Servoamplificador Mitsubishi MR-J4-350A

(Serie MELSERVO-J4, 3.5 kilovatios)

Señor-J4: 4th-generation high-performance servoamplificador of J4 series

350: Rated power 3.5 kW

A: Legumbres + analog general-purpose interface (hard-wired command, no SSCNET optical fibre bus). Bus version: Señor-J4-350B. Suffix -RJ: Supports external linear encoder for full closed-loop control.

⚠️ Models of 3.5 kW and higher only accept 3-phase AC200-240V main power supply. Single-phase supply is NOT allowed.

Especificaciones eléctricas básicas

Artículo	Parámetro
Main circuit input	3‑phase AC200‑240V, 50/60Hz; rango permitido:170‑264V
Corriente de entrada nominal	21.7A
Corriente de salida nominal	20A
Corriente de salida máxima	60A (3‑fold, max.10s short‑time)
Controlar la fuente de alimentación	DC24V±10%, 0.5A (including STO safety circuit)
Speed loop bandwidth	2.5 kilociclos
Resistencia regenerativa incorporada	850W.; external regenerative resistor required for vertical loads or frequent start‑stop cycles
Función de seguridad	STO (Desconexión de par segura), compliant with IEC61800‑5‑2
Pulse command	Diferencial:4Mpps; Open‑collector:200kpps
Analog command	±10V (velocidad / referencia de par)
Encoder resolution	motor emparejado: 22-poco (4194304 p/r)
Dimensiones generales	140×180×195 mm
Peso	2.8 kilos
Clase de protección	IP20, solo para instalación en gabinete

Compatible Servo Motors (200Clase V)

Inercia media: HG-SR352, HG-SR353; Con freno: HG-SR352B, HG-SR353B

Baja inercia: HG-KR353, HG-KR353B (con freno)

J2S / JE series motors cannot be used directly due to encoder protocol incompatibility.

Descripción general de la interfaz

CN1: I/O signal terminal block, pulse/direction, Entrada analógica de ±10 V, digital DI/DO, STO safety circuit
CN2: Motor encoder connector
CN3: USB service port, for PC connection with MR-Configurator2 for commissioning, monitoring and parameter backup
CN4: Full-closed-loop linear encoder interface (activated for -RJ variant only)
Terminales del circuito principal: L1/L2/L3 main power; U/V/W to motor; B1-B2 for external regenerative resistor.

Características principales

Three switchable control modes: Posición, Velocidad, Esfuerzo de torsión. Compatible with pulse-output PLC (FX/Q/L/R series) and 3rd-party pulse motion controllers.

Advanced Vibration Suppression Ⅱ, adaptive filter, auto-tuning, ToughDrive instantaneous power failure protection, quadrant protrusion compensation, machine diagnosis function.

A/B/Z phase encoder pulse output, 2-channel analog monitor output.

Drop-in replacement for MR-J3-350A (mechanical mounting compatible; parameters require re-tuning).

Referencia de selección alternativa

Same series bus version: Señor-J4-350B (SSCNET Ⅲ/H optical fibre bus, for multi-axis synchronous systems)
New-generation upgrade: Señor-J5-350A (mayor ancho de banda; hardware mounting not fully compatible, wiring and motor compatibility to be verified).
Retrofit for legacy equipment: Upgrade MR-J3-350A to this unit; pay attention to regenerative resistor and parameter migration.

Lista de verificación de inspección de unidades de segunda mano

control visual: Burnt marks, scorched terminals, condensadores abultados.
Prueba de aislamiento: Megger test between main-circuit U/V/W and protective earth.
Encendido sin motor: comprobar si hay alarmas; verify STO circuit status.
No-load motor jog test: Check abnormal noise, vibration and encoder feedback.
Use MR-Configurator2 to read internal alarm history.

Alarmas comunes

AL.30: Regenerative error. Check regenerative resistor sizing. External resistor is mandatory for frequent start-stop or vertical axis applications.

AL.16: Encoder communication error. Inspect CN2 cable and connectors.

AL.E6: STO circuit open. CN1 STO terminals not short-circuited or external safety signal triggered.

Supplementary Notes for MR-J4-350A (Sección 2)

Typical Pulse-Direction Wiring for Position Control

CN1 terminals, differential signalling (recommended for high noise immunity, for PLC differential output)

Pulse command: PP ← PLC pulse output; NP ← pulse negative
Direction command: PD ← PLC direction output; ND ← direction negative
STO safety circuit: Short-circuit STO1-STO2 and STO3-STO4 on CN1, otherwise AL.E6 occurs and servo cannot run.
DC24V control supply: DICOM to 24V+; DOCOM to 24V-.

Parameter Settings for Pulse-Direction Mode

Número de parámetro.	Configuración	Descripción
Pr.000	0	Position control mode
Pr.001	1	Legumbres + direction input mode
Pr.042	10000	Electronic gear numerator, adjust as‑required

Open-collector Mode (Legacy PLC, not recommended for long cable runs)

máx.. pulse frequency limited to 200 kpps; cable length ≤3 m, susceptible a interferencias electromagnéticas.

Precauciones de cableado

L1/L2/L3 must be fed with 3-phase 200-240V AC. Never apply single-phase 220V to MR-J4-350A, power-supply fault alarm will trigger.
Incorrect U/V-W phase sequence causes shaking and AL.37 alarm.
Usar mitsubishi shielded servo cable for CN2 encoder wiring; shield grounding at both ends.

Software de puesta en marcha

MR-Configurator2. Connect PC USB to CN3 for jog operation, auto-tuning, alarm history reading and parameter backup.

Full Differences & Guía de reemplazo: MR-J4-350A replacing MR-J3-350A

Unidad original: Señor-J3-350A; Replacement unit: Señor-J4-350A; Both 3.5 kW, 200clase V.

Instalación Mecánica & Hardware
Mounting cut-out fully compatible: Screw hole positions match, direct retrofit without cabinet modification.
Overall dimensions nearly identical; heat-sink layout differs without impact on fitting.
Main-circuit terminals L1/L2/L3, UV/V/W, B1-B2 for regenerative resistor: pin-to-pin identical. Existing power cables and external regenerative resistor can be reused.
✅Major difference: CN1 control I/O connector

Señor-J3-350A: Spring-clamp terminal block

Señor-J4-350A: Removable plug-in connector

Field retrofit note: Existing MR-J3 CN1 harness cannot plug directly into MR-J4. Two options:

① Purchase dedicated CN1 plug for MR-J4 and re-terminate existing wires.

② Keep old J3 terminal block and implement external flying-wire adapter.

CN2 encoder connector: Same physical plug, protocolo diferente

MR-J4-350A can drive legacy MR-J3 HF-SP352 motor (firmware version A8 or above).

MR-J3 cannot drive J4-series HG-SR motors.

Physical encoder cable plug fits, double-check for vertical axes; use genuine shielded cables.

Nuevo puerto de servicio USB CN3 (ausente en MR-J3). Utilice MR-Configurator2 para la configuración.
STO safety circuit (Causa raíz de AL.E6)

MR-J3 no tiene función de seguridad STO incorporada.

Los terminales STO MR-J4 están abiertos de fábrica. Short-circuit STO1-STO2 and STO3-STO4 on CN1, de lo contrario, AL.E6 aparece inmediatamente después del encendido. Este es el problema de campo más frecuente durante el reemplazo..

Comparación de resistencias regenerativas

Artículo	MR‑J3‑350A	MR‑J4‑350A
Potencia permitida de la resistencia regenerativa incorporada	300W.	850W.
Definición del terminal B1‑B2	Idéntico	Idéntico

La resistencia regenerativa externa existente puede permanecer en servicio. Para cargas frecuentes de arranque-parada o de eje vertical, No confíe únicamente en la resistencia interna.; mantenga la resistencia externa conectada.

Compatibilidad de motores
✅MR-J4-350A es compatible con HF-SP352 heredado / Motores HF-SP352B de la plataforma J3, firmware ≥A8 requerido.
❌MR-J3-350A no puede accionar motores HG-SR352 de la serie J4.
Cables de alimentación de motores: mechanically interchangeable for reuse. Encoder cables share identical plug but differ in protocol; legacy HF-motor cables are acceptable.
Parameter Migration (Do NOT import MR-J3 parameter files directly)

MR-J3 parameter files cannot be loaded into MR-J4. Partial parameter numbers have changed; enter values manually, do not copy all parameters wholesale.

Key Parameter Mapping (Pulse-Direction Position Mode)

Función	MR‑J3 Parameter No.	MR‑J4 Parameter No.	Observaciones
Control mode selection	Pr.0	Pr.000	Position mode =0
Pulse input mode (Pulso+Dirección)	Pr.1	Pr.001	Pulse+Direction =1
Electronic gear numerator	Pr.42	Pr.042	Electronic gear ratio must be re‑verified
Electronic gear denominator	Pr.43	Pr.043
máx.. command pulse frequency	Pr.21	Pr.021	MR‑J4 differential input up to 4Mpps vs. MR‑J3 max.1Mpps

MR-J4 accepts higher pulse frequency (4Mpps differential, MR-J3 only 1Mpps). Higher pulse rates from PLC are achievable after replacement.

Tuning Remarks

MR-J4 implements Advanced Vibration Suppression Ⅱ and adaptive filter gains. Do not copy gain values directly from MR-J3. Run auto-tune after replacement and fine-tune gains.

Step-by-Step Power-on Retrofit Procedure
Power off equipment; remove MR-J3-350A and mount MR-J4-350A in-situ.
Retain existing wiring for main-circuit L1/L2/L3, U/V/W and B1-B2 regenerative resistor.
Process CN1: Fit dedicated MR-J4 plug; short-circuit STO1-STO2 and STO3-STO4 to prevent AL.E6.
Connect CN2 encoder cable. For legacy HF-SP motors, confirm drive firmware ≥A8.
Encendido; perform factory reset first, then manually input critical parameters (modo, pulse-input format, electronic gear ratio).
No-load jog test to verify rotation direction. Reverse direction by modifying bit setting inside Pr.000 (software reversal), do not swap U/V/W power phases.
Execute auto-tune. Run machine under load; monitor for vibration or noise. Watch regenerative load factor to avoid AL.30 regenerative error.
Typical Replacement-related Faults
AL.E6: STO circuit not short-circuited. MR-J3 lacks STO, this fault is highly common in retrofits.
AL.16 Encoder error: Legacy J3 motor used with outdated drive firmware → upgrade firmware.
Poor positioning accuracy / vibración: Do not reuse J3 gain settings; perform new auto-tuning.
AL.30 Regenerative error: Arranques y paradas frecuentes / vertical axis → inspect external regenerative resistor.
No response to pulse command: Double-check Pr.001 pulse-input-mode setting.
PLC Program Considerations

Power-up initialization duration differs between MR-J3 and MR-J4. For vertical-axis machines, add a short delay in PLC logic after servo-ready signal to prevent axis dropping.