40
400 0
(Effective lead
wire length)
(4.9)
Structure
10
Protective tube
(10.3)
(25)
50
25

(1.25-4)
430.1
(0.7)
32
(42)
320.3
2 or longer
(32)
2 or longer
400 0
(Effective lead wire
21010
length)
128
Secondary side
Structure
[Unit: mm]
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3D-48P-CSS0
LM-H3P3C-36P-CSS0
400 0
21010 length)
(40)
21010
+ 40
400 0
(Effective lead
wire length)

2 wires-AWG 20
LM-H3P7A-24P-ASS0
LM-H3P7B-48P-ASS0
LM-H3P7D-96P-ASS0
2 or longer

(1.25-4)
(40)
B-M5 screw depth 9

(20)
(26)
Wire mark
(4.9)
20
25
Protective tube
Structure
65
130.3
26

(1.25-4)
(10.3)
(60)
32
640.3
2 or longer
M (cumulative pitch error: 0.3)
(A)
430.1
(0.7)
32
(25)
+ 40
Model
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P3D-48P-CSS0
Structure
Secondary side
[Unit: mm]
L
128
224
320
416
Variable dimensions
M
A
64
32
2 64 = 128
64
4 64 = 256
32
5 64 = 320
64
L
128
224
320
416
Variable dimensions
M
A
64
32
2 64 = 128
64
4 64 = 256
32
5 64 = 320
64
B
22
23
25
26
LM-H3P7C-72P-ASS0
(40)
32
32
2 or longer
(A)
M (cumulative
pitch error: 0.3)
480.1
(0.7)
+ 40
400 0
21010
length)
Structure
(15.3)
(9.9)
20
26

(2-4)
(25)
240.3
Wire mark
60
(95)
240.3
100
Protective tube
Protective tube
B-M5 screw depth 9

(40)
21010
400
+ 40
0
(Effective lead
wire length)

2 wires-AWG 20
[Unit: mm]
(20)

(1.25-4)
2 or longer
(26)
Wire mark
Structure
Model
Secondary
side
LM-H3P7A-24P-ASS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-H3P7D-96P-ASS0
B
32
33
35
36
Notes: 1. Power, grounding and thermistor lead wires do not have a long bending life. Fix the lead wires led from the primary side (coil) to a moving part to prevent the lead wires
from repetitive bending.

2. Minimum bending radius of the lead wire equals to six times the standard overall diameter of the lead wire.
3-15
LM-H3 Series Secondary Side (Magnet) Dimensions

LM-H3S20-768-BSS0
LM-H3S20-384-BSS0
LM-H3S20-480-BSS0
L - 0.2
10.30.2
(5.4)
4.5
10
22
(10)
SUS cover
1
2-C
(4.5)
4.9
Rotary Servo Motors
Mark "N"
330.3
240.2
480.2
42
(24)
Servo Amplifiers
LM-H3S20-288-BSS0
B-4.8 (for secondary-side mounting)
5.4 or shorter (screw head height)
[Unit: mm]
L
288
384
480
768
LM-H3S30-288-CSS0
LM-H3S30-480-CSS0
L - 0.2
10.30.2
(5.4)
240.2
480.2
Mark "N"
4.9
11.5
(24)
Direct Drive Motors
LM-H3S30-768-CSS0
LM-H3S30-384-CSS0
60
(11.5)
1
5.4 or shorter (screw head height)
[Unit: mm]
Model
LM-H3S30-288-CSS0
LM-H3S30-384-CSS0
LM-H3S30-480-CSS0
LM-H3S30-768-CSS0
LM-H3S70-768-ASS0
LM-H3S70-384-ASS0
LVS/Wires
LM-H3S70-288-ASS0
LM-H3S70-480-ASS0
L - 0.2
15.30.2
(5.4)
240.2
480.2
Mark "N"
9.9
11.5
(24)
L
288
384
480
768
Variable dimensions
M
B
5 48 = 240
26
7 48 = 336
28
9 48 = 432
2 10
15 48 = 720
2 16
Options/Peripheral
Equipment
2-C
(5)
37
500.3
SUS cover
Linear Servo Motors
Model
LM-H3S20-288-BSS0
LM-H3S20-384-BSS0
LM-H3S20-480-BSS0
LM-H3S20-768-BSS0
Variable dimensions
M
B
5 48 = 240
26
7 48 = 336
28
9 48 = 432
2 10
15 48 = 720
2 16
95
72
850.3
(5)
(11.5)
5.4 or shorter
(screw head height)
L
288
384
480
768
[Unit: mm]
Variable dimensions
M
B
5 48 = 240
26
7 48 = 336
28
9 48 = 432
2 10
15 48 = 720
2 16
3-16
Cautions
Model
LM-H3S70-288-ASS0
LM-H3S70-384-ASS0
LM-H3S70-480-ASS0
LM-H3S70-768-ASS0
2-C
SUS cover
Product List
Linear Servo Motors
LM-F Series Primary Side (Coil) Dimensions (Note 1, 2)

LM-FP2B-06M-1SS0
LM-FP2D-12M-1SS0
LM-FP2F-18M-1SS0
Thermistor cable
Power connector
(2PNCT-2 cores, standard OD: 9 mm)
D/MS3106A18-10P
B-M8 screw depth 10
1000 +100
0
4 or shorter
75
800.5
(19.5)
31
Secondary side
W-phase
U-phase
D
V-phase
27
50
E (grounding)
18
(55)
Key
(0.5)
700.1
Thermistor connector
D/MS3106A14S-9P
(120)
(100)
84
120
660.3
Key
40
60
4 or shorter
(15)
15
80
(18)
(27)
G1, G2
(10)
B
Model
35.8
(2PNCT-4 cores, cable OD: 12.5 mm)
LM-FP4F-36M-1SS0
Power cable
LM-FP4H-48M-1SS0
Power connector
B-M8 screw depth 10
4 or shorter
75
800.5
50
Key
(19.5)
31
E (grounding)
Secondary
side
18
(55)
1000
+100
0
D/MS3106A24-22P
(0.5)
700.1
[Unit: mm]
Variable dimensions
M
B
2 80 = 160
23
5 80 = 400
26
8 80 = 640
29
L
290
530
770
LM-FP2B-06M-1SS0
LM-FP2D-12M-1SS0
LM-FP2F-18M-1SS0
LM-FP4D-24M-1SS0
(No polarity)
Rc1/4
Power cable
LM-FP4B-12M-1SS0
W-phase
U-phase
D
V-phase
27
A
Key
(200)
(180)
164
D/MS3106A14S-9P
730.3
200
730.3
G1, G2
B
40
60
15
(2PNCT-2 cores,
standard OD: 9 mm)
80
(18)
(10)
(15)
4 or shorter
(27)
Thermistor cable
Rc1/4
Model
35.8
LM-FP5H-60M-1SS0
Power cable
(2PNCT-4 cores, cable OD: 18.5 mm)

412-M8 screw depth 10
75.50.1
4 or shorter
1000 +100
0
75
11 80 = 880 (cumulative pitch error: 0.5)
31
25
(0.5)
600.3
Power connector
D/MS3106A24-22P
(25)
Secondary
side
E (grounding)
W-phase
55
30
800.5
50
18
1010
(55)
[Unit: mm]
Variable dimensions
M
B
2 80 = 160
33
5 80 = 400
36
8 80 = 640
39
11 80 = 880
3 12
L
290
530
770
1010
LM-FP4B-12M-1SS0
LM-FP4D-24M-1SS0
LM-FP4F-36M-1SS0
LM-FP4H-48M-1SS0
(No polarity)
Key
U-phase
D
V-phase
40
600.3
(240)
(220)
(145)
204
240
600.3
D/MS3106A14S-9P
Key
40
60
11 80 = 880
(15)
80
35.8
Thermistor cable
(18)
(15)
4 or shorter
(30)
G1, G2
(10)
(No polarity)
Rc1/4
[Unit: mm]
Notes: 1. Power and thermistor cables do not have a long bending life. Fix the cables led from the primary side (coil) to a moving part to prevent the cables from repetitive bending.

2. Minimum bending radius of the cable equals to six times the standard overall diameter of the cable.
3-17
LM-F Series Secondary Side (Magnet) Dimensions

Servo Amplifiers
LM-FS20-480-1SS0
LM-FS20-576-1SS0
B-9
(for secondary-side mounting)
0
L -0.2
(48)
480.2
19.5
Mark "N"
(10.5)
19
Rotary Servo Motors
10
960.2
(10)
(24)
24
Model
LM-FS20-480-1SS0
LM-FS20-576-1SS0
82
L
480
576
K
432
528
LM-FS40-576-1SS0
B-9
19.5
480.2
Mark "N"
(10.5)
19
10
960.2
Direct Drive Motors
0
L -0.2
(48)
[Unit: mm]
Variable dimensions
M
B
4 96 = 384
25
5 96 = 480
26
162
(19)
200
(10)
Model
[Unit: mm]
L
480
576
Variable dimensions
M
B
4 96 = 384
25
5 96 = 480
26
LM-FS50-576-1SS0 B-9
25

480.2
(11)
10
960.2
Mark "N"
14
19
0
L -0.2
K
432
528
LVS/Wires
LM-FS40-480-1SS0
LM-FS40-576-1SS0
(48)
22-M8 screw
(for hanging)
Mold (epoxy)
LM-FS50-480-1SS0
24
2-
Options/Peripheral
Equipment
1800.3
(24)
Linear Servo Motors
22-M8 screw
(for hanging)
Mold (epoxy)
LM-FS40-480-1SS0
1
C
2-
(19)
120
1000.3
(19)
240
(10)
202
[Unit: mm]
22-M8 screw (for hanging)
Model
LM-FS50-480-1SS0
LM-FS50-576-1SS0
L
480
576
Variable dimensions
M
B
4 96 = 384
25
5 96 = 480
26
K
432
528
3-18
Cautions
24
Mold (epoxy)
2-
(24)
Product List
2200.3
Linear Servo Motors
LM-K2 Series Primary Side (Coil) Dimensions (Note 1, 2)

LM-K2P1C-03M-2SS1
480.2
(17.4)
15
(1.25-4)
2-C0.5
(20.5)
(27.5)
(Effective lead wire length)

50
26.5
x.
ma
(15.5)
54
0.5
2-R
Secondary side
300 +30
0
(20.5)
LM-K2P1A-01M-2SS1
80.2
38
(0.6)
115 +0.1
0
79
Wire mark
PVC tube
38
240.3
(0.6)
Mounting part
Mold (omitted)
46
20.50.1
Detailed view of X
[Unit: mm]
Model
L
138
330
LM-K2P1A-01M-2SS1
LM-K2P1C-03M-2SS1
LM-K2P2A-02M-1SS1
LM-K2P2C-07M-1SS1
Variable dimensions
M
K
B
2 48 = 96
115
23
6 48 = 288
307
27
H1
3
1.5
H2
3.5 or longer
2.5 or longer
Mold (omitted)
300 +30
0
74.5
(17.4)
Wire mark
(0.6)
PVC tube
2-C0.5
Mounting part
38
240.3
(LM-K2P2A-02M-1SS1: 1.25-4)
(LM-K2P2C-07M-1SS1,
LM-K2P2E-12M-1SS1: 2-4)
(0.6)
15
79
480.2
(20.5)
50
26.5
x.
ma
0.5
(27.5)
Secondary side
2-R
(15.5)
Power/grounding lead wire

Size
Standard OD
AWG 20
2.12
AWG 16
2.7
LM-K2P2E-12M-1SS1
L
H2
550.1
Thermistor lead wire (G1, G2): black

(20.5)
300
+30
0
38
17
80.2
H1
115 +0.1
0
(6)
(1.25-4)
(17.4)
B-M6 screw depth 7

20.50.1
27.5

15
40
300 +30
0
17

76.50.1
Model
LM-K2P2A-02M-1SS1
LM-K2P2C-07M-1SS1
LM-K2P2E-12M-1SS1
L
138
330
522
Variable dimensions
M
K
2 48 = 96
115
6 48 = 288
307
10 48 = 480
499
B
23
27
2 11
AWG 14
3.12
101
116.50.1
(20.5)
139 +0.1
0
38
(29.4)
79
(0.6)
(20.5)
2-C0.5
Mounting
part
20.50.1

80.2
17
300 +30
0
(0.6)
27.5
15
40
Round
crimp
terminal
(1.25-4)
38
Wire mark
PVC tube
B-M6 screw depth 7

Round
crimp
terminal
(2-4)
20.50.1
240.3
(27.5)
15
x.
ma

50
26.5
480.2
.5
Mold (omitted)
Secondary
side
114.5
300 +30
0
[Unit: mm]

Size
Standard OD
AWG 16
2.7
0
2-R
(6)
Detailed view of X
LM-K2P3E-24M-1SS1
(15.5)
3
3.5 or longer
(29.4)
LM-K2P3C-14M-1SS1
2
61
20.50.1
15
40
(17.4)
27.5
(6)
20.50.1
Round crimp terminal (1.25-4)

B-M6 screw depth 7
3
3.5 or longer
Detailed view of X
[Unit: mm]
Model
LM-K2P3C-14M-1SS1
LM-K2P3E-24M-1SS1
L
330
522
Variable dimensions
M
K
6 48 = 288
307
10 48 = 480
499
B
27
2 11

Size
Standard OD
AWG 14
3.12

3-19
LM-K2 Series Secondary Side (Magnet) Dimensions

LM-K2S10-768-2SS1
LM-K2S10-384-2SS1
Servo Amplifiers
LM-K2S10-288-2SS1
LM-K2S10-480-2SS1
L - 0.2
240.3
B-6
11
Mark "N"
5.5
.5
Mark "N"
Mark "S"
Detailed view of secondary-side ends
Mark "N"
R5
0.1 or shorter (Note 1)
Rotary Servo Motors
S
Mark "S"
Mark "S"
480.3
(24)
17.4
(5.4)
LM-K2S10-288-2SS1
LM-K2S10-384-2SS1
LM-K2S10-480-2SS1
LM-K2S10-768-2SS1
Variable dimensions
M
5 48 = 240
7 48 = 336
9 48 = 432
15 48 = 720
L
288
384
480
768
Linear Servo Motors
5
1.
B
6
8
10
16
LM-K2S20-480-1SS1
Direct Drive Motors
LM-K2S20-768-1SS1
LM-K2S20-384-1SS1
Model
LM-K2S20-288-1SS1
[Unit: mm]
46
35
32
(6)
12
L - 0.2
240.3
B-6
N
.5
Mark "N"
5.5
Mark "N"
Mark "S"
Mark "N"
R5

N
11
Mark "S"
Mark "S"
480.3
(24)
17.4
61
50
42
(6)
12
[Unit: mm]
LM-K2S30-480-1SS1
L - 0.2
160.3
320.3
B-9
Mark "S"
29.4
(5.4)
Mark "N"
24
(6)
R7
N
Mark "N"
Mark "N"
10
S
Mark "S"
Mark "S"
Product List
14
(16)
B
6
8
10
16
LM-K2S30-768-1SS1
LM-K2S30-384-1SS1
L
288
384
480
768
LVS/Wires
LM-K2S30-288-1SS1
13
1.
Model
LM-K2S20-288-1SS1
LM-K2S20-384-1SS1
LM-K2S20-480-1SS1
LM-K2S20-768-1SS1
Variable dimensions
M
5 48 = 240
7 48 = 336
9 48 = 432
15 48 = 720
Options/Peripheral
Equipment
(5.4)
13
101
1.
LM-K2S30-288-1SS1
LM-K2S30-384-1SS1
LM-K2S30-480-1SS1
LM-K2S30-768-1SS1
L
288
384
480
768
Variable dimensions
M
8 32 = 256
11 32 = 352
14 32 = 448
23 32 = 736
B
9
12
15
24
Cautions
86
82
[Unit: mm]
Model
Notes: 1. Longitudinal deviation of the secondary side must be within 0.1 mm.
3-20
Linear Servo Motors
LM-U2 Series Primary Side (Coil) Dimensions (Note 1, 2)

LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
L
50.3
(5)
600.3
B-M4 screw depth 7
Wire mark
(3)
18.50.2
Effective length: 400 mm, Round crimp terminal (0.5-4)
(0.45)
24.5

(0.45)
C0.5
15
C0.5
Secondary
side
66.5
51.5
780.1
(62)
25
21010
400
+ 40
0
[Unit: mm]
(Effective lead
wire length)
Model
6.4
(0.8)
(0.8)
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
(8.7)
(8.7)
(25.4)
LM-U2PBB-07M-1SS0
LM-U2PBD-15M-1SS0

Size
Standard OD
AWG 26
1.58
LM-U2PBF-22M-1SS0
50.3
L
130
250
370
Variable dimensions
M
B
2 60 = 120
23
4 60 = 240
25
6 60 = 360
27
(5)
600.3
18.50.2
Wire mark
(3)
B-M4 screw depth 7

(0.45)
24.5

(0.45)
C0.5
15
C0.5
25
Secondary
side
+ 40
400 0
86.5
71.5
(82)
980.1
21010
(Effective lead
wire length)
[Unit: mm]
Model
6.4
(0.8)
(0.8)
LM-U2PBB-07M-1SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
(8.7)
(8.7)
(25.4)
LM-U2P2B-40M-2SS0
LM-U2P2C-60M-2SS0
L
130
250
370
Variable dimensions
M
B
2 60 = 120
23
4 60 = 240
25
6 60 = 360
27

Size
Standard OD
AWG 26
1.58
LM-U2P2D-80M-2SS0
L
(0.9)
49
C0.5
380.2
Wire mark
83.5
(17.5)
123
50
21010
Secondary
side
(115)
1380.1
(0.9)
22
C0.5
(23)
600.3
5.5
B-M6 screw depth 8

Power lead wire (U, V, and W): black,
Grounding lead wire (E): green/yellow
Effective length: 400 mm,
Round crimp terminal (LM-U2P2B-40M-2SS0: 1.25-4)
(LM-U2P2C-60M-2SS0: 2-4)
(LM-U2P2D-80M-2SS0: 2-4)
(5.5)
230.3
(0.9)
(18.5)
(0.9)
12
(50.8)
(18.5)
400
+ 40
0
(Effective lead
wire length)

Effective length: 400 mm,
Round crimp terminal (1.25-4)
[Unit: mm]
Model
LM-U2P2B-40M-2SS0
LM-U2P2C-60M-2SS0
LM-U2P2D-80M-2SS0
L
286
406
526
Variable dimensions
M
B
4 60 = 240
25
6 60 = 360
27
8 60 = 480
29

Size
Standard OD
AWG 16
2.7
AWG 14
3.12

3-21
LM-U2 Series Secondary Side (Magnet) Dimensions

LM-U2SA0-300-0SS0
12.70.3
Mark "N"
B-M5 screw depth 8 (back side)
Mark "S"
Mark "N"
600.3
(45)
15
(55)
Mark "S"
(8.7)
62
LM-U2SA0-420-0SS0
Rotary Servo Motors
8.7
Servo Amplifiers
LM-U2SA0-240-0SS0
2-M5 screw depth 6
25.4
45
B-6 drill through,

10 counter boring, depth 6.2
(15)
600.3
N (cumulative pitch error: 0.3)
30
(30)
LM-U2SB0-300-1SS0
L
240
300
420
Mark "S"
(8.7)
LM-U2SB0-420-1SS0
B-M5 screw depth 8 (back side)
Mark "S"
Mark "N"
600.3
15
(45)
(75)
82
8.7
N
3 60 = 180
4 60 = 240
6 60 = 360
Direct Drive Motors
12.70.3
Mark "N"
[Unit: mm]
Variable dimensions
M
B
K
3 60 = 180
4
180
4 60 = 240
5
240
6 60 = 360
7
360
(15)
600.3
30
(30)
Model
L
240
300
420
LM-U2SB0-240-1SS0
LM-U2SB0-300-1SS0
LM-U2SB0-420-1SS0
N
3 60 = 180
4 60 = 240
6 60 = 360
LVS/Wires
LM-U2S20-300-2SS0
[Unit: mm]
Variable dimensions
M
B
K
3 60 = 180
4
180
4 60 = 240
5
240
6 60 = 360
7
360
LM-U2S20-480-2SS0
L
Mark "N"
Mark "S"
13.8
(18.5)
Mark "S"
Mark "N"
Product List
115
(108)
18.5
50.8
2-M6 screw depth 6

(for grounding)
600.3
15
60
K
(60)
(15)
70.3
45
B-6 drill through,

10 counter boring, depth 6.2
70.3
(for grounding)
Model
LM-U2S20-300-2SS0
LM-U2S20-480-2SS0
L
300
480
Variable dimensions
N
B
3 60 = 180
4
6 60 = 360
7
K
270
450
3-22
Cautions
[Unit: mm]
B-6.6 drill through, 11 counter boring, depth 25

Options/Peripheral
Equipment
2-M5 screw depth 6
25.4
Linear Servo Motors
Model
LM-U2SA0-240-0SS0
LM-U2SA0-300-0SS0
LM-U2SA0-420-0SS0
LM-U2SB0-240-1SS0
70.3
C
1
(for grounding)
Linear Servo Motors
List of Linear Encoders (Note 1)

Linear encoder type
Manufacturer
Model
Magnescale
Co., Ltd.
SR77
SR87
AT343A
AT543A-SC
AT545A-SC
Mitutoyo
Corporation
ST741A
ST742A
ST743A
ST744A
ST748A
RESOLUTE RL40M
LC 493M
LC 193M
LIC 4193M
LIC 4195M
LIC 4197M
LIC 4199M
SR75
SR85
SL710 + PL101-RM/RHM
LIDA 483
LIDA 485
+ EIB 392M
(/16384)
LIDA 487
Absolute
type
Renishaw
Heidenhain
Mitsubishi
serial
interface
compatible
Magnescale
Co., Ltd.
LIDA 489
LIDA 287
LIDA 289
LIF 481
LIP 581
Heidenhain
Incremental
type
A/B/Z-phase
differential
output type
(Note 5, 8)
0.05 m/0.01 m
3.3 m/s
0.05 m
2.0 m/s
2.5 m/s
Maximum
effective
measurement
length (Note 3)
2040 mm
3040 mm
3000 mm
2200 mm
2.5 m/s
2200 mm
Resolution
20 m/4096
(Approx. 0.005 m)
+ EIB 392M
(/16384)
Rated speed
(Note 2)
4.0 m/s
1 nm/50 nm
4.0 m/s
0.05 m/0.01 m
3.0 m/s
0.01 m
4.0 m/s
0.05 m/0.01 m
3.3 m/s
0.1 m
4.0 m/s
20 m/16384
(Approx. 1.22 nm)
4.0 m/s
200 m/16384
(Approx. 12.2 nm)
+ EIB 392M
4 m/4096
(/4096)
(Approx. 0.977 nm)
Nidec Sankyo
Corporation
PSLH041 (Note 7)
0.1 m
Not
designated
0.001 m to
5 m (Note 6)
Two-wire type
Two-wire type
0.5 m
0.1 m
Communication
method
6000 mm
10000 mm
Two-wire type
2040 mm
Four-wire type (Note 4)
4240 mm
3040 mm
28040 mm
Two-wire/
6040 mm Four-wire type (Note 4)
1020 mm
2040 mm
3040 mm
Two-wire type
100000 mm
3040 mm
30040 mm
6040 mm
1020 mm
Four-wire type (Note 4)
10000 mm
1.2 m/s
1020 mm
1440 mm
5.0 m/s
2400 mm
Depends
Depends
on the linear on the linear
encoder
encoder
Two-wire type
A/B/Z-phase
differential output
method
Notes: 1. Contact the relevant linear encoder manufacturer for details on operating environment and specifications of the linear encoder such as ambient temperature, vibration
resistance and IP rating.

2. The rated speed of the linear encoder is applicable when the linear encoder is used with MR-J4 series servo amplifier. The values may differ from the manufacturers'
specifications.

3. The length is specified by the linear encoder manufacturers. The maximum length of the encoder cable between linear encoder and servo amplifier is 30 m.

4. When using the four-wire type linear encoder in fully closed loop control system, use MR-J4-_B_-RJ or MR-J4-_A_-RJ servo amplifier. When using four-wire type linear
encoder with the scale measurement function, use MR-J4-_B_-RJ servo amplifier.

5. When using the A/B/Z-phase differential output type linear encoder, use MR-J4-_B_-RJ or MR-J4-_A_-RJ servo amplifier.

6. Select the linear encoder within this range.

7. Use servo amplifier with software version B3 or later.

8. Output A-phase, B-phase, and Z-phase signals in the differential line driver. The phase difference of the A-phase pulse and the B-phase pulse, and the width of the Z-phase
pulse must be 200 ns or wider. The output pulse of A-phase and B-phase of the A/B/Z-phase differential output linear encoder is in the multiply-by-four count method. Home
position return is not possible with a linear encoder without Z-phase.
LA
LAR
Phase difference: 200 ns or wider
LB
LBR
One pulse of Z-phase: 200 ns or wider
LZ
LZR
3-23
Selecting Linear Servo Motor

Servo Amplifiers
Linear servo motor must be selected according to the purpose of the application.
Select the optimal linear servo motor after completely understanding the characteristics of the guides, the linear encoders
and the linear servo motors.
The maximum speed is 3.0 m/s for LM-H3 series, and 2.0 m/s for LM-F, LM-K2 and LM-U2 series.
Note that the maximum speed may not be reached, depending on the selected linear encoder.
Linear Servo Motor Sizing Example
(1) Configurations
V
V
M11
M
Linear
Linear servo
servo motor
motor
primary
primary side
side (coil)
(coil)
M22
M
Load mass
Linear servo motor primary-side (coil) mass

(Determined after the motor is selected.)
Acceleration
Deceleration
(Determined after the motor is selected.)
a = 14.4 m/s2
d = 14.4 m/s2
Fmd
Fmd
tt22
tt33
1 cycle
cycle tt00
1
V = 1.8 m/s
Acceleration time
t1 = 0.125 s
Constant velocity time

Deceleration time
Mechanical efficiency
Friction coefficient
t 0 = 2 s
Direct Drive Motors
Ff
Ff
kg
Feed speed
Operating cycle
tt11
M2 =
Resistive force (including friction, unbalance and cable chain) Ff =
Fma
Fma
M1 = 20 kg
Linear Servo Motors
Linear servo
servo motor
motor
Linear
secondary
secondary side
side (magnet)
(magnet)
Load
Load
Rotary Servo Motors
In order to select a suitable linear servo motor, it is necessary to calculate the maximum thrust required during
acceleration/deceleration and the continuous effective load thrust according to the machine specifications and the
operating patterns. Here the linear servo motor is selected according to linear acceleration/deceleration operating patterns.
t2 = 0.75 s
t3 = 0.125 s
h = 1.0
= 0.020 (for iron)
2. Method of selecting linear servo motor (theoretical value)
For LM-H3 series: 35 times (Note 1) M1/M2
Select linear servo motors that satisfy the above formula, e.g., LM-H3P2A-07P-BSS0, LM-H3P3A-12P-CSS0, and LM-H3P3B-24P-CSS0.
Calculate thrusts during acceleration and deceleration, and continuous effective load thrust for each linear servo motor selected in (1).
Options/Peripheral
Equipment
(1) Select a linear servo motor

From the linear servo motor series that is suitable for your application or machine, select a linear servo motor with the mass ratio of load to
primary side (coil) which is equal to or less than the recommended load to motor mass ratio.
The following is an example of calculation for LM-H3P3B-24P-CSS0.
(2) Calculate necessary thrust
LVS/Wires
Resistive force
M = M1 + M2 = 22.3 kg
Ff = (M 9.8 + Magnetic attraction force [N]) (when considering friction only) = 48.4 N
Thrust during acceleration and deceleration

Fma = M a + Ff = 369.5 N
Fmd = -M d + Ff = -272.7 N
Continuous effective load thrust
Frms = (Fma2 t1 + Ff2 t2 + Fmd2 t3) / t0 = 118.6 N
Product List
(3) Verify the selected linear servo motor.

Frms/h Continuous thrust [N] of the selected linear servo motor

Fma/h Maximum thrust [N] of the selected linear servo motor
If the above criteria are not satisfied, select one rank larger capacity linear servo motor and recalculate.
Notes: 1. The ratio of 35 times is applicable for LM-H3 series. Select a linear servo motor with the mass ratio of 30 times or less for LM-K2 or LM-U2 series, and 15 times
or less for LM-F series.

Capacity selection software (MRZJW3-MOTSZ111E) does all the calculations for you. The capacity
selection software is available for free download. Contact your local sales office for more details.
3-24
Cautions
(4) Result
Linear servo motor: LM-H3P3B-24P-CSS0
Linear Servo Motors
3. Determining the number of the secondary-side (magnet) blocks
The number of the secondary-side (magnet) blocks is determined according to the total distance calculated from the following
equation (Note 2) :
(Total length of aligned secondary side (magnet)) (Maximum feed distance) + (Length of the primary side (coil))
Primary side (coil)
Primary side (coil)
Coil length
1/2
Coil length
1/2
Maximum feed distance

Minimum distance of the secondary side (magnet) (Note 1)
Remainder
Notes: 1. Keep the cumulative pitch error of the mounting screw holes within 0.2 mm. When two or more secondary sides (magnets) are aligned, spaces may exist
between each secondary side (magnet) block, depending on the mounting method and the number of the secondary-side blocks.

2. LM-K2 series has a structure of magnetic attraction counter-force and requires at least two blocks of identical secondary side (magnet). Therefore, the total
number of the secondary side necessary equals to twice the number determined from the equation.
4. Selecting regenerative option
The following table shows the energy charged into the capacitor of the servo amplifier and the inverse efficiency of the linear servo
motor.
The energy consumed by a regenerative resistor is calculated as follows:

Regenerative energy P [W] = {-Fmd ( t3 Speed/2) (Inverse efficiency/100) - Capacitor charging}/t0
Select a suitable regenerative option as necessary to keep the consumed regenerative energy below the regenerative power shown
in the following table:
Tolerable
Tolerable regenerative power of regenerative option [W]
regenerative
Tolerable
regenerative power of external
MR-RB (Note 3)
Capacitor Inverse
regenerative
power of builtServo Amplifier
charging
efficiency
(Note 2)
resistor
in regenerative
5N
51
5R
9F 6K-4
50
032
12
30
3N
31
32 (Note
[J]
[%]
1) (Note 1) (Note 1) (Note 4) (Note 4) (Note 4)
(standard
resistor
accessory)
[W]
40 40 13 9 6.7 40 13 9 6.7 3.2 3 10
[W] (Note 4)
MR-J4-20_(-RJ)
9
75
10
30
100
MR-J4-20_1(-RJ)
MR-J4-40_(-RJ)
11
85
10
30
100
MR-J4-40_1(-RJ)
MR-J4-60_(-RJ)
11
85
10
30
100
MR-J4-70_(-RJ)
18
85
20
30
100
300
MR-J4-200_(-RJ)
36
85
100
300
500
MR-J4-350_(-RJ)
40
85
100
300
500
MR-J4-500_(-RJ)
45
90
130
300
500
MR-J4-700_(-RJ)
70
90
170
300
500
MR-J4-11K_(-RJ)
120
90
500
(800)
MR-J4-15K_(-RJ)
170
90
850
(1300)
MR-J4-22K_4(-RJ)
250
90
500
(800)
850
(1300)
850
(1300)
850
(1300)
Notes: 1. Be sure to cool the unit forcibly with a cooling fan (92 mm 92 mm, minimum air flow: 1.0 m3/min). The cooling fan must be prepared by user.

2. For selecting a regenerative option for MR-J4W_-B, refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for details.

3. Refer to "Regenerative Option" in this catalog for details on the regenerative option.

4. The value in brackets is applicable when cooling fans (two units of 92 mm 92 mm, minimum air flow: 1.0 m3/min) are installed, and then [Pr. PA02] is changed.
3-25
4
Model Designation........................................4-1
Combinations of Direct Drive Motor and
Servo Amplifier.............................................4-1
Specifications...............................................4-2
Torque Characteristics..................................4-4
Machine Accuracy........................................4-5
Dimensions...................................................4-6
Sizing Example.............................................4-8
Direct Drive Motors
Direct Drive Motors
Model Designation
TM-RFM
Direct drive motor

series
Symbol
Symbol
002
004
006
012
018
040
048
072
120
240
Rated torque [Nm]

2
4
6
12
18
40
48
72
120
240
C
E
G
J
Motor outer diameter [mm]

(Frame dimensions)
Symbol
10
20
Rated speed [r/min]

100
200
130
180
230
330
Combinations of Direct Drive Motor and Servo Amplifier

Direct drive motor
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM
series
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM048G20
TM-RFM072G20
TM-RFM040J10
TM-RFM120J10
TM-RFM240J10
MR-J4
MR-J4-20B(-RJ),
MR-J4-20B1(-RJ),
MR-J4-20A(-RJ),
MR-J4-20A1(-RJ)
MR-J4-40B(-RJ),
MR-J4-40B1(-RJ),
MR-J4-40A(-RJ),
MR-J4-40A1(-RJ)
MR-J4-60B(-RJ),
MR-J4-60A(-RJ)
MR-J4-60B(-RJ),
MR-J4-60A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-100B(-RJ),
MR-J4-100A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
MR-J4-70B(-RJ),
MR-J4-70A(-RJ)
MR-J4-350B(-RJ),
MR-J4-350A(-RJ)
MR-J4-500B(-RJ),
MR-J4-500A(-RJ)
Servo amplifier
MR-J4W2 (Note 1)
MR-J4W3 (Note 1)
MR-J4W2-22B,
MR-J4W2-44B
MR-J4W3-222B,
MR-J4W3-444B
MR-J4W2-44B,
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
MR-J4W2-77B,
MR-J4W2-1010B
4-1
TM-RFM Series Specifications

002C20
Regenerative
braking
frequency *2
004C20
006C20
018E20
Refer to "Combinations of Direct Drive Motor and Servo Amplifier" on p. 4-1 in this catalog.
130
0.38
84
4
12
0.53
126
6
18
200
500
0.46
126
6
18
0.81
251
12
36
1.3
377
18
54
575
9.6
16.1
4.9
12.9
21.8
1.3
3.9
2.1
6.3
3.2
9.6
3.2
9.6
3.8
12
5.9
18
No limit
5830
2950
464
572
421
MR-J4W_-
[times/min]
No limit
5620
No limit
2370
1430
1050
10.9
16.6
22.4
74.0
111
149
50 times or less
Altitude
Vibration rank
Moment load
Axial load
[Nm]
22.5
70
[N]
1100
3300
[kg]
5.2
6.8
8.4
11
15
Options/Peripheral
Equipment
15
12.5
Absolute/incremental 20-bit encoder *3 (resolution: 1048576 pulses/rev)
155 (F)
Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, dust or splash of oil or water
X: 49 m/s2 Y: 49 m/s2
V10 *7
Direct Drive Motors
[s]
Linear Servo Motors
3.7
[times/min]
Absolute accuracy
Insulation class
Structure
Ambient temperature
Ambient humidity
Rotary Servo Motors
0.25
42
2
6
180
(Note 1)
Mass
012E20
MR-J4-
Moment of inertia J
[ 10-4 kgm2]
Rotor
permissible
load *6
006E20
Servo Amplifiers
Direct drive motor model

TM-RFM
MR-J4Compatible servo amplifier
model
MR-J4W_Motor outer diameter
[mm]
(frame dimensions)
[kVA]
Rated
output
[W]
Continuous
running duty
Rated torque (Note 3) [Nm]
Maximum torque
[Nm]
Rated speed
[r/min]
Maximum speed
[r/min]
Permissible instantaneous
[r/min]
speed
Power rate at continuous
[kW/s]
rated torque
Rated current
[A]
Maximum current
[A]
18
LVS/Wires

2. Connectors and gap between rotor and stator are excluded.

3. When unbalanced torque is generated, such as in a vertical lift machine, be sure to use the absolute position detection system, and keep the unbalanced torque under
70% of the servo motor rated torque.
Refer to "Annotations for Direct Drive Motor Specifications" on p. 4-5 in this catalog for the asterisks 1 to 7.
Product List
Cautions
4-2
Direct Drive Motors
TM-RFM Series Specifications

Direct drive motor model
TM-RFM
MR-J4Compatible servo amplifier
model
MR-J4W_Motor outer diameter
[mm]
(frame dimensions)
[kVA]
Rated
output
[W]
Continuous
running duty
Rated torque (Note 3) [Nm]
Maximum torque
[Nm]
Rated speed
[r/min]
Maximum speed
[r/min]
Permissible instantaneous
[r/min]
speed
Power rate at continuous
[kW/s]
rated torque
Rated current
[A]
Maximum current
[A]
Regenerative
braking
frequency *2
012G20
048G20
072G20
040J10
120J10
240J10
Refer to "Combinations of Direct Drive Motor and Servo Amplifier" on p. 4-1 in this catalog.
230
0.71
251
12
36
2.7
1005
48
144
200
500
330
3.8
1508
72
216
1.2
419
40
120
575
3.4
1257
120
360
100
200
6.6
2513
240
720
230
6.0
37.5
59.3
9.4
40.9
91.4
3.6
11
11
33
16
48
4.3
13
11
33
19
57
202
373
251
125
281
171
MR-J4-
[times/min]
MR-J4W_-
[times/min]
507
313
Moment of inertia J
[ 10-4 kgm2]
238
615
875
1694
3519
6303
50 times or less
(Note 1)
Absolute accuracy
Insulation class
Structure
Ambient temperature
Ambient humidity
[s]
Altitude
Vibration rank
Rotor
permissible
load *6
Mass
Moment load
Axial load
12.5
10
Absolute/incremental 20-bit encoder *3 (resolution: 1048576 pulses/rev)
155 (F)
Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, dust or splash of oil or water
X: 49 m/s2 Y: 49 m/s2
X: 24.5 m/s2 Y: 24.5 m/s2
V10 *7
[Nm]
[N]
[kg]
17
93
350
5500
16000
38
52
48
85
150

2. Connectors and gap between rotor and stator are excluded.

3. When unbalanced torque is generated, such as in a vertical lift machine, be sure to use the absolute position detection system, and keep the unbalanced torque under
70% of the servo motor rated torque.
Refer to "Annotations for Direct Drive Motor Specifications" on p. 4-5 in this catalog for the asterisks 1 to 7.
4-3
TM-RFM Series Torque Characteristics
12
2
0
Short-duration
running range
Continuous
running range
250
Speed [r/min]
range
Continuous
running range
250
Speed [r/min]
500
Continuous
running range
250
Speed [r/min]
TM-RFM018E20 (Note 1, 4)
72
Short-duration
running range
Continuous
running range
250
Speed [r/min]
36
18
0
500
TM-RFM048G20 (Note 1, 4)
54
range
Continuous
running range
250
Speed [r/min]
Short-duration
180 running range
500
500
Continuous
running range
100
Speed [r/min]
200
300
200
Continuous
running range
250
Speed [r/min]
500
TM-RFM240J10 (Note 1, 4)
800
Short-duration
running range
100 Continuous
running range
0
100
Speed [r/min]
Torque [Nm]
Short-duration
running range
60
200
600
400
200
0
Short-duration
running range
LVS/Wires
40
250
Speed [r/min]
400
Torque [Nm]
80
Continuous
running range
TM-RFM120J10 (Note 1, 4)
160
120
40
120
Options/Peripheral
Equipment
10 Continuous
running range
0
250
Speed [r/min]
Torque [Nm]
240
Short-duration
120 running range
Torque [Nm]
160
80
500
TM-RFM072G20 (Note 1, 4)
Short-duration
30 running range
20
500
Direct Drive Motors
Torque [Nm]
12
range
40
TM-RFM040J10 (Note 1, 3, 4)
Torque [Nm]
24
500
TM-RFM012G20 (Note 1, 3, 4)
36
12
48
Torque [Nm]
Torque [Nm]
250
Speed [r/min]
18
Linear Servo Motors
12
Continuous
running range
TM-RFM012E20 (Note 1, 3, 4)
24
18
4
0
500
TM-RFM006E20 (Note 1, 3, 4)
Short-duration
running range
Torque [Nm]
24
Torque [Nm]
16
Torque [Nm]
TM-RFM006C20 (Note 1, 3, 4)
Rotary Servo Motors
Torque [Nm]
TM-RFM004C20 (Note 1, 2, 4)
Servo Amplifiers
TM-RFM002C20 (Note 1, 2, 4)
Continuous
running range
100
Speed [r/min]
200
Notes: 1.
Product List

The following direct drive motors are compatible with 1-phase 230 V AC:
TM-RFM002C20, TM-RFM004C20, TM-RFM006C20, TM-RFM006E20, TM-RFM012E20, TM-RFM012G20, TM-RFM040J10
2.
3.
Cautions
4-4
Direct Drive Motors
Direct Drive Motor Machine Accuracy

The machine accuracy related to the direct drive motor rotor (output shaft) and installation is indicated below:
Item
Runout of flange surface about rotor (output shaft)
Runout of fitting outer diameter of flange surface
Runout of rotor (output shaft)
Runout of rotor (output shaft) end
a
Measuring position
a
b
c
d
Accuracy [mm]
0.05
0.07
0.04
0.02
d
A
Annotations for Direct Drive Motor Specifications

* 1. The power supply capacity varies depending on the power supply impedance.
* 2. The regenerative braking frequency shows the permissible frequency when the direct drive motor, without a load and a regenerative option, decelerates from the rated
speed to a stop. When a load is connected; however, the value will be the table value/(m + 1), where m = Moment of inertia of load/Moment of inertia of direct drive motor.
When the operating speed exceeds the rated speed, the regenerative braking frequency is inversely proportional to the square of (operating speed/rated speed). Take
* 3. Be sure to connect the following options for absolute position detection system.
MR-J4: battery (MR-BAT6V1SET) and absolute position storage unit (MR-BTAS01)
MR-J4W_: battery case (MR-BT6VCASE), battery (MR-BAT6V1) 5 pcs, and absolute position storage unit (MR-BTAS01).
* 4. In the environment where the direct drive motor is exposed to oil mist, oil and/or water, a standard specification direct drive motor may not be usable. Contact your local
sales office for more details.
* 5. The vibration direction is shown in the diagram below. The numerical value indicates the maximum value of the component.
Fretting more likely occurs on the bearing when the direct drive motor stops. Thus, maintain vibration level at approximately one-half of the allowable value.
Y
* 6. The following is calculation examples of axial and moment loads to the rotor (output shaft) of the direct drive motor. The axial and moment loads must be maintained equal
to or below the permissible value.
Load
Load
Motor
Motor
Axial load
= F + Load mass
F (External force)
Load
F (External force)
L
Bearing
F (External force)
Motor
Motor outer diameter

[mm]
(Frame dimensions)
130
180
230
330
Dimension A
[mm]
19.1
20.2
24.4
32.5
Axial load
Axial load = Load mass
= F + Load mass
Moment load = F (L + A)
Moment load
=FL
* 7. V10 indicates that the amplitude of the direct drive motor itself is 10 m or less. The following shows mounting posture and measuring position of the direct drive motor
during the measurement:
Measuring position
4-5
TM-RFM Series Dimensions (Note 1, 2)

Servo Amplifiers
TM-RFM002C20, TM-RFM004C20, TM-RFM006C20

12
4-9 mounting hole

Use hexagonal cap
head bolts.
6-M5 screw depth 8
3.5
45
.1
130
29
60
1
50
50
0
Rotary Servo Motors
130
77.5
20
60h7
116.9
111.5
128h7
7
1
Linear Servo Motors
B
Encoder connector
RM15WTRZB-12P(72)
16 15
Power connector
CE05-2A14S-2PD-D
A
(PE)
62
C
B
D
A
16
Model
17
Detailed view of A
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
Variable
dimension L
58.5
75.5
92.5
[Unit: mm]
Direct Drive Motors
V
U
Power connector
Output shaft side
TM-RFM006E20, TM-RFM012E20, TM-RFM018E20

29
0.1
18
05
180
4-14 mounting hole

60 Use hexagonal cap
head bolts.
45
3.5
90
Options/Peripheral
Equipment
6-M5 screw depth 8
47
100h7
124
180
141.9
136.5
LVS/Wires
178h7
35
Product List
B
Encoder connector
RM15WTRZB-12P(72)
16 15
62
Power connector
CE05-2A14S-2PD-D
A
(PE)
W
C
B
V
U
Power connector
Output shaft side
17
Detailed view of A
Model
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
Variable
dimension L
62
83
104
Cautions
16
B
D
A
[Unit: mm]
Notes: 1. For dimensions without tolerance, general tolerance applies. The actual dimensions may be 1 mm to 3 mm larger than the dimensions indicated. Make allowances for the
tolerance when designing a machine.

2.
indicates rotor.
4-6
Direct Drive Motors
TM-RFM Series Dimensions (Note 1, 2)

TM-RFM012G20, TM-RFM048G20, TM-RFM072G20
6-M6 screw depth 10
L
29
20
4-14 mounting hole

Use hexagonal cap
60 head bolts.
60
12
00.1
5
230
45
177.5
166.5
230
164
62
130h7
115
206h7
90
2
14.5
22-M10 screw depth 19.5
B
Encoder connector
RM15WTRZB-12P(72)
Power connector
CE05-2A18-10PD-D
21.5
15
(PE)
70
C
B
D
A
Model
Power connector
Output shaft side
16
TM-RFM012G20
TM-RFM048G20
TM-RFM072G20
19.5
Detailed view of A
Variable
dimension L
69
144
194
[Unit: mm]
TM-RFM040J10, TM-RFM120J10, TM-RFM240J10

L
7
25
4-18 mounting hole

6-M8 screw depth 13
Use hexagonal cap
60 head bolts.
45
0.1
330
34
70
180
KA
240
330
251
200h7
104
160
328h7
10
17
22-M12 screw depth 25.5
B
Encoder connector
RM15WTRZB-12P(72)
17
32.5
95
Power connector
CE05-2A22-22PD-D
(TM-RFM040J10, TM-RFM120J10)
CE05-2A32-17PD-D
(TM-RFM240J10)
16.5
B
A
(PE)
W
C
B
D
A
Power connector
Output shaft side
Model
31
Detailed view of A
TM-RFM040J10
TM-RFM120J10
TM-RFM240J10
Variable dimensions
L
KA
88.5
254
162.5
254.8
273.5
[Unit: mm]
Notes: 1. For dimensions without tolerance, general tolerance applies. The actual dimensions may be 1 mm to 3 mm larger than the dimensions indicated. Make allowances for the
tolerance when designing a machine.

2.
indicates rotor.
4-7
Direct Drive Motor Sizing Example

Servo Amplifiers
(1) Configurations
DT
(2) Direct drive motor speed
JM: moment of inertia of DD motor

Torque required during deceleration
(JL + JM) N0
TMd = = -38.3 Nm
9.55 tpsd

Speed
[r/min]
Torque required during acceleration/deceleration must be equal

to or lower than the max. torque of the DD motor.
200
t0
0.125
tpsd
0.45
1 cycle
tS
tf
0.1
Time [s]
(5) Continuous effective load torque

TMa2 tpsa + TL2 tc + TMd2 tpsd
tf
Trms =
= 13.5 Nm
tc = t0 - ts - tpsa - tpsd
2.0
(1) Moment of inertia of load
1
DT2 W
8
1
(300 10-3)2 19 = 0.214 kgm2
8
Options/Peripheral
Equipment
2. Selecting direct drive motor
Continuous effective load torque must be equal to or lower than

the rated torque of the DD motor.
Direct Drive Motors
0.125
tpsa
Torque required during acceleration

(JL + JM) N0
TMa =
= 38.3 Nm
9.55 tpsa
Linear Servo Motors
q
60
360
(t0 - tp - ts)
270
60
= 200 r/min
=
360
(0.45 - 0.125 - 0.1)
ts: settling time. Here assumed 0.1 s.
JL =
= 19 kg
= 300 mm
= 270 deg
= Within 0.45 s
= 0.125 s
= 2.0 s
= 0 Nm
(4) Acceleration/deceleration torque
N0 =
W
DT
q
t0
tp = tpsa = tpsd
tf
TL
Rotary Servo Motors
Direct drive motor

(DD motor)
Table mass
Rotation table diameter
Rotation angle per cycle
Positioning time
Acceleration/deceleration time
Operating cycle
Load torque
(6) Torque pattern

Torque
[Nm]
38.3
(2) Torque required to accelerate/decelerate load
)t
Selection criteria
Load torque during accel./decel. , Max. torque of DD motor
Moment of inertia of load , JR Moment of inertia of DD motor
JR: Recommended load to motor inertia ratio
Select the following direct drive motor to meet the criteria above.
TM-RFM018E20 (rated torque: 18 Nm, max. torque: 54 Nm,
moment of inertia: 149 10-4 kgm2)
0.125
-38.3
0.1
0.125
0.1
Time [s]
2.0
(7) Result
Direct drive motor: TM-RFM018E20
Capacity selection software (MRZJW3-MOTSZ111E) does all the
calculations for you. The capacity selection software is available for
free download. Contact your local sales office for more details.
Product List
(3) Select a direct drive motor
LVS/Wires
2p
N0
60
JL N0
=
60
tp
2p
0.214 200
=
9.55 0.125
= 35.9 Nm
Ta = JL
Cautions
4-8
MEMO
Introducing MELSERVO-J4 Model Selection System

Basic Cable Configurations for Servo Motors
Configuration Example for Servo Motors
Details of Optional Cables and Connectors for Servo Motors
Products on the Market for Servo Motors
Configuration Example for MR-J4-_B_(-RJ)/MR-J4-DU_B_(-RJ)
Configuration Example for MR-J4W2-_B/MR-J4W3-_B
Configuration Example for MR-J4-_B_-RJ010
Configuration Example for MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ)
Configuration Example for MR-J3-D05
Details of Optional Cables and Connectors for Servo Amplifiers
Details of Optional Connector for MR-D30
Details of Optional Cables and Connectors for MR-J3-D05
Products on the Market for Servo Amplifiers
Functional Safety Unit (MR-D30)
Safety Logic Unit (MR-J3-D05)
Regenerative Option
Power Regeneration Common Converter
Dynamic Brake
Battery
Battery for Junction Battery Cable and Junction Battery Cable
Battery Case and Battery
Absolute Position Storage Unit
Heat Sink Outside Mounting Attachment
Junction Terminal Block
Parameter Unit
Radio Noise Filter/Line Noise Filter/Data Line Filter
Surge Killer
EMC Filter
Power Factor Improving Reactor
Servo Support Software
Unit Conversion Table
Servo amplifier
B-RJ WB B-RJ010 A
MR-J4-B B-RJ MR-J4-B-RJ WB MR-J4W2-B/MR-J4W3-B B-RJ010 MR-J4-B-RJ010 A MR-J4-A
A-RJ
A-RJ l: Applicable
........ 5-1
........ 5-2
........ 5-4
...... 5-18
...... 5-22
...... 5-30
...... 5-31
...... 5-32
...... 5-33
...... 5-37
...... 5-38
...... 5-40
...... 5-40
...... 5-41
...... 5-42
...... 5-46
...... 5-48
...... 5-54
...... 5-56
...... 5-57
...... 5-57
...... 5-58
...... 5-59
...... 5-59
...... 5-60
...... 5-61
...... 5-62
...... 5-62
...... 5-63
...... 5-65
...... 5-71
...... 5-73
MR-J4-A-RJ
* Only MR-J4-B and MR-J4-A servo amplifiers are mentioned in this section. Note that options necessary for MR-J4-B-RJ and MR-J4-B-RJ010 are the same as those for MR-J4-B,
and MR-J4-A-RJ for MR-J4-A. For the options for MR-J4-B-RJ, MR-J4-B-RJ010, and MR-J4-A-RJ, refer to those for MR-J4-B and MR-J4-A with the same rated capacity.
* In this section, a term of servo amplifier includes a combination of drive unit and converter unit.
Introducing MELSERVO-J4 Model Selection System
MR-J4 Model Selection System is now available for supporting you to select
options such as encoder cables and power cables which are required to use with
controllers, servo motors, servo amplifiers, and regenerative options of your choice.
When you select a controller, compatible servo motors are shown in a list. Just
follow a guide of selecting servo motor series, rated output, rated speed and
others, compatible servo amplifier and regenerative option will be listed along with
necessary options, and then a system configuration will be complete.
In the configuration system diagram, a controller, servo amplifiers, servo motors,

and regenerative options are visually displayed. You will know the necessary
components for each axis in your application at glance.
Moreover, making a purchase list is just a click away, and the purchase list is
enabled for copying and pasting to Microsoft Excel. No more wasting time in
selecting components and making a list.
Model Selection System main window

(System configuration diagram)
Configuration print window
Purchase list window
In the option selection window, servo motor power cable, encoder

cable, electromagnetic cable and other options are selectable
for each axis. Mandatory options are shown in yellow; thus, it
is very clear which option must be purchased. Additionally, only
connectable options are listed in each option selection window,
preventing selection errors.
Option selection window
Each option selection window

Notes: 1. This system is designed for reference only for selecting MELSERVO-J4 series. Therefore, please use the results as reference and be sure to check this catalog and
relevant Instruction Manuals.
5-1
Basic Cable Configurations for Servo Motors
Servo Amplifiers
Necessary optional cables and connectors vary depending on the servo motor series.
Refer to the following tables for necessary options.
Selecting options for servo motor
Use the cables in the following tables.

For the cable descriptions, refer to the relevant numbers in each list.
Small
capacity
HG-KR
Column A in encoder cable list
HG-MR
Column A in encoder cable list
HG-SR
Column B in encoder cable list
HG-JR 3000 r/min series
HG-RR
HG-UR

6 kW to 12 kW
7 kW to 15 kW
15 kW to 37 kW
22 kW to 55 kW
Column C in encoder cable list
Reference list
Column A in servo motor power
cable list
Column A in servo motor power
cable list
Column B in servo motor power
cable list
cable list
Column C in servo motor power
cable list
Column C in servo motor power
cable list
cable list
Column C in encoder cable list
Electromagnetic brake cable (Note 1)

Column A in electromagnetic
brake cable list
Column A in electromagnetic
brake cable list
Column B in electromagnetic
brake cable list
Column B in electromagnetic
brake cable list
- (Note 2)
Column C in electromagnetic
brake cable list (Note 2)
Column C in electromagnetic
brake cable list
Direct Drive Motors
Large
capacity
Encoder cable
Notes: 1
. An electromagnetic brake cable is required only for servo motor with electromagnetic brake.

2. An electromagnetic brake connector set is not required for HG-UR series of 1.5 kW or smaller, and HG-RR series as the power connector has electromagnetic brake
terminals.
10 m or
shorter
(direct
connection
type)
IP65
IP65
2 m to 50 m
Long
In direction bending life
of load side
Standard
In opposite
direction of
load side
IP67
C 2 m to 50 m IP67
2 m to 30 m
Standard
Long
bending life
Standard
Long
bending life
Standard
Long
bending life
MR-J3ENCBL_M-A1-L
MR-J3ENCBL_M-A2-H
MR-J3ENCBL_M-A2-L
Two types of cables are required:
MR-J3JCBL03M-A1-L, MR-EKCBL_M-H
MR-J3JCBL03M-A1-L, MR-EKCBL_M-L
MR-J3JCBL03M-A2-L, MR-EKCBL_M-H
MR-J3JCBL03M-A2-L, MR-EKCBL_M-L
MR-J3JSCBL03M-A1-L, MR-J3ENSCBL_M-H
MR-J3JSCBL03M-A1-L, MR-J3ENSCBL_M-L
MR-J3JSCBL03M-A2-L, MR-J3ENSCBL_M-H
MR-J3JSCBL03M-A2-L, MR-J3ENSCBL_M-L
MR-J3ENSCBL_M-H
MR-J3ENSCBL_M-L
MR-ENECBL_M-H-MTH
Note
p. 5-12
p. 5-12
p. 5-12
p. 5-12
Select one from

this list.
pp. 5-12
and 5-13
pp. 5-12
and 5-13
p. 5-13
p. 5-14
Select one from

this list.
Cautions
Long
bending life
MR-J3ENCBL_M-A1-H
Reference
Product List
Exceeding
10 m
(junction
type)
In opposite
direction of
load side
Model
LVS/Wires
IP20
Cable lead
Bending life
out direction
Long
In direction
bending life
of load side
Standard
In opposite Long
direction of bending life
load side
Standard
Long
In direction bending life
of load side
Standard
Options/Peripheral
Equipment
Encoder cable list

Cable length IP rating (Note 1)
Linear Servo Motors
Medium
capacity
Servo motor
Rotary Servo Motors
Capacity
Notes: 1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo
amplifier/servo motor differs from that of these connectors, overall IP rating depends on the lowest of all.
5-2
Servo motor power cable list

10 m or
shorter
(direct
connection
type)
Exceeding
10 m
(junction
type)
IP65
IP55
IP rating (Note 1)
B IP67
C IP67
Cable lead
Bending life
out direction
Long
In direction
bending life
of load side
Standard
In opposite Long
load side
Standard
In direction
of load side
In opposite Standard
direction of
load side

HG-SR51, 81, 52(4), 102(4), 152(4)/
HG-JR53(4), 73(4), 103(4), 153(4),
203(4), 3534, 5034
HG-SR121, 201, 301, 202(4), 352(4),
502(4)/HG-JR353, 503
HG-SR421, 702(4)/
HG-JR703(4), 903(4), 601(4), 801(4),
12K1(4), 701M(4), 11K1M(4), 15K1M(4)
HG-RR103, 153, 203/
HG-UR72, 152
HG-RR353, 503/
HG-UR202, 352, 502
Model
MR-PWS1CBL_M-A1-H
MR-PWS1CBL_M-A1-L
MR-PWS1CBL_M-A2-H
MR-PWS1CBL_M-A2-L
Connect a user-fabricated cable to
MR-PWS2CBL03M-A1-L (optional cable).
MR-PWS2CBL03M-A2-L (optional cable).
Model
Reference
p. 5-15
p. 5-15
p. 5-15
Select one from

this list.
p. 5-15
Reference
Fabricate a cable that fits to MR-PWCNS4

(optional connector set).
p. 5-15

p. 5-15

p. 5-15

Note
Note
Select one that is

compatible with the
servo motor.
p. 5-16
p. 5-16
Electromagnetic brake cable list

10 m or
shorter
(direct
connection
type)
Exceeding
10 m
(junction
type)
IP65
IP55
IP rating (Note 1)
B IP67
C IP67
Cable lead
Bending life
out direction
Long
In direction
bending life
of load side
Standard
In opposite Long
load side
Standard
In direction
of load side
In opposite Standard
direction of
load side

HG-SR series
HG-JR53(4)B, 73(4)B, 103(4)B,
153(4)B, 203(4)B, 353(4)B,
503(4)B, 703(4)B, 903(4)B
HG-JR601(4)B, 801(4)B, 12K1(4)B,
701M(4)B, 11K1M(4)B, 15K1M(4)B/
HG-UR202B, 352B, 502B
Model
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-H
MR-BKS1CBL_M-A2-L
MR-BKS2CBL03M-A1-L (optional cable).
MR-BKS2CBL03M-A2-L (optional cable).
Model
Fabricate a cable that fits to MR-BKCNS1 or
MR-BKCNS2 (optional connector set)
(straight type).
Fabricate a cable that fits to MR-BKCNS1A or
MR-BKCNS2A (optional connector set)
(angle type).
Fabricate a cable that fits to MR-BKCN
Reference
Note
p. 5-17
p. 5-17
p. 5-17
Select one from

this list.
p. 5-17
Reference
Note
p. 5-17
p. 5-17
Select one that is

compatible with the
servo motor.
p. 5-17
Notes: 1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo
5-3
Configuration Example for Servo Motors
B-RJ
WB
B-RJ010
A-RJ
Servo Amplifiers
For HG-KR/HG-MR rotary servo motor series: encoder cable length 10 m or shorter
For leading the cables out in direction of load side (Note 1)
Power cable
(23)
Electromagnetic brake cable
To servo amplifier power connector (CNP3/CNP3A/CNP3B/CNP3C)
To servo amplifier encoder connector (CN2/CN2A/CN2B/CN2C)
(1)
Servo motor
Linear Servo Motors
For leading the cables out in opposite direction of load side (Note 1)
Power cable
(24)
(35)
Encoder cable
Direct Drive Motors
(2)
Rotary Servo Motors
(34)
Encoder cable
Servo motor
Notes: 1. Cables for leading two different directions may be used for one servo motor.
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
5-4
Configuration Example for Servo Motors (Note 5)
B-RJ
WB
B-RJ010
A-RJ
For HG-KR/HG-MR rotary servo motor series: encoder cable length over 10 m
For leading the cables out in direction of load side (Note 4)
(25) Power cable
(Note 2)
(36) Electromagnetic brake cable
(Note 3)
Encoder cable
(3) (Note 1)
(5)
(7)
Encoder cable
(8) (Note 1)
(10)
(11)
Servo motor
For leading the cables out in opposite direction of load side (Note 4)
(26) Power cable
(Note 2)
(37) Electromagnetic brake cable
(Note 3)
Encoder cable
(4) (Note 1)
(5)
(7)
Encoder cable
(9) (Note 1)
(10)
(11)
Servo motor
Notes: 1. This cable does not have a long bending life. Thus, be sure to fix the cable before using.

2. Relay a cable using MR-PWS2CBL03M-A1-L or MR-PWS2CBL03M-A2-L. This cable does not have a long bending life. Thus, be sure to fix the cable before using.

3. Relay a cable using MR-BKS2CBL03M-A1-L or MR-BKS2CBL03M-A2-L. This cable does not have a long bending life. Thus, be sure to fix the cable before using.

4. Cables for leading two different directions may be used for one servo motor.

5. Cables drawn with dashed lines need to be fabricated by user. Refer to relevant Servo Motor Instruction Manual for fabricating the cables.
5-5
B-RJ
WB
B-RJ010
A-RJ
Servo Amplifiers
For HG-SR rotary servo motor series

Power connector set
To servo amplifier power connector (CNP3/TE4/TE1/CNP3A/CNP3B) (Note 2)
(28) (29) (30)
Electromagnetic brake connector set

(38) (39)
Encoder cable
Rotary Servo Motors
(40) (41)
To servo amplifier encoder connector

(CN2/CN2A/CN2B)
(10)
(11) (12)
(13) (14)
Servo motor
Linear Servo Motors
For HG-JR rotary servo motor 3000 r/min series

Power connector set
To servo amplifier power connector (CNP3/TE4/TE1/TE1-1/CNP3A/CNP3B) (Note 2)
(28) (29) (30)

(38) (39)
Encoder cable
Direct Drive Motors
(40) (41)

(CN2/CN2A/CN2B)
(10)
(11) (12)
(13) (14)
Servo motor
Options/Peripheral
Equipment
For HG-JR rotary servo motor 1000 r/min series (6 kW to 12 kW) and 1500 r/min series (7 kW to 15 kW)
Power connector set
To servo amplifier power connector (TE1-1)
(30)

(42)
Encoder cable
(16)
LVS/Wires
To servo amplifier encoder connector (CN2)
(15)
Servo motor
For HG-JR rotary servo motor 1000 r/min series (15 kW to 37 kW) and 1500 r/min series (22 kW to 55 kW)
(15)
Cooling fan power connector
Product List
Encoder cable
(16)
(33)
Servo motor
Cautions
Notes: 1. Cables drawn with dashed lines need to be fabricated by user. Refer to relevant Servo Motor Instruction Manual for fabricating the cables.

2. The connector for U, V, and W varies depending on the servo amplifier capacities. Refer to the dimensions of the relevant servo amplifier in this catalog for details.
5-6

For HG-RR/HG-UR rotary servo motor series
B-RJ
WB
B-RJ010
A-RJ
Power connector set

To servo amplifier power connector (CNP3/TE4/CNP3A/CNP3B) (Note 5, 6)
(31) (32)
Electromagnetic brake connector set (Note 7)

(42)
Encoder cable

(CN2/CN2A/CN2B)
(10)
(11) (12)
Servo motor
(13) (14)
For fully closed loop control (MR-J4-B/A, MR-J4-DU_B/A, or MR-J4W2-B, and rotary servo motor) (Note 3)
WB
Servo amplifier
MR-J4-_B_/MR-J4-DU_B_
MR-J4-_A_/MR-J4-DU_A_
MOTOR
Encoder cable (Note 4)
CN2
SCALE
(20)
HG-KR/HG-MR/HG-SR/
HG-JR/HG-RR (Note 6)/HG-UR
servo motor series
To load-side encoder
Servo amplifier
MR-J4W2-_B
CN2A
(17)
(Note 1)
CN2B
(6)
(22)
(7)
For fully closed loop control (MR-J4-B-RJ/A-RJ or MR-J4-DU_B-RJ/A-RJ, and rotary servo motor) (Note 3)
B-RJ
A-RJ
Servo amplifier
MR-J4-_B_-RJ/MR-J4-DU_B_-RJ
MR-J4-_A_-RJ/MR-J4-DU_A_-RJ
CN2
CN2L
HG-KR/HG-MR/HG-SR/
HG-JR/HG-RR/HG-UR
servo motor series
(17)
(Note 1)
(6)
(7)
Notes: 1. Contact the relevant linear encoder manufacturers for connectors to connect with the head cables.


3. Connections other than mentioned are the same as those for each rotary servo motor. Refer to cables and connectors for relevant servo motors in this catalog.

4. Necessary encoder cables vary depending on the servo motor series. Refer to cables and connectors for relevant servo motors in this catalog.


6. HG-RR series is compatible only with the 1-axis servo amplifier.

7. An electromagnetic brake connector set is not required for HG-UR series of 1.5 kW or smaller, and HG-RR series as the power connector has electromagnetic brake
terminals.
5-7
WB
A
Servo Amplifiers
For MR-J4-B/A or MR-J4W_-B, and LM-H3/LM-K2/LM-U2 linear servo motor

When using a junction cable for linear servo motor
Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)
To servo amplifier power connector (CNP3/TE4/CNP3A/CNP3B/CNP3C) (Note 4)

Power lead wires
THM
Thermistor lead wires
Junction cable
To servo amplifier
encoder connector
(CN2/CN2A/CN2B/CN2C)
SCALE
Rotary Servo Motors
(17)
(21)
(Note 1)
Linear encoder
(17)
Junction cable
(6)
Linear encoder
head cable
To servo amplifier
encoder connector
(7)
(22)
Linear servo motor

secondary side
(magnet)
Linear servo motor

primary side (coil)
Linear Servo Motors
When not using a junction cable for linear servo motor

Power lead wires
To servo amplifier
encoder connector
(Note 1)
(17)
Linear encoder
head cable
To servo amplifier
encoder connector
(Note 2)
(17)
Direct Drive Motors
Linear encoder
(Note 1)
(17)
Linear servo motor

secondary side
(magnet)
Linear servo motor

primary side (coil)
Options/Peripheral
Equipment
For MR-J4-B/A and LM-F linear servo motor

To servo amplifier power connector (CNP3/TE4/TE1/TE1-1) (Note 4)
Power cable
(Note 2)
THM
Thermistor cable
SCALE
(17)
(Note 2)
To servo amplifier
encoder connector (CN2)
Junction cable
(21)
(Note 1)
(6)
Linear encoder
head cable
To servo amplifier
Junction cable
(7)
LVS/Wires
Linear encoder
(17)
(22)

Linear servo motor
primary side (coil)

Power cable
Product List
Linear servo motor

secondary side
(magnet)
(Note 2)
Thermistor cable
(Note 2)
Linear encoder
Linear encoder
head cable
To servo amplifier
(Note 1)
(Note 1)
(17)
(Note 2)
To servo amplifier
Cautions
(Note 2)
(17)
(17)

2. Refer to "Products on the Market for Servo Motors" in this catalog for these connectors.


5-8
B-RJ
A-RJ
For MR-J4-B-RJ/MR-J4-A-RJ and LM-H3/LM-K2/LM-U2 linear servo motor with a serial linear encoder
Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)
To servo amplifier power connector (CNP3/TE4) (Note 4)

Power lead wires
THM
To servo amplifier
Junction cable
SCALE
(17)
(21)
(Note 1)
Linear encoder
(17)
(6)
Linear encoder
head cable
To servo amplifier
Junction cable
(7)
(22)

Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)

Power lead wires
To servo amplifier
Linear encoder
(Note 1)
(17)
Linear encoder
head cable
(Note 2)
(17)
To servo amplifier
(Note 1)
(17)
For MR-J4-B-RJ/MR-J4-A-RJ and LM-F linear servo motor with a serial linear encoder
Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)

Power cable
(Note 2)
THM
Thermistor cable
SCALE
(17)
(Note 2)
To servo amplifier
Junction cable
(21)
(Note 1)
Linear encoder
(17)
(6)
Linear encoder
head cable
To servo amplifier
Junction cable
(7)
(22)

Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)

Power cable
(Note 2)
Thermistor cable
(Note 2)
Linear encoder
Linear encoder
head cable
To servo amplifier
(Note 1)
(Note 2)
(Note 1)
(17)
(17)
(Note 2)
To servo amplifier
(17)



5-9
B-RJ
A-RJ
Servo Amplifiers
For MR-J4-B-RJ/A-RJ and LM-H3/LM-K2/LM-U2 linear servo motor with an A/B/Z-phase differential output type
linear encoder
Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)

Power lead wires
(Note 1)
Linear encoder
(17)
To servo amplifier load-side encoder connector (CN2L)
(6)
Linear encoder
head cable
Rotary Servo Motors
(17)
(7)
Linear Servo Motors
For MR-J4-B-RJ/A-RJ and LM-F linear servo motor with an A/B/Z-phase differential output type linear encoder
Linear servo motor
secondary side
(magnet)
Linear servo motor

primary side (coil)

Power cable
(Note 2)
Thermistor cable
(17)
(Note 2)
Linear encoder
head cable
(Note 1)
(17)
Direct Drive Motors
Linear encoder
(6)
(7)
Options/Peripheral
Equipment



LVS/Wires
Product List
Cautions
5-10
B-RJ
WB
A-RJ
For TM-RFM direct drive motor series

For incremental system
Encoder connector set
(18)
Power connector set

(27) (28) (29) (30)
Direct drive motor
For absolute position detection system

(19)
(18)
Direct drive motor
Power connector set

(27) (28) (29) (30)
Absolute position
storage unit
Notes: 1. Cables drawn with dashed lines need to be fabricated by user. Refer to relevant Servo Motor Instruction Manual for fabricating the cables.

5-11
Cables and Connectors for Servo Motor Encoder
(1)

(load-side lead)

(2) (opposite to load-side
lead)
(load-side lead)
MR-J3JCBL03M-A1-L *1
0.3 m
IP20
Encoder cable
lead)
MR-J3JCBL03M-A2-L *1
0.3 m
MR-EKCBL20M-H *1
MR-EKCBL30M-H (Note 3) *1
MR-EKCBL20M-L *1
MR-EKCBL30M-L (Note 3) *1
20 m
30 m
40 m
50 m
20 m
30 m
(5) Encoder cable
(6) Encoder cable
(Note 2, 5)
MR-EKCBL2M-H *1
2m
MR-EKCBL5M-H *1
5m
(7)
Servo amplifier connector
For HG-KR/HG-MR
(junction type)
Encoder connector
Junction connector
IP20
For HG-KR/HG-MR
(junction type)
Use this in combination with (5) or (7).
IP20
For HG-KR/HG-MR
(junction type)
IP20
For connecting loadside encoder, or

linear encoder
(Note 5)

(load-side lead)

lead)
MR-ECNM
Junction connector
IP20
For HG-KR/HG-MR
(junction type)
For connecting loadside encoder, or
linear encoder
Junction connector
Junction connector
Use this in combination with (3) or (4) for

HG-KR/HG-MR series.
Applicable cable
Wire size: 0.3 mm2 (AWG 22)
Cable OD: 8.2 mm
Crimping tool (91529-1) is required.
IP65
For HG-KR/HG-MR
(junction type)
Encoder connector
IP65
For HG-KR/HG-MR
(junction type)
MR-J3JSCBL03M-A1-L *1
0.3 m
(Note 4)
MR-J3JSCBL03M-A2-L *1
0.3 m
(Note 4)
LVS/Wires
(8)
For HG-KR/HG-MR
(direct connection
type)
Encoder connector
(Note 2)
(Note 2)
Description
Linear Servo Motors
(3)
IP65
Application
Options/Peripheral
Equipment
For HG-KR/HG-MR
(direct connection
type)
(Note 1)
Direct Drive Motors
IP65
Model
Rotary Servo Motors
IP rating
MR-J3ENCBL2M-A1-H *1
MR-J3ENCBL2M-A1-L *1
Cable
length
2m
5m
10 m
2m
5m
10 m
2m
5m
10 m
2m
5m
10 m
Item
Servo Amplifiers
Refer to "Details of Optional Cables and Connectors for Servo Motors" in this catalog for the detailed models.
Junction connector
For unlisted lengths
Product List
Notes: 1
. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo

2. -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.

3. This encoder cable is available in four-wire type. Parameter setting is required to use the four-wire type encoder cable. Refer to relevant Servo Amplifier Instruction Manual
for details.

4. The encoder cable is rated IP65 while the junction connector itself is rated IP67.

5. Use MR-EKCBL_M-H and MR-ECNM to connect to an output cable for AT343A, AT543A-SC or AT545A-SC scales manufactured by Mitutoyo Corporation.
*1. For unlisted lengths of the cables, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS BUSINESS PROMOTION DIVISION (Email: osb.webmaster@
melsc.jp)
Cautions
5-12
Item
(10) Encoder cable (Note 2)
Model
MR-J3ENSCBL2M-H *1
MR-J3ENSCBL5M-H *1
MR-J3ENSCBL10M-H *1
MR-J3ENSCBL20M-H *1
MR-J3ENSCBL30M-H *1
MR-J3ENSCBL40M-H *1
MR-J3ENSCBL50M-H *1
MR-J3ENSCBL2M-L *1
MR-J3ENSCBL5M-L *1
MR-J3ENSCBL10M-L *1
MR-J3ENSCBL20M-L *1
MR-J3ENSCBL30M-L *1
Cable
length
2m
5m
10 m
20 m
30 m
40 m
50 m
2m
5m
10 m
20 m
30 m
IP rating
(Note 1)
IP67

(11)
(12)
(Note 5)
(one-touch connection
type)

(Note 3, 5)
(screw type)
MR-J3SCNS
IP67
MR-ENCNS2 *2
IP67
MR-J3SCNSA *2
IP67

(13)
(14)
(Note 5)
type)

(Note 3, 5)
(screw type)
MR-ENCNS2A *2
IP67
Application
For HG-KR/HG-MR
(junction type)
For HG-SR/
HG-JR53, 73, 103,
153, 203, 353,
503, 703, 903,
534, 734, 1034,
1534, 2034, 3534,
5034, 7034, 9034/
HG-RR/HG-UR
(direct connection
type)
For HG-KR/HG-MR
(junction type)
For HG-SR/
HG-JR53, 73, 103,
153, 203, 353,
503, 703, 903,
534, 734, 1034,
1534, 2034, 3534,
5034, 7034, 9034/
HG-RR/HG-UR
(direct connection
type)
(straight type)
For HG-SR/
HG-JR53, 73, 103,
153, 203, 353, 503,
703, 903, 534, 734,
1034, 1534, 2034,
3534, 5034, 7034,
9034/
HG-RR/HG-UR
(straight type)
For HG-SR/
HG-JR53, 73, 103,
153, 203, 353,
503, 703, 903,
534, 734, 1034,
1534, 2034, 3534,
5034, 7034, 9034/
HG-RR/HG-UR
(angle type)
Description
Junction connector or
encoder connector
Servo amplifier
connector

HG-KR/HG-MR series.
Junction connector or
encoder connector
Servo amplifier
connector

HG-KR/HG-MR series.
Applicable cable
Wire size: 0.5 mm2 (AWG 20) or smaller
Cable OD: 5.5 mm to 9.0 mm (Note 4)
Encoder connector
Applicable cable
Encoder connector
Applicable cable
Notes: 1


3. A screw thread is cut on the encoder connector of HG-SR/HG-JR/HG-RR/HG-UR series, and the screw type connector can be used.

4. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.

5. The connector contains a plug and contacts. Using contractors for other plugs may damage the connector. Be sure to use the enclosed contacts.
For unlisted lengths and fabricating cables
melsc.jp)
*2. For fabricating encoder cables with these connectors, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS BUSINESS PROMOTION DIVISION (Email:
osb.webmaster@melsc.jp)
5-13

Item
Cable
length
MR-ENECBL2M-H-MTH
2m
MR-ENECBL5M-H-MTH
5m
MR-ENECBL10M-H-MTH
10 m
MR-ENECBL20M-H-MTH
20 m
MR-ENECBL30M-H-MTH
30 m
MR-ENECBL40M-H-MTH
40 m
MR-ENECBL50M-H-MTH
50 m
IP rating
(Note 1)
IP67
Application
For HG-JR601, 801,
12K1, 15K1, 20K1,
25K1, 30K1, 37K1,
701M, 11K1M, 15K1M,
22K1M, 30K1M,
37K1M, 6014, 8014,
12K14, 15K14, 20K14,
25K14, 30K14, 37K14,
701M4, 11K1M4,
15K1M4, 22K1M4,
30K1M4, 37K1M4,
45K1M4, 55K1M4
(17) Encoder connector set
MR-J3CN2
For connecting loadside encoder, linear

encoder, or thermistor
IP67
For TM-RFM
(connecting direct
drive motor and servo
amplifier, or absolute
position storage unit
and servo amplifier)
IP67
For TM-RFM
(connecting direct
drive motor and
absolute position
storage unit)
Junction cable for fully

(20)
closed loop control (Note 3)
MR-J3DDCNS
MR-J3DDSPS
MR-J4FCCBL03M
MR-J4THCBL03M
(22) Connector set
MR-J3THMCN2
For branching loadside encoder
0.3 m
For branching
thermistor
For fully closed loop

control or branching
thermistor
0.3 m
Applicable cable
Wire size: 0.3 mm2 to 1.25 mm2 (AWG 22 to 16)
Cable OD: 6.8 mm to 10 mm
Encoder connector or
Servo amplifier
absolute position storage connector
unit connector
Applicable cable
Cable OD: 7.8 mm to 8.2 mm
Encoder connector
Absolute position
storage unit connector
Applicable cable
Junction connector
Junction connector
Junction connector
5-14
Cautions
Notes: 1
. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor/absolute position storage unit.
If the IP rating of the servo amplifier/servo motor/absolute position storage unit differs from that of these connectors, overall IP rating depends on the lowest of all.


3. Servo system will not operate correctly when the junction cables for fully closed loop control and for linear servo motor are used mistakenly or interchangeably. Make sure
of the model before placing an order.
Product List
Junction cable for linear

(21)
servo motor (Note 3)
LVS/Wires
IP67
Encoder connector
Options/Peripheral
Equipment
Direct Drive Motors
MR-ENECNS
Encoder connector
Linear Servo Motors
For HG-JR601, 801,

12K1, 15K1, 20K1,
25K1, 30K1, 37K1,
701M, 11K1M, 15K1M,
22K1M, 30K1M,
37K1M, 6014, 8014,
12K14, 15K14, 20K14,
25K14, 30K14, 37K14,
701M4, 11K1M4,
15K1M4, 22K1M4,
30K1M4, 37K1M4,
45K1M4, 55K1M4
Description
Rotary Servo Motors
(15) Encoder cable (Note 2)
Model
Servo Amplifiers
Cables and Connectors for Servo Motor Power
IP rating
MR-PWS1CBL2M-A1-H *1
MR-PWS1CBL2M-A1-L *1 (Note 3)
Cable
length
2m
5m
10 m
2m
5m
10 m
2m
5m
10 m
2m
5m
10 m
MR-PWS2CBL03M-A1-L
0.3 m
IP55
For HG-KR/HG-MR
(junction type)
MR-PWS2CBL03M-A2-L
0.3 m
IP55
For HG-KR/HG-MR
(junction type)
Item
(23)
Power cable (Note 2)

(load-side lead)

lead)
(load-side lead)
lead)
(25)
Model
(Note 1)
IP65
Application
Description
For HG-KR/HG-MR
(direct connection
type)
Power connector
Lead-out
IP65
For HG-KR/HG-MR
(direct connection
type)
* The cable is not shielded.
Power connector
Lead-out
Power connector
(27) Power connector set
MR-PWCNF *2
MR-PWCNS4 *2
MR-PWCNS5 *2
MR-PWCNS3 *2
IP67
For TM-RFM_C20/
TM-RFM_E20
IP67
For HG-SR51, 81, 52,

102, 152, 524,
1024, 1524/
HG-JR53, 73, 103,
153, 203, 534, 734,
1034, 1534, 2034,
3534, 5034/
TM-RFM_G20
IP67
IP67
For HG-SR121, 201,

301, 202, 352, 502,
2024, 3524, 5024/
HG-JR353, 503/
TM-RFM040J10,
TM-RFM120J10
For HG-SR421, 702,
7024/
HG-JR703, 903, 601,
801, 12K1, 701M,
11K1M, 15K1M,
7034, 9034, 6014,
8014, 12K14, 701M4,
11K1M4, 15K1M4/
TM-RFM240J10
Applicable cable
Power connector
Applicable cable
Wire size: 2 mm2 to 3.5 mm2 (AWG 14 to 12)
Power connector
Applicable cable
Wire size: 5.5 mm2 to 8 mm2 (AWG 10 to 8)
Power connector
Applicable cable
Wire size: 14 mm2 to 22 mm2 (AWG 6 to 4)
Cable OD: 22 mm to 23.8 mm
Notes: 1


3. Shielded power cable MR-PWS3CBL_M-A_-L is also available. Contact your local sales office.
melsc.jp)
*2. For fabricating servo motor power cables or electromagnetic brake cables, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS BUSINESS PROMOTION
DIVISION (Email: osb.webmaster@melsc.jp)
5-15
Cables and Connectors for Servo Motor Power

Item
Model
Cable
length
IP rating
Application
(Note 1)
Servo Amplifiers
Description
Power connector
MR-PWCNS1 *1
IP67
For HG-RR103,
153, 203/
HG-UR72, 152
Applicable cable
Wire size: 2 mm2 to 3.5 mm2 (AWG 14 to 12)
Power connector
MR-PWCNS2 *1
IP67
Applicable cable
Wire size: 5.5 mm2 to 8 mm2 (AWG 10 to 8)
Cable OD: 13 mm to 15.5 mm
Linear Servo Motors
For HG-RR353, 503/

HG-UR202, 352, 502
Notes: 1
Cables and Connectors for Servo Motor Cooling Fan Power
(33)
MR-PWCNF *1
Cable
length
IP rating
(Note 1)
IP67
Application
For HG-JR15K1,
20K1, 25K1, 30K1,
37K1, 22K1M,
30K1M, 37K1M,
15K14, 20K14,
25K14, 30K14,
37K14, 22K1M4,
30K1M4, 37K1M4,
45K1M4, 55K1M4
Description
Power connector
Applicable cable
Notes: 1
For fabricating cables
Options/Peripheral
Equipment
Cooling fan power

connector set
Model
Direct Drive Motors
Item
Rotary Servo Motors
LVS/Wires
Product List
Cautions
5-16
Cables and Connectors for Servo Motor Electromagnetic Brake
IP rating
MR-BKS1CBL2M-A1-H *1
MR-BKS1CBL2M-A1-L *1
Cable
length
2m
5m
10 m
2m
5m
10 m
2m
5m
10 m
2m
5m
10 m
MR-BKS2CBL03M-A1-L
0.3 m
IP55
For HG-KR/HG-MR
(junction type)
MR-BKS2CBL03M-A2-L
0.3 m
IP55
For HG-KR/HG-MR
(junction type)
IP67
Item
(34) cable (Note 2)
(load-side lead)
cable (Note 2)
(35)
(opposite to load-side
lead)
(36) cable (Note 2)
(load-side lead)
cable (Note 2)
(37)
(opposite to load-side
lead)
(38)
connector set (Note 4)
type)
Model
MR-BKCNS1 *2
(39) connector set (Note 3, 4)
(screw type)
MR-BKCNS2 *2
connector set (Note 4)
(40)
type)
MR-BKCNS1A
(41) connector set (Note 3, 4)
(screw type)
(42)
connector set
*2
MR-BKCNS2A *2
MR-BKCN
(Note 1)
IP65
Application
Description
For HG-KR/HG-MR
(direct connection
type)
Lead-out
IP65
For HG-KR/HG-MR
(direct connection
type)
IP67
IP67
IP67
IP67
For HG-SR/
HG-JR53B, 73B,
103B, 153B, 203B,
353B, 503B, 703B,
903B, 534B, 734B,
1034B, 1534B,
2034B, 3534B,
5034B, 7034B, 9034B
(straight type)
For HG-SR/
HG-JR53B, 73B,
103B, 153B, 203B,
353B, 503B, 703B,
903B, 534B, 734B,
1034B, 1534B,
2034B, 3534B,
5034B, 7034B, 9034B
(angle type)
For HG-JR601B,
801B, 12K1B, 701MB,
11K1MB, 15K1MB,
6014B, 8014B,
12K14B, 701M4B,
11K1M4B, 15K1M4B/
HG-UR202B, 352B,
502B
(straight type)

Lead-out
Applicable cable
Applicable cable
Applicable cable
Notes: 1


3. A screw thread is cut on the electromagnetic brake connector of HG-SR/HG-JR series, and the screw type connector can be used.

melsc.jp)
5-17
MR-J3ENCBL_M-A1-H (Note 2)
MR-J3ENCBL_M-A1-L (Note 2)
MR-J3ENCBL_M-A2-H (Note 2)
MR-J3ENCBL_M-A2-L (Note 2)
MR-J3JCBL03M-A1-L (Note 2)
MR-J3JCBL03M-A2-L (Note 2)
MR-EKCBL_M-H
MR-EKCBL_M-L
MR-ECNM
MR-J3JSCBL03M-A1-L (Note 2)
MR-J3JSCBL03M-A2-L (Note 2)
MR-J3ENSCBL_M-H (Note 2)
MR-J3ENSCBL_M-L (Note 2)
MR-J3SCNS (Note 2, 3)
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity Ltd. Company)
or an equivalent product
Cable clamp: MTI-0002
(Toa Electric Industrial Co., Ltd.)
Encoder connector
2174053-1
Encoder connector
For 10 m or shorter cable

Straight plug: CMV1-SP10S-M1
Socket contact: CMV1-#22ASC-C1-100
For 20 m or longer cable
Straight plug: CMV1-SP10S-M1 (long bending life)
CMV1-SP10S-M2 (standard)
Socket contact: CMV1-#22ASC-C2-100
(DDK Ltd.)
Junction connector/encoder connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)

or
Connector set: 54599-1019
(Molex)
Junction connector
Cable receptacle: CM10-CR10P-M

(DDK Ltd.)
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Product List
Straight plug: CMV1-SP10S-M2 (Note 1)

Socket contact: CMV1-#22ASC-S1-100
(DDK Ltd.)
LVS/Wires
Model
Junction connector
Contact: 1473226-1 (with ring)

Housing: 1-172169-9
Cable clamp: 316454-1
Options/Peripheral
Equipment
Model
2174053-1
Junction connector
Direct Drive Motors
Model
Encoder connector
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Linear Servo Motors
Model
2174053-1
Rotary Servo Motors
Model
Encoder connector
Servo Amplifiers
Model
Notes: 1. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.

2. The cable or the connector set may contain different connectors but still usable.

Cautions
5-18

Model
MR-ENCNS2 (Note 3)
Model
MR-J3SCNSA (Note 2, 3)
Model
MR-ENCNS2A (Note 3)
Model
MR-ENECBL_M-H-MTH
MR-ENECNS
Encoder connector
Encoder connector
MR-J3DDCNS
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Angle plug: CMV1-AP10S-M2 (Note 1)

(DDK Ltd.)
Encoder connector
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Angle plug: CMV1S-AP10S-M2 (Note 1)

(DDK Ltd.)
Encoder connector
Plug: D/MS3106A20-29S(D190)
Backshell: CE02-20BS-S-D (straight)
Cable clamp: CE3057-12A-3-D
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Shell kit: 36310-3200-008
(3M)
Model
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Straight plug: CMV1S-SP10S-M2 (Note 1)

(DDK Ltd.)
Model
MR-J3CN2
or
Encoder connector/absolute position storage unit

connector
Plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric Co., Ltd.)

(Molex)
Shell kit: 36310-3200-008
(3M)

or
(Molex)
Notes: 1. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.

2. The cable or the connector set may contain different connectors but still usable.

5-19
MR-J3DDSPS
Encoder connector
Plug: RM15WTPZK-12S
MR-J4FCCBL03M
MR-J4THCBL03M
MR-J3THMCN2
Absolute position storage unit connector
Plug: RM15WTPZ-12P(72)
Junction connector
Plug: 36110-3000FD
Shell kit: 36310-F200-008
(3M)
Rotary Servo Motors
Model
Servo Amplifiers
Model
Shell kit: 36310-3200-008
(3M)
Linear Servo Motors
Model
Power connector
MR-PWS1CBL_M-A1-H (Note 1)
MR-PWS1CBL_M-A1-L (Note 1)
MR-PWS1CBL_M-A2-H (Note 1)
MR-PWS1CBL_M-A2-L (Note 1)
Plug: KN4FT04SJ1-R
Socket contact: ST-TMH-S-C1B-100-(A534G)
(Japan Aviation Electronics Industry, Limited)
Power connector
Direct Drive Motors
Model
Plug: KN4FT04SJ2-R
MR-PWS2CBL03M-A1-L (Note 1)
MR-PWS2CBL03M-A2-L (Note 1)
Model
Power connector/cooling fan power connector
Model
Power connector
MR-PWCNF
Options/Peripheral
Equipment
MR-PWCNS4
Plug: CE05-6A14S-2SD-D (straight)

(DDK Ltd.)
Cable clamp: YSO14-9 to 11
(Daiwa Dengyo Co., Ltd.)
Plug: CE05-6A18-10SD-D-BSS (straight)

(DDK Ltd.)
Notes: 1. The cable or the connector set may contain different connectors but still usable.
LVS/Wires
Product List
Cautions
5-20

Model

(DDK Ltd.)
MR-PWCNS5
Model
Power connector
(DDK Ltd.)
MR-PWCNS3
Model
Power connector
(DDK Ltd.)
MR-PWCNS1
Model
Power connector
(DDK Ltd.)
MR-PWCNS2
Model
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-H
MR-BKS1CBL_M-A2-L
Model
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L
Model
MR-BKCNS1 (Note 1, 2)
Model
MR-BKCNS2 (Note 2)
Model
MR-BKCNS1A (Note 1, 2)
Model
MR-BKCNS2A (Note 2)
Model
MR-BKCN
Power connector

Plug: JN4FT02SJ1-R

Plug: JN4FT02SJ2-R

Straight plug: CMV1-SP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK Ltd.)

Straight plug: CMV1S-SP2S-L
(DDK Ltd.)

Angle plug: CMV1-AP2S-L
(DDK Ltd.)

Angle plug: CMV1S-AP2S-L
(DDK Ltd.)
Plug: D/MS3106A10SL-4S(D190)
(DDK Ltd.)
Cable clamp: YSO10-5 to 8 (straight)
(Daiwa Dengyo Co., Ltd.)
Notes: 1. The cable or the connector set may contain different connectors but still usable.

5-21
Encoder connector (servo amplifier-side)

Application
Rotary Servo Motors
Servo amplifier
CN2 connector
Connector (3M)
Shell kit: 36310-3200-008
Connector (Molex)
54599-1019 (gray)
54599-1016 (black)
Encoder connector for HG-KR/HG-MR series Rotary
HG-KR/
HG-MR
Feature (Note 1)
IP65
Connector
(TE Connectivity Ltd.
Company)
Crimping tools
For ground clip: 1596970-1

For receptacle contact: 1596847-1
2174053-1
Applicable cable example
Straight type
Angle type
Encoder connector for HG-SR/HG-JR 3000 r/min series/

HG-RR/HG-UR series Rotary
Applicable
servo motor
Feature (Note 1)
Press bonding type
One-touch
connection type
Screw type
Angle
One-touch
connection type
Screw type
Connector (DDK Ltd.)

Plug
Socket contact

Cable OD [mm]
CMV1-SP10S-M1
5.5 to 7.5
CMV1-SP10S-M2
7.0 to 9.0
CMV1S-SP10S-M1
5.5 to 7.5
CMV1S-SP10S-M2
CMV1-AP10S-M1
Select from solder or press 7.0 to 9.0

bonding type.
(Refer to the table below.) 5.5 to 7.5
CMV1-AP10S-M2
7.0 to 9.0
CMV1S-AP10S-M1
5.5 to 7.5
CMV1S-AP10S-M2
7.0 to 9.0
Socket contact (DDK Ltd.)

CMV1-#22ASC-S1-100
CMV1-#22ASC-C1-100
CMV1-#22ASC-C2-100
LVS/Wires
Contact
Solder type
Straight
Type of connection
Options/Peripheral
Equipment
HG-SR/
HG-JR53,
73, 103, 153,
203, 353, 503,
703, 903, 534,
734, 1034,
IP67
1534, 2034,
3534, 5034,
7034, 9034/
HG-RR/
HG-UR
Type
Direct Drive Motors
Wire size: 0.13 mm2 to 0.33 mm2

(AWG 26 to 22)
Wire example:
Fluorine resin wire (Vinyl jacket cable
TPE. SVP 70/0.08(AWG#22)-3P KB-2237-2
Bando Densen Co., Ltd. (Note 2) or an equivalent
product)
Linear Servo Motors
Applicable
servo motor
Servo Amplifiers
Contact the relevant manufacturers directly. When fabricating a cable with the following connectors, refer to the relevant manufacturers'
instruction manuals for wiring and assembling procedures.
Wire size (Note 3)

0.5 mm2 (AWG 20) or smaller
0.2 mm2 to 0.5 mm2 (AWG 24 to 20)
Crimping tool (357J-53162T) is required.
0.08 mm2 to 0.2 mm2 (AWG 28 to 24)
Product List
Notes: 1

2. Contact Toa Electric Industrial Co., Ltd.

3. The wire size shows wiring specification of the connector.
Cautions
Rotary
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
5-22
Straight type
Plug
Encoder connector for HG-JR 1000 r/min series and 1500 r/min series (IP67 rated) Rotary
HG-JR601,
801, 12K1,
15K1, 20K1,
25K1, 30K1,
37K1, 701M,
11K1M, 15K1M,
22K1M, 30K1M,
37K1M, 6014,
8014, 12K14,
15K14, 20K14, IP67
25K14, 30K14,
37K14, 701M4,
11K1M4,
15K1M4,
22K1M4,
30K1M4,
37K1M4,
45K1M4,
55K1M4
Backshell
(DDK Ltd.)
Plug (DDK Ltd.)
Applicable Feature
(Note 1)
servo motor
Model
Type
Straight
Model
Model
Backshell
Cable
clamp
Plug

Cable OD
[mm]
Wire size (Note 2)
CE02-20BS-S-D
D/MS3106A20-29S(D190)
CE3057-12A-3-D
Angle
Backshell
Cable clamp
(DDK Ltd.)
Angle type
Cable
clamp
0.3 mm2 to 1.25 mm2

6.8 to 10
(AWG 22 to 16)
CE-20BA-S-D
Straight type
Plug
Cable
clamp
Angle type
Plug
Cable
clamp
Encoder connector for HG-JR 1000 r/min series and 1500 r/min series
(general environment) Rotary
Applicable
Feature (Note 1)
servo motor
Plug (with backshell)

(DDK Ltd.)
Type
HG-JR601,
801, 12K1,
15K1, 20K1,
25K1, 30K1,
37K1, 701M,
Straight
11K1M, 15K1M,
22K1M, 30K1M,
37K1M, 6014,
8014, 12K14,
General
15K14, 20K14,
environment
25K14, 30K14,
37K14, 701M4,
11K1M4,
15K1M4,
Angle
22K1M4,
30K1M4,
37K1M4,
45K1M4,
55K1M4
Cable clamp
(DDK Ltd.)
Model
Model

Wire size (Note 2)
Cable OD
[mm]
D/MS3106B20-29S
D/MS3057-12A
0.3 mm2 to 1.25 mm2 15.9 or smaller

(AWG 22 to 16)
(bushing ID)
D/MS3108B20-29S
Notes: 1

2. The wire size shows wiring specification of the connector.
Rotary
5-23
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
Encoder connector for TM-RFM series and absolute position storage unit
connector (servo amplifier side) Direct
Applicable
servo motor
Feature
Application
For encoder or
absolute position
IP67
storage unit (servo
amplifier side)
TM-RFM
Plug (Hirose Electric Co., Ltd.)

Plug
Cord clamp
Straight RM15WTPZK-12S
JR13WCCA-8(72)

Wire example:
Vinyl jacket cable
20276 VSVPAWG#23 5 6P KB-0492
Bando Densen Co., Ltd. (Note 3)
Applicable
servo motor
Feature
Application
Type
(Note 1)
For absolute
position storage
IP67
unit (encoder side)
TM-RFM
Plug (Hirose Electric Co., Ltd.)

Plug
Cord clamp
Straight RM15WTPZ-12P(72) JR13WCCA-8(72)
Thermistor junction connector for LM-H3/LM-K2/LM-U2/LM-F series Linear

Applicable
servo motor
General
environment
Plug
Connector (3M)
36110-3000FD
Shell kit
36310-F200-008

Cable OD: 7 mm to 9 mm
Thermistor connector for LM-F series Linear

Applicable
servo motor
General
environment
LM-F
Cable receptacle
(DDK Ltd.)
Feature (Note 1)
Cable clamp
(DDK Ltd.)
D/MS3101A14S-9S
D/MS3057A-6A

(AWG 22 to 16)
Cable OD: up to 7.9 mm
LVS/Wires
Power connector for HG-KR/HG-MR series Rotary

Applicable
servo motor
(Note 1)
IP65
Connector
(Japan Aviation Electronics Industry,
Limited)
Plug: KN4FT04SJ1-R
Socket contact:
ST-TMH-S-C1B-100-(A534G)
Crimping tools
(Japan Aviation Electronics
Industry, Limited)
For contactor:
CT160-3-TMH5B

(AWG 22 to 18)
Wire example:
RMFES-A (CL3X) AWG 19, 4 cores
Dyden Corporation (Note 2) or an equivalent
product)
Product List
HG-KR/
HG-MR
Feature
Options/Peripheral
Equipment
LM-H3/
LM-K2/
LM-U2/
LM-F
Feature (Note 1)
Direct Drive Motors

Wire example:
Vinyl jacket cable
20276 VSVPAWG#23 5 6P KB-0492
Bando Densen Co., Ltd. (Note 3)
Linear Servo Motors
Encoder connector for TM-RFM series and absolute position storage unit
connector (encoder side) Direct
Rotary Servo Motors
Type
(Note 1)
Servo Amplifiers
Notes: 1
. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor/absolute position storage unit.
If the IP rating of the servo amplifier/servo motor/absolute position storage unit differs from that of these connectors, overall IP rating depends on the lowest of all.

2. Contact Taisei Co., Ltd.

3. Contact Toa Electric Industrial Co., Ltd.
Cautions
Rotary
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
5-24
Straight type
Plug
Cable
clamp
Angle type
Plug
Cable
clamp
Power connector for HG-SR/HG-JR/TM-RFM series Rotary Direct

Applicable servo
motor
HG-SR51, 81, 52,
102, 152, 524,
1024, 1524/
HG-JR53, 73, 103,
153, 203, 534,
734, 1034, 1534,
2034, 3534, 5034/
TM-RFM012G20,
048G20, 072G20
HG-SR121, 201,
301, 202, 352,
502, 2024, 3524,
5024/
HG-JR353, 503/
TM-RFM040J10,
120J10
HG-SR421, 702,
7024/
HG-JR703, 903,
601, 801, 12K1,
701M, 11K1M,
15K1M, 7034,
9034, 6014, 8014,
12K14, 701M4,
11K1M4, 15K1M4/
TM-RFM240J10
HG-SR51, 81, 52,
102, 152, 524,
1024, 1524/
HG-JR53, 73, 103,
153, 203, 534,
734, 1034, 1534,
2034, 3534, 5034
HG-SR121, 201,
301, 202, 352,
502, 2024, 3524,
5024/
HG-JR353, 503
HG-SR421, 702,
7024/
HG-JR703, 903,
601, 801, 12K1,
701M, 11K1M,
15K1M, 7034,
9034, 6014, 8014,
12K14, 701M4,
11K1M4, 15K1M4
Feature (Note 1)

(DDK Ltd.)
Type
Model
Cable clamp
(DDK Ltd.)
Model
CE3057-10A-2-D
IP67
EN compliant
CE05-6A18-10SD-D-BSS
General
environment (Note 2)
D/MS3106B18-10S
IP67
EN compliant
CE3057-10A-1-D
Straight
D/MS3057-10A
CE3057-12A-2-D
CE3057-12A-1-D

Wire size (Note 3)
2 mm2 to 3.5 mm2
(AWG 14 to 12)
2 mm2 to 3.5 mm2

(AWG 14 to 12)
5.5 mm2 to 8 mm2
(AWG 10 to 8)
Cable OD [mm]
8.5 to 11
10.5 to 14.1
14.3 or smaller
(bushing ID)
9.5 to 13
12.5 to 16
General
D/MS3106B22-22S
D/MS3057-12A
5.5 mm2 to 8 mm2

(AWG 10 to 8)
15.9 or smaller
(bushing ID)
IP67
EN compliant
CE3057-20A-1-D
14 mm2 to 22 mm2
(AWG 6 to 4)
22 to 23.8
General
D/MS3106B32-17S
D/MS3057-20A
14 mm2 to 22 mm2
(AWG 6 to 4)
23.8 or smaller
(bushing ID)
IP67
EN compliant
CE05-8A18-10SD-D-BAS
General
D/MS3108B18-10S
IP67
EN compliant
Angle
CE3057-10A-2-D
CE3057-10A-1-D
D/MS3057-10A
CE3057-12A-2-D
CE3057-12A-1-D
2 mm2 to 3.5 mm2

(AWG 14 to 12)
2 mm2 to 3.5 mm2
(AWG 14 to 12)
5.5 mm2 to 8 mm2
(AWG 10 to 8)
8.5 to 11
10.5 to 14.1
14.3 or smaller
(bushing ID)
9.5 to 13
12.5 to 16
D/MS3108B22-22S
D/MS3057-12A
5.5 mm2 to 8 mm2

(AWG 10 to 8)
15.9 or smaller
(bushing ID)
IP67
EN compliant
CE3057-20A-1-D
14 mm2 to 22 mm2
(AWG 6 to 4)
22 to 23.8
General
D/MS3108B32-17S
D/MS3057-20A
14 mm2 to 22 mm2
(AWG 6 to 4)
23.8 or smaller
(bushing ID)
General
Notes: 1

2. Not compliant with EN.

3. The wire size shows wiring specification of the connector. Refer to "Selection Example in HIV Wires for Servo Motors" in this catalog for examples of wire size selection.
Rotary
5-25
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
Cable
clamp
Plug
Power connector for HG-JR 1000 r/min series (6 kW to 12 kW) and 1500 r/min series
(7 kW to 15 kW) (Note 4) Rotary
Model
Type
CE05-6A32-17SD-D
Straight
Backshell
Cable clamp
(DDK Ltd.)
Model
Model
CE05-32BS-S-DOB
Cable OD
[mm]
Wire size (Note 2)
CE3057-24A-1-D
30 to 32.5
22 mm (AWG 4)
2
27.5 to 29.6
Straight type
Angle type
Cable
clamp
Plug
Plug
Cable
clamp
Power connector for HG-RR/HG-UR series Rotary
HG-RR103, 153,
203/
HG-UR72, 152
HG-RR103, 153,
203/
HG-UR72, 152
IP67
EN compliant
General
IP67
EN compliant
Straight
D/MS3106B22-23S
General
D/MS3106B24-10S
IP67
EN compliant
General
IP67
EN compliant
General
Angle
D/MS3108B22-23S
D/MS3108B24-10S
Cable clamp
(DDK Ltd.)
Model

Wire size (Note 2)
9.5 to 13
CE3057-12A-2-D
CE3057-12A-1-D
D/MS3057-12A
2 mm2 to 3.5 mm2

(AWG 14 to 12)
D/MS3057-16A
5.5 mm to 8 mm
(AWG 10 to 8)
2
D/MS3057-12A
2 mm2 to 3.5 mm2

(AWG 14 to 12)
D/MS3057-16A
19.1 or smaller
(bushing ID)
12.5 to 16
15.9 or smaller
(bushing ID)
13 to 15.5
CE3057-16A-2-D
CE3057-16A-1-D
15 to 19.1
9.5 to 13
CE3057-12A-2-D
CE3057-12A-1-D
12.5 to 16
15.9 or smaller
(bushing ID)
13 to 15.5
CE3057-16A-2-D
CE3057-16A-1-D
Cable OD [mm]
5.5 mm to 8 mm
(AWG 10 to 8)
2
LVS/Wires
HG-RR353, 503/
HG-UR202, 352,
502

(DDK Ltd.)
Type
Model
Options/Peripheral
Equipment
HG-RR353, 503/
HG-UR202, 352,
502
Feature (Note 1)
Direct Drive Motors
Applicable servo
motor
Linear Servo Motors
CE3057-24A-2-D
Rotary Servo Motors
Plug (DDK Ltd.)
Applicable servo Feature

(Note 1)
motor
HG-JR601,
801, 12K1,
701M, 11K1M,
15K1M, 6014,
IP67
8014, 12K14,
701M4, 11K1M4,
15K1M4
Backshell
(DDK Ltd.)
Servo Amplifiers
15 to 19.1
19.1 or smaller
(bushing ID)
Product List
Notes: 1



4. This connector is usable only when the outer diameter of the cable used for HG-JR 1000 r/min series (6 kW to 12 kW) and 1500 r/min series (7 kW to 15 kW) is larger than
23.8 mm.
Cautions
Rotary
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
5-26
Plug
Cable
clamp
Power connector for TM-RFM series Direct

Applicable servo
motor
TM-RFM002C20,
004C20,
006C20,
006E20,
012E20,
018E20
Cable clamp (with backshell)
Plug
(DDK Ltd.)
Feature (Note 1)
Type
Model
ACS-08RL-MS14F
IP67
EN compliant
CE05-6A14S-2SD-D
Straight
ACS-12RL-MS14F
YSO14-5 to 8
YSO14-9 to 11
General
D/MS3106B14S-2S
Straight D/MS3057-6A
Manufacturer

Cable OD
Wire size (Note 2)
[mm]
4 to 8
Nippon Flex
Co., Ltd.
0.3 mm2 to 1.25 mm2 8 to 12

(AWG 22 to 16)
5 to 8.3
Daiwa Dengyo
Co., Ltd.
8.3 to 11.3
DDK Ltd.

(AWG 22 to 16)
(bushing ID)
Power connector for LM-F series Linear

Applicable servo
motor
LM-FP2B,
2D, 2F
LM-FP4B,
4D, 4F, 4H, 5H
Cable receptacle
(DDK Ltd.)
Feature (Note 1)
Cable clamp
(DDK Ltd.)

Wire size (Note 2)
Cable OD [mm]
General
environment
D/MS3101A18-10S
D/MS3057-10A
2 mm2 to 3.5 mm2

(AWG 14 to 12)
14.3 or smaller
(bushing ID)
General
environment
D/MS3101A24-22S
D/MS3057-16A
5.5 mm2 to 8 mm2

(AWG 10 to 8)
19.1 or smaller
(bushing ID)
(Note 3)
(Note 3)
Notes: 1


Rotary
5-27
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
Electromagnetic brake connector for HG-KR/HG-MR series Rotary

Applicable servo
motor
Connector
Industry, Limited)
Crimping tool
Industry, Limited)
Plug: JN4FT02SJ1-R
For contactor:
Socket contact:
CT160-3-TMH5B
ST-TMH-S-C1B-100-(A534G)
IP65

Wire example:
RMFES-A (CL3X) AWG 20, 2 cores
Dyden Corporation (Note 3) or an equivalent
product)
Angle type
Applicable
servo motor
Feature (Note 1)
Type
Type of connection
Straight
Screw type
One-touch
connection type
Angle
Screw type
Socket contact (DDK Ltd.)

CMV1-#22BSC-S2-100
Press bonding type
CMV1-#22BSC-C3-100
Wire size (Note 2)

1.25 mm2 (AWG 16) or smaller
0.5 mm2 to 1.25 mm2 (AWG 20 to 16)
Notes: 1


3. Contact Taisei Co., Ltd.
LVS/Wires
Contact
Solder type
Options/Peripheral
Equipment
HG-SR/
HG-JR53B,
73B, 103B,
153B, 203B,
353B, 503B,
703B, 903B,
IP67
534B, 734B,
1034B, 1534B,
2034B, 3534B,
5034B, 7034B,
9034B

Cable OD [mm]
4.0 to 6.0
5.5 to 7.5
7.0 to 9.0
9.0 to 11.6
4.0 to 6.0
5.5 to 7.5
7.0 to 9.0
Select from solder or press
9.0 to 11.6
bonding type.
4.0 to 6.0
(Refer to the table below.)
5.5 to 7.5
7.0 to 9.0
9.0 to 11.6
4.0 to 6.0
5.5 to 7.5
7.0 to 9.0
9.0 to 11.6
Socket contact
Direct Drive Motors
One-touch
connection type
Connector (DDK Ltd.)

Plug
CMV1-SP2S-S
CMV1-SP2S-M1
CMV1-SP2S-M2
CMV1-SP2S-L
CMV1S-SP2S-S
CMV1S-SP2S-M1
CMV1S-SP2S-M2
CMV1S-SP2S-L
CMV1-AP2S-S
CMV1-AP2S-M1
CMV1-AP2S-M2
CMV1-AP2S-L
CMV1S-AP2S-S
CMV1S-AP2S-M1
CMV1S-AP2S-M2
CMV1S-AP2S-L
Linear Servo Motors
Straight type
Electromagnetic brake connector for HG-SR/

HG-JR 3000 r/min series Rotary
Rotary Servo Motors
HG-KR/
HG-MR
Feature (Note 1)
Servo Amplifiers
Product List
Cautions
Rotary
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
5-28
Straight type
Electromagnetic brake connector for HG-JR 1000 r/min series (6 kW to 12 kW) and
1500 r/min series (7 kW to 15 kW)/HG-UR (2 kW or larger) series (IP67 rated) Rotary
Applicable
servo motor
Plug (DDK Ltd.)
Feature
Model
(Note 1)
HG-JR601B,
801B, 12K1B,
701MB, 11K1MB,
15K1MB, 6014B,
8014B, 12K14B,
IP67
701M4B,
11K1M4B,
15K1M4B/
HG-UR202B,
352B, 502B
Cable clamp (with backshell)

Type
Model
Manufacturer
ACS-08RL-MS10F
ACS-12RL-MS10F
Straight
YSO10-5 to 8
D/MS3106A10SL-4S(D190)
ACA-08RL-MS10F
ACA-12RL-MS10F
Angle
Nippon Flex
Co., Ltd.
Feature

(DDK Ltd.)
Type
HG-JR601B,
801B, 12K1B,
701MB, 11K1MB,
15K1MB, 6014B,
8014B, 12K14B, General
Straight
701M4B,
environment
11K1M4B,
15K1M4B/
HG-UR202B,
352B, 502B
Cable clamp
(DDK Ltd.)
Model
Model
D/MS3106A10SL-4S
Cable clamp
Plug

Cable OD
Wire size (Note 2)
[mm]
4 to 8
8 to 12
Daiwa Dengyo
Co., Ltd.
YLO10-5 to 8
(Note 1)
Angle type
Cable
clamp
Daiwa Dengyo
5 to 8.3
Co., Ltd.
0.3 mm2 to 1.25 mm2
(AWG 22 to 16)
4 to 8
Nippon Flex
Co., Ltd.
8 to 12
Electromagnetic brake connector for HG-JR 1000 r/min series (6 kW to 12 kW) and
1500 r/min series (7 kW to 15 kW)/HG-UR (2 kW or larger) series
(general environment) Rotary
Applicable
servo motor
Plug
D/MS3057-4A
5 to 8.3
Plug
Cable
clamp

Wire size (Note 2)
Cable OD
[mm]

(AWG 22 to 16)
(bushing ID)
Notes: 1

Rotary
5-29
Rotary servo motor
Linear
Linear servo motor
Direct
Direct drive motor
Configuration Example for MR-J4-_B_(-RJ), MR-J4-DU_B_(-RJ)
B-RJ
Servo Amplifiers
For 22 kW or smaller
Servo amplifier
Controller
CNP1
(5) (6) ( 7 )
(8)
CNP2
(1)
(Note 3)
(16)
CN5
Setup software
MR Configurator2
CN3
CN8
CN1A
CNP3
Servo amplifier
(10)
CNP2
CNP3
(19)
(5) (6) ( 7 )
CN2
CN8
CN2
(Note 2) CN2L
(8)
To servo motor encoder
CN1B
(9)
(Note 1)
Linear Servo Motors
CN4
To servo motor power
CN5
CN3
CN1A
(18)
CN1B
(Note 2) CN2L
CNP1
CN4
For 30 kW or larger
Controller
(16)
(10)
(19)
(8)
Drive unit
CN6
Converter unit
CN5
(20)
CN40
CN40A
(21)
CN3
(22)
(23)
CNP1
CN1
Drive unit
CN6
CN3
CN40
CN8
CN3
CN5
(20)
CN40A
(21)
(22)
CN1A
CN8
CN1B
CN2
(5) (6) ( 7 )
(Note 2) CN2L
(Note 2) CN2L
(8)
CN4
(9)
(Note 1)
CN4
LVS/Wires
CN2
CN3
CN1A
(23)
CN1B
Options/Peripheral
Equipment
CN1
(18)
(5) (6) ( 7 )
Converter unit
CNP1
Setup software
MR Congurator2
Direct Drive Motors
R32MTCPU
R16MTCPU
Q173DSCPU
Q172DSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
Q173SCCF
MR-MC210
MR-MC211
Rotary Servo Motors
R32MTCPU
R16MTCPU
Q173DSCPU
Q172DSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
Q173SCCF
MR-MC210
MR-MC211

Product List
Notes: 1. Be sure to attach a cap to CN1B connector of the final axis.

2. CN2L connector is available for MR-J4-_B_-RJ servo amplifiers and MR-J4-DU_B_-RJ drive units.

3. The connectors are for 3.5 kW or smaller servo amplifiers. Terminal blocks are mounted for 5 kW or larger servo amplifiers.
Cautions
5-30
Configuration Example for MR-J4W2-_B/MR-J4W3-_B
WB
Controller
R32MTCPU
R16MTCPU
Q173DSCPU
Q172DSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
Q173SCCF
MR-MC210
MR-MC211
(5) (6) ( 7 )
(8)
(16)
Setup software
MR Configurator2
CN5
CNP1
CNP2
(2)
CNP3A
CNP3B
CNP3C
CN3
(11) (12)
CN1A
CN1B
CNP2
(19)
(5) (6) ( 7 )
CN2A
CN4
CNP1
(18)
CNP3A
CNP3B
(8)
CN2B
CN2C
CN5
Junction terminal block

MR-TB26A
(Note 3)
(13)
CN8
CNP3C
To A-axis servo motor encoder

To B-axis servo motor encoder
CN3
CN8
CN1A
CN1B
CN2A
CN2B
(9)
(Note 2)
CN2C
CN4
To C-axis servo motor encoder (Note 4)
To C-axis servo motor power (Note 4)
To B-axis servo motor power

To A-axis servo motor power
(15)
(14)
(Note 1)
Battery case: MR-BT6VCASE
Battery: MR-BAT6V1 5 pcs
Notes: 1. MR-BT6VCASE and MR-BAT6V1 are not required when using the linear servo motor or when configuring incremental system with the MR-J4W_-B servo amplifier.

2. Be sure to attach a cap to CN1B connector of the final axis.

3. Refer to "Junction Terminal Block" in this catalog.

5-31
Configuration Example for MR-J4-B-RJ010
CN5
(1)
(Note 4)
QD77GF
CN1A
(Note 1)
CN1B
(Note 1)
CN2
(10)
CN8
CNP2
CNP3
(16)
Setup software
MR Configurator2
CN4
CN1A
(Note 1)
CNP3
CN10B
CN2L
CN8
CN1B
(Note 1)
CN2
Ethernet cable
Refer to "Ethernet
Cable Specifications"
in this page.
(Note 2)
CN10A
CN10B
CN2L
CC-Link IE
Field Network
(Note 3)
Linear Servo Motors
(Note 2)
CN3
CNP2
(18)
(19)
CN10A
CN5
CNP1
CN4
Notes: 1. This connector is not for use. Be sure to attach a cap supplied with the servo amplifier.

2. This connector is not for use.

3. When branching off CC-Link IE Field Network with a switching HUB, use DT135TX (Mitsubishi Electric System & Service Co., Ltd.).

Ethernet cable Standard

Connector
Direct Drive Motors
Ethernet Cable Specifications (Note 1, 2)

Item
Rotary Servo Motors
CC-Link IE
Field Network

interface unit
Servo amplifier
CN3
Servo Amplifiers

interface unit
Servo amplifier
CNP1
B-RJ010
Description
Category 5e or higher, (double shielded/STP) straight cable
The cable must meet either of the following standards:
IEEE802.3 1000BASE-T
ANSI/TIA/EIA-568-B (Category 5e)
RJ-45 connector with shield
[Products on the Market]

Ethernet Cable
Item
Model
Note
For indoor
SC-E5EW-S_M
_: cable length (100 m max., unit of 1 m)
Ethernet cable for
For moving part,
Double shielded cable (Category 5e) for
CC-Link IE Field
SC-E5EW-S_M-MV _: cable length (45 m max., unit of 1 m)
indoor
Network
For indoor/outdoor SC-E5EW-S_M-L _: cable length (100 m max., unit of 1 m)
LVS/Wires
For details, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS BUSINESS PROMOTION DIVISION (Email: osb.webmaster@melsc.jp)
Options/Peripheral
Equipment
Notes: 1
. Use wiring parts recommended by CC-Link Partner Association for wiring the CC-Link IE Field Network.

2. CC-Link IE Field Network cables are not compatible with CC-Link IE Controller Network.
Product List
Cautions
5-32
Configuration Example for MR-J4-_A_(-RJ), MR-J4-DU_A_(-RJ)
A-RJ
For 22 kW or smaller
Servo amplifier
Controller
RD75P
RD75D
QD70P
QD70D
QD75P_N
QD75D_N
LD75P
LD75D
FX3U
FX3UC
FX3G
FX3GC
FX2N-_GM
FX2N-_PG
FX1S
CN5
CNP1
(3)
(4)
(17)
CN3
CN8
CNP2
(1)
(Note 5)
CN1
Setup software
MR Configurator2
(Note 4)
(16)
CN6
RS-422/RS-232C conversion cable (Note 2)
(18)
CNP3
(19)

MR-TB50 (Note 1)
CN2
(Note 3) CN2L
CN4

For 30 kW or larger
Controller
RD75P
RD75D
QD70P
QD70D
QD75P_N
QD75D_N
LD75P
LD75D
FX 3U
FX 3UC
FX 3G
FX 3GC
FX 2N -_GM
FX 2N -_PG
FX 1S
(3)
(4)

MR-TB50 (Note 1)
Converter unit
CNP1
CN1
Drive unit
CN6
CN5
CN40
CN40A
CN3
(20)
CN3
(17)
CN8
(21)
CN1
(22)
(23)
Setup software
MR Congurator2
(Note 4)
(16)
CN6
RS-422/RS-232C
conversion cable (Note 2)
(18)
(19)
CN2
(Note 3) CN2L
CN4

Notes: 1. Refer to "Junction Terminal Block" in this catalog.

2. A conversion cable is required for using RS-422 serial communication function. Refer to "Products on the Market for Servo Amplifiers" in this catalog for the RS-422/RS232C conversion cable.

3. CN2L connector is available for MR-J4-_A_-RJ servo amplifiers and MR-J4-DU_A_-RJ drive units.

4. MR Configurator2 supports only USB communication.

5-33
Cables and Connectors for Servo Amplifiers

Item
Model
Cable
IP
length rating
Application
Description
CNP1
connector
For MR-J4-200B(-RJ)/
MR-J4-200B-RJ010/
MR-J4-200A(-RJ)/
MR-J4-350B(-RJ)/
MR-J4-350B-RJ010/
MR-J4-350A(-RJ)
CNP2
connector
CNP3
connector
Open tool
CNP1/CNP3 connector
Applicable wire size (Note 2): AWG 16 to 10
Insulator OD: up to 4.7 mm
CNP2 connector
CNP1
connector
CNP2
connector
CNP3
connector
Open tool

Direct Drive Motors
For MR-J4-350B4(-RJ)
or smaller/
MR-J4-350A4(-RJ)
or smaller
Open tool
Linear Servo Motors
For CNP1/CNP2/CNP3
(Standard accessory)
CNP3
connector

CNP1
connector
Servo amplifier power

(1) connector set (Note 1)
(insertion type)
CNP2
connector
Rotary Servo Motors
For MR-J4-100B(-RJ)
or smaller/
MR-J4-40B1(-RJ) or
smaller/
MR-J4-100B-RJ010
or smaller/
MR-J4-100A(-RJ)
or smaller/
MR-J4-40A1(-RJ) or
smaller
Servo Amplifiers
Refer to "Details of Optional Cables and Connectors for Servo Amplifiers" in this catalog for the detailed models.
CNP1 connector
Options/Peripheral
Equipment
Applicable wire size (Note 2):

AWG 16 to 14
Servo amplifier power

(2) connector set (Note 3)
(insertion type)
For MR-J4W2-B/
MR-J4W3-B

AWG 16 to 14
CNP3A/CNP3B/CNP3C
connector
LVS/Wires
For CNP1/CNP2/CNP3_
CNP2 connector
Open tool

AWG 18 to 14
Product List
Notes: 1
. This connector set is not required for 5 kW or larger servo amplifiers since terminal blocks are mounted. Refer to servo amplifier dimensions in this catalog for details.


3. Press bonding type is also available. Refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for details.
Cautions
5-34
Item
(3) Connector set
For CN1

(4)
cable
SSCNET III cable (Note 1)

(standard cord inside
(5) cabinet)
Compatible with
SSCNET III(/H)
Cable
IP
length rating
Model
MR-J3CN1
MR-J2M-CN1TBL05M
0.5 m
MR-J2M-CN1TBL1M
1m
For controller/CN1A/CN1B
For CN1B
(10) Connector set
For CN3
Connector set
(Qty: 1 pc)
Connector set
(12)
(Qty: 20 pcs)
(11)

(13)
cable
For MR-J4-_A_(-RJ)/
MR-J4-DU_A_(-RJ)
For connecting
MR-J4-_A_(-RJ)/
MR-J4-DU_A_(-RJ) and
MR-TB50
MR-J3BUS015M
0.15 m
MR-J3BUS03M
0.3 m
MR-J3BUS05M
0.5 m
MR-J3BUS1M
1m
3m
5m
MR-J3BUS10M-A *1
10 m
MR-J3BUS20M-A *1
20 m
MR-J3BUS30M-B *1
30 m
MR-J3BUS40M-B
*1
40 m
MR-J3BUS50M-B *1
50 m
MR-J3BUS3M
SSCNET III cable (Note 1)
(standard cable outside
(6) cabinet)
Compatible with
SSCNET III(/H)
SSCNET III cable (Note 1, 3)
(long distance cable,
(7) long bending life)
Compatible with
SSCNET III(/H)
SSCNET III
connector set
(8) (Note 1, 2)
Compatible with
SSCNET III(/H)
SSCNET III
connector cap
(9)
Compatible with
SSCNET III(/H)
MR-J3BUS5M-A
*1
MR-J3BCN1
MR-CCN1
MR-J2CMP2
MR-ECN1
MR-TBNATBL05M
0.5 m
MR-TBNATBL1M
1m
Application
Description
Junction terminal block Servo amplifier connector

connector
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
SSCNET III/(H) connector SSCNET III/(H) connector
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010
For MR-J4W2-_B/
MR-J4W3-_B
For MR-J4W2-_B/
MR-J4W3-_B
For connecting
MR-J4W2-_B/
MR-J4W3-_B and
MR-TB26A
SSCNET III/(H) connector SSCNET III/(H) connector
Servo amplifier
connector
Junction terminal
block connector
Notes: 1
. Read carefully through the precautions enclosed with the options before use.

2. Dedicated tools are required. Contact your local sales office for more details.

3. When SSCNET III/H is used, refer to "Products on the Market for Servo Amplifiers" in this catalog for cables over 50 m or with ultra-long bending life.
For unlisted lengths
melsc.jp)
5-35

Item
Model
MR-BT6V1CBL03M
Cable
IP
length rating
1m
MR-BT6V2CBL03M
0.3 m
(15) Junction battery cable

1m
Servo amplifier
connector
Junction connector
For CN5
Personal computer
(16) communication cable MR-J3USBCBL3M
(USB cable)
3m
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010/
MR-J4-A_(-RJ)/
MR-J4-DU_A_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
For CN6
(17) Monitor cable
1m
For MR-J4-A(-RJ)/
MR-J4-DU_A_(-RJ)
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010/
MR-J4-A_(-RJ)/
MR-J4-DU_A_(-RJ)/
MR-J4W2-B/
MR-J4W3-B
3m
For connecting
MR-J3-D05 or other
safety control device with
MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010/
MR-J4-A_(-RJ)/
MR-J4-DU_A_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
0.5 m
For MR-J4-DU_B_/
MR-J4-DU_A_/
MR-CR55K_
Converter unit connector
For CN8
Protection
coordination cable
MR-J3CDL05M
MR-J2CN1-A
For MR-J4-DU_B_/
MR-J4-DU_A_/
MR-CR55K_
(22) Digital I/O connector
For MR-CR55K_
For MR-CR55K_
(23)
Magnetic contactor
wiring connector
This connector is required when the

STO function is not used.
Drive unit connector

Cautions
(21) Connector set
Product List
For CN40A on drive unit and For CN1 on For CNP1 on

CN40 on converter unit
converter unit converter unit
(20)
MR-D05UDL3M-B
* Do not use this cable for SSCNET III(/H)

compatible controller.
LVS/Wires
(19) STO cable
Personal computer
connector A connector
Options/Peripheral
Equipment
Short-circuit
connector

mini-B connector (5-pin)
Direct Drive Motors
(18)
MR-J3CN6CBL1M
Battery case
connector
Linear Servo Motors
For MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010/
MR-J4-A_(-RJ)/
MR-J4-DU_A_(-RJ)/
MR-J4W2-B/
MR-J4W3-B
Description
Rotary Servo Motors
For CN4
MR-BT6V1CBL1M
MR-BT6V2CBL1M
For connecting
MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010/
MR-J4-A_(-RJ)/
MR-J4-DU_A_(-RJ)/
MR-J4W2-B/
MR-J4W3-B and
MR-BT6VCASE
0.3 m
(14) Battery cable
Application
Servo Amplifiers
5-36
Configuration Example for MR-D30
B-RJ
Functional safety unit
MR-D30
Servo amplifier
CNP1
CN10A
CNP2
(24)
CN10B
CNP3
(24)
Cables and Connectors for MR-D30
Refer to "Details of Optional Connector for MR-D30" in this catalog for the detailed models.
Item
For CN10A/CN10B
(24)
Connector
(Qty: 2 pcs)
Model
(Standard accessory of
MR-D30)
Cable
length
IP rating
Application
For MR-J3-D05
Configuration Example for MR-J3-D05
Safety logic unit
Description
Functional safety connector
B-RJ
Servo amplifier
WB
B-RJ010
A-RJ
Servo amplifier
CN8A
CN8B
CN8 (Note 1)
CN9
CN10
(25)
CN8 (Note 1)
(25)
(26)
(27)
Cables and Connectors for MR-J3-D05
Refer to "Details of Optional Cables and Connectors for MR-J3-D05" in this catalog for the detailed models.
Item
Model
Cable
length
IP rating
Application
For MR-J3-D05
Safety logic unit connector
MR-J3-D05)
For MR-J3-D05
(26) Connector
For CN10
MR-J3-D05)
MR-D05UDL3M-B
For CN9
For CN8
3m
For connecting
MR-J3-D05 or other
safety control device
with
MR-J4-_B_(-RJ)/
MR-J4-DU_B_(-RJ)/
MR-J4-_B_-RJ010/
MR-J4-A_(-RJ)/
MR-J4-DU_A_(-RJ)/
MR-J4W2-_B/
MR-J4W3-_B
(25) STO cable
(27) Connector
Notes: 1. Be sure to attach a short-circuit connector supplied with the servo amplifier when the STO function is not used.
5-37
Description

CNP1 connector
Model
Model
Model
CNP1 connector
06JFAT-SAXGDK-HT10.5
(J.S.T. Mfg. Co., Ltd.)
CNP1 connector
03JFAT-SAXGFK-43
05JFAT-SAXGDK-H5.0
CNP2 connector
05JFAT-SAXGDK-HT7.5
CNP2 connector
06JFAT-SAXYGG-F-KK
Model
CNP3 connector
03JFAT-SAXGFK-XL
Open tool
J-FAT-OT-EXL
CNP3 connector
Open tool
03JFAT-SAXGDK-HT10.5
J-FAT-OT-XL
CNP3A/B/C connector
04JFAT-SAGG-G-KK
Open tool
Options/Peripheral
Equipment
Servo amplifier power connector set

For MR-J4W2-_B/MR-J4W3-_B
06JFAT-SAXGFK-XL
CNP2 connector
J-FAT-OT
Direct Drive Motors

For MR-J4-350B4(-RJ)/
MR-J4-350A4(-RJ)
CNP1 connector
03JFAT-SAXGDK-H7.5
Open tool
Linear Servo Motors

For MR-J4-200B(-RJ)/
MR-J4-200B-RJ010/
MR-J4-200A(-RJ)/
MR-J4-350B(-RJ)/
MR-J4-350B-RJ010/
MR-J4-350A(-RJ)
05JFAT-SAXGDK-H5.0
CNP3 connector
Rotary Servo Motors

For MR-J4-100B(-RJ) or smaller/
MR-J4-40B1(-RJ) or smaller
MR-J4-100B-RJ010 or smaller/
MR-J4-100A(-RJ) or smaller/
MR-J4-40A1(-RJ) or smaller
06JFAT-SAXGDK-H7.5
CNP2 connector
Servo Amplifiers
Model
J-FAT-OT-EXL

Connector: 10150-3000PE
Shell kit: 10350-52F0-008
(3M)
MR-J3CN1
MR-J2M-CN1TBL_M
MR-J3BUS_M
MR-J3BUS_M-A
MR-J3BCN1
Connector: D7950-B500FL
(3M)
SSCNET III(/H) connector
Connector: PF-2D103
Press bonding type (Note 1)

Connector: 10150-6000EL
Shell kit: 10350-3210-000
(3M)
Product List
Model
Junction terminal block connector
LVS/Wires
Model
Connector: PF-2D103
Cautions
Notes: 1. Solder type (connector: 10150-3000PE and shell kit: 10350-52F0-008) (3M) is also usable. Contact the manufacturer directly.
5-38

Model
MR-J3BUS_M-B
Connector: CF-2D103-S
Model
Solder type (Note 1)

Shell kit: 10320-52F0-008
(3M)
MR-CCN1
Model
MR-J2HBUS_M
Connector: 52316-2019
Shell kit: 52370-2070
(Molex)

or
Shell kit: 10320-3210-000
(3M)
Model
MR-TBNATBL_M
Model
MR-BT6V1CBL_M
Model
MR-BT6V2CBL_M
Model
MR-J3CN6CBL1M
Connector: 52316-2019
Shell kit: 52370-2070
(Molex)

or
Shell kit: 10320-3210-000
(3M)
Shell kit: 10326-52F0-008
(3M)
MR-J2CMP2
MR-ECN1
Model
Connector: CF-2D103-S
Shell kit: 10326-3210-000
(3M)
Shell kit: 10326-3210-000
(3M)
Contact: SPHD-001G-P0.5
Housing: PAP-02V-0
Battery case connector
Solder type (Note 3)

Shell kit: 10314-52F0-008
(3M)
Contact: SPHD-001G-P0.5
Housing: PAP-02V-0
Junction connector
Contact: SPAL-001GU-P0.5
Housing: PALR-02VF-O

Housing: 51004-0300
Terminal: 50011-8100
(Molex)
Notes: 1. Press bonding type (connector: 10120-6000EL and shell kit: 10320-3210-000) (3M) is also usable. Contact the manufacturer directly.

2. Solder type (connector: 10120-3000PE and shell kit: 10320-52F0-008) (3M) is also usable. Contact the manufacturer directly.

3. Press bonding type (connector: 10140-6000EL and shell kit: 10314-3210-000) (3M) is also usable. Contact the manufacturer directly.
5-39
Details of Optional Connectors and Cables for Drive Unit/Converter Unit
MR-J3CDL05M
MR-J2CN1-A
Shell kit: 10320-52F0-008
(3M)
or equivalent product
Connector: PCR-S20FS+
Case: PCR-LS20LA1
(Honda Tsushin Kogyo Co., Ltd.)
Digital I/O connector

converter unit)
Connector: 17JE23090-02(D8A)K11-CG
(DDK Ltd.)
Linear Servo Motors
Model
Magnetic contactor wiring
connector
converter unit)
Rotary Servo Motors
Model
Servo Amplifiers
Model
Socket: GFKC 2,5/ 2-STF-7,62

(Phoenix Contact)
Details of Optional Connectors for MR-D30

Functional safety unit connector
Connector: DFMC 1,5/ 9-STF-3.5
(Phoenix Contact)
Direct Drive Motors
Model
Connector
for CN10A/CN10B of functional
safety unit
(Standard accessory of MR-D30)
Details of Optional Cables and Connectors for MR-J3-D05

Model
MR-D05UDL3M-B

Model
Connector
for CN10 of safety logic unit
MR-J3-D05)
Options/Peripheral
Equipment
Model
Connector
for CN9 of safety logic unit
MR-J3-D05)
Connector: 1-1871940-4
LVS/Wires
Connector: 1-1871940-8
Product List
Cautions
5-40
Products on the Market for Servo Amplifiers
Personal computer communication cable

Application
Model
RS-422/RS-232C
conversion cable
Model
B-RJ
WB
Description
BMJ-8
Hachiko Electric Co., Ltd.
SSCNET III cable
B
Model
Ultra-long bending life

fiber-optic cable for
SSCNET III(/H)
A-RJ
Hirose Electric Co., Ltd.
RS-422 branch connector (for multi-drop)
Application
Description
TM10P-88P
Branch connector
A-RJ
Diatrend Corp.
Model
Application
Personal computer connector
RS-422 connector
RS-422 connector
A-RJ
Description
DSV-CABV
Application
Description
SC-J3BUS_M-C
_ = cable length
(100 m max. (Note 1), unit of 1 m)
Mitsubishi Electric System & Service

Co., Ltd.
Notes: 1
. The maximum wiring distance between stations is 100 m for SSCNET III/H and 50 m for SSCNET III.
Products on the Market for MR-J4W2-_B/MR-J4W3-_B
Contact Mitsubishi Electric System & Service Co., Ltd. for power cables with a press bonding type connector for MR-J4W2-_B/
MR-J4W3-_B servo amplifiers and power cables for servo motors.
Application of connecting encoder junction cable
B-RJ
WB
B-RJ010
WB
A-RJ
Unlisted lengths of cables between servo amplifier and servo motor, EMC cables, and special cables for connecting servo amplifier and
servo motor with multiple cables are available. Please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS BUSINESS
PROMOTION DIVISION (Email: osb.webmaster@melsc.jp)
Example) Configuration using three encoder junction cables
Replacing only the cable of the moving part in the cable chain is possible.
Resetting after transporting a machine is easy because the servo amplifier side and the servo motor side can be separated.
Cable chain
(moving part)
Control cabinet
Machine side
Servo amplifier
CNP1
CNP2
HG-KR/HG-MR series
CNP3
CN2
HG-SR/HG-JR/HG-RR/HG-UR series
5-41
B-RJ
Servo Amplifiers
Specifications
A combination of MR-D30 functional safety unit and MR-J4-_B_-RJ servo amplifier expands the safety observation function. (Note 4)
Output
[A]
[A]
Compliance to global
standards
CE marking
Mass
[kg]
TM = 20 [year]
Using input device: 15 ms or less
Depends on a command resolution (0.1 r/min or less at 22-bit position command)
6 points 2 systems
3 points 2 systems
SIL 2, Category 3 PL d/SIL 3, Category 4 PL e (Note 3)
SIL 2, Category 3 PL d
SIL 2, Category 3 PL d
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
(IP20 when mounted on servo amplifier and IP00 for MR-D30 alone)
Operation/storage: 5 %RH to 90 %RH (non-condensing)
5.9 m/s2 at 10 Hz to 57 Hz
0.15
LVS/Wires
Notes: 1. This is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.

2. Time from STO input to energy shut off.

3. To meet SIL 3, Category 4 PL e, an input diagnosis using test pulse is required.

4. MR-D30 functional safety unit is not compatible with the drive unit.
Options/Peripheral
Equipment
Environment
Ambient temperature
Ambient humidity
Ambience
Altitude

PFH = 6.57 10-9 [1/h]
Direct Drive Motors
Safety function
(IEC/EN 61800-5-2)
DC = 90 [%]
Linear Servo Motors
Safety performance
Mean time to dangerous failure

Effectiveness of safety
observation system or safety
observation subsystem
Probability of dangerous Failure
per Hour
Mission time
Response performance (Note 2)
Speed observation resolution
Input device
Output device
Safe torque off (STO)
Safe stop 1 (SS1)
Safely-limited speed (SLS)
Safe speed monitor (SSM)
Safe brake control (SBC)
MR-D30
24 V DC
0.3
24 V DC 10%
0.8 (Note 1)
EN ISO 13849-1 Category 3 PL d and Category 4 PL e
IEC 61508 SIL 2 and SIL 3
EN 62061 SIL CL 2 and SIL CL 3
EN 61800-5-2 SIL 2 and SIL 3
MTTFd 100 [year]
Rotary Servo Motors
Model
Rated voltage
Rated current
Voltage
Power supply capacity
Product List
Cautions
5-42
B-RJ
System configuration for using I/O device of functional safety unit (Note 2)
The following is a system configuration example to use the safety function by using input/output devices (CN10A and CN10B) of
MR-D30 functional safety unit.
MR-D30
MR-J4-B-RJ
CNP1
24 V DC power
supply for I/O
CN5
CN3
CN10A
(Note 1)
CN8
CNP2

servo system controller
R32MTCPU
R16MTCPU
Q173DSCPU
Q172DSCPU
Q170MSCPU
RD77MS
QD77MS
LD77MS
Q173SCCF
MR-MC210
MR-MC211
Safety controller/
safety programmable controller
CN1A
CNP3
CN1B
CN10B
WS0-CPU0
WS0-CPU1
QS001CPU + QS0J65BT
Safety signal
CN2
Safety signal
CN2L
CN4
Emergency switch, light curtain, etc.
System configuration for using input signal of SSCNET III/H compatible Motion controller (Note 2)
The following is a system configuration example to use the safety function from SSCNET III/H compatible Motion controller through
SSCNET III/H.
MR-D30
MR-J4-B-RJ
(Note 3)
CNP1

Motion controller
CN10A
(Note 1)
CN8
CNP2
Q173DSCPU
Q172DSCPU
CN1A
Safety signal module

Q173DSXY
CN5
CN3
Safety signal
Safety signal
CNP3
CN1B
CN10B
CN2
CN2L
CN4
Emergency switch, light curtain, etc
Notes: 1. Disconnect the short-circuit connector attached to CN8 connector of the servo amplifier, and do not connect anything when using MR-D30.

2. The wirings are the same as MR-J4-B-RJ servo amplifier except for the mentioned wiring.

3. The safety function has obtained the approval of Certification Body by the combination of Q17nDSCPU, Q173DSXY and QnUD(E)(H)CPU.
5-43
B-RJ
Servo Amplifiers
Connection Example
Servo amplifier
MR-J4-B-RJ
CN9
CN70
CN90
Rotary Servo Motors
CN7

MR-D30
CN10A
DC24VA
(Note 1, 2)
DC24VA
10
PLSA
12
DICOMA
DICOMA
11
DI1A
DI2A
13
DI3A
DI4A
14
6
DI6A
15
10 m or shorter
24 V DC (Note 3)
DC24VB
10
PLSB
12
DICOMB
DICOMB
11
DI1B
DI2B
13
DI3B
DI4B
14
DI5B
DI6B
15
DO1A
R
A
1
17
DO2A
R
A
2
DO3A
R
A
3
(Note 1, 2)
10 m or shorter
CN10B
24 V DC (Note 3)
DO24VB
DO1B
R
A
4
17
DO2B
R
A
5
DO3B
R
A
6
(Note 1, 2)
Options/Peripheral
Equipment
(Note 1, 2)
CN10B
DC24VB
DO24VA
Direct Drive Motors
DI5A
24 V DC (Note 3)
Linear Servo Motors
24 V DC (Note 3)
CN10A
10 m or shorter
10 m or shorter
Combination for output connector pin

DO1A (CN10A-8)/DO1B (CN10B-8)
DO2A (CN10A-17)/DO2B (CN10B-17)
DO3A (CN10A-9)/DO3B (CN10B-9)
3. Provide an external power supply of 24 V DC 10% for the interface. When all input/output points are used, the total current capacity of 0.8 A is required. The current
capacity can be decreased by reducing the number of I/O points. For convenience of illustration, the diagram shows separate 24 V DC power supplies for input and output
signals. However, the input and output signals can share a common power supply.
Product List
Combination for input connector pin

DI1A (CN10A-4)/DI1B (CN10B-4)
DI2A (CN10A-13)/DI2B (CN10B-13)
DI4A (CN10A-14)/DI4B (CN10B-14)
DI6A (CN10A-15)/DI6B (CN10B-15)
LVS/Wires
Notes: 1. Separate all of the external wirings into two systems. Connect separately even for the input and output power supply (24 V DC and 0 V common) connection. Do not wire
between CN10A and CN10B.

2. Assign each I/O device by the combination of connector pins shown in the table below. Refer to "MR-D30 Instruction Manual" for each device.
Cautions
5-44
B-RJ
Dimensions
104.2
28
99.2
20
95.4
97
161
114.5
56 mounting hole for grounding
24.5
[Unit: mm]
5-45
B-RJ
WB
B-RJ010
A-RJ
Servo Amplifiers
The safety logic unit has SS1 and STO functions. Servo amplifier achieves Safe stop 1 (SS1) function by adding the MR-J3-D05.
Specifications
Shut-off output
Delay time setting

Functional safety

Ambient temperature
Ambient humidity
Altitude
Mass
[kg]
10 ms or less (STO input OFF shut-off output OFF)

516 years
93.1%
4.75 5 10-9 [1/h]
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Natural cooling, open (IP00)
0.2 (including CN9 and CN10 connectors)
Options/Peripheral
Equipment
Compliance to
CE marking
standards
2 systems (A-axis, B-axis independent)

4 points (2 points 5 2 systems)
SDI_ : source/sink compatible (Note 3)
2 points (1 point 5 2 systems) SRES_ : source/sink compatible (Note 3)
2 points (1 point 5 2 systems)
TOF_ : source compatible (Note 3)
Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 k
STO_ : source compatible (Note 3)
8 points (4 points 5 2 systems)
SDO_ : source/sink compatible (Note 3)
Photocoupler insulation, open-collector type
Permissible current: 40 mA or less per output, Inrush current: 100 mA or less per output
A-axis: select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s or 30.8 s
B-axis: select from 0 s, 1.4 s, 2.8 s, 9.8 s or 30.8 s
Accuracy: 2%
STO, SS1 (IEC/EN 61800-5-2)
EMG STOP, EMG OFF (IEC/EN 60204-1)
Direct Drive Motors
Safety
performance
Response performance (when
delay time is set to 0 s) (Note 4)
Mean time to dangerous failure
(MTTFd)
Average diagnostic coverage
(DCavg)
0.5 (Note 1, 2)
Linear Servo Motors
Output type
MR-J3-D05
24 V DC
24 V DC 10%
Rotary Servo Motors
Safety logic unit model

Voltage
Control circuit Permissible voltage fluctuation
power supply Required current
[A]
capacity
Compatible system
Shut-off input
Shut-off release input
Feedback input
Input type
LVS/Wires
Notes: 1
. Inrush current of approximately 1.5 A flows instantaneously when the power is switched on. Select an appropriate capacity of a power supply considering the inrush
current.

2. Power-on duration of the safety logic unit is 100,000 times.

3. _ in signal name represents a symbol which indicates a number and axis name.

4. Contact your local sales office for test pulse input.
Product List
Cautions
5-46
B-RJ
WB
B-RJ010
A-RJ
Connection example
MR-J3-D05
DC24 V
CN9
Servo amplifier
SDI1A+
SDI1A
SDO1A+
SDO1A
CN8
4 STO1
5 STO2
CN10
3 STOCOM
STOA
6 TOFB1
RESA
7 TOFB2
8 TOFCOM
CN_ (Note 3)
(Note 2)
EM2 (A-axis)
CN9
Servo amplifier
SDI1B+
SDI1B
SDO1B+
SDO1B
CN8
4 STO1
5 STO2
CN10
3 STOCOM
SDI2B+
SDI2B
STOB
6 TOFB1
RESB
7 TOFB2
8 TOFCOM
CN_ (Note 3)
SDI2A+
SDI2A
SRESA+
SRESA
SDO2A+
SDO2A
TOFA
(Note 2)
EM2 (B-axis)
(Note 1) (Note 1)
1A
1B
4A
4B
SW1
SW2
3A
3B
1A
1B
6A
6B
8A
2A
2B
3A
3B
SRESB+
SRESB
SDO2B+
SDO2B
TOFB
4A
4B
2A
2B
5A
5B
8B
+24 V
0V
7A
7B
FG
Notes: 1. Set delay time of STO output with SW1 and SW2.

2. This connection is for source interface.

3. This connector is CN3 for MR-J4-_B_, MR-J4-DU_B_, and MR-J4W_-B; and CN1 for MR-J4-_A_ and MR-J4-DU_A_.
Dimensions
22.5
19.5
(80)
9.75
86
80
192
168
182
12
5 mounting hole

FG
5-47
[Unit: mm]
Regenerative Option
B-RJ
WB
B-RJ010
A-RJ
Servo Amplifiers
200 V/100 V
100
100
100
100
300
300
Tolerable regenerative power [W] of regenerative option (Note 3)

MR-RB139
MR-RB137
1.3
1.3 (Note 4)
3900
Notes: 1
. Be sure to cool the unit forcibly with a cooling fan (92 mm 5 92 mm, minimum air flow: 1.0 m3/min). The cooling fan must be prepared by user.


3. The power values in this table are resistor-generated powers, not rated powers.

4. This is the resultant resistance when three units of MR-RB137 are connected in parallel.

5. The regenerative resistor enclosed with the servo amplifiers 11 kW to 22 kW does not have a protective cover, and touching the resistor (including the wiring screws) may
cause a burn or an electric shock. Provide safety measures such as a protective cover or use MR-RB_ regenerative option.
LVS/Wires
1300
Options/Peripheral
Equipment
MR-J4-DU30KB/A
MR-J4-DU37KB/A
26 26
Direct Drive Motors
MR-CR55K
Drive unit model
34
Linear Servo Motors
14
Rotary Servo Motors
Tolerable regenerative power [W] (Note 3)

External
regenerative
Regenerative option
resistor (standard
Servo amplifier
Built-in
(Note
5)
accessory)
model
regenerative
GRZG400MR-RB
resistor
50
5N
51
5R
9F
9T
0.8 0.6 0.5
032
12
30
3N
31
32 (Note 1) (Note 1) (Note 1) (Note 2) (Note 2) (Note 2)
54 55 55
(Note 2) (Note 2) (Note 2)
40 40 13 9 6.7 40 13 9 6.7 3.2 3 2.5
MR-J4-10B/A
30
MR-J4-10B1/A1
MR-J4-20B/A
10
30
100
MR-J4-20B1/A1
MR-J4-40B/A
10
30
100
MR-J4-40B1/A1
MR-J4-60B/A
10
30
100
MR-J4-70B/A
20
30
100
300
MR-J4-100B/A
20
30
100
300
MR-J4-200B/A
100
300
500
MR-J4-350B/A
100
300
500
MR-J4-500B/A
130
300
500
MR-J4-700B/A
170
300
500
500
500
MR-J4-11KB/A
(800)
(800)
850
850
MR-J4-15KB/A
(1300)
(1300)
850
850
MR-J4-22KB/A
(1300)
(1300)
MR-J4W2-22B
20
MR-J4W2-44B
20
MR-J4W2-77B
100
300
MR-J4W2-1010B
100
300
MR-J4W3-222B
30
MR-J4W3-444B
30
-
* Cautions when connecting the regenerative option
Product List
1. The regenerative option causes a temperature rise of 100 C or higher relative to the ambient temperature. Fully examine heat dissipation, installation position, wires used before
installing the unit. Use flame-retardant wires or apply flame retardant on wires, and keep the wires clear of the unit.
2. Use twisted wires for connecting the regenerative option to the servo amplifier, and keep the wire length to a maximum of 5 m.
3. Use twisted wires for connecting a thermal sensor, and make sure that the sensor does not fail to work properly due to inducted noise.
Cautions
5-48
Regenerative Option
B-RJ
WB
B-RJ010
A-RJ
400 V
External
regenerative
resistor (standard
Servo amplifier
Built-in
accessory) (Note 6)
model
regenerative
GRZG400resistor
2.5 5 4 2 5 5
MR-J4-60B4/A4
15
MR-J4-100B4/A4
15
MR-J4-200B4/A4
100
MR-J4-350B4/A4
100
MR-J4-500B4/A4 130 (Note 3)
MR-J4-700B4/A4 170 (Note 3)
1H-4
(Note 1)
34-4
(Note 1)
MR-RB
3U-4
5G-4
(Note 1)
(Note 1)
(Note 1)
54-4
5U-4
(Note 1)
(Note 2)
(Note 2)
10
500
(800)
10
-
3M-4
3G-4
(Note 1)
5K-4
(Note 2)
500
(800)
82
100
100
-
120
300
300
-
47
300
300
-
26
300
-
22
300
47
500
500
-
26
500
-
22
500
MR-J4-15KB4/A4
MR-J4-22KB4/A4
MR-CR55K4
Regenerative option
(Note 2)
MR-J4-11KB4/A4
Tolerable regenerative power [W] (Note 4)
850
(1300)
850
(1300)
Drive unit model

MR-J4-DU30KB4/A4
MR-J4-DU37KB4/A4
MR-J4-DU45KB4/A4
MR-J4-DU55KB4/A4
6K-4
850
(1300)
850
(1300)
Tolerable regenerative power [W] of regenerative option (Note 4)

MR-RB137-4
MR-RB13V-4
4
4 (Note 5)
1300
3900
Notes: 1. Be sure to cool the unit forcibly with a cooling fan (92 mm 92 mm, minimum air flow: 1.0 m3/min). The cooling fan must be prepared by user.

2. The value in brackets is applicable when cooling fans (2 units of 92 mm 92 mm, minimum air flow: 1.0 m3/min) are installed, and then [Pr. PA02] is changed.

recommended ratio.

4. The power values in this table are resistor-generated powers, not rated powers.

5. This is the resultant resistance when three units of MR-RB13V-4 are connected in parallel.

6. The regenerative resistor enclosed with the servo amplifiers 11 kW to 22 kW does not have a protective cover, and touching the resistor (including the wiring screws) may
cause a burn or an electric shock. Provide safety measures such as a protective cover or use MR-RB_ regenerative option.
* Cautions when connecting the regenerative option
1. The regenerative option causes a temperature rise of 100 C or higher relative to the ambient temperature. Fully examine heat dissipation, installation position, wires used before
installing the unit. Use flame-retardant wires or apply flame retardant on wires, and keep the wires clear of the unit.
2. Use twisted wires for connecting the regenerative option to the servo amplifier, and keep the wire length to a maximum of 5 m.
3. Use twisted wires for connecting a thermal sensor, and make sure that the sensor does not fail to work properly due to inducted noise.
5-49
Regenerative Option
WB
A-RJ
Connections
[Unit: mm]
MR-RB032 (for 200 V/100 V)
B-RJ010
Servo Amplifiers
Dimensions
B-RJ
6 mounting
hole
(6)
30
15
(12)
TE1
G3
MR-RB032
144
156
168
P
C
0.2 mm2 to 2.5 mm2 (AWG 24 to 12)
G3
G4
P
C
12
TE1
Rotary Servo Motors
G4
5
(20)
99
119
1.6
Model
MR-RB032
Mass [kg]
0.5
6 mounting
hole
TE1
G3
(6)
40
36
15
G4
MR-RB
144
156
168
12
6
(20)
149
169
Model
MR-RB12
MR-RB14
Mass [kg]
C
D
G3
(Note 1)
G4
(Note 2)
Direct Drive Motors

0.2 mm2 to 2.5 mm2 (AWG 24 to 12)
G3
G4
P
C
P+
C
TE1
Disconnect P+ and D.
Regenerative option
P
5
Servo amplifier
Linear Servo Motors
MR-RB12 (for 200 V/100 V), MR-RB14 (for 200 V)
5 m or shorter
1.1
MR-RB1H-4 (for 400 V)

40
36
15
6
6 mounting
hole
MR-RB-4
Options/Peripheral
Equipment
TE1
G3
(6)
TE1
144
156
168
G4
G3
G4
C
0.2 mm2 to 4.0 mm2 (AWG 24 to 10)
P
C
6
(24)
2
149
173
Model
MR-RB1H-4
Mass [kg]
1.1
LVS/Wires
Notes: 1
. Create a sequence circuit that turns off the magnetic contactor when abnormal overheating occurs.

2. G3 and G4 terminals are thermal sensor. G3-G4 opens when the regenerative option overheats abnormally.

3. The wire size shows wiring specification of the connector. Refer to "Wires, Molded-Case Circuit Breakers and Magnetic Contactors" in this catalog for examples of wire
size selection.
Product List
Cautions
5-50
Regenerative Option
B
Dimensions
[Unit: mm]
MR-RB30, MR-RB3N, MR-RB31, MR-RB32, MR-RB34 (for 200 V)

MR-RB3M-4, MR-RB3G-4, MR-RB34-4, MR-RB3U-4 (for 400 V)
WB
B-RJ010
A-RJ
Connections
For MR-J4-500B/A or smaller,

MR-J4-350B4/A4 or smaller, and MR-J4W_-B
142
82.5
P
C
G3
30
G4
G3
150
8.5
Cooling fan mounting screw (2-M4 screw) (Note 2, 3)
125
8.5
10
B-RJ
90
100
Servo amplifier
G4
101.5
Terminal screw size: M4

82.5
318
B
Cooling fan intake
(Note 2, 3)
(30)
Model
79
MR-RB30
MR-RB3N
MR-RB31
MR-RB32
MR-RB34
MR-RB3M-4
MR-RB3G-4
MR-RB34-4
MR-RB3U-4
Variable
dimensions
A
B
G3
(Note 1)
G4
(Note 4)
5 m or shorter
17
335
Cooling fan (Note 2, 3)
2.9
23
341
P
C
350
Cooling fan intake

(Note 2)
162.5
B
12.5
200
For MR-J4-500B4/A4 and

MR-J4-700B(4)/A(4)
162.5
7 14
slotted hole
133
2.3
P+
12.5
82.5
82.5
49
Regenerative option
Mass
[kg]
MR-RB50, MR-RB5N, MR-RB51 (for 200 V)

MR-RB5G-4, MR-RB54-4, MR-RB5U-4 (for 400 V)
Cooling fan mounting
screw
(2-M3 screw) (Note 2)
provided on the
opposite side
Disconnect P+ and D.
12
(30)
7
120
Model
MR-RB50
MR-RB5N
MR-RB51
MR-RB5G-4
MR-RB54-4
MR-RB5U-4
Servo amplifier
G3
Regenerative option
G4
Variable
dimensions
A
B
17
217
23
223
Disconnect the wires for the built-in

regenerative resistor (P+ and C).
Mass
[kg]
P+
Built-in C
regenerative
resistor
C
G3
(Note 1)
G4
(Note 4)
5 m or shorter
Cooling fan (Note 2, 3)
5.6
Notes: 1
. Create a sequence circuit that turns off the magnetic contactor when abnormal overheating occurs.

2. When using MR-RB3M-4, MR-RB3G-4, MR-RB34-4, MR-RB3U-4, MR-RB50, MR-RB5N, MR-RB51, MR-RB5G-4, MR-RB54-4, or MR-RB5U-4, cool the unit forcibly with
a cooling fan (92 mm 5 92 mm, minimum air flow: 1.0 m3/min). The cooling fan must be prepared by user.

3. When using MR-RB30, MR-RB3N, MR-RB31, MR-RB32, or MR-RB34, it may be necessary to cool the unit forcibly with a cooling fan (92 mm 5 92 mm, minimum air flow:
1.0 m3/min), depending on the operating environment. Refer to relevant Servo Amplifier Instruction Manual for details. The cooling fan must be prepared by user.

5-51
Regenerative Option
A-RJ
Connections
[Unit: mm]
Standard accessory
GRZG400-0.8, GRZG400-0.6, GRZG400-0.5 (for 200 V)
GRZG400-2.5, GRZG400-2 (for 400 V)
B-RJ010
Servo Amplifiers
Dimensions
B-RJ
(Note 1)
(C)
(A)
(2.4)
(K)
Rotary Servo Motors
5 m or shorter
1.6
40
Servo amplifier
Serial connection (Note 2)
(330)
10
Qty.
4
5
5
4
5
40
411
(47)
With cooling fan

[W]
Resistance value
[]
800
1300
1300
800
1300
3.2 (0.8 5 4)
3 (0.6 5 5)
2.5 (0.5 5 5)
10 (2.5 5 4)
10 (2 5 5)
500
850
850
500
850
Variable
dimensions
A
C
K
10
5.5
39
16
8.2
46
10
5.5
39
Cooling fan
(2 units of 92 mm 92 mm,
minimum air flow: 1.0 m3/min)
Leave a space of 70 mm or
longer between each resistor.
Mass/
unit [kg]
0.8
Direct Drive Motors
GRZG400-0.8
GRZG400-0.6
GRZG400-0.5
GRZG400-2.5
GRZG400-2
385
Tolerable
regenerative power
[W]
P+
9.5
30
10
MR-RB5R, MR-RB9F, MR-RB9T (for 200 V) (Note 1)

MR-RB5K-4, MR-RB6K-4 (for 400 V) (Note 1)
427
500
5 m or shorter
Servo amplifier
TE1
P
43
15
15
230
15
197
TE1
15
215
G4 G3 C

Cooling fan intake
(Note 3)
P+
C
G3
G4
Create a protective circuit that

shuts off the main circuit power
supply when the thermal sensor
activates.
(42)
82.5
MR-RB5R
MR-RB9F
MR-RB9T
MR-RB5K-4
MR-RB6K-4
Tolerable
regenerative power
[W]
500
850
850
500
850
With cooling fan

[W]
Description
Mass [kg]
800
1300
1300
800
1300
GRZG400-0.8 5 4
GRZG400-0.6 5 5
GRZG400-0.5 5 5
GRZG400-2.5 5 4
GRZG400-2 5 5
10
11
11
10
11
Product List
Model
82.5
Cooling fan mounting screw

(4-M3 screw)
82.5
Regenerative option
LVS/Wires
230
260
15
2.3
10
10
Options/Peripheral
Equipment
480
2-10 mounting hole
G4 G3
Linear Servo Motors
Model
10
5-52
Cautions
Notes: 1
. To increase the regenerative braking frequency, install cooling fans (2 units of 92 mm 5 92 mm, minimum air flow: 1.0 m3/min), and then change [Pr. PA02]. The cooling
fans must be prepared by user.

2. By installing a thermal sensor, create a safety circuit that shuts off the main circuit power supply when abnormal overheating occurs.

Regenerative Option
B
Dimensions
A-RJ
MR-RB139, MR-RB137-4
Converter unit

DC reactor
30
10
2-10 mounting hole
Connections
[Unit: mm]
MR-RB139, MR-RB137 (for 200 V)

MR-RB137-4, MR-RB13V-4 (for 400 V)
B-RJ
P1
P2
(Note 4)
427
500
480
(Note 3)
P C
G3
G4
TE1
C
10
230
15
2.3
197
10
15
R1 S1
(400)
(400)
R400S400
R
A
Power supply
24 V DC
43
R1 S1 G4 G3
Regenerative
option
Cooling fan
1-phase
200 V AC
or
1-phase
400 V AC
15
MR-RB137, MR-RB13V-4
215
260
Create an external sequence circuit which opens the contact of

the converter unit main circuit contactor when overheating causes
the thermal sensor contact (normally closed) in the regenerative
option open.
Cooling fan intake

15
230
15
Cooling fan (Note 1)
Terminal arrangement (for 200 V)

TE1
R1 S1 G4 G3 C

DC reactor
Converter unit
P1
P2
(Note 4)
(Note 3)
Terminal arrangement (for 400 V)

TE1
R400 S400 G4 G3 C
P C
G3

Model
MR-RB139
MR-RB137
MR-RB137-4
MR-RB13V-4
Tolerable regenerative power [W]

1300
3900 (Three units are required.) (Note 2)
1300
3900 (Three units are required.) (Note 2)
Mass [kg]
10
11
10
11
Notes: 1. One unit of cooling fan is attached for MR-RB137-4 and MR-RB13V-4.

2. Three units of MR-RB137 or MR-RB13V-4 are required per converter unit.

3. Connect the regenerative option to the converter unit, and keep the total length of the wiring within 5 m.

5-53
1-phase
200 V AC
or
1-phase
400 V AC
G4
Regenerative
option
Cooling fan
R1 S1
(400) (400)
P C
G3
G4
Regenerative
option
Cooling fan
R1 S1
(400) (400)
P C
G3
G4
Regenerative
option
Cooling fan
R1 S1
(400) (400)
R
A
Power supply
24 V DC
Create an external sequence circuit which opens the contact

of the converter unit main circuit contactor when overheating
causes the thermal sensor contact (normally closed) in the
regenerative option open.
Power Regeneration Common Converter (FR-CV, FR-CV-H)
B-RJ
B-RJ010
A-RJ
200 V class
Power regeneration
common converter
FR-CV-
11K
15K
22K
30K
37K
55K
7.5
11
15
30
37
55
3.75
3.5
5.5
5
7.5
7
22
6
11
11
15
15
18.5
15
27.5
22
33
46
61
90
115
145
215
Power regeneration
common converter
FR-CV-H
30K
37K
55K
22
37
11
11
30
1
15
15
18.5
15
55
2
27.5
22
43
57
71
110
Product List
Notes: 1
. This is a time for the protective function of FR-CV-(H) to activate. Refer to relevant Servo Amplifier Instruction Manual for the time for the protective function of the servo
amplifier to activate.

2. The mentioned value is a power supply capacity for FR-CV-(H). The actually required capacity depends on the sum of the power supply capacities for the servo amplifiers
connected.
LVS/Wires
Total capacity of applicable servo motors, 300% torque, 60 s

100% Torque
5%
41
52
66
100
Open type (IP00), forced cooling
-10 C to 50 C (non-freezing)
90 %RH maximum (non-condensing)
5.9 m/s2
50AF
60AF
100AF
100AF
50A
60A
75A
100A
S-N25
S-N35
S-N50
S-N65
(Note 1)
Options/Peripheral
Equipment
Capacity
[kW]
Maximum number of connectable servo amplifiers
Total capacity of connectable servo amplifiers
[kW]
Maximum servo amplifier capacity
[kW]
Total rated current of
[A]
connectable servo motors
Output
Short-time rating
Regenerative
braking torque
Continuous rating
Rated input AC voltage/frequency
Permissible AC voltage fluctuation
Power supply
Permissible frequency fluctuation
Power supply capacity (Note 2)
[kVA]
IP rating (JEM 1030), cooling method
Ambient temperature
Ambient humidity
Altitude
Molded-case circuit breaker or earth-leakage current
breaker
Magnetic contactor
22K
Direct Drive Motors
400 V class
Linear Servo Motors
Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)

100% Torque
3-phase 200 V AC to 220 V AC, 50 Hz, or 3-phase 200 V AC to 230 V AC, 60 Hz
3-phase 170 V AC to 242 V AC, 50 Hz, or 3-phase 170 V AC to 253 V AC, 60 Hz
5%
17
20
28
41
52
66
100
Open type (IP00), forced cooling
-10 C to 50 C (non-freezing)
5.9 m/s2
30AF
50AF
100AF
100AF
125AF
125AF
225AF
30A
50A
75A
100A
125A
125A
175A
S-N20
S-N35
S-N50
S-N65
S-N80
S-N95
S-N125
Rotary Servo Motors
Capacity
[kW]
Maximum number of connectable servo amplifiers
Total capacity of connectable servo amplifiers
[kW]
Maximum servo amplifier capacity
[kW]
Total rated current of
[A]
connectable servo motors
Output
Short-time rating
Regenerative
braking torque
Continuous rating
Rated input AC voltage/frequency
Permissible AC voltage fluctuation
Power supply
Permissible frequency fluctuation
Power supply capacity (Note 2)
[kVA]
IP rating (JEM 1030), cooling method
Ambient temperature
Ambient humidity
Altitude
Molded-case circuit breaker or earth-leakage current
breaker
Magnetic contactor
7.5K
Servo Amplifiers
FR-CV power regeneration common converter is suitable for 200 V class servo amplifiers ranged from 100 W to 22 kW, and
FR-CV-H for 400 V class servo amplifiers ranged from 11 kW to 22 kW.
* Cautions when selecting the power regeneration common converter
5-54
Cautions
1. Capacity of FR-CV-(H) [W] Total rated capacity of servo amplifiers connected to FR-CV-(H) [W] 5 2
2. Keep the total rated current of the servo motors to be used equal to or below the applicable current [A] of FR-CV-(H).
3. The number of the servo amplifiers and the total capacities for the servo amplifiers to be connected must be equal to or lower than the mentioned values in the specifications.
Power Regeneration Common Converter (FR-CV, FR-CV-H)
B-RJ
B-RJ010
A-RJ
Connection example (Note 9)
Power supply
3-phase
200 V AC to
230 V AC
or
3-phase
380 V AC to
480 V AC
MCCB
FR-CVL-(H) (Note 12)
(Note 7)
MC
R/L11
R2/L12
S/L21
S2/L22
T2/L32
T/L31
(Note 11)
Servo amplifier
FR-CV-(H) (Note 11)
L11
R2/L1
L21
S2/L2
T2/L3
(Note 10)
P/L+
P4
(Note 5)
NCN2
N/LR/L11
S/L21
T/MC1
(Note 8)
RESET
RES
SD
EM1
Off
On
MC
M
C
SK
EM1
SD
RDYA
RSO
(Note 1)
RA1
P24
RDYB
Servo motor
(Note 1, 6)
EM1
(Note 4)
RA1
DOCOM
DICOM
(Note 2)
Controller
(Note 3)
SE
A
B
R
A
1
(Note 1)
C
DC24 V
Notes: 1. Create a sequence that shuts off the main circuit power when either:
An alarm occurs on FR-CV-(H) or the servo amplifier, or
EM1 (Forced stop 1) is validated.

2. For the servo amplifier, create a sequence that switches the servo-on after FR-CV-(H) is ready.

3. RSO signal turns off when FR-CV-(H) is ready to run after the reset signal is input to FR-CV-(H). Create a sequence that makes the servo inoperative when the RSO signal
is on.

4. Create a sequence that stops the servo motor with the emergency stop input to the servo system controller when an alarm occurs on FR-CV-(H). When the emergency
stop input is not available in the servo system controller, stop the servo motor with the forced stop input to the servo amplifier as shown in the diagram.

5. Disconnect the short-circuit bar between P3 and P4 when using FR-CV-(H).

6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).


8. When FR-CV-H is used, a step-down transformer is required if coil voltage of the magnetic contactor is in 200 V class.

9. Refer to relevant Servo Amplifier Instruction Manual for the examples of selecting wire sizes.

10. Use twisted wires for connecting the DC power supply between FR-CV-(H) and the servo amplifiers, and keep the wire length to a maximum of 5 m.

11. Inputs/outputs (main circuit) of FR-CV-(H) and the servo amplifier include high frequency components, and they may interfere with peripheral communication devices.
In this case, the interference can be reduced by installing radio noise filter (FR-BIF or FR-BIF-H) or line noise filter (FR-BSF01 or FR-BLF).

12. When using FR-CV-(H), be sure to use a dedicated stand-alone reactor (FR-CVL or FR-CVL-H). Do not use a power factor improving AC reactor (FR-HAL or FR-HAL-H) or
a power factor improving DC reactor (FR-HEL or FR-HEL-H) with FR-CV-(H).
Power regeneration common converter

FR-CV-7.5K(-AT)
FR-CV-11K(-AT)
FR-CV-15K(-AT)
FR-CV-22K(-AT)
FR-CV-30K(-AT)
FR-CV-37K
FR-CV-55K
5-55
Dedicated stand-alone reactor

FR-CVL-7.5K
FR-CVL-11K
FR-CVL-15K
FR-CVL-22K
FR-CVL-30K
FR-CVL-37K
FR-CVL-55K
Power regeneration common converter

FR-CV-H22K(-AT)
FR-CV-H30K(-AT)
FR-CV-H37K
FR-CV-H55K
Dedicated stand-alone reactor

FR-CVL-H22K
FR-CVL-H30K
FR-CVL-H37K
FR-CVL-H55K
Dynamic Brake
B-RJ
B-RJ010
A-RJ
Dynamic brake model

DBU-11K
DBU-15K
DBU-22K-R1
DBU-11K-4
Fig.
Drive unit model

MR-J4-DU30KB/A
MR-J4-DU37KB/A
MR-J4-DU30KB4/A4
MR-J4-DU37KB4/A4
MR-J4-DU45KB4/A4
MR-J4-DU55KB4/A4
DBU-22K-4
Dimensions
Connections
100
U V W
Screw size: M4
Malfunction
RA1
2.3
On
200 190 140

250 238 150
20
25
Mass
[kg]
170 163.5
235
228
Wire size [mm2] (Note 1)

Other than
U, V, and W
U, V, W
5.5
(AWG 10)
2
(AWG 14)
Step-down
transformer
(Note 4)
MCCB
L2
L3
L11
10
ALM
L21
DB
(Note 2)
228
280
260
a b 13 14
Screw size: M3.5
43
(Note 6) EM2
SD
150
2.3
26
73.8
10
51
25
195
25
200
TE1
15
TE2
179.5
U, V, W
6.7
5.5 (AWG 10)
Malfunction
RA1
30
TE1
330
390
370
a b 13 14
Screw size: M3.5
Ready
on/off
Emergency stop
switch
15
230
260
230
15
2.3
15
220
235
MC1
MC2
MC
30
10
15
10
Converter unit
L+
L-
L1
L2
L3
L11
L21
EM1
DOCOM
15

Other than U,
V, and W
Mass
[kg]
U, V, W
DBU-37K-R1
DBU-55K-4-R5
8
11
14
(AWG 6)
2
(AWG 14)
L+
L-
U
V
W
ALM
DB
(Note 2)
DICOM
R
A
2
24 V DC
DOCOM
EM2
(Note 6)
SD
L11
L21
RA2
R
A
1
(Note 6)
Main circuit
power supply
(Note 3)
14
a
b
13 U V W
Dynamic
brake
(DBU)
Dynamic brake interlock
Notes: 1. The wire size is applicable when 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wires) is used.

2. Validate DB (Dynamic brake interlock) by [Pr. PD07] to [Pr. PD09] for MR-J4-B/MR-J4-B4/MR-J4-DU_B/MR-J4-DU_B4.

3. The terminals 13 and 14 are normally opened outputs. If the dynamic brake is welded, the terminals 13 and 14 will be opened. Thus, create an external sequence circuit
that SON (Servo-on) does not turn on when the terminals 13 and 14 are opened.

4. A step-down transformer is required if the servo amplifier is in 400 V class, and coil voltage of the magnetic contactor is in 200 V class.

5. When using DBU-11K-4 or DBU-22K-4, the power supply voltage must be between 1-phase 380 V AC and 463 V AC, 50 Hz/60 Hz. Refer to relevant Servo Amplifier
Instruction Manual for details.

5-56
Cautions
Model
Servo motor
U
V
M
W
Drive unit
Product List
MCCB
TE1
M
C
SK
Step-down
transformer
(Note 4)
TE2
(DBU)
2 (AWG 14)
10
178.5

Other than U,
V, and W
Mass
[kg]
U V W
Screw size: M5
TE2
Dynamic
brake
LVS/Wires
2-10 mounting hole
DBU-11K-4
DBU-22K-4
13 U V W
14
Dynamic brake
interlock
15
Model
(Note 3)
(Note 5) a
RA2
210
170
15
(Note 6)
Main circuit
power supply
Options/Peripheral
Equipment
DOCOM
U V W
Screw size: M4
24 V DC
DICOM
TE2
RA2
TE2
U
V
W
U
V
W
L1
TE1
TE1
Servo motor
Servo amplifier
MC
RA1
2-7 mounting hole
26
SK
MC
Emergency
stop switch
Direct Drive Motors
DBU-11K
DBU-15K
DBU-22K-R1
Off
Linear Servo Motors
b 13 14
MC
Model
DBU-55K-4-R5
DBU-37K-R1
[Unit: mm]
Screw size: M3.5
Fig.
Dynamic brake model
Rotary Servo Motors
Servo amplifier model

MR-J4-11KB/A
MR-J4-15KB/A
MR-J4-22KB/A
MR-J4-11KB4/A4
MR-J4-15KB4/A4
MR-J4-22KB4/A4
Servo Amplifiers
Use the following optional external dynamic brake with the 11 kW or larger servo amplifiers.
Without the external dynamic brake, a servo motor does not stop immediately at emergency stop and falls in free-run status, causing an
accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.
Battery (MR-BAT6V1SET) (Note 1)
B-RJ
B-RJ010
A-RJ
The absolute position data can be retained by mounting the battery on the 1-axis servo amplifier. MR-BAT6V1SET is reusable by
replacing the built-in MR-BAT6V1 batteries.
MR-BAT6V1SET is not required for the linear servo motor system or the incremental system.
Appearance
Mounting method
For 200 V, 3.5 kW or smaller
100 V, 0.4 kW or smaller, and
400 V, 2 kW or smaller
For 200 V, 5 kW or larger, and

400 V, 3.5 kW or larger
Attach the battery, and then

insert the plug to CN4 connector.
Model: MR-BAT6V1SET
Nominal voltage: 6 V
Nominal capacity: 1650 mAh
Lithium content: 1.2 g
Primary battery: 2CR17335A
Mass: 55 g
Attach the battery, and then

insert the plug to CN4 connector.
* MR-J3BAT battery cannot be used because of the difference in voltage.
Notes: 1. MR-BAT6V1SET is an assembled battery composed of lithium metal batteries of CR17335A. This battery is not subject to the dangerous goods (Class 9) of the UN
Recommendations. To transport lithium metal batteries and lithium metal batteries contained in equipment by means of transport subject to the UN Recommendations,
take actions to comply with the following regulations: the United Nations Recommendations on the Transport of Dangerous Goods, the Technical Instruction (ICAO-TI) by
the International Civil Aviation Organization (ICAO), and the International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization (IMO).
To transport the batteries, check the latest standards or the laws of the destination country and take actions. Contact your local sales office for more details.
Battery for Junction Battery Cable (MR-BAT6V1BJ) (Note 1)

Junction Battery Cable (MR-BT6VCBL03M)
B-RJ
B-RJ010
A-RJ
Use these battery and junction battery cable when the absolute position data needs to be retained while the servo amplifier and the
servo motor are disconnected for shipping. The servo motor does not have a super capacitor (for holding an absolute position data
for a short period) in the encoder. When MR-BAT6V1BJ and MR-BT6VCBL03M are used together, the absolute position data can be
held even when the servo amplifier is disconnected from the servo motor. These battery and cable are compatible with the 1-axis servo
amplifier used with HG servo motor series (Note 2).
When purchasing MR-BAT6V1BJ for the first time, please purchase MR-BT6VCBL03M together.
The batteries built in MR-BAT6V1BJ are not replaceable.
Dimensions
Servo amplifier
69.3
38.5
34.8
Connections (Note 4)
Model: MR-BAT6V1BJ
System: Electronic battery backup type
Mass: 66 g
CN2
MR-BT6VCBL03M
Encoder cable
(Note 3)
CN4
Black: Connector for branch cable

Orange: Connector for servo amplifier
(Note 3)
Servo motor
MR-BAT6V1BJ
Notes: 1. MR-BAT6V1BJ is an assembled battery composed of lithium metal batteries of CR17335A. This battery is not subject to the dangerous goods (Class 9) of the UN

2. These battery and cable will be compatible with the direct drive motors in the future.

3. To hold the absolute position data, keep the connections from the battery to the encoder. Connections to CN2 and CN4 connectors can be disconnected.

4. Start up the absolute position detection system after MR-BAT6V1BJ and MR-BT6VCBL03M are connected.
5-57
Servo motor
Rotary servo motor
Direct drive motor
8
0
B-RJ
WB
B-RJ010
A-RJ
0
4
1
4
2
4
Number of axes
3
4
5
4
4
3
6
2
Dimensions (assembled)
4.6
2-5 mounting hole
120
Model: MR-BAT6V1
Lithium content: 1.2 g
Mass: 34 g

5
MR-BT6V1CBL_M
(optional)
Direct Drive Motors
130
130
MR-BAT6V1
[Unit: mm]
Linear Servo Motors
(70)
25
7
1
Mass: 0.18 kg
Connections
Servo amplifier
For connecting up to eight servo amplifier axes

Servo amplifier
Servo amplifier
Options/Peripheral
Equipment
Notes: 1
. MR-BAT6V1 is an assembled battery composed of lithium metal batteries of CR17335A. This battery is not subject to the dangerous goods (Class 9) of the UN
For connecting to one unit of

servo amplifier
Rotary Servo Motors
Absolute position data of up to eight axes of the servo motors can be retained by using the battery case and the batteries. When the
direct drive motors are used, the total number of axes connected to the direct drive motors must be four or less. Refer to the following
table for the connectable number of the each servo motor. The rotary servo motors and the direct drive servo motors used in incremental
system, and the rotary servo motors and the synchronous encoders used for load side in the fully closed loop control system are also
included in the number of the connectable axes. The linear servo motors are not included in the number of the connectable axes.
This battery case is also usable in a system having MR-J4-_B_(-RJ) and MR-J4W_-_B servo amplifiers in combination.
The case stores five batteries by connecting to the connectors. The batteries are not included in the battery case. Please purchase the
batteries separately.
Servo Amplifiers
Battery Case (MR-BT6VCASE ), Battery (MR-BAT6V1) (Note 1)
Servo amplifier
LVS/Wires
MR-BT6VCASE
CN4
MR-BT6VCASE
MR-BT6V2CBL_M (Note 1)
CN10
CN10
CN4
Product List
CN4
CN4
Notes: 1. This is an optional cable. Refer to "Cables and Connectors for Servo Amplifiers" in this catalog.
Cautions
5-58
Absolute Position Storage Unit (MR-BTAS01)
B-RJ
WB
A-RJ
This absolute position storage unit is required for configuring absolute position detection system using the direct drive motor.
This unit is not required when the servo system is used in incremental method.
Dimensions
19
RM15WTRZB-12P(72)
19
16
RM15WTRZB-12S(72)
(Encoder side)
(Servo amplifier side)
2-6 mounting hole
R3
5
Mounting surface A (Note 1)
Item
Ambient
temperature
Ambient
humidity
20
20
45.2
45.2
63
81
[Unit: mm]
69.8
79.8
Ambience
Altitude
6
22
30
15
Mounting surface B (Note 1)
Environment
Operation: 0 C to 55 C (non-freezing),
storage: -20 C to 65 C (non-freezing)
Operation: 90 %RH maximum (non-condensing),
storage: 90 %RH maximum (non-condensing)
Indoors (no direct sunlight); no corrosive gas,
inflammable gas, oil mist, dust or splash of oil or
water
When the surface A is mounted: 49 m/s2
(directions of X, Y, and Z axes)
When the surface B is mounted: 5.9 m/s2
(directions of X, Y, and Z axes)
Mass: 0.26 kg
Vibration
resistance
Notes: 1. When mounting the absolute position storage unit outside a cabinet, be sure to mount the surface A with 4 screws. When mounting the unit inside a cabinet, mounting the
surface B with 2 screws is also possible.
Heat Sink Outside Mounting Attachment

(MR-J4ACN15K, MR-J3ACN)
B-RJ
B-RJ010
A-RJ
By using the heat sink outside mounting attachment on the servo amplifier of 11 kW to 22 kW, the heat generating section can be mounted
outside a cabinet, enabling to dissipate about 50% of the heat from the unit to outside the cabinet. This allows smaller cabinet size.
Heat sink outside mounting attachment model
MR-J4-11KB/A, /MR-J4-11KB4/A4
MR-J4ACN15K
MR-J4-15KB/A, /MR-J4-15KB4/A4
MR-J4-22KB/A, MR-J4-22KB4/A4 MR-J3ACN
Mounting
[Unit: mm]
Fig.
A
B
Panel cut dimensions
20.6
145
163
4-M10 screw
(125)
Panel
196
218
Panel
3.2
154
108.3
510
Punched
hole
18
535
(400)
35
410
Servo amplifier
(262.3)
3.2
155
Panel
105
(260)
5-59
(11.5)
535
39.5 (125)
331
39.5
145
35
(400)
Servo amplifier
Punched
hole
236
255
270
4-M10 screw
510
203
Panel
18
20
[Unit: mm]
Junction Terminal Block (MR-TB26A)
WB
Dimensions (Note 1)
[Unit: mm]
Stranded wire
9 10 11 12 13 S
27
Operating tool
14
Strip length
32 V AC/DC 0.5A
0.08 mm2 to 1.5 mm2
(AWG 28 to 14)
0.32 mm to 1.2 mm
3.4 mm or shorter
210-619 (WAGO) or an equivalent
210-119SB (WAGO) or an equivalent
5 mm to 6 mm
Rotary Servo Motors
14
Applicable
wire (terminal
Solid wire
side)
Insulator OD
55
14 15 16 17 18 19 20 21 22 23 24 25 26 S
Rating
26
(35)
Specifications
57
739
739
250V 1.5
(7.5)
Notes: 1. The lengths in brackets apply when the junction terminal block is mounted on a 35 mm wide DIN rail.
Junction Terminal Block (MR-TB50)
A-RJ
Linear Servo Motors
(31.1)
26.6
23.6
250V 1.5
Servo Amplifiers
Connect all signals via the junction terminal block.
Connect all signals via the junction terminal block.
235
[Unit: mm]
2-4.5
Terminal screw size: M3.5

Applicable wire: 2 mm2 maximum
Crimping terminal width: 7.2 mm or shorter
MR-TB50
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
244
46.5
Manual Pulse Generator (MR-HDP01)

Dimensions
Panel cutting
3-4.8
equally divided
5V
12V 0V
+2
0
3-M4 stud L10

P.C.D 72 equally divided
0.2
72
600.1
801
SERIALNO.
70
50
MANUAL
TYPE
Packing t2.0
[Unit: mm]
LVS/Wires
3.6
A-RJ
Mounting
[Unit: mm]
Options/Peripheral
Equipment
2.5
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
50
(25)
50
49
25
2
1
Direct Drive Motors
Dimensions
Only M3 6 can be mounted

16
20
7.6
Product List
27.00.5
8.89
Cautions
5-60
Parameter unit (MR-PRU03)
A-RJ
Parameter unit with a 16 characters 5 4 lines display, is available as an option.

The parameter unit (Note 1) connected with servo amplifiers enables setting of point table data (Note 2) and parameters, and test operation
without MR Configurator2.
Notes: 1. Use MR-PRU03 with software version B0 or later.

2. Programs cannot be edited with the parameter unit.
Dimensions
Parameter unit
MR-PRU03
CNP1
CN3
(Note 1)
CNP1
CN3
(Note 1)
CN3
CNP2
CNP2
CNP2
CNP3
CNP3
CNP3
16.5
14.5
23.75
11.75
Punched hole
1.25
1.5
13
13 1.5
24
17
48
21.5
Servo amplifier
CNP1
10.5
80
Servo amplifier
15
125
Servo amplifier
72
81.5
RS-422 communication method

Connectable with one unit of the servo amplifier with the
commercial LAN cable
Connectable up to 32 axes with multi-drop system
18.5
20
Wiring and communication method
5-M3 screw
(Note 1)
5-4 hole
40
40
(Front view)
(Side view)
(Rear view)
(Panel cut dimensions)
[Unit: mm]
(Note 2)
RS-422
(Note 1)
(Note 1)
(Note 2)
(Note 1)
(Note 2)
(Note 3)
Notes: 1. Use 10BASE-T cable (EIA568 compliant), etc.

Keep the distance between the branch connector and servo amplifier as short as possible.

2. Branch connector, BMJ-8 (HACHIKO ELECTRIC CO., LTD) is recommended. Refer to Ordering Information for Customers in this catalog.

3. Connect a 150 W termination resistor.
Specifications
Model
Power supply
Item
Parameter mode
Functions
Monitor mode
Diagnosis mode
Alarm mode
Test operation mode
Point table mode
Display
Ambient temperature in
operation
Ambient humidity in operation
Environment
Storage temperature
Storage humidity
Atmosphere
Mass
[g]
5-61
Description
MR-PRU03
Receives power from the servo amplifier
Basic setting parameters, gain/filter parameters, extension setting parameters, I/O setting
parameters, extension setting 2 parameters, extension setting 3 parameters, option setting
parameters, special setting parameters, linear/DD motor setting parameters, positioning control
parameters
Cumulative feedback pulses, rotary servo motor/linear servo motor speed, droop pulses,
cumulative command pulses, command pulse frequency, analog speed command voltage/analog
speed limit voltage, analog torque limit voltage/analog torque command voltage, regenerative
load ratio, effective load ratio, peak load ratio, instantaneous torque, position within onerevolution, ABS counter, load to motor inertia ratio, bus voltage, load-side encoder cumulative
feedback pulses, load-side encoder droop pulses, load-side encoder information 1, load-side
encoder information 2, servo motor thermistor temperature, cumulative feedback pulses (unit of
motor side), electrical angle, motor-side/load-side position deviation, motor-side/load-side speed
deviation, encoder inside temperature, settling time, oscillation detection frequency, the number
of tough drive operations, unit power consumption, unit total power consumption, current position,
command position, command remaining distance, point table No./program No./station position
No., step No., override voltage, override level
External I/O (DIDO) display, software version, Automatic VC offset, servo motor information,
cumulative power-on
Current alarm, alarm history
JOG operation, positioning operation, forced digital output (DO), single-step feed
Position data, servo motor speed, acceleration/deceleration time constants, dwell, sub function,
M code
LCD system (16 characters 5 4 lines)
-10 C to 55 (non-freezing)
-20 C to 65 (non-freezing)
130
Radio Noise Filter (FR-BIF, FR-BIF-H)
B-RJ
WB
B-RJ010
A-RJ
Dimensions
Servo Amplifiers
This filter effectively controls noise emitted from the power supply side of the servo amplifier and is especially effective for radio
frequency bands 10 MHz or lower. The FR-BIF(-H) is designed for the input only.
Connections
[Unit: mm]
The FR-BIF(-H) is designed to be connected with the input only.

Wiring should be as short as possible. Grounding is required.
Be sure to insulate the unused wire when using FR-BIF with 1-phase power.
Approx. 300
5 hole
MCCB
42
29
For 3.5 kW or smaller 1-axis servo

amplifiers, and multi-axis servo
amplifiers
Leakage current: 4 mA
58
29
44
Terminal block
MC
L1
L2
Power
supply
For 5 kW or larger 1-axis servo

amplifiers
L3
MCCB
Servo
amplifier
MC
L1
L2
Power
supply
L3
FR-BIF
or
FR-BIF-H
200 V /100 V class: FR-BIF

400 V class: FR-BIF-H
Line Noise Filter (FR-BSF01, FR-BLF)
B-RJ
WB
B-RJ010
A-RJ
This filter is effective in suppressing radio noise emitted from the power supply side and the output side of the servo amplifier, and also in
suppressing high-frequency leakage current (zero-phase current), especially within 0.5 MHz to 5 MHz band.
FR-BSF01
For wire size of 3.5 mm2
(AWG 12) or smaller
FR-BLF
For wire size of 5.5 mm2
(AWG 10) or larger
7
2.3
4.5
(65)
35
130
85
80
11.250.5
(65)
Attach a line noise filter on wires of the main circuit power supply (L1, L2, and L3) of the
servo amplifier, and of the motor power (U, V, and W). Pass each of the wires through the
line noise filter equal times in a same direction.
For the main circuit power supply, the effect of the filter rises as the number of passes
increases, but generally four passes would be appropriate. For the servo motor power,
passes must be four times or less. Do not pass the grounding wire through the filter.
Otherwise, the effect of the filter is reduced.
Wind the wires to pass through the filter as the required number of passes as shown in
Fig.1. If the wires are too thick to wind, use two or more filters to have the required number
of passes as shown in Fig.2.
Place the line noise filters as close to the servo amplifier as possible for their best
performance.
160
180
Fig. 1
MCCB
Fig. 2
MC
Servo amplifier
Power
supply
L1
L2
L3
Power
supply
MCCB
Line noise filter
L1
L2
Servo
amplifier
L3
Line noise filter
B-RJ
WB
B-RJ010
A-RJ
LVS/Wires
Data Line Filter
MC
Options/Peripheral
Equipment
(22.5)
2-5
31.5
(110)
950.5
Connections
[Unit: mm]
Direct Drive Motors
Dimensions
Linear Servo Motors
FR-BIF
or
FR-BIF-H
Servo
amplifier
Rotary Servo Motors
White
Red Blue Green
This filter is effective in preventing noise when attached to the pulse output cable of the pulse train output controller or the motor
encoder cable.
ESD-SR-250 (manufactured by NEC TOKIN Corporation)
ZCAT3035-1330 (manufactured by TDK)
GRFC-13 (manufactured by Kitagawa Industries Co., Ltd.)
E04SRM563218 (manufactured by Seiwa Electric Mfg. Co. Ltd.)
Surge Killer
B-RJ
WB
B-RJ010
A-RJ
Attach surge killers to AC relays and AC valves around the servo amplifier. Attach diodes to DC relays and DC valves.
Product List
Example)

Example) Surge killer: CR-50500 (manufactured by Okaya Electric Industries Co., Ltd.)

Diode: A diode with breakdown voltage four or more times greater than the relay drive voltage, and with current capacity two or more times greater than the relay drive
current.
Cautions
5-62
EMC Filter
B-RJ
WB
B-RJ010
A-RJ
The following filters are recommended as a filter compliant with the EMC directive for the power supply of the servo amplifier.
EMC filter model
Rated current
[A]
Rated voltage
[V AC]
Leakage current
[mA]
Mass [kg]
HF3010A-UN (Note 2)
10
250
3.5
HF3010A-UN2 (Note 2)
10
250
3.5
HF3030A-UN (Note 2)
30
250
5.5
HF3040A-UN (Note 2)
HF3100A-UN (Note 2)
TF3005C-TX
TF3020C-TX
TF3030C-TX
TF3040C-TX
TF3060C-TX
40
100
5
20
30
40
60
250
250
500
500
500
500
500
6.5
6.5
5.5
5.5
5.5
5.5
5.5
6.0
12
6.0
6.0
7.5
12.5
12.5
Rated current
[A]
Rated voltage
[V AC]
Leakage current
[mA]
Mass [kg]
Fig.
HF3200A-UN (Note 2)
200
250
18
TF3150C-TX
150
500
5.5
31
(Note 1, 3)
MR-J4-10B/A to MR-J4-100B/A
MR-J4-10B1/A1 to MR-J4-40B1/A1
MR-J4W2-22B
MR-J4W3-222B
MR-J4W2-44B
MR-J4-200B/A, MR-J4-350B/A
MR-J4W2-77B, MR-J4W2-1010B
MR-J4W3-444B
MR-J4-500B/A, MR-J4-700B/A
MR-J4-11KB/A to MR-J4-22KB/A
MR-J4-60B4/A4, MR-J4-100B4/A4
MR-J4-200B4/A4 to MR-J4-700B4/A4
MR-J4-11KB4/A4
MR-J4-15KB4/A4
MR-J4-22KB4/A4
Converter unit
MR-CR55K
MR-CR55K4
EMC filter model
Drive unit
(Note 1, 3)
MR-J4-DU30KB/A
MR-J4-DU37KB/A
MR-J4-DU30KB4/A4
MR-J4-DU37KB4/A4
MR-J4-DU45KB4/A4
MR-J4-DU55KB4/A4
Fig.
B
C
Notes: 1. Manufactured by Soshin Electric Co., Ltd.

2. A surge protector is separately required to use this EMC filter. Refer to "EMC Installation Guidelines."

3. When using the EMC filter, install one EMC filter for each servo amplifier or converter unit.
Connections
3-phase 200 V AC, 22 kW or smaller, or

3-phase 400 V AC, 22 kW or smaller
MCCB
IN
Power
supply
EMC filter
OUT
1-phase 200 V AC
Servo amplifier
MCCB
MC
L1
L2
L3
L11
IN
Power
supply
EMC filter
OUT
Servo amplifier
MC
L2
L3
L11
L1
L21
Power
supply
L21
3-phase 200 V AC, 30 kW or larger, or

3-phase 400 V AC, 30 kW or larger
1-phase 100 V AC
MCCB
(Note 1)
IN
EMC filter
OUT
MCCB
Servo amplifier
MC
L2
L11
L1
Power
supply
IN
EMC filter
OUT
Converter unit
MC
L1
L2
L3
L11
L21
L21
Drive unit
L11
L21
Notes: 1. Connect the power supply to L1 and L3 terminals. Do not connect anything to L2. The connections are different from MR-J3 series servo amplifiers. Be careful not to make
a connection error when replacing MR-J3 with MR-J4.
5-63
EMC Filter
B-RJ
WB
B-RJ010
IN
6-R3.25 length 8
(Input side)
OUT
(Output side)
3-M5
(41)
1552
M4
441
2584
3-M5
1252
1104
322
3-M4
654
2732
2884
851
702
851
2102
3005
1402
2605
HF3005C-TX, HF-3020C-TX, HF3030C-TX
1603
IN
1001
2902
3085
3325
1401
1502
(160)
1705
HF3200A-UN
OUT
3-M6
(Output side)
IN
3-6.5 length 8
(Input side)
M6
3-M8
1452
1601
1752
(17)
22 22
OUT
(Output side)
3-6.5 3-M10
IN
1001
3902
4125
4385
M8
(91.5)
1001
LVS/Wires
1001
4801
5005
1802
(190)
2005
(67.5)3
1001
1601
1805
M4
M4
Options/Peripheral
Equipment
HF-3040C-TX, TF3060C-TX
3-M6 IN
8-R3.25 length 8
(Input side)
M4
1252
3-M4
M4
3-M4
16
M6
(12.2)
OUT
(Output side)
1552
6-R3.25 length 8
(For M6)
IN
(Input side)
2005
Direct Drive Motors
3801
4005
3-M8
16
1451
OUT
(Output side)
1653
2-6.5
2-6.5 8
3-M8
Linear Servo Motors
HF-3100A-UN
IN
(Input side)
Rotary Servo Motors
M4
4-5.57
OUT
(Output side)
852
IN
(Input side) 3-M4
HF3030A-UN, HF3040A-UN
1401
HF3010A-UN, HF3010A-UN2
[Unit: mm]
Servo Amplifiers
Dimensions
A-RJ
TF3150C-TX
M8
2583
2452
2251
2002
231
271
OUT
(Output side)
3-M8
3-M8
271
8-R 4.25 length 12

(For M8)
Product List
IN
(Input side)
M4
M4
1102
1501
1501
4525
M4
2102
(227)
2603
Cautions
5003
1501
5-64
Power Factor Improving DC Reactor (FR-HEL, FR-HEL-H, MR-DCL)
B-RJ
B-RJ010
A-RJ
This boosts the power factor of servo amplifier and reduces the power supply capacity. Use either the DC reactor or the AC reactor.
As compared to the AC reactor (FR-HAL or FR-HAL-H), the DC reactor (FR-HEL or FR-HEL-H) is more recommended since the DC reactor
is more effective in power factor improvement, smaller and lighter, and its wiring is easier. (The DC reactor uses two wires, while the AC
reactor uses six wires.)
Servo amplifier
model
MR-J4-10B/A
MR-J4-20B/A
MR-J4-40B/A
MR-J4-60B/A
MR-J4-70B/A
MR-J4-100B/A
MR-J4-200B/A
MR-J4-350B/A
MR-J4-500B/A
MR-J4-700B/A
MR-J4-11KB/A
MR-J4-15KB/A
MR-J4-22KB/A
MR-J4-60B4/A4
MR-J4-100B4/A4

model
Servo amplifier
model
MR-J4-200B4/A4
MR-J4-350B4/A4
MR-J4-500B4/A4
MR-J4-700B4/A4
MR-J4-11KB4/A4
MR-J4-15KB4/A4
MR-J4-22KB4/A4
Fig.
FR-HEL-0.4K
FR-HEL-0.75K
FR-HEL-1.5K
FR-HEL-2.2K
FR-HEL-3.7K
FR-HEL-7.5K
FR-HEL-11K
Converter unit
model
FR-HEL-15K
MR-CR55K
FR-HEL-22K
FR-HEL-30K
FR-HEL-H1.5K
FR-HEL-H2.2K
C
MR-CR55K4

model
FR-HEL-H3.7K
FR-HEL-H7.5K
FR-HEL-H11K
Fig.
E
FR-HEL-H15K
FR-HEL-H22K
FR-HEL-H30K

Fig.
DC reactor model
MR-DCL30K
MR-DCL37K
MR-DCL30K-4
G
MR-DCL37K-4
MR-DCL45K-4
MR-DCL55K-4
Drive unit model

MR-J4-DU30KB/A
MR-J4-DU37KB/A
MR-J4-DU30KB4/A4
MR-J4-DU37KB4/A4
MR-J4-DU45KB4/A4
MR-J4-DU55KB4/A4
Connections
Servo amplifier
Converter unit
MR-DCL
FR-HEL-(H)
P1
P3
(Note 2)
(Note 1)
P2
P4
5 m or shorter
5 m or shorter
Notes: 1. Disconnect the short-circuit bar between P3 and P4 when using the DC reactor.

2. Disconnect the short-circuit bar between P1 and P2 when using the DC reactor.
Dimensions
P1
2-d mounting
hole (Note 1)
[Unit: mm]
D or shorter (Note 2)
H2
W1
W2
Model
FR-HEL-0.4K
FR-HEL-0.75K
FR-HEL-1.5K
FR-HEL-2.2K
Variable dimensions
W
W1
Mass
[kg]
70
85
85
85
60
74
74
74
71
81
81
81
61
61
70
70
M4
M4
M4
M4
0.4
0.5
0.8
0.9
Notes: 1. Use this mounting hole for grounding.

2. This indicates the maximum dimension. The dimension varies depending on the bending degree of the input/output lines.

3. The wire size is applicable when 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wires) is used.
5-65
Terminal
screw
size
M4
M4
M4
M4
Wire size (Note 3)

[mm2]
2 (AWG 14)
2 (AWG 14)
2 (AWG 14)
2 (AWG 14)
Power Factor Improving DC Reactor (FR-HEL, FR-HEL-H)
B-RJ
B-RJ010
[Unit: mm]
D3
4-d mounting
hole (Note 1)
P P1
Rotary Servo Motors
B
W1
D1
D2
D3
Mass
[kg]
FR-HEL-3.7K
FR-HEL-7.5K
FR-HEL-11K
77
86
105
55
60
64
92
113
133
82
98
112
66
81
92
57
72
79
37
43
47
M4
M4
M6
1.5
2.5
3.3
FR-HEL-15K
105
64
133
115
97
84
48.5
M6
4.1
H2
Terminal
screw
size
Wire size (Note 4)

[mm2]
M4
M5
M6
2 (AWG 14)
3.5 (AWG 12)
5.5 (AWG 10)
M6
8 (AWG 8)
14 (AWG 6)
Linear Servo Motors
D2
D12
W1
W2
Variable dimensions
W
Model
(Note 2)
Direct Drive Motors
4-d mounting hole (Note 1)
D or shorter
D3 or shorter (Note 3)
W1
D1
D2
D3
105
114
64
72
93
100
175
200
117
125
104
101
115
135
M6
M6
5.6
7.8
Terminal
screw
size
Wire size (Note 4)

[mm2]
M10
M10
22 (AWG 4)
38 (AWG 2)
Terminal
screw
size
Wire size (Note 4)

[mm2]
D or shorter
(D3)
H2.5
P1
4-d mounting
hole (Note 1)
FR-HEL-22K
FR-HEL-30K
Mass
[kg]
LVS/Wires
D2
D12
Variable dimensions
Options/Peripheral
Equipment
Model
W1
W2
H2
P1
Servo Amplifiers
Dimensions
A-RJ
W1
D2
W2.5
D11
FR-HEL-H1.5K
FR-HEL-H2.2K
Variable dimensions
W
W1
D1
D2
D3
Mass
[kg]
66
76
50
50
100
110
80
80
74
74
54
54
37
37
M4
M4
1.0
1.3
M3.5
M3.5
Product List
Model
2 (AWG 14)
2 (AWG 14)

2. When using FR-HEL-15K, select a wire of 8 mm2 (AWG 8) for MR-J4-700B/A, and 14 mm2 (AWG 6) for MR-J4-11KB/A.


Cautions
5-66
Power Factor Improving DC Reactor (FR-HEL, FR-HEL-H, MR-DCL)
B-RJ
B-RJ010
Dimensions

P
A-RJ
[Unit: mm]
D or shorter
(D3)
P1
H2.5
Model
W1
D2
W2.5
D11
W1
D1
D2
D3
86
96
105
55
60
75
120
128
137
95
105
110
89
100
105
69
80
85
45
50
53
M4
M5
M5
2.3
3.5
4.5
Terminal
screw
size
Wire size (Note 3)

[mm2]
2 (AWG 14)
2 (AWG 14)
3.5 (AWG 12)
(D3)
P1
H2.5
Terminal
screw
size
M4
M4
M5
Mass
[kg]
D or shorter
FR-HEL-H3.7K
FR-HEL-H7.5K
FR-HEL-H11K
Variable dimensions
W1
D2
W2.5
Terminal cover
D11
Terminal block
(M3.5 screw) for
thermal sensor
Variable dimensions
W
W1
D1
D2
D3
Mass
[kg]
FR-HEL-H15K
105
75
152
125
115
95
62
M5
5.0
M6
FR-HEL-H22K
FR-HEL-H30K
133
133
90
90
178
178
120
120
95
100
75
80
53
56
M5
M5
6.0
6.5
M6
M6
Model
Wire size (Note 3)

[mm2]
5.5 (AWG 10)
8 (AWG 8) (Note 2)
8 (AWG 8)
14 (AWG 6)
Terminal screw
H or shorter
P1 P2
G
X1.5
D or shorter
Model
(W1)
W or shorter
Mounting hole for M8
MR-DCL30K
MR-DCL37K
MR-DCL30K-4
MR-DCL37K-4
MR-DCL45K-4
MR-DCL55K-4
W1
Mass
[kg]
Terminal
screw
size
135
255
215
80
232
9.5
M12
135
135
135
135
205
225
240
260
200
200
200
215
75
80
80
80
175
197
212
232
6.5
7
7.5
9.5
M8
M8
M8
M8
Variable dimensions

2. When using FR-HEL-H15K, select a wire of 5.5 mm2 (AWG 10) for MR-J4-700B4/A4, and 8 mm2 (AWG 8) for MR-J4-11KB4/A4.

5-67
Wire size (Note 3)

[mm2]
60 (AWG 2/0)
60 (AWG 2/0)
22 (AWG 4)
22 (AWG 4)
38 (AWG 2)
38 (AWG 2)
Power Factor Improving AC Reactor (FR-HAL, FR-HAL-H)
B-RJ
WB
B-RJ010
A-RJ
For MR-J4W2-B (Note 1)
For MR-J4-B/A
Servo amplifier
model
FR-HAL-0.4K
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
FR-HAL-7.5K
FR-HAL-11K
Total output of rotary

servo motors
Total continuous
thrust of linear servo
motors
Power factor
improving AC
reactor model
Fig.
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
Total output of direct

drive motors
Power factor
improving AC
reactor model
Fig.
378 W or less
-
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
Total output of direct

drive motors
(Note 2)
450 W or less
150 N or less
100 W or less
Over 450 W to 600 W Over 150 N to 240 N Over 100 W to 377 W
Over 600 W to 1 kW Over 240 N to 300 N Over 377 W to 545 W
Over 1 kW to 2 kW Over 300 N to 720 N Over 545 W to 838 W
For MR-J4W3-B (Note 1)
FR-HAL-15K
FR-HAL-22K
FR-HAL-30K
FR-HAL-H1.5K
FR-HAL-H2.2K
FR-HAL-H3.7K
FR-HAL-H7.5K
FR-HAL-H11K
Total continuous
thrust of linear servo
motors
450 W or less
150 N or less
Over 450 W to 600 W Over 150 N to 240 N
Over 600 W to 1 kW Over 240 N to 300 N
Over 1 kW to 2 kW Over 300 N to 450 N
(Note 2)
Direct Drive Motors
FR-HAL-H15K
FR-HAL-H22K
FR-HAL-H30K
Options/Peripheral
Equipment
Notes: 1. Refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for selecting a power factor improving AC reactor when combining multiple servo motors among the rotary
servo motor, the linear servo motor or the direct drive motor.

2. When using the power factor improving AC reactor, install one reactor for each servo amplifier.
Connections
3-phase 200 V AC or
3-phase 400 V AC
1-phase 200 V AC
1-phase 100 V AC
Servo amplifier
MCCB
FR-HAL-(H)
X
R
S
L1
L2
L3
Servo amplifier
Servo amplifier
MCCB
Power
supply
MC
FR-HAL
MCCB
L1
L2
L3
(Note 1)
Power
supply
MC
FR-HAL
L1
LVS/Wires
Power
supply
MC
Linear Servo Motors
Total output of rotary

servo motors
Rotary Servo Motors
MR-J4-10B(1)/A(1)
MR-J4-20B(1)/A(1)
MR-J4-40B(1)/A(1)
MR-J4-60B/A
MR-J4-70B/A
MR-J4-100B/A
MR-J4-200B/A
MR-J4-350B/A
MR-J4-500B/A
MR-J4-700B/A
MR-J4-11KB/A
MR-J4-15KB/A
MR-J4-22KB/A
MR-J4-60B4/A4
MR-J4-100B4/A4
MR-J4-200B4/A4
MR-J4-350B4/A4
MR-J4-500B4/A4
MR-J4-700B4/A4
MR-J4-11KB4/A4
MR-J4-15KB4/A4
MR-J4-22KB4/A4
Power factor
improving AC reactor Fig.
model (Note 2)
Servo Amplifiers
This boosts the power factor of servo amplifier and reduces the power supply capacity.
L2
Notes: 1. Connect the power supply to L1 and L3 terminals. Do not connect anything to L2. The connections are different from MR-J3 series servo amplifiers. Be careful not to make
a connection error when replacing MR-J3 with MR-J4.
Product List
Cautions
5-68
B-RJ
WB
B-RJ010
Dimensions
A-RJ
[Unit: mm]
R X S Y T Z
A
Model
W1
D2
D1
FR-HAL-0.4K
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
Variable dimensions
W
W1
D1
D2
Mass
[kg]
Terminal
screw size
1042
1042
1042
115 (Note 2)
115 (Note 2)
84
84
84
40
40
99
99
99
115
115
72
74
77
77
83
51
56
61
71
81
40
44
50
57
67
M5
M5
M5
M6
M6
0.6
0.8
1.1
1.5
2.2
M4
M4
M4
M4
M4
R X S Y T Z
W1
D2
W2
D1
Model
FR-HAL-7.5K
FR-HAL-11K
FR-HAL-15K
Variable dimensions
W
W1
D1
D2
Mass
[kg]
Terminal
screw size
130
160
160
50
75
75
135
164
167
100
111
126
98
109
124
86
92
107
M6
M6
M6
4.2
5.2
7.0
M5
M6
M6
S
X
T
Y
W1
W or shorter (Note 2)
H5
D2
D12
Model
FR-HAL-22K
FR-HAL-30K
Variable dimensions
W
W1
D1
D2
Mass
[kg]
Terminal
screw size
185
185
75
75
150
150
158
168
100
100
87
87
M6
M6
9.0
9.7
M8
M10

5-69
B-RJ
B-RJ010

(5 groove)
A-RJ
[Unit: mm]
R X S Y T Z
Rotary Servo Motors
H5
Model
FR-HAL-H1.5K
FR-HAL-H2.2K
FR-HAL-H3.7K
Variable dimensions
W
W1
D1
D2
Mass
[kg]
Terminal
screw size
135
135
135
120
120
120
115
115
115
59
59
69
59.6
59.6
70.6
45
45
57
M4
M4
M4
1.5
1.5
2.5
M3.5
M3.5
M3.5
Linear Servo Motors
D2
D1
W1
W0.5

(6 groove)
R X S
Y T Z
Direct Drive Motors
150
125
Servo Amplifiers
Dimensions
H5
D2
D1
W1
W0.5
FR-HAL-H7.5K
FR-HAL-H11K
FR-HAL-H15K
Variable dimensions
W
W1
D1
D2
Mass
[kg]
Terminal
screw size
160
160
220
145
145
200
142
146
195
91
91
105
91
91
90
75
75
70
M4
M4
M5
5.0
6.0
9.0
M4
M5
M5
W1
D1
D2
Mass
[kg]
Terminal
screw size
220
220
200
200
215
215
170
170
90
96
70
75
M5
M5
9.5
11
M8
M8
Options/Peripheral
Equipment
Model

(8 groove)
Y T Z
LVS/Wires
R X S
Model
W1
W0.5
Product List
180
H5
D2
D1
FR-HAL-H22K
FR-HAL-H30K
Variable dimensions
Cautions

5-70

Capacity selection software (MRZJW3-MOTSZ111E)
B-RJ
WB
B-RJ010
A-RJ
Specifications
Item
Types of machine component
Item
Output of results
Printing
Data saving
Moment of inertia calculation
function
Description
Horizontal ball screws, vertical ball screws, rack and pinions, roll feeds, rotating tables, carts, elevators,
conveyors, linear servo, other (direct inertia input) devices
Servo amplifier, servo motor, regenerative option, moment of inertia of load, load to motor inertia
ratio, peak torque, peak torque ratio, effective torque, effective torque ratio, regenerative power (Note 4),
regenerative power ratio
Prints entered specifications, operating pattern, calculation process, graph of selection process feed
speed (or motor speed) and torque, and sizing results.
Entered specifications, operating patterns and sizing results are saved with a file name.
Cylinder, square block, variable speed, linear movement, hanging, conical, conical base
System requirements
IBM PC/AT compatible model running with the following requirements.
Components
OS (Note 3)
Personal computer (Note 2)
CPU
Memory
Free hard disk space
Browser
Monitor
Keyboard
Mouse
Printer
Communication cable
Capacity selection software (MRZJW3-MOTSZ111E) (Note 1)

Microsoft Windows 8.1 Enterprise Operating System
Microsoft Windows 8.1 Pro Operating System
Microsoft Windows 8.1 Operating System
Microsoft Windows 8 Enterprise Operating System
Microsoft Windows 8 Pro Operating System
Microsoft Windows 8 Operating System
Microsoft Windows 7 Ultimate Operating System
Microsoft Windows 7 Professional Operating System
Microsoft Windows 7 Home Premium Operating System
Microsoft Windows 7 Starter Operating System
Microsoft Windows Vista Enterprise Operating System
Microsoft Windows Vista Ultimate Operating System
Microsoft Windows Vista Business Operating System
Microsoft Windows Vista Home Premium Operating System
Microsoft Windows Vista Home Basic Operating System
Microsoft Windows XP Professional Operating System
Microsoft Windows XP Home Edition Operating System
Microsoft Windows Millennium Edition Operating System
Microsoft Windows 98 Second Edition Operating System
Pentium 133 MHz or more
(Windows 98, Windows 2000)
(Windows Millennium Edition)
(Windows XP)
1 GHz or more 32-bit (586) processor (Windows Vista)
1 GHz or more 32-bit (586) or 64-bit (564) processor (Windows 7, Windows 8, Windows 8.1)
24 MB or more
(Windows 98)
32 MB or more
(Windows Millennium Edition, Windows 2000)
128 MB or more (Windows XP)
1 GB or more
(Windows Vista, Windows 7, Windows 8, Windows 8.1)
40 MB or more
Windows Internet Explorer 4.0 or later
Resolution 800 5 600 or more, 16-bit high color,
Compatible with above personal computers.
Not required
Notes: 1. Be sure to use the latest version of this software. Contact your local sales office for updating your software.

2. This software may not run correctly, depending on a personal computer being used.

3. For 64-bit operating system, this software is compatible with Windows 7 or later.

4. MR-J4W_ outputs regenerative energy.
5-71
B-RJ
WB
B-RJ010
A-RJ
MR Configurator2 can be obtained by either of the following:

Purchase MR Configurator2 alone.
Purchase GX Works3 or MT Works2: MR Configurator2 is included in GX Works3 and MT Works2 with software version 1.34L or later.
Download MR Configurator2: If you have GX Works2 or MT Works2 with software version earlier than 1.34L, you can download
MR Configurator2 from website free of charge.
Item
Project
Parameter
Monitor
Diagnosis
Adjustment
Others
System requirements
IBM PC/AT compatible model running with the following requirements.
Memory (recommended)
Free hard disk space
Communication interface
Browser
Monitor
Cautions
Keyboard
Mouse
Printer
Communication cable
Product List
CPU (recommended)
LVS/Wires
Personal computer (Note 1)
OS (Note 2)
MR Configurator2 (Note 3)
Microsoft Windows 8.1 Enterprise Operating System
Microsoft Windows 8.1 Pro Operating System
Microsoft Windows 8.1 Operating System
Microsoft Windows 8 Pro Operating System
Microsoft Windows 7 Ultimate Operating System
Microsoft Windows 7 Home Premium Operating System
Microsoft Windows 7 Starter Operating System
Microsoft Windows Vista Enterprise Operating System
Microsoft Windows Vista Ultimate Operating System
Microsoft Windows Vista Business Operating System
Microsoft Windows Vista Home Premium Operating System
Microsoft Windows Vista Home Basic Operating System
Microsoft Windows XP Professional Operating System, Service Pack2 or later
Microsoft Windows XP Home Edition Operating System, Service Pack2 or later
Desktop PC: Intel Celeron processor 2.8 GHz or more
Laptop PC: Intel Pentium M processor 1.7 GHz or more
512 MB or more (32-bit OS), 1 GB or more (64-bit OS)
1 GB or more
Use USB port
Windows Internet Explorer 4.0 or later
Resolution 1024 5 768 or more, 16-bit high color,
MR-J3USBCBL3M
Options/Peripheral
Equipment
Components
Direct Drive Motors
Notes: 1. Available only in the standard control mode. The motor-less operation is currently available only in the standard control mode and will be available in the fully closed loop
control mode, the linear servo motor control mode, and the direct drive motor control mode in the future.

2. Available only with MR-J4-_B_, MR-J4-_B_-RJ, MR-J4-DU_B_, MR-J4-DU_B_-RJ, MR-J4W_-B, and MR-J4-_B_-RJ010.

3. Available only with MR-J4-_A_, MR-J4-_A_-RJ, MR-J4-DU_A_, and MR-J4-DU_A_-RJ.

4. Available only in the standard control mode with MR-J4-_A_, MR-J4-_A_-RJ, MR-J4-DU_A_, and MR-J4-DU_A_-RJ.

5. Available only in the fully closed loop control mode.

6. Available only in the linear servo motor control mode.

7. Available only in the standard control mode, the fully closed loop control mode, and the direct drive motor control mode.
Linear Servo Motors
Test mode
Description
New/Open/Close/Save/Save As/Delete Project, Read Other Format, Write Other Format, System Setting,
Print Preview, Print, Exit MR Configurator2
Parameter Setting, Axis Name Setting (Note 3), Parameter Converter (Note 4)
Display All, I/O Monitor, Graph, ABS Data Display
Alarm Display, Alarm Onset Data, Drive Recorder, No Motor Rotation, System Configuration,
Life Diagnosis, Machine Diagnosis, Fully Closed Loop Diagnosis (Note 5), Linear Diagnosis (Note 6)
JOG Mode (Note 7), Positioning Mode, Motor-Less Operation (Note 1), DO Forced Output, Program Operation,
Test Mode Information
One-touch Tuning, Tuning, Machine Analyzer
Servo Assistant, Update Parameter Setting Range, Machine Unit Conversion Setting (Note 2), Help
Rotary Servo Motors
Specifications
Servo Amplifiers

MR Configurator2 (SW1DNC-MRC2-E)
Notes: 1. This software may not run correctly, depending on a personal computer being used.

2. For 64-bit operating system, this software is compatible with Windows 7 or later.

3. Be sure to use the latest version of this software. Contact your local sales office for updating your software.
5-72
Unit Conversion Table

Quantity
Mass
Length
Torque
Moment of inertia
Load (thrust load/axial load)
Temperature
5-73
SI (metric) unit
1 [kg]
1 [mm]
1 [Nm]
1 [(10-4 kgm2)]
1 [N]
n [C] 9/5 + 32
U.S. customary unit

2.2046 [lb]
0.03937 [in]
141.6 [ozin]
5.4675 [ozin2]
0.2248 [lbf]
n [F]
6
B
Features of Low-Voltage Switchgear
Servo amplifier
B-RJ WB B-RJ010 A
A-RJ l: Applicable
l ........ 6-1
Wires, Molded-Case Circuit Breakers and Magnetic Contactors l
........ 6-4
Selection Example in HIV Wires for Servo Motors
........ 6-6
MR-J4-B/MR-J4-DU_B
B-RJ
MR-J4-B-RJ/MR-J4-DU_B-RJ
l
WB
MR-J4W2-B/MR-J4W3-B
B-RJ010
MR-J4-B-RJ010
A MR-J4-A/MR-J4-DU_A
A-RJ MR-J4-A-RJ/MR-J4-DU_A-RJ
* Only MR-J4-B and MR-J4-A servo amplifiers are mentioned in this section. Note that low-voltage switchgear and wires for MR-J4-B-RJ and MR-J4-B-RJ010 are the same as those
for MR-J4-B, and MR-J4-A-RJ for MR-J4-A. For the low-voltage switchgear and wires for MR-J4-B-RJ, MR-J4-B-RJ010, and MR-J4-A-RJ, refer to those for MR-J4-B and MR-J4-A
with the same rated capacity.
Low-Voltage Switchgear/Wires
Mitsubishi Molded Case Circuit Breakers and Earth Leakage Circuit Breakers
WS-V Series
"WS-V Series" is the new circuit breakers that have a lot of superior aspects such as higher breaking
capacity, design for easy use, standardization of accessory parts, and compliance to the global
standards.
Features
Technologies based on long years of experience are brought together to
achieve improved performance
The new circuit breaking technology "Expanded ISTAC" has improved the currentlimiting performance and upgraded the overall breaking capacity.
Expansion of the conductor under the stator shortens the contact parting time of the
mover as compared to the conventional ISTAC structure.
The current-limiting performance has been improved remarkably. (The maximum
peak current value has been reduced by approx. 10%.)
New circuit breaking technology (Expanded ISTAC)

Grid
Current C
Compact design for ease of use

The thermal adjustable circuit breakers and electronic circuit breakers are smaller.
NF250-SGV
Reaction circuit
Fixed conductor
Current B
Volume ratio 79%

(Compared with our conventional models)
(Conventional model:
105 165 86 mm)
Current
Increased reaction force of

movable conductor
(New model:
105 165 68 mm)
Types of internal accessories are reduced from 3 types to 1 type

Standardization of internal accessories contributes to a reduction of stock and
delivery time.
For 32/63AF
Conventional models Three types
Breaking capacity comparison with a conventional model

20 %
UP
250-RG
Model Name
NF250-SGW
Arc
Movable conductor
50 %
UP
250-H
20 %
UP
250-S
WS-V Series
WS Series
38.8%
UP
250-C
20 %
UP
125-RG
20
40
60
80
100
kA at 400 V AC lcu
120
140
160
For 125AF
For 250AF
New models
For 32 to 250AF
One type
Applicable accessories
AL
AX
AL+AX
SHT
UVT
Style
Lineup of UL 489 listed circuit breakers with 54 mm width "Small Fit"
The compact breakers contribute to a size reduction of machines, and IEC 35 mm rail mounting is standard.
NF50-SVFU
NF100-CVFU
NV50-SVFU
NV100-CVFU
For security and standard compliance of machines, F-type and V-type

operating handles are available for breakers with 54 mm width.
Lineup of UL 489 listed circuit breakers for 480 V AC "High Performance"

The breaking capacity has been improved to satisfy the request for SCCR upgrading.
NF125-SVU
6-1
NF125-HVU
NF250-SVU
NF250-HVU
Breaking capacity of UL 489 listed circuit breakers for 480 V AC

(UL 489)
NF125-SVU/NV125-SVU: 30 kA
NF125-HVU/NV125-HVU: 50 kA
NF250-SVU/NV250-SVU: 35 kA
NF250-HVU/NV250-HVU: 50 kA
Mitsubishi Magnetic Motor Starters and Magnetic Contactors MS-T Series

Servo
Servo Amplifiers
Amplifiers
MS-T series is newly released!

The MS-T series is smaller than ever, enabling more compact control panel. The MS-T series is suitable for
MELSERVO-J4 series as well as other Mitsubishi FA equipment. In addition, the MS-T conforms to a variety
of global standards, supporting the global use.
Features
Just 36 mm wide for 10 A-frame type!
General-purpose magnetic contactor with smallest width* in the industry.
The width of MS-T series is reduced by 32% as compared to the prior MS-N series, enabling a more compact panel.
S-T10
*Based on Mitsubishi Electric research as of March 2014 in the general-purpose magnetic contactor industry for 10 A-frame class.
[Unit: mm]
Frame size
11 A
13 A
43
1/L1
Front view
3/L2
5/L3
1/L1
3/L2
75
13
13
1/L1
3/L2
5/L3
13
21
1/L1
3/L2
5/L3
1/L1
3/L2
5/L3
2/T1
4/T2
6/T3
21
43
31
13
21
32
44
22
14
2/T1
4/T2
6/T3
14
2/T1
S-N10
4/T2
Front view
6/T3
14
14
S-N11 (Auxiliary 1-pole)
2/T1
4/T2
6/T3
14
22
S-N12 (Auxiliary 2-pole)
43
36
New
MS-T series
5/L3
63
53
43
13
25 A
m!
-7 m
2/T1
4/T2
6/T3
S-N25
43
63
m!
-12 m
!
mm
-20
S-T12 (Auxiliary 2-pole)
S-T20
S-T25
Standardization
Covers provided as standard equipment
Terminal cover and auxiliary contact unit covers are provided as standard
equipment. Not only ensuring your safety, but also saving you time and cost of
selecting and purchasing the covers separately.
rs are
Cove ed as
attachdard.
stan
Wide-ranged operation coil rating

The prior series had 14 types of the operation coil rating. Owing to the wide-ranged operation coil rating, the number of
the rating types for the MS-T series is reduced to half, making it easier to select as compared to the prior model.
Consolidating the number of the produced coils type allows not just the reduction of customer storage, but also shortening of delivery time.
Coil designation
Coil designation
AC24 V
AC48 V
AC100 V
AC200 V
AC300 V
AC400 V
AC500 V
Rated voltage [V]

50 Hz/60 Hz
24
48 to 50
100 to 127
200 to 240
260 to 300
380 to 440
460 to 550
LVS/Wires
LVS/Wires
* 12 V type is an order-made product.
Product
Product List
List
AC12 V
AC24 V
AC48 V
AC100 V
AC120 V
AC127 V
AC200 V
AC220 V
AC230 V
AC260 V
AC380 V
AC400 V
AC440 V
AC500 V
Rated voltage [V]

50 Hz
60 Hz
12
12
24
24
48 to 50
48 to 50
100
100 to 110
110 to 120
115 to 120
125 to 127
127
200
200 to 220
208 to 220
220
220 to 240
230 to 240
240 to 260
260 to 280
346 to 380
380
380 to 415
400 to 440
415 to 440
460 to 480
500
500 to 550
Options/Peripheral
Options/Peripheral
Equipment
Equipment
Covers + Contactor
Direct
Direct Drive
Drive Motors
Motors
S-T10
22
S-N20
m!
-10 m
Linear
Linear Servo
Servo Motors
Motors
MS-N series
20 A
Rotary
Rotary Servo
Servo Motors
Motors
Compact
Global Standard
Conforms to various global standards
Not only major global standards such as IEC, JIS, UL, CE, and CCC but also ship standards and other country standards are planned
to be certified.
: Compliant as standard
International
S-T10 to S-T32
MSO-T10 to MSO-T25
TH-T18(KP) to TH-T25(KP)
Japan
Germany
BS/EN
England
Europe
Safety Standard
UL
CSA
U.S.A
Canada
EC Directive
CE Marking
Certification Body
TV
CCC
GB
Europe
Germany
China
Cautions
Cautions
Model
IEC
Applicable Standard
JIS
DIN/VDE
*1
*1. The Motor Starters will be certified under each type name of the Magnetic contactors and the Thermal Overload Relays on the condition that the Magnetic contactors and
the Thermal Overload Relays are used in combination.
6-2
Mitsubishi Magnetic Motor Starters and Magnetic Contactors MS-N Series
Environment-friendly Mitsubishi MS-N series ensures safety and conforms to various global standards. Its
compact size contributes to space-saving in a machine. The MS-N series is suitable for MELSERVO-J4 series as
well as other Mitsubishi FA equipment and can be used globally.
Features
Bifurcated contact adopted to achieve high contact reliability
Contact reliability is greatly improved by combining bifurcated moving contact and stationary contact.
This series responds to the various needs such as the application to safety circuit.
S-N35CX
* The MS-T series also has bifurcated contacts.
Mirror contact (auxiliary contact off at main contact welding)

The MS-N series meets requirements of "Control functions in the event of failure" described in
EN 60204-1 "Electrical equipment of machines", being suitable as interlock circuit contact. The MS-N
series is applicable for category 4 safety circuit. We ensure safety for our customers.
* The MS-T series also has mirror contacts.
Main contact welding
Various option units

Various options including surge absorbers and additional auxiliary contact blocks are available.
Gap
Conforms to various global standards

Model
S-N10 to S-N400
MSO-N10 to MSO-N400
TH-N12KP to TH-N400KP
IEC
International
Applicable Standard
JIS
DIN/VDE
Japan
Germany
BS/EN
England
Europe
Safety Standard
UL
CSA
U.S.A
Canada
Auxiliary
normally
closed
contact
: Compliant as standard
EC Directive
CE Marking
Certification Body
TV
CCC
GB
Europe
Germany
China
*1
*1. The Motor Starters are certified under each type name of the Magnetic contactors and the Thermal Overload Relays on the condition that the Magnetic contactors and the
Thermal Overload Relays are used in combination.
6-3
B-RJ
B-RJ010
A-RJ
Servo Amplifiers
Wires, Molded-Case Circuit Breakers and Magnetic Contactors

(Example of Selection for MR-J4-B/A)
The following are examples of wire sizes when 600 V grade heat-resistant polyvinyl chloride insulated wires (HIV wires) are used.
The wire size for U, V, W, and varies depending on the servo motor. Refer to "Selection Example in HIV Wires for Servo Motors" in
this catalog for details on wires for each servo motor.
MR-J4-20B/A
MR-J4-20B1/A1
MR-J4-40B/A
MR-J4-60B/A
MR-J4-70B/A
MR-J4-100B/A
MR-J4-350B/A
MR-J4-500B/A (Note 2)
MR-J4-700B/A (Note 2)
MR-J4-15KB/A (Note 2)
MR-J4-22KB/A
(Note 2)
MR-J4-60B4/A4
MR-J4-100B4/A4
MR-J4-350B4/A4
MR-J4-500B4/A4 (Note 2)
MR-J4-700B4/A4 (Note 2)
MR-J4-15KB4/A4 (Note 2)
MR-J4-22KB4/A4
(Note 2)
(Note 1)
AWG 16 to 10 (Note 4)
3.5 (AWG 12)
S-N35
5.5 (AWG 10)
2 to 5.5
(AWG 14 to 10)
S-N50
8 (AWG 8)
2 to 8 (AWG 14 to 8)
S-N50
14 (AWG 6)
S-N65
22 (AWG 4)
S-N95
38 (AWG 2)
125 A frame 125 A

(125 A frame 125 A)
225 A frame 175 A
(225 A frame 175 A)
30 A frame 5 A
(30 A frame 5 A)
30 A frame 10 A
(30 A frame 5 A)
30 A frame 15 A
(30 A frame 10 A)
30 A frame 20 A
(30 A frame 15 A)
30 A frame 20 A
(30 A frame 20 A)
30 A frame 30 A
(30 A frame 30 A)
50 A frame 50 A
(50 A frame 50 A)
60 A frame 60 A
(60 A frame 60 A)
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N20 (Note 6),
S-T21
S-N20 (Note 6),
S-T21
S-N20,
S-T21
100 A frame 100 A

(100 A frame 100 A)
1.25 to 2
(AWG 16 to 14)
3.5 (AWG 12)

(Note 1)
5.5 (AWG 10)

(Note 1)
5.5 (AWG 10),

8 (AWG 8),
14 (AWG 6)
8 (AWG 8),
22 (AWG 4)
38 (AWG 2)
2 (AWG 14)
2 (AWG 14)
AWG 16 to14 (Note 4)
2 (AWG 14)
2 (AWG 14)
2 (AWG 14)
(Note 1)
2 (AWG 14)
3.5 (AWG 12)
3.5 (AWG 12)
5.5 (AWG 10)
S-N25
5.5 (AWG 10)
S-N35
8 (AWG 8)
S-N50
14 (AWG 6)
Product List
MR-J4-11KB4/A4 (Note 2)
2 (AWG 14)
LVS/Wires
MR-J4-200B4/A4
100 A frame 100 A

(100 A frame 100 A)
AWG 18 to 14 (Note 4)
2 (AWG 14)
Options/Peripheral
Equipment
MR-J4-11KB/A (Note 2)
U, V, W,
Direct Drive Motors
MR-J4-200B/A
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N10,
S-T10
S-N20 (Note 6),
S-T21
S-N20,
S-T21

L11, L21
P+, C
Linear Servo Motors
MR-J4-40B1/A1
30 A frame 5 A
(30 A frame 5 A)
30 A frame 5 A
(30 A frame 5 A)
30 A frame 10 A
(30 A frame 10 A)
30 A frame 10 A
(30 A frame 5 A)
30 A frame 15 A
(30 A frame 10 A)
30 A frame 15 A
(30 A frame 10 A)
30 A frame 15 A
(30 A frame 10 A)
30 A frame 15 A
(30 A frame 10 A)
30 A frame 20 A
(30 A frame 20 A)
30 A frame 30 A
(30 A frame 30 A)
50 A frame 50 A
(50 A frame 50 A)
100 A frame 75 A
(60 A frame 60 A)
L1, L2, L3,
Rotary Servo Motors
MR-J4-10B(1)/A(1)
Molded-case circuit
Magnetic
breaker (Note 5, 7)
contactor (Note 3, 7)
8 (AWG 8)
3.5 (AWG 12)
(Note 1)
5.5 (AWG 10),

8 (AWG 8),
14 (AWG 6)
6-4
Cautions
Notes: 1. Keep the wire length to the regenerative option within 5 m.

2. When connecting the wires to the terminal blocks, be sure to use the screws attached to the terminal blocks.

3. Be sure to use a magnetic contactor with an operation delay time of 80 ms or less. The operation delay time is the time interval from current being applied to the coil until
closure of contacts.

4. The wire size shows applicable size for the servo amplifier connector.

5. When complying with IEC/EN/UL/CSA standard, refer to "MELSERVO-J4 Instructions and Cautions for Safe Use of AC Servos" enclosed with the servo amplifier.
When using a power improving reactor, use a molded-case circuit breaker listed in the brackets.

6. S-N18 can be used when auxiliary contact is not required.

7. Install one molded-case circuit breaker and one magnetic contactor for each servo amplifier.
Wires, Molded-Case Circuit Breakers and Magnetic Contactors

(Example of Selection for MR-J4-DU_B/MR-J4-DU_A)
B-RJ
A-RJ
The wire size for U, V, W, and
varies depending on the servo motor. Refer to "Selection Example in HIV Wires for Servo Motors" in
Converter unit
MR-CR55K
(Note 7)
Molded-case circuit
breaker (Note 8, 9)
Drive unit
MR-J4-DU30KB/A
MR-J4-DU37KB/A
MR-J4-DU30KB4/A4

L11, L21
P2, C
U, V, W,
S-N150
38 (AWG 2)
60 (AWG 2/0)
S-N180
60 (AWG 2/0)
60 (AWG 2/0)
S-N95
22 (AWG 4)
1.25 to 2
(AWG 16 to 14)
5.5 (AWG10)
(Note 1)
22 (AWG 4)
S-N125
22 (AWG 4)
S-N150
38 (AWG 2)
38 (AWG 2)
S-N180
38 (AWG 2)
38 (AWG 2)
Wires (Example of Selection for MR-J4W2-B and MR-J4W3-B)
WB
MR-CR55K4
(Note 7)
MR-J4-DU37KB4/A4
400A frame 250A

(225A frame 225A)
400A frame 300A
(400A frame 300A)
225A frame 125A
(225A frame 125A)
225A frame 150A
(225A frame 150A)
225A frame 175A
(225A frame 175A)
400A frame 225A
(225A frame 225A)
Magnetic
contactor (Note 1, 8) L1, L2, L3,
MR-J4-DU45KB4/A4
MR-J4-DU55KB4/A4
38 (AWG 2)
The wire size for U, V, W, and
varies depending on the servo motor. Refer to "Selection Example in HIV Wires for Servo Motors" in
Servo amplifier
model
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Molded-case circuit
breaker
Magnetic
contactor
Refer to the
following tables.
Refer to the
following
tables.
L1, L2, L3,

L11, L21
P+, C (Note 6)
AWG 18 to 14
2 (AWG 14)
(Note 2)
Molded-Case Circuit Breakers and Magnetic Contactors

(Example of Selection for MR-J4W2-B) (Note 4)
Total output of rotary servo
motors
300 W or less
Over 300 W to 600 W
Over 600 W to 1 kW
Over 1 kW to 2 kW
Total continuous thrust of linear

servo motors
150 N or less
Over 150 N to 300 N
Over 300 N to 720 N
Total output of direct drive

motors
100 W or less
Over 100 W to 252 W
Over 252 W to 838 W
WB
Molded-case circuit
breaker (Note 3, 8)
30 A frame 5 A
30 A frame 10 A
30 A frame 15 A
30 A frame 20 A
Molded-Case Circuit Breakers and Magnetic Contactors

(Example of Selection for MR-J4W3-B) (Note 4)
Total output of rotary servo
motors
450 W or less
Over 450 W to 800 W
Over 800 W to 1.5 kW
Total continuous thrust of linear

servo motors
150 N or less
Over 150 N to 300 N
Over 300 N to 450 N
Total output of direct drive

motors
252 W or less
Over 252 W to 378 W
U, V, W,
Magnetic
S-N10
S-N10
S-N10
S-N20 (Note 5)
WB
Molded-case circuit
breaker (Note 3, 8)
30 A frame 10 A
30 A frame 15 A
30 A frame 20 A
Magnetic
S-N10
S-N10
S-N20
Notes: 1. Be sure to use a magnetic contactor with an operation delay time of 80 ms or less. The operation delay time is the time interval from current being applied to the coil until
closure of contacts.

2. The wire size shows applicable size for the servo amplifier connector.

3. When complying with IEC/EN/UL/CSA standard, refer to "MELSERVO-J4 Instructions and Cautions for Safe Use of AC Servos" enclosed with the servo amplifier.

4. Refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for selecting a molded-case circuit breaker when combining multiple servo motors among the rotary servo
motor, the linear servo motor or the direct drive motor.

5. S-N18 can be used when auxiliary contact is not required.

6. Keep the wire length to the regenerative option within 5 m.

7. When connecting the wires to the terminal blocks, be sure to use the screws attached to the terminal blocks.

8. Install one molded-case circuit breaker and one magnetic contactor for each servo amplifier or drive unit.

9. When complying with IEC/EN/UL/CSA standard, refer to "MR-J4-DU/MR-CR Instructions and Cautions for Safe Use of AC Servos" enclosed with the converter unit and the
drive unit. When using a power improving reactor, use a molded-case circuit breaker listed in the brackets.
6-5
B-RJ
WB
B-RJ010
A-RJ
Rotary servo motor

HG-KR053, 13, 23, 43, 73
HG-SR51, 81
HG-SR121, 201
HG-SR301
HG-SR421
HG-SR52, 102
HG-SR152, 202
HG-SR352
HG-SR502
HG-SR524, 1024
HG-SR1524, 2024, 3524

HG-SR5024
HG-SR7024
HG-JR53, 73, 103

HG-JR153, 203
HG-JR353
HG-JR503
2 (AWG 14)
5.5 (AWG 10)
1.25 (AWG 16) (Note 5)

2 (AWG 14)
3.5 (AWG 12)

5.5 (AWG 10)
8 (AWG 8)
1.25 (AWG 16) (Note 5)

2 (AWG 14)
HG-JR1534, 2034, 3534
HG-JR5034
5.5 (AWG 10)
2 (AWG 14) (Note 6)
3.5 (AWG 12) (Note 6)

5.5 (AWG 10) (Note 6)
8 (AWG 8)
HG-JR9034, 12K14, 11K1M4, 15K1M4

HG-JR15K14
22 (AWG 4)
38 (AWG 2)
60 (AWG 2/0)
2 (AWG 14) (Note 6)
3.5 (AWG 12) (Note 6)

5.5 (AWG 10)
38 (AWG 2)
22 (AWG 4)
1.25 (AWG 16)
HG-UR72
1.25 (AWG 16) (Note 5)
HG-UR202
3.5 (AWG 12)
5.5 (AWG 10)

2 (AWG 14)
1.25 (AWG 16)
LVS/Wires
3.5 (AWG 12)
HG-UR352, 502
1.25 (AWG 16)
2 (AWG 14)
HG-RR203
HG-UR152
1.25 (AWG 16)
8 (AWG 8)
HG-JR45K1M4, 55K1M4
HG-RR353, 503
8 (AWG 8)
14 (AWG 6)
HG-RR103, 153
1.25 (AWG 16)
1.25 (AWG 16) (Note 5, 6)
HG-JR20K14, 25K14, 30K14, 22K1M4

HG-JR37K14, 30K1M4, 37K1M4
1.25 (AWG 16)
Options/Peripheral
Equipment
HG-JR7034, 6014, 701M4, 8014
1.25 (AWG 16) (Note 5, 6)
22 (AWG 4)
HG-JR534, 734, 1034
1.25 (AWG 16)
3.5 (AWG 12)
HG-JR15K1M
HG-JR30K1, 37K1, 30K1M, 37K1M
0.5 (AWG 20) (Note 4, 7)
3.5 (AWG 12)
14 (AWG 6)
HG-JR20K1, 25K1, 22K1M
For cooling fan (BU, BV, BW)
(Note 5)
HG-JR903, 801, 12K1, 11K1M

HG-JR15K1
For electromagnetic brake (B1, B2)
Direct Drive Motors
HG-JR703, 601, 701M
1.25 (AWG 16)
Wire size [mm2]
Linear Servo Motors
HG-SR702
0.75 (AWG 18) (Note 1, 2, 3)
Rotary Servo Motors
HG-MR053, 13, 23, 43, 73
For power and grounding (U, V, W,

(general environment)
Servo Amplifiers
The following are examples of wire sizes when 600 V grade heat-resistant polyvinyl chloride insulated wires (HIV wires) with a length of
30 m are used. Refer to "Servo Motor Instruction Manual (Vol. 3)" when using cab-tire cables for supplying power (U, V, and W) to
HG-SR/HG-JR/HG-RR/HG-UR series.
5.5 (AWG 10)
Notes: 1. Use a fluorine resin wire of 0.75 mm2 (AWG 18) for wiring to the servo motor power connector.

2. This size is applicable for wiring length of 10 m or shorter. For over 10 m, use MR-PWS2CBL03M-A_-L and extend it with HIV wire of 1.25 mm2 (AWG 16).

3. When complying with UL/CSA standard, extend the wire using MR-PWS2CBL03M-A_-L and HIV wire of 2 mm2 (AWG 14).

4. Use a fluorine resin wire of 0.5 mm2 (AWG 20) when connecting to servo motor electromagnetic brake connector.

5. When complying with UL/CSA standard, use 2 mm2 (AWG 14). Refer to "Servo Motor Instruction Manual (Vol. 3)" for details.

6. The same wire size is applicable when the torque is maximally increased.

7. This size is applicable for wiring length of 10 m or shorter. For over 10 m, extend the wire with HIV wire of 1.25 mm2 (AWG 16).
Product List
Cautions
6-6
B-RJ
WB
A-RJ
The following are examples of wire sizes when 600 V grade heat-resistant polyvinyl chloride insulated wires (HIV wires) with a length of
30 m are used.
Wire size [mm2]
For power and grounding (U, V, W, E)
(general environment)
1.25 (AWG 16) (Note 1)
Linear servo motor

Primary side
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
1.25 (AWG 16) (Note 1)
LM-H3P3B-24P-CSS0
1.25 (AWG 16) (Note 1)
LM-H3P3C-36P-CSS0
1.25 (AWG 16) (Note 1)
LM-H3P3D-48P-CSS0
2 (AWG 14)
LM-H3P7A-24P-ASS0
1.25 (AWG 16) (Note 1)
LM-H3P7B-48P-ASS0
2 (AWG 14)
LM-H3P7C-72P-ASS0
2 (AWG 14)
LM-H3P7D-96P-ASS0
Natural cooling
LM-FP2B-06M-1SS0
Liquid cooling
Natural cooling
LM-FP2D-12M-1SS0
3.5 (AWG 12) (Note 2)
Natural cooling
Liquid cooling
Natural cooling
LM-FP4F-36M-1SS0
LM-K2P1C-03M-2SS1
5.5 (AWG 10)
0.2 (AWG 24)
5.5 (AWG 10)
Liquid cooling
8 (AWG 8) (Note 3)
Liquid cooling
LM-K2P1A-01M-2SS1
5.5 (AWG 10)
8 (AWG 8) (Note 2)
Natural cooling
LM-FP5H-60M-1SS0
2 (AWG 14)
Liquid cooling
Natural cooling
LM-FP4H-48M-1SS0
2 (AWG 14)
Liquid cooling
Liquid cooling
LM-FP4D-24M-1SS0
2 (AWG 14)
3.5 (AWG 12)
Natural cooling
LM-FP4B-12M-1SS0
3.5 (AWG 12)
Liquid cooling
Natural cooling
LM-FP2F-18M-1SS0
8 (AWG 8)
5.5 (AWG 10)

8 (AWG 8)
1.25 (AWG 16)

2 (AWG 14)
LM-K2P2A-02M-1SS1
1.25 (AWG 16)
LM-K2P2E-12M-1SS1
5.5 (AWG 10)
LM-K2P2C-07M-1SS1
3.5 (AWG 12)
LM-K2P3C-14M-1SS1
3.5 (AWG 12)
LM-K2P3E-24M-1SS1
LM-U2PAB-05M-0SS0, LM-U2PAD-10M-0SS0, LM-U2PAF-15M-0SS0,
LM-U2PBB-07M-1SS0, LM-U2PBD-15M-1SS0, LM-U2PBF-22M-1SS0
LM-U2P2B-40M-2SS0
1.25 (AWG 16)
LM-U2P2D-80M-2SS0
5.5 (AWG 10)
LM-U2P2C-60M-2SS0
Direct drive motor

TM-RFM002C20, TM-RFM004C20, TM-RFM006C20, TM-RFM006E20,
TM-RFM012E20, TM-RFM018E20, TM-RFM012G20
TM-RFM048G20, TM-RFM072G20
5.5 (AWG 10)
2 (AWG 14)
3.5 (AWG 12)
Wire size [mm2]
For power and grounding (U, V, W,

1.25 (AWG 16)
3.5 (AWG 12)
TM-RFM040J10
1.25 (AWG 16)
TM-RFM240J10
5.5 (AWG 10)
TM-RFM120J10
3.5 (AWG 12)
Notes: 1. When complying with UL/CSA standard, use 2 mm2 (AWG 14). Refer to relevant Servo Amplifier Instruction Manual for details.

2. Use a wire which has a heat resistance temperature of 105 C for wiring to the servo motor power connector.

3. Use a wire which has a heat resistance temperature of 150 C for wiring to the servo motor power connector.
6-7
For thermistor (G1, G2)
Servo Amplifiers
MEMO
Rotary Servo Motors
Linear Servo Motors
Direct Drive Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
Product List
Servo amplifiers
Item
Model
MR-J4-20B
0.2 kW
MR-J4-40B
0.4 kW
MR-J4-60B
0.6 kW
MR-J4-70B
0.75 kW
MR-J4-100B
1 kW
2 kW
3.5 kW
MR-J4-500B
5 kW
MR-J4-700B
7 kW
MR-J4-11KB
11 kW
MR-J4-15KB
15 kW
MR-J4-22KB
22 kW
MR-J4-10B1
0.1 kW
0.2 kW
0.4 kW
MR-J4-60B4
0.6 kW
MR-J4-100B4
1 kW
MR-J4-200B4
2 kW
MR-J4-350B4
3.5 kW
5 kW
7 kW
MR-J4-11KB4
11 kW
MR-J4-15KB4
15 kW
MR-J4-22KB4
22 kW
100 V
MR-J4-20B1
class
MR-J4-40B1
400 V
MR-J4-500B4
class
MR-J4-700B4
200 V MR-J4-DU30KB
class MR-J4-DU37KB
Drive unit
MR-J4-DUB (Note 1)
37 kW
30 kW
400 V MR-J4-DU37KB4
class MR-J4-DU45KB4
37 kW
MR-J4-DU55KB4
55 kW
MR-J4-10B-RJ
0.1 kW
MR-J4-20B-RJ
0.2 kW
MR-J4-40B-RJ
0.4 kW
MR-J4-60B-RJ
0.6 kW
MR-J4-70B-RJ
0.75 kW
MR-J4-100B-RJ
1 kW
2 kW
3.5 kW
MR-J4-500B-RJ
5 kW
MR-J4-700B-RJ
7 kW
MR-J4-11KB-RJ
11 kW
MR-J4-15KB-RJ
15 kW
MR-J4-22KB-RJ
22 kW
MR-J4-10B1-RJ
0.1 kW
0.2 kW
0.4 kW
MR-J4-60B4-RJ
0.6 kW
MR-J4-100B4-RJ
1 kW
MR-J4-200B4-RJ
2 kW
MR-J4-350B4-RJ
400 V
MR-J4-500B4-RJ
class
MR-J4-700B4-RJ
3.5 kW
5 kW
7 kW
MR-J4-11KB4-RJ
11 kW
MR-J4-15KB4-RJ
15 kW
MR-J4-22KB4-RJ
22 kW
100 V
MR-J4-20B1-RJ
class
MR-J4-40B1-RJ
Notes:
7-1
30 kW
MR-J4-DU30KB4
200 V
MR-J4-200B-RJ
class
MR-J4-350B-RJ
Servo amplifier
MR-J4-B-RJ
0.1 kW
200 V
MR-J4-200B
class
MR-J4-350B
Servo amplifier
MR-J4-B
Rated output
MR-J4-10B
Main circuit power is supplied from the converter unit to the drive unit.
45 kW
Servo Amplifiers
Servo amplifiers
Item
Model
200 V MR-J4-DU30KB-RJ
class MR-J4-DU37KB-RJ
Drive unit
MR-J4-DUB-RJ (Note 1)
Servo amplifier
MR-J4W3-B
30 kW
400 V MR-J4-DU37KB4-RJ
class MR-J4-DU45KB4-RJ
37 kW
MR-J4-DU55KB4-RJ
55 kW
MR-J4W2-22B
0.2 kW 2 axes
MR-J4W2-44B
0.4 kW 2 axes
MR-J4W2-77B
0.75 kW 2 axes
MR-J4W2-1010B
1 kW 2 axes
MR-J4W3-222B
0.2 kW 3 axes
MR-J4W3-444B
0.4 kW 3 axes
MR-J4-10B-RJ010
0.1 kW
MR-J4-20B-RJ010
0.2 kW
MR-J4-40B-RJ010
0.4 kW
MR-J4-60B-RJ010
0.6 kW
MR-J4-70B-RJ010
0.75 kW
MR-J4-100B-RJ010
1 kW
2 kW
3.5 kW
MR-J4-500B-RJ010
5 kW
MR-J4-700B-RJ010
7 kW
MR-J4-11KB-RJ010
11 kW
MR-J4-15KB-RJ010
15 kW
MR-J4-22KB-RJ010
22 kW
MR-J4-60B4-RJ010
0.6 kW
MR-J4-100B4-RJ010
1 kW
MR-J4-200B4-RJ010
2 kW
MR-J4-350B4-RJ010
3.5 kW
5 kW
7 kW
MR-J4-11KB4-RJ010
11 kW
MR-J4-15KB4-RJ010
15 kW
MR-J4-22KB4-RJ010
22 kW
MR-J4-10A
0.1 kW
MR-J4-20A
0.2 kW
MR-J4-40A
0.4 kW
MR-J4-60A
0.6 kW
MR-J4-70A
0.75 kW
MR-J4-100A
1 kW
2 kW
3.5 kW
MR-J4-500A
5 kW
MR-J4-700A
7 kW
MR-J4-11KA
11 kW
MR-J4-15KA
15 kW
MR-J4-22KA
22 kW
MR-J4-10A1
0.1 kW
0.2 kW
0.4 kW
MR-J4-60A4
0.6 kW
MR-J4-100A4
1 kW
MR-J4-200A4
2 kW
MR-J4-350A4
3.5 kW
5 kW
7 kW
MR-J4-11KA4
11 kW
MR-J4-15KA4
15 kW
MR-J4-22KA4
22 kW
LVS/Wires
Product List
400 V
MR-J4-500A4
class
MR-J4-700A4
Options/Peripheral
Equipment
100 V
MR-J4-20A1
class
MR-J4-40A1
45 kW
Direct Drive Motors
200 V
MR-J4-200A
class
MR-J4-350A
Linear Servo Motors
400 V
MR-J4-500B4-RJ010
class
MR-J4-700B4-RJ010
Servo amplifier
MR-J4-A
37 kW
MR-J4-DU30KB4-RJ
200 V
MR-J4-200B-RJ010
class
MR-J4-350B-RJ010
Servo amplifier
MR-J4-B-RJ010 (Note 2)
Rotary Servo Motors
Servo amplifier
MR-J4W2-B
Rated output
30 kW
Cautions
Notes:
2. Optional CC-Link IE Field Network interface unit (MR-J3-T10) is required.
7-2
Product List
Servo amplifiers
Item
Model
200 V MR-J4-DU30KA
class MR-J4-DU37KA
Drive unit
MR-J4-DUA (Note 1)
30 kW
37 kW
MR-J4-DU55KA4
55 kW
MR-J4-10A-RJ
0.1 kW
MR-J4-20A-RJ
0.2 kW
MR-J4-40A-RJ
0.4 kW
MR-J4-60A-RJ
0.6 kW
MR-J4-70A-RJ
0.75 kW
MR-J4-100A-RJ
1 kW
2 kW
3.5 kW
MR-J4-500A-RJ
5 kW
MR-J4-700A-RJ
7 kW
MR-J4-11KA-RJ
11 kW
MR-J4-15KA-RJ
15 kW
MR-J4-22KA-RJ
22 kW
MR-J4-10A1-RJ
0.1 kW
0.2 kW
0.4 kW
MR-J4-60A4-RJ
0.6 kW
MR-J4-100A4-RJ
1 kW
MR-J4-200A4-RJ
2 kW
MR-J4-350A4-RJ
3.5 kW
5 kW
7 kW
MR-J4-11KA4-RJ
11 kW
MR-J4-15KA4-RJ
15 kW
MR-J4-22KA4-RJ
22 kW
400 V
MR-J4-500A4-RJ
class
MR-J4-700A4-RJ
200 V MR-J4-DU30KA-RJ
class MR-J4-DU37KA-RJ
30 kW
37 kW
30 kW
400 V MR-J4-DU37KA4-RJ
class MR-J4-DU45KA4-RJ
37 kW
45 kW
55 kW
200 V
MR-CR55K
class
55 kW
400 V
MR-CR55K4
class
55 kW
Notes:
7-3
45 kW
MR-J4-DU30KA4-RJ
MR-J4-DU55KA4-RJ
Converter unit
MR-CR
37 kW
400 V MR-J4-DU37KA4
class MR-J4-DU45KA4
100 V
MR-J4-20A1-RJ
class
MR-J4-40A1-RJ
Drive unit
MR-J4-DUA-RJ (Note 1)
MR-J4-DU30KA4
200 V
MR-J4-200A-RJ
class
MR-J4-350A-RJ
Servo amplifier
MR-J4-A-RJ
Rated output
30 kW
Servo Amplifiers
Rotary servo motors

Item
HG-KR series
B: With electromagnetic brake
3000 r/min
200 W
3000 r/min
HG-KR43(B)
400 W
3000 r/min
HG-KR73(B)
750 W
3000 r/min
HG-KR053(B)G1
1/5
50 W
3000 r/min
1/5
HG-KR053(B)G1
1/12
50 W
3000 r/min
1/12
HG-KR053(B)G1
1/20
50 W
3000 r/min
1/20
HG-KR13(B)G1
1/5
100 W
3000 r/min
1/5
HG-KR13(B)G1
1/12
100 W
3000 r/min
1/12
HG-KR13(B)G1
1/20
100 W
3000 r/min
1/20
HG-KR23(B)G1
1/5
200 W
3000 r/min
1/5
HG-KR23(B)G1
1/12
200 W
3000 r/min
1/12
HG-KR23(B)G1
1/20
200 W
3000 r/min
1/20
HG-KR43(B)G1
1/5
400 W
3000 r/min
1/5
HG-KR43(B)G1
1/12
400 W
3000 r/min
1/12
HG-KR43(B)G1
1/20
400 W
3000 r/min
1/20
HG-KR73(B)G1
1/5
750 W
3000 r/min
1/5
HG-KR73(B)G1
1/12
750 W
3000 r/min
1/12
HG-KR73(B)G1
1/20
750 W
3000 r/min
1/20
HG-KR053(B)G5
1/5 (40 40)
50 W
3000 r/min
1/5 (flange dimensions: 40 mm 40 mm)
HG-KR053(B)G5
1/5 (60 60)
50 W
3000 r/min
HG-KR053(B)G5
1/9
50 W
3000 r/min
1/9
HG-KR053(B)G5
1/11
50 W
3000 r/min
1/11
HG-KR053(B)G5
1/21
50 W
3000 r/min
1/21
HG-KR053(B)G5
1/33
50 W
3000 r/min
1/33
HG-KR053(B)G5
1/45
50 W
3000 r/min
1/45
HG-KR13(B)G5
1/5 (40 40)
100 W
3000 r/min
HG-KR13(B)G5
1/5 (60 60)
100 W
3000 r/min
HG-KR13(B)G5
1/11
100 W
3000 r/min
1/11
HG-KR13(B)G5
1/21
100 W
3000 r/min
1/21
HG-KR13(B)G5
1/33
100 W
3000 r/min
1/33
HG-KR13(B)G5
1/45
100 W
3000 r/min
1/45
HG-KR23(B)G5
1/5
200 W
3000 r/min
1/5
HG-KR23(B)G5
1/11
200 W
3000 r/min
1/11
HG-KR23(B)G5
1/21
200 W
3000 r/min
1/21
HG-KR23(B)G5
1/33
200 W
3000 r/min
1/33
HG-KR23(B)G5
1/45
200 W
3000 r/min
1/45
HG-KR43(B)G5
1/5
400 W
3000 r/min
1/5
HG-KR43(B)G5
1/11
400 W
3000 r/min
1/11
HG-KR43(B)G5
1/21
400 W
3000 r/min
1/21
HG-KR43(B)G5
1/33
400 W
3000 r/min
1/33
HG-KR43(B)G5
1/45
400 W
3000 r/min
1/45
HG-KR73(B)G5
1/5
750 W
3000 r/min
1/5
HG-KR73(B)G5
1/11
750 W
3000 r/min
1/11
HG-KR73(B)G5
1/21
750 W
3000 r/min
1/21
HG-KR73(B)G5
1/33
750 W
3000 r/min
1/33
HG-KR73(B)G5
1/45
750 W
3000 r/min
1/45
HG-KR053(B)G7
1/5 (40 40)
50 W
3000 r/min
HG-KR053(B)G7
1/5 (60 60)
50 W
3000 r/min
HG-KR053(B)G7
1/9
50 W
3000 r/min
1/9
HG-KR053(B)G7
1/11
50 W
3000 r/min
1/11
HG-KR053(B)G7
1/21
50 W
3000 r/min
1/21
Product List
100 W
HG-KR23(B)
LVS/Wires
HG-KR series
With shaft-output type reducer
for high precision applications,
flange mounting
HG-KR13(B)
Options/Peripheral
Equipment
Reduction ratio
-
Direct Drive Motors
HG-KR series
With flange-output type reducer
flange mounting
Rated speed
3000 r/min
Linear Servo Motors
Rated output
50 W
Rotary Servo Motors
HG-KR series
With reducer for general industrial
machines
Model
HG-KR053(B)
Cautions
7-4
Product List
Rotary servo motors

Item
HG-KR series
flange mounting
HG-MR series
HG-SR 1000 r/min series


Model
1/33
50 W
HG-KR053(B)G7
1/45
HG-KR13(B)G7
1/5 (40 40)
HG-KR13(B)G7
Rated speed
Reduction ratio
3000 r/min
1/33
50 W
3000 r/min
1/45
100 W
3000 r/min
1/5 (60 60)
100 W
3000 r/min
HG-KR13(B)G7
1/11
100 W
3000 r/min
1/11
HG-KR13(B)G7
1/21
100 W
3000 r/min
1/21
HG-KR13(B)G7
1/33
100 W
3000 r/min
1/33
HG-KR13(B)G7
1/45
100 W
3000 r/min
1/45
HG-KR23(B)G7
1/5
200 W
3000 r/min
1/5
HG-KR23(B)G7
1/11
200 W
3000 r/min
1/11
HG-KR23(B)G7
1/21
200 W
3000 r/min
1/21
HG-KR23(B)G7
1/33
200 W
3000 r/min
1/33
HG-KR23(B)G7
1/45
200 W
3000 r/min
1/45
HG-KR43(B)G7
1/5
400 W
3000 r/min
1/5
HG-KR43(B)G7
1/11
400 W
3000 r/min
1/11
HG-KR43(B)G7
1/21
400 W
3000 r/min
1/21
HG-KR43(B)G7
1/33
400 W
3000 r/min
1/33
HG-KR43(B)G7
1/45
400 W
3000 r/min
1/45
HG-KR73(B)G7
1/5
750 W
3000 r/min
1/5
HG-KR73(B)G7
1/11
750 W
3000 r/min
1/11
HG-KR73(B)G7
1/21
750 W
3000 r/min
1/21
HG-KR73(B)G7
1/33
750 W
3000 r/min
1/33
HG-KR73(B)G7
1/45
750 W
3000 r/min
1/45
HG-MR053(B)
50 W
3000 r/min
HG-MR13(B)
100 W
3000 r/min
HG-MR23(B)
200 W
3000 r/min
HG-MR43(B)
400 W
3000 r/min
HG-MR73(B)
750 W
3000 r/min
HG-SR51(B)
0.5 kW
1000 r/min
HG-SR81(B)
0.85 kW
1000 r/min
HG-SR121(B)
1.2 kW
1000 r/min
HG-SR201(B)
2.0 kW
1000 r/min
HG-SR301(B)
3.0 kW
1000 r/min
HG-SR421(B)
4.2 kW
1000 r/min
HG-SR52(B)
0.5 kW
2000 r/min
HG-SR102(B)
1.0 kW
2000 r/min
HG-SR152(B)
200 V
HG-SR202(B)
class
HG-SR352(B)
1.5 kW
2000 r/min
2.0 kW
2000 r/min
3.5 kW
2000 r/min
HG-SR502(B)
5.0 kW
2000 r/min
HG-SR702(B)
7.0 kW
2000 r/min
HG-SR524(B)
0.5 kW
2000 r/min
HG-SR1024(B)
1.0 kW
2000 r/min
HG-SR1524(B)
1.5 kW
2000 r/min
2.0 kW
2000 r/min
3.5 kW
2000 r/min
HG-SR5024(B)
5.0 kW
2000 r/min
HG-SR7024(B)
7.0 kW
2000 r/min
400 V
HG-SR2024(B)
class
HG-SR3524(B)
7-5
Rated output
HG-KR053(B)G7
Servo Amplifiers
Rotary servo motors

Item
Rated speed
Reduction ratio
HG-SR52(B)G1(H)
1/11
0.5 kW
2000 r/min
1/11
HG-SR52(B)G1(H)
1/17
0.5 kW
2000 r/min
1/17
HG-SR52(B)G1(H)
1/29
0.5 kW
2000 r/min
1/29
HG-SR52(B)G1(H)
1/35
0.5 kW
2000 r/min
1/35
HG-SR52(B)G1(H)
1/43
0.5 kW
2000 r/min
1/43
HG-SR52(B)G1(H)
1/59
0.5 kW
2000 r/min
1/59
HG-SR102(B)G1(H) 1/6
1.0 kW
2000 r/min
1/6
HG-SR102(B)G1(H) 1/11
1.0 kW
2000 r/min
1/11
HG-SR102(B)G1(H) 1/17
1.0 kW
2000 r/min
1/17
HG-SR102(B)G1(H) 1/29
1.0 kW
2000 r/min
1/29
HG-SR102(B)G1(H) 1/35
1.0 kW
2000 r/min
1/35
HG-SR102(B)G1(H) 1/43
1.0 kW
2000 r/min
1/43
HG-SR102(B)G1(H) 1/59
1.0 kW
2000 r/min
1/59
HG-SR152(B)G1(H) 1/6
1.5 kW
2000 r/min
1/6
HG-SR152(B)G1(H) 1/11
1.5 kW
2000 r/min
1/11
HG-SR152(B)G1(H) 1/17
1.5 kW
2000 r/min
1/17
HG-SR152(B)G1(H) 1/29
1.5 kW
2000 r/min
1/29
HG-SR152(B)G1(H) 1/35
1.5 kW
2000 r/min
1/35
HG-SR152(B)G1(H) 1/43
1.5 kW
2000 r/min
1/43
HG-SR152(B)G1(H) 1/59
1.5 kW
2000 r/min
1/59
HG-SR202(B)G1(H) 1/6
2.0 kW
2000 r/min
1/6
HG-SR202(B)G1(H) 1/11
2.0 kW
2000 r/min
1/11
HG-SR202(B)G1(H) 1/17
2.0 kW
2000 r/min
1/17
2.0 kW
2000 r/min
1/29
2.0 kW
2000 r/min
1/35
HG-SR202(B)G1(H) 1/43
2.0 kW
2000 r/min
1/43
HG-SR202(B)G1(H) 1/59
2.0 kW
2000 r/min
1/59
HG-SR352(B)G1(H) 1/6
3.5 kW
2000 r/min
1/6
HG-SR352(B)G1(H) 1/11
3.5 kW
2000 r/min
1/11
HG-SR352(B)G1(H) 1/17
3.5 kW
2000 r/min
1/17
HG-SR352(B)G1(H) 1/29
3.5 kW
2000 r/min
1/29
HG-SR352(B)G1(H) 1/35
3.5 kW
2000 r/min
1/35
HG-SR352(B)G1(H) 1/43
3.5 kW
2000 r/min
1/43
HG-SR352(B)G1(H) 1/59
3.5 kW
2000 r/min
1/59
HG-SR502(B)G1(H) 1/6
5.0 kW
2000 r/min
1/6
HG-SR502(B)G1(H) 1/11
5.0 kW
2000 r/min
1/11
HG-SR502(B)G1(H) 1/17
5.0 kW
2000 r/min
1/17
HG-SR502(B)G1(H) 1/29
5.0 kW
2000 r/min
1/29
HG-SR502(B)G1(H) 1/35
5.0 kW
2000 r/min
1/35
HG-SR502(B)G1(H) 1/43
5.0 kW
2000 r/min
1/43
HG-SR502(B)G1(H) 1/59
5.0 kW
2000 r/min
1/59
HG-SR702(B)G1(H) 1/6
7.0 kW
2000 r/min
1/6
HG-SR702(B)G1(H) 1/11
7.0 kW
2000 r/min
1/11
HG-SR702(B)G1(H) 1/17
7.0 kW
2000 r/min
1/17
HG-SR702(B)G1(H) 1/29
7.0 kW
2000 r/min
1/29
HG-SR702(B)G1(H) 1/35
7.0 kW
2000 r/min
1/35
HG-SR702(B)G1(H) 1/43
7.0 kW
2000 r/min
1/43
HG-SR702(B)G1(H) 1/59
7.0 kW
2000 r/min
1/59
200 V
HG-SR202(B)G1(H) 1/29
class
HG-SR202(B)G1(H) 1/35
LVS/Wires
1/6
Options/Peripheral
Equipment
2000 r/min
Direct Drive Motors
0.5 kW
Linear Servo Motors

G1: Flange mounting
G1H: Foot mounting
Rated output
1/6
Rotary Servo Motors

industrial machines
Model
HG-SR52(B)G1(H)
Product List
Cautions
7-6
Product List
Rotary servo motors

Item

industrial machines
G1: Flange mounting
G1H: Foot mounting
7-7
Model
Rated output
Rated speed
Reduction ratio
HG-SR524(B)G1(H) 1/6
0.5 kW
2000 r/min
1/6
HG-SR524(B)G1(H) 1/11
0.5 kW
2000 r/min
1/11
HG-SR524(B)G1(H) 1/17
0.5 kW
2000 r/min
1/17
HG-SR524(B)G1(H) 1/29
0.5 kW
2000 r/min
1/29
HG-SR524(B)G1(H) 1/35
0.5 kW
2000 r/min
1/35
HG-SR524(B)G1(H) 1/43
0.5 kW
2000 r/min
1/43
HG-SR524(B)G1(H) 1/59
0.5 kW
2000 r/min
1/59
HG-SR1024(B)G1(H) 1/6
1.0 kW
2000 r/min
1/6
HG-SR1024(B)G1(H) 1/11
1.0 kW
2000 r/min
1/11
HG-SR1024(B)G1(H) 1/17
1.0 kW
2000 r/min
1/17
HG-SR1024(B)G1(H) 1/29
1.0 kW
2000 r/min
1/29
HG-SR1024(B)G1(H) 1/35
1.0 kW
2000 r/min
1/35
HG-SR1024(B)G1(H) 1/43
1.0 kW
2000 r/min
1/43
HG-SR1024(B)G1(H) 1/59
1.0 kW
2000 r/min
1/59
HG-SR1524(B)G1(H) 1/6
1.5 kW
2000 r/min
1/6
HG-SR1524(B)G1(H) 1/11
1.5 kW
2000 r/min
1/11
HG-SR1524(B)G1(H) 1/17
1.5 kW
2000 r/min
1/17
HG-SR1524(B)G1(H) 1/29
1.5 kW
2000 r/min
1/29
HG-SR1524(B)G1(H) 1/35
1.5 kW
2000 r/min
1/35
HG-SR1524(B)G1(H) 1/43
1.5 kW
2000 r/min
1/43
HG-SR1524(B)G1(H) 1/59
1.5 kW
2000 r/min
1/59
HG-SR2024(B)G1(H) 1/6
2.0 kW
2000 r/min
1/6
HG-SR2024(B)G1(H) 1/11
2.0 kW
2000 r/min
1/11
HG-SR2024(B)G1(H) 1/17
2.0 kW
2000 r/min
1/17
2.0 kW
2000 r/min
1/29
2.0 kW
2000 r/min
1/35
HG-SR2024(B)G1(H) 1/43
2.0 kW
2000 r/min
1/43
HG-SR2024(B)G1(H) 1/59
2.0 kW
2000 r/min
1/59
HG-SR3524(B)G1(H) 1/6
3.5 kW
2000 r/min
1/6
HG-SR3524(B)G1(H) 1/11
3.5 kW
2000 r/min
1/11
HG-SR3524(B)G1(H) 1/17
3.5 kW
2000 r/min
1/17
HG-SR3524(B)G1(H) 1/29
3.5 kW
2000 r/min
1/29
HG-SR3524(B)G1(H) 1/35
3.5 kW
2000 r/min
1/35
HG-SR3524(B)G1(H) 1/43
3.5 kW
2000 r/min
1/43
HG-SR3524(B)G1(H) 1/59
3.5 kW
2000 r/min
1/59
HG-SR5024(B)G1(H) 1/6
5.0 kW
2000 r/min
1/6
HG-SR5024(B)G1(H) 1/11
5.0 kW
2000 r/min
1/11
HG-SR5024(B)G1(H) 1/17
5.0 kW
2000 r/min
1/17
HG-SR5024(B)G1(H) 1/29
5.0 kW
2000 r/min
1/29
HG-SR5024(B)G1(H) 1/35
5.0 kW
2000 r/min
1/35
HG-SR5024(B)G1(H) 1/43
5.0 kW
2000 r/min
1/43
HG-SR5024(B)G1(H) 1/59
5.0 kW
2000 r/min
1/59
HG-SR7024(B)G1(H) 1/6
7.0 kW
2000 r/min
1/6
HG-SR7024(B)G1(H) 1/11
7.0 kW
2000 r/min
1/11
HG-SR7024(B)G1(H) 1/17
7.0 kW
2000 r/min
1/17
HG-SR7024(B)G1(H) 1/29
7.0 kW
2000 r/min
1/29
HG-SR7024(B)G1(H) 1/35
7.0 kW
2000 r/min
1/35
HG-SR7024(B)G1(H) 1/43
7.0 kW
2000 r/min
1/43
HG-SR7024(B)G1(H) 1/59
7.0 kW
2000 r/min
1/59
400 V
HG-SR2024(B)G1(H) 1/29
class
HG-SR2024(B)G1(H) 1/35
Servo Amplifiers
Rotary servo motors

Item
Rated speed
Reduction ratio
1/11
0.5 kW
2000 r/min
1/11
HG-SR52(B)G5
1/21
0.5 kW
2000 r/min
1/21
HG-SR52(B)G5
1/33
0.5 kW
2000 r/min
1/33
HG-SR52(B)G5
1/45
0.5 kW
2000 r/min
1/45
HG-SR102(B)G5
1/5
1.0 kW
2000 r/min
1/5
HG-SR102(B)G5
1/11
1.0 kW
2000 r/min
1/11
HG-SR102(B)G5
1/21
1.0 kW
2000 r/min
1/21
HG-SR102(B)G5
1/33
1.0 kW
2000 r/min
1/33
HG-SR102(B)G5
1/45
1.0 kW
2000 r/min
1/45
HG-SR152(B)G5
1/5
1.5 kW
2000 r/min
1/5
HG-SR152(B)G5
1/11
1.5 kW
2000 r/min
1/11
200 V HG-SR152(B)G5
class HG-SR152(B)G5
1/21
1.5 kW
2000 r/min
1/21
1/33
1.5 kW
2000 r/min
1/33
HG-SR152(B)G5
1/45
1.5 kW
2000 r/min
1/45
HG-SR202(B)G5
1/5
2.0 kW
2000 r/min
1/5
HG-SR202(B)G5
1/11
2.0 kW
2000 r/min
1/11
HG-SR202(B)G5
1/21
2.0 kW
2000 r/min
1/21
HG-SR202(B)G5
1/33
2.0 kW
2000 r/min
1/33
HG-SR202(B)G5
1/45
2.0 kW
2000 r/min
1/45
HG-SR352(B)G5
1/5
3.5 kW
2000 r/min
1/5
HG-SR352(B)G5
1/11
3.5 kW
2000 r/min
1/11
HG-SR352(B)G5
1/21
3.5 kW
2000 r/min
1/21
HG-SR502(B)G5
1/5
5.0 kW
2000 r/min
1/5
HG-SR502(B)G5
1/11
5.0 kW
2000 r/min
1/11
HG-SR702(B)G5
1/5
7.0 kW
2000 r/min
1/5
HG-SR524(B)G5
1/5
0.5 kW
2000 r/min
1/5
HG-SR524(B)G5
1/11
0.5 kW
2000 r/min
1/11
HG-SR524(B)G5
1/21
0.5 kW
2000 r/min
1/21
HG-SR524(B)G5
1/33
0.5 kW
2000 r/min
1/33
HG-SR524(B)G5
1/45
0.5 kW
2000 r/min
1/45
HG-SR1024(B)G5
1/5
1.0 kW
2000 r/min
1/5
HG-SR1024(B)G5
1/11
1.0 kW
2000 r/min
1/11
HG-SR1024(B)G5
1/21
1.0 kW
2000 r/min
1/21
HG-SR1024(B)G5
1/33
1.0 kW
2000 r/min
1/33
HG-SR1024(B)G5
1/45
1.0 kW
2000 r/min
1/45
HG-SR1524(B)G5
1/5
1.5 kW
2000 r/min
1/5
HG-SR1524(B)G5
1/11
1.5 kW
2000 r/min
1/11
400 V HG-SR1524(B)G5
class HG-SR1524(B)G5
1/21
1.5 kW
2000 r/min
1/21
1/33
1.5 kW
2000 r/min
1/33
HG-SR1524(B)G5
1/45
1.5 kW
2000 r/min
1/45
HG-SR2024(B)G5
1/5
2.0 kW
2000 r/min
1/5
HG-SR2024(B)G5
1/11
2.0 kW
2000 r/min
1/11
HG-SR2024(B)G5
1/21
2.0 kW
2000 r/min
1/21
HG-SR2024(B)G5
1/33
2.0 kW
2000 r/min
1/33
HG-SR2024(B)G5
1/45
2.0 kW
2000 r/min
1/45
HG-SR3524(B)G5
1/5
3.5 kW
2000 r/min
1/5
HG-SR3524(B)G5
1/11
3.5 kW
2000 r/min
1/11
HG-SR3524(B)G5
1/21
3.5 kW
2000 r/min
1/21
HG-SR5024(B)G5
1/5
5.0 kW
2000 r/min
1/5
HG-SR5024(B)G5
1/11
5.0 kW
2000 r/min
1/11
HG-SR7024(B)G5
1/5
7.0 kW
2000 r/min
1/5
Product List
HG-SR52(B)G5
LVS/Wires
1/5
Options/Peripheral
Equipment
2000 r/min
Direct Drive Motors
0.5 kW
Linear Servo Motors
Rated output
1/5
Rotary Servo Motors

With flange-output type reducer
flange mounting
Model
HG-SR52(B)G5
Cautions
7-8
Product List
Rotary servo motors

Item

flange mounting
7-9
Model
Rated output
Rated speed
Reduction ratio
HG-SR52(B)G7
1/5
0.5 kW
2000 r/min
1/5
HG-SR52(B)G7
1/11
0.5 kW
2000 r/min
1/11
HG-SR52(B)G7
1/21
0.5 kW
2000 r/min
1/21
HG-SR52(B)G7
1/33
0.5 kW
2000 r/min
1/33
HG-SR52(B)G7
1/45
0.5 kW
2000 r/min
1/45
HG-SR102(B)G7
1/5
1.0 kW
2000 r/min
1/5
HG-SR102(B)G7
1/11
1.0 kW
2000 r/min
1/11
HG-SR102(B)G7
1/21
1.0 kW
2000 r/min
1/21
HG-SR102(B)G7
1/33
1.0 kW
2000 r/min
1/33
HG-SR102(B)G7
1/45
1.0 kW
2000 r/min
1/45
HG-SR152(B)G7
1/5
1.5 kW
2000 r/min
1/5
HG-SR152(B)G7
1/11
1.5 kW
2000 r/min
1/11
200 V HG-SR152(B)G7
class HG-SR152(B)G7
1/21
1.5 kW
2000 r/min
1/21
1/33
1.5 kW
2000 r/min
1/33
HG-SR152(B)G7
1/45
1.5 kW
2000 r/min
1/45
HG-SR202(B)G7
1/5
2.0 kW
2000 r/min
1/5
HG-SR202(B)G7
1/11
2.0 kW
2000 r/min
1/11
HG-SR202(B)G7
1/21
2.0 kW
2000 r/min
1/21
HG-SR202(B)G7
1/33
2.0 kW
2000 r/min
1/33
HG-SR202(B)G7
1/45
2.0 kW
2000 r/min
1/45
HG-SR352(B)G7
1/5
3.5 kW
2000 r/min
1/5
HG-SR352(B)G7
1/11
3.5 kW
2000 r/min
1/11
HG-SR352(B)G7
1/21
3.5 kW
2000 r/min
1/21
HG-SR502(B)G7
1/5
5.0 kW
2000 r/min
1/5
HG-SR502(B)G7
1/11
5.0 kW
2000 r/min
1/11
HG-SR702(B)G7
1/5
7.0 kW
2000 r/min
1/5
HG-SR524(B)G7
1/5
0.5 kW
2000 r/min
1/5
HG-SR524(B)G7
1/11
0.5 kW
2000 r/min
1/11
HG-SR524(B)G7
1/21
0.5 kW
2000 r/min
1/21
HG-SR524(B)G7
1/33
0.5 kW
2000 r/min
1/33
HG-SR524(B)G7
1/45
0.5 kW
2000 r/min
1/45
HG-SR1024(B)G7
1/5
1.0 kW
2000 r/min
1/5
HG-SR1024(B)G7
1/11
1.0 kW
2000 r/min
1/11
HG-SR1024(B)G7
1/21
1.0 kW
2000 r/min
1/21
HG-SR1024(B)G7
1/33
1.0 kW
2000 r/min
1/33
HG-SR1024(B)G7
1/45
1.0 kW
2000 r/min
1/45
HG-SR1524(B)G7
1/5
1.5 kW
2000 r/min
1/5
HG-SR1524(B)G7
1/11
1.5 kW
2000 r/min
1/11
400 V HG-SR1524(B)G7
class HG-SR1524(B)G7
1/21
1.5 kW
2000 r/min
1/21
1/33
1.5 kW
2000 r/min
1/33
HG-SR1524(B)G7
1/45
1.5 kW
2000 r/min
1/45
HG-SR2024(B)G7
1/5
2.0 kW
2000 r/min
1/5
HG-SR2024(B)G7
1/11
2.0 kW
2000 r/min
1/11
HG-SR2024(B)G7
1/21
2.0 kW
2000 r/min
1/21
HG-SR2024(B)G7
1/33
2.0 kW
2000 r/min
1/33
HG-SR2024(B)G7
1/45
2.0 kW
2000 r/min
1/45
HG-SR3524(B)G7
1/5
3.5 kW
2000 r/min
1/5
HG-SR3524(B)G7
1/11
3.5 kW
2000 r/min
1/11
HG-SR3524(B)G7
1/21
3.5 kW
2000 r/min
1/21
HG-SR5024(B)G7
1/5
5.0 kW
2000 r/min
1/5
HG-SR5024(B)G7
1/11
5.0 kW
2000 r/min
1/11
HG-SR7024(B)G7
1/5
7.0 kW
2000 r/min
1/5
Servo Amplifiers
Rotary servo motors

Item
Model
HG-JR601(B)
HG-JR801(B)
8.0 kW
1000 r/min
HG-JR12K1(B)
12 kW
1000 r/min
200 V HG-JR15K1
class HG-JR20K1
15 kW
1000 r/min
20 kW
1000 r/min
HG-JR25K1
25 kW
1000 r/min
HG-JR30K1
30 kW
1000 r/min
HG-JR37K1
37 kW
1000 r/min
HG-JR6014(B)
6.0 kW
1000 r/min
HG-JR8014(B)
8.0 kW
1000 r/min
HG-JR12K14(B)
12 kW
1000 r/min
400 V HG-JR15K14
class HG-JR20K14
15 kW
1000 r/min
20 kW
1000 r/min
HG-JR25K14
25 kW
1000 r/min
HG-JR30K14
30 kW
1000 r/min
HG-JR37K14
37 kW
1000 r/min
HG-JR701M(B)
7.0 kW
1500 r/min
HG-JR11K1M(B)
11 kW
1500 r/min
200 V HG-JR15K1M(B)
class HG-JR22K1M
15 kW
1500 r/min
1500 r/min
30 kW
1500 r/min
HG-JR37K1M
37 kW
1500 r/min
HG-JR701M4(B)
7.0 kW
1500 r/min
HG-JR11K1M4(B)
11 kW
1500 r/min
HG-JR15K1M4(B)
15 kW
1500 r/min
400 V HG-JR22K1M4
class HG-JR30K1M4
22 kW
1500 r/min
30 kW
1500 r/min
HG-JR37K1M4
37 kW
1500 r/min
HG-JR45K1M4
45 kW
1500 r/min
HG-JR55K1M4
55 kW
1500 r/min
HG-JR53(B)
0.5 kW
3000 r/min
HG-JR73(B)
0.75 kW
3000 r/min
HG-JR103(B)
1.0 kW
3000 r/min
HG-JR153(B)
1.5 kW
3000 r/min
2.0 kW
3000 r/min
3.3 kW (3.5 kW)
3000 r/min
5.0 kW
3000 r/min
200 V
HG-JR203(B)
class
HG-JR353(B)
HG-JR503(B)
3000 r/min
3000 r/min
HG-JR534(B)
0.5 kW
3000 r/min
HG-JR734(B)
0.75 kW
3000 r/min
HG-JR1034(B)
1.0 kW
3000 r/min
HG-JR1534(B)
1.5 kW
3000 r/min
2.0 kW
3000 r/min
3.3 kW (3.5 kW)
3000 r/min
HG-JR5034(B)
5.0 kW
3000 r/min
HG-JR7034(B)
7.0 kW
3000 r/min
HG-JR9034(B)
9.0 kW
3000 r/min
HG-RR103(B)
1.0 kW
3000 r/min
HG-RR series
HG-RR153(B)
1.5 kW
3000 r/min
HG-RR203(B)
2.0 kW
3000 r/min
HG-RR353(B)
3.5 kW
3000 r/min
HG-RR503(B)
5.0 kW
3000 r/min
HG-UR72(B)
0.75 kW
2000 r/min
HG-UR152(B)
1.5 kW
2000 r/min
HG-UR202(B)
2.0 kW
2000 r/min
HG-UR352(B)
3.5 kW
2000 r/min
HG-UR502(B)
5.0 kW
2000 r/min
400 V
HG-JR2034(B)
class
HG-JR3534(B)
HG-UR series
Product List
7.0 kW
9.0 kW
LVS/Wires
HG-JR703(B)
HG-JR903(B)
Options/Peripheral
Equipment
22 kW
HG-JR30K1M
Direct Drive Motors
Reduction ratio
-
Linear Servo Motors
Rated speed
1000 r/min
Rotary Servo Motors
Rated output
6.0 kW
Cautions
7-10
Product List
Linear servo motors

Item
LM-H3 series
Primary side (coil)
LM-H3 series
LM-F series
Primary side (coil)
LM-F series
LM-K2 series
Primary side (coil)
LM-K2 series
7-11
Continuous thrust
Model
Maximum thrust Maximum speed
Length
LM-H3P2A-07P-BSS0
70 N
175 N
3.0 m/s
LM-H3P3A-12P-CSS0
120 N
300 N
3.0 m/s
LM-H3P3B-24P-CSS0
240 N
600 N
3.0 m/s
LM-H3P3C-36P-CSS0
360 N
900 N
3.0 m/s
LM-H3P3D-48P-CSS0
480 N
1200 N
3.0 m/s
LM-H3P7A-24P-ASS0
240 N
600 N
3.0 m/s
LM-H3P7B-48P-ASS0
480 N
1200 N
3.0 m/s
LM-H3P7C-72P-ASS0
720 N
1800 N
3.0 m/s
LM-H3P7D-96P-ASS0
960 N
2400 N
3.0 m/s
LM-H3S20-288-BSS0
288 mm
LM-H3S20-384-BSS0
384 mm
LM-H3S20-480-BSS0
480 mm
LM-H3S20-768-BSS0
768 mm
LM-H3S30-288-CSS0
288 mm
LM-H3S30-384-CSS0
384 mm
LM-H3S30-480-CSS0
480 mm
LM-H3S30-768-CSS0
768 mm
LM-H3S70-288-ASS0
288 mm
LM-H3S70-384-ASS0
384 mm
LM-H3S70-480-ASS0
480 mm
LM-H3S70-768-ASS0
768 mm
LM-FP2B-06M-1SS0
300 N (natural cooling) /600 N (liquid cooling)
1800 N
2.0 m/s
LM-FP2D-12M-1SS0
3600 N
2.0 m/s
LM-FP2F-18M-1SS0
5400 N
2.0 m/s
3600 N
2.0 m/s
2.0 m/s
LM-FP4F-36M-1SS0
1200 N (natural cooling) /2400 N (liquid cooling) 7200 N

2.0 m/s
LM-FP4H-48M-1SS0
2.0 m/s
400 V
LM-FP5H-60M-1SS0
class
2.0 m/s
200 V
LM-FP4B-12M-1SS0
class
LM-FP4D-24M-1SS0
LM-FS20-480-1SS0
480 mm
200 V LM-FS20-576-1SS0
class LM-FS40-480-1SS0
576 mm
480 mm
LM-FS40-576-1SS0
576 mm
400 V LM-FS50-480-1SS0
class LM-FS50-576-1SS0
480 mm
576 mm
LM-K2P1A-01M-2SS1
120 N
300 N
2.0 m/s
LM-K2P1C-03M-2SS1
360 N
900 N
2.0 m/s
LM-K2P2A-02M-1SS1
240 N
600 N
2.0 m/s
LM-K2P2C-07M-1SS1
720 N
1800 N
2.0 m/s
LM-K2P2E-12M-1SS1
1200 N
3000 N
2.0 m/s
LM-K2P3C-14M-1SS1
1440 N
3600 N
2.0 m/s
LM-K2P3E-24M-1SS1
2400 N
6000 N
2.0 m/s
LM-K2S10-288-2SS1
288 mm
LM-K2S10-384-2SS1
384 mm
LM-K2S10-480-2SS1
480 mm
LM-K2S10-768-2SS1
768 mm
LM-K2S20-288-1SS1
288 mm
LM-K2S20-384-1SS1
384 mm
LM-K2S20-480-1SS1
480 mm
LM-K2S20-768-1SS1
768 mm
LM-K2S30-288-1SS1
288 mm
LM-K2S30-384-1SS1
384 mm
LM-K2S30-480-1SS1
480 mm
LM-K2S30-768-1SS1
768 mm
Item
Length
150 N
2.0 m/s
LM-U2PAD-10M-0SS0
100 N
300 N
2.0 m/s
LM-U2PAF-15M-0SS0
150 N
450 N
2.0 m/s
LM-U2PBB-07M-1SS0
75 N
225 N
2.0 m/s
LM-U2PBD-15M-1SS0
150 N
450 N
2.0 m/s
LM-U2PBF-22M-1SS0
225 N
675 N
2.0 m/s
LM-U2P2B-40M-2SS0
400 N
1600 N
2.0 m/s
LM-U2P2C-60M-2SS0
600 N
2400 N
2.0 m/s
LM-U2P2D-80M-2SS0
800 N
3200 N
2.0 m/s
LM-U2SA0-240-0SS0
240 mm
LM-U2SA0-300-0SS0
300 mm
LM-U2SA0-420-0SS0
420 mm
LM-U2SB0-240-1SS0
240 mm
LM-U2SB0-300-1SS0
300 mm
LM-U2SB0-420-1SS0
420 mm
LM-U2S20-300-2SS0
300 mm
LM-U2S20-480-2SS0
480 mm
Direct drive motors

Item
Maximum torque
Rated torque
Rated speed
2 Nm
6 Nm
TM-RFM004C20
4 Nm
12 Nm
200 r/min
TM-RFM006C20
6 Nm
18 Nm
200 r/min
TM-RFM006E20
6 Nm
18 Nm
200 r/min
TM-RFM012E20
12 Nm
36 Nm
200 r/min
200 r/min
TM-RFM018E20
18 Nm
54 Nm
200 r/min
TM-RFM012G20
12 Nm
36 Nm
200 r/min
TM-RFM048G20
48 Nm
144 Nm
200 r/min
TM-RFM072G20
72 Nm
216 Nm
200 r/min
100 r/min
40 Nm
120 Nm
120 Nm
360 Nm
100 r/min
TM-RFM240J10
240 Nm
720 Nm
100 r/min
Options/Peripheral
Equipment
TM-RFM040J10
TM-RFM120J10
Direct Drive Motors
TM-RFM series
Model
TM-RFM002C20
Linear Servo Motors
LM-U2 series
Maximum thrust Maximum speed
50 N
Rotary Servo Motors
LM-U2 series
Primary side (coil)
Continuous thrust
Model
LM-U2PAB-05M-0SS0
Servo Amplifiers
Linear servo motors
LVS/Wires
Product List
Cautions
7-12
Product List
Encoder cables/Junction cables

Item
Model
Bending life
Length
IP rating
Application
MR-J3ENCBL2M-A1-H
2m
Long bending life
IP65
For HG-KR/HG-MR (direct connection type)
MR-J3ENCBL5M-A1-H
5m
Long bending life
IP65
MR-J3ENCBL10M-A1-H
10 m
Long bending life
IP65
MR-J3ENCBL2M-A1-L
2m
Standard
IP65
MR-J3ENCBL5M-A1-L
5m
Standard
IP65
MR-J3ENCBL10M-A1-L
10 m
Standard
IP65
MR-J3ENCBL2M-A2-H
2m
Long bending life
IP65
MR-J3ENCBL5M-A2-H
5m
Long bending life
IP65
MR-J3ENCBL10M-A2-H
10 m
Long bending life
IP65
MR-J3ENCBL2M-A2-L
2m
Standard
IP65
MR-J3ENCBL5M-A2-L
5m
Standard
IP65
MR-J3ENCBL10M-A2-L
10 m
Standard
IP65
Encoder cable
(load-side lead)
MR-J3JCBL03M-A1-L
0.3 m
Standard
IP20
For HG-KR/HG-MR (junction type) (Note 1)
Encoder cable
(opposite to load-side lead)
MR-J3JCBL03M-A2-L
0.3 m
Standard
IP20
MR-EKCBL20M-H
20 m
Long bending life
IP20
MR-EKCBL30M-H
30 m
Long bending life
IP20
MR-EKCBL40M-H
40 m
Long bending life
IP20
MR-EKCBL50M-H
50 m
Long bending life
IP20
MR-EKCBL20M-L
20 m
Standard
IP20
MR-EKCBL30M-L
30 m
Standard
IP20
MR-EKCBL2M-H
2m
Long bending life
IP20

For connecting load-side encoder or
linear encoder
MR-EKCBL5M-H
5m
Long bending life
IP20

linear encoder
Encoder cable
(load-side lead)
MR-J3JSCBL03M-A1-L
0.3 m
Standard
IP65
Encoder cable
MR-J3JSCBL03M-A2-L
0.3 m
Standard
IP65
MR-J3ENSCBL2M-H
2m
Long bending life
IP67
MR-J3ENSCBL5M-H
5m
Long bending life
IP67
MR-J3ENSCBL10M-H
10 m
Long bending life
IP67
MR-J3ENSCBL20M-H
20 m
Long bending life
IP67
MR-J3ENSCBL30M-H
30 m
Long bending life
IP67
MR-J3ENSCBL40M-H
40 m
Long bending life
IP67
MR-J3ENSCBL50M-H
50 m
Long bending life
IP67
MR-J3ENSCBL2M-L
2m
Standard
IP67
MR-J3ENSCBL5M-L
5m
Standard
IP67
MR-J3ENSCBL10M-L
10 m
Standard
IP67
MR-J3ENSCBL20M-L
20 m
Standard
IP67
MR-J3ENSCBL30M-L
30 m
Standard
IP67
MR-ENECBL2M-H-MTH
2m
Long bending life
IP67
MR-ENECBL5M-H-MTH
5m
Long bending life
IP67
MR-ENECBL10M-H-MTH
10 m
Long bending life
IP67
MR-ENECBL20M-H-MTH
20 m
Long bending life
IP67
MR-ENECBL30M-H-MTH
30 m
Long bending life
IP67
MR-ENECBL40M-H-MTH
40 m
Long bending life
IP67
MR-ENECBL50M-H-MTH
50 m
Long bending life
IP67
MR-J4FCCBL03M
0.3 m
For branching load-side encoder
Junction cable for linear servo motor
MR-J4THCBL03M
0.3 m
For branching thermistor
Encoder cable
(load-side lead)
Encoder cable
Encoder cable
Encoder cable
For HG-KR/HG-MR (junction type) (Note 4),

For HG-SR/HG-JR53(4), 73(4), 103(4), 153(4),
203(4), 353(4), 503(4), 703(4), 903(4)/
HG-RR/HG-UR (direct connection type)

For HG-SR/HG-JR53(4), 73(4), 103(4), 153(4),
203(4), 353(4), 503(4), 703(4), 903(4)/
For HG-JR601(4), 801(4), 12K1(4), 15K1(4),

20K1(4), 25K1(4), 30K1(4), 37K1(4), 701M(4),
11K1M(4), 15K1M(4), 22K1M(4), 30K1M(4),
37K1M(4), 45K1M4, 55K1M4
Notes:
1. Use this in combination with MR-EKCBL_M-H (20 m to 50 m), MR-EKCBL_M-L (20 m or 30 m), or MR-ECNM.
2. Use this in combination with MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L.
3. Use this in combination with MR-J3ENSCBL_M-H, MR-J3ENSCBL_M-L, or MR-J3SCNS.
4. Use this in combination with MR-J3JSCBL03M-A1-L or MR-J3JSCBL03M-A2-L when using for HG-KR or HG-MR series.
7-13
Item
Description
Model
IP rating
Application
Straight type
Encoder connector 1,
Servo amplifier connector 1
IP67
For HG-SR/HG-JR53(4), 73(4), 103(4), 153(4),

203(4), 353(4), 503(4), 703(4), 903(4)/
HG-RR/HG-UR

(one-touch connection type)
MR-J3SCNSA
Angle type
IP67
For HG-SR/HG-JR53(4), 73(4), 103(4), 153(4),

203(4), 353(4), 503(4), 703(4), 903(4)/
HG-RR/HG-UR

(screw type)
MR-ENCNS2A
Angle type
IP67
For HG-SR/HG-JR53(4), 73(4), 103(4), 153(4),

203(4), 353(4), 503(4), 703(4), 903(4)/
HG-RR/HG-UR
MR-ECNM
Junction connector 1,
IP20

linear encoder
MR-ENECNS
Straight type
IP67
For HG-JR601(4), 801(4), 12K1(4), 15K1(4),

20K1(4), 25K1(4), 30K1(4), 37K1(4), 701M(4),
11K1M(4), 15K1M(4), 22K1M(4), 30K1M(4),
37K1M(4), 45K1M4, 55K1M4
MR-J3CN2
For connecting load-side encoder,

linear encoder, or thermistor
MR-J3DDCNS
Encoder connector or absolute

position storage unit connector 1, IP67
For TM-RFM
(connecting direct drive motor and servo
amplifier, or absolute position storage unit and
servo amplifier)
MR-J3DDSPS
Absolute position storage unit
connector 1
IP67
For TM-RFM
(connecting direct drive motor and absolute
position storage unit)
MR-J3THMCN2
Junction connector 2,
For fully closed loop control or branching

thermistor
Connector set
Options/Peripheral
Equipment
MR-ENCNS2
Direct Drive Motors

(screw type)
Linear Servo Motors
IP67
(Note 2)
,
For HG-KR/HG-MR (junction type)
For HG-SR/HG-JR53(4), 73(4), 103(4), 153(4),
203(4), 353(4), 503(4), 703(4), 903(4)/
Rotary Servo Motors
MR-J3SCNS
Straight type
Junction connector or encoder
connector 1,

Servo Amplifiers
Encoder connector sets/Junction connector sets
Notes:
1. Use this in combination with MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L.
2. Use this in combination with MR-J3JSCBL03M-A1-L or MR-J3JSCBL03M-A2-L when using for HG-KR or HG-MR series.
Servo motor power cables

Item
Model
Length
Bending life
IP rating
Application
Long bending life
IP65
MR-PWS1CBL5M-A1-H
5m
Long bending life
IP65
MR-PWS1CBL10M-A1-H
10 m
Long bending life
IP65
MR-PWS1CBL2M-A1-L
2m
Standard
IP65
MR-PWS1CBL5M-A1-L
5m
Standard
IP65
MR-PWS1CBL10M-A1-L
10 m
Standard
IP65
MR-PWS1CBL2M-A2-H
2m
Long bending life
IP65
MR-PWS1CBL5M-A2-H
5m
Long bending life
IP65
MR-PWS1CBL10M-A2-H
10 m
Long bending life
IP65
MR-PWS1CBL2M-A2-L
2m
Standard
IP65
MR-PWS1CBL5M-A2-L
5m
Standard
IP65
MR-PWS1CBL10M-A2-L
10 m
Standard
IP65

(load-side lead, lead-out)
MR-PWS2CBL03M-A1-L
0.3 m
Standard
IP55

(opposite to load-side lead, lead-out)
MR-PWS2CBL03M-A2-L
0.3 m
Standard
IP55


Product List
2m
LVS/Wires
MR-PWS1CBL2M-A1-H
Cautions
7-14
Product List
Servo motor power connector sets

Item
Description
Model
IP rating
Application
MR-PWCNF
Straight type
Power connector 1
IP67
For TM-RFM_C20, _E20
MR-PWCNS4
Straight type
Power connector 1
IP67
For HG-SR51, 81, 52(4), 102(4), 152(4)/

HG-JR53(4), 73(4), 103(4),
153(4), 203(4), 3534, 5034/
TM-RFM_G20
MR-PWCNS5
Straight type
Power connector 1
IP67
For HG-SR121, 201, 301, 202(4), 352(4),

502(4)/HG-JR353, 503/
TM-RFM040J10, 120J10
MR-PWCNS3
Straight type
Power connector 1
IP67
For HG-SR421, 702(4)/HG-JR703(4), 903(4),

601(4), 801(4), 12K1(4), 701M(4), 11K1M(4),
15K1M(4)/
TM-RFM240J10
MR-PWCNS1
Straight type
Power connector 1
IP67
For HG-RR103, 153, 203/

HG-UR72, 152
MR-PWCNS2
Straight type
Power connector 1
IP67
For HG-RR353, 503/

HG-UR202, 352, 502
Servo motor power connector set

EN compliant
Cooling fan power connector set

Item
Cooling fan power connector set
Description
Model
MR-PWCNF
Straight type
Power connector 1
IP rating
IP67
Application
For HG-JR15K1(4), 20K1(4), 25K1(4), 30K1(4),
37K1(4), 22K1M(4), 30K1M(4), 37K1M(4),
45K1M4, 55K1M4
Electromagnetic brake cables

Item
Model
Length
Bending life
IP rating
Application
Long bending life
IP65
5m
Long bending life
IP65
10 m
Long bending life
IP65
MR-BKS1CBL2M-A1-L
2m
Standard
IP65
MR-BKS1CBL5M-A1-L
5m
Standard
IP65
MR-BKS1CBL10M-A1-L
10 m
Standard
IP65
MR-BKS1CBL2M-A2-H
2m
Long bending life
IP65
MR-BKS1CBL5M-A2-H
5m
Long bending life
IP65
MR-BKS1CBL10M-A2-H
10 m
Long bending life
IP65
MR-BKS1CBL2M-A2-L
2m
Standard
IP65
MR-BKS1CBL5M-A2-L
5m
Standard
IP65
MR-BKS1CBL10M-A2-L
10 m
Standard
IP65

MR-BKS2CBL03M-A1-L
0.3 m
Standard
IP55

MR-BKS2CBL03M-A2-L
0.3 m
Standard
IP55


7-15
MR-BKS1CBL2M-A1-H
2m
MR-BKS1CBL5M-A1-H
MR-BKS1CBL10M-A1-H
Item
Description
Model
IP rating
Application
Straight type, Electromagnetic

brake connector 1
IP67

(screw type)
MR-BKCNS2

brake connector 1
IP67
For HG-SR/HG-JR53(4)B, 73(4)B, 103(4)B,

153(4)B, 203(4)B, 353(4)B, 503(4)B, 703(4)B,
903(4)B

MR-BKCNS1A
Angle type, Electromagnetic brake

IP67
connector 1
For HG-SR/HG-JR53(4)B, 73(4)B, 103(4)B,

153(4)B, 203(4)B, 353(4)B, 503(4)B, 703(4)B,
903(4)B

(screw type)
MR-BKCNS2A
Angle type, Electromagnetic brake

IP67
connector 1
For HG-SR/HG-JR53(4)B, 73(4)B, 103(4)B,

153(4)B, 203(4)B, 353(4)B, 503(4)B, 703(4)B,
903(4)B
MR-BKCN

brake connector 1
For HG-JR601(4)B, 801(4)B, 12K1(4)B,

701M(4)B, 11K1M(4)B, 15K1M(4)B/
HG-UR202B, 352B, 502B
IP67
Linear Servo Motors
MR-BKCNS1
SSCNET III cables/SSCNET III connector set

Item
SSCNET III cable

(long distance cable)
compatible with SSCNET III(/H)
Application
0.15 m
Standard
For MR-J4-B_/ B_-RJ, MR-J4-DUB_/

DUB_-RJ, and MR-J4W_-B
MR-J3BUS03M
0.3 m
Standard

MR-J3BUS05M
0.5 m
Standard

MR-J3BUS1M
1m
Standard

MR-J3BUS3M
3m
Standard

MR-J3BUS5M-A
5m
Standard

MR-J3BUS10M-A
10 m
Standard

MR-J3BUS20M-A
20 m
Standard

MR-J3BUS30M-B
30 m
Long bending life

MR-J3BUS40M-B
40 m
Long bending life

MR-J3BUS50M-B
50 m
Long bending life

MR-J3BCN1

LVS/Wires
SSCNET III connector set

IP rating
MR-J3BUS015M
Options/Peripheral
Equipment
SSCNET III cable

(standard cable outside cabinet)
Bending life
Length
Direct Drive Motors
SSCNET III cable

(standard cord inside cabinet)
Model
Junction terminal blocks/Junction terminal block cables

Item
Model
Rotary Servo Motors

For HG-SR/HG-JR53(4)B, 73(4)B, 103(4)B,

153(4)B, 203(4)B, 353(4)B, 503(4)B, 703(4)B,
903(4)B
Servo Amplifiers
Electromagnetic brake connector sets
Application
Length
MR-TB26A
For MR-J4W_-B
Junction terminal block cable

(for MR-TB26A)
MR-TBNATBL05M
0.5 m
For connecting MR-J4W_-B and MR-TB26A
MR-TBNATBL1M
1m
For connecting MR-J4W_-B and MR-TB26A
Junction terminal block (50 pins)
MR-TB50
For MR-J4-A_/ A_-RJ, and MR-J4-DUA_/ DUA_-RJ
Junction terminal block cable

(for MR-TB50)
MR-J2M-CN1TBL05M
0.5 m
For connecting MR-J4-A_/ A_-RJ, MR-J4-DUA_/ DUA_-RJ and MR-TB50
MR-J2M-CN1TBL1M
1m
For connecting MR-J4-A_/ A_-RJ, MR-J4-DUA_/ DUA_-RJ and MR-TB50
Product List
Junction terminal block (26 pins)
Cautions
7-16
Product List
Batteries/Battery case/Battery cables

Item
Battery
Model
Application
Length
MR-BAT6V1SET
For MR-J4-B_/ B_-RJ/ B_-RJ010, MR-J4-A_/ A_-RJ,

MR-J4-DUB_/ DUB_-RJ, and MR-J4-DUA_/ DUA_-RJ
MR-BAT6V1
For MR-BAT6V1SET, MR-BT6VCASE
Battery for junction battery cable
MR-BAT6V1BJ
For MR-BT6VCBL03M
Junction battery cable
MR-BT6VCBL03M
0.3 m
For MR-J4-B_/ B_-RJ/ B_-RJ010, MR-J4-A_/ A_-RJ

MR-J4-DUB_/ DUB_-RJ, and MR-J4-DUA_/ DUA_-RJ
Battery case
MR-BT6VCASE
For MR-J4-B_/ B_-RJ/ B_-RJ010, MR-J4-A_/ A_-RJ,

MR-J4-DUB_/ DUB_-RJ, MR-J4-DUA_/ DUA_-RJ, and MR-J4W_-B
MR-BT6V1CBL03M
0.3 m
For MR-BT6VCASE
MR-BT6V1CBL1M
1m
For MR-BT6VCASE
MR-BT6V2CBL03M
0.3 m
For MR-BT6VCASE
MR-BT6V2CBL1M
1m
For MR-BT6VCASE
Battery cable
Junction battery cable
Regenerative options
Model
Item
Regenerative option
(200 V AC/100 V AC)
Resistance value
Application
MR-RB032
30 W
40
For MR-J4-10B(1)/ B(1)-RJ/ B-RJ010 to 100B/

B-RJ/ B-RJ010, and
MR-J4-10A(1)/ A(1)-RJ to 100A/ A-RJ
MR-RB12
100 W
40
For MR-J4-20B(1)/ B(1)-RJ/ B-RJ010 to 100B/

B-RJ/ B-RJ010, and
MR-J4-20A(1)/ A(1)-RJ to 100A/ A-RJ
MR-RB30
300 W
13
For MR-J4-200B/ B-RJ/ B-RJ010, and

MR-J4-200A/ A-RJ
MR-RB3N
300 W
For MR-J4-350B/ B-RJ/ B-RJ010,

MR-J4-350A/ A-RJ, and
MR-J4W2-77B, 1010B
MR-RB31
300 W
6.7
For MR-J4-500B/ B-RJ/ B-RJ010, 700B/ B-RJ/

B-RJ010, and
MR-J4-500A/ A-RJ, 700A/ A-RJ
MR-RB32
300 W
40

B-RJ010, and
MR-J4-70A/ A-RJ, 100A/ A-RJ
MR-RB50
500 W
13

MR-J4-200A/ A-RJ
MR-RB5N
500 W

MR-J4-350A/ A-RJ
MR-RB51
500 W
6.7

B-RJ010, and
MR-J4-500A/ A-RJ, 700A/ A-RJ
MR-RB5R
500 (800) W
3.2
For MR-J4-11KB/ B-RJ/ B-RJ010, and

MR-J4-11KA/ A-RJ
MR-RB9F
850 (1300) W

MR-J4-15KA/ A-RJ
MR-RB9T
850 (1300) W
2.5

MR-J4-22KA/ A-RJ
MR-RB14
100 W
26
For MR-J4W2-22B, 44B, and

MR-J4W3-222B, 444B
MR-RB34
300 W
26
For MR-J4W3-222B, 444B
MR-RB139
1300 W
1.3
For MR-CR55K
MR-RB137 (Note 1)
3900 W
1.3
For MR-CR55K
Notes:
1. Please purchase three units of MR-RB137 for each converter unit.
7-17
Tolerable
regenerative power
Item
Tolerable
regenerative power
Resistance value
Application
82
For MR-J4-60B4/ B4-RJ/ B4-RJ010, 100B4/ B4RJ/ B4-RJ010, and

MR-J4-60A4/ A4-RJ, 100A4/ A4-RJ
MR-RB3M-4
300 W
120
For MR-J4-60B4/ B4-RJ/ B4-RJ010, 100B4/ B4RJ/ B4-RJ010, and

MR-J4-60A4/ A4-RJ, 100A4/ A4-RJ
MR-RB3G-4
300 W
47
For MR-J4-200B4/ B4-RJ/ B4-RJ010, 350B4/

B4-RJ/ B4-RJ010, and
MR-J4-200A4/ A4-RJ, 350A4/ A4-RJ
MR-RB34-4
300 W
26
For MR-J4-500B4/ B4-RJ/ B4-RJ010, and

MR-J4-500A4/ A4-RJ
MR-RB3U-4
300 W
22

MR-J4-700A4/ A4-RJ
MR-RB5G-4
500 W
47
For MR-J4-200B4/ B4-RJ/ B4-RJ010, 350B4/

B4-RJ/ B4-RJ010, and
MR-J4-200A4/ A4-RJ, 350A4/ A4-RJ
MR-RB54-4
500 W
26

MR-J4-500A4/ A4-RJ
MR-RB5U-4
500 W
22

MR-J4-700A4/ A4-RJ
MR-RB5K-4
500 (800) W
10
For MR-J4-11KB4/ B4-RJ/ B4-RJ010, and

MR-J4-11KA4/ A4-RJ
MR-RB6K-4
850 (1300) W
10
For MR-J4-15KB4/ B4-RJ/ B4-RJ010,

22KB4/ B4-RJ/ B4-RJ010, and
MR-J4-15KA4/ A4-RJ,
22KA4/ A4-RJ
MR-RB137-4
1300 W
For MR-CR55K4
MR-RB13V-4 (Note 1)
3900 W
For MR-CR55K4
Direct Drive Motors
100 W
Linear Servo Motors
MR-RB1H-4
Rotary Servo Motors
Regenerative option
(400 V AC)
Model
Servo Amplifiers
Regenerative options
Options/Peripheral
Equipment
Notes:
1. Please purchase three units of MR-RB13V-4 for each converter unit.
LVS/Wires
Product List
Cautions
7-18
Product List
Peripheral units
Item
Application
Model
CC-Link IE Field Network interface unit
MR-J3-T10
MR-D30
For MR-J4-B_-RJ, and MR-J4-DUB_-RJ
Safety logic unit
MR-J3-D05
For MR-J4-B_/ B_-RJ/ B_-RJ010, MR-J4-A_/ A_-RJ, MR-J4-DUB_/ DUB_-RJ,

MR-J4-DUA_/ DUA_-RJ, andMR-J4W_-B
Absolute position storage unit
MR-BTAS01
For MR-J4-B_/ B_-RJ, MR-J4-A_/ A_-RJ, and MR-J4W_-B
Parameter unit
MR-PRU03
For MR-J4-A_/ A_-RJ, and MR-J4-DUA_/ DUA_-RJ
MR-HDP01
For MR-J4-A_-RJ, and MR-J4-DUA_-RJ
DBU-11K
For MR-J4-11KB/ B-RJ/ B-RJ010, and MR-J4-11KA/ A-RJ
DBU-15K
DBU-22K-R1
DBU-37K-R1
For MR-J4-DUB/ DUB-RJ, and MR-J4-DUA/ DUA-RJ
Dynamic brake (200 V AC)
Dynamic brake (400 V AC)
Power factor improving DC reactor (200 V)
Power factor improving DC reactor (400 V)
Heat sink outside mounting attachment
For MR-J4-B_-RJ010
DBU-11K-4
For MR-J4-11KB4/ B4-RJ/ B4-RJ010, and MR-J4-11KA4/ A4-RJ
DBU-22K-4
For MR-J4-15KB4/ B4-RJ/ B4-RJ010, 22KB4/ B4-RJ/ B4-RJ010, and

MR-J4-15KA4/ A4-RJ, 22KA4/ A4-RJ
DBU-55K-4-R5
For MR-J4-DUB4/ DUB4-RJ, and MR-J4-DUA4/ DUA4-RJ
MR-DCL30K
For MR-CR55K + MR-J4-DU30KB(-RJ)/ MR-J4-DU30KA(-RJ)
MR-DCL37K
For MR-CR55K + MR-J4-DU37KB(-RJ)/ MR-J4-DU37KA(-RJ)
MR-DCL30K-4
For MR-CR55K4 + MR-J4-DU30KB4(-RJ)/ MR-J4-DU30KA4(-RJ)
MR-DCL37K-4
MR-DCL45K-4
MR-DCL55K-4
MR-J4ACN15K
For MR-J4-11KB(4)/ B(4)-RJ/ B(4)-RJ010, 15KB(4)/ B(4)-RJ/ B(4)-RJ010, and

MR-J4-11KA(4)/ A(4)-RJ, 15KA(4)/ A(4)-RJ
MR-J3ACN
For MR-J4-22KB(4)/ B(4)-RJ/ B(4)-RJ010, and MR-J4-22KA(4)/ A(4)-RJ
Peripheral cables/Connector sets

Item
Model
Application
Length
STO cable
MR-D05UDL3M-B
3m
For connecting MR-J4-B_/ B_-RJ/ B_-RJ010, MR-J4-A_/ A_-RJ, MR-J4-DUB_/

DUB_-RJ, MR-J4-DUA_/ DUA_-RJ, or MR-J4W_-B with MR-J3-D05 and other
safety control devices
Monitor cable
MR-J3CN6CBL1M
1m
For analog monitor output of MR-J4-A_/ A_-RJ, and MR-J4-DUA_/ DUA_-RJ
Personal computer communication cable

(USB cable)
MR-J3USBCBL3M
3m
For MR-J4-B_/ B_-RJ/ B_-RJ010, MR-J4-A_/ A_-RJ, MR-J4-DUB_/ DUB_-RJ,

MR-J4-DUA_/ DUA_-RJ, and MR-J4W_-B
Protection coordination cable
MR-J3CDL05M
0.5 m
For connecting converter unit and drive unit
MR-J3CN1
For I/O signals of MR-J4-A_/ A_-RJ, and MR-J4-DUA_/ DUA_-RJ
MR-CCN1
For I/O signals of MR-J4-B_/ B_-RJ/ B_-RJ010, and MR-J4-DUB_/ DUB_-RJ
MR-J2CMP2
For MR-J4W_-B (Qty: 1 pc)
MR-ECN1
For MR-J4W_-B (Qty: 20 pcs)
MR-J2CN1-A
Converter unit connector 1, drive unit connector 1
Connector set
Servo support software

Item
MR Configurator2 (Note 1)
Notes:
Application
Model
SW1DNC-MRC2-E
Servo setup software for AC servo
1. MR Configurator2 is included in MT Works2 with software version 1.34L or later.

If you have MT Works2 with software version earlier than 1.34L or GX works2, you can download MR Configurator2 from website.
7-19
Servo Amplifiers
MEMO
Rotary Servo Motors
Linear Servo Motors
Direct Drive Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Cautions
Cautions
To ensure safe use
To use the products given in this catalog properly, always read the
"Installation Guide" and "Instruction Manual" before starting to use them.
Cautions for model selection
Select a rotary servo motor or a direct drive motor which has the rated
torque equal to or higher than the continuous effective torque.
Select a linear servo motor which has the continuous thrust equal to or
higher than the continuous effective load thrust.
When the linear servo motor is used for vertical axis, it is necessary to
have anti-drop mechanism such as spring and counter balance in the

machine side.
When unbalanced torque is generated, such as in a vertical lift machine,
keep the unbalanced torque of the machine under 70% of the servo
motor rated torque.
Create the operating pattern by considering the settling time (ts).
Load to motor inertia ratio or
load to mass ratio must be
Speed
Command pattern
below the recommended
Actual servo motor
ratio. If the ratio is too large,
operation
the expected performance
may not be achieved, and the
Time
ts
Command time
dynamic brake may be
Positioning time
damaged.
General safety precautions

1. Transportation/installation
Combinations of the servo motor and the servo amplifier are
predetermined. Confirm the models of the servo motor and the servo
amplifier to be used before installation.
Do not drop or apply strong impact on the servo amplifier and the servo
motor as they are precision devices. They may be damaged from such
stress or shock.
When fumigants that contain halogen materials such as fluorine,
chlorine, bromine, and iodine are used for disinfecting and protecting
wooden packaging from insects, they cause malfunction when entering
our products. Please take necessary precautions to ensure that
remaining materials from fumigant do not enter our products, or treat
packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing
products.
Do not get on or place heavy objects on the servo amplifier or the servo
motor. Doing so may result in injury or damage.
The system must withstand high speeds and high acceleration/
deceleration.
To enable high-accuracy positioning, ensure the machine rigidity, and
keep the machine resonance point at a high level.
Mount the servo amplifier and the servo motor on nonflammable
material. Mounting them directly on or near flammable material may
result in fires.
The regenerative option becomes hot (the temperature rise of 100 C
or higher) with frequent use. Do not install within flammable objects or
objects subject to thermal deformation. Make sure that wires do not
come into contact with the unit.
Securely fix the servo motor onto the machine. Insufficient fixing may
cause the servo motor to dislocate during operation.
Install electrical and mechanical stoppers at the stroke end.
Mount the servo amplifier vertically on a wall.
Do not block intake and exhaust areas of the servo amplifier. Doing so
may cause the servo amplifier to malfunction.
8-1
When installing multiple servo amplifiers in a row in a sealed cabinet,
leave space around the servo amplifiers as described in Servo Amplifier

Instruction Manual. To ensure the life and reliability of the servo
amplifiers, prevent heat accumulation by keeping space as open as
possible toward the top plate.
2. Environment
Use the servo amplifier and the servo motor in the designated
environment.
Avoid installing the servo amplifier and the servo motor in areas with oil
mist or dust. When installing in such areas, be sure to enclose the servo
amplifier in a sealed cabinet, and protect the servo motor by furnishing
a cover or by taking similar measures.
Do not use in areas where the servo motor may be constantly subject
to cutting fluid or lubricant oil, or where dew could condense because of
oil mist, overcooling or excessive humidity. Doing so may deteriorate
the insulation of the servo motor.
3. Grounding
Securely ground to prevent electric shocks and to stabilize the potential

in the control circuit.
Connect the grounding wire to the cabinet protective earth (PE) terminal
via the servo amplifier protective earth (PE) terminal for the servo motor
grounding.
Faults such as a position mismatch may occur if the grounding is
insufficient.
4. Wiring
Do not supply power to the output terminals (U, V, and W) of the servo
amplifier or the input terminals (U, V, and W) of the servo motor. Doing
so damages the servo amplifier and the servo motor.
Connect the servo motor to the output terminals (U, V, and W) of the
servo amplifier.
Match the phase of the input terminals (U, V, and W) of the servo motor
to the output terminals (U, V, and W) of the servo amplifier when
connecting them. If they do not match, the servo motor does not
operate properly.
Check the wiring and sequence program thoroughly before switching
the power on.
Carefully select the cable clamping method, and make sure that
bending stress and the stress of the cable's own weight are not applied
on the cable connection section.
In an application where the servo motor moves, determine the cable
bending radius according to the cable bending life and wire type.
5. Initial settings
For MR-J4-A(-RJ), select a control mode from position, speed or torque

by [Pr. PA01]. Position control mode is set as default. Change the
parameter setting value when using the other control modes. For
MR-J4-B(-RJ) or MR-J4W_-B, the control mode is set by the controller.
When using the regenerative option, change [Pr. PA02]. The
regenerative option is disabled as default.
6. Operation
Do not use a product which is damaged or has missing parts. In that

case, replace the product.
Turn on FLS and RLS (Upper/Lower stroke limit), or LSP and LSN
(Forward/Reverse rotation stroke end) in position or speed control mode.

The servo motor will not start if the signals are off.
When a magnetic contactor is installed on the primary side of the servo
amplifier, do not perform frequent starts and stops with the magnetic
contactor. Doing so may damage the servo amplifier.
When an error occurs, the servo amplifier stops outputting the power
with activation of the protective function, and the servo motor stops
immediately with the dynamic brake. Servo amplifiers without dynamic
brake are also available for free-running the servo motor. Contact your
local sales office for more details.
The dynamic brake is a function for emergency stop. Do not use it to
Cautions for linear encoders
If the linear encoder is improperly mounted, an alarm or a positioning
Rotary Servo Motors
deviation may occur. Refer to the following general inspections of linear

encoder to verify the mounting state. Contact the relevant linear
encoder manufacturers for more details.
General inspections of linear encoder
(a) Verify that the gap between the linear encoder head and the linear
encoder is appropriate.
(b) Check for any rolling or yawing (looseness) on the linear encoder
head.
(c) Check for contaminations and scratches on the linear encoder
head and scale surface.
(d) Verify that vibration and temperature are within the specified range.
(e) Verify that the speed is within the tolerable range even when
overshooting.
Servo Amplifiers
Linear Servo Motors
stop the servo motor in normal operations.

As a rough guide, the dynamic brake withstands 1000 times of use
when a machine which has load to motor inertia ratio equals to or lower
than the recommended ratio stops from the rated speed every 10
minutes.
If the protective functions of the servo amplifier activate, turn the power
off immediately. Remove the cause before turning the power on again. If
operation is continued without removing the cause of the error, the
servo motor may malfunction, resulting in injury or damage.
The servo amplifier, the regenerative resistor, and the servo motor can
be very hot during or after operation. Take safety measures such as
covering them to prevent your hand and/or parts including cables from
coming in contact with them.
Do not touch the servo amplifier, the regenerative resistor, or the servo
motor while the power is on or for a while after the power is turned off.
Otherwise, an electric shock may occur. Be sure that the charge lamp is
off, and check the voltage between P+ and N- (L+ and L- for the drive
unit) with a voltage tester before wiring or inspection.
7. Others
Do not touch the servo amplifier or the servo motor with wet hands.
Do not modify the servo amplifier or the servo motor.
Direct Drive Motors
Cautions for SSCNET III cables
Options/Peripheral
Equipment
Do not apply excessive tension on the SSCNET III cable when cabling.
The minimum bending radius of the SSCNET III cable is 25 mm for
MR-J3BUS_M and 50 mm for MR-J3BUS_M-A/-B. If using these cables
under the minimum bending radius, performance cannot be guaranteed.
If the ends of the SSCNET III cable are dirty, the light will be obstructed,
causing malfunctions. Keep the ends clean.
Do not tighten the SSCNET III cable with cable ties, etc.
Do not look at the light directly when the SSCNET III cable is not
connected.
Cautions for rotary servo motors

and direct drive motors
Do not hammer the shaft of the rotary servo motor and the rotor of the
LVS/Wires
direct drive motor when installing a pulley or a coupling. Doing so may

damage the encoder. When installing the pulley or the coupling to the
key shaft servo motor, use the screw hole on the shaft end. Use a
pulley extractor when removing the pulley.
Do not apply a load exceeding the tolerable load onto the rotary servo
motor shaft or the direct drive motor rotor. The shaft or the rotor may
break.
When the rotary servo motor is mounted with the shaft vertical (shaft
up), take measures on the machine side so that oil from the gear box
does not get into the servo motor.
Mount the geared servo motor in a direction described in "Servo Motor
Instruction Manual (Vol. 3)."
When the direct drive motor is used in a machine such as vertical axis
which generates unbalanced torque, be sure to use it in absolute
position detection system.
Do not use the 24 V DC interface power supply for the electromagnetic
brake. Provide a dedicated power supply to the electromagnetic brake.
Do not apply the electromagnetic brake when the servo is on. Doing so
may cause the servo amplifier overload or shorten the brake life. Apply
the electromagnetic brake when the servo is off.
Torque may drop due to temperature increase of the rotary servo motor
or the direct drive motor. Be sure to use the motor within the specified
ambient temperature.
Product List
Cautions
8-2
Cautions
Cautions for linear servo motors
The linear servo system uses powerful magnets on the secondary side.
Magnetic force is inversely proportional to the square of the distance

from the magnetic material. Therefore, the magnetic force will be
significantly stronger as closer to the magnetic material. Persons
installing the linear servo motor as well as operating the machine must
be fully cautious. Persons with pacemakers or other medical devices
must keep away from the machine.
Keep cell phones, watches, calculators and other products which may
malfunction or fail due to the magnetic force away from the machine.
Avoid wearing metals including earrings and necklaces when handling
the machine.
Give a marking such as "CAUTION! POWERFUL MAGNET" to give
warning against the machine.
Use non-magnetic tools, when installing or working near the linear servo
motor.
e.g., explosion-proof beryllium copper alloy safety tools (BEALON
manufactured by NGK Insulators, Ltd.)
The permanent magnets on the secondary side generate attraction
force, and there is a risk that your hand may be caught. Handle the
linear servo motor carefully to avoid serious injury especially when
installing the primary side after installing the secondary side.
If the linear servo motor is used in such an environment where there is
magnetic powder, the powder may adhere to the permanent magnets
of the secondary side and cause a damage. In that case, take
measures to prevent the magnetic powder or pieces from being
attracted to the permanent magnets of the secondary side or from going
into the gap between primary side and secondary side.
The linear servo motor is rated IP00. Provide protection measures to
prevent dust and oil, etc., as necessary.
Install the moving part in such manner that the center of gravity of the
moving part comes directly above the center of the primary side.
Lead wires or cables led from the primary side do not have a long
bending life. Fix the lead wires or cables to a moving part to prevent the
lead wires or cables from repetitive bending.
Thrust may drop due to temperature increase of the linear servo motor.
Be sure to use the motor within the specified ambient temperature.
Disposal of linear servo motors
Dispose the primary side as industrial waste.

Demagnetize the secondary side with a heat of 300 C or higher, and
dispose as industrial waste. If not possible to demagnetize, return the
secondary side to us in an appropriate package.
Do not leave the product unattended.
8-3
For safety standard certification
Even though the MR-J4 series servo amplifier, MR-D30 functional safety
unit, and MR-J3-D05 safety logic unit are certified to various safety
standards, this does not guarantee that the systems in which they are
installed will also be certified. The entire system shall observe the
following:
(1) For safety circuits, use parts and/or devices whose safety are
confirmed or which satisfy safety standards.
(2) For details regarding the use of the servo amplifiers and other
cautionary information, refer to relevant Servo Amplifier Instruction
Manual.
(3) Perform risk assessment on the entire machine/system. It is
recommended to use a Certification Body for final safety certification.
Warranty
5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents
may be changed without notice.
LVS/Wires
Product List
Cautions
8-4
Options/Peripheral
Equipment
6. Application and use of the Product

(1) F
or 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) O
ur 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.
Direct Drive Motors
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.
Linear Servo Motors
[Limitations]
(1) Y
ou 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) T
his 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) E
ven 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
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.
Rotary Servo Motors
[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.
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) P
lease note that the Product (including its spare parts) cannot be
ordered after its stop of production.
Servo Amplifiers
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 is repaired or replaced.
Cautions
FA Products
PLC
MELSEC iQ-R Series

Revolutionary, next generation controllers building a new era in automation
High-speed, high-accuracy multiple CPU control system based on the iQ Platform
New high-speed system bus and inter-module sync realizes improved productivity and reduced TCO*
Reducing development costs through intuitive engineering (GX Works3)
Robust security features (such as security key authentication, IP filter)
Product Specications
Program capacity
LD instruction speed
Available modules
Control system architecture
Supported networks
40K steps to 1200K steps

0.98 ns
I/O, analog, high-speed counter, positioning, simple motion, network module
Rack-mounted modular based system
Ethernet, CC-Link IE Control Network, CC-Link IE Field Network,
CC-Link, RS-232, RS-422/485
Total Cost of Ownership
PLC
MELSEC-L Series
Light & Flexiblecondensing various functions easily and flexibly.
CPU equipped as a standard with various functions including counter, positioning and CC-Link.
The base-less structure with high degree of freedom saves space in the control panel.
Easily confirm the system status and change the settings with the display unit.
Ten models are available in program capacities from 20 k steps to 260 k steps.
Product specications
Program capacity
Number of input/output points [X/Y]
Number of input/output device points [X/Y]
Basic instruction processing speed (LD instruction)
External connection interface
Function modules
Unit expansion style
Network
PLC
20 k steps/60 k steps/260 k steps

1024 points/4096 points
8192 points
60 ns/ 40 ns/ 9.5 ns
USB, Ethernet, RS-232, SD memory card, CC-Link (L26CPU-BT/PBT)
I/O, analog, high-speed counter, positioning, simple motion, temperature control, network module
Base-less structure
Ethernet, CC-Link IE Field network, CC-Link, CC-Link/LT, SSCNETIII(/H), RS-232, RS-422
MELSEC-F Series
All-in-One Micro Programmable Controller equipped with all necessary functions in a compact body
Supporting small-scale control from 10 points to 384 points (using CC-Link) with an outstanding cost performance.
Wide range of options available for additional functions required by your system.
Easy to use and highly reliable. More than 12 million units have shipped worldwide. (April 2013)
Small-scale control is available in various networks such as CC-Link, Ethernet, and MODBUS.
Product specifications
Program capacity
Number of input/output points
Basic instruction processing speed
External connection interface
Built-in functions
Extended functions
Unit expansion style
Network
8-5
16k steps (FX 3S) to 64 k steps (FX 3U/FX 3UC)

10 points (FX 3S) to 384 points (FX 3U/FX 3UC with CC-Link)
0.21s (FX 3S) to 65 ns (FX 3U/FX 3UC)
RS-422, USB (FX 3S/FX 3G/FX 3GC/FX 3GE only), Ethernet (FX 3GE only), CC-Link/LT (FX 3UC-32MT-LT(-2) only)
I/O, high-speed counter input, positioning pulse output, analog (FX 3GE only)
I/O, analog, temperature control, high-speed counter, positioning, network
Backplane-less design
Ethernet, CC-Link, CC-Link/LT, SSCNET, CANopen, J1939, RS-232C, RS-422, RS-485, MODBUS
Servo Amplifiers
HMI
Graphic Operation Terminal GOT2000 Series GT27 Model

To the top of HMIs with further user-friendly, satisfactory standard features.
Rotary Servo Motors
Comfortable screen operation even if high-load processing (e.g. logging, device data transfer)
is running. (Monitoring performance is twice faster than GT16)
Actual usable space without using a SD card is expanded to 128MB for more flexible screen design.
Multi-touch features, two-point press, and scroll operations for more user-friendliness.
Outline font and PNG images for clear, beautiful screen display.
Mitsubishi General-Purpose AC Servo MELSERVO-JE Series
Direct Drive Motors
AC Servo
15", 12.1", 10.4", 8.4"

XGA, SVGA, VGA
32-step adjustment
Analog resistive film
RS-232, RS-422/485, Ethernet, USB, SD card
GT Works3
100 to 240VAC (+10, 15), 24VDC (+25, 20)
Linear Servo Motors
Screen size
Resolution
Intensity adjustment
Touch panel type
Built-in interface
Applicable software
Input power supply voltage
High performance and easy to use servo system for all machines
Easy To Use: The advanced one-touch tuning function enables servo adjustment with
one-touch ease without a personal computer.
High Performance: Class top-level basic performance including speed frequency response of 2.0kHz.
Options/Peripheral
Equipment
Global Standard: Digital input/output is compatible with both sink and source type
connections as a standard.
Power supply specifications
Command interface
Control mode
Speed frequency response
Tuning function
LVS/Wires
Inverter
1-phase/3-phase 200V AC
Pulse train, analog
Position/speed/torque
2.0kHz
Advanced one-touch tuning, advanced vibration control II, robust filter, etc.
Rotary servo motor (rated output: 0.1 to 3kW)
FR-A800 Series
High-functionality, high-performance inverter
Realize even higher responsiveness during real sensor-less vector control or vector control, and achieve faster operating frequencies.
Product List
The latest automatic tuning function supports various induction motors and also sensor-less PM motors.
The standard model is compatible with EU Safety Standards STO (PLd, SIL2). Add options to support higher level safety standards.
Control and monitor inverters via CC-Link/CC-Link IE Field Network (option interface).
Inverter capacity
Control method
Starting torque
Cautions
Output frequency range

Regenerative braking torque
(Maximum allowable duty)
200V class: 0.4kW to 90kW, 400V class: 0.4kW to 500kW

High-carrier frequency PWM control (Select from V/F, advanced magnetic flux vector,
real sensorless vector or PM sensorless vector control), vector control (when using options)
0.2 to 590Hz (when using V/F control or advanced magnetic flux vector control)
200V class: 0.4K to 1.5K (150% at 3%ED) 2.2K/3.7K (100% at 3%ED) 5.5K/7.5K (100% at 2%ED)
11K to 55K (20% continuous) 75K or more (10% continuous), 400V class: 0.4K to 7.5K (100% at 2%ED)
11K to 55K (20% continuous) 75K or more (10% continuous)
200% 0.3Hz (3.7K or less), 150% 0.3Hz (5.5K or more) (when using real sensorless vector, vector control)
8-6
Cautions
FA Products
Three-Phase Motor
High Performance Energy-Saving Motor
Super Line Premium Series
SF-PR
Premium Efficiency & Compatible. New Launch of Super Line Premium Series SF-PR Model
Compared to general-purpose motor SF-JR model, generated loss is reduced by 37% on average, and it is compatible with highly efficient premium IE3.
Easy replacement is achieved as mounting dimension (frame number) is compatible with general-purpose motor SF-JR model.
One motor can accommodate different power sources of Japan and the U.S. Three ratings in Japan meet the Top Runner standards, while it corresponds to EISA in the U.S.
Can be driven by inverters as standard. Advanced magnetic-flux vector control by our FR-A800/700 achieves steady torque drive up to 0.5Hz.
Number of poles
VoltageFrequency
Exterior
Protection system
Electrically-driven
power system
Rotation direction
Compatible standard
Robot
2-poles, 4-poles, 6-poles

200/200/220/230V 50/60/60/60Hz EISA 230V 60Hz or 400/400/440/460V 50/60/60/60Hz EISA 460V 60Hz
Totally enclosed fan cooled type (inside, outside installation)
IP44
Motor with 2-poles over 11kW is dedicated for a direct connection.
Motors with 4-poles and 6-poles are for both direct and crossed belt connections.
Counter-clock-wise (CCW) direction viewed from the edge of axis.
JEC-2137-2000 (Efficiency is compatible with IEC 60034-30.)
MELFAF Series
High speed, high precision and high reliability industrial robot
Compact body and slim arm design, allowing operating area to be expanded and load capacity increased.
The fastest in its class using high performance motors and unique driver control technology.
Improved flexibility for robot layout design considerations.
Optimal motor control tuning set automatically based on operating position, posture, and load conditions.
Degrees of freedom
Installation
Maximum load capacity
Maximum reach radius
CNC
Vertical:6Horizontal:4
Vertical:Floor-mount, ceiling mount, wall mount (Range of motion for J1 is limited)
Horizontal:Floor-mount
Vertical:2-20Horizontal:3-20kg
Vertical:504-1503Horizontal:350-1,000mm
MITSUBISHI CNC M70V Series

A global standard model that offers both high speed and accuracy.
Permits commands in 0.1m increments and internal interpolation control in 1nm increments for smooth, high-accuracy machining.
Intuitive operation and display of hierarchical screens, with an Ethernet I/F (standard feature) for easy program management.
Offers a more compact control panel by integrating the display and control.
A lineup that includes Type A for compound lathes, and Type B for tapping centers.
Maximum number of control axes (NC axes + spindles + PLC axes)
Maximum number of part systems
Least command increment
Least control increment
Maximum program capacity
Maximum PLC program capacity
Main functions (for machining center)
Main functions (for lathes)
8-7
Type A: 11 axes Type B: 9 axes

Type A: 2 systems
Type B: 1 system
0.1m
1nm
Type A: 2,000 KB (5,120 m) Type B: 500 KB (1,280 m)
Type A: 32,000 steps Type B: 20,000 steps
OMR-DD control (high-speed synchronous tapping), High-speed & high-accuracy control,Tool center point control,Inclined surface machining, etc.
Milling interpolation, 2-system simultaneous thread cutting, Control axis synchronization across part systems, Control axis superimposition, Mixed control, etc.
Servo Amplifiers
Low Voltage Circuit Breakers
Mitsubishi WS-V Series Molded Case Circuit Breakers, Earth Leakage Circuit Breakers
Technologies based on long year experience realize more improved performance.
The new electronic circuit breakers can display various measurement items.
Rotary Servo Motors
Improvement of breaking performance with new breaking technologyExpanded ISTAC.

Compliance with global standard for panel and machine export.
Commoditization of internal accessories for shorter delivery time and stock reduction.
Product Specifications.
MS-T Series
Direct Drive Motors
Magnetic Starter
32-250A Frame
Applicable to IEC, GB, UL, CSA, JIS and etc.
New line-up of 480VAC type with high breaking performance for SCCR requirement
Reduction of internal accessory types from 3 to 1
Common use of 32/63A frame in both AC and DC circuit
Thermal adjustable and electronic circuit breakers are same size as 250AF fixed type
MDU breakers measure, display and transmit energy date to realize energy management.
Linear Servo Motors
Frame
Applicable standard
Expansion of UL listed product line-up
Commoditization of internal accessories
Commoditization for AC and DC circuit use
Compact size for easy to use
Measuring Display Unit (MDU) breakers
Exceed your expectations.

10A frame model is over 16% smaller with a width of just 36mm!!
New integrated terminal covers.
Reduce your coil inventory by up to 50%.
Options/Peripheral
Equipment
Be certified to the highest international levels while work is ongoing to gain other country.
Product specications
Frame
Applicable standards
Terminal cover
Improved wiring
Operation coil rating
Option units
LVS/Wires
Low-voltage switch
10 A to 32 A
Certification to various standards including IEC, JIS, CE, UL, TV, CCC.
Standard terminal cover improves safety, simplifies ordering, and reduces inventory, etc.
Wiring and operability are improved with streamlining wiring terminal BC specifications.
Wide range of operation coil ratings reduces number of coil types from 14 (N Series) to 7 types and simplifies selection.
Diverse lineup includes Auxiliary Contact Block, Operation Coil Surge Absorber Unit, Mechanical Interlock Unit.
Mitsubishi Motor Circuit Breaker MMP-T Series

Introducing a Motor Circuit Breaker from Mitsubishi Electric!
Design smaller panels by using the Motor Circuit Breaker, various options and MS-T Series Magnetic Contactor.
Product List
Prevent secondary damage with Motor Circuit Breaker and Magnetic Contactor combination.
Streamlined wiring terminal BC specifications (option) contribute to improving your productivity.
Supports your overseas business with compliance to various International Standards as well as the UL Type E/F combination.
0.16 A to 32 A (15 types)
Standard product compliant with various International Standards including IEC, JIS, CCC, TV and UL (certified)
Bare wire, rod terminal, Y crimp and round crimp supported
Wiring and operability are improved with connection conductor unit and streamlined wiring terminal BC specifications (option)
Auxiliary/Alarm Contact Unit, Short-Circuit Indicator Unit, Line Side Terminal Adapter, Connection Conductor Unit, etc., available
Standard product mountable on rail
Standard product compliant with IP20 from front side of terminals
Type E/F combination certification acquired. Compatible up to maximum SCCR value 50 kA
Cautions
Rated current
Applicable (compliant) standards
Wiring types
Improvement of wiring
Optional units
DIN rail mounting
Finger protection support
Application in North America
8-8
Cautions
MEMO
8-9
Global FA Centers
UK FA Center
Germany FA Center
Russia FA Center
Beijing FA Center
Europe FA Center
Turkey FA Center
Tianjin FA Center
Guangzhou FA Center
India Gurgaon FA Center
India Ahmedabad FA Center
India Pune FA Center
India Bangalore FA Center
India Chennai FA Center
Thailand FA Center
Korea FA Center
ASEAN FA Center
Mitsubishi Electric Corp

Shanghai FA Center
North America FA Center
Mexico FA Center
Taipei FA Center
Hanoi FA Center
Ho Chi Minh FA Center
Indonesia FA Center
Brazil FA Center
China
Shanghai FA Center
MITSUBISHI ELECTRIC AUTOMATION
(CHINA) LTD.
No.1386 Hongqiao Road,
Mitsubishi Electric Automation Center,
Shanghai, China
Tel: 86-21-2322-3030 Fax: 86-21-2322-3000 (9611#)
Beijing FA Center
(CHINA) LTD. Beijing Branch
Unit 901, 9F, Office Tower 1, Henderson Centre,
18 Jianguomennei Avenue, Dongcheng District,
Beijing, China
Tel: 86-10-6518-8830 Fax: 86-10-6518-2938
Tianjin FA Center
(CHINA) LTD. Tianjin Branch
Room 2003 City Tower, No.35, Youyi Road,
Hexi District, Tianjin, China
Tel: 86-22-2813-1015 Fax: 86-22-2813-1017
Guangzhou FA Center
(CHINA) LTD. Guangzhou Branch
Room 1609, North Tower, The Hub Center,
No.1068, Xingang East Road, Haizhu District,
Guangzhou, China
Tel: 86-20-8923-6730 Fax: 86-20-8923-6715
Taiwan
Taipei FA Center
3F, No.105, Wugong 3rd Road, Wugu District,
New Taipei City 24889, Taiwan, R.O.C.
Tel: 886-2-2299-9917 Fax: 886-2-2299-9963
Korea
Korea FA Center
KOREA CO., LTD.
7F-9F, Gangseo Hangang Xi-tower A, 401,
Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea
Tel: 82-2-3660-9630 Fax: 82-2-3663-0475
Thailand
Thailand FA Center
MITSUBISHI ELECTRIC FACTORY AUTOMATION
(THAILAND) CO., LTD.
12th Floor, SV.City Building, Office Tower 1,
No. 896/19 and 20 Rama 3 Road,
Kwaeng Bangpongpang, Khet Yannawa, Bangkok
10120, Thailand
Tel: 66-2682-6522 to 6531 Fax: 66-2682-6020
ASEAN
ASEAN FA Center
MITSUBISHI ELECTRIC ASIA PTE. LTD.
307, Alexandra Road, Mitsubishi Electric Building,
Singapore 159943
Tel: 65-6470-2480 Fax: 65-6476-7439
Indonesia
America
Indonesia FA Center
Cikarang Office
Jl. Kenari Raya Blok G2-07A Delta Silicon 5,
Lippo Cikarang - Bekasi 17550, Indonesia
Tel: 62-21-2961-7797 Fax: 62-21-2961-7794
North America FA Center

500 Corporate Woods Parkway, Vernon Hills,
IL 60061, U.S.A.
Tel: 1-847-478-2100 Fax: 1-847-478-2253
Vietnam
Mexico FA Center
Mexico Branch
Mariano Escobedo #69, Col. Zona Industrial,
Tlalnepantla Edo, C.P.54030, Mexico
Tel: 52-55-3067-7511 Fax: -
Hanoi FA Center
MITSUBISHI ELECTRIC VIETNAM COMPANY
LIMITED Hanoi Branch
6 - Floor, Detech Tower, 8 Ton That Thuyet Street,
My Dinh 2 Ward, Nam Tu Liem District, Hanoi,
Vietnam
Tel: 84-4-3937-8075 Fax: 84-4-3937-8076
Ho Chi Minh FA Center
MITSUBISHI ELECTRIC VIETNAM COMPANY
LIMITED
Unit 01-04, 10th Floor, Vincom Center, 72 Le
Thanh Ton Street, District 1, Ho Chi Minh City,
Vietnam
Tel: 84-8-3910-5945 Fax: 84-8-3910-5947
India
India Pune FA Center

Pune Branch
Emerald House, EL -3, J Block, M.I.D.C Bhosari,
Pune - 411026, Maharashtra, India
Tel: 91-20-2710-2000 Fax: 91-20-2710-2100
India Gurgaon FA Center
Gurgaon Head Office
2nd Floor, Tower A & B, Cyber Greens, DLF
Cyber City, DLF Phase - III, Gurgaon - 122002
Haryana, India
Tel: 91-124-463-0300 Fax: 91-124-463-0399
India Bangalore FA Center
Bangalore Branch
Prestige Emerald, 6th Floor, Municipal No. 2,
Madras Bank Road (Lavelle Road), Bangalore 560001, Karnataka, India
Tel: 91-80-4020-1600 Fax: 91-80-4020-1699
India Chennai FA Center
Chennai Branch
Citilights Corporate Centre No.1,
Vivekananda Road, Srinivasa Nagar, Chetpet,
Chennai 600031, Tamil Nadu, India
Tel: 91-44-4554-8772 Fax: 91-44-4554-8773
India Ahmedabad FA Center
Ahmedabad Branch
B/4, 3rd Floor, Safal Profitaire, Corporate Road,
Prahaladnagar, Satellite, Ahmedabad,
Gujarat - 380015, India
Tel: 91-79-6512-0063 Fax: 91-79-6512-0063
Mexico
Brazil
Brazil FA Center
MITSUBISHI ELECTRIC DO BRASIL
COMRCIO E SERVIOS LTDA.
Rua Jussara, 1750- Bloco B Anexo, Jardim Santa
Cecilia, CEP 06465-070, Barueri - SP, Brasil
Tel: 55-11-4689-3000 Fax: 55-11-4689-3016
Europe
Europe FA Center
MITSUBISHI ELECTRIC EUROPE B.V.
Polish Branch
ul. Krakowska 50, 32-083 Balice, Poland
Tel: 48-12-630-47-00 Fax: 48-12-630-47-01
Germany FA Center
German Branch
Tel: 49-2102-486-0 Fax: 49-2102-486-1120
UK FA Center
UK Branch
Travellers Lane, Hatfield, Hertfordshire, AL10
8XB, U.K.
Tel: 44-1707-28-8780 Fax: 44-1707-27-8695
Czech Branch
Avenir Business Park, Radlicka 751/113e,
158 00 Praha5, Czech Republic
Tel: 420-251-551-470 Fax: 420-251-551-471
Russia FA Center
Russian Branch St. Petersburg office
Piskarevsky pr. 2, bld 2, lit Sch, BC Benua,
office 720; 195027, St. Petersburg, Russia
Tel: 7-812-633-3497 Fax: 7-812-633-3499
Turkey FA Center
MITSUBISHI ELECTRIC TURKEY A.
mraniye Branch
erifali Mahallesi Nutuk Sokak No:5,
TR-34775 mraniye, stanbul, Trkey
Tel: 90-216-526-3990 Fax: 90-216-526-3995
8-10
List of Instruction Manuals

Instruction Manuals for MELSERVO-J4 series are listed below:
Servo Amplifier
Manual name
MR-J4-_A(-RJ)/MR-J4-_A4(-RJ)/MR-J4-_A1(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL
MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ SERVO AMPLIFIER INSTRUCTION MANUAL (POSITIONING MODE)
MR-J4-_B(-RJ)/MR-J4-_B4(-RJ)/MR-J4-_B1(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL
MR-J4W2-_B/MR-J4W3-_B SERVO AMPLIFIER INSTRUCTION MANUAL
MELSERVO-J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING
MR-J4-_B-RJ010/MR-J4-_B4-RJ010/MR-J3-T10 SERVO AMPLIFIER INSTRUCTION MANUAL
MR-J4-DU_(-RJ)/MR-CR55K_ INSTRUCTION MANUAL
Servo Motor
Manual name
HG-KR/HG-MR/HG-SR/HG-JR/HG-RR/HG-UR SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
LM-H3/LM-U2/LM-F/LM-K2 LINEAR SERVO MOTOR INSTRUCTION MANUAL
TM-RFM DIRECT DRIVE MOTOR INSTRUCTION MANUAL
Option
Manual name
Functional safety unit MR-D30 INSTRUCTION MANUAL
Others
EMC Installation Guidelines
LINEAR ENCODER INSTRUCTION MANUAL
8-11
Manual name
Manual No.
SH-030107
SH-030143
SH-030106
SH-030105
SH-030109
SH-030117
SH-030153
Manual No.
SH-030113
SH-030110
SH-030112
Manual No.
SH-030132
Manual No.
IB-67310
SH-030111
Microsoft, Windows, Internet Explorer, and Windows Vista are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other
countries.
Celeron and Pentium are registered trademarks of Intel Corporation.
Ethernet is a trademark of Xerox Corporation.
PCI Express is US registered trademarks and/or service marks of PCI-SIG.
All other company names and product names used in this document are trademarks or registered trademarks of their respective companies.
Safety Warning
To ensure proper use of the products listed in this catalog,
please be sure to read the instruction manual prior to use.
8-12
SERVO AMPLIFIERS & MOTORS

Country/Region Sales office
Tel/Fax
USA

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Tel : +1-847-478-2100
Fax : +1-847-478-2253
Mexico
MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch

Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico
Tel : +52-55-3067-7500
Fax :
Brazil
MITSUBISHI ELECTRIC DO BRASIL COMRCIO E SERVIOS LTDA.

Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil
Tel : +55-11-4689-3000
Fax : +55-11-4689-3016
Germany
MITSUBISHI ELECTRIC EUROPE B.V. German Branch

Tel : +49-2102-486-0
Fax : +49-2102-486-1120
UK
MITSUBISHI ELECTRIC EUROPE B.V. UK Branch

Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.
Tel : +44-1707-28-8780
Fax : +44-1707-27-8695
Italy
MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch

Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate
Brianza(Milano) Italy
Tel : +39-039-60531
Fax : +39-039-6053-312
Spain
MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch

Carretera de Rub, 76-80-Apdo. 420, 08173 Sant Cugat del Valls (Barcelona), Spain
Tel : +34-935-65-3131
Fax : +34-935-89-1579
France
MITSUBISHI ELECTRIC EUROPE B.V. French Branch

25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel : +33-1-55-68-55-68
Fax : +33-1-55-68-57-57
Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch

Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic
Tel : +420-251-551-470
Fax : +420-251-551-471
Poland
MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch

ul. Krakowska 50, 32-083 Balice, Poland
Tel : +48-12-630-47-00
Fax : +48-12-630-47-01
Russia
MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office

Piskarevsky pr. 2, bld 2, lit Sch, BC Benua, office 720; RU-195027
Tel : +7-812-633-3497
Fax : +7-812-633-3499
Sweden
MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia)

Fjelievgen 8, SE-22736 Lund, Sweden
Tel : +46-8-625-10-00
Fax : +46-46-39-70-18
Turkey
MITSUBISHI ELECTRIC TURKEY A. mraniye Branch

erifali Mahallesi Nutuk Sokak No:5, TR-34775 mraniye, stanbul, Trkey
Tel : +90-216-526-3990
Fax : +90-216-526-3995
UAE
MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch

Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.
Tel : +971-4-3724716
Fax : +971-4-3724721
South Africa
ADROIT TECHNOLOGIES
20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South Africa
Tel : +27-11-658-8100
Fax : +27-11-658-8101
China
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD.

No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China
Tel : +86-21-2322-3030
Fax : +86-21-2322-3000
Taiwan

6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C.
Tel : +886-2-2299-2499
Fax : +886-2-2299-2509
Korea
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.

7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea
Tel : +82-2-3660-9510
Fax : +82-2-3664-8372/8335
Singapore
MITSUBISHI ELECTRIC ASIA PTE. LTD.

307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Tel : +65-6473-2308
Fax : +65-6476-7439
Thailand
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD.

12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng
Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Tel : +66-2682-6522 to 6531

Fax : +66-2682-6020
Indonesia

Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia
Tel : +62-21-3192-6461
Fax : +62-21-3192-3942
Vietnam
MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED

Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City,
Vietnam
Tel : +84-8-3910-5945
Fax : +84-8-3910-5947
India
MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch

Emerald House, EL -3, J Block, M.I.D.C Bhosari, Pune - 411026, Maharashtra, India
Tel : +91-20-2710-2000
Fax : +91-20-2710-2100
Australia
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.

348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia
Tel : +61-2-9684-7777
Fax : +61-2-9684-7245
L(NA)03058-E 1410 Printed in Japan [IP]
New publication, effective October 2014.

Specifications are subject to change without notice.

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SERVO AMPLIFIERS & MOTORS

MELSERVO-J4 trusted technology makes an evolutionary leap forward

A complete system lineup to meet your production and manufacturing

HUMAN MACHINE I/F

Graphic Operation Terminal

PC/AT compatible computer

MELSEC iQ-R series

SSCNET III/H compatible

Simple Motion module

SSCNET III/H compatible

SSCNET III/H compatible

SSCNET III/H compatible

SSCNET III/H serial bus

SSCNET III/H compatible

SSCNET III/H compatible

SSCNET III/H compatible

Pulse train input

CC-Link IE Field Network

SSCNET III/H compatible SSCNET III/H compatible

CC-Link IE Field Network

SSCNET III/H compatible

Rotary servo motor

Linear servo motor

Core type with magnetic

Rating: 120 to 2400 N

Mitsubishi Electrics integrated FA solution for achieving seamless

MELSERVO-J4 is flexibly coordinated with Mitsubishi

Programmable Controller Engineering Software

Motion Controller Engineering Software

Servo Setup Software

Capacity Selection Software

MELSERVO-J4 Product Lines

Harmony with Machine

Harmony with Man

Simple Motion module

Safety Observation Function

Harmony with the Environment

Multi-axis Servo Amplifier

Direct drive motor

Conformity with Global Standards

Rating: 300 to 3000 N

Mitsubishi Electrics integrated FA platform for achieving

MELSERVO-J4 Product Lines

Compatible servo motor series

Fully closed loop control

Number of control axes

SSCNET III/H interface

0.1, 0.2, 0.4

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15,

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

0.2, 0.4, 0.75, 1

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15,

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

0.1, 0.2, 0.4

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15,

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

Linear servo motor

Maximum speed Continuous thrust

Suitable for space-saving.

High thrust density.

Screen printing systems

175, 300, 600, 900,

1800, 3600, 5400,

One-touch tuning window