General-Purpose AC Servo

J2-Super Series
Program Compatible
MODEL

MR-J2S- CL

J2-Super Series MR-J2S- CL Servo Amplifier Instruction Manual

SERVO AMPLIFIER
INSTRUCTION MANUAL

MODEL
MODEL
CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

F
This Instruction Manual uses recycled paper.
F

SH (NA) 030034-F (0709) MEE Printed in Japan Specifications subject to change without notice.
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 Safety Instructions
(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

CAUTION resulting in medium or slight injury to personnel or may cause physical
damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:

: Indicates what must not be done. For example, "No Fire" is indicated by .

: Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

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 1. To prevent electric shock, note the following:

WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc.since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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 4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.

(1) Transportation and installation

CAUTION
Transport the products correctly according to their masses.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Servo amplifier Servo motor
In [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Ambient operation [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
temperature [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
In storage
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Ambient In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
humidity In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series X Y : 49
HC-UFS13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153 X Y : 24.5
HC-RFS Series
[m/s2] 5.9 or less
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352 X : 24.5
HC-SFS203 353 Y : 49
HC-UFS202
X : 24.5
HC-SFS301
(Note) Y : 29.4
Vibration HC-KFS Series
HC-MFS Series X Y : 161
HC-UFS 13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153 X Y : 80
HC-RFS Series
[ft/s2] 19.4 or less
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352 X : 80
HC-SFS203 353 Y : 161
HC-UFS202
X : 80
HC-SFS301
Y : 96
Note. Except the servo motor with reduction gear.

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 CAUTION
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier Servo motor Servo amplifier Servo motor

U U
U U
V V
V M V M
W W
W W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the forced stop (EMG) and other protective circuits may not operate.
Servo amplifier Servo amplifier
COM COM
(24VDC) (24VDC)

Control Control
output output
RA RA
signal signal

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.

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 (3) Test run adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.
A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are
coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but
also by an external forced stop (EMG).
Contacts must be open when Circuit must be
servo-off, when an trouble (ALM) opened during
and when an electromagnetic brake forced stop (EMG).
interlock (MBR).
Servo motor
RA EMG

24VDC

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

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 (6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or underwater relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to program changes

PRECAUTIONS FOR CHOOSING THE PRODUCTS

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.

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 COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier series :MR-J2S-10CL to MR-J2S-700CL

MR-J2S-10CL1 to MR-J2S40CL1
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Configuration
Control box

Reinforced
insulating type

Reinforced 24VDC
insulating power
No-fuse Magnetic supply
transformer Servo
breaker contactor
motor
Servo
NFB MC amplifier M

(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
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 (4) Power supply
(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in
IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN
Standard should be used in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.

(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
servo amplifier to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal (marked ). Always
connect the cables to the terminals one-to-one.

PE terminals PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
(marked ) of the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 14.2.2.

(b) The sizes of the cables described in section 14.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray

(c) Use the EMC filter for noise reduction.

(8) Performing EMC tests

When EMC tests are run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines (IB(NA)67310).
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 CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier series :MR-J2S-10CL to MR-J2S-700CL
MR-J2S-10CL1 to MR-J2S-40CL1
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Installation
Install a cooling fan of 100CFM (2.8m3/min) air flow 4 [in] (10.16 [cm]) above the servo amplifier or
provide cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.

Servo amplifier Discharge time [min]

MR-J2S-10CL(1) 20CL(1) 1
MR-J2S-40CL(1) 60CL 2
MR-J2S-70CL to 350CL 3
MR-J2S-500CL 700CL 5

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the MR-J2S-CL for the first time. Always purchase them and use the MR-J2S-CL safely.

Relevant manuals
Manual name Manual No.
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310

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 MEMO

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 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-26

1.1 Introduction.............................................................................................................................................. 1- 1
1.1.1 Function block diagram ................................................................................................................... 1- 1
1.1.2 System configuration........................................................................................................................ 1- 4
1.1.3 I/O devices ......................................................................................................................................... 1- 9
1.2 Servo amplifier standard specifications ............................................................................................... 1-10
1.3 Function list ............................................................................................................................................ 1-12
1.4 Model code definition ............................................................................................................................. 1-13
1.5 Combination with servo motor.............................................................................................................. 1-14
1.6 Structure.................................................................................................................................................. 1-15
1.6.1 Part names ....................................................................................................................................... 1-15
1.6.2 Removal and reinstallation of the front cover .............................................................................. 1-19
1.7 Servo system with auxiliary equipment............................................................................................... 1-21

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions....................................................................................................................... 2- 1

2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress .............................................................................................................................................. 2- 4

3. SIGNALS AND WIRING 3- 1 to 3-40

3.1 Standard connection example ................................................................................................................ 3- 2

3.2 Internal connection diagram of servo amplifier ................................................................................... 3- 3
3.3 I/O signals................................................................................................................................................. 3- 4
3.3.1 Connectors and signal arrangements ............................................................................................. 3- 4
3.3.2 Signal (devices) explanations .......................................................................................................... 3- 5
3.4 Detailed description of signals (devices) .............................................................................................. 3-12
3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart................................. 3-12
3.4.2 Movement complete......................................................................................................................... 3-13
3.4.3 Override ............................................................................................................................................ 3-14
3.4.4 Torque limit...................................................................................................................................... 3-15
3.5 Alarm occurrence timing chart ............................................................................................................. 3-17
3.6 Interfaces................................................................................................................................................. 3-18
3.6.1 Common line .................................................................................................................................... 3-18
3.6.2 Detailed description of the interfaces ............................................................................................ 3-19
3.7 Input power supply circuit..................................................................................................................... 3-23
3.7.1 Connection example ........................................................................................................................ 3-23
3.7.2 Terminals.......................................................................................................................................... 3-25
3.7.3 Power-on sequence........................................................................................................................... 3-26
3.8 Connection of servo amplifier and servo motor ................................................................................... 3-28
3.8.1 Connection instructions .................................................................................................................. 3-28
3.8.2 Connection diagram ........................................................................................................................ 3-28
3.8.3 I/O terminals .................................................................................................................................... 3-30
3.9 Servo motor with electromagnetic brake ............................................................................................. 3-32
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 3.10 Grounding ............................................................................................................................................. 3-36
3.11 Servo amplifier terminal block (TE2) wiring method ....................................................................... 3-37
3.11.1 For the servo amplifier produced later than Jan. 2006 ............................................................. 3-37
3.11.2 For the servo amplifier produced earlier than Dec. 2005.......................................................... 3-39
3.12 Instructions for the 3M connector....................................................................................................... 3-40

4. OPERATION 4- 1 to 4-52

4.1 When switching power on for the first time.......................................................................................... 4- 1

4.1.1 Pre-operation checks ........................................................................................................................ 4- 1
4.1.2 Startup ............................................................................................................................................... 4- 2
4.2 Program operation mode......................................................................................................................... 4- 5
4.2.1 What is program operation mode? .................................................................................................. 4- 5
4.2.2 Programming language.................................................................................................................... 4- 6
4.2.3 Basic setting of signals and parameters........................................................................................ 4-25
4.2.4 Program operation timing chart .................................................................................................... 4-26
4.3 Manual operation mode ......................................................................................................................... 4-27
4.3.1 Jog operation .................................................................................................................................... 4-27
4.3.2 Manual pulse generator operation................................................................................................. 4-29
4.4 Manual home position return mode ..................................................................................................... 4-31
4.4.1 Outline of home position return ..................................................................................................... 4-31
4.4.2 Dog type home position return ....................................................................................................... 4-33
4.4.3 Count type home position return ................................................................................................... 4-35
4.4.4 Data setting type home position return ........................................................................................ 4-37
4.4.5 Stopper type home position return ................................................................................................ 4-38
4.4.6 Home position ignorance (servo-on position defined as home position)..................................... 4-39
4.4.7 Dog type rear end reference home position return....................................................................... 4-40
4.4.8 Count type front end reference home position return.................................................................. 4-41
4.4.9 Dog cradle type home position return ........................................................................................... 4-42
4.4.10 Home position return automatic return function....................................................................... 4-43
4.5 Absolute position detection system....................................................................................................... 4-44
4.6 Serial communication operation ........................................................................................................... 4-47
4.6.1 Positioning operation in accordance with programs .................................................................... 4-47
4.6.2 Multidrop system............................................................................................................................. 4-47
4.6.3 Group designation ........................................................................................................................... 4-48
4.7 Incremental value command system .................................................................................................... 4-50

5. PARAMETERS 5- 1 to 5-26

5.1 Parameter list .......................................................................................................................................... 5- 1

5.1.1 Parameter write inhibit ................................................................................................................... 5- 1
5.1.2 List ..................................................................................................................................................... 5- 2
5.2 Detailed explanation .............................................................................................................................. 5-21
5.2.1 Electronic gear ................................................................................................................................. 5-21
5.2.2 Changing the status display screen............................................................................................... 5-22
5.2.3 S-pattern acceleration/deceleration ............................................................................................... 5-23
5.2.4 Analog output................................................................................................................................... 5-23
5.2.5 Changing the stop pattern using a limit switch ........................................................................... 5-26
5.2.6 Alarm history clear.......................................................................................................................... 5-26
5.2.7 Software limit................................................................................................................................... 5-26
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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6- 1 to 6-22

6.1 Specifications ........................................................................................................................................... 6- 1

6.2 System configuration............................................................................................................................... 6- 1
6.3 Station setting.......................................................................................................................................... 6- 3
6.4 Parameters ............................................................................................................................................... 6- 4
6.5 Simple Program ....................................................................................................................................... 6- 6
6.5.1 Program data .................................................................................................................................... 6- 6
6.5.2 Indirect addressing........................................................................................................................... 6- 8
6.6 Device assignment method .................................................................................................................... 6-10
6.7 Test operation ......................................................................................................................................... 6-14
6.7.1 Jog operation .................................................................................................................................... 6-14
6.7.2 Positioning operation....................................................................................................................... 6-16
6.7.3 Motor-less operation ........................................................................................................................ 6-18
6.7.4 Output signal (DO) forced output .................................................................................................. 6-19
6.7.5 Program test operation ................................................................................................................... 6-20
6.8 Alarm history .......................................................................................................................................... 6-22

7. DISPLAY AND OPERATION 7- 1 to 7-20

7.1 Display flowchart..................................................................................................................................... 7- 1

7.2 Status display .......................................................................................................................................... 7- 2
7.2.1 Display transition ............................................................................................................................. 7- 2
7.2.2 Display examples .............................................................................................................................. 7- 3
7.2.3 Status display list ............................................................................................................................. 7- 4
7.3 Diagnosis mode ........................................................................................................................................ 7- 5
7.3.1 Display transition ............................................................................................................................. 7- 5
7.3.2 Diagnosis mode list........................................................................................................................... 7- 6
7.4 Alarm mode .............................................................................................................................................. 7- 8
7.4.1 Display transition ............................................................................................................................. 7- 8
7.4.2 Alarm mode list................................................................................................................................. 7- 9
7.5 Parameter mode ..................................................................................................................................... 7-11
7.5.1 Parameter mode transition............................................................................................................. 7-11
7.5.2 Operation example .......................................................................................................................... 7-12
7.6 External I/O signal display.................................................................................................................... 7-14
7.7 Output signal (DO) forced output ......................................................................................................... 7-15
7.8 Test operation mode ............................................................................................................................... 7-16
7.8.1 Mode change..................................................................................................................................... 7-16
7.8.2 Jog operation .................................................................................................................................... 7-17
7.8.3 Positioning operation....................................................................................................................... 7-18
7.8.4 Motor-less operation ........................................................................................................................ 7-19

8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12

8.1 Different adjustment methods ............................................................................................................... 8- 1

8.1.1 Adjustment on a single servo amplifier.......................................................................................... 8- 1
8.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 8- 2
8.2 Auto tuning .............................................................................................................................................. 8- 3
8.2.1 Auto tuning mode ............................................................................................................................. 8- 3
8.2.2 Auto tuning mode operation ............................................................................................................ 8- 4
3

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 8.2.3 Adjustment procedure by auto tuning............................................................................................ 8- 5
8.2.4 Response level setting in auto tuning mode .................................................................................. 8- 6
8.3 Manual mode 1 (simple manual adjustment)....................................................................................... 8- 7
8.3.1 Operation of manual mode 1 ........................................................................................................... 8- 7
8.3.2 Adjustment by manual mode 1 ....................................................................................................... 8- 7
8.4 Interpolation mode ................................................................................................................................. 8-10
8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 8-11
8.5.1 Response level setting ..................................................................................................................... 8-11
8.5.2 Auto tuning selection....................................................................................................................... 8-11

9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-10

9.1 Function block diagram .......................................................................................................................... 9- 1

9.2 Machine resonance suppression filter ................................................................................................... 9- 1
9.3 Adaptive vibration suppression control................................................................................................. 9- 3
9.4 Low-pass filter ......................................................................................................................................... 9- 5
9.5 Gain changing function........................................................................................................................... 9- 5
9.5.1 Applications....................................................................................................................................... 9- 5
9.5.2 Function block diagram ................................................................................................................... 9- 6
9.5.3 Parameters ........................................................................................................................................ 9- 7
9.5.4 Gain changing operation.................................................................................................................. 9- 9

10. INSPECTION 10- 1 to 10- 2

11. TROUBLESHOOTING 11- 1 to 11-12

11.1 Trouble at start-up .............................................................................................................................. 11- 1

11.2 When alarm or warning has occurred ............................................................................................... 11- 2
11.2.1 Alarms and warning list .............................................................................................................. 11- 2
11.2.2 Remedies for alarms..................................................................................................................... 11- 3
11.2.3 Remedies for warnings................................................................................................................ 11-11
11.3 MR-DP60 external digital display error........................................................................................... 11-12

12. OUTLINE DIMENSION DRAWINGS 12- 1 to 12- 8

12.1 Servo amplifiers................................................................................................................................... 12- 1

12.2 Connectors............................................................................................................................................ 12- 6

13. CHARACTERISTICS 13- 1 to 13- 8

13.1 Overload protection characteristics ................................................................................................... 13- 1

13.2 Power supply equipment capacity and generated loss .................................................................... 13- 2
13.3 Dynamic brake characteristics........................................................................................................... 13- 4
13.3.1 Dynamic brake operation............................................................................................................. 13- 4
13.3.2 The dynamic brake at the load inertia moment ........................................................................ 13- 6
13.4 Encoder cable flexing life .................................................................................................................... 13- 6
13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit .............................................. 13- 7

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 14. OPTIONS AND AUXILIARY EQUIPMENT 14- 1 to 14-50

14.1 Options.................................................................................................................................................. 14- 1

14.1.1 Regenerative options .................................................................................................................... 14- 1
14.1.2 FR-BU2 brake unit ....................................................................................................................... 14- 8
14.1.3 Power regeneration converter .................................................................................................... 14-14
14.1.4 Cables and connectors................................................................................................................. 14-17
14.1.5 Junction terminal block (MR-TB20) .......................................................................................... 14-25
14.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................ 14-27
14.1.7 External digital display (MR-DP60) .......................................................................................... 14-29
14.1.8 Manual pulse generator (MR-HDP01) ...................................................................................... 14-31
14.1.9 Battery (MR-BAT, A6BAT)......................................................................................................... 14-32
14.2 Auxiliary equipment .......................................................................................................................... 14-33
14.2.1 Recommended wires.................................................................................................................... 14-33
14.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 14-35
14.2.3 Power factor improving reactors ................................................................................................ 14-35
14.2.4 Relays............................................................................................................................................ 14-36
14.2.5 Surge absorbers ........................................................................................................................... 14-36
14.2.6 Noise reduction techniques......................................................................................................... 14-37
14.2.7 Leakage current breaker ............................................................................................................ 14-44
14.2.8 EMC filter..................................................................................................................................... 14-46
14.2.9 Setting potentiometers for analog inputs.................................................................................. 14-49

15. COMMUNICATION FUNCTIONS 15- 1 to 15-36

15.1 Configuration ....................................................................................................................................... 15- 1

15.1.1 RS-422 configuration.................................................................................................................... 15- 1
15.1.2 RS-232C configuration ................................................................................................................. 15- 2
15.2 Communication specifications............................................................................................................ 15- 3
15.2.1 Communication overview............................................................................................................. 15- 3
15.2.2 Parameter setting ......................................................................................................................... 15- 4
15.3 Protocol ................................................................................................................................................. 15- 5
15.4 Character codes ................................................................................................................................... 15- 7
15.5 Error codes ........................................................................................................................................... 15- 8
15.6 Checksum ............................................................................................................................................. 15- 8
15.7 Time-out operation .............................................................................................................................. 15- 9
15.8 Retry operation .................................................................................................................................... 15- 9
15.9 Initialization........................................................................................................................................ 15-10
15.10 Communication procedure example ............................................................................................... 15-10
15.11 Command and data No. list............................................................................................................. 15-11
15.11.1 Read commands ......................................................................................................................... 15-11
15.11.2 Write commands ........................................................................................................................ 15-14
15.12 Detailed explanations of commands............................................................................................... 15-16
15.12.1 Data processing.......................................................................................................................... 15-16
15.12.2 Status display ............................................................................................................................ 15-18
15.12.3 Parameter................................................................................................................................... 15-19
15.12.4 External I/O signal statuses..................................................................................................... 15-21
15.12.5 Input devices ON/OFF .............................................................................................................. 15-23
15.12.6 Disable/enable of I/O devices (DIO) ......................................................................................... 15-24

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 15.12.7 Input devices ON/OFF (test operation) ................................................................................... 15-25
15.12.8 Test operation mode .................................................................................................................. 15-26
15.12.9 Output signal pin ON/OFF output signal (DO) forced output.............................................. 15-29
15.12.10 Alarm history ........................................................................................................................... 15-30
15.12.11 Current alarm .......................................................................................................................... 15-31
15.12.12 Current position latch data .................................................................................................... 15-32
15.12.13 General-purpose register ........................................................................................................ 15-33
15.12.14 Servo amplifier group designation......................................................................................... 15-35
15.12.15 Software version ...................................................................................................................... 15-36

APPENDIX App- 1 to App- 4

App 1. Status indication block diagram ................................................................................................. App- 1

App 2. Junction terminal block (MR-TB20) terminal block labels ...................................................... App- 2
App 3. Combination of servo amplifier and servo motor ...................................................................... App- 3
App 4. Change of connector sets to the RoHS compatible products .................................................... App- 4

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 Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in
the Servo Amplifier Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULATION METHODS FOR DESIGNING

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 MEMO

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 1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The MR-J2S-CL program-compatible AC servo amplifier is based on the MR-J2S-CP AC servo amplifier
with built-in positioning functions and incorporates program-driven, single-axis positioning functions.
These functions perform positioning operation by creating the position data (target positions), servo motor
speeds, acceleration and deceleration time constants, etc. as a program and executing the program. The
servo amplifier is the most appropriate to configure a simple positioning system or to simplify a system,
for example.
Up to 16 programs can be created. The program capacity is 120 steps as a total of all programs.
All servo motors are equipped with an absolute position encoder as standard. An absolute position
detection system can be configured by merely adding a battery to the servo amplifier. Once the home
position has been set, home position return is not required at power on, alarm occurrence, etc.

1.1.1 Function block diagram

The function block diagram of this servo is shown below.

1- 1

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 1. FUNCTIONS AND CONFIGURATION

(1) MR-J2S-350CL or less

Regenerative option

Servo amplifier P C D Servo motor

Diode (Note 1)
NFB stack Relay
MC L1 U U
(Note 2)
L2 Current V V
Power M
detector
supply L3 W W
CHARGE Regene-
lamp rative
TR

(Note 3) Cooling fan Dynamic

brake
L11 B1
Control Electro-
L21 power magnetic
supply B2
brake

Base Voltage Overcurrent Current

CN2
amplifier detection protection detection
Encoder

Current
control
Model adaptive control

Program
Speed SPN (1000)
control STA (200)
STB (300)
MOV (500)
SPN (1000)
MOVA (1000)
Position MOVA (0)
control

STOP
Position MR-BAT
command
CON1

creation

Optional battery
RS-232C (for absolute position)
A/D RS-422 D/A

I/F
CN1A CN1B CN3

Analog monitor
(2 channels)
Controller
D I/O control
Analog Servo on RS-422/RS-232C
(2 channels) Start
Failure, etc.
To other servo
amplifier

Note 1. The built-in regenerative resistor is not provided for the MR-J2S-10CL (1).
2. For 1-p+hase 230VAC, connect the power supply to L1,L2 and leave L3 open.
L3 is not provided for a 1-phase 100 to120VAC power supply. Refer to section 1.2 for the power supply specification.
3. Servo amplifiers MR-J2S-200CL have a cooling fan.

1- 2

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 1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-500CL MR-J2S-700CL

Regenerative option

Servo amplifier P C Servo motor

Diode
NFB stack Relay
MC L1 U U
(Note)
L2 Current V V
Power M
detector
supply L3 CHARGE W W
Regene-
lamp rative
TR

Cooling Fan Dynamic

brake
L11 B1
Control Electro-
L21 power magnetic
supply B2
brake

Base Voltage Overcurrent Current

CN2
amplifier detection protection detection
Encoder

Current
control
Model adaptive control

Program
Speed SPN (1000)
control STA (200)
STB (300)
MOV (500)
SPN (1000)
MOVA (1000)
Position MOVA (0)
control

STOP
Position MR-BAT
command
CON1

creation

Optional battery
RS-232C (for absolute position)
A/D RS-422 D/A

I/F
CN1A CN1B CN3

Analog monitor
(2 channels)
Controller
D I/O control
Analog Servo on RS-422/RS-232C
(2 channels) Start
Failure, etc.
To other servo
amplifier

Note. Refer to section 1.2 for the power supply specification.

1- 3

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 1. FUNCTIONS AND CONFIGURATION

1.1.2 System configuration

This section describes operations using this servo.

You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector
pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to
sections 1.1.3 and 3.3.2.) The MR Configurator (Servo configuration Software) (refer to chapter 6) and
personal computer are required to change or assign devices.

(1) Operation using external input signals

(a) Description
The following configuration example assumes that external input signals are used to control all
signals (devices).
The I/O signals are as factory-set.

(b) Configuration
The following configuration uses external I/O signals. The personal computer is used with MR
Configurator (Servo configuration Software) to set creation of a program, change and monitor the
parameters.
External I/O Personal computer
signals
Servo amplifier MR Configurator
(Servo configuration Software)

CN1A CN1B

RS–232C

CN2 CN3
Power supply

Servo motor

1- 4

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 1. FUNCTIONS AND CONFIGURATION

(2) Operation using external input signals and communication

(a) Description
Communication can be used to Selection of the program, change parameter values, and confirm
monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2)
through the external I/O. Use this system when position data/speed setting or the host personal
computer or the like is used to change the parameter values, for example.

(b) Configuration
1) One servo amplifier is connected with the personal computer by RS-232C.
External I/O Personal computer
signals
Servo amplifier MR Configurator
(Servo configuration Software)

CN1A CN1B

RS–232C

CN2 CN3
Power supply

Servo motor

1- 5

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 1. FUNCTIONS AND CONFIGURATION

2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Use parameter No. 16 to change the communication system.
External I/O Personal computer
signals
Servo amplifier (axis 1) MR Configurator
(Servo configuration Software)

CN1A CN1B

RS–232C

RS–422

CN2 CN3 RS–232C/RS-422 converter

Power supply (to be prepared by the customer)

Servo motor

RS–422

External I/O
signals
Servo amplifier (axis 2)

CN1A CN1B

CN2 CN3
Power supply

To the next axis

Servo motor

1- 6

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 1. FUNCTIONS AND CONFIGURATION

(3) Operation using communication

(a) Description
Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the
other devices controlled through communication. Also, you can set each program, selection of the
program, and change or set parameter values, for example. Up to 32 axes may be controlled.

(b) Configuration
1) One servo amplifier is connected with the personal computer by RS-232C.
External I/O Personal computer
signals
Servo amplifier MR Configurator
(Servo configuration Software)

CN1A CN1B

RS–232C

CN2 CN3
Power supply

Servo motor

1- 7

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 1. FUNCTIONS AND CONFIGURATION

2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Use parameter No. 16 to change the communication system.
External I/O Personal computer
signals
Servo amplifier (axis 1) MR Configurator
(Servo configuration Software)

CN1A CN1B

RS–232C

RS–422

CN2 CN3 RS–232C/RS-422 converter

Power supply (to be prepared by the customer)

Servo motor

RS–422

External I/O
signals
Servo amplifier (axis 2)

CN1A CN1B

CN2 CN3
Power supply

To the next axis

Servo motor

1- 8

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 1. FUNCTIONS AND CONFIGURATION

1.1.3 I/O devices

This servo amplifier allows devices to be allocated to the pins of connector CN1A/CN1B as desired. The
following devices can be allocated. For device details, refer to section 3.3.2.

Factory- Factory-
Input device Symbol Output device Symbol
allocated pin allocated pin
Servo-on SON CN1A-19 Trouble ALM CN1B-18
Reset RES CN1B-15 Ready RD CN1B-19
Forward rotation stroke end LSP CN1B-16 Movement complete PED CN1B-6
Reverse rotation stroke end LSN CN1B-17 Zeroing completion ZP CN1A-18
Forward rotation start ST1 CN1B-7 Program output 1 OUT1 CN1B-4
Reverse rotation start ST2 Program output 2 OUT2
Proximity dog DOG CN1A-8 Program output 3 OUT3
Program No. selection 1 DI0 CN1B-5 Electromagnetic brake interlock MBR
Program No. selection 2 DI1 CN1B-14 Position range POT
Program No. selection 3 DI2 Warning WNG
Program No. selection 4 DI3 Battery warning BWNG
Forced stop EMG Limiting torque TLC
Automatic/manual selection MD0 Temporary stop PUS
Override selection OVR SYNC synchronous output SOUT
External torque limit selection TL
Internal torque limit selection TL2
Proportion control PC
Temporary stop/restart STP
Manual pulse generator
TP0
multiplication 1
Manual pulse generator
TP1
multiplication 2
Gain switch CDP
Current position latch input LPS
Program input 1 PI1 CN1B-8
Program input 2 PI2 CN1B-9
Program input 3 PI3

1- 9

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 1. FUNCTIONS AND CONFIGURATION

1.2 Servo amplifier standard specifications

Servo amplifier
MR-J2S- 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1
Item
3-phase 200 to 230VAC, 50/60Hz 1-phase 100 to
Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz
or 1-phase 230VAC, 50/60Hz 120VAC 50/60Hz
Power supply

3-phase 200 to 230VAC:

1-phase
Permissible voltage fluctuation 170 to 253VAC 3-phase 170 to 253VAC
85 to 127VAC
1-phase 230VAC: 207 to 253VAC
Permissible frequency fluctuation Within 5%
Power supply capacity Refer to section 13.2
Inrush current Refer to section 12.5
Control system Sine-wave PWM control, current control system
Dynamic brake Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
Protective functions
brake error protection, undervoltage, instantaneous power failure protection, overspeed
protection, excessive error protection
Operational Program language (Program with MR Configurator (Servo-configuration software)).
specifications Program capacity: 120 steps
Command system

Position Setting by program language.

command input Movement setting range at 1 point: 1[ m] to 999.999[mm]

Program Servo motor speed, acceleration/deceleration time constant and S-pattern

Speed command acceleration/deceleration time constant by program language.
input S-pattern acceleration/deceleration time constant can set by parameter No.14 or by
programming.
Signed absolute value command (signed incremental value command system can be
System
specified), signed incremental value command system
Program operation mode Setting by programming language
Jog operation is performed in accordance with the parameter-set speed command by
Jog
Manual contact input or through RS-422 (232C) communication.
operation mode Manual pulse Manual feed is made by manual pulse generator.
generator Command pulse multiplication: 1, 10 or 100 is selected using parameter.
Home position return is made starting with Z-phase pulse after passage of proximity dog.
Home position return direction may be selected. Home position shift distance may be set.
Operation mode

Dog type
Home position address may be set.
Automatic at-dog home position return, Automatic stroke return function
Home position return is made by counting encoder pulses after contact with proximity dog.
Manual home Home position address may be set. Home position shift value may be set. Home position
Count type
position return return direction may be set.
mode Automatic at-dog home position return, Automatic stroke return function
Home position return is made without dog.
Data setting
Home position may be set at any position by manual operation, etc. Home position address
type
may be set.
Home position return is made by pressing machine part against stroke end.
Stopper type
Home position address may be set. Home position return direction may be set.

1 - 10

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 1. FUNCTIONS AND CONFIGURATION

Servo amplifier
MR-J2S- 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1
Item
Home position Position where servo-on (SON) is switched on is defined as home position.
ignorance Home position address may be set.
(Servo-on position
as home position)
Home position return is made with respect to the rear end of a proximity dog.
Dog type rear end Home position address may be set. Home position shift value may be set. Home position
Operation mode

reference return direction may be set.

Manual home Automatic at-dog home position return, Automatic stroke return function
position Home position return is made with respect to the front end of a proximity dog.
return mode Count type front Home position address may be set. Home position shift value may be set. Home position
end reference return direction may be set.
Automatic at-dog home position return, Automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the first
Z-phase pulse.
Dog cradle type Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return, Automatic stroke return function
Absolute position detection, backlash function
Other functions Overtravel prevention using external limit switch
Software stroke limit, override using external analog signal
Self-cooled,
Structure Self-cooled, open (IP00) Force-cooling, open (IP00)
open (IP00)
[ ] 0 to 55 (non-freezing)
In operation
Ambient [ ] 32 to 131 (non-freezing)
temperature [ ] 20 to 65 (non-freezing)
In storage
[ ] 4 to 149 (non-freezing)
Environment

Ambient In operation
90%RH or less (non-condensing)
humidity In storage
Indoors (no direct sunlight)
Ambient
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280ft) above sea level
5.9 [m/s2] or less
Vibration
19.4 [ft/s2] or less
[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1
Mass
[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 15.87 1.5 1.5 2.4

1 - 11

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 1. FUNCTIONS AND CONFIGURATION

1.3 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description Reference
Operation is performed in accordance with the contents of any
program selected from among pre-created 16 programs.
Positioning by program operation Section 4.2
Use the external input signal or communication function to choose
the program.
Dog type, count type, data setting type, stopper type, home
Manual home position return position ignorance, dog type rear end reference, count type front Section 4.4
end reference, dog cradle type
Up to 32 axes of MR-J2S-CL are controllable simultaneously by Section 4.6.2
Multidrop communication
RS-422 communication. Chapter 15
High-resolution encoder of 131072 pulses/rev is used as a servo
High-resolution encoder
motor encoder.
By merely setting the home position once, home position return
Absolute position detection system Section 4.5
need not be done at each power on.
You can switch between gains during rotation and gains during
Gain changing function Section 9.5
stop or use an external signal to change gains during operation.
Servo amplifier detects mechanical resonance and sets filter
Adaptive vibration suppression control Section 9.3
characteristics automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo
Low-pass filter Section 9.4
system response is increased.
Analyzes the frequency characteristic of the mechanical system by
Machine analyzer function simply connecting a MR Configurator (servo configuration
software)-installed personal computer and servo amplifier.
Can simulate machine motions on a personal computer screen on
Machine simulation
the basis of the machine analyzer results.
Personal computer changes gains automatically and searches for
Gain search function
overshoot-free gains in a short time.
Slight vibration suppression control Vibration of 1 pulse at servo motor stop is suppressed. Parameter No. 20
The electronic gear is used to make adjustment so that the servo
amplifier setting matches the machine moving distance. Also,
Electronic gear changing the electronic gear value allows the machine to be moved Section 5.2.1
at any multiplication ratio to the moving distance using the servo
amplifier.
Automatically adjusts the gain to optimum value if load applied to
Auto tuning the servo motor shaft varies. Higher in performance than MR-J2 Chapter 8
series servo amplifier.
Section 4.2.2 (2) (a)
S-pattern acceleration/deceleration time
Acceleration/deceleration can be made smoothly. 3)
constant
Section 5.2.3
Used when the built-in regenerative resistor of the servo amplifier
Regenerative option does not have sufficient regenerative capability for the Section 14.1.1
regenerative power generated.
Used when the regenerative option cannot provide enough
Brake unit regenerative power. Section 14.1.2
Can be used with the MR-J2S-500CL MR-J2S-700CL.
Used when the regenerative option cannot provide enough
Return converter regenerative power. Section 14.1.3
Can be used with the MR-J2S-500CL MR-J2S-700CL.

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 1. FUNCTIONS AND CONFIGURATION

Function Description Reference

By using the MR Configurator (Servo configuration Software), the
Analog monitor Section 5.2.4
servo status is output in terms of voltage in real time.
By using the MR Configurator (Servo configuration Software), the
Alarm history current alarm and five past alarm numbers are stored and Section 6.8
displayed.
By using the Servo configuration Software, any devices can be
I/O signal selection (Device setting) Section 6.6
assigned to 9 input, 5 output and 1 I/O pins.
Servo motor-torque is limited.
Torque limit Parameter 2 limit value Section 3.4.4
Analog input 1 limit value
The servo motor speed is limited by analog input.
Override (speed limit) The ratio of override to the set speed can be changed between 0 to Section 3.4.3
200%.
Status display The servo status is displayed. Section 7.2
Jog, Positioning, Operation w/o motor, Forced output, Program
Test operation mode Section 6.7
test
The servo motor travel region can be limited using the forward
Limit switch Section 5.2.5
rotation stroke end (LSP)/reverse rotation stroke end (LSN).
The travel region is limited using parameters in terms of address.
Software limit The function similar to that of a limit switch is limited by Section 5.2.7
parameter.

1.4 Model code definition

(1) Rating plate

MITSUBISHI AC SERVO
AC SERVO Model
MODEL MR-J2S-60CL
Capacity
POWER : 600W
POWER
INPUT : 3.2A 3PH 1PH200-230V 50Hz Applicable power supply
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
OUTPUT : 170V 0-360Hz 3.6A Rated output current
SERIAL : A5
TC3 AAAAG52 PASSED Serial number
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN

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 1. FUNCTIONS AND CONFIGURATION

(2) Model
MR–J2S– CL MR–J2S–100CL or less MR–J2S–200CL 350CL

Series
Power Supply

Symbol Power supply

None 3-phase 200 to 230VAC

(Note 1) 1-phase 230VAC

(Note 2)
1-phase 100V to 120VAC
1
Rating plate Rating plate
Note 1. 1-phase 230V is supported by
750W or less.
MR-J2S-500CL MR-J2S-700CL
2. 1-phase 100V to 120V is
supported by 400W or less.
Program compatibility operation function

Rated output
Rated Rated
Symbol Symbol
output [W] output [W]
10 100 100 1000
20 200 200 2000
40 400 350 3500
60 600 500 5000
70 750 700 7000 Rating plate Rating plate

1.5 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.

Servo motors
Servo amplifier HC-SFS HC-UFS
HC-KFS HC-MFS HC-RFS
1000r/min 2000r/min 3000r/min 2000r/min 3000r/min
MR-J2S-10CL (1) 053 13 053 13 13
MR-J2S-20CL (1) 23 23 23
MR-J2S-40CL (1) 43 43 43
MR-J2S-60CL 52 53
MR-J2S-70CL 73 73 72 73
MR-J2S-100CL 81 102 103
MR-J2S-200CL 121 201 152 202 153 203 103 153 152
MR-J2S-350CL 301 352 353 203 202
MR-J2S-500CL 502 353 503 352 502
MR-J2S-700CL 702

Servo motors
HA-LFS
Servo amplifier (Note)
(Note) (Note)
2000r/min HC-LFS
1000r/min 1500r/min
MR-J2S-60CL 52
MR-J2S-100CL 102
MR-J2S-200CL 152
MR-J2S-350CL 202
MR-J2S-500CL (Note)502 302
MR-J2S-700CL 601 701M (Note)702
Note. Consult us since the servo amplifier to be used with any of these servo motors is optional.

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 1. FUNCTIONS AND CONFIGURATION

1.6 Structure

1.6.1 Part names

(1) MR-J2S-100CL or less

Name/Application Reference

Battery holder
Section 4.5
Contains the battery for absolute position data backup.

Battery connector (CON1)

Used to connect the battery for absolute position data Section 4.5
backup.
Display
The 5-digit, seven-segment LED shows the servo Chapter 7
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

MODE UP DOWN SET

Used to set data. Chapter 7

Used to change the

display or data in each
mode.

Used to change the

mode.

I/O signal connector (CN1A)

Section 3.3
Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section 3.3
Used to connect digital I/O signals.

Communication connector (CN3) Chapter 6

Used to connect a command device (RS-422/RS-232C) Chapter 15
and output analog monitor data. Section 14.1.4

Rating plate Section 1.4

Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.

Encoder connector (CN2) Section 3.3

Used to connect the servo motor encoder. Section 14.1.4

Main circuit terminal block (TE1)

Section 3.7.2
Used to connect the input power supply and servo
Section 12.1
motor.

Control circuit terminal block (TE2) Section 3.7.2

Used to connect the control circuit power supply and Section 12.1
regenerative option. Section 14.1.1

Protective earth (PE) terminal ( )

Section 3.10
Ground terminal.
Fixed part (2 places)
(For MR-J2S-70CL
100CL 3 places)

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 1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200CL MR-J2S-350CL

POINT
This servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.6.2.

Name/Application Reference

Battery holder
Section 4.5
Contains the battery for absolute position data backup.

Battery connector (CON1)

Used to connect the battery for absolute position data Section 4.5
backup.
Display
The 5-digit, seven-segment LED shows the servo Chapter 7
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
MODE UP DOWN SET
parameter setting operations.

MODE UP DOWN SET

Used to set data. Chapter 7

Used to change the

display or data in each
mode.

Used to change the

mode.

I/O signal connector (CN1A)

Section 3.3
Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section 3.3
Used to connect digital I/O signals.

Communication connector (CN3) Chapter 6

Used to connect a command device (RS-422/RS-232C) Chapter 15
and output analog monitor data. Section 14.1.4

Rating plate Section 1.4

Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.

Encoder connector (CN2) Section 3.3

Used to connect the servo motor encoder. Section 14.1.4

Main circuit terminal block (TE1)

Section 3.7.2
Used to connect the input power supply and servo
Section 12.1
motor.

Control circuit terminal block (TE2) Section 3.7.2

Used to connect the control circuit power supply and Section 12.1
regenerative option. Section 14.1.1

Cooling fan Protective earth (PE) terminal ( )

Section 3.10
Ground terminal.
Fixed part (4 places)

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 1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500CL

POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.6.2.

Name/Application Reference

Battery connector (CON1)

Used to connect the battery for absolute position data Section 4.5
backup.
Battery holder
Contains the battery for absolute position data backup. Section 4.5

Display
The 5-digit, seven-segment LED shows the servo Chapter 7
status and alarm number.
Operation section
MODE UP DOWN SET Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

Used to set data.

Chapter 7
Used to change the
display or data in each
mode.

Used to change the

Fixed part mode.
(4 places)
I/O signal connector (CN1A)
Section 3.3
Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section 3.3
Used to connect digital I/O signals.

Communication connector (CN3) Chapter 6

Used to connect a command device (RS-422/RS-232C) Chapter 15
and output analog monitor data. Section 14.1.4

Encoder connector (CN2) Section 3.3

Used to connect the servo motor encoder. Section 14.1.4

Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.

Control circuit terminal block (TE2)

Section 3.7.2
Used to connect the control circuit power supply and
Section 12.1
regenerative option.

Main circuit terminal block (TE1) Section 3.7.2

Used to connect the input power supply and servo Section 12.1
motor. Section 14.1.1

Rating plate Section 1.4

Cooling fan
Protective earth (PE) terminal ( )
Section 3.10
Ground terminal.

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 1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700CL

POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to next page.

Name/Application Reference
Battery connector (CON1)
Used to connect the battery for absolute position data Section 4.5
backup.
Battery holder
Section 4.5
Contains the battery for absolute position data backup.
Display
The 5-digit, seven-segment LED shows the servo Chapter 7
status and alarm number.
Operation section
MODE UP DOWN SET Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

Used to set data.

Chapter 7

Used to change the

display or data in each
mode.

Used to change the

mode.
I/O signal connector (CN1A)
Section 3.3
Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section 3.3
Used to connect digital I/O signals.

Communication connector (CN3) Chapter 6

Used to connect a command device (RS-422/RS-232C) Chapter 15
and output analog monitor data. Section 14.1.4

Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.

Control circuit terminal block (TE2) Section 3.7.2

Used to connect the control circuit power supply. Section 12.1

Encoder connector (CN2) Section 3.3

Used to connect the servo motor encoder. Section 14.1.4

Rating plate Section 1.4

Main circuit terminal block (TE1) Section 3.7.2

Used to connect the input power supply, regenerative Section 12.1
option and servo motor. Section 14.1.1

Cooling fan Protective earth (PE) terminal ( )

Section 3.10
Fixed part Ground terminal.
(4 places)

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 1. FUNCTIONS AND CONFIGURATION

1.6.2 Removal and reinstallation of the front cover

Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
WARNING between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.

(1) For MR-J2S-200CL or more

Removal of the front cover Reinstallation of the front cover
1)

Front cover hook

2) (2 places)

2)

Front cover

1)

Front cover socket

(2 places)
1) Hold down the removing knob. 1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Pull the front cover toward you. 2) Press the front cover against the servo amplifier until the
removing knob clicks.

(2) For MR-J2S-500CL

Removal of the front cover Reinstallation of the front cover
1)

Front cover hook

(2 places)
2)

2)

1)

Front cover
Front cover socket
(2 places)
1) Hold down the removing knob. 1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Pull the front cover toward you. 2) Press the front cover against the servo amplifier until the
removing knob clicks.

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 1. FUNCTIONS AND CONFIGURATION

(3) For MR-J2S-700CL

Removal of the front cover Reinstallation of the front cover

Front cover
hook
(2 places)

B) A)

2)
2)
1) A)
1)

Front cover socket

(2 places)

1) Push the removing knob A) or B), and put you 1) Insert the two front cover hooks at the bottom into the
finger into the front hole of the front cover. sockets of the servo amplifier.
2) Pull the front cover toward you. 2) Press the front cover against the servo amplifier until the
removing knob clicks.

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 1. FUNCTIONS AND CONFIGURATION

1.7 Servo system with auxiliary equipment

To prevent an electric shock, always connect the protective earth (PE) terminal
WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the
control box.

(1) MR-J2S-100CL or less

(a) For 3-phase 200V to 230VAC or 1-phase 230VAC
(Note 2) Options and auxiliary equipment Reference Options and auxiliary equipment Reference
Power supply
No-fuse breaker Section 14.2.2 Cables Section 14.2.1
Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8
MR Configurator Chapter 6 External digital display Section 14.1.7
(Servo configuration software)
Power factor improving reactor Section 14.2.3
Regenerative option Section 14.1.1
No-fuse breaker
(NFB) or fuse
Servo amplifier Command device

Junction terminal block

To CN1A

Magnetic Manual pulse generator

contactor
(MC) To CN1B
External digital display

Power
factor
To CN3
improving CHARGE MR Configurator
reactor Personal computer (Servo configuration
(FR-BAL) software
To CN2
MRZJW3-SETUP151E)
L1
L2 U V W
L3

Protective earth (PE) terminal

(Note 1)
Encoder cable

(Note 1)
Power supply lead
Control circuit terminal block D

L21

L11

P
Regenerative option
C Servo motor
Note 1. The HC-SFS, HC-RFS, HC-UFS 2000r/min series have cannon connectors.
2. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J2S-70CL or less.
For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.2 for the power supply
specification.

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 1. FUNCTIONS AND CONFIGURATION

(b) For 1-phase 100V to 120VAC

(Note 2) Options and auxiliary equipment Reference Options and auxiliary equipment Reference
Power supply
No-fuse breaker Section 14.2.2 Cables Section 14.2.1
Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8
MR Configurator Chapter 6 External digital display Section 14.1.7
(Servo configuration software)
Power factor improving reactor Section 14.2.3
Regenerative option Section 14.1.1
No-fuse breaker
(NFB) or fuse
Servo amplifier Command device

Junction terminal block

To CN1A

Magnetic Manual pulse generator

contactor
(MC) To CN1B
External digital display

To CN3
CHARGE
MR Configurator
Power Personal computer (Servo configuration
To CN2 software
factor
MRZJW3-SETUP151E)
improving
reactor L1
(FR-BAL) L2 U V W

Protective earth (PE) terminal

(Note 1)
Encoder cable

(Note 1)
Power supply lead
Control circuit terminal block D

L21

L11

P
Regenerative option Servo motor
C

Note 1. The HC-SFS, HC-RFS, HC-UFS 2000 r/min series have cannon connectors.
2. Refer to section 1.2 for the power supply specification.

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 1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200CL MR-J2S-350CL

Options and auxiliary equipment Reference Options and auxiliary equipment Reference
(Note) No-fuse breaker Section 14.2.2 Cables Section 14.2.1
Power supply
Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8
MR Configurator Chapter 6 External digital display Section 14.1.7
(Servo configuration software)
Power factor improving reactor Section 14.2.3
No-fuse Regenerative option Section 14.1.1
breaker
(NFB) or
fuse Servo amplifier
Command device

Junction terminal
block
To CN1A
Magnetic
contactor Manual pulse
(MC) generator
To CN1B
External digital display
Power
factor
improving To CN2 To CN3
reactor MR Configurator
L11 (Servo configuration
(FR-BAL) Personal software
L21 computer MRZJW3-SETUP151E)

L1
U V W P C
L2
L3 Regenerative
option

Note. Refer to section 1.2 for the power supply specification.

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 1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500CL
(Note 2)
Power supply

Options and auxiliary equipment Reference Options and auxiliary equipment Reference
No-fuse breaker Section 14.2.2 Cables Section 14.2.1
No-fuse Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8
breaker
MR Configurator Chapter 6 External digital display Section 14.1.7
(NFB) or
fuse (Servo configuration software)
Power factor improving reactor Section 14.2.3
Regenerative option Section 14.1.1

Magnetic
contactor
(MC)

Command device

Power
factor Servo amplifier
improving Junction terminal
block
reactor
(FR-BAL) To CN1A

Manual pulse
L1 generator
L2
L3 To CN1B
External digital display
(Note 1) C P U
Regenerative option
V To CN3
W

MR Configurator
To CN2 (Servo configuration
Personal software
L11 computer MRZJW3- SETUP151E)
L21

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.2 for the power supply specification.

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 1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700CL
Options and auxiliary equipment Reference Options and auxiliary equipment Reference
No-fuse breaker Section 14.2.2 Cables Section 14.2.1
Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8
(Note 2) MR Configurator External digital display Section 14.1.7
Power supply Chapter 6
(Servo configuration software)
Power factor improving reactor Section 14.2.3
Regenerative option Section 14.1.1

Command device
No-fuse
breaker
(NFB) or Junction terminal
fuse block
Servo amplifier
L11
L21 To CN1A

Magnetic Manual pulse

contactor generator
(MC) To CN1B
External digital display

Power
To CN3
factor
improving MR Configurator
reactor (Servo configuration
Personal software
(FR-BAL) To CN2 computer MRZJW3- SETUP151E)
L3 U
L2 V
L1 W

C P
(Note 1) Regenerative option

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.2 for the power supply specification.

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 1. FUNCTIONS AND CONFIGURATION

MEMO

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 2. INSTALLATION

2. INSTALLATION

Stacking in excess of the limited number of products is not allowed.

Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 2.1.)
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
CAUTION amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.

2.1 Environmental conditions

Environment Conditions
[ ] 0 to 55 (non-freezing)
In operation
Ambient [ ] 32 to 131 (non-freezing)
temperature [ ] 20 to 65 (non-freezing)
In storage
[ ] 4 to 149 (non-freezing)
Ambient In operation
90%RH or less (non-condensing)
humidity In storage
Indoors (no direct sunlight)
Ambience
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
[m/s2] 5.9 [m/s2] or less
Vibration 2
[ft/s ] 19.4 [ft/s2] or less

2- 1

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 2. INSTALLATION

2.2 Installation direction and clearances

Do not hold the front cover to transport the controller. The controller may drop.
The equipment must be installed in the specified direction. Otherwise, a fault may
CAUTION occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.

(1) Installation of one servo amplifier

Control box Control box

40mm
(1.6 in.)
or more
Servo amplifier Wiring clearance
70mm
(2.8 in.) Up

10mm 10mm
(0.4 in.) (0.4 in.)
or more or more

Down

40mm
(1.6 in.)
or more

2- 2

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 2. INSTALLATION

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box

10mm
100mm (0.4 in.)
(4.0 in.) or more
or more

30mm 30mm
(1.2 in.) (1.2 in.)
or more or more

40mm
(1.6 in.)
or more

(3) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2.3 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the
servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an
air purge (force clean air into the control box from outside to make the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.

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 2. INSTALLATION

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional encoder cable or the power supply and brake
wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and
brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) The flexing lives of the cables are shown below. In actuality, provide a little allowance for these values.
For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 13.4 for the flexing life.

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 3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off
WARNING or not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop (EMG) and other protective circuits.
Servo amplifier Servo amplifier
COM COM
(24VDC) (24VDC)

Control output Control output

CAUTION signal RA signal
RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference,

which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.

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 3. SIGNALS AND WIRING

3.1 Standard connection example

Servo amplifier
(Note 3, 7) (Note 3, 7)
CN1A CN1A
Proximity dog DOG 8 9 COM (Note 2, 4) Home position
Servo-on SON 19
18 ZP RA5
return completion
SG 10
10m (32.79ft.) or less 10m (32.79ft.) or less
(Note 3, 7) (Note 3, 7)
CN1B CN1B
Forward rotation stroke end LSP 16 3 VDD
(Note 5) (Note 12)
Reverse rotation stroke end LSN 17 13 COM (Note 2, 4)
Program input 1 PI1 8 Program output 1
4 OUT1 RA1
Program input 2 PI2 9 Movement
Forward rotation start ST1 7 6 PED RA2 complete
Program No. selection 1 DI0 5 Trouble (Note 6)
18 ALM RA3
Program No. selection 2 DI1 14
19 RD RA4
Ready
Reset RST 15
SG 10 (Note 3, 7)
Upper limit setting CN1B
P15R 11 Encoder A-phase pulse
6 LA
(Note 8) Override VC 2 16 LAR (differential line driver)

7 LB Encoder B-phase pulse

Upper limit setting LG 1 (differential line driver)
17 LBR
5 LZ Encoder Z-phase pulse
(Note 9) Analog torque limit TLA 12 (differential line driver)
15 LZR
1 LG
SD Plate Plate SD
2m (6.56ft.) or less (Note 3, 7)
CN3
4 MO1 A
(Note 10)
10k
3 LG Monitor output
Max. 1mA
14 MO2 A meter
10k Zero center
(Note 11) 13 LG
MR Configurator Personal (Note 10)
CN3 Plate SD
(Servo Configuration computer
Communication cable 2m (6.56ft.) or less
software)

(Note 1)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop and other protective circuits.
3. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from
external.
5. When starting operation, always connect the forward/reverse rotation stroke end (LSN/LSP) with SG. (Normally closed
contacts)
6. Trouble (ALM) is connected with COM in normal alarm-free condition.
7. The pins with the same signal name are connected in the servo amplifier.
8. When using override (VC), make the override selection (OVR) device available.
9. When using analog torque limit (TLA), make the external torque limit selection (TL) devices available.
10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).
(Refer to section 14.1.6).
11. Use MRZJW3-SETUP 151E (Ver. E1 or more).
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
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 3. SIGNALS AND WIRING

3.2 Internal connection diagram of servo amplifier

This section gives the internal connection diagram where the signal assignment is in the initial status.
Servo amplifier

CN1B 24VDC
VDD 3

COM 13

CN1A CN1A
COM 9 18 ZP
Approx. 4.7k
DOG 8
Approx. 4.7k
SON 19

SG 10, 20 CN1B

CN1B 4 OUT1
DI0 5 6 PED
Approx. 4.7k
ST1 7 18 ALM
Approx. 4.7k
PI1 8 19 RD
Approx. 4.7k
PI2 9
Approx. 4.7k
DI1 14
Approx. 4.7k
RST 15
Approx. 4.7k
LSP 16 CN1A
Approx. 4.7k
LSN 17 6 LA

SG 10, 20 16 LAR

CN1A 7 LB
OPC 11 17 LBR
Approx. 100 Approx. 1.2k
PP 3 5 LZ
Approx. 100 Approx. 1.2k
NP 2 15 LZR
SD Casing 14 OP
1 LG

CN3

CN1B 4 MO1

VC 2
14 MO2

TLA 12
2 RXD
15VDC
P15R 11
12 TXD

LG 1 9 SDP

SD Casing 19 SDN

CN1A 5 RDP

P15R 4 15 RDN

PE

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 3. SIGNALS AND WIRING

3.3 I/O signals

3.3.1 Connectors and signal arrangements

POINT
The connector pin-outs shown above are viewed from the cable connector
wiring section side.

(1) Signal arrangement

CN1A CN1B

1 11 1 11
2 12 2 12
LG OPC LG P15R
NP VC TLA
3 13 3 13
4 14 4 14
PP VDD COM
P15R OP OUT1 DI1
5 15 5 15
6 16 6 16
LZ LZR Servo amplifier DI0 RST
LA LAR PED LSP
7 17 7 17
8 18 8 18
LB LBR ST1 LSN
DOG ZP PI1 ALM
9 19 9 19
10 20 10 20
COM SON PI2 RD
SG SG SG SG

CN2 CN3

1 11 1 11
2 12 2 12
LG LG LG LG
LG LG RXD TXD
3 13 3 13
4 14 4 14
LG LG
MO1 MO2
5 15 5 15
6 16 6 16
RDP RDN
MD MDR
7 17 7 17
The connector frames are
8 18 connected with the PE (earth) 8 18
MR MRR
P5 terminal inside the servo amplifier.
9 19 9 19
10 20 10 20
BAT P5 SDP SDN
P5 TRE P5

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 3. SIGNALS AND WIRING

3.3.2 Signal (devices) explanations

(1) I/O devices

POINT
The devices not indicated in the Connector Pin No. field of the I/O devices
can be assigned to the connector CN1A/CN1B using the MR Configurator
(Servo Configuration software).
In the factory setting state, Forced stop (EMG) and Automatic/manual
selection (MD0) are not assigned to the pins but are preset to turn on
automatically.

(a) Pins whose devices can be changed

Refer to section 3.6.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the
corresponding connector pins.

Pin type Connector pin No. I/O division Device in initial status
CN1B-5 Program No. selection 1 (DI0)
CN1B-14 Program No. selection 2 (DI1)
CN1A-8 Proximity dog (DOG)
CN1B-15 Reset (RST)
Input-only pins CN1B-16 DI-1 Forward rotation stroke end (LSP)
CN1B-17 Reverse rotation stroke end (LSN)
CN1B-7 Forward rotation start (ST1)
CN1B-8 Program input 1 (PI1)
CN1B-9 Program input 2 (PI2)
Servo-on (SON)
I/O pin CN1A-19 DI-1 or DO-1 You can assign an I/O device using the MR
Configurator (Servo Configuration software).
CN1B-4 Program output 1 (OUT1)
CN1B-6 Movement complete (PED)
Output-only pins CN1B-18 DO-1 Trouble (ALM)
CN1B-19 Ready (RD)
CN1A-18 Home position return completion(ZP)

(b) Input devices

Devices Connector
Device name Functions/Applications
symbol pin No.
Forced stop EMG Turn EMG off (open EMG-common) to bring the motor to an Forced stop state, in
which the servo is switched off and the dynamic brake is operated.
Turn EMG on (short EMG-common) in the Forced stop state to reset that state.
In the factory setting state, Forced stop (EMG) is preset to turn on automatically.
(Refer to section 6.6 (2) (c).)
Servo-on SON CN1B-19 Turn SON on to power on the base circuit and make the servo amplifier ready to
operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor (servo off).
Reset RES CN1B-15 Turn RES on for more than 50ms to reset the alarm.
Some alarms cannot be deactivated by the reset signal. Refer to section 11.2.1.
Turning RES on in an alarm-free status shuts off the base circuit. The base circuit
is not shut off when " 1 " is set in parameter No. 55.
Since this device is not designed for stopping. Do not switch it on during operation.

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 3. SIGNALS AND WIRING

Devices Connector
Device name Functions/Applications
symbol pin No.
Forward rotation LSP CN1B-16 To start operation, turn LSP/LSN on. Turn it off to bring the motor to a sudden
stroke end stop and make it servo-locked.
Set " 1" in parameter No. 22 to make a slow stop.
(Refer to section 5.2.5.)
(Note) Input signals Operation
CCW CW
LSP LSN
direction direction
1 1
Reverse rotation stroke LSN CN1B-17 0 1
end 1 0
0 0
Note. 0: OFF
1: ON
Program input1 PI1 CN1B-8 Turn PI1 on to resume the step stopped by the SYNC (1) command in the program.
Program input2 PI2 CN1B-9 Turn PI2 on to resume the step stopped by the SYNC (2) command in the program.
Program input3 PI3 Turn PI3 on to resume the step stopped by the SYNC (3) command in the program.
Forward rotation start ST1 CN1B-7 1. In program operation mode
When ST1 is turned on, the operation of the program selected with DI0 to DI3 is
executed.
2. Jog operation in manual operation mode
While ST1 is kept on, the servo motor rotates in the forward rotation direction.
Forward rotation indicates an address increasing direction.
Reverse rotation start ST2 While ST2 is kept on in jog operation of the manual operation mode, the servo
motor rotates in the reverse rotation direction. Reverse rotation indicates an
address decreasing direction.
ST2 is invalid in any other operation mode.
Automatic/manual MD0 Turn MD0 on to select the program operation mode, or turn it off to select the
selection manual operation mode.
In the factory setting state, Forced stop (EMG) is preset to turn on automatically.
(Refer to section 6.6 (2) (c).)
Proximity dog DOG CN1A-8 Turn DOG on to bring, the proximity dog signal is detected. The polarity of dog
detection input can be changed with the parameter.
Polarity of proximity dog
Parameter No.8
detection input
0 (initial value) OFF
1 ON

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 3. SIGNALS AND WIRING

Devices Connector
Device name Functions/Applications
symbol pin No.
Program No. selection 1 DI0 CN1B-5 Select the program number from among those combined by DI0, DI1, DI2 and DI3
to start operation on the leading edge of ST1 in the program operation mode.

Input signal (Note)

Program No.
Program No. selection 2 DI1 CN1B-14 DI3 DI2 DI1 DI0
0 0 0 0 1
Program No. selection 3 DI2 0 0 0 1 2
0 0 1 0 3
Program No. selection 4 DI3 0 0 1 1 4
0 1 0 0 5
0 1 0 1 6
0 1 1 0 7
0 1 1 1 8
1 0 0 0 9
1 0 0 1 10
1 0 1 0 11
1 0 1 1 12
1 1 0 0 13
1 1 0 1 14
1 1 1 0 15
1 1 1 1 16
Note. 0: OFF
1: ON
Override selection OVR Turn OVR on to make override (VC) valid.
External torque limit TL Turn TL on to make analog torque limit (TLA) valid.
selection For details, refer to section 3.4.4.
Internal torque limit TL2 Turn TL2 off to make parameter No.28 (Internal torque limit 1) valid, or turn it on
selection to make parameter No.29 (Internal torque limit 2) valid.
For details, refer to section 3.4.4.
Proportion control PC Turn PC on to bring the speed amplifier from the proportional integral type to the
proportional type.
If the servo motor at a stop is rotated even one pulse due to any external factor, it
generates torque to compensate for a position shift. In such a case where the axis
will be locked mechanically after Movement complete (PED) has turned off, turning
Proportion control (PC) on as soon as Movement complete (PED) turns off can
suppress unnecessary torque that attempts to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the proportion control (PC)
and External torque limit selection (TL) at the same time to make the torque less
than the rated by the analog torque limit (TLA).

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 3. SIGNALS AND WIRING

Devices Connector
Device name Functions/Applications
symbol pin No.
Temporary STP Turn STP on during program operation to make a temporary stop.
stop/Restart Turn it on again to make a restart.
If any of Program inputs 1 to 3 (PI1 to PI3) is turned on during a temporary stop, it
is ignored.
When the program operation mode is switched to the manual operation mode
during a temporary stop, the remaining moving distance is erased. During home
position return and jog operation, the temporary stop/restart input is ignored.
Refer to section 3.4.1.
Manual pulse TP0 Used to select the multiplication factor of the manual pulse generator.
generator When it is not selected, the parameter No.1 setting is made valid.
multiplication 1
Manual pulse TP1 (Note) Input signal Manual pulse generator
generator
TP1 TP0 multiplication factor
multiplication 2
0 0 Parameter No.1 setting
0 1 1 time
1 0 10 times
1 1 100 times
Note. 0: OFF
1: ON

Gain switch CDP Turn CDP on to change the load inertia moment ratio into parameter No. 64 (load
inertia moment ratio to servo motor 2) and the gain values into the values
multiplied by parameter No. 65 to 67.
Current position latch LPS Turn LPS on during execution of the LPOS command to latch the current position
input on its leading edge. The latched current position can be read using the
communication command.

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 3. SIGNALS AND WIRING

(c) Output devices

Devices Connector
Device name Functions/Applications
symbol pin No.
Trouble ALM CN1B-18 ALM turns off when power is switched off or the protective circuit is activated to
shut off the base circuit. Without alarm occurring, ALM turns on within about 1s
after power-on.
Ready RD CN1B-19 RD turns on when the servo is switched on and the servo amplifier is ready to
operate.
Movement complete PED CN1B-6 PED turns on when the droop pulse value is within the movement complete output
range and the command remaining distance is "0". (Refer to section 3.4.2.)
The movement complete output range can be changed with parameter No. 6.
INP turns on at servo-on.
When a home position return is not completed, PED is off in a servo-off status.
Home position return ZP CN1A-18 ZP turns on at completion of a home position return.
completion In the absolute position system, ZP turns on when the servo amplifier is ready to
operate, but turns off if.
1) SON is turned off.
2) EMG is turned off.
3) RES is turned on.
4) Alarm occurs.
5) Limit switch opens.
6) Home position set has not been made after the purchase of the product.
7) Home position set has not been made after the occurrence of absolute position
erasure (AL. 25) or absolute position counter warning
(AL. E3).
8) Home position set has not been made after the setting of the electronic gear value.
9) Home position set has not been made after the absolute position system was made
valid. or
10) The ST1 coordinate system ("000 " in parameter No.1) has been changed.
11) Software limit is valid.
12) Home position return completion.
13) Home position set has not been made after home position return position data
(parameter No. 42) setting.
If the status is not any of 1) to 13) and the home position setting has already been
completed at least once, home position return completion (ZP) is placed in the
same output status as ready (RD).
Electromagnetic brake MBR MBR turns off when the servo is switched off or an alarm occurs.
interlock When an alarm occurs, they are turned off independently of the base circuit
status.
Position range POT Position range (POT) is on when the current position is within the range set in
parameters No. 50 to 53. If the current position is within the set range, the device
is off when a home position return is not yet complete or while the base circuit is
off (during servo off, alarm occurrence or alarm reset).
Warning WNG When warning has occurred, WNG turns on.
When there is no warning, WNG turns off within about 1s after power-on.
Battery warning BWNG BWNG turns on when battery cable breakage warning (AL. 92) or battery warning
(AL. 9F) has occurred. When there is no battery warning, BWNG turns off within
about 1s after power-on.
Limiting torque TLC TLC-SG are connected when the torque generated reaches the value set to the
internal torque limit 1 (parameter No. 28), internal torque limit 1 (parameter No.
29) or analog torque limit (TLA).
Temporary stop PUS PUS turns on when deceleration to a stop is started by Temporary stop/restart
(STP). PUS turns off when Temporary stop/restart (STP) is enabled again to
resume operation.
Program output 1 OUT1 CN1B-4 OUT1 turns on when the OUTON (1) command in the program is given. OUT1
turns off when the OUTOF command is given.
The time to turn it off can be set in parameter No. 74.
Program output 2 OUT2 OUT2 turns on when the OUTON (2) command in the program is given. OUT2
turns off when the OUTOF command is given.
The time to turn it off can be set in parameter No. 75.
Program output 3 OUT3 OUT3 turns on when the OUTON (3) command in the program is given. OUT3
turns off when the OUTOF command is given.
The time to turn it off can be set in parameter No. 76.

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 3. SIGNALS AND WIRING

(2) Input signal

For the input interfaces (symbols in I/O column in the table), refer to section 3.6.2.

Signal Connector I/O

Signal Functions/Applications
symbol pin No. division
Manual pulse PP CN1A-3 Used to connect the manual pulse generator (MR-HDP01).
generator NP CN1A-2 For details, refer to section 14.1.8.
Override VC CN1B-2 10 to 10V is applied to across VC-LG to limit the servo motor speed. Analog
Apply 10[V] for 0[%] override, 0[V] for 100[%], or 10[V] for 200[%]. input
Analog torque limit TLA CN1B-12 To use this signal, set any of MR Configurator (servo configuration
software) to make the external torque limit selection (TL) available.
When the analog torque limit (TLA) is valid, torque is limited in the full Analog
servo motor output torque range. Apply 0 to 10VDC across TLA-LG. input
Connect the positive terminal of the power supply to TLA. Maximum
torque is generated at 10V. (Refer to in section 3.4.4.) Resolution:10bits

(3) Output signal

For the output interfaces (symbols in I/O column in the table), refer to section 3.6.2.

Signal Connector I/O

Signal Functions/Applications
symbol pin No. division
Encoder Z-phase pulse OP CN1A-14 Outputs the zero-point signal of the encoder. One pulse is output per
(open collector) servo motor revolution. OP and LG are connected when the zero-point
position is reached. (Negative logic) DO-2
The minimum pulse width is about 400 s. For home position return
using this pulse, set the creep speed to 100r/min. or less.
Encoder A-phase pulse LA CN1A-6 Outputs pulses per servo motor revolution set in parameter No. 27 in the
DO-2
(differential line driver) LAR CN1A-16 differential line driver system. In CCW rotation of the servo motor, the
Encoder B-phase pulse LB CN1A-7 encoder B-phase pulse lags the encoder A-phase pulse by a phase angle
(differential line driver) LBR CN1A-17 of /2.
DO-2
The relationships between rotation direction and phase difference of the
A- and B-phase pulses can be changed using parameter No. 58.
Encoder Z-phase pulse LZ CN1A-5 The same signal as OP is output in the differential line driver system.
DO-2
(differential line driver) LZR CN1A-15
Analog monitor 1 MO1 CN3-4 Used to output the data set in parameter No.17 to across MO1-LG in Analog
terms of voltage. Resolution 10 bits output
Analog monitor 2 MO2 CN3-14 Used to output the data set in parameter No.17 to across MO2-LG in Analog
terms of voltage. Resolution 10 bits output

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 3. SIGNALS AND WIRING

(4) Communication
POINT
Refer to chapter 15 for the communication function.

Signal Connector
Signal Functions/Applications
symbol pin No.
RS-422 I/F SDP CN3-9 RS-422 and RS-232C functions cannot be used together.
SDN CN3-19 Choose either one in parameter No. 16.
RDP CN3-5
RDN CN3-15
RS-422 termination TRE CN3-10 Termination resistor connection terminal of RS-422 interface.
When the servo amplifier is the termination axis, connect this terminal to RDN
(CN3-15).
RS-232C I/F TXD CN3-2 RS-422 and RS-232C functions cannot be used together.
RXD CN3-12 Choose either one in parameter No. 16.

(5) Power supply

Signal Connector
Signal Functions/Applications
symbol pin No.
I/F internal power VDD CN1B-3 Used to output 24V 10% to across VDD-SG.
supply When using this power supply for digital interface, connect it with COM.
Permissible current : 80mA
Digital I/F power COM CN1A-9 Used to input 24VDC (200mA or more) for input interface.
supply input CN1B-13 Connect the positive ( ) terminal of the 24VDC external power supply.
24VDC 10%
Open collector power OPC CN1A-11 When you use a manual pulse generator , supply this terminal with the positive ( )
input power of 24VDC.
Digital I/F common SG CN1A-10 Common terminal for input signals such as SON and EMG. Pins are connected
20 internally.
CN1B-10 Separated from LG.
20
15VDC power supply P15R CN1A-4 Outputs 15VDC to across P15R-LG. Available as power for VC and VLA.
CN1B-11 Permissible current: 30mA
Control common LG CN1A-1 Common terminal for TLA, VC, OP, MO1, MO2 and P15R.
CN1B-1 Pins are connected internally.
CN3-1,
11
3,
13
Shield SD Plate Connect the external conductor of the shield cable.

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 3. SIGNALS AND WIRING

3.4 Detailed description of signals (devices)

3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart

(1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can
be used after the main circuit has been established. These signals are invalid if it is switched on before
the main circuit is established.
Normally, it is interlocked with the ready signal (RD).
(2) A start in the servo amplifier is made when the external start signal changes from OFF to ON. The
delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other signals is
max. 10ms.
3ms or less 3ms or less

Servo motor speed

10ms
Forward rotation start (ST1) or less
or reverse rotation start (ST2)
5ms or more
Temporary stop/Restart (STP)

(3) When a programmable controller is used, the ON time of the start/stop signal should be 5ms or longer
to prevent a malfunction.
(4) During operation, the forward rotation start (ST1) or reverse rotation start (ST2) is not accepted. The
next operation should always be started after the Movement complete (PED) is output.

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 3. SIGNALS AND WIRING

3.4.2 Movement complete

POINT
If an alarm cause, etc. are removed and servo-on occurs after a stop is
made by servo-off, alarm occurrence or Forced stop (EMG) ON during
automatic operation, Position end (PED) is turned on. To resume
operation, confirm the current position and the selected point table No. for
preventing unexpected operation.

The following timing charts show the output timing relationships between the position command
generated in the servo amplifier and the Movement complete (PED). This timing can be changed using
parameter No. 6 (Movement complete output range). Turn PED on to bring in the servo-on status.
Forward rotation start (ST1) ON
or reverse rotation start (ST2) OFF
Position command
3ms or less
Position command and Servo motor speed
servo motor speed
Movement complete range

ON
Movement complete (PED)
OFF
When parameter No. 6 is small

Forward rotation start (ST1) ON

or reverse rotation start (ST2) OFF
Position command
3ms or less
Position command and Servo motor speed
servo motor speed
Movement complete range

ON
Movement complete (PED)
OFF
When parameter No. 6 is large

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 3. SIGNALS AND WIRING

3.4.3 Override

POINT
When using the override (VC), make the override selection (OVR) device
available.

The override (VC) may be used to change the servo motor speed. The following table lists the signals and
parameter related to the override.

Item Name Remarks

Analog input signal Override (VC)
MR Configurator (Servo Configuration Software) setting
Contact input signal Override selection (OVR)
required.
Parameter No.25 override offset 999 to 999mV

(1) Override (VC)

By applying a voltage ( 10 to 10V) to the override (VC) terminal, change values can be set from
outside consecutively. The following graph shows the relationship between the input voltage and the
ratio of actual speed to preset speed.
[%] Servo amplifier
Ratio of actual speed to

200
OVR
Override selection (OVR)
SG
preset speed

100
VC
Override (VC) LG
10 to 10V SD
0
10 0 10 [V]
Override (VC) application voltage

(2) Override selection (OVR)

Used to make the override (VC) valid or invalid.
Servo amplifier
Override

Motor

Override selection
(OVR)
Override (VC)
10 to 10V

Using the override selection (OVR), choose a change value as follows.

External input signal

Speed change value
OVR
0 No change
1 Override (VC) setting is made valid.
Note. 0 : OFF
1 : ON

(3) Override offset (parameter No.25)

Using parameter No.25, the offset voltage can be set relative to the input voltage for the override (VC).
The setting is between 999 to 999mV.
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 3. SIGNALS AND WIRING

3.4.4 Torque limit

POINT
To use the torque limit, make the external torque limit selection (TL) and
internal torque limit selection (TL2) available.

The following table lists the signals and parameters related to the torque limit.

Item Name Remarks

Analog input signal Analog torque limit (TLA)
External torque limit selection (TL)
Contact input signals MR Configurator (Servo Configuration Software)
Internal torque limit selection (TL2)
setting required.
Contact output signal Limiting torque (TLC)
No.28 (internal torque limit 1) 0 to 100%
No.29 (internal torque limit 2) 0 to 100%
Parameters No.26 (torque limit offset) 999 to 999mV
Selection of the rotation direction in which torque
No.59 (function selection 2)
limit is executed.

The torque limit is available in two types: internal torque limit set in parameters and analog torque limit
(TLA) using analog input signal. This function limits torque on the assumption that the maximum torque
of the servo motor is 100%.

(1) Internal torque limits 1, 2

Use parameter No.28 and 29 to set the internal torque limit values. The following graph shows the
torque relative to the setting.

Max. torque
Torque

0
0 100
Torque limit value [%]

(2) Analog torque limit (TLA)

By applying a voltage (0 to 10V) to the analog torque limit (TLA) terminal, limit values can be set from
outside consecutively. The following graph shows the relationship between input voltage and limit
value.
Depending on the servo amplifier, the limit value has about 5% variations to the input voltage. As this
may not cause torque to be limited sufficiently at less than 0.05V, use this function at the voltage of
0.05V or more.
Refer to the following diagram when using the 15V power output (P15R) of the servo amplifier.
Servo amplifier
Torque limit value [%]

100

TL
SG
P15R
5% 2k
2k TLA
LG
0 Japan Resistor RRS10
0 0.05 10 SD
or equivalent
TLA application voltage [V]
TLA Application Voltage and Connection Example
Torque Limit Value

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 3. SIGNALS AND WIRING

(3) External torque limit selection (TL), internal torque limit selection (TL2)
To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them
available using the MR Configurator (Servo Configuration Software) (refer to chapter 6).
These input signals may be used to choose the torque limit values made valid.
(Note) External input signals
Torque limit value made valid
TL2 TL
0 0 Internal torque limit value 1 (parameter No. 28)
TLA Parameter No. 28: Parameter No. 28
0 1
TLA Parameter No. 28: TLA
Parameter No. 29 Parameter No. 28: Parameter No. 28
1 0
Parameter No. 29 Parameter No. 28: Parameter No. 29
TLA Parameter No. 29: Parameter No. 29
1 1
TLA Parameter No. 29: TLA
Note. 0: OFF
1: ON

(4) External torque limit offset (parameter No.26)

Using parameter No.26, the offset voltage can be set relative to the input voltage of the analog torque
limit (TLA). The setting is between 999 to 999mV.

(5) Selection of rotation direction for torque limit execution (parameter No.59)
Using parameter No.59, the rotation direction for torque limit execution can be selected.
Rotation direction for torque limit execution
Parameter No.59 setting
CCW direction CW direction
0 (initial value)
1
2

For example, when “ 1 ” is set in parameter No.59, torque limit is executed in the CCW direction
but not in CW direction.

CCW rotation: Torque limit is executed.

CW rotation: Torque limit is not executed.

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 3. SIGNALS AND WIRING

3.5 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
CAUTION operation.
As soon as an alarm occurs, turn off Servo-on (SON) and power off.

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the
control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn
the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.

(Note)
Main circuit
control circuit ON Power off Power on
power supply OFF
Base circuit ON
OFF
Dynamic brake Valid
Brake operation Brake operation
Invalid
Servo-on ON
(SON) OFF
Ready ON
(RD) OFF
Trouble ON
(ALM) OFF
1s
Reset ON
(RES) OFF 50ms or more 60ms or more
Alarm occurs.
Remove cause of trouble.
Note. Switch off the main circuit power as soon as an alarm occurs.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent
(AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing
its cause, the servo amplifier and servo motor may become faulty due to temperature rise.
Securely remove the cause of the alarm and also allow about 30 minutes for cooling before
resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative
(AL.30) alarm after its occurrence, the external regenerative resistor will generate heat,
resulting in an accident.
(3) Instantaneous power failure
Undervoltage (AL.10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J2S- CL, or to 158VDC or less for the
MR-J2S- CL1.
(4) Incremental system
When an alarm occurs, the home position is lost. When resuming operation after deactivating
the alarm, make a home position return.

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 3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.

CN1A CN1A
CN1B 24VDC CN1B
RA
VDD
COM ALM,etc
DO-1
SON,etc.
Dl-1 SG
OPC
Manual pulse generator
MR-HDP01

5V
PP(NP)
A(B)
SG SG
0V

<Isolated>
OP
5V
15VDC 10% 30mA LG
P15R
LA,etc
LAR,etc Differential line driver
output
LG
TLA 35mA or less
SD
Analog input VC,
( 10V/max. current) etc.
MO1 CN3 Analog monitor
LG MO2

LG Single-phase
SD 100 to 200VAC
SDP
RXD L1
SDN
RXD L2
RDP
TXD
RDN
TXD E
LG
LG
SD

CN2 Servo motor encoder

MR
Servo motor MRR

M
SD

Ground

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 3. SIGNALS AND WIRING

3.6.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
sections 3.3.2. Refer to this section and connect the interfaces with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (6) in this
section.

For use of internal power supply For use of external power supply
Servo amplifier
Do not connect
24VDC VDD-COM.
VDD Servo amplifier

R: Approx. 4.7k 24VDC

COM
VDD
24VDC
200mA or more R: Approx. 4.7k
(Note) COM
For a transistor SON, etc.
Approx. 5mA
SON, etc.
Switch

TR SG
Switch
V CES 1.0V
SG
I CEO 100 A

Note. This also applies to the use of the external power supply.

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.

(a) Inductive load

For use of internal power supply For use of external power supply
Servo amplifier Servo amplifier
24VDC 24VDC Do not connect
VDD VDD VDD-COM.

COM COM
(Note)
Load Load 24VDC
ALM, etc ALM, etc 10%

SG SG

If the diode is not If the diode is not

connected as shown, connected as shown,
the servo amplifier the servo amplifier
will be damaged. will be damaged.

Note. If the voltage drop (maximum of 2.6V) interferes with the

relay operation, apply high voltage (up to 26.4V) from
external source.

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 3. SIGNALS AND WIRING

(b) Lamp load

For use of internal power supply For use of external power supply
Servo amplifier Servo amplifier
24VDC 24VDC Do not connect
VDD VDD VDD-COM.

COM COM
R R (Note)
24VDC
ALM, etc ALM, etc 10%

SG SG

Note. If the voltage drop (maximum of 2.6V) interferes with the

relay operation, apply high voltage (up to 26.4V) from
external source.

(3) Encoder pulse output DO-2

(a) Open collector system
Interface
Max. output current : 35mA
Servo amplifier Servo amplifier 5 to 24VDC

OP OP
Photocoupler
LG LG

SD SD

(b) Differential line driver system

1) Interface
Max. output current: 35mA
Servo amplifier Servo amplifier
LA LA
Am26LS32 or equivalent 100 High-speed photocoupler
(LB, LZ) (LB, LZ)

150
LAR LAR
(LBR, LZR) (LBR, LZR)
LG
SD SD

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 3. SIGNALS AND WIRING

2) Output pulse
Servo motor CCW rotation
LA

LAR T The time cycle (T) is determined by

LB the setting of the parameter No. 27 and 58.

LBR
/2

LZ
LZR
400 s or more
OP

(4) Analog input

Input impedance 10k to 12k
Servo amplifier

15VDC

P15R
Upper limit setting 2k VC‚ etc
2k
LG Approx.
10k
SD

(5) Analog output

Output voltage 10V
Max.1mA
Max. output current
Resolution : 10bits
Servo amplifier

MO1 10k
(MO2)
Reading in one or
both directions A
LG 1mA meter

SD

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 3. SIGNALS AND WIRING

(6) Source input interface

When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.

For use of internal power supply For use of external power supply
Servo amplifier Servo amplifier

SG
SG
R: Approx. 4.7k
(Note) COM R: Approx. 4.7k
COM
For a transistor SON,
Approx. 5mA etc.

Switch
Switch SON,etc.
24VDC
VDD
TR
24VDC
VCES 1.0V 200mA or more
ICEO 100 A

Note. This also applies to the use of the external power supply.

Since source output is not provided, make the following circuit.

For use of internal power supply For use of external power supply
Servo amplifier Servo amplifier

24VDC VDD
Do not connect
24VDC VDD VDD-COM.
COM

COM
Load
(Note)
ALM, etc.
Load 24VDC
10%
ALM, etc.
SG
If the polarity of diode
is not correct, the SG
servo amplifier will
become faulty. If the polarity of diode
is not correct, the
servo amplifier will
become faulty.

Note. If the voltage drop (maximum of 2.6V) interferes with the

relay operation, apply high voltage (up to 26.4V) from
external source.

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 3. SIGNALS AND WIRING

3.7 Input power supply circuit

Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
CAUTION magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.

3.7.1 Connection example

Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as
alarm occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply

Forced
stop OFF ON
RA
MC
MC
SK

NFB MC
Servo amplifier
L1
3-phase
200 to 230 VAC L2
L3
L11
L21

Forced stop EMG

Servo-on SON
SG
VDD
COM
ALM RA Trouble

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 3. SIGNALS AND WIRING

(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply

Forced
RA stop OFF ON

MC
MC
SK

Power supply NFB MC

Servo amplifier
1-phase 100 to L1
120VAC or L2
1-phase 230VAC
L3 (Note)
L11
L21

Forced stop EMG

Servo-on SON
SG
VDD
COM
ALM RA Trouble

Note. Not provided for 1-phase 100 to 120VAC.

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 3. SIGNALS AND WIRING

3.7.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 12.1.

Connection Target
Symbol Description
(Application)
Supply L1, L2 and L3 with the following power.
For 1-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.

Servo amplifier MR-J2S-10CL MR-J2S-100CL MR-J2S-10CL1

Power supply to 70CL to 700CL to 40CL1
3-phase 200 to 230VAC,
L1, L2, L3 Main circuit power supply L1 L2 L3
50/60Hz
1-phase 230VAC,
L1 L2
50/60Hz
1-phase 100 to 120VAC,
L1 L2
50/60Hz

Connect to the servo motor power supply terminals (U, V, W). During power-on, do
U, V, W Servo motor output not open or close the motor power line. Otherwise, a malfunction or faulty may
occur.

Servo amplifier MR-J2S-10CL1 to

MR-J2S-10CL to 700CL
Power supply 40CL1
1-phase 200 to 230VAC,
L11, L21 Control circuit power supply L11 L21
50/60Hz
1-phase 100 to 120VAC,
L11 L21
50/60Hz

1) MR-J2S-350CL or less
When using servo amplifier built-in regenerative resistor, connect between P-D
terminals. (Wired by default)
When using regenerative option, disconnect between P-D terminals and connect
regenerative option to P terminal and C terminal.
2) MR-J2S-500CL or 700CL
P, C, D Regenerative option
MR-J2S-500CL and 700CL do not have D terminal.
When using servo amplifier built-in regenerative resistor, connect P terminal
and C terminal. (Wired by default)
When using regenerative option, disconnect P terminal and C terminal and
connect regenerative option to P terminal and C terminal.
Refer to section 14.1.1 for details.
When using return converter/brake unit, connect to P terminal and N terminal.
Return converter
N Do not connect to servo amplifier MR-J2S-200CL or less.
Brake unit
Refer to sections 14.1.2 and 14.1.3 for details.

Connect this terminal to the protective earth (PE) terminals of the servo motor
Protective earth (PE)
and control box for grounding.

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 3. SIGNALS AND WIRING

3.7.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V single-phase
100V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as
an alarm occurs.

2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is
not on, the display shows the corresponding warning. However, by switching on the main circuit
power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power
supply is switched on. Therefore, when servo-on (SON) is switched on simultaneously with the
main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD)
will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to
paragraph (2) in this section.)

4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.

(2) Timing chart

SON accepted
(1 to 2s)

Power supply ON
OFF

Base circuit ON
OFF 10ms 10ms 60ms

Servo-on ON
(SON) OFF 60ms
Reset ON
(RES) OFF
20ms 10ms 20ms 10ms 20ms 10ms

Ready ON
(RD) OFF

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 3. SIGNALS AND WIRING

(3) Forced stop

Provide an external forced stop circuit to ensure that operation can be stopped and
CAUTION power switched off immediately.

Forced stop (EMG) can be used by making device setting on the MR Configurator (Servo Configuration
Software).
Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop.
To ensure safety, always install an external emergency stop switch across EMG-SG. By disconnecting
EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the
display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external forced stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Servo amplifier

VDD
COM
EMG
Forced stop
SG

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 3. SIGNALS AND WIRING

3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

Insulate the connections of the power supply terminals to prevent an electric

WARNING shock.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.

POINT
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.

The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box

Servo Servo motor

amplifier

PE terminal

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.

3.8.2 Connection diagram

During power-on, do not open or close the motor power line. Otherwise, a
CAUTION malfunction or faulty may occur.

The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to section 14.2.1. For
encoder cable connection, refer to section 14.1.4. For the signal layouts of the connectors, refer to section
3.8.3.
For the servo motor connector, refer to chapter 3 of the Servo Motor Instruction Manual.

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 3. SIGNALS AND WIRING

Servo motor Connection diagram

Servo amplifier Servo motor

U (Red)
U
V (White)
V Motor
W (Black)
W
(Green)

(Note 1) 24VDC
B1
HC-KFS053 (B) to 73 (B) (Note 2)
HC-MFS053 (B) to 73 (B) EMG B2 Electromagnetic
HC-UFS13 (B) to 73 (B) To be shut off when servo-off brake
or Trouble (ALM)
CN2

Encoder cable Encoder

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier Servo motor

U U
V V Motor
W W

(Note 1) 24VDC
HC-SFS121 (B) to 301 (B)
B1
HC-SFS202 (B) 702 (B) (Note 2)
B2
HC-SFS203 (B) 353 (B) EMG Electromagnetic
HC-UFS202 (B) to 502 (B) To be shut off when servo-off brake
HC-RFS353 (B) to 503 (B) or Trouble (ALM)
CN2

Encoder cable Encoder

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.

Servo amplifier Servo motor

U U
V V Motor
W W

(Note 1) 24VDC
HC-SFS81 (B)
B1
HC-SFS52 (B) to 152 (B) B2 (Note 2)
HC-SFS53 (B) to 153 (B) EMG Electromagnetic
HC-RFS103 (B) to 203 (B) To be shut off when servo-off brake
HC-UFS72 (B) 152 (B) or Trouble (ALM)
CN2

Encoder cable Encoder

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.

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 3. SIGNALS AND WIRING

3.8.3 I/O terminals

(1) HC-KFS HC-MFS HC-UFS3000r/min series

Power supply lead Encoder connector signal arrangement

4-AWG19 0.3m (0.98ft.)
1 2 3
Power supply connector (Molex)
MR MRR BAT
Without electromagnetic brake
a 5557-04R-210 (receptacle) 4 5 6
Encoder cable 0.3m (0.98ft.) 5556PBTL (Female terminal) MD MDR
With connector 1-172169-9 b 7 8 9
With electromagnetic brake
(Tyco Electronics) 5557-06R-210 (receptacle) P5 LG SHD

5556PBTL (Female terminal)

Power supply Power supply View a
connector connector
Pin Signal Pin Signal
5557-04R-210 5557-06R-210
1 U 1 U
1 3 2 V 1 4 2 V
2 4 3 W 2 5 3 W
4 (Earth) 3 6 4 (Earth)
View b
5 (Note) B1
View b
6 (Note) B2
Note. Supply electromagnetic
brake power (24VDC).
There is no polarity.

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 3. SIGNALS AND WIRING

(2) HC-SFS HC-RFS HC-UFS2000 r/min series

Servo motor side connectors

Servo motor Electromagnetic
For power supply For encoder
brake connector
HC-SFS81(B) The connector
CE05-2A22-
HC-SFS52(B) to 152(B) for power is
23PD-B
HC-SFS53(B) to 153(B) shared.
HC-SFS121(B) to 301(B)
CE05-2A24-
HC-SFS202(B) to 502 (B)
10PD-B MS3102A10SL-
HC-SFS203(B) 353(B)
4P
CE05-2A32-
HC-SFS702(B)
17PD-B MS3102A20-
CE05-2A22- 29P
HC-RFS103(B) to 203 (B)
a 23PD-B
The connector
CE05-2A24-
Encoder connector HC-RFS353(B) 503(B) for power is
b 10PD-B
shared.
CE05-2A22-
Brake connector c Power supply connector HC-UFS72(B) 152(B)
23PD-B
CE05-2A24- MS3102A10SL-
HC-UFS202(B) to 502(B)
10PD-B 4P

Power supply connector signal arrangement

CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A32-17PD-B

Key Key Key

Pin Signal Pin Signal Pin Signal
F
A U F A
A U A U
G A
B V B V D A B V
B E B
H
C C W G C W C W
E D C B
D D (Earth) C D (Earth) D (Earth)
E E (Note) B1
View c View c
F F (Note) B2
G (Note) B1 G
H (Note) B2 Note. For the motor with
Note. For the motor with electromagnetic brake,
electromagnetic brake, supply electromagnetic
supply electromagnetic brake power (24VDC).
brake power (24VDC). There is no polarity.
There is no polarity.

Encoder connector signal arrangement Electromagnetic brake connector signal arrangement

MS3102A20-29P MS3102A10SL-4P

Key Key
Pin Signal
Pin Signal Pin Signal
M A BC A (Note)B1
L N A MD K
K T P D B (Note)B2
J
B MDR L A B
E Note. For the motor with
S R
F C MR M
H G electromagnetic brake,
D MRR N SD supply electromagnetic
View a E P View b brake power (24VDC).
F BAT R LG There is no polarity.
G LG S P5
H T
J

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 3. SIGNALS AND WIRING

3.9 Servo motor with electromagnetic brake

Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external forced stop (EMG).
Contacts must be open when Circuit must be
servo-off, when an trouble (ALM) opened during
and when an electromagnetic brake forced stop (EMG).
interlock (MBR).
Servo motor
RA EMG

CAUTION 24VDC

Electromagnetic brake

The electromagnetic brake is provided for holding the motor shaft. Do not use it for
ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.

POINT
For the power supply capacity, operation delay time and other
specifications of the electromagnetic brake, refer to the Servo Motor
Instruction Manual.

Note the following when the servo motor equipped with electromagnetic brake is used.

1) In the device setting of the MR Configurator (Servo Configuration software), make the
electromagnetic brake interlock (MBR) available.

2) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.

3) The brake will operate when the power (24VDC) switches off.

4) While the reset (RES) is on, the base circuit is shut off. When using the servo motor with a
vertical shaft, use the electromagnetic brake interlock (MBR).

5) Turn off the servo-on (SON) after the servo motor has stopped.

(1) Connection diagram

Servo amplifier Servo motor
Forced
RA stop B1
VDD

COM 24VDC

MBR RA
B2

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 3. SIGNALS AND WIRING

(2) Setting
1) In the device setting of the MR Configurator (Servo Configuration Software), make the
electromagnetic brake interlock (MBR) available.

2) Using parameter No. 33 (electromagnetic brake sequence output), set a time delay (Tb) at servo-
off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in
(3) in this section.

(3) Timing charts

(a) Servo-on (SON) command (from controller) ON/OFF
Tb (ms) after servo-on (SON) is switched off, servo lock is released and the servo motor coasts.
If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is
about equal to the electromagnetic brake operation delay time and during which the load will not
drop.

Coasting
Servo motor speed 0 r/min

(60ms) Tb
ON
Base circuit
OFF
(80ms) Electromagnetic
Electromagnetic (Note 1) ON brake operation
brake interlock delay time
(MBR) OFF

ON
Servo-on (SON)
OFF
(Note 3)
Forward rotation start ON
(ST1) or reverse rotation
start (ST2) OFF

Electromagnetic Release
brake Activate
Release delay time and external relay (Note 2)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual.
3. After the electromagnetic brake is released, turn ON the ST1 or ST2.

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 3. SIGNALS AND WIRING

(b) Forced stop (EMG) ON/OFF

Dynamic brake
Dynamic brake
Forward Electromagnetic brake
Servo motor speed Electromagnetic brake
rotation
Electromagnetic brake release
0r/min
(10ms) (180ms)
ON
Base circuit
OFF
(180ms)
Electromagnetic (Note) ON Electromagnetic brake
brake interlock (MBR) operation delay time
OFF

Invalid (ON)
Forced stop (EMG)
Valid (OFF)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

(c) Alarm occurrence

Dynamic brake
Dynamic brake
Forward Electromagnetic brake
Servo motor speed
rotation Electromagnetic brake
0r/min
(10ms)
ON
Base circuit
OFF

(Note) ON Electromagnetic brake

Electromagnetic
brake interlock (MBR) operation delay time
OFF

No (ON)
Trouble (ALM)
Yes (OFF)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

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 3. SIGNALS AND WIRING

(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
Forward
Servo motor speed (Note 1)
rotation 15 to 60ms Electromagnetic brake
0r/min

ON
Base circuit
OFF

Electromagnetic (Note 2) ON
brake interlock (MBR)
OFF
Electromagnetic brake
No (ON) operation delay time
Trouble (ALM)
Yes (OFF)

Main circuit ON
power
Control circuit OFF

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.

(e) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
Forward
Servo motor speed (Note 1)
rotation 15 or more Electromagnetic brake
0r/min

ON
Base circuit
OFF

(Note 3) ON
Electromagnetic
brake interlock (MBR) OFF
Electromagnetic brake
No (ON) operation delay time
Trouble (ALM) (Note 2)
Yes (OFF)

Main circuit ON
power supply OFF

Note 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (AL.E9) occurs and the
trouble (ALM) does not turn off.
3. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.

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 3. SIGNALS AND WIRING

3.10 Grounding

Ground the servo amplifier and servo motor securely.

WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of
the servo amplifier with the protective earth (PE) of the control box.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to
di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always
ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB (NA) 67310).
Control box

Servo motor
NFB MC Servo amplifier
CN2
L1
(Note)
Encoder
Line filter

Power
supply L2

L3
L11
U U
L21
V V M
W W
CN1A CN1B
Programmable
controller

Ensure to connect it to PE
terminal of the servo amplifier.
Do not connect it directly to
the protective earth of
the control panel.

Outer
Protective earth(PE) box

Note. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.

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 3. SIGNALS AND WIRING

3.11 Servo amplifier terminal block (TE2) wiring method

POINT
Refer to Table 14.1 in section 14.2.1 for the wire sizes used for wiring.

3.11.1 For the servo amplifier produced later than Jan. 2006

(1) Termination of the cables

(a) Solid wire
After the sheath has been stripped, the cable can be used as it is.
Sheath Core

Approx. 10mm

(b) Twisted wire

1) When the wire is inserted directly
Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a
short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may
cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.

2) When the wires are put together

Using a bar terminal.
Cable Size Bar Terminal Type
Crimping Tool Manufacturer
[mm2] AWG For 1 cable For 2 cables
1.25/1.5 16 AI1.5-10BK AI-TWIN 1.5-10BK
CRIMPFOX ZA 3 Phoenix Contact
2/2.5 14 AI2.5-10BU

Cut the wire running out of bar terminal to less than 0.5mm.
Less than 0.5mm

When using a bar terminal for two wires, insert the wires in the direction where the insulation
sleeve does not interfere with the next pole and pressure them.
Pressure

Pressure

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 3. SIGNALS AND WIRING

(2) Termination of the cables

(a) When the wire is inserted directly
Insert the wire to the end pressing the button with a small flat blade screwdriver or the like.

Button

Small flat blade

screwdriver or the like When removing the short-circuit bar
from across P-D, press the buttons
of P and D alternately pulling the
short-circuit bar. For the installation,
Twisted wire
insert the bar straight to the end.

(b) When the wires are put together using a bar terminal
Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.

Bar terminal for one

wire or solid wire

Bar terminal for two wires

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 3. SIGNALS AND WIRING

3.11.2 For the servo amplifier produced earlier than Dec. 2005

(1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.

Approx. 10mm
(0.39inch)

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. Alternatively, a bar terminal may be used to
put the wires together.

Cable size Bar terminal type

Crimping tool Manufacturer
[mm2] AWG For 1 cable For 2 cables
1.25/1.5 16 AI1.5-10BK AI-TWIN 1.5-10BK CRIMPFOX ZA 3
or Phoenix Contact
2/2.5 14 AI2.5-10BU
CRIMPFOX UD 6

(2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that
the cable does not come off. (Tightening torque: 0.3 to 0.4N m (2.7 to 3.5Ib in)) Before inserting the
cable into the opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.

Flat-blade screwdriver
Tip thickness 0.4 to 0.6mm (0.016 to 0.024in.)
Overall width 2.5 to 3.5mm (0.098 to 0.138in.)

To loosen. To tighten.

Cable

Opening

Control circuit terminal block

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 3. SIGNALS AND WIRING

Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque.
The following table indicates the recommended products of the torque screwdriver for tightening
torque management and the flat-blade bit for torque screwdriver. When managing torque with a
Phillips bit, please consult us.

Product Model Manufacturer/Representative

Torque screwdriver N6L TDK Nakamura Seisakusho
Bit for torque screwdriver B-30, flat-blade, H3.5 X 73L Shiro Sangyo

3.12 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the
cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath Core Sheath

External conductor
Strip the sheath. Pull back the external conductor to cover the sheath.

Screw

Cable

Screw

Ground plate

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 4. OPERATION

4. OPERATION

4.1 When switching power on for the first time

4.1.1 Pre-operation checks

Before starting operation, check the following.

(1) Wiring
(a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo
amplifier.

(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.

(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L1, L2, L3) of the servo motor.

(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.

(e) Note the following when using the regenerative option, brake unit or power regeneration
converter.

1) For the MR-J2S-350CL or less, the lead has been removed from across D-P of the control circuit
terminal block, and twisted cables are used for its wiring.

2) For the MR-J2S-500CL or more, the lead has been removed from across P-C of the servo
amplifier built-in regenerative resistor, and twisted cables are used for its wiring.

(f) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during
operation.

(g) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B.

(h) SD and SG of connectors CN1A and CN1B are not shorted.

(i) The wiring cables are free from excessive force.

(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

(3) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.

(b) The servo motor and the machine connected with the servo motor can be operated.

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 4. OPERATION

4.1.2 Startup

WARNING Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
CAUTION servo motor, etc.since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
For startup reference, a single machine structure will be described. Refer to this section and start up the
machine safely.

(1) Machine conditions

P

Servo amplifier Reduction ratio Ballscrew

1/n 1/2 PB PB 10mm(0.39inch)

Position data (P) 200mm(787.40inch)

Servo motor Speed (V) 2500r/min
HC-MFS131072pulse/rev Ta Tb Acceleration time constant (Ta) 200ms
V Deceleration time constant (Tb) 300ms
Regenerative Servo motor
option MR-RB032 speed 0r/min

Program No. 2

1) Absolute position detection system used

2) Command resolution: 10 m
3) Command system: Absolute value command system
4) Electronic gear calculation
CMX(pulse) 131072 131072 131072 32768
1 1 ........................................................(4.1)
CDV( m) 5000 1250
1000 10 1000
n PB 2
CMX 32768
CDV 1250

5) External input signals are used by the program selection, forward rotation start (ST1), servo-on
(SON) and other commands.
6) Program No.2 is used to execute program operation once.

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 4. OPERATION

(2) Startup procedure

(a) Power on
1) Switch off the servo-on (SON).

2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears
on the servo amplifier display.
In the absolute position detection system, first power-on results in the absolute position lost
(AL.25) alarm and the servo system cannot be switched on. This is not a failure and takes place
due to the uncharged capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and
then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed
of 500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.

(b) Test operation

Using jog operation in the "test operation mode" of the MR Configurator (Servo Configuration
Software), confirm that the servo motor operates at the slowest speed. (Refer to section 6.7.1, 7.8.2)

(c) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5
for the parameter definitions and to sections 6.4 and 7.6 for the setting method.

Parameter Name Setting Description

20
Command system, regenerative option Absolute value command system.
No.0
selection MR-RB032 regenerative option is
used.
10
When forward rotation start (ST1) is
valid, address is incremented in CCW
No.1 Feeding function selection direction.
Since command resolution is 10 times,
feed length multiplication factor of 10
times is selected.
1
No.2 Function selection 1 Absolute position detection system.
No.4 Electronic gear numerator (CMX) 32768 From calculation result of formula (4.1)
No.5 Electronic gear denominator (CDV) 1250 From calculation result of formula (4.1)

After setting the above parameters, switch power off once. Then switch power on again to make the
set parameter values valid.

(d) Program setting

Set the program according to the operation pattern. Refer to section 4.2 for the program definitions
and to sections 4.2 and 6.5 for the setting method.

Program Description
SPN (2500) Speed (Motor speed) 2500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (20000) Absolute move command 20000 [ 10STM m]
STOP Program end

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 4. OPERATION

(e) Servo-on
Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power.

2) Switch on the servo-on (SON).

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor
is locked. By using the sequence in the diagnostic mode in section 7.3, the ready status can be
shown on the servo amplifier display. In the operation-ready status, the following screen
appears.

(f) Home position return

Perform home position return as required. Refer to section 4.4 for home position return types. A
parameter setting example for dog type home position return is given here.

Parameter Name Setting Description

000
Dog type home position return is selected.
No.8 Home position return type Home position return is started in address
incremented direction.
Proximity dog (DOG) is valid at OFF.

No.9 Home position return speed 1000 Motion is made up to proximity dog at 1000r/min.
No.10 Creep speed 10 Motion is made up to home position at 10r/min.
No.11 Home position shift distance 0 No home position shift
Used to set the current position on completion of home
No.42 Home position return position data
position return.
No.43 Moving distance after proximity dog Not used in dog type home position return.

After setting the above parameters, switch power off once. Then switch power on again to make the
set parameter values valid.
Create a program that executes a home position return. Here, create it as program No. 1.

Program Description
ZRT Zeroing
STOP Program end

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute
home position return.

Device name Symbol ON/OFF Description

Automatic/manual selection MD0 ON Program operation mode is selected.
Program No. selection 1 DI0 OFF
Program No.1 is selected.
Program No. selection 2 DI1 OFF
Forward rotation stroke end LSP ON CCW rotation side limit switch is turned on.
Reverse rotation stroke end LSN ON CW rotation side limit switch is turned on.
Servo-on SON ON Servo is switched on.

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 4. OPERATION

(g) Automatic operation

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute
automatic operation in accordance with program No.2.

Device name Symbol ON/OFF Description

Automatic/manual selection MD0 ON Automatic operation mode is selected.
Servo-on SON ON Servo is switched on.
Forward rotation stroke end LSP ON CCW rotation side limit switch is turned on.
Reverse rotation stroke end LSN ON CW rotation side limit switch is turned on.
Program No. selection 1 DI0 ON
Program No.2 is selected.
Program No. selection 2 DI1 OFF

(h) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
When the servo motor used is equipped with an electromagnetic brake, refer to section 3.9 (3). Note
that forward rotation stroke end (LSP), reverse rotation stroke end (LSN) off has the same
stopping pattern as described below.

1) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

2) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.

3) Forced stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a
sudden stop. Servo forced warning (AL.E6) occurs.

4) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in
the opposite direction.

4.2 Program operation mode

4.2.1 What is program operation mode?

Make selection with the input signals or by communication from among the programs that have been
created in advance using the MR Configurator (Servo Configuration software), and perform operation
with Forward rotation start (ST1).
This servo is factory-set to the absolute value command system.
As the position data, the absolute move command ("MOV" command) used to specify the target address or
the incremental move command ("MOVI" command) used to specify the moving distance can be set. Note
that the movable range is -999999 to 999999 [ 10STM m]. Positioning is enabled within this range.
Setting range: 999999 to 999999 [ 10STM m] (STM feed length multiplication parameter No.1)
999999 999999

Position data setting range

STM
[ 10 m]

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 4. OPERATION

4.2.2 Programming language

The maximum number of program steps is 120. Though up to 16 programs can be created, the total
number of program steps is up to 120.
The set program can be selected using Program No. selection 1 (DI0) to Program No. selection 4 (ID3).

(1) Command list

Setting Indirect
Command Name Setting Unit Description
range Addressing
Use to set the command speed given to the motor for
0 to
SPN Speed SPN positioning.
Max r/min
(Note 2) (Motor speed) (Set value) The set value should not be more than the maximum
speed
speed of the motor.
S-pattern S-pattern acceleration/deceleration time constant.
STD Acceleration/ STD Set this command when inserting an S-pattern time
0 to 100 ms
(Note 2) Deceleration (Set value) constant for the acceleration/deceleration time
time constant constant of the program.
Use to set both the acceleration time constant and
deceleration time constant.
The set value is the time from when the used servo
motor is at a stop until it reaches the rated speed, or
the time from when the servo motor is running at the
Acceleration/
STC STC rated speed until it stops.
Deceleration 0 to 20000 ms
(Note 2) (Set value) When this command is used, the acceleration time
time constant
constant and deceleration time constant are equal.
"STA" and "STB" commands can set the acceleration
time constant and deceleration time constant
individually. It can not be changed during command
output.
Use to set the acceleration time.
STA Acceleration STA The set value is the time from when the used servo
0 to 20000 ms
(Note 2) time constant (Set value) motor is at a stop until it reaches the rated speed.
It can not be changed during command output.
Use to set the deceleration time constant.
STB Deceleration STB The set value is the time from when the servo motor
0 to 20000 ms
(Note 2) time constant (Set value) is running at the rated speed until it stops.
It can not be changed during command output.
Absolute move MOV -999999 The set value is regarded as an absolute value for
MOV 10STM m
command (Set value) to 999999 movement.
Absolute The set value is regarded as an absolute value for
continuous MOVA -999999 continuous movement.
MOVA 10STM m
move (Set value) to 999999 Always use this command with the "MOV" command.
command
Incremental The set value is regarded as an incremental value for
MOVI -999999
MOVI move 10STM m movement.
(Set value) to 999999
command

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 4. OPERATION

Setting Indirect
Command Name Setting Unit Description
range Addressing
Incremental The set value is regarded as an incremental value for
continuous MOVIA -999999 movement.
MOVIA 10STM m
move (Set value) to 999999 Always use this command with the "MOVI"
command command.
Stops the next step until any of Program input 1
(PI1) to Program input 3 (PI3) turns ON after the
output of SYNC synchronous output (SOUT).
Waiting
SYNC external SYNC Set value Input signal
1 to 3
(Note 1) signal to (Set value) 1 Program input 1 (PI1)
switch on 2 Program input 2 (PI2)
3 Program input 3 (PI3)

Turns ON any of Program output 1 (OUT1) to

Program output 3 (OUT3).
By setting the ON time with parameter No. 74 to No.
76, the signal can also be turned OFF in the preset
External time.
OUTON OUTON
signal ON 1 to 3 Set value Input signal
(Note 1 3) (Set value)
output
1 Program output 1 (OUT1)
2 Program output 2 (OUT2)
3 Program output 3 (OUT3)

Turns OFF any of Program output 1 (OUT1) to

Program output 3 (OUT3) that has been turned ON
by the "OUTON" command.
External
OUTOF OUTOF Set value Input signal
signal OFF 1 to 3
(Note 1) (Set value) 1 Program output 1 (OUT1)
output
2 Program output 2 (OUT2)
3 Program output 3 (OUT3)

TRIP Absolute trip TRIP -999999 When the trip point is reached, the next step will be
10STM m
(Note 1) point (Set value) to 999999 executed.
Executes the next step when the moving distance set
to the "TRIPI" command is traveled from when
"MOVI" and "MOVIA" started during the movement
TRIPI Incremental TRIPI -999999
10STM m executed by the "MOVI" and "MOVIA" commands.
(Note 1) Trip point (Set value) to 999999
The command should be programmed after "MOVI"
and "MOVIA" command, otherwise program error
occurs.
Makes a stop using the interrupt signal when the
preset moving distance is reached. Use this
Interrupt
ITP ITP 0 to command in combination with the "SYNC"
positioning 10STM m
(Note 1 4) (Set value) 999999 command, and describe it after "SYNC". An error
command
will occur if this command is described after any
other command.

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 4. OPERATION

Setting Indirect
Command Name Setting Unit Description
range Addressing
Executes the next step when the pulse counter value
COUNT External COUNT -999999 becomes greater than the count value set to the
pulse
(Note 1) pulse counter (Set value) to 999999 "COUNT" command.
COUNT (0) is clearing of the pulse counter.
Repeats the steps located between the "FOR (set
FOR
FOR Step repeat 0, 1 to value)" command and "NEXT" command by the
(SET value) Times
NEXT command 10000 preset number of times.
NEXT
Setting "0" selects endless repetition.
Latches the current position on the leading edge of
Input device current latch (LPS).
The latched current position data can be read by the
LPOS
Position latch LPOS communication command.
(Note 1)
There are some error values between the latched
data and the actual exact position, due to the
sampling time and motor speed.
Dwell Holds the next step until the preset time elapses.
TIM
TIM command 1 to 2000 10ms
(Set value)
time
ZRT Zeroing ZRT Executes a manual home position return.
Place the "TIMS (setting value)" command at the
Program
TIMES 0, 1 to beginning of the program and set the number of
TIMES repeat Times
(Set value) 10000 program execution times.
command
Setting "0" selects endless repetition.
Program stops signal, and it must be at end of the
STOP Program end STOP program. (Required)
Always describe this command on the last line.
Note 1. "SYNC" "OUTON" "OUTOF" "TRIP" "TRIPI" "COUNT" "LPOS" and "ITP" commands are available to be validated during
command outputting.
2. The "SPN" command is valid when the "MOV", "MOVA", "MOVI" or "MOVIA" command is executed. The "STA", "STB", "STC"
and "STD" commands are valid when the "MOV" or "MOVI" command is executed.
3. When the ON time has been set in parameter No. 74 to No. 76, the next command is executed after the preset time has
elapsed.
4. The remaining moving distance by ITP command is lower than setting value, the command would be ignored and skip to the
next program command.

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 4. OPERATION

(2) Details of programming languages

(a) Details of the command (SPN STA STB STC STD)
"SPN" "STA" "STB" "STC" and "STD" commands will be validated, when the "MOV" and "MOVA"
commands are executing. The setting numbers will be validated, expect resetting the numbers.
1) Program example 1
When operation is to be performed in two patterns that have the same servo motor speed,
acceleration time constant and deceleration time constant but different move commands.
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
MOV (1000) Absolute move command 1000 [ 10STM m] d)
TIM (10) Dwell command time 100 [ms] e)
MOV (2000) Absolute move command 2000 [ 10STM m] f)
STOP Program end

b) Acceleration time c) Deceleration time b) Acceleration time c) Deceleration time

constant (200ms) constant (300ms) constant (200ms) constant (300ms)

Forward a) Speed
a) Speed (Motor speed)
rotation (Motor speed)
(1000r/min)
(1000r/min)
Servo motor 0r/min
speed
d) Absolute move command
f) Absolute move command
(1000 10STM m) e) Dwell command
(2000 10STM m)
time (100ms)

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 4. OPERATION

2) Program example 2
When operation is to be performed in two patterns that have different servo motor speeds,
acceleration time constants, deceleration time constants and move commands.
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
MOV (1000) Absolute move command 1000 [ 10STM m] d)
TIM (10) Dwell command time 100 [ms] e)
SPN (500) Speed (Motor Speed) 500 [r/min] f)
STC (200) Acceleration/deceleration time constant 200 [ms] g)
MOV (1500) Absolute move command 1500 [ 10STM m] h)
STOP Program end

b) Acceleration time c) Deceleration time

constant (200ms) constant (300ms) g) Acceleration/
deceleration time
constant
Forward a) Speed (200ms)
rotation (Motor speed)
(1000r/min) f) Speed (Motor speed)
(500r/min)
Servo motor 0r/min
speed
d) Absolute move command
(1000 10STM m) h) Absolute move command
e) Dwell command
(1500 10STM m)
time (100ms)

3) Program example 3
Use of an S-pattern acceleration/deceleration time constant allows sudden operation to be eased
at the time of acceleration and deceleration. When the "STD" command is used, parameter No.
14 (S-pattern acceleration/deceleration time constant) is ignored.
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min] a)
STC (100) Acceleration/deceleration time constant 1000 [ms] b)
STD (10) S-pattern acceleration/deceleration time constant 10 [ms] c)
MOV (2000) Absolute move command 2000 [ 10STM m] d)
STOP Program end

c) c)

b) Acceleration/deceleration b) Acceleration/deceleration
time constant time constant
(1000ms) (1000ms)
a) Speed
(Motor speed)
Forward (1000r/min) d) Absolute move command
rotation (2000 10STM m)

Servo motor
0r/min
speed
c)
c) S-pattern acceleration/
deceleration time
constant (10ms)

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 4. OPERATION

(b) Continuous move command (MOVA MOVIA)

POINT
"MOV" cannot be used with "MOVIA", and "MOVI" cannot be used with
"MOVA".

The "MOVA" command is a continuous move command for the "MOV" command. After execution of
the movement by the "MOV" command, the movement of the "MOVA" command can be executed
continuously without a stop.
The speed changing point of the "MOVA" command is the deceleration starting position of the
operation performed by the preceding "MOV" and "MOVA" commands.
The acceleration/deceleration time constant of the "MOVA" command is the value at execution of
the preceding "MOV" command.
The "MOVIA" command is a continuous move command for the "MOVI" command. After execution
of the movement by the "MOVI" command, the movement of the "MOVIA" command can be
executed continuously without a stop.
The speed changing point of the "MOVIA" command is the deceleration starting position of the
operation performed by the preceding "MOVI" and "MOVIA" commands.
The acceleration/deceleration time constant of the "MOVIA" command is the value at execution of
the preceding "MOVI" command.

Command Name Setting Unit Description

Absolute move MOV

MOV 10STM m Absolute move command
command (Set value)
Absolute
continuous MOVA
MOVA 10STM m Absolute continuous move command
move (Set value)
command
Incremental
MOVI
MOVI move 10STM m Incremental move command
(Set value)
command
Incremental
continuous MOVIA
MOVIA 10STM m Incremental continuous move command
move (Set value)
command

1) Program example 1
Use of an S-pattern time constant allows sudden operation to be eased at the time of acceleration
and deceleration.
Program Description
SPN (500) Speed (Motor speed) 500 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
MOV (500) Move command 500 [ 10STM m] d)
SPN (1000) Speed (Motor speed) 1000 [r/min] e)
MOVA (1000) Continuous move command 1000 [ 10STM m] f)
MOVA (0) Continuous move command 0 [ 10StM m] g)
STOP Program end

b) Acceleration time
c) Deceleration time
constant (200ms)
constant (300ms)
Forward e) Speed
rotation (Motor speed)
a) Speed(Motor speed) (1000r/min)
(500r/min)
Servo motor 0r/min
speed d) Absolute move f) Absolute continuous
command e) Speed
move command g) Absolute continuous
Reverse (500 10STM m) (1000 10STM m) (Motor speed)
rotation (1000r/min) move command
b) Acceleration time (0 10STM m)
constant (200ms)

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 4. OPERATION

2) Program example 2 (Wrong usage)

In continuous operation, the acceleration or deceleration time constant cannot be changed at
each speed change. Hence, the "STA", "STB" or "STD" command is ignored if it is inserted for a
speed change.
Program Description
SPN (500) Speed (Motor speed) 500 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
MOV (500) Absolute move command 500 [ 10STM m] d)
SPN (1000) Speed (Motor speed) 1000 [r/min] e)
STC (500) Acceleration/deceleration time constant 500 [ms] f) Ignored.
MOVA (1000) Absolute continuous move command 1000 [ 10STM m] g)
SPN (1500) Speed (Motor speed) 1500 [r/min] h)
STC (100) Acceleration/deceleration time constant 100 [ms] i) Ignored.
MOVA (0) Absolute continuous move command 0 [ 10STM m] j)
STOP Program end
b) Acceleration time c) Deceleration time
constant (200ms) constant (300ms)
Forward e) Speed
rotation (Motor speed)
a) Speed(Motor speed) (1000r/min)
(500r/min)
Servo motor 0r/min
speed
d) Absolute move command g) Absolute continuous
Reverse (500 10STM m) h) Speed
move command j) Absolute continuous
rotation (Motor speed)
(1000 10STM m) move command
(1500r/min) (0 10STM m)

(c) Input/output command (OUTON/OUTOF), trip point command (TRIP/TRIPI)

1) Program example 1
As soon as the program is executed, Program output 1 (OUT1) is turned ON. When the program
ends, Program output 1 (OUT1) turns OFF.
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STA (200) Acceleration/deceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (500) Absolute move command 500 [ 10STM m]
OUTON (1) Program output 1 (OUT 1) is turned ON. a)
TIM (10) Dwell command time 100 [ms]
MOV (250) Absolute move command 250 [ 10STM m]
TIM (5) Dwell command time 50 [ms] b)
STOP Program end

Forward
rotation

Servo motor 0r/min

speed
Dwell command time Dwell
(100ms) command
ON time
Program output1 (50ms)
(OUT1) OFF

a) b)

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 4. OPERATION

2) Program example 2
Using parameter No. 74 to 76, Program output 1 (OUT1) to Program out 3 (OUT3) can be turned
off automatically.

Parameter No. Name Setting Description

74 OUT1 output time setting 20 OUT1 is turned off in 200ms. a)

75 OUT2 output time setting 10 OUT2 is turned off in 100ms. b)
76 OUT3 output time setting 50 OUT3 is turned off in 500ms. c)

Program Description
SPN (500) Speed (Motor speed) 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute move command 1000 [ 10STM m]
OUTON (1) Program output 1 (OUT 1) is turned ON.
OUTON (2) Program output 2 (OUT 2) is turned ON.
OUTON (3) Program output 3 (OUT 3) is turned ON.
STOP Program end

Forward
rotation

Servo motor 0r/min

speed

ON
Program output1
(out1) OFF a) 200ms

ON
Program output2
(out2) OFF b) 100ms

ON
Program output3
(out3) OFF c) 500ms

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 4. OPERATION

3) Program example 3
When the "TRIP" and "TRIPI" commands are used to set the position addresses where the
"OUTON" and "OUTOF" commands will be executed.
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (500) Absolute move command 500 [ 10STM m]
TRIP (250) Absolute trip point 250 [ 10STM m] a)
OUTON (2) Program output 2 (OUT 2) is turned ON. b)
TRIP (400) Absolute trip point 400 [ 10STM m] c)
OUTOF (2) Program output 2 (OUT 2) is turned OFF. d)
TIM (10) Dwell command time 100 [ms]
MOVI (500) Incremental move command 500 [ 10STM m]
TRIPI (300) Incremental trip point 300 [ 10STM m] e)
OUTON (2) Program output 2 (OUT 2) is turned ON. f)
STOP Program end g)

e) 300 10STM m
a) 250 10STM m c) 400 10STM m

Forward
rotation

Servo motor
speed 0r/min
100ms

ON
Program output2
(OUT2) OFF

b) d) f) g)

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 4. OPERATION

4) Program example 4
POINT
"MOV" cannot be used with "TRIPI".

Note that the "TRIP" and "TRIPI" commands do not execute the next step unless the axis passes
the preset address or travels the preset moving distance.
Program Description
SPN (500) Speed (Motor speed) 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOVI (600) Incremental move command 600 [ 10STM m] a)
TRIPI (300) Absolute trip point 300 [ 10STM m] b)
OUTON (3) Program output 3 (OUT 3) is turned ON. c)
SPN (700) Speed (Motor speed) 700 [r/min]
MOVIA (700) Incremental continuous move command 700 [ 10STM m] d)
TRIPI (300) Incremental trip point 300 [ 10STM m] e)
OUTOF (3) Program output 3 (OUT 3) is turned OFF. f)
STOP Program end

a) Incremental move
command 900
(600 10STM m) ( a) MOVI (600 10STM m ) e) TRIPI (300))
Forward b) 300 10STM m d) Incremental continuous
rotation move command
(700 10STM m)
Servo motor
0r/min
speed

ON
Program output3
(OUT3) OFF

c) f)

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 4. OPERATION

(d) Dwell (TIM)

To the "TIM (setting value)" command, set the time from when the command remaining distance is
"0" until the next step is executed.
For reference, the following examples show the operations performed when this command is used
with the other commands.
1) Program example 1
Program Description
TIM (20) Dwell command time 200 [ms] a)
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOV (1000) Absolute move command 1000 [ 10STM m]
STOP Program end

Forward
rotation a) 200ms

Servo motor 0r/min

speed

Forward rotation ON
start
(ST1) OFF

2) Program example 2
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental move command 1000 [ 10STM m]
TIM (20) Dwell command time 200 [ms] a)
OUTON (1) Program output 1 (OUT 1) is turned ON. b)
MOVI (500) Incremental move command 500 [r/min]
STOP Program end

Forward
rotation a) 200ms

Servo motor
0r/min
speed

Program ON
output1
(OUT1) OFF

b)

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 4. OPERATION

3) Program example 3
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental move command 1000 [ 10STM m]
OUTON (1) Program output 1 (OUT 1) is turned ON. a)
TIM (20) Dwell command time 200 [ms] b)
MOVI (500) Incremental move command 500 [ 10STM m]
STOP Program end

Forward
rotation b) 200ms

Servo motor
0r/min
speed

Program ON
output1
(OUT1) OFF

a)

4) Program example 4
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental move command 1000 [ 10STM m]
TIM (20) Dwell command time 200 [ms] a)
OUTON (1) Program output 1 (OUT 1) is turned ON. b)
TIM (30) Dwell command time 300 [ms] c)
MOVI (500) Incremental move command 500 [ 10STM m]
STOP Program end

Forward
rotation a) 200ms c) 300ms

Servo motor
speed 0r/min

Program ON
output1
(OUT1) OFF

b)

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 4. OPERATION

5) Program example 5
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental move command 1000 [ 10STM m]
TIM (20) Dwell command time 200 [ms] a)
SYNC (1) Step is suspended until Program input (PI1) turns ON.
MOVI (500) Incremental move command 500 [ 10STM m]
STOP Program end

Forward
rotation

Servo motor 0r/min

speed

ON
Program input1
(PI1) OFF

a) PI1 is accepted in 200ms or later.

6) Program example 6
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental move command 1000 [ 10STM m]
SYNC (1) Step is suspended until Program input (PI1) turns ON.
TIM (20) Dwell command time 200 [ms] a)
MOVI (500) Incremental move command 500 [ 10STM m]
STOP Program end

Forward
rotation a) 200ms

Servo motor
0r/min
speed

ON
Program input1
(PI1) OFF

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 4. OPERATION

(e) Interrupt positioning command (ITP)

POINT
When Interrupt positioning (ITP) is used for positioning, a stop position
differs depending on the servo motor speed provided when the "ITP"
command is enabled.

When the "ITP" command is used in a program, the axis stops at the position by the set value
farther from the position where any of Program input 1 to 3 (PI1 to PI3) turned ON.
If the move command set with the "MOV", "MOVI", "MOVA" or "MOVIA" command is less than the
set value of the "ITP (set value)" command, the program proceeds to the next step without
executing the "ITP (set value)" command.
When using the "ITP" command, always place the "SYNC" command immediately before the "ITP"
command.

1) Program example 1
Program Description
SPN (500) Speed (Motor speed) 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (600) Absolute move command 600 [ 10STM m]
SPN (100) Speed (Motor speed) 100 [r/min]
MOVA (600) Absolute continuous move command 600 [ 10STM m]
SYNC (1) Step is suspended until Program input (PI1) turns ON. a)
ITP (200) Interrupt positioning command 200 [ 10STM m] b)
STOP Program end

Forward
rotation P1

Servo motor
speed 0r/min
P1 b) (200 10STM m)

ON
Program input1 Waiting for PI1 to be turned ON
(PI1) OFF by SYNC(1) (a))

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 4. OPERATION

2) Program example 2
If the moving distance of the "ITP" command is less than the moving distance necessary for
deceleration, the actual deceleration time constant becomes less than the set value of the "STB"
command.
Program Description
SPN (500) Speed (Motor speed) 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute move command 1000 [ 10STM m]
SYNC (1) Step is suspended until Program input (PI1) turns ON. a)
ITP (50) Interrupt positioning command 50 [ 10STM m] b)
STOP Program end

P1

Forward
rotation

Servo motor
0r/min
speed P1 b) (50 10STM m)

ON
Program input1 Waiting for PI1 to be turned ON
(PI1) OFF by SYNC(1) (a))

(f) External pulse counter (COUNT)

When the number of input pulses of the manual pulse generator becomes greater than the value
set with the "COUNT" command, the next step is started. Set "0" to erase the accumulated input
pulses.
Program Description
COUNT (500) The next step is held until the number of input pulses of the manual pulse generator reaches
500 [pulses]. a)
SPN (500) Speed (Motor speed) 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute move command 1000 [ 10STM m]
TRIP (500) Trip point 500 [ 10STM m] b)
COUNT (0) Waiting for PI1 to be turned ON by SYNC(1) (a)) c)
STOP Program end

b) 500 [ 10STM m]

³
“]
ƒ [ {ƒ ‚ƒ [ ^ƒ
T
ñ “] ¬
‰ ‘ “x
0r/min

ON
Manual pulse
OFF
generator a) 500 [pulse]
c) Accumulated input pulses are erased.

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 4. OPERATION

(g) Step repeat command (FOR NEXT)

POINT
"FOR ... NEXT" cannot be placed within "FOR ... NEXT".

The steps located between the "FOR (set value)" command and "NEXT" command is repeated by
the preset number of times.
Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOV (1000) Absolute move command 500 [ 10STM m]
TIM (10) Dwell command time 100 [ms]
FOR (3) Step repeat command start 3 [times] a)
MOVI (100) Incremental move command 100 [ 10STM m] b)
TIM (10) Dwell command time 100 [ms]
NEXT Step repeat command end c)
FOR (2) Step repeat command start 2 [times] d)
MOVI (200) Incremental move command 200 [ 10STM m] e)
TIM (10) Dwell command time 100 [ms]
NEXT Step repeat command end f)
STOP Program end

b) Incremental move command d) Incremental move command

(100 10STM m) (200 10STM m)

Forward
rotation

Servo motor 0r/min

speed 1000 1100 1200 1300 1500 1700

a) c) e) f)

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 4. OPERATION

(h) Program count command (TIMES)

By setting the number of times to the "TIMES (setting value)" command placed at the beginning of
a program, the program can be executed repeatedly. When the program is to be executed once, the
"TIMES (setting value)" command is not necessary. Setting "0" selects endless repetition.
Program Description
TIMES (2) Program count command 2 [times] a)
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental move command 1000 [ 10STM m] b)
TIM (10) Dwell command time 100 [ms]
STOP Program end

b) Incremental move command

(100 10STM m)

Forward
rotation

Servo motor 0r/min

speed 1000 1200

a)

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 4. OPERATION

(i) Position latch (LPOS)

POINT
When Current position latch input (LPS) is used to store the current position,
the value differs depending on the servo motor speed provided when LPS has
turned ON.

The current position where Current position latch input (LPS) is turned ON is stored. The stored
position data can be read by the communication function. (Refer to section 15.12.12)
The current position latch function set in a program is canceled at the end of that program. It is
also canceled when the operation mode is changed, a forced stop is made, an alarm occurs, or the
servo switches off. It is not canceled when a temporary stop is merely made.

Program Description
SPN (500) Speed (Motor speed) 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute move command 1000 [ 10STM m]
LPOS Current position latch is set. a)
STOP Program end

Current position 300 [ 10STM m]

is stored.

Forward
rotation

Servo motor 0r/min

speed 1000

ON
Current position Latched when LPS
latch input (LPS) OFF is turned ON edge by
LPOS. (a))

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 4. OPERATION

(j) Indirect addressing using general-purpose registers (R1-R4, D1-D4)

The set values of the "SPN", "STA", "STB", "STC", "STD", "MOV", "MOVI", "MOVA", "MOVIA",
"TIM" and "TIMES" commands can be addressed indirectly.
The values stored in the general-purpose registers (R1-R4, D1-D4) are used as the set values of the
commands.
Change the values of the general-purpose registers using the communication command when the
program is not being executed by the communication command. (Refer to section 15.12.13)
The data of the general-purpose registers are erased at power-off of the servo amplifier. Note that
the data of the general-purpose registers (R1-R4, D1-D4) can be saved in the EEP-ROM.
The setting ranges of the general-purpose registers are the setting ranges of the instructions with
which the general-purpose registers are used.

The following explains the case where the general-purpose registers are set as indicated below
before execution of the program.

General-purpose register Setting

R1 1000
R2 2000
D1 200
D2 300

Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min] a)
STA (D1) Acceleration time constant D1=200 [ms] b)
STB (D2) Deceleration time constant D2=300 [ms] c)
MOVI (R1) Incremental move command R1=1000 [ 10STM m] d)
TIM (10) Dwell command time 100 [ms] e)
MOVI (R2) Incremental move command R2=2000 [ 10STM m] f)
STOP Program end

b) D1=200ms c) D2=300ms b) D1=200ms c) D2=300ms

a) 1000r/min

Forward
rotation

Servo motor
0r/min
speed
d) R1=1000 10STM m f) R2=2000 10STM m
e) Dwell command
time (100ms)

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 4. OPERATION

4.2.3 Basic setting of signals and parameters

Create programs in advance using the MR Configurator (Servo Configuration software). (Refer to
section 4.2.2 and section 6.5)

(1) Parameter
(a) Command mode selection (parameter No.0)
Make sure that the absolute value command system has been selected as shown below.
Parameter No. 0

0
Absolute value command system (initial value)

(b) ST1 coordinate system selection (parameter No.1)

Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is
switched on.
Servo motor rotation direction
Parameter No. 1 setting
when forward rotation start (ST1) is switched on
0 CCW rotation with position data
(Initial value) CW rotation with position data
CW rotation with position data
1
CCW rotation with position data

CCW

CW

(c) Feed length multiplication selection (parameter No.1) Set the unit multiplication factor (STM) of
position data. The actual moving distance is the result of multiplying the entered position data by
the unit multiplication factor.
Parameter No.1 setting Position data input range [mm]
0
999.999 to 999.999
(Initial value)
1 9999.99 to 9999.99
2 99999.9 to 99999.9
3 999999 to 999999

(2) Operation
Choose the program using DI0 to DI3 and turn ON ST1 to perform positioning operation according to
the set program. At this time, reverse rotation start (ST2) is invalid.
Item Setting method Description
Selection of program operation mode. Automatic/manual selection (MD0) MD0 is switched on.
Program No. selection 1 (DI0)
Program No. selection 2 (DI1)
Program selection Program No. selection 3 (DI2) Refer to section 3.3.2 (1).
Program No. selection 4 (DI3)
Program No. selection 5 (DI4)
Start Forward rotation start (ST1) Turn ON ST1 to start.

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 4. OPERATION

4.2.4 Program operation timing chart

(1) Operation conditions

The timing chart shown below assumes that the following program is executed in the absolute value
command system where a home position return is completed.
Program No.1 Description
SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (100) Acceleration time constant 100 [ms]
MOV (5000) Absolute move command 5000 [ 10STM m] Move command 1
SYNC (1) Step is suspended until Program input (PI1) turns ON.
STC (50) Acceleration/deceleration time constant 50 [ms]
MOV (7500) Absolute move command 7500 [ 10STM m] Move command 2
STOP Program end

Program No.2 Description

SPN (1000) Speed (Motor speed) 1000 [r/min]
STC (100) Acceleration time constant 100 [ms]
MOV (2500) Absolute move command 2500 [ 10STM m] Move command 3
SYNC (1) Step is suspended until Program input (PI1) turns ON.
STC (50) Acceleration/deceleration time constant 50 [ms]
MOV (5000) Absolute move command 5000 [ 10STM m] Move command 4
STOP Program end

Automatic/manual ON
selection (MD0) OFF
ON
Servo-on (SON) (Note) (Note)
OFF
3ms or more 3ms or more
Forward rotation ON
start (ST1) OFF
Program input1 ON 5ms or more 5ms or more
(PI1) OFF
5ms or more 5ms or more
Program No. 1 2
3ms or less 3ms or less 3ms or less 3ms or less
Move Move
Move command command
Forward rotation command 2 4
Servo motor 1
0 r/min
speed Move
Reverse rotation command
3
Movement
ON
complete
(PED) OFF
ON
Ready (RD)
OFF
ON
Trouble (ALM)
OFF
Note: External input signal detection delays by the input filter setting time of parameter No. 2. Also, make up a sequence
that will change the program selection earlier by the time that takes into account the output signal sequence from
the controller and the variation of a signal change due to the hardware.

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 4. OPERATION

4.3 Manual operation mode

For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be
used to make a motion to any position.

4.3.1 Jog operation

(1) Setting
Set the input signal and parameters as follows according to the purpose of use. In this case, the
program No. selection 1 to 4 (DI0 to DI3) are invalid.

Item Setting method Description

Manual operation mode selection Automatic/manual selection (MD0) MD0 is switched off.
Servo motor rotation direction Parameter No.1 Refer to (2) in this section.
Jog speed Parameter No.13 Set the speed of the servo motor.
Use the acceleration/deceleration
Acceleration/deceleration time constant Parameter No.40
time constants.

(2) Servo motor rotation direction

Servo motor rotation direction
Parameter No. 1 setting
Forward rotation start (ST1) ON Reverse rotation start (ST2) ON
0 CCW rotation CW rotation
1 CW rotation CCW rotation

ST1:ON ST2:ON
CCW CCW

CW CW
ST2:ON ST1:ON
Parameter No. 1 0 Parameter No. 1 1

(3) Operation
When ST1 is turned on, operation is performed under the conditions of the jog speed set in the
parameter and the acceleration and deceleration time constants in set parameter No.40. For the
rotation direction, refer to (2) in this section. When ST2 is turned ON, the servo motor rotates in the
reverse direction to forward rotation start (ST1).

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 4. OPERATION

(4) Timing chart

ON
Servo-on (SON)
OFF
ON 80ms
Ready (RD)
OFF
Trouble (ALM) ON
OFF
Automatic/manual ON
selection (MD0) OFF
Movement complete ON
(PED) OFF

Forward
rotation
Servo motor speed 0r/min
Reverse
rotation
ON
Forward rotation start Forward rotation jog
OFF
(ST1)
ON
Reverse rotation start Reverse rotation jog
OFF
(ST2)

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 4. OPERATION

4.3.2 Manual pulse generator operation

(1) Setting
Set the input signal and parameters as follows according to the purpose of use. In this case, the
program No. selection 1 to 4 (DI0 to DI3) are invalid.

Item Setting method Description

Manual operation mode selection Automatic/manual selection (MD0) MD0 is switched off.
Set the multiplication ratio of servo
motor rotation to the pulses generated
Manual pulse generator
Parameter No.1 by the manual pulse generator.
multiplication
For more information, refer to (3) in this
section.
Servo motor rotation direction Parameter No.1 Refer to (2) in this section.

(2) Servo motor rotation direction

Servo motor rotation direction
Parameter No. 1 setting
Manual pulse generator: forward rotation Manual pulse generator: reverse rotation
0 CCW rotation CW rotation
1 CW rotation CCW rotation

CCW

Forward rotation CW

(3) Manual pulse generator multiplication

(a) Using the parameter for setting
Use parameter No.1 to set the multiplication ratio of the servo motor rotation to the manual pulse
generator rotation.

Multiplication ratio of servo motor rotation to manual

Parameter No. 1 setting Moving distance
pulse generator rotation
0 1 time 1[ m]
1 10 times 10[ m]
2 100 times 100[ m]

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 4. OPERATION

(b) Using the input signals for setting

Set the pulse generator multiplication 1 (TP0) and pulse generator multiplication 2 (TP1) to the
input signals in "Device setting" on the MR Configurator (Servo Configuration Software) (refer to
chapter 6).

Multiplication ratio of servo motor

Pulse generator multiplication 2 Pulse generator multiplication 1
rotation to manual pulse generator Moving distance
(across TP1) (across TP0)
rotation
0 0 Parameter No.1 setting valid
0 1 1 time 1[ m]
1 0 10 times 10[ m]
1 1 100 times 100[ m]
Note. 0: OFF
1: ON

(4) Operation
Turn the manual pulse generator to rotate the servo motor. For the rotation direction of servo motor,
refer to (2) in this section.

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 4. OPERATION

4.4 Manual home position return mode

4.4.1 Outline of home position return

Home position return is performed to match the command coordinates with the machine coordinates. In
the incremental system, home position return is required every time input power is switched on. In the
absolute position detection system, once home position return is done at the time of installation, the
current position is retained if power is switched off. Hence, home position return is not required when
power is switched on again.
This servo amplifier has the home position return methods given in this section. Choose the most
appropriate method for your machine structure and application.
This servo amplifier has the home position return automatic return function which executes home
position return by making an automatic return to a proper position if the machine has stopped beyond or
at the proximity dog. Manual motion by jog operation or the like is not required.

(1) Manual home position return types

Choose the optimum home position return according to the machine type, etc.

Type Home position return method Features

General home position return method using a
With deceleration started at the front end of a proximity dog.
proximity dog, the position where the first Repeatability of home position return is
Dog type home position Z-phase signal is given past the rear end of the dog excellent.
return or a motion has been made over the home position The machine is less burdened.
shift distance starting from the Z-phase signal is Used when the width of the proximity dog
defined as a home position.(Note) can be set greater than the deceleration
distance of the servo motor.
With deceleration started at the front end of a Home position return method using a
proximity dog, the position where the first Z-phase proximity dog.
signal is given after advancement over the preset Used when it is desired to minimize the
Count type home
moving distance after the proximity dog or a motion length of the proximity dog.
position return
has been made over the home position shift distance
starting from the Z-phase signal is defined as a
home position.
Data setting type home The position reached after any automatic motion is
No proximity dog required.
position return defined as a home position.
Since the machine part collides with the
The position where the machine stops when its part
Stopper type home machine be fully lowered.
is pressed against a machine stopper is defined as a
position return The machine and stopper strength must be
home position.
increased.
Home position ignorance
The position where servo is switched on is defined as
(Servo-on position as
a home position.
home position)
The position where the axis, which had started The Z-phase signal is not needed.
decelerating at the front end of a proximity dog, has
Dog type rear end
moved the after-proximity dog moving distance and
reference
home position shift distance after it passed the rear
end is defined as a home position.
The position where the axis, which had started The Z-phase signal is not needed.
decelerating at the front end of a proximity dog, has
Count type front end
moved the after-proximity dog moving distance and
reference
home position shift distance is defined as a home
position.
The position where the first Z-phase signal is issued
Dog cradle type after detection of the proximity dog front end is
defined as a home position.
Note. The Z-phase signal is a signal recognized in the servo amplifier once per servo motor revolution and cannot be used as an output
signal.

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 4. OPERATION

(2) Home position return parameter

When performing home position return, set parameter No.8 as follows.
Parameter No. 8
0
Home position return method························································1)
0: Dog type
1: Count type
2: Data setting type
3: Stopper type
4: Home position ignorance (Servo-on position as home position)
5: Dog type rear end reference
6: Count type front end reference
7: Dog cradle type
Home position return direction ······················································2)
0: Address increment direction
1: Address decrement direction

Proximity dog input polarity ·····································3)

0: Dog is detected when DOG is turned off.
1: Dog is detected when DOG is turned on.

1) Choose the home position return method.

2) Choose the starting direction of home position return. Set "0" to start home position return in
the direction in which the address is incremented from the current position, or "1" to start home
position return in the direction in which the address is decremented.

3) Choose the polarity at which the proximity dog is detected. Set "0" to detect the dog when the
proximity dog device (DOG) is turned off, or "1" to detect the dog when the device is turned on.

(3) Program
Choose a program including the "ZRT" command that executes the home position return.

(4) Instructions
1) Before starting home position return, always make sure that the limit switch operates.

2) Confirm the home position return direction. Incorrect setting will cause the machine to run
reversely.

3) Confirm the proximity dog input polarity. Otherwise, misoperation can occur.

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 4. OPERATION

4.4.2 Dog type home position return

A home position return method using a proximity dog. With deceleration started at the front end of the
proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion
has been made over the home position shift distance starting from the Z-phase signal is defined as a home
position.

(1) Signals, parameters

Set the input signals, parameters and program as follows.

Item Device/Parameter used Description

Manual home position return
Automatic/manual selection (MD0) MD0 is switched on.
mode selection
0 :Dog type home position return is
Dog type home position return Parameter No.8
selected.
Refer to section 4.4.1 (2) and choose home
Home position return direction Parameter No.8
position return direction.
Refer to section 4.4.1 (2) and choose dog
Dog input polarity Parameter No.8
input polarity.
Home position return speed Parameter No.9 Set speed until detection of dog.
Creep speed Parameter No.10 Set speed after detection of dog.
Set when shifting the home position
Home position shift distance Parameter No.11 starting at the first Z-phase signal after
passage of proximity dog rear end.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Parameter No.41
constants set in parameter No. 41.
constants
Home position return position Used to set the current position on
Parameter No.42
data completion of home position return.
Select the program including the "ZRT"
Program command that executes a home position
return.

(2) Length of proximity dog

To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity
dog (DOG), the proximity dog should have the length which satisfies formulas (4.2) and (4.3).

V td .............................................................................. (4.2)
L1
60 2

L1 : Proximity dog length [mm]

V : Home position return speed [mm/min]
td : Deceleration time [s]

L2 2 S ................................................................................... (4.3)
L2 : Proximity dog length [mm]
S : Moving distance per servo motor revolution [mm]

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 4. OPERATION

(3) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
ON
Movement complete (PED)
OFF
Home position return ON
completion (ZP) OFF Home position shift
Home position return Parameter No. 41
Parameter No. 41 distance Parameter No. 11
speed Parameter No. 9 Deceleration time constant
Acceleration time Creep speed
constant Home position
Parameter No. 10
Forward
Servo motor speed rotation td
3ms or less
0 r/min
Proximity dog Home position address
Parameter No. 42

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF
ON 5ms or more
Forward rotation start (ST1)
OFF
ON
Reverse rotation start (ST2)
OFF

The address on completion of home position return is the value automatically set in parameter No.42
(home position return position data).

(4) Adjustment
In dog type home position return, adjust to ensure that the Z-phase signal is generated during dog
detection. Locate the rear end of the proximity dog (DOG) at approximately the center of two
consecutive Z-phase signals.
The position where the Z-phase signal is generated can be monitored in "Within one-revolution
position" of "Status display".
0 65536 0

Servo motor
Z-phase Proximity
dog

Proximity dog ON
(DOG) OF

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 4. OPERATION

4.4.3 Count type home position return

In count type home position return, a motion is made over the distance set in parameter No.43 (moving
distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-
phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms
or longer, there is no restriction on the dog length. This home position return method is used when the
required proximity dog length cannot be reserved to use dog type home position return or when the
proximity dog (DOG) is entered electrically from a controller or the like.

(1) Signals, parameters

Set the input signals and parameters as follows.

Item Device/Parameter used Description

Manual home position return
Automatic/manual selection (MD0) MD0 is switched on.
mode selection
1: Count type home position return
Count type home position return Parameter No.8
is selected.
Refer to section 4.4.1 (2) and choose home
Home position return direction Parameter No.8
position return direction.
Refer to section 4.4.1 (2) and choose dog
Dog input polarity Parameter No.8
input polarity.
Home position return speed Parameter No.9 Set speed until detection of dog.
Creep speed Parameter No.10 Set speed after detection of dog.
Set when shifting the home position,
starting at the first Z-phase signal given
Home position shift distance Parameter No.11
after passage of the proximity dog front end
and movement over the moving distance.
Moving distance after proximity Set the moving distance after passage of
Parameter No.43
dog proximity dog front end.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Parameter No.41
constants set in parameter No. 41.
constants
Home position return position Used to set the current position on
Parameter No.42
data completion of home position return.
Select the program including the "ZRT"
Program command that executes a home position
return.

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 4. OPERATION

(2) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
ON
Movement complete (PED)
OFF

Home position return ON

completion (ZP) OFF Home position
Parameter No. 41 shift distance
Parameter No. 41 Home position return
Deceleration time
Acceleration time constant speed Parameter No. 9 constant
Parameter No. 11
Creep speed Home position
Parameter No. 10
Forward
Servo motor speed rotation
3ms or less
0 r/min
Moving distance after Proximity dog Home position address
proximity dog Parameter No. 42
Parameter No. 43

Z-phase ON
OFF
Proximity dog (DOG) ON
OFF
Forward rotation ON 5ms or more
start (ST1) OFF
ON
Reverse rotation start (ST2)
OFF

The parameter No.42 setting value is the positioning address after the home position return is
completed.

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 4. OPERATION

4.4.4 Data setting type home position return

Data setting type home position return is used when it is desired to determine any position as a home
position. JOG operation, manual pulse generator operation or like can be used for movement.

(1) Signals, parameters

Set the input signals and parameters as follows.

Item Device/Parameter used Description

Manual home position return mode Automatic/manual selection
MD0 is switched on.
selection (MD0)
2: Data setting type home position
Data setting type home position return Parameter No.8
return is selected.
Used to set the current position on completion
Home position return position data Parameter No.42
of home position return.
Select the program including the
Program "ZRT" command that executes a
home position return.

(2) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
Automatic/manual
selection ON
(MD0) OFF
ON
Movement complete (PED)
OFF
Home position ON
return completion OFF
(ZP)

Home position address

Forward Parameter No. 42
Servo motor speed rotation
0 r/min 3ms or less

Forward rotation ON 5ms or more

start (ST1) OFF
Reverse rotation ON
start (ST2) OFF

Movement to the home position Operation for home position return

The parameter No.42 setting value is the positioning address after the home position return is
completed.

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 4. OPERATION

4.4.5 Stopper type home position return

In stopper type home position return, a machine part is pressed against a stopper or the like by jog
operation, manual pulse generator operation or the like to make a home position return and that position
is defined as a home position.

(1) Signals, parameters

Set the input signals and parameters as follows.

Item Device/Parameter used Description

Manual home position
Automatic/manual selection (MD0) MD0 is switched on.
return mode selection
Stopper type home position 3: Stopper type home position return is
Parameter No.8
return selected.
Home position return Refer to section 4.4.1 (2) and choose the home
Parameter No.8
direction position return direction.
Home position return speed Parameter No.9 Set the speed till contact with the stopper.
Time from when the part makes contact with
the stopper to when home position return data
Stopper time Parameter No.44
is obtained to output home position return
completion (ZP).
Stopper type home position Set the servo motor torque limit value for
Parameter No.45
return torque limit execution of stopper type home position return.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration Parameter No.41
constants set in parameter No. 41.
time constant
Home position return Used to set the current position on completion
Parameter No.42
position data of home position return.
Select the program including the "ZRT"
Program command that executes a home position
return.

(2) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
Automatic/manual ON
selection (MD0) OFF
ON
Movement complete (PED)
OFF
Home position return ON
completion (ZP) OFF
Parameter No.41 Home position return Home position address
Forward Acceleration time constant speed Parameter No.9 Parameter No. 42
rotation
Servo motor speed 0r/min
3ms or less

Forward rotation 5ms or more Stopper

ON
start (ST1) OFF
Reverse rotation ON
start (ST2) OFF
Stopper time
ON Parameter No. 44
Limiting torque (TLC)
OFF
Torque limit value Parameter No. 28 Parameter No. 45 Parameter No. 28

The parameter No.42 setting value is the positioning address after the home position return is
completed.
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 4. OPERATION

4.4.6 Home position ignorance (servo-on position defined as home position)

POINT
When a home position-ignored home position return is executed, the program
including the "ZRT" command need not be selected.

The position where servo is switched on is defined as a home position.

(1) Signals, parameter

Set the input signals and parameter as follows.

Item Device/Parameter used Description

Home position ignorance Parameter No.8 4: Home position ignorance is selected.
Home position return position Used to set the current position on completion
Parameter No.42
data of home position return.

(2) Timing chart

Servo-on (SON) ON
OFF
ON
Ready (RD)
OFF
Automatic/manual
selection ON
(MD0) OFF
Movement complete (PED) ON
OFF
Home position ON
return completion OFF
(ZP)

Home position address

Parameter No. 42
Servo motor speed

The parameter No.42 setting value is the positioning address after the home position return is
completed.

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 4. OPERATION

4.4.7 Dog type rear end reference home position return

POINT
This home position return method depends on the timing of reading
Proximity dog (DOG) that has detected the rear end of a proximity dog.
Hence, if a home position return is made at the creep speed of 100r/min, an
error of 200 pulses will occur in the home position. The error of the home
position is larger as the creep speed is higher.
The position where the axis, which had started decelerating at the front end of a proximity dog, has
moved the after-proximity dog moving distance and home position shift distance after it passed the rear
end is defined as a home position. A home position return that does not depend on the Z-phase signal can
be made.
(1) Signals, parameters
Set the input signals and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode
Automatic/manual selection (MD0) MD0 is switched on.
selection
Dog type rear end reference home
Parameter No.8 5: Select the dog type rear end reference.
position return
Refer to section 4.4.1 (2) and select the home position return
Home position return direction Parameter No.8
direction.
Dog input polarity Parameter No.8 Refer to section 4.4.1 (2) and select the dog input polarity.
Home position return speed Parameter No.9 Set the speed till the dog is detected.
Creep speed Parameter No.10 Set the speed after the dog is detected.
Set when the home position is moved from where the axis has
Home position shift distance Parameter No.11
passed the proximity dog rear end.
Set the moving distance after the axis has passed the proximity dog
Moving distance after proximity dog Parameter No.43
rear end.
Home position return acceleration/ Use the acceleration/deceleration time constants set in parameter
Parameter No.41
deceleration time constants No. 41.
Used to set the current position on completion of home position
Home position return position data Parameter No.42
return.
Select the program including the
Program "ZRT" command that executes a
home position return.
(2) Timing chart
The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
Automatic/manual ON
selection (MD0) OFF
ON
Movement complete (PED)
OFF
Home position return ON
completion (ZP) OFF
Moving distance after proximity dog
Home position return speed
Home position shift distance

Creep speed
Forward
Servo motor speed rotation
0 r/min 3ms or less
Home position address
Proximity dog Parameter No. 42

ON
Proximity dog (DOG)
OFF
ON
Forward rotation start (ST1)
OFF

5ms or more
Reverse rotation ON
start (ST2) OFF
The parameter No.42 setting value is the positioning address after the home position return is
completed.

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 4. OPERATION

4.4.8 Count type front end reference home position return

POINT
This home position return method depends on the timing of reading
Proximity dog (DOG) that has detected the front end of a proximity dog.
Hence, if a home position return is made at the home position return speed of
100r/min, an error of 200 pulses will occur in the home position. The error of
the home position is larger as the home position return speed is higher.
The position where the axis, which had started decelerating at the front end of a proximity dog, has moved
the after-proximity dog moving distance and home position shift distance is defined as a home position. A
home position return that does not depend on the Z-phase signal can be made. The home position may
change if the home position return speed varies.
(1) Signals, parameters
Set the input signals and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode
Automatic/manual selection (MD0) MD0 is switched on.
selection
Count type dog front end reference
Parameter No.8 6: Select the count type dog front end reference.
home position return
Refer to section 4.4.1 (2) and select the home position return
Home position return direction Parameter No.8
direction.
Dog input polarity Parameter No.8 Refer to section 4.4.1 (2) and select the dog input polarity.
Home position return speed Parameter No.9 Set the speed till the dog is detected.
Creep speed Parameter No.10 Set the speed after the dog is detected.
Set when the home position is moved from where the axis has
Home position shift distance Parameter No.11
passed the proximity dog rear end.
Set the moving distance after the axis has passed the proximity dog
Moving distance after proximity dog Parameter No.43
rear end.
Home position return acceleration/ Use the acceleration/deceleration time constants set in parameter
Parameter No.41
deceleration time constants No. 41.
Used to set the current position on completion of home position
Home position return position data Parameter No.42
return.
Select the program including the
Program "ZRT" command that executes a
home position return.
(2) Timing chart
The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
Automatic/manual ON
selection (MD0) OFF
ON
Movement complete (PED)
OFF
Home position return ON
completion (ZP) OFF
Moving distance after proximity dog
Home position return speed Home position shift distance

Creep speed
Forward
Servo motor speed rotation
3ms or less
0 r/min
Home position address
Proximity dog (DOG) Parameter No. 42

ON
Proximity dog (DOG)
OFF
Forward rotation ON
start (ST1) OFF

5ms or more
Reverse rotation ON
start (ST2) OFF
The parameter No.42 setting value is the positioning address after the home position return is
completed.

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 4. OPERATION

4.4.9 Dog cradle type home position return

The position where the first Z-phase signal is issued after detection of the proximity dog front end can be
defined as a home position.
(1) Signals, parameters
Set the input signals and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode
Automatic/manual selection (MD0) MD0 is switched on.
selection
Dog cradle type home position
Parameter No.8 7: Select the dog cradle type.
return
Refer to section 4.4.1 (2) and select the home
Home position return direction Parameter No.8
position return direction.
Refer to section 4.4.1 (2) and select the dog input
Dog input polarity Parameter No.8
polarity.
Home position return speed Parameter No.9 Set the speed till the dog is detected.
Creep speed Parameter No.10 Set the speed after the dog is detected.
Set when the home position is moved from the Z-
Home position shift distance Parameter No.11
phase signal position.
Home position return
Use the acceleration/deceleration time constants
acceleration/deceleration time Parameter No.41
set in parameter No. 41.
constants
Used to set the current position on completion of
Home position return position data Parameter No.42
home position return.
Select the program including the
Program "ZRT" command that executes a
home position return.

(2) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
Automatic/manual ON
selection (MD0) OFF
ON
Movement complete (PED)
OFF
Home position return ON
completion (ZP) OFF

Home position return speed Home position shift distance

Forward Creep speed

rotation
Servo motor speed 0r/min
Reverse 3ms or less
Home position address
rotation Proximity dog Parameter No. 42

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF

Forward rotation ON
start (ST1) OFF

5ms or more
Reverse rotation ON
start (ST2) OFF
The parameter No.42 setting value is the positioning address after the home position return is
completed.

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 4. OPERATION

4.4.10 Home position return automatic return function

If the current position is at or beyond the proximity dog in dog or count type home position return, you
need not make a start after making a return by jog operation or the like.
When the current position is at the proximity dog, an automatic return is made before home position
return.
Home position return direction Proximity dog

Home position

Home position return

start position

At a start, a motion is made in the home position return direction and an automatic return is made on
detection of the limit switch. The motion stops past the front end of the proximity dog, and home position
return is resumed at that position. If the proximity dog cannot be detected, the motion stops on detection
of the opposite limit switch and AL. 90 occurs.
Limit switch
Home position return direction Proximity dog Limit LS

Home
position

Home position return

start position

Software limit cannot be used with these functions.

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 4. OPERATION

4.5 Absolute position detection system

If an absolute position erase alarm (AL.25) or an absolute position counter warning

CAUTION (AL.E3) has occurred, always perform home position setting again. Not doing so
can cause runaway.

POINT
When the following parameters are changed, the home position is lost when
turning on the power after the change. Execute the home position return
again when turning on the power.
First digit of parameter No.1 (ST1 coordinate system selection)
Parameter No. 4 (Electronic gear numerator)
Parameter No. 5 (Electronic gear denominator)
Parameter No. 42 (Home position return position data)

This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with
an absolute position system. Hence, an absolute position detection system can be configured up by merely
loading an absolute position data back-up battery and setting parameter values.

(1) Restrictions
An absolute position detection system cannot be built under the following conditions.

1) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning.

2) Operation performed in incremental value command type positioning system.

(2) Specifications
Item Description
System Electronic battery backup system
1 piece of lithium battery ( primary battery, nominal 3.6V)
Battery
Type: MR-BAT or A6BAT
Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure 500r/min
(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off)
(Note 3) Data holding time during battery
2 hours at delivery, 1 hour in 5 years after delivery
replacement
Battery storage period 5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of
whether power is kept on or off.
3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery voltage low or
the battery removed, or during which data can be held with the encoder cable disconnected.
Battery replacement should be finished within this period.

(3) Structure
Component Description
Servo amplifier
Use standard models.
Servo motor
Battery MR-BAT or A6BAT
Use a standard model.
Encoder cable
When fabricating, refer to (2), section 14.1.4.

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 4. OPERATION

(4) Outline of absolute position detection data communication

For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of
revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps
it battery-backed, independently of whether the general-purpose programming controller power is on
or off. Therefore, once the home position is defined at the time of machine installation, home position
return is not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
Servo amplifier
Home position return
Program No. selection

Position control
data

Speed control
I/O circuit EEP-ROM memory
(DI0 to DI3), etc. LSO Current position
1XO
Position data, speed data Backup at
power off 1X
(current position read) LS
Detection of position
Speed detection
within one revolution
Battery MR-BAT

Servo motor
1 pulse/rev. Cumulative
revolution counter High-speed serial
Super capacitor communication

Within one-revolution counter

(5) Battery installation procedure

Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
WARNING confirm that the voltage between P and N is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front
of the servo amplifier whether the charge lamp is off or not.

POINT
The internal circuits of the servo amplifier may be damaged by static
electricity. Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.

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 4. OPERATION

1) Open the operation window. (When the model used is the MR-J2S-200CL MR-J2S-350CL or
more, also remove the front cover.)

2) Install the battery in the battery holder.

3) Install the battery connector into CON1 until it clicks.

Battery connector
Operation window Battery connector

CON1
CON1

Battery

Battery Battery holder Battery holder

For MR-J2S-100CL or less For MR-J2S-200CL MR-J2S-350CL

Battery connector

CON1

Battery holder Battery

For MR-J2S-500CL MR-J2S-700CL

(6) Parameter setting

Set parameter No.2 (Function selection 1) as indicated below to make the absolute position detection
system valid.
Parameter No.2
1

Selection of absolute position detection system

0: Incremental system
1: Absolute position detection system

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 4. OPERATION

4.6 Serial communication operation

The RS-422 or RS-232C communication function may be used to operate the servo amplifier from a
command device (controller) such as a personal computer. Note that the RS-422 and RS-232C
communication functions cannot be used at the same time.
This section provides a data transfer procedure. Refer to chapter 15 for full information on the connection
and transferred data between the controller and servo amplifier.

4.6.1 Positioning operation in accordance with programs

By selecting the program No. and switching on the forward rotation start (ST1) using the communication
function, positioning operation in accordance with programs can be started.
(1) Selection of programs
Using the device forced output from the controller (command [9][2], data No. [6][0]), choose programs
from among No.1 to 16.
(2) Timing chart
5ms or more 5ms or more 5ms or more
Transmission
1) 4) 5) 2) 4) 5) 3) 4) 5)
data

Servo motor
speed 3ms

Program No. 2 Program No. 1 Program No. 3

No. Transmission data Command Data No.

1) Program No.2 selection [9] [2] [6] [0]
2) Program No.1 selection [9] [2] [6] [0]
3) Program No.3 selection [9] [2] [6] [0]
4) Forward rotation start (ST1) ON [9] [2] [6] [0]
5) Forward rotation start (ST1) OFF [9] [2] [6] [0]

4.6.2 Multidrop system

The RS-422 communication function can be used to operate several servo amplifiers on the same bus. In
this case, set the station numbers to the servo amplifiers to determine the destination servo amplifier of
the currently transmitted data. Use parameter No.15 to set the station numbers.
Always set one station number to one servo amplifier. Normal communication cannot be made if one
station number is set to two or more servo amplifiers. When using one command to operate several servo
amplifiers, use the group designation function described in section 4.6.3.
MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

To CN3 To CN3 To CN3 To CN3

CHARGE CHARGE CHARGE CHARGE

Axis 1 Axis 2 Axis 3 Axis 32

(Station 0) (Station 1) (Station 2) (Station 31)
Controller
RS-422

For cable connection diagram,

refer to section 15.1.1.

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 4. OPERATION

4.6.3 Group designation

When using several servo amplifiers, command-driven parameter settings, etc. can be made on a group
basis.
You can set up to six groups, a to f. Set the group to each station using the communication command.

(1) Group setting example

Group a Group b
MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

To CN3 To CN3 To CN3 To CN3 To CN3

CHARGE CHARGE CHARGE CHARGE CHARGE

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5

(Station 0) (Station 1) (Station 2) (Station 3) (Station 4)

Controller
RS-422

For cable connection diagram,

refer to section 15.1.1.
MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

CHARGE CHARGE CHARGE CHARGE CHARGE

To CN3 To To CN3 To To CN3

Axis 10 Axis 9 CN3 Axis 8 Axis 7 CN3 Axis 6
(Station 9) (Station 8) (Station 7) (Station 6) (Station 5)

Group d Group c

Servo amplifier station No. Group setting

Station 0
Station 1
a
Station 2
Station 3
Station 4
b
Station 5
Station 6
c
Station 7
Station 8
d
Station 9

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 4. OPERATION

(2) Timing chart

In the following timing chart, operation is performed group-by-group in accordance with the values set
in program No.1.
Transmission data 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12)

Station 0
Servo motor
speed
Station 1
Servo motor
speed
Station 2
Group a Servo motor
speed
Station 3
Servo motor
speed
Station 4
Servo motor
speed
Group b
Station 5
Servo motor
speed
Station 6
Servo motor
speed
Group c Station 7
Servo motor
speed
Station 8
Servo motor
Group d speed
Station 9
Servo motor
speed

No. Transmission data Command Data No.

1) Selection of program No.1 of group a [9] [2] [6] [0]
2) Forward rotation start (ST1) ON [9] [2] [6] [0]
3) Forward rotation start (ST1) OFF [9] [2] [6] [0]
4) Selection of program No.1 of group b [9] [2] [6] [0]
5) Forward rotation start (ST1) ON [9] [2] [6] [0]
6) Forward rotation start (ST1) OFF [9] [2] [6] [0]
7) Selection of program No.1 of group c [9] [2] [6] [0]
8) Forward rotation start (ST1) ON [9] [2] [6] [0]
9) Forward rotation start (ST1) OFF [9] [2] [6] [0]
10) Selection of program No.1 of group d [9] [2] [6] [0]
11) Forward rotation start (ST1) ON [9] [2] [6] [0]
12) Forward rotation start (ST1) OFF [9] [2] [6] [0]

In addition, parameter values common to the stations of each group can be written and alarm reset
can be made, for example.

(3) Group setting instructions

Only one servo amplifier may send a reply in any group. If two or more servo amplifiers send reply
data at the same time, they may become faulty.

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 4. OPERATION

4.7 Incremental value command system

To use this servo amplifier in the incremental value command system, the setting of parameter No. 0
must be changed.
As the position data, set the moving distance of (target address - current address). Fixed-pitch feed of
infinite length is enabled in the incremental value command system.
Setting range: 999999 to 999999 [ 10STM m] (STM = feed length multiplication parameter No. 1)

Current address Target address

Position data = | target address - current address |

This section describes the points that differ from the absolute value command system (factory setting) in
using this servo amplifier in the incremental value command system.

(1) Parameter setting

Set parameter No. 0 as shown below to select the incremental value command system.

Parameter No. 0
1
Incremental value command system

(2) Commands
The "MOV" and "MOVA" commands change as described below. The other commands remain
unchanged. Hence, "MOV" and "MOVI" have the same function, and "MOVA" and "MOVIA" have the
same function.

Setting Indirect
Command Name Setting Unit Description
Range Addressing
The set value is regarded as an
Incremental 999999 incremental value for movement.
MOV MOV (Set value) 10STM m
move command to 999999 This command has the same
function as the "MOVI" command.
The set value is regarded as an
incremental value for continuous
movement.
Always describe this command
Incremental
999999 after the "MOV" command.
MOVA continuous move MOVA (Set value) 10STM m
to 999999 Describing it after any other
command
command will result in an error.
This command has the same
function as the "MOVIA"
command.

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 4. OPERATION

(3) Program example

Program Description
SPN (1000) Speed (Motor speed) 1000 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
MOV (1000) Incremental move command 1000 [ 10STM m] d)
TIM (10) Dwell command time 100 [ms] e)
SPN (500) Speed (Motor speed) 500 [r/min] f)
STA (200) Acceleration time constant 200 [ms] g)
STB (300) Deceleration time constant 300 [ms] h)
MOVI (1000) Incremental move command 1000 [ 10STM m] i)
SPN (1000) Speed (Motor speed) 1000 [r/min] j)
MOVIA (1000) Incremental continuous move command 1000 [ 10STM m] k)
STOP Program end

b) Acceleration time c) Deceleration time h) Deceleration time

constant constant constant
(200ms) (300ms) g) Acceleration time (300ms)
constant
a) Speed (200ms) j) Speed
Forward
rotation (Motor speed) (Motor speed)
(1000r/min) f) Speed(Motor speed) (1000r/min)
Servo motor 0r/min (500r/min)
speed
d) Incremental i) Incremental k) Incremental
move command e) Dwell command time move command move command
(1000 10STM m) (100ms) (500 10STM m) (1000 10STM m)

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 4. OPERATION

MEMO

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 5. PARAMETERS

5. PARAMETERS

Never adjust or change the parameter values extremely as it will make operation
CAUTION instable.

5.1 Parameter list

5.1.1 Parameter write inhibit

POINT
Set "000E" when using the MR Configurator (Servo Configuration
Software) to make device setting.
After setting the parameter No.19 value, switch power off, then on to
make that setting valid.

In the servo amplifier, its parameters are classified into the basic parameters (No.0 to 19), expansion
parameters 1 (No.20 to 53), expansion parameters 2 (No.54 to 77) and special parameters (No.78 to 90)
according to their safety aspects and frequencies of use. In the factory setting condition, the customer can
change the basic parameter values but cannot change the expansion parameter 1,2 values and special
parameter values. When fine adjustment, e.g. gain adjustment, is required, change the parameter No.19
setting to make the expansion parameters write-enabled.
The following table lists the parameters whose values are made valid for reference/write by setting
parameter No. 19. Operation can be performed for the parameters marked .

Expansion parameters 2
Parameter No.19 Basic parameters Expansion parameters 1
Operation No.54 to No.77
setting No.0 to No.19 No.20 to No.53
special parameters (No.78 to 90)
0000 Reference
(initial value) Write
Reference No.19 only
000A
Write No.19 only
Reference
000B
Write
Reference
000C
Write
Reference
000E
Write

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 5. PARAMETERS

5.1.2 List

POINT
The parameters marked * before their symbols are made valid by
switching power off once and then switching it on again after parameter
setting.

Refer to the corresponding reference items for details of the parameters.

(1) Item list

Customer
Class No. Symbol Name and Function Initial value Unit
setting
0 *STY Command system/regenerative option selection 0000
1 *FTY Feeding function selection 0000
2 *OP1 Function selection 1 0002
3 ATU Auto tuning 0105
4 *CMX Electronic gear numerator 1
5 *CDV Electronic gear denominator 1
6 PED Movement complete output range 100 m
7 PG1 Position control gain 1 35 rad/s
Basic parameters

8 *ZTY Home position return type 0010

9 ZRF Home position return speed 500 r/min
10 CRF Creep speed 10 r/min
11 ZST Home position shift distance 0 m
12 For manufacturer setting 0
13 JOG Jog speed 100 r/min
14 *STC S-pattern acceleration/deceleration time constant 0 ms
15 *SNO Station number setting 0 station
16 *BPS Communication baud rate selection, alarm history clear 0000
17 MOD Analog monitor output 0100
18 *DMD Status display selection 0000
19 *BLK Parameter write inhibit 0000

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 5. PARAMETERS

Customer
Class No. Symbol Name and Function Initial value Unit
setting
20 *OP2 Function selection 2 0000
21 For manufacturer setting 0002
22 *OP4 Function selection 4 0000
23 SIC Serial communications time-out selection 0
24 FFC Feed forward gain 0 %
25 VCO Override offset 0 mV
26 TLO Torque limit offset 0 mV
27 *ENR Encoder output pulses 4000 pulse/rev
28 TL1 Internal torque limit 1 100 %
29 TL2 Internal torque limit 2 100 %
30 *BKC Backlash compensation 0 pulse
31 MO1 Analog monitor 1 offset 0 mV
32 MO2 Analog monitor 2 offset 0 mV
33 MBR Electromagnetic brake sequence output 100 ms
Expansion parameters 1

34 GD2 Ratio of load inertia moment to Servo motor inertia moment 70 0.1 times
35 PG2 Position control gain 2 35 rad/s
36 VG1 Speed control gain 1 177 rad/s
37 VG2 Speed control gain 2 817 rad/s
38 VIC Speed integral compensation 48 ms
39 VDC Speed differential compensation 980
40 JTS JOG operation acceleration/deceleration time constant 100 ms
Home position return operation acceleration/deceleration time
41 ZTS 100 ms
constant
42 *ZPS Home position return position data 0 10STM m
43 DCT Moving distance after proximity dog 1000 10STM m
44 ZTM Stopper type home position return stopper time 100 ms
45 ZTT Stopper type home position return torque limit value 15 %
46
*LMP Software limit 0 10STM m
47
48
*LMN Software limit 0 10STM m
49
50
*LPP Position range output address 0 10STM m
51
52
*LNP Position range output address 0 10STM m
53

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 5. PARAMETERS

Customer
Class No. Symbol Name and Function Initial value Unit
setting
54 For manufacturer setting 0000
55 *OP6 Function selection 6 0000
56 For manufacturer setting 0000
57 *OP8 Function selection 8 0000
58 *OP9 Function selection 9 0000
59 *OPA Function selection A 0000
60 For manufacturer setting 0000
61 NH1 Machine resonance suppression filter 1 0000
62 NH2 Machine resonance suppression filter 2 0000
Expansion parameters 2

63 LPF Low-pass filter, adaptive vibration suppression control 0000

64 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 70 0.1 times
65 PG2B Position control gain 2 changing ratio 100 %
66 VG2B Speed control gain 2 changing ratio 100 %
67 VICB Speed integral compensation changing ratio 100 %
68 *CDP Gain changing selection 0000
69 CDS Gain changing condition 10 (Note)
70 CDT Gain changing time constant 1 ms
71 100
72 For manufacturer setting 10000
73 10
74 OUT1 OUT1 output time selection 0 10ms
75 OUT2 OUT2 output time selection 0 10ms
76 OUT3 OUT3 output time selection 0 10ms
77 *SYC1 Selected to program input polarity selection 1 0000
78 0001
79 0209
80 060A
81 1918
Special parameters

82 030B
83 0504
84 For manufacturer setting 0102
85 0000
86 0005
87 120E
88 0102
89 0
90 0
Note. Depends on the parameter No. 68 setting.

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 5. PARAMETERS

(2) Detail list

Initial Setting
Class No. Symbol Name and Function Unit
value range
0 *STY Command system, regenerative option selection 0000 Refer to
Used to select the command system and regenerative option. Name
and
0
function
Program edit column.
0: Valid
1: Invalid
Selection of command system
(Refer to section 4.2)
0: Absolute value command system
Basic parameters

1: Incremental value command system

Selection of regenerative option (Refer to section 14.1.1)
0: Not used
(However, this is irrelevant to the MR-J2S-10CL, as it does
not include the built-in regenerative resistor.)
1: FR-RC, FR-BU2
2:MR-RB032
3:MR-RB12
4:MR-RB32
5:MR-RB30
6:MR-RB50(Cooling fan is required)
8:MR-RB31
9:MR-RB51(Cooling fan is required)
If the regenerative option selected is not for use with the
servo amplifier, parameter error occurs.

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
1 *FTY Feeding function selection 0000 Refer to
Used to set the feed length multiplication factor and manual pulse generator Name
multiplication factor.
and
function
column.
ST1 coordinate system selection
(Refer to section 4.2.2 to 4.2.4)
0: Address is incremented in CCW direction
1: Address is incremented in CW direction
Feed length multiplication factor (STM)
(Refer to section 4.2.3)
0: 1 time
1: 10 times
2: 100 times
3: 1000 times
Basic parameters

Manual pulse generator multiplication factor

(Refer to section 4.3.2)
0: 1 time
1: 10 times
2: 100 times
Servo-on (SON) -off, forced stop (EMG) -off
follow-up for absolute value command
in incremental system or absolute value command/
incremental value command specifying system
0: Invalid
1: Valid
Normally, when this servo amplifier is used
in the absolute value command method of the
incremental system, placing it in a servo off or
forced stop status will erase the home position.
When "1" is set in this parameter, the home
position will not be erased if the servo amplifier
is placed in a servo off or forced stop status.
Operation can be resumed when servo-on (SON)
is turned on again or forced stop (EMG) is canceled.

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
2 *OP1 Function selection 1 0002 Refer to
Used to select the input filter and absolute position detection system. Name
and
0 0
function
Input filter column.
If external input signal causes chattering due
to noise, etc., input filter is used to suppress it.
0: None
1: 0.88[ms]
2: 1.77[ms]
3: 2.66[ms]
4: 3.55[ms]
5: 4.44[ms]
Selection of absolute position detection system
(Refer to section 4.5)
0: Incremental system
1: Absolute position detection system

3 ATU Auto tuning 0105 Refer to

Used to selection the response level, etc. for execution of auto tuning.
(Refer to chapter 7) Name
and
0 0 function
Auto tuning response level setting column.

Set Response Machine resonance

value level frequency guideline
1 Low 15Hz
Basic parameters

2 response 20Hz
3 25Hz
4 30Hz
5 35Hz
6 45Hz
7 55Hz
Middle
8 70Hz
response
9 85Hz
A 105Hz
B 130Hz
C 160Hz
D 200Hz
E High 240Hz
F response 300Hz
If the machine hunts or generates large gear sound,
decrease the set value.
To improve performance, e.g. shorten the settling time,
increase the set value.
Gain adjustment mode selection
(For more information, refer to section 8.1.1.)
Set value Gain adjustment mode Description
0 Interpolation mode GD2 (parameterNo.34), PG2 (parameterNo.35),
VG2 (parameterNo.37), VIC (parameterNo.38)
1 Auto tuning mode 1 PG1 (parameterNo.7), GD2 (parameterNo.35),
PG2 (parameterNo.35), VG1 (parameterNo.36),
VG2 (parameterNo.37), VIC (parameterNo.38)
2 Auto tuning mode 2 PG1 (parameterNo.7), PG2 (parameterNo.35),
VG1 (parameterNo.36), VG2 (parameterNo.37),
VIC (parameterNo.38)

3 Manual mode 1 PG2 (parameterNo.35)

4 Manual mode 2

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
*4 CMX Electronic gear numerator 1 0 to
Set the value of electronic gear numerator. Setting "0" automatically sets the 65535
resolution of the servo motor connected. (Refer to section 5.2.1)
*5 CDV Electronic gear denominator 1 1 to
Set the value of electronic gear denominator. (Refer to section 5.2.1) 65535
6 PED Movement complete output range 100 m 0 to
Used to set the droop pulse range when the movement complete output range 10000
(PED) is output.
7 PG1 Position control gain 1 36 rad/s 4 to 1000
Used to set the gain of position loop 1. (Refer to chapter 8)
Increase the gain to improve tracking performance in response to the position
command.
8 *ZTY Home position return type 0010 Refer to
Used to set the home position return system, home position return direction and Name
proximity dog input polarity. and
function
0 column.

Home position return system

0: Dog type
1: Count type
2: Data setting type
3: Stopper type
4: Home position ignorance
(Servo-on position as home position)
5: Dog type rear end reference
6: Count type front end reference
Basic parameters

7: Dog cradle type

Home position return direction
0: Address increment direction
1: Address decrement direction
Proximity dog input polarity
0: Dog is detected when DOG is turned off.
1: Dog is detected when DOG is turned on.

9 ZRF Home position return speed 500 r/min 0 to

Used to set the servo motor speed for home position return. permissible
(Refer to section 4.4) speed
10 CRF Creep speed 10 r/min 0 to
Used to set the creep speed after proximity dog detection. permissible
(Refer to section 4.4) speed
11 ZST Home position shift distance 0 m 0 to 65535
Used to set the shift distance starting at the Z-phase pulse detection position
inside the encoder.
12 For manufacturer setting 0
Do not change this value by any means.
13 JOG Jog speed 100 r/min 0 to
Used to set the jog speed command. permissible
speed
14 *STC S-pattern acceleration/deceleration time constant 0 ms 0 to 100
Set when inserting S-pattern time constant into the acceleration/deceleration
time constant of the point table. (Refer to section 5.2.3)
This time constant is invalid for home position return.
15 *SNO RS-422 station number setting 0 Station 0 to 31
Used to specify the station number for RS-422 multidrop communication.
(Refer to section 4.6.2)
Always set one station to one axis of servo amplifier. If one station number is set
to two or more stations, normal communication cannot be made.

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
16 *BPS Serial communication function selection, alarm history clear 0000 Refer to
Used to select the serial communication baud rate, select various Name
communication conditions, and clear the alarm history. and
function
column.
Serial baud rate selection
(Refer to section 15.2.2)
0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
4: 4800[bps] (For MR-DP60)
Alarm history clear (Refer to section 5.2.6)
0: Invalid
1: Valid
When alarm history clear is made valid, the alarm
history is cleared at next power-on.
After the alarm history is cleared, the setting is
automatically made invalid (reset to 0).
Serial communication standard selection
(Refer to section 15.2.2)
0: RS-232C used
1: RS-422 used
Serial communication response delay time
(Refer to section 15.2.2)
0: Invalid
Basic parameters

1: Valid, reply sent after delay time of 800 s or

more

17 MOD Analog monitor output 0100 Refer to

Used to select the signals to be output to the analog monitor 1 (MO1) and analog Name
monitor 2 (MO2). (Refer to section 5.2.4) and
function
0 0 column.

Setting Analog monitor 2 (MO2) Analog monitor 1 (MO1)

0 Servo motor speed ( 8V/max. speed)
1 Torque ( 8V/max. torque) (Note)
2 Servo motor speed ( 8V/max. speed)
3 Torque ( 8V/max. torque) (Note)
4 Current command ( 8V/max. current command)
5 Command pulse frequency ( 10V/500kpulse/s)
6 Droop pulses ( 10V/128 pulses)
7 Droop pulses ( 10V/2048 pulses)
8 Droop pulses ( 10V/8192 pulses)
9 Droop pulses ( 10V/32768 pulses)
A Droop pulses ( 10V/131072 pulses)
B Bus voltage ( 8V/400V)
Note. 8V is outputted at the maximum torque. However, when parameter
No. 28 29 are set to limit torque, 8V is outputted at the torque
highly limited.

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
18 *DMD Status display selection 0000 Refer to
Used to select the status display shown at power-on. (Refer to section 7.2) Name
and
function
Status display on servo amplifier display column.
at power-on
00: Current position (initial value)
01: Command position
02: Command remaining distance
03: Program No.
04: Step No.
05: Cumulative feedback pulses
06: Servo motor speed
07: Droop pulses
08: Override voltage
09: Analog torque limit voltage
0A: Regenerative load ratio
0B: Effective load ratio
0C: Peak load ratio
Basic parameters

0D: Instantaneous torque

0E: Within one-revolution position low
0F: Within one-revolution position high
10: ABS counter
11: Load inertia moment ratio
12: Bus voltage
Status display of MR-DP60 at power-on
00: Current position (initial value)
01: Command position
02: Command remaining distance
03: Program No.
04: Step No.
05: Cumulative feedback pulses
06: Servo motor speed
07: Droop pulses
08: Override voltage
09: Analog torque limit voltage
0A: Regenerative load ratio
0B: Effective load ratio
0C: Peak load ratio
0D: Instantaneous torque
0E: Within one-revolution position
0F: ABS counter
10: Load inertia moment ratio
11: Bus voltage

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
19 *BLK Parameter write inhibit 0000 Refer to
Used to select the reference and write ranges of the parameters. Name
Operation can be performed for the parameters marked . and
function
Expansion parameters 2 column.
Basic Expansion
Set No.54 to 77
Operation parameters parameters 1
value special parameters
No.0 to 19 No.20 to 53
(No. 78 to 90)
0000 Reference
Basic parameters

(initial
value) Write
Reference No.19 only
000A
Write No.19 only
Reference
000B
Write
Reference
000C
Write
(Note) Reference
000E Write
Note. Set this parameter when making device setting using the MR Configurator
(Servo Configuration Software).

20 *OP2 Function selection 2 0000 Refer to

Used to select slight vibration suppression control. Name
and
0 0 0 function
Slight vibration suppression control selection column.
0: Invalid
1: Valid

21 For manufacturer setting 0002

Do not change this value by any means.
22 *OP4 Function selection 4 0000 Refer to
Expansion parameters 1

Used to select stop processing at forward rotation stroke end (LSP), reverse Name
rotation stroke end (LSN) off. and
function
0 0 0 column.
Stopping method used when forward rotation
stroke end (LSP), reverse rotation stroke
end (LSN) device or software limit is valid
(Refer to section 5.2.5)
0: Sudden stop
1: Slow stop

23 SIC Serial communication time-out selection 0 0 to 60

Used to choose the time-out period of communication protocol.

Setting Description
0 No time-out check
Time-out check period setting
1 to 60
Check period setting [s]

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
24 FFC Feed forward gain 0 % 0 to 100
Set the feed forward gain. When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.
25 VCO Override offset 0 mV 999 to
Used to set the offset voltage to analog override. 999
26 TLO Torque limit offset 0 mV 999 to
Used to set the offset voltage to analog torque limit (TLA). 999
27 *ENR Encoder output pulses 4000 pulse/ 1
rev to
Used to set the encoder pulses (A-phase, B-phase) output by the servo
65535
amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No. 58 to choose the output pulse designation or
output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the
preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by 4). Use
this parameter within this range.
For output pulse designation
Set " 0 " (initial value) in parameter No. 58.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
Expansion parameters 1

At the setting of 5600, for example, the actually output A/B-phase pulses are
as indicated below.
5600
A B-phase output pulses 1400[pulse]
4
For output division ratio setting
Set " 1 " in parameter No. 58.
The number of pulses per servo motor revolution is divided by the set value.
Resolution per servo motor revolution
Output pulse [pulses/rev]
Set value
At the setting of 8, for example, the actually output A/B-phase pulses are as
indicated below.
131072 1
A B-phase output pulses 4096[pulse]
8 4
28 TL1 Internal torque limit 1 100 % 0 to 100
Used to limit servo motor-torque on the assumption that the maximum torque
is 100%. When 0 is set, torque is not produced.
29 TL2 Internal torque limit 2 100 % 0 to 100
Used to limit servo motor-torque on the assumption that the maximum torque
is 100%. When 0 is set, torque is not produced.
Made valid by switching on the internal torque limit selection (TL2).
30 *BKC Backlash compensation 0 pulse (Note)
Used to set the backlash compensation made when the command direction is 0
reversed. to
This function compensates for the number of backlash pulses in the opposite 1600
direction to the home position return direction. In the absolute position
detection system, this function compensates for the backlash pulse count in
the direction opposite to the operating direction at power-on.
Note. The setting range differs depending on the software version of servo
amplifiers.
Version A1 or later: 0 to 1600
Version A0 or before: 0 to 1000

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
31 MO1 Analog monitor 1 (MO1) offset 0 mV 999 to
Used to set the offset voltage of the analog monitor 1 (MO1) output. 999
32 MO2 Analog monitor 2 (MO2) offset 0 mV 999 to
Used to set the offset voltage of the analog monitor 2 (MO2) output. 999
33 MBR Electromagnetic brake sequence output 100 ms 0 to 1000
Used to set the delay time (Tb) between when the electromagnetic brake
interlock (MBR) switches off and when the base circuit is shut off.
(Refer to section 3.9)
34 GD2 Ratio of load inertia moment to servo motor inertia moment 70 0.1 0 to 1000
Used to set the ratio of the load inertia moment to the servo motor shaft times
inertia moment. (Refer to chapter 8)
When auto tuning is selected, the result of auto tuning is automatically set.
35 PG2 Position control gain 2 35 rad/s 1 to 1000
Used to set the gain of the position loop. (Refer to chapter 8)
Set this parameter to increase the position response level to load disturbance.
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning is selected, the result of auto tuning is automatically set.
36 VG1 Speed control gain 1 177 rad/s 20 to
Normally this parameter value need not be changed. 8000
Higher setting increases the response level but is liable to generate vibration
and/or noise. (Refer to chapter 8)
When auto tuning is selected, the result of auto tuning is automatically set.
Expansion parameters 1

37 VG2 Speed control gain 2 817 rad/s 20 to

Set this parameter when vibration occurs on machines of low rigidity or large 20000
backlash. Higher setting increases the response level but is liable to generate
vibration and/or noise. (Refer to chapter 8)
When auto tuning is selected, the result of auto tuning is automatically set.
38 VIC Speed integral compensation 48 ms 1 to 1000
Used to set the integral time constant of the speed loop. (Refer to chapter 8)
When auto tuning is selected, the result of auto tuning is automatically set.
39 VDC Speed differential compensation 980 ms 0 to 2000
Used to set the differential compensation. (Refer to chapter 8)
Made valid when the proportion control (PC) is switched on.
40 JTS JOG operation acceleration/deceleration time constant 100 ms 0 to
Used to set the acceleration/deceleration time when JOG operation. 20000
41 ZTS Home position return operation acceleration/deceleration time constant 100 ms 0 to
Used to set the acceleration/deceleration time when Zero point return operation. 20000
42 *ZPS Home position return position data 0 10STM 32768
Used to set the current position on completion of home position return. m to
(Refer to section 4.4) 32767
43 DCT Moving distance after proximity dog 1000 10STM 0 to
Used to set the moving distance after proximity dog in count type home m 65535
position return. (Refer to section 4.4.3)
44 ZTM Stopper type home position return stopper time 100 ms 5 to 1000
In stopper type home position return, used to set the time from when the
machine part is pressed against the stopper and the torque limit set in
parameter No.45 is reached to when the home position is set.
(Refer to section 4.4.5)
45 ZTT Stopper type home position return torque limit 15 % 1 to 100
Used to set the torque limit value relative to the max. torque in [%] in stopper
type home position return. (Refer to section 4.4.5)

5 - 13

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
46 *LMP Software limit 0 10STM 999999
47 Used to set the address increment side software stroke limit. The software limit m to
is made invalid if this value is the same as in "software limit ". 999999
(Refer to section 5.2.7)
Set the same sign to parameters No.46 and 47. Setting of different signs will
result in a parameter error.
Set address:
Upper 3 Lower 3
digits digits
Parameter No. 47
Parameter No. 46

48 *LMN Software limit 0 10STM 999999

49 Used to set the address decrement side software stroke limit. The software limit m to
is made invalid if this value is the same as in "software limit ". 999999
(Refer to section 5.2.7)
Set the same sign to parameters No.48 and 49. Setting of different signs will
result in a parameter error.
Expansion parameters 1

Set address:
Upper 3 Lower 3
digits digits
Parameter No. 49
Parameter No. 48

50 *LPP Position range output address 0 10STM 999999

51 Used to set the address increment side position range output address. Set the m to
same sign to parameters No.50 and 51. Setting of different signs will result in a 999999
parameter error.
In parameters No. 50 to 53, set the range where position range (POT) turns on.
Set address:
Upper 3 Lower 3
digits digits
Parameter No. 51
Parameter No. 50
52 *LNP Position range output address 0 10STM 999999
53 Used to set the address decrement side position range output address. Set the m to
same sign to parameters No.52 and 53. Setting of different signs will result in a 999999
parameter error.
Set address:
Upper 3 Lower 3
digits digits
Parameter No. 53
Parameter No. 52

5 - 14

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
54 For manufacturer setting
0000
Do not change this value by any means.
55 *OP6 Function selection 6 0000 Refer to
Used to select how to process the base circuit when reset (RES) is valid. Name
and
0 0 0 function
column.
Processing of the base circuit when reset (RES) is valid.
0: Base circuit switched off
1: Base circuit not switched off

56 For manufacturer setting 0000

Do not change this value by any means.
57 *OP8 Function selection 8 0000 Refer to
Used to select the protocol of serial communication. Name
and
0 0 function
column.
Expansion parameters 2

Protocol checksum selection

0: Yes (checksum added)
1: No (checksum not added)
Protocol checksum selection
0: With station numbers
1: No station numbers

58 *OP9 Function selection 9 0000 Refer to

Use to select the encoder output pulse direction and encoder pulse output Name
setting. and
function
0 0 column.
Encoder pulse output phase changing
Changes the phases of A, B-phase encoder pulses output.
Set Servo motor rotation direction
value CCW CW
A-phase A-phase
0
B-phase B-phase

A-phase A-phase
1
B-phase B-phase

Encoder output pulse setting selection

(Refer to parameter No. 27)
0: Output pulse setting
1: Division ratio setting

5 - 15

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
59 OPA Function selection A 0000 Refer to
Used to select the alarm code. Name
and
0 0 function
column.
Rotation direction in which torque limit is made valid
Setting
CCW direction CW direction
0
1
2

Setting of alarm code output

Set Connector pins
value CN1B-19 CN1A-18 CN1A-19
0 Signals assigned to corresponding pins are output.
1 Alarm code is output at alarm occurrence.

(Note) Alarm code

Alarm
CN1B CN1A CN1A Name
display
pin 19 pin 18 pin 19
88888 Watchdog
AL.12 Memory error 1
Expansion parameters 2

AL.13 Clock error

AL.15 Memory error 2
AL.17 Board error 2
0 0 0
AL.19 Memory error 3
AL.37 Parameter error
AL.39 Program error
AL.8A Serial communication time-out error
AL.8E Serial communication error
AL.30 Regenerative error
0 0 1
AL.33 Overvoltage
0 1 0 AL.10 Undervoltage
AL.45 Main circuit device overheat
AL.46 Servo motor overheat
0 1 1
AL.50 Overload 1
AL.51 Overload 2
AL.24 Main circuit
1 0 0
AL.32 Overcurrent
AL.31 Overspeed
AL.35 Command pulse frequency error
1 0 1 AL.52 Error excessive
AL.63 Home position return incomplete
AL.64 Home position setting error
AL.16 Encoder error 1
AL.1A Motor combination error
1 1 0
AL.20 Encoder error 2
AL.25 Absolute position erase
Note. 0: OFF
1: ON

5 - 16

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
60 For manufacturer setting 0000
Do not change this value by any means.
61 NH1 Machine resonance suppression filter 1 0000 Refer to
Used to selection the machine resonance suppression filter. Name
(Refer to section 9.2.) and
function
0 column.

Notch frequency selection

Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No. 63: 1 or 2 ).
Setting Setting Setting Setting
Frequency Frequency Frequency Frequency
value value value value
00 Invalid 08 562.5 10 281.3 18 187.5
01 4500 09 500 11 264.7 19 180
02 2250 0A 450 12 250 1A 173.1
Expansion parameters 2

03 1500 0B 409.1 13 236.8 1B 166.7

04 1125 0C 375 14 225 1C 160.1
05 900 0D 346.2 15 214.3 1D 155.2
06 750 0E 321.4 16 204.5 1E 150
07 642.9 0F 300 17 195.7 1F 145.2

Notch depth selection

Setting
Depth Gain
value
0 Deep 40dB
1 to 14dB
2 8dB
Shallow
3 4dB

62 NH2 Machine resonance suppression filter 2 0000 Refer to

Used to set the machine resonance suppression filter. Name
and
0 function
column.
Notch frequency
Same setting as in parameter No. 61
However, you need not set "00" if you have
set adaptive vibration suppression control to
be "valid" or "held".
Notch depth
Same setting as in parameter No. 61

5 - 17

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
63 LPF Low-pass filter/adaptive vibration suppression control 0000 Refer to
Used to selection the low-pass filter and adaptive vibration suppression Name
control. (Refer to chapter 9) and
function
0 column.

Low-pass filter selection

0: Valid (Automatic adjustment)
1: Invalid
When you choose "valid", the filter of the handwidth
represented by the following expression is set automatically.
For 1kW or less
VG2 setting 10
2 (1 GD2 setting 0.1) [Hz]
For 2kW or more
VG2 setting 5
2 (1 GD2 setting 0.1) [Hz]
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration
suppression control selection makes the machine
Expansion parameters 2

resonance control filter 1 (parameter No. 61) invalid.

0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance
to suppress machine vibration.
2: Held
The characteristics of the filter generated so far are held,
and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Used to set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity

64 GD2B Ratio of load inertia moment to servo motor inertia moment 2 70 0.1 0 to 3000
Used to set the ratio of load inertia moment to servo motor inertia moment times
when gain changing is valid.
65 PG2B Position control gain 2 changing ratio 100 % 10 to 200
Used to set the ratio of changing the position control gain 2 when gain
changing is valid.
Made valid when auto tuning is invalid.
66 VG2B Speed control gain 2 changing ratio 100 % 10 to 200
Used to set the ratio of changing the speed control gain 2 when gain changing
is valid.
Made valid when auto tuning is invalid.
67 VICB Speed integral compensation changing ratio 100 % 50 to
Used to set the ratio of changing the speed integral compensation when gain 1000
changing is valid. Made valid when auto tuning is invalid.

5 - 18

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
68 *CDP Gain changing selection 0000 Refer to
Used to select the gain changing condition. (Refer to section 9.5) Name
and
0 0 0 function
column.
Gain changing selection
Gains are changed in accordance with the settings
of parameters No. 64 to 67 under any of the following
conditions:
0: Invalid
1: Gain changing (CDP) signal is ON
2: Command frequency is equal to higher than
parameter No. 69 setting
3: Droop pulse value is equal to higher than
parameter No. 69 setting
4: Servo motor speed is equal to higher than
parameter No. 69 setting

69 CDS Gain changing condition 10 kpps 10 to

Used to set the value of gain changing condition (command frequency, droop pulse 9999
pulses, servo motor speed) selected in parameter No. 68. The set value unit r/min
changes with the changing condition item. (Refer to section 9.5)
70 CDT Gain changing time constant 1 ms 0 to 100
Used to set the time constant at which the gains will change in response to the
conditions set in parameters No. 68 and 69.
Expansion parameters 2

(Refer to section 9.5)

71 For manufacturer setting 10
72 Do not change this value by any means. 10000
73 10
74 OUT1 OUT1 output time setting 0 10ms 0 to 2000
Used to set the output time of OUT1. The OUT1 is turned on by OUTON
program command.
If "0" is set, it keeps ON.
75 OUT2 OUT2 output time setting 0 10ms 0 to 2000
Used to set the output time of OUT2. The OUT2 is turned on by OUTON
program command.
If "0" is set, it keeps ON.
76 OUT3 OUT3 output time setting 0 10ms 0 to 2000
Used to set the output time of OUT3. The OUT3 is turned on by OUTON
program command.
If "0" is set, it keeps ON.
77 *SYC1 Program input polarity selection 1 0000 0000h
Used to select the device that reverses the input polarity of Program input 1 to
(PI1), Program input 2 (PI2), Program input 3 (PI3). FFFFh

0 0 0

Initial value
Signal name
BIN HEX
Program input 1 0
Program input 2 0
0
Program input 3 0
0
BIN 0 : Positive logic
BIN 1 : Negative logic

5 - 19

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 5. PARAMETERS

Initial Setting
Class No. Symbol Name and Function Unit
value range
78 For manufacturer setting 0001
79 The settings are automatically changed. 0209
80 060A
81 1918
Special parameters

82 030B
83 0504
84 0102
85 0000
86 0005
87 120E
88 0102
89 For manufacturer setting 0
90 Do not change this value by any means. 0

5 - 20

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 5. PARAMETERS

5.2 Detailed explanation

5.2.1 Electronic gear

CAUTION False setting will result in unexpected fast rotation, causing injury.

POINT
1 CMX
The range of the electronic gear setting is 1000.
10 CDV
If you set any value outside this range, a parameter error (AL.37) occurs.
After setting the parameter No.4, 5 value, switch power off, then on to
make that setting valid. In this case, execute a home position return
again. The absolute position detection system also requires a home
position return.

(1) Concept of electronic gear

Use the electronic gear (parameters No.4, 5) to make adjustment so that the servo amplifier setting
matches the moving distance of the machine. Also, by changing the electronic gear value, the machine
can be moved at any multiplication ratio to the moving distance on the servo amplifier.
Motor
CMX Parameter No. 4
distance

CMX + Deviation
Moving

CDV Parameter No. 5 CDV - counter

Encoder feedback pulses

Electronic gear
Parameters No. 4, 5 Encoder

The following examples are used to explain how to calculate the electronic gear value.

POINT
The following specification symbols are needed for electronic gear
calculation.
Pb : Ballscrew lead [mm(in.)]
n : Reduction ratio
Pt : Servo motor resolution [pulse/rev]
S : Travel per servo motor revolution [ m/rev]

(a) Ballscrew setting example n

Machine specifications n=NL/NM=1/2
NL
Ballscrew lead: Pb 10 (0.39) [mm(in.)] Pb=10(0.39)[mm(in.)]
Reduction ratio: n 1/2 NM
Servo motor resolution: Pt 131072 [pulse/rev] Servo motor 131072[pulse/rev]
CMX pt pt 131072 131072 32768
CDV S n pb 1000 1/2 10 1000 5000 1250
Hence, set 32768 to CMX and 1250 to CDV.

(b) Conveyor setting example r=160(6.30)[mm(in.)]

Machine specifications

Pulley diameter: r 160 (6.30) [mm(in.)] n Servo motor

131072[pulse/rev]
Reduction ratio: n 1/3 NL NM
Servo motor resolution: Pt 131072 [pulse/rev] n=NL/NM=1/3

CMX pt pt 131072 131072 32768

CDV S n r 1000 1/3 160 1000 167551.61 41888
Reduce CMX and CDV to the setting range or less, and round off the first decimal place.
Hence, set 32768 to CMX and 41888 to CDV.
5 - 21

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 5. PARAMETERS

5.2.2 Changing the status display screen

The status display item of the servo amplifier display and the display item of the external digital display
(MR-DP60) shown at power-on can be changed by changing the parameter No.18 (status display
selection) settings. In the initial condition, the servo amplifier display shows the servo motor speed and
the MR-DP60 shows the current position.
For display details, refer to section 7.2.
Parameter No. 18

Status display on servo amplifier display

at power-on
00: Current position (initial value)
01: Command position
02: Command remaining distance
03: Program No.
04: Step No.
05: Cumulative feedback pulses
06: Servo motor speed
07: Droop pulses
08: Override voltage
09: Analog torque limit voltage
0A: Regenerative load ratio
0B: Effective load ratio
0C: Peak load ratio
0D: Instantaneous torque
0E: Within one-revolution position low
0F: Within one-revolution position high
10: ABS counter
11: Load inertia moment ratio
12: Bus voltage
Status display of MR-DP60 at power-on
00: Current position (initial value)
01: Command position
02: Command remaining distance
03: Program No.
04: Step No.
05: Cumulative feedback pulses
06: Servo motor speed
07: Droop pulses
08: Override voltage
09: Analog torque limit voltage
0A: Regenerative load ratio
0B: Effective load ratio
0C: Peak load ratio
0D: Instantaneous torque
0E: Within one-revolution position
0F: ABS counter
10: Load inertia moment ratio
11: Bus voltage

5 - 22

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 5. PARAMETERS

5.2.3 S-pattern acceleration/deceleration

In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern

acceleration/deceleration time constant (parameter No.14), a smooth start/stop can be made. When the S-
pattern time constant is set, smooth positioning is executed as shown below. When the S-pattern
acceleration/deceleration time constant is set, the time from a start to the output of Movement complete
(PED) increases by the S-pattern acceleration/deceleration time constant.
Acceleration time Deceleration time
constant constant
Rated
speed

Preset
speed

Servo motor
speed
0 [r/min]
Ta Tb Ts
Ta Ts Tb

Ta: Time until preset speed is reached

Tb: Time until stop
Ts: S-pattern acceleration/deceleration time constant
(parameter No. 14)
Setting range 0 to 100ms

5.2.4 Analog output

The servo status can be output to two channels in terms of voltage. The servo status can be monitored
using an ammeter.

(1) Setting
Change the following digits of parameter No.17.
Parameter No. 17

Analog monitor 1 (MO1) output selection

(Signal output to across MO1-LG)

Analog monitor 2 (MO2) output selection

(Signal output to across MO2-LG)

Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.

Parameter Description Setting range [mV]

Parameter No.31 Used to set the offset voltage for the analog monitor 1 (MO1) output.
999 to 999
Parameter No.32 Used to set the offset voltage for the analog monitor 2 (MO2) output.

5 - 23

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 5. PARAMETERS

(2) Contents of a setting

The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 and the torque
to analog monitor 2. The setting can be changed as listed below by changing the parameter No.17
(analog monitor output) value.
Refer to (3) for the measurement point.
Setting Output item Description Setting Output item Description
0 Servo motor speed CCW direction 6 Droop pulses (Note 1) CCW direction
8[V] 10[V]
( 10V/128pulse)

Max. speed 128[pulse]

0 Max. speed 0 128[pulse]

-8[V] -10[V]
CW direction CW direction
1 Torque (Note 2) Driving in CCW direction 7 Droop pulses (Note 1) CCW direction
10[V]
8[V]
( 10V/2048pulse)

2048[pulse]
Max. torque
0 Max. torque 0 2048[pulse]

Driving in CW direction -8[V] -10[V]

CW direction
2 Servo motor speed 8 Droop pulses (Note 1) CCW direction
10[V]
CW CCW ( 10V/8192pulse)
direction 8[V] direction
8192[pulse]
0 8192[pulse]

Max. speed 0 Max. speed

-10[V]
CW direction
3 Torque (Note 2) 9 Droop pulses (Note 1) CCW direction
10[V]
Driving in Driving in ( 10V/32768pulse)
CCW direction 8[V] CW direction
32768[pulse]
0 32768[pulse]

Max. torque 0 Max. torque

-10[V]
CW direction
4 Current command 8[V] CCW direction A Droop pulses (Note 1) CCW direction
10[V]
Max. command ( 10V/131072pulse)
current
131072[pulse]
0 Max. command 0
131072[pulse]
current

-8[V] -10[V]
CW direction CW direction
5 Speed command CCW direction B Bus voltage
8[V]
8[V]
Max. speed
0 Max. speed

0 400[V]
-8[V]
CW direction
Note 1. Encoder pulse unit.
2. 8V is outputted at the maximum torque. However, when parameter No. 28 29 are set to limit torque, 8V is outputted at the
torque highly limited.
5 - 24

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 5. PARAMETERS

Command Droop pulse Current

speed command Bus voltage
Speed
differentiation command Current encoder
Command Position Speed Current
control control control PWM M Servo Motor
position

Encoder
Current feedback

Differ-
ential
Position feedback

Servo Motor
speed Torque

5 - 25

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 5. PARAMETERS

5.2.5 Changing the stop pattern using a limit switch

The servo amplifier is factory-set to make a sudden stop when the limit switch or software limit is made
valid. When a sudden stop is not required, e.g. when there is an allowance from the limit switch
installation position to the permissible moving range of the machine, a slow stop may be selected by
changing the parameter No.22 setting.

Parameter No. 22 setting Description

0 (initial value) Droop pulses are reset to make a stop. (Sudden stop)
1 Droop pulses are drawn out to make a slow stop. (Slow stop)

5.2.6 Alarm history clear

The alarm history can be confirmed by using the MR Configurator (Servo Configuration Software) or
communication function. The servo amplifier stores one current alarm and five past alarms from when its
power is switched on first. To control alarms which will occur during operation, clear the alarm history
using parameter No.16 (alarm history clear) before starting operation. Clearing the alarm history
automatically returns to “ 0 ”.
This parameter is made valid by switching power off, then on after setting.
Parameter No. 16

Alarm history clear

0: Invalid (not cleared)
1: Valid (cleared)

5.2.7 Software limit

A limit stop using a software limit is made as in stroke end operation. When a motion goes beyond the
setting range, the motor is stopped and servo-locked. This function is made valid at power-on but made
invalid during home position return. This function is made invalid when the software limit setting is
the same as the software limit setting. A parameter error (AL. 37) will occur if the software limit
setting is less than the software limit setting.

Inhibited area
Movable area

Unmovable Movable

Current position
Software limit

5 - 26

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

The MR Configurator (Servo Configuration software MR2JW3-SETUP151E Ver.E1 or more) uses the
communication function of the servo amplifier to perform parameter setting changes, graph display, test
operation, etc. on a personal computer.

6.1 Specifications

Item Description
Communication signal Conforms to RS-232C
Baud rate 57600, 38400, 19200, 9600
System Station selection
Monitor Display all High-speed monitor, trend graph
Alarm Display, history, amplifier data
I/O display, function device display, no motor rotation, total power-on time, software number display,
Diagnostic
motor data display, tuning data, absolute encoder data, axis name setting
Parameters Parameter list, tuning, change list, detailed information, device setting
Test Jog, positioning, operation w/o motor, forced output, program test
Advanced-function Machine analyzer, gain search, machine simulation
Program-data Program data, indirect-addressing
File operation Data read, save, print
Others Help display

6.2 System configuration

(1) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor.

Model (Note 1) Description

IBM PC-AT compatible where the English version of Windows® 95, Windows® 98, Windows® Me,
Windows NT® Workstation 4.0, Windows® 2000 Professional, Windows® XP Professional or Windows®
XP Home Edition operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0,
Windows® 2000 Professional)
(Note 2)
Pentium® 150MHz or more (Windows® Me)
Personal computer
Memory: 16MB or more (Windows® 95), 24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional, Windows® XP Home Edition)
Free hard disk space: 60MB or more
Serial port used
Windows® 95, Windows® 98, Windows® Me, Windows NT® Workstation 4.0, Windows® 2000
OS
Professional, Windows® XP Professional, Windows® XP Home Edition (English version)
One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer. Note that a serial mouse is not used.
Printer Connectable with the above personal computer.
MR-CPCATCBL3M
Communication cable
When this cannot be used, refer to section 14.1.4 (3) and fabricate.
Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, this software may not run properly.

6- 1

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(2) Configuration diagram

(a) For use of RS-232C
Servo amplifier
Personal computer U
V
W
Communication cable

CN3 CN2 Servo motor

To RS-232C connector

(b) For use of RS-422

Up to 32 axes may be multidropped.
Servo amplifier
Personal computer

RS-232C/RS-422
converter (Note)
Communication cable

CN3 CN2 Servo motor

To RS-232C (Axis 1)
connector
Servo amplifier

CN3 CN2 Servo motor

(Axis 2)

Servo amplifier

CN3 CN2 Servo motor

(Axis 32)

Note. Refer to section 15.1.1 for cable connections.

6- 2

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.3 Station setting

Click “System” on the menu bar and click “Station Selection” on the menu.

When the above choices are made, the following window appears.

(1) Station number setting

Choose the station number in the combo box and click the “Station Settings” button to set the station
number.

POINT
This setting should be the same as the station number which has been set
in the parameter in the servo amplifier used for communication.

(2) Closing of the station setting window

Click the “Close” button to close the window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.4 Parameters

Click “Parameters” on the menu bar and click “Parameter List” on the menu.

When the above choices are made, the following window appears.

a)

b)

c)

d)

e)

f)

g)

i)

h)

(1) Parameter value write ( a) )

Click the parameter whose setting was changed and press the “Write” button to write the new
parameter setting to the servo amplifier.

(2) Parameter value verify ( b) )

Click the “Verify” button to verify all parameter values being displayed and the parameter values of
the servo amplifier.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(3) Parameter value batch-read ( c) )

Click the “Read All” button to read and display all parameter values from the servo amplifier.

(4) Parameter value batch-write ( d) )

Click the “Write All” button to write all parameter values to the servo amplifier.

(5) Parameter change list display ( e) )

Click the “Change List” button to show the numbers, names, initial values and current values of the
parameters whose initial value and current value are different. In the offline mode, the parameter
change list is not shown.

(6) Parameter detail information ( f) )

Click the “Help” button or double-click the display field to show the detailed explanation of each
parameter.

(7) Parameter default value indication ( g) )

Click the “Set to default” button to show the initial value of each parameter.

(8) Parameter value change ( h) )

Choose the parameter to be changed, enter a new value into the “Parameter value” input field, and
press the enter key or Enter Data button.

(9) Parameter data file read

Used to read and display the parameter values stored in the file. Use the file selection window to read.

(10) Parameter value storage

Used to store all parameter values being displayed on the window into the specified file. Use the file
selection window to store.

(11) Parameter data list print

Used to print all parameter values being displayed on the window. Use the “File” menu on the menu
bar to print.

(12) Parameter list window closing ( i) )

Click the “Close” button to close the window. If the “Close” button is clicked without (1) parameter
value write or (4) parameter value batch-write being performed, the parameter value changed is
made invalid.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.5 Simple Program

6.5.1 Program data

The following screen is designed to set the program of the MR-J2S-CL.

(1) How to open the setting screen

Click "Program-Data" on the menu bar and click "Program-Data" in the menu.

(2) Explanation of Program Data window

a)

b)

c)

e)

g)

d) f)

(a) Reading the program (a))

Click the "Read All" button to read the program stored in the servo amplifier.

(b) Writing the program (b))

Click the "Write All" button to write the program, whose setting has been changed, to the servo
amplifier.

(c) Verifying the programs (c))

Click the "Verify" button to verify the program contents on the personal computer and the program
contents of the servo amplifier.

(d) Selecting the program No. (d))

Used to select the program No. to be edited.

(e) Editing the program (e))

Used to edit the program selected in d). Click the "Write All" button to open the Program Edit
window. Refer to (3) in this section for the edit screen.

(f) Reading and saving the program file

A program can be saved/read as a file. Perform save/read in the "File" menu of the menu bar.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(g) Printing the program

The read and edited program can be printed. Perform print in the "File" menu of the menu bar.

(h) Referring to the number of steps (f))

Click the "Steps" button to display the number of used steps and number of remaining steps in all
programs.

(i) Closing the Program Data window (g))

Click the "Close" button to close the window.

(3) Explanation of Program Edit window

Create a program in the Program Edit window.

b)

c)

d)

e)

f)

a)

(a) Editing the program (a))

Enter commands into the program edit area in a text format.

(b) Copying the text (b))

Select the text of the program edit area and click the "Copy" button to store the selected text into
the clipboard.

(c) Pasting the text (c))

Click the "Paste" button to paste the text stored in the clipboard to the specified position of the
program edit area.

(d) Deleting the text (d))

Select the text of the program edit area and click the "Cut" button to delete the selected text.

(e) Closing the Program Data window (e))

Click the "OK" button to end editing and close the Program Data window.

(f) Canceling the Program Edit window (f))

Click the "Cancel" button to discard the program being edited and close the Program Edit window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.5.2 Indirect addressing

The following screen is designed to set the general-purpose registers (R1 to R4, D1 to D4) of the MR-J2S-
CL.

(1) How to open the setting screen

Click "Program-Data" on the menu bar and click "Indirect-Addressing" in the menu.

(2) Explanation of Indirect Addressing window

a)

b)

c) d) e)

(a) Setting the general-purpose registers D1 to D4 (a))

Set the values of the general-purpose registers D1 to D4.

(b) Setting the general-purpose registers R1 to R4 (b))

Set the values of the general-purpose registers R1 to R4. The write destination memory can be
selected.

Selecting "RAM" writes the set values to the volatile memory. In this case, the set values are lost
when the servo amplifier is powered off.
Selecting "EEPROM" writes the set values to the non-volatile memory (EEP-ROM). In this case, the
set values are not lost if the servo amplifier is powered off.

POINT
The limited number of time to write to EEP-ROM is 100,000.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(c) Read from the general-purpose registers (c))

Click the "Read All" button to read the values of the general-purpose registers (R1 to R4, D1 to D4)
stored in the servo amplifier.

(d) Write to the general-purpose registers (d))

Click the "Write All" button to write the set values of the general-purpose registers (R1 to R4, D1 to
D4) to the servo amplifier.

(e) Closing the Indirect Addressing window (e))

Click the "Close" button to close the window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.6 Device assignment method

POINT
When using the device setting, preset “000E” in parameter No. 19.

(1) How to open the setting screen

Click “Parameters” on the menu bar and click “Device setting” in the menu.

Making selection displays the following window.

Click “Yes” button reads and displays the function assigned to each pin from the interface unit and
extension IO unit.
Click “No” button displays the initial status of the interface unit and extension IO unit.
Click “Cancel” button terminates the processing.
Click “Yes” button or “No” button displays the following two windows.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(2) Screen explanation

(a) DIDO device setting window screen
This is the device assignment screen of the servo amplifier displays the pin assignment status of
the servo amplifier.

a)

b)

d)

c)

1) Read of function assignment ( a) )

Click the “Read” button reads and displays all functions assigned to the pins from the servo
amplifier.

2) Write of function assignment ( b) )

Click the “Write” button writes all pins that are assigned the functions to the servo amplifier.

3) Verify of function assignment ( c) )

Click the “Verify” button verifies the function assignment in the servo amplifier with the device
information on the screen.

4) Initial setting of function assignment ( d) )

Click the “Set to Default” button initializes the function assignment.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(b) DIDO function display window screen

This screen is used to select the device to the pins.
The functions displayed below * and * are assignable.

a)

b)

Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you
want to assign in the DIDO device setting window.

1) Assignment checking, automatic ON setting ( a) )

Press this button to display the screen that shows the assignment list and enables auto ON
setting.
Refer to (4) in this section for more information.

2) Quitting
Click “Close” button to exit from the window. ( b) )

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(C) Function device assignment checking auto ON setting display

Click the “ / ” button in the DIDO function display window displays the following window.

a)

b)

c)

d)

e)

The assigned functions are indicated by .

The functions assigned by auto ON are grayed. When you want to set auto ON to the function that
is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.

1) Auto ON read of function assignment ( a) )

Click “Auto ON read” button reads the functions set for auto ON from the interface unit and
extension IO unit.

2) Auto ON write of function assignment ( b) )

Click “Auto ON write” button writes the functions currently set for auto ON to the interface unit
and extension IO unit.

3) Auto ON verify of function assignment ( c) )

Click “Auto ON verify” button verifies the current auto ON setting in the interface unit and
extension IO unit with the auto ON setting on the screen.

4) Auto ON initial setting of function assignment ( d) )

Click “Auto ON initial setting” button initializes the auto ON setting.

5) Quitting the function device assignment checking/auto ON setting window ( e) )

Click “Close” button exits from the window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.7 Test operation

When confirming the machine operation in the test operation mode, use the
machine after checking that the safety mechanism such as the forced stop (EMG)
CAUTION operates.
If any operational fault has occurred, stop operation using the forced stop (EMG).

6.7.1 Jog operation

POINT
For the program operation, refer to the manual of MR Configurator.
The servo motor will not operate if the forced stop (EMG), forward
rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.
Make automatic ON setting to turn on these devices or make device
setting to assign them as external input signals and turn off across these
signals and SG. (Refer to section 6.6.)
When an alarm occurs, the JOG operation is automatically canceled.

Hold down the “Forward” or “Reverse” button to rotate the servo motor. Release the “Forward” or
“Reverse” button to stop.

Click “Test” on the menu bar and choose “Jog” on the menu.

When the above choices are made, the following window appears.

a)

c)

b) d)

e)

f)

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(1) Servo motor speed setting ( a) )

Enter a new value into the “Motor speed” input field and press the enter key.

(2) Acceleration/deceleration time constant setting ( b) )

Enter a new value into the “Accel/decel time” input field and press the enter key.

(3) Servo motor start ( c), d) )

Hold down the “Forward” button to rotate the servo motor in the CCW rotation direction.
Hold down the “Reverse” button to rotate the servo motor in the CW rotation direction.

(4) Servo motor stop ( e) )

Release the “Forward” or “Reverse” button to stop the rotation of the servo motor.

(5) Jog operation window closing ( f) )

Click the “Close” button to cancel the jog operation mode and close the window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.7.2 Positioning operation

POINT
The servo motor will not operate if the forced stop (EMG), forward
rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.
Make automatic ON setting to turn on these devices or make device
setting to assign them as external input signals and turn off across these
signals and SG. (Refer to section 6.6.)
When an alarm occurs, the positioning operation is automatically
canceled.

Click the “Forward” or “Reverse” button to start and rotate the servo motor by the preset moving distance
and then stop.

Click “Test” on the menu bar and click “Positioning” on the menu.

When the above choices are made, the following window appears.

a)
d)

b)

e)

c)

f)

g)

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

(1) Servo motor speed setting ( a) )

Enter a new value into the “Motor speed” input field and press the enter key.

(2) Acceleration/deceleration time constant setting ( b) )

Enter a new value into the “Accel/decel time” input field and press the enter key.

(3) Moving distance setting ( c) )

Enter a new value into the “Move distance” input field and press the enter key.

(4) Servo motor start ( d), e) )

Click the “Forward” button to rotate the servo motor in the forward rotation direction.
Click the “Reverse” button to rotate the servo motor in the reverse rotation direction.

(5) Temporary stop of servo motor ( f) )

Click the “Pause” button to stop the servo motor temporarily.

(6) Positioning operation window closing ( g) )

Click the “Close” button to cancel the positioning operation mode and close the window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.7.3 Motor-less operation

POINT
When this operation is used in an absolute position detection system, the
home position cannot be restored properly.

Without a servo motor being connected, the output signals are provided and the servo amplifier display
shows the status as if a servo motor is actually running in response to the external I/O signals.
The sequence of the host programmable controller can be checked without connection of a servo motor.

Click “Test” on the menu bar and click “Operation w/o Motor” on the menu.

When the above choices are made, the following window appears.

a) b)

(1) Execution of motor-less operation ( a) )

Click “Start” to perform motor-less operation.

(2) Termination of motor-less operation ( b) )

Click “Close” to close the window.

(3) Cancel of motor-less operation

To cancel motor-less operation, switch off the power of the servo amplifier.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.7.4 Output signal (DO) forced output

Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the
output signal.

Click “Test” on the menu bar and click “Forced Output” on the menu.

When the above choices are made, the following window appears.

Since this window shows the precautions for use of the MR-J2S-B, click the "OK" button.
Clicking it displays the next window.

a)

b)

c)

(1) Signal ON/OFF setting ( a), b) )

Choose the signal name or pin number and click the “ON” or “OFF” button to write the corresponding
signal status to the servo amplifier.

(2) DO forced output window closing ( c) )

Click the “Close” button to cancel the DO forced output mode and close the window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.7.5 Program test operation

POINT
The servo motor will not operate if the forced stop (EMG), forward
rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.
Make automatic ON setting to turn on these devices or make device
setting to assign them as external input signals and turn off across these
signals and SG. (Refer to section 6.6.)

The program of the MR-J2S-CL can be test-operated.

(1) How to open the setting screen

Click "Test" on the menu bar and click "Program-Test" in the menu.

Clicking it displays the next window.

Then, click the "OK" button to display the next window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

a)

b)

The signal can be turned ON or OFF by clicking the check button before the signal symbol.

(1) Displaying the program (a))

Click the "Display" button to display the contents of the currently selected program No.

To close the window, click the "Close" button.

(2) Closing the Program Test window (b))

Click the "OK" button to close the Program Test window.

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 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

6.8 Alarm history

Click “Alarms” on the menu bar and click “History” on the menu.

When the above choices are made, the following window appears.

a) b)

(1) Alarm history display

The most recent six alarms are displayed. The smaller numbers indicate newer alarms.

(2) Alarm history clear (a))

Click the “Clear” button to clear the alarm history stored in the servo amplifier.

(3) Closing of alarm history window (b))

Click the “Close” button to close the window.

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 7. DISPLAY AND OPERATION

7. DISPLAY AND OPERATION

7.1 Display flowchart

Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move
to the next screen. Refer to section 7.2 and later for the description of the corresponding display mode.
To refer to or set the expansion parameters 1, expansion parameters 2 and special parameters, make
them valid with parameter No.19 (parameter write disable).

Display mode transition Initial screen Function Reference

Servo status display.
appears at power-on.
Section 7.2

Status display
Alarm display, external signal display, output
signal (DO) forced output, test operation,
software version display, VC automatic offset, Section 7.3
Diagnosis motor series ID display, motor type ID display,
encoder ID display
Current alarm display, alarm history display,
parameter error No. display.
Section 7.4
Alarm

Display and setting of basic parameters.

Basic parameter
button
MODE
Display and setting of expansion parameters 1.
Expansion parameter 1

Section 7.5
Expansion parameter 2 Display and setting of expansion parameters 2.

Special parameter
Display and setting of special parameters.

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 7. DISPLAY AND OPERATION

7.2 Status display

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol appears. Press the "SET" button to display its data. At only power-on, however, data appears after
the symbol of the status display selected in parameter No. 18 has been shown for 2[s].
The servo amplifier display shows the lower five digits of 19 data items such as the motor speed.

7.2.1 Display transition

After choosing the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button
changes the display as shown below.
To Bus voltage

Current position Regenerative load ratio

Command position Effective load ratio

Command remaining
distance Peak load ratio

Program No. Instantaneous torque

Within one-revolution
Step No. UP position low

DOW
Cumulative feedback Within one-revolution
pulses position high

Servo motor speed ABS counter

Droop pulses Load inertia moment ratio

Override Bus voltage

To current position
Analog torque
limit voltage

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 7. DISPLAY AND OPERATION

7.2.2 Display examples

The following table lists display examples.

Displayed data
Item Status
Servo amplifier display MR-DP60

Forward rotation
at 2500r/min

Servo motor
speed
Reverse rotation
at 3000r/min

Reverse rotation is indicated by " ".

Load inertia
15.5 times
moment

11252pulse

Multi-
revolution
counter
12566pulse Lit

Negative value is indicated by the lit

decimal points in the upper four
digits.

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 7. DISPLAY AND OPERATION

7.2.3 Status display list

The following table lists the servo statuses that may be shown.
Display range
Status display Symbol Unit Description Servo amplifier
MR-DP60
display
Current 10STM The current position from the machine home position of 0 is 99999 to 999999 to
PoS
position mm displayed. 99999 999999
Command 10STM The command position is displayed. 99999 to 999999 to
CPoS
position mm 99999 999999
Command The command remaining distance of the currently selected
10STM 99999 to 999999 to
remaining rn program is displayed.
mm 99999 999999
distance
Program No. Pno The program No. being executed is displayed. 1 to 16 1 to 16
Step No. Sno The step No. being executed is displayed. 1 to 120 1 to 120
Feedback pulses from the servo motor encoder are counted
Cumulative
and displayed. 99999 to 999999 to
feedback C pulse
When the value exceeds 9999999, it returns to zero. 99999 999999
pulses
Press the "SET" button to reset the display value to zero.
The servo motor speed is displayed.
Servo motor 5400 to 5400 to
r r/min " " is added to the speed of the servo motor rotating in the
speed 5400 5400
CW rotation.
The number of droop pulses in the deviation counter is
displayed.
99999 to 999999 to
Droop pulses E pulse " " is added to the droop pulses in the CW rotation.
99999 999999
The displayed number of pulses is not yet multiplied by the
electronic gear value.
The override setting is displayed.
Override F % 0 to 200 0 to 200
100% is displayed when override is invalid.
Analog torque The voltage of the Analog torque limit (TLA) is displayed.
u V 0.00 to 10.00 0.00 to 10.00
limit voltage
Regenerative The ratio of regenerative power to permissible regenerative
L % 0 to 100 0 to 100
load ratio power is displayed in %.
The continuous effective load torque is displayed.
Effective load
J % The effective value in the past 15 seconds is displayed 0 to 300 0 to 300
ratio
relative to the rated torque of 100%.
The maximum torque generated during
acceleration/deceleration, etc.
Peak load ratio b % 0 to 300 0 to 300
The highest value in the past 15 seconds is displayed
relative to the rated torque of 100%.
Torque that occurred instantaneously is displayed.
Instantaneous
T % The value of the torque that occurred is displayed in real 0 to 400 0 to 400
torque
time relative to the rate torque of 100%.
Position within one revolution is displayed in encoder
Within one- pulses.
revolution Cy1 pulse The value returns to "0" when it exceeds the maximum 0 to 99999
position low number of pulses.
The value is incremented in the CCW direction of rotation. (Note)
The within one-revolution position is displayed in 100 pulse 0 to 131071
Within one- increments of the encoder.
100
revolution Cy2 The value returns to "0" when it exceeds the maximum 0 to 1310
pulse
position high number of pulses.
The value is incremented in the CCW direction of rotation.
Travel value from the home position in the absolute position
32768 to 32768 to
ABS counter LS rev detection systems is displayed in terms of the absolute
32767 32767
position detectors counter value.
Load inertia The estimated ratio of the load inertia moment to the servo
dC times 0.0 to 300.0 0.0 to 300.0
moment ratio motor shaft inertia moment is displayed.
The voltage (across P-N) of the main circuit converter is
Bus voltage Pn V 0 to 450 0 to 450
displayed.
Note. The MR-DP60 can display the status without dividing it into the high and low orders. The unit is [pulse].
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 7. DISPLAY AND OPERATION

7.3 Diagnosis mode

7.3.1 Display transition

After choosing the diagnosis mode with the "MODE" button, pressing the "UP" or "DOWN" button changes
the display as shown below.
To Encoder ID

Sequence Software version Low

External I/O signal display Software version High

Output signal (DO)

For manufacturer setting
forced output

Test operation mode

UP Motor series ID
Jog feed

DOWN
Test operation mode
Motor type ID
Positioning operation

Test operation mode

Encoder ID
Motorless operation

Test operation mode To Sequence

Machine analyzer operation

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 7. DISPLAY AND OPERATION

7.3.2 Diagnosis mode list

Name Display Description

Not ready.
Indicates that the servo amplifier is being initialized or an alarm
has occurred.
Sequence
Ready.
Indicates that the servo was switched on after completion of
initialization and the servo amplifier is ready to operate.

Indicates the ON-OFF states of the external I/O signals.

The upper segments correspond to the input signals and the
lower segments to the output signals.
External I/O signal
Refer to section 7.6. Lit: ON
display
Extinguished: OFF
The I/O signals can be changed using the MR Configurator (servo
configuration software).
The digital output signal can be forced on/off. (Refer to section
Output signal (DO) 7.7)
forced output

Jog operation can be performed when there is no command from

the external command device. (Refer to section 7.8.2)
Jog feed

The MR Configurator (servo configuration software MRZJW3-

SETUP151E) is required for positioning operation. This operation
Positioning cannot be performed from the operation section of the servo
operation amplifier.
Test
Positioning operation can be performed once when there is no
operation
command from the external command device.
mode
Without connection of the servo motor, the servo amplifier
Motorless provides output signals and displays the status as if the servo
operation motor is running actually in response to the external input
signal. (Refer to section 7.8.4)
Merely connecting the servo amplifier allows the resonance point
Machine
of the mechanical system to be measured.
analyzer
The MR Configurator (servo configuration software MRZJW3-
operation
SETUP151E or later) is required for machine analyzer operation.
Indicates the version of the software.
Software version Low

Indicates the system number of the software.

Software version High

Manufacturer setting screen. Do not perform operation on this

For manufacturer screen.
setting

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 7. DISPLAY AND OPERATION

Name Display Description

Press the "SET" button to show the motor series ID of the servo
motor currently connected.
Motor series
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the motor type ID of the servo
motor currently connected.
Motor type
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the encoder ID of the servo motor
currently connected.
Encoder
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.

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 7. DISPLAY AND OPERATION

7.4 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the
display indicate the alarm number that has occurred or the parameter number in error. Display examples
are shown below.

7.4.1 Display transition

After choosing the alarm mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the
display as shown below.
To Parameter error No.

Alarm history
Current alarm
(Fourth alarm in past)

Alarm history Alarm history

(Last alarm) (Fifth alarm in past)

UP

Alarm history Alarm history

(Second alarm in past) DOWN (Sixth alarm in past)

Alarm history
(Third alarm in past) Parameter error No.

To Current alarm

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 7. DISPLAY AND OPERATION

7.4.2 Alarm mode list

Name Display Description

Indicates no occurrence of an alarm.

Current alarm
Indicates the occurrence of overvoltage (AL.33).
Flickers at occurrence of the alarm.

Indicates that the last alarm is overload 1 (AL.50).

Indicates that the second alarm in the past is overvoltage

(AL.33).

Indicates that the third alarm in the past is undervoltage

(AL.10).

Alarm history
Indicates that the fourth alarm in the past is overspeed (AL.31).

Indicates that there is no fifth alarm in the past.

Indicates that there is no sixth alarm in the past.

Indicates no occurrence of parameter error.

Parameter error No.

Indicates that the data of parameter No. 1 is faulty.

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 7. DISPLAY AND OPERATION

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
section. At this time, the decimal point in the fourth digit remains flickering.

(3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms,
refer to section 11.2.1).

(a) Switch power OFF, then ON.

(b) Press the "SET" button on the current alarm screen.

(c) Turn on the reset (RES) signal.

(4) Use parameter No. 16 to clear the alarm history.

(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed
information display screen. Note that this is provided for maintenance by the manufacturer.

(6) Press "UP" or "DOWN" button to move to the next history.

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 7. DISPLAY AND OPERATION

7.5 Parameter mode

POINT
To use the expansion parameters, change the parameter No. 19 (parameter
write inhibit) value. (Refer to section 5.1.1)

7.5.1 Parameter mode transition

After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN"
button changes the display as shown below.
To status display mode
MODE

Basic parameters Expansion parameters 1 Expansion parameters 2 Special parameters

Parameter No. 0 Parameter No. 20 Parameter No. 54 Parameter No. 78

Parameter No. 1 Parameter No. 21 Parameter No. 55 Parameter No. 79

UP

DOWN

Parameter No. 18 Parameter No. 52 Parameter No. 76 Parameter No. 89

Parameter No. 19 Parameter No. 53 Parameter No. 77 Parameter No. 90

The parameter whose abbreviation is marked * is made valid by switching power off, then on after
changing its setting. (Refer to section 5.1.2)

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 7. DISPLAY AND OPERATION

7.5.2 Operation example

(1) Parameter of 5 or less digits

The following example shows the operation procedure performed after power-on to change the home
position setting method (Parameter No.8) into the data setting type. Press the "MODE" button to
switch to the basic parameter screen.

Press MODE four times. Select parameter No.8 with UP or DOWN.

The parameter number is displayed.

Press UP or DOWN to change the number.

Press SET twice.

The set value of the specified parameter number flickers.

Press UP twice.

During flickering, the set value can be changed.

Use UP or DOWN .
( 2: Data setting type)

Press SET to enter.

To shift to the next parameter, press the "UP" or "DOWN" button.

When changing the parameter No.8 (home position return type) setting, change its set value, then
switch power off once and switch it on again to make the new value valid.

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 7. DISPLAY AND OPERATION

(2) Signed 5-digit parameter

The following example gives the operation procedure to change the home position return position data
(parameter No. 42) to "-12345".
(Note)

Press MODE three times. Press UP or DOWN to choose parameter No. 42.

Press SET once.

Setting of upper 1 digits Setting of lower 4 digits

Press MODE once.

Press SET once.

The screen flickers.

Press UP or DOWN to
change the setting.

Press SET once.

Enter the setting.

Press MODE once.

Note. The example assumes that the status display screen that appears at power-on has been
set to the servo motor speed in parameter No. 18.

When changing the parameter No. 42 setting, change its set value, then switch power off once and
switch it on again to make the new value valid.

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 7. DISPLAY AND OPERATION

7.6 External I/O signal display

The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.

Press UP once.

External I/O signal display screen

(2) Display definition

The segments of the seven-segment LEDs correspond to the pins.
CN1A CN1B CN1B CN1B CN1B CN1A CN1B CN1B CN1B CN1B
19 15 9 8 7 8 14 5 17 16

Input signals
Always lit

Output signals

CN1A CN1B CN1B CN1B CN1B CN1A CN1A

14 18 4 6 19 18 19

Lit: ON
Extinguished: OFF

The 7-segment LED shown above indicates ON/OFF.

Each segment at top indicates the input signal and each segment at bottom indicates the output
signal. The signals corresponding to the pins in the respective control modes are indicated below.

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 7. DISPLAY AND OPERATION

7.7 Output signal (DO) forced output

POINT
When the servo system is used in a vertical lift application, turning on the
electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19
will release the electromagnetic brake, causing a drop. Take drop
preventive measures on the machine side.

The output signal can be forced on/off independently of the servo status. This function is used for output
signal wiring check, etc. This operation must be performed in the servo off state (SON off).
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.

Press UP twice.

Press SET for more than 2 seconds.

Switch on/off the signal below the lit segment.
Always lit
Indicates the ON/OFF of the output signal. The correspondences
between segments and signals are as in the output signals of the
CN1A CN1B CN1B CN1B CN1B CN1A CN1A external I/O signal display.
14 18 4 6 19 18 19
(Lit: ON, extinguished: OFF)

Press MODE once.

The segment above CN1A-pin 18 is lit.

Press UP once.

CN1A-pin 18 is switched on.

(CN1A-pin 18-SG conduct.)

Press DOWN once.

CN1A-pin 18 is switched off.

Press SET for more than 2 seconds.

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 7. DISPLAY AND OPERATION

7.8 Test operation mode

The test operation mode is designed to confirm servo operation and not to confirm
machine operation. In this mode, do not use the servo motor with the machine.
CAUTION Always use the servo motor alone.
If any operational fault has occurred, stop operation using the forced stop (EMG) .

POINT
The test operation mode cannot be used in the absolute position detection
system. Use it after choosing "Incremental system" in parameter No. 1.
The MR Configurator (servo configuration software) is required to perform
positioning operation.
Test operation cannot be performed if the servo-on (SON) signal is not
turned OFF.

7.8.1 Mode change

Call the display screen shown after power-on. Choose jog operation/motor-less operation in the following
procedure. Using the "MODE" button, show the diagnostic screen.

Press UP three times. Press UP five times.

Press SET for more Press SET for more than 2s.
than 2s.
When this screen When this screen is displayed,
appears, jog feed can motor-less operation can be
be performed. performed.
Flickers in the test operation mode.

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 7. DISPLAY AND OPERATION

7.8.2 Jog operation

Jog operation can be performed when there is no command from the external command device.

(1) Operation
Connect EMG-SG, LSP-SG and LSN-SG to start jog operation and connect VDD-COM to use the
internal power supply.
Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR
Configurator (servo configuration software), you can change the operation conditions. The initial
conditions and setting ranges for operation are listed below.

Item Initial setting Setting range

Speed [r/min] 200 0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000

How to use the buttons is explained below.

Button Description
Press to start CCW rotation.
"UP"
Release to stop.
Press to start CW rotation.
"DOWN"
Release to stop.

If the communication cable is disconnected during jog operation performed by using the MR
Configurator (servo configuration software), the servo motor will be decelerated to a stop.

(2) Status display

You can confirm the servo status during jog operation.
Pressing the "MODE" button in the jog operation-ready status calls the status display screen. With
this screen being shown, perform jog operation with the "UP" or "DOWN" button. Every time you press
the "MODE" button, the next status display screen appears, and on completion of a screen cycle,
pressing that button returns to the jog operation-ready status screen. For full information of the status
display, refer to section 7.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons
to change the status display screen from one to another.

(3) Termination of jog operation

To end the jog operation, switch power off once or press the "MODE" button to switch to the next
screen and then hold down the "SET" button for 2 or more seconds.

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 7. DISPLAY AND OPERATION

7.8.3 Positioning operation

POINT
The MR Configurator (servo configuration software) is required to perform
positioning operation.

Positioning operation can be performed once when there is no command from the external command
device.

(1) Operation
Connect EMG-SG, LSP-SG and LSN-SG to start positioning operation and connect VDD-COM to use
the internal power supply.
Pressing the "Forward" or "Reverse" button on the MR Configurator (servo configuration software)
starts the servo motor, which will then stop after moving the preset travel distance. You can change
the operation conditions on the MR Configurator (servo configuration software). The initial conditions
and setting ranges for operation are listed below.

Item Initial setting Setting range

Travel distance [pulse] 10000 0 to 9999999
Speed [r/min] 200 0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000

How to use the keys is explained below.

Key Description
"Forward" Press to start positioning operation CCW.
"Reverse" Press to start positioning operation CW.
Press during operation to make a temporary stop. Pressing the
"Pause" button again erases the remaining distance.
"Pause"
To resume operation, press the button that was pressed to
start the operation.

If the communication cable is disconnected during positioning operation, the servo motor will come to
a sudden stop.

(2) Status display

You can monitor the status display even during positioning operation.

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 7. DISPLAY AND OPERATION

7.8.4 Motor-less operation

Without connecting the servo motor, you can provide output signals or monitor the status display as if the
servo motor is running in response to external input signals. This operation can be used to check the
sequence of a host programmable controller or the like.
(1) Operation
After turning off the signal across SON-SG, choose motor-less operation. After that, perform external
operation as in ordinary operation.

(2) Status display

You can confirm the servo status during motor-less operation.
Pressing the "MODE" button in the motor-less operation-ready status calls the status display screen.
With this screen being shown, perform motor-less operation. Every time you press the "MODE" button,
the next status display screen appears, and on completion of a screen cycle, pressing that button
returns to the motor-less operation-ready status screen. For full information of the status display,
refer to section 7.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons to
change the status display screen from one to another.

(3) Termination of motor-less operation

To terminate the motor-less operation, switch power off.

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 7. DISPLAY AND OPERATION

MEMO

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 8. GENERAL GAIN ADJUSTMENT

8. GENERAL GAIN ADJUSTMENT

8.1 Different adjustment methods

8.1.1 Adjustment on a single servo amplifier

The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.

(1) Gain adjustment mode explanation

Parameter No. 3 Estimation of load inertia Automatically set

Gain adjustment mode Manually set parameters
setting moment ratio parameters
PG1 (parameter No. 7)
GD2 (parameter No. 34)
Auto tuning mode 1 PG2 (parameter No. 35) Response level setting of
010 Always estimated
(initial value) VG1 (parameter No. 36) parameter No. 3
VG2 (parameter No. 37)
VIC (parameter No. 38)
PG1 (parameter No. 7)
PG2 (parameter No. 35) GD2 (parameter No. 34)
Auto tuning mode 2 020 VG1 (parameter No. 36) Response level setting of
VG2 (parameter No. 37) parameter No. 3
VIC (parameter No. 38)
PG1 (parameter No. 7)
PG2 (parameter No. 35) GD2 (parameter No. 34)
Manual mode 1 030 Fixed to parameter No.
VG1 (parameter No. 36) VG2 (parameter No. 37)
34 value
VIC (parameter No. 38)
PG1 (parameter No. 7)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
Manual mode 2 040
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
GD2 (parameter No. 34)
PG2 (parameter No. 35) PG1 (parameter No. 7)
Interpolation mode 000 Always estimated
VG2 (parameter No. 37) VG1 (parameter No. 36)
VIC (parameter No. 38)

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 8. GENERAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

START
Usage
Interpolation Yes Used when you want to
made for 2 or more
axes? match the position gain
No Interpolation mode (PG1) between 2 or more
axes. Normally not used for
Operation other purposes.
Allows adjustment by
Auto tuning mode 1
merely changing the
response level setting.
Operation
First use this mode to make
adjustment.
Yes No
OK? OK? Used when the conditions of
auto tuning mode 1 are not
No Yes met and the load inertia
Auto tuning mode 2 moment ratio could not be
estimated properly, for
Operation example.

Yes
OK?
This mode permits
No adjustment easily with three
Manual mode 1 gains if you were not
satisfied with auto tuning
Operation results.

Yes
OK?
You can adjust all gains
No
manually when you want to
Manual mode 2 do fast settling or the like.

END

8.1.2 Adjustment using MR Configurator (servo configuration software)

This section gives the functions and adjustment that may be performed by using the servo amplifier with
the MR Configurator (servo configuration software) which operates on a personal computer.
Function Description Adjustment
With the machine and servo motor You can grasp the machine resonance frequency and
coupled, the characteristic of the determine the notch frequency of the machine
mechanical system can be measured by resonance suppression filter.
giving a random vibration command from You can automatically set the optimum gains in
Machine analyzer
the personal computer to the servo and response to the machine characteristic. This simple
measuring the machine response. adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
Executing gain search under to-and-fro You can automatically set gains which make positioning
positioning command measures settling settling time shortest.
characteristic while simultaneously
Gain search
changing gains, and automatically
searches for gains which make settling
time shortest.
Response at positioning settling of a You can optimize gain adjustment and command
Machine simulation machine can be simulated from machine pattern on personal computer.
analyzer results on personal computer.

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 8. GENERAL GAIN ADJUSTMENT

8.2 Auto tuning

8.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No. Abbreviation Name

7 PG1 Position control gain 1
34 GD2 Ratio of load inertia moment to servo motor inertia moment
35 PG2 Position control gain 2
36 VG1 Speed control gain 1
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to motor inertia moment is not more than
100 times.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose, auto
tuning may not function properly, either. In such cases, use the auto tuning
mode 2 or manual mode 1,2 to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (parameter No. 34).
The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No. Abbreviation Name

7 PG1 Position control gain 1
35 PG2 Position control gain 2
36 VG1 Speed control gain 1
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

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 8. GENERAL GAIN ADJUSTMENT

8.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Load inertia
Automatic setting moment

Encoder
Command Control gains Current Servo
PG1,VG1 control motor
PG2,VG2,VIC
Current feedback

Set 0 or 1 to turn on. Real-time auto Position/speed

tuning section feedback
Load inertia
Gain
moment ratio
table Switch estimation section Speed feedback

Parameter No. 3 Parameter No. 34

Load inertia moment
ratio estimation value

First digit
Third digit Response level setting
Auto tuning selection

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to parameter No. 34 (load inertia moment ratio). These results can be confirmed on
the status display screen of the servo amplifier display section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
chose the "auto tuning mode 2" (parameter No.3: 2 ) to stop the estimation of the load inertia
moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.
34) manually.
From the preset load inertia moment ratio (parameter No. 34) value and response level (The first digit of
parameter No. 3), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-
on. At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM
being used as an initial value.

POINT
If sudden disturbance torque is imposed during operation, the estimation of the
inertia moment ratio may malfunction temporarily. In such a case, choose the
"auto tuning mode 2" (parameter No. 3: 2 ) and set the correct load inertia
moment ratio in parameter No. 34.
When any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1
settings is changed to the manual mode 2 setting, the current control gains and
load inertia moment ratio estimation value are saved in the EEP-ROM.

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 8. GENERAL GAIN ADJUSTMENT

8.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level
setting value as required completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes Load inertia moment ratio

estimation value stable?

No

Auto tuning
conditions not satisfied. No
(Estimation of load inertia
moment ratio is difficult)

Yes
Choose the auto tuning mode 2
(parameter No.3 : 2 ) and
set the load inertia moment ratio
(parameter No.34) manually.

Adjust response level setting

so that desired response is
achieved on vibration-free level.

Acceleration/deceleration repeated

Requested No
performance satisfied?

Yes

END
To manual mode

8- 5

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 8. GENERAL GAIN ADJUSTMENT

8.2.4 Response level setting in auto tuning mode

Set the response (The first digit of parameter No.3) of the whole servo system. As the response level
setting is increased, the track ability and settling time for a command decreases, but a too high response
level will generate vibration. Hence, make setting until desired response is obtained within the vibration-
free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, adaptive vibration suppression control (parameter No. 63) or machine resonance
suppression filter (parameter No. 61 62) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 9.3 for adaptive
vibration suppression control and section 9.2 for machine resonance suppression filter.
Parameter No. 3

Response level setting

Auto tuning selection

Machine characteristic
Response level setting Machine resonance
Machine rigidity Guideline of corresponding machine
frequency guideline
1 Low 15Hz
2 20Hz
3 25Hz
Large conveyor
4 30Hz
5 35Hz
6 45Hz Arm robot

7 55Hz
General machine
8 Middle 70Hz
tool conveyor
9 85Hz Precision
A 105Hz working
machine
B 130Hz
Inserter
C 160Hz
Mounter
D 200Hz Bonder

E 240Hz
F High 300Hz

8- 6

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 8. GENERAL GAIN ADJUSTMENT

8.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.

8.3.1 Operation of manual mode 1

In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.

GD2
User setting

PG1
PG2
VG2
Automatic setting VG1
VIC

Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (parameter No. 34) correctly.

8.3.2 Adjustment by manual mode 1

POINT
If machine resonance occurs, adaptive vibration suppression control
(parameter No. 63) or machine resonance suppression filter (parameter No.
61 62) may be used to suppress machine resonance. (Refer to section 9.2, 9.3.)

(1) For speed control

(a) Parameters
The following parameters are used for gain adjustment.

Parameter No. Abbreviation Name

7 PG1 Position control gain 1
34 GD2 Ratio of load inertia moment to servo motor inertia moment
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
Set an estimated value to the ratio of load inertia moment to servo
1
motor inertia moment (parameter No. 34).
Increase the speed control gain 2 (parameter No. 37) within the Increase the speed control gain.
2 vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 38) within Decrease the time constant of the speed
3
the vibration-free range, and return slightly if vibration takes place. integral compensation.
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 9.2, 9.3.
4 increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 2 and 3.
While checking the settling characteristic and rotational status, fine- Fine adjustment
5
adjust each gain.

8- 7

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 8. GENERAL GAIN ADJUSTMENT

(c) Adjustment description

1) Speed control gain 2 (parameter No. 37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response Speed control gain 2 setting

frequency(Hz) (1 ratio of load inertia moment to servo motor inertia moment) 2

2) Speed integral compensation (VIC: parameter No. 38)

To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression.

Speed integral compensation 2000 to 3000

setting(ms) Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment setting 0.1)

(2) For position control

(a) Parameters
The following parameters are used for gain adjustment.

Parameter No. Abbreviation Name

7 PG1 Position control gain 1
34 GD2 Ratio of load inertia moment to servo motor inertia moment
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
Set an estimated value to the ratio of load inertia moment to servo
1
motor inertia moment (parameter No. 34).
Set a slightly smaller value to the position control gain 1 (parameter
2
No. 7).
Increase the speed control gain 2 (parameter No. 37) within the Increase the speed control gain.
3 vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 38) within Decrease the time constant of the speed
4
the vibration-free range, and return slightly if vibration takes place. integral compensation.
5 Increase the position control gain 1 (parameter No. 7). Increase the position control gain.
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 9.2, 9.3.
6 increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 3 to 5.
While checking the settling characteristic and rotational status, fine- Fine adjustment
7
adjust each gain.

8- 8

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 8. GENERAL GAIN ADJUSTMENT

(c) Adjustment description

1) Position control gain 1 (parameter No. 7)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability to a position command but a too high value will make
overshooting liable to occur at the time of settling.

Position control
gain 1 guideline
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
( 13 to 15 )
2) Speed control gain 2 (VG2: parameter No. 37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response Speed control gain 2 setting

frequency(Hz) (1 ratio of load inertia moment to servo motor inertia moment) 2

3) Speed integral compensation (parameter No. 38)

To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression.

Speed integral 2000 to 3000

compensation setting(ms) Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment 2 setting 0.1)

8- 9

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 8. GENERAL GAIN ADJUSTMENT

8.4 Interpolation mode

The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 2 and speed control gain 2 which determine command track ability are set manually
and the other parameter for gain adjustment are set automatically.

(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No. Abbreviation Name
34 GD2 Ratio of load inertia moment to servo motor inertia moment
35 PG2 Position control gain 2
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

(b) Manually adjusted parameters

The following parameters are adjustable manually.
Parameter No. Abbreviation Name
7 PG1 Position control gain 1
36 VG1 Speed control gain 1

(2) Adjustment procedure

Step Operation Description
Set 15Hz (parameter No. 3: 010 ) as the machine resonance frequency of response
1 Select the auto tuning mode 1.
in the auto tuning mode 1.
During operation, increase the response level setting (parameter No. 2), and Adjustment in auto tuning mode
2
return the setting if vibration occurs. 1.
Check the values of position control gain 1 (parameter No. 7) and speed control
3 Check the upper setting limits.
gain 1 (parameter No. 36).
4 Set the interpolation mode (parameter No. 3: 000 ). Select the interpolation mode.
Set the position control gain 1 of all the axes to be interpolated to the same
5 value. At that time, adjust to the setting value of the axis, which has the Set position control gain 1.
smallest position control gain 1.
Using the speed control gain 1 value checked in step 3 as the guideline of the
6 upper limit, look at the rotation status and set in speed control gain 1 the value Set speed control gain 1.
three or more times greater than the position control gain 1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
7 Fine adjustment.
gains and response level setting.

(3) Adjustment description

(a) Position control gain 1 (parameter No.7)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability to a position command but a too high value will make
overshooting liable to occur at the time of settling. The droop pulse value is determined by the
following expression.
Rotation speed (r/min) 131,072(pulse)
Droop pulse value (pulse)
Position control gain 1 setting
(b) Speed control gain 1 (parameter No. 36)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
8 - 10

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 8. GENERAL GAIN ADJUSTMENT

8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

8.5.1 Response level setting

To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level
setting range from the MELSERVO-J2 series. The following table lists comparison of the response level
setting.
Parameter No. 3

Response level setting

MELSERVO-J2 series MELSERVO-J2-Super series

Response level setting Machine resonance frequency Response level setting Machine resonance frequency guideline
1 15Hz
1 20Hz 2 20Hz
3 25Hz
4 30Hz
5 35Hz
2 40Hz 6 45Hz
7 55Hz
3 60Hz 8 70Hz
4 80Hz 9 85Hz
5 100Hz A 105Hz
B 130Hz
C 160Hz
D 200Hz
E 240Hz
F 300Hz

Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.

8.5.2 Auto tuning selection

The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has
the addition of the manual mode 1 which permits manual adjustment with three parameters.
Parameter No. 3

Auto tuning selection

Auto tuning selection

Gain adjustment mode Remarks
MELSERVO-J2 series MELSERVO-J2-Super series
Interpolation mode 0 0 Position control gain 1 is fixed.
Auto tuning mode 1 1 1 Ordinary auto tuning
Estimation of load inertia moment
Auto tuning
Auto tuning mode 2 2 ratio stopped.
Response level setting valid.
Auto tuning Manual mode 1 3 Simple manual adjustment
invalid Manual mode 2 2 4 Manual adjustment of all gains

8 - 11

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 8. GENERAL GAIN ADJUSTMENT

MEMO

8 - 12

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 9. SPECIAL ADJUSTMENT FUNCTIONS

9. SPECIAL ADJUSTMENT FUNCTIONS

POINT
The functions given in this chapter need not be used generally. Use them
if you are not satisfied with the machine status after making adjustment
in the methods in chapter 8.

If a mechanical system has a natural resonance point, increasing the servo system response may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.

9.1 Function block diagram

Speed Parameter Parameter Parameter Parameter Current

control No.61 No.63 No.62 No.63 command
00 0 00 Low-pass 0 Servo
filter motor

Machine resonance Machine resonance 1 Encoder

suppression filter 1 except 00 suppression filter 2 except 00

Adaptive vibration
suppression control 1 or 2

9.2 Machine resonance suppression filter

(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency) and gain decreasing depth.

Mechanical Machine resonance point

system
response
Frequency

Notch
depth

Frequency
Notch frequency

9- 1

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 9. SPECIAL ADJUSTMENT FUNCTIONS

You can use the machine resonance suppression filter 1 (parameter No. 61) and machine resonance
suppression filter 2 (parameter No. 62) to suppress the vibration of two resonance frequencies. Note
that if adaptive vibration suppression control is made valid, the machine resonance suppression filter
1 (parameter No. 61) is made invalid.
Machine resonance point

Mechanical
system
response
Frequency

Notch
depth

Frequency
Parameter No. 61 Parameter No. 62

POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.

(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No. 61)
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter
No. 61)
When you have made adaptive vibration suppression control selection (parameter No. 63) "valid" or
"held", make the machine resonance suppression filter 1 invalid (parameter No. 61: 0000).
Parameter No. 61

0
Notch frequency
Setting Setting Setting Setting
Frequency Frequency Frequency Frequency
value value value value
00 Invalid 08 562.5 10 281.3 18 187.5
01 4500 09 500 11 264.7 19 180
02 2250 0A 450 12 250 1A 173.1
03 1500 0B 409.1 13 236.8 1B 166.7
04 1125 0C 375 14 225 1C 160.1
05 900 0D 346.2 15 214.3 1D 155.2
06 750 0E 321.4 16 204.5 1E 150
07 642.9 0F 300 17 195.7 1F 145.2

Notch depth
Setting
value Depth (Gain)

0 Deep ( 40dB)
1 ( 14dB)
2 ( 8dB)
3 Shallow( 4dB)

9- 2

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 9. SPECIAL ADJUSTMENT FUNCTIONS

POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch
frequency is set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator (servo configuration software). This
allows the required notch frequency and depth to be determined.
Resonance may occur if parameter No. 61 62 is used to select a close
notch frequency and set a deep notch.

(b) Machine resonance suppression filter 2 (parameter No. 62)

The setting method of machine resonance suppression filter 2 (parameter No. 62) is the same as
that of machine resonance suppression filter 1 (parameter No. 61). However, the machine
resonance suppression filter 2 can be set independently of whether adaptive vibration suppression
control is valid or invalid.

9.3 Adaptive vibration suppression control

(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier detects machine
resonance and sets the filter characteristics automatically to suppress mechanical system vibration.
Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of
the resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is
valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes,
it changes the filter characteristics in response to that frequency.
Machine resonance point Machine resonance point
Mechanical Mechanical
system system
response response
Frequency Frequency

Notch Notch
depth depth

Frequency Frequency
Notch frequency Notch frequency
When machine resonance is large and frequency is low When machine resonance is small and frequency is high

POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration
suppression control has no effect on the resonance frequency outside this
range. Use the machine resonance suppression filter for the machine
resonance of such frequency.
Adaptive vibration suppression control may provide no effect on a
mechanical system which has complex resonance characteristics or which
has too large resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive
vibration suppression control to be "held" (parameter No. 63: 2 ) to fix
the characteristics of the adaptive vibration suppression control filter.

9- 3

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 9. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
The operation of adaptive vibration suppression control selection (parameter No.63).
Parameter No. 63

Adaptive vibration suppression control selection

Choosing "valid" or "held" in adaptive vibration suppression
control selection makes the machine resonance suppression
filter 1 (parameter No. 61) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected to
generate the filter in response to resonance, suppressing
machine vibration.
2: Held
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Set the sensitivity of detecting machine resonance.
0: Normal
1: Large sensitivity

POINT
Adaptive vibration suppression control is factory-set to be invalid
(parameter No. 63: 0000).
The filter characteristics generated are saved in the EEP-ROM every 60
minutes since power-on. At next power-on, vibration suppression control
is performed with this data saved in the EEP-ROM being used as an
initial value.
Setting the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Setting of "large
sensitivity" detects smaller machine resonance and generates a filter to
suppress machine vibration. However, since a phase delay will also
increase, the response of the servo system may not increase.

9- 4

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 9. SPECIAL ADJUSTMENT FUNCTIONS

9.4 Low-pass filter

(1) Function
When a ballscrew or the like is used, resonance of high frequency may occur as the response of the
servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression.

Speed control gain 2 setting 10

Filter frequency(Hz)
2 (1 Ratio of load inertia moment to servo motor inertia moment setting 0.1)

(2) Parameter
Set the operation of the low-pass filter (parameter No. 63.)
Parameter No. 63

Low-pass filter selection

0: Valid (automatic adjustment) initial value
1: Invalid

POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase
the servo system response to shorten the settling time.

9.5 Gain changing function

This function can change the gains. You can change between gains during rotation and gains during stop
or can use an external signal to change gains during operation.

9.5.1 Applications

This function is used when.

(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an external signal to ensure stability of the servo system since the
load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

9- 5

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 9. SPECIAL ADJUSTMENT FUNCTIONS

9.5.2 Function block diagram

The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No. 68) and gain changing condition CDS (parameter
No. 69).
CDP
Parameter No.68
External signal
CDP

Command pulse
frequency

Droop pulses

Changing
Model speed

Comparator
CDS
Parameter No.69

GD2
Parameter No.34
Valid
GD2 GD2 value
Parameter No.64

PG2
Parameter No.35
Valid
PG2 PG2B PG2 value
100

VG2
Parameter No.37
Valid
VG2 VG2B VG2 value
100

VIC
Parameter No.38
Valid
VIC VICB VIC value
100

9- 6

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 9. SPECIAL ADJUSTMENT FUNCTIONS

9.5.3 Parameters

When using the gain changing function, always set " 4 " in parameter No.3 (auto tuning) to choose
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrev-
Name Unit Description
No. iation
7 PG1 Position control gain 1 rad/s Position and speed gains of a model used to set the response
36 VG1 Speed control gain 1 rad/s level to a command. Always valid.
Ratio of load inertia moment to 0.1 Control parameters before changing
34 GD2
servo motor inertia moment times
35 PG2 Position control gain 2 rad/s
37 VG2 Speed control gain 2 rad/s
38 VIC Speed integral compensation ms
Ratio of load inertia moment to 0.1 Used to set the ratio of load inertia moment to servo motor
64 GD2B
servo motor inertia moment 2 times inertia moment after changing.
Position control gain 2 changing Used to set the ratio (%) of the after-changing position
65 PG2B %
ratio control gain 2 to position control gain 2.
Speed control gain 2 changing Used to set the ratio (%) of the after-changing speed control
66 VG2B %
ratio gain 2 to speed control gain 2.
Speed integral compensation Used to set the ratio (%) of the after-changing speed integral
67 VICB %
changing ratio compensation to speed integral compensation.
68 CDP Gain changing selection Used to select the changing condition.
kpps Used to set the changing condition values.
69 CDS Gain changing condition pulse
r/min
You can set the filter time constant for a gain change at
70 CDT Gain changing time constant ms
changing.

9- 7

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 9. SPECIAL ADJUSTMENT FUNCTIONS

(1) Parameters No. 7, 34 to 38

These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.

(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: parameter No. 64)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (parameter No. 34).

(3) Position control gain 2 changing ratio (parameter No. 65), speed control gain 2 changing ratio (parameter
No. 66), speed integral compensation changing ratio (parameter No. 67)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2 100, speed control gain 2 2000, speed integral
compensation 20 and position control gain 2 changing ratio 180%, speed control gain 2 changing
ratio 150% and speed integral compensation changing ratio 80%, the after-changing values are as
follows.
Position control gain 2 Position control gain 2 Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 Speed control gain 2 Speed control gain 2 changing ratio /100 3000rad/s
Speed integral compensation Speed integral compensation Speed integral compensation changing
ratio /100 16ms

(4) Gain changing selection (parameter No. 68)

Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP) external input signal for gain changing. The gain changing
signal (CDP) can be assigned to the pins using the MR Configurator (servo configuration software).
Parameter No. 68

Gain changing selection

Gains are changed in accordance with the settings of
parameters No. 64 to 67 under any of the following conditions.
0: Invalid
1: Gain changing (CDP) input is ON
2: Command frequency is equal to higher than parameter No. 69 setting
3: Droop pulse value is equal to higher than parameter No. 69 setting
4: Servo motor speed is equal to higher than parameter No. 69 setting

(5) Gain changing condition (parameter No. 69)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.68), set the gain changing level.
The setting unit is as follows.

Gain changing condition Unit

Command frequency kpps
Droop pulses pulse
Servo motor speed r/min

(6) Gain changing time constant (parameter No. 70)

You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.

9- 8

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 9. SPECIAL ADJUSTMENT FUNCTIONS

9.5.4 Gain changing operation

This operation will be described by way of setting examples.

(1) When you choose changing by external input

(a) Setting

Parameter No. Abbreviation Name Setting Unit

7 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
Ratio of load inertia moment to
34 GD2 40 0.1 times
servo motor inertia moment
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
Ratio of load inertia moment to
64 GD2B 100 0.1 times
servo motor inertia moment 2
Position control gain 2
65 PG2B 70 %
changing ratio
Speed control gain 2 changing
66 VG2B 133 %
ratio
Speed integral compensation
67 VICB 250 %
changing ratio
0001
68 CDP Gain changing selection (Changed by ON/OFF of
pin CN1A-8)
70 CDT Gain changing time constant 100 ms

(b) Changing operation

Gain changing OFF ON OFF

(CDP)
After-changing gain

Change of Before-changing gain

each gain CDT 100ms

Position control gain 1 100

Speed control gain 1 1000
Ratio of load inertia moment
4.0 10.0 4.0
to servo motor inertia moment
Position control gain 2 120 84 120
Speed control gain 2 3000 4000 3000
Speed integral compensation 20 50 20

9- 9

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 9. SPECIAL ADJUSTMENT FUNCTIONS

(2) When you choose changing by droop pulses

(a) Setting

Parameter No. Abbreviation Name Setting Unit

7 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
Ratio of load inertia moment to
34 GD2 40 0.1 times
servo motor inertia moment
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
Ratio of load inertia moment to
64 GD2B 100 0.1 times
servo motor inertia moment 2
Position control gain 2
65 PG2B 70 %
changing ratio
Speed control gain 2 changing
66 VG2B 133 %
ratio
Speed integral compensation
67 VICB 250 %
changing ratio
0003
68 CDP Gain changing selection
(Changed by droop pulses)
69 CDS Gain changing condition 50 pulse
70 CDT Gain changing time constant 100 ms

(b) Changing operation

Command pulse
Droop pulses

CDS
Droop pulses [pulses] 0
CDS

After-changing gain

Before-changing gain
Change of each gain
CDT 100ms

Position control gain 1 100

Speed control gain 1 1000
Ratio of load inertia moment
4.0 10.0 4.0 10.0
to servo motor inertia moment
Position control gain 2 120 84 120 84
Speed control gain 2 3000 4000 3000 4000
Speed integral compensation 20 50 20 50

9 - 10

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 10. INSPECTION

10. INSPECTION

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
WARNING whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.

POINT
Do not test the servo amplifier with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.

(1) Inspection
It is recommended to make the following checks periodically.

(a) Check for loose terminal block screws. Retighten any loose screws.

(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.

(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.

Part name Life guideline

Smoothing capacitor 10 years
Number of power-on and number of forced stop
Relay
Servo amplifier times : 100,000 times
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to section 4.5

(a) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.

(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life when the cumulative number of power-on and forced stop times is 100,000, which depends
on the power supply capacity.

(c) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.

10 - 1

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 10. INSPECTION

MEMO

10 - 2

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 11. TROUBLESHOOTING

11. TROUBLESHOOTING

11.1 Trouble at start-up

Excessive adjustment or change of parameter setting must not be made as it will

CAUTION make operation instable.

POINT
Using the MR Configurator (servo configuration software), you can refer to
unrotated servo motor reasons, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

No. Start-up sequence Fault Investigation Possible cause Reference

1 Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault
LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors Power supply of CNP1 cabling
CN1A and CN1B are is shorted.
disconnected.
Improved when connector 1. Power supply of encoder
CN2 is disconnected. cabling is shorted.
2. Encoder is faulty.
Improved when connector Power supply of CN3 cabling is
CN3 is disconnected. shorted.
Alarm occurs. Refer to section 11.2 and remove cause. Section 11.2
2 Switch on servo-on Alarm occurs. Refer to section 11.2 and remove cause. Section 11.2
signal. Servo motor shaft is 1. Check the display to see if 1. Servo-on signal is not input. Section 7.3.2
not servo-locked the servo amplifier is (Wiring mistake)
(is free). ready to operate. 2. 24VDC power is not
2. Check the external I/O supplied to COM.
signal indication to see if
the servo-on (SON) signal
is ON.
3 Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7
(speed fluctuations) following procedure.
are large at low 1. Increase the auto tuning
speed. response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
Large load inertia If the servo motor may be Gain adjustment fault Chapter 7
moment causes the run with safety, repeat
servo motor shaft to acceleration and
oscillate side to side. deceleration several times to
complete auto tuning.
4 Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error, etc.
command pulses, cumulative due to noise.
feedback pulses and actual
servo motor position.

11 - 1

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 11. TROUBLESHOOTING

11.2 When alarm or warning has occurred

POINT
Configure up a circuit which will detect the trouble (ALM) signal and turn
off the servo-on (SON) signal at occurrence of an alarm.

11.2.1 Alarms and warning list

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to section 11.2.2 or 11.2.3 and take the appropriate action.
Set "1 " in parameter No. 59 to output the alarm code in ON/OFF status across the corresponding
pin and SG. Warnings (AL.90 to AL.E9) have no alarm codes. Any alarm code is output at occurrence of
the corresponding alarm. In the normal status, the signals available before alarm code setting (CN1B-19,
CN1A-18, CN1A-19) are output.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the
alarm deactivation column.
(Note 2) Alarm code Alarm deactivation
Press
Alarm
Display Name "SET" on
CN1B-19 CN1A-18 CN1A-19 Power reset
current
pin pin pin OFF ON (RES)
alarm
signal
screen.
AL.10 0 1 0 Undervoltage
AL.12 0 0 0 Memory error 1
AL.13 0 0 0 Clock error
AL.15 0 0 0 Memory error 2
AL.16 1 1 0 Encoder error 1
AL.17 0 0 0 Board error
AL.19 0 0 0 Memory error 3
AL.1A 1 1 0 Motor combination error
AL.20 1 1 0 Encoder error 2
AL.24 1 0 0 Main circuit error
AL.25 1 1 0 Absolute position erase
AL.30 0 0 1 Regenerative error (Note 1) (Note 1) (Note 1)
AL.31 1 0 1 Overspeed
Alarms

AL.32 1 0 0 Overcurrent
AL.33 0 0 1 Overvoltage
AL.35 1 0 1 Command pulse frequency error
AL.37 0 0 0 Parameter error
AL.39 0 0 0 Program error
AL.45 0 1 1 Main circuit device overheat (Note 1) (Note 1) (Note 1)
AL.46 0 1 1 Servo motor overheat (Note 1) (Note 1) (Note 1)
AL.50 0 1 1 Overload 1 (Note 1) (Note 1) (Note 1)
AL.51 0 1 1 Overload 2 (Note 1) (Note 1) (Note 1)
AL.52 1 0 1 Error excessive
AL.63 1 0 1 Home position return incomplete
AL.64 1 0 1 Home position setting error
AL.8A 0 0 0 Serial communication time-out error
AL.8E 0 0 0 Serial communication error
88888 0 0 0 Watchdog
AL.92 Open battery cable warning
AL.97 Program operation disable
AL.98 Software limit warning
Warnings

AL.9F Battery warning Removing the cause of occurrence

AL.E0 Excessive regenerative warning deactivates the alarm
AL.E1 Overload warning automatically.
AL.E3 Absolute position counter warning
AL.E6 Servo emergency stop warning
AL.E9 Main circuit off warning
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: Pin-SG off (open)
1: Pin-SG on (short)

11 - 2

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 11. TROUBLESHOOTING

11.2.2 Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
CAUTION If an absolute position erase alarm (AL.25) occurred, always make home position
setting again. Otherwise, misoperation may occur.
As soon as an alarm occurs, turn off Servo-on (SON) and power off.

POINT
When any of the following alarms has occurred, always remove its cause
and allow about 30 minutes for cooling before resuming operation. If
operation is resumed by switching control circuit power off, then on to reset
the alarm, the servo amplifier and servo motor may become faulty.
Regenerative error (AL.30)
Overload 1 (AL.50)
Overload 2 (AL.51)
The alarm can be deactivated by switching power off, then on press the
"SET" button on the current alarm screen or by turning on the reset (RES).
For details, refer to section 11.2.1.

When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the
servo motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. The
optional MR Configurator (servo configuration software) may be used to refer to the cause.

Display Name Definition Cause Action

AL.10 Undervoltage Power supply 1. Power supply voltage is low. Review the power supply.
voltage dropped. 2. There was an instantaneous
MR-J2S- CL: control power failure of 60ms or
160VAC or less longer.
MR-J2S- CL1: 3. Shortage of power supply capacity
83VAC or less caused the power supply voltage to
drop at start, etc.
4. Power was restored after the bus
voltage had dropped to 200VDC.
(Main circuit power switched on
within 5s after it had switched off.)
5. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.10) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.

AL.12 Memory error 1 RAM, memory fault Faulty parts in the servo amplifier Change the servo amplifier.
AL.13 Clock error Printed board fault Checking method
Alarm (any of AL.12 and 13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.

11 - 3

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.15 Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.15)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.

2. The number of write times to EEP-

ROM exceeded 100,000.
AL.16 Encoder error 1 Communication 1. Encode connector (CN2) Connect correctly.
error occurred disconnected.
between encoder 2. Encoder fault Change the servo motor.
and servo amplifier. 3. Encoder cable faulty Repair or change the cable.
(wire breakage or short)
AL.17 Board error CPU/parts fault Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.17) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.

The output 2. The wiring of U, V, W is Correctly connect the output terminals U,

terminals U, V, W of disconnected or not connected. V, W of the servo amplifier and the input
the servo amplifier terminals U, V, W of the servo motor.
and the input
terminals U, V, W of
the servo motor are
not connected.
AL.19 Memory error 3 ROM memory fault Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.19) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.

AL.1A Motor Wrong combination Wrong combination of servo amplifier Use correct combination.
combination of servo amplifier and servo motor connected.
error and servo motor.
AL.20 Encoder error 2 Communication 1. Encoder connector (CN2) Connect correctly.
error occurred disconnected.
between encoder 2. Encoder fault Change the servo motor.
and servo amplifier. 3. Encoder cable faulty Repair or change the cable.
(wire breakage or shorted)
Encoder detected 4. Excessive acceleration is occurred 1. Decrease the speed control gain 2.
acceleration error. due to oscillation and others. 2. Decrease the auto tuning response level.

11 - 4

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.24 Main circuit Ground fault 1. Power input wires and servo motor Connect correctly.
error occurred at the servo output wires are in contact at main
motor outputs (U,V circuit terminal block (TE1).
and W phases) of the 2. Sheathes of servo motor power Change the cable.
servo amplifier. cables deteriorated, resulting in
ground fault.
3. Main circuit of servo amplifier Change the servo amplifier.
failed.
Checking method
AL.24 occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.

AL.25 Absolute Absolute position 1. Reduced voltage of super capacitor After leaving the alarm occurring for a few
position erase data in error in encoder minutes, switch power off, then on again.
Always make home position setting again.
2. Battery voltage low Change battery.
3. Battery cable or battery is faulty. Always make home position setting again.
Power was switched 4. Super capacitor of the absolute After leaving the alarm occurring for a few
on for the first time position encoder is not charged minutes, switch power off, then on again.
in the absolute Always make home position setting again.
position detection
system.
AL.30 Regenerative Permissible 1. Wrong setting of parameter No. 0 Set correctly.
error regenerative power 2. Built-in regenerative resistor or Connect correctly
of the built-in regenerative option is not
regenerative resistor connected.
or regenerative 3. High-duty operation or continuous 1. Reduce the frequency of positioning.
option is exceeded. regenerative operation caused the 2. Use the regenerative option of larger
permissible regenerative power of capacity.
the regenerative option to be 3. Reduce the load.
exceeded.
Checking method
Call the status display and check
the regenerative load ratio.

4. Power supply voltage is abnormal. Review power supply

MR-J2S- CL:260VAC or more
MR-J2S- CL1:135VAC or more
5. Built-in regenerative resistor or Change servo amplifier or regenerative
regenerative option faulty. option.
Regenerative 6. Regenerative transistor faulty. Change the servo amplifier.
transistor fault Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.

11 - 5

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.31 Overspeed Speed has exceeded 1. Input command pulse frequency Set command pulses correctly.
the instantaneous exceeded the permissible
permissible speed. instantaneous speed frequency.
2. Small acceleration/deceleration Increase acceleration/deceleration time
time constant caused overshoot to constant.
be large.
3. Servo system is instable to cause 1. Re-set servo gain to proper value.
overshoot. 2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large Set correctly.
(parameters No. 4, 5)
5. Encoder faulty. Change the servo motor.
AL.32 Overcurrent Current that flew is 1. Short occurred in servo amplifier Correct the wiring.
higher than the output phases U, V and W.
permissible current 2. Transistor (IPM) of the servo Change the servo amplifier.
of the servo amplifier faulty.
amplifier. (If the Checking method
alarm (AL.32) occurs Alarm (AL.32) occurs if power is
again when turning switched on after U,V and W
ON the servo after are disconnected.
resetting the alarm
3. Ground fault occurred in servo Correct the wiring.
by turning OFF/ON
amplifier output phases U, V and
the power when the
W.
alarm (AL.32) first
4. External noise caused the Take noise suppression measures.
occurred, the
overcurrent detection circuit to
transistor (IPM,
misoperate.
IGBT) of the servo
amplifier may be at
fault. In the case, do
not repeat to turn
OFF/ON the power.
Check the transistor
with the checking
method of “Cause
2”.)

11 - 6

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.33 Overvoltage Converter bus 1. Regenerative option is not used. Use the regenerative option.
voltage exceeded 2. Though the regenerative option is Make correct setting.
400VDC. used, the parameter No. 0 setting is
" 0 (not used)".
3. Lead of built-in regenerative 1. Change lead.
resistor or regenerative option is 2. Connect correctly.
open or disconnected.
4. Regenerative transistor faulty. Change servo amplifier
5. Wire breakage of built-in 1. For wire breakage of built-in
regenerative resistor or regenerative resistor, change servo
regenerative option amplifier.
2. For wire breakage of regenerative
option, change regenerative option.
6. Capacity of built-in regenerative Add regenerative option or increase
resistor or regenerative option is capacity.
insufficient.
7. Power supply voltage high. Review the power supply.
8. The jumper across BUE-SD of the Fit the jumper across BUE-SD.
FR-BU2 brake unit is removed.
AL.35 Command pulse Input pulse 1. Pulse frequency of the manual Change the pulse frequency to a proper
frequency error frequency of the pulse generator is too high. value.
command pulse is 2. Noise entered the pulses of the Take action against noise.
too high. manual pulse generator.
3. Manual pulse generator failure Change the manual pulse generator.
AL.37 Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier.
error wrong. parameter setting to be rewritten.
2. Regenerative option not used with Set parameter No.0 correctly.
servo amplifier was selected in
parameter No.0.
3. Value outside setting range has Set the parameter correctly.
been set in some parameter.
4. Value outside setting range has Set parameters No. 4, 5 correctly.
been set in electronic gear.
5. Opposite sign has been set in Set parameters No. 46 to 49 correctly.
software limit increasing side
(parameters No. 46, 47). Similarly,
opposite sign has been set in
software limit decreasing side
(parameters No. 48, 49).
6. Opposite sign has been set in Set parameters No. 50 to 53 correctly.
position range output address
increasing side (parameters No. 50,
51). Similarly, opposite sign has
been set in position range output
address decreasing side
(parameters No. 52, 53).
7. The number of write times to EEP- Change the servo amplifier.
ROM exceeded 100,000 due to
parameter write, program write,
etc.

11 - 7

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.39 Program error Program data is 1. Servo amplifier fault caused the Change the servo amplifier.
abnormal program data to be rewritten.
2. Command argument is out of the Programming correctly.
setting range.
3. The number of write times to EEP- Change the servo amplifier.
ROM exceeded 100,000 due to
parameter write, program write,
etc.
AL.45 Main circuit Main circuit device 1. Servo amplifier faulty. Change the servo amplifier.
device overheat overheat 2. The power supply was turned on The drive method is reviewed.
and off continuously by overloaded
status.
3. Air cooling fan of servo amplifier 1. Exchange the cooling fan or the servo
stops. amplifier.
2. Reduce ambient temperature.
AL.46 Servo motor Servo motor 1. Ambient temperature of servo Review environment so that ambient
overheat temperature rise motor is over 40 (104 ). temperature is 0 to 40 (32 to 104 ).
actuated the 2. Servo motor is overloaded. 1. Reduce load.
thermal sensor. 2. Review operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is faulty. Change servo motor.
AL.50 Overload 1 Load exceeded 1. Servo amplifier is used in excess of 1. Reduce load.
overload protection its continuous output current. 2. Review operation pattern.
characteristic of 3. Use servo motor that provides larger
servo amplifier. output.
2. Servo system is instable and 1. Repeat acceleration/
hunting. deceleration to execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something. 1. Review operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo motor's
input terminals U, V, W.
5. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.

11 - 8

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern.
the like caused max. 2. Install limit switches.
For the time of the 2. Wrong connection of servo motor. Connect correctly.
alarm occurrence, Servo amplifier's output terminals
refer to the section U, V, W do not match servo motor's
13.1. input terminals U, V, W.
3. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.

AL.52 Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration
between the model constant is too small. time constant.
position and the 2. Internal torque limit 1 (parameter Increase the torque limit value.
actual servo motor No.28) is too small.
position exceeds 2.5 3. Motor cannot be started due to 1. Review the power supply capacity.
rotations. (Refer to torque shortage caused by power 2. Use servo motor which provides larger
the function block supply voltage drop. output.
diagram in section 4. Position control gain 1 (parameter Increase set value and adjust to ensure
1.1.1) No.7) value is small. proper operation.
5. Servo motor shaft was rotated by 1. When torque is limited, increase the
external force. limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something. 1. Review operation pattern.
2. Install limit switches.
7. Encoder faulty Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.

11 - 9

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.63 Home position In incremental 1. Positioning operation was 1. Perform home position return.
return system. performed without home position 2. Review home position return speed/creep
incomplete 1. Positioning return. speed/moving distance after proximity
operation was 2. Home position return speed could dog.
performed without not be decreased to creep speed.
home position 3. Limit switch was actuated during
return. home position return starting at
2. Home position other than position beyond dog.
return ended
abnormally.
In absolute position 1. Positioning operation was 1. Perform home position setting.
detection system. performed without home position 2. Review home position setting speed/creep
1. Positioning setting. speed/moving distance after proximity
operation was 2. Home position setting speed could dog.
performed without not be decreased to creep speed.
home position 3. Limit switch was actuated during
setting. home position setting starting at
2. Home position other than position beyond dog.
setting ended
abnormally.
AL.64 Home position Home position 1. Droop pulses remaining are Remove the cause of droop pulse
setting error setting could not be greater than the in-position range occurrence
made. setting.
2. Command pulse entered after Do not enter command pulse after clearing
clearing of droop pulses. of droop pulses.
3. Creep speed high. Reduce creep speed.
AL.8A Serial RS-232C or RS-422 1. Communication cable breakage. Repair or change communication cable
communication communication 2. Communication cycle longer than Set correct value in parameter.
time-out error stopped for longer parameter No. 23 setting.
than the time set in 3. Wrong protocol. Correct protocol.
parameter No.23.
AL.8E Serial Serial 1. Communication cable fault Repair or change the cable.
communication communication error (Open cable or short circuit)
error occurred between 2. Communication device (e.g. Change the communication device (e.g.
servo amplifier and personal computer) faulty personal computer).
communication
device (e.g. personal
computer).
88888 Watchdog CPU, parts faulty Fault of parts in servo amplifier Change servo amplifier.
Checking method
Alarm (88888) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.

11 - 10

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 11. TROUBLESHOOTING

11.2.3 Remedies for warnings

If an absolute position counter warning (AL.E3) occurred, always make home

CAUTION position setting again. Otherwise, misoperation may occur.

POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo
amplifier and servo motor may become faulty. If the power of the servo
amplifier is switched OFF/ON during the alarms, allow more than 30
minutes for cooling before resuming operation.
Excessive regenerative warning (AL.E0)
Overload warning 1 (AL.E1)

If AL.E6 occurs, the servo off status is established. If any other warning occurs, operation can be
continued but an alarm may take place or proper operation may not be performed. Use the optional MR
Configurator (servo configuration software) to refer to the cause of warning.

Display Name Definition Cause Action

AL.92 Open battery Absolute position 1. Battery cable is open. Repair cable or changed.
cable warning detection system battery 2. Battery voltage supplied from the servo Change battery.
voltage is low. amplifier to the encoder fell to about
3.2V or less.
(Detected with the encoder)
AL.97 Program Program was started in a After a program change, the program was Power off/on the servo amplifier.
operation disable program operation started without the servo amplifier being
disable status. powered off/on.
AL.98 Software limit Software limit set in 1. Software limit was set within actual Set parameter No. 48 to 51
warning parameter is reached. operation range. correctly.
2. Program of position data in excess of Set program correctly.
software limit was executed.
3. Software limit was reached during JOG Perform operation within
operation or manual pulse generator software limit range.
operation.
AL.9F Battery warning Voltage of battery for Battery voltage fell to 3.2V or less. Change the battery.
absolute position (Detected with the servo amplifier)
detection system reduced.
AL.E0 Excessive There is a possibility that Regenerative power increased to 85% or 1. Reduce frequency of
regenerative regenerative power may more of permissible regenerative power of positioning.
warning exceed permissible built-in regenerative resistor or 2. Change regenerative option
regenerative power of regenerative option. for the one with larger
built-in regenerative Checking method capacity.
resistor or regenerative Call the status display and check 3. Reduce load.
option. regenerative load ratio.

AL.E1 Overload There is a possibility that Load increased to 85% or more of overload Refer to AL.50, AL.51.
warning overload alarm 1 or 2 alarm 1 or 2 occurrence level.
may occur. Cause, checking method
Refer to AL.50,51.

11 - 11

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 11. TROUBLESHOOTING

Display Name Definition Cause Action

AL.E3 Absolute position Absolute position encoder 1. Noise entered the encoder. Take noise suppression
counter warning pulses faulty. measures.
2. Encoder faulty. Change servo motor.
The multi-revolution 3. The movement amount from the home Make home position setting
counter value of the position exceeded a 32767 rotation or again.
absolute position encoder 37268 rotation in succession.
exceeded the maximum
revolution range.
AL.E6 Servo forced stop EMG-SG are open. External forced stop was made valid. Ensure safety and deactivate
warning (EMG-SG opened.) forced stop.
AL.E9 Main circuit off Servo was switched on Switch on main circuit power.
warning with main circuit power
off.

11.3 MR-DP60 external digital display error

When MR-DP60 external digital display detects an error, the following alarms are displayed. The alarms
are displayed only on the MR-DP60, but not on the servo amplifier display.

Display Name Definition Cause Action

AL. CPU CPU error CPU error Faulty parts in the MR-D60. Exchange the MR-D60.
AL. C0 Communication Communication error 1. CN3 connector disconnected. Connect correctly.
error occurred between MR-DP60
2. Wire breakage of the cable. Repair or exchange the cable.
and MR-J2S-CL.

11 - 12

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 12. OUTLINE DIMENSION DRAWINGS

12. OUTLINE DIMENSION DRAWINGS

12.1 Servo amplifiers

(1) MR-J2S-10CL to MR-J2S-60CL

MR-J2S-10CL1 to MR-J2S-40CL1
[Unit: mm]

A Approx.70 (2.76) ([Unit: in])

135 (5.32)
6 ( 0.24) mounting hole B Terminal layout

Approx.

(0.79)
(Terminal cover open)
(0.24)
6

20
MITSUBISHI MITSUBISHI

OPEN OPEN

C C C C
N N N N
1 1 1 1
168 (6.61)
156 (6.14)

A B A B

C C
Rating plate C C
N N N N
2 3 2 3
TE1

(
E E
N
C N
C

)
L1 L2 L3

(Note)
6 (0.24)

U V W
Approx.7

TE2
(0.28)

6 PE terminal
(0.24)

4(0.16)

Variable dimensions Mass

Servo amplifier
A B [kg] ([lb])
MR-J2S-10CL (1)
50 (1.97) 6 (0.24) 0.7 (1.54)
MR-J2S-20CL (1)
MR-J2S-40CL (1)
70 (2.76) 22 (0.87) 1.1 (2.43)
MR-J2S-60CL
Note. This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models.

Terminal signal layout

TE1
For 3-phase 200 to 230VAC and 1-phase 230VAC For 1-phase 100 to 120VAC Mounting Screw
Screw Size:M5
L1 L2 L3 L1 L2 Tightening torque:
3.24[N m]
U V W U V W
(28.676 [lb in])
Terminal screw: M4 Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in]) Tightening torque: 1.2 [N m] (10.6 [lb in])

TE2 PE terminals
Front

D C P L21 L11

Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])

12 - 1

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 12. OUTLINE DIMENSION DRAWINGS

(2) MR-J2S-70CL MR-J2S-100CL

[Unit: mm]
6 ( 0.24) 70(2.76) ([Unit: in])
mounting hole Approx.70(2.76) 190(7.48)
22
Terminal layout
(0.24)

Approx.

(0.79)
(0.87)
(Terminal cover open)
6

20
MITSUBISHI MITSUBISHI

OPEN OPEN

C C C C
N N N N
1 1 1 1
A B
168(6.61)
156(6.14)

A B

C C
Rating plate C C
N N N N
2 3 2 3
E E
N N
C C

L1 L2 L3
6(0.24)

U V W
Approx.7

PE terminal
TE2
(0.28)

6(0.24) TE1
22 42 6(0.24)
(0.87) (1.65)

6(0.24)

Mass
Servo amplifier
[kg] ([lb])
MR-J2S-70CL
1.7 (3.75)
MR-J2S-100CL

Terminal signal layout

TE1 Mounting Screw
Screw Size:M5
L1 L2 L3 Tightening torque:3.24[N m](28.676 [lb in])
U V W

Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])

TE2
Front

D C P L21 L11 N

PE terminals

Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])

12 - 2

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 12. OUTLINE DIMENSION DRAWINGS

(3) MR-J2S-200CL MR-J2S-350CL

[Unit: mm]
([Unit: in])
6 ( 0.24) 90(3.54) Approx.70(2.76) 195(7.68)
mounting hole 6 78(3.07)
(0.24)

(0.24) Terminal layout

6

MITSUBISHI MITSUBISHI
168(6.61)
156(6.14)

TE2

TE1

PE terminal
Cooling fan wind direction

Mass
Servo amplifier
[kg] ([lb])
MR-J2S-200CL
2.0 (4.41)
MR-J2S-350CL

Terminal signal layout

TE1 PE terminals Mounting Screw
Screw Size:M5
L1 L2 L3 U V W Tightening torque:
3.24[N m]
Terminal screw: M4 (28.676 [lb in])
Tightening torque: 1.2 [N m] (10.6 [lb in])
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2

L11 L21 D P C N

Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])

12 - 3

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 12. OUTLINE DIMENSION DRAWINGS

(4) MR-J2S-500CL
2- 6( 0.24) [Unit: mm]
mounting hole ([Unit: in])
(0.24) 130(5.12) (0.24) Approx.70 200(7.87)

Approx.
6 118(4.65) 6 (2.76) (0.19) 5

(0.79)
(0.5)
7.5

20
Terminal layout
OPEN MITSUBISHI MITSUBISHI

OPEN OPEN
TE1
C C C C
N N N N
1 1 1 1
A B A B

C C C C
250(9.84)
235(9.25)

N N N N
2 3 2 3

TE2

N.P. N.P.

Cooling fan Cooling fan

6(0.24)
(0.5)
7.5

Cooling fan wind direction

Mass
Servo amplifier
[kg] ([lb])
MR-J2S-500CL 4.9 (10.8)

Terminal signal layout

Mounting Screw
TE1 PE terminals
Screw Size:M5
Terminal screw : M4 Built-in regenerative resistor Tightening torque:
L1 3.24[N m]
Tightening torque : 1.2 [N m](10.6[lb in]) lead terminal fixing screw
L2 (28.676 [lb in])
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])

TE2

L11 Terminal screw : M3.5

Tightening torque : 0.8 [N m](7[lb in])
L21

12 - 4

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 12. OUTLINE DIMENSION DRAWINGS

(5) MR-J2S-700CL
2- 6( 0.24) [Unit: mm]
mounting hole ([Unit: in])
180(7.09) Approx.70 200(7.87)
(0.39)
10 160(6.23) 10 (2.76) 138(5.43) 62

Approx.
(0.5)
(2.44) 6(0.24)
7.5

(0.79)
(0.39)
Terminal layout

20
MITSUBISHI MITSUBISHI

OPEN OPEN

C C C C
N N N N
1 1 1 1
A B A B

C C C C
N N N N
2 3 2 3

TE2
350(13.8)
335(13.2)

OPEN

Cooling fan
TE1

6 (0.24)
(0.5)
7.5

Cooling fan wind direction

Mass
Servo amplifier
[kg] ([lb])
MR-J2S-700CL 7.2 (15.9)

Terminal signal layout

TE1 PE terminals Mounting Screw
Screw Size:M5
L1 L2 L3 C P N U V W Tightening torque:
3.24[N m]
Terminal screw : M4 Built-in regenerative (28.676 [lb in])
Tightening torque : 1.2 [N m](10.6[lb in]) resistor lead terminal
fixing screw
Terminal screw : M4
TE2 Tightening torque : 1.2 [N m](10.6[lb in])

L11 Terminal screw : M3.5

Tightening torque : 0.8 [N m](7[lb in])
L21

12 - 5

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 12. OUTLINE DIMENSION DRAWINGS

12.2 Connectors

(1) Servo amplifier side

<3M >
(a) Soldered type
Model [Unit: mm]
Connector : 10120-3000PE ([Unit: in])
Shell kit : 10320-52F0-008
12.0(0.47)

10.0(0.39)
14.0
22.0 (0.87) (0.55)

Logo, etc. are indicated here.

39.0 (1.54)
23.8 (0.94)

33.3 (1.31)
12.7(0.50)

(b) Threaded type

Model [Unit: mm]
Connector : 10120-3000PE ([Unit: in])
Shell kit : 10320-52A0-008
Note. This is not available as option 12.0
(0.47)
and should be user-prepared.
(0.39)
10.0

22.0 14.0
(0.87) (0.55) 27.4 (1.08)
39.0 (1.54)

(0.94)
23.8

12.7
(0.21)

33.3
5.2

(1.31) (0.50)

(c) Insulation displacement type

Model [Unit: mm]
Connector : 10120-6000EL ([Unit: in])
Shell kit : 10320-3210-000
6.7
11.5(0.45)

( 0.26)

20.9 (0.82) Logo, etc. are indicated here.

2- 0.5 (0.02)
42.0 (1.65)
33.0 (1.30)

29.7 (1.17)

12 - 6

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 12. OUTLINE DIMENSION DRAWINGS

(2) Communication cable connector

<JAE>
[Unit: mm]
([Unit: in])
B

Fitting fixing screw G E (max. diameter of F

cable used)

C
D

A B C D F
Type E G
1 1 0.25 1 reference
DE-C1-J6-S6 34.5 (1.36) 19 (0.75) 24.99 (0.98) 33 (1.30) 6 (0.24) 18 (0.71) #4-40

12 - 7

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 12. OUTLINE DIMENSION DRAWINGS

MEMO

12 - 8

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 13. CHARACTERISTICS

13. CHARACTERISTICS

13.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier
from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic
thermal relay protection curve shown in any of Figs 13.1. Overload 2 alarm (AL.51) occurs if the
maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment
on the left-hand side area of the continuous or broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.

1000 1000

During rotation
During rotation
100 100
Operation time [s]
Operation time[s]

During stop
10 10

During stop
1 1

0.1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300

(Note) Load ratio [%] (Note) Load ratio [%]

a. MR-J2S-10CL to MR-J2S-100CL b. MR-J2S-200CL to MR-J2S-350CL

10000

1000

During rotation
Operation time[s]

During servo lock

100

10

0 50 100 150 200 250 300

(Note) Load ratio [%]

c. MR-J2S-500CL MR-J2S-700CL
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the
electronic thermal relay protection is not activated.

Fig 13.1 Electronic thermal relay protection characteristics

13 - 1

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 13. CHARACTERISTICS

13.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 12.1 indicates servo amplifier's power supply capacities and losses generated under rated load.
For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at
rated torque and servo-off according to the duty used during operation. When the servo motor is run at
less than the maximum speed, the power supply capacity will be smaller than the value in the table,
but the servo amplifier's generated heat will not change.

Table 13.1 Power supply capacity and generated heat per servo amplifier at rated output
(Note 1) (Note 2)
Area required for heat dissipation
Servo amplifier Servo motor Power supply Servo amplifier-generated heat[W]
capacity[kVA] At rated torque With servo off [m2] [ft2]
HC-KFS053 13 0.3 25 15 0.5 5.4
MR-J2S-10CL(1) HC-MFS053 13 0.3 25 15 0.5 5.4
HC-UFS13 0.3 25 15 0.5 5.4
HC-KFS23 0.5 25 15 0.5 5.4
MR-J2S-20CL(1) HC-MFS23 0.5 25 15 0.5 5.4
HC-UFS23 0.5 25 15 0.5 5.4
HC-KFS43 0.9 35 15 0.7 7.5
MR-J2S-40CL(1) HC-MFS43 0.9 35 15 0.7 7.5
HC-UFS43 0.9 35 15 0.7 7.5
HC-SFS52 1.0 40 15 0.8 8.6
MR-J2S-60CL HC-SFS53 1.0 40 15 0.8 8.6
HC-LFS52 1.0 40 15 0.8 8.6
HC-KFS73 1.3 50 15 1.0 10.8
MR-J2S-70CL HC-MFS73 1.3 50 15 1.0 10.8
HC-UFS72 73 1.3 50 15 1.0 10.8
HC-SFS81 1.5 50 15 1.0 10.8
MR-J2S-100CL HC-SFS102 103 1.7 50 15 1.0 10.8
HC-LFS102 1.7 50 15 1.0 10.8
HC-SFS121 2.1 90 20 1.8 19.4
HC-SFS201 3.5 90 20 1.8 19.4
HC-SFS152 153 2.5 90 20 1.8 19.4
HC-SFS202 203 3.5 90 20 1.8 19.4
MR-J2S-200CL
HC-RFS103 1.8 50 15 1.0 10.8
HC-RFS153 2.5 90 20 1.8 19.4
HC-UFS152 2.5 90 20 1.8 19.4
HC-LFS152 2.5 90 20 1.8 19.4
HC-SFS301 4.8 120 20 2.7 29.1
HC-SFS352 353 5.5 130 20 2.7 29.1
MR-J2S-350CL HC-RFS203 3.5 90 20 1.8 19.4
HC-UFS202 3.5 90 20 1.8 19.4
HC-LFS202 3.5 90 20 1.8 19.4
HC-SFS502 7.5 195 25 3.9 42.0
HC-RFS353 5.5 135 25 2.7 29.1
HC-RFS503 7.5 195 25 3.9 42.0
MR-J2S-500CL HC-UFS352 5.5 195 25 3.9 42.0
HC-UFS502 7.5 195 25 3.9 42.0
HC-LFS302 4.5 120 25 2.4 25.8
HA-LFS502 7.5 195 25 3.9 42.0
HC-SFS702 10.0 300 25 6.0 64.6
MR-J2S-700CL
HA-LFS702 10.6 300 25 6.0 64.6
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power
factor improving reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 14.1.1.

13 - 2

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 13. CHARACTERISTICS

(2) Heat dissipation area for enclosed servo amplifier

The enclosed control box (hereafter called the control box) which will contain the servo amplifier
should be designed to ensure that its temperature rise is within 10 ( 50 ) at the ambient
temperature of 40 (104 ). (With a 5 (41 ) safety margin, the system should operate within a
maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by
Equation 13.1.

P
A ............................................................................................................................................. (13.1)
K T

where, A : Heat dissipation area [m2]

P : Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with Equation 13.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 13.1 for heat generated by the servo amplifier. "A" indicates
the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall,
that extra amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore,
arrangement of the equipment in the enclosure and the use of a cooling fan should be considered.
Table 13.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is
operated at the ambient temperature of 40 (104 ) under rated load.

(Outside) (Inside)

Air flow

Fig. 13.2 Temperature distribution in enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because
the temperature slope inside and outside the enclosure will be steeper.

13 - 3

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 13. CHARACTERISTICS

13.3 Dynamic brake characteristics

13.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) in this
section.)
ON
Forced stop (EMG)
OFF

Time constant
V0
Machine speed

te Time

Fig. 13.3 Dynamic brake operation diagram

V0 JL
Lmax te 1 ....................................................................................................................... (13.2)
60 JM
Lmax : Maximum coasting distance .................................................................................................[mm][in]
V0 : Machine rapid feed rate ........................................................................................ [mm/min][in/min]
JM : Servo motor inertial moment................................................................................. [kg cm2][oz in2]
JL : Load inertia moment converted into equivalent value on servo motor shaft
................................................................................................................................. [kg cm2][oz in2]
: Brake time constant ........................................................................................................................ [s]
te : Delay time of control section........................................................................................................... [s]
(There is internal relay delay time of about 30ms.)

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (13.2).

0.02
16 0.018
14 23 0.016
[ms]

Time constant [s]

12 0.014
10 73 0.012 23
Time constant

8 053 0.01 73
6 0.008
4 0.006
2 0.004 053
43 13
0 0.002 43
0 500 1000 1500 2000 2500 3000 13
0
Speed [r/min] 0 500 1000 1500 2000 2500 3000
Speed [r/min]

a. HC-KFS series b. HC-MFS series

13 - 4

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 13. CHARACTERISTICS

0.04 0.045
0.035 0.04
121
0.035
Time constant [s]

702

Time constant [s]

0.03 201
0.03
0.025 352
0.025 202
0.02 301 52
0.02
0.015
0.015 502
0.01 0.01 152
81 102
0.005 0.005
0 0
0 50 500 1000 0 500 1000 1500 2000
Speed [r/min] Speed [r/min]

c. HC-SFS1000r/min series d. HC-SFS2000r/min series

0.12 0.018
0.016

Time constant [s]

0.1 203 0.014
Time constant [s]

0.08 53 0.012
0.01 103 503
0.06 0.008
153
0.006
0.04 353
0.004
0.02 103 0.002 353
203
153 0
0 0 500 1000 1500 2000 2500 3000
0 50 500 1000 1500 2000 2500 3000 Speed [r/min]
Speed [r/min]

e. HC-SFS3000r/min series f. HC-RFS series

0.07
73
0.06

0.1 0.05
Time constant [s]

0.09
72
0.08 502 0.04
Time constant [s]

0.07 352
0.06 0.03
0.05 43
0.04 0.02 23
0.03 13
0.02 202 0.01
152
0.01
0 0
0 500 1000 1500 2000
0 50 500 10001500200025003000
Speed [r/min]
Speed [r/min]
g. HC-UFS 2000r/min series h. HC-UFS3000r/min series
40.0
35.0
Time constant [s]

30.0
25.0
302
20.0
15.0
10.0
5.0
0
0 500 1000 1500 2000
Speed [r/min]

i. HC-LFS series
13 - 5

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 13. CHARACTERISTICS

13.3.2 The dynamic brake at the load inertia moment

Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load
inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility
that the load inertia moment may exceed the value, contact Mitsubishi.

Servo amplifier Load inertia moment ratio [times]

MR-J2S-10CL to MR-J2S-200CL
30
MR-J2S-10CL1 to MR-J2S-40CL1
MR-J2S-350CL 16
MR-J2S-500CL MR-J2S-700CL 15

13.4 Encoder cable flexing life

The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 108 a
5 107

1 107
5 106 a : Long flexing-life encoder cable
MR-JCCBL M-H
MR-JHSCBL M-H
MR-ENCBL M-H
1 106
5 105 b : Standard encoder cable
MR-JCCBL M-L
MR-JHSCBL M-L
Flexing life [times]

1 105
5 104

1 104
b
5 103

1 103
4 7 10 20 40 70 100 200

Flexing radius [mm]

13 - 6

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 13. CHARACTERISTICS

13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit

The following table indicates the inrush currents (reference value) that will flow when the maximum
permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of
1m.

Inrush Currents (A0-p)

Servo Amplifier
Main circuit power supply (L1, L2, L3) Control circuit power supply (L11, L21)
30A
MR-J2S-10CL 20CL
(Attenuated to approx. 5A in 10ms)
30A 70 to 100A
MR-J2S-40CL 60CL
(Attenuated to approx. 5A in 10ms) (Attenuated to approx. 0A in 0.5 to 1ms)
54A
MR-J2S-70CL 100CL
(Attenuated to approx. 12A in 10ms)
120A 100 to 130A
MR-J2S-200CL 350CL
(Attenuated to approx. 12A in 20ms) (Attenuated to approx. 0A in 0.5 to 1ms)
44A
MR-J2S-500CL
(Attenuated to approx. 20A in 20ms) 30A
88A (Attenuated to approx. 0A in several ms)
MR-J2S-700CL
(Attenuated to approx. 20A in 20ms)
MR-J2S-10CL1 20CL1 59A (Attenuated to approx. 5A in 4ms) 100 to 130A
MR-J2S-40CL1 72A (Attenuated to approx. 5A in 4ms) (Attenuated to approx. 0A in 0.5 to 1ms)

Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic
contactors. (Refer to section 14.2.2.)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be
tripped by an inrush current.

13 - 7

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 13. CHARACTERISTICS

MEMO

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14. OPTIONS AND AUXILIARY EQUIPMENT

Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo
amplifier whether the charge lamp is off or not.

Use the specified auxiliary equipment and options. Unspecified ones may lead to a
CAUTION fault or fire.

14.1 Options

14.1.1 Regenerative options

The specified combinations of regenerative options and servo amplifiers may only
CAUTION be used. Otherwise, a fire may occur.

(1) Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.

Regenerative power[W]
(Note) (Note)
Servo amplifier Built-in regenerative MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB31
MR-RB50 MR-RB51
resistor [40 ] [40 ] [40 ] [13 ] [6.7 ]
[13 ] [6.7 ]
MR-J2S-10CL (1) 30
MR-J2S-20CL (1) 10 30 100
MR-J2S-40CL (1) 10 30 100
MR-J2S-60CL 10 30 100
MR-J2S-70CL 20 30 100 300
MR-J2S-100CL 20 30 100 300
MR-J2S-200CL 100 300 500
MR-J2S-350CL 100 300 500
MR-J2S-500CL 130 300 500
MR-J2S-700CL 170 300 500
Note. Always install a cooling fan.

14 - 1

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(2) Selection of the regenerative option

(a) Simple selection method
In horizontal motion applications, select the regenerative option as described below. When the
servo motor is run without load in the regenerative mode from the running speed to a stop, the
permissible duty is as indicated in section 5.1 of the separately available Servo Motor Instruction
Manual.
For the servo motor with a load, the permissible duty changes according to the inertia moment of
the load and can be calculated by the following formula.

Permissible Permissible duty for servo motor with no load (value indication Section 5.1 in Servo Motor Instruction Manual)
duty (m 1)
2
ratedspeed [times/min]
running speed

where m load inertia moment/servo motor inertia moment

From the permissible duty, find whether the regenerative option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative option out of the combinations in (1) in this section.

(b) To make selection according to regenerative energy

Use the following method when regeneration occurs continuously in vertical motion applications or
when it is desired to make an in-depth selection of the regenerative option.
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Servo motor speed

tf(1 cycle)
N0
Up

Time
Unbalance torque

M Down
t1 t2 t3 t4
Firiction Tpsa1 Tpsd1 Tpsa2 Tpsd2
torque 1)
( )
(Driving)
Generated torque

TF
2) 4) 8)
5)
TU
6)
3)
(Regenerative) 7)
( )

Formulas for calculating torque and energy in operation

Regenerative power Torque applied to servo motor [N m] Energy [J]
(JL JM) N0 1 0.1047
1) T1 TU TF E1 N0 T1 Tpsa1
9.55 104 Tpsa1 2
2) T2 TU TF E2 0.1047 N0 T2 t1
(JL JM) N0 1 0.1047
3) T3 TU TF E3 N0 T3 Tpsd1
9.55 104 Tpsd1 2
4), 8) T4 TU E4 0 (N0 regeneration)
(JL JM) N0 1 0.1047
5) T5 4 TU TF E5 N0 T5 Tpsa2
9.55 10 Tpsa2 2
6) T6 TU TF E6 0.1047 N0 T6 t3
(JL JM) N0 1 0.1047
7) T7 TU TF E7 N0 T7 Tpsd2
9.55 104 Tpsd2 2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
14 - 2

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 14. OPTIONS AND AUXILIARY EQUIPMENT

b. Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.

Servo amplifier Inverse efficiency[%] Capacitor charging[J]

MR-J2S-10CL 55 9
MR-J2S-10A1 55 4
MR-J2S-20CL 70 9
MR-J2S-20A1 70 4
MR-J2S-40CL 85 11
MR-J2S-40A1 85 12
MR-J2S-60CL 85 11
MR-J2S-70CL 80 18
MR-J2S-100CL 80 18
MR-J2S-200CL 85 40
MR-J2S-350CL 85 40
MR-J2S-500CL 90 45
MR-J2S-700CL 90 70

Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo
amplifier when rated (regenerative) torque is generated at rated
speed. Since the efficiency varies with the speed and generated
torque, allow for about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.

Subtract the capacitor charging from the result of multiplying the sum total of regenerative
energies by the inverse efficiency to calculate the energy consumed by the regenerative option.

ER [J] Es Ec

Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.

PR [W] ER/tf

(3) Connection of the regenerative option

Set parameter No.0 according to the option to be used.
Parameter No.0

Selection of regenerative
0: Not used.
(However, this is irrelevant to the MR-J2S-10CL, as it does
not include the built-in regenerative resistor.)
1: FR-RC, FR-BU2
2: MR-RB032
3: MR-RB12
4: MR-RB32
5: MR-RB30
6: MR-RB50(Cooling fan is required)
8: MR-RB31
9: MR-RB51(Cooling fan is required)

14 - 3

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(4) Connection of the regenerative option

POINT
When using the MR-RB50 and MR-RB51, cooling by a cooling fan is
required. Please obtain a cooling fan at your discretion.

The regenerative option will cause a temperature rise of 100 degrees relative to the ambient
temperature. Fully examine heat dissipation, installation position, used cables, etc. before installing
the option. For wiring, use flame-resistant cables and keep them clear of the regenerative option body.
Always use twisted cables of max. 5m(16.4ft) length for connection with the servo amplifier.

(a) MR-J2S-350CL or less

Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 are disconnected when the regenerative
option overheats abnormally.
Always remove the lead from across P-D.
Servo amplifier
Regenerative option
D
P
P
C
C
G3
(Note 2) G4

5m (16.4 ft) max.

Cooling fan(Note 1)

Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA

For the MR-RB50 install the cooling fan as shown.

[Unit : mm(in)]
Cooling fan installation screw hole dimensions
Top 2-M3 screw hole
(for cooling fan installation)
Cooling fan Terminal block Depth 10 or less
(Screw hole already
machined)
(3.25)
82.5

Thermal relay
(5.24)
133

Bottom 82.5 40 (1.58)

(3.25)

Vertical Horizontal installation Installation surface

installation

14 - 4

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(b) MR-J2S-500CL MR-J2S-700CL

Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit
the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option
overheats abnormally.
Always remove wiring (across P-C) of servo
amplifier built-in regenerative resistor.
Servo amplifier
Regenerative option
P
P
C
C
G3
(Note 2) G4

5m(16.4ft) or less

Cooling fan(Note 1)

Note 1. When using the MR-RB50 MR-RB51, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA

When using the regenerative resistor option, remove the servo amplifier's built-in regenerative
resistor terminals (across P-C), fit them back to back, and secure them to the frame with the
accessory screw as shown below.
Mounting method
Accessory screw

14 - 5

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 14. OPTIONS AND AUXILIARY EQUIPMENT

For MR-J2S-500CL For MR-J2S-700CL

Accessory screw
Accessory screw

For the MR-RB50 MR-RB51 install the cooling fan as shown.

[Unit : mm(in)]
Cooling fan installation screw hole dimensions
Top 2-M3 screw hole
(for cooling fan installation)
Cooling fan Terminal block Depth 10 or less
(Screw hole already
machined)

(3.25)
82.5
Thermal relay
(5.24)
133

Bottom 82.5 40 (1.58)

(3.25)

Vertical Horizontal installation Installation surface

installation

14 - 6

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(5) Outline drawing

(a) MR-RB032 MR-RB12
[Unit: mm (in)]
LA
6 (0.24) mounting hole
LB 6 (0.24)

12 (0.47)
MR-RB
168 (6.61)
156 (6.14)

144 (5.67)

TE1
5 (0.20) Terminal block
G3
G3
G4
G4
TE1
C
P
P
C
12 (0.47)

Terminal screw: M3
Tightening torque:
0.5 to 0.6 [N m](4 to 5 [lb in])
6 (0.24)

6 (0.24) Approx. 1.6 (0.06) Mounting screw

20 Screw size: M5
(0.79) LD Tightening torque:
3.2 [N m](28.32 [lb in])
LC

Regenerative Variable dimensions Mass

option LA LB LC LD [kg] [lb]
30 15 119 99
MR-RB032 0.5 1.1
(1.18) (0.59) (4.69) (3.9)
40 15 169 149
MR-RB12 1.1 2.4
(1.58) (0.59) (6.69) (5.87)

(b) MR-RB32 MR-RB30 MR-RB31

[Unit: mm (in)]
Terminal block

P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m] (10.6 [Ib in])
G4

Mounting screw
Screw: M6
7 (0.28) 318 (12.52) Tightening torque: 5.4 [N m] (47.79 [Ibi n])
17 335 (13.19)
10 90 (3.54) (0.67)
Regenerative
(0.39) 100 (3.94) Mass [kg] (Ib)
option
MR-RB30
MR-RB31 2.9 (6.4)
MR-RB32

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(c) MR-RB50 MR-RB51

[Unit: mm (in)]
Cooling fan mounting Terminal block
screw (2-M3 screw)
On opposite side P
49 82.5 C Terminal screw: M4
(1.93) (3.25) G3 Tightening torque: 1.2 [N m]
G4 (10.6 [Ib in])

Mounting screw
7 14 Screw: M6
slot Tightening torque: 5.4 [N m]
(47.79 [Ib in])

Wind blows in the Regenerative

arrow direction Mass [kg] (Ib)
option
MR-RB50
5.6 (12.3)
MR-RB51

2.3 7 (0.28)
(0.09) 200 (7.87) 17 12 108 (4.25) Approx.30 (1.18)
217 (8.54) (0.67) (0.47) 120 (4.73) 8 (0.32)

14.1.2 FR-BU2 brake unit

POINT
Use a 200V class brake unit and a resistor unit with a 200V class servo
amplifier. Combination of different voltage class units and servo amplifier
cannot be used.
Install a brake unit and a resistor unit on a flat surface vertically. When
the unit is installed horizontally or diagonally, the heat dissipation effect
diminishes.
Temperature of the resistor unit case rises to higher than 100 . Keep
cables and flammable materials away from the case.
Ambient temperature condition of the brake unit is between 10 (14 )
and 50 (122 ). Note that the condition is different from the ambient
temperature condition of the servo amplifier (between 0 (32 ) and
55 (131 )).
Configure the circuit to shut down the power-supply with the alarm
output of the brake unit and resistor unit under abnormal condition.
Use the brake unit with a combination indicated in this section (1).
For executing a continuous regenerative operation, use FR-RC power
regeneration converter.
Brake unit and regenerative options (Regenerative resistor) cannot be
used simultaneously.

Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option,
the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide
sufficient regenerative capability.
When using the brake unit, set the parameter No.0 of the servo amplifier to " 01 ".
When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.

14 - 8

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(1) Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.

Number of Permissible Total

Applicable servo
Brake unit Resistor unit connected continuous resistance
amplifier
units power [kW] [ ]
MR-J2S-350CL
FR-BU2-15K FR-BR-15K 1 0.99 8
MR-J2S-500CL
MR-J2S-500CL
FR-BU2-30K FR-BR-30K 1 1.99 4
MR-J2S-700CL

(2) Brake unit parameter setting

Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can
be changed or not is listed below.

Parameter Change
possible/ Remarks
No. Name
impossible
0 Brake mode switchover Impossible Do not change the parameter.
1 Monitor display data selection Possible Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter.
3 Input terminal function selection 2
77 Parameter write selection
78 Cumulative energization time
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(3) Connection example

POINT
Connecting PR terminal of the brake unit to P terminal of the servo
amplifier results in brake unit malfunction. Always connect the PR
terminal of the brake unit to the PR terminal of the resistor unit.

ALM EMG OFF ON

RA1
MC
MC
SK

Servo amplifier
NFB MC CN1B
(Note 1) L1 (Note 9) EMG
Power L2 10 SG
supply FR-BR
L3 3 VDD
(Note 4) TH1
L11 13 COM P
TH2
L21 18 ALM RA1 PR

FR-BU2

D (Note 6) PR MSG
P P/ SD
(Note 3) A
(Note 7) N/
B
N
C
C BUE
(Note 8)(Note 5)
SD
(Note 2)

Note 1. For power supply specifications, refer to section 1.2.

2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P
and C terminals.
3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
4. Contact rating: 1b contact, 110VAC_5A/220VAC_3A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
5. Contact rating: 230VAC_0.3A/30VDC_0.3A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
6. For the servo amplifier of 3.5kW, always disconnect the wiring between P and D terminals.
7. Do not connect more than one cable to each P to N terminals of the servo amplifier.
8. Always connect between BUE and SD terminals (Factory-wired).
9. In the device setting, assign the forced stop (EMG) to any pin (Refer to section 6.6).

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(a) Precautions for wiring

The cables between the servo amplifier and the brake unit, and between the resistor unit and the
brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times
or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using
cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake
unit malfunction.
Servo amplifier Servo amplifier

Brake unit Resistor unit Brake unit Resistor unit

P P P P P Twist P P Twist P
N N PR PR N N PR PR

5m or less 5m or less 10m or less 10m or less

(b) Cables
1) Cables for the brake unit
For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.
a) Main circuit terminal
Main Crimping Cable size
Tightening
circuit terminal N/ , P/ , PR,
torque
Brake unit terminal
N/ , P/ , [N m] HIV cables,
screw AWG
PR, ([Ib in]) etc. [mm2]
N/ P/ PR size
FR-BU2-15K M4 5.5-4 1.5(13.3) 3.5 12
FR-BU2-30K M5 5.5-5 2.5(22.1) 5.5 10
Terminal block

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 14. OPTIONS AND AUXILIARY EQUIPMENT

b) Control circuit terminal

POINT
Undertightening can cause a cable disconnection or malfunction.
Overtightening can cause a short circuit or malfunction due to damage to
the screw or the brake unit.

Sheath
PC BUE SD RES SD MSG MSG SD SD Core
A B C
Jumper

6mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5N m to 0.6N m
Cable size: 0.3mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4mm/Tip width 2.5mm)

(c) Crimping terminals for P and N terminals of servo amplifier

POINT
Always use recommended crimping terminals or equivalent since some
crimping terminals cannot be installed depending on the size.

Number of
Servo amplifier Brake unit connected Crimping terminal Applicable tool Manufacturer
units
MR-J2S-350CL FR-BU2-15K 1
FR-BU2-15K 1 Japan Solderless
MR-J2S-500CL FVD5.5-S4 YNT-1210S
FR-BU2-30K 1 Terminal
MR-J2S-700CL FR-BU2-30K 1

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(4) Outline dimension drawings

(a) FR-BU2 brake unit
[Unit: mm]
FR-BU2-15K
5 hole
(Screw size: M4)

Rating
plate

5 4
6 56 6 18.5 52 62
68 132.5

FR-BU2-30K
2- 5 hole
(Screw size: M4)

Rating
plate

5 5
6 96 6 18.5 52 59
108 129.5

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(b) FR-BR resistor unit

[Unit: mm]

2 C
(Note)

Control circuit (Note)

terminal
Main circuit
terminal

C C
Approx. 35 W1 1 Approx. 35

W 5

Note. Ventilation ports are provided on both sides and the top. The bottom is open.

Approximate
Resistor unit W W1 H H1 H2 H3 D D1 C mass
[kg]([Ib])
FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15(33.1)
FR-BR-30K 340 270 600 560 20 582 220 4 10 30(66.1)

14.1.3 Power regeneration converter

When using the power regeneration converter, set "01 " in parameter No. 0.

(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to
the servo amplifiers of the MR-J2S-500CL and MR-J2S-700CL.

Power Nominal
Continuous energization time [sec]

regeneration regenerative Servo amplifier 500

converter power (kW) 300

FR-RC15 15 MR-J2S-500CL 200

FR-RC30 30 MR-J2S-700CL 100

50
30
20
0 50 75 100 150
Nominal regenerative power (%)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(2) Connection example

Servo amplifier

L11
L21
Power factor improving reactor
NFB MC FR-BAL
L1
(Note 3)
Power L2
supply
L3

VDD
SG COM
EMG
SON ALM RA2

(Note 2)
N P C
5m(16.4ft) or less
N/ P/
RDY
Ready A
SE
RDY B
B
output
C
C
R/L1 Alarm
S/L2 output

T/L3

RX
R
(Note)
SX Phase detection
S terminals

TX
T
Power regeneration converter
FR-RC
FR-RC Operation ready
RA2 EMG OFF ON
B C
MC MC
SK

Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain
removed, the FR-RC will not operate.
2. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P
terminal and C terminal.
3. Refer to section 1.2 for the power supply specification.

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(3) Outside dimensions of the power regeneration converters

[Unit : mm(in)]
Mounting foot (removable)
2- D hole
Mounting foot

E
movable

Rating plate
Display
Front cover panel
window

BA
B
Cooling fan

D EE F K
AA
C
A

Heat generation area outside mounting dimension

Power regeneration Approx.

A AA B BA C D E EE K F
converter mass [kg(Ib)]
270 200 450 432 195 10 10 8 3.2 87 19
FR-RC-15K
(10.630) (7.874) (17.717) (17.008) (7.677) (0.394) (0.394) (0.315) (0.126) (3.425) (41.888)
340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-30K
(13.386) (10.630) (23.622) (22.913) (7.677) (0.394) (0.394) (0.315) (0.126) (3.543) (68.343)

(4) Mounting hole machining dimensions

When the power regeneration converter is fitted to a totally enclosed type box, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
[Unit : mm(in)]
Approx.AA (2- D hole)
Model A B D AA BA
260 412 10 200 432
FR-RC-15K
(10.236) (16.220) (0.394) (7.874) (17.009)
330 562 10 270 582
FR-RC-30K
(Mounting hole) (12.992) (22.126) (0.394) (10.630) (22.913)
Approx.BA

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.1.4 Cables and connectors

(1) Cable make-up

The following cables are used for connection with the servo motor and other models. Those indicated
by broken lines in the figure are not options.
Servo amplifier

9)
Operation CN1A CN1B
panel

Personal
computer
CN2 CN3
14)
Controller

13)

10) 12)
11)

10)
11) To U, V, W,
19) 20)
HC-KFS
HC-MFS
1) 2)
HC-UFS 3000 r/min

6)

HC-SFS
15) 16) 17) 18) HC-RFS
HC-UFS 2000r/min
3) 4) 5)

7) 8)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

1) Standard encoder MR-JCCBL M-L Connector: 10120-3000PE Housing : 1-172161-9 Standard
cable Refer to (2) in this Shell kit: 10320-52F0-008 Connector pin : 170359-1 flexing life
section. (3M or equivalent) (Tyco Electronics or equivalent) IP20
Cable clamp : MTI-0002
(Toa Electric Industry)
2) Long flexing life MR-JCCBL M-H Long flexing
encoder cable Refer to (2) in this life
section. IP20
3) Standard encoder MR-JHSCBL M-L Connector: 10120-3000PE Connector: D/MS3106B20-29S Standard
cable Refer to (2) in this Shell kit: 10320-52F0-008 Cable clamp: D/MS3057-12A flexing life
section. (3M or equivalent) (DDK) IP20
4) Long flexing life MR-JHSCBL M-H Long flexing
encoder cable Refer to (2) in this life
section.
5) IP65-compliant MR-ENCBL M-H Connector: 10120-3000PE Connector Long flexing
encoder cable Refer to (2) in this Shell kit: 10320-52F0-008 : D/MS3106A20-29S (D190) life
section. (3M or equivalent) Cable clamp: CE3057-12A-3-D IP65
Back shell: CE02-20BS-S-D IP67
(DDK) Not oil-
resistant.

6) Encoder MR-J2CNM Connector: 10120-3000PE Housing : 1-172161-9 IP20

connector set Shell kit: 10320-52F0-008 Pin : 170359-1
(3M or equivalent) (Tyco Electronics or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)

7) Encoder MR-J2CNS Connector: 10120-3000PE Connector: D/MS3106B20-29S IP20

connector set Shell kit: 10320-52F0-008 Cable clamp: D/MS3057-12A
(3M or equivalent) (DDK)

8) Encoder MR-ENCNS Connector: 10120-3000PE Connector: D/MS3106A20-29S IP65

connector set Shell kit: 10320-52F0-008 (D190) IP67
(3M or equivalent) Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-S-D
(DDK)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

9) Control signal MR-J2CN1 Connector: 10120-3000PE
connector set Shell kit: 10320-52F0-008
(3M or equivalent) Qty: 2 each
10) Junction MR-J2TBL M Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL For junction
terminal block Refer to (Hirose Electric) Shell kit: 10320-3210-000 terminal
cable section14.1.5. (3M or equivalent) block
connection

11) Junction MR-TB20 Refer to section 14.1.5.

terminal block
12) Bus cable MR-J2HBUS M Connector: 10120-6000EL Connector: 10120-6000EL For
Refer to Shell kit: 10320-3210-000 Shell kit: 10320-3210-000 maintenance
section14.1.6. (3M or equivalent) (3M or equivalent) junction
card
connection

13) Maintenance MR-J2CN3TM Refer to section 14.1.6.

junction card
14) Communication MR-CPCATCBL3M Connector: 10120-6000EL Connector: DE-9SF-N For
cable Refer to (3) in this Shell kit: 10320-3210-000 Case: DE-C1-J6-S6 connection
section. (3M or equivalent) (JAE) with PC-AT-
compatible
personal
computer
15) Power supply MR-PWCNS1 Connector: CE05-6A22-23SD-D-BSS
connector set Refer to the Servo Cable clamp:CE3057-12A-2-D
Motor Instruction (DDK)
Manual. Must be
16) Power supply MR-PWCNS2 Connector: CE05-6A24-10SD-D-BSS used to
connector set Refer to the Servo Cable clamp: CE3057-16A-2-D comply with
Motor Instruction (DDK) the EN
Manual. Standard.
17) Power supply MR-PWCNS3 Plug: CE05-6A32-17SD-D-BSS IP65 IP67
connector set Refer to the Servo Cable clamp: CE3057-20A-1-D
Motor Instruction (DDK)
Manual.
18) Brake connector MR-BKCN Plug: D/MS3106A10SL-4S (D190) (DDK) EN
set Refer to the Servo Cable connector: YS010-5-8 (Daiwa Dengyo) Standard-
Motor Instruction compliant
Manual. IP65 IP67
19) Power supply MR-PWCNK1 Plug: 5559-04P-210 IP20
connector set Refer to the Servo Terminal: 5558PBT3L (For AWG16)(6 pcs.)
Motor Instruction (molex)
Manual.
20) Power supply MR-PWCNK2 Plug: 5559-06P-210 For motor
connector set Terminal: 5558PBT3L (For AWG16)(8 pcs.) with brake
(molex) IP20

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(2) Encoder cable

If you have fabricated the encoder cable, connect it correctly.

CAUTION Otherwise, misoperation or explosion may occur.

POINT
The encoder cable is not oil resistant.
Refer to section 14.4 for the flexing life of the encoder cable.
When the encoder cable is used, the sum of the resistance values of the
cable used for P5 and the cable used for LG should be within 2.4 .
When soldering the wire to the connector pin, insulate and protect the
connection portion using heat-shrinkable tubing.

Generally use the encoder cable available as our options. If the required length is not found in the
options, fabricate the cable on the customer side.

(a) MR-JCCBL M-L MR-JCCBL M-H

These encoder cables are used with the HC-KFS HC-MFS HC-UFS3000r/min series servo
motors.

1) Model explanation
Model: MR-JCCBL M-

Symbol Specifications
L Standard flexing life
H Long flexing life

Symbol (Note) Cable length [m(ft)]

2 2 (6.56)
5 5 (16.4)
10 10 (32.8)
20 20 (65.6)
30 30 (98.4)
40 40 (131.2) Note: MR-JCCBL M-H has
50 50 (164.0) no 40m(131.2ft) and 50m(164.0ft) sizes.

2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.3.1.
Encoder cable
Servo amplifier
supplied to servo motor
Encoder connector Encoder connector
Servo motor 172161-9 (Tyco Electronics)
Encoder cable
(option or fabricated)
1 2 3
MR MRR BAT
CN2 Encoder
4 5 6

50m(164.0ft) max. 30cm MD MDR

(0.98ft) 7 8 9
P5 LG SHD

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 14. OPTIONS AND AUXILIARY EQUIPMENT

MR-JCCBL2M-L MR-JCCBL10M-L MR-JCCBL10M-H

MR-JCCBL5M-L to to
MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H
MR-JCCBL5M-H
Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side

P5 19 7 P5 19 7 P5 19 7
LG 11 LG 11 LG 11
P5 20 P5 20 P5 20
LG 12 LG 12 LG 12
P5 18 P5 18 P5 18
LG 2 LG 2 LG 2

8 8 8
MR 7 1 MR 7 1 MR 7 1
MRR 17 2 MRR 17 2 MRR 17 2
MD 6 4 MD 6 4 MD 6 4
MDR 16 5 MDR 16 5 MDR 16 5
BAT 9 3 BAT 9 3 BAT 9 3
LG 1 LG 1 LG 1
(Note) (Note) (Note)
SD Plate 9 SD Plate 9 SD Plate 9

Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.

When fabricating an encoder cable, use the recommended wires given in section 14.2.1 and the MR-
J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the
following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder cable of up to
50m(164.0ft) length including the length of the encoder cable supplied to the servo motor.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not required.
Refer to chapter 3 of the servo motor instruction guide and choose the encode side connector according to
the servo motor installation environment.
For use of AWG22
Servo amplifier side Encoder side
(3M)
P5 19 7
LG 11
P5 20
LG 12
P5 18
LG 2

8
MR 7 1
MRR 17 2

BAT 9 3
LG 1
(Note)
SD Plate 9

Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H

These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors.
1) Model explanation
Model: MR-JHSCBL M-

Symbol Specifications
L Standard flexing life
H Long flexing life

Symbol Cable length [m(ft)]

2 2 (6.56)
5 5 (16.4)
10 10 (32.8)
20 20 (65.6)
30 30 (98.4)
40 40 (131.2)
50 50 (164.0)
Note: MR-JHSCBL M-L has
no 40(131.2) and 50m(164.0ft) sizes.

Model: MR-ENCBL M-H

Long flexing life

Symbol Cable length [m(ft)]

2 2 (6.56)
5 5 (16.4)
10 10 (32.8)
20 20 (65.6)
30 30 (98.4)
40 40 (131.2)
50 50 (164.0)

2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.3.1.
Servo amplifier
Encoder connector Encoder connector Pin Signal Pin Signal
Encoder cable Servo motor A MD K
M AB
(Optional or fabricated) L C B MDR L
N
C MR M
KT P D
J D MRR N SHD
CN2 Encoder S R E E P
H G F F BAT R LG
G LG S P5
50m(164.0ft) max. H T
J

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 14. OPTIONS AND AUXILIARY EQUIPMENT

MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H

MR-JHSCBL5M-L to to
MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H
MR-JHSCBL5M-H MR-ENCBL10M-H
MR-ENCBL2M-H to
MR-ENCBL5M-H MR-ENCBL50M-H
Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side

P5 19 S P5 19 S P5 19 S
LG 11 LG 11 LG 11
P5 20 P5 20 P5 20
LG 12 R LG 12 LG 12
MR 7 C P5 18 P5 18
MRR 17 D LG 2 LG 2
P5 18
LG 2 R R
BAT 9 F MR 7 C MR 7 C
LG 1 G MRR 17 D MRR 17 D
(Note1)
SD Plate N
BAT 9 F BAT 9 F
(Note2) Use of AWG24
LG 1 G LG 1 G
(Less than 10m(32.8ft))
(Note1) (Note1)
Note1: This wiring is required for use in the absolute SD Plate N SD Plate N
position detection system. This wiring is not Use of AWG22 Use of AWG24
needed for use in the incremental system. (10m(32.8ft) to 50m(164.0ft)) (10m(32.8ft) to 50m(164.0ft))
2: AWG28 can be used for 5m(16.4ft) or less.

When fabricating an encoder cable, use the recommended wires given in section 14.2.1 and the MR-
J2CNS connector set for encoder cable fabrication, and fabricate an encoder cable in accordance with
the optional encoder cable wiring diagram given in this section. You can fabricate an encoder cable of
up to 50m(164.0ft) length.
Refer to chapter 3 of the servo motor instruction guide and choose the encode side connector according
to the servo motor installation environment.

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(3) Communication cable

POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.

(a) Model definition

Model : MR-CPCATCBL3M
Cable length 3[m](10[ft])

(b) Connection diagram

MR-CPCATCBL3M
Personal computer side Servo amplifier side
Plate FG
TXD 3 2 RXD
1 LG
RXD 2 12 TXD
GND 5 11 LG
RTS 7
CTS 8
DSR 6
DTR 4
D-SUB9 pins Half-pitch 20 pins

When fabricating the cable, refer to the connection diagram in this section.
The following must be observed in fabrication.

1) Always use a shielded, multi-core cable and connect the shield with FG securely.

2) The optional communication cable is 3m(10ft) long. When the cable is fabricated, its maximum
length is 15m (49ft) in offices of good environment with minimal noise.

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.1.5 Junction terminal block (MR-TB20)

POINT
When using the junction terminal block, you cannot use SG of CN1A-20
and CN1B-20. Use SG of CN1A-4 and CN1B-4.

(1) How to use the junction terminal block

Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-J2TBL
M) as a set. A connection example is shown below.
Servo amplifier
Junction terminal block
Cable clamp
MR-TB20
(AERSBAN- ESET)
CN1A
or
CN1B Junction terminal
block cable
(MR-J2TBL M)

Ground the junction terminal block cable on the junction terminal block side with the standard
accessory cable clamp fitting (AERSBAN- ESET). For the use of the cable clamp fitting, refer to
section 13.2.6, (2)(c).

(2) Terminal labels

The junction terminal block does not include the terminal block labels which indicate the signal
layouts for MR-J2S-CL. Cut off the terminal block label in Appendix 2 at the dotted line and fold it up
at the centerline for use.
1) For CN1A 2) For CN1B
LG PP COM OPC PG SON LG VDD DIO ST1 PI2 P15R COM RST LSN RD
11

11
17

17
12

16

19

12

16

19
13

15

18

13

15

18
10

14

10

14

NP P15R DOG SG NG ZP SD VC OUT1 PED PI1 SG TLA DI1 LSP ALM SD

1

1
7

7
6

6
2

9
0

(3) Outline drawing

[Unit: mm]
126(4.96) ([Unit: in.])
117(4.61)

B1 B10
50(1.97)
60(2.36)

A1 A10
MITSUBISHI
MR-TB20
10 11 12 13 14 15 16 17 18 19

Terminal
block No.

0 1 2 3 5 6 7 8 9 2- 4.5(0.18)
4
46.2(1.82)

Terminal screw: M3.5

Applicable cable: Max. 2mm 2
(0.28)

(Crimping terminal width: 7.2mm (0.283 in) max.)

7

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(4) Junction terminal block cable (MR-J2TBL M)

Model : MR-J2TBL M

Symbol Cable length[m(ft)]

05 0.5 (1.64)
1 1 (3.28)

Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M)
HIF3BA-20D-2.54R (connector) 10120-6000EL (connector)
10320-3210-000 (shell kit)

Pin
Terminal block label Junction terminal Pin No.
For CN1A For CN1B block terminal No. No.
LG LG 10 B1 1
NP VC 0 A1 2
PP VDD 11 B2 3
P15R OUT1 1 A2 4
DI0 12 B3 5
PED 2 A3 6
ST1 13 B4 7
DOG PI1 3 A4 8
COM PI2 14 B5 9
SG SG 4 A5 10
OPC P15R 15 B6 11
NG TLA 5 A6 12
PG COM 16 B7 13
DI1 6 A7 14
RST 17 B8 15
LSP 7 A8 16
LSN 18 B9 17
ZP ALM 8 A9 18
SON RD 19 B10 19
SD SD 9 A10 20
Plate

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.1.6 Maintenance junction card (MR-J2CN3TM)

(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor are used at the same time.
Servo amplifier Communication cable
Bus cable Maintenance junction card (MR-J2CN3TM)
MR-J2HBUS M
CN3B

CN3 CN3A
CN3C
A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6
VDD COM EM1 DI MBR EMGO SG PE LG LG MO1 MO2
Analog monitor 2
Not used.

Analog monitor 1

(2) Connection diagram

TE1
B5
LG
B6
CN3A CN3B CN3C LG
LG1 1 1 1 A5
MO1
2
RXD 2 2
3 A6
LG3 3 3 MO2
4
MO1 4 4 4
5
RDP 5 5 5
6 6 6
7
MO3 7 7
8 8 8
SDP
9 9 9 A1
TRE
10 10 10 10 VDD
LG
11 11 11 A2
TXD
12 12 12 COM
LG
13 13 13 13 A3
MO2
14 14 14 14 EM1
15 A4
15 15 15 DI
16 16 16 Not used.
17 17 17 B4
MBR
18 18 18 19 B3
SDN
19 19 19 EMGO
P5 20
20 20 20 B2
SG
Shell Shell Shell B1
PE

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(3) Outline drawing

[Unit: mm]
([Unit: in])

CN3A CN3B CN3C

2- 5.3(0.21)(mounting hole)

75(2.95)
MR-J2CN3TM
A1 A6

B1 B6
TE1

3(0.12)
88(3.47) 41.5(1.63)
100(3.94)
Mass: 110g(0.24Ib)

(4) Bus cable (MR-J2HBUS M)

Model: MR-J2HBUS M

Symbol Cable length [m(ft)]

05 0.5 (1.64)
1 1 (3.28)
5 5 (16.4)

MR-J2HBUS05M
MR-J2HBUS1M
MR-J2HBUS5M

10120-6000EL (connector) 10120-6000EL (connector)

10320-3210-000 (shell kit) 10320-3210-000 (shell kit)

1 1
11 11
2 2
12 12
3 3
13 13
4 4
14 14
5 5
15 15
6 6
16 16
7 7
17 17
8 8
18 18
9 9
19 19
10 10
20 20

Plate Plate

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.1.7 External digital display (MR-DP60)

The data equivalent to the servo amplifier status display can be displayed on the MR-DP60.
When using the MR-DP60, set " 1 4" in parameter No. 16.
The items that appear at the time of power-on can be selected in parameter No.18.

(1) Specifications
Item Specifications
Display Red seven-segment LED, signed, six digits
Power supply Permissible voltage fluctuation Single-phase, 85 to 253VAC, 50/60Hz
Current consumption Within 200mA
Communication Interface Conforms to RS-422
Baud rate 4800bps, asynchronous
Bit length Start bit 1, date bit 8, parity bit 1, stop bit 1
Protocol MELSERVO protocol
Communication commands Commands dedicated to MELSERVO
Operating temperature / humidity range 0 to 60 (32 to 140 ),
90%RH or less, non-condensing
Storage temperature range 5 to 70 (23 to 158 )

(2) Connection example

NFB MC
L1
(Note)
Power supply L2 Servo amplifier
L3
External digital display
L11
MR-DP60
L21 L1
L2

CN3
5 RDP TXD
15 RDN TXD
9 SDP RXD
19 SDN RXD
1 LG LG
Plate SD

Note. Refer to section 1.2 for the power supply specification.

(3) Terminal arrangement

Signal Description
L1
100 to 230VAC power input
TB2 L2
L1 Ground
L2 RXD Receive signal input
TB1 RXD Inverse receive signal input
TXD TXD RXD RXD P5 LG TXD Inverse transmission signal output
TXD Transmission signal output
P5 5VDC output (Note)
LG Control common
Note. The 5VDC output is designed for the internal control circuit and used to make a voltage check, etc. Do not use this terminal to
supply a voltage to the other equipment.

14 - 29

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(4) Mounting
[Unit: mm (in)]

Front mounting Inside mounting

(0.79)
(2.09)
Square hole Square hole

20
53
2- 5 (0.20) 2- 5 (0.20)

141(5.55) 95(3.74)
150(5.91) 150(5.91)

(5) Outline dimension drawing

[Unit: mm (in)]

29(1.14)

TB2
58(2.28)
29(1.14)

TB1
MITSUBISHI MR-DP60

7.5 150(5.91) 7.5

(0.30) (0.30) 2- 4.5 (0.18) mounting hole
165(6.50)
2- 6.5 (0.26), depth 1 (0.04)
(0.16)
4

38(1.50)
43(1.69)

48(1.89)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.1.8 Manual pulse generator (MR-HDP01)

(1) Specifications
Item Specifications
Voltage 4.5 to 13.2VDC
Power supply
Current consumption 60mA max.
Interface Output current max. 20mA for open collector output
Pulse signal form A-phase and B-phase signals with 90°phase difference
Pulse resolution 100pulse / rev
Max. speed Instantaneous max. 600r/min, ordinary 200r/min
Operating temperature range 10 to 60 (14 to 140 )
Storage temperature range 30 to 80 ( 22 to 176 )

(2) Connection example

Use an external power supply to supply power to the manual pulse generator.
Servo amplifier

CN1B
VDD 3

CN1A
SV OPC 11
Manual pulse generator A PP 3
MR-HDP01 OV SG 10
B NP 2

External +5 SD Plate
power
supply GND

(3) Terminal arrangement

Signal name Description
+5 to 5 to 12V Power input
12V 0V A B 0V Power and signal common
A A-phase pulse output
B B-phase pulse output

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(4) Mounting
[Unit: mm(in)]

Panel cutting 3- 4.8(0.189)

equally divided

)
41
4
(2.
62
35)
72(2.8

(5) Outline dimension drawing

[Unit: mm(in)]
3.6(0.142)
3-M4 stud L10
Packing t2.0 P.C.D.72 equally divided
SERIALNO.

60 0.5(2.362 0.02)
MANUAL

80 1(3.15 0.04)
70(2.756)
50(1.969)

TYPE

5V to
12V 0V A B

M3 6 may only be used.

27.0
16 20 0.5 8.89 7.6(0.299)
(0.63)(0.787) (1.063 (0.35)
0.02)

14.1.9 Battery (MR-BAT, A6BAT)

POINT
The revision (Edition 44) of the Dangerous Goods Rule of the
International Air Transport Association (IATA) went into effect on
January 1, 2003 and was enforced immediately. In this rule, "provisions of
the lithium and lithium ion batteries" were revised to tighten the
restrictions on the air transportation of batteries. However, since this
battery is non-dangerous goods (non-Class 9), air transportation of 24 or
less batteries is outside the range of the restrictions. Air transportation of
more than 24 batteries requires packing compliant with the Packing
Standard 903. When a self-certificate is necessary for battery safety tests,
contact our branch or representative. For more information, consult our
branch or representative. (As of September, 2007).

Use the battery to build an absolute position detection system.

+
-

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2 Auxiliary equipment

Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-
UL (CSA) Standard, use the products which conform to the corresponding standard.

14.2.1 Recommended wires

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or
equivalent.
1) Main circuit power supply lead 3) Motor power supply lead

Servo amplifier Servo motor

Power supply
L1 U U
L2 V V
L3 W W Motor

L11
6) Power regeneration
converter lead L21 5) Electromagnetic
2) Control power supply lead brake lead

Electro-
Power regeneration N B1 magnetic
converter
B2 brake
Regenerative option
C
Encoder
P

4) Regenerative option lead Encoder cable (refer to section 14.1.4)

The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the
wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in
consideration of voltage drop.
The alphabets (a, b, c) in the table correspond to the crimping terminals (Table 14.2) used to wire the
servo amplifier. For connection with the terminal block TE2 of the MR-J2S-100CL or less, refer to
section 3.11.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
section 3.8.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or
more for wiring.
Table 14.1 Recommended wires
(Note 1) Wires [mm2]
Servo amplifier
1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2
MR-J2S-10CL (1)
MR-J2S-20CL (1)
MR-J2S-40CL (1) 1.25 (AWG16) : a
2 (AWG14) : a
MR-J2S-60CL
MR-J2S-70CL
2 (AWG14) : a
MR-J2S-100CL 1.25 (AWG16) 2 (AWG14) : a 1.25 (AWG16)
MR-J2S-200CL 3.5 (AWG12) : b 3.5 (AWG12) : b
(Note 2)
MR-J2S-350CL
5.5 (AWG10) : b 5.5 (AWG10) : b
MR-J2S-500CL 5.5 (AWG10) : b
MR-J2S-700CL 8 (AWG8) : c 8 (AWG8) : c 3.5(AW12) : c
Note 1. For the crimping terminals and applicable tools, refer to table 14.2.
2. 3.5mm2 for use of the HC-RFS203 servo motor.

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 14. OPTIONS AND AUXILIARY EQUIPMENT

Use wires 6) of the following sizes with the power regeneration converter (FR-RC).

Model Wires[mm2]
FR-RC-15K 14(AWG6)

Table 14.2 Recommended crimping terminals

Servo amplifier side crimping terminals
Symbol
Crimping terminal Applicable tool Manufacturer
a 32959 47387 Tyco Electronics
b EVD5.5-4 YNT-1210S
Body YF-1 E-4 Japan Solderless
c FVD8-5 Head YNE-38 Terminal
Die DH-111 DH-121

(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 14.3 Wires for option cables

Characteristics of one core (Note 3)
Length Core size Number
Type Model Structure Conductor Insulation coating Finishing Wire model
[m(ft)] [mm2] of Cores
[Wires/mm] resistance[ /mm] ODd[mm] (Note 1) OD [mm]
2 to 10 12 UL20276 AWG#28
0.08 7/0.127 222 0.38 5.6
(6.56 to 32.8) (6 pairs) 6pair (BLACK)
MR-JCCBL M-L
20 30 12 UL20276 AWG#22
0.3 12/0.18 62 1.2 8.2
(65.6 98.4) (6 pairs) 6pair (BLACK)
2 5 12 (Note 2)
0.2 40/0.08 105 0.88 7.2
(6.56 16.4) (6 pairs) A14B2343 6P
MR-JCCBL M-H
10 to 50 14 (Note 2)
0.2 40/0.08 105 0.88 8.0
(32.8 to 164) (7 pairs) A14B0238 7P
2 5 8 UL20276 AWG#28
0.08 7/0.127 222 0.38 4.7
(6.56 16.4) (4 pairs) 4pair (BLACK)
Encoder cable MR-JHSCBL M-L
10 to 30 12 UL20276 AWG#22
0.3 12/0.18 62 1.2 8.2
(32.8 to 98.4) (6 pairs) 6pair (BLACK)
2 5 8 (Note 2)
0.2 40/0.08 105 0.88 6.5
(6.56 16.4) (4 pairs) A14B2339 4P
MR-JHSCBL M-H
10 to 50 12 (Note 2)
0.2 40/0.08 105 0.88 7.2
(32.8 to 164) (6 pairs) A14B2343 6P
2 5 8 (Note 2)
0.2 40/0.08 105 0.88 6.5
(6.56 16.4) (4 pairs) A14B2339 4P
MR-ENCBL M-H
10 to 50 12 (Note 2)
0.2 40/0.08 105 0.88 7.2
(32.8 to 164) (6 pairs) A14B2343 6P
Communication 6 UL20276 AWG#28
MR-CPCATCBL3M 3 (9.84) 0.08 7/0.127 222 0.38 4.6
cable (3 pairs) 3pair (BLACK)
0.5 to 5 20 UL20276 AWG#28
Bus cable MR-J2HBUS M 0.08 7/0.127 222 0.38 6.1
(1.64 to 16.4) (10 pairs) 10pair (CREAM)
Note 1. d is as shown below.
d

Conductor Insulation sheath

2. Purchased from Toa Electric Industry

3. Standard OD. Max. OD is about 10% greater.

14 - 34

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2.2 No-fuse breakers, fuses, magnetic contactors

Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Fuse
Servo amplifier No-fuse breaker Magnetic contactor
Class Current [A] Voltage [V]
MR-J2S-10CL (1) 30 frame 5A K5 10
MR-J2S-20CL 30 frame 5A K5 10
MR-J2S-40CL 20CL1 30 frame 10A K5 15
S-N10
MR-J2S-60CL 40CL1 30 frame 15A K5 20
MR-J2S-70CL 30 frame 15A K5 20
250AC
MR-J2S-100CL 30 frame 15A K5 25
MR-J2S-200CL 30 frame 20A K5 40 S-N18
MR-J2S-350CL 30 frame 30A K5 70 S-N20
MR-J2S-500CL 50 frame 50A K5 125 S-N35
MR-J2S-700CL 100 frame 75A K5 150 S-N50

14.2.3 Power factor improving reactors

The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be
slightly lower than 90%.
[Unit : mm]
([Unit : in.])

Servo amplifier
FR-BAL MR-J2S- CL
H 5(0.2)

NFB MC
R X
L1

3-phase S Y
L2
200 to 230VAC
T Z
L3
W D1
Servo amplifier
Installation screw FR-BAL MR-J2S- CL
NFB MC
R X
D 5(0.2)

L1
(Note)
RXSY T Z
1-phase S Y
L2
230VAC
C W1 T Z
L3

Servo amplifier
FR-BAL MR-J2S- CL1
NFB MC
1-phase R X
L1
100 to120VAC
S Y
L2

T Z

Note. Connect a 1-phase 230VAC power supply to L1/L2 and keep L3 open.
Dimensions [mm (in) ] Mounting Terminal Mass
Servo amplifier Model
W W1 H D D1 C screw size screw size [kg (lb)]
MR-J2S- 0 0
FR-BAL-0.4K 135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 45-2.5 (1.77-0.098) 7.5 (0.29) M4 M3.5 2.0 (4.4)
10CL(1)/20CL
FR-BAL- 0 0
MR-J2S-40CL/20CL1 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57-2.5 (2.24-0.098) 7.5 (0.29) M4 M3.5 2.8 (6.17)
0.75K
MR-J2S-60CL/ 70CL/ 0 0
FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79) 55-2.5 (2.17-0.098) 7.5 (0.29) M4 M3.5 3.7 (8.16)
40CL1
0 0
MR-J2S-100CL FR-BAL-2.2K 160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58) 75-2.5 (2.95-0.098) 7.5 (0.29) M4 M3.5 5.6 (12.35)
0 0
MR-J2S-200CL FR-BAL-3.7K 220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54) 70-2.5 (2.76-0.098) 10 (0.39) M5 M4 8.5 (18.74)
0 0
MR-J2S-350CL FR-BAL-7.5K 220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72) 100-2.5 (3.94-0.098) 10 (0.39) M5 M5 14.5 (32.0)
0 0
MR-J2S-500CL FR-BAL-11K 280 (11.02) 255 (10.04) 220 (8.66) 135 (5.31) 100-2.5 (3.94-0.098) 12.5 (0.49) M6 M6 19 (41.9)
0 0
MR-J2S-700CL FR-BAL-15K 295 (11.61) 270 (10.62) 275 (10.83) 133 (5.24) 110-2.5 (4.33-0.098) 12.5 (0.49) M6 M6 27 (59.5)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2.4 Relays

The following relays should be used with the interfaces.

Interface Selection example

Relay used for input signals (interface DI-1) signals To prevent defective contacts , use a relay for small signal
(twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY

14.2.5 Surge absorbers

A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating Static
Maximum capacity Varistor voltage
Permissible circuit Surge Energy Rated limit voltage rating (range) V1mA
(reference
voltage immunity immunity power
value)
AC[Vma] DC[V] [A] [J] [W] [A] [V] [pF] [V]
(Note) 220
140 180 5 0.4 25 360 300
500/time (198 to 242)
Note. 1 time 8 20 s

(Example) ERZV10D221 (Matsushita Electric Industry)

TNR-10V221K (Nippon chemi-con)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)

13.5 (0.53) 4.7 1.0 (0.19 0.04)

(0.65)
16.5

Vinyl tube
3.0 (0.12)
or less

30.0 (1.18)
or more

0.8 (0.03) Crimping terminal

for M4 screw

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2.6 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and
those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier
is an electronic device which handles small signals, the following general noise reduction techniques are
required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal
transmission, and connect the shield to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.10).

(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and
other equipment against large exogenous noise and lightning surge, attaching a varistor to the
power input section of the equipment is recommended.

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the
main circuit cables, and those transmitted through the power supply cables.

Noises produced Noises transmitted Noise radiated directly

by servo amplifier in the air from servo amplifier Route 1)

Noise radiated from the

power supply cable Route 2)

Noise radiated from

servo motor cable Route 3)

Magnetic induction
noise Routes 4) and 5)

Static induction
noise Route 6)

Noises transmitted
Noise transmitted through
through electric Route 7)
power supply cable
channels

Noise sneaking from

grounding cable due to Route 8)
leakage current

5)

7) 7)
2)
7)

Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor

3)
Servo motor M

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 14. OPTIONS AND AUXILIARY EQUIPMENT

Noise transmission route Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a control box together with the
servo amplifier or run near the servo amplifier, such devices may malfunction due to noises
transmitted through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the
7) power supply cable and the devices may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the servo amplifier.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
8) circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.

(2) Noise reduction products

(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC Tokin make are available as
data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.
[Unit: mm]([Unit: in.])
Impedance[ ]
30 1 (0.51 0.04)

39 1(1.54 0.04) Loop for fixing the

10 to 100MHz 100 to 500MHz cable band
34 1
13 1

80 150 (1.34 0.04)

(1.18 0.04)

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

14 - 39

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near the servo amplifier is shown below. Use this product or equivalent.

MC

Relay
Surge suppressor

Surge suppressor

Surge suppressor This distance should be short

(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co., Ltd. 200VAC rating)
Rated Outline drawing [Unit: mm] ([Unit: in.])
voltage C [ F] R[ ] Test voltage AC[V] Vinyl sheath 18 1.5
AC[V] (0.71 0.06)
Blue vinyl cord Red vinyl cord
50 Across 6(0.24)
200 0.5
(1W) T-C 1000(1 to 5s)

10(0.39)or less 10(0.39)or less

4(0.16)
10 3 15 1(0.59 0.04) 10 3 31(1.22)
(0.39 (0.39
0.12) 200(7.87) 48 1.5 200(7.87) 0.15)
or more (1.89 0.06) or more

Note that a diode should be installed to a DC relay, DC valve or the like.

Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like RA

Maximum current: Not less than twice the drive current of

the relay or the like Diode

(c) Cable clamp fitting (AERSBAN - SET)

Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath
to expose the external conductor, and press that part against the earth plate with the cable clamp.
If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.

Strip the cable sheath of Cable

the clamped area. cutter
Cable clamp
(A,B) Earth plate
40(1.57)

cable

External conductor
Clamp section diagram

14 - 40

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 14. OPTIONS AND AUXILIARY EQUIPMENT

Outline drawing
[Unit: mm]
([Unit: in.])

Earth plate Clamp section diagram

2- 5(0.20) hole 17.5(0.69)

installation hole

30(1.18)
L or less 10(0.39)
B 0.3(0.01)

(0.940)

A
C
6 (0.24)
3 (0.12)

35 (1.38)
7 (0.28)

0.2

(0.940)
0

0.3
0
24

24
(Note)M4 screw 6 22(0.87)
(0.24) 35(1.38)
11(0.43)

Note: Screw hole for grounding. Connect it to the earth plate of the control box.

Type A B C Accessory fittings Clamp fitting L

100 86 30 70
AERSBAN-DSET clamp A: 2pcs. A
(3.94) (3.39) (1.18) (2.76)
70 56 45
AERSBAN-ESET clamp B: 1pc. B
(2.76) (2.20) (1.77)

14 - 41

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(d) Line noise filter (FR-BLF, FR-BSF01)

This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current)
especially within 0.5MHz to 5MHz band.

Connection diagram Outline drawing [Unit: mm] ([Unit: in.])

Use the line noise filters for wires of the main power supply FR-BSF01(for MR-J2S-200CL or less)
(L1 L2 L3) and of the motor power supply (U V W). Pass
Approx.110 (4.33)
each of the 3-phase wires through the line noise filter an equal
2- 5(0.20)

Approx 22.5 (0.89)

95 0.5 (3.74 0.02)
number of times in the same direction. For the main power
supply, the effect of the filter rises as the number of passes

(0.44 0.02)
increases, but generally four passes would be appropriate. For

11.25 0.5
the motor power supply, passes must be four times or less. Do
Approx.65 (2.56)
not pass the grounding (earth) wire through the filter, or the
33 (1.30)
effect of the filter will drop. Wind the wires by passing through
the filter to satisfy the required number of passes as shown in

Approx.65 (2.56)
Example 1. If the wires are too thick to wind, use two or more

4.5 (0.18)
filters to have the required number of passes as shown in
Example 2. Place the line noise filters as close to the servo
amplifier as possible for their best performance.
Example 1 NFB MC Servo amplifier
Power
L1 FR-BLF(MR-J2S-350CL or more)
supply
L2 7(0.28)
31.5(1.24)

Line noise L3

7(0.28)
filter
(Number of turns: 4) 130(5.12)
Example 2 NFB MC 85(3.35)
Servo amplifier
2.3(0.09) 80(3.15)

(1.38)

Power
35

L1
supply
L2 160(6.30)
Line noise L3 180(7.09)
filter
Two filters are used
(Total number of turns: 4)

(e) Radio noise filter (FR-BIF)...for the input side only

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.

Connection diagram Outline drawing (Unit: mm) ([Unit: in.])

Make the connection cables as short as possible. Leakage current: 4mA

Grounding is always required. Red White Blue Green
About 300(11.81)

When using the FR-BIF with a single-phase wire,

always insulate the wires that are not used for wiring.
NFB MC Servo amplifier

L1
Power
L2 29 (1.14)
supply
42 (1.65)

L3 5 (0.20)
4 (0.16)

hole

Radio noise 58 (2.28) 29 (1.14)

filter FR-BIF 7 (0.28)
44 (1.73)

14 - 42

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(f) Varistors for input power supply (Recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON
CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.

Maximum rating Static

Varistor voltage
Rated Maximum limit capacity
Permissible circuit Surge current Energy rating (range)
Varistor pulse voltage (reference
voltage immunity immunity V1mA
power value)
AC[Vrms] DC[V] 8/20 s[A] 2ms[J] [W] [A] [V] [pF] [V]
TND20V-431K 275 350 10000/1 time 195 710 1300 430(387 to 473)
1.0 100
TND20V-471K 300 385 7000/2 time 215 775 1200 470(423 to 517)

[Unit: mm]

D H T E (Note)L d W
D T Model
Max. Max. Max. 1.0 min. 0.05 1.0
TND20V-431K 6.4 3.3
21.5 24.5 20 0.8 10.0
H

TND20V-471K 6.6 3.5

Note. For special purpose items for lead length (L), contact the manufacturer.

W E
L

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2.7 Leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm (11.8 in)) to minimize leakage currents.

Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(14.1)

K: Constant considering the harmonic contents

Cable Leakage current breaker
K
Type Mitsubishi products
NV Noise NV-SP
filter Models provided with NV-SW
Servo Cable
M
amplifier harmonic and surge NV-CP 1
reduction techniques NV-CW
NV-HW
Ig1 Ign Iga Ig2 Igm BV-C1
General models NFB 3
NV-L

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals
of the servo amplifier (Found from Fig. 14.1.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 14.1.)
Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Iga: Leakage current of the servo amplifier (Found from Table 14.5.)
Igm: Leakage current of the servo motor (Found from Table 14.4.)

Table 14.4 Servo motor's Table 14.5 Servo amplifier's

120
leakage current leakage current
100 example (Igm) example (Iga)
Leakage current

Servo motor Leakage Servo amplifier Leakage

80 output [kW] current [mA] capacity [kW] current [mA]
0.05 to 0.5 0.1 0.1 to 0.6 0.1
60
0.6 to 1.0 0.1 0.7 to 3.5 0.15
40 1.2 to 2.2 0.2 5 7 2
[mA]
20 3 to 3.5 0.3
5 0.5
0
2 3.5 8 1422 38 80 150 7 0.7 Table 14.6 Leakage circuit breaker selection example
5.5 30 60 100 Rated sensitivity
Cable size[mm2] Servo amplifier current of leakage
Fig. 14.1 Leakage current example circuit breaker [mA]
(Ig1, Ig2) for CV cable run MR-J2S-10CL to MR-J2S-350CL
in metal conduit 15
MR-J2S-10CL1 to MR-J2S-40CL1
MR-J2S-500CL 30
MR-J2S-700CL 50

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m(196.85inch) 2mm2 5m(196.85inch)

NV
Servo Servo motor
amplifier M
MR-J2S-40CL HC-MFS43

Ig1 Iga Ig2 Igm

Use a leakage current breaker designed for suppressing harmonics/surges.

Find the terms of Equation (14.1) from the diagram.

5
Ig1 20 0.1 [mA]
1000

5
Ig2 20 0.1 [mA]
1000

Ign 0 (not used)

Iga 0.1 [mA]

Igm 0.1 [mA]

Insert these values in Equation (14.1).

Ig 10 {0.1 0 0.1 1 (0.1 0.1)}

4 [mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity
current (Ig) of 4[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-
SP/CP/ SW/CW/HW series.

14 - 45

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2.8 EMC filter

For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter.
Some EMC filters are large in leakage current.

(1) Combination with the servo amplifier

Recommended filter
Servo amplifier Mass [kg]([lb])
Model Leakage current [mA]
MR-J2S-10CL to MR-J2S-100CL
SF1252 38 0.75 (1.65)
MR-J2S-10CL1 to MR-J2S-40CL1
MR-J2S-200CL MR-J2S-350CL SF1253 57 1.37 (1.65)
MR-J2S-500CL (Note) HF-3040A-TM 1.5 5.5 (12.13)
MR-J2S-700CL (Note) HF-3050A-TM 1.5 6.7 (14.77)
Note. Soshin Electric. A surge protector is separately required to use any of these EMC filters. (Refer to the EMC Installation
Guidelines.)

(2) Connection example

EMC filter EMC filter
(SF1252, SF1253) Servo amplifier (SOSHIN Electric Co., Ltd) Servo amplifier
NFB LINE LOAD MC NFB MC
L1 L1 L1 1 4 L1
(Note 1) (Note 1)
Power L2 L2 L2 Power 2 5 L2
supply supply
L3 L3 L3 3 6 L3
(Note 2)
L11 E L11
L21 L21

1 Surge protector 1
(RAV-781BYZ-2)
2
(OKAYA Electric Industries
3 Co., Ltd.)

1 2 3 Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.
2. Connect when the power supply has earth.

14 - 46

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(3) Outline drawing

(a) EMC filter
[Unit: mm(in)]
SF1252 SF1253
149.5(5.886) 6.0(0.236) 209.5(8.248) 6.0(0.236)

L1
L2 LINE L1
L2 LINE
L3 L3
(input side) (input side)
LINE

LINE
168.0(6.614)

140.0(5.512)

156.0(6.142)
140.0(5.512)
156.0(6.142)

168.0(6.614)
LABEL

LABEL
LOAD

LOAD
L1'
L2' LOAD L1'
L2' LOAD
L3'
(output side) L3'
(output side)

8.5 16.0(0.63) 8.5 23.0(0.906)

(0.335) 42.0 (0.335) 49.0
(1.654) (1.929)

HF3040-TM HF3050A-TM
6-K

3-L 3-L
1

2
1
2
G

D
E
F

J 2
C 1 C 1
B 2 H 2
A 5

Dimensions [mm(in)]
Model
A B C D E F G H J K L M
260 210 85 155 140 125 44 140 70
HF3040A-TM M5 M4
(10.23) (8.27) (3.35) (6.10) (5.51) (4.92) (1.73) (5.51) (2.76) R3.25,
290 240 100 190 175 160 44 170 100 length 8
HF3050A-TM M6 M4
(11.42) (9.45) (3.94) (7.48) (6.89) (6.30) (1.73) (5.51) (3.94)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge protector

RAV-781BYZ-2 [Unit: mm]

1) 2) 3)
Black Black Black

5.5 1

11 1
4.2 0.2

28.5 1.0

UL-1015AWG16
30
0
200

1 2 3

4.5 0.5
28 1.0

41 1.0

RAV-781BXZ-4 [Unit: mm]

1) 2) 3) 4)
5.5 1

11 1

4.2 0.2
28.5 1.0

UL-1015AWG16
30
0
200

1 2 3
4.5 0.5
28 1.0

41 1.0

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 14. OPTIONS AND AUXILIARY EQUIPMENT

14.2.9 Setting potentiometers for analog inputs

The following variable resistors are available for use with analog inputs.
(1) Single-revolution type
WA2WYA2SEBK2K (Japan Resistor make)
Resistance Dielectric strength Insulation Mechanical
Rated power Resistance Rotary torque
tolerance (for 1 minute) resistance rotary angle
2W 2k 10% 700V A.C 100M or more 300 5 10 to 100g-cm or less

Connection diagram Outline dimension drawing Panel hole machining diagram

[Unit: mm (in)] [Unit: mm (in)]
20 (0.79) 25 (0.98) 30 (1.18)
3.6 (0.14) hole

6 (0.24) hole
10 (0.39) 2.8 (0.11)
2.5 (0.10)

12 (0.47)
1.6 (0.06) 10 (0.37) hole

12 (0.47)
1 2 3 M9 0.75 (0.03)

8)
.9
(0
5 3
R2
(0.08)
3- 1.54 (0.56) hole

1 30 30 3
2

(2) Multi-revolution type

Position meter: RRS10M202 (Japan Resistor make)
Analog dial: 23M (Japan Resistor make)
Resistance Dielectric strength Insulation Mechanical
Rated power Resistance Rotary torque
tolerance (for 1 minute) resistance rotary angle
10
1W 2k 10% 700V A.C 1000M or more 3600 100g-cm or less
0

Connection diagram Panel hole machining diagram

1 3 [Unit: mm (in)]
Panel thickness: 2 to 6 (0.08 to 0.24)

CW
9.5 (0.37)

2
9 (0.35) hole

2.1 (0.08) hole

Outline dimension drawing

RRS10 M202 23M
[Unit: mm (in)] [Unit: mm (in)]
1) 15 (0.59) 12.5 (0.49)
2) 30 3)
2) 1) 3)
22.7 (0.89)
6(0.24)

M9 0.75 (0.03)
(0.37)
(0.04)

9.5
1.0
(0.24)
6

12 (0.47) 6 (0.24)
1.2
(0.05) 20.5
7.5 (0.81)
L (0.3) 23 (0.91)

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 14. OPTIONS AND AUXILIARY EQUIPMENT

MEMO

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 15. COMMUNICATION FUNCTIONS

15. COMMUNICATION FUNCTIONS

This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be
used to perform servo operation, parameter changing, monitor function, etc.
However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-
422 and RS-232C with parameter No.16. (Refer to section 15.2.2.)

15.1 Configuration

15.1.1 RS-422 configuration

(1) Outline
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Servo amplifier Servo amplifier Servo amplifier
MITSUBISHI MITSUBISHI MITSUBISHI

Controller such as
personal computer

CHARGE CHARGE CHARGE

To CN3 To CN3 To CN3

RS-232C/ Axis 1 (Station 0) Axis 2 (Station 1) Axis 32 (Station 31)

RS-422
converter RS-422
Unavailable as option.
To be prepared by customer.

(2) Cable connection diagram

Wire as shown below.
(Note 3) 30m (98.4ft) or less (Note 1)
(Note 1) (Note 1) Axis 32 (last axis)
Axis 1 servo amplifier Axis 2 servo amplifier servo amplifier
CN3 connector CN3 connector CN3 connector
Plate SD Plate SD Plate SD
9 SDP 9 SDP 9 SDP
19 SDN 19 SDN 19 SDN
5 RDP 5 RDP 5 RDP
15 RDN 15 RDN 15 RDN
10 TRE 10 TRE 10 TRE (Note 2)
11 LG 11 LG 11 LG
1 LG 1 LG 1 LG
RS-422
output unit
RDP
RDN
SDP
SDN
GND
GND

Note 1. Connector set MR-J2CN1 (3M)

Connector: 10120-3000PE
Shell kit: 10320-52F0-008
2. In the last axis, connect TRE and RDN.
3. 30m (98.4ft) or less in environment of little noise.

15 - 1

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 15. COMMUNICATION FUNCTIONS

15.1.2 RS-232C configuration

(1) Outline
A single axis of servo amplifier is operated.
Servo amplifier
MITSUBISHI

CHARGE

To CN3

RS-232C
Controller such as
personal computer

(2) Cable connection diagram

Wire as shown below. The communication cable for connection with the personal computer (MR-
CPCATCBL3M) is available. (Refer to section 14.1.4.)
(Note 1)
Personal computer (Note 2) 15m (49.2ft) or less
Servo amplifier
connector D-SUB9 (socket)
CN3 connector

Plate FG
TXD 3 2 RXD
1 GND
RXD 2 12 TXD
GND 5 11 GND
RTS 7
CTS 8
DSR 6
DTR 4

Note 1. Connector set MR-J2CN1 (3M)

Connector: 10120-6000EL
Shell kit: 10320-3210-000
2. 15m (49.2ft) or less in environment of little noise. However, this distance should be 3m (9.84ft) or less for use at
38400bps or more baud rate.

15 - 2

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 15. COMMUNICATION FUNCTIONS

15.2 Communication specifications

15.2.1 Communication overview

This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this
instruction (e.g. personal computer) is called a master station and the device which sends a reply in
response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the
master station repeatedly commands the slave station to send data.

Item Description
Baud rate 9600/19200/38400/57600 asynchronous system
Start bit : 1 bit
Data bit : 8 bits
Transfer code
Parity bit : 1 bit (even)
Stop bit : 1 bit
Transfer protocol Character system, half-duplex communication system

(LSB) (MSB)

Next
Start 0 1 2 3 4 5 6 7 Parity Stop start

Data

1 frame (11bits)

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 15. COMMUNICATION FUNCTIONS

15.2.2 Parameter setting

When the RS-422/RS-232C communication function is used to operate the servo, set the communication
specifications of the servo amplifier in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on
again.

(1) Serial communication baud rate

Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
Parameter No. 16

Communication baud rate

0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]

(2) Serial communication selection

Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.
Parameter No. 16

Serial communication standard selection

0: RS-232C used
1: RS-422 used

(3) Serial communication response delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it
sends back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.
Parameter No. 16

Serial communication response delay time

0: Invalid
1: Valid, reply sent in 800 s or more

(4) Station number setting

Set the station number of the servo amplifier in parameter No. 15. The setting range is stations 0 to
31.

(5) Protocol station number selection

When communication is made without setting station numbers to servo amplifiers, choose "no station
numbers" in parameter No. 57. The communication protocol will be free of station numbers.
Parameter No. 57

Protocol station number selection

0: With station numbers
1: No station numbers

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 15. COMMUNICATION FUNCTIONS

15.3 Protocol

POINT
Whether station number setting will be made or not must be selected if
the RS-232C communication function is used. Note that choosing "no
station numbers" in parameter No. 57 will make the communication
protocol free of station numbers.

Since up to 32 axes may be connected to the bus, add a station number or group to the command, data
No., etc. to determine the destination servo amplifier of data communication. Set the station number to
each servo amplifier using the parameter and set the group to each station using the communication
command. Transmission data is valid for the servo amplifier of the specified station number or group.
When "*" is set as the station number added to the transmission data, the transmission data is made
valid for all servo amplifiers connected. However, when return data is required from the servo amplifier
in response to the transmission data, set "0" to the station number of the servo amplifier which must
provide the return data.

(1) Transmission of data from the controller to the servo

10 frames (data)
Command

S S E
Controller side Data Check Station number
O T Data* T
(Master station) No. sum or
H X X
group
Error code

S E
Servo side Station number Check
T T
(Slave station) or sum
X X
group

6 frames
Positive response: Error code A
Negative response: Error code other than A

(2) Transmission of data request from the controller to the servo

10 frames
Command

S S E
Data Check Station number
Controller side O T T
No. sum or
(Master station) H X X
group
Error code

S E
Station number Check
Servo side T Data* T
or sum
(Slave station) X X
group

6 frames (data)

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 15. COMMUNICATION FUNCTIONS

(3) Recovery of communication status by time-out

EOT causes the servo to return to
E the receive neutral status.
Controller side O
(Master station) T

Servo side
(Slave station)

(4) Data frames

The data length depends on the command.

Data or Data or 12 frames or 16 frames

4 frames 8 frames

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 15. COMMUNICATION FUNCTIONS

15.4 Character codes

(1) Control codes

Hexadecimal Personal computer terminal key operation
Code name Description
(ASCII code) (General)
SOH 01H start of head ctrl A
STX 02H start of text ctrl B
ETX 03H end of text ctrl C
EOT 04H end of transmission ctrl D

(2) Codes for data

ASCII codes are used.
b8 0 0 0 0 0 0 0 0
b7 0 0 0 0 1 1 1 1
b6 0 0 1 1 0 0 1 1
b5 0 1 0 1 0 1 0 1

b8 to C
b4 b3 b2 b1 0 1 2 3 4 5 6 7
b5 R
0 0 0 0 0 NUL DLE Space 0 @ P ` p
0 0 0 1 1 SOH DC1 ! 1 A Q a q
0 0 1 0 2 STX DC2 “ 2 B R b r
0 0 1 1 3 ETX DC3 # 3 C S c s
0 1 0 0 4 $ 4 D T d t
0 1 0 1 5 % 5 E U e u
0 1 1 0 6 & 6 F V f v
0 1 1 1 7 ‘ 7 G W g w
1 0 0 0 8 ( 8 H X h x
1 0 0 1 9 ) 9 I Y i y
1 0 1 0 10 : J Z j z
1 0 1 1 11 ; K [ k {
1 1 0 0 12 , L l |
1 1 0 1 13 M ] m }
_
1 1 1 0 14 . N ^ n
1 1 1 1 15 / ? O _ o DEL

(3) Station numbers

You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to
specify the stations.
Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F

Station number 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
ASCII code G H I J K L M N O P Q R S T U V
For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1).

(4) Group
Group a b c d e f All group
ASCII code a b c d e f
For example, "61H" is transmitted in hexadecimal for group a.

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 15. COMMUNICATION FUNCTIONS

15.5 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that
data to the master station.
The error code sent in upper case indicates that the servo is normal and the one in lower case indicates
that an alarm occurred.
Error code
Error name Description Remarks
Servo normal Servo alarm
[A] [a] Normal operation Data transmitted was processed properly. Positive response
[B] [b] Parity error Parity error occurred in the transmitted data.
[C] [c] Checksum error Checksum error occurred in the transmitted data.
Character not existing in the specifications was
[D] [d] Character error
transmitted.
Negative response
Command not existing in the specifications was
[E] [e] Command error
transmitted.
Data No. not existing in the specifications was
[F] [f] Data No. error
transmitted.

15.6 Checksum

The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).

Station number (Example)

or
group S E
T [0] [A] [1] [2] [5] [F] T [5] [2]
X X
02H 30H 41H 31H 32H 35H 46H 03H
STX or ETX Check
SOH
30H 41H 31H 32H 35H 46H 03H
152H
Checksum range
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].

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 15. COMMUNICATION FUNCTIONS

15.7 Time-out operation

The master station transmits EOT when the slave station does not start reply operation (STX is not
received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above operation three times. (Communication error)
100ms 100ms 100ms *Time-out
300ms 300ms 300ms 300ms
Message

Message

Message

Message
E E E
Controller
O O O
(Master station)
T T T

Servo
(Slave station)

15.8 Retry operation

When a fault occurs in communication between the master and slave stations, the error code in the
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the
master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A
communication error occurs if the above operation is repeated and results in the error three or more
consecutive times.
*Communication error
Message

Message
Message

Controller
(Master station)

Servo S S S
(Slave station) T T T
X X X

Station number Station number Station number

or or or
group group group

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the
slave station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry operation is performed three times.

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 15. COMMUNICATION FUNCTIONS

15.9 Initialization

After the slave station is switched on, it cannot reply to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after.

(1) 1s or more time has elapsed after the slave station is switched on; and

(2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems.

15.10 Communication procedure example

The following example reads the set value of parameter No.2 "function selection 1" from the servo
amplifier of station 0.

Data item Value Description

Station number 0 Servo amplifier station 0
Command 05 Read command
Data No. 02 Parameter No.2

Axis No. Command Data No.

Start

Data [0] 0 5 STX 02 ETX

Data make-up
[0][0][5] STX [0][2] ETX
Checksum calculation and Checksum 30H 30H 35H 02H 30H 32H 03H FCH
addition

Addition of SOH to make Transmission data SOH 0 05 STX 02 ETX F C 46H 43H
up transmission data
Master station slave station
Data transmission
Master station slave station
Data receive

No
Is there receive data?

Yes No
300ms elapsed?
Yes
No
3 consecutive times?
Master station slave station
Yes Yes
Other than error code
[A] [a]? 100ms after EOT transmission
No
3 consecutive times?
No Error processing
Yes Receive data analysis
Error processing
End

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 15. COMMUNICATION FUNCTIONS

15.11 Command and data No. list

POINT
If the command/data No. is the same, its data may be different from the
interface and drive units and other servo amplifiers.

15.11.1 Read commands

(1) Status display (Command [0][1])

Command Data No. Description Display item Frame length
[0][1] [8][0] Status display data value and Current position 12
[0][1] [8][1] processing information Command position 12
[0][1] [8][2] Command remaining distance 12
[0][1] [8][3] Program No. 12
[0][1] [8][4] Step No. 12
[0][1] [8][5] Cumulative feedback pulses 12
[0][1] [8][6] Servo motor speed 12
[0][1] [8][7] Droop pulses 12
[0][1] [8][8] Override 12
[0][1] [8][9] Torque limit voltage 12
[0][1] [8][A] Regenerative load ratio 12
[0][1] [8][B] Effective load ratio 12
[0][1] [8][C] Peak load ratio 12
[0][1] [8][D] Instantaneous torque 12
[0][1] [8][E] Within one-revolution position 12
[0][1] [8][F] ABS counter 12
[0][1] [9][0] Load inertia moment ratio 12
[0][1] [9][1] Bus voltage 12

(2) Parameter (Command [0][5])

Command Data No. Description Frame length
Current value of each parameter
[0][0] to
[0][5] The decimal equivalent of the data No. value (hexadecimal) corresponds 8
[5][A]
to the parameter number.

(3) External I/O signals (Command [1][2])

Command Data No. Description Frame length
[1][2] [0][0] Input device statuses 8
[1][2] [4][0] External input pin statuses 8
[1][2] [6][0] Statuses of input devices switched on through communication 8
[1][2] [8][0] Output device statuses 8
[1][2] [C][0] External output pin statuses 8

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 15. COMMUNICATION FUNCTIONS

(4) Alarm history (Command [3][3])

Command Data No. Description Alarm occurrence sequence Frame length
[3][3] [1][0] Alarm number in alarm history Most recent alarm 4
[3][3] [1][1] First alarm in past 4
[3][3] [1][2] Second alarm in past 4
[3][3] [1][3] Third alarm in past 4
[3][3] [1][4] Fourth alarm in past 4
[3][3] [1][5] Fifth alarm in past 4
[3][3] [2][0] Alarm occurrence time in alarm Most recent alarm 8
[3][3] [2][1] history First alarm in past 8
[3][3] [2][2] Second alarm in past 8
[3][3] [2][3] Third alarm in past 8
[3][3] [2][4] Fourth alarm in past 8
[3][3] [2][5] Fifth alarm in past 8

(5) Current alarm (Command [0][2] [3][5])

Command Data No. Description Frame length
[0][2] [0][0] Current alarm number 4

Command Data No. Description Status display item Frame length

[3][5] [8][0] Status display data value and Current position 12
[3][5] [8][1] processing information at alarm Command position 12
[3][5] [8][2] occurrence Command remaining distance 12
[3][5] [8][3] Program No. 12
[3][5] [8][4] Step No. 12
[3][5] [8][5] Cumulative feedback pulses 12
[3][5] [8][6] Servo motor speed 12
[3][5] [8][7] Droop pulses 12
[3][5] [8][8] Override 12
[3][5] [8][9] Torque limit voltage 12
[3][5] [8][A] Regenerative load ratio 12
[3][5] [8][B] Effective load ratio 12
[3][5] [8][C] Peak load ratio 12
[3][5] [8][D] Instantaneous torque 12
[3][5] [8][E] Within one-revolution position 12
[3][5] [8][F] ABS counter 12
[3][5] [9][0] Load inertia moment ratio 12
[3][5] [9][1] Bus voltage 12

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 15. COMMUNICATION FUNCTIONS

(6) Current position latch data (Command [6][C])

Command Data No. Description Frame length
[6][C] [0][1] Current position latch data. 8

(7) General-purpose register (Rx) value (Command [6][D])

Command Data No. Description Frame length
[6][D] [0][1] The value of the general-purpose register (R1) 8
[6][D] [0][2] The value of the general-purpose register (R2) 8
[6][D] [0][3] The value of the general-purpose register (R3) 8
[6][D] [0][4] The value of the general-purpose register (R4) 8

(8) General-purpose register (Dx) value (Command [6][E])

Command Data No. Description Frame length
[6][E] [0][1] The value of the general-purpose register (D1) 8
[6][E] [0][2] The value of the general-purpose register (D2) 8
[6][E] [0][3] The value of the general-purpose register (D3) 8
[6][E] [0][4] The value of the general-purpose register (D4) 8

(9) Group setting (Command [1][F])

Command Data No. Description Frame length
[1][F] [0][0] Reading of group setting value 4

(10) Software version (Command [0][2])

Command Data No. Description Frame length
[0][2] [7][0] Software version 16

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 15. COMMUNICATION FUNCTIONS

15.11.2 Write commands

(1) Status display (Command [8][1])

Command Data No. Description Setting range Frame length
[8][1] [0][0] Status display data clear 1EA5 4

(2) Parameter (Command [8][4])

Command Data No. Description Setting range Frame length
Each parameter write Depends on
[0][0] to
[8][4] The decimal equivalent of the data No. value the parameter. 8
[5][A]
(hexadecimal) corresponds to the parameter number.

(3) External I/O signal (Command [9][2])

Command Data No. Description Setting range Frame length
Communication input device signal Refer to
[9][2] [6][0] 8
section 15.12.5

(4) Alarm history (Command [8][2])

Command Data No. Description Setting range Frame length
[8][2] [2][0] Alarm history clear 1EA5 4

(5) Current alarm (Command [8][2])

Command Data No. Description Setting range Frame length
[8][2] [0][0] Alarm reset 1EA5 4

(6) General-purpose register (Rx) value (Command [B][9])

Command Data No. Description Setting range Frame length
[B][9] [0][1] The value of the general-purpose register (R1)
Depends on
[B][9] [0][2] The value of the general-purpose register (R2)
the used 4
[B][9] [0][3] The value of the general-purpose register (R3)
instruction.
[B][9] [0][4] The value of the general-purpose register (R4)

(7) General-purpose register (Dx) value (Command [B][A])

Command Data No. Description Setting range Frame length
[B][A] [0][1] The value of the general-purpose register (D1)
Depends on
[B][A] [0][2] The value of the general-purpose register (D2)
the used 4
[B][A] [0][3] The value of the general-purpose register (D3)
instruction.
[B][A] [0][4] The value of the general-purpose register (D4)

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 15. COMMUNICATION FUNCTIONS

(8) External input signal disable (Command [9][0])

Command Data No. Description Setting range Frame length
Turns off the input devices, external analog input signals
[9][0] [0][0] and pulse train inputs with the exception of EMG, LSP and 1EA5 4
LSN, independently of the external ON/OFF statuses.
[9][0] [0][3] Disables all output devices (DO). 1EA5 4
Enables the disabled input devices (DI), external analog
[9][0] [1][0] input signals and pulse train inputs with the exception of 1EA5 4
EMG, LSP and LSN.
[9][0] [1][3] Enables the disabled output devices (DO). 1EA5 4

(9) Operation mode selection (Command [8][B])

Command Data No. Description Setting range Frame length
Operation mode changing
0000: Exit from test operation mode
0001: Jog operation
[8][B] [0][0] 0000 to 0004 4
0002: Positioning operation
0003: Motor-less operation
0004: Output signal (DO) forced output

(10) Data for test operation mode (Command [9][2] [A][0])

Command Data No. Description Setting range Frame length
Input signal for test operation Refer to
[9][2] [0][0] 8
section 15.12.7
Forced output from signal pin Refer to
[9][2] [A][0] 8
section 15.12.9

Command Data No. Description Setting range Frame length

Writes the speed of the test operation mode (jog operation,
[A][0] [1][0] 0000 to 7FFF 4
positioning operation).
Writes the acceleration/deceleration time constant of the 00000000 to
[A][0] [1][1] 8
test operation mode (jog operation, positioning operation). 7FFFFFFF
Clears the acceleration/deceleration time constant of the
[A][0] [1][2] 1EA5 4
test operation mode (jog operation, positioning operation).
Writes the moving distance (in pulses) of the test operation 80000000 to
[A][0] [1][3] 8
mode (jog operation, positioning operation). 7FFFFFFF
Temporary stop command of the test operation mode (jog
[A][0] [1][5] 1EA5 4
operation, positioning operation)

(11) Group setting (Command [9][F])

Command Data No. Description Setting range Frame length

[9][F] [0][0] Setting of group a to f 4

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 15. COMMUNICATION FUNCTIONS

15.12 Detailed explanations of commands

15.12.1 Data processing

When the master station transmits a command data No. or a command data No. data to a slave
station, the servo amplifier returns a reply or data according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in
decimal, hexadecimal, etc.
Therefore, data must be processed according to the application.
Since whether data must be processed or not and how to process data depend on the monitoring,
parameters, etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.

(1) Processing the read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.

The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.

0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bits length (hexadecimal representation)
(Data conversion is required as indicated in the display type)

Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit

Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.

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 15. COMMUNICATION FUNCTIONS

(2) Writing the processed data

When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.

0
Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit

By way of example, here is described how to process the set data when a value of "15.5" is sent. Since
the decimal point position is the second digit, the decimal point position data is "2". As the data to be
sent is hexadecimal, the decimal data is converted into hexadecimal.
155 9B
Hence, "0200009B" is transmitted.

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 15. COMMUNICATION FUNCTIONS

15.12.2 Status display

(1) Status display data read

When the master station transmits the data No. to the slave station, the slave station sends back the
data value and data processing information.
(a) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to section 15.11.1.
(b) Reply
The slave station sends back the status display data requested.

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit

(2) Status display data clear

The cumulative feedback pulse data of the status display is cleared. Send this command immediately
after reading the status display item. The data of the status display item transmitted is cleared to
zero.
Command Data No. Data
[8][1] [0][0] 1EA5
For example, after sending command [0][1] and data No. [8][0] and receiving the status display data,
send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to
zero.

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 15. COMMUNICATION FUNCTIONS

15.12.3 Parameter

(1) Parameter read

Read the parameter setting.
(a) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No.
Command Data No. Data No. definition
[0][0] to
[0][5] Corresponds to the parameter No.
[5][A]

(b) Reply
The slave station sends back the data and processing information of the requested parameter No.

Data is transferred in hexadecimal.

Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
0 3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Parameter write type
0: Valid after write
1: Valid when power is switched on again after write

Read enable/disable
0: Read enable
1: Read disable

Enable/disable information changes according to the setting of parameter No.19 "parameter write
inhibit". When the enable/disable setting is read disable, ignore the parameter data part and
process it as unreadable.

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 15. COMMUNICATION FUNCTIONS

(2) Parameter write

POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEP-
ROM. The EEP-ROM has a limitation in the number of write times and
exceeding this limitation causes the servo amplifier to malfunction. Note
that the number of write times to the EEP-ROM is limited to
approximately 100, 000.

Write the parameter setting.

Write the value within the setting range. Refer to section 5.1 for the setting range.
Transmit command [8][4], the data No., and the set data.
The data number is represented in hexadecimal. The decimal value converted from the data number
value corresponds to the parameter number. Refer to (1) (a) in this section.
When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the
decimal point position.
Write the data after making sure that it is within the upper/lower limit value range given in section
5.1.2. Read the parameter data to be written, confirm the decimal point position, and create
transmission data to prevent error occurrence. On completion of write, read the same parameter data
to verify that data has been written correctly.

Command Data No. Set data

[0][0] to
[8][4] See below.
[5][A]

Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower forth digit
5: Lower fifth digit

Write mode
0: Write to EEP-ROM
3: Write to RAM
When the parameter data is changed frequently through communication,
set "3" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

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 15. COMMUNICATION FUNCTIONS

15.12.4 External I/O signal statuses

(1) Reading of input device statuses

Read the statuses of the input devices.
(a) Transmission
Transmit command [1][2] and data No. [0][0].
Command Data No.
[1][2] [0][0]

(b) Reply
The slave station sends back the statuses of the input pins.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit Signal name bit Signal name bit Signal name

0 Servo-on (SON) 12 Reverse rotation start (ST2) 24 Temporary stop/restart (STP)
1 Forward rotation stroke limit (LSP) 13 Manual pulse generator
25
2 Reverse rotation stroke limit (LSN) 14 multiplication 1 (TP0)
3 External torque limit selection (TL) 15 Manual pulse generator
26
4 Internal torque limit selection (TL2) 16 Forced stop (EMG) multiplication 2 (TP1)
5 Proportion control selection (PC) 17 Automatic/manual selection (MD0) 27 Gain switch (CDP)
6 Reset (RES) 18 Proximity dog (DOG) 28
7 19 Program No. selection 1 (DI0) 29 Program input 1 (PI1)
8 20 Program No. selection 2 (DI1) 30 Program input 2 (PI2)
9 21 Program No. selection 3 (DI2) 31 Program input 3 (PI3)
10 Current position latch input (LPS) 22 Program No. selection 4 (DI3)
11 Forward rotation start (ST1) 23 Override selection (OVR)

(2) External input pin status read

Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command Data No.
[1][2] [4][0]

(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit External input pin bit External input pin

0 CN1B-16 5 CN1A-8
1 CN1B-17 6 CN1B-7
2 CN1B-15 7 CN1B-8
3 CN1B-5 8 CN1B-9
4 CN1B-14 9 CN1A-19

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 15. COMMUNICATION FUNCTIONS

(3) Read of the statuses of input devices switched on through communication

Read the ON/OFF statuses of the input devices switched on through communication.
(a) Transmission
Transmit command [1][2] and data No. [6][0].
Command Data No.
[1][2] [6][0]

(b) Reply
The slave station sends back the statuses of the input pins.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit Signal name bit Signal name bit Signal name

0 Servo-on (SON) 12 Reverse rotation start (ST2) 24 Temporary stop/restart (STP)
1 Forward rotation stroke limit (LSP) 13 Manual pulse generator
25
2 Reverse rotation stroke limit (LSN) 14 multiplication 1 (TP0)
3 External torque limit selection (TL) 15 Manual pulse generator
26
4 Internal torque limit selection (TL2) 16 Forced stop (EMG) multiplication 2 (TP1)
5 Proportion control selection (PC) 17 Automatic/manual selection (MD0) 27 Gain switch (CDP)
6 Reset (RES) 18 Proximity dog (DOG) 28
7 19 Program No. selection 1 (DI0) 29 Program input 1 (PI1)
8 20 Program No. selection 2 (DI1) 30 Program input 2 (PI2)
9 21 Program No. selection 3 (DI2) 31 Program input 3 (PI3)
10 Current position latch input (LPS) 22 Program No. selection 4 (DI3)
11 Forward rotation start (ST1) 23 Override selection (OVR)

(4) External output pin status read

Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command Data No.
[1][2] [C][0]

(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit External output pin bit External output pin

0 CN1A-19 5 CN1B-18
1 CN1A-18 6 CN1A-14
2 CN1B-19
3 CN1B-6
4 CN1B-4

15 - 22

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 15. COMMUNICATION FUNCTIONS

(5) Read of the statuses of output devices

Read the ON/OFF statuses of the output devices.
(a) Transmission
Transmit command [1][2] and data No. [8][0].
Command Data No.
[1][2] [8][0]

(b) Reply
The slave station sends back the statuses of the output devices.
b31 b1 b0
1:ON
0:OFF

Command of each bit is transmitted to the master

station as hexadecimal data.

bit Signal name bit Signal name bit Signal name

0 Ready (RD) 10 Electromagnetic brake (MBR) 19 Temporary stop (PUS)
1 11 Dynamic brake interlock (DBR) 20 Program output 1 (OUT1)
2 12 21 Program output 2 (OUT2)
3 Limiting torque (TLC) 13 22 Program output 3 (OUT3)
4 14 23 SYNC Synchronous output (SOUT)
5 15 Battery warning (BWNG) 24 Movement complete (PED)
6 16 25
7 Warning (WNG) Home position return completion 26
17
8 Trouble (ALM) (ZP) 27
9 18 Position range (POT) 28

15.12.5 Input devices ON/OFF

POINT
The ON/OFF states of all devices in the servo amplifier are the states of
the data received last. Hence, when there is a device which must be kept
ON, send data which turns that device ON every time.

Each input device can be switched on/off. However, when the device to be switched off exists in the
external input signal, also switch off that input signal.
Send command [9][2], data No. [6][0] and data.
Command Data No. Set data
[9][2] [6][0] See below.
b31 b1 b0
1:ON
0:OFF

Command of each bit is transmitted to the slave

station as hexadecimal data.

bit Signal name bit Signal name bit Signal name

0 Servo-on (SON) 12 Reverse rotation start (ST2) 24 Temporary stop/restart (STP)
1 Forward rotation stroke limit (LSP) 13 Manual pulse generator
25
2 Reverse rotation stroke limit (LSN) 14 multiplication 1 (TP0)
3 External torque limit selection (TL) 15 Manual pulse generator
26
4 Internal torque limit selection (TL2) 16 Forced stop (EMG) multiplication 2 (TP1)
5 Proportion control selection (PC) 17 Automatic/manual selection (MD0) 27 Gain switch (CDP)
6 Reset (RES) 18 Proximity dog (DOG) 28
7 19 Program No. selection 1 (DI0) 29 Program input 1 (PI1)
8 20 Program No. selection 2 (DI1) 30 Program input 2 (PI2)
9 21 Program No. selection 3 (DI2) 31 Program input 3 (PI3)
10 Current position latch input (LPS) 22 Program No. selection 4 (DI3)
11 Forward rotation start (ST1) 23 Override selection (OVR)

15 - 23

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 15. COMMUNICATION FUNCTIONS

15.12.6 Disable/enable of I/O devices (DIO)

Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input
signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be
disabled.

Signal Status
Input devices (DI) OFF
External analog input signals 0V
Pulse train inputs None

(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs with
the exception of EMG, LSP and LSN.
Transmit the following communication commands.

(a) Disable
Command Data No. Data
[9][0] [0][0] 1EA5

(b) Enable
Command Data No. Data
[9][0] [1][0] 1EA5

(2) Disabling/enabling the output devices (DO).

Transmit the following communication commands.

(a) Disable
Command Data No. Data
[9][0] [0][3] 1EA5

(b) Enable
Command Data No. Data
[9][0] [1][3] 1EA5

15 - 24

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 15. COMMUNICATION FUNCTIONS

15.12.7 Input devices ON/OFF (test operation)

Each input devices can be turned on/off for test operation. when the device to be switched off exists in the
external input signal, also switch off that input signal.
Send command [9] [2], data No. [0] [0] and data.

Command Data No. Set data

[9][2] [0][0] See below
b31 b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the slave
station as hexadecimal data.

bit Signal name bit Signal name bit Signal name

0 Servo-on (SON) 12 Reverse rotation start (ST2) 24 Temporary stop/restart (STP)
1 Forward rotation stroke limit (LSP) 13 Manual pulse generator
25
2 Reverse rotation stroke limit (LSN) 14 multiplication 1 (TP0)
3 External torque limit selection (TL) 15 Manual pulse generator
26
4 Internal torque limit selection (TL2) 16 Forced stop (EMG) multiplication 2 (TP1)
5 Proportion control selection (PC) 17 Automatic/manual selection (MD0) 27 Gain switch (CDP)
6 Reset (RES) 18 Proximity dog (DOG) 28
7 19 Program No. selection 1 (DI0) 29 Program input 1 (PI1)
8 20 Program No. selection 2 (DI1) 30 Program input 2 (PI2)
9 21 Program No. selection 3 (DI2) 31 Program input 3 (PI3)
10 Current position latch input (LPS) 22 Program No. selection 4 (DI3)
11 Forward rotation start (ST1) 23 Override selection (OVR)

15 - 25

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 15. COMMUNICATION FUNCTIONS

15.12.8 Test operation mode

(1) Instructions for test operation mode

The test operation mode must be executed in the following procedure. If communication is interrupted
for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a
stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the
status display.

(a) Execution of test operation

1) Turn off all input devices.

2) Disable the input devices.

Command Data No. Data

[9][0] [0][0] 1EA5

3) Choose the test operation mode.

Command Data No. Transmission data Selection of test operation mode

[8][B] [0][0] 0000 Test operation mode cancel
[8][B] [0][0] 0001 Jog operation
[8][B] [0][0] 0002 Positioning operation
[8][B] [0][0] 0003 Motor-less operation
[8][B] [0][0] 0004 DO forced output

4) Set the data needed for test operation.

5) Start.

6) Continue communication using the status display or other command.

(b) Termination of test operation

To terminate the test operation mode, complete the corresponding operation and.

1) Clear the test operation acceleration/deceleration time constant.

Command Data No. Data

[A][0] [1][2] 1EA5

2) Cancel the test operation mode.

Command Data No. Data

[8][B] [0][0] 0000

3) Enable the disabled input devices.

Command Data No. Data

[9][0] [1][0] 1EA5

15 - 26

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 15. COMMUNICATION FUNCTIONS

(2) Jog operation

Transmit the following communication commands.

(a) Setting of jog operation data

Item Command Data No. Data
Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal.
Acceleration/deceleration time Write the acceleration/deceleration time constant [ms] in
[A][0] [1][1]
constant hexadecimal.

(b) Start
Turn on the input devices SON LSP LSN and ST1/ST2 by using command [9][2] data No.
[0][0].

Item Command Data No. Data

Forward rotation start [9][2] [0][0] 00000807: Turns on SON LSP LSN and ST1.
Reverse rotation start [9][2] [0][0] 00001007: Turns on SON LSP LSN and ST2.
Stop [9][2] [0][0] 00000007: Turns on SON LSP and LSN.

(3) Positioning operation

Transmit the following communication commands.

(a) Setting of positioning operation data

Item Command Data No. Data
Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal.
Acceleration/deceleration time Write the acceleration/deceleration time constant [ms] in
[A][0] [1][1]
constant hexadecimal.
Moving distance [A][0] [1][3] Write the moving distance [pulse] in hexadecimal.

(b) Input of servo-on stroke end

Turn on the input devices SON LSP and LSN by using command [9][2] data No. [0][0].

Item Command Data No. Data

Servo-on [9][2] [0][0] 00000001: Turns on SON.
Servo OFF
[9][2] [0][0] 00000006: Turns off SON and turns on LSP LSN.
Stroke end ON
Servo-on
[9][2] [0][0] Turns on SON LSP LSN.
Stroke end ON

15 - 27

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 15. COMMUNICATION FUNCTIONS

(c) Start of positioning operation

Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON) and
forward/reverse rotation stroke end (LSP LSN), and then send the moving distance to start
positioning operation. After that, positioning operation will start every time the moving distance is
transmitted. To start opposite rotation, send the moving distance of a negative value.
When the servo-on (SON) and forward/reverse rotation stroke end (LSP LSN) are off, the
transmission of the moving distance is invalid. Therefore, positioning operation will not start if the
servo-on (SON) and forward/reverse rotation stroke end (LSP LSN) are turned on after the setting
of the moving distance.

(d) Temporary stop

A temporary stop can be made during positioning operation.
Command Data No. Data
[A][0] [1][5] 1EA5

Retransmit the same communication commands as at the start time to resume operation.
To stop positioning operation after a temporary stop, retransmit the temporary stop
communication command. The remaining moving distance is then cleared.

15 - 28

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 15. COMMUNICATION FUNCTIONS

15.12.9 Output signal pin ON/OFF output signal (DO) forced output

In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.

(1) Choosing DO forced output in test operation mode

Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.

0 0 0 4
Selection of test operation mode
4: DO forced output (output signal forced output)

(2) External output signal ON/OFF

Transmit the following communication commands.

Command Data No. Setting data

[9][2] [A][0] See below.

b31 b1 b0
1: ON
0: OFF
Command of each bit is sent to the slave station in hexadecimal.

bit External output pin bit External output pin bit External output pin bit External output pin
0 CN1A-19 8 16 24
1 CN1A-18 9 17 25
2 CN1B-19 10 18 26
3 CN1B-6 11 19 27
4 CN1B-4 12 20 28
5 CN1B-18 13 21 29
6 CN1A-14 14 22 30
7 15 23 31

15 - 29

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 15. COMMUNICATION FUNCTIONS

15.12.10 Alarm history

(1) Alarm No. read

Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No.0 (last
alarm) to No.5 (sixth alarm in the past) are read.
(a) Transmission
Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 15.11.1.

(b) Reply
The alarm No. corresponding to the data No. is provided.

0 0
Alarm No. is transferred in decimal.

For example, "0032" means AL.32 and "00FF" AL._ (no alarm).

(2) Alarm occurrence time read

Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time
beginning with operation start, with the minute unit omitted.
(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to section 15.11.1.

(b) Reply

The alarm occurrence time is transferred in decimal.

Hexadecimal must be converted into decimal.

For example, data [0][1][F][5] indicates that the alarm occurred 501 hours after start of operation.

(3) Alarm history clear

Erase the alarm history.
Send command [8][2] and data No. [2][0].
Command Data No. Data
[8][2] [2][0] 1EA5

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 15. COMMUNICATION FUNCTIONS

15.12.11 Current alarm

(1) Current alarm read

Read the alarm No. which is occurring currently.
(a) Transmission
Send command [0][2] and data No. [0][0].
Command Data No.
[0][2] [0][0]

(b) Reply
The slave station sends back the alarm currently occurring.

0 0
Alarm No. is transferred in decimal.

For example, "0032" means AL.32 and "00FF" AL._ (no alarm).

(2) Read of the status display at alarm occurrence

Read the status display data at alarm occurrence. When the data No. corresponding to the status
display item is transmitted, the data value and data processing information are sent back.
(a) Transmission
Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to
be read. Refer to section 15.11.1.

(b) Reply
The slave station sends back the requested status display data at alarm occurrence.

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
0: Conversion into decimal required
1: Used unchanged in hexadecimal

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit

(3) Current alarm clear

As by the entry of the Reset (RES), reset the servo amplifier alarm to make the servo amplifier ready
to operate. After removing the cause of the alarm, reset the alarm with no command entered.
(a) Transmission
Command Data No. Data
[8][2] [0][0] 1EA5

15 - 31

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 15. COMMUNICATION FUNCTIONS

15.12.12 Current position latch data

Read the current position latch data. When the data No. is transmitted, the data value and data
processing information are sent back.

(1) Transmission
Send command [6][C] and data No. [0][1] to be read.

(2) Reply
The slave station sends back. (Current position latch data.)

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
0: Conversion into decimal required
1: Used unchanged in hexadecimal

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit

15 - 32

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 15. COMMUNICATION FUNCTIONS

15.12.13 General-purpose register

(1) General-purpose register (Rx) read

Read the general-purpose register (Rx) value stored in the EEP-ROM.
(a) Transmission
Transmit command [6][D] and any of data No. [0][1] to [0][4] corresponding to the general-purpose
register (Rx) to be read. Refer to section 15.11.1.

(b) Reply
The slave station sends back the position data of the requested the value of the general-purpose
register (Rx).

The alarm occurrence time is transferred in decimal.

Hexadecimal must be converted into decimal.

(2) General-purpose register (Dx) read

Read the general-purpose register (Dx) value stored in the RAM.
(a) Transmission
Transmit command [6][E] and any of data No. [0][1] to [0][4] corresponding to the general-purpose
register (Dx) to be read. Refer to section 15.11.1.

(b) Reply
The slave station sends back the position data of the requested the value of the general-purpose
register (Dx).

The alarm occurrence time is transferred in decimal.

Hexadecimal must be converted into decimal.

15 - 33

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 15. COMMUNICATION FUNCTIONS

(3) General-purpose register (Rx) write

Write the value of the general-purpose register (Rx).
Write the value within the setting range. Refer to section 4.2.2 (1) for the setting range.
Transmit command [B][9], the data No., and setting value. Data to be written is hexadecimal.

Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower forth digit
5: Lower fifth digit

Write mode
0: Write to EEP-ROM
3: Write to RAM
When the parameter data is changed frequently through communication,
set "3" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

(4) General-purpose register (Dx) write

Write the value of the general-purpose register (Dx) to the RAM.
Write the value within the setting range. Refer to section 4.2.2 (1) for the setting range.
Transmit command [B][A], the data No., and setting value. Data to be written is hexadecimal.

Data is transferred in hexadecimal.

15 - 34

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 15. COMMUNICATION FUNCTIONS

15.12.14 Servo amplifier group designation

With group setting made to the slave stations, data can be transmitted simultaneously to two or more
slave stations set as a group through RS-422 communication.

(1) Group setting write

Write the group designation value to the slave station.
(a) Transmission
Transmit command [9][F], data No. [0][0] and data.
Command Data No. Data
[9][F] [0][0] See below.

0 0
Group designation
0: No group designation
1: Group a
2: Group b
3: Group c
4: Group d
5: Group e
6: Group f
Response command enable
Set whether data can be sent back or not in
response to the read command of the master station.
0: Response disable
Data cannot be set back.
1: Response enable
Data can be set back.

(2) Group setting read

Read the set group designation value from the slave station.
(a) Transmission
Transmit command [1][F] and data No. [0][0].
Command Data No.
[1][F] [0][0]

(b) Reply
The slave station sends back the group setting requested.

0 0
Group designation
0: No group designation
1: Group a
2: Group b
3: Group c
4: Group d
5: Group e
6: Group f
Response command enable
0: Response disable
1: Response enable

15 - 35

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 15. COMMUNICATION FUNCTIONS

15.12.15 Software version

Reads the software version of the servo amplifier.

(a) Transmission
Send command [0] [2] and data No. [7] [0].
Command Data No.
[0][2] [7][0]

(b) Reply
The slave station returns the software version requested.

Space Software version (15 digits)

15 - 36

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 APPENDIX

Instantaneously Effective load Peak load ratio

occurring torque torque

Effective value Peak hold

calculation

Cumulative Servo motor

App 1. Status indication block diagram

command pulse Droop pulse speed Bus voltage

Electronic gear
CMX Position Speed Current
Command generator PWM M Servo motor
CDV control control control

App - 1
Speed feedback
Absolute
Auto position
tuning section encoder

Cumulative Within one- Low

feedback pulse revolution position High ABS counter
Differential
Within one-
revolution position
Current
position ABS counter
calculation

Load inertia
moment ratio

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 APPENDIX

App 2. Junction terminal block (MR-TB20) terminal block labels

For CN1A For CN1B

SD

VC OUT1 PED PI1 SG TLA DI1 LSP ALM SD

SON
9 9 9 9

LG VDD DI0 ST1 PI2 P15R COM RST LSN RD

19 ZP 19 19 19
8 8 8 8
18 18 18 18
7 7 7 7
17 17 17 17
6 6 6 6
COM OPC PG

16 16 16 16
DOG SG NG

5 5 5 5
15 15 15 15
4 4 4 4
14 14 14 14
3 3 3 3
13 13 13 13
2 2 2 2
NP P15R

12 12 12 12
1 1 1 1
PP

11 11 11 11
0 0 0 0
LG

10 10 10 10

App - 2

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 APPENDIX

App 3. Combination of servo amplifier and servo motor

The servo amplifier software versions compatible with the servo motors are indicated in the parentheses.
The servo amplifiers whose software versions are not indicated can be used regardless of the versions.

Servo amplifier Servo amplifier

Servo motor Servo motor
(Software version) (Software version)
MR-J2S-10CL HC-RFS103 MR-J2S-200CL
HC-KFS053
MR-J2S-10CL 1 HC-RFS153 MR-J2S-200CL
MR-J2S-10CL HC-RFS203 MR-J2S-350CL
HC-KFS13
MR-J2S-10CL 1 HC-RFS353 MR-J2S-500CL
MR-J2S-20CL HC-RFS503 MR-J2S-500CL
HC-KFS23
MR-J2S-20CL 1 HC-UFS72 MR-J2S-70CL
MR-J2S-40CL HC-UFS152 MR-J2S-200CL
HC-KFS43
MR-J2S-40CL 1 HC-UFS202 MR-J2S-350CL
HC-KFS73 MR-J2S-70CL HC-UFS352 MR-J2S-500CL
MR-J2S-10CL HC-UFS502 MR-J2S-500CL
HC-MFS053
MR-J2S-10CL 1 MR-J2S-10CL
HC-UFS13
MR-J2S-10CL MR-J2S-10CL1
HC-MFS13
MR-J2S-10CL 1 MR-J2S-20CL
HC-UFS23
MR-J2S-20CL MR-J2S-20CL1
HC-MFS23
MR-J2S-20CL 1 MR-J2S-40CL
HC-UFS43
MR-J2S-40CL MR-J2S-40CL1
HC-MFS43
MR-J2S-40CL1 HC-UFS73 MR-J2S-70CL
HC-MFS73 MR-J2S-70CL HC-LFS52 MR-J2S-60CL
HC-SFS81 MR-J2S-100CL HC-LFS102 MR-J2S-100CL
HC-SFS121 MR-J2S-200CL HC-LFS152 MR-J2S-200CL
HC-SFS201 MR-J2S-200CL HC-LFS202 MR-J2S-350CL
HC-SFS301 MR-J2S-350CL HC-LFS302 MR-J2S-500CL
HC-SFS52 MR-J2S-60CL HA-LFS502 MR-J2S-500CL
HC-SFS102 MR-J2S-100CL HA-LFS702 MR-J2S-700CL
HC-SFS152 MR-J2S-200CL
HC-SFS202 MR-J2S-200CL
HC-SFS352 MR-J2S-350CL
HC-SFS502 MR-J2S-500CL
HC-SFS702 MR-J2S-700CL
HC-SFS53 MR-J2S-60CL
HC-SFS103 MR-J2S-100CL
HC-SFS153 MR-J2S-200CL
HC-SFS203 MR-J2S-200CL
HC-SFS353 MR-J2S-350CL

App - 3

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 APPENDIX

App 4. Change of connector sets to the RoHS compatible products

Connector sets (options) in the following table are changed to the RoHS compatible products after
September, 2006 shipment.
Please accept that the current products might be mixed with RoHS compatible products based on
availability.

Model Current Product RoHS Compatible Product

MR-J2CNM Amplifier connector (3M or equivalent) Amplifier connector (3M or equivalent)
MR-J2CN1 10120-3000VE (connector) 10120-3000PE (connector)
MR-J2CNS Amplifier connector (3M or equivalent) Amplifier connector (3M or equivalent)
10120-3000VE (connector) 10120-3000PE (connector)
Encoder connector (DDK) Encoder connector (DDK)
MS3057-12A (Cable clump) D/MS3057-12A (Cable clump)
MS3106B20-29S (Straight plug) D/MS3106B20-29S (Straight plug)
MR-ENCNS Amplifier connector (3M or equivalent) Amplifier connector (3M or equivalent)
10120-3000VE (connector) 10120-3000PE (connector)
MS3106A20-29S (D190) (Plug, DDK) D/MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3 (D265) (Cable clump, DDK) CE3057-12A-3-D (Cable clump, DDK)
CE02-20BS-S (Back shell, DDK) CE02-20BS-S-D (Back shell, DDK)
MR-PWCNS1 Power supply connector (DDK) Power supply connector (DDK)
CE05-6A22-23SD-B-BSS (Connector and back CE05-6A22-23SD-D-BSS (Connector and back
shell) shell)
CE3057-12A-2 (D265) (Cable clump) CE3057-12A-2-D (Cable clump)
MR-PWCNS2 Power supply connector (DDK) Power supply connector (DDK)
CE05-6A24-24SD-B-BSS (Connector and back CE05-6A24-10SD-B-BSS (Connector and back
shell) shell)
CE3057-16A-2 (D265) (Cable clump) CE3057-16A-2-D (Cable clump)
MR-PWCNS3 Power supply connector (DDK) Power supply connector (DDK)
CE05-6A32-17SD-B-BSS (Connector and back CE05-6A32-17SD-D-BSS (Connector and back
shell) shell)
CE3057-20A-1 (D265) (Cable clump) CE3057-20A-1-D (Cable clump)
MR-BKCN Electromagnetic brake connector Electromagnetic brake connector
MS3106A10SL-4S (D190) (Plug, DDK) D/MS3106A10SL-4S (D190) (Plug, DDK)

App - 4

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 REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Jan., 2003 SH(NA)030034-A First edition
Jan., 2004 SH(NA)030034-B Changing “Servo configuration Software” to “MR Configurator (Servo
configuration Software)”.
Safety Instructions 1. To prevent electric shock, note the following: Addition
3. To prevent injury, note the following: Addition
4. Additional instructions
(1) Reexamination
(2) Reexamination
(4) Reexamination
(5) Reexamination of the circuit diagram for
electromagnetic brake operation.
(6) Reexamination
COMPLIANCE WITH EC DIRECTIVES
(3) Changing “IEC664” to “IEC60664-1” in the sentences.
(4) Changing “IEC664” to “IEC60664-1” in the sentences.
Section 1.1.1 Partial modification made to the wiring diagram.
Section 1.2 Addition of inrush current.
Changing “programming” to “program”.
Section 1.7 Addition of notes (3), (4).
Section 3.1 Addition of Note (12) to the connection example.
Section 3.8.3 (2) Addition of CE05-2A32-17PD-B.
Section 3.9 Reexamination of the circuit diagram for electromagnetic
brake operation.
Section 3.9 (3) (a) Reexamination of the timing charts.
Section 4.1.2 Reexamination of the instructions.
Section 4.4.3 (2) Reexamination
Section 4.4.4 (2) Reexamination
Section 4.4.5 (2) Reexamination
Section 4.4.6 (2) Reexamination
Section 4.4.7 (2) Reexamination
Section 4.4.8 (2) Reexamination
Section 4.4.9 (2) Reexamination
Section 5.1.2 (2) Parameter No. 0: Reexamination of the regenerative
option selection.
Parameter No.63: Reexamination of the low-pass filter
selection.
Section 5.2.1 (1) (a) Modification made to the CDV value: “1250”.
Section 6.2 (1) Modification made to the description relevant to
Windows trademark.
Section 6.7.2 Addition of sentences to POINT
Section 6.7.5 Addition of POINT
Section 13.5 Reexamination
Section 14.1.1 (3) Reexamination of the regenerative option selection.
Section 14.1.1 (4) Reexamination
Section 14.1.1 (5) Reexamination of Outline drawing.
Section 14.1.3 (2) Partial change made to the connection example.
Section 14.1.7 Reexamination
Section 14.1.9 Addition of POINT

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 Print Data *Manual Number Revision
Jan., 2004 SH(NA)030034-B Section 14.2.8 (3) Partial change made to the EMC filter HF3040-
TM/HF3050-TM outline drawings.
Mar., 2005 SH(NA)-030034-C COMPLIANCE WITH EC DIRECTIVES:
"1. WHAT ARE EC DIRECTIVES?" Sentence reexamination
Section 1.1.1 (1) MR-J2S-350CL Reexamination of words and note in the
figure.
Section 1.1.1 (2) Addition of the function block diagram for MR-J2S-
500CL, 700CL.
Reexamination of words in the figure.
Section 1.4 (2) Reexamination of CAUTION sentence.
Section 3.1 Partial reexamination of "Standard connection example".
Section 3.2 Internal connection diagram of servo amplifier
Deletion of PG, NG Figure reexamination
Section 3.3.1 (1) Signal arrangement Deletion of PG, NG
(b) Sentence reexamination
Section 3.3.2 (2) Input signal Deletion of PG, NG
Section 3.5 Addition of CAUTION sentence, Sentence
Reexamination
(3) Sentence reexamination
Section 3.7.3 (1) 1) Sentence addition
Section 3.8.3 (1) Changing of AMP name.
Section 3.9 Sentence Reexamination (3) (d), (e) Figure change
Section 3.11 POINT addition (1) Sentence Reexamination
Section 4.4.2 (3) Addition of "ST2" to the timing chart.
Section 4.4.4 (2) Addition of "ST2" to the timing chart.
Section 4.4.5 (2) Addition of "ST2" to the timing chart.
Section 4.4.7 (2) Addition of "ST2" to the timing chart.
Section 4.4.8 (2) Addition of "ST2" to the timing chart.
Section 4.4.9 (2) Addition of "ST2" to the timing chart.
Section 4.5 Addition of CAUTION sentence, Sentence
Reexamination
(5) Reexamination of WARNING sentence.
Section 5.1.2 (2) No. 55 Reexamination of words in the figure.
Section 6.2 (1) Sentence Reexamination
Section 9.4 (1) Sentence Reexamination
Section 11.2.2 Addition and reexamination of CAUTION sentence.
AL. 17, AL. 19 Sentence addition, reexamination
AL. 33 Sentence addition
AL. 46 Sentence reexamination
Section 11.2.3 CAUTION addition
AL. E3 Sentence addition
Section 12.1 (1) to (5) Specification addition of mounting screw.
Section 13.1 Changing of CAUTION sentence.
Section 13.3 Addition of HC-LFS series graph.
Section 14.1.1 (2) b. Figure addition
Section 14.1.1 (4) POINT addition
Section 14.1.1 (4) (a) Sentence reexamination
Section 14.1.1 (4) (b) Sentence reexamination
Section 14.1.1 (5) (c) Partial changing of figure.
Section 14.1.2 (2) Note change
Section 14.1.3 (2) Sentence reexamination Addition of Note 2

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 Print Data *Manual Number Revision
Mar., 2005 SH(NA)-030034-C Section 14.1.4 (1) Sentence reexamination (2)
2) Sentence reexamination
Section 14.1.6 (3) Figure addition
Section 14.2.1 (1) Table 14.2 Sentence reexamination
Section 14.2.3 Addition of MR-J2S- CL.
Changing of values.
Section 14.2.6 (2) Changing of company name.
(d) Sentence reexamination
(e) Connection diagram change
Section 14.2.8 (2) Sentence reexamination
Section 15.11.1 (5) Sentence reexamination in the current alarm chart.
App 2 Addition of "Combination of servo amplifier and servo
motor".
Reexamination of words.
App 5 Reexamination of date and telephone No.
Jan., 2006 SH(NA)-030034-D Safety Instructions 4. (2) Sentence addition
(4) Sentence addition
Section 1.1.1 Correction of error in writing
Section 1.4 (2) Note reexamination
Section 1.6.1 Correction of instructions
Section 1.7 Note reexamination
Chapter 2 CAUTION addition
Section 3.6.2 (2) Correction of error in writing
Section 3.6.2 (3) (b) 2) Addition of descriptions
Section 3.8.3 Change of signal expression
Section 3.9 Addition of CAUTION sentence
Section 3.9 (d) Change of “Servo motor speed” range
Section 3.11.1 Addition of descriptions
Section 4.1.2 (2) (b) Sentence change
Section 4.2.3 (1) (c) Table correction
Section 5.1.2 (2) Note addition of parameter No. 17, No. 30
Section 5.2.4 Sentence change
Section 5.2.4 (2) Note addition
Section 6.7 CAUTION correction
Section 6.7.1 POINT correction
Section 6.7.2 POINT correction
Section 6.7.3 POINT correction
Section 11.2.3 POINT addition
Section 12.1 Correction of error in writing
Section 14.2.6 (2) (d) Change of outline drawing
Jul., 2006 SH(NA)-030034-E Safety Instructions 4. Additional instructions (2) Figure change
Section 1.6.2 Correction of words in CAUTION
Chapter 3 Addition of CAUTION sentence
Section 3.7.2 Addition of sentence in Table
Section 3.7.3 (3) CAUTION addition
Section 3.8.2 CAUTION addition
Section 5.1.2 (2) Correction of description for parameter No.1
Section 5.2.1 Correction of POINT sentence
Section 12.2 (1) (b) Correction of error in dimensions
Section 14.1.1 (2) Correction of formula in Table

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 Print Data *Manual Number Revision
Jul., 2006 SH(NA)-030034-E Section 14.1.7 (2) Correction of signal name for CN3-1 pin
Section 15.12.3 (2) Correction of POINT sentence
Sep., 2007 SH(NA)-030034-F Sefety Instructions 1,2. Sentence change
Section 1.1.1 Note reexamination
Section 1.7 Note reexamination
Chapter 2 WARNING reexamination
Chapter 3 WARNING reexamination
Section 3.6.2 (2) Note addition
Section 3.6.2 (6) Note addition
Section 4.5(5) WARNING reexamination
Chapter 10 WARNING reexamination
Section 11.2.2 AL.20 Cause addition
AL.32 Cause sentence addition
AL.33 Cause 8,9 addition
Section 11.3 Addition of MR-DP60 external digital display error
Chapter 14 WARNING reexamination
Section 14.1.2 Change of "brake unit" to "FR-BU2"
Section 14.1.4 Change of connector models to be compatible with RoHS
Section 14.2.6 (2) (d) Sentence change
Appendix 4 Addition

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 General-Purpose AC Servo

J2-Super Series
Program Compatible
MODEL

MR-J2S- CL

J2-Super Series MR-J2S- CL Servo Amplifier Instruction Manual

SERVO AMPLIFIER
INSTRUCTION MANUAL

MODEL
MODEL
CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

F
This Instruction Manual uses recycled paper.
F

SH (NA) 030034-F (0709) MEE Printed in Japan Specifications subject to change without notice.
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