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Supported EtherCAT Slave Device

MR-J4 Series
AC Servo drives

Jun 22, 2018

Country of Origin




Node Type

Servo Drives

Output Current

1 – 6 Amps, 7 – 24 Amps, 25 – 72 Amps

Input Voltage

100 – 240 VAC, 240 – 480 VAC

Special Features



Servo Drive for demanding tasks with axis and NC synchronization.



  • EtherCAT Max. 100Mbps transfer rate
  • 2-axis closed-loop stepper drive
  • K221 : Current 1.8A / axis
  • Bi-polar current driving system
  • Resolution : 500~50,000 pulse / revolution
  • Encoder feedback
  • DIP switch for address setting
  • Dimensions : L-75 x W-140 x H-47 mm



Serial Interface Fast Ethernet, Full-Duplex
Distributed clock 0.5 / 1 / 2 / 4 ms
Cable type CAT5 UTP / STP Ethernet cable
Surge protection 10KV
Transmission speed 100 Mbps
CiA402 device profile CSP, PP, Home
Incremental encoder input ±EA x2, ±EB x2
Encoder index signal input ±EZ x2
MI/O input signal PEL x2, MEL x2, ORG x2, and EMG x2
User I/O signal 4DI, 2DO
Position control Incremental / Absolute mode
Data range: 32 bits
Homing mode ORG, EZ, Limit & totally 31 types



Input voltage 24VDC
Drive model 2-phase, bi-polar current driving system
Resolution 500 ~ 50,000 pulse / revolution configured by software
Current setting 1.8A / axis.
Power consumption 3.1W typical (130mA / 24VDC) no load
Ambient temperature In use: 0~50℃
In storage: -20~70℃
Humidity In use: 35~85% (Noncondensing)
In storage: 10~90% (Noncondensing)
Vib. resist 0.5G

Key Benefits

  • CAN application protocol over EtherCAT (COE) – Standard IEC61158 Type12 CAN application protocol over EtherCAT (CoE) and IEC61800-7 CiA402 drive profile provides excellent compatibility with common controllers and easy system integration.
  • One-Touch Auto-Tuning™ – Fast, trouble free servo tuning that really works. Get optimum performance with no tuning experience necessary.
  • High speed update rates – Communication cycles as fast as 250 µs
  • Short settling times – Industry-leading performance with 2.5 kHz speed frequency response
  • High resolution encoders – High speed and accuracy with absolute 4,194,304 pulse/rev encoders
  • Advanced Vibration Suppression Control II™ – Suppress vibration both on the load and the machine base
  • Clean installation – No additional motion controllers or protocol converters are required
  • Machine diagnosis function – Avoid unnecessary downtime due to mechanical component wear and tear

Outstanding Performance

  • Reduce downtime – Vibration Tough Drive™ feature automatically readjusts when a change in machine resonance frequency is detected, reducing wear and tear on mechanical components and maintaining optimal performance. As mechanical components wear, the machine diagnosis function will detect changes in machine parts (ball screw, guide, bearing, belts) and changes in the vibration of the system. The MR Configurator2 software analyzes the data to aid in scheduling preventative maintenance.
  • Improve machine efficiency – The MR-J4 servo drives feature advanced One-Touch Auto-Tuning that sets gains and filters in real-time. Over the life cycle of the machine, continuous tuning optimizes gains to minimize setting time and eliminate overshoot.
  • Improves system performance and efficiency – The MR-J4-TM brings the benefits of its high performance, ease of use, and quality you expect from Mitsubishi Electric. It improves system integration and flexibility with the open industrial real-time and deterministic EtherCAT (CoE) network.

Supported Modes and Functions include:

CSP– Cyclic Synchronous Position mode
CSV – Cyclic Synchronous Velocity mode
CST – Cyclic Synchronous Torque mode
PP – Profile Position mode
PV – Profile Velocity mode
TQ – Profile Torque mode
HM – Homing mode
Synchronous Communication mode
Free-run mode
PDO Mapping
Touch Probe

Learn about our PC-based motion controller to use with this node

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