General-Purpose AC Servo

MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL(POSITIONING MODE)

General-Purpose Interface AC Servo
MODEL

MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)

MR-JE-A
MODEL INSTRUCTIONMANUAL(ITIGIME)
MODEL
CODE 1CW707
C

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

C
SH(NA)030150ENG-C(1708)MEE Printed in Japan Specifications are subject to change without notice.
 Safety Instructions
Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment 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 depending on 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 Instruction Manual, keep it accessible to the operator.

A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp
is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
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, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.

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 smoke or a fire.
Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the
servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo
amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may
cause smoke or a fire when the servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power
supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts
down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker
or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo
amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
When you use a regenerative option with an MR-JE-40A to MR-JE-100A, remove the built-in
regenerative resistor and wiring from the servo amplifier.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

3. To prevent injury, note the following

CAUTION
Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.
Otherwise, an electric shock, fire, injury, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.

A- 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.

(1) Transportation and installation

CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo
amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury,
malfunction, etc. may occur.
Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient Operation 0 °C to 55 °C (non-freezing)
temperature Storage -20 °C to 65 °C (non-freezing)
Ambient Operation
5 %RH to 90 %RH (non-condensing)
humidity Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely
install, mount, and wire the servo motor in accordance with the Instruction Manual.

A- 3
(2) Wiring
CAUTION
Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the
regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier
output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM

Control output RA
Control output RA
signal signal
For sink output interface For source output interface

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected
restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.

(3) Test run and adjustment

CAUTION
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or injury.
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.

A- 4
 CAUTION
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not get close to moving parts during the servo-on status.

(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may
occur. Disassembled, repaired, and/or modified products are not covered under warranty.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric
shock, fire, injury, etc. may occur.
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 incorrect wiring, service life, and mechanical structure (e.g. where a ball screw 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.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A- 5
 CAUTION
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the emergency stop switch.
brake interlock) turns off.

Servo motor
RA

B U 24 V DC

Electromagnetic brake

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,
ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before
switching the power on.

(6) Maintenance, inspection and parts replacement

CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this 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 Instruction Manual.

A- 6
 DISPOSAL OF WASTE
Please dispose a servo amplifier and other options according to your local laws and regulations.

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 may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes
Write to the EEP-ROM due to program changes

Compliance with global standards

For the compliance with global standards, refer to app. 2 of "MR-JE-_A Servo Amplifier Instruction Manual".

«About the manual»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.

Relevant manuals

Manual name Manual No.

MELSERVO MR-JE-_A Servo Amplifier Instruction Manual SH(NA)030128ENG
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU Protocol) SH(NA)030177ENG
MELSERVO-JE Servo amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG
MELSERVO HG-KN_/HG-SN_ Servo Motor Instruction Manual SH(NA)030135ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG

This Instruction Manual does not describe the following items. For the details of the items, refer to each
chapter/section indicated in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier
Instruction Manual".
Item Detailed explanation
Installation MR-JE-_A Chapter 2
Normal gain adjustment MR-JE-_A Chapter 6
Special adjustment functions MR-JE-_A Chapter 7
Dimensions MR-JE-_A Chapter 9
Characteristics MR-JE-_A Chapter 10

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C.

A- 7
«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

A- 8
 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 8

1.1 For proper use of the positioning mode ............................................................................................ 1- 1

1.2 Positioning mode specification list .................................................................................................... 1- 2
1.3 Function list ....................................................................................................................................... 1- 4
1.4 Configuration including peripheral equipment .................................................................................. 1- 7

2. SIGNALS AND WIRING 2- 1 to 2-28

2.1 I/O signal connection example.......................................................................................................... 2- 3

2.2 Connectors and pin assignment ....................................................................................................... 2- 7
2.3 Signal (device) explanations ............................................................................................................ 2-11
2.4 Analog override ................................................................................................................................ 2-23
2.5 Internal connection diagram ............................................................................................................ 2-25
2.6 Power-on sequence ......................................................................................................................... 2-27

3. DISPLAY AND OPERATION SECTIONS 3- 1 to 3-24

3.1 MR-JE-_A ......................................................................................................................................... 3- 1

3.1.1 Display flowchart ........................................................................................................................ 3- 1
3.1.2 Status display mode ................................................................................................................... 3- 3
3.1.3 Diagnostic mode ........................................................................................................................ 3- 8
3.1.4 Alarm mode ............................................................................................................................... 3-11
3.1.5 Point table setting ...................................................................................................................... 3-13
3.1.6 Parameter mode ....................................................................................................................... 3-17
3.1.7 External I/O signal display......................................................................................................... 3-19
3.1.8 Output signal (DO) forced output .............................................................................................. 3-20
3.1.9 Single-step feed ........................................................................................................................ 3-21
3.1.10 Teaching function .................................................................................................................... 3-23

4. HOW TO USE THE POINT TABLE 4- 1 to 4-72

4.1 Startup .............................................................................................................................................. 4- 2

4.1.1 Power on and off procedures ..................................................................................................... 4- 2
4.1.2 Stop ............................................................................................................................................ 4- 3
4.1.3 Test operation ............................................................................................................................ 4- 4
4.1.4 Parameter setting ....................................................................................................................... 4- 5
4.1.5 Point table setting ....................................................................................................................... 4- 6
4.1.6 Actual operation ......................................................................................................................... 4- 6
4.1.7 Troubleshooting at start-up ........................................................................................................ 4- 6
4.2 Automatic operation mode ................................................................................................................ 4- 8
4.2.1 Automatic operation mode ......................................................................................................... 4- 8
4.2.2 Automatic operation using point table ....................................................................................... 4-13
4.3 Manual operation mode ................................................................................................................... 4-43
4.3.1 JOG operation ........................................................................................................................... 4-43
4.3.2 Manual pulse generator operation ............................................................................................ 4-45
4.4 Home position return mode ............................................................................................................. 4-46
4.4.1 Outline of home position return ................................................................................................. 4-47
4.4.2 Dog type home position return .................................................................................................. 4-49

1
 4.4.3 Count type home position return ............................................................................................... 4-51
4.4.4 Data set type home position return ........................................................................................... 4-53
4.4.5 Stopper type home position return ............................................................................................ 4-54
4.4.6 Home position ignorance (servo-on position as home position) ............................................... 4-56
4.4.7 Dog type rear end reference home position return ................................................................... 4-57
4.4.8 Count type front end reference home position return ............................................................... 4-59
4.4.9 Dog cradle type home position return ....................................................................................... 4-61
4.4.10 Dog type last Z-phase reference home position return .......................................................... 4-62
4.4.11 Dog type front end reference home position return type ........................................................ 4-64
4.4.12 Dogless Z-phase reference home position return type ........................................................... 4-66
4.4.13 Automatic retract function used for the home position return ................................................. 4-67
4.4.14 Automatic positioning to home position function..................................................................... 4-68
4.5 Roll feed mode using the roll feed display function ......................................................................... 4-69
4.6 Point table setting method ............................................................................................................... 4-70
4.6.1 Setting procedure ...................................................................................................................... 4-70
4.6.2 Detailed setting window ............................................................................................................ 4-72

5. HOW TO USE THE PROGRAM 5- 1 to 5-68

5.1 Startup .............................................................................................................................................. 5- 1

5.1.1 Power on and off procedures ..................................................................................................... 5- 2
5.1.2 Stop ............................................................................................................................................ 5- 2
5.1.3 Test operation ............................................................................................................................ 5- 3
5.1.4 Parameter setting ....................................................................................................................... 5- 4
5.1.5 Actual operation ......................................................................................................................... 5- 5
5.1.6 Troubleshooting at start-up ........................................................................................................ 5- 5
5.2 Program operation method ............................................................................................................... 5- 6
5.2.1 Program operation method ........................................................................................................ 5- 6
5.2.2 Program language ...................................................................................................................... 5- 7
5.2.3 Basic settings of signals and parameters ................................................................................. 5-30
5.2.4 Timing chart of the program operation ...................................................................................... 5-32
5.3 Manual operation mode ................................................................................................................... 5-34
5.3.1 JOG operation ........................................................................................................................... 5-34
5.3.2 Manual pulse generator operation ............................................................................................ 5-35
5.4 Home position return mode ............................................................................................................. 5-37
5.4.1 Outline of home position return ................................................................................................. 5-37
5.4.2 Dog type home position return .................................................................................................. 5-40
5.4.3 Count type home position return ............................................................................................... 5-42
5.4.4 Data set type home position return ........................................................................................... 5-44
5.4.5 Stopper type home position return ............................................................................................ 5-45
5.4.6 Home position ignorance (servo-on position as home position) ............................................... 5-46
5.4.7 Dog type rear end reference home position return ................................................................... 5-47
5.4.8 Count type front end reference home position return ............................................................... 5-49
5.4.9 Dog cradle type home position return ....................................................................................... 5-51
5.4.10 Dog type last Z-phase reference home position return .......................................................... 5-53
5.4.11 Dog type front end reference home position return type ........................................................ 5-55
5.4.12 Dogless Z-phase reference home position return type ........................................................... 5-57
5.4.13 Automatic retract function used for the home position return ................................................. 5-58
5.5 Serial communication operation ...................................................................................................... 5-59
5.5.1 Positioning operation using the program .................................................................................. 5-59
5.5.2 Multi-drop method (RS-422 communication) ............................................................................ 5-60

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 5.5.3 Group specification ................................................................................................................... 5-61
5.6 Incremental value command method .............................................................................................. 5-63
5.7 Roll feed mode using the roll feed display function ......................................................................... 5-64
5.8 Program setting method .................................................................................................................. 5-65
5.8.1 Setting procedure ...................................................................................................................... 5-65
5.8.2 Window for program edit ........................................................................................................... 5-66
5.8.3 Indirect addressing window ....................................................................................................... 5-67

6. APPLICATION OF FUNCTIONS 6- 1 to 6-62

6.1 Simple cam function.......................................................................................................................... 6- 1

6.1.1 Outline of simple cam function ................................................................................................... 6- 1
6.1.2 Simple cam function block ......................................................................................................... 6- 2
6.1.3 Simple cam specification list ...................................................................................................... 6- 3
6.1.4 Control of simple cam function ................................................................................................... 6- 4
6.1.5 Operation in combination with the simple cam .......................................................................... 6- 5
6.1.6 Setting list ................................................................................................................................... 6- 7
6.1.7 Data to be used with simple cam function ................................................................................. 6- 8
6.1.8 Function block diagram for displaying state of simple cam control .......................................... 6-26
6.1.9 Operation................................................................................................................................... 6-27
6.1.10 Cam No. setting method ......................................................................................................... 6-37
6.1.11 Stop operation of cam control ................................................................................................. 6-38
6.1.12 Restart operation of cam control ............................................................................................. 6-40
6.1.13 Cam axis position at cam control switching ............................................................................ 6-41
6.1.14 Clutch ...................................................................................................................................... 6-48
6.1.15 Cam position compensation target position ............................................................................ 6-50
6.1.16 Cam position compensation time constant ............................................................................. 6-51
6.2 Mark detection ................................................................................................................................. 6-52
6.2.1 Current position latch function .................................................................................................. 6-52
6.2.2 Interrupt positioning function ..................................................................................................... 6-58

7. PARAMETERS 7- 1 to 7-72

7.1 Parameter list .................................................................................................................................... 7- 1

7.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 7- 2
7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 7- 3
7.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 7- 5
7.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 7- 7
7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 7- 9
7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 7-11
7.1.7 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-13
7.2 Detailed list of parameters ............................................................................................................... 7-15
7.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 7-15
7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 7-25
7.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 7-37
7.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 7-47
7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 7-57
7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 7-58
7.2.7 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-60
7.3 How to set the electronic gear ......................................................................................................... 7-69
7.4 Software limit ................................................................................................................................... 7-70

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 7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off 7-71
7.6 Stop method at software limit detection ........................................................................................... 7-72

8. TROUBLESHOOTING 8- 1 to 8- 8

8.1 Explanations of the lists .................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ....................................................................................................................................... 8- 6

9. OPTIONS AND PERIPHERAL EQUIPMENT 9- 1 to 9- 4

9.1 MR-HDP01 manual pulse generator ................................................................................................ 9- 2

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10- 1 to 10-32

10.1 Command and data No. list .......................................................................................................... 10- 1

10.1.1 Reading command ................................................................................................................. 10- 2
10.1.2 Writing commands ................................................................................................................ 10-10
10.2 Detailed explanations of commands ............................................................................................ 10-14
10.2.1 External I/O signal status (DIO diagnosis) ............................................................................ 10-14
10.2.2 Input device on/off ................................................................................................................. 10-19
10.2.3 Input device on/off (for test operation) .................................................................................. 10-20
10.2.4 Test operation mode ............................................................................................................. 10-21
10.2.5 Output signal pin on/off (output signal (DO) forced output) .................................................. 10-23
10.2.6 Point table ............................................................................................................................. 10-24

4
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Combinations of servo amplifiers and servo motors MR-JE-_A section 1.4
Model designation MR-JE-_A section 1.6
Structure (parts identification) MR-JE-_A section 1.7

1.1 For proper use of the positioning mode

(1) Servo amplifier/MR Configurator2

The positioning mode is available with the servo amplifier and MR Configurator2 with the following
software versions.
Product name Model Software version
Servo amplifier MR-JE-_A B7 or later
MR Configurator2 SW1DNC-MRC2-_ 1.37P or later

(2) Parameter setting

(a) Selection of the positioning mode
Select a positioning mode with [Pr. PA01 Operation mode].
[Pr. PA01]

Control mode selection

6: Positioning mode (point table method)
7: Positioning mode (program method)

(b) Positioning control parameters ([Pr. PT_ _ ])

To enable read/write the positioning control parameters ([Pr. PT_ _ ]), set [Pr. PA19 Parameter
writing inhibit] to "0 0 A B".

(c) Assigning recommended input/output devices

Assign recommended input/output devices to the pins of CN1 in accordance with each chapter of
point table/program method.

1- 1
1. FUNCTIONS AND CONFIGURATION

1.2 Positioning mode specification list

Only the specifications of the positioning mode are listed here. For other specifications, refer to section 1.3 of
"MR-JE-A Servo Amplifier Instruction Manual".
Item Description
Servo amplifier model MR-JE-_A
Positioning by specifying the point table No. (31 points when using the communication function, and 15
Command method

Point table
Positioning mode

Operational specifications
points when assigning input signals) (Note 2)
Absolute value Set in the point table.
Position command Setting range of feed length per point: -999999 to 999999 [×10STM μm], -99.9999 to 99.9999 [×10STM
command method inch], -999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]
input Incremental value Set in the point table.
(Note 1) command Setting range of feed length per point: 0 to 999999 [×10STM μm], 0 to 99.9999 [×10STM inch], 0 to 999999
method [pulse], Setting range of rotation angle: 0 to 999.999 [degree]
Set the acceleration/deceleration time constants in the point table.
Speed command input
Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Analog override 0 V DC to ±10 V DC/0% to 200%
Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Position command input (Note 1)

Absolute value

Setting of position command data with RS-422/RS-485 communication

command
RS-422/RS-485 communication

Setting range of feed length per point: -999999 to 999999 [×10STM μm], -99.9999 to 99.9999 [×10STM
Position command data input

method

inch], -999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]
value command

Setting of position command data with RS-422/RS-485 communication

Incremental

Setting range of feed length per point: 0 to 999999 [×10STM μm], 0 to 99.9999 [×10STM inch], 0 to 999999
method

[pulse], Setting range of rotation angle: 0 to 999.999 [degree]

Speed command Selects the rotation speed and acceleration/deceleration time constant through RS-422/RS-485
input communication. Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Program language (program with MR Configurator2)
Program

Operational specifications
Program capacity: 480 steps (16 programs)
Absolute value Set with program language.
Position command Setting range of feed length: -999999 to 999999 [×10STM μm], -99.9999 to 99.9999 [×10STM inch], -
command method 999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]
input Incremental value Set with program language.
(Note 1) command Setting range of feed length: -999999 to 999999 [×10STM μm], -99.9999 to 99.9999 [×10STM inch], -
method 999999 to 999999 [pulse], Setting range of rotation angle: -999.999 to 999.999 [degree]
Set servo motor speed, acceleration/deceleration time constants, and S-pattern
Speed command input acceleration/deceleration time constants with program language.
S-pattern acceleration/deceleration time constants are also settable with [Pr. PC03].
System Signed absolute value command method/signed incremental value command method
Analog override Set with external analog input (0 V DC to ±10 V DC/0% to 200%)
Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

1- 2
1. FUNCTIONS AND CONFIGURATION

Item Description
Each
Automatic operation
mode
Positioning mode
Operation mode

Point table No. input method/position data input method

positioning
Operates each positioning based on position command and speed command.
operation
Point table Automatic
Varying-speed operation (2 to 31 speeds)/automatic continuous positioning operation (2 to 31 points)/
continuous
automatic continuous operation to the point table selected at start/automatic continuous operation to
positioning
point table No. 1.
operation
Program Depends on settings of program language.
JOG Executes a contact input or an inching operation with the RS-422/RS-485 communication function based
Manual operation
mode

operation on speed command set with parameters.

Point
Manual pulse
table/program Manual feeding is executed with a manual pulse generator.
generator
Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.
operation

Returns to home position upon Z-phase pulse after passing through the proximity dog.
Home position return mode

Point table/program

home position address settable/home position shift amount settable/home position return direction
Dog type
selectable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position upon the encoder pulse count after touching the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address
Count type
settable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position without dog.
Data set type
Sets any position as a home position using manual operation, etc./home position address settable
Returns to home position upon hitting the stroke end.
Stopper type
Home position return direction selectable/home position address settable
Home position ignorance
Sets a home position where SON (Servo-on) signal turns on.
(servo-on position as home
Home position address settable
position)
Returns to home position based on the rear end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address
Dog type rear end reference
settable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position based on the front end of the proximity dog.
Count type front end Home position return direction selectable/home position shift amount settable/home position address
reference settable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position upon the first Z-phase pulse based on the front end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address
Dog cradle type
settable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position upon the Z-phase pulse right before the proximity dog based on the front end
of the proximity dog.
Dog type last Z-phase
Home position return direction selectable/home position shift amount settable/home position address
reference
settable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position to the front end of the dog based on the front end of the proximity dog.
Home position return direction selectable/home position shift amount settable/home position address
Dog type front end reference
settable
Automatic retract on dog back to home position/automatic stroke retract function
Returns to home position to the Z-phase pulse with respect to the first Z-phase pulse.
Dogless Z-phase reference Home position return direction selectable/home position shift amount settable/home position address
settable
Automatic positioning to home position
High-speed automatic positioning to a defined home position
function (Note 3)
Absolute position detection/backlash compensation/overtravel prevention with external limit switch
Other functions
(LSP/LSN)/software stroke limit/mark detection function/override

Note 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection].
2. Up to four points of DO are available; therefore, PT0 (Point table No. output 1) to PT4 (Point table No. output 5) cannot be
outputted simultaneously.
3. The automatic positioning to home position function is not available with the program method.

1- 3
1. FUNCTIONS AND CONFIGURATION

1.3 Function list

POINT
The symbols in the control mode column mean as follows.
CP: Positioning mode (point table method)
CL: Positioning mode (program method)

The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field. "MR-JE-_A" means "MR-JE-_ A Servo Amplifier Instruction
Manual".
Control
mode Detailed
Function Description
explanation
CP CL
This function achieves a high response and stable control following the ideal
model. The two-degrees-of-freedom model adaptive control enables you to
Model adaptive control set a response to the command and response to the disturbance separately.
Additionally, this function can be disabled. To disable this function, refer to
section 7.4 of "MR-JE-A_ Servo Amplifier Instruction Manual".
Set 1 to 31 point tables in advance, and select any point table to perform
Positioning mode (point
operation in accordance with the set values. To select point tables, use Chapter 4
table method)
external input signals or communication function.
Set 1 to 16 programs in advance and select any program to perform
Positioning mode
operation in accordance with the programs. To select programs, use Chapter 5
(program method)
external input signals or communication function.
Positions based on specified travel distance from a status display "0" of
Roll feed display function Section 4.5
current/command positions at start.
Current
position When the mark detection signal turns on, the current position is latched. The Section
latch latched data can be read with communication commands. 6.6.2
Mark
function
detection
Interrupt When MSD (Mark detection) turns on, this function converts the remaining
Section
positioning distance to the travel distance set in [Pr. PT30] and [Pr. PT31] (Mark sensor
6.2.3
function stop travel distance).
Dog type/count type/data setting type/stopper type/home position
ignorance/dog type rear end reference/count type front end reference/dog Section 4.4
Home position return
cradle type/dog type last Z-phase reference/dog type Z-phase Section 5.4
reference/dogless Z-phase reference
High-resolution encoder of 131072 pulses/rev is used as the encoder of the
High-resolution encoder
rotary servo motor compatible with the MELSERVO-JE series.
You can switch gains during rotation/stop, and can use input devices to MR-JE-_A
Gain switching function
switch gains during operation. Section 7.2
MR-JE-_A
Advanced vibration
This function suppresses vibration at an arm end or residual vibration. Section
suppression control II
7.1.5
MR-JE-_A
Machine resonance This filter function (notch filter) decreases the gain of the specific frequency
Section
suppression filter to suppress the resonance of the mechanical system.
7.1.1
When a load is mounted to the servo motor shaft, resonance by shaft torsion MR-JE-_A
Shaft resonance
during driving may generate a mechanical vibration at high frequency. The Section
suppression filter
shaft resonance suppression filter suppresses the vibration. 7.1.3
MR-JE-_A
The servo amplifier detects mechanical resonance and sets filter
Adaptive filter II Section
characteristics automatically to suppress mechanical vibration.
7.1.2
MR-JE-_A
Suppresses high-frequency resonance which occurs as the servo system
Low-pass filter Section
response is increased.
7.1.4

1- 4
1. FUNCTIONS AND CONFIGURATION

Control
mode Detailed
Function Description
explanation
CP CL
Analyzes the frequency characteristic of the mechanical system by simply
connecting an MR Configurator2 installed personal computer and the servo
Machine analyzer function
amplifier.
MR Configurator2 is necessary for this function.
For roll feed axis, etc. of which a response level cannot be increased
Robust filter because of the large load to motor inertia ratio, this function improves a [Pr. PE41]
disturbance response.
Slight vibration
Suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
suppression control
[Pr. PA06]
Electronic gear Position commands can be multiplied by 1/864 to 33935.
[Pr. PA07]
Automatically adjusts the gain to optimum value if load applied to the servo MR-JE-_A
Auto tuning
motor shaft varies. Section 6.3
Use a regenerative option when the built-in regenerative resistor of the servo MR-JE-_A
Regenerative option amplifier does not have sufficient regenerative capacity for a large Section
regenerative power generated. 11.2
Alarm history clear Clears alarm histories. [Pr. PC18]
[Pr. PD04]
[Pr. PD12]
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo- [Pr. PD14]
Input signal selection
on) and other input device can be assigned to certain pins of the CN1 [Pr. PD18]
(device settings)
connector. [Pr. PD20]
[Pr. PD44]
[Pr. PD46]
[Pr. PD24]
Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be
[Pr. PD25]
(device settings) assigned to certain pins of the CN1 connector.
[Pr. PD28]
Section
3.1.8
Output signal (DO) forced Turns on/off the output signals forcibly independently of the servo status.
MR-JE-_A
output Use this function for checking output signal wiring, etc.
Section
4.5.8
Command pulse selection Supports only A-phase/B-phase pulse trains. [Pr. PA13]
[Pr. PA11]
Torque limit Limits the servo motor torque.
[Pr. PA12]
Section
Status display Shows servo status on the 5-digit, 7-segment LED display
3.1.2
Section
External I/O signal display Shows on/off statuses of external I/O signals on the display.
3.1.7
If an alarm has occurred, the corresponding alarm number is outputted in 3-
Alarm code output Chapter 8
bit code.
Section
3.1.8
Section
Jog operation/positioning operation/motor-less operation/DO forced
3.1.9
output/program operation/single-step feed
Test operation mode MR-JE-_A
Note that MR Configurator2 is necessary for positioning operation, program
Section
operation, and single-step feed.
4.5.8
Section
4.5.9
[Pr. PC14]
Analog monitor output Outputs servo status with voltage in real time.
[Pr. PC15]
MR-JE-_A
Using a personal computer, you can perform the parameter setting, test
MR Configurator2 Section
operation, monitoring, and others.
11.7
Adjusts gains just by pressing buttons on the servo amplifier or by clicking a MR-JE-_A
One-touch tuning
button on MR Configurator2. Section 6.2

1- 5
1. FUNCTIONS AND CONFIGURATION

Control
mode Detailed
Function Description
explanation
CP CL
This function makes the equipment continue operating even under the
condition that an alarm occurs. MR-JE-_A
Tough drive function
The tough drive function includes two types: the vibration tough drive and Section 7.3
the instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status
transition before and after an alarm for a fixed period of time. You can check
the recorded data on the drive recorder window on MR Configurator2 by
clicking the "Graph" button.
Drive recorder function [Pr. PA23]
However, the drive recorder is not available when:
1. The graph function of MR Configurator2 is being used.
2. The machine analyzer function is being used.
3. [Pr. PF21] is set to "-1".
You can check the cumulative energization time and the number of on/off
times of the inrush relay. This function gives an indication of the replacement
Servo amplifier life
time for parts of the servo amplifier including a capacitor and a relay before
diagnosis function
they malfunction.
MR Configurator2 is necessary for this function.
This function calculates the power running energy and the regenerative
Power monitoring function power from the data in the servo amplifier such as speed and current. Power
consumption and others are displayed on MR Configurator2.
From the data in the servo amplifier, this function estimates the friction and
Machine diagnosis vibrational component of the drive system in the equipment and recognizes
function an error in the machine parts, including a ball screw and bearing.
MR Configurator2 is necessary for this function.
This function improves the response delay occurred when the machine
Lost motion compensation moving direction is reversed. This is used with servo amplifiers with software MR-JE-_A
function version C5 or later. Check the software version of the servo amplifier using Section 7.5
MR Configurator2.
Limits travel intervals using LSP (Forward rotation stroke end) and LSN
Limit switch
(Reverse rotation stroke end).
Enables smooth acceleration and deceleration.
Set S-pattern acceleration/deceleration time constants with [Pr. PC03]. [Pr. PC03]
S-pattern
As compared with linear acceleration/deceleration, the Section
acceleration/deceleration
acceleration/deceleration time will be longer for the S-pattern 5.2.2
acceleration/deceleration time constants regardless of command speed.
Limits travel intervals by address using parameters.
Software limit Section 7.4
Enables the same function with the limit switch by setting parameters.
Limits a servo motor speed with analog inputs.
Analog override Section 2.4
A value can be changed from 0% to 200% for a set speed.
After an operation travels to a target position with a JOG operation or
Section
Teaching function manual pulse generator operation, pushing the SET button of the operation
3.1.10
part or turning on TCH (Teach) will import position data.
This function enables synchronous control by using software instead of
controlling mechanically with cam. This function enables the encoder
Simple cam function Section 6.1
following function, mark sensor input compensation function, synchronous
operation using positioning data, and synchronous interpolation operation.
MR-JE-_A
Servo
The Modbus protocol uses dedicated message frames for the serial
Amplifier
communication between a master and slaves.
Modbus RTU Instruction
Using the functions in the message frames enables to read or write data
communication function Manual
from/to parameters, write input commands, and check operation status of
(Modbus
servo amplifiers.
RTU
Protocol)

1- 6
1. FUNCTIONS AND CONFIGURATION

1.4 Configuration including peripheral equipment

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo

CAUTION amplifier may cause a malfunction.

POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.

(1) MR-JE-100A or less

The diagram shows MR-JE-40A.

RS T
(Note 1)
Power supply
Personal
Molded-case circuit computer
breaker (MCCB) MR Configurator2
CN3

(Note 2)
Magnetic
contactor
(MC)
CN1
Power factor
improving AC
reactor Junction terminal block
(FR-HAL)

Line noise filter

(FR-BSF01)
CN2

L1
L2
L3

U Servo motor
V
W

Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications,
refer to section 1.3 of "MR-JE-_A Servo Amplifier Instruction Manual".
2. Depending on the power supply voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration
during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic
contactor.

1- 7
1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

The diagram shows MR-JE-200A.
(Note 1) RS T
Power
supply
Molded-case
circuit breaker
(MCCB)

Personal
computer
MR Configurator2
(Note 2) CN3
Magnetic
contactor
(MC)

Power factor
improving AC
reactor
(FR-HAL)

Line noise filter

(FR-BSF01)

CN1
L1
L2 Junction terminal block
L3
U
V
W
CN2

Servo motor

Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-200A. For 1-phase 200 V AC
to 240 V AC, connect the power supply to L1 and L2. Leave L3 open. For power supply specifications, refer to section 1.3 of
"MR-JE-_A Servo Amplifier Instruction Manual".
2 Depending on the power supply voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration
during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic
contactor.

1- 8
2. SIGNALS AND WIRING

2. SIGNALS AND WIRING

A 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. Otherwise, an electric shock may occur. In addition, when
confirming whether the charge lamp is off or not, always confirm it from the front
of the servo amplifier.
WARNING Ground the servo amplifier and servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.

Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A,

disconnect the lead wires of the regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other
protective circuits may not operate.
Servo amplifier Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM

Control output RA
Control output RA
signal signal
For sink output interface For source output interface

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

CAUTION Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF)
with the power line of the servo motor.
When using a regenerative resistor, shut the 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.
Connect the servo amplifier power outputs (U/V/W) to the servo motor power
inputs (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise,
it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

2- 1
2. SIGNALS AND WIRING

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo

amplifier may cause a malfunction.
CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Input power supply circuit MR-JE-_A section 3.1
Explanation of power supply system (except for section MR-JE-_A section 3.3
2.6 Power-on sequence)
Detailed explanation of signals MR-JE-_A section 3.6
Forced stop deceleration function MR-JE-_A section 3.7
Alarm occurrence timing chart MR-JE-_A section 3.8
Interface (except for section 2.5 Internal connection) MR-JE-_A section 3.9
Servo motor with an electromagnetic brake MR-JE-_A section 3.10
Grounding MR-JE-_A section 3.11

2- 2
2. SIGNALS AND WIRING

2.1 I/O signal connection example

(1) Point table method

POINT
Assign the following output device to CN1-23 pin with [Pr. PD24].
CN1-23: ZP (Home position return completion)

Servo amplifier
(Note 6)
CN1 24 V DC (Note 4)
46 DOCOM

47 DOCOM (Note 2)
10 m or shorter
(Note 9) (Note 6) 48 ALM RA1 Malfunction (Note 5)
Power supply CN1 Home position
(Note 3) Forced stop 2 EM2 42 23 ZP RA2 return
completion
Servo-on SON 15 24 INP RA3 In-position (Note 11)
(Note 12, 13) Operation mode
selection 1 MD0 10
Forward rotation start ST1 43 49 RD RA4 Ready
Reverse rotation start ST2 44 10 m or shorter
(Note 12, 13) Proximity dog DOG 35
8 LZ Encoder Z-phase pulse
Point table No. selection 1 DI0 19
9 LZR (differential line driver)
Point table No. selection 2 DI1 41
4 LA Encoder A-phase pulse
DICOM 20
5 LAR (differential line driver)
24 V DC (Note 4) DICOM 21
6 LB Encoder B-phase pulse
OPC 12
7 LBR (differential line driver)
Upper VC 2
Analog override 3 LG Control common
±10 V/0 to 200% limit Encoder Z-phase pulse
setting LG 28 33 OP (Open collector)
(Note 7) 34 LG Control common
Upper TLA 27
Analog torque limit Plate SD
limit
+10 V/maximum torque setting
Plate 2 m or shorter
SD
2 m or shorter (Note 6)
CN1
26 MO1 Analog monitor 1
(Note 8) ± 10 V DC
MR Configurator2 30 LG
Personal computer
29 MO2
(Note 10) ± 10 V DC
USB cable CN3 Analog monitor 2
Plate SD
(option)
2 m or shorter

(Note 1)

2- 3
2. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.
300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number
of I/O points. Refer to section 3.9.2 (1) of "MR-JE-_A Servo Amplifier Instruction Manual" that gives the current value
necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for
convenience. However, they can be configured by one.
5. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).
6. The pins with the same signal name are connected in the servo amplifier.
7. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17],
and [Pr. PD19]. (Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual".)
8. Use SW1DNC MRC2-_. (Refer to section 11.4 of "MR-JE-_A Servo Amplifier Instruction Manual".)
9. To prevent an unexpected restart of the servo amplifier, configure a circuit to turn off EM2 when the power is turned off.
10. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used
together.
11. Recommended device assignments are shown. The device can be changed by [Pr. PD24] to [Pr. PD25], and [Pr. PD28].
12. MD0 and DOG are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change
them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.
13. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin
and the CN-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (MD0 and DOG)
are assigned by default.

2- 4
2. SIGNALS AND WIRING

(2) Program method

POINT
Assign the following output device to CN1-23 pin with [Pr. PD24].
CN1-23: ZP (Home position return completion)

Servo amplifier
(Note 6)
CN1 24 V DC (Note 4)
46 DOCOM

47 DOCOM (Note 2)
10 m or shorter
(Note 9) (Note 6) 48 ALM RA1 Malfunction (Note 5)
Power supply CN1 Home position
(Note 3) Forced stop 2 EM2 42 23 ZP RA2 return
completion
Servo-on SON 15 24 INP RA3 In-position (Note 11)
(Note 12, 13) Operation mode
selection 1 MD0 10
Forward rotation start ST1 43 49 RD RA4 Ready
Reverse rotation start ST2 44 10 m or shorter
(Note 12, 13) Proximity dog DOG 35
8 LZ Encoder Z-phase pulse
Program No. selection 1 DI0 19
9 LZR (differential line driver)
Program No. selection 2 DI1 41
4 LA Encoder A-phase pulse
DICOM 20
5 LAR (differential line driver)
24 V DC (Note 4) DICOM 21
6 LB Encoder B-phase pulse
OPC 12
7 LBR (differential line driver)
Upper VC 2 3 LG Control common
Analog override
limit Encoder Z-phase pulse
±10 V/0 to 200% LG 28 33 OP (Open collector)
setting
34 LG Control common
(Note 7) Upper
Analog torque limit TLA 27 Plate SD
limit
+10 V/maximum torque setting
Plate 2 m or shorter
SD
2 m or shorter (Note 6)
CN1
26 MO1 Analog monitor 1
(Note 8) ± 10 V DC
30 LG
MR Configurator2
Personal computer 29 MO2
± 10 V DC
(Note 10)
Analog monitor 2
USB cable CN3 Plate SD
(option)
2 m or shorter

(Note 1)

2- 5
2. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.
300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number
of I/O points. Refer to section 3.9.2 (1) of "MR-JE-_A Servo Amplifier Instruction Manual" that gives the current value
necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for
convenience. However, they can be configured by one.
5. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).
6. The pins with the same signal name are connected in the servo amplifier.
7. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17],
and [Pr. PD19]. (Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual".)
8. Use SW1DNC MRC2-_. (Refer to section 11.4 of "MR-JE-_A Servo Amplifier Instruction Manual".)
9. To prevent an unexpected restart of the servo amplifier, configure a circuit to turn off EM2 when the power is turned off.
10. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used
together.
11. Recommended device assignments are shown. The device can be changed by [Pr. PD24] to [Pr. PD25], and [Pr. PD28].
12. MD0 and DOG are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change
them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.
13. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin
and the CN-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (MD0 and DOG)
are assigned by default.

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2. SIGNALS AND WIRING

2.2 Connectors and pin assignment

POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the CN1 connector, securely connect the external conductor of the shielded
cable to the ground plate and fix it to the connector shell.
Screw

Cable

Screw
Ground plate

PP (CN1-10 pin) /NP (CN1-35 pin) and PP2 (CN1-37 pin) /NP2 (CN1-38 pin)
are exclusive. They cannot be used together.

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2. SIGNALS AND WIRING

The following is the front view of MR-JE-40A or less. For external appearance, connector arrangements, and
details of other servo amplifiers, refer to chapter 9 of "MR-JE-_A Servo Amplifier Instruction Manual".
CN3 (USB connector)
Refer to section 11.4 of
"MR-JE-_A Servo Amplifier Instruction Manual".
CN1

1 26
2 27
3 28
4 29
5 30
6 31
7 32
8 33
9 34
10 35
11 36
12 37
13 38
14 39
CN2
15 40
2 6 10 16 41
LG 4 8 17 42
MRR MDR
18 43
1 5 9
P5 3 7 19 44
MR MD 20 45
21 46
This is a connector of 3M. 22 47
The frame of the CN1 connector
is connected to the protective 23 48
earth terminal in the servo amplifier. 24 49
25 50

The device assignment of the CN1 connector pins changes depending on the control mode. For the pins
which are given parameters in the related parameter column, their devices can be changed using those
parameters.

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2. SIGNALS AND WIRING

(Note 2) I/O signals

(Note 1)
Pin No. in control modes Related parameter
I/O
CP CL
1
2 I VC VC
3 LG LG
4 O LA LA
5 O LAR LAR
6 O LB LB
7 O LBR LBR
8 O LZ LZ
9 O LZR LZR
10 I (Note 4) (Note 4) PD44
11 I PG PG
12 OPC OPC
13 O SDP SDP
14 O SDN SDN
15 I SON SON PD03/PD04
16
17
18
19 I DI0 DI0 PD12
20 DICOM DICOM
21 DICOM DICOM
22
(Note 7) (Note 7)
23 O PD24
ZP ZP
24 O INP INP PD25
25
26 O MO1 MO1 PD14
(Note 3) (Note 3)
27 I
TLA TLA
28 LG LG
29 O MO2 MO2 PC15
30 LG LG
31 I TRE TRE
32
33 O OP OP
34 LG LG
35 I (Note 4) (Note 4) PD46
36 I NG NG
37 (Note 6) I (Note 5) (Note 5) PD44
38 (Note 6) I (Note 5) (Note 5) PD46
39 I RDP RDP
40 I RDN RDN
41 I DI1 DI1 PD13/PD14
42 I EM2 EM2
43 I LSP LSP PC17/PD18
44 I LSN LSN PD19/PD20
45
46 DOCOM DOCOM
47 DOCOM DOCOM
48 O ALM ALM
49 O RD RD PD28
50

2- 9
2. SIGNALS AND WIRING

Note 1. I: input signal, O: output signal

2. CP: Positioning mode (point table method)
CL: Positioning mode (program method)
3. TLA will be available when TL (External torque limit selection) is enabled with [Pr.
PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], and [Pr. PD44].
4. This is used with sink interface. Input devices are not assigned by default. Assign
the input devices with [Pr. PD44] and [Pr. PD46] as necessary. In addition, supply
+ of 24 DC V to the CN1-12 pin of OPC (Power input for open-collector sink
interface).
5. This is used with source interface. Input devices are not assigned by default.
Assign the input devices with [Pr. PD44] and [Pr. PD46] as necessary.
6. These pins are available with servo amplifiers manufactured in May, 2015 or later.
7. Assign the following output device to CN1-23 pin with [Pr. PD24].
CN1-23: ZP (Home position return completion)

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2. SIGNALS AND WIRING

2.3 Signal (device) explanations

The connector pin No. column in the table lists the pin Nos. which devices are assigned to by default.
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of "MR-JE-_A Servo
Amplifier Instruction Manual". The symbols in the control mode field of the table show the followings.
CP: Positioning mode (point table method)
CL: Positioning mode (program method)
" " and " " of the table show the followings.
: Usable device by default.
: Usable device by setting the following parameters.
[Pr. PA04], [Pr. PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD24], [Pr. PD25], [Pr. PD28],
[Pr. PD44], [Pr. PD46]

(1) I/O device

(a) Input device
Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to DI-1
a stop with commands.
Turn EM2 on (short between commons) in the forced stop state to reset
that state.
The following shows the setting of [Pr. PA04].

[Pr. PA04] Deceleration method

EM2/EM1
setting EM2 or EM1 is off Alarm occurred
MBR MBR
(Electromagnetic (Electromagnetic
brake interlock) brake interlock)
0___ EM1
turns off without the turns off without the
forced stop forced stop
deceleration. deceleration.
MBR MBR
(Electromagnetic (Electromagnetic
brake interlock) brake interlock)
2___ EM2
turns off after the turns off after the
forced stop forced stop
deceleration. deceleration.

EM2 and EM1 are mutually exclusive.

Forced stop 1 EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1. DI-1
When EM1 is turned off (open between commons), the base circuit shuts
off, and the dynamic brake operates to decelerate the servo motor to a
stop.
The forced stop will be reset when EM1 is turned on (short between
commons).
Servo-on SON CN1-15 Turn SON on to power on the base circuit, and make the servo amplifier DI-1
ready to operate. (servo-on status)
Turn it off to shut off the base circuit, and coast the servo motor.
Setting [Pr. PD01] to "_ _ _ 4" turns the signal on automatically (always
connected) in the servo amplifier.
Reset RES CN1-19 Turn on RES for more than 50 ms to reset the alarm. DI-1
Some alarms cannot be deactivated by RES (Reset). Refer to chapter 8.
Turning RES on in an alarm-free status shuts off the base circuit. The
base circuit is not shut off when [Pr. PD30] is set to " _ _ 1 _ ".
This device is not designed to make a stop. Do not turn it on during
operation.

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2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Forward rotation LSP CN1-43 To start the operation, turn on LSP and LSN. Turn it off to bring the servo DI-1
stroke end motor to a sudden stop and make it servo-locked.
Setting [Pr. PD30] to " _ _ _ 1" will enable "Slow stop (home position
Reverse rotation LSN CN1-44
erased)".
stroke end

(Note) Input device Operation

LSP LSN CCW direction CW direction
1 1
0 1
1 0
0 0

Note. 0: Off
1: On

The stop method can be changed with [Pr. PD30].

Setting [Pr. PD01] as follows turn the signals on automatically (always
connected) in the servo amplifier.

Status
[Pr. PD01]
LSP LSN
_4__ Automatic on
_8__ Automatic on
_C__ Automatic on Automatic on

When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs, and
WNG (Warning) turns on. When using WNG, enable it by setting [Pr.
PD24], [Pr. PD25] and [Pr. PD28].
External torque TL Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12 DI-1
limit selection Reverse torque limit], and turning on it will enable TLA (Analog torque
limit). For details, refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier
Instruction Manual".
Internal torque TL1 To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD04], DI-1
limit selection [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD44], and [Pr.
PD46]. For details, refer to section 3.6.1 (5) of "MR-JE-_A Servo
Amplifier Instruction Manual".
Operation mode MD0 CN1-10 Point table method/program method DI-1
selection 1 Automatic operation mode is set by turning MD0 on, and manual
operation mode by turning it off. Changing the operation mode during
Operation mode MD1 operation will clear the command remaining distance, and the servo DI-1
selection 2 motor will decelerate to stop.
MD1 cannot be used.

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2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Forward rotation ST1 CN1-17 Point table method DI-1
start 1.Absolute value command method
Turning on ST1 during automatic operation will execute one positioning
based on the position data set in the point tables.
Turning on ST1 during home position return will also start home position
return.
Turning on ST1 during JOG operation will rotate the servo motor in the
forward rotation direction while it is on.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during JOG operation will stop the servo
motor.
2.Incremental value command method
Turning on ST1 during automatic operation will execute one positioning in
the forward rotation direction based on the position data set in point
tables.
Turning on ST1 during home position return will also start home position
return.
Turning on ST1 during JOG operation will rotate the servo motor in the
forward rotation direction while it is on.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during JOG operation will stop the servo
motor.
Program method
1.Automatic operation mode
Turning on ST1 will execute a program operation selected with DI0 to
DI3.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during manual operation mode will stop the
servo motor.
2.Manual operation mode
Turning on ST1 will rotate the servo motor in the forward rotation
direction while it is on.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during manual operation mode will stop the
servo motor.
Reverse rotation ST2 CN1-18 Point table method DI-1
start Use this device with the incremental value command method. Turning on
ST2 during automatic operation will execute one positioning in the
reverse rotation direction based on the position data set in point tables.
Turning on ST2 during JOG operation will rotate the servo motor in the
reverse rotation direction while it is on. Turning on both ST1 and ST2 will
stop the servo motor.
Turning on ST2 during in the home position return mode will execute an
automatic positioning to the home position.
The reverse rotation means address decreasing direction.
Turning on both ST1 and ST2 during JOG operation will stop the servo
motor.
Program method
Turning on ST2 with JOG operation in the manual operation mode will
rotate the servo motor in the reverse rotation direction while it is on.
Turning on both ST1 and ST2 will stop the servo motor.
The reverse rotation means address decreasing direction.
Turning on both ST1 and ST2 during manual operation mode will stop the
servo motor. ST2 will be disabled in the automatic operation mode.

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2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Temporary stop/ TSTP Turning on TSTP during automatic operation will temporarily stop the DI-1
restart servo motor.
Turning on TSTP again will restart.
Turning on ST1 (Forward rotation start)/ST2 (Reverse rotation start)
during a temporary stop will not rotate the servo motor.
Changing the automatic operation mode to manual operation mode
during a temporary stop will erase a travel remaining distance.
The temporary stop/restart input does not function during a home position
return or JOG operation.
Proximity dog DOG CN1-45 Turning off DOG will detect a proximity dog. The polarity for dog detection DI-1
can be changed with [Pr. PT29].

Polarity for proximity dog

[Pr. PT29]
detection
___0 Detection with off
___1 Detection with on

Manual pulse TP0 Select a multiplication of the manual pulse generator. DI-1
generator When a multiplication is not selected, the setting of [Pr. PT03] will be
multiplication 1 enabled.
Manual pulse TP1 DI-1
generator Device (Note) Manual pulse
multiplication 2 generator multiplication
TP1 TP0
0 0 [Pr. PT03] setting
0 1 ×1
1 0 × 10
1 1 × 100

Note. 0: Off
1: On

Analog override OVR Turning on OVR will enable VC (Analog override). DI-1
selection
Teach TCH Use this for teaching. Turning on TCH in the point table method will DI-1
rewrite a position data of the selected point table No. to the current
position.
Program input 1 PI1 Turning on PI1 will restart a step which was suspended with the SYNC DI-1
(1) command during programming.
Program input 2 PI2 Turning on PI2 will restart a step which was suspended with the SYNC DI-1
(2) command during programming.
Program input 3 PI3 Turning on PI3 will restart a step which was suspended with the SYNC DI-1
(3) command during programming.
Current position LPS Turning on LPS during execution of the LPOS command will latch a DI-1
latch input current position with its rising edge. The latched current position can be
read with communication commands.

2 - 14
2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Point table No./ DI0 CN1-19 Point table method DI-1
program No. Select point tables and home position return mode with DI0 to DI4.
selection 1
Point table No./ DI1 CN1-41 Device (Note 1)
program No. DI4 Selection contents
selection 2 DI3 DI2 DI1 DI0
(Note 2)
Point table No./ DI2 CN1-10 0 0 0 0 0 Home position
program No. return mode
selection 3 0 0 0 0 1 Point table No. 1
Point table No./ DI3 CN1-35 0 0 0 1 0 Point table No. 2
program No. 0 0 0 1 1 Point table No. 3
selection 4
Point table No. 5 DI4

1 1 1 1 0 Point table No. 30

1 1 1 1 1 Point table No. 31

Note 1. 0: Off
1: On
2. DI4 is available only with the communication function. This
device cannot be assigned as an input signal.

Program method
Select program Nos. with DI0 to DI3.

Device (Note)
Selection contents
DI4 DI3 DI2 DI1 DI0
0 0 0 0 0 Program No. 1
0 0 0 0 1 Program No. 2
0 0 0 1 0 Program No. 3
0 0 0 1 1 Program No. 4

1 1 1 1 0 Program No. 15
1 1 1 1 1 Program No. 16

Note. 0: Off
1: On

Mark detection MSD The current position latch function by sensor input can be used. For the DI-1
current position latch function, refer to section 6.2.1. For the current
position latch function, refer to section 6.2.2.
Proportional PC Turn PC on to switch the speed amplifier from the proportional integral DI-1
control 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. When the
servo motor shaft is to be locked mechanically after positioning
completion (stop), switching on the PC (Proportion control) upon
positioning completion will suppress the unnecessary torque generated to
compensate for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit).

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2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Clear CR Turn CR on to clear the position control counter droop pulses on its DI-1
leading edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 "
is set to [Pr. PD32], the pulses are always cleared while CR is on.
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] DI-1
to [Pr. PB60] as the load to motor inertia ratio and gain values.
Cam control CAMC When using CAMC, set [Pr. PT35] to ”_ 1 _ _” to enable it. Turning DI-1
command CAMC on switches the control from the normal positioning control to the
cam control.
Cam position CPCD Turning CPCD on compensates the cam axis one cycle current value to DI-1
compensation be in the position set in [Cam control data No. 60 - Cam position
request compensation target position].
Clutch command CLTC This is used to turning on/off the main shaft clutch command. DI-1
This is used when [Cam control data No. 36 - Main shaft clutch control
setting] is set to "_ _ _ 1".
Cam No. CI0 Select cam No. DI-1
selection 0 This is enabled when [Cam control data No. 49 - Cam No.] is set to "0".
Cam No. CI1 Set the cam control data on the cam setting window of MR Configurator2.
selection 1
Cam No. CI2 Device (Note 1)
Selection contents
selection 2 CI3 CI2 CI1 CI0
Cam No. CI3 0 0 0 0 Linear cam
selection 3 0 0 0 1 Cam No. 1
0 0 1 0 Cam No. 2
0 0 1 1 Cam No. 3

1 0 0 0 Cam No. 8
1 0 0 1

Setting prohibited
(Note 2)

1 1 1 1

Note 1. 0: Off
1: On
2. [AL. F6.5 Cam No. external error] occurs.

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2. SIGNALS AND WIRING

(b) Output device

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Malfunction ALM CN1-48 When an alarm occurs, ALM turns off. DO-1
When an alarm is not occurring, turning on the power will turn on ALM
after 4 s to 5 s.
When [Pr. PD34] is set to "_ _ 1 _", an alarming or warning will turn off
ALM.
Alarm/warning ALM When an alarm occurs, ALMWNG turns off. DO-1
WNG When a warning occurs (except for [AL. 9F Battery warning]), ALMWNG
turns on and off repeatedly approximately every 1 s.
When an alarm or a warning is not occurring, turning on the power will
turn on ALMWNG after 4 s to 5 s.
Warning WNG When a warning occurs, WNG turns on. When a warning is not occurring, DO-1
WNG will turn off in 4 s to 5 s after power-on.
Ready RD CN1-49 When the servo-on is on and the servo amplifier is ready to operate, RD DO-1
turns on.
In-position INP CN1-24 When the number of droop pulses is in the preset in-position range, INP DO-1
turns on. The in-position range can be changed with [Pr. PA10]. When
the in-position range is increased, INP may be always on during low-
speed rotation.
INP turns on with servo-on.
Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of DO-1
[Pr. PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).
Under cam CAMS It turns on when the control switches to the cam control. DO-1
control It turns off when the control switches to the normal positioning control.
Cam position CPCC It turns on when the cam compensation execution is enabled. DO-1
compensation It turns on when the position compensation is not being executed during
execution the cam control.
completed
Clutch on/off CLTS It turns on with clutch-on. DO-1
status It is always off when [Cam control data No. 36 - Main shaft clutch control
setting] is set to "_ _ _ 0".
Clutch CLTSM It outputs clutch smoothing status. DO-1
smoothing status The output depends on the setting in [Cam control data No. 42 - Main
shaft clutch smoothing system] as follows:
0: Direct
Always off
1: Time constant method (index)
Always on in clutch-on status
It turns off when the clutch is off and the smoothing is complete.

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2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Zero speed ZSP CN1-23 ZSP turns on when the servo motor speed is at zero speed or less. Zero DO-1
detection speed can be changed with [Pr. PC17].

OFF level 1)

direction
Forward
rotation
70 r/min 3)
2) 20 r/min
ON level (Hysteresis width)
50 r/min
[Pr. PC17]
Servo motor 0 r/min
speed
[Pr. PC17]
ON level

direction
Reverse
rotation
-50 r/min
20 r/min
OFF level (Hysteresis width)
-70 r/min 4)
ZSP ON
(Zero speed OFF
detection)
ZSP turns on when the servo motor is decelerated to 50 r/min (at 1)), and
turns off when the servo motor is accelerated to 70 r/min again (at 2)).
ZSP turns on when the servo motor is decelerated again to 50 r/min (at
3)), and turns off when the servo motor speed has reached -70 r/min (at
4)).
The range from the point when the servo motor speed has reached the
on-level, and ZSP turns on, to the point when it is accelerated again and
has reached the off-level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
Electromagnetic MBR When using the device, set an operation delay time of the DO-1
brake interlock electromagnetic brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR turns off.
Speed command SA SA turns on when the command speed reaches the target speed in DO-1
reached servo-on status.
SA is always on when the command speed is 0 r/min in servo-on status.
SA turns off in servo-off status or when the command speed is in
acceleration/deceleration.
Home position ZP When a home position return completes normally, ZP (Home position DO-1
return return completion) turns on.
completion It turns off with the following conditions in the incremental system.
1) SON (Servo-on) is off.
2) EM2 (Forced stop 2) is off.
3) RES (Reset) is on.
4) At alarm occurrence
5) LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke
end) is off.
6) Home position return is not being executed.
7) Software limit is being detected.
8) Home position return is in progress.
Rough match CPO When a command remaining distance is lower than the rough match DO-1
output range set with [Pr. PT12], CPO turns on. This is not outputted
during base circuit shut-off. CPO turns on with servo-on.
Position range POT When an actual current position is within the range set with [Pr. PT21] DO-1
output and [Pr. PT22], POT turns on. This will be off when a home position
return is not completed or base circuit shut-off is in progress.
During a PUS When a deceleration begins for a stop, PUS turns on by TSTP DO-1
temporary stop (Temporary stop/restart). When TSTP (Temporary stop/restart) is
enabled again and an operation is restarted, PUS turns off.
Travel MEND When the droop pulses are within the in-position output range set with DO-1
completion [Pr. PA10] and the command remaining distance is "0", MEND turns on.
MEND turns on with servo-on.
MEND is off at servo-off status.

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2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Position end PED When the droop pulses are within the position end output range set with DO-1
[Pr. PA10] and the command remaining distance is "0", PED turns on.
When MEND (Travel completion) is on and ZP (Home position return
completion) is on, PED (Position end) turns on.
When ZP (Home position return completion) is on with servo-on status,
PED turns on.
PED is off at servo-off status.
SYNC SOUT When the status is waiting for input of the program SYNC (1 to 3), SOUT DO-1
synchronous turns on. When PI1 (Program input 1) to PI3 (Program input 3) turn on,
output SOUT turns off.
Program OUT1 OUT1 turns on with the OUTON (1) command during programming. DO-1
output 1 The OUTOF (1) command turns off OUT1.
You can also set time to turn off with [Pr. PT23].
Program OUT2 OUT2 turns on with the OUTON (2) command during programming. DO-1
output 2 The OUTOF (2) command turns off OUT2.
You can also set time to turn off with [Pr. PT24].
Program OUT3 OUT3 turns on with the OUTON (3) command during programming. DO-1
output 3 The OUTOF (3) command turns off OUT3.
You can also set time to turn off with [Pr. PT25].
Point table No. PT0 The signals output point table Nos. in 5-bit code simultaneously with DO-1
output 1 MEND (Travel completion) on.
Point table No. PT1
output 2 Device (Note 1, 2)
Description
Point table No. PT2 PT4 PT3 PT2 PT1 PT0
output 3 0 0 0 0 1 Point table No. 1
Point table No. PT3 0 0 0 1 0 Point table No. 2
output 4 0 0 0 1 1 Point table No. 3
Point table No. PT4
output 5

1 1 1 1 0 Point table No. 30

1 1 1 1 1 Point table No. 31

Note 1. 0: Off
1: On
2. Up to four points of DO are available; therefore, PT0 to PT4
cannot be outputted simultaneously.

Mark detection MSDH Turning on MSD (Mark detection) will turn on MSDH. DO-1
rising latch
completed
Mark detection MSDL After MSD (Mark detection) is turned on, turning off MSD will turn on DO-1
falling latch MSDL.
completed
Alarm code ACD0 (CN1-24) To use these signals, set [Pr. PD34] to " _ _ _ 1". DO-1
This signal is outputted when an alarm occurs.
ACD1 (CN1-23) When an alarm is not occurring, respective ordinary signals are
outputted.
ACD2 (CN1-49) For details of the alarm codes, refer to chapter 8.
When [Pr. PD34] is set to "_ _ _ 1" while MBR or ALM is assigned to
CN1-23, CN1-24, or CN1-49 pin, [AL. 37 Parameter error] will occur.
Variable gain CDPS CDPS turns on during gain switching. DO-1
selection
During tough MTTR When a tough drive is "Enabled" in [Pr. PA20], activating the DO-1
drive instantaneous power failure tough drive will turn on MTTR.

2 - 19
2. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
M code 1 (bit 0) MCD00 This device can be used in the point table method. DO-1
M code 2 (bit 1) MCD01 This device will be available in the future. DO-1
M code 3 (bit 2) MCD02 These signals can be checked with output devices of the communication DO-1
M code 4 (bit 3) MCD03 function. (Refer to section 10.2 (1).) DO-1
To use these signals, set in [Pr. Po12] to " _ _ 1 _".
M code 5 (bit 4) MCD10 DO-1
The signals output M code simultaneously with CPO (Rough match) on.
M code 6 (bit 5) MCD11 DO-1
Set M code with point tables.
M code 7 (bit 6) MCD12 DO-1
M code 8 (bit 7) MCD13 DO-1
The code represents one digit of decimal using four digits of binary.
The following shows correspondence of each digit and device.
Second digit First digit

bit 3 bit 2 bit 1 bit 0 bit 3 bit 2 bit 1 bit 0

MCD00

MCD01

MCD02

MCD03

MCD10

MCD11

MCD12

MCD13

M code Device (Note)

First/second MCD03/ MCD02/ MCD01/ MCD00/
digit MCD13 MCD12 MCD11 MCD10
0 0 0 0 0
1 0 0 0 1
2 0 0 1 0
3 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

Note. 0: Off
1: On

MCD00 to MCD03 and MCD10 to MCD13 turn off with the following
status.
Power on
Servo-off
Manual operation mode
At alarm occurrence

2 - 20
2. SIGNALS AND WIRING

(2) Input signal

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Manual pulse PP (CN1-10) Connect the manual pulse generator (MR-HDP01). DI-2
generator NP (CN1-35) When using the signal, enable PP and NP with [Pr. PD44] and [Pr.
PD46].
Analog torque TLA CN1-27 When using the signal, enable TL (External torque limit selection) with Analog
limit [Pr. PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD44], input
and [Pr. PD46].
When TLA is enabled, torque is limited in the full servo motor output
torque range. Apply 0 V to +10 V DC between TLA and LG. Connect + of
the power supply to TLA. The maximum torque is generated at +10 V.
(Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction
Manual".)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value will be clamped at the maximum torque.
Resolution: 10 bits
Analog override VC CN1-2 The signal controls the servo motor setting speed by applying -10 V to Analog
+10 V to between VC and LG. The percentage will be 0% with -10 V, input
100% with 0 V, and 200% with +10 V to the setting speed of the servo
motor.
Resolution: 14 bits or equivalent

(3) Output signal

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
Encoder A- LA CN1-4 These devices output pulses of encoder output pulse set in [Pr. PA15] in DO-2
phase pulse LAR CN1-5 the differential line driver type.
(differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the
driver) encoder A-phase pulse by a phase angle of π/2.
Encoder B- LB CN1-6 The relation between rotation direction and phase difference of the A-
phase pulse LBR CN1-7 phase and B-phase pulses can be changed with [Pr. PC19].
(differential line
driver)
Encoder Z- LZ CN1-8 The encoder zero-point signal is outputted in the differential line driver DO-2
phase pulse LZR CN1-9 type. One pulse is outputted per servo motor revolution. This turns on
(differential line when the zero-point position is reached. (negative logic)
driver) The minimum pulse width is about 400 μs. For home position return
using this pulse, set the creep speed to 100 r/min or less.
Encoder Z- OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2
phase pulse
(open-collector)
Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG Analog
in terms of voltage. output
Output voltage: ±10 V
Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in Analog
terms of voltage. output
Output voltage: ±10 V
Resolution: 10 bits or equivalent

2 - 21
2. SIGNALS AND WIRING

(4) Communication
Control
Connector I/O
Device Symbol Function and application mode
pin No. division
CP CL
RS-422/RS-485 SDP CN3-5 These are terminals for RS-422/RS-485 communication.
I/F SDN CN3-4
RDP CN3-3
RDN CN3-6
TRE CN1-31

2 - 22
2. SIGNALS AND WIRING

2.4 Analog override

POINT
When using the analog override in the point table method or program method,
enable OVR (Analog override selection).
The following shows functions whether usable or not with the analog override.
(1) Analog override usable
Automatic operation mode (point table method/program method)
JOG operation in the manual operation mode
Automatic positioning to home position function in the point table method
(2) Analog override unusable
Manual pulse generator operation in the manual operation mode
Home position return mode
Test operation mode using MR Configurator2 (positioning operation/JOG
operation)

You can change the servo motor speed by using VC (Analog override). The following table shows signals
and parameters related to the analog override.
Item Name Remark
Analog input signal VC (Analog override)
Turning on OVR enables VC (Analog
Contact input signal OVR (Analog override selection)
override) setting value.
Parameter [Pr. PC37 Analog override offset] -9999 to 9999 [mV]

(1) VC (Analog override)

You can continuously set changed values from outside by applying voltage (-10 to +10 V) to VC (Analog
override). The following shows percentage of the actual speed to input voltage and set speed.
Percentage of the actual

[%] Servo amplifier

200
speed to set speed

OVR
OVR (Analog override selection)
DICOM
100
24 V DC
VC (Note)
VC (Analog override)
LG
0 -10 V to +10 V SD
-10 0 10 [V]
VC (Analog override voltage)
applied voltage

Note. This diagram shows sink input interface.

2 - 23
2. SIGNALS AND WIRING

(2) OVR (Analog override selection)

Enable or disable VC (Analog override).
Servo amplifier

Position Analog Speed Servo

control override control motor

OVR (Analog override selection)

VC (Analog override)
-10 V to +10 V

Select a changed value by using OVR (Analog override selection).

(Note) External input signal Speed change value
0 No change
1 Setting of VC (Analog override) is enabled.

Note. 0: Off
1: On

(3) Analog override offset ([Pr. PC37])

You can set an offset voltage to the input voltage of VC (Analog override) with [Pr. PC37]. The setting
value ranges from -9999 to +9999 [mV].

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2. SIGNALS AND WIRING

2.5 Internal connection diagram

POINT
For details of interface and source I/O interface, refer to section 3.9 of "MR-JE-
_A Servo Amplifier Instruction Manual".

The following shows an example of internal connection diagram of the point table method.

2 - 25
2. SIGNALS AND WIRING

Servo amplifier

CN1 (Note 3)
24 V DC
Approx. 46 DOCOM
CN1 6.2 kΩ
SON 15 47 DOCOM
ST1 19
(Note 2) 23 ZSP RA
ST2 41
(Note 2)
EM2 42 24 SA
Approx.
LSP 43
6.2 kΩ 48 ALM
LSN 44
24 V DC OPC 12 49 RD RA

DICOM 20
DICOM 21 Approx.
Approx. 100 Ω 1.2 kΩ
DI2 10
Approx. 1.2 kΩ
PP2 37
(Note 1) Approx.
PG 11
Approx. 100 Ω 1.2 kΩ
DI3 35
Approx. 1.2 kΩ
NP2 38 Insulated
NG 36

CN1
4 LA
5 LAR
6 LB Differential line driver output
(35 mA or lower)
7 LBR
8 LZ
9 LZR
CN1
33 OP Open-collector output
VC 2 34 LG

TLA 27 CN1 RS-422/

RS-485
LG 3 13 SDP
SD Case 14 SDN
39 RDP
40 RDN
CN3 28 LG
D- 2 31 TRE (Note 4)
USB D+ 3
GND 5 CN1 Analog monitor
26 MO1

29 MO2 ± 10 V DC
± 10 V DC
30 LG
Servo motor
CN2
Encoder
7 MD
8 MDR
3 MR
4 MRR
2 LG
E
M

Note 1. Refer to section 9.1 for the connection of a manual pulse generator.
2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3 of "MR-JE-_A Servo Amplifier Instruction
Manual".
3. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
4. To use the RS-422/RS-485 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to
section 12.1.1 of "MR-JE-_A Servo Amplifier Instruction Manual").

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2. SIGNALS AND WIRING

2.6 Power-on sequence

POINT
The voltage of analog monitor output, output signal, etc. may be unstable at
power-on.

(1) Power-on procedure

1) Always use a magnetic contactor for the power supply wiring (L1/L2/L3) as shown in section 3.1
of "MR-JE-_A Servo Amplifier Instruction Manual". Configure an external sequence to switch off
the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier receives the SON (Servo-on) in 4 s to 5 s after the power supply is switched
on. Therefore, when SON (Servo-on) is switched on simultaneously with the power supply, the
base circuit will switch on in about 4 s to 5 s, and the RD (Ready) will switch on in further about 5
ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)

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

(2) Timing chart

SON (Servo-on) accepted

(4 s to 5 s)
ON
Power supply
OFF
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
SON (Servo-on)
OFF 95 ms
ON
RES (Reset)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
RD (Ready)
OFF
No alarming (ON)
ALM (Malfunction)
Alarming (OFF)
4 s to 5 s

2 - 27
2. SIGNALS AND WIRING

MEMO

2 - 28
3. DISPLAY AND OPERATION SECTIONS

3. DISPLAY AND OPERATION SECTIONS

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Test operation mode MR-JE-_A section 4.5.9

3.1 MR-JE-_A

3.1.1 Display flowchart

Press the "MODE" button once to shift to the next display mode. Refer to section 3.1.2 and later for the
description of the corresponding display mode.

3- 1
3. DISPLAY AND OPERATION SECTIONS

Display mode transition Initial display Function Reference

Servo status display. Section
For the point table method and program 3.1.2
Status display
method, "PoS" is displayed at power-on.

One-touch tuning MR-JE-_A

Select this when performing the one-touch Servo
tuning. Amplifier
One-touch tuning Instruction
Manual
section 6.2
Sequence display, drive recorder Section
enabled/disabled display, external I/O signal 3.1.3
display, output signal (DO) forced output, test
Diagnosis operation, software version display, VC
automatic offset, servo motor series ID
display, servo motor type ID display, servo
motor encoder ID display, teaching function
Current alarm display, alarm history display, Section
and parameter error No./point table error No. 3.1.4
Alarm
display

Display and setting of point table data. Section

Point table setting This is displayed only in the point table 3.1.5
method, not in other control modes.

Display and setting of basic setting Section

button Basic setting parameters. 3.1.6
MODE parameters

Display and setting of gain/filter parameters.

Gain/filter
parameters

Display and setting of extension setting

Extension setting parameters.
parameters

Display and setting of I/O setting parameters.

I/O setting
parameters

Display and setting of extension setting 2

Extension setting 2 parameters.
parameters

Display and setting of extension setting 3

Extension setting 3 parameters.
parameters

Display and setting of positioning control

Positioning control parameters.
parameters

Note. When the axis name is set to the servo amplifier using MR Configurator2, the servo status is displayed after the axis name is
displayed.

3- 2
3. DISPLAY AND OPERATION SECTIONS

3.1.2 Status display mode

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change the display data as desired. When a servo status is selected, the corresponding
symbol is displayed. Press the "SET" button to display its data. However, only when the power is turned on,
the data will be displayed after the status symbol selected with [Pr. PC36] is displayed for 2 s.

(1) Display transition

After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button
changes the display as follows:

3- 3
3. DISPLAY AND OPERATION SECTIONS

Main axis one cycle current position

Cumulative feedback pulses Number of tough drive operations

Unit power consumption 1

Servo motor speed (1 W unit)

Unit power consumption 2

Droop pulses (1 kW unit)

Cumulative command Unit total power consumption 1

pulses (1 Wh unit)

Unit total power consumption 2

Command pulse frequency (100 kWh unit)

Analog speed command

voltage Current position
Analog speed limit voltage

Analog torque limit voltage

Analog torque command Command position
voltage

Regenerative load ratio Command remaining distance

Point table/Program No.

Effective load ratio

UP
Peak load ratio Step No.

DOWN

Instantaneous torque Analog override voltage

Within one-revolution Override level

position (1 pulse unit)

Within one-revolution Cam axis one

position (1000 pulses unit) cycle current
value

Cam standard
ABS counter position

Cam axis feed

Load to motor inertia ratio current value

Cam No. in
Bus voltage execution (Note)

Cam stroke
Internal temperature of amount in
encoder execution

Main axis
Settling time current value

Oscillation detection Main axis one

frequency cycle current
value

Cumulative feedback pulses

3- 4
3. DISPLAY AND OPERATION SECTIONS

(2) Status display list

The following table lists the servo statuses that may be shown.
Control
mode
Status display Symbol Unit Description
(Note 1)
CP CL
Feedback pulses from the servo motor encoder are counted and
displayed.
The values in excess of ±99999 can be counted. However, the
Cumulative feedback counter shows only the lower five digits of the actual value since
C pulse
pulses the servo amplifier display is five digits.
Press the "SET" button to reset the display value to "0".
The decimal points in the upper four digits are lit for negative
value.
The servo motor speed is displayed.
Servo motor speed r r/min
It is displayed rounding off 0.1 r/min unit.
The number of droop pulses in the deviation counter are
displayed.
The decimal points in the upper four digits are lit for reverse
rotation pulses.
Droop pulses E pulse
The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.
The number of pulses displayed is in the encoder pulse unit.
Cumulative command
P pulse Not used with the positioning mode. "0" is always displayed.
pulses
Command pulse frequency n kpulse/s Not used with the positioning mode. "0" is always displayed.
Analog speed command
Not used with the positioning mode. An applied voltage to the
voltage F V
CN1 connector is displayed.
Analog speed limit voltage
Analog torque command Not used with the positioning mode. An applied voltage to the
voltage U V CN1 connector is displayed.
Analog torque limit voltage Voltage of TLA (Analog torque limit) is displayed.
The ratio of regenerative power to permissible regenerative
Regenerative load ratio L %
power is displayed in %.
The continuous effective load current is displayed.
Effective load ratio J % The effective value in the past 15 s is displayed, with the rated
current being 100 %.
The maximum torque generated is displayed.
Peak load ratio b % The highest value in the past 15 s is displayed, with the rated
torque being 100 %.
The instantaneous torque is displayed.
Instantaneous torque T % The torque generated is displayed in real time, with the rated
torque being 100%.
Position within one revolution is displayed in encoder pulses.
The values in excess of ±99999 can be counted. However, the
Within one-revolution counter shows only the lower five digits of the actual value since
Cy1 pulse
position (1 pulse unit) the servo amplifier display is five digits.
When the servo motor rotates in the CCW direction, the value is
added.
The within one-revolution position is displayed in 1000 pulse
Within one-revolution increments of the encoder.
Cy2 1000 pulses
position (1000 pulse unit) When the servo motor rotates in the CCW direction, the value is
added.
ABS counter LS rev Travel distance from power on is displayed by counter value.
The estimated ratio of the load inertia moment to the servo motor
Load to motor inertia ratio dC Multiplier
shaft inertia moment is displayed.
The voltage of main circuit converter (between P+ and N-) is
Bus voltage Pn V
displayed.
Encoder inside Inside temperature of encoder detected by the encoder is
ETh °C
temperature displayed.
Settling time is displayed. When it exceeds 1000 ms, "1000" will
Settling time ST ms
be displayed.
Oscillation detection
oF Hz Frequency at the time of oscillation detection is displayed.
frequency
Number of tough drive
Td times The number of tough drive functions activated is displayed.
operations

3- 5
3. DISPLAY AND OPERATION SECTIONS

Control
mode
Status display Symbol Unit Description
(Note 1)
CP CL
Unit power consumption is displayed by increment of 1 W.
Positive value indicates power running, and negative value
Unit power consumption 1
PC1 W indicates regeneration. The values in excess of ±99999 can be
(1 W unit)
counted. However, the counter shows only the lower five digits of
the actual value since the servo amplifier display is five digits.
Unit power consumption is displayed by increment of 1 kW.
Unit power consumption 2
PC2 kW Positive value indicates power running, and negative value
(1 kW unit)
indicates regeneration.
Unit total power consumption is displayed by increment of 1 Wh.
Positive value is cumulated during power running and negative
Unit total power
value during regeneration. The values in excess of ±99999 can
consumption 1 TPC1 Wh
be counted. However, the counter shows only the lower five
(1 Wh unit)
digits of the actual value since the servo amplifier display is five
digits.
Unit total power Unit total power consumption is displayed by increment of 100
consumption 2 TPC2 100 kWh kWh. Positive value is cumulated during power running and
(100 kWh unit) negative value during regeneration.
When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the
10STM μm current position is displayed as machine home position is 0.
10(STM-4) inch When "_ _ 1 _" (roll feed display) is set in [Pr. PT26], the actual
Current position PoS 10-3 degree current position is displayed as start position is 0.
pulse The values in excess of ±99999 can be counted. However, the
(Note 2) counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.
When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the
command current position is displayed as machine home position
is 0.
When "_ _ 1 _" (roll feed display) is set in [Pr. PT26], turning on
10STM μm
the start signal starts counting from 0 and a command current
10(STM-4) inch
position to the target position is displayed in the automatic mode.
Command position CPoS 10-3 degree
The command positions of the selected point table are displayed
pulse
at a stop. At the manual mode, the command positions of the
(Note 2)
selected point table are displayed.
The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.
10STM μm The remaining distance to the command position of the currently
10(STM-4) inch selected point table/program is displayed.
Command remaining
rn 10-3 degree The values in excess of ±99999 can be counted. However, the
distance
pulse counter shows only the lower five digits of the actual value since
(Note 2) the servo amplifier display is five digits.
The point table No./program No. currently being executed is
Point table No./Program
Pno displayed. The selected number is displayed during a temporary
No.
stop or manual operation.
The step No. of the program currently being executed is
Step No. Sno
displayed. At a stop, 0 is displayed.
Analog override voltage oru V The analog override voltage is displayed.
The setting value of the override is displayed.
Override level or %
When the override is disabled, 100% is displayed.
The current position in one cycle of CAM axis is displayed with
the range of "0 to (cam axis one cycle length - 1)", the cam axis
10STM μm one cycle current value which is calculated from the travel
10(STM-4) inch distance inputted to the cam axis.
Cam axis one cycle
CCyC 10-3 degree The values in excess of ±99999 can be counted. However, the
current value
pulse counter shows only the lower five digits of the actual value since
(Note 3) the servo amplifier display is five digits.
When the simple cam function is disabled, 0 is always displayed.
Refer to section 6.1.8 for detecting point.
A feed current value which is the standard position of the cam
10STM μm operation is displayed.
10(STM-4) inch The values in excess of ±99999 can be counted. However, the
Cam standard position CbAS 10-3 degree counter shows only the lower five digits of the actual value since
pulse the servo amplifier display is five digits.
(Note 2) When the simple cam function is disabled, 0 is always displayed.
Refer to section 6.1.8 for detecting point.

3- 6
3. DISPLAY AND OPERATION SECTIONS

Control
mode
Status display Symbol Unit Description
(Note 1)
CP CL
STM A feed current value during the cam axis control is displayed.
10 μm
The values in excess of ±99999 can be counted. However, the
10(STM-4) inch
Cam axis feed current counter shows only the lower five digits of the actual value since
CCMd 10-3 degree
value the servo amplifier display is five digits.
pulse
When the simple cam function is disabled, 0 is always displayed.
(Note 2)
Refer to section 6.1.8 for detecting point.
Cam No. in execution is displayed.
Cam No. in execution Cno When the simple cam function is disabled, 0 is always displayed.
Refer to section 6.1.8 for detecting point.
Cam stroke amount in execution is displayed.
10STM μm
The values in excess of ±99999 can be counted. However, the
10(STM-4) inch
Cam stroke amount in counter shows only the lower five digits of the actual value since
CSTK 10-3 degree
execution the servo amplifier display is five digits.
pulse
When the simple cam function is disabled, 0 is always displayed.
(Note 2)
Refer to section 6.1.8 for detecting point.
A current value of the input axis (synchronous encoder axis or
servo input axis) is displayed. Unit is increment of input axis
10STM μm
position.
10(STM-4) inch
The values in excess of ±99999 can be counted. However, the
Main axis current value MCMd 10-3 degree
counter shows only the lower five digits of the actual value since
pulse the servo amplifier display is five digits.
(Note 3) When the simple cam function is disabled, 0 is always displayed.
Refer to section 6.1.8 for detecting point.
10STM μm The input travel distance of the input axis in a range between 0
10(STM-4) inch and (cam axis one cycle length setting - 1) is displayed. Unit is
Main axis one cycle an increment of cam axis one cycle.
MCyC 10-3 degree
current value
pulse When the simple cam function is disabled, 0 is always displayed.
(Note 3) Refer to section 6.1.8 for detecting point.

Note 1. CP: Positioning mode (point table method)

CL: Positioning mode (program method)
2. The unit can be selected from μm/inch/degree/pulse with [Pr. PT01].
3. Depending on the setting of [Cam control data No. 30 Main shaft input axis selection], the parameters used to
set the unit and feed length multiplication will change as follows. For details of each parameter, refer to section
6.1.7 (3) and 7.2.7.

Parameter for the feed length

Setting of [Cam control data No. 30] Parameter for the unit setting
multiplication setting
"0" or "1" [Pr. PT01] [Pr. PT03]
"2" [Cam control data No. 14] [Cam control data No. 14]

(3) Changing the status display screen

The status display on the servo amplifier at power-on can be changed with [Pr. PC36]. The status
displayed by default varies depending on the control mode as follows:
Control mode Status display
Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Analog torque command voltage/cumulative feedback
Torque/position
pulses
Positioning (point table method/program
Current position
method)

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3. DISPLAY AND OPERATION SECTIONS

3.1.3 Diagnostic mode

Diagnosis contents can be displayed on the display. Press the "UP" or "DOWN" button to change the display
data as desired.

(1) Display transition

Sequence Automatic VC offset

Drive recorder enabled/

disabled display Servo motor series ID

External I/O signal display Servo motor type ID

Output signal (DO) forced

output Servo motor encoder ID

JOG operation For manufacturer adjustment

Positioning operation For manufacturer adjustment

UP

DOWN
Motor-less operation Teaching function

Machine analyzer
operation

For manufacturer
adjustment

Single-step feed

Software version: lower

Software version: upper

3- 8
3. DISPLAY AND OPERATION SECTIONS

(2) Diagnosis display list

Name Display Description
Not ready
Indicates that the servo amplifier is being initialized or an
alarm has occurred.

Sequence
Ready
Indicates that initialization is completed, and the servo
amplifier is in servo-on state and ready to operate.

Drive recorder enabled

When an alarm occurs in this state, the drive recorder will
operate and record the status of occurrence.

Drive recorder enabled/disabled display Drive recorder disabled

The drive recorder will not operate on the following
conditions.
1. The graph function of MR Configurator2 is being used.
2. The machine analyzer function is being used.
3. [Pr. PF21] is set to "-1".
This Indicates the on/off status of external I/O signal.
External I/O signal display Refer to section 3.1.7. The upper segments correspond to the input signals and
the lower segments to the output signals.
This allows digital output signal to be switched on/off
forcibly.
Output signal (DO) forced output Refer to section 3.1.8 for details.

JOG operation can be performed when there is no

command from an external controller.
JOG operation For details, refer to section 4.5.9 (2) of "MR-JE-_A Servo
Amplifier Instruction Manual".

Positioning operation can be performed when there is no

command from an external controller.
Positioning MR Configurator2 is required to perform positioning
operation operation.
For details, refer to section 4.5.9 (3) of "MR-JE-_A Servo
Amplifier Instruction Manual".
Without connecting the servo motor, output signals or
status display can be provided in response to the input
Motor-less
device as if the servo motor is actually running.
operation
For details, refer to section 4.5.9 (4) of "MR-JE-_A Servo
Amplifier Instruction Manual".
Merely connecting the servo amplifier allows the
resonance point of the mechanical system to be
measured.
Test operation mode Machine analyzer
MR Configurator2 is required to perform machine analyzer
operation
operation.
For details, refer to section 11.4 of "MR-JE-_A Servo
Amplifier Instruction Manual".
This is for manufacturer adjustment.
For manufacturer
adjustment

When the positioning operation is executed in accordance

with the point table or program set by MR Configurator2,
the diagnosis display changes to "d-06" during single-step
feed. Refer to section 3.1.9 for details.
The status will be displayed with the "MODE" button. The
Single-step feed
"UP" and "DOWN" buttons are disabled.

3- 9
3. DISPLAY AND OPERATION SECTIONS

Name Display Description

Indicates the version of the software.

Software version: lower

Indicates the system number of the software.

Software version: upper

If offset voltages in the analog circuits inside and outside

the servo amplifier cause the servo motor setting speed not
to be the designated value at VC of 0 V, a zero-adjustment
of offset voltages will be automatically performed. When
using the VC automatic offset, enable it in the following
procedures. When it is enabled, [Pr. PC37] value changes
to the automatically adjusted offset voltage.
Automatic VC offset (Note)
1) Press the "SET" button once.
2) Set the number in the first digit to "1" with the "UP"
button.
3) Press the "SET" button.
This function cannot be used if the input voltage of VC is -
0.4 V or less, or +0.4 V or more.
Push the "SET" button to show the series ID of the servo
motor currently connected.
Servo motor series ID For indication details, refer to app. 1 of "HF-KN/HF-SN
servo Motor Instruction Manual".

Push the "SET" button to show the type ID of the servo

motor currently connected.
Servo motor type ID For indication details, refer to app. 1 of "HF-KN/HF-SN
servo Motor Instruction Manual".

Push the "SET" button to show the encoder ID of the servo

motor currently connected.
Servo motor encoder ID For indication details, refer to app. 1 of "HF-KN/HF-SN
servo Motor Instruction Manual".

This is for manufacturer adjustment.

For manufacturer adjustment

This is for manufacturer adjustment.

For manufacturer adjustment

After an operation travels to a target position (MEND

(Travel completion) is turned on) with a JOG operation or
manual pulse generator operation, pushing the "SET"
Teaching function Refer to section 3.1.10. button of the operation part or turning on TCH (Teach) will
import position data. This function is available only in the
point table method. In other control modes, the display
remains the same.

Note. Even if VC automatic offset is performed and 0 V is inputted, the speed may not completely be the set value.

3 - 10
3. DISPLAY AND OPERATION SECTIONS

3.1.4 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display
indicate the alarm No. that has occurred or the parameter No. in error.
Name Display (Note 1) Description
Indicates no occurrence of an alarm.

Current alarm
Indicates the occurrence of [AL. 33.1 Main circuit voltage error].
Blinks at alarm occurrence.

Indicates that the last alarm is [AL. 50.1 Thermal overload error 1
during operation].

Indicates the second last alarm is [AL. 33.1 Main circuit voltage error].

Indicates the third last alarm is [AL. 10.1 Voltage drop in the power].

Indicates that there is no tenth alarm in the past.

Alarm history

Indicates that there is no eleventh alarm in the past.

Indicates that there is no twelfth alarm in the past.

Indicates that there is no sixteenth alarm in the past.

This indicates no occurrence of [AL. 37 Parameter error].

The data content error of [Pr. PA12 Reverse rotation torque limit].

Parameter error No./point

table error No.
(Note 2)
The value of the point table is over the setting range.
The error point table No. (intermediate digit "2") and item (lower digit
"d") are displayed.
The following shows the items.
P: position data, d: motor speed, A: acceleration time constant, b:
deceleration time constant, n: dwell, H: auxiliary function, M: M code

Note 1. If a parameter error and point table error occur simultaneously, the display shows the parameter error.
2. The display shows only when the current alarm is [AL. 37 Parameter error].

3 - 11
3. DISPLAY AND OPERATION SECTIONS

The following is additional information of alarm occurrence:

(1) The current alarm is displayed in any mode.

(2) Even during an alarm occurrence, the other display can be viewed by pressing the button in the
operation area. At this time, the decimal point in the fourth digit remains blinking.

(3) Remove the cause of the alarm and clear it in any of the following methods. (Refer to chapter 8 for the
alarms that can be cleared.)

(a) Cycle the power.

(b) Press the "SET" button on the current alarm display.

(c) Turn on RES (Reset).

(4) Use [Pr. PC18] to clear the alarm history.

(5) Press the "UP" or "DOWN" button to move to the next history.

3 - 12
3. DISPLAY AND OPERATION SECTIONS

3.1.5 Point table setting

You can set the target position, servo motor speed, acceleration time constant, deceleration time constant,
dwell, auxiliary function and M code.

(1) Display transition

Point table transition Setting item transition

Point table No. 1 Target position

Point table No. 2 Servo motor speed

Acceleration time
Point table No. 3 SET constant

UP Deceleration time UP
constant

DOWN DOWN

Point table No. 29 Dwell

MODE

Point table No. 30 Auxiliary function

Point table No. 31 M code

3 - 13
3. DISPLAY AND OPERATION SECTIONS

(2) Setting list

The following point table setting can be displayed.
Indication
Status display Symbol Unit Description
range
Specify the point table to set the target position, servo motor speed,
Point table No. Po001 acceleration time constant, deceleration time constant, dwell, auxiliary 1 to 31
function and M code.
10STM μm
10(STM-4) inch -999999
Target position PoS 10-3 degree Set the travel distance. to
pulse 999999
(Note)
Set the command speed of the servo motor for execution of positioning. The 0
setting value must be within the permissible speed of the servo motor used. If to
Servo motor speed SPd r/min
a value equal to or larger than the permissible speed is set, the value will be Permissible
clamped at the permissible speed. speed
Acceleration time constant STA ms Set a time for the servo motor to reach the rated speed. 0 to 20000
Deceleration time constant STb ms Set a time for the servo motor to stop from the rated speed. 0 to 20000
This function is enabled when you select the point table by input signal.
To disable the dwell, set "0" or "2" to the auxiliary function. To perform
varying-speed operation, set "1", "3", "8", "9", "10", or "11" to the auxiliary
Dwell TLn ms 0 to 20000
function and 0 to the dwell. When the dwell is set, the position command of
the selected point table is completed. After the set dwell has elapsed, start
the position command of the next point table.
This function is enabled when you select the point table by input signal.
(1) When using the point table in the absolute value command method
0: Executes automatic operation for a selected point table.
1: Executes automatic continuous operation without stopping for the next
point table.
8: Executes automatic continuous operation without stopping for the point
table selected at the start.
9: Executes automatic continuous operation without stopping for the point
table No. 1.
(2) When using the point table in the incremental value command method
Auxiliary function H 2: Executes automatic operation for a selected point table. 0 to 3, 8 to 11
3: Executes automatic continuous operation without stopping for the next
point table.
10: Executes automatic continuous operation without stopping for the
point table selected at the start.
11: Executes automatic continuous operation without stopping for the
point table No. 1.
When a different rotation direction is set, smoothing zero (command output) is
confirmed and then the rotation direction is reversed.
When "1" or "3" is set to the point table No. 31, [AL. 61] will occur at the time
of point table execution.
This is the code output at the completion of positioning.
This code will be available in the future.
M code MCd 0 to 99
Outputs the first digit and the second digit of the M code in 4-bit binary
respectively.

Note. The unit can be selected from μm/inch/degree/pulse with [Pr. PT01].

3 - 14
3. DISPLAY AND OPERATION SECTIONS

(3) Operation method

POINT
After changing and defining the setting values of the specified point table, the
defined setting values of the point table are displayed. To discard the changed
setting, press the "MODE" button for 2 s or more. The setting before the change
will be displayed. Keep pressing the "UP" or "DOWN" button to continuously
change the most significant digit of the setting values.

(a) Setting of 5 or less digits

The following example is the operation method at power-on to set "1" to the auxiliary function of the
point table No. 1.

Press "MODE" four times.

……… A point table No. is displayed.

Press "UP" or "DOWN" to select
point table No. 1.
Press "SET" once.

Press "UP" five times.

Press "SET" twice.

……… The setting value of the auxiliary function of the specified point table No. blinks.

Press "UP" once.

……… During blinking, the set value can be changed.

Set using the "UP" or "DOWN" button.

Press "SET" to enter.

To the next item setting

Press the "UP" or "DOWN" button to switch to other item of the same point table No.
Press the "MODE" button to switch to the next point table No.

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3. DISPLAY AND OPERATION SECTIONS

(b) Setting of 6 or more digits

The following example is the operation method to change the position data of the point table No. 1 to
"123456".

Press "MODE" four times.

……… A point table No. is displayed.

Press "UP" or "DOWN" to select
point table No. 1.
Press "SET" once.

Press "SET" once.

Setting of
Setting of upper 1 digit Press "MODE" once. lower 4 digits

Press "SET" once.

…… The display blinks. ……

Change the setting with

"UP" or "DOWN".

Press "SET" once.

………Enter the setting. ……

Press "MODE" once.

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3. DISPLAY AND OPERATION SECTIONS

3.1.6 Parameter mode

(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or
"DOWN" button changes the display as shown below.
From alarm mode To status display mode
MODE
Basic setting Gain/filter Extension setting I/O setting Extension setting 2 Extension setting 3 Positioning control
parameters parameters parameters parameters parameters parameters parameters

[Pr. PA01] [Pr. PB01] [Pr. PC01] [Pr. PD01] [Pr. PE01] [Pr. PF01] [Pr. PT01]

[Pr. PA02] [Pr. PB02] [Pr. PC02] [Pr. PD02] [Pr. PE02] [Pr. PF02] [Pr. PT02]

UP

DOWN

[Pr. PA31] [Pr. PB63] [Pr. PC79] [Pr. PD47] [Pr. PE63] [Pr. PF47] [Pr. PT47]

[Pr. PA32] [Pr. PB64] [Pr. PC80] [Pr. PD48] [Pr. PE64] [Pr. PF48] [Pr. PT48]

(2) Operation method

(a) Parameters of 5 or less digits
The following example shows the operation procedure performed after power-on to change the
control mode to the positioning mode (point table method) with [Pr. PA01 Operation mode]. Press
"MODE" to switch to the basic setting parameter display.

…… The parameter number is displayed.

Press "UP" or "DOWN" to change the number.

Press "SET" twice.

…… The set value of the specified parameter number blinks.

Press "UP" six times.

…… During blinking, the set value can be changed.

Use "UP" or "DOWN".
( _ _ _ 6: Positioning mode (point table method))
To decide the value , press "SET".

To shift to the next parameter, press the "UP" or "DOWN" button.

After changing [Pr. PA01], cycle the power to enable the setting.

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3. DISPLAY AND OPERATION SECTIONS

(b) Parameters of 6 or more digits

The following example gives the operation procedure to change the electronic gear numerator to
"123456" with [Pr. PA06 Electronic gear numerator].
Press "MODE" to switch to the basic parameter screen.
Press "UP" or "DOWN" to select [Pr. PA06].

Press "SET" once.

Setting of
Setting of upper 1 digit Press "MODE" once. lower 4 digits

Press "SET" once.

……The display blinks. ……

Change the setting with

"UP" or "DOWN".

Press "SET" once.

……… Enter the setting.……

Press "MODE" once.

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3. DISPLAY AND OPERATION SECTIONS

3.1.7 External I/O signal display

POINT
The I/O signal settings can be changed using I/O setting parameters [Pr. PD04]
to [Pr. PD28].

The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation
The display at power-on. Switch to the diagnostic display with the "MODE" button.

Press "UP" twice.

…… External I/O signal display screen

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.
CN1-10 CN1-35
(Note 2)/ (Note 2)/
CN1-42 CN1-37 CN1-38 CN1-41 CN1-19 CN1-15 CN1-44 CN1-43
(Note 1, 2) (Note 1, 2)

Input signals

Always lit

Output signals

CN1-33 CN1-48 CN1-23 CN1-24 CN1-49

Light on: on
Light off: off

Note 1. This is available with servo amplifiers manufactured in May 2015 or later.
2. CN1-10 pin and CN1-37 pin are mutually exclusive, and CN1-35 pin and CN1-38 pin are mutually exclusive.

The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.
For each pin signal in control modes, refer to section 2.2.

3 - 19
3. DISPLAY AND OPERATION SECTIONS

3.1.8 Output signal (DO) forced output

POINT
When the servo system is used in a vertical lift application, turning on MBR
(Electromagnetic brake interlock) by the DO forced output after assigning it to
connector CN1 will release the electromagnetic brake, causing a drop. Take
drop preventive measures on the machine side.

Output signals can be switched on/off forcibly independently of the servo status. This function can be used
for output signal wiring check, etc. This operation must be performed in the servo off state by turning off
SON (Servo-on).

The display screen at power-on. Switch to the diagnostic display with the "MODE" button.

Press "UP" three times.

Press "SET" for 2 s or more.

…… Switch on/off the signal below the lit segment.

Always lit
…… Indicates on/off of output signal. Definitions of on/off
are the same as those for the external I/O signals.
CN1-33 CN1-48 CN1-23 CN1-49 (Light on: on, light off: off)
CN1-24
Press "MODE" once.

…… The lit LED moves to the upper LED of CN1-24.

Press "UP" once.

…… CN1-24 switches on. (Between CN1-24 and DOCOM are connected.)

Press "DOWN" once.

…… CN1-24 switches off.

Press "SET" for 2 s or more.

3 - 20
3. DISPLAY AND OPERATION SECTIONS

3.1.9 Single-step feed

The test operation mode is designed for checking servo operation. Do not use it
CAUTION for actual operation.
If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.

POINT
MR Configurator2 is required to perform single-step feed.
Test operation cannot be performed if SON (Servo-on) is not turned off.

The positioning operation can be performed in accordance with the point table No. or the program No. set by
MR Configurator2.
Select the test operation/single-step feed from the menu of MR Configurator2. When the single-step feed
window is displayed, input the following items and operate.

(a) (b)

(1-31) (1-16)

(c) (d) (e) (f) (c) (d) (e) (f)

Point table operation Program operation

(1) Point table No. or program No. setting

Enter a point table No. in the input box (a) "Point table No.", or a program No. in the input box (b)
"Program No.".

(2) Forward/reverse the servo motor

Click "Operation Start" (c) to rotate the servo motor.

(3) Pause the servo motor

Click "Pause" (d) to temporarily stop the servo motor.
While the servo motor is temporarily stopped, click "Operation Start" (c) to restart the rotation of the
travel remaining distance.
While the servo motor is temporarily stopped, click "Stop" (e) to clear the travel remaining distance.

(4) Stop the servo motor

Click "Stop" (e) to stop the servo motor. At this time, the travel remaining distance will be cleared. Click
"Operation Start" (c) to restart the rotation.

3 - 21
3. DISPLAY AND OPERATION SECTIONS

(5) Forced stop of the servo motor software

Click "Forced Stop" (f) to make an instantaneous stop. When "Forced Stop" is enabled, the servo motor
does not drive even if "Operation Start" is clicked. Click "Forced Stop" again to enable "Operation Start"
to be clicked.
(6) Switch to the normal operation mode
Before switching from the test operation mode to the normal operation mode, turn off the servo amplifier.

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3. DISPLAY AND OPERATION SECTIONS

3.1.10 Teaching function

After an operation travels to a target position (MEND (Travel completion) is turned on) with a JOG operation
or manual pulse generator operation, pushing the "SET" button of the operation area or turning on TCH
(Teach) will import the position data. This function is available only in the point table method. In other control
modes, the display remains the same.

(1) Teaching preparation

Teaching setting initial display
Press the "SET" button for approximately 2 s to switch to the teaching setting
mode.

When the lower three digits blink, press the "UP" or "DOWN" button to select
the point table.

When the lower three digits blink, press the "SET" button to complete the
teaching setting preparation. The upper two digits on the display will blink on
completion of proper preparation

(2) Position data setting method

After an operation travels to a target position (MEND (Travel completion) is turned on) with a JOG
operation or manual pulse generator operation, pushing the "SET" button of the operation part or turning
on TCH (Teach) will set the positioning address as position data.

When the upper two digits blink, the current position is written to the selected
point table by pressing the "SET" button.

When the upper two digits or the lower two digits blink, the display returns to the teaching setting initial
screen by pressing the "MODE" button.
The following shows the conditions for when the teaching function operates.

(a) When the "positioning command method" of [Pr. PT01] is set to absolute value command method (_
_ _ 0)

(b) Home position return completion (ZP (Home position return completion) is turned on)

(c) While the servo motor is stopped (command output = 0, MEND (Travel completion) is turned on)

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3. DISPLAY AND OPERATION SECTIONS

MEMO

3 - 24
4. HOW TO USE THE POINT TABLE

4. HOW TO USE THE POINT TABLE

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Switching power on for the first time MR-JE-_A section 4.1

POINT
For the mark detection function (Current position latch), refer to section 6.2.2.
For the mark detection function (Interrupt positioning), refer to section 6.2.3.
There are the following restrictions on the number of gear teeth on machine side
([Pr. PA06 Number of gear teeth on machine side]) and the servo motor speed
(N).
When CMX ≤ 2000, N < 3076.7 r/min
When CMX > 2000, N < (3276.7 - CMX)/10 r/min
When the servo motor is operated at a servo motor speed higher than the limit
value, [AL. E3 Absolute position counter warning] will occur.

4- 1
4. HOW TO USE THE POINT TABLE

4.1 Startup

When executing a test run, follow the notice and procedures in this instruction
manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.
WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot
while the power is on and for some time after power-off. Take safety measures
such as providing covers to avoid accidentally touching them by hands and parts
CAUTION such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

4.1.1 Power on and off procedures

When the servo amplifier is powered on for the first time, the control mode is set to position control mode.
(Refer to section 4.2.1 of "MR-JE-_A Servo Amplifier Instruction Manual".)
This section provides a case where the servo amplifier is powered on after setting the positioning mode.

(1) Power-on
Switch the power on in the following procedure. Always follow this procedure at power-on.

1) Switch off SON (Servo-on).

2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.

3) Turn on the power.

The display shows "PoS" and 2 s later shows data.

(2) Power-off
1) Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start).

2) Switch off SON (Servo-on).

3) Shut off the power.

4- 2
4. HOW TO USE THE POINT TABLE

4.1.2 Stop

Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.
If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo
motor.
Refer to section 3.10 of "MR-JE-_A Servo Amplifier Instruction Manual" for the servo motor with an
electromagnetic brake.
Operation/command Stopping condition
Switch off SON (Servo-on). The base circuit is shut off, and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop. With some alarms; however, the dynamic
brake operates to stop the servo motor. (Refer to chapter 8. (Note))
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
warning] occurs. Refer to section 2.3 for EM1.
LSP (Forward rotation stroke end) off or LSN The servo motor stops immediately and will be servo locked. Operation in the
(Reverse rotation stroke end) off opposite direction is possible.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.

4- 3
4. HOW TO USE THE POINT TABLE

4.1.3 Test operation

Before starting an actual operation, perform a test operation to make sure that the machine operates
normally.
Refer to section 4.1 for how to power on and off the servo amplifier.
Test operation of the servo In this step, confirm that the servo amplifier and the servo motor operate
motor alone in JOG operation
of test operation mode normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor rotates correctly at the slowest
speed. For the test operation mode, refer to section 3.1.8 and 3.1.9 in this
manual, and section 4.5.9 of "MR-JE-_A Servo Amplifier Instruction Manual".

Manual operation of the servo In this step, confirm that the servo motor rotates correctly at the slowest
motor alone in test operation
mode speed in the manual operation mode.
Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end).

3) When MD0 (Operation mode selection 1) is switched off from the

controller and ST1 (Forward rotation start) or ST2 (Reverse rotation
start) is switched on in the manual operation mode, the servo motor
starts rotating. Set a low speed to the point table at first, operate the
servo motor, and check the rotation direction of the servo motor, etc. If
the servo motor does not operate in the intended direction, check the
input signal.

Test operation with the servo

In this step, connect the servo motor with the machine and confirm that the
motor and machine connected machine operates normally with the commands from the controller.
Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end).

3) When MD0 (Operation mode selection 1) is switched off from the

controller and ST1 (Forward rotation start) or ST2 (Reverse rotation
start) is switched on in the manual operation mode, the servo motor
starts rotating. Set a low speed to the point table at first, operate the
servo motor, and check the rotation direction of the machine, etc. If the
servo motor does not operate in the intended direction, check the input
signal. In the status display, check for any problems of the servo motor
speed, load ratio, etc.

Automatic operation using the Check automatic operation from the controller.
point table

4- 4
4. HOW TO USE THE POINT TABLE

4.1.4 Parameter setting

POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Assign the following output devices to the CN1-23 pin with [Pr. PD24].
CN1-23: ZP (Home position return completion)

When you use the servo in the point table method, set [Pr. PA01] to "_ _ _ 6" (Positioning mode (point table
method)). In the point table method, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and the positioning control parameters ([Pr. PT _ _ ]) mainly.
As necessary, set other parameters.
The following table shows the necessary setting of [Pr. PA _ _ ] and [Pr. PT _ _ ] in the point table method.
Operation mode selection item Parameter setting Input device setting
MD0 DI0 to DI4
[Pr. PA01] [Pr. PT04]
Operation mode (Note 1) (Note 1, 2)
Each positioning operation
Varying-speed
Automatic operation operation Set the point table
mode in point table Automatic On No. (Refer to section
continuous Automatic
method continuous 4.2.1 (2) (b).)
operation
positioning
operation
JOG operation
Manual operation
Manual pulse generator Off
mode
operation
Dog type ___0
Count type ___6 ___1
Data set type ___2
Stopper type ___3
Home position ignorance (servo-
___4
Home position return on position as home position)
On All off
mode Dog type rear end reference ___5
Count type front end reference ___6
Dog cradle type ___7
Dog type last Z-phase reference ___8
Dog type front end reference ___9
Dogless Z-phase reference ___A

Note 1. MD0: Operation mode selection 1, DI0 to DI4: Point table No. selection 1 to Point table No. selection 5
2. DI4 is available only with the communication function. This device cannot be assigned as an input signal.

4- 5
4. HOW TO USE THE POINT TABLE

4.1.5 Point table setting

Set the data for operation to the point table. The following shows the items to be set.
Item Main description
Position data Set the position data for movement.
Servo motor
Set the command speed of the servo motor for execution of positioning.
speed
Acceleration
Set the acceleration time constant.
time constant
Deceleration
Set the deceleration time constant.
time constant
Dwell Set the waiting time when performing automatic continuous operation.
Auxiliary function Set when performing automatic continuous operation.
The first digit and the second digit of the M code are outputted in 4-bit binary
M code respectively.
M code will be available in the future.

Refer to section 4.2.2 for details of the point table.

4.1.6 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings.

4.1.7 Troubleshooting at start-up

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

POINT
Using MR Configurator2, you can refer to the reason for rotation failure, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
"MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on The 7-segment LED Not solved even if CN1, CN2, and 1. Power supply voltage fault
display does not turn CN3 connectors are 2. The servo amplifier is
on. disconnected. malfunctioning.
The 7-segment LED Solved when CN1 connector is Power supply of CN1 cabling is
display blinks. disconnected. shorted.
Solved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Solved when CN3 connector is Power supply of CN3 cabling is
disconnected. shorted.
Alarm occurs. Refer to chapter 8 and remove the cause. Chapter 8
(Note)
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove the cause. Chapter 8
(Servo-on). (Note)
Servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not input. Section
not servo-locked. servo amplifier is ready to (wiring mistake) 3.1.7
(Servo motor shaft is operate. 2. 24 V DC power is not
free.) 2. Check the external I/O signal supplied to DICOM.
indication (section 3.1.7) to
see if SON (Servo-on) is on.

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4. HOW TO USE THE POINT TABLE

No. Start-up sequence Fault Investigation Possible cause Reference

3 Perform a home Servo motor does not Check the on/off status of the LSP, LSN, and ST1 are off. Section
position return. rotate. input signal with the external I/O 3.1.7
signal display. (Refer to section
3.1.7.)
Check [Pr. PA11 Forward Torque limit level is too low for Section
rotation torque limit] and [Pr. the load torque. 7.2.1
PA12 Reverse rotation torque
limit].
When TLA (Analog torque limit) Torque limit level is too low for Section
is usable, check the input voltage the load torque. 3.1.2
on the status display.
The home position Check the on/off status of input The proximity dog is set Section
return is not completed. signal DOG with the external I/O incorrectly. 3.1.7
signal display. (Refer to section
3.1.7.)
4 Switch on ST1 Servo motor does not Check the on/off status of the LSP, LSN, and ST2 are off. Section
(Forward rotation rotate. input signal with the external I/O 3.1.7
start) or ST2 signal display (section 3.1.7).
(Reverse rotation Check [Pr. PA11 Forward rotation Torque limit level is too low for Section
start). torque limit] and [Pr. PA12 the load torque. 7.2.1
Reverse rotation torque limit].
When TLA (Analog torque limit) is Torque limit level is too low for Section
usable, check the input voltage on the load torque. 3.1.2
the status display.
5 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault MR-JE-_A
fluctuations) are large following procedure. Chapter 6
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times to
complete auto tuning.
Large load inertia If the servo motor may be driven Gain adjustment fault MR-JE-_A
moment causes the with safety, repeat acceleration Chapter 6
servo motor shaft to and deceleration three times or
oscillate side to side. more to complete the auto tuning.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.

4- 7
4. HOW TO USE THE POINT TABLE

4.2 Automatic operation mode

4.2.1 Automatic operation mode

(1) Command method

Set point tables in advance, and select any point table by using an input signal or RS-422/RS-485
communication. Start the operation using ST1 (Forward rotation start) or ST2 (Reverse rotation start).
Absolute value command method and incremental value command method are available in automatic
operation mode.

(a) Absolute value command method

As position data, set the target address to be reached.

1) mm, inch, and pulse unit

Setting range: -999999 to 999999 [×10STM μm] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [×10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [pulse]
-999999 999999

Setting range of the position data

[×10STM μm] / [×10(STM-4) inch] / [pulse]

2) Degree unit
Set the target position by indicating the CCW direction with a "+" sign and the CW direction with a
"-" sign.
In the absolute value command method, the rotation direction can be specified with a "+" or "-"
sign.
An example of setting is shown below.
0 Coordinate system in degrees
(-360) The coordinate is determined by referring to the position
of 0 degree.
+ direction: 0 → 90 → 180 → 270 → 0
Setting range of the
- direction: 0 → -90 → -180 → -270 → -360
90 270
(-270)
position data
(-90) The positions of 270 degrees and -90 degrees are the
[degree]
same.
The positions of 0 degree, 360 degrees and -360 degrees
are the same.
180
(-180)

The travel direction to the target position is set with [Pr. PT03].

[Pr. PT03] setting Servo motor rotation direction

The servo motor rotates to the target position in a direction specified with a sign of the position
_0__
data.
The servo motor rotates from the current position to the target position in the shorter direction.
_1__ If the distances from the current position to the target position are the same for CCW and CW,
the servo motor rotates in the CCW direction.

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4. HOW TO USE THE POINT TABLE

a) When using the Rotation direction specifying ([Pr. PT03] = "_ 0 _ _")
When the position data of 270.000 degrees is specified, the servo motor rotates in the CCW
direction.

Target
position
(270)

Current
position

When the position data of -90.000 degrees is specified, the servo motor rotates in the CW
direction.

Target
position
(-90)

Current
position

When the position data of -360.000 degrees is specified, the servo motor rotates in the CW
direction. (A)
When the position data of 360.000 degrees or 0 degree is specified, the servo motor rotates in
the CCW direction. (B)

Target
position
(-360) (B)

(A)
Current
position

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4. HOW TO USE THE POINT TABLE

b) When using the shortest rotation specification ( [Pr. PT03] = _ 1 _ _)

When the position data of 270.000 degrees is specified, the servo motor rotates in the CCW
direction.

Target
position
(270)

Current
position

When the position data of -90.000 degrees is specified, the servo motor rotates in the CCW
direction.

Target
position
(-90)

Current
position

If the position data of 270.000 degrees is specified when the current position is at 90, the
distances in the CCW and CW are the same. In such a case, the servo motor rotates in the
CCW direction.

Current Target
position position
(90) (270)

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4. HOW TO USE THE POINT TABLE

(b) Incremental value command method

As position data, set the travel distance from the current address to the target address.

1) mm, inch, and pulse unit

Setting range: 0 to 999999 [×10STM μm] (STM = Feed length multiplication [Pr. PT03])
0 to 999999 [×10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03])
0 to 999999 [pulse]

Current address Target address

Position data = |Target address - Current address|

2) Degree unit
0 degree

Position data = Target address - Current address

Here, Travel distance = -170 degrees

Current address
80 degrees
Target address
270 degrees

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4. HOW TO USE THE POINT TABLE

(2) Point table

(a) Point table setting
1 to 31 point tables can be set. To use point table No. 4 to 31, enable DI2 (Point table No. selection
3) to DI4 (Point table No. selection 5) with "Device Setting" on MR Configurator2.
Set point tables using MR Configurator2 or the operation section of the servo amplifier.
The following table lists what to set. Refer to section 4.2.2 for details of the settings.
Item Main description
Position data Set the position data for movement.
Servo motor
Set the command speed of the servo motor for execution of positioning.
speed
Acceleration
Set the acceleration time constant.
time constant
Deceleration
Set the deceleration time constant.
time constant
Dwell Set the waiting time when performing automatic continuous operation.
Auxiliary function Set when performing automatic continuous operation.
The first digit and the second digit of the M code are outputted in 4-bit binary
M code respectively.
M code will be available in the future.

(b) Selection of point tables

Using the input signal or the communication function, select the point table No. with the
communication command from the controller such as a personal computer.
The following table lists the point table No. selected in response to the input signal and the
communication command.
However, when using the input signal to select the point table No., you can only use point table No. 1
to 3 in the initial status.
To use point table No. 4 to 31, enable DI2 (Point table No. selection 3) to DI4 (Point table No.
selection 5) with "Device Setting" on MR Configurator2.
When using the communication function to select the point table No., refer to chapter 10.
Input signal (Note 1)
DI4 Selected point table No.
DI3 DI2 DI1 DI0
(Note 2)
0 0 0 0 0 0 (for home position return)
0 0 0 0 1 1
0 0 0 1 0 2
0 0 0 1 1 3
0 0 1 0 0 4

1 1 1 1 0 30
1 1 1 1 1 31

Note 1. 0: Off
1: On
2. DI4 is available only with the communication function. This device cannot be
assigned as an input signal.

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4. HOW TO USE THE POINT TABLE

4.2.2 Automatic operation using point table

(1) Absolute value command method

This method allows to select absolute value command or incremental value command with the auxiliary
function of the point table.

(a) Point table

Set the point table values using MR Configurator2 or the operation section.
Set the position data, servo motor speed, acceleration time constant, deceleration time constant,
dwell, auxiliary function, and M code to the point table.
To use the point table with the absolute value command method, set "0", "1", "8", or "9" to the
auxiliary function. To use the point table with the incremental value command method, set "2", "3",
"10", or "11" to the auxiliary function.
When you set a value outside the setting range to the point table, the set value will be clamped with
the maximum or minimum value. If the value becomes out of the range because of the changes in
the command unit or the connected servo motor, [AL. 37] will occur.
Item Setting range Unit Description
(1) When using this point table with the absolute value command method
10STM μm Set the target address (absolute value).
10(STM-4) inch The teaching function is also available for setting this value.
-999999 to 999999
Position data 10-3 degree (2) When using this point table with the incremental value command method
(Note)
pulse Set the travel distance. A "-" sign indicates a reverse rotation command.
(Note 2) The teaching function is not available. When teaching is executed, the
setting will not be completed.
Set the command speed of the servo motor for execution of positioning.
Servo motor 0 to permissible
r/min The setting value must be the permissible instantaneous speed or less of the
speed speed
servo motor used.
Acceleration
0 to 20000 ms Set a time for the servo motor to reach the rated speed.
time constant
Deceleration
0 to 20000 ms Set a time for the servo motor to stop from the rated speed.
time constant
Set the dwell.
To disable the dwell, set "0" or "2" to the auxiliary function.
To perform a continuous operation, set "1", "3", "8", "9", "10", or "11" to the
Dwell 0 to 20000 ms auxiliary function and "0" to the dwell.
When the dwell is set, a positioning of the next point table will be started after
the positioning of the selected data is completed, and the set dwell has
elapsed.
Set the auxiliary function.
(1) When using this point table with the absolute value command method
0: Executes automatic operation for a selected point table.
1: Executes automatic continuous operation without stopping for the next
point table.
8: Executes automatic continuous operation without stopping for the point
table selected at the start.
9: Executes automatic continuous operation without stopping for the point
table No. 1.
(2) When using this point table with the incremental value command method
Auxiliary
0 to 3, 8 to 11 2: Executes automatic operation for a selected point table.
function
3: Executes automatic continuous operation without stopping for the next
point table.
10: Executes automatic continuous operation without stopping for the point
table selected at the start.
11: Executes automatic continuous operation without stopping for the point
table No. 1.
When an opposite rotation direction is set, the servo motor rotates in the
opposite direction after smoothing zero (command output) is confirmed.
Setting "1" or "3" to point table No. 31 results in an error.
For details, refer to (3) (b) in this section.
Outputs the first digit and the second digit of the M code in 4-bit binary
M code 0 to 99 respectively.
M code will be available in the future.

Note. The setting range of the position data in degrees is -360.000 to 360.000. When the unit of the position data is μm or inch, the
location of the decimal point is changed according to the STM setting.

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4. HOW TO USE THE POINT TABLE

(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command method selection ([Pr. PT01])

Select the absolute value command method as shown below.
[Pr. PT01]

0
Absolute value command method

2) Rotation direction selection ([Pr. PA14])

Select the servo motor rotation direction when ST1 (Forward rotation start) is switched on.
Servo motor rotation direction when ST1
[Pr. PA14] setting
(Forward rotation start) is switched on
CCW rotation with + position data
0
CW rotation with - position data
CW rotation with + position data
1
CCW rotation with - position data

CCW

CW

3) Position data unit ([Pr. PT01])

Set the unit of the position data.
[Pr. PT01] setting Position data unit
_0__ mm
_1__ inch
_2__ degree
_3__ pulse

4) Feed length multiplication ([Pr. PT03])

Set the feed length multiplication factor (STM) of the position data.
Position data input range
[Pr. PT03] setting
[mm] [inch] [degree] (Note 1) [pulse] (Note 1)
___0 - 999.999 to + 999.999 - 99.9999 to + 99.9999
___1 - 9999.99 to + 9999.99 - 999.999 to + 999.999 - 360.000 to + 360.000
- 999999 to + 999999
___2 - 99999.9 to + 99999.9 - 9999.99 to + 9999.99 (Note 2)
___3 - 999999 to + 999999 - 99999.9 to + 99999.9

Note 1. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.
Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).
2. The "-" sign has different meanings under the absolute value command method and the incremental value command method.
Refer to section 4.2.1 for details.

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4. HOW TO USE THE POINT TABLE

(c) Operation
Selecting DI0 to DI4 for the point table and switching on ST1 starts positioning to the position data at
the set speed, acceleration time constant and deceleration time constant. At this time, ST2 (Reverse
rotation start) is disabled.
Item Device to be used Setting
Automatic operation mode selection MD0 (Operation mode selection 1) Switch on MD0.
DI0 (Point table No. selection 1)
DI1 (Point table No. selection 2)
Point table selection DI2 (Point table No. selection 3) Refer to section 4.2.1 (2) (b).
DI3 (Point table No. selection 4)
DI4 (Point table No. selection 5)
Start ST1 (Forward rotation start) Switch on ST1 to start.

(2) Incremental value command method

(a) Point table
Set the point table values using MR Configurator2 or the operation section.
Set the position data, servo motor speed, acceleration time constant, deceleration time constant,
dwell, auxiliary function, and M code to the point table.
When you set a value outside the setting range to the point table, the set value will be clamped with
the maximum or minimum value. If the value becomes out of the range because of the changes in
the command unit or the connected servo motor, [AL. 37] will occur.
Item Setting range Unit Description
×10 μm
STM Set the travel distance.
×10(STM-4) inch The teaching function is not available. When teaching is executed, the setting
Position data 0 to 999999 (Note)
×10-3 degree will not be completed.
pulse The unit can be changed by [Pr. PT03] (Feed length multiplication).
Set the command speed of the servo motor for execution of positioning.
Servo motor 0 to permissible
r/min The setting value must be the permissible instantaneous speed or less of the
speed speed
servo motor used.
Acceleration
0 to 20000 ms Set a time for the servo motor to reach the rated speed.
time constant
Deceleration
0 to 20000 ms Set a time for the servo motor to stop from the rated speed.
time constant
Set the dwell.
To disable the dwell, set "0" to the auxiliary function.
To perform varying-speed operation, set "1", "8" or "9" to the auxiliary function
Dwell 0 to 20000 ms and "0" to the dwell.
When the dwell is set, a positioning of the next point table will be started after
the positioning of the selected data is completed, and the set dwell has
elapsed.
Set the auxiliary function.
0: Executes automatic operation for a selected point table.
1: Executes automatic continuous operation without stopping for the next point
table.
Auxiliary 8: Executes automatic continuous operation without stopping for the point
0, 1, 8, 9
function table selected at the start.
9: Executes automatic continuous operation without stopping for the point
table No. 1.
Setting "1" to point table No. 31 results in an error.
For details, refer to (3) (b) in this section.
Outputs the first digit and the second digit of the M code in 4-bit binary
M code 0 to 99 respectively.
M code will be available in the future.

Note. The setting range of the position data in degrees is 0 to 999.999. When the unit of the position data is μm or inch, the location of
the decimal point is changed according to the STM setting.

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4. HOW TO USE THE POINT TABLE

(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command method selection ([Pr. PT01])

Select the incremental value command method as shown below.
[Pr. PT01]

1
Incremental value command method

2) Rotation direction selection ([Pr. PA14])

Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2 (Reverse
rotation start) is switched on.
Servo motor rotation direction
[Pr. PA14] setting
ST1 (Forward rotation start) ST2 (Reverse rotation start)
0 CCW rotation (address increase) CW rotation (address decrease)
1 CW rotation (address increase) CCW rotation (address decrease)

ST1: on ST2: on
CCW CCW

CW CW
ST2: on ST1: on

[Pr. PA14]: 0 [Pr. PA14]: 1

3) Position data unit ([Pr. PT01])

Set the unit of the position data.
[Pr. PT01] setting Position data unit
_0__ mm
_1__ inch
_2__ degree
_3__ pulse

4) Feed length multiplication ([Pr. PT03])

Set the feed length multiplication factor (STM) of the position data.
Position data input range
[Pr. PT03] setting
[mm] [inch] [degree] (Note) [pulse] (Note)
___0 0 to + 999.999 0 to + 99.9999
___1 0 to + 9999.99 0 to + 999.999
0 to + 999.999 0 to + 999999
___2 0 to + 99999.9 0 to + 9999.99
___3 0 to + 999999 0 to + 99999.9

Note. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.
Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

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4. HOW TO USE THE POINT TABLE

(c) Operation
Selecting DI0 to DI4 for the point table and switching on ST1 starts a forward rotation of the motor
over the travel distance of the position data at the set speed, acceleration time constant and
deceleration time constant.
Switching on ST2 starts a reverse rotation of the motor in accordance with the values set to the
selected point table.
When the positioning operation is performed consecutively with the incremental value command
method, the servo motor rotates in the same direction only.
To change the travel direction during the continuous operation, perform the operation with the
absolute value command method.
Item Device to be used Setting
Automatic operation mode selection MD0 (Operation mode selection 1) Switch on MD0.
DI0 (Point table No. selection 1)
DI1 (Point table No. selection 2)
Point table selection DI2 (Point table No. selection 3) Refer to section 4.2.1 (2) (b).
DI3 (Point table No. selection 4)
DI4 (Point table No. selection 5)
ST1 (Forward rotation start) Switch on ST1 to start.
Start
ST2 (Reverse rotation start) Switch on ST2 to start.

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4. HOW TO USE THE POINT TABLE

(3) Automatic operation timing chart

(a) Automatic individual positioning operation
1) Absolute value command method ([Pr. PT01] = _ _ _ 0)
While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start)
starts the automatic positioning operation.
The following shows a timing chart.
MD0
ON
(Operation mode
selection 1) OFF
ON
SON (Servo-on)
OFF (Note 1)
ST1 ON 3 ms or longer 3 ms or longer
(Forward rotation start) OFF
ST2 ON 5 ms or longer 5 ms or longer
(Reverse rotation start) OFF

Point table No. 1 2

3 ms or shorter

Forward
rotation Point table No. 1
Servo motor speed 0 r/min
Reverse Point table No. 2
rotation

ON
INP (In-position)
OFF
ON
CPO (Rough match)
OFF
MEND ON
(Travel completion) OFF
PT0 (Point table No.
output 1) to PT4 (Point 1 2
table No. output 5)
(Note 2)

ON
RD (Ready)
OFF
ON
ALM (Malfunction)
OFF

M code output (Note 3) M code of point table No. 1

Note 1. The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD29].
Considering the output signal sequence from the controller and signal variations due to hardware,
configure a sequence that changes the point table selection earlier.
2. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be
outputted simultaneously.
3. M code will be available in the future.

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4. HOW TO USE THE POINT TABLE

2) Absolute value command method ([Pr. PT01] = _ _ _ 1)

While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start)
or ST2 (Reverse rotation start) starts the automatic positioning operation.
The following shows a timing chart.
MD0 ON
(Operation mode
selection 1) OFF
ON
SON (Servo-on)
OFF
(Note 1)
ST1 ON 3 ms or longer
(Forward rotation start) OFF
ST2 ON 5 ms or longer 3 ms or longer
(Reverse rotation start) OFF
5 ms or longer
Point table No. 1 2
3 ms or shorter

Forward
rotation Point table No. 1
Servo motor speed 0 r/min
Reverse Point table No. 2
rotation

ON
INP (In-position)
OFF
ON
CPO (Rough match)
OFF
MEND ON
(Travel completion) OFF
PT0 (Point table No.
output 1) to PT4 (Point 1 2
table No. output 5)
(Note 2)
ON
RD (Ready)
OFF
ON
ALM (Malfunction)
OFF

M code output (Note 3) M code of point table No. 1

Note 1. The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD29].
Considering the output signal sequence from the controller and signal variations due to hardware,
configure a sequence that changes the point table selection earlier.
2. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be
outputted simultaneously.
3. M code will be available in the future.

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4. HOW TO USE THE POINT TABLE

(b) Automatic continuous positioning operation

By merely selecting a point table and switching on ST1 (Forward rotation start) or ST2 (Reverse
rotation start), the operation can be performed in accordance with the point tables having
consecutive numbers.

1) Absolute value command method ([Pr. PT01] = _ _ _ 0)

By specifying the absolute value command or the incremental value command in the auxiliary
function of the point table, the automatic continuous operation can be performed.
The following shows how to set.
Point table setting
Auxiliary function
Dwell
When the position data is absolute value When the position data is incremental value
1 or more 1 3

a) Positioning in a single direction

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute value command method,
and point table No. 2 the incremental value command method.
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note 2)
[ms] [ms]
1 5.00 3000 100 150 100 1 05
2 5.00 2000 150 200 200 3 10
3 15.00 1000 300 100 Disabled 0 (Note 1) 15

Note 1. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute value command method
2: When using the point table with the incremental value command method
2. M code will be available in the future.

Acceleration/deceleration time
constant of point table No. 1 Acceleration/deceleration time constant
of point table No. 2 Acceleration/deceleration time
constant of point table No. 3
Forward Speed Speed
rotation (3000) (2000) Speed (1000)
Servo motor speed 0 r/min
Reverse
rotation Dwell time
Dwell time
100 ms 5.00
200 ms
Position address
0 5.00 10.00 15.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)
M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
2. M code will be available in the future.

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4. HOW TO USE THE POINT TABLE

b) Positioning in the reverse direction midway

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute value command method,
and point table No. 2 the incremental value command method.
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note 2)
[ms] [ms]
1 5.00 3000 100 150 100 1 05
2 7.00 2000 150 200 200 3 10
3 8.00 1000 300 100 Disabled 0 (Note 1) 15

Note. 1. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute value command method
2: When using the point table with the incremental value command method
2. M code will be available in the future.

Acceleration/deceleration time Acceleration/deceleration

constant of point table No. 1 time constant of point table
No. 2

Forward Speed Speed Dwell time

rotation (3000) (2000) 200 ms
Servo motor speed 0 r/min
Reverse Speed (1000)
Dwell time
rotation 100 ms Acceleration/deceleration time
7.00 constant of point table No. 3
Position address
0 5.00 8.00 12.00

Selected point table No.

1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)
M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
2. M code will be available in the future.

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4. HOW TO USE THE POINT TABLE

c) Position data in degrees

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1, No. 2, and No. 4 are set to the absolute value command
method, and point table No. 3 the incremental value command method.
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [degree] speed [r/min] function (Note 2)
[ms] [ms]
1 120.000 1000 100 150 100 1 05
2 -320.000 500 150 100 200 1 10
3 -230.000 3000 200 300 150 3 15
4 70.000 1500 300 100 Disabled 0 (Note 1) 20

Note 1. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute value command method
2: When using the point table with the incremental value command method
2. M code will be available in the future.

0 0
40
(-320)

120 120
(-240)
(-240)

0 0
40
(-320)
70
(-290)
230

170 170
(-190) (-190)
Point table No. 1
Forward Point table No. 3 Point table No. 4
rotation
Servo motor speed 0 r/min
Reverse
rotation Point table No. 2

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)

M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be
outputted simultaneously.
2. M code will be available in the future.

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4. HOW TO USE THE POINT TABLE

2) Incremental value command method ([Pr. PT01] = _ _ _ 1)

The position data of the incremental value command method is the sum of the position data of
consecutive point tables.
The following shows how to set.
Point table setting
Dwell Auxiliary function
1 or more 1

a) Positioning in a single direction

The following shows an operation example with the set values listed in the table below.
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note 2)
[ms] [ms]
1 5.00 3000 100 150 100 1 05
2 6.00 2000 150 200 200 1 10
3 3.00 1000 300 100 Disabled 0 (Note 1) 15

Note 1. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
2. M code will be available in the future.

Acceleration/deceleration time constant Acceleration/deceleration time constant

of point table No. 1
of point table No. 2 Acceleration/deceleration time constant
of point table No. 3
Forward Speed Speed
rotation (3000) (2000) Speed (1000)
Servo motor speed 0 r/min
Reverse
rotation
6.00 3.00

Position address
0 5.00 11.00 14.00

Selected point table No. 1

ST1 ON
(Forward rotation start)
(Note 1) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 2)
M code output (Note 3) 05

Note 1. Switching on ST2 (Reverse rotation start) starts positioning in the reverse rotation direction.
2. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
3. M code will be available in the future.

4 - 23
4. HOW TO USE THE POINT TABLE

b) Position data in degrees

The following shows an operation example with the set values listed in the table below.
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [degree] speed [r/min] function (Note 2)
[ms] [ms]
1 120.000 3000 100 150 0 1 05
2 60.000 1500 150 100 0 1 10
3 90.000 1000 300 100 Disabled 0 (Note 1) 15

Note 1. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute value command method
2: When using the point table with the incremental value command method
2. M code will be available in the future.

Point table
No. 3
120
270
(-90)
Point table 60 90
No. 1
120
(-240)
Point table
180 No. 2
(-180)

Point table No. 1

Point table No. 2
Point table No. 3

Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)
M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
2. M code will be available in the future.

4 - 24
4. HOW TO USE THE POINT TABLE

(c) Varying-speed operation

By setting the auxiliary function of the point table, the servo motor speed during positioning can be
changed. Point tables are used by the number of the set speed.

1) Absolute value command method ([Pr. PT01] = _ _ _ 0)

Set "1" or "3" to the auxiliary function to execute the positioning at the speed set in the following
point table.
At this time, the position data selected at start is enabled, and the acceleration/deceleration time
constant set in the next and subsequent point tables is disabled.
By setting "1" or "3" to sub functions until point table No. 30, the operation can be performed at
maximum 31 speeds.
Always set "0" or "2" to the auxiliary function of the last point table.
To perform varying-speed operation, always set "0" to the dwell.
Setting "1" or more enables the automatic continuous positioning operation.
The following table shows an example of setting.
Point table No. Dwell [ms] (Note 1) Auxiliary function Varying-speed operation
1 0 1
2 0 3 Consecutive point table data
3 Disabled 0 (Note 2)
4 0 3
5 0 1 Consecutive point table data
6 Disabled 2 (Note 2)

Note 1. Always set "0".

2 Always set "0" or "2" to the auxiliary function of the last point table among the
consecutive point tables.

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4. HOW TO USE THE POINT TABLE

a) Positioning in a single direction

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute value command method,
and point table No. 2 the incremental value command method.
Acceleration Deceleration
Point table Position data Servo motor Dwell [ms] Auxiliary M code
time constant time constant
No. [10STM μm] speed [r/min] (Note 1) function (Note 3)
[ms] [ms]
1 5.00 3000 100 150 0 1 05
2 3.00 2000 Disabled Disabled 0 3 10
3 10.00 1000 Disabled Disabled 0 1 15
4 6.00 500 Disabled Disabled Disabled 2 (Note 2) 20

Note 1. Always set "0".

2. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute value command method
2: When using the point table with the incremental value command method
3. M code will be available in the future.

Acceleration time constant Deceleration time constant

(100) of point table No. 1 (150) of point table No. 1

Speed
Speed (1000)
Forward (3000) Speed Speed
rotation (2000) (500)
Servo motor speed 0 r/min
Reverse
rotation
3.00 6.00
Position address
0 5.00 8.00 10.00 16.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)

M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
2. M code will be available in the future.

4 - 26
4. HOW TO USE THE POINT TABLE

b) Positioning in the reverse direction midway

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute value command method,
and point table No. 2 the incremental value command method.
Acceleration Deceleration
Point table Position data Servo motor Dwell [ms] Auxiliary M code
time constant time constant
No. [10STM μm] speed [r/min] (Note 1) function (Note 3)
[ms] [ms]
1 5.00 3000 100 150 0 1 05
2 7.00 2000 Disabled Disabled 0 3 10
3 8.00 1000 Disabled Disabled Disabled 0 (Note 2) 15

Note 1. Always set "0".

2. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute value command method
2: When using the point table with the incremental value command method
3. M code will be available in the future.

Acceleration time constant Deceleration time constant

of point table No. 1 (100) of point table No. 1 (150)

Forward Speed Speed

rotation (3000) (2000)
Servo motor speed 0 r/min
Reverse Speed (1000)
rotation Acceleration time constant
of point table No. 1 (100)
7.00
Position address
0 5.00 8.00 12.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)
M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
2. M code will be available in the future.

4 - 27
4. HOW TO USE THE POINT TABLE

2) Absolute value command method ([Pr. PT01] = _ _ _ 1)

Setting "1" to the auxiliary function executes positioning at the speed set in the following point
table.
At this time, the position data selected at start is enabled, and the acceleration/deceleration time
constant set in the next and subsequent point tables is disabled.
By setting "1" to sub functions until point table No. 30, the operation can be performed at
maximum 31 speeds.
Always set "0" to the auxiliary function of the last point table.
To perform varying-speed operation, always set "0" to the dwell.
Setting "1" or more enables the automatic continuous positioning operation.
The following table shows an example of setting.
Point table No. Dwell [ms] (Note 1) Auxiliary function Varying-speed operation
1 0 1
2 0 1 Consecutive point table data
3 Disabled 0 (Note 2)
4 0 1
5 0 1 Consecutive point table data
6 Disabled 0 (Note 2)
Note 1. Always set "0".
2. Always set "0" to the auxiliary function of the last point table among the
consecutive point tables.

The following shows an operation example with the set values listed in the table below.
Acceleration Deceleration
Point table Position data Servo motor Dwell [ms] Auxiliary M code
time constant time constant
No. [10STM μm] speed [r/min] (Note 1) function (Note 3)
[ms] [ms]
1 5.00 3000 100 150 0 1 05
2 3.00 2000 Disabled Disabled 0 1 10
3 2.00 1000 Disabled Disabled 0 1 15
4 6.00 500 Disabled Disabled Disabled 0 (Note 2) 20

Note 1. Always set "0".

2. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
3. M code will be available in the future.

4 - 28
4. HOW TO USE THE POINT TABLE

Acceleration time constant Deceleration time constant

of point table No. 1 (100) of point table No. 1 (150)

Speed
Speed (1000)
Forward Speed Speed
rotation (3000)
(2000) (500)
Servo motor speed 0 r/min
Reverse
rotation

5.00 3.00 2.00 6.00

Position address
0 5.00 8.00 10.00 16.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) 1
(Note 1)
M code output (Note 2) 05

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.
2. M code will be available in the future.

(d) Automatic repeat positioning operation

By setting the auxiliary function of the point table, the operation pattern of the set point table No. can
be returned to, and the positioning operation can be performed repeatedly.

1) Absolute value command method ([Pr. PT01] = _ _ _ 0)

Setting "8" or "10" to the auxiliary function performs an automatic continuous operation or a
varying-speed operation until that point table, and after the completion of positioning, performs
the operation again from the operation pattern of the point table No. used at start-up.
Setting "9" or "11" to the auxiliary function performs an automatic continuous operation or a
varying-speed operation until that point table, and after the completion of positioning, performs
the operation again from the operation pattern of point table No. 1.

a) Automatic repeat positioning operation by absolute value command method

Example 1. Operations when "8" is set to the auxiliary function of point table No. 4
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 4.00 1500 200 100 150 1 01
2 5.00 3000 100 150 100 1 05
3 5.00 2000 150 200 200 3 10
4 15.00 1000 300 100 150 8 15
Note. M code will be available in the future.

4 - 29
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 4
4) Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of
point table No. 4
5) Repeating the above execution in the sequence of 2) to 3) to 4) to 2) to 3) to 4)
Point table No. 2 Point table No. 3
1) 2)
Point table No. 4
Forward Speed Speed 3)
rotation (3000) (2000) Speed (1000)
Servo motor speed 0 r/min
Reverse
rotation
Speed
(3000)
4)
Point table No. 2
5.00
Position address
0 5.00 10.00 15.00

Selected point table No. 2

ON
ST1
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

Example 2. Operations when "9" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 0.00 3000 100 150 100 1 05
2 5.00 2000 150 200 200 1 10
3 15.00 1000 300 100 150 9 15

Note. M code will be available in the future.

4 - 30
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 3
4) Repeating the above execution in the sequence of 1) to 2) to 3) to 1) to 2) to 3)
Point table No. 2
Point table No. 3
Forward 1) 2)
Speed
rotation (2000) Speed (1000)
Servo motor speed 0 r/min
Reverse
rotation
Speed
(3000)
3)
Point table No. 1
5.00
Position address
0 5.00 15.00

Selected point table No. 2

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

b) Automatic repeat positioning operation by incremental value command method

Example 1. Operations when "10" is set to the auxiliary function of point table No. 4
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 4.00 1500 200 100 150 1 01
2 5.00 3000 100 150 100 3 05
3 10.00 2000 150 200 200 1 10
4 5.00 1000 300 100 150 10 15

Note. M code will be available in the future.

4 - 31
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 4
4) Executing again point table No. 2 used at start-up when "10" is set to the auxiliary function
of point table No. 4
5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)
Point table No. 2 Point table No. 3 Point table No. 2

2) Point table No. 4

4)
1) Speed Speed 3) Speed
Forward
rotation (3000) (2000) Speed (1000) (3000)
Servo motor speed 0 r/min
Reverse Speed
rotation (2000)
2)
Point table No. 3

5.00 5.00 5.00

Position address
0 5.00 10.00 15.00

Selected point table No. 2

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

Example 2. Operations when "11" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 5.00 3000 100 150 100 3 05
2 10.00 2000 150 200 200 1 10
3 5.00 1000 300 100 150 11 15

Note. M code will be available in the future.

4 - 32
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 1 when "11" is set to the auxiliary function of point table No. 3
4) Repeating the above execution in the sequence of 1) to 2) to 3) to 1) to 2) to 3)
Point table No. 2 Point table No. 1

Point table No. 3 3)

Speed 1) 2) Speed
Forward
rotation (2000) Speed (1000) (3000)
Servo motor speed 0 r/min
Reverse Speed
rotation (2000) 1)

Point table No. 2

5.00 5.00
Position address
0 10.00 15.00

Selected point table No. 2

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

c) Varying-speed operation by absolute value command method

Example. Operations when "8" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 5.00 3000 100 150 0 1 05
2 5.00 2000 Disabled Disabled 0 3 10
3 15.00 1000 Disabled Disabled 0 8 15

Note. M code will be available in the future.

4 - 33
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 1
2) Varying the speed and executing point table No. 2
3) Varying the speed and executing point table No. 3
4) Executing point table No. 1 used at start-up in CW direction when "8" is set to the auxiliary
function of point table No. 3
5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)
Acceleration time constant
of point table No. 1 (100) Deceleration time constant of point
1) table No. 1 (150)
Point table No. 2
Point table No. 3
Forward Speed Speed
rotation 2) 3)
(3000) (2000) Speed (1000)
Servo motor speed 0 r/min
Reverse
rotation Point table No. 1
Speed
(3000) 4)
Acceleration time
Deceleration time
constant of point
constant of point
5.00 table No. 1 (100)
table No. 1 (150)
Position address
0 5.00 10.00 15.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

d) Varying-speed operation by incremental value command method

Example. Operations when "10" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 5.00 3000 100 150 0 3 05
2 10.00 2000 150 200 0 1 10
3 5.00 1000 300 100 0 10 15

Note. M code will be available in the future.

4 - 34
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 1
2) Varying the speed and executing point table No. 2
3) Varying the speed and executing point table No. 3
4) Varying the speed, and executing point table No. 1 when "10" is set to the auxiliary function
of point table No. 3
5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)
Acceleration time constant Deceleration time constant
of point table No. 1 (100) of point table No. 1 (150) Point table No. 1
Point table No. 2
Point table No. 3
Forward 1) Speed Speed Speed 4)
rotation (3000) (2000) Speed (1000) 3) (3000)
2)
Servo motor speed 0 r/min
Reverse Speed
rotation Point table No. 1 Deceleration time (2000) 2)
constant of point
table No. 1 (150)
Point table No. 2 Acceleration time
constant of point
table No. 1 (100)
5.00 5.00 5.00
Position address
0 5.00 10.00 15.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

2) Absolute value command method ([Pr. PT01] = _ _ _ 1)

Setting "8" to the auxiliary function performs automatic continuous operation or varying-speed
operation until that point table, and after the completion of positioning, performs the operation
again from the operation pattern of the set point table.
Setting "9" to the auxiliary function performs automatic continuous operation or varying-speed
operation until that point table, and after the completion of positioning, performs the operation
again from the operation pattern of point table No. 1.

b) Automatic repeat positioning operation by incremental value command method

Example 1. Operations when "8" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 4.00 1500 200 100 150 1 01
2 5.00 3000 100 150 100 1 05
3 6.00 2000 150 200 200 8 10

Note. M code will be available in the future.

4 - 35
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of
point table No. 3
4) Repeating the above execution in the sequence of 1) to 2) to 3) to 2) to 3)
Point table No. 2
3)
2) 2)
1) Speed Speed
Forward Speed Speed
rotation (3000) (2000) (3000) (2000)
Servo motor speed 0 r/min
Reverse
rotation
Point table No. 3
5.00 6.00 5.00
Position address
0 5.00 11.00 16.00

Selected point table No. 2

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

Example 2. Operations when "9" is set to the auxiliary function of point table No. 2
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 5.00 3000 100 150 100 1 05
2 6.00 2000 150 200 200 9 10

Note. M code will be available in the future.

4 - 36
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 2
3) Repeating the above execution in the sequence of 1) to 2) to 1) to 2)
Point table No. 1

1) 2) 2)
1)

Forward Speed Speed Speed Speed

rotation (2000) (3000) (2000) (3000)
Servo motor speed 0 r/min
Reverse
rotation
Point table No. 2
6.00 5.00 6.00
Position address
0 6.00 11.00 17.00

Selected point table No. 2

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

b) Varying-speed operation by incremental value command method

Example. Operations when "8" is set to the auxiliary function of point table No. 2
Acceleration Deceleration
Point table Position data Servo motor Auxiliary M code
time constant time constant Dwell [ms]
No. [10STM μm] speed [r/min] function (Note)
[ms] [ms]
1 5.00 3000 100 150 0 1 05
2 6.00 2000 Disabled Disabled 0 8 10

Note. M code will be available in the future.

4 - 37
4. HOW TO USE THE POINT TABLE

Operation sequence
1) Starting with point table No. 1
2) Varying the speed and executing point table No. 2
3) Executing again point table No. 1 used at start-up when "8" is set to the auxiliary function of
point table No. 2
4) Repeating the above execution in the sequence of 1) to 2) to 3) to 2) to 3)
Point table No. 1
3)
2) 2)
1)
Forward Speed Speed Speed Speed
rotation (3000) (2000) (3000) (2000)
Servo motor speed 0 r/min
Reverse
rotation
Point table No. 2
5.00 6.00 5.00
Position address
0 5.00 11.00 16.00

Selected point table No. 1

ST1 ON
(Forward rotation start) OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5)
(Note 1)
M code output (Note 1, 2)

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.
2. M code will be available in the future.

4 - 38
4. HOW TO USE THE POINT TABLE

(e) Temporary stop/restart

When TSTP (Temporary stop/restart) is switched on during automatic operation, the servo motor
decelerates with the deceleration time constant of the point table being executed, and then stops
temporarily.
Switching on TSTP (Temporary stop/restart) again starts the servo motor rotation for the remaining
travel distance.
During a temporary stop, ST1 (Forward rotation start) or ST2 (Reverse rotation start) does not
function even if it is switched on.
When any of the following conditions is satisfied during a temporary stop, the travel remaining
distance is cleared.
The operation mode is switched from the automatic mode to the manual mode.
The servo motor enters the servo-off status.
The clear signal is input.
The temporary stop/restart input does not function during a home position return or JOG operation.
The temporary stop/restart input functions in the following states.
Automatic Home position
Operation status Manual operation
operation return
During a stop
During
Pause
acceleration
At a constant
Pause
speed
During
deceleration
During a
Restart
temporary stop

1) When the servo motor is rotating

Acceleration time constant Deceleration time constant
of point table No. n of point table No. n

Forward Remaining
rotation distance
Servo motor speed 0 r/min
Reverse
rotation
Point table No. n

ST1 (Forward rotation start) or ON

ST2 (Reverse rotation start) OFF
TSTP (Temporary stop/restart) ON
OFF
ON
PUS (Temporary stop)
OFF
ON
CPO (Rough match)
OFF
ON
INP (In-position)
OFF
ON
MEND (Travel completion)
OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) No. n
(Note)

Note. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0
to PT4 cannot be outputted simultaneously.

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4. HOW TO USE THE POINT TABLE

2) During dwell
Point table No. n Point table No. n + 1
Dwell = ta + tb
ta tb
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Point table No. n

ST1 (Forward rotation start) or ON

ST2 (Reverse rotation start) OFF
TSTP (Temporary stop/restart) ON
OFF
PUS (Temporary stop) ON
OFF
CPO (Rough match) ON
OFF
ON
INP (In-position) OFF
MEND (Travel completion) ON
OFF
PT0 (Point table No. output 1)
to PT4 (Point table No. output 5) No. n
(Note)

Note. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0
to PT4 cannot be outputted simultaneously.

(f) Suspension of automatic operation

To suspend the automatic operation or change the operation pattern, stop the servo motor with
TSTP (Temporary stop/restart), switch off MD0 (Operation mode selection 1), and then set the mode
to the manual mode. The travel remaining distance is cleared.
Point table No. n

Remaining distance
Forward
rotation
Servo motor speed 0 r/min
Reverse Remaining distance clear
rotation
Point table No. No. n
ST1 (Forward rotation start) or ON
ST2 (Reverse rotation start) OFF
ON
PUS (Temporary stop) OFF
ON
TSTP (Temporary stop/restart)
OFF
ON
MD0 (Operation mode selection)
OFF

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4. HOW TO USE THE POINT TABLE

(g) Using a control unit of "degree"

1) Current position/command position address
The current position/command position address is of ring-address type.
359.999 359.999

0 0 0

2) Software limit activation/deactivation setting

POINT
After changing the "+" or "-" sign of an axis with the software limit activation
setting, perform a home position return.
When activating the software limit in an incremental system, perform a home
position return after power-on.

a) Setting range
When the unit is set to "degree", the setting range of the software limit is from 0 degree (lower
limit) to 359.999 degrees (upper limit).
When you set a value other than 0 degree to 359.999 degrees in [Pr. PT15] to [Pr. PT18], the
set value is converted as follows. (It will be clamped between 0 degree and 359.999 degrees.)
Software limit value After conversion
360.000 degrees to 999.999 degrees The remainder of the set value divided by 360
-0.001 degrees to -359.999 degrees The sum of the set value and 360
The sum of 360 and the quotient of the set
-360.000 degrees to -999.999 degrees
value divided by 360

b) When the software limit is enabled

Set the software limit - ([Pr. PT17] and [Pr. PT18]) for the start position and the software limit +
([Pr. PT15] and [Pr. PT16]) for the end position.
The movable range is the section from - to + in the CCW direction.
0 0
CCW CCW
315 315
Section A

90 90

Section B

Set the movable range of section A as follows:

Software limit - … 315.000 degrees
Software limit + … 90.000 degrees
Set the movable range of section B as follows:
Software limit - … 90.000 degrees
Software limit + … 315.000 degrees

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c) When the software limit is disabled

When deactivating the software limit, set the same values to the software limit - ([Pr. PT17]
and [Pr. PT18]) and the software limit + ([Pr. PT15] and [Pr. PT16]).
Control can be performed independently of the software limit setting.

3) Position range output enabling/disabling setting

a) Setting range
When the unit is set to "degree", the setting range of the position range output is from 0 degree
(lower limit) to 359.999 degrees (upper limit).
When you set a value other than 0 degree to 359.999 degrees in [Pr. PT19] to [Pr. PT22], the
set value is converted as follows. (It will be clamped between 0 degree and 359.999 degrees.)
Position range output address After conversion
360.000 degrees to 999.999 degrees The remainder of the set value divided by 360
-0.001 degrees to -359.999 degrees The sum of the set value and 360
The sum of 360 and the quotient of the set
-360.000 degrees to -999.999 degrees
value divided by 360

b) Effective setting of position range output

Set the position range output address - ([Pr. PT21] and [Pr. PT22]) for the start position and
the position range output address + ([Pr. PT19] and [Pr. PT20]) for the target position.
The movable range is the section from - to + in the CCW direction.
0 0
CCW CCW
315 315
Section A

90 90

Section B

Set the movable range of section A as follows:

Position range output address - … 315.000 degrees
Position range output address + … 90.000 degrees
Set the movable range of section B as follows:
Position range output address - … 90.000 degrees
Position range output address + … 315.000 degrees

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4.3 Manual operation mode

For the machine adjustment, home position adjustment, and others, positioning to any point is possible using
the JOG operation or the manual pulse generator.

4.3.1 JOG operation

(1) Setting
According to the purpose of use, set input devices and parameters as shown below. In this case, DI0
(Point table No. selection 1) to DI4 (Point table No. selection 5) are disabled.
Item Device/parameter to be used Setting
Manual operation mode
MD0 (Operation mode selection 1) Switch off MD0.
selection
Servo motor rotation direction [Pr. PA14] Refer to (2) in this section.
JOG speed [Pr. PT13] Set the servo motor speed.
Acceleration time
The acceleration/deceleration time constant
constant/Deceleration time Point table No. 1
of point table No. 1 is used.
constant

(2) Servo motor rotation direction

Servo motor rotation direction
[Pr. PA14] setting
ST1 (Forward rotation start) on ST2 (Reverse rotation start) on
0 CCW rotation CW rotation
1 CW rotation CCW rotation

ST1: on ST2: on
CCW CCW

CW CW
ST2: on ST1: on

[Pr. PA14]: 0 [Pr. PA14]: 1

(3) Operation
Switching on ST1 (Forward rotation start) performs the operation at the JOG speed set by a parameter
and the acceleration/deceleration constant of point table No. 1. For the rotation direction, refer to (2) of
this section. Switching on ST2 (Reverse rotation start) starts the rotation in the reverse direction of ST1
(Forward rotation start).
Simultaneously switching on or off ST1 (Forward rotation start) and ST2 (Reverse rotation start) stops
the operation.

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(4) Timing chart

ON
SON (Servo-on)
OFF
ON 80 ms
RD (Ready)
OFF
ON
ALM (Malfunction)
OFF
MD0 ON
(Operation mode selection 1) OFF
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
Forward rotation
Servo motor speed 0 r/min
Reverse rotation
ST1 ON
Forward
(Forward rotation direction) OFF
rotation JOG
ST2 ON
(Reverse rotation direction) Reverse
OFF
rotation JOG

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4.3.2 Manual pulse generator operation

(1) Setting

POINT
To enhance noise tolerance, set "_ 2_ _" to [Pr. PA13] when the command pulse
frequency is 500 kpulses/s or less, or set "_3_ _" to [Pr. PA13] when the
command pulse frequency is 200 kpulses/s or less.

According to the purpose of use, set input devices and parameters as shown below. In this case, DI0
(Point table No. selection 1) to DI4 (Point table No. selection 5) are disabled.
Item Device/parameter to be used Setting
Manual operation mode
MD0 (Operation mode selection 1) Switch off MD0.
selection
Set the multiplication factor for the pulses
Manual pulse generator
[Pr. PT03] generated from the manual pulse generator.
multiplication
For details, refer to (3) in this section.
Servo motor rotation direction [Pr. PA14] Refer to (2) in this section.
Command input pulse train
[Pr. PA13] Set "_ _ _ 2" (A/B-phase pulse train).
input form
Pulse train filter selection [Pr. PA13] Set other than "0" and "1".

(2) Servo motor rotation direction

Servo motor rotation direction
[Pr. PA14] setting Manual pulse generator operation: Manual pulse generator operation:
forward rotation reverse rotation
0 CCW rotation CW rotation
1 CW rotation CCW rotation

CCW

Forward rotation CW

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(3) Manual pulse generator multiplication

(a) Using the input signals (devices) for setting
In "Device setting" of MR Configurator2, set TP0 (Pulse generator multiplication 1) and TP1 (Pulse
generator multiplication 2) to input signals.
TP1 (Pulse generator TP0 (Pulse generator Servo motor rotation multiplication Travel distance
multiplication 2) multiplication 1) factor for manual pulse generator
[mm] [inch] [degree] [pulse]
(Note) (Note) rotation amount
0 0 [Pr. PT03] setting enabled
0 1 1 time 0.001 0.0001 0.001 1
1 0 10 times 0.01 0.001 0.01 10
1 1 100 times 0.1 0.01 0.1 100

Note. 0: Off
1: On

(b) Using the parameter for setting

Using [Pr. PT03], set the servo motor rotation multiplication to the rotation amount of the manual
pulse generator.
Servo motor rotation multiplication to manual pulse Travel distance
[Pr. PT03] setting
generator rotation amount [mm] [inch] [degree] [pulse]
__0_ 1 time 0.001 0.0001 0.001 1
__1_ 10 times 0.01 0.001 0.01 10
__2_ 100 times 0.1 0.01 0.1 100

(4) Operation
Turning the manual pulse generator rotates the servo motor. For the rotation direction of the servo
motor, refer to (2) in this section. When you turn the manual pulse generator during a JOG operation, the
commands inputted from the manual pulse generator are adjusted by the commands of JOG operation.

4.4 Home position return mode

POINT
Before performing the home position return, make sure that the limit switch
operates.
Check the home position return direction. An incorrect setting will cause a
reverse running.
Check the input polarity of the proximity dog. Otherwise, it may cause an
unexpected operation.

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4.4.1 Outline of home position return

A home position return is performed to match the command coordinates with the machine coordinates. The
home position return is required every time the input power is on.
This section shows the home position return methods of the servo amplifier. Select the optimum method
according to the configuration and uses of the machine.
This servo amplifier has the home position return automatic retract function. When the machine stops
beyond or on a proximity dog, this function automatically moves the machine back to the proper position to
perform the home position return. Manual operation with JOG operation, etc. is unnecessary.

(1) Home position return types

Select the optimum home position return type according to the machine type or others.
Type Home position return method Feature
Typical home position return method
using a proximity dog
Deceleration starts from the front end of the proximity The repeatability of the home position
dog. A position of the first Z-phase signal after the rear return is high.
Dog type end is passed or a position moved by the home position The machine is less loaded.
shift amount from the Z-phase signal is set as the home Use this when the width of the proximity
position. dog can be set equal to or greater than
the deceleration distance of the servo
motor.
Deceleration starts from the front end of the proximity
dog. After the proximity dog is passed, the motor travels This is a home position return method
the specified travel distance. Then, the position using a proximity dog.
Count type
specified by the first Z-phase signal, or the position of Use this to minimize the length of the
the first Z-phase signal shifted by the home position proximity dog.
shift distance is used as the home position.
Data set type An arbitrary position is set as the home position. No proximity dog is required.
Since the workpiece collides with the
A workpiece is pressed against a mechanical stopper, mechanical stopper, the home position
Stopper type and the position where it is stopped is set as the home return speed must be low enough.
position. The strength of the machine and stopper
must be increased.
Home position ignorance
(servo-on position as home Servo-on position is set as the home position.
position)
Deceleration starts from the front end of the proximity
dog. After the rear end is passed, the position is shifted
Dog type rear end reference by the travel distance after proximity dog and the home The Z-phase signal is not required.
position shift distance. The position after the shifts is
set as the home position.
Deceleration starts from the front end of the proximity
Count type front end dog. A position moved by the moving amount after the
The Z-phase signal is not required.
reference proximity dog and the home position shift amount is set
as the home position.
After the front end of the proximity dog is detected, the
Dog cradle type position specified by the first Z-phase signal is used as
the home position.
After the front end of the proximity dog is detected, the
position is shifted away from the proximity dog in the
Dog type last Z-phase reverse direction. Then, the position specified by the
reference first Z-phase signal or the position of the first Z-phase
signal shifted by the home position shift distance is
used as the home position.
Starting from the front end of the proximity dog, the
position is shifted by the travel distance after proximity
Dog type front end reference The Z-phase signal is not required.
dog and the home position shift distance. The position
after the shifts is used as the home position.
The position specified by the first Z-phase signal, or the
Dogless Z-phase reference position of the first Z-phase signal shifted by the home
position shift distance is used as the home position.

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(2) Parameters for home position return

To perform the home position return, set each parameter as follows.

(a) Select the home position return type with [Pr. PT04 Home position return type].
[Pr. PT04]

0 0 0
Home position return method
0: Dog type (rear-end detection Z-phase reference)
1: Count type (front-end detection Z-phase reference)
2: Data set type
3: Stopper type
4: Home position ignorance (servo-on position as home position)
5: Dog type (rear-end detection, rear-end reference)
6: Count type (front-end detection, front-end reference)
7: Dog cradle type
8: Dog type (front-end detection, Z-phase reference)
9: Dog type (front-end detection, front-end reference)
A: Dogless type (Z-phase reference)

(b) Select the starting direction for the home position return with [Pr. PT04 Home position return type].
Setting "0" starts the home position return in a direction of increasing the address from the current
position. Setting "1" starts the home position return in a direction of decreasing the address from the
current position.
[Pr. PT04]

0 0 0
Home position return direction
0: Address increasing direction
1: Address decreasing direction

(c) Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity
selection of [Pr. PT29 Function selection T-3].
Setting "0" detects a proximity dog when DOG (Proximity dog) is switched off. Setting "1" detects a
proximity dog when DOG (Proximity dog) is switched on.
[Pr. PT29]

0 0 0

DOG (Proximity dog) polarity selection

0: Detection with off
1: Detection with on

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4.4.2 Dog type home position return

This is a home position return method using a proximity dog. Deceleration starts at the front end of the
proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position
of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Dog type home position
[Pr. PT04] _ _ _ 0: Select the dog type.
return
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the
Dog input polarity [Pr. PT29]
proximity dog input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this item to shift the home position, which
Home position shift distance [Pr. PT07] is specified by the first Z-phase signal after
the rear end of a proximity dog is passed.
Acceleration time
The acceleration/deceleration time constant
constant/Deceleration time Point table No. 1
of point table No. 1 is used.
constant
Home position return position Set the current position at the home position
[Pr. PT08]
data return completion.

(2) Length of the proximity dog

To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the
length of the proximity dog that satisfies equations (4.1) and (4.2).

V td
L1 ≥ • ··············································································································· (4.1)
60 2

L1: Length of the proximity dog

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

L2 ≥ 2 • ∆S ··················································································································· (4.2)

L2: Length of the proximity dog

∆S: Travel distance per servo motor revolution [mm]

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(3) Timing chart

MD0 ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP
ON
(Home position return
OFF
completion)
Acceleration time constant Deceleration time constant Home position
Home position return speed shift distance
Creep speed Home position
Servo motor Forward rotation
speed
0 r/min
Reverse rotation 3 ms or shorter td

Proximity dog Home position return position data

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

(4) Adjustment
For the dog type home position return, adjust the setting so that the Z-phase signal is always generated
during the detection of a dog. Make an adjustment so that the rear end of DOG (Proximity dog) is
positioned almost at the center between the positions specified by a Z-phase signal and the next Z-
phase signal.
The generation position of the Z-phase signal can be checked with "Position within one-revolution" of
"Status display" on MR Configurator2.
0 Resolution/2 0

Servo motor Z-phase

Proximity
dog

ON
DOG (Proximity dog)
OFF

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4.4.3 Count type home position return

For the count type home position return, after the front end of a proximity dog is detected, the position is
shifted by the distance set in [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by
the first Z-phase signal is used as the home position. Therefore, when the on-time of DOG (Proximity dog) is
10 ms or more, the length of the proximity dog has no restrictions. When the required proximity dog length
for using the dog type home position return cannot be reserved, or when DOG (Proximity dog) is entered
electrically from the controller or the like, use the count type home position return.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Count type home position
[Pr. PT04] _ _ _ 0: Select the count type.
return
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
After the front end of a proximity dog is
passed, the position is shifted by the travel
Home position shift distance [Pr. PT07] distance and then is specified by the first Z-
phase signal. Set this item to shift the position
of the first Z-phase signal.
Travel distance after proximity Set the travel distance specified after the front
[Pr. PT09]
dog end of the proximity dog is passed.
Acceleration time
The acceleration/deceleration time constant
constant/Deceleration time Point table No. 1
of point table No. 1 is used.
constant
Home position return position Set the current position at the home position
[Pr. PT08]
data return completion.

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(2) Timing chart

MD0
ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP
ON
(Home position return
OFF
completion)
Acceleration time constant Deceleration time constant Home position
Home position return speed shift distance
Creep speed Home position
Servo motor
speed Forward rotation
0 r/min
Reverse rotation 3 ms or shorter

Proximity dog Home position return position data

Travel distance after
proximity dog

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.4 Data set type home position return

To set an arbitrary position as the home position, use the data set type home position return. The JOG
operation, the manual pulse generator operation, and others can be used for the travel. The data set type
home position return can be performed at servo-on only.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Data set type home position
[Pr. PT04] _ _ _ 2: Select the data set type.
return
Home position return position Set the current position at the home position
[Pr. PT08]
data return completion.

(2) Timing chart

ON
SON (Servo-on)
OFF
MD0
ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP
ON
(Home position return
OFF
completion)

Home position return

Servo motor Forward rotation position data
speed 0 r/min
Reverse rotation 3 ms or shorter

ST1 ON
5 ms or longer
(Forward rotation start) OFF
ST2 ON
(Reverse rotation start) OFF

Travel to home position Execution of data set type home position return

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.5 Stopper type home position return

For the stopper type home position return, the home position is set where the workpiece is pressed against
the stopper of the machine by using the JOG operation, the manual pulse generator operation, or others.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Stopper type home position
[Pr. PT04] _ _ _ 3: Select the stopper type.
return
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Set the rotation speed until the workpiece is
Home position return speed [Pr. PT05]
pressed against the mechanical stopper.
Set the time from when the home position
data is obtained after the workpiece is
Stopper time [Pr. PT10] pressed against the stopper until when ZP
(home position return completion) is
outputted.
Set the servo motor torque limit value when
Stopper type home position
[Pr. PT11] executing the stopper type home position
return torque limit value
return.
Acceleration time constant of The acceleration/deceleration time constant
Point table No. 1
home position return of point table No. 1. is used.
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

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(2) Timing chart

MD0 ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return
OFF
completion)
Acceleration time
constant Home position return speed Home position return
Servo motor Forward rotation position data
speed 0 r/min
Reverse rotation 3 ms or shorter Stopper

ST1 ON
5 ms or longer
(Forward rotation start) OFF
ST2 ON
(Reverse rotation start) OFF
ON Stopper time
TLC (Limiting torque) (Note 2)
OFF

Torque limit value [Pr. PC35] [Pr. PT11] (Note 1) [Pr. PC35]

Note 1. The following torque limits are enabled.

Input device (0: off, 1: on) Enabled torque limit

Limit value status
TL1 TL value
0 0 Pr. PT11
TLA > Pr. PT11 Pr. PT11
0 1
TLA < Pr. PT11 TLA
Pr. PC35 > Pr. PT11 Pr. PT11
1 0
Pr. PC35 < Pr. PT11 Pr. PC35
TLA > Pr. PT11 Pr. PT11
1 1
TLA < Pr. PT11 TLA

2. TLC turns on when a generated torque reaches a value set with any of [Pr. PA11 Forward rotation torque limit], [Pr. PA12
Reverse rotation torque limit], or [Pr. PC35 Internal torque limit 2].

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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

POINT
When you perform this home position return, it is unnecessary to switch to the
home position return mode.

Servo-on position is set as the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Parameter to be used Setting
Home position ignorance [Pr. PT04] _ _ _ 4: Select the home position ignorance.
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

(2) Timing chart

ON
SON (Servo-on)
OFF
ON
RD (Ready)
OFF
MEND ON
(Travel completion) OFF
CPO ON
(Rough match) OFF
ZP ON
(Home position
OFF
return completion)
Home position return position data
Servo motor Forward rotation
speed 0 r/min
Reverse rotation

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.7 Dog type rear end reference home position return

POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the rear end of a proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.

Deceleration starts from the front end of a proximity dog. After the rear end is passed, the position is shifted
by the travel distance after proximity dog and the home position shift distance. The position after the shifts is
set as the home position. The home position return is available independently of the Z-phase signal.
Changing the creep speed may change the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Dog type rear end reference _ _ _ 5: Select the dog type (rear end
[Pr. PT04]
home position return detection/rear end reference).
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07] specified after the rear end of a proximity dog
is passed.
Travel distance after proximity Set the travel distance after the rear end of a
[Pr. PT09]
dog proximity dog is passed.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

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(2) Timing chart

MD0 ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return
OFF
completion) Travel distance
Deceleration time constant after proximity dog
Acceleration time constant +
Home position return speed Home position
Creep speed shift distance
Servo motor
speed Forward rotation
0 r/min
Reverse rotation 3 ms or shorter
Home position return position data
Proximity dog

ON
DOG (Proximity dog)
OFF
ST1 ON
(Forward rotation start) 5 ms or longer
OFF
ST2 ON
(Reverse rotation start) OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.8 Count type front end reference home position return

POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the front end of a proximity dog. Therefore,
when a home position return is performed with the creep speed of 100 r/min, the
home position has an error of 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.
After the front end of a proximity dog is detected, if a home position return ends
without reaching the creep speed, [AL. 90.2] occurs. Set the travel distance after
proximity dog and the home position shift distance enough for deceleration from
the home position return speed to the creep speed.

Deceleration starts from the front end of a proximity dog. The position is shifted by the travel distance after
proximity dog and the home position shift distance. The position after the shifts is set as the home position.
The home position return is available independently of the Z-phase signal. Changing the creep speed may
change the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Count type front end
_ _ _ 6: Select the count type (front end
reference home position [Pr. PT04]
detection/front end reference).
return
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07] specified after the front end of a proximity dog
is passed.
Travel distance after proximity Set the travel distance specified after the front
[Pr. PT09]
dog end of the proximity dog is passed.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

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(2) Timing chart

MD0 ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return
OFF
completion) Travel distance
Deceleration time constant after proximity dog
Acceleration time constant +
Home position return speed Home position
Creep speed shift distance
Servo motor Forward rotation
speed 0 r/min
Reverse rotation 3 ms or shorter
Home position return position data
Proximity dog

ON
DOG (Proximity dog)
OFF
ST1 ON
5 ms or longer
(Forward rotation start) OFF
ST2 ON
(Reverse rotation start) OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.9 Dog cradle type home position return

A position, which is specified by the first Z-phase signal after the front end of a proximity dog is detected, is
set as the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
selection DI0 (Point table No. selection 1) to
Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Dog cradle type home
[Pr. PT04] _ _ _ 7: Select the dog cradle type.
position return
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

(2) Timing chart

MD0
ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP
ON
(Home position return
OFF
completion)

Acceleration time constant Deceleration time constant

Home position
Home position return speed
shift distance
Creep speed
Servo motor Forward rotation
speed 0 r/min
Reverse rotation 3 ms or shorter
Home position return position data
Proximity dog

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.10 Dog type last Z-phase reference home position return

After the front end of a proximity dog is detected, the position is shifted away from the proximity dog at the
creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Z-
phase signal is set as the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Dog type last Z-phase
_ _ _ 8: Select the dog type last Z-phase
reference home position [Pr. PT04]
reference.
return
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this item to shift the home position, which
Home position shift distance [Pr. PT07]
is specified by the Z-phase signal.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

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(2) Timing chart

MD0
ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP
ON
(Home position return
OFF
completion)
Acceleration time
constant Home position return speed Deceleration time constant
Home position return position data

Servo motor Forward rotation

speed 0 r/min
Reverse rotation 3 ms or shorter
Creep speed
Home position shift distance
Proximity dog

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.11 Dog type front end reference home position return type

POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the front end of a proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.

A position, which is shifted by the travel distance after proximity dog and the home position shift distance
from the front end of a proximity dog, is set as the home position.
The home position return is available independently of the Z-phase signal. Changing the creep speed may
change the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Dog type front end reference _ _ _ 9: Select the dog type front end
[Pr. PT04]
home position return reference.
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 4.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

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(2) Timing chart

MD0 ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return
OFF
completion)
Acceleration Home position return speed Deceleration time constant
time constant Travel distance after proximity dog
+
Home position shift distance
Home position return position data
Servo motor Forward rotation
speed 0 r/min
Reverse rotation 3 ms or shorter
Creep speed Proximity dog

ON
DOG (Proximity dog)
OFF
ST1 ON
(Forward rotation start) 5 ms or longer
OFF
ST2 ON
(Reverse rotation start) OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.12 Dogless Z-phase reference home position return type

A position, which is shifted to by the home position shift distance from a position specified by the Z-phase
pulse right after the start of the home position return, is set as the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Dogless Z-phase reference _ _ _ A: Select the dogless type (Z-phase
[Pr. PT04]
home position return reference).
Home position return Refer to section 4.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Set the rotation speed specified until the Z-
Home position return speed [Pr. PT05]
phase is detected.
Set the rotation speed specified after the Z-
Creep speed [Pr. PT06]
phase is detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return position Set the current position when the home
[Pr. PT08]
data position return is complete.

(2) Timing chart

MD0
ON
(Operation mode
OFF
selection 1)
MEND ON
(Travel completion) OFF
CPO ON
(Rough match) OFF
ZP
ON
(Home position return
OFF
completion)
Acceleration Home position return speed
Deceleration time constant
time constant

Home position return position data

Servo motor Forward rotation
speed 0 r/min
Reverse rotation 3 ms or shorter
Creep speed
Home position shift distance
ON
Z-phase
OFF
ST1 ON
5 ms or longer
(Forward rotation start) OFF
ST2 ON
(Reverse rotation start) OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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4.4.13 Automatic retract function used for the home position return

For a home position return using a proximity dog, if the home position return starts from or beyond the
proximity dog, this function executes the home position return after the position is shifted back to where the
home position return is possible.

(1) When the current position is on the proximity dog

When the current position is on the proximity dog, the position is shifted back automatically to execute
the home position return.
Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse rotation Home position return
start position
After the position shifts to the position
before the proximity dog, the home position
return starts from here.

(2) When the current position is beyond the proximity dog

The position is shifted in a direction of the home position return. When LSP (Forward rotation stroke
end) or LSN (Reverse rotation stroke end) is detected, the position is shifted back automatically. The
position will be shifted passing the proximity dog, and the travel will stop. The home position return will
be restarted from that position. If the proximity dog is not detected, the travel stops at LSP or LSN on the
opposite side, and [AL. 90 Home position return incomplete warning] occurs.
LSP (Forward rotation stroke end) or
Home position LSN (Reverse rotation stroke end) (Note)
return direction Proximity dog

Home position return

Forward rotation
start position
Servo motor speed 0 r/min
Reverse rotation

After the position shifts to the position

before the proximity dog, the home position
return starts from here.

Note. The software limit cannot be used instead of LSP (Forward stroke end) and LSN (Reverse stroke end).

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4.4.14 Automatic positioning to home position function

POINT
The automatic positioning to the home position cannot be performed from
outside the setting range of position data. In this case, perform the home
position return again using the home position return.

If the home position is fixed by returning to the home position after the power-on, this function enables a
high-speed automatic positioning to the home position. For the absolute position detection system, the home
position return is unnecessary after the power-on.
If the automatic positioning to the home position is executed without completing the home position return,
[AL. 90.1] will occur.
After the power-on, perform the home position return in advance.
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
MD0 (Operation mode selection 1) Switch on MD0.
Home position return mode
DI0 (Point table No. selection 1) to
selection Switch off DI0 to DI4.
DI4 (Point table No. selection 5)
Set the servo motor speed to travel to the
Home position return speed [Pr. PT05]
home position.
Acceleration time
constant/deceleration time The acceleration/deceleration time constant
Point table No. 1
constant of home position of point table No. 1 is used.
return
Home position return
[Pr. PT04] Set the rotation direction in degrees.
direction

Set the home position return speed of the automatic positioning to home position function with [Pr. PT05].
The data of point table No. 1 is used for acceleration/deceleration time constants. Switching on ST2
(Reverse rotation start) enables high-speed automatic return.
Set the rotation direction with home position return direction of [Pr. PT04] when the unit is set to degree.
ON
MD0 (Operation mode selection 1)
OFF
Acceleration Home position return speed Deceleration
time constant time constant

Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Home position
ON
ST1 (Forward rotation start)
OFF
ON
ST2 (Reverse rotation start) 5 ms or longer
OFF

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4.5 Roll feed mode using the roll feed display function

The roll feed display function changes the display method of the current position and the command position
in the status monitor.
By using the roll feed display function, the servo amplifier can be used in the roll feed mode. The roll feed
mode is compatible with the incremental system. Additionally, the feed speed can be changed by the
override function during an operation. Refer to section 2.4 for details.

(1) Parameter setting

No. Name Setting digit Setting item Setting value Setting
PT26 Current __x_ Current __1_ Select the roll feed display.
position/command position/command
position display position display
selection selection
PT26 Electronic gear ___x Electronic gear ___1 Clear a fraction of the previous command by
fraction clear fraction clear the electronic gear at start of the automatic
selection selection operation. Always set "_ _ _ 1" (enabled) in the
electronic gear fraction clear.

(2) Roll feed display function

When the roll feed display function is used, the status display of the current position and the command
position at start will be 0.
INP (In-position) ON
OFF Quick stop by
Forward Remaining distance clear CR input
rotation
Servo motor speed 0 r/min
Reverse Remaining
rotation distance clear
ST1 ON
(Forward rotation start) OFF
TSTP ON
(Temporary stop/restart) OFF
ON
CR (Clear)
OFF
Display of current/ 0 10.00 8.00 0 8.00 0 5.90 0 6.50
command position
Starting renews A point table whose The temporary stop Next starting renews
the display from 0. feed length is set to position is displayed. the display from 0.
8 is selected. Remaining distance clear
will not change the display.

(3) Position data unit

The display unit is expressed in the unit set in [Pr. PT26], and the feed length multiplication is expressed
in the unit set in [Pr. PT03].
When the unit is set in degrees, the roll feed display function is disabled.
Refer to section 4.2.2 for details.

(4) Operation method

Only the status display of the current position and command position changes. The operation method is
the same as each operation mode.
Operation mode Detailed explanation
Automatic operation Automatic operation using the point table Section 4.2.2
Manual operation JOG operation Section 4.3.1
Manual pulse generator operation Section 4.3.2
Home position return mode Section 4.4

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4. HOW TO USE THE POINT TABLE

4.6 Point table setting method

The following shows the setting method of point tables using MR Configurator2.

4.6.1 Setting procedure

Click "Positioning-data" in the menu bar, and click "Point Table" in the menu.

The following window will be displayed.

(i) (l) (m) (c) (d) (e) (f) (g) (a) (b) (n)

(h)

(j)

(k)

(1) Writing point table data (a)

Select changed point table data, and click "Selected Items Write" to write the changed point table data to
the servo amplifier.

(2) Writing all point table data (b)

Click "Write All" to write all the point table data to the servo amplifier.

(3) Reading all point table data (c)

Click "Read" to read all the point table data from the servo amplifier and display them.

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4. HOW TO USE THE POINT TABLE

(4) Initial setting of point table data (d)

Click "Set to default" to initialize all the data of point table No. 1 to 31. This function also initializes data
currently being edited.

(5) Verifying point table data (e)

Click "Verify" to verify all the data displayed and data of the servo amplifier.

(6) Detailed setting of point table data (f)

Click "Detailed Setting" to change position data range and unit in the point table window. Refer to
section 4.6.2 for details.

(7) Single-step feed (g)

Click "Single-step Feed" to perform the single-step feed test operation. Refer to section 3.1.9 for details.

(8) Copy and paste of point table data (h)

Click "Copy" to copy the selected point table data. Click "Paste" to paste the copied point table data.

(9) Inserting point table data (i)

Click "Insert" to insert a block before the selected point table No. The selected block and later will be
shifted down by one. The selected point table No. and lower rows will be shifted down one by one.

(10) Deleting point table data (j)

Click "Delete" to delete the selected block of the point table No. The selected block and later will be
shifted up by one.

(11) Changing point table data (k)

After selecting the data to be changed, enter a new value, and click "Enter". You can change the
displayed range and unit with "(6) Detailed setting of point table data" in this section.

(12) Reading point table data (l)

Click "Open" to read the point table data.

(13) Saving point table data (m)

Click "Save As" to save the point table data.

(14) Updating project (n)

Click "Update Project" to update the point table data to a project.

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4.6.2 Detailed setting window

The position data range and unit can be changed with the detailed setting in the point table window. For the
position data range and unit of [Pr. PT01] setting, refer to section 4.2.2. To reflect the setting for the
corresponding parameter, click "Update Project" in the point table window.

1)

2)

3)

(1) Command method selection (PT01 *CTY): 1)

Select either the absolute position command method or the incremental value command method.

(2) Others
(a) Feed length multiplication parameter setting STM (PT03 *FTY): 2)
Select a feed length multiplication from 1/10/100/1000.

(b) Position data unit setting (PT01 *CTY): 3)

Select a unit of position data from mm/inch/degree/pulse. When degree or pulse is selected for the
unit, the setting of feed length multiplication will be disabled.

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5. HOW TO USE THE PROGRAM

5. HOW TO USE THE PROGRAM

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Switching power on for the first time MR-JE-_A section 4.1

POINT
For the mark detection function (Current position latch), refer to section 6.2.2.
For the mark detection function (Interrupt positioning), refer to section 6.2.3.

5.1 Startup

When executing a test run, follow the notice and procedures in this instruction
manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.
WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot
while the power is on and for some time after power-off. Take safety measures
such as providing covers to avoid accidentally touching them by hands and parts
CAUTION such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

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5. HOW TO USE THE PROGRAM

5.1.1 Power on and off procedures

When the servo amplifier is powered on for the first time, the control mode is set to position control mode.
(Refer to section 4.2.1 of "MR-JE-_A Servo Amplifier Instruction Manual".)
This section provides a case where the servo amplifier is powered on after setting the positioning mode.

(1) Power-on
Switch the power on in the following procedure. Always follow this procedure at power-on.

1) Switch off SON (Servo-on).

2) Make sure that ST1 (Forward rotation start) is off.

3) Turn on the power.

The display shows "PoS" and 2 s later shows data.

(2) Power-off
1) Switch off ST1 (Forward rotation start).

2) Switch off SON (Servo-on).

3) Shut off the power.

5.1.2 Stop

Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.
If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo
motor.
Refer to section 3.10 of "MR-JE-_A Servo Amplifier Instruction Manual" for the servo motor with an
electromagnetic brake.
Operation/command Stopping condition
Switch off SON (Servo-on). The base circuit is shut off, and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop. With some alarms; however, the dynamic
brake operates to stop the servo motor. (Refer to chapter 8. (Note))
EM2 (Forced stop 2) off The servo motor decelerates to a stop. [AL. E6 Servo forced stop warning] occurs.
Refer to section 2.3 for EM1.
LSP (Forward rotation stroke end) off or LSN The servo motor stops immediately and will be servo locked. Operation in the
(Reverse rotation stroke end) off opposite direction is possible.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.

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5. HOW TO USE THE PROGRAM

5.1.3 Test operation

Before starting an actual operation, perform a test operation to make sure that the machine operates
normally.
Refer to section 5.1.1 for how to power on and off the servo amplifier.
Test operation of the servo motor In this step, confirm that the servo amplifier and the servo motor operate
alone in JOG operation of test
operation mode normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor rotates correctly at the slowest
speed. For the test operation mode, refer to section 3.1.8 and 3.1.9 in this
manual, and section 4.5.9 of "MR-JE-_A Servo Amplifier Instruction Manual".

Test operation of the servo In this step, confirm that the servo motor rotates correctly at the slowest
motor alone
speed in the manual operation mode.
Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end).

3) When MD0 (Operation mode selection 1) is switched off from the

controller and ST1 (Forward rotation start) or ST2 (Reverse rotation
start) is switched on in the manual operation mode, the servo motor
starts rotating. Give a low speed command at first and check the rotation
direction, etc. of the servo motor. If the servo motor does not operate in
the intended direction, check the input signal.

Test operation with the servo In this step, connect the servo motor with the machine and confirm that the
motor and machine connected machine operates normally with the commands from the controller.
Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end).

3) When MD0 (Operation mode selection 1) is switched off from the

controller and ST1 (Forward rotation start) or ST2 (Reverse rotation
start) is switched on in the manual operation mode, the servo motor
starts rotating. Give a low speed command at first and check the
operation direction, etc. of the machine. If the servo motor does not
operate in the intended direction, check the input signal. In the status
display, check for any problems of the servo motor speed, load ratio, etc.
Automatic operation with
programming Select a program from the controller, and check automatic operation.

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5. HOW TO USE THE PROGRAM

5.1.4 Parameter setting

POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Assign the following output devices to the CN1-23 pin with [Pr. PD24].
CN1-23: ZP (Home position return completion)

When you use the servo in the program method, set [Pr. PA01] to "_ _ _ 7" (Positioning mode (program
method)). For the program method, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and positioning control parameters ([Pr. PT _ _ ]) mainly.
As necessary, set other parameters.
The following table shows the necessary setting of [Pr. PA _ _ ] and [Pr. PT _ _ ] in the program method.
Operation mode selection item Parameter setting Input device setting
MD0 DI0 to DI4
[Pr. PA01] [Pr. PT04]
Operation mode (Note 1) (Note 1)
Automatic operation mode of the program method On Any
Manual operation JOG operation
Off
mode Manual pulse generator operation
Dog type ___0
Count type ___1
Data set type ___2
Stopper type ___3
Home position ignorance (servo-on ___7
___4
position as home position)
Home position return
Dog type rear end reference ___5 On Any (Note 2)
Count type front end reference ___6
Dog cradle type ___7
Dog type last Z-phase reference ___8
Dog type front end reference ___9
Dogless Z-phase reference ___A

Note 1. MD0: Operation mode selection 1, DI0 to DI3: Program No. selection 1 to Program No. selection 4
2 Select a program containing a "ZRT" command, which performs the home position return.

5- 4
5. HOW TO USE THE PROGRAM

5.1.5 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings.

5.1.6 Troubleshooting at start-up

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

POINT
Using MR Configurator2, you can refer to the reason for rotation failure, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
"MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on The 7-segment LED Not solved even if CN1, CN2, 1. Power supply voltage fault
display does not turn and CN3 connectors are 2. The servo amplifier is
on. disconnected. malfunctioning.
The 7-segment LED
display blinks.
Solved when CN1 connector is Power supply of CN1 cabling is
disconnected. shorted.
Solved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Solved when CN3 connector is Power supply of CN3 cabling is
disconnected. shorted.
Alarm occurs. Refer to chapter 8 and remove the cause. Chapter 8
(Note)
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove the cause. Chapter 8
(Servo-on). (Note)
Servo motor shaft is 1. Check the display to see if 1. SON (Servo-on) is not input. Section
not servo-locked. the servo amplifier is ready to (wiring mistake) 3.1.7
(Servo motor shaft is operate. 2. 24 V DC power is not supplied
free.) 2. Check the external I/O signal to DICOM.
indication (section 3.1.7) to
see if SON (Servo-on) is on.
3 Perform a home Servo motor does not Check the on/off status of the LSP, LSN, and ST1 are off. Section
position return. rotate. input signal with the external I/O 3.1.7
signal display. (Refer to section
3.1.7.)
Check [Pr. PA11 Forward rotation Torque limit level is too low for the Section
torque limit] and [Pr. PA12 load torque. 7.2.1
Reverse rotation torque limit].
When TLA (Analog torque limit) is Torque limit level is too low for the Section
usable, check the input voltage load torque. 3.1.2
on the status display.
The home position Check the on/off status of input The proximity dog is set Section
return is not signal DOG with the external I/O incorrectly. 3.1.7
completed. signal display. (Refer to section
3.1.7.)

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5. HOW TO USE THE PROGRAM

No. Start-up sequence Fault Investigation Possible cause Reference

4 Switch on ST1 Servo motor does not Check the on/off status of the LSP, LSN, and ST1 are off. Section
(Forward rotation rotate. input signal with the external I/O 3.1.7
start). signal display (section 3.1.7).
Check [Pr. PA11 Forward rotation Torque limit level is too low for the Section
torque limit] and [Pr. PA12 load torque. 7.2.1
Reverse rotation torque limit].
When TLA (Analog torque limit) Torque limit level is too low for the Section
is usable, check the input load torque. 3.1.2
voltage on the status display.
5 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault MR-JE-_A
fluctuations) are large following procedure. Chapter 6
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times to
complete auto tuning.
Large load inertia If the servo motor may be driven Gain adjustment fault MR-JE-_A
moment causes the with safety, repeat acceleration Chapter 6
servo motor shaft to and deceleration three times or
oscillate side to side. more to complete the auto
tuning.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.

5.2 Program operation method

5.2.1 Program operation method

Select a program created in advance on MR Configurator2 by using an input signal or communication, and
start an operation with ST1 (Forward rotation start).
This servo amplifier is set to the absolute value command method by factory setting.
For the position data, you can set the absolute value travel command ("MOV" command), which specifies
the target address, and the incremental value travel command ("MOVI" command), which specifies the travel
distance. Refer to section 4.2.1 (1) and 5.2.3 (1) (a) for the movable range and the setting unit.

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5. HOW TO USE THE PROGRAM

5.2.2 Program language

The maximum number of steps of a program is 480. Up to 16 programs can be created; however, the total
number of the steps of all programs must be 480 or less.
A set program is selectable by using DI0 (Program No. selection 1) to DI3 (Program No. selection 4).

(1) Command list

Indirect
Command Name Setting Setting range Unit specification Description
(Note 7)
Set the servo motor command speed for
positioning.
0 to permissible The setting value must be the permissible
SPN Servo motor SPN (Setting 3000
instantaneous instantaneous speed or less of the servo
(Note 2) speed value) r/min
speed motor used.
If the setting value is unspecified, the servo
motor rotates at 50 r/min.
Set the acceleration time constant. The setting
value is a time period which the servo motor
takes from a stop to the rated speed.
STA Acceleration STA (Setting
0 to 20000 ms The value cannot be changed during a
(Note 2) time constant value)
command output.
If the setting value is unspecified, 1000 ms is
applied.
Set the deceleration time constant. The setting
value is a time period which the servo motor
takes from the rated speed to a stop.
STB Deceleration STB (Setting
0 to 20000 ms The value cannot be changed during a
(Note 2) time constant value)
command output.
If the setting value is unspecified, 1000 ms is
applied.
Set the acceleration/deceleration time
constants.
The setting value is a time period which the
servo motor takes from a stop to the rated
speed, and from the rated speed to a stop.
When this command is used, the same value
Acceleration/ is applied for both the acceleration time
STC STC (setting
deceleration 0 to 20000 ms constant and the deceleration time constant.
(Note 2) value)
time constant To set the acceleration/deceleration time
constants individually, use the "STA" and
"STB" commands.
The value cannot be changed during a
command output.
If the setting value is unspecified, 1000 ms is
applied.
Set the S-pattern acceleration/deceleration
S-pattern time constants.
STD acceleration/ STD (Setting Set this command to insert S-pattern
0 to 1000 ms
(Note 2, 5) deceleration value) acceleration/deceleration time constants to the
time constant acceleration/deceleration time constants of the
program.
Absolute MOV -999999
×10STMμm The servo motor rotates using the set value as
MOV value travel (setting to 999999
(Note 6) the absolute value.
command value) (Note 6)
Absolute
The servo motor rotates continuously using
value MOVA -999999
×10STMμm the set value as the absolute value. Make sure
MOVA continuous (setting to 999999
(Note 6) to describe this command after the "MOV"
travel value) (Note 6)
command.
command

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5. HOW TO USE THE PROGRAM

Indirect
Command Name Setting Setting range Unit specification Description
(Note 7)
The servo motor rotates using the set value as
the incremental value.
Incremental MOVA -999999 When a negative value is set, the servo motor
×10STMμm
MOVI value travel (setting to 999999 rotates in the reverse rotation direction.
(Note 6)
command value) (Note 6) For the reverse rotation, the servo motor
rotates in a direction of decreasing the
address.
Incremental
The servo motor rotates continuously using
value MOVIA -999999
×10STMμm the set value as the incremental value. Make
MOVIA continuous (setting to 999999
(Note 6) sure to describe this command after the
travel value) (Note 6)
"MOVI" command.
command
After SOUT (SYNC synchronous output) is
outputted, the following steps will be stopped
until PI1 (Program input 1) to PI3 (Program
Waiting for input 3) are switched on.
SYNC
SYNC external
(setting 1 to 3 Setting value Input signal
(Note 1) signal to
value) 1 PI1 (Program input 1)
switch on
2 PI2 (Program input 2)
3 PI3 (Program input 3)

Switch on OUT1 (Program output 1) to OUT3

(Program output 3).
By setting the on-time with [Pr. PT23] to [Pr.
PT25], you can switch off the input signals
External OUTON after the set time elapses.
OUTON
signal (setting 1 to 3
(Note 1, 3) Setting value Input signal
on output value)
1 OUT1 (Program output 1)
2 OUT2 (Program output 2)
3 OUT3 (Program output 3)

Switch off OUT1 (Program output 1) to OUT3

(Program output 3), which have been on with
the "OUTON" command.
External OUTON
OUTON Setting value Input signal
signal (setting 1 to 3
(Note 1) 1 OUT1 (Program output 1)
off output value)
2 OUT2 (Program output 2)
3 OUT3 (Program output 3)

When the servo motor rotates for the travel

Absolute distance set by the "TRIP" command after the
TRIP -999999
TRIP value ×10STM μm "MOV" or "MOVA" command is initiated, the
(setting to 999999
(Note 1) Trip point (Note 6) next step is executed. Make sure to describe
value) (Note 6)
specification this command after the "MOV" or "MOVA"
command.
When the servo motor rotates for the travel
Incremental distance set by the "TRIPI" command after the
TRIPI -999999
TRIPI value ×10STM μm "MOVI" or "MOVIA" command is initiated, the
(setting to 999999
(Note 1) Trip point (Note 6) next step is executed. Make sure to describe
value) (Note 6)
specification this command after the "MOVI" or "MOVIA"
command.
An interrupt signal stops the servo motor when
ITP Interrupt ITP (setting 0 to 999999 ×10STM μm the motor rotates the set travel distance. Make
(Note 1, 4) positioning value) (Note 6) (Note 6) sure to describe this command after the
"SYNC" command.
When the pulse counter value becomes larger
External COUNT
COUNT -999999 than the count value set for the "COUNT"
pulse (setting pulse
(Note 1) to 999999 command, the next step is executed. "COUNT
count value)
(0)" clears the pulse counter to 0.

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5. HOW TO USE THE PROGRAM

Indirect
Command Name Setting Setting range Unit specification Description
(Note 7)
The steps between the "FOR (Setting value)"
and the "NEXT" commands are repeated for
the set number of times.
Step FOR (setting
FOR Setting "0" repeats the operation endlessly.
repeat value) 0, 1 to 10000 times
NEXT Do not describe another set of "FOR" and
command NEXT
"NEXT" command between the "FOR" and
"NEXT" commands. Otherwise, an error
occurs.
Latch the current position at the rising edge of
LPS (Current position latch).
Current The latched current position data can be read
LPOS
position LPOS with communication commands.
(Note 1)
Latch When the servo motor starts rotating, the
latched position varies according to the motor
speed and the sampling of input signals.
TIM (setting Waits for the next step until the set time
TIM Dwell 1 to 20000 ms
value) elapses.
Home
ZRT position ZRT Performs a manual home position return.
return
Set the number of program executions by
Program TIMES writing "TIMES (setting value)" command at
TIMES count (setting 0, 1 to 10000 times the start of the program. To execute the
command value) program only one time, no setting is required.
Setting "0" repeats the operation endlessly.
Stop the running program.
Program
STOP STOP Make sure to describe this command in the
stop
final line.
Using the maximum torque as 100%, limit the
generated torque of the servo motor in the
Forward CCW power running or CW regeneration.
TLP TLP (setting
rotation torque 0, 1 to 1000 0.1 % The setting value is enabled until the program
(Note 8) value)
limit stops.
Specifying the setting value to "0" enables the
[Pr. PA11] setting.
Using the maximum torque as 100%, limit the
generated torque of the servo motor in the CW
Reverse power running or CCW regeneration.
TLN TLN (setting
rotation torque 0, 1 to 1000 0.1 % The setting value is enabled until the program
(Note 8) value)
limit stops.
Specifying the setting value to "0" enables the
[Pr. PA12] setting.
Using the maximum torque as 100%, limit the
generated torque of the servo motor.
TQL TQL (setting The setting value is enabled until the program
Torque limit 0, 1 to 1000 0.1 %
(Note 8) value) stops.
Specifying the setting value to "0" enables the
[Pr. PA11] and [Pr. PA12] settings.

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5. HOW TO USE THE PROGRAM

Note 1. The "SYNC", "OUTON", "OUTOF", "TRIP", "TRIPI", "COUNT", "LPOS", and "ITP" commands are enabled even during a
command output.
2. The "SPN" command is enabled while the "MOV", "MOVA", "MOVI", or "MOVIA" command is executed. The "STA", "STB",
"STC", and "STD" commands are enabled while the "MOV" or "MOVI" command is executed.
3. When the on-time is set with [Pr. PT23] to [Pr. PT25], the next command is executed after the set time elapses.
4. When the remaining distance is equal to or less than the set value, or while the servo motor is being stopped or decelerating,
the program skips the "ITP" command and proceeds to the next step.
5. The parameter value is enabled normally. However, the value set for the command is enabled after the command is executed
until the program stops.
6. The unit of the position command data input can be changed with [Pr. PT01]. For the setting range of each unit, refer to
section 5.2.3 (1) (a).
7. For the explanation of the indirect specification, refer to section 5.2.2 (2) (j).
8. The parameter value is enabled normally. However, the value set for the command is enabled after the command is executed
until the program stops.

(2) Detailed explanations of commands

(a) Positioning conditions (SPN/STA/STB/STC/STD)

POINT
Once values are set for the "SPN", "STA", "STB" and "STC" commands, the
values are enabled without resetting them. (The values are not initialized at the
program startup.) The settings are enabled in the other programs.
The value set for the "STD" command is enabled in the same program only. The
value is initialized to the setting value of [Pr. PC03] at the program startup, and
therefore the value is disabled in the other programs.

The "SPN", "STA", "STB", "STC", and "STD" commands are enabled while the "MOV" or "MOVIA
command is executed.

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5. HOW TO USE THE PROGRAM

1) Program example 1
When executing two operations with the same servo motor speeds, acceleration time constants,
and deceleration time constants while the travel commands are different
Command Description
SPN (1000) Servo 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 value travel command 1000 [×10STM μm] d)
TIM (100) Dwell 100 [ms] e)
MOV (2000) Absolute value travel command 2000 [×10STM μm] f)
STOP Program stop

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

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

a) Servo motor a) Servo motor

speed speed
Forward (1000 r/min) (1000 r/min)
rotation
Servo motor 0 r/min
speed
Reverse
rotation d) Absolute value f) Absolute value
e) Dwell
travel command (100 ms) travel command
STM
(1000 × 10STM μm) (2000 × 10 μm)

2) Program example 2
When executing two operations with different servo motor speeds, acceleration time constants,
deceleration time constants, and travel commands.
Command Description
SPN (1000) Servo 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 value travel command 1000 [×10STM μm] d)
TIM (100) Dwell 100 [ms] e)
SPN (500) Servo motor speed 500 [r/min] f)
STC (200) Acceleration/deceleration time constant 200 [ms] g)
MOV (1500) Absolute value travel command 1500 [×10STM μm] h)
STOP Program stop

b) Acceleration time c) Deceleration time

constant (200 ms) constant (300 ms) g) Acceleration/
deceleration
time constant
a) Servo motor (200 ms)
speed
Forward (1000 r/min) f) Servo motor
Servo motor rotation speed (500 r/min)
0 r/min
speed Reverse d) Absolute value h) Absolute value
rotation e) Dwell
travel command travel command
(100 ms)
(1000 × 10STM μm) STM
(1500 × 10 μm)

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5. HOW TO USE THE PROGRAM

3) Program example 3
Using the S-pattern acceleration/deceleration time constants reduces abrupt movements at
acceleration or deceleration. When the "STD" command is used, [Pr. PC03 S-pattern
acceleration/deceleration time constant] does not function.
Command Description
SPN (1000) Servo motor speed 1000 [r/min] a)
STC (100) Acceleration/deceleration time constant 1000 [ms] b)
STD (10) S-pattern acceleration/deceleration time 10 [ms] c)
constant
MOV (2000) Absolute value travel command 2000 [×10STM μm] d)
STOP Program stop

c) c)

b) Acceleration/ b) Acceleration/deceleration time constant

deceleration time constant (1000 ms)
(1000 ms) a) Servo motor speed
(1000 r/min) d) Absolute value travel command
(2000 × 10STM μm)

Servo motor Forward rotation

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

(b) Continuous travel commands (MOVA/MOVIA)

POINT
A combination of "MOV" and "MOVIA" commands, and a combination of "MOVI"
and "MOVA" commands are not available.

The "MOVA" command is a continuous travel command for the "MOV" command. After the travel
with the "MOV" command is executed, the travel with "MOVA" command will be executed
continuously without a stop.
The speed specified by the "MOVA command" is enabled from the deceleration start point of the
preceding "MOV" or "MOVA" command.
The acceleration/deceleration time constants for the preceding "MOV" command is also applied to
those for the "MOVA" command.
The "MOVIA" command is a continuous travel command for the "MOVI" command. After the travel
with the "MOVI" command is executed, the travel with "MOVIA" command will be executed
continuously without a stop.
The speed specified by the "MOVIA command" is enabled from the deceleration start point of the
preceding "MOVI" or "MOVIA" command.

5 - 12
5. HOW TO USE THE PROGRAM

The acceleration/deceleration time constants for the preceding "MOVI" command is also applied to
those for the "MOVIA" command.
Command Name Setting Unit Description
MOV Absolute value travel MOV ×10STM μm Absolute value travel
command (setting value) command
MOVA Absolute value continuous MOVA ×10STM μm Absolute value continuous
travel command (setting value) travel command
MOVI Incremental value travel MOVI ×10STM μm Incremental value travel
command (setting value) command
MOVIA Incremental value MOVIA ×10STM μm Incremental value
continuous travel command (setting value) continuous travel command

5 - 13
5. HOW TO USE THE PROGRAM

1) Program example 1
When using the absolute value travel command under the absolute value command method
Command Description
SPN (500) Servo 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 value travel command 500 [×10STM μm] d)
SPN (1000) Servo motor speed 1000 [r/min] e)
MOVA (1000) Absolute value continuous travel command 1000 [×10STM μm] f)
MOVA (0) Absolute value continuous travel command 0 [×10STM μm] g)
STOP Program stop

b) Acceleration time c) Deceleration time

constant (200 ms) constant (300 ms)
e) Servo motor
speed
a) Servo motor (1000 r/min)
speed (500 r/min)
Servo motor Forward rotation
speed 0 r/min
Reverse rotation d) Absolute value f) Absolute value
travel command continuous travel e) Servo motor
(500 × 10STM μm) command speed
(1000 r/min) g) Absolute value continuous
(1000 × 10STM μm) travel command
b) Acceleration time constant (0 × 10STM μm)
(200 ms)

2) Program example 2 (Incorrect usage)

For continuous operations, the acceleration time constant and the deceleration time constant
cannot be changed for each different speed. Therefore, even if the "STA", "STB", and "STD"
commands are written at a speed change, the commands are invalid.
Command Description
SPN (500) Servo 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 value travel command 500 [×10STM μm] d)
SPN (1000) Servo motor speed 1000 [r/min] e)
STC (500) Acceleration/deceleration time constant 500 [ms] f) Disabled
MOVA (1000) Absolute value continuous travel command 1000 [×10STM μm] g)
SPN (1500) Servo motor speed 1500 [r/min] h)
STC (100) Acceleration/deceleration time constant 100 [ms] i) Disabled
MOVA (0) Absolute value continuous travel command 0 [×10STM μm] j)
STOP Program stop

b) Acceleration time
constant (200 ms) c) Deceleration time
constant (300 ms)
e) Servo motor
speed
a) Servo motor (1000 r/min)
Forward rotation speed (500 r/min)
Servo motor 0 r/min
speed Reverse rotation
d) Absolute value g) Absolute value
travel command continuous travel
STM command h) Servo motor j) Absolute value
(500 × 10 μm) speed
(1000 × 10STM μm) continuous
(1500 r/min)
travel command
b) Acceleration (0 × 10STM μm)
time constant
(200 ms)

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5. HOW TO USE THE PROGRAM

(c) Input/output commands (OUTON/OUTOF) and trip point commands (TRIP/TRIPI)

POINT
Using [Pr. PT23] to [Pr. PT25], you can set the time until OUT1 (Program output
1) to OUT3 (Program output 3) are switched off. The commands are switched off
under the following conditions.
The commands are switched off by the OUTOF command.
The commands are switched off by a program stop.
The "TRIP" and "TRIPI" commands have the following restrictions.
The "MOV" or "MOVA" command cannot be used in combination with the
"TRIPI" command.
The "MOVI" or "MOVIA" command cannot be used in combination with the
"TRIP" command.
The "TRIP" and "TRIPI" commands do not execute the next step until the
servo motor passes the set address or travel distance. Set the commands
within the travel command range.
Whether the servo motor has passed the set address or travel distance is
determined by checking the actual position (for each command). It is also
determined by checking both edges of the address increasing/decreasing
directions.

1) Program example 1
OUT1 (Program output 1) is switched on upon a program execution. When the program ends,
OUT1 (Program output 1) is switched off.
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (500) Absolute value travel command 500 [×10STM μm]
OUTON (1) Switch on OUT1 (Program output 1). a)
TIM (100) Dwell 100 [ms]
MOV (250) Absolute value travel command 250 [×10STM μm]
TIM (50) Dwell 50 [ms]
STOP Program stop b)

Forward rotation
Servo motor 0 r/min
speed Reverse rotation
Dwell Dwell
(100 ms) (50 ms)
OUT1 ON
(Program output 1) OFF

a) b)

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5. HOW TO USE THE PROGRAM

2) Program example 2
Using [Pr. PT23] to [Pr. PT25], you can switch off OUT1 (Program output 1) to OUT3 (Program
output 3) automatically.
Parameter Name Setting value Description
Pr. PT23 OUT1 output setting time 20 Switch off OUT1 200 [ms] later. a)
Pr. PT24 OUT2 output setting time 10 Switch off OUT2 100 [ms] later. b)
Pr. PT25 OUT3 output setting time 50 Switch off OUT3 500 [ms] later. c)

Command Description
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute value travel command 1000 [×10STM μm]
OUTON (1) Switch on OUT1 (Program output 1).
OUTON (2) Switch on OUT2 (Program output 2).
OUTON (3) Switch on OUT3 (Program output 3).
STOP Program stop

Forward rotation
Servo motor 0 r/min
speed Reverse rotation

OUT1 ON
(Program output 1) OFF a) 200 ms

OUT2 ON
(Program output 2) OFF b) 100 ms

OUT3 ON
(Program output 3) OFF c) 500 ms

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5. HOW TO USE THE PROGRAM

3) Program example 3
When setting the position address where the "OUTON" or "OUTOF" command is executed by
using the "TRIP" or "TRIPI" command
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 1: 300 [ms]
MOV (500) Absolute value travel command 500 [×10STM μm]
TRIP (250) Absolute value trip point specification 250 [×10STM μm] a)
OUTON (2) Switch on OUT2 (Program output 2). b)
TRIP (400) Absolute value trip point specification 400 [×10STM μm] c)
OUTOF (2) Switch off OUT2 (Program output 2). d)
TIM (100) Dwell 100 [ms]
MOVI (500) Incremental value travel command 500 [×10STM μm]
TRIPI (300) Incremental value trip point specification 300 [×10STM μm] e)
OUTON (2) Switch on OUT2 (Program output 2). f)
STOP Program stop g)

STM
a) 250 × 10 μm c) 400 × 10
STM
μm e) 300 × 10
STM
μm

Servo motor Forward rotation

speed 0 r/min
Reverse rotation 100 ms

OUT2 ON
(Program output 2) OFF

b) d) f) g)

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5. HOW TO USE THE PROGRAM

4) Program example 4
Command Description
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOVI (600) Incremental value travel command 600 [×10STM μm] a)
TRIPI (300) Incremental value trip point specification 300 [×10STM μm] b)
OUTON (3) Switch on OUT3 (Program output 3). c)
SPN (700) Servo motor speed 700 [r/min]
MOVIA (700) Incremental value continuous travel 700 [×10STM μm] d)
command
TRIPI (300) Incremental value trip point specification 300 [×10STM μm] e)
OUTOF (3) Switch off OUT3 (Program output 3). f)
STOP Program stop

a) Incremental value STM

travel command 900 × 10 μm
(600 × 10STM μm) STM
b) 300 × 10 μm (a) MOVI (600) + e) TRIPI (300))
d) Incremental value
continuous
travel command
Forward rotation STM
(700 ×10 μm)
Servo motor 0 r/min
speed Reverse rotation

OUT3 ON
(Program output 3) OFF

c) f)

(d) Dwell (TIM)

Using the "TIM (setting value)" command, set the time from when the remaining distance under the
command is "0" until when the next step is executed.
The following shows operation examples of using this command in combination with the other
commands for reference.

1) Program example 1
Command Description
TIM (200) Dwell 200 [ms] a)
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOV (1000) Absolute value travel command 1000 [×10STM μm]
STOP Program stop

a) 200 ms

Forward rotation
Servo motor 0 r/min
speed Reverse rotation

ST1 ON
(Forward rotation start) OFF

5 - 18
5. HOW TO USE THE PROGRAM

2) Program example 2
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10STM μm]
TIM (200) Dwell 1: 200 [ms] a)
OUTON (1) Switch on OUT1 (Program output 1). b)
MOVI (500) Incremental value travel command 500 [×10STM μm]
STOP Program stop

a) 200 ms

Servo motor Forward rotation

0 r/min
speed
Reverse rotation

OUT1 ON
(Program output 1) OFF

b)

3) Program example 3
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10STM μm]
OUTON (1) Switch on OUT1 (Program output 1). a)
TIM (200) Dwell 200 [ms] b)
MOVI (500) Incremental value travel command 500 [×10STM μm]
STOP Program stop

b) 200 ms

Servo motor Forward rotation

0 r/min
speed
Reverse rotation

OUT1 ON
(Program output 1) OFF

a)

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4) Program example 4
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10STM μm]
TIM (200) Dwell 200 [ms] a)
OUTON (1) Switch on OUT1 (Program output 1). b)
TIM (300) Dwell 300 [ms] c)
MOVI (500) Incremental value travel command 500 [×10STM μm]
STOP Program stop

a) 200 ms c) 300 ms

Forward rotation
Servo motor 0 r/min
speed Reverse rotation

OUT1 ON
(Program output 1) OFF

b)

5) Program example 5
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10STM μm]
TIM (200) Dwell 200 [ms] a)
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
MOVI (500) Incremental value travel command 500 [×10STM μm]
STOP Program stop

Servo motor Forward

0 r/min
rotation
speed
Reverse rotation

PI1 ON
(Program output 1) OFF

a) Accepts PI1 after 200 ms.

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6) Program example 6
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10STM μm]
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
TIM (200) Dwell 200 [ms] a)
MOVI (500) Incremental value travel command 500 [×10STM μm]
STOP Program stop

a) 200 ms

Servo motor Forward

0 r/min
rotation
speed
Reverse rotation

PI1 ON
(Program output 1) OFF

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(e) Interrupt positioning (ITP)

POINT
For positioning with the ITP command, the stop position varies depending on the
servo motor speed when the "ITP" command becomes enabled.
In the following cases, the program does not execute the "ITP" command and
proceeds to the next step.
When the setting value of the "ITP" command is smaller than that of the travel
command set by the "MOV", "MOVI", "MOVA" or "MOVIA" command
When the remaining distance is equal to or less than the travel distance
specified by the "ITP" command
While the servo motor is decelerating

When an "ITP" command is used in the program, starting from the position where PI1 (Program input
1) to PI3 (Program input 3) are switched on, the servo motor rotates for a distance of the set value
and stops.
When using the "ITP" command, make sure to describe the "SYNC" command right before the "ITP"
command.

1) Program example 1
Command Description
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (600) Absolute value travel command 600 [×10STM μm]
SPN (100) Servo motor speed 100 [r/min]
MOVA (600) Continuous travel command 600 [×10STM μm]
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. a)
ITP (200) Interrupt positioning 200 [×10STM μm] b)
STOP Program stop

P1

Servo motor Forward rotation

speed 0 r/min
STM
Reverse rotation P1 + b) (200 × 10 μm)

PI1 ON
(Program input 1) Waiting for PI1 on (a))
OFF by SYNC (1)

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2) Program example 2
When the travel distance set by the "ITP" command is smaller than the travel distance required
for deceleration, the actual deceleration time constant becomes smaller than the setting value of
the "STB" command.
Command Description
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute value travel command 1000 [×10STM μm]
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. a)
ITP (50) Interrupt positioning 50 [×10STM μm] b)
STOP Program stop

P1

Servo motor Forward rotation

0 r/min
speed STM
Reverse rotation P1 + b) (50 × 10 μm)

PI1 ON
Waiting for PI1 on (a))
(Program input 1) OFF by SYNC (1)

(f) External pulse count (COUNT)

When the number of input pulses of the manual pulse generator becomes larger than the value set
for the "COUNT" command, the next step is executed. Setting "0" clears the cumulative input pulses.
Command Description
COUNT (500) Wait for the next step until the number of input pulses of the manual pulse generator reaches 500
[pulse]. a)
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute value travel command 1000 [×10STM μm]
TRIP (500) Trip point specification 500 [×10STM μm] b)
COUNT (0) Clear cumulative input pulses. c)
STOP Program stop

STM
b) 500 [×10 μm]

Forward rotation
Servo motor 0 r/min
speed Reverse rotation

Manual pulse generator

Cumulative input pulses a) 500 [pulse]

c) Clear cumulative input pulses.

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(g) Step repeat instruction (FOR...NEXT)

POINT
You cannot insert "FOR...NEXT" commands between the "FOR" and "NEXT"
commands.

The steps between the "FOR (Setting value)" and the "NEXT" commands are repeated for the set
number of times. Setting "0" repeats the operation endlessly.
For how to stop the program in this status, refer to section 5.2.4 (4).
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOV (1000) Absolute value travel command 1000 [×10STM μm]
TIM (100) Dwell 100 [ms]
FOR (3) Start of step repeat instruction 3 [time] a)
MOVI (100) Incremental value travel command 100 [×10STM μm] b)
TIM (100) Dwell 100 [ms]
NEXT End of step repeat instruction c)
FOR (2) Start of step repeat instruction 2 [time] d)
MOVI (200) Incremental value travel command 200 [×10STM μm] e)
TIM (100) Dwell 100 [ms]
NEXT End of step repeat instruction f)
STOP Program stop

b) Incremental value d) Incremental value

travel command travel command
STM
(100 × 10 μm) STM
(200 × 10 μm)

Servo motor Forward rotation

0 r/min
speed Reverse rotation 1000 1100 1200 1300 1500 1700

a) c) e) f)

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(h) Number of program executions command (TIMES)

A program can be executed repeatedly by setting the number of program executions in the "TIMES
(setting value) command" placed at the start of the program. To execute the program one time, the
"TIMES" command is not required. Setting "0" repeats the operation endlessly. For how to stop the
program in this status, refer to section 5.2.4 (4).
Command Description
TIMES (2) Number of program executions command 2 [time] a)
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10STM μm] b)
TIM (100) Dwell 100 [ms]
STOP Program stop

b) Incremental value
travel command
(100 × 10STM μm)

Servo motor Forward rotation

0 r/min
speed Reverse rotation 1000 1200

a)

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(i) Current position latch (LPOS)

POINT
When the current position is stored using LPS (Current position latch input), the
value varies depending on the servo motor speed at switch-on of LPS.
The program does not proceed to the next step until LPS (Current position latch
input) is switched on.
The stored data will not be cleared unless the servo amplifier is switched off.
After the input of LPS (Current position latch input) becomes enabled by the
"LPOS" command, the input is cleared in the following conditions.
When the rising edge of LPS (Current position latch input) is detected
When the program ends
When the operation mode is changed
When the servo motor forcibly stopped
When an alarm occurs
When the servo motor enters the servo-off status

The current position upon switch-on of LPS (Current position latch input) is stored. The stored
position data can be read with the communication function.
The current position latch function, which is set during the execution of the program, will be canceled
when the program ends. The function is also canceled with an operation mode change, forced stop,
alarm occurrence, or servo-off. The function will not be canceled by only a temporary stop.
Command Description
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (1000) Absolute value travel command 1000 [×10STM μm]
LPOS Set a current position latch. a)
STOP Program stop

STM
Current position 300 [×10 μm]
is memorized.

Forward rotation
Servo motor 0 r/min
speed 1000
Reverse rotation

Current position ON Latches LPS on edge

LPS (Latch input) OFF by LPOS. (a))

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(j) Indirect specification with general purpose registers (R1-R4, D1-D4)

You can indirectly specify the setting values of the "SPN", "STA", "STB", "STC", "STD", "MOV",
"MOVI", "MOVA", "MOVIA", "TIM", and "TIMES" commands.
The value, which is stored in each general purpose register (R1-R4, D1-D4), is used as the setting
value of each command.
Change the general purpose registers by using MR Configurator2 or a communication command
while the program is not executed by a communication command
The data of the general purpose registers is erased at power-off of the servo amplifier. Note that the
data of the general purpose registers (R1-R4) can be stored in EEP-ROM.
The setting range of each general purpose register is that of the command for which each register is
used.
The following explains a case where the general purpose registers are set as shown below before
the execution of the program.
General purpose register Setting
R1 1000
R2 2000
D1 200
D2 300

Command Description
SPN (1000) Servo 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 value travel command R1 = 1000 [×10STM μm] d)
TIM (100) Dwell 100 [ms] e)
MOVI (R2) Incremental value travel command R2 = 2000 [×10STM μm] f)
STOP Program stop

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

a) 1000 r/min

Servo motor Forward rotation

0 r/min
speed Reverse rotation STM
d) R1 = 1000 × 10 μm e) Dwell f) R2 = 2000 × 10
STM
μm
(100 ms)

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(k) Home position return command (ZRT)

Performs a home position return.
Set the home position with parameters. (Refer to section 5.4.)
With the "ZRT" command, the program proceeds to the next step after the home position return
completion.

POINT
If the home position return has not completed successfully, [AL. 96 Home
position return incomplete warning] occurs. In this case, the program proceeds
to the next step without a stop. Since the home position return is incomplete, the
travel command is disabled.

Command Description
SPN (500) Servo motor speed 500 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
ZRT Home position return d)
MOV (500) Absolute value travel command 500 [×10STM μm] e)
STOP Program stop

Item Parameter to be used Setting

Dog type home position "_ _ _ 0"
[Pr. PT04]
return
Home position return "_ _ 0 _" (Address increasing direction)
[Pr. PT04]
direction
Dog input polarity [Pr. PT29] "_ _ _ 1" (Detects dog when DOG (proximity dog) is on.)
Home position return speed [Pr. PT05] 100 [r/min]
Creep speed [Pr. PT06] 50 [r/min]
Home position shift distance [Pr. PT07] 0 [×10STM μm]
Acceleration time constant of 100 [ms]
[Pr. PC30]
home position return
Deceleration time constant of 200 [ms]
[Pr. PC31]
home position return
Home position return position 0
[Pr. PT08]
data

Acceleration time Deceleration time b) Acceleration time constant

constant of home constant of home (200 ms) c) Deceleration
position return position return time constant
(100 ms) (200 ms) (300 ms)
a) Servo motor
Creep speed speed
(50 r/min) (500 r/min)
Home position
return speed (100 r/min)
Servo motor Forward rotation
speed 0 r/min
Reverse rotation Proximity dog

Z-phase

Position address 0
d) Home position return command e) Absolute value travel command 500
STM
(500 × 10 μm)
Home position return completion

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(l) Torque limit value switching (TLP/TLN/TQL)

Using the maximum torque as 100.0%, limit the generated torque of the servo motor.

1) Program example
Command Description
SPN (1500) Servo motor speed 1500 [r/min]
STA (100) Acceleration time constant 100 [ms]
STB (200) Deceleration time constant 1: 200 [ms]
MOV (1000) Absolute value travel command 10STM μm
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. a)
TLP (800) Forward rotation torque limit 800 [0.1%] b)
SYNC (2) Suspend the step until PI2 (Program input 2) is switched on. c)
TLN (500) Reverse rotation torque limit 500 [0.1%] d)
TIM (100) Dwell 100 [ms] e)
MOV (500) Absolute value travel command 1000 [×10STM μm]
SYNC (3) Suspend the step until PI3 (Program input 3) is switched on. f)
TQL (300) Torque limit 300 [0.1%] g)
STOP Program stop h)

h) Program stop
e) 100 ms
Forward rotation
Servo motor 0 r/min
speed
Reverse rotation

Forward rotation torque limit [Pr. PA11] setting 80.0% 30.0% [Pr. PA11] setting
b) Forward rotation torque limit g) Torque limit

Reverse rotation torque limit [Pr. PA12] setting 50.0% 30.0% [Pr. PA12] setting
d) Reverse rotation g) Torque limit The torque limit value returns
torque limit to the parameter setting value
by program stop.
ON
PI1 (Program input 1) a) PI1-on
OFF
ON
PI2 (Program input 2) c) PI2-on
OFF
ON
PI3 (Program input 3) f) PI3-on
OFF

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5. HOW TO USE THE PROGRAM

5.2.3 Basic settings of signals and parameters

(1) Parameter
(a) Setting range of the position data
The following shows the setting of [Pr. PT01].
[Pr. PT01]
Command method Travel command Positioning Position data input range
Position data unit
command method
_0__ [mm] -999999 to 999999 [×10STM μm]
Absolute value travel
_1__ [inch] -999999 to 999999 [×10 (STM-4) inch]
command
_2__ [degree] -360.000 to 360.000
("MOV", "MOVA")
Absolute value _3__ [pulse] -999999 to 999999
___0
command method _0__ [mm] -999999 to 999999 [×10STM μm]
Incremental value
_1__ [inch] -999999 to 999999 [×10 (STM-4) inch]
travel command
_2__ [degree] -999.999 to 999.999
("MOVI", "MOVIA")
_3__ [pulse] -999999 to 999999
_0__ [mm] -999999 to 999999 [×10STM μm]
Incremental value
Incremental value _1__ [inch] -999999 to 999999 [×10 (STM-4) inch]
travel command ___1
command method _2__ [degree] -999.999 to 999.999
("MOVI", "MOVIA")
_3__ [pulse] -999999 to 999999

(c) Rotation direction selection/travel direction selection ([Pr. PA14])

Select the servo motor rotation direction when ST1 (Forward rotation start) is switched on.
Servo motor rotation direction
[Pr. PA14] setting
when ST1 (Forward rotation start) 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

Forward rotation (CCW)

Reverse rotation (CW)

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(c) Feed length multiplication ([Pr. PT03])

Set the feed length multiplication factor (STM) of the position data.
Position data input range
[Pr. PT03] setting
[mm] [inch] [degree] (Note) [pulse] (Note)
___0
-999.999 to 999.999 -99.9999 to 99.9999
(initial value)
___1 -9999.99 to 9999.99 -999.999 to 999.999 -360.000 to 360.000 -999999 to 999999
___2 -99999.9 to 99999.9 -9999.99 to 9999.99
___3 -999999 to 999999 -99999.9 to 99999.9

Note. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor. Adjust the unit
multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

(2) Signal
Selecting a program with DI0 to DI3 and switching on ST1 perform the positioning operation according to
the set program. At this time, ST2 (Reverse rotation start) is disabled.
Item Device to be used Setting
Program operation method
MD0 (Operation mode selection 1) Switch on MD0.
selection
DI0 (Program No. selection 1)
DI1 (Program No. selection 2)
Program selection Refer to section 2.3 (1).
DI2 (Program No. selection 3)
DI3 (Program No. selection 4)
Start ST1 (Forward rotation start) Switch on ST1 to execute the program operation.

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5. HOW TO USE THE PROGRAM

5.2.4 Timing chart of the program operation

(1) Operation condition

The following shows a timing chart when the program below is executed after the home position return
completion under the absolute value command method.
Program No. Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (100) Acceleration/deceleration time constant 100 [ms]
MOV (5000) Absolute value travel command 5000 [×10STM μm] Travel command 1
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
STC (50) Acceleration/deceleration time constant 50 [ms]
MOV (7500) Absolute value travel command 7500 [×10STM μm] Travel command 2
STOP Program stop

Program No. Description

SPN (1000) Servo motor speed 1000 [r/min]
STC (100) Acceleration/deceleration time constant 100 [ms]
MOV (2500) Absolute value travel command 2500 [×10STM μm] Travel command 3
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
STC (50) Acceleration/deceleration time constant 50 [ms]
MOV (5000) Absolute value travel command 5000 [×10STM μm] Travel command 4
STOP Program stop

(2) Timing chart

MD0 ON
(Operation mode selection 1) OFF
ON
SON (Servo-on) (Note) (Note)
OFF
3 ms or 3 ms or
ON longer longer
ST1 (Forward rotation start)
OFF
ON 5 ms or longer 5 ms or longer
PI1 (Program input 1)
OFF
5 ms or longer 5 ms or longer
Program No. 1 2
3 ms or 3 ms or 3 ms or 3 ms or
shorter shorter shorter shorter

Travel Travel Travel

Forward rotation command 2 command 3 command 4
Servo motor
0 r/min
speed
Reverse rotation Travel
command 1
ON
PED (Position end)
OFF
ON
RD (Ready)
OFF
ON
ALM (Malfunction)
OFF

Note. The detection of external input signals is delayed by the time set in the input filter setting of [Pr. PD29]. Considering the output
signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the program
selection earlier.

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5. HOW TO USE THE PROGRAM

(3) Temporary stop/restart

When TSTP is switched on during the automatic operation, deceleration is performed using the
deceleration time constant under the executing travel command to make a temporary stop. An operation
for the remaining travel distance will be started by switching TSTP off and on (on-edge detection).
ST1 (Forward rotation start) does not function even if it is switched on during the temporary stop. When
the operation mode is switched from the automatic mode to the manual mode during the temporary stop,
the remaining travel distance will be cleared, and the program will end. Switching on TSTP again will not
restart the program. To start the program, switch on ST1 (Forward rotation start) again.
The temporary stop/restart input does not function during a home position return or JOG operation.
The timing chart is the same as that of the point table operation mode. Refer to section 4.2.2 (3) (e).

(4) How to stop the program

To stop the program in execution, switch on TSTP (Temporary stop/restart) to stop the positioning
operation, and then switch on CR (Clear). At this time, the remaining distance will be cleared, and the
program will end.
Switching on TSTP again will not restart the positioning operation.
To start the program, switch on ST1 (Forward rotation start) again.

(5) Program termination condition

The following shows the conditions for terminating the program in execution.
Termination condition Restart condition
Switch on ST1 (Forward rotation start). The program starts from the
Execution of STOP (Program stop)
beginning.
When the automatic operation mode
After switching to the automatic operation mode, switch on ST1. The program
is switched to the manual operation
starts from the beginning.
mode
When the hardware stroke limit is After LSP and LSN are switched on, switch on ST1. The program starts from
detected the beginning.
When the software stroke limit is After the machine travels to within the software stroke limit range, switch on
detected ([Pr. PT15] to [Pr. PT18]) ST1. The program starts from the beginning.
After resetting the base circuit shut-off, switch on ST1. The program starts
At base circuit shut-off
from the beginning.

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5. HOW TO USE THE PROGRAM

5.3 Manual operation mode

For the machine adjustment, home position adjustment, and others, you can shift the position to any position
with a JOG operation or manual pulse generator.

5.3.1 JOG operation

(1) Setting
According to the purpose of use, set input signals and parameters as shown below. At this time, DI0
(Program No. selection 1) to DI3 (Program No. selection 4) are disabled.
Item Device/parameter to be used Setting
Manual operation mode
MD0 (Operation mode selection 1) Switch off MD0.
selection
Servo motor rotation direction [Pr. PA14] Refer to (2) in this section.
JOG speed [Pr. PT13] Set the servo motor speed.
Acceleration time constant [Pr. PC01] Set the acceleration time constant.
Deceleration time constant [Pr. PC02] Set the deceleration time constant.
S-pattern
Set the S-pattern acceleration/deceleration time
acceleration/deceleration time [Pr. PC03]
constants.
constant

(2) Servo motor rotation direction

Servo motor rotation direction
[Pr. PA14] setting
ST1 (Forward rotation start) on ST2 (Reverse rotation start) on
0 CCW rotation CW rotation
1 CW rotation CCW rotation

ST1: on ST2: on
Forward rotation (CCW) Forward rotation (CCW)

Reverse rotation (CW) Reverse rotation (CW)

ST2: on ST1: on
[Pr. PA14]: 0 [Pr. PA14]: 1

(3) Operation
When ST1 is switched on, the servo motor rotates using the JOG speed set in [Pr. PT13] and the
acceleration/deceleration constants set with [Pr. PC02] and [Pr. PC03]. For the rotation direction, refer to
(2) in this section. Switching on ST2 rotates the servo motor opposite to the direction of ST1 (Forward
rotation start).

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5. HOW TO USE THE PROGRAM

(4) Timing chart

ON
SON (Servo-on)
OFF
ON
RD (Ready) 80 ms
OFF
ON
ALM (Malfunction)
OFF
MD0 ON
(Operation mode selection 1) OFF
PED ON
(Position end) OFF

Forward rotation
Servo motor 0 r/min
speed Reverse rotation

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

5.3.2 Manual pulse generator operation

(1) Setting

POINT
To enhance noise tolerance, set "_ 2_ _" to [Pr. PA13] when the command pulse
frequency is 500 kpulses/s or less, or set "_3_ _" to [Pr. PA13] when the
command pulse frequency is 200 kpulses/s or less.

According to the purpose of use, set input signals and parameters as shown below. At this time, DI0
(Program No. selection 1) to DI3 (Program No. selection 4) are disabled.
Item Device/parameter to be used Setting
Manual operation mode
MD0 (Operation mode selection 1) Switch off MD0.
selection
Set the multiplication factor for the pulses
Manual pulse generator
[Pr. PT03] generated from the manual pulse generator.
multiplication
For details, refer to (3) in this section.
Servo motor rotation direction [Pr. PA14] Refer to (2) in this section.
Command input pulse train
[Pr. PA13] Set "_ _ _ 2" (A/B-phase pulse train).
input form
Pulse train filter selection [Pr. PA13] Set other than "_ 0 _ _" and "_ 1 _ _".

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5. HOW TO USE THE PROGRAM

(2) Servo motor rotation direction

Servo motor rotation direction
[Pr. PA14] setting Manual pulse generator Manual pulse generator
operation: forward rotation operation: reverse rotation
0 CCW rotation CW rotation
1 CW rotation CCW rotation

Forward rotation (CCW)

Forward rotation

Reverse rotation (CW)

(3) Manual pulse generator multiplication

(a) Setting with input signals
In "Device Setting" of MR Configurator2, set TP0 (Manual pulse generator multiplication 1) and TP1
(Manual pulse generator multiplication 2) for input signals.
TP1 (Pulse generator TP0 (Pulse generator Servo motor rotation multiplication Travel distance
multiplication 2) multiplication 1) factor for manual pulse generator
[mm] [inch] [degree] [pulse]
(Note) (Note) rotation amount
0 0 [Pr. PT03] setting enabled
0 1 1 time 0.001 0.0001 0.001 1
1 0 10 times 0.01 0.001 0.01 10
1 1 100 times 0.1 0.01 0.1 100

Note. 0: Off
1: On

(b) Using the parameter for setting

Using [Pr. PT03], set the servo motor rotation multiplication factor for the rotation amount of the
manual pulse generator.
Servo motor rotation multiplication to manual pulse Travel distance
[Pr. PT03] setting
generator rotation amount [mm] [inch] [degree] [pulse]
__0_ 1 time 0.001 0.0001 0.001 1
__1_ 10 times 0.01 0.001 0.01 10
__2_ 100 times 0.1 0.01 0.1 100

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

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5.4 Home position return mode

POINT
Before performing the home position return, make sure that the limit switch
operates.
Check the home position return direction. An incorrect setting will cause a
reverse running.
Check the proximity dog input polarity. Otherwise, it may cause an unexpected
operation.

5.4.1 Outline of home position return

A home position return is performed to match the command coordinates with the machine coordinates. The
home position return is required every time the input power is on.
This section shows the home position return methods of the servo amplifier. Select the optimum method
according to the configuration and uses of the machine.
This servo amplifier has the home position return automatic retract function. When the machine stops
beyond or on a proximity dog, this function automatically moves the machine back to the proper position to
perform the home position return. Manual operation with JOG operation, etc. is unnecessary.

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5. HOW TO USE THE PROGRAM

(1) Home position return types

Select the optimum home position return type according to the machine type or others.
Type Home position return method Feature
Dog type Deceleration starts from the front end of the Typical home position return method using a
proximity dog. After the rear end is passed, proximity dog
the position specified by the first Z-phase The repeatability of the home position return is high.
signal, or the position of the first Z-phase The machine is less loaded.
signal shifted by the specified home position Use this when the width of the proximity dog can be
shift distance is used as the home position. set equal to or greater than the deceleration distance
The servo amplifier internally recognizes the of the servo motor.
Z-phase signal one time per servo motor
revolution. The Z-phase signal cannot be
used as an output signal.
Count type Deceleration starts from the front end of the This is a home position return method using a
proximity dog. After the front end is passed, proximity dog.
the position specified by the first Z-phase Use this to minimize the length of the proximity dog.
signal after the set distance or the position
of the Z-phase signal shifted by the set
home position shift distance is set as a
home position.
Data set type The position shifted by any distance No proximity dog is required.
manually is used as the home position.
Stopper type A workpiece is pressed against a Since the workpiece collides with the mechanical
mechanical stopper, and the position where stopper, the home position return speed must be low
it is stopped is set as the home position. enough.
The strength of the machine and stopper must be
increased.
Home position ignorance The position at servo-on is used as the
(servo-on position as home home position.
position)
Dog type rear end reference Deceleration starts from the front end of the The Z-phase signal is not required.
proximity dog. After the rear end is passed,
the position is shifted by the travel distance
after proximity dog and the home position
shift distance. The position after the shifts is
used as the home position.
Count type front end Deceleration starts from the front end of the The Z-phase signal is not required.
reference proximity dog. The position is shifted by the
travel distance after proximity dog and the
home position shift distance. The position
after the shifts is used as the home position.
Dog cradle type After the front end of the proximity dog is
detected, the position specified by the first
Z-phase signal is used as the home
position.
Dog type last Z-phase After the front end of the proximity dog is
reference detected, the position is shifted away from
the proximity dog in the reverse direction.
Then, the position specified by the first Z-
phase signal or the position of the first Z-
phase signal shifted by the home position
shift distance is used as the home position.
Dog type front end reference Starting from the front end of the proximity The Z-phase signal is not required.
dog, the position is shifted by the travel
distance after proximity dog and the home
position shift distance. The position after the
shifts is used as the home position.
Dogless Z-phase reference The position specified by the first Z-phase
signal, or the position of the first Z-phase
signal shifted by the home position shift
distance is used as the home position.

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5. HOW TO USE THE PROGRAM

(2) Parameters for home position return

To perform the home position return, set each parameter as follows.

(a) Select the home position return type with [Pr. PT04 Home position return type].
[Pr. PT04]

0 0 0
Home position return method
0: Dog type (rear-end detection Z-phase reference)
1: Count type (front-end detection Z-phase reference)
2: Data set type
3: Stopper type
4: Home position ignorance (servo-on position as home position)
5: Dog type (rear-end detection, rear-end reference)
6: Count type (front-end detection, front-end reference)
7: Dog cradle type
8: Dog type (front-end detection, Z-phase reference)
9: Dog type (front-end detection, front-end reference)
A: Dogless type (Z-phase reference)

(b) Select the starting direction for the home position return with [Pr. PT04 Home position return type].
Setting "0" starts the home position return in a direction of increasing the address from the current
position. Setting "1" starts the home position return in a direction of decreasing the address from the
current position.
[Pr. PT04]

0 0 0
Home position return direction
0: Address increasing direction
1: Address decreasing direction

(c) Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity
selection of [Pr. PT29 Function selection T-3].
Setting "0" detects a proximity dog when DOG (Proximity dog) is switched off. Setting "1" detects a
proximity dog when DOG (Proximity dog) is switched on.
[Pr. PT29]

0 0 0

DOG (Proximity dog) polarity selection

0: Detection with off
1: Detection with on

(3) Program example

Select a program containing a "ZRT" command, which performs the home position return.

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5. HOW TO USE THE PROGRAM

5.4.2 Dog type home position return

This is a home position return method using a proximity dog. Deceleration starts at the front end of the
proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position
of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Dog type home position _ _ _ 0: Select dog type (rear end detection Z-
[Pr. PT04]
return phase reference)
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07] specified by the first Z-phase signal after the rear
end of the proximity dog is passed.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

(2) Length of the proximity dog

To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the
length of the proximity dog that satisfies equations (5.1) and (5.2).

V td
L1 ≥ ·············································································································· (5.1)
60 2

L1: Length of the proximity dog [mm]

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

L2 ≥ 2 ∆S ················································································································· (5.2)

L2: Length of the proximity dog [mm]

∆S: Travel distance per servo motor revolution [mm]

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5. HOW TO USE THE PROGRAM

(3) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
MEND (Travel completion) ON
OFF
ON
PED (Position end)
OFF
CPO (Rough match) ON
OFF
ZP ON
(Home position return completion) OFF

Acceleration time constant Deceleration time constant

Home position return speed Home position shift distance
Creep speed Home position
Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter td

Proximity dog Home position return position data

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

(4) Adjustment
For the dog type home position return, adjust the setting so that the Z-phase signal is always generated
during the detection of a dog. Make an adjustment so that the rear end of DOG (Proximity dog) is
positioned almost at the center between the positions specified by a Z-phase signal and the next Z-
phase signal.
The generation position of the Z-phase signal can be checked with "Position within one-revolution" of
"Status Display" on MR Configurator2.
0 Resolution/2 0

Servo motor Z-phase

Proximity
dog

ON
DOG (Proximity dog)
OFF

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5. HOW TO USE THE PROGRAM

5.4.3 Count type home position return

For the count type home position return, after the front end of the proximity dog is detected, the position is
shifted by the distance set in [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by
the first Z-phase signal is used as the home position. Therefore, when the on-time of DOG (Proximity dog) is
10 ms or more, the length of the proximity dog has no restrictions. Use the count type home position return
when you cannot use the dog type home position return because the length of the proximity dog cannot be
reserved, when you input DOG (Proximity dog) electrically from the controller, or other cases.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Count type home position _ _ _ 1: Select the count type (front end detection
[Pr. PT04]
return Z-phase reference).
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
After the front end of the proximity dog is passed,
the position is shifted by the travel distance and
Home position shift distance [Pr. PT07]
then is specified by the first Z-phase signal. Set
this to shift the position of the first Z-phase signal.
Travel distance after proximity Set the travel distance specified after the front end
[Pr. PT09]
dog of the proximity dog is passed.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion) OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF

Acceleration time constant Deceleration time constant Home position

Home position return speed shift distance
Creep speed Home position
Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter

Proximity dog Home position return position data

Travel distance
after proximity dog

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.4 Data set type home position return

To set an arbitrary position as the home position, use the data set type home position return. The JOG
operation, the manual pulse generator operation, and others can be used for the travel. The data set type
home position return can be performed only at servo-on.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Data set type home position
[Pr. PT04] _ _ _ 2: Select the data set type.
return
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

(2) Timing chart

ON
SON (Servo-on) OFF
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion) OFF
ON
PED (Position end)
OFF

CPO (Rough match) ON

OFF
ZP ON
(Home position return completion) OFF

Home position return

Forward rotation position data
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter

ON
ST1 (Forward rotation start) 5 ms or longer
OFF
ON
ST2 (Reverse rotation start)
OFF

Travel to home position Execution of data set type home position return

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.5 Stopper type home position return

For the stopper type home position return, the home position is set where the workpiece pressed against the
stopper of the machine by using the JOG operation, the manual pulse generator operation, or others.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Stopper type home position
[Pr. PT04] _ _ _ 3: Select the stopper type.
return
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Set the rotation speed until the workpiece is
Home position return speed [Pr. PT05]
pressed against the mechanical stopper.
Set the time from when the home position data is
obtained after the workpiece pressed against the
Stopper time [Pr. PT10]
stopper until when ZP (Home position return
completion) is outputted.
Stopper type home position Set the servo motor torque limit value at the
[Pr. PT11]
return torque limit value execution of the stopper type home position return.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return is complete.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
MEND (Travel completion) ON
OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF
Acceleration time constant
Home position return speed Home position return
Forward rotation position data
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter Stopper

ON
ST1 (Forward rotation start) 5 ms or longer
OFF
ON
ST2 (Reverse rotation start)
OFF
ON
TLC (Limiting torque) Stopper time
OFF

Torque limit value [Pr. PC35] [Pr. PT11] (Note) [Pr. PC35]

Note. The following torque limits are enabled.

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5. HOW TO USE THE PROGRAM

Input device (0: off, 1: on)

Limit value status Enabled torque limit value
TL1 TL
0 0 Pr. PT11
TLA > Pr. PT11 Pr. PT11
0 1
TLA < Pr. PT11 TLA
Pr. PC35 > Pr. PT11 Pr. PT11
1 0
Pr. PC35 < Pr. PT11 Pr. PC35
TLA > Pr. PT11 Pr. PT11
1 1
TLA < Pr. PT11 TLA

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

5.4.6 Home position ignorance (servo-on position as home position)

POINT
To perform a home position return by using the home position ignorance,
selecting a program containing a "ZRT" command is not required.

The position at servo-on is used as the home position.

(1) Device/parameter
Set input devices and parameters as follows.
Item Device/parameter to be used Setting
_ _ _ 4: Select the home position ignorance
Home position ignorance [Pr. PT04]
(servo-on position as home position).
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.

(2) Timing chart

ON
SON (Servo-on)
OFF
ON
RD (Ready)
OFF
ON
MEND (Travel completion)
OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ON
ZP (Home position return completion)
OFF
Home position return position data
Forward rotation
Servo motor speed 0 r/min
Reverse rotation

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.7 Dog type rear end reference home position return

POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the rear end of the proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.

Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is
shifted by the travel distance after proximity dog and the home position shift distance. The position after the
shifts is set as the home position. The home position return is available independently of the Z-phase signal.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Dog type rear end reference _ _ _ 5: Select the dog type (rear end
[Pr. PT04]
home position return detection/rear end reference).
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07] specified after the rear end of the proximity dog is
passed.
Travel distance after proximity Set the travel distance after the rear end of the
[Pr. PT09]
dog proximity dog is passed.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion)
OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF

Acceleration time constant Deceleration time constant Travel distance

Home position return speed after proximity dog
+
Creep speed Home position
Forward rotation shift distance
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Home position return position data
Proximity dog

ON
DOG (Proximity dog)
OFF
ON
ST1 (Forward rotation start) 5 ms or longer
OFF
ON
ST2 (Reverse rotation start)
OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.8 Count type front end reference home position return

POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the front end of the proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.
After the front end of the proximity dog is detected, if a home position return
ends without reaching the creep speed, [AL. 90.2] occurs. Set the travel
distance after proximity dog and the home position shift distance enough for
deceleration from the home position return speed to the creep speed.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Count type front end
_ _ _ 6: Select the count type (front end
reference home position [Pr. PT04]
detection/front end reference).
return
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog
Dog input polarity [Pr. PT29]
input polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07] specified after the rear end of the proximity
dog is passed.
Travel distance after proximity Set the travel distance after the rear end of
[Pr. PT09]
dog the proximity dog is passed.
Acceleration time constant of The acceleration time constant set for [Pr.
[Pr. PC30]
home position return PC30] is used.
Deceleration time constant of The deceleration time constant set for [Pr.
[Pr. PC31]
home position return PC31] is used.
Home position return position Set the current position when the home
[Pr. PT08]
data position return completed.
Select a program containing a "ZRT"
DI0 (Program No. selection 1) to
Program command, which performs the home position
DI3 (Program No. selection 4)
return.

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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion)
OFF
ON
PED (Position end) OFF

ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF

Deceleration time constant Travel distance

Acceleration time constant after proximity dog
Home position return speed
+
Creep speed Home position
Forward rotation shift distance
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Home position return position data
Proximity dog

ON
DOG (Proximity dog)
OFF
ON
ST1 (Forward rotation start) 5 ms or longer
OFF
ON
ST2 (Reverse rotation start)
OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.9 Dog cradle type home position return

A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is
set as the home position.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Dog cradle type home
[Pr. PT04] _ _ _ 7: Select the dog cradle type.
position return
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion) OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match) OFF
ZP ON
(Home position return completion) OFF

Acceleration time constant Deceleration time constant

Home position return speed Home position
shift distance
Creep speed
Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Home position return position data
Proximity dog

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.10 Dog type last Z-phase reference home position return

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog at the
creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Z-
phase signal is set as the home position.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Dog type last Z-phase
_ _ _ 8: Select the dog type (rear end detection/Z-
reference home position [Pr. PT04]
phase reference).
return
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion)
OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF
Acceleration time constant
Home position return speed Deceleration time constant
Home position return position data

Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Creep speed
Home position shift distance
Proximity dog

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

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.11 Dog type front end reference home position return type

POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the front end of the proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.

A position, which is shifted by the travel distance after proximity dog and the home position shift distance
from the front end of the proximity dog, is set as the home position.
The home position return is available independently of the Z-phase signal. Changing the creep speed may
change the home position.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Dog type front end reference _ _ _ 9: Select the dog type (front end
[Pr. PT04]
home position return detection/front end reference).
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion)
OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF
Deceleration time constant
Acceleration Home position return speed
time constant Travel distance after proximity dog
+
Home position return Home position shift distance
position data
Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Creep speed Proximity dog

ON
DOG (Proximity dog)
OFF
ON
ST1 (Forward rotation start) 5 ms or longer
OFF
ON
ST2 (Reverse rotation start)
OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.12 Dogless Z-phase reference home position return type

A position, which is shifted to by the home position shift distance from a position specified by the Z-phase
pulse right after the start of the home position return, is set as the home position.

(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
MD0 (Operation mode selection 1) Switch on MD0.
the program method
Dogless Z-phase reference _ _ _ A: Select the dogless type (Z-phase
[Pr. PT04]
home position return reference).
Home position return Refer to section 5.4.1 (2) to select the home
[Pr. PT04]
direction position return direction.
Refer to section 5.4.1 (2) to select the dog input
Dog input polarity [Pr. PT29]
polarity.
Set the rotation speed specified until a dog is
Home position return speed [Pr. PT05]
detected.
Set the rotation speed specified after a dog is
Creep speed [Pr. PT06]
detected.
Set this to shift the home position, which is
Home position shift distance [Pr. PT07]
specified by the Z-phase signal.
Acceleration time constant of The acceleration time constant set for [Pr. PC30]
[Pr. PC30]
home position return is used.
Deceleration time constant of The deceleration time constant set for [Pr. PC31]
[Pr. PC31]
home position return is used.
Home position return position Set the current position when the home position
[Pr. PT08]
data return completed.
DI0 (Program No. selection 1) to Select a program containing a "ZRT" command,
Program
DI3 (Program No. selection 4) which performs the home position return.

(2) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 ON
(Operation mode selection 1) OFF
ON
MEND (Travel completion)
OFF
ON
PED (Position end)
OFF
ON
CPO (Rough match)
OFF
ZP ON
(Home position return completion) OFF

Acceleration Home position return speed

Deceleration time constant
time constant
Home position return
position data
Forward rotation
Servo motor speed 0 r/min
Reverse rotation 3 ms or shorter
Creep speed
Home position shift distance
ON
Z-phase
OFF
ON
ST1 (Forward rotation start) 5 ms or longer
OFF
ON
ST2 (Reverse rotation start)
OFF

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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5. HOW TO USE THE PROGRAM

5.4.13 Automatic retract function used for the home position return

For a home position return using a proximity dog, if the home position return starts from or beyond the
proximity dog, this function executes the home position return after the position is shifted back to where the
home position return is possible.

(1) When the current position is on the proximity dog

When the current position is on the proximity dog, the position is shifted back automatically to execute
the home position return.
Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse rotation Home position return
start position
After the position shifts to the position
before the proximity dog, the home position
return starts from here.

(2) When the current position is beyond the proximity dog

The position is shifted in a direction of the home position return. When LSP (Forward rotation stroke
end) or LSN (Reverse rotation stroke end) is detected, the position is shifted back automatically. The
position will be shifted passing the proximity dog, and the travel will stop. The home position return will
be restarted from that position. If the proximity dog is not detected, the travel stops at LSP or LSN on the
opposite side, and [AL. 90 Home position return incomplete warning] occurs.
LSP (Forward rotation stroke end) or
Home position LSN (Reverse rotation stroke end) (Note)
return direction Proximity dog

Home position return

Forward rotation
start position
Servo motor speed 0 r/min
Reverse rotation

After the position shifts to the position

before the proximity dog, the home position
return starts from here.

Note. The software limit cannot be used instead of LSP (Forward stroke end) and LSN (Reverse stroke end).

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5. HOW TO USE THE PROGRAM

5.5 Serial communication operation

Using the RS-422 communication function, the servo amplifier can be operated from a controller such as a
personal computer.
This section explains the data communication procedure. Refer to chapter 10 for details of the connection
between the controller and servo amplifier and of communication data.

5.5.1 Positioning operation using the program

The communication function enables to select program No., and positioning operation using program is
possible by switching on ST1.

(1) Program selection

Select program No. 1 to 16 by using the forced output (command [9] [2] and data No. [6] [0]) of the
device from the controller.

(2) Timing chart

5 ms or longer 5 ms or longer 5 ms or longer

Transmission data 1) 4) 5) 2) 4) 5) 3) 4) 5)

Servo motor speed

3 ms

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

No. Transmission data description Command Data No.

1) Select program No. 2. [9] [2] [6] [0]
2) Select program No. 1. [9] [2] [6] [0]
3) Select program No. 3. [9] [2] [6] [0]
4) ST1 (Forward rotation start) on [9] [2] [6] [0]
5) ST1 (Forward rotation start) off [9] [2] [6] [0]

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5. HOW TO USE THE PROGRAM

5.5.2 Multi-drop method (RS-422 communication)

The RS-422 communication function enables to operate multiple servo amplifiers on the same bus. In this
method, set station Nos. to the servo amplifiers so that the controller recognizes which servo amplifier is
receiving the data currently being sent. Set the station Nos. with [Pr. PC20 Station number setting].
Be sure to set one station No. to one servo amplifier. Setting one station No. to multiple servo amplifiers will
disable a normal communication. When operating multiple servo amplifiers with one command, use the
group specification function mentioned in section 5.5.3. For the cable connection, refer to section 12.1.1 (2)
of "MR-JE-_A Servo Amplifier Instruction Manual".
Servo amplifier Servo amplifier Servo amplifier

CN1 CN1 CN1

RS-422 Axis No. 1 Axis No. 2 Axis No. n (station n - 1)

communication (station 0) (station 1) (n = 1 to 32)
controller

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5. HOW TO USE THE PROGRAM

5.5.3 Group specification

Set only one servo amplifier capable of returning data in a group. If multiple servo
CAUTION amplifiers return data simultaneously after receiving a command from the
controller, the servo amplifiers may malfunction.

When using multiple servo amplifiers, you can set parameters with commands per group.
Up to six groups of a to f can be set. Set groups for each station with the communication commands of
Mitsubishi Electric general-purpose AC servo protocol.

(1) Group setting example

Group a Group b

CN1 CN1 CN1 CN1 CN1

Axis No. 1 Axis No. 2 Axis No. 3 Axis No. 4 Axis No. 5
(station 0) (station 1) (station 2) (station 3) (station 4)

Controller compatible
with RS-422/RS-485

CN1 CN1 CN1 CN1 CN1

Axis No. 10 Axis No. 9 Axis No. 8 Axis No. 7 Axis No. 6
(station 9) (station 8) (station 7) (station 6) (station 5)

Group d Group c

Servo amplifier
Group setting
station No.
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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5. HOW TO USE THE PROGRAM

(2) Timing chart

The following shows a timing chart of operation for each group performed with setting 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
Group a
Station 2
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
speed
Group d
Station 9
Servo motor
speed

No. Transmission data description Command Data No.

1) Select program No. 1 in group a. [9] [2] [6] [0]
2) ST1 (Forward rotation start) on [9] [2] [6] [0]
3) ST1 (Forward rotation start) off [9] [2] [6] [0]
4) Select program No. 1 in group b. [9] [2] [6] [0]
5) ST1 (Forward rotation start) on [9] [2] [6] [0]
6) ST1 (Forward rotation start) off [9] [2] [6] [0]
7) Select program No. 1 in group c. [9] [2] [6] [0]
8) ST1 (Forward rotation start) on [9] [2] [6] [0]
9) ST1 (Forward rotation start) off [9] [2] [6] [0]
10) Select program No. 1 in group d. [9] [2] [6] [0]
11) ST1 (Forward rotation start) on [9] [2] [6] [0]
12) ST1 (Forward rotation start) off [9] [2] [6] [0]

Besides this, you can perform simultaneous writing of common parameters to stations of each group,
reset alarms, etc.

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5. HOW TO USE THE PROGRAM

5.6 Incremental value command method

When using this servo amplifier in incremental value command method, change the setting of [Pr. PT01].
As position data, set the travel distance from the current address to the target address. The incremental
value command method enables infinitely long constant rate of feeding.

Setting range: -999999 to 999999 [×10STM μm] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [×10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [pulse]

Current address Target address

Position data = |Target address - Current address|

This section indicates contents different from the absolute value command method (factory setting) when
this servo amplifier is used under the incremental value command method.

(1) Parameter setting

Set [Pr. PT01] to select the incremental value command method as shown below.
[Pr. PT01]

1
Incremental value command method

(2) Command
The command contents of "MOV" and "MOVA" are changed as follows. There is no change in other
commands. Thus, the command contents are the same between "MOV" and "MOVI", and between
"MOVA" and "MOVIA".
Setting Indirect
Command Name Setting Unit Description
range specification
Incremental The servo motor rotates using the set value as
MOV -999999 to
MOV value travel ×10STM μm the incremental value.
(setting value) 999999
command The same as "MOVI" command
The servo motor rotates continuously as the set
Incremental
incremental value.
value
MOVA -999999 to Make sure to describe this command after the
MOVA continuous ×10STM μm
(setting value) 999999 "MOV" command. If this command is described
travel
after other command, an error will occur.
command
The same as "MOVIA" command

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5. HOW TO USE THE PROGRAM

(3) Program example

Command Description
SPN (1000) Servo motor speed 1000 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
MOVI (1000) Incremental value travel command 1000 [×10STM μm] d)
TIM (100) Dwell 100 [ms] e)
SPN (500) Servo 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 value travel command 1000 [×10STM μm] i)
SPN (1000) Servo motor speed 1000 [r/min] j)
MOVIA (1000) Incremental value continuous travel 1000 [×10STM μm] k)
command
STOP Program stop

b) Acceleration c) Deceleration h) Deceleration

time constant time constant time constant
(200 ms) (300 ms) (300 ms)
g) Acceleration
time constant
a) Servo motor (200 ms) j) Servo motor
speed speed
(1000 r/min) f) Servo motor (1000 r/min)
Forward rotation speed (500 r/min)
Servo motor
speed 0 r/min
Reverse rotation
d) Incremental value i) Incremental value k) Incremental value
travel command e) Dwell travel command travel command
STM (100 ms) STM STM
(1000 × 10 μm) (1000 × 10 μm) (1000 × 10 μm)

5.7 Roll feed mode using the roll feed display function

Refer to section 4.5 for parameter settings of roll feed display function, position data unit and operation
method.
When the roll feed display function is used, the status display of the current position at start will be 0.
ON
INP (In-position)
OFF Quick stop
Remaining
distance clear by CR input
Forward rotation
Servo motor speed 0 r/min
Reverse rotation Remaining
distance clear
ST1 ON
(Forward rotation start) OFF
TSTP ON
(Temporary stop/restart) OFF
ON
CR (Clear)
OFF

Current position Always "0"

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5. HOW TO USE THE PROGRAM

5.8 Program setting method

The following shows the setting method of programs using MR Configurator2.

5.8.1 Setting procedure

Click "Positioning-data" in the menu bar and "Program" in the menu.

The following window will be displayed.

(a) (c) (d) (i)

(b)
(g)

(h)
(j)

(f)
(e)

(1) Reading program (a)

Click "Read" to read and display programs from the servo amplifier.

(2) Writing program (b)

Click "Write" to write the changed programs to the servo amplifier.

(3) Verifying program (c)

Click "Verify" to verify the contents of programs in the personal computer and the servo amplifier.

(4) Single-step feed (d)

Click "Single-step Feed" to perform the single-step feed test operation. Refer to section 3.1.9 for details.

(5) Number of steps (e)

The numbers of steps used in all programs and the remained steps are displayed.

(6) Editing program (f)

Selected programs can be edited. Click "Edit" to open the program editing window. For the editing
window, refer to section 5.8.2.

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5. HOW TO USE THE PROGRAM

(7) Reading program file (g)

Click "Open" to read the program table data.

(8) Saving program file (h)

Click "Save As" to save the program table data.

(9) Indirect addressing (i)

Click "Indirect addressing" to open the indirect addressing window. Refer to section 5.8.3 for details.

(10) Updating project (j)

Click "Update Project" to update the program to a project.

5.8.2 Window for program edit

Programs can be created on the program editing window.

(b) (c) (d)

(a)

(g)

(e) (f)

(1) Program edit (a)

Input commands to the program edit area (a) in text format.

(2) Cutting text (b)

Select any text in the program edit area, and click "Cut" to cut the selected text.

(3) Copying text (c)

Select any text in the program edit area, and click "Copy" to copy the selected text to the clipboard.

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5. HOW TO USE THE PROGRAM

(4) Pasting text (d)

Click "Paste" to paste the copied text on the clipboard to a specified place in the program edit area.

(5) Ending program data window (e)

Click "OK" to execute the edit check. When no error is found in the program, the edit ends and the
program data window will be closed. If an error is found in the program after the edit check, the error will
be displayed.

(6) Canceling window for program edit (f)

Click "Cancel" to close the window for program edit without saving the program currently being edited.

(7) Displaying error (g)

When the edit check of (5) detects an error in the program, the line No. and content of the error will be
displayed. Click the error content, the cursor will move to the line of the corresponding program.

5.8.3 Indirect addressing window

Set general purpose registers (D1 to D4 and R1 to R4) in this window.

(b) (a)

(c)

(1) Register edit field (a)

Set general purpose register values of D1 to D4 and R1 to R4.

(2) Register reference field (b)

The last register value read from the servo amplifier is displayed.

(3) ROM writing (c)

Write register values (D1 to D4 and R1 to R4) stored in the servo amplifier to the servo amplifier.

5 - 67
5. HOW TO USE THE PROGRAM

MEMO

5 - 68
6. APPLICATION OF FUNCTIONS

6. APPLICATION OF FUNCTIONS

This chapter explains about application of using positioning function of servo amplifier.

Note that the number of write times to the Flash-ROM where the cam data is
stored is limited to approximately 10000. If the total number of write times
CAUTION exceeds 10000, the servo amplifier may malfunction when the Flash-ROM
reaches the end of its useful life.

6.1 Simple cam function

POINT
When [AL. F5.2 Cam data miswriting warning] occurs during cam data writing,
set [Pr. PT34] to "5010" to initialize the cam data.
When using simple cam function, execute operation so that the machine speed
of the input axis is less than "([Cam control data No. 48 - Cam axis one cycle
length] × 1/2) / 100 [command unit/s]". When [Cam control data No. 30] is set to
"1", the unit of the Cam axis length per cycle will be changed to [mm], [inch],
[degree], or [pulse] with the setting of [Pr. PT01]. When [Cam control data No.
30] is set to "2", the unit of the Cam axis length per cycle will be changed to
[mm], [inch], [degree], or [pulse] with the setting of [Cam control data No. 14].

6.1.1 Outline of simple cam function

Simple cam function enables synchronous control by using software instead of controlling mechanically with
cam.
The following shows a movement trajectory when the cam below is used and the input axis is rotated once.
Input axis
Cam axis one
cycle current
value 360°
Output axis Cam one
cycle
length
0

Input axis
8 Cam stroke Output axis
2 amount Feed current
Bottom dead value
1 center Cam stroke
3 7 amount

4 6 1 2 3 4 5 6 7 8 1

5 0° 45° 90° 135° 180° 225° 270° 315° 360°

Cam axis one cycle

By setting cam data and cam control data, the simple cam function enables synchronous control with an
input axis (external pulse command input, point table command, or program positioning command) with a
start of positioning.

6- 1
6. APPLICATION OF FUNCTIONS

6.1.2 Simple cam function block

The function block diagram of the simple cam is shown below. Use MR Configurator2 to set the cam data
and the cam control data.
Cam data and
cam control data

Electronic gear
External pulse
([Cam control data No. 15]/
Cam pattern selection
command input Input device CI0 to CI3 or
[Cam control data No. 16])
[Cam control data No. 49]
Cam stroke amount
Simple cam function
Cam axis one cycle
Main shaft Cam control Command after cam
input axis command Input
axis Clutch conversion FΔT
selection CAMC Servo motor
S-pattern
Point acceleration/ Electronic gear Deviation
table deceleration ([Pr. PA06]/
counter M
time constant [Pr. PA07])
Cam axis Output
Command pattern generation compensation
processing axis

Disabled
Encoder
Normal positioning control

6- 2
6. APPLICATION OF FUNCTIONS

6.1.3 Simple cam specification list

(1) Specification list

Item MR-JE-_A
Storage area for
8 Kbytes (Flash-ROM)
cam data
Memory capacity (Note 1)
Working area for
8 Kbytes (RAM) (Note 2)
cam data
Number of registration Max. 8
Comment Max. 32 single-byte characters for each cam data
Stroke ratio Cam resolution 256/512/1024/2048
Cam data data type Stroke ratio -100.000 to 100.000 [%]
and cam Number of
2 to 1024
control Coordinate coordinate
data data type Input value: 0 to 999999
Coordinate data
Output value: -999999 to 999999
12 types (constant speed/constant acceleration/5th
curve/single hypotenuse/cycloid/distorted
Cam curve trapezoid/distorted sine/distorted constant
speed/trapecloid/reverse trapecloid/double
hypotenuse/reverse double hypotenuse)

Note 1. The memory capacity includes a use area (storage area for cam data) for storing in the servo
amplifier and an actual operation area (working area for cam data).
2. This can be always changed by using Modbus RTU communication during servo-off.
Refer to section 6.1.7 (5) for the registers used for writing data via Modbus RTU
communication.

(2) Cam resolution

(a) Stroke ratio data type
Max. number of
Cam resolution
registration
256 8
512 4
1024 2
2048 1

(b) Coordinate data type

Number of Max. number of
coordinate registration
128 8
256 4
512 2
1024 1

6- 3
6. APPLICATION OF FUNCTIONS

6.1.4 Control of simple cam function

The following three cam controls are available by setting the cam data and the cam control data with MR
Configurator2.
Cam
control Description Actual movement
method

Cam data and cam

control data
Cam axis one
cycle current
value (Input)
Reciprocates t
To-and-fro within a Cam conversion
processing
control specified cam
stroke. (Cam created by users)

Feed current t
value (Output)

Cam data and cam

control data
Cam axis one
cycle current
value (Input)
t
Updates a cam Cam standard
Cam conversion Cam standard position
Feed standard processing position (Third cycle)
Cam standard
control position per position (Second cycle)
cycle. (Cam created by users) (First cycle)

Feed current
value (Output) t

Cam data and cam

control data
Cam axis one
cycle current
value (Input)
t
Performs linear Cam conversion
Cam standard
control to keep processing position
Linear Cam standard Cam standard (Third cycle)
the one-cycle position
control (Linear cam: Cam No. 0) position
stroke ratio as (First cycle) (Second cycle)
100%. Feed current
value (Output) t

Stroke amount × 100%

6- 4
6. APPLICATION OF FUNCTIONS

6.1.5 Operation in combination with the simple cam

(1) Encoder following function

The servo amplifier receives A/B-phase output signal from a synchronous encoder and starts the servo
motor with the signal.
Up to 4 Mpulses/s can be inputted from the synchronous encoder to use with the servo amplifier.
MR-JE-A
servo amplifier

CN1

CN2

A/B-phase output

Cam axis

Synchronous
encoder Servo motor for
driving the cam axis

(2) Command pulse input through function

POINT
It takes about 150 µs at a maximum per axis to execute the function from
inputting to outputting of pulses.
Example) When the final axis is n
Maximum delay time [µs] = 150 µs × (n-1)

The command pulse input through function allows the first axis to output A/B-phase pulses received from
the synchronous encoder to the next axis, enabling a system in which the second and later axes are
synchronized with the conveyor axis.
A/B-phase output A/B-phase output
(Command pulse through output setting) (Command pulse through output setting)
MR-JE-A MR-JE-A MR-JE-A
servo amplifier servo amplifier servo amplifier

To other To other
CN1 CN1 CN1
axis axis
CN2 CN2 CN2

A/B-phase output

Cam axis
Servo motor 2 for Servo motor 3 for
driving the cam axis driving the cam axis

Synchronous
encoder Servo motor 1 for
driving the cam axis

6- 5
6. APPLICATION OF FUNCTIONS

(3) Mark sensor input compensation function

The servo amplifier receives input signals from a mark sensor, calculates compensation amounts, and
corrects position errors of the rotary knife axis.
MR-JE-A
servo amplifier

2) Calculates a compensation
amount in the servo amplifier
CN1

CN2

1) Turns on the cam position

compensation request by
A/B-phase output detection of mark sensor
Mark sensor

Cam axis

Synchronous
encoder Servo motor for
driving the cam axis

(4) Synchronous operation using positioning data

A synchronous operation is enabled by setting the same positioning data, using a contact input or
Modbus RTU communication, and starting the positioning simultaneously. Refer to section 5.8.4 of "MR-
J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU communication)" for the simultaneous start
with Modbus RTU communication.
Contact input or Modbus RTU
communication
Controller
MR-JE-A MR-JE-A
servo amplifier servo amplifier

CN1 CN1

CN2 CN2
Servo motor for driving
the vertical axis

Servo motor for driving the

horizontal axis

6- 6
6. APPLICATION OF FUNCTIONS

6.1.6 Setting list

(1) List of items set with MR Configurator2

Set the following on the cam setting window of MR Configurator2.
Setting item Setting
Main shaft input Select a command input method for the cam axis.
axis selection Select from "encoder following (external pulse input)" and "internal point table".
Cam No. Select the number to create the cam control data.
selection
Cam
Resolution Set the cam resolution. Select from 256/512/1024/2048.
control
setting
data
Cam axis one Set a travel distance of cam one cycle. Command unit is used as an input unit.
cycle length
Cam stroke Set a cam stroke amount for the stroke ratio of 100% when using the stroke ratio data type cam
amount control.
Create the cam data on the cam creating window of MR Configurator2. After the data is created, write
Cam data
the cam data to the servo amplifier.

(2) List of items set with parameters of the servo amplifier

Set the following with the parameters of the servo amplifier.
Setting item Setting
Operation mode selection Select "Positioning mode (point table method or program method)" with [Pr. PA01 Operation mode].
Cam function setting Enable the cam function with [Pr. PT35 Function selection T-5].
Select the cam data to be executed with CI0 (Cam No. selection 0) to CI3 (Cam No. selection 3).
Cam data selection
Selecting the cam data for execution is also possible with [Cam control data No. 49 - Cam No.].
Assign CAMC (Cam control command input), CAMS (Output in cam control), and CI0 (Cam No.
Device setting
selection 0) to CI3 (Cam No. selection 3) with I/O setting parameters ([Pr. PD_ _ ]).

6- 7
6. APPLICATION OF FUNCTIONS

6.1.7 Data to be used with simple cam function

Note that the number of write times to the Flash-ROM where the cam control data
and cam data are stored is limited to approximately 10000. If the total number of
write times exceeds 10000, the servo amplifier may malfunction when the Flash-
CAUTION ROM reaches the end of its useful life. If data needs to be changed very
frequently, use the temporal writing function and write the data to the RAM, not to
the Flash-ROM.

(1) Memory configuration of cam control data and cam data

POINT
When [AL. F5.2 Cam data miswriting warning] occurs during cam data writing,
set [Pr. PT34] to "5010" to initialize the cam data.

The cam control data and the cam data used for the simple cam are stored in Flash-ROM inside the
servo amplifier. When the power is turned on, the cam data and the cam control data are copied from
the Flash-ROM to the RAM inside the servo amplifier, and then cam control will be executed.
MR-JE-_A Servo amplifier

Flash-ROM (64 Kbytes) RAM Cam data used for actual

cam control is stored
Writing
Cam storage area (Note) Working area for
MR Configurator2 8 Kbytes cam data 8 Kbytes
Reading

Cam control data (Note) Working area for

storage area cam control data Cam control

Temporary
writing
Programmable
controller
Reading

Note. When the power is turned on, the cam data and the cam control data are copied from the Flash-ROM to the RAM.

Use MR Configurator2 or Modbus RTU communication to write the cam data and the cam control data.
Be sure to write the cam data and the cam control data in servo-off state.
When writing the data via Modbus RTU communication, transfer the cam data created using MR
Configurator2.
Modbus RTU communication uses Request store CAM (2D88h), CAM area (2D89h), and CAM data in
CAM area (2D8Bh). Refer to section 6.1.7 (5) for details of each register.

6- 8
6. APPLICATION OF FUNCTIONS

Two writing methods are available.

Data transmission method (Note)
Writing method Description Modbus RTU
MR Configurator2
communication
Write the cam control data and the cam data to the RAM of the
servo amplifier. After writing, the cam control data and the cam data
will be reflected.
Temporary writing
The written data will be disabled if the power is turned off.
Use this when creating and adjusting the cam control data and the
cam data.
Write the cam control data and the cam data to the Flash-ROM. The
data will be enabled when the power is cycled after writing
After cycling the power, control is performed based on the written
Writing
data.
Conduct this after the cam control data and the cam data are
finalized.

Note. : Supported, : Unsupported

(2) Cam data

POINT
If the cam data is set incorrectly, the position command and speed command
may increase and may cause machine interference or [AL. 31 Overspeed].
When you have created and changed cam data, make sure to perform test
operations and make appropriate adjustments.

The following two types are available for the cam data.
Cam data type Description
Cam curve of one cycle is divided equally by the number of cam resolution and defined.
Stroke ratio data type
The cam curve will be created according to the stroke ratio data of the number of cam resolution.
Data in which cam curve of one cycle is defined with two or more points. The coordinate data is
Coordinate data type defined as (input value, output value). The input value will be the cam axis one cycle current value,
and the output value will be the stroke value from the cam standard position.

(a) Stroke ratio data type

The following are set in the stroke ratio data type. Set the following items on the cam setting window
of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the
stroke ratio at the last point of the cam data becomes 100%.
Setting item Setting Setting range
Set a Cam No. 0: Linear cam
Cam No.
1 to 8: User-created cam
Setting method Set "1: Stroke ratio data type".
Set the number of divisions for the cam curve of one cycle. Select from
Cam resolution
256/512/1024/2048.
Set the positions of the cam data and cam control data to the position of 0 to "Cam resolution - 1"
Cam data start position
when "Cam axis one cycle current value" is "0".
Stroke ratio data Set the stroke ratio from the first to the last point. -100.000 to 100.000

6- 9
6. APPLICATION OF FUNCTIONS

The following is a setting example for "cam resolution = 512" in the stroke ratio data type.
Stroke ratio [%] (Can be set within the range of -100.000% and 100.000%)
Cam axis one cycle length [Cam axis cycle unit]

100.000

0
(Cam standard position)

-100.000

Zeroth point 512th point

(Last point)

1) Feed current value

The feed current value of the cam axis is calculated as follows:

Feed current value = Cam standard position + (Cam stroke amount × Stroke ratio to cam axis
one cycle current value)

When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the
intermediate value is calculated using the cam data before and after the value.

Cam axis
one cycle current value An intermediate value is calculated using the
data before and after the value.

Cam data

One resolution or between

two coordinates

6 - 10
6. APPLICATION OF FUNCTIONS

2) Cam standard position

The cam standard position is calculated as follows:

Cam standard position = The preceding cam standard position + (Cam stroke amount × Stroke
ratio at the last point)

Cam axis
one cycle current value

t
Cam standard Cam standard
Cam standard position position (Third cycle)
Feed current value position (Second cycle)
(First cycle)

Cam stroke amount × Stroke ratio at the last point

For to-and-fro control, create the cam data in which the stroke ratio at the last point is 0%.

Cam axis
one cycle current value

Feed current value

Cam standard position

(Does not change because the stroke ratio is 0%.)

6 - 11
6. APPLICATION OF FUNCTIONS

3) Cam data start position

This setting is available only for the stroke ratio data type cam data.
The cam data position where the "cam axis one cycle current value" becomes "0" can be set as
the cam data start position.
The initial value of the cam data start position is "0". The cam axis is controlled with the cam data
from the 0th point (stroke ratio = 0%).
When a value other than "0" is set as the cam data start position, cam control is started from the
point where the stroke ratio is not 0%.
Set the cam data start position for each cam data within the setting range of "0 to (Cam resolution
- 1)".

Cam axis
one cycle current value

t
Cam standard Cam standard
position position
(Second cycle) (Third cycle)
Feed current value

Cam standard
position
(First cycle) t

Cam data
start position
Zeroth point Last point

4) Timing of applying cam control data

New values are applied to "Cam No." and "Cam stroke amount" when CAMC (Cam control
command) turns on.
"Cam standard position" is updated when "Cam axis one cycle current value" passes through the
0th point of the cam data.

6 - 12
6. APPLICATION OF FUNCTIONS

(b) Coordinate data type

The following are set in the coordinate data type. Set the following items on the cam setting window
of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the
stroke ratio at the last point of the cam data becomes 100%.
Setting item Setting Setting range
Set a Cam No. 0: Linear cam
Cam No.
1 to 8: User-created cam
Setting method Set "2: Coordinate data type".
Set the number of coordinates for the cam curve of one cycle. 2 to 1024
Number of coordinate
The number of coordinates includes 0th point.
Cam data start position Setting is not necessary.
Set the coordinate data (input value Xn and output value Yn) for the -999.999 to 999.999
number of coordinates.
Coordinate data
Set from the 0th coordinate data (X0 and Y0).
Set an input value larger than that of the coordinate data.

The following is a setting example for the coordinate data type.

Output value: Y
[Output axis position unit]

(X3, Y3)
999.999
(X4, Y4)
(X2, Y2)
(X10, Y10)
(X1, Y1) (X5, Y5)
(X9, Y9)
0 Input value: X
(Cam standard position) (X0, Y0)

(X6, Y6) (X8, Y8)

(X7, Y7)
-999.999
Cam axis one cycle length [Cam axis cycle unit]

If "input value = 0" and "input value = cam axis one cycle length" are not set in the coordinate data, a
control is executed by the line created from the closest two points.
Output value: Y
[Output axis position unit]
Line created based on Line created based on
(X0, Y0) and (X1, Y1) (X3, Y3) (X9, Y9) and (X10, Y10)
999.999
(X4, Y4)
(X2, Y2) (X10, Y10)
(X1, Y1) (X5, Y5)
(X0, Y0) (X9, Y9)
0 Input value: X
(Cam standard position)

(X6, Y6) (X8, Y8)

(X7, Y7)
-999.999
Cam axis one cycle length [Cam axis cycle unit]

6 - 13
6. APPLICATION OF FUNCTIONS

1) Feed current value

The feed current value of the cam axis is calculated as follows:

Feed current value = Cam standard position + Output value to cam axis one cycle current value

When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the
intermediate value is calculated using the cam data before and after the value.

Cam axis
one cycle current value An intermediate value is calculated using the
data before and after the value.

Cam data

One resolution or between

two coordinates

2) Cam standard position

The cam standard position is calculated as follows:

Cam standard position =

The preceding cam standard position + Output value corresponding to "Input value = Cam axis
one cycle length" - Output value corresponding to "Input value = 0"

Cam axis
one cycle current value

t
Cam standard Cam standard
Cam standard position position (Third cycle)
Feed current value position (Second cycle)
(First cycle)

Output value corresponding to

"Input value = Cam axis one cycle length"
- Output value corresponding to "Input value = 0"

For to-and-fro control, use the output value corresponding to "Input value = Cam axis one cycle
length" that is equal to output value corresponding to "Input value = 0".

Cam axis
one cycle current value

Feed current value

Cam standard position

(Does not change because the output value is 0.)

6 - 14
6. APPLICATION OF FUNCTIONS

3) Cam data start position

The cam data start position is not used in the coordinate data type.

4) Timing of applying cam control data

A new value is applied to "Cam No." when CAMC (Cam control command) turns on.
"Cam standard position" is updated when the cam axis one cycle current value passes through
"0".

(3) List of cam control data

The following table lists the cam control data added for the simple cam function.
Set the cam control data in the cam control data window of MR Configurator2.

POINT
Once the servo amplifier is powered off, the temporarily written data will be
deleted. To store the temporarily written data, be sure to write it to the Flash-
ROM before powering off the servo amplifier.
To enable the cam control data whose symbol is preceded by *, cycle the power
after setting. The cam control data is not applied by the temporal writing of MR
Configurator2.

Control
Initial
No. Symbol Name Unit mode
value
CP CL
1 MCYSM Main axis one cycle current value setting method 0
(Note)
2 CPRO Cam axis position restoration target 0
(Note)
3 CBSSM Cam standard position setting method 0
(Note)
4 CCYSM Cam axis one cycle current value setting method 0
(Note)
5 MICYS Main axis one cycle current value (initial setting value) 0 [µm]/
(Note) 10-4 [inch]/
10-3 [degree]/
[pulse]
6 CIBSS Cam standard position (initial setting value) 0 [µm]/
(Note) 10-4 [inch]/
10-3 [degree]/
[pulse]
7 CICYS Cam axis one cycle current value (initial setting value) 0
(Note)
8 For manufacturer setting 0
9 0
10 0
11 0
12 0
13 0
14 *ETYP Synchronous encoder axis unit 0000h
15 *ECMX Synchronous encoder axis unit conversion: Numerator 0
16 *ECDV Synchronous encoder axis unit conversion: Denominator 0

6 - 15
6. APPLICATION OF FUNCTIONS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
17 For manufacturer setting 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 *MAX Main shaft input axis selection 0
31 For manufacturer setting 0
32 MMIX Main shaft input method 0000h
33 For manufacturer setting 0
34 0
35 0
36 CLTMD Main shaft clutch control setting 0000h
37 For manufacturer setting 0
38 0
39 0
40 0
41 0
42 CLTSMM Main shaft clutch smoothing system 0
(Note)
43 CLTSMT Main shaft clutch smoothing time constant 0 [ms]
(Note)
44 For manufacturer setting 0
45 0
46 0000h
47 0
48 CCYL Cam axis one cycle length 0 [µm]/
(Note) 10-4 [inch]/
10-3 [degree]/
[pulse]
49 CNO Cam No. 0
(Note)
50 For manufacturer setting 0
51 CSTK Cam stroke amount 0 [µm]/
(Note) 10-4 [inch]/
10-3 [degree]/
[pulse]
52 For manufacturer setting 0
53 0
54 0
55 0
56 0
57 0
58 0
59 0

6 - 16
6. APPLICATION OF FUNCTIONS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
60 CPHV Cam position compensation target position 0 [µm]/
10-4 [inch]/
10-3 [degree]/
[pulse]
61 CPHT Cam position compensation time constant 0 [ms]

Note. The data is updated at cam control switching.

(4) Detailed list of cam control data

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
1 Select a setting method for the main axis one cycle current value. 0
*MCYSM 0: Previous value
Main axis one 1: Main axis one cycle current value (initial setting value)
cycle current 2: Calculated from input axis
value setting
method
2 Select a target whose cam axis position is restored. 0
*CPRO 0: Cam axis one cycle current value
Cam axis 1: Cam standard position
position 2: Cam axis feed current value
restoration
target
3 Select a setting method for the cam standard position used to restore the cam axis 0
*CBSSM one cycle current value.
Cam 0: Feed current value
standard 1: Cam standard position (initial setting value)
position 2: Previous value
setting The cam standard position of the last cam control is stored in the previous value.
method The feed current value is stored when the cam standard position of the last cam
control has not been saved. Turning off the power clears the previous value.
4 Select a setting method for the cam axis one cycle current value used for restoration 0
*CCYSM when "Cam standard position" and "Cam axis feed current value" have been set as
Cam axis one the cam axis position restoration targets.
cycle current 0: Previous value
value setting 1: Cam axis one cycle current value (initial setting value)
method 2: Main axis one cycle current value
The cam axis one cycle current value of the last cam control is stored in the previous
value.
Turning off the power clears the previous value.
5 Set the initial value of the main axis one cycle current value. 0
*MICYS When [Cam control data No. 30] is set to "1" Refer to
Main axis one The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the Function
cycle current setting of [Pr. PT01]. column for
value (initial When [Cam control data No. 30] is set to "2" unit.
setting value) The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the
setting of [Cam control data No. 14].

Setting range: 0 to [Cam control data No. 48] - 1

6 - 17
6. APPLICATION OF FUNCTIONS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
6 This is enabled when [Cam control data No. 3] is set to "1". Set the initial value of 0
*CIBSS the cam standard position in the output axis position unit. Refer to
Cam The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the setting Function
standard of [Pr. PT01]. column
position for unit.
(initial setting
value) Setting range: -999999 to 999999
7 Set the position to start the search processing to restore the cam axis one cycle 0
*CICYS current value. Set this item when restoring the position of the return path with the to- Refer to
Cam axis one and-fro control cam pattern. Function
cycle current When [Cam control data No. 30] is set to "1" column
value (initial The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the for unit.
setting value) setting of [Pr. PT01].
When [Cam control data No. 30] is set to "2"
The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the
setting of [Cam control data No. 14].

Setting range: 0 to [Cam control data No. 48] - 1

14 ___x Control unit 0h
*ETYP 0: mm
Synchronous 1: inch
encoder axis 2: degree
unit 3: pulse
__x_ Feed length multiplication 0h
0: × 1
1: × 10
2: × 100
3: × 1000
This digit is disabled when [Cam control data No. 14] is set to "_ _ _ 2" or "_ _ _ 3".
_x__ For manufacturer setting 0h
x___ 0h
15 Set a numerator used to convert encoder pulses of the synchronous encoder axis 0
*ECMX into the synchronous encoder axis unit.
Synchronous Set the numerator within the following range.
encoder axis
unit 1 ECMX
≤ ≤ 6000
conversion: 16000 ECDV
Numerator
Setting a value out of the range will trigger [AL. F6 Cam control warning].
When "0" is set, handle the numerator in the same way as when "1" is set.

Setting range: 0 to 16777215

16 Set a denominator used to convert encoder pulses of the synchronous encoder axis 0
*ECDV into the synchronous encoder axis unit.
Synchronous Set a value within the range of [Cam control data No. 15].
encoder axis Setting a value out of the range will trigger [AL. F6 Cam control warning].
unit When "0" is set, handle the denominator in the same way as when "1" is set.
conversion:
Denominator Setting range: 0 to 16777215
30 Select an input axis of the main shaft input. 0
*MAX 0: Disabled
Main shaft 1: Servo input axis
input axis 2: Synchronous encoder axis
selection

6 - 18
6. APPLICATION OF FUNCTIONS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
32 ___x Main input method 0h
*MMIX 0: Input +
Main shaft 1: Input -
input method 2: No input
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
36 ___x ON control mode 0h
*CLTMD 0: No clutch
Main shaft 1: Clutch command ON/OFF
clutch control __x_ For manufacturer setting 0h
setting _x__ 0h
x___ 0h
42 Select a clutch smoothing system. 0
*CLTSMM 0: Direct
Main shaft 1: Time constant method (index)
clutch
smoothing
system
43 This is enabled when [Cam control data 42] is set to "1". Set the smoothing time 0
*CLTSMT constant. [ms]
Main shaft
clutch
smoothing
time constant Setting range: 0 to 5000
48 Set an input amount required for cam one cycle. 0
*CCYL When [Cam control data No. 30] is set to "0" or "1" Refer to
Cam axis one The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the Function
cycle length setting of [Pr. PT01]. column
When [Cam control data No. 30] is set to "2" for unit.
The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the
setting of [Cam control data No. 14].

Setting range: 0 to 999999

49 Set the cam No. of the cam to be executed. 0
*CNO When "0" is set, the selections of the input devices CI0 to CI3 will be prioritized.
Cam No. When a value other than "0" is set, the selections of the input devices CI0 to CI3 will
be disabled.

Setting range: 0 to 8
51 Set a cam stroke amount for the stroke ratio of 100% when using the stroke ratio 0
*CSTK data type cam. Refer to
Cam stroke The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the setting Function
amount of [Pr. PT01]. column
for unit.
Setting range: -999999 to 999999
60 Set a compensation target position to the input axis of the cam axis. 0
*CPHV Set the mark sensor position with the cam axis one cycle current value. Refer to
Cam position When [Cam control data No. 30] is set to "1" Function
compensation The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the column
target setting of [Pr. PT01]. for unit.
position When [Cam control data No. 30] is set to "2"
The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the
setting of [Cam control data No. 14].

Setting range: 0 to [Cam control data No. 48] - 1

6 - 19
6. APPLICATION OF FUNCTIONS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
61 Set the time to apply the position compensation for the input axis of the cam axis. 0
*CPHT [ms]
Cam position
compensation
time constant Setting range: 0 to 65535

(a) Relation among the main shaft input axis, position data unit, and feed length multiplication setting
The parameters used to set the position data unit and feed length multiplication differ depending on
the setting of [Cam control data No. 30 Main shaft input axis selection].
Main shaft input axis selection ([Cam control data No. 30])
Item 0 1 2
(Disabled) (Servo input axis) (Synchronous encoder axis)
Main axis one cycle current value setting Unit [Pr. PT01] [Pr. PT01] [Cam control data No. 14]
method Multipli [Pr. PT03] [Pr. PT03]
([Cam control data No. 5]) cation
Unit [Pr. PT01] [Pr. PT01] [Pr. PT01]
Cam standard position (initial setting value)
Multipli [Pr. PT03] [Pr. PT03] [Pr. PT03]
([Cam control data No. 6])
cation
Cam axis one cycle current value (initial setting Unit [Pr. PT01] [Pr. PT01] [Cam control data No. 14]
value) Multipli [Pr. PT03] [Pr. PT03]
([Cam control data No. 7]) cation
Synchronous encoder axis unit conversion: Unit [Pr. PT01] [Pr. PT01]
Numerator Multipli [Pr. PT03] [Pr. PT03]
([Cam control data No. 15]) cation
Synchronous encoder axis unit conversion: Unit [Pr. PT01] [Pr. PT01]
Denominator Multipli [Pr. PT03] [Pr. PT03]
([Cam control data No. 16]) cation
Unit [Pr. PT01] [Pr. PT01]
Cam axis one cycle length
Multipli [Pr. PT03] [Pr. PT03]
([Cam control data No. 48])
cation
Unit [Pr. PT01] [Pr. PT01] [Pr. PT01]
Cam stroke amount
Multipli [Pr. PT03] [Pr. PT03] [Pr. PT03]
([Cam control data No. 51])
cation
Unit [Pr. PT01] [Pr. PT01] [Cam control data No. 14]
Cam position compensation amount
Multipli [Pr. PT03] [Pr. PT03]
([Cam control data No. 60])
cation

(b) Synchronous encoder axis unit conversion gear setting

The input travel distance of the synchronous encoder is in encoder pulse units. You can convert the
unit into a desired unit through unit conversation by setting [Cam control data No. 15 Synchronous
encoder axis unit conversion: Numerator] and [Cam control data No. 16 Synchronous encoder axis
unit conversion: Denominator].
Set [Cam control data No. 15] and [Cam control data No. 16] according to the control target
machine.

Synchronous encoder Synchronous encoder [Cam control data No. 15]

axis travel distance = input travel distance × [Cam control data No. 16]
(after unit conversion) (encoder pulse unit)

The travel distance (number of pulses) set in [Cam control data No. 16] is set in [Cam control data
No. 15] in synchronous encoder axis position units.
Set [Cam control data No. 16] in encoder pulse units of the synchronous encoder.

6 - 20
6. APPLICATION OF FUNCTIONS

(5) Modbus register

The following explains the main registers for the Modbus RTU communications used by the simple cam
function. Refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU communication)" for the
registers not described in this section.

(a) Related registers

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D80h Target CAM No. 1 byte Read/write 1 Impossible
2D82h CAM actual No. 1 byte Read 1 Impossible
2D84h One cycle length of CAM axis 4 bytes Write 2 Impossible
2D85h Stroke movement of CAM 4 bytes Write 2 Impossible
2D88h Request store CAM 1 byte Write 1 Impossible
2D89h CAM area 2 bytes Read/write 1 Impossible
2D8Bh CAM data in CAM area 64 bytes Read/write 32 Impossible

(b) Details of registers

1) Cam number setting (2D80h)
Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D80h Target CAM No. 1 byte Read/write 1 Impossible

A cam number can be read using the function code "03h" (Read Holding Registers).
A cam number can be set using the function code "10h" (Preset Multiple Registers).

If [Cam control data No. 49 - Cam No.] is "0", the cam number set with this register is enabled.
If the cam number is not "0", the setting of [Cam control data No. 49] is enabled and this register
is disabled.

2) Current cam number (2D82h)

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D82h CAM actual No. 1 byte Read 1 Impossible

While a cam control operation is being performed (when "1" is set in bit 5 of 2D12h), the cam
number being used in the operation can be read using the function code "03h" (Read Holding
Registers).

6 - 21
6. APPLICATION OF FUNCTIONS

3) Cam axis one cycle length setting (2D84h)

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D84h One cycle length of CAM axis 4 bytes Write 2 Impossible

The cam axis one cycle length can be written in the RAM space in the servo amplifier using the
function code "10h" (Preset Multiple Registers).
The values set with this register are deleted at power-off.

4) Cam stroke length setting (2D85h)

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D85h Stroke movement of CAM 4 bytes Write 2 Impossible

A cam stroke length can be written in the RAM space in the servo amplifier using the function
code "10h" (Preset Multiple Registers).
The values set with this register are deleted at power-off.

5) Request store CAM (2D88h)

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D88h Request store CAM 1 byte Write 1 Impossible

Cam data can be written in the RAM space in the servo amplifier using the function code "10h"
(Preset Multiple Registers). Always set "0" in this register.
The values set with this register are deleted at power-off.

6 - 22
6. APPLICATION OF FUNCTIONS

6) CAM area (2D89h)

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D89h CAM area 2 bytes Read/write 1 Impossible

The storage area of cam data to be read or written can be set using the function code "10h"
(Preset Multiple Registers).

The following table shows the relation between a value set in this register and cam data storage
area.
Setting value Cam data storage area [byte]
0 0 to 63
1 64 to 127
2 128 to 191

130 8320 to 8383

131 8384 to 8447 (Note)

Note. Data of up to 8388 bytes can be stored in the cam data storage area. The value "0" is stored in the
8388th cam data storage area or later.

7) CAM data in CAM area (2D8Bh)

Continuous
Data No. of points/ read/
Address Name Read/write
type No. of Registers continuous
write
2D8Bh CAM data in CAM area 64 bytes Read/write 32 Impossible

Cam data in the area specified with CAM area (2D89h) can be read using the function code "03h"
(Read Holding Registers).

Cam data can be written in the RAM space in the servo amplifier using the function code "10h"
(Preset Multiple Registers).
Specify the space in which cam data is written with the CAM area (2D89h).

6 - 23
6. APPLICATION OF FUNCTIONS

(6) How to use Modbus RTU communication

When using cam data for the maximum number of registrations or more, save the cam data in the
controller with the following method. By writing the stored cam data from the controller, the user can use
the cam data for the maximum number of registrations or more.
However, note the following restrictions.
The cam data written from the controller cannot be read with MR Configurator2.
Write the cam data and the cam control data in the servo-off state and when CAMC (Cam control
command) is off.
1) Create cam data with
MR Configurator2.

Controller

MR Configurator2
3) Save (read) the cam data in
the controller.

Servo amplifier

USB communication
Modbus RTU communication CN1

2) Write the created cam data to

the servo amplifier.

4) Write the saved cam data to

the servo amplifier (Writing to
RAM).

CN1

The cam No., cam axis one cycle length, and cam stroke amount of the cam control data can be written
to the servo amplifier from the controller. Set them using Cam number setting (2D80h), Cam axis one
cycle length setting (2D84h), and Cam stroke length setting (2D85h). Refer to section 6.1.7 (1) for the
cam control data.

6 - 24
6. APPLICATION OF FUNCTIONS

(a) Reading
Since cam data is 8 Kbytes, the cam data is divided by 64 bytes and read via Modbus RTU
communication. The following shows the procedure for reading cam data with the register addresses
2D88h, 2D89h, and 2D8Bh.
Reading
starts.

N=0

Set "0" in Request store CAM (address: 2D88h).

Set "N" in CAM area (address: 2D89h). N=N+1

Use the address 2D8Bh to read the cam data (64 bytes) in
CAM area (2D89h).

No
N == 131? (Note)

Yes
Reading is
completed.

Note. The size of cam data is fixed to 8388 bytes. Thus, N, the setting range of the cam
storage area is 0 to 131. Only a part of cam data cannot be read. Read the cam data
stored in all areas.

6 - 25
6. APPLICATION OF FUNCTIONS

(b) Writing
Since cam data is 8 Kbytes, the cam data is divided by 64 bytes and written via Modbus RTU
communication. The following shows the procedure for writing cam data with the register addresses
2D88h, 2D89h, and 2D8Bh.
Writing
starts.

N=0

Set "0" in Request store CAM (address: 2D88h).

Set "N" in CAM area (address: 2D89h). N=N+1

Use the address 2D8Bh to read the cam data (64 bytes) in
CAM area (2D89h).

No
N == 131? (Note)

Yes
Writing is
completed.

Note. The size of cam data is fixed to 8388 bytes. Thus, N, the setting range of the cam
storage area is 0 to 131. Only a part of cam data cannot be written. Write the cam
data stored in all areas.

6.1.8 Function block diagram for displaying state of simple cam control
Main axis current value Cam No. in execution Cam axis one cycle current value
Main axis one cycle Cam standard position
current value Cam axis feed current value
Cam stroke amount in execution

Servo motor
Input pulse of ECMX
+ Cam CMX +
synchronous encoder ECDV Clutch conversion M
- processing CDV -

Point table command

Cam position
compensation
processing
Encoder

6 - 26
6. APPLICATION OF FUNCTIONS

6.1.9 Operation

POINT
When using simple cam function, execute operation so that the machine speed
of the input axis is less than "([Cam control data No. 48 - Cam axis one cycle
length] × 1/2) / 100 [command unit/s]". When [Cam control data No. 30] is set to
"1", the unit of the Cam axis length per cycle will be changed to [mm], [inch],
[degree], or [pulse] with the setting of [Pr. PT01]. When [Cam control data No.
30] is set to "2", the unit of the Cam axis length per cycle will be changed to
[mm], [inch], [degree], or [pulse] with the setting of [Cam control data No. 14].

This section explains an operation using the simple cam function with concrete examples.

(1) Example of a rotary knife device

(a) Configuration example
The rotary knife cuts the sheet conveyed by the conveyor at a constant speed into a desired length.
To prevent variations in the sheet length and a cutting position mismatch, this device reads
registration marks that have been printed on the sheet, and compensates cutting positions.
MR-JE-A
servo amplifier

CN1 Connect to PP-PG and NP-NG.

Assign the CPPD input signal and connect.
CN2
A/B-phase
output
Mark sensor
Machine Rotary knife
speed (Note) axis

Synchronous
encoder Servo motor for driving the cam axis

Conveyor axis
A belt conveyor is driven by an inverter or
another servo amplifier.

Note. Set the machine speed of the input axis to a value that satisfies the following equation.
The machine speed axis ≤ [Cam control data No. 48 Cam axis one cycle length] × 1/2 × 1000 [command unit/s]
With the graph function of MR Configurator2, you can check the machine speed by observing the waveform of the main axis
current value.
The machine speed can be calculated by the following equation.
The machine speed = (L2 - L1)/(T2-T1)

L2 Main axis current value

L1

T1 T2 Time

Fig. 6.1 System configuration example

6 - 27
6. APPLICATION OF FUNCTIONS

Setting example: When the sheet length is 200.0 mm, the circumferential length of the rotary knife
axis (synchronous axis length) is 600.0 mm, and the sheet synchronous width is 10.0 mm

Home position
0° Basic settings require to use the simple cam
Cycle length of the rotary function
knife axis Rotary
knife axis
(600.0 mm) (Cam axis) Item Setting Setting value
Sheet synchronous width Operation mode Select "Point table "1006"
Sheet feeding
(10.0 mm) selection ([Pr. method".
PA01])
Simple cam Enable the simple cam "_ 1 _ _"
function setting function.
Sheet length ([Pr. PT35])
(200.0 mm)
Device setting Assign CAMC (Cam Refer to
control command input), section
(5.0 mm) (5.0 mm) CAMS (Output in cam 7.2.4.
Cam axis one cycle control), and CI0 to CI3
current value (Cam No. selection 0 to 3)
Sheet length with I/O setting parameters
(200.0 mm) ([Pr. PD_ _ ]).

t
When the conveyor axis (main axis) feeds a
sheet by the set length, the rotary knife makes
Rotary knife axis (cam axis)
speed one rotation (360 degrees) to cut the sheet. Set
Synchronous speed the following items as follows.
(Sheet feed speed)
Item Setting Setting value
t
Cam axis one Set the sheet length. 200.000
cycle length
Cam stroke ratio ([Cam control
(Cam data data No. 48])
100%
created by (600.0 mm) Cam stroke Set the rotation amount 360.000
users) amount ([Cam per rotation in "degree".
control data No.
t 51])
Synchronous Set the unit of the sheet 0 (mm)
0° 180° 360°
(0.0 mm) (100.0 mm) (200.0 mm) encoder axis unit length.
([Cam control
data No. 14])
Fig. 6.2 Driving example Unit of rotary Set "degree" as the unit of "_ 2 _ _"
knife axis ([Pr. position data.
PT01])
Cam data Create the cam data with
the operation pattern
shown in Fig. 6.2.

Set the following items as follows to use the

encoder following function.
Item Setting Setting value
Main shaft input Select the synchronous 2
axis selection encoder axis.
([Cam control
data No. 30])
Synchronous Refer to the synchronous Refer to
encoder axis unit encoder axis unit section
multiplication: conversion gear setting in 6.1.7 (3)
Numerator section 6.1.7 (3) (b). (b).
([Cam control
data No. 15])
Synchronous
encoder axis unit
multiplication:
Denominator
([Cam control
data No. 16])

6 - 28
6. APPLICATION OF FUNCTIONS

(b) Operation
The following table shows an example of the procedure before operation.
Step Setting and operation
1. Data setting Refer to the setting example on the previous page and set the data.
2. Initial position adjustment Adjust the synchronous positions of the conveyor axis and rotary knife axis.
When the position of the conveyor axis (main axis current value) is "0", set the position of
the rotary knife axis (feed current value) to "0".
Since the position at power-on is "0", the home position return of the conveyor axis is not
required.
Perform the home position return on the rotary knife axis at the point where the blade of the
cutter becomes the top.
Adjust the conveyor axis and rotary knife axis so that the 0 position of both axes is located at
the center of the sheet length.
3. Selecting cam data Select the cam data to be executed with CI0 to CI3 (Cam No. selection 0 to 3). The user can
use [Cam control data No. 49 - Cam No.] to select the cam data. (Note 1)
4. Servo-on Switch on SON (Servo-on).
5. Switching cam control Switch on CAMC (Cam control command) to switch the control to the cam control. (Note 2)
6. Starting the conveyor axis Check that CAMS (During cam control) is on and start the conveyor axis. (Note 2)
The rotary knife axis is driven in synchronization with the conveyor axis.

Note 1. Use Cam number setting (2D80h) to select a cam No. via the Modbus RTU communication.
2. Use C_CAMC (Control input (bit 5 of 2D02h)) to input a cam control command via the Modbus RTU communication. The
output status during cam control can be read with S_CAMS (Control output (bit 5 of 2D12h)).

MD0 ON
(Operation mode selection 1) OFF
ON
SON (Servo-on)
OFF

Cam No. 0 1

CAMC ON
(Cam control command) OFF
CAMS ON
(Under cam control) Max. 20 ms
OFF

Conveyor axis travel distance

(Main axis current value)
Cam one cycle Cam one cycle Cam one cycle Cam one cycle

Cam axis one cycle

current value
360°
Rotary knife angle 180°
(Cam axis feed current
value) 0°

Sheet

Cutting position Cutting position Cutting position Cutting position

Fig. 6.3 Timing chart

6 - 29
6. APPLICATION OF FUNCTIONS

(c) Compensation with mark sensor input

This system detects registration marks that have been equally printed on the sheet, and
compensates the difference between the actual cam axis one cycle current value and the ideal cam
axis one cycle current value (set value of the cam position compensation target position) by shifting
the synchronous phase of the rotary knife axis and the conveyor axis.

Setting example: When the ideal registration mark position is 150 mm and the mark is not detected
unless the conveyor feeds the sheet by 151 mm due to stretch
By executing compensation, the rotary knife cuts the sheet keeping the distance of
50 mm between the ideal position for detecting the registration mark and the
position for cutting the sheet.

Item Setting and operation

Assignment of CPCD (Cam position Assign "CPCD" for an input signal pin with the input device selection parameter. Refer to
compensation request) section 7.2.4 for details.
Cam position compensation target In this example, the ideal position for detecting the registration mark is 150 mm position from
position the cam axis one cycle current value. Set "150" for the cam position compensation target
([Cam control data No. 60]) position.
Cam position compensation time In this example, the position compensation is executed by one-shot. Set "0" for the cam
constant position compensation time constant.
([Cam control data No. 61])

Main axis current value

The difference (1 mm) between the registration mark detection

position (151 mm) and the cam position compensation target
position (150 mm) is compensated.
Cam axis one cycle (Note)
current value 151 mm
150 mm

360°
Rotary knife angle 180°
(Cam axis feed current
value) 0°
200 mm 200 mm 201 mm 201 mm
Conveyor travel distance
(Cam axis input amount) 150 mm 150 mm 151 mm 151 mm

Sheet 50 mm 50 mm 50 mm
Registration
mark

Cutting position
CPCD ON
(Cam position
compensation request) OFF

Note. The dot-and-dash line in the above figure shows a waveform of when compensation is not executed.

Fig. 6.4 Control example of cam position compensation

6 - 30
6. APPLICATION OF FUNCTIONS

(d) Details of cam position compensation

POINT
Adjust the sensor position and cam position compensation target position so that
the sensor position is detected before the cam axis one cycle current value
exceeds the cam axis one cycle length.
If the sensor position is detected after the cam axis one cycle current value
exceeds the cam axis one cycle length, the sheet length may be determined as
extremely short, causing a rapid movement such as the cam axis feed current
value is increased in a short time.
cpos - CPHV CPHV - cpos

Sheet

Cam axis one cycle

current value

cpos cpos
CPHV ([Cam control data No. 60]) CPHV ([Cam control data No. 60])

ccyl' ccyl'
ccyl' = CCYL + (cpos - CPHV) ccyl' = CCYL - (CPHV - cpos)

The cam position compensation processing compensates the difference between the target position
for detecting the sensor and the actual position for detecting the sensor by shifting the cam axis one
cycle current value. ccyl', the cam axis one cycle length (sheet length) after compensation, is
calculated as follows:

CCYL: Cam axis one cycle length ([Cam control data No. 48])
CPHV: Cam position compensation target position ([Cam control data No. 60])
ccyl': Cam axis one cycle length (after compensation)
cpos: Cam axis one cycle current value at sensor detection
CPHV - cpos: Distance between the target sensor detection position and actual sensor detection
position

6 - 31
6. APPLICATION OF FUNCTIONS

When the sensor detection position is before the target position (CPHV ≥ cpos): ccyl' = CCYL -
(CPHV - cpos)
CPHV - cpos

Sheet

Cam axis one cycle

current value

cpos
CPHV ([Cam control data No. 60])

CCYL ([Cam control data No. 48])

ccyl'

Increase the conveyor travel distance by adding the difference (CPHV - cpos) to the cam axis one
cycle current value. Adjust the filter time constant for acceleration/deceleration at compensation with
[Cam control data No. 61 Cam position compensation time constant].

When the sensor detection position is after the target position (CPHV < cpos): ccyl' = CCYL +
(cpos - CPHV)
cpos - CPHV

Sheet

Cam axis one cycle

current value

cpos
CPHV ([Cam control data No. 60])

CCYL ([Cam control data No. 48])

ccyl'

Decrease the conveyor travel distance by subtracting the difference (cpos - CPHV) from the cam
axis one cycle current value. Adjust the filter time constant for acceleration/deceleration at
compensation with [Cam control data No. 61 Cam position compensation time constant].

6 - 32
6. APPLICATION OF FUNCTIONS

(2) Example of the simultaneous start function with contact input or via the Modbus RTU communication
(a) Configuration example
To synchronize the vertical motion of the vertical axis (axis 2) with the position of the horizontal axis
(axis 1) as shown below, input the positioning commands for axis 1 to axis 2 as well. (Set the same
point table data for the axis 1 and 2.)

Axis 2 (vertical axis)

Axis 1 (horizontal axis)

Flow of belt conveyors

Fig. 6.5 System configuration example

6 - 33
6. APPLICATION OF FUNCTIONS

Setting example: When the movable range of the axis 1 (horizontal axis) is 600.0 mm and the axis 2
(vertical axis) is 200.0 mm
Axis 1 operation (normal positioning)

Execute the simultaneous start Command

Set the same point table for the axis with contact input or Axis 1 position
1 and 2.(Note) via broadcast 600
Positioning
communication. control
Point table setting 0
Servo Start the axis 1
motor Travel distance and 2 simultaneously.
speed (600.0 mm) Axis 2
Axis 2 operation (cam operation)
Travel Cam control
distance Cam axis one
Command cycle length
(600.0 mm) position
600.0 mm

0
200.0 mm
Axis 2 moves vertically in synchronization with
Cam data created by the to-and-fro control of axis 1. The back and
users forth motions are symmetrical.

Note. Input the same positioning commands (point table data) to the driven shaft (axis 2) as those for the main shaft (axis 1).

Fig. 6.6 Driving example

Set the following items as follows to move up and down the axis 2 in synchronization with the to-and-
fro control using absolute value commands with point table No. 1 and 2 of the axis 1.

Setting example of axis 1

Setting
Item Setting
value
Operation mode selection ([Pr. Select "Point table method". "1006"
PA01])
Positioning command method Select "Absolute value command method". "_ _ _ 0"
selection ([Pr. PT01])
Command unit ([Pr. PT01]) Set "mm" as the unit of position data. "_ 0 _ _"
Main shaft input axis selection ([Cam Select "Servo input axis". 1
control data No. 30])
Point table No. 1 Set the target position (outward path in the to-and-fro control). 600.000
Set "Absolute value command method" for the sub function. "0", "1", "8",
or "9"
Point table No. 2 Set the target position (return path in the to-and-fro control). 0.000
Set "Absolute value command method" for the sub function. "0", "1", "8",
or "9"

6 - 34
6. APPLICATION OF FUNCTIONS

Setting example of axis 2

Setting
Item Setting
value
Operation mode selection ([Pr. Select "Point table method". "1006"
PA01])
Simple cam function setting ([Pr. Enable the simple cam function. "_ 1 _ _"
PT35])
Device setting Assign CAMC (Cam control command input), CAMS (Output in cam control), and Refer to
CI0 to CI3 (Cam No. selection 0 to 3) with I/O setting parameters ([Pr. PD_ _ ]). section
7.2.4.
Command unit ([Pr. PT01]) Set "mm" as the unit of position data. "_ 0 _ _"
Cam axis one cycle length ([Cam Set the travel distance of the axis 1 (horizontal axis). 600.000
control data No. 30])
Cam stroke amount ([Cam control Set the travel distance of the axis 2 (vertical axis). 200.000
data No. 51])
Main shaft input axis selection ([Cam Select "Servo input axis". 1
control data No. 30])
Point table No. 1 Set the same target position as that of the point table No. 1 of the axis 1. 600.000
Set the same servo motor speed and acceleration/deceleration time constants for
the point table No. 1 of the axis 1.
Point table No. 2 Set the same target position as that of the point table No. 2 of the axis 1. 0.000
Set the same servo motor speed and acceleration/deceleration time constants for
the point table No. 2 of the axis 1.
Cam data Create a cam pattern according to the axis 1 position. (Refer to Fig. 6.6.)

(b) Operation
The following table shows an example of the procedure before operation.
Step Setting and operation
1. Data setting Refer to the setting example on the previous page and set the data.
2. Initial position adjustment Adjust the synchronous positions of the axis 1 and 2.
In this example, when the position of the axis 1 (command position) is "0", adjust the
synchronous position so that the position of the axis 2 (feed current value) becomes "0".
3. Point table selection Select the point table No. 1 for both axis 1 and 2.
4. Selecting cam data Select the cam data to be executed with CI0 to CI3 (Cam No. selection 0 to 3) of the axis 2.
The user can use [Cam control data No. 49 - Cam No.] to select the cam data.
5. Servo-on Switch on SON (Servo-on) for both axis 1 and 2.
6. Switching cam control Switch on CAMC (Cam control command) of the axis 2 to switch the control to the cam
control.
7. Starting the simultaneous start Check CAMS (During cam control) of the axis 2 is on and start the operations of the axis 1
function and 2 simultaneously. The axis 2 is driven in synchronization with the axis 1.

6 - 35
6. APPLICATION OF FUNCTIONS

«Axis 1/Axis 2»
MD0 ON
(Operation mode selection 1) OFF
ON
SON (Servo-on)
OFF

Point table No. 1

«Axis 1»
ST1 ON
(Forward rotation start) OFF
5 ms or longer
3 ms or shorter
Forward
rotation Point table No. 1
Command speed 0 r/min
Reverse
rotation

Command position

«Axis 2»
Cam No. 1

0.888 ms or shorter
ST1 ON
(Forward rotation start) OFF
3 ms or longer
CAMC ON
(Cam control command) OFF
3 ms or shorter
Forward
rotation Point table No. 1
Command speed 0 r/min
Reverse
rotation

Command position

Cam axis one cycle current value

Cam axis feed current value

CAMS ON
(Under cam control) Max. 20 ms
OFF
ON
INP (In-position)
OFF
MEND ON
(Travel completion) OFF

Fig. 6.7 Timing chart

Input start commands simultaneously with the DI signal or serial communication from controllers
such as programmable controllers. The start delay time of the main shaft and driven shaft is 888 µs
at a maximum because it depends on the fetch cycle of the start signal. The detection of external
input signals is delayed by the time set in the input filter setting of [Pr. PD29].
Even though CAMC turns on, the command is not reflected after ST1 turns on (during point table
operation or JOG operation). The command is not also reflected even though CAMC turns on in the
servo-off state.
CAMC is determined at the on edge, not on level. Even though CAMC turns off or on before CAMS
turns on, the command is not reflected.

6 - 36
6. APPLICATION OF FUNCTIONS

6.1.10 Cam No. setting method

POINT
When the cam No. is set to a value other than "0" to "8", [AL. F6.5 Cam No.
external error] will occur. If the cam data of a specified cam No. does not exist,
[AL. F6.3 Cam unregistered error] occurs. At this time, the cam control is not
executed and the servo motor does not start. Turning off the cam control
command clears [AL. F6.3] and [AL. F6.5].

You can use external input signals or serial communication commands to set and change the cam No. in the
same way as the method specified with [Cam control data No. 49] or the method for selecting a point table
No.

Use CI0 (Cam No. selection 0) to CI3 (Cam No. selection 3) as external input signals.
Use commands [92] [61] (Writing DI function bit map) as communication commands.
Modbus RTU communication uses Cam number setting (2D80h). Refer to section 5.8.12 of "MR-JE-_A
Servo Amplifier Instruction Manual (Modbus RTU communication)" for how to set a cam No.

The following table lists the priority of each parameter, external input signal, and communication command.
[Cam control
External input Communicati
[Pr. PT35] setting data No. 49] Setting
signal on command
setting
_0__ The cam function will be disabled with the setting of [Pr.
(Simple cam function PT35].
disabling setting)
"0" (initial The cam No. is set with the setting of external input signals
_1__ value) or communication commands.
(Simple cam function The cam No. is set with the setting of [Cam control data
enable setting) Other than "0" No. 49]. The cam No. setting with external input signals or
communication commands is disabled.

Note 1. : Enable, : Disable

2. The on/off state of CI0 to CI3 is determined with OR of external input signals and communication command settings.
On: Either of an external input signal or a communication command turns on.
Off: Both of the external input signal and communication command turn off.

6 - 37
6. APPLICATION OF FUNCTIONS

6.1.11 Stop operation of cam control

If one of the following stop causes occurs on the output axis during cam control, the cam control stops after
the output axis is stopped. (CAMS turns off.)
To restart the cam control, adjust the synchronous position of the output axis.
Stop cause Command stop processing Remark
Software stroke limit detection Instantaneous stop Refer to (1).
Stroke limit detection Instantaneous stop Refer to (1).
Stop due to forced stop 1 or 2, or alarm Instantaneous stop or Stop due to base circuit shut-off Refer to (1).
occurrence deceleration to a stop Stop by the forced stop deceleration function Refer to
(2).
Cam control command (CAMC) OFF Instantaneous stop Refer to (1).
Servo-off Instantaneous stop Coasting state

(1) Instantaneous stop

The operation stops without deceleration. The servo amplifier immediately stops the command.

Cam axis one cycle current value t

Feed current value t

Feed speed t

Instantaneous stop

6 - 38
6. APPLICATION OF FUNCTIONS

(2) Deceleration stop

The output axis decelerates to stop according to [Pr. PC51 Forced stop deceleration time constant].
After a deceleration stop starts, the cam axis one cycle current value and feed current value are not
updated. The path of the feed current value is drawn, and the stop is made regardless of the cam
control.
Decelerate the input axis to stop when decelerating the output axis to stop in synchronization with the
input axis.

Cam axis one cycle current value t

Feed current value t

Feed speed t

Deceleration to a stop

When using a positioning command (internal command) for the input axis, inputting a temporary stop or
switching the operation mode decelerates the input axis to stop. Since the output axis stops in
synchronization with the input axis, the synchronous relationship is kept and the cam control does not
stop.
When the control mode is switched to the home position return mode, the cam control will stop.

6 - 39
6. APPLICATION OF FUNCTIONS

6.1.12 Restart operation of cam control

When the cam control is stopped during operation, a gap is generated in the synchronization between the
main shaft and the driven shaft. To solve the gap, return the main shaft and the driven shaft to the
synchronization starting point and then start the synchronous operation.
«Main shaft/driven shaft»
MD0 ON
(Operation mode selection 1) OFF
ON
SON (Servo-on) Point table in which the command
OFF
position 0 is set as the target
ST1 ON position
(Forward rotation start) OFF
5 ms or longer
Point table No. 1 2

3 ms or shorter
«Main shaft» Positioning to the synchronization
Forward start position (Command
rotation Point table No. 1 position 0)
Command speed 0 r/min
Reverse
rotation

Command position
(Note 1)
«Driven shaft»
ST1 ON
(Forward rotation start) OFF
CAMC
(Cam control command) 3 ms or shorter
Positioning to the synchronization
start position (Feed current value
Forward 0 (= Command position 0))
rotation Point table No. 1
Command speed 0 r/min
Reverse If the cam control stops during
rotation operation, the synchronous
position relationship with the main
shaft is broken.

Command position
(Note 1)

Cam axis one cycle

current value
(Note 1)

Cam axis feed current value

(Note 1)
CAMS ON
(Under cam control) 5 ms or
OFF shorter

The above shows an example for when the synchronization starting point is the point where both command
position and feed current value are "0".

6 - 40
6. APPLICATION OF FUNCTIONS

6.1.13 Cam axis position at cam control switching

The cam axis position is determined by the positional relationship of three values of "Cam axis one cycle
current value", "Cam axis standard position" and "Cam axis feed current value". When the control has been
switched to the cam control (CAMC (Cam control command) is on), defining the positions of two of these
values restores the position of the remaining one value.

Cam axis one cycle current value

Cam axis feed current value

Cam standard position

The following table lists the parameters required to be set for the cam axis position restoration. Refer to
section 6.1.7 (3) for the settings.

Cam axis position Cam standard Cam standard Cam axis one cycle Cam axis one cycle
restoration target position setting position (initial current value setting current value (initial Restoration
([Cam control data method ([Cam setting value) ([Cam method ([Cam setting value) ([Cam processing details
No. 2]) control data No. 3]) control data No. 6]) control data No. 4]) control data No. 7])
0: Cam axis one "Cam axis one cycle
cycle current (Note) (Used as the search current value" is
value starting point of cam restored based on
pattern.) "Cam standard
position" and "Cam
axis feed current
value".
1: Cam standard "Cam standard
position (Note) position" is restored
based on "Cam axis
one cycle current
value" and "Cam axis
feed current value".
2: Cam axis feed "Cam axis feed
current value (Note) (Note) current value" is
restored based on
"Cam axis one cycle
current value" and
"Cam standard
position".
: Required
Note. Set this parameter when [Cam control data No. 3] is set to "1".

6 - 41
6. APPLICATION OF FUNCTIONS

(1) Cam axis one cycle current value restoration

POINT
For the cam pattern of to-and-fro control, if no corresponding cam axis one cycle
current value is found, [AL. F6.1 Cam axis one cycle current value restoration
failed] will occur and cam control cannot be executed.
For the cam pattern of feed control, if no corresponding cam axis one cycle
current value is found, the cam standard position will automatically change and
the value will be searched again.
If the cam resolution of the cam used is large, search processing at cam control
switching may take a long time.

When CAMC (Cam control command) turns on, "Cam axis one cycle current value" is restored based on
"Cam standard position" and "Cam axis feed current value" and the control is switched to the cam
control. Set the "cam standard position" used for the restoration with cam control data. The feed current
value at cam control switching is used as "Cam axis feed current value".
The cam axis one cycle current value is restored by searching for a corresponding value from the
beginning to the end of the cam pattern.
Set the starting point for searching the cam pattern with "[Cam control data No. 7 Cam axis one cycle
current value (initial setting value)]". (It is also possible to search from the return path in the cam pattern
of to-and-fro control.)

Cam axis one cycle current value

Cam axis feed current value

Searching for the cam pattern
(It is also possible to search from a value in the
middle of the cam axis one cycle current value).
Cam standard position

6 - 42
6. APPLICATION OF FUNCTIONS

(a) Cam pattern of to-and-fro control

1) Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0)

Cam axis one cycle current value

Search from "Cam axis one cycle current value = 0".

Cam axis feed current value

(Feed current value) The cam axis one cycle current value is restored with
the first feed current value that matched.
(The cam axis one cycle current value is not restored
with the second and subsequent feed current values
Cam standard position that matched.)

2) Searching from a value in the middle of the cam axis one cycle current value (Cam data start
position = 0)
Cam axis one cycle current value (Initial setting)

Cam axis one cycle current value

Search from a value in the middle of the cam axis one

cycle current value.
(Preceding feed current values are searched later.)
Cam axis feed current value Search from a value in the middle, and the cam axis
(Feed current value) one cycle current value is restored with the first feed
current value that matched.
(The cam axis one cycle current value is restored with
the second feed current value that matched.)
Cam standard position

3) Searching from a value in the middle of the cam axis one cycle current value (Cam data start
position ≠ 0)
Cam axis one cycle current value (Initial setting)

Cam axis one cycle current value

Search from a value in the middle of the

cam axis one cycle current value.
Cam axis feed current value
(Feed current value)
Cam data
start position

Cam standard position

Search from a value in the middle, and
the cam axis one cycle current value is
restored with the first feed current value
that matched.

6 - 43
6. APPLICATION OF FUNCTIONS

4) Searching fails

Cam axis one cycle current value

Cam axis feed current value

(Feed current value) When no feed current value that matched is found within one
cycle, the restoration fails.

Cam standard position

(b) Cam pattern of feed control

1) Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0)

Cam axis one cycle current value

Search from "Cam axis one cycle current value = 0".

Cam axis feed current value The cam axis one cycle current value is restored with
(Feed current value) the first feed current value that matched.
(The cam axis one cycle current value is not restored
with the second and subsequent feed current values
that matched.)
Cam standard position

2) Searching from a value in the middle of the cam axis one cycle current value (Cam data start
position = 0)
Cam axis one cycle current value (Initial setting)

Cam axis one cycle current value

Cam axis feed current value

(Feed current value)
New cam standard current value

Cam standard position at the

start of the restoration

The cam standard position is Search from a value in the middle, and the cam
automatically updated to the axis one cycle current value is restored with the
one in the next cycle. first feed current value that matched in the next
cycle.

6 - 44
6. APPLICATION OF FUNCTIONS

3) Searching from a value in the middle of the cam axis one cycle current value (Cam data start
position ≠ 0)
Cam axis one cycle current value (Initial setting)

Cam axis one cycle current value

Search from a value in the

Cam axis feed current value middle of the cam axis one
(Feed current value) cycle current value.

New cam standard current value

Cam standard position at the

start of the restoration
Cam data start position
The cam standard position is Search from a value in the middle,
automatically updated to the one and the cam axis one cycle current
in the next cycle. value is restored with the first feed
(Updated at the cam data 0th point.) current value that matched.

4) The first searching has failed and the second searching starts

POINT
If the first searching has failed, the second searching may not be processed in
the next cycle for a cam pattern with a feed stroke smaller than 100%. By setting
or positioning a cam standard position in advance, an intended cam axis one
cycle current value can be found in the first searching.

Cam axis one cycle current value

Feed stroke

Cam axis feed current value

(Feed current value)
New cam standard current value
The cam axis one cycle current
value is restored with the first
feed current value that matched
and is found in the second
Cam standard position at the search.
start of the restoration

Once the first search fails, the cam standard position is automatically
updated and the second search starts so that "Feed current value - New
cam standard position" is within the feed stroke amount.

6 - 45
6. APPLICATION OF FUNCTIONS

(2) Cam standard position restoration

If the cam axis position restoration target is set to "Cam standard position restoration" and CAMC (Cam
control command) turns on, the "cam standard position" will be restored based on "Cam axis one cycle
current value" and "Cam axis feed current value" and the control is switched to the cam control.
Set the "cam axis one cycle current value" used for restoration with cam control data. The feed current
value of when CAMC (Cam control command) is on is used as the "cam axis feed current value".

Cam axis one cycle current value

Cam axis feed current value

Cam standard position

The cam standard position is restored to the cam stroke position that corresponds to
"Feed current value - Cam axis one cycle current value".

The following shows an example for restoring the cam standard position to start an operation from a
point where both the feed current value and the cam axis one cycle current value are 0" in the cam
whose cam data start position is not "0".

Cam axis one cycle current value 0

Cam axis feed current value 0

(Feed current value)
Cam data
start position
Cam standard position
Cam data

6 - 46
6. APPLICATION OF FUNCTIONS

(3) Cam axis feed current value restoration

POINT
When the restored cam axis feed current value differs from the feed current
value at cam control switching, the cam axis feed current value moves to the
value restored just after cam control switching.
If the difference between the restored cam axis feed current value and the feed
current value is larger than the value set in [Pr. PA10 In-position range], [AL.
F6.2 Cam axis feed current value restoration failed] will occur and the control
cannot be switched to the cam control. Note that, if increasing the value of the
in-position range may lead to a rapid cam switching.

If the cam axis position restoration target is set to "Cam axis feed current value restoration" and CAMC
(Cam control command) turns on, "Cam axis feed current value" is restored based on "Cam axis one
cycle current value" and "Cam standard position" and the control is switched to the cam control.
Set the "cam axis one cycle current value" and "cam standard position" used for the restoration with cam
control data.

Cam axis one cycle current value

Cam axis feed current value

Cam standard position

6 - 47
6. APPLICATION OF FUNCTIONS

6.1.14 Clutch

POINT
Use C_CLTC (Clutch command (bit 11 of 2D02h)) to input a clutch command via
the Modbus RTU communication.
Use S_CLTS (Clutch on/off status (bit 11 of 2D12h)) to read the output status of
the clutch on/off status.
Use S_CLTSM (Clutch smoothing status (bit 12 of 2D12h)) to read the output
status of the clutch smoothing status via the Modbus RTU communication.
C_CLTC, S_CLTS, and S_CLTSM are available with servo amplifiers with
software version C1 or later. For details, refer to "MR-JE-_A Servo Amplifier
Instruction Manual (Modbus RTU communication)".

The clutch is used to transmit/disengage command pulses from the main shaft input side to the output axis
module through turning the clutch ON/OFF, controlling start/stop of the servo motor operation.
Set whether or not to use the clutch control with [Cam control data No. 36 - Main shaft clutch control setting].
Although the clutch ON/OFF can be changed during cam control, the setting of [Cam control data No. 36]
cannot be changed from "1 (Clutch command ON/OFF)" to "0 (No clutch)" during cam control.
When the clutch ON condition and the clutch OFF condition are simultaneously established within the DI
scan cycle, both clutch ON processing and clutch OFF processing are executed within the DI scan cycle.
Therefore, the clutch status changes from OFF to ON and OFF again when the conditions are established in
the clutch OFF status, and the status changes from ON to OFF and ON again when the conditions are
established in the clutch ON status.

6 - 48
6. APPLICATION OF FUNCTIONS

(1) ON control mode

(a) "No clutch"
When [Cam control data No. 36 - Main shaft clutch control setting] is set to "0 (No clutch)", other
clutch parameters are not used due to direct coupled operation.

(b) Clutch command ON/OFF

Turning on/off CLTC (Clutch command) turns on/off the clutch.
(Settings in the OFF control mode are not used in the clutch command ON/OFF mode.)

Clutch command CLTC

Clutch on/off status CLTS

Current value before clutch input

t

Travel distance after clutch output

t

(2) Clutch smoothing method

Smoothing is processed with the time constant set in [Cam control data No. 43 Main shaft clutch
smoothing time constant] at clutch ON/OFF. After clutch ON smoothing is completed, smoothing is
processed with the set time constant when the speed of the input values changes.
The travel distance from turning on to off of the clutch does not change with smoothing.

Travel distance after clutch smoothing = Travel distance before clutch smoothing

Time constant method exponential curve smoothing

Set [Cam control data No. 42 - Main shaft clutch smoothing system] to "1 (Time constant method
(index))".

Clutch on/off status CLTS

Clutch smoothing status CLTSMS

Speed before clutch processing

t

63%
Speed after clutch smoothing
63%
t

Clutch smoothing time constant

6 - 49
6. APPLICATION OF FUNCTIONS

6.1.15 Cam position compensation target position

Perform compensation to match the cam axis one cycle current value with the cam position compensation
target position ([Cam control parameter No. 60]) by inputting a cam position compensation request.

C_CPCD
(Cam position compensation
request)
Cam position compensation
target position

Cam axis one cycle

current value

After compensation
Before compensation
Cam feed current value

6 - 50
6. APPLICATION OF FUNCTIONS

6.1.16 Cam position compensation time constant

POINT
Use C_CPCD (Cam position compensation request (bit 13 of 2D02h)) to input a
cam position compensation request via the Modbus RTU communication. Use
S_CPCC (Cam position compensation execution completed (bit 13 of 2D12h)) to
read the output status of Cam position compensation execution completed.
C_CPCD and S_CPCC are available with servo amplifiers with software version
C1 or later. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual
(Modbus RTU communication)".

The compensation amount calculated when cam position compensation is requested is divided into the time
set in [Cam control data No. 61 Cam position compensation time constant] and used for compensation.
C_CPCD
(Cam position compensation
request)
S_CPCC
(Cam position compensation
execution completed)
Cam position compensation
time constant

Cam position compensation

target position
Cam axis one cycle
current value

With time constant

Without time constant

6 - 51
6. APPLICATION OF FUNCTIONS

6.2 Mark detection

6.2.1 Current position latch function

POINT
The current position latch function can be used with the point table method and
the program method. However, the current position latch function is disabled in
the following condition.
Home position return
Manual operation (excluding home position return)
The latched actual current position data can be read with communication
commands.
For the servo amplifiers with software version B6 or earlier, the latched position
data is not compatible with the current position of the state monitor when the roll
feed display function is enabled. Disable the roll feed display function to
compare the current data of the state monitor and the latched position data.
The read latched position data is equal to the travel distance as the starting
point is set to "0" when the roll reed display function is enabled. The output
value is the same as the current position of the state monitor.

When the mark detection signal turns on, the current position is latched. The latched data can be read with
communication commands.

(1) Communication command

Reads mark detection data.
Control mode
Frame
Command Data No. Description CP/ C P
length
BCD L S
[1] [A] [0] [0] MSD (Mark detection) rising latch data (data part) 8
[0] [1] MSD (Mark detection) falling latch data (data part)
[0] [2] MSD (Mark detection) rising latch data (data part + additional information) 12
[0] [3] MSD (Mark detection) falling latch data (data part + additional information)

6 - 52
6. APPLICATION OF FUNCTIONS

(2) Reading data

(a) Rising latch data or falling latch data (data part)
Reads MSD (Mark detection) rising latch data or MSD (Mark detection) falling latch data.

1) Transmission
Transmit command [1] [A] and data No. [0] [0] or [0] [1] corresponding to the point tables to read.
Refer to section 10.1.1.

2) Return
The slave station returns the position data of point table requested.

Data will be received in hexadecimal per set command.

Hexadecimal should be changed to decimal.
Example
Data "000186A0" will be 100.000 mm in the command-side unit.
A decimal point position depends on setting contents of [Pr. PT01] and [Pr. PT03].

(b) Rising latch data or falling latch data (data part + additional information)
Reads MSD (Mark detection) rising latch data or MSD (Mark detection) falling latch data.

1) Transmission
Transmit command [1] [A] and data No. [0] [2] or [0] [3] corresponding to the point tables to read.
Refer to section 10.1.1.

2) Return
The slave station returns the speed data of point table requested.

Data will be received in hexadecimal per set command.

Hexadecimal should be changed to decimal.
Example
Data "000186A0" will be 100.000 mm in the command-side unit.
A decimal point position depends on setting contents of [Pr. PT01] and [Pr. PT03].

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 (not used normally)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit

6 - 53
6. APPLICATION OF FUNCTIONS

(3) Parameter
Set the parameter as follows:
Item Parameter to be used Setting
Mark detection function Set the mark detection function selection as follows:
[Pr. PT26]
selection 0 _ _ _: Current position latch function
Set the upper limit of the latch data in the current position
latch function. When the roll feed display is enabled, set a
Mark detection range + (lower
[Pr. PC66] valid range with the travel distance from the starting position.
three digits)
Set a same sign for [Pr. PC66] and [Pr. PC67]. A different
sign will be recognized as minus sign data.
When changing the direction to address decreasing, change it
from the - side of the mark detection ([Pr. PC68] and [Pr.
Mark detection range +
[Pr. PC67] PC69]). An incorrect order of the setting will trigger [AL. 37].
(upper three digits)
Therefore, cycling power may be required after [Pr. PC66] to
[Pr. PC69] are all set.
Set the lower limit of the latch data in the current position latch
function. When the roll feed display is enabled, set a valid
Mark detection range - (lower
[Pr. PC68] range with the travel distance from the starting position.
three digits)
Set a same sign for [Pr. PC68] and [Pr. PC69]. A different
sign will be recognized as minus sign data.
When changing the direction to address increasing, change it
from the + side of the mark detection ([Pr. PC66] and [Pr.
Mark detection range - (upper
[Pr. PC69] PC67]). An incorrect order of the setting will trigger [AL. 37].
three digits)
Therefore, cycling power may be required after [Pr. PC66] to
[Pr. PC69] are all set.

6 - 54
6. APPLICATION OF FUNCTIONS

(4) Latch data range setting

The current position is latched only within the range set in [Pr. PC66] to [Pr. PC69].
When a same value is set for the upper and lower limits, the current value will be latched for a whole
range.

(a) mm, inch, and pulse unit

The current position latch function is enabled when Upper limit value > Lower limit value. The valid
range is the same for the absolute value command method ([Pr. PT01]: _ _ _ 0) and the incremental
value command method ([Pr. PT01]: _ _ _ 1).
[AL. 37 occurs] when Upper limit value < Lower limit value.
-999999 99999

Lower limit value Upper limit value

1) When the roll feed display is disabled ([Pr. PT26]: _ _ 0 _)

Set the valid range with the distance from the home position.
When the starting position is at 100000, [Pr. PC66] and [Pr. PC67] are set to 500000, and [Pr.
PC68] and [Pr. PC69] are set to 300000, the valid range is between the actual current position of
300000 and 500000 as set in the parameters.
Actual current 0 100000 300000 500000 90000
position

Lower limit value Upper limit value

Home Start Target position
position position

2) When the roll feed display is enabled ([Pr. PT26]: _ _ 1 _)

When the roll feed display is enabled, the valid range is calculated as the starting position is 0.
Set the valid range with the travel distance from the starting position.
When the starting position is at 100000, [Pr. PC66] and [Pr. PC67] are set to 500000, and [Pr.
PC68] and [Pr. PC69] are set to 300000, the valid range is between the feed current position of
300000 and 500000 from the start position (between the actual current position of 400000 and
600000).
Actual current position 0 100000 400000 600000 90000
Feed current position 0 300000 500000 80000

Lower limit value Upper limit value

Home Start position Target position
position

6 - 55
6. APPLICATION OF FUNCTIONS

(b) Degree unit

When the unit is set to "degree", the setting range of the current position latch is from 0 degree
(upper limit) to 359.999 degrees (lower limit).
When you set a value other than 0 degree to 359.999 degrees in the current position latch +/- [Pr.
PC66] to [Pr. PC69], the set value is converted as follows.
Current position latch range After conversion
360.000 degrees to 999.999 degrees (Setting value) % 360
-0.001 degrees to -359.999 degrees 360 + (setting value)
-360.000 degrees to -999.999 degrees (setting value) % 360 + 360

The valid range of the current position latch varies depending on the setting of the upper and lower
limits.
The valid range remains unchanged even if the rotation direction is reversed.
0 0
CCW Upper limit value CCW Lower limit value

Effective range
Lower limit Upper limit
value 270 value 270
90 90
Effective range

180 180

Upper limit value > Lower limit value Lower limit value > Upper limit value

To enable the current position latch function of section A in the figure, set the parameters as follows:
Current position latch range -: 315.000 [degrees] ([Pr. PC68]: 0, [Pr. PC69]: 315)
Current position latch range +: 90.000 [degrees] ([Pr. PC66]: 0, [Pr. PC67]: 90)
To enable the current position latch function of section B in the figure, set the parameter as follows:
Current position latch range -: 90.000 [degrees] ([Pr. PC68]: 0, [Pr. PC69]: 90)
Current position latch range +: 315.000 [degrees] ([Pr. PC66]: 0, [Pr. PC67]: 315)
0
CCW 315

Section A

90

Section B

6 - 56
6. APPLICATION OF FUNCTIONS

(5) Timing chart

Device rising position data
0 A E

Device falling position data 0 B F

Disabled Disabled
0.4 ms or longer (Note 2) (Note 2)
MSD (Mark detection) ON
OFF Within 5 ms (Note 1)
MSDH Within 5 ms (Note 1)
(Mark detection rising latch ON
OFF Within 3 ms (Note 3)
completed)
Not changed Not changed
MSDL ON
(Mark detection falling latch Within 3 ms
OFF
completed)
Latch data range
Upper limit value
B E F
A Latch data range
Current position data
Lower limit value
C D

Note 1. When MSD (Mark detection) is assigned to the CN1-10 pin with [Pr. PD44], a current position data can be obtained in high
speed (within 0.4 ms). When assigning MSD (Mark detection) to the CN1-10 pin, set "Mark detection fast input signal filter
selection" in [Pr. PD31].
2. The position data will not be changed from the previous value.
3. MSDH (Latch completed at rising edge of mark detection) turns off at the same time as MSDL (Latch completed at falling edge
of mark detection) turns on. Set as MSDL turns on/off within the range of the latch data.

If MSD (Mark detection) was turned on again when the previous falling was out of the valid range,
MSDH (Latch completed at rising edge of mark detection) will not change, but the position data will be
updated. Refer to the following timing chart.
Device rising position data
0 A C

Device falling position data

0 D

Disabled
ON
MSD (Mark detection)
OFF

MSDH Not changed

(Mark detection rising latch ON
completed) OFF
Not changed
MSDL ON
(Mark detection falling latch OFF
completed)
Latch data range
B
Upper limit value

A Latch data range

Current position data C D Lower limit value

6 - 57
6. APPLICATION OF FUNCTIONS

6.2.2 Interrupt positioning function

The interrupt positioning function executes an operation by changing the remaining distance to the travel
distance that is set with [Pr. PT31] (Mark sensor stop travel distance) when MSD (Mark detection) is turned
on. The interrupt positioning function is enabled by setting [Pr. PT26] to "1 _ _ _".

POINT
The interrupt positioning function can be used with the point table method and
the program method. However, the interrupt positioning function is disabled in
the following condition.
During home position return
During manual operation
During stop
During deceleration or stop with TSTP (Temporary stop/restart)
An error may occur depending on the droop pulses at the time of MSD (Mark
detection) is turned on and a minimum stopping distance required for
deceleration.

(1) Parameters
Set the parameters as follows:
Item Parameter to be used Setting
Select a control mode.
Control mode selection [Pr. PA01] _ _ _ 6 (Positioning mode (point table method))
_ _ _ 7 (Positioning mode (program method))
Set the mark detection function selection as follows:
1 _ _ _: Interrupt positioning function
Mark detection function selection [Pr. PT26]
Starts the interrupt positioning function at rising of MSD (Mark
detection).
The polarity of MSD (Mark detection) can be changed with
[Pr. PT29].
MSD (Mark detection) Polarity Starts the interrupt positioning function at rising of MSD
[Pr. PT29]
selection (Mark detection) if "_ _ _ x" bit 3 of [Pr. PT29] is off.
Starts the interrupt positioning function at falling of MSD
(Mark detection) if "_ _ _ x" bit 3 of [Pr. PT29] is on.
Set the lower three digits of the travel distance after the mark
detection.
Mark sensor stop travel distance
[Pr. PT30] The travel distance starts from the current position regardless
(lower three digits)
of the setting of absolute value command method or
incremental value command method.
Set the upper three digits of the travel distance after the mark
detection.
Mark sensor stop travel distance
[Pr. PT31] The travel distance starts from the current position regardless
(upper three digits)
of the setting of absolute value command method or
incremental value command method.
Mark detection range + (lower
[Pr. PC66]
three digits)
Mark detection range + (upper Set the upper and lower limits of the interrupt positioning
[Pr. PC67]
three digits) function. If a sign for the upper and lower differ, [AL. 37]
Mark detection range - (lower occurs. When the roll feed display is enabled, set a valid
[Pr. PC68]
three digits) range with the travel distance from the starting position.
Mark detection range - (upper
[Pr. PC69]
three digits)

6 - 58
6. APPLICATION OF FUNCTIONS

(2) Rotation direction

Servo motor rotation direction
[Pr. PA14] setting
ST1 (Forward rotation start) on
CCW rotation with + position data
___0
CW rotation with - position data
CW rotation with + position data
___1
CCW rotation with - position data

(3) Operation
Travels for the interrupt positioning travel distance ([Pr. PT30] and [Pr. PT31]) starting from the position
where MSD (Mark detection) is turned on. The operation after a stop complies with the operation mode
and the operation pattern.

(4) Timing chart

MD0 ON
(Operation mode Deceleration time constant (Note)
OFF Interrupt positioning travel distance
selection 1)

Forward rotation
Servo motor
speed 0 r/min
Reverse rotation 0.888 ms
ON
MSD (Mark detection)
OFF
ST1 ON
(Forward rotation start) OFF

Note. Deceleration time constant of the point table at the time of start is applied for the point table method, and
deceleration time constant set by the program in execution is applied for the program method.

The movement other than above is as follows:

(a) The interrupt positioning travel distance is smaller than the travel distance required for the
deceleration, the actual deceleration time constant will be shorter than the set time constant.
MD0 ON
(Operation mode
OFF Interrupt positioning travel distance
selection 1)

Forward rotation
Servo motor
speed 0 r/min
Reverse rotation 0.888 ms Recalculated deceleration time constant
ON
MSD (Mark detection)
OFF
ST1 ON
(Forward rotation start) OFF

6 - 59
6. APPLICATION OF FUNCTIONS

(b) If the interrupt travel distance is large during acceleration, the servo motor stops with the
deceleration time constant after rotating with the command speed at which MSD (Mark detection)
turned on.
MD0
ON
(Operation mode Interrupt positioning travel distance ([Pr. PT30] and [Pr. PT31])
OFF
selection 1) Speed when MSD is on
Deceleration time constant (Note)

Forward rotation
Servo motor
speed 0 r/min
Reverse rotation 0.888 ms
ON
MSD (Mark detection)
OFF
ST1 ON
(Forward rotation start) OFF

Note. Deceleration time constant of the point table at the time of start is applied for the point table method, and
deceleration time constant set by the program in execution is applied for the program method.

(c) If the interrupt travel distance is large during deceleration, the servo motor stops with the
deceleration time constant after rotating with the command speed at which MSD (Mark detection)
turned on.
MD0
ON
(Operation mode
OFF
selection 1)
Speed when MSD is on
Deceleration time
constant (Note)
Forward rotation
Servo motor
speed 0 r/min
Reverse rotation 0.888 ms
Interrupt positioning travel
ON
MSD (Mark detection) distance
OFF
ST1 ON
(Forward rotation start) OFF

Note. Deceleration time constant of the point table at the time of start is applied for the point table method, and deceleration time
constant set by the program in execution is applied for the program method.

(d) Input will be disabled if MSD (Mark detection) is turned on again during the interrupt positioning.
MD0 ON
(Operation mode
OFF
selection 1)
Interrupt positioning travel distance
Deceleration time constant
(Note)
Forward rotation
Servo motor
speed 0 r/min
Reverse rotation
0.888 ms Disabled
MSD (Mark detection) ON
OFF
ST1
ON
(Forward rotation start)
OFF

Note. Deceleration time constant of the point table at the time of start is applied for the point table method, and
deceleration time constant set by the program in execution is applied for the program method.

6 - 60
6. APPLICATION OF FUNCTIONS

(5) Using together with other functions

Availability of other functions during the interrupt positioning is as follows:
Available
Function
(Note 1)
S-pattern acceleration/deceleration
Stroke limit
Software limit
Temporary stop/restart
Speed change value
Analog override (Note 2)
Backlash
Rough match
Electronic gear
Roll feed display function
Mark detection function (current position latch function)

Note 1. : enabled, : disabled, : enabled with condition

2 Enabled only in a constant speed

ITP (Interrupt positioning) is available with the program function.

Because the interrupt positioning function with MSD (Mark detection) input signal is prioritized, the
interrupt positioning function with MSD (Mark detection) can be used during the interrupt positioning
function with ITP (Interrupt positioning). However, ITP (Interrupt positioning) cannot be used during the
interrupt positioning with MSD (Mark detection).

6 - 61
6. APPLICATION OF FUNCTIONS

MEMO

6 - 62
7. PARAMETERS

7. PARAMETERS

Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause
CAUTION an unexpected condition, such as failing to start up the servo amplifier.
Changing the values of the parameters for manufacturer setting
Setting a value out of the range
Changing the fixed values in the digits of a parameter

7.1 Parameter list

POINT
To enable a parameter whose symbol is preceded by *, turn off the power for 1 s
or more after setting and turn it on again. However, the time will be longer
depending on a setting value of [Pr. PF25 Instantaneous power failure tough
drive - Detection time] when "instantaneous power failure tough drive selection"
is enabled in [Pr. PA20].
The symbols in the control mode column mean as follows:
CP: Positioning mode (point table method)
CL: Positioning mode (program method)
Setting a value out of the setting range in each parameter will trigger [AL. 37
Parameter error].

7- 1
7. PARAMETERS

7.1.1 Basic setting parameters ([Pr. PA_ _ ])

POINT
To enable the following parameters in the positioning mode, turn off the power
for 1 s or more after setting and turn it on again. However, the time will be longer
depending on a setting value of [Pr. PF25 Instantaneous power failure tough
drive - Detection time] when "instantaneous power failure tough drive selection"
is enabled in [Pr. PA20].
[Pr. PA06 Electronic gear numerator (command pulse multiplication
numerator)/Number of gear teeth on machine side]
[Pr. PA07 Electronic gear denominator (command pulse multiplication
denominator)/Number of gear teeth on servo motor side]
The following parameter cannot be used in the positioning mode.
[Pr. PA05 Number of command input pulses per revolution]

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PA01 *STY Operation mode 1000h
PA02 *REG Regenerative option 0000h
PA03 For manufacturer setting 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 *FBP Number of command input pulses per revolution 10000
PA06 *CMX Electronic gear numerator (command pulse multiplication 1
numerator)
PA07 *CDV Electronic gear denominator (command pulse multiplication 1
denominator)
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 [μm]/
10-4 [inch]/
10-3 [degree]/
[pulse]
PA11 TLP Forward rotation torque limit 100.0 [%]
PA12 TLN Reverse rotation torque limit 100.0 [%]
PA13 *PLSS Command pulse input form 0100h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 For manufacturer setting 0000h
PA18 0000h
PA19 *BLK Parameter writing inhibit 00AAh
PA20 *TDS Tough drive setting 0000h
PA21 *AOP3 Function selection A-3 0001h
PA22 For manufacturer setting 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA26 *AOP5 Function selection A-5 0000h
PA27 For manufacturer setting 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h

7- 2
7. PARAMETERS

7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
Vibration suppression control tuning mode (advanced
PB02 VRFT 0000h
vibration suppression control II)
Position command acceleration/deceleration time constant
PB03 PST 0 [ms]
(position smoothing)
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]
PB16 NHQ2 Notch shape selection 2 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00
Vibration suppression control 1 - Resonance frequency
PB22 VRF14 0.00
damping
PB23 VFBF Low-pass filter selection 0100h
PB24 *MVS Slight vibration suppression control 0000h
PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpulse/s]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
Vibration suppression control 1 - Vibration frequency after
PB33 VRF1B 0.0 [Hz]
gain switching
Vibration suppression control 1 - Resonance frequency after
PB34 VRF2B 0.0 [Hz]
gain switching
Vibration suppression control 1 - Vibration frequency damping
PB35 VRF3B 0.00
after gain switching
Vibration suppression control 1 - Resonance frequency
PB36 VRF4B 0.00
damping after gain switching
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]

7- 3
7. PARAMETERS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PB47 NHQ3 Notch shape selection 3 0000h
PB48 NH4 Machine resonance suppression filter 4 4500 [Hz]
PB49 NHQ4 Notch shape selection 4 0000h
PB50 NH5 Machine resonance suppression filter 5 4500 [Hz]
PB51 NHQ5 Notch shape selection 5 0000h
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency 0.00
damping
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after 0.0 [Hz]
gain switching
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after 0.0 [Hz]
gain switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping 0.00
after gain switching
PB59 VRF24B Vibration suppression control 2 - Resonance frequency 0.00
damping after gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h

7- 4
7. PARAMETERS

7.1.3 Extension setting parameters ([Pr. PC_ _ ])

POINT
To enable the following parameters in the positioning mode, turn off the power
for 1 s or more after setting and turn it on again. However, the time will be longer
depending on a setting value of [Pr. PF25 Instantaneous power failure tough
drive - Detection time] when "instantaneous power failure tough drive selection"
is enabled in [Pr. PA20].
[Pr. PC03 S-pattern acceleration/deceleration time constant]
The following parameter cannot be used in the positioning mode.
[Pr. PC04 Torque command time constant]
[Pr. PC08 Internal speed command 4/internal speed limit 4]
[Pr. PC09 Internal speed command 5/internal speed limit 5]
[Pr. PC10 Internal speed command 6/internal speed limit 6]
[Pr. PC11 Internal speed command 7/internal speed limit 7]
[Pr. PC12 Analog speed command - Maximum speed/Analog speed limit -
Maximum speed]
[Pr. PC13 Analog torque/thrust command maximum output]
[Pr. PC23 Function selection C-2]
[Pr. PC32 Command input pulse multiplication numerator 2]
[Pr. PC33 Command input pulse multiplication numerator 3]
[Pr. PC34 Command input pulse multiplication numerator 4]
The following parameters are used for Modbus RTU communication. For details,
refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU
communication)".
[Pr. PC70 Modbus RTU communication station number setting]
[Pr. PC71 Function selection C-F]
[Pr. PC72 Function selection C-G]

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PC01 STA JOG operation acceleration time constant 0 [ms]
PC02 STB JOG operation deceleration time constant 0 [ms]
PC03 *STC S-pattern acceleration/deceleration time constant 0 [ms]
PC04 TQC Torque command time constant 0
PC05 For manufacturer setting 100
PC06 500
PC07 1000
PC08 SC4 Internal speed command 4 200
[r/min]
Internal speed limit 4
PC09 SC5 Internal speed command 5 300
[r/min]
Internal speed limit 5
PC10 SC6 Internal speed command 6 500
[r/min]
Internal speed limit 6
PC11 SC7 Internal speed command 7 800
[r/min]
Internal speed limit 7
PC12 VCM Analog speed command - Maximum speed 0
[r/min]
Analog speed limit - Maximum speed
PC13 TLC Analog torque command maximum output 100.0 [%]
PC14 MOD1 Analog monitor 1 output 0000h

7- 5
7. PARAMETERS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PC15 MOD2 Analog monitor 2 output 0001h
PC16 MBR Electromagnetic brake sequence output 0 [ms]
PC17 ZSP Zero speed 50 [r/min]
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station number setting 0 [station]
PC21 *SOP RS-422 communication function selection 0000h
PC22 *COP1 Function selection C-1 0020h
PC23 *COP2 Function selection C-2 0000h
PC24 *COP3 Function selection C-3 0000h
PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h
PC27 *COP6 Function selection C-6 0000h
PC28 For manufacturer setting 0000h
PC29 0000h
PC30 STA2 Home position return acceleration time constant 0 [ms]
PC31 STB2 Home position return deceleration time constant 0 [ms]
PC32 CMX2 Command input pulse multiplication numerator 2 1
PC33 CMX3 Command input pulse multiplication numerator 3 1
PC34 CMX4 Command input pulse multiplication numerator 4 1
PC35 TL2 Internal torque limit 2 100.0 [%]
PC36 *DMD Status display selection 0000h
PC37 VCO Analog override offset 0 [mV]
PC38 TPO Analog torque limit offset 0 [mV]
PC39 MO1 Analog monitor 1 offset 0 [mV]
PC40 MO2 Analog monitor 2 offset 0 [mV]
PC41 For manufacturer setting 0
PC42 0
PC43 ERZ Error excessive alarm detection level 0 [rev]
PC44 For manufacturer setting 0000h
PC45 0000h
PC46 0
PC47 0
PC48 0
PC49 0
PC50 0000h
PC51 RSBR Forced stop deceleration time constant 100 [ms]
PC52 For manufacturer setting 0
PC53 0
PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]
PC55 For manufacturer setting 0
PC56 100
PC57 0000h
PC58 0
PC59 0000h
PC60 *COPD Function selection C-D 0000h
PC61 For manufacturer setting 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 0000h

7- 6
7. PARAMETERS

Control
Initial mode
No. Symbol Name Unit
value
CP CL
PC66 LPSPL Mark detection range + (lower three digits) 0 10 STM
[μm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PC67 LPSPH Mark detection range + (upper three digits) 0 10STM [μm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PC68 LPSNL Mark detection range - (lower three digits) 0 10STM [μm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PC69 LPSNH Mark detection range - (upper three digits) 0 10STM [μm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PC70 *SNOM Modbus RTU communication station number setting 0
PC71 *COPF Function selection C-F 0040h
PC72 *COPG Function selection C-G 0000h
PC73 ERW Error excessive warning level 0 [rev]
PC74 For manufacturer setting 0000h
PC75 0000h

PC76 0000h
PC77 0000h
PC78 0000h
PC79 0000h
PC80 0000h

7.1.4 I/O setting parameters ([Pr. PD_ _ ])

POINT
The following parameter cannot be used in the positioning mode.
[Pr. PD03 Input device selection 1L]
[Pr. PD11 Input device selection 5L]
[Pr. PD13 Input device selection 6L]
[Pr. PD17 Input device selection 8L]
[Pr. PD19 Input device selection 9L]
[Pr. PD43 Input device selection 11L]
[Pr. PD45 Input device selection 12L]

7- 7
7. PARAMETERS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PD01 *DIA1 Input signal automatic on selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 *DI1L Input device selection 1L 0202h
PD04 *DI1H Input device selection 1H 0202h
PD05 For manufacturer setting 0000h
PD06 0000h
PD07 0000h
PD08 0000h
PD09 0000h
PD10 0000h
PD11 *DI5L Input device selection 5L 0703h
PD12 *DI5H Input device selection 5H 3807h
PD13 *DI6L Input device selection 6L 0806h
PD14 *DI6H Input device selection 6H 3908h
PD15 For manufacturer setting 0000h
PD16 0000h
PD17 *DI8L Input device selection 8L 0A0Ah
PD18 *DI8H Input device selection 8H 0700h
PD19 *DI9L Input device selection 9L 0B0Bh
PD20 *DI9H Input device selection 9H 0800h
PD21 For manufacturer setting 0000h
PD22 0000h
PD23 0000h
PD24 *DO2 Output device selection 2 000Ch
PD25 *DO3 Output device selection 3 0004h
PD26 For manufacturer setting 0000h
PD27 0003h
PD28 *DO6 Output device selection 6 0002h
PD29 *DIF Input filter setting 0004h
PD30 *DOP1 Function selection D-1 0000h
PD31 *DOP2 Function selection D-2 0000h
PD32 *DOP3 Function selection D-3 0000h
PD33 *DOP4 Function selection D-4 0000h
PD34 DOP5 Function selection D-5 0000h
PD35 For manufacturer setting 0000h
PD36 0000h
PD37 0000h
PD38 0
PD39 0
PD40 0
PD41 *DIA3 Input signal automatic on selection 3 0000h
PD42 *DIA4 Input signal automatic on selection 4 0000h
PD43 *DI11L Input device selection 11L 0000h
PD44 *DI11H Input device selection 11H 2000h
PD45 *DI12L Input device selection 12L 0000h
PD46 *DI12H Input device selection 12H 2B00h
PD47 For manufacturer setting 0000h
PD48 0000h

7- 8
7. PARAMETERS

7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PE01 For manufacturer setting 0000h
PE02 0000h
PE03 0000h
PE04 0
PE05 0
PE06 0
PE07 0
PE08 0
PE09 0000h
PE10 0000h
PE11 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 0
PE35 0
PE36 0.0
PE37 0.00
PE38 0.00
PE39 0
PE40 0000h
PE41 EOP3 Function selection E-3 0000h
PE42 For manufacturer setting 0
PE43 0.0
PE44 LMCP Lost motion compensation positive-side compensation value 0 [0.01%]
selection
PE45 LMCN Lost motion compensation negative-side compensation value 0 [0.01%]
selection
PE46 LMFLT Lost motion filter setting 0 [0.1 ms]
PE47 TOF Torque offset 0 [0.01%]
PE48 *LMOP Lost motion compensation function selection 0000h
PE49 LMCD Lost motion compensation timing 0 [0.1 ms]
PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/
[kpulse]

7- 9
7. PARAMETERS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PE51 For manufacturer setting 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00

7 - 10
7. PARAMETERS

7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

POINT
The following parameters are used for Modbus RTU communication. For details,
refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU
communication)".
[Pr. PF45 Function selection F-12]
[Pr. PF46 Modbus RTU communication time out selection]

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PF01 For manufacturer setting 0000h
PF02 0000h
PF03 0000h
PF04 0
PF05 0
PF06 0000h
PF07 1
PF08 1
PF09 *FOP5 Function selection F-5 0000h
PF10 For manufacturer setting 0000h
PF11 0000h
PF12 10000
PF13 100
PF14 100
PF15 2000
PF16 0000h
PF17 10
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT Instantaneous power failure tough drive - Detection time 200 [ms]
PF26 For manufacturer setting 0
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]
PF32 For manufacturer setting 50
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0
PF41 0
PF42 0
PF43 0

7 - 11
7. PARAMETERS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PF44 For manufacturer setting 0
PF45 *FOP12 Function selection F-12 0000h
PF46 MIC Modbus RTU communication time out selection 0
PF47 For manufacturer setting 0000h
PF48 0000h

7 - 12
7. PARAMETERS

7.1.7 Positioning control parameters ([Pr. PT_ _ ])

POINT
The following parameters are used for Modbus RTU communication. For details,
refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU
communication)".
[Pr. PT45 Home position return type 2]

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PT01 *CTY Command mode selection 0000h
PT02 *TOP1 Function selection T-1 0000h
PT03 *FTY Feeding function selection 0000h
PT04 *ZTY Home position return type 0010h
PT05 ZRF Home position return speed 100 [r/min]
PT06 CRF Creep speed 10 [r/min]
PT07 ZST Home position shift distance 0 [μm]/
10-4 [inch]/
10-3 [degree]/
[pulse]
PT08 *ZPS Home position return position data 0 10STM [μm]/
10(STM-4) [inch]/
10-3 [degree]/
[pulse]
PT09 DCT Travel distance after proximity dog 1000 10STM [μm]/
10(STM-4) [inch]/
10-3 [degree]/
[pulse]
PT10 ZTM Stopper type home position return stopper time 100 [ms]
PT11 ZTT Stopper type home position return torque limit value 15.0 [%]
PT12 CRP Rough match output range 0 10STM [μm]/
10(STM-4) [inch]/
10-3 [degree]/
[pulse]
PT13 JOG JOG operation 100 [r/min]
PT14 *BKC Backlash compensation 0 [pulse]
PT15 LMPL Software limit + 0 10STM [μm]/
10(STM-4) [inch]/
PT16 LMPH 10-3 [degree]/
[pulse]
PT17 LMNL Software limit - 0 10STM [μm]/
10(STM-4) [inch]/
PT18 LMNH 10-3 [degree]/
[pulse]
PT19 *LPPL Position range output address + 0 10STM [μm]/
10(STM-4) [inch]/
PT20 *LPPH 10-3 [degree]/
[pulse]
PT21 *LNPL Position range output address - 0 10STM [μm]/
10(STM-4) [inch]/
PT22 *LNPH 10-3 [degree]/
[pulse]
PT23 OUT1 OUT1 output setting time 0 [ms]
PT24 OUT2 OUT2 output setting time 0 [ms]
PT25 OUT3 OUT3 output setting time 0 [ms]
PT26 *TOP2 Function selection T-2 0000h

7 - 13
7. PARAMETERS

Control
Initial
No. Symbol Name Unit mode
value
CP CL
PT27 For manufacturer setting 0000h
PT28 0000h
PT29 *TOP3 Function selection T-3 0000h
PT30 MSTL Mark sensor stop travel distance 0 10STM [μm]/
10(STM-4) [inch]/
PT31 MSTH 0 10-3 [degree]/
[pulse]
PT32 For manufacturer setting 0000h
PT33 0000h
PT34 *PDEF Point table/program default 0000h
PT35 *TOP5 Function selection T-5 0000h
PT36 For manufacturer setting 0000h
PT37 0000h
PT38 0000h
PT39 0000h
PT40 0000h
PT41 ORP Home position return inhibit function selection 0000h
PT42 For manufacturer setting 0000h
PT43 0000h
PT44 0000h
PT45 *CZTY Home position return type 2 0000h
PT46 For manufacturer setting 0000h
PT47 0000h
PT48 0000h

7 - 14
7. PARAMETERS

7.2 Detailed list of parameters

POINT
Set a value to each "x" in the "Setting digit" columns.

7.2.1 Basic setting parameters ([Pr. PA_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA01 ___x Control mode selection 0h
*STY Select a control mode.
Operation 0 to 5: Not used for positioning mode.
mode 6: Positioning mode (point table method)
7: Positioning mode (program method)
__x_ For manufacturer setting 0h
_x__ 0h
x___ 1h
PA02 __xx Regenerative option 00h
*REG Select a regenerative option.
Regenerative Incorrect setting may cause the regenerative option to burn.
option If a selected regenerative option is not for use with the servo amplifier, [AL. 37
Parameter error] occurs.

00: Regenerative option is not used.

For a servo amplifier of 200 W or less, no regenerative resistor is used.
For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required.)
_x__ For manufacturer setting 0h
x___ 0h
PA04 ___x For manufacturer setting 0h
*AOP1 __x_ 0h
Function _x__ 0h
selection A-1 x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 7.1 for details.

Table 7.1 Deceleration method

Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
0___ EM1 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
without the forced stop without the forced stop
deceleration. deceleration.
2___ EM2 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
after the forced stop after the forced stop
deceleration. deceleration.

7 - 15
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA06 Set an electronic gear numerator. (Refer to section 7.3.1.) 1
*CMX To enable the parameter value in the positioning mode, turn off the power for 1 s or
Electronic more after setting and turn it on again. However, the time will be longer depending
gear on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection
numerator time] when "instantaneous power failure tough drive selection" is enabled in [Pr.
(command PA20].
pulse To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear
multiplication selection" in [Pr. PA21].
numerator) Set the electronic gear within the following range. Setting out of the range will trigger
[AL. 37 Parameter error].
1/27649 < CMX/CDV < 8484

Setting range: 1 to 16777215

PA07 Set an electronic gear denominator. (Refer to section 7.3.1.) 1
*CDV To enable the parameter value in the positioning mode, turn off the power for 1 s or
Electronic more after setting and turn it on again. However, the time will be longer depending
gear on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection
denominator time] when "instantaneous power failure tough drive selection" is enabled in [Pr.
(command PA20].
pulse To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear
multiplication selection" in [Pr. PA21].
denominator) Set the electronic gear within the range of [Pr. PA06].
Setting out of the range will trigger [AL. 37 Parameter error].

Setting range: 1 to 16777215

7 - 16
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA08 ___x Gain adjustment mode selection 1h
ATU Select the gain adjustment mode.
Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode)
mode 1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
Refer to table 7.2 for details.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

Table 7.2 Gain adjustment mode selection

Setting Gain adjustment
Automatically adjusted parameter
value mode
_ _ _ 0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio]
mode 1 (interpolation [Pr. PB08 Position loop gain]
mode) [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]

7 - 17
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA09 Set the auto tuning response. 16
RSP
Auto tuning Machine characteristic Machine characteristic
response Guideline for Guideline for
Setting machine Setting machine
value Response resonance value Response resonance
frequency frequency
[Hz] [Hz]
Low 2.7 Middle 67.1
1 21
response response
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
Middle 59.6 High 642.7
20 40
response response

Setting range: 1 to 40
PA10 Set an in-position range in a command unit. 100
INP To change it to the servo motor encoder pulse unit, set [Pr. PC24]. Refer to
In-position Function
range Pr. PA01 In-position setting range column
_ _ _ 6 (Positioning mode (point table method)) The range where MEND for unit.
(Travel completion), PED
_ _ _ 7 (Positioning mode (program method)) (Position end) and INP (In-
position) are outputted.

When [Pr. PC24] is set to "_ _ _ 0", the unit can be changed to [μm], 10-4 [inch], 10-3 [degree],
or [pulse] with the setting of [Pr. PT01]. When [Pr. PC24] is set to "_ _ _ 1", the unit is fixed to
[pulse].

Setting range: 0 to 65535

PA11 You can limit the torque generated by the servo motor. Set this parameter referring 100.0
TLP to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual". [%]
Forward When the torque is outputted with the analog monitor output, the setting of [Pr. PA11
rotation Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], whichever
torque limit is larger, will be the maximum output voltage (8 V).
Set the parameter on the assumption that the maximum torque is 100 [%]. The
parameter is for limiting the torque of the servo motor in the CCW power running or
CW regeneration. No torque is generated when this parameter is set to "0.0".

Setting range: 0.0 to 100.0

7 - 18
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA12 You can limit the torque generated by the servo motor. Set this parameter referring 100.0
TLN to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual". [%]
Reverse When the torque is outputted with the analog monitor output, the setting of [Pr. PA11
rotation Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], whichever
torque limit is larger, will be the maximum output voltage (8 V).
Set the parameter on the assumption that the maximum torque is 100.0 [%]. The
parameter is for limiting the torque of the servo motor in the CW power running or
CCW regeneration. No torque is generated when this parameter is set to "0.0".

Setting range: 0.0 to 100.0

PA13 ___x Command input pulse train form selection 0h
*PLSS 0: Forward/reverse rotation pulse train
Command 1: Signed pulse train
pulse input 2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after
form multiplying by four.)
When connecting the manual pulse generator MR-HDP01 in the positioning mode,
set "2" to this digit.
Refer to table 7.3 for settings.
__x_ Pulse train logic selection 0h
0: Positive logic
1: Negative logic
Match the logic of the command pulse train received from a connected controller.
Refer to POINT of section 3.6.1 of "MR-JE-_A Servo Amplifier Instruction Manual"
for logic of MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series/MELSEC-F
series. When connecting the manual pulse generator MR-HDP01 in the positioning
mode, set "0" to this digit.
Refer to table 7.3 for settings.

7 - 19
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA13 _x__ Command input pulse train filter selection 1h
*PLSS Selecting proper filter enables to enhance noise tolerance.
Command 0: Command input pulse train is 4 Mpulses/s or less.
pulse input 1: Command input pulse train is 1 Mpulses/s or less.
form 2: Command input pulse train is 500 kpulses/s or less.
3: Command input pulse train is 200 kpulses/s or less.
1 Mpulse/s or lower commands are supported by "1". When inputting commands
over 1 Mpulse/s and 4 Mpulses/s or lower, set "0".
When connecting the manual pulse generator MR-HDP01 in the positioning mode,
set "2" or "3" to this digit.
Incorrect setting may cause the following malfunctions.
Setting a value higher than actual command will lower noise tolerance.
Setting a value lower than actual command will cause a position mismatch.
x___ For manufacturer setting 0h

Table 7.3 Command input pulse train form selection

Setting Forward rotation Reverse rotation
Pulse train form
value command command
Forward rotation PP
pulse train
_ _ 10h
Reverse rotation
pulse train NP
Negative logic

PP

_ _ 11h Signed pulse train

L H
NP

A-phase pulse PP
train
_ _ 12h
B-phase pulse
train NP

Forward rotation PP
pulse train
_ _ 00h
Reverse rotation
pulse train NP
Positive logic

PP
_ _ 01h Signed pulse train
NP L
H

A-phase pulse PP
train
_ _ 02h
B-phase pulse
train NP

Arrows in the table indicate the timing of importing pulse trains. A-phase/B-phase pulse trains are imported after
they have been multiplied by 4.
When connecting the manual pulse generator MR-HDP01 in the positioning mode, set "_ _ 02h".

7 - 20
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA14 Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2 0
*POL (Reverse rotation start) is switched on.
Rotation
direction Servo motor rotation direction
Setting
selection When positioning address When positioning address
value
increases decreases
0 CCW CW
1 CW CCW

The following shows the servo motor rotation directions.

Forward rotation (CCW)

Reverse rotation (CW)

Setting range: 0, 1
PA15 Set the encoder output pulses from the servo amplifier by using the number of 4000
*ENR output pulses per revolution, dividing ratio, or electronic gear ratio. (after [pulse/
Encoder multiplication by 4) rev]
output pulses Set a numerator of the electronic gear when selecting "A-phase/B-phase pulse
electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
PC19].
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.

Setting range: 1 to 4194304

PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. 1
*ENR2 Set a denominator of the electronic gear when selecting "A-phase/B-phase pulse
Encoder electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
output pulses PC19].
2
Setting range: 1 to 4194304

7 - 21
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA19 Select a reference range and writing range of the parameter. 00AAh
*BLK For the positioning mode, set [Pr. PA19] to "0 0 A B" to enable read/write the
Parameter positioning control parameters ([Pr. PT_ _ ]).
writing inhibit Refer to table 7.4 for settings.

Table 7.4 [Pr. PA19] setting value and reading/writing range

Setting
PA19 PA PB PC PD PE PF PT
operation
Other Reading
than
below Writing
Reading Only 19
000Ah
Writing Only 19
Reading
000Bh
Writing
Reading
000Ch
Writing
00AAh Reading
(Initial
value) Writing
Reading
00ABh
Writing
Reading
100Bh
Writing Only 19
Reading
100Ch
Writing Only 19
Reading
10AAh
Writing Only 19
Reading
10ABh
Writing Only 19

7 - 22
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load
*TDS fluctuation.
Tough drive You can assign MTTR (During tough drive) to pins CN1-23, CN1-24, and CN1-49 with [Pr. PD24], [Pr. PD25], and
setting [Pr. PD28].
_ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0h
0: Disabled
1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing the setting

values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine
resonance suppression filter 2] in case that the vibration exceeds the value of the
oscillation level set in [Pr. PF23].
To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough
drive function selection].
For details, refer to section 7.3 of "MR-JE-_A Servo Amplifier Instruction Manual".
_x__ Instantaneous power failure tough drive selection 0h
0: Disabled
1: Enabled

Selecting "1" enables to avoid triggering [AL. 10 Undervoltage] by using the

electrical energy charged in the capacitor in the servo amplifier in case that an
instantaneous power failure occurs during operation. Set the time until the
occurrence of [AL. 10.1 Voltage drop in the power] with [Pr. PF25 Instantaneous
power failure tough drive - Detection time].
When "1" is selected for this digit, the power should be off for the setting value of [Pr.
PF25] + 1 s or more before cycling the power to enable a parameter whose symbol
is preceded by "*".
x___ For manufacturer setting 0h
PA21 ___x One-touch tuning function selection 1h
*AOP3 0: Disabled
Function 1: Enabled
selection A-3
When the digit is "0", the one-touch tuning is not available.
__x_ For manufacturer setting 0h
_x__ 0h
x___ Electronic gear selection 0h
When this digit is changed, the home position will be changed. Execute the home
position return again.
0: Electronic gear ([Pr. PA06] and [Pr. PA07])
1: Not used for positioning mode.
Setting this will trigger [AL. 37 Parameter error].
PA23 _ _ x x Alarm detail No. setting 00h
DRAT Set the digits when you execute the trigger with arbitrary alarm detail No. for the
Drive drive recorder function.
recorder When these digits are "0 0", only the arbitrary alarm No. setting will be enabled.
arbitrary x x _ _ Alarm No. setting 00h
alarm trigger Set the digits when you execute the trigger with arbitrary alarm No. for the drive
setting recorder function.
When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.
Setting example:
To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".
To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".

7 - 23
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PA24 ___x Vibration suppression mode selection 0h
AOP4 0: Standard mode
Function 1: 3 inertia mode
selection A-4 2: Low response mode

When you select the standard mode or low response mode, "Vibration suppression
control 2" is not available.
When you select the 3 inertia mode, the feed forward gain is not available.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PA25 Set a permissible value of overshoot amount for one-touch tuning as a percentage of 0
OTHOV the in-position range. [%]
One-touch However, setting "0" will be 50%.
tuning -
Overshoot
permissible
level Setting range: 0 to 100
PA26 ___x Torque limit function selection at instantaneous power failure 0h
*AOP5 0: Disabled
Function 1: Enabled
selection A-5 Selecting "1" for this digit will limit torques to save electric energy when an
instantaneous power failure occurs during operation and will make [AL. 10
Undervoltage] less likely to occur.
The torque limit function at instantaneous power failure is enabled when
"instantaneous power failure tough drive selection" in [Pr. PA20] is "Enabled (_ 1 _
_)".
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

7 - 24
7. PARAMETERS

7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB01 ___x Filter tuning mode selection 0h
FILT Set the adaptive tuning.
Adaptive Select the adjustment mode of the machine resonance suppression filter 1. For
tuning mode details, refer to section 7.1.2 of "MR-JE-_A Servo Amplifier Instruction Manual".
(adaptive 0: Disabled
filter II) 1: Automatic setting
2: Manual setting

__x_ For manufacturer setting 0h

_x__ 0h
x___ Tuning accuracy selection 0h
0: Standard
1: High accuracy
The frequency is estimated more accurately in the high accuracy mode compared to
the standard mode. However, the tuning sound may be larger in the high accuracy
mode.
For details, refer to section 7.1.2 of "MR-JE-_A Servo Amplifier Instruction Manual".
This digit is available with servo amplifier with software version C5 or later.
PB02 ___x Vibration suppression control 1 tuning mode selection 0h
VRFT Select the tuning mode of the vibration suppression control 1. For details, refer to
Vibration section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".
suppression 0: Disabled
control tuning 1: Automatic setting
mode 2: Manual setting
(advanced
vibration __x_ Vibration suppression control 2 tuning mode selection 0h
suppression Select the tuning mode of the vibration suppression control 2. To enable the digit,
control II) select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.
PA24]. For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction
Manual".
0: Disabled
1: Automatic setting
2: Manual setting
_x__ For manufacturer setting 0h
x___ 0h

7 - 25
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB03 Set the constant of a primary delay to the position command. 0
PST You can select a control method from "Primary delay" or "Linear [ms]
Position acceleration/deceleration" of "Position acceleration/deceleration filter type selection"
command in [Pr. PB25]. The setting range of "Linear acceleration/deceleration" is 0 ms to 10
acceleration/ ms. Setting of longer than 10 ms will be recognized as 10 ms.
deceleration (Example) When a command is given from a synchronous encoder, a synchronous
time constant operation will start smoothly even if it starts during line operation.
(position
smoothing)

Synchronizing
encoder

Start Servo motor

Servo amplifier

Without time
constant setting
With time
Servo motor constant setting
speed
ON t
OFF
Start

Setting range: 0 to 65535

PB04 Set the feed forward gain. 0
FFC When the setting is 100%, the droop pulses during operation at constant speed are [%]
Feed forward nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
gain As a guideline, when the feed forward gain setting is 100%, set 1 s or more for the
acceleration time constant to the rated speed.

Setting range: 0 to 100

PB06 Set the load to motor inertia ratio. 7.00
GD2 Setting a value considerably different from the actual load moment of inertia may [times]
Load to motor cause an unexpected operation such as an overshoot.
inertia ratio The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details. When the parameter is set to
automatic, the value will vary between 0.00 and 100.00.

Setting range: 0.00 to 300.00

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode)
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)

7 - 26
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB07 Set the response gain to the target position. 15.0
PG1 Increasing the setting value will also increase the response level to the position [rad/s]
Model loop command but will be liable to generate vibration and noise.
gain For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is
limited. Refer to section 7.1.5 (4) of "MR-JE-_A Servo Amplifier Instruction Manual"
for details.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode)
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)

PB08 Set the gain of the position loop. 37.0

PG2 Set this parameter to increase the position response to level load disturbance. [rad/s]
Position loop Increasing the setting value will also increase the response level to the load
gain disturbance but will be liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting

PB09 Set the gain of the speed loop. 823

VG2 Set this parameter when vibration occurs on machines of low rigidity or with large [rad/s]
Speed loop backlash. Increasing the setting value will also increase the response level but will
gain be liable to generate vibration and noise.
The setting of the parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.

Setting range: 20 to 65535

PB10 Set the integral time constant of the speed loop. 33.7
VIC Decreasing the setting value will increase the response level but will be liable to [ms]
Speed generate vibration and noise.
integral The setting of the parameter will be automatic or manual depending on the setting of
compensation [Pr. PA08]. Refer to the table of [Pr. PB08] for details.

Setting range: 0.1 to 1000.0

PB11 Set the differential compensation. 980
VDC To enable the setting value, turn on PC (proportional control).
Speed
differential
compensation Setting range: 0 to 1000

7 - 27
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB12 Set a viscous friction torque in percentage to the rated torque at servo motor rated 0
OVA speed. [%]
Overshoot When the response level is low, or when the torque is limited, the efficiency of the
amount parameter can be lower.
compensation
Setting range: 0 to 100
PB13 Set the notch frequency of the machine resonance suppression filter 1. 4500
NH1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. [Hz]
Machine PB01], this parameter will be adjusted automatically by adaptive tuning.
resonance When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],
suppression the setting value will be enabled.
filter 1
Setting range: 10 to 4500
PB14 Set forms of the machine resonance suppression filter 1.
NHQ1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
Notch shape adjusted automatically by adaptive tuning.
selection 1 When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.
_ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB15 Set the notch frequency of the machine resonance suppression filter 2. 4500
NH2 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 2 selection" in [Pr. PB16].
resonance
suppression
filter 2 Setting range: 10 to 4500
PB16 Set forms of the machine resonance suppression filter 2.
NHQ2 _ _ _ x Machine resonance suppression filter 2 selection 0h
Notch shape 0: Disabled
selection 2 1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h

7 - 28
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB17 Set the shaft resonance suppression filter.
NHF This is used to suppress a low-frequency machine vibration.
Shaft When "Shaft resonance suppression filter selection" is set to "Automatic setting (_ _ _ 0)" in [Pr. PB23], the value
resonance will be calculated automatically from the servo motor you use and load to motor inertia ratio. When "Manual setting
suppression (_ _ _ 1)" is selected, the setting written to the parameter is used.
filter When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of
this parameter will be disabled.
When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft
resonance suppression filter is not available.
_ _ x x Shaft resonance suppression filter setting frequency selection 00h
Refer to table 7.5 for settings.
Set the value closest to the frequency you need.
_ x _ _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
x _ _ _ For manufacturer setting 0h

Table 7.5 Shaft resonance suppression filter

setting frequency selection
Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

PB18 Set the low-pass filter. 3141

LPF The following shows a relation of a required parameter to this parameter. [rad/s]
Low-pass
filter setting Setting range: 100 to 18000

[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value
enabled
__2_ Setting value
disabled

7 - 29
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0
VRF11 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a
frequency value out of the range is set, the vibration suppression control will be disabled. For
details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".

Setting range: 0.1 to 300.0

PB20 Set the resonance frequency for vibration suppression control 1 to suppress low- 100.0
VRF12 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Resonance The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a
frequency value out of the range is set, the vibration suppression control will be disabled. For
details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".

Setting range: 0.1 to 300.0

PB21 Set a damping of the vibration frequency for vibration suppression control 1 to 0.00
VRF13 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".
frequency
damping Setting range: 0.00 to 0.30
PB22 Set a damping of the resonance frequency for vibration suppression control 1 to 0.00
VRF14 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Resonance For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".
frequency
damping Setting range: 0.00 to 0.30
PB23 ___x Shaft resonance suppression filter selection 0h
VFBF Select the shaft resonance suppression filter.
Low-pass 0: Automatic setting
filter selection 1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PB49], the shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
Select the low-pass filter.
0: Automatic setting
1: Manual setting
2: Disabled
_x__ For manufacturer setting 1h
x___ 0h
PB24 ___x Slight vibration suppression control selection 0h
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration 1: Enabled
suppression To enable the slight vibration suppression control, set "Gain adjustment mode
control selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08].
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

7 - 30
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB25 ___x For manufacturer setting 0h
*BOP1 __x_ Position acceleration/deceleration filter type selection 0h
Function Select the position acceleration/deceleration filter type.
selection B-1 0: Primary delay
1: Linear acceleration/deceleration
_x__ For manufacturer setting 0h
x___ 0h
PB26 Select the gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain
switching
function
___x Gain switching selection 0h
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed

__x_ Gain switching condition selection 0h

0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_x__ For manufacturer setting 0h
x___ 0h
PB27 Set the value of the gain switching (command frequency, droop pulses, or servo 10
CDL motor speed) selected in [Pr. PB26]. [kpulse/s]/
Gain The set value unit differs depending on the switching condition item. (Refer to [pulse]/
switching section 7.2.3 of "MR-JE-_A Servo Amplifier Instruction Manual".) [r/min]
condition
Setting range: 0 to 9999
PB28 Set the time constant until the gains switch in response to the conditions set in [Pr. 1
CDT PB26] and [Pr. PB27]. [ms]
Gain
switching
time constant Setting range: 0 to 100
PB29 Set the load to motor inertia ratio for when gain switching is enabled. 7.00
GD2B This parameter is enabled only when "Gain adjustment mode selection" is set to [times]
Load to motor "Manual mode (_ _ _ 3)" in [Pr. PA08].
inertia ratio
after gain
switching Setting range: 0.00 to 300.00
PB30 Set the position loop gain for when the gain switching is enabled. 0.0
PG2B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Position loop PB08].
gain after This parameter is enabled only when "Gain adjustment mode selection" is set to
gain "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
Setting range: 0.0 to 2000.0
PB31 Set the speed loop gain for when the gain switching is enabled. 0
VG2B When a value less than 20 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Speed loop PB09].
gain after This parameter is enabled only when "Gain adjustment mode selection" is set to
gain "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
Setting range: 0 to 65535

7 - 31
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB32 Set the speed integral compensation for when the gain switching is enabled. 0.0
VICB When a value less than 0.1 ms is set, the value will be the same as that of [Pr. [ms]
Speed PB10].
integral This parameter is enabled only when "Gain adjustment mode selection" is set to
compensation "Manual mode (_ _ _ 3)" in [Pr. PA08].
after gain
switching Setting range: 0.0 to 5000.0
PB33 Set the vibration frequency of the vibration suppression control 1 for when the gain 0.0
VRF1B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB19].
control 1 - This parameter is enabled only when the following conditions are fulfilled.
Vibration "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
after gain _ _ 2)" in [Pr. PB02].
switching "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB34 Set the resonance frequency for vibration suppression control 1 for when the gain 0.0
VRF2B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB20].
control 1 - This parameter will be enabled only when the following conditions are fulfilled.
Resonance "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
frequency "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
after gain _ _ 2)" in [Pr. PB02].
switching "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB35 Set a damping of the vibration frequency for vibration suppression control 1 when 0.00
VRF3B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
control 1 - "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
Vibration _ _ 2)" in [Pr. PB02].
frequency "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
damping after in [Pr. PB26].
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor stops.

Setting range: 0.00 to 0.30

PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00
VRF4B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
control 1 - "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
Resonance _ _ 2)" in [Pr. PB02].
frequency "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
damping after in [Pr. PB26].
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor stops.

Setting range: 0.00 to 0.30

7 - 32
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB45 Set the command notch filter.
CNHF _ _ x x Command notch filter setting frequency selection 00h
Command Refer to table 7.6 for the relation of setting values to frequency.
notch filter _ x _ _ Notch depth selection 0h
Refer to table 7.7 for details.
x _ _ _ For manufacturer setting 0h

Table 7.6 Command notch filter setting frequency selection

Setting Setting Setting
Frequency [Hz] Frequency [Hz] Frequency [Hz]
value value value
__00 Disabled __20 70 __40 17.6
__01 2250 __21 66 __41 16.5
__02 1125 __22 62 __42 15.6
__03 750 __23 59 __43 14.8
__04 562 __24 56 __44 14.1
__05 450 __25 53 __45 13.4
__06 375 __26 51 __46 12.8
__07 321 __27 48 __47 12.2
__08 281 __28 46 __48 11.7
__09 250 __29 45 __49 11.3
__0A 225 __2A 43 __4A 10.8
__0B 204 __2B 41 __4B 10.4
__0C 187 __2C 40 __4C 10
__0D 173 __2D 38 __4D 9.7
__0E 160 __2E 37 __4E 9.4
__0F 150 __2F 36 __4F 9.1
__10 140 __30 35.2 __50 8.8
__11 132 __31 33.1 __51 8.3
__12 125 __32 31.3 __52 7.8
__13 118 __33 29.6 __53 7.4
__14 112 __34 28.1 __54 7.0
__15 107 __35 26.8 __55 6.7
__16 102 __36 25.6 __56 6.4
__17 97 __37 24.5 __57 6.1
__18 93 __38 23.4 __58 5.9
__19 90 __39 22.5 __59 5.6
__1A 86 __3A 21.6 __5A 5.4
__1B 83 __3B 20.8 __5B 5.2
__1C 80 __3C 20.1 __5C 5.0
__1D 77 __3D 19.4 __5D 4.9
__1E 75 __3E 18.8 __5E 4.7
__1F 72 __3F 18.2 __5F 4.5

Table 7.7 Notch depth selection

Setting Setting
Depth [dB] Depth [dB]
value value
_0__ -40.0 _8__ -6.0
_1__ -24.1 _9__ -5.0
_2__ -18.1 _A__ -4.1
_3__ -14.5 _B__ -3.3
_4__ -12.0 _C__ -2.5
_5__ -10.1 _D__ -1.8
_6__ -8.5 _E__ -1.2
_7__ -7.2 _F__ -0.6

7 - 33
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500
NH3 To enable the setting value, set "Machine resonance suppression filter 3 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB47].
resonance
suppression
filter 3 Setting range: 10 to 4500
PB47 Set forms of the machine resonance suppression filter 3.
NHQ3 _ _ _ x Machine resonance suppression filter 3 selection 0h
Notch shape 0: Disabled
selection 3 1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB48 Set the notch frequency of the machine resonance suppression filter 4. 4500
NH4 To enable the setting value, set "Machine resonance suppression filter 4 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB49].
resonance
suppression
filter 4 Setting range: 10 to 4500
PB49 Set forms of the machine resonance suppression filter 4.
NHQ4 _ _ _ x Machine resonance suppression filter 4 selection 0h
Notch shape 0: Disabled
selection 4 1: Enabled
When "Enabled" is set, [Pr. PB17 Shaft resonance suppression filter] is not
available.
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB50 Set the notch frequency of the machine resonance suppression filter 5. 4500
NH5 To enable the setting value, set "Machine resonance suppression filter 5 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB51].
resonance
suppression
filter 5 Setting range: 10 to 4500

7 - 34
7. PARAMETERS

Initial Control
No./symbol/ Setting mode
Function value
name digit
[unit] CP CL
PB51 Set forms of the machine resonance suppression filter 5.
NHQ5 When "Robust filter selection" is set to "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter
Notch shape 5 is not available.
selection 5 _ _ _ x Machine resonance suppression filter 5 selection 0h
0: Disabled
1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB52 Set the vibration frequency for vibration suppression control 2 to suppress low- 100.0
VRF21 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a
frequency value out of the range is set, the vibration suppression control will be disabled. Refer
to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.1 to 300.0

PB53 Set the resonance frequency for vibration suppression control 2 to suppress low- 100.0
VRF22 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Resonance The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a
frequency value out of the range is set, the vibration suppression control will be disabled. Refer
to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.1 to 300.0

PB54 Set a damping of the vibration frequency for vibration suppression control 2 to 0.00
VRF23 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration Refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.
frequency To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
damping mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.00 to 0.30

7 - 35
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB55 Set a damping of the resonance frequency for vibration suppression control 2 to 0.00
VRF24 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Resonance Refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.
frequency To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
damping mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.00 to 0.30

PB56 Set the vibration frequency for vibration suppression control 2 for when the gain 0.0
VRF21B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB52].
control 2 - This parameter will be enabled only when the following conditions are fulfilled.
Vibration "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
after gain PA24].
switching "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_
_ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB57 Set the resonance frequency for vibration suppression control 2 for when the gain 0.0
VRF22B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB53].
control 2 - This parameter will be enabled only when the following conditions are fulfilled.
Resonance "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
after gain PA24].
switching "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_
_ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB58 Set a damping of the vibration frequency for vibration suppression control 2 when 0.00
VRF23B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
control 2 - "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
Vibration PA24].
frequency "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_
damping after _ 2 _)" in [Pr. PB02].
gain "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
switching in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

7 - 36
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PB59 Set a damping of the resonance frequency for vibration suppression control 2 when 0.00
VRF24B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
control 2 - "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
Resonance PA24].
frequency "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_
damping after _ 2 _)" in [Pr. PB02].
gain "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
switching in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

PB60 Set the model loop gain for when the gain switching is enabled. 0.0
PG1B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Model loop PB07].
gain after This parameter will be enabled only when the following conditions are fulfilled.
gain "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching "Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)"
in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 2000.0

7.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC01 Set an acceleration time constant for the JOG operation of the program method. 0
STA Set an acceleration time from 0 r/min to the rated speed. [ms]
JOG
If the preset speed command
operation is lower than the rated speed,
acceleration Speed acceleration/deceleration time
time constant will be shorter.
Rated speed

0 r/min Time
[Pr. PC01] setting [Pr. PC02] setting

For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to
increase speed from 0 r/min to 1000 r/min in 1 s.
Additionally, when 20000 ms or more value is set, it will be clamped to 20000 ms.

Setting range: 0 to 50000

PC02 Set a deceleration time constant for the JOG operation of the program method. 0
STB Set a deceleration time from the rated speed to 0 r/min. [ms]
JOG Additionally, when 20000 ms or more value is set, it will be clamped to 20000 ms.
operation
deceleration
time constant Setting range: 0 to 50000

7 - 37
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC03 This parameter is used to smooth start/stop of the servo motor. 0
*STC Set the time of the arc part for S-pattern acceleration/deceleration. [ms]
S-pattern Setting "0" will make it linear acceleration/deceleration.
acceleration/ Servo is usually operated with linear acceleration and deceleration; however,
deceleration smooth start and stop are enabled by setting [Pr. PC03 S-pattern
time constant acceleration/deceleration time constants]. When the S-pattern
acceleration/deceleration time constants are set, smooth positioning is enabled as
shown in the following figure. Note that when it is set, a time period from the start to
output of MEND (Travel completion) is longer by the S-pattern
acceleration/deceleration time constants.
Acceleration Deceleration
time constant time constant
Rated speed

Set speed

Servo motor
speed Ta: Time period until the
servo motor reaches
0 [r/min] the set speed
Ta Tb + STC Tb: Time period until the
Ta + STC Tb servo motor stops

When the STC value is set longer than the constant speed time, the speed may not
reach to the command speed.
Additionally, when 1000 ms or more value is set, it will be clamped to 1000 ms.

Setting range: 0 to 5000

7 - 38
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC14 __xx Analog monitor 1 output selection 00h
MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to app. 8.3 of "MR-JE-_A
Analog Servo Amplifier Instruction Manual" for detection point of output selection.
monitor 1 Refer to table 7.8 or 7.9 for settings.
output _x__ For manufacturer setting 0h
x___ 0h

Table 7.8 Analog monitor setting value

Setting
Item
value
__00 Servo motor speed (±8 V/max. speed) (Note 1)
__01 Torque (±8 V/max. torque) (Note 3)
__02 Servo motor speed (+8 V/max. speed) (Note 1)
__03 Torque (+8 V/max. torque) (Note 3)
__04 Current command (±8 V/max. current command)
__05 Command pulse frequency (±10 V/±4 Mpulses/s)
__06 Servo motor-side droop pulses (±10 V/100 pulses) (Note 2)
__07 Servo motor-side droop pulses (±10 V/1000 pulses) (Note 2)
__08 Servo motor-side droop pulses (±10 V/10000 pulses) (Note 2)
__09 Servo motor-side droop pulses (±10 V/100000 pulses) (Note 2)
__0D Bus voltage (+8 V/400 V)
__0E Speed command 2 (±8 V/max. speed) (Note 1)
__17 Internal temperature of encoder (±10 V/±128 °C)

Note 1. The maximum speed of the HF-KN series servo motor is 4500 r/min and that of the HG-KN
series is 5000 r/min. Please watch out when using an HG-KN series servo motor as a
replacement for the HF-KN series servo motor because HG-KN series outputs 8 V at 5000
r/min. HG-KN series servo motors output 8 V at 6000 r/min when you set "_ _ _ 1" in [Pr. PA28]
to change the maximum speed to 6000 r/min.
2. Encoder pulse unit
3. The value in [Pr. PA11] or [Pr. PA12] whichever is higher is applied for the maximum torque.

PC15 __xx Analog monitor 2 output selection 01h

MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to app. 8.3 of "MR-JE-_A
Analog Servo Amplifier Instruction Manual" for detection point of output selection.
monitor 2 Refer to [Pr. PC14] for settings.
output _x__ For manufacturer setting 0h
x___ 0h
PC16 Set the delay time from when MBR (Electromagnetic brake interlock) turns off until 0
MBR when the base drive circuit is shut-off. [ms]
Electromagne
tic brake
sequence
output Setting range: 0 to 1000
PC17 Set an output range of ZSP (Zero speed detection). 50
ZSP ZSP (Zero speed detection) has hysteresis of 20 r/min. [r/min]
Zero speed
Setting range: 0 to 10000

7 - 39
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC18 ___x Alarm history clear selection 0h
*BPS This parameter is used to clear the alarm history.
Alarm history 0: Disabled
clear 1: Enabled
When "Enabled" is set, the alarm history will be cleared at the next power-on. Once
the alarm history is cleared, the setting becomes disabled automatically.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PC19 ___x Encoder output pulse phase selection 0h
*ENRS Select an encoder pulse direction.
Encoder 0: Increasing A-phase 90° in CCW
output pulse 1: Increasing A-phase 90° in CW
selection
Setting 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

__x_ Encoder output pulse setting selection 0h

0: Output pulse setting
1: Division ratio setting
2: The same output pulse setting as the command pulse
3: A-phase/B-phase pulse electronic gear setting
5: Command pulse input through output setting
When "1" is set, the settings of [Pr. PA16 Encoder output pulses 2] will be disabled.
When "2" is set, the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16
Encoder output pulses 2] will be disabled. When using this setting, do not change
the settings in [Pr. PA06] and [Pr. PA07] after the power-on.
When "5" is set, the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16
Encoder output pulses 2] will be disabled. "Encoder output pulse phase selection (_
_ _ x)" will be also disabled. When [Pr. PA01] is set to other than "Point table
method (_ _ _ 6)" and "Program method (_ _ _ 7)", [AL. 37 Parameter error] occurs.
When "5" is set, assign PP/PP2 with [Pr. PD44] and NP/NP2 with [Pr. PD46].
_x__ For manufacturer setting 0h
x___ 0h
PC20 Specify a station Number of the servo amplifier for RS-422 and USB communication. 0
*SNO Always set one station to one axis of the servo amplifier. Setting one station Number [Station]
Station to two or more stations will disable a normal communication.
number
setting Setting range: 0 to 31

7 - 40
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC21 Select the details of RS-422 communication function.
*SOP _ _ _ x For manufacturer setting 0h
RS-422 _ _ x _ RS-422 communication baud rate selection 0h
communicatio 0: 9600 [bps]
n function 1: 19200 [bps]
selection
2: 38400 [bps]
3: 57600 [bps]
4: 115200 [bps]
6: 4800 [bps]
_ x _ _ RS-422 communication response delay time selection 0h
0: Disabled
1: Enabled (responding after 800 μs or longer delay time)
x _ _ _ For manufacturer setting 0h
PC22 _ _ _ x For manufacturer setting 0h
*COP1 __x_ 2h
Function _x__ 0h
selection C-1 x _ _ _ Encoder cable communication method selection 0h
Select the encoder cable communication method.
0: Two-wire type
1: Four-wire type
If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20
Encoder normal communication error 1] occurs.
PC24 _ _ _ x In-position range unit selection 0h
*COP3 Select a unit of in-position range.
Function 0: Command unit
selection C-3 1: Servo motor encoder pulse unit
_ _ x _ For manufacturer setting 0h
_x__ 0h
x _ _ _ Error excessive alarm/error excessive warning level unit selection 0h
Select units for the error excessive alarm level setting with [Pr. PC43] and for the
error excessive warning level setting with [Pr. PC73].
0: 1 rev unit
1: 0.1 rev unit
2: 0.01 rev unit
3: 0.001 rev unit
PC26 _ _ _ x [AL. 99 Stroke limit warning] selection 0h
*COP5 Enable or disable [AL. 99 Stroke limit warning].
Function 0: Enabled
selection C-5 1: Disabled
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
PC27 _ _ _ x For manufacturer setting 0h
*COP6 __x_ 0h
Function _ x _ _ Undervoltage alarm selection 0h
selection C-6 Select the alarm and warning that occurs when the bus voltage drops to the
undervoltage alarm level.
0: [AL. 102] regardless of servo motor speed
1: [AL. E9.1] occurs when the servo motor speed is 50 r/min or less, and [AL. 10.2]
occurs when the servo motor speed is over 50 r/min.
x _ _ _ For manufacturer setting 0h

7 - 41
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC30 This parameter is used when a home position return is executed with the program 0
STA2 method. Set the acceleration time constant for the home position return. Set an [ms]
Home acceleration time from 0 r/min to the rated speed.
position Additionally, when a value of 20000 ms or more is set, it will be clamped to 20000
return ms.
acceleration
time constant Setting range: 0 to 50000
PC31 This parameter is used when a home position return is executed with the program 0
STB2 method. Set the deceleration time constant at the home position return. Set a [ms]
Home deceleration time from the rated speed to 0 r/min.
position Additionally, when a value of 20000 ms or more is set, it will be clamped to 20000
return ms.
deceleration
time constant Setting range: 0 to 50000
PC35 Set the parameter on the assumption that the maximum torque is 100.0 %. The 100.0
TL2 parameter is for limiting the torque of the servo motor. [%]
Internal No torque is generated when this parameter is set to "0.0".
torque limit 2 When TL1 (Internal torque limit selection) is turned on, internal torque limit 1 and
internal torque limit 2 are compared and the lower value will be enabled.
Set the parameter referring to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier
Instruction Manual".

Setting range: 0.0 to 100.0

7 - 42
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC36 __xx Status display selection at power-on 00h
*DMD Select a status display shown at power-on.
Status display 00: Cumulative feedback pulse
selection 01: Servo motor speed
02: Droop pulses
03: Cumulative command pulses
04: Command pulse frequency
05: Analog speed command voltage (not used for the positioning mode)
06: Analog torque limit voltage
07: Regenerative load ratio
08: Effective load ratio
09: Peak load ratio
0A: Instantaneous torque
0B: Position within one-revolution/virtual position within one-revolution (1 pulse unit)
0C: Position within one-revolution/virtual position within one-revolution (1000 pulses
unit)
0D: ABS counter/virtual ABS counter
0E: Load to motor inertia ratio
0F: Bus voltage
10: Internal temperature of encoder
11: Settling time
12: Oscillation detection frequency
13: Number of tough drives
14: Unit power consumption (1 W unit)
15: Unit power consumption (1 kW unit)
16: Unit total power consumption (1 Wh unit)
17: Unit total power consumption (100 kWh unit)
21: Current position
22: Command position
23: Command remaining distance
24: Point table No./Program No.
25: Step No.
26: Override voltage
27: Override level
28: Cam axis one cycle current value
29: Cam standard position
2A: Cam axis feed current value
2B: Cam No. in execution
2C: Cam stroke amount in execution
2D: Main axis current value
2E: Main axis one cycle current value
_x__ Status display at power-on in corresponding control mode 0h
0: Depends on the control mode
Control mode Status display at power-on
Positioning (point table method) Current position
Positioning (program method) Current position

1: Depends on the setting in the lower two digits of this parameter

x___ For manufacturer setting 0h
PC37 Set an offset voltage of VC (Override input). 0
VCO This will be automatic setting by executing VC automatic offset. [mV]
Analog
override
Offset Setting range: -9999 to 9999

7 - 43
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC38 Set the offset voltage of TLA (Analog torque limit). 0
TPO [mV]
Analog torque
limit offset Setting range: -9999 to 9999
PC39 Set the offset voltage of MO1 (Analog monitor 1). 0
MO1 [mV]
Analog
monitor 1
offset Setting range: -9999 to 9999
PC40 Set the offset voltage of MO2 (Analog monitor 2). 0
MO2 [mV]
Analog
monitor 2
offset Setting range: -9999 to 9999
PC43 Set an error excessive alarm level. 0
ERZ You can change the setting unit with "Error excessive alarm/error excessive warning [rev]
Error level unit selection" in [Pr. PC24].
excessive However, setting "0" will be 3 rev. Setting over 200 rev will be clamped to 200 rev.
alarm level
Setting range: 0 to 1000
PC51 Set a deceleration time constant for the forced stop deceleration function. 100
RSBR Set the time taken from the rated speed to 0 r/min in a unit of ms. [ms]
Forced stop Setting "0" will be 100 ms.
deceleration
time constant Dynamic brake
Rated speed Forced stop deceleration deceleration

Servo motor speed

0 r/min
[Pr. PC51]

[Precautions]
If the servo motor torque is saturated at the maximum torque during a forced stop
deceleration because the set time is too short, the time to stop will be longer than
the set time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced
stop deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an alarm that does not
lead to a forced stop deceleration occurs or if the power supply is cut, dynamic
braking will start regardless of the deceleration time constant setting.

Setting range: 0 to 20000

7 - 44
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC54 Set the compensation amount of the vertical axis freefall prevention function. 0
RSUP1 Set the amount in a unit of the servo motor rotation. [0.0001
Vertical axis The servo motor pulls up in a rotation direction of increasing address for the positive rev]
freefall value and in a direction of decreasing address for the negative value in a unit of the
prevention servo motor rotation.
compensation For example, when [Pr. PA14 Rotation direction selection/travel direction selection]
amount is set to "1" and a positive value is set for the compensation amount, the servo motor
pulls up in the CW direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) The setting value of this parameter is other than "0".
2) The forced stop deceleration function is enabled.
3) Alarm has occurred or EM2 has turned off when the servo motor rotates at the
zero speed or less.
4) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD24], [Pr. PD25],
and [Pr. PD28], and the base circuit shut-off delay time was set in [Pr. PC16].

Setting range: -25000 to 25000

PC60 ___x Motor-less operation selection 0h
*COPD Set the motor-less operation.
Function 0: Disabled
selection C-D 1: Enabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ [AL. 9B Error excessive warning] selection 0h
0: [AL. 9B Error excessive warning] is disabled.
1: [AL. 9B Error excessive warning] is enabled.
PC66 Set the upper limit of the mark detection. 0
LPSPL Upper and lower are a set. Refer to
Mark Function
detection Setting address: column
range + for unit.
(lower three Upper 3 Lower 3
digits digits
digits)
[Pr. PC66]
[Pr. PC67]

PC67 The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
LPSPH the setting of [Pr. PT01].
Mark Set a same sign for [Pr. PC66] and [Pr. PC67]. A different sign will be recognized as
detection minus sign data.
range + When changing the direction to address decreasing, change it from the - side of the
(upper three mark detection ([Pr. PC68] and [Pr. PC69]). An incorrect order of the setting will
digits) trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PC66] to [Pr.
PC69] are all set.

Setting range: -999 to 999

7 - 45
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PC68 Set the lower limit of the mark detection. 0
LPSNL Upper and lower are a set. Refer to
Mark Function
detection Setting address: column
range - (lower for unit.
three digits) Upper 3 Lower 3
digits digits
[Pr. PC68]
[Pr. PC69]

PC69 The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
LPSNH the setting of [Pr. PT01].
Mark Set a same sign for [Pr. PT68] and [Pr. PT69]. A different sign will be recognized as
detection minus sign data.
range - When changing the direction to address increasing, change it from the + side of the
(upper three mark detection ([Pr. PC66] and [Pr. PC67]). An incorrect order of the setting will
digits) trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PC66] to [Pr.
PC69] are all set.

Setting range: -999 to 999

PC73 Set an error excessive warning level. 0
ERW To enable the parameter, set "[AL. 9B Error excessive warning] selection" to [rev]
Error "Enabled (1 _ _ _)" in [Pr. PC60].
excessive The setting unit can be changed with "Error excessive alarm/error excessive warning
warning level level unit selection" in [Pr. PC24].
Set the level in rev unit. When "0" is set, 1 rev will be applied. Setting over 200 rev
will be clamped to 200 rev.

When an error reaches the set value, [AL. 9B Error excessive warning] will occur.
When the error decreases lower than the set value, the warning will be canceled
automatically. The minimum pulse width of the warning signal is 100 [ms].
Set as follows: [Pr. PC73 Error excessive warning level] < [Pr. PC43 Error excessive
alarm level] When you set as [Pr. PC73 Error excessive warning level] ≥ [Pr. PC43
Error excessive alarm level], [AL. 52 Error excessive] will occur earlier than the
warning.

Setting range: 0 to 1000

7 - 46
7. PARAMETERS

7.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD01 Select input devices to turn on automatically.
*DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting 0h
Input signal (HEX) _ _ x _ (BIN): For manufacturer setting
automatic on _ x _ _ (BIN): SON (Servo-on)
selection 1
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): For manufacturer setting
__x_ _ _ _ x (BIN): PC (Proportional control) 0h
(HEX) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ _ x _ (BIN): TL (External torque limit selection)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_x__ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): LSP (Forward rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): LSN (Reverse rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x___ _ _ _ X (BIN): EM2 (Forced stop 2) 0h
(HEX) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting

7 - 47
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD01 Convert the setting value into hexadecimal as follows.
*DIA1
Input signal
automatic on
Initial value
selection 1 Input device
BIN HEX
0
0
0
SON (Servo-on) 0
0

Initial value
Input device
BIN HEX
PC (Proportional control) 0
TL (External torque limit selection) 0
0
0
0

Initial value
Input device
BIN HEX
0
0
0
LSP (Forward rotation stroke end) 0
LSN (Reverse rotation stroke end) 0

Initial value
Input device
BIN HEX
EM2 (Forced stop 2) 0
0
0
0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

7 - 48
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD04 Any input device can be assigned to the CN1-15 pin.
*DI1H _ _ x x Not used with the positioning mode. 02h
Input device x x _ _ Positioning mode - Device selection 02h
selection 1H Refer to table 7.9 for settings.

Table 7.9 Selectable input devices

Setting Input device (Note)
value CP CL
02__ SON SON
03__ RES RES
04__ PC PC
05__ TL TL
06__ CR CR
07__ ST1 ST1
08__ ST2 ST2
09__ TL1 TL1
0A__ LSP LSP
0B__ LSN LSN
0D__ CDP CDP
12__ MSD MSD
1E__ CLTC CLTC
1F__ CPCD CPCD
20__ MD0 MD0
21__ CAMC CAMC
23__ TCH
24__ TP0 TP0
25__ TP1 TP1
26__ OVR OVR
27__ TSTP TSTP
29__ CI0 CI0
2A__ CI1 CI1
2B__ DOG DOG
30__ LPS
31__ CI2 CI2
34__ PI1
35__ PI2
36__ PI3
37__ CI3 CI3
38__ DI0 DI0
39__ DI1 DI1
3A__ DI2 DI2
3B__ DI3 DI3
3C__ DI4

Note. CP: Positioning mode (point table method)

CL: Positioning mode (program method)
The diagonal lines indicate manufacturer settings. Never change the
setting.

PD12 Any input device can be assigned to the CN1-19 pin.

*DI5H _ _ x x Not used with the positioning mode. 07h
Input device x x _ _ Positioning mode - Device selection 38h
selection 5H Refer to table 7.9 in [Pr. PD04] for settings.

7 - 49
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD14 Any input device can be assigned to the CN1-41 pin.
*DI6H _ _ x x Not used with the positioning mode. 08h
Input device x x _ _ Positioning mode - Device selection 39h
selection 6H Refer to table 7.9 in [Pr. PD04] for settings.
PD18 Any input device can be assigned to the CN1-43 pin.
*DI8H _ _ x x Not used with the positioning mode. 00h
Input device x x _ _ Positioning mode - Device selection 07h
selection 8H Refer to table 7.9 in [Pr. PD04] for settings.
PD20 Any input device can be assigned to the CN1-44 pin.
*DI9H _ _ x x Not used with the positioning mode. 00h
Input device x x _ _ Positioning mode - Device selection 08h
selection 9H Refer to table 7.9 in [Pr. PD04] for settings.

7 - 50
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD24 __xx Device selection 0Ch
*DO2 Any output device can be assigned to the CN1-23 pin.
Output device Refer to table 7.10 for settings.
selection 2 _x__ For manufacturer setting 0h
x___ 0h

Table 7.10 Selectable output devices

Setting Output device (Note)
value CP CL
__00 Always off Always off
__02 RD RD
__03 ALM ALM
__04 INP INP
__05 MBR MBR
__07 TLC TLC
__08 WNG WNG
__0A SA SA
__0B Always off Always off
__0C ZSP ZSP
__0D MTTR MTTR
__0F CDPS CDPS
__1F CPCC CPCC
__23 CPO CPO
__24 ZP ZP
__25 POT POT
__26 PUS PUS
__27 MEND MEND
__29 CLTS CLTS
__2B CLTSM CLTSM
__2C PED PED
__2D SOUT
__2E OUT1
__2F OUT2
__30 OUT3
__31 ALMWNG ALMWNG
__33 MSDH MSDH
__34 MSDL MSDL
__37 CAMS CAMS
__38 PT0
__39 PT1
__3A PT2
__3B PT3

Note. CP: Positioning mode (point table method)

CL: Positioning mode (program method)
The diagonal lines indicate manufacturer settings. Never change the
setting.

PD25 __xx Device selection 04h

*DO3 Any output device can be assigned to the CN1-24 pin.
Output device Refer to table 7.10 in [Pr. PD24] for settings.
selection 3 _x__ For manufacturer setting 0h
x___ 0h

7 - 51
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD28 _ _ x x Device selection 02h
*DO6 Any output device can be assigned to the CN1-49 pin.
Output device Refer to table 7.10 in [Pr. PD24] for settings.
selection 6 _ x _ _ For manufacturer setting 0h
x___ 0h
PD29 Select a filter for the input signal.
*DIF _ _ _ x Input signal filter selection 4h
Input filter If external input signal causes chattering due to noise, etc., input filter is used to
setting suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
5: 4.444 [ms]
6: 5.333 [ms]
_ _ x _ RES (Reset) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
_ x _ _ CR (Clear) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
x _ _ _ For manufacturer setting 0h
PD30 _ _ _ x Stop method selection for LSP (Forward rotation stroke end) off or LSN (Reverse 0h
*DOP1 rotation stroke end) off
Function Select a stop method for LSP (Forward rotation stroke end) off or LSN (Reverse
selection D-1 rotation stroke end) off. (Refer to section 7.5.)
0: Quick stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (deceleration to a stop by deceleration time constant)
3: Quick stop (stop by clearing remaining distance)
_ _ x _ Base circuit status selection for RES (Reset) on 0h
0: Base circuit shut-off
1: No base circuit shut-off
_ x _ _ Stop method selection at software limit detection 0h
Select a stop method selection at software limit detection. (Refer to section 7.6.)
0: Quick stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (deceleration to a stop by deceleration time constant)
3: Quick stop (stop by clearing remaining distance)
x _ _ _ For manufacturer setting 0h

7 - 52
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD31 ___x For manufacturer setting 0h
*DOP2 __x_ 0h
Function _x__ 0h
selection D-2 x___ Mark detection fast input signal filter selection 0h
0: Standard 0.166 [ms]
1: 0.055 [ms]
2: 0.111 [ms]
3: 0.166 [ms]
4: 0.222 [ms]
5: 0.277 [ms]
6: 0.333 [ms]
7: 0.388 [ms]
8: 0.444 [ms]
9 to E: Disabled (Setting this will be the same as "F".)
F: Non-filter
This digit will be enabled when MSD (Mark detection) is assigned to the CN1-10 pin
with [Pr. PD44].
PD32 ___x CR (Clear) selection 0h
*DOP3 This is used to set CR (Clear).
Function 0: Deletes droop pulses by turning on the device
selection D-3 1: Always deletes droop pulses during the device on
2: Disabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PD33 ___x For manufacturer setting 0h
*DOP4 __x_ 0h
Function _x__ Rotation direction selection for enabling torque limit 0h
selection D-4 Select a rotation direction which enables the internal torque limit 2 and the external
torque limit.
Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual" for
details.
0: Enabled in both CCW or positive direction and CW or negative direction
1: Enabled in CCW or positive direction
2: Enabled in CW or negative direction
x___ For manufacturer setting 0h

7 - 53
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD34 ___x Alarm code output 0h
*DOP5 Select an alarm code output.
Function When an alarm occurs, the alarm code is outputted to CN1-23, CN1-24, and CN1-49
selection D-5 pins.
0: Disabled
1: Enabled
For details of the alarm codes, refer to chapter 8.
When "1" is set to this digit while MBR or ALM is assigned to CN1-23, CN1-24, or
CN1-49 pin, [AL. 37 Parameter error] will occur.
__x_ Selection of output device at warning occurrence 0h
Select ALM (Malfunction) output status for a warning occurrence.

Setting
Device status
value
ON
WNG
OFF
0 ON
ALM
OFF
Warning occurrence

ON
WNG
OFF
1 ON
ALM
OFF
Warning occurrence

_x__ For manufacturer setting 0h

x___ 0h

7 - 54
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD41 Select input devices to turn on automatically.
*DIA3 _ _ _ x _ _ _ x (BIN): MD1 (operation mode selection 2) 0h
Input signal (HEX) 0: Disabled (Use for an external input signal.)
automatic on 1: Enabled (automatic on)
selection 3
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
__x_ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): OVR (Analog override selection)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): For manufacturer setting
_x__ For manufacturer setting 0h
x___ 0h
Convert the setting value into hexadecimal as follows.

0 0
Initial value
Input device
BIN HEX
MD0 (Operation mode selection 1) 0
0
0
0
0

Initial value
Input device
BIN HEX
0
0
0
OVR (Analog override selection) 0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

7 - 55
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PD42 Select input devices to turn on automatically.
*DIA4 _ _ _ x For manufacturer setting 0h
Input signal __x_ 0h
automatic on _ x _ _ _ _ _ x (BIN): DI0 (Point table No./program No. selection 1) 0h
selection 4 (HEX) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ _ x _ (BIN): DI1 (Point table No./Program No. selection 2)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ x _ _ (BIN): DI2 (Point table No./Program No. selection 3)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): DI3 (Point table No./Program No. selection 4)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ For manufacturer setting 0h
Convert the setting value into hexadecimal as follows.

0 0 0
Initial value
Input device
BIN HEX
DI0 (Point table No./Program No. 1) 0
DI1 (Point table No./Program No. 2) 0
0
DI2 (Point table No./Program No. 3) 0
DI3 (Point table No./Program No. 4) 0

PD44 Any input device can be assigned to the CN1-10 pin and the CN1-37 pin.
*DI11H _ _ x x Not used with the positioning mode. 00h
Input device x x _ _ Positioning mode - Device selection 20h
selection 11H Refer to table 7.10 in [Pr. PD04] for settings.
When "00" is set, PP/PP2 (Forward rotation pulse/Manual pulse generator) will be
assigned.
The CN1-37 pin is available with servo amplifiers manufactured in May, 2015 or
later.
PD46 Any input device can be assigned to the CN1-35 pin and the CN1-38 pin.
*DI12H _ _ x x Not used with the positioning mode. 00h
Input device x x _ _ Positioning mode - Device selection 2Bh
selection 12H Refer to table 7.10 in [Pr. PD04] for settings.
When "00" is set, NP/NP2 (Reverse rotation pulse/Manual pulse generator) will be
assigned.
The CN1-38 pin is available with servo amplifiers manufactured in May, 2015 or
later.

7 - 56
7. PARAMETERS

7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PE41 ___x Robust filter selection 0h
EOP3 0: Disabled
Function 1: Enabled
selection E-3 When "Enabled" is set, the machine resonance suppression filter 5 that is set in [Pr.
PB51] is not available.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PE44 Set the lost motion compensation for when reverse rotation (CW) switches to 0
LMCP forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. [0.01%]
Lost motion This parameter is available with servo amplifiers with software version C5 or later.
compensation
positive-side
compensation
value
selection Setting range: 0 to 30000
PE45 Set the lost motion compensation for when forward rotation (CCW) switches to 0
LMCN reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%. [0.01%]
Lost motion This parameter is available with servo amplifiers with software version C5 or later.
compensation
negative-side
compensation
value
selection Setting range: 0 to 30000
PE46 Set the time constant of the lost motion compensation filter in increments of 0.1 ms. 0
LMFLT If the time constant is "0", the torque is compensated with the value set in [Pr. PE44] [0.1 ms]
Lost motion and [Pr. PE45]. If the time constant is other than "0", the torque is compensated with
filter setting the high-pass filter output value of the set time constant, and the lost motion
compensation will continue.
This parameter is available with servo amplifiers with software version C5 or later.

Setting range: 0 to 30000

PE47 Set this when canceling unbalanced torque of vertical axis. Set this assuming the 0
TOF rated torque of the servo motor as 100%. The torque offset does not need to be set [0.01%]
Torque offset for a machine not generating unbalanced torque.
This parameter is available with servo amplifiers with software version C5 or later.

Setting range: -10000 to 10000

PE48 ___x Lost motion compensation selection 0h
*LMOP 0: Disabled
Lost motion 1: Enabled
compensation This parameter is available with servo amplifiers with software version C5 or later.
function __x_ Unit setting of lost motion compensation non-sensitive band 0h
selection 0: 1 pulse unit
1: 1 kpulse unit
This parameter is available with servo amplifiers with software version C5 or later.
_x__ For manufacturer setting 0h
x___ 0h
PE49 Set the lost motion compensation timing in increments of 0.1 ms. 0
LMCD You can delay the timing to perform the lost motion compensation for the set time. [0.1 ms]
Lost motion This parameter is available with servo amplifiers with software version C5 or later.
compensation
timing Setting range: 0 to 30000

7 - 57
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PE50 Set the lost motion compensation non-sensitive band. When the fluctuation of droop 0
LMCT pulses equals to or less than the setting value, the speed will be "0".The setting unit [pulse]/
Lost motion can be changed in [Pr. PE48].Set this parameter per encoder. [kpulse]
compensation This parameter is available with servo amplifiers with software version C5 or later.
non-sensitive
band Setting range: 0 to 65535

7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PF09 Electronic dynamic brake selection 0h
*FOP5 0: Disabled
Function 3: Automatic (enabled only for specified servo motors)
selection F-5 Refer to the following table for the specified servo motors.

Series Servo motor

HG-KN HG-KN053/HG-KN13/HG-KN23/HG-KN43
HG-SN HG-SN52

__x_ For manufacturer setting 0h

_x__ 0h
x___ 0h
PF21 Set a drive recorder switching time. 0
DRT When a graph function is terminated or a USB communication is cut during using a [s]
Drive graph function, the function will be changed to the drive recorder function after the
recorder setting time of this parameter.
switching When a value from "1" to "32767" is set, the function will be switched to the drive
time setting recorder function after the set time.
However, when "0" is set, it will be switched after 600 s.
When "-1" is set, the drive recorder function is disabled.

Setting range: -1 to 32767

PF23 Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression 50
OSCL1 filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration [%]
Vibration tough drive is enabled.
tough drive - Note that setting "0" will be 50%.
Oscillation Example: When "50" is set to this parameter, the filter will be readjusted at the time
detection of the oscillation level reaching 50% or more.
level
Setting range: 0 to 100
PF24 ___x Oscillation detection alarm selection 0h
*OSCL2 Select whether to generate an alarm or a warning when an oscillation continues at a
Vibration filter readjustment sensitivity level of [Pr. PF23].
tough drive The setting is always enabled regardless of the vibration tough drive in [Pr. PA20].
function 0: [AL. 54 Oscillation detection] will occur at oscillation detection.
selection 1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.
2: Oscillation detection function disabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

7 - 58
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PF25 Set the time until the occurrence of [AL. 10.1 Voltage drop in the power]. 200
CVAT When "instantaneous power failure tough drive selection" is set to "Disabled (_ 0 _ [ms]
Instantaneous _)" in [Pr. PA20], this parameter is disabled.
power failure When "Instantaneous power failure tough drive selection" is set to "Enabled (_ 1 _
tough drive - _)" in [Pr. PA20], the power should be off for the setting value of this parameter +1 s
Detection time or more before turning on the power to enable a parameter whose symbol is
preceded by "*".

Setting range: 30 to 2000

PF31 Set a servo motor speed to divide a friction estimation area into high and low for the 0
FRIC friction estimation process of the machine diagnosis. [r/min]
Machine However, setting "0" will be the value half of the rated speed.
diagnosis When your operation pattern is under rated speed, we recommend that you set half
function - value to the maximum speed with this.
Friction
judgment Maximum speed in operation
speed Forward rotation
direction
[Pr. PF31] setting

Servo motor
0 r/min
speed
(0 mm/s)

Operation pattern
Reverse rotation
direction

Setting range: 0 to permissible speed

7 - 59
7. PARAMETERS

7.2.7 Positioning control parameters ([Pr. PT_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT01 ___x Positioning command method selection 0h
*CTY 0: Absolute value command method
Command 1: Incremental value command method
mode __x_ For manufacturer setting 0h
selection
_x__ Position data unit 0h
0: mm
1: inch
2: degree
3: pulse
x___ For manufacturer setting 0h
PT02 ___x Follow-up of SON (Servo-on) off/EM2 (Forced stop 2) off with absolute value 0h
*TOP1 command method in incremental system
Function 0: Disabled (Home position is erased at servo-off or EM2 off.)
selection T-1 1: Enabled (Home position is not erased even if servo-off, EM2 off, or alarm
occurrence which can be canceled with reset. The operation can be continued.)
__x_ For manufacturer setting 0h
_x__ 0h
x___ Point table/program writing inhibit 0h
0: Allow
1: Inhibit
PT03 ___x Feed length multiplication [STM] 0h
*FTY 0: × 1
Feeding 1: × 10
function 2: × 100
selection 3: × 1000
This digit will be disabled when [degree] or [pulse] of "Position data unit" is set in [Pr.
PT01].
__x_ Manual pulse generator multiplication 0h
0: × 1
1: × 10
2: × 100
_x__ Shortest rotation selection per degree 0h
0: Rotation direction specifying
1: Shortest rotation
x___ For manufacturer setting 0h

7 - 60
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT04 ___x Home position return method 0h
*ZTY 0: Dog type (rear end detection, Z-phase reference)
Home 1: Count type (front end detection, Z-phase reference)
position 2: Data set type
return type 3: Stopper type
4: Home position ignorance (servo-on position as home position)
5: Dog type (rear end detection, rear end reference)
6: Count type (front end detection, front end reference)
7: Dog cradle type
8: Dog type (front end detection, Z-phase reference)
9: Dog type (front end detection, front end reference)
A: Dogless type (Z-phase reference)
__x_ Home position return direction 1h
0: Address increasing direction
1: Address decreasing command
Setting "2" or more to this digit will be recognized as "1: Address decreasing
direction".
_x__ Home position shift distance multiplication 0h
Set a multiplication of [Pr. PT07 Home position shift distance].
0: × 1
1: × 10
2: × 100
3: × 1000
When [degree] of "Position data unit" is set in [Pr. PT01] in the point table method or
program method, only "0" and "1" are enabled.
x___ For manufacturer setting 0h
PT05 Set the servo motor speed for the home position return.. 100
ZRF [r/min]
Home
position
return speed Setting range: 0 to permissible instantaneous speed
PT06 Set a creep speed after proximity dog at home position return. 10
CRF [r/min]
Creep speed Setting range: 0 to permissible instantaneous speed
PT07 Set a shift distance from the Z-phase pulse detection position in the encoder. 0
ZST The unit will be changed to [μm], 10-4 [inch], 10-3 [degree], or [pulse] with the setting Refer to
Home of [Pr. PT01]. Function
position shift When "Home position shift distance multiplication" is set in [Pr. PT04], it is used with column
distance "×10n". for unit.

Setting range: 0 to 65535

PT08 Set the current position when the home position return is complete. 0
*ZPS The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with Refer to
Home the setting of [Pr. PT01]. Function
position Additionally, when the following parameters are changed, the home position return column
return position data will be changed. Execute the home position return again. for unit.
position data "Position data unit" in [Pr. PT01]
"Feed length multiplication (STM)" in [Pr. PT03]
"Home position return type" in [Pr. PT04]

Setting range: -32768 to 32767

7 - 61
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT09 Set a travel distance after proximity dog at home position return for the count type, 0
DCT dog type rear end reference, count type front end reference, and dog type front end Refer to
Travel reference. Function
distance after The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with column
proximity dog the setting of [Pr. PT01]. for unit.

Setting range: 0 to 65535

PT10 Set a time from a moving part touches the stopper and torques reaches to the torque 100
ZTM limit of [Pr. PT11 Stopper type home position return - Torque limit value] to a home [ms]
Stopper type position is set for the stopper type home position return.
home position
return stopper
time Setting range: 0 to 1000
PT11 Set a torque limit value with [%] to the maximum torque at stopper type home 15.0
ZTT position return. [%]
Stopper type
home position
return torque
limit value Setting range: 0.0 to 100.0
PT12 Set a range of the command remaining distance which outputs CPO (Rough match). 0
CRP The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with Refer to
Rough match the setting of [Pr. PT01]. Function
output range column
Setting range: 0 to 65535 for unit.
PT13 Set a JOG speed. 100
JOG [r/min]
JOG speed Setting range: 0 to permissible instantaneous speed
PT14 Set a backlash compensation for reversing command direction. 0
*BKC This parameter compensates backlash pulses against the home position return [pulse]
Backlash direction.
compensation For the home position ignorance (servo-on position as home position), this turns on
SON (Servo-on) and decides a home position, and compensates backlash pulses
against the first rotation direction.

Setting range: 0 to 65535

PT15 Set an address increasing side of the software stroke limit. 0
LMPL Upper and lower are a set. Refer to
Software limit Function
+ Setting address: column
(lower three for unit.
digits) Upper 3 Lower 3
digits digits
[Pr. PT15]
[Pr. PT16]

The stop method depends on "Stop method selection at software limit detection" of
[Pr. PD30]. The initial value is "Quick stop (home position erased)".
PT16 Setting a same value with "Software limit -" will disable the software stroke limit.
LMPH (Refer to section 7.4.)
Software limit Set a same sign for [Pr. PT15] and [Pr. PT16]. A different sign will be recognized as
+ minus sign data.
(upper three When changing the direction to address decreasing, change it from the - side of the
digits) software limit ([Pr. PT17] and [Pr. PT18]). An incorrect order of the setting will trigger
[AL. 37]. Therefore, cycling power may be required after [Pr. PT15] to [Pr. PT18] are
all set.
The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
the setting of [Pr. PT01].

Setting range: -999999 to 999999

7 - 62
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT17 Set an address decreasing side of the software stroke limit. 0
LMNL Upper and lower are a set. Refer to
Software limit Function
- Setting address: column
(lower three for unit.
digits) Upper 3 Lower 3
digits digits
[Pr. PT17]
[Pr. PT18]

The stop method depends on "Stop method selection at software limit detection" of
[Pr. PD30]. The initial value is "Quick stop (home position erased)".
PT18 Setting a same value with "Software limit +" will disable the software stroke limit.
LMNH (Refer to section 7.4.)
Software limit Set a same sign for [Pr. PT17] and [Pr. PT18]. A different sign will be recognized as
- minus sign data.
(upper three When changing the direction to address increasing, change it from the + side of the
digits) software limit ([Pr. PT15] and [Pr. PT17]). An incorrect order of the setting will trigger
[AL. 37]. Therefore, cycling power may be required after [Pr. PT15] to [Pr. PT18] are
all set.
The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
the setting of [Pr. PT01].

Setting range: -999999 to 999999

PT19 Set an address increasing side of the position range output address. 0
*LPPL Upper and lower are a set. Set a range which POT (Position range) turns on with [Pr. Refer to
Position PT19] to [Pr. PT22]. Function
range output column
address + Setting address: for unit.
(lower three
digits) Upper 3 Lower 3
digits digits
[Pr. PT19]
[Pr. PT20]

PT20 The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
the setting of [Pr. PT01].
*LPPH
Set a same sign for [Pr. PT19] and [Pr. PT20]. Setting a different sign will trigger [AL.
Position
37 Parameter error].
range output
address + When changing the setting, be sure to set the lower three-digit data first and then the
(upper three upper three-digit data.
digits) When changing the direction to address decreasing, change it from the - side of the
position range output address ([Pr. PT21] and [Pr. PT22]). An incorrect order of the
setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PT19]
to [Pr. PT22] are all set.

Setting range: -999999 to 999999

7 - 63
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT21 Set an address decreasing side of the position range output address. 0
*LNPL Upper and lower are a set. Set a range which POT (Position range) turns on with [Pr. Refer to
Position PT19] to [Pr. PT22]. Function
range output column
address - Setting address: for unit.
(lower three
digits) Upper 3 Lower 3
digits digits
[Pr. PT21]
[Pr. PT22]

PT22 The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
the setting of [Pr. PT01].
*LNPH
Set a same sign for [Pr. PT21] and [Pr. PT22]. Setting a different sign will trigger [AL.
Position
37 Parameter error].
range output
address - When changing the setting, be sure to set the lower three-digit data first and then the
(upper three upper three-digit data.
digits) When changing the direction to address increasing, change it from the + side of the
position range output address ([Pr. PT19] and [Pr. PT20]). An incorrect order of the
setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PT19]
to [Pr. PT22] are all set.

Setting range: -999999 to 999999

PT23 Set an output time for when OUT1 (Program output 1) is turned on with the OUTON 0
OUT1 command. [ms]
OUT1 output Setting "0" will keep the on-state. To turn it off, use the OUTOF command.
setting time
Setting range: 0 to 20000
PT24 Set an output time for when OUT2 (Program output 2) is turned on with the OUTON 0
OUT2 command. [ms]
OUT2 output Setting "0" will keep the on-state. To turn it off, use the OUTOF command.
setting time
Setting range: 0 to 20000
PT25 Set an output time for when OUT3 (Program output 3) is turned on with the OUTON 0
OUT3 command. [ms]
OUT3 output Setting "0" will keep the on-state. To turn it off, use the OUTOF command.
setting time
Setting range: 0 to 20000

7 - 64
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT26 ___x Electronic gear fraction clear selection 0h
*TOP2 0: Disabled
Function 1: Enabled
selection T-2 Selecting "Enabled" will clear a fraction of the previous command by the electronic
gear at start of the automatic operation.
Setting "2" or more to this digit will be "Disabled".
__x_ Current position/command position display selection 0h
Select how to display a current position and command position.

Setting Displayed Operation Status display

value data mode Current position Command position
Actual current Command current
position is position is
Positionin Auto/Manua
0 displayed as displayed as
g display l
machine home machine home
position is 0. position is 0.
When ST1
(Forward rotation
start) or ST2
(Reverse rotation
start) is turned on,
counting starts
from 0 and a
command current
Actual current position to the
position will be target position is
Automatic
Roll feed displayed as displayed.
1
display automatic
When a stop, a
operation start
point table
position is 0.
command position
is displayed for the
point table method
and 0 is always
displayed for the
program method.
"0" is always
Manual
displayed.

This digit will be disabled when [degree] of "Position data unit" is set in [Pr. PT01].
Additionally, setting "2" or more will be "positioning display".
_x__ For manufacturer setting 0h
x___ Mark detection function selection 0h
0: Current position latch function
1: Interrupt positioning function

7 - 65
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT29 Set a polarity of DOG, SIG, PI1, PI2, and PI3.
*TOP3 _ _ _ x _ _ _ x (BIN): DOG (Proximity dog) polarity selection 0h
Function (HEX) 0: Dog detection with off
selection T-3 1: Dog detection with on
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): Mark detection input polarity
Select MSD (Mark detection) input polarity.
0: Normally closed contact
1: Normally open contact
_ _ x _ _ _ _ x (BIN): PI1 (Program input 1) polarity selection 0h
(HEX) 0: Positive logic
1: Negative logic
_ _ x _ (BIN): PI2 (Program input 2) polarity selection
0: Positive logic
1: Negative logic
_ x _ _ (BIN): PI3 (Program input 3) polarity selection
0: Positive logic
1: Negative logic
x _ _ _ (BIN): For manufacturer setting
_ x _ _ For manufacturer setting 0h
x _ _ _ For manufacturer setting 0h
Convert the setting value into hexadecimal as follows.

0 0
Initial value
Setting
BIN HEX
DOG (Proximity dog) polarity selection 0
0
0
0
Mark detection input polarity 0

Initial value
Setting
BIN HEX
PI1 (Program input 1) polarity selection 0
PI2 (Program input 2) polarity selection 0
0
PI3 (Program input 3) polarity selection 0
0

7 - 66
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT30 Set a mark sensor stop travel distance. 0
MSTL Upper and lower are a set. Refer to
Mark sensor When MSD (Mark detection) is on, the remaining distance will be changed to the Function
stop travel travel distance that is set with this parameter. column
distance for unit.
(lower three Setting address:
digits)
Upper 3 Lower 3
digits digits
[Pr. PT30]
PT31 [Pr. PT31]
MSTH
Mark sensor
When changing the setting, be sure to set the lower three digits first. Then, set the
stop travel
upper three digits. An incorrect order of the setting will trigger [AL. 37]. Therefore,
distance
cycling power may be required after [Pr. PT30] and [Pr. PT31] are all set.
(upper three
The unit will be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree], or [pulse] with
digits)
the setting of [Pr. PT01].

Setting range: 0 to 999

PT34 Use this parameter when initializing point tables, programs, and cam data. 0000h
*PDEF The point tables, the programs, and the cam data will be the following status by
Point being initialized.
table/program Point table: All "0"
default Program: Erased
Cam data: Erased

Initialize the point tables and the programs with the following procedures:
1) Set "5001h" to this parameter.
2) Cycle the power of the servo amplifier.
After the servo amplifier power is on, the initialization completes in about 20 s. "dEF"
will be displayed on the display (five-digit, seven-segment LED) during the
initialization. After the initialization, the setting of this parameter will be "0000h"
automatically.

Initialize the cam data with the following procedures:

1) Set "5010h" to this parameter.
2) Cycle the power of the servo amplifier.
After the initialization, the setting of this parameter will be "0000h" automatically.

Initialize the point tables, the programs and the cam data with the following
procedures:
1) Set "5011h" to this parameter.
2) Cycle the power of the servo amplifier.
After the servo amplifier power is on, the initialization completes in about 20 s. "dEF"
will be displayed on the display (five-digit, seven-segment LED) during the
initialization. After the initialization, the setting of this parameter will be "0000h"
automatically.
PT35 ___x For manufacturer setting 0h
*TOP5 __x_ 0h
Function _x__ Simple cam function selection 0h
selection T-5 0: Disabled
1: Enabled
This digit is enabled when the control mode is in the point table method or the
program method. Enabling this digit in other control modes will trigger [AL. 37
Parameter error].
x___ For manufacturer setting 0h

7 - 67
7. PARAMETERS

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] CP CL
PT41 ___x Home position return inhibit selection 0h
ORP 0: Disabled (home position return allowed)
Home 1: Enabled (home position return inhibited)
position Selecting "1" for this digit will disable the home position return regardless of turning
return inhibit on ST1 in the home position return mode.
function __x_ For manufacturer setting 0h
selection
_x__ 0h
x___ 0h

7 - 68
7. PARAMETERS

7.3 How to set the electronic gear

(1) Setting [mm], [inch], or [pulse] with "Position data unit" of [Pr. PT01].
Adjust [Pr. PA06] and [Pr. PA07] to match the servo amplifier setting with the travel distance of the
machine.
Electronic gear
([Pr. PA06]/[Pr. PA07])
Servo motor
CMX +
Travel distance Deviation counter M
CDV -

Encoder
Pt: Servo motor encoder revolution 131072 [pulse/rev]
ΔS: Travel distance per servo motor revolution [mm/rev]/[inch/rev]/[pulse/rev]
CMX/CDV = Pt/ΔS

Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter
error].
Electronic gear setting range
1/865 < CMX/CDV < 271471

(2) Setting [degree] with "Position data unit" of [Pr. PT01].

Set the number of gear teeth on machine side to [Pr. PA06] and the number of gear teeth on servo
motor side to [Pr. PA07].
Electronic gear
([Pr. PA06]/[Pr. PA07])
Servo motor
CMX Pt +
Travel distance Deviation counter M
CDV 360000 -

Pt: Servo motor encoder encoder revolution 131072 [pulse/rev] Encoder

Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter
error].

(a) Set values to make numerator and denominator 16384 or lower if the electronic gear (CMX/CDV) is
reduced to its lowest terms.
(b) Set values to make numerator and denominator 16777216 or lower if (CMX × Pt)/(CDV × 360000) is
reduced to its lowest terms.

The following shows a setting example of the electronic gear.

The number of gear teeth on machine side: 25, and the number of gear teeth on servo motor side:
11
Set [Pr. PA06] = 25 and [Pr. PA07] = 11.
Machine

Servo motor Z2
Z1

Pt (Servo motor resolution): 131072 pulses/rev

Z1: Number of gear teeth on servo motor side
Z2: Number of gear teeth on machine side
Z1: Z2 = 11:25

7 - 69
7. PARAMETERS

7.4 Software limit

The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end.
Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be
disabled at home position return. Setting a same value to "Software limit +" and "Software limit -" will disable
this function. Setting a larger value to "Software limit -" than "Software limit +" will trigger [AL. 37.2 Parameter
combination error].

Inhibited range
Movable range
Travel Travel possible
impossible

Software limit
Current position

7 - 70
7. PARAMETERS

7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off

Select a servo motor stop method for when LSP (Forward rotation stroke end) or LSN (Reverse rotation
stroke end) is off with the first digit of [Pr. PD30].
[Pr. PD30]

Stop method selection for LSP (Forward rotation stroke end) off or LSN
(Reverse rotation stroke end) off
0: Quick stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (deceleration to a stop by deceleration time constant)
3: Quick stop (stop by clearing remaining distance)

[Pr. PD30] Operation status

Remark
setting During rotation at constant speed During deceleration to a stop
___0 Without S-pattern acceleration/
Erases the droop
Without S-pattern acceleration/
(initial deceleration deceleration pulses and stops the
With S-pattern acceleration/ With S-pattern acceleration/
value) deceleration deceleration servo motor.
Erases the home
Servo motor speed Servo motor speed
position.
A difference will be
0 r/min 0 r/min generated between
the command position
LSP ON LSP ON and the current
or or
LSN OFF LSN OFF position.
Perform a home
position return again.
___1 Without S-pattern acceleration/ Without S-pattern acceleration/
Travels for the droop
deceleration deceleration pulses portion and
With S-pattern acceleration/ With S-pattern acceleration/
deceleration deceleration stops the servo motor.
Part of droop
Part of Erases the home
droop
Servo motor speed pulses Servo motor speed pulses position.
A difference will be
0 r/min 0 r/min
generated between
the command position
LSP ON LSP ON and the current
or or
LSN OFF LSN OFF position.
Perform a home
position return again.
___2 Acceleration/ Without S-pattern acceleration/
Decelerates to a stop
Without S-pattern acceleration/ deceleration time deceleration with the deceleration
deceleration constant With S-pattern acceleration/
With S-pattern acceleration/ +
S-pattern deceleration time constant currently
deceleration
acceleration/ selected with the point
deceleration time
constant Servo motor speed table or the program.
Servo motor speed Acceleration/ Continues operation
deceleration
0 r/min
0 r/min
time constant for a delay portion of
Decelerates to stop.
Continues the S-pattern
deceleration
LSP
LSP ON to stop. acceleration/decelera
ON or
or
LSN OFF LSN OFF tion time constants.
Maintains the home
position.
___3 Without S-pattern acceleration/ Part of S-pattern
Travels for the droop
Part of S-pattern
deceleration acceleration/ Without S-pattern acceleration/ acceleration/ pulses portion and
With S-pattern acceleration/ deceleration time deceleration deceleration time
deceleration constants With S-pattern acceleration/ constants stops the servo
+ +
Part of droop
deceleration
Part of droop motor.
pulses pulses
Servo motor speed Continues operation
Part of droop Servo motor speed
pulses Part of droop for a delay portion of
0 r/min pulses
0 r/min the S-pattern
acceleration/decelera
LSP ON LSP ON
tion time constants.
or or
LSN OFF
LSN OFF Maintains the home
position.

7 - 71
7. PARAMETERS

7.6 Stop method at software limit detection

Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with
the setting of the third digit in [Pr. PD30]. The software limit limits a command position controlled in the servo
amplifier. Therefore, actual stop position will not reach the set position of the software limit.
[Pr. PD30]

Stop method selection at software limit detection

0: Quick stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (deceleration to a stop by deceleration time constant)
3: Quick stop (stop by clearing remaining distance)

[Pr. PD30] Operation status

Remark
setting During rotation at constant speed During deceleration to a stop
_0__ Erases the droop
Without S-pattern acceleration/ Without S-pattern acceleration/
(initial deceleration deceleration pulses and stops the
With S-pattern acceleration/ With S-pattern acceleration/
value) deceleration deceleration servo motor.
Erases the home
Servo motor speed Servo motor speed
position.
A difference will be
0 r/min 0 r/min
generated between
the command position
Software limit detection
and the current
Software limit detection
position.
Perform a home
position return again.
_1__ Without S-pattern acceleration/ Without S-pattern acceleration/
Travels for the droop
deceleration deceleration pulses portion and
With S-pattern acceleration/ With S-pattern acceleration/
deceleration deceleration stops the servo
Part of droop
pulses motor.
Part of droop
Servo motor speed pulses Servo motor speed Erases the home
position.
0 r/min 0 r/min
A difference will be
generated between
Software limit detection Software limit detection the command
position and the
current position.
Perform a home
position return again.
_2__ Acceleration/ Without S-pattern acceleration/
Decelerates to a stop
Without S-pattern acceleration/
deceleration time deceleration with the deceleration
constant With S-pattern acceleration/
deceleration + deceleration time constant
With S-pattern acceleration/ S-pattern
deceleration acceleration/ currently selected
deceleration time
constant Servo motor speed
with the point table or
Servo motor speed Acceleration/ the program.
deceleration 0 r/min
time constant Continues operation
0 r/min Continues
deceleration for a delay portion of
Decelerates to stop. to stop. the S-pattern
Software limit detection
Software limit detection acceleration/decelera
tion time constants.
Maintains the home
position.
_3__ Part of S-pattern
Travels for the droop
Part of S-pattern
Without S-pattern acceleration/ acceleration/ acceleration/ pulses portion and
deceleration Without S-pattern acceleration/
deceleration time deceleration deceleration time
With S-pattern acceleration/ constants With S-pattern acceleration/ constants stops the servo motor.
deceleration + +
deceleration Continues operation
Part of droop Part of droop
pulses pulses
Servo motor speed for a delay portion of
Part of droop
pulses Servo motor speed Part of droop the S-pattern
0 r/min pulses
0 r/min acceleration/decelera
tion time constants.
Software limit detection
Maintains the home
Software limit detection position.

7 - 72
8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT
Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)"
for details of alarms and warnings.
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.
[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning])
are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or
the warning displayed, refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.

8.1 Explanations of the lists

(1) No./Name/Detail No./Detail name

Indicates the No./name/detail No./detail name of alarms or warnings.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops
with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or
"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced
stop deceleration.

(3) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods
marked in the alarm deactivation column. Warnings are automatically canceled after the cause of
occurrence is removed. Alarms are deactivated by alarm reset or power cycling.
Alarm deactivation Explanation
Alarm reset 1. Turn on RES (Reset) with an input device.
2. Push the "SET" button while the display of the servo amplifier is in the current
alarm display mode.
3. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2.
Power cycling Turn off the power, check that the 5-digit, 7-segment LED display is off, and then
turn on the power.

(4) Alarm code

To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by turning on/off bit 0 to bit
2. Warnings ([AL. 90] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be
outputted when they occur. The alarm codes will not be outputted in normal condition.

8- 1
8. TROUBLESHOOTING

8.2 Alarm list

Stop Alarm
Alarm code
Detail method deactivation
No. Name Detail name
No. (Note 2, Alarm Power ACD2 ACD1 ACD0
3) reset cycling (Bit 2) (Bit 1) (Bit 0)
10.1 Voltage drop in the power EDB
Alarm

10 Undervoltage 0 1 0
10.2 Bus voltage drop SD
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12.3 RAM error 3 DB
12 Memory error 1 (RAM) 0 0 0
12.4 RAM error 4 DB
12.5 RAM error 5 DB
12.6 RAM error 6 DB
13.1 Clock error 1 DB
13 Clock error 13.2 Clock error 2 DB 0 0 0
13.3 Clock error 3 DB
14.1 Control process error 1 DB
14.2 Control process error 2 DB
14.3 Control process error 3 DB
14.4 Control process error 4 DB
14.5 Control process error 5 DB
14.6 Control process error 6 DB
14 Control process error 0 0 0
14.7 Control process error 7 DB
14.8 Control process error 8 DB
14.9 Control process error 9 DB
14.A Control process error 10 DB
14.C Control process error 12 DB
14.D Control process error 13 DB
15.1 EEP-ROM error at power on DB
Memory error 2 15.2 EEP-ROM error during operation DB
15 0 0 0
(EEP-ROM) 15.4 Home position information read
DB
error
Encoder initial communication -
16.1 DB
Receive data error 1
Encoder initial communication -
16.2 DB
Receive data error 2
Encoder initial communication -
16.3 DB
Receive data error 3
Encoder initial communication -
16.5 DB
Transmission data error 1
Encoder initial communication -
16.6 DB
Transmission data error 2
Encoder initial communication -
16.7 DB
Encoder initial Transmission data error 3
16 1 1 0
communication error 1 Encoder initial communication -
16.A DB
Process error 1
Encoder initial communication -
16.B DB
Process error 2
Encoder initial communication -
16.C DB
Process error 3
Encoder initial communication -
16.D DB
Process error 4
Encoder initial communication -
16.E DB
Process error 5
Encoder initial communication -
16.F DB
Process error 6
17.1 Board error 1 DB
17.3 Board error 2 DB
17.4 Board error 3 DB
17 Board error 0 0 0
17.5 Board error 4 DB
17.6 Board error 5 DB
17.7 Board error 7 DB

8- 2
8. TROUBLESHOOTING

Stop Alarm
Alarm code
Detail method deactivation
No. Name Detail name
No. (Note 2, Alarm Power ACD2 ACD1 ACD0
3) reset cycling (Bit 2) (Bit 1) (Bit 0)
Alarm 19.1 Flash-ROM error 1 DB
Memory error 3 19.2 Flash-ROM error 2 DB
19 0 0 0
(Flash-ROM) 19.4 Flash-ROM error 4 DB
19.5 Flash-ROM error 5 DB
Servo motor 1A.1 Servo motor combination error 1 DB
1A 1 1 0
combination error 1A.4 Servo motor combination error 2 DB
Encoder initial
1E 1E.1 Encoder malfunction DB 1 1 0
communication error 2
Encoder initial
1F 1F.1 Incompatible encoder DB 1 1 0
communication error 3
Encoder normal communication -
20.1 EDB
Receive data error 1
Encoder normal communication -
20.2 EDB
Receive data error 2
Encoder normal communication -
20.3 EDB
Receive data error 3
Encoder normal communication -
20.5 EDB
Encoder normal Transmission data error 1
20 1 1 0
communication error 1 Encoder normal communication -
20.6 EDB
Transmission data error 2
Encoder normal communication -
20.7 EDB
Transmission data error 3
Encoder normal communication -
20.9 EDB
Receive data error 4
Encoder normal communication -
20.A EDB
Receive data error 5
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
Encoder normal 21.3 Encoder data waveform error EDB
21 1 1 0
communication error 2 21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
21.9 Encoder data error 2 EDB
Ground fault detected at hardware
24.1 DB
detection circuit
24 Main circuit error 1 0 0
Ground fault detected at software
24.2 DB
detection function
Absolute position Servo motor encoder - Absolute
25 25.1 DB
erased position erased

30.1 Regeneration heat error DB

(Note 1) (Note 1)

30 Regenerative error 30.2 Regeneration signal error DB 0 0 1

(Note 1) (Note 1)
Regeneration feedback signal
30.3 DB
error (Note 1) (Note 1)
31 Overspeed 31.1 Abnormal motor speed SD 1 0 1
Overcurrent detected at hardware
32.1 DB
detection circuit (during operation)
Overcurrent detected at software
32.2 detection function (during DB
32 Overcurrent operation) 1 0 0
Overcurrent detected at hardware
32.3 DB
detection circuit (during a stop)
Overcurrent detected at software
32.4 DB
detection function (during a stop)
33 Overvoltage 33.1 Main circuit voltage error EDB 0 0 1
34.1 SSCNET receive data error SD
SSCNET connector connection
34.2 SD
SSCNET receive error error
34
1 SSCNET communication data
34.3 SD
error
34.4 Hardware error signal detection SD
Command frequency
35 35.1 Command frequency error SD 1 0 1
error

8- 3
8. TROUBLESHOOTING

Stop Alarm
Alarm code
Detail method deactivation
No. Name Detail name
No. (Note 2, Alarm Power ACD2 ACD1 ACD0
3) reset cycling (Bit 2) (Bit 1) (Bit 0)
Alarm SSCNET receive error Continuous communication data
36 36.1 SD
2 error
37.1 Parameter setting range error DB
37 Parameter error 37.2 Parameter combination error DB 0 0 0
37.3 Point table setting error DB
39.1 Program error DB
39.2 Instruction argument external error DB
39 Program error 39.3 Register No. error DB 0 0 0
Non-correspondence command
39.4 DB
error
Inrush current
Inrush current suppression circuit
3A suppression circuit 3A.1 EDB 0 0 0
error
error
3E.1 Operation mode error DB
3E Operation mode error
3E.6 Operation mode switch error DB 0 0 0
Main circuit device
45 45.1 Main circuit device overheat error 1 SD 0 1 1
overheat (Note 1) (Note 1)
Abnormal temperature of servo
46.1 SD
motor 1 (Note 1) (Note 1)
Abnormal temperature of servo
46 Servo motor overheat 46.5 DB 0 1 1
motor 3 (Note 1) (Note 1)
Abnormal temperature of servo
46.6 DB
motor 4 (Note 1) (Note 1)
47 Cooling fan error 47.2 Cooling fan speed reduction error SD 0 1 1
Thermal overload error 1 during
50.1 SD
operation (Note 1) (Note 1)
Thermal overload error 2 during
50.2 SD
operation (Note 1) (Note 1)
Thermal overload error 4 during
50.3 SD
operation (Note 1) (Note 1)
50 Overload 1 0 1 1
Thermal overload error 1 during a
50.4 SD
stop (Note 1) (Note 1)
Thermal overload error 2 during a
50.5 SD
stop (Note 1) (Note 1)
Thermal overload error 4 during a
50.6 SD
stop (Note 1) (Note 1)
Thermal overload error 3 during
51.1 DB
operation (Note 1) (Note 1)
51 Overload 2 0 1 1
Thermal overload error 3 during a
51.2 DB
stop (Note 1) (Note 1)
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 Error excessive Error excessive during 0 torque 1 0 1
52.4 SD
limit
52.5 Excess droop pulse 3 EDB
54 Oscillation detection 54.1 Oscillation detection error EDB 0 1 1
56.2 Over speed during forced stop EDB
56 Forced stop error Estimated distance over during 1 1 0
56.3 EDB
forced stop
61 Operation error 61.1 Point table setting range error DB 1 0 1
Forward rotation-side software limit
69.1 SD
detection - Command excess error
Reverse rotation-side software limit
69.2 SD
detection - Command excess error
69 Command error 1 0 1
Forward rotation stroke end
69.3 SD
detection - Command excess error
Reverse rotation stroke end
69.4 SD
detection - Command excess error
86.1 Network communication error 1 SD
Network
86 86.4 Network communication error 4 SD 0 0 0
communication error
86.5 Network communication error 5 SD

8- 4
8. TROUBLESHOOTING

Stop Alarm
Alarm code
Detail method deactivation
No. Name Detail name
No. (Note 2, Alarm Power ACD2 ACD1 ACD0
3) reset cycling (Bit 2) (Bit 1) (Bit 0)
Alarm USB communication USB communication time-out
time-out error/serial 8A.1 error/serial communication time- SD
communication time- out error
8A 0 0 0
out error/Modbus RTU
Modbus RTU communication time-
communication time- 8A.2 SD
out error
out error
Network module communication
8C.1 SD
error 1
Network module communication
8C.2 SD
error 2
Network module communication
8C.3 SD
error 3
Network module Network module communication
8C 8C.4 SD 0 0 0
communication error error 4
Network module communication
8C.5 SD
error 5
Network module communication
8C.6 SD
error 6
Network module communication
8C.7 SD
error 7
USB communication receive
8E.1 error/serial communication receive SD
error
USB communication checksum
8E.2 error/serial communication SD
checksum error
USB communication character
8E.3 error/serial communication SD
USB communication character error
error/serial USB communication command
8E communication 8E.4 error/serial communication SD 0 0 0
error/Modbus RTU command error
communication error USB communication data number
8E.5 error/serial communication data SD
number error
Modbus RTU communication
8E.6 SD
receive error
Modbus RTU communication
8E.7 SD
message frame error
Modbus RTU communication CRC
8E.8 SD
error
888/ 88._/
Watchdog Watchdog DB
88888 8888._

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows three stop methods of DB, EDB, and SD.
DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)
EDB: Electronic dynamic brake stop (available with specified servo motors)
Refer to the following table for the specified servo motors. The stop method for other than the
specified servo motors is DB.
For MR-JE_A, setting [Pr. PF09] to "(_ _ _ 3)" enables the electronic dynamic brake.

Series Servo motor

HG-KN HG-KN053/HG-KN13/HG-KN23/HG-KN43
HG-SN HG-SN52

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB
using [Pr. PA04].

8- 5
8. TROUBLESHOOTING

8.3 Warning list

Stop
Detail method
No. Name Detail name
No. (Note 2,
3)
90.1 Home position return incomplete
Warning

Home position return Home position return abnormal

90 90.2
incomplete warning termination
90.5 Z-phase unpassed
Servo amplifier
Main circuit device overheat
91 overheat warning 91.1
warning
(Note 1)
Encoder battery cable
Battery cable 92.1
92 disconnection warning
disconnection warning
92.3 Battery degradation
In-position warning at home
96.1
positioning
Home position setting Command input warning at home
96 96.2
warning positioning
Servo off warning at home
96.3
positioning
Positioning Program operation disabled
97 97.1
specification warning warning
Forward rotation-side software
98.1
stroke limit reached
98 Software limit warning
Reverse rotation-side software
98.2
stroke limit reached
99.1 Forward rotation stroke end off (Note 4)
99 Stroke limit warning
99.2 Reverse rotation stroke end off (Note 4)
9B.1 Excess droop pulse 1 warning
Error excessive 9B.3 Excess droop pulse 2 warning
9B
warning Error excessive warning during 0
9B.4
torque limit
9F Battery warning 9F.1 Low battery
Excessive regeneration
E0 E0.1 Excessive regeneration warning
warning
Thermal overload warning 1 during
E1.1
operation
Thermal overload warning 2 during
E1.2
operation
Thermal overload warning 3 during
E1.3
operation
Thermal overload warning 4 during
E1.4
operation
E1 Overload warning 1
Thermal overload warning 1 during
E1.5
a stop
Thermal overload warning 2 during
E1.6
a stop
Thermal overload warning 3 during
E1.7
a stop
Thermal overload warning 4 during
E1.8
a stop
Multi-revolution counter travel
E3.1
distance excess warning
E3.2 Absolute position counter warning
Absolute position
E3 Absolute positioning counter EEP-
counter warning E3.4
ROM writing frequency warning
Encoder absolute positioning
E3.5
counter warning
Parameter setting range error
E4 Parameter warning E4.1
warning
Servo forced stop
E6 E6.1 Forced stop warning SD
warning
Controller forced stop
E7 E7.1 Controller forced stop input warning SD
warning
Cooling fan speed Decreased cooling fan speed
E8 E8.1
reduction warning warning

8- 6
8. TROUBLESHOOTING

Stop
Detail method
No. Name Detail name
No. (Note 2,
3)
Warning Servo-on signal on during main
E9.1 DB
circuit off
Bus voltage drop during low speed
E9 Main circuit off warning E9.2 DB
operation
Ready-on signal on during main
E9.3 DB
circuit off
EC Overload warning 2 EC.1 Overload warning 2
Output watt excess
ED ED.1 Output watt excess warning
warning
Instantaneous power failure tough
F0.1
F0 Tough drive warning drive warning
F0.3 Vibration tough drive warning
Drive recorder - Area writing time-
F2.1
Drive recorder - out warning
F2
Miswriting warning Drive recorder - Data miswriting
F2.2
warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning
Target position setting range error
F4.4
warning
Acceleration time constant setting
F4.6
range error warning
F4 Positioning warning
Deceleration time constant setting
F4.7
range error warning
Control command input error
F4.8
warning
Cam data - Area writing time-out
Simple cam function - F5.1
warning
F5 Cam data miswriting
F5.2 Cam data - Area miswriting warning
warning
F5.3 Cam data checksum error
Cam axis one cycle current value
F6.1
restoration failed
Cam axis feed current value
F6.2
Simple cam function - restoration failed
F6
Cam control warning F6.3 Cam unregistered error
F6.4 Cam control data setting range error
F6.5 Cam No. external error
F6.6 Cam control inactive

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows two stop methods of DB and SD.
DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB
using [Pr. PA04].
4. Quick stop or slow stop can be selected using [Pr. PD30] for the MR-JE-_A or using [Pr. PD35] for the MR-
JE-_C (except in the profile mode).

8- 7
8. TROUBLESHOOTING

MEMO

8- 8
9. OPTIONS AND PERIPHERAL EQUIPMENT

9. OPTIONS AND PERIPHERAL EQUIPMENT

Before connecting options and peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Otherwise, an electric
WARNING shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.

Use the specified peripheral equipment and options to prevent a malfunction or a

CAUTION fire.

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Cable/connector sets MR-JE-_A section 11.1
Regenerative option MR-JE-_A section 11.2
Junction terminal block MR-TB50 MR-JE-_A section 11.3
MR Configurator2 MR-JE-_A section 11.4
Selection example of wires MR-JE-_A section 11.5
Molded-case circuit breakers, fuses, magnetic contactors MR-JE-_A section 11.6
Power factor improving AC reactor MR-JE-_A section 11.7
Relay (recommended) MR-JE-_A section 11.8
Noise reduction techniques MR-JE-_A section 11.9
Earth-leakage current breaker MR-JE-_A section 11.10
EMC filter (recommended) MR-JE-_A section 11.11

9- 1
9. OPTIONS AND PERIPHERAL EQUIPMENT

9.1 MR-HDP01 manual pulse generator

POINT
When using an MR-HDP01, set [Pr. PA13 Command pulse input form] to "_ 2 _
2" or "_ 3 _ 2".
Configure MR-HDP01 with sink interface.

You can operate servo motors by using MR-HDP01 manual pulse generator. A multiplication to pulse signals
which MR-HDP01 generates with external input signals can be changed with TP0 (Manual pulse generator
multiplication 1) and TP1 (Manual pulse generator multiplication 2).

(1) Specifications
Item Specifications
Voltage 4.5 V DC to 13.2 V DC
Power supply
Consumption current 60 mA or less
Interface Maximum output current: 20 mA for open collector output
Pulse signal form A-phase/B-phase, 2 signals of 90˚ phase difference
Pulse resolution 100 pulses/rev
Maximum speed Instantaneous maximum: 600 r/min, normal: 200 r/min
Temperature range for operation -10 °C to 60 °C
Temperature range for storage -30 °C to 80 °C

(2) Connection example

Servo amplifier
CN1
Manual pulse generator multiplication 1 TP0 (Note 2)

Manual pulse generator multiplication 2 TP1 (Note 2)

DICOM 20
24 V DC
24 V DC CN1
OPC 12
5 V DC
+5 to
12 V DOCOM 46
MR-HDP01
Manual pulse generator A PP 10 (Note 1)

0V
B NP 35 (Note 1)

SD Plate

Note 1. To assign PP and NP, set [Pr. PD44] and [Pr. PD46] to "0 0 _ _".
2. To use this as an input device, assign to specified pin of the CN1 connector with [Pr.
PD04] to [Pr. PD22].

9- 2
9. OPTIONS AND PERIPHERAL EQUIPMENT

(3) Terminal assignment

Signal name Description
+5 to
12 V 0 V A B +5 to 12 V Power supply input
Common for power and
0V
signal
A A-phase output pulse
B B-phase output pulse

(4) Mounting
[Unit: mm]

Panel cut 3-φ4.8

Equal
intervals
+2
0
2
φ6

0.2
φ72 ±

(5) Dimensions
[Unit: mm]

3.6 Packing t2.0

3-M4 stud L10
P.C.D72
Equal intervals
φ60 ± 0.1
φ80 ± 1
φ70
φ50

Invalid to use except

M3 × 6
0.27 ± 0.5
16 20 8.89 7.6

9- 3
9. OPTIONS AND PERIPHERAL EQUIPMENT

MEMO

9- 4
10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC

SERVO PROTOCOL)

The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated
in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".
Item Detailed explanation
Structure MR-JE-_A section 12.1
Communication specifications MR-JE-_A section 12.2
Protocol MR-JE-_A section 12.3
Data processing MR-JE-_A section 12.5.1
Status display MR-JE-_A section 12.5.2
Parameter MR-JE-_A section 12.5.3
Prohibiting/canceling I/O devices (DIO) MR-JE-_A section 12.5.6
Alarm history MR-JE-_A section 12.5.10
Current alarm MR-JE-_A section 12.5.11
Software version MR-JE-_A section 12.5.12

POINT
Creating and reading programs are not available with Mitsubishi Electric
general-purpose AC servo protocol (RS-422 communication). Use MR
Configurator2.

10.1 Command and data No. list

POINT
Even if a command or data No. is the same between different model servo
amplifiers, its description may differ.
The symbols in the control mode column mean as follows:
CP: Positioning mode (point table method)
CL: Positioning mode (program method)

10 - 1
10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.1.1 Reading command

(1) Status display (command [0] [1])

Control
Frame
Command Data No. Description Status display mode
length
CP CL
[0] [1] [0] [0] Status display symbol and unit Cumulative feedback pulses 16
[0] [1] Servo motor speed
[0] [2] Droop pulses
Servo motor-side droop pulses
[0] [3] Cumulative command pulses
[0] [4] Command pulse frequency
[0] [5] Analog speed command voltage
Analog speed limit voltage
[0] [6] Analog torque limit voltage
Analog torque command voltage
[0] [7] Regenerative load ratio
[0] [8] Effective load ratio
[0] [9] Peak load ratio
[0] [A] Instantaneous torque
[0] [B] Position within one-revolution
[0] [C] ABS counter
[0] [D] Load to motor inertia ratio
[0] [E] Bus voltage
[2] [0] Internal temperature of encoder
[2] [1] Settling time
[2] [2] Oscillation detection frequency
[2] [3] Number of tough drive operations
[2] [8] Unit power consumption
[2] [9] Unit total power consumption
[2] [A] Current position
[2] [B] Command position
[2] [C] Command remaining distance
[2] [D] Point table No./Program No.
[2] [E] Step No.
[2] [F] Analog override voltage
[3] [0] Override level
[3] [3] Cam axis one cycle current value
[3] [4] Cam standard position
[3] [5] Cam axis feed current value
[3] [6] Cam No. in execution
[3] [7] Cam stroke amount in execution
[3] [8] Main axis current value
[3] [9] Main axis one cycle current value

10 - 2
10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

Control
Frame
Command Data No. Description Status display mode
length
CP CL
[0] [1] [8] [0] Status display data value and Cumulative feedback pulses 12
[8] [1] processing information Servo motor speed
[8] [2] Droop pulses
[8] [3] Cumulative command pulses
[8] [4] Command pulse frequency
[8] [5] Analog speed command voltage
Analog speed limit voltage
[8] [6] Analog torque limit voltage
Analog torque command voltage
[8] [7] Regenerative load ratio
[8] [8] Effective load ratio
[8] [9] Peak load ratio
[8] [A] Instantaneous torque
[8] [B] Position within one-revolution
[8] [C] ABS counter
[8] [D] Load to motor inertia ratio
[8] [E] Bus voltage
[A] [0] Internal temperature of encoder
[A] [1] Settling time
[A] [2] Oscillation detection frequency
[A] [3] Number of tough drive operations
[A] [8] Unit power consumption
[A] [9] Unit total power consumption
[A] [A] Current position
[A] [B] Command position
[A] [C] Command remaining distance
[A] [D] Point table No./Program No.
[A] [E] Step No.
[A] [F] Analog override voltage
[B] [0] Override level
[B] [3] Cam axis one cycle current value
[B] [4] Cam standard position
[B] [5] Cam axis feed current value
[B] [6] Cam No. in execution
[B] [7] Cam stroke amount in execution
[B] [8] Main axis current value
[B] [9] Main axis one cycle current value

10 - 3
10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(2) Parameter (command [0] [4], [1] [5], [1] [6], [1] [7], [0] [8], and [0] [9])
Control
Frame
Command Data No. Description mode
length
CP CL
[0] [4] [0] [1] Parameter group reading 4
0000: Basic setting parameters ([Pr. PA_ _ ])
0001: Gain/filter parameters ([Pr. PB_ _ ])
0002: Extension setting parameters ([Pr. PC_ _ ])
0003: I/O setting parameters ([Pr. PD_ _ ])
0004: Extension setting 2 parameters ([Pr. PE_ _ ])
0005: Extension setting 3 parameters ([Pr. PF_ _ ])
000C: Positioning control parameters ([Pr. PT_ _ ])
Reads the parameter group specified with the command [8] [5] + data No. [0]
[0]. Therefore, be sure to specify the parameter group with the command [8] [5]
+ data No. [0] [0] before reading the current values.
[1] [5] [0] [1] to [F] [F] Current value of each parameter 12
Reads the current values of the parameters in the parameter group specified
with the command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the
parameter group with the command [8] [5] + data No. [0] [0] before reading the
current values.
The data No. (hexadecimal) value which is converted to decimal corresponds to
the parameter No.
[1] [6] [0] [1] to [F] [F] Upper limit value of each parameter setting range
Reads the permissible upper limit values of the parameters in the parameter
group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure
to specify the parameter group with the command [8] [5] + data No. [0] [0]
before reading the upper limit values.
The data No. (hexadecimal) value which is converted to decimal corresponds to
the parameter No.
[1] [7] [0] [1] to [F] [F] Lower limit value of each parameter setting range
Reads the permissible lower limit values of the parameters in the parameter
group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure
to specify the parameter group with the command [8] [5] + data No. [0] [0]
before reading the lower limit values.
The data No. (hexadecimal) value which is converted to decimal corresponds to
the parameter No.
[0] [8] [0] [1] to [F] [F] Each parameter symbol
Reads the symbols of the parameters in the parameter group specified with the
command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the parameter
group with the command [8] [5] + data No. [0] [0] before reading the symbol.
The data No. (hexadecimal) value which is converted to decimal corresponds to
the parameter No.
[0] [9] [0] [1] to [F] [F] Writing enable/disable of parameters 4
Reads writing enable/disable of the parameters in the parameter group
specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure to
specify the parameter group with the command [8] [5] + data No. [0] [0] before
reading the writing enable/disable.
0000: Writing enabled
0001: Writing disabled

(3) External I/O signals (command [1] [2])

Control
Frame
Command Data No. Description mode
length
CP CL
[1] [2] [0] [0] to [0] [2] Input device status 8
[4] [0] External input pin status
[6] [0] to [6] [2] Status of input device turned on by communication
[8] [0] to [8] [3] Output device status
[C] [0] External output pin status

10 - 4
10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(4) Current position latch display (command [1] [A])

Control
Frame
Command Data No. Description mode
length
CP CL
[1] [A] [0] [0] MSD (Mark detection) rising latch data (data part) 8
[0] [1] MSD (Mark detection) falling latch data (data part)
[0] [2] MSD (Mark detection) rising latch data (data part + additional information) 12
[0] [3] MSD (Mark detection) falling latch data (data part + additional information)

(5) Alarm history (command [3] [3])

Control
Frame
Command Data No. Description Alarm occurrence sequence mode
length
CP CL
[3] [3] [1] [0] Alarm No. in alarm history Most recent alarm 4
[1] [1] One alarm ago
[1] [2] Two alarms ago
[1] [3] Three alarms ago
[1] [4] Four alarms ago
[1] [5] Five alarms ago
[1] [6] Six alarms ago
[1] [7] Seven alarms ago
[1] [8] Eight alarms ago
[1] [9] Nine alarms ago
[1] [A] Ten alarms ago
[1] [B] Eleven alarms ago
[1] [C] Twelve alarms ago
[1] [D] Thirteen alarms ago
[1] [E] Fourteen alarms ago
[1] [F] Fifteen alarms ago
[2] [0] Alarm occurrence time in alarm history Most recent alarm 8
[2] [1] One alarm ago
[2] [2] Two alarms ago
[2] [3] Three alarms ago
[2] [4] Four alarms ago
[2] [5] Five alarms ago
[2] [6] Six alarms ago
[2] [7] Seven alarms ago
[2] [8] Eight alarms ago
[2] [9] Nine alarms ago
[2] [A] Ten alarms ago
[2] [B] Eleven alarms ago
[2] [C] Twelve alarms ago
[2] [D] Thirteen alarms ago
[2] [E] Fourteen alarms ago
[2] [F] Fifteen alarms ago

(6) Current alarm (command [0] [2])

Control
Frame
Command Data No. Description mode
length
CP CL
[0] [2] [0] [0] Current alarm No. 4

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(7) Status display at alarm occurrence (command [3] [5])

Control
Frame
Command Data No. Description Status display mode
length
CP CL
[3] [5] [0] [0] Status display symbol and unit Cumulative feedback pulses 16
[0] [1] Servo motor speed
[0] [2] Droop pulses
[0] [3] Cumulative command pulses
[0] [4] Command pulse frequency
[0] [5] Analog speed command voltage
Analog speed limit voltage
[0] [6] Analog torque limit voltage
Analog torque command voltage
[0] [7] Regenerative load ratio
[0] [8] Effective load ratio
[0] [9] Peak load ratio
[0] [A] Instantaneous torque
[0] [B] Position within one-revolution
[0] [C] ABS counter
[0] [D] Load to motor inertia ratio
[0] [E] Bus voltage
[2] [0] Internal temperature of encoder
[2] [1] Settling time
[2] [2] Oscillation detection frequency
[2] [3] Number of tough drive operations
[2] [8] Unit power consumption
[2] [9] Unit total power consumption
[2] [A] Current position
[2] [B] Command position
[2] [C] Command remaining distance
[2] [D] Point table No./Program No.
[2] [E] Step No.
[2] [F] Analog override voltage
[3] [0] Override level
[3] [3] Cam axis one cycle current value
[3] [4] Cam standard position
[3] [5] Cam axis feed current value
[3] [6] Cam No. in execution
[3] [7] Cam stroke amount in execution
[3] [8] Main axis current value
[3] [9] Main axis one cycle current value

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

Control
Frame
Command Data No. Description Status display mode
length
CP CL
[3] [5] [8] [0] Status display data value and Cumulative feedback pulses 12
[8] [1] processing information Servo motor speed
[8] [2] Droop pulses
[8] [3] Cumulative command pulses
[8] [4] Command pulse frequency
[8] [5] Analog speed command voltage
Analog speed limit voltage
[8] [6] Analog torque limit voltage
Analog torque command voltage
[8] [7] Regenerative load ratio
[8] [8] Effective load ratio
[8] [9] Peak load ratio
[8] [A] Instantaneous torque
[8] [B] Position within one-revolution
[8] [C] ABS counter
[8] [D] Load to motor inertia ratio
[8] [E] Bus voltage
[A] [0] Internal temperature of encoder
[A] [1] Settling time
[A] [2] Oscillation detection frequency
[A] [3] Number of tough drive operations
[A] [8] Unit power consumption
[A] [9] Unit total power consumption
[A] [A] Current position
[A] [B] Command position
[A] [C] Command remaining distance
[A] [D] Point table No./Program No.
[A] [E] Step No.
[A] [F] Analog override voltage
[B] [0] Override level
[B] [3] Cam axis one cycle current value
[B] [4] Cam standard position
[B] [5] Cam axis feed current value
[B] [6] Cam No. in execution
[B] [7] Cam stroke amount in execution
[B] [8] Main axis current value
[B] [9] Main axis one cycle current value

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(8) Point table setting data (command [4] [0], [4] [5], [5] [0], [5] [4], [5] [8], [6] [0], [6] [4])
Control
Frame
Command Data No. Description mode
length
CP CL
[4] [0] [0] [1] to [1] [F] Reading position data of each point table 8
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[4] [5] [0] [1] to [1] [F] Reading M code of each point table
This command will be available in the future.
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[5] [0] [0] [1] to [1] [F] Reading speed data of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[5] [4] [0] [1] to [1] [F] Reading acceleration time constant of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[5] [8] [0] [1] to [1] [F] Reading deceleration time constant of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[6] [0] [0] [1] to [1] [F] Reading dwell of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[6] [4] [0] [1] to [1] [F] Reading auxiliary function of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.

(9) Position data unit/Current position latch data (command [6] [C])
Control
Frame
Command Data No. Description mode
length
CP CL
[6] [C] [0] [0] Reading position data unit 4
_ _ _ x 0: mm, 1: inch, 2: pulse, 3: degree
_ _ x _ 0: Enabled, 1: Disabled
[0] [1] Reading current position latch data 12
Reads data latched at rising edge of LPS signal using LPOS command in the
program operation.

(10) General purpose register (Rx) value (command [6] [D])

Control
Frame
Command Data No. Description mode
length
CP CL
[6] [D] [0] [1] Reading general purpose register (R1) value 8
[0] [2] Reading general purpose register (R2) value
[0] [3] Reading general purpose register (R3) value
[0] [4] Reading general purpose register (R4) value

(11) General purpose register (Dx) value (command [6] [E])

Control
Frame
Command Data No. Description mode
length
CP CL
[6] [E] [0] [1] Reading general purpose register (D1) value 8
[0] [2] Reading general purpose register (D2) value
[0] [3] Reading general purpose register (D3) value
[0] [4] Reading general purpose register (D4) value

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(12) Number of general purpose register (command [6] [F])

Control
Frame
Command Data No. Description mode
length
CP CL
[6] [F] [0] [0] Reading the number of general purpose register (Rx) 8
[0] [1] Reading the number of general purpose register (Dx)

(13) Others (command [0] [0], [0] [2])

Control
Frame
Command Data No. Description mode
length
CP CL
[0] [0] [1] [2] Reading test operation mode 4
0000: Normal mode (not test operation mode)
0001: JOG operation
0002: Positioning operation
0004: Output signal (DO) forced output
0005: Single-step feed operation
[1] [D] Reading EEP-ROM stored data type
0000: Initial state
0001: Point table method
0002: Program method
[1] [E] Reading control mode
0006: Positioning mode (point table method)
0007: Positioning mode (program method)
[0] [2] [9] [0] Servo motor-side pulse unit absolute position 8
[9] [1] Command unit absolute position
[7] [0] Software version 16

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.1.2 Writing commands

(1) Status display (command [8] [1])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[8] [1] [0] [0] Deleting status display data 1EA5 4

(2) Parameter (command [9] [4], [8] [5])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[9] [4] [0] [1] to [F] [F] Writing each parameter Varies 12
Writes the values of the parameters in the parameter group depending on
specified with the command [8] [5] + data No. [0] [0]. the parameter
Therefore, be sure to specify the parameter group with the
command [8] [5] + data No. [0] [0] before writing the values.
The data No. (hexadecimal) value which is converted to
decimal corresponds to the parameter No.
[8] [5] [0] [0] Writing parameter group 0000 to 000C 4
0000: Basic setting parameters ([Pr. PA_ _ ])
0001: Gain/filter parameters ([Pr. PB_ _ ])
0002: Extension setting parameters ([Pr. PC_ _ ])
0003: I/O setting parameters ([Pr. PD_ _ ])
0004: Extension setting 2 parameters ([Pr. PE_ _ ])
0005: Extension setting 3 parameters ([Pr. PF_ _ ])
000C: Positioning control parameters ([Pr. PT_ _ ])

(3) External I/O signals (command [9] [2])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[9] [2] [6] [0] to [6] [2] Communication input device signal Refer to 8
section 10.2.2.

(4) Alarm history (command [8] [2])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[8] [2] [2] [0] Clearing alarm history 1EA5 4

(5) Current alarm (command [8] [2])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[8] [2] [0] [0] Clearing alarm 1EA5 4

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(6) I/O device prohibition (command [9] [0])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[9] [0] [0] [0] Turns off the input devices except EM2, LSP and LSN, 1EA5 4
external analog input signals, and pulse train inputs,
independently of the external on/off status.
[0] [3] Prohibits all output devices (DO). 1EA5
[1] [0] Cancels the prohibition of the input devices except EM2, LSP 1EA5
and LSN, external analog input signals and pulse train inputs.
[1] [3] Cancels the prohibition of the output device. 1EA5

(7) Operation mode selection (command [8] [B])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[8] [B] [0] [0] Selecting test operation mode 0000 to 0002, 4
0000: Test operation mode cancel 0004, 0005
0001: JOG operation
0002: Positioning operation
0004: Output signal (DO) forced output
0005: Single-step feed operation

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(8) Test operation mode data (command [9] [2], [A] [0])
Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[9] [2] [0] [0] to [0] [2] Input signal for test operation Refer to section 8
14.5.7 of "MR-
JE-_A Servo
Amplifier
Instruction
Manual".
[A] [0] Forced output of signal pin Refer to
section 14.5.9
of "MR-JE-_A
Servo Amplifier
Instruction
Manual".
[A] [0] [1] [0] Write the servo motor speed in the test operation mode (JOG 0000 to 7FFF 4
operation and positioning operation).
[1] [1] Write the acceleration/deceleration time constant in the test 00000000 to 8
operation mode (JOG operation and positioning operation). 7FFFFFFF
[2] [0] Set the travel distance of the test operation mode (positioning 00000000 to
operation). 7FFFFFFF
[2] [1] Select the positioning direction of the test operation 0000 to 0101 4
(positioning operation).

0 0
0: Forward rotation direction
1: Reverse rotation direction

0: Command pulse unit

1: Encoder pulse unit

[4] [0] This is a start command of the test operation (positioning 1EA5
operation).
[4] [1] Use this to make a temporary stop during test operation STOP
(positioning operation). "□" in the data indicates a blank. GO□□
STOP: Temporary stop CLR□
GO□□: Restart for remaining distance
CLR□: Remaining distance clear

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(9) Point table setting data (command [C] [0], [C] [2], [C] [6], [C] [7], [C] [8], [C] [A], [C] [B])
Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[C] [0] [0] [1] to [1] [F] Writing position data of each point table -999999 to 8
The data No. (hexadecimal) value which is converted to 999999
decimal corresponds to the point table No.
[C] [2] [0] [1] to [1] [F] Writing M code of each point table 0 to 99
This command will be available in the future.
The data No. (hexadecimal) value which is converted to
decimal corresponds to the point table No.
[C] [6] [0] [1] to [1] [F] Writing speed data of each point table 0 to
The data No. (hexadecimal) value which is converted to permissible
decimal corresponds to the point table No. speed
[C] [7] [0] [1] to [1] [F] Writing acceleration time constant of each point table 0 to 20000
The data No. (hexadecimal) value which is converted to
decimal corresponds to the point table No.
[C] [8] [0] [1] to [1] [F] Writing deceleration time constant of each point table 0 to 20000
The data No. (hexadecimal) value which is converted to
decimal corresponds to the point table No.
[C] [A] [0] [1] to [1] [F] Writing dwell of each point table 0 to 20000
The data No. (hexadecimal) value which is converted to
decimal corresponds to the point table No.
[C] [B] [0] [1] to [1] [F] Writing auxiliary function of each point table 0 to 3, 8 to 11
The data No. (hexadecimal) value which is converted to
decimal corresponds to the point table No.

(10) General purpose register (Rx) value (command [B] [9])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[B] [9] [0] [1] Writing general purpose register (R1) value Varies 8
[0] [2] Writing general purpose register (R2) value depending on
the commands
[0] [3] Writing general purpose register (R3) value (Refer to
[0] [4] Writing general purpose register (R4) value section 5.2.2.)

(11) General purpose register (Dx) value (command [B] [A])

Control
Frame
Command Data No. Description Setting range mode
length
CP CL
[B] [A] [0] [1] Writing general purpose register (D1) value Varies 8
[0] [2] Writing general purpose register (D2) value depending on
the commands
[0] [3] Writing general purpose register (D3) value (Refer to
[0] [4] Writing general purpose register (D4) value section 5.2.2.)

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.2 Detailed explanations of commands

10.2.1 External I/O signal status (DIO diagnosis)

(1) Reading input device status

The current input device status can be read.

(a) Transmission
Transmit command [1] [2] + data No. [0] [0] to [0] [2].
Command Data No.
[1] [2] [0] [0] to [0] [2]

(b) Return
The slave station returns the status of the input devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Symbol
Bit
Data No. [0] [0] Data No. [0] [1] Data No. [0] [2]
0 SON MD0
1 LSP
2 LSN
3 TL TCH
4 TL1 TP0
5 PC TP1
6 RES OVR
7 CR
8 SP1
9 SP2 DOG
10 SP3
11 ST1/RS2
12 ST2/RS1
13 CMX1
14 CMX2
15 LOP
16 MSD LPS
17 PI1
18 EM2/EM1 PI2
19 PI3
20 STAB2 CAMC
21 CI0
22 CI1
23 CI2
24 TSTP CI3 DI0
25 CLTC DI1
26 CPCD DI2
27 CDP DI3
28 DI4
29
30
31

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(2) Reading external input pin status

Reads the on/off statuses of the external input pins.

(a) Transmission
Transmit command [1] [2] + data No. [4] [0].
Command Data No.
[1] [2] [4] [0]

(b) Return
The on/off statuses of the input pins are returned.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit CN1 connector pin Bit CN1 connector pin

0 43 16
1 44 17
2 42 18
3 15 19
4 19 20
5 41 21
6 10 (Note) 22
7 35 (Note) 23
8 24
9 25
10 26
11 27
12 28
13 29
14 30
15 31

Note. When the pulse train input is selected with [Pr. PD44] or [Pr. PD46], this bit will be
always "0" (off).

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(3) Reading the status of input devices switched on with communication

Reads the on/off statuses of the input devices switched on with communication.

(a) Transmission
Transmit command [1] [2] + data No. [6] [0] to [6] [2].
Command Data No.
[1] [2] [6] [0] to [6] [2]

(b) Return
The slave station returns the status of the input devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Symbol
Bit
Data No. [6] [0] Data No. [6] [1] Data No. [6] [2]
0 SON MD0
1 LSP
2 LSN
3 TL TCH
4 TL1 TP0
5 PC TP1
6 RES OVR
7 CR
8 SP1
9 SP2 DOG
10 SP3
11 ST1/RS2
12 ST2/RS1
13 CMX1
14 CMX2
15 LOP
16 MSD LPS
17 PI1
18 EM2/EM1 PI2
19 PI3
20 STAB2 CAMC
21 CI0
22 CI1
23 CI2
24 TSTP CI3 DI0
25 CLTC DI1
26 CPCD DI2
27 CDP DI3
28 DI4
29
30
31

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(4) Reading external output pin status

Reads the on/off statuses of the external output pins.

(a) Transmission
Transmit command [1] [2] + data No. [C] [0].
Command Data No.
[1] [2] [C] [0]

(b) Return
The slave station returns the status of the output devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit CN1 connector pin Bit CN1 connector pin

0 49 16
1 24 17
2 23 18
3 19
4 20
5 48 21
6 33 22
7 23
8 24
9 25
10 26
11 27
12 28
13 29
14 30
15 31

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(5) Reading output device status

Reads the on/off statuses of the output devices.

(a) Transmission
Transmit command [1] [2] + data No. [8] [0] to [8] [3].
Command Data No.
[1] [2] [8] [0] to [8] [3]

(b) Return
The slave station returns the status of the input/output devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Symbol
Bit
Data No. [8] [0] Data No. [8] [1] Data No. [8] [2] Data No. [8] [3]
0 RD MCD00
1 SA MCD01
2 ZSP MCD02
3 TLC CPO MCD03
4 VLC ZP MCD10
5 INP POT MCD11
6 PUS MCD12
7 WNG MEND MCD13
8 ALM
9 OP
10 MBR
11
12 ALCD0 PED
13 ALCD1
14 ALCD2
15
16
17 ALMWNG
18
19 MSDH
20 MSDL
21 SOUT
22 OUT1
23 OUT2
24 OUT3 PT0 (Note)
25 CDPS CAMS PT1 (Note)
26 CLTS PT2 (Note)
27 CLTSM PT3 (Note)
28 CPCC PT4 (Note)
29
30
31 MTTR

Note. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted
simultaneously.

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.2.2 Input device on/off

POINT
The on/off status of all devices in the servo amplifier are the status of the data
received at last. Therefore, when there is a device which must be kept on,
transmit data which turns the device on every time.

Each input device can be switched on/off. However, when the device to be switched off is in the external
input signal, also switch off the input signal.

Transmit command [9] [2] + data No. [6] [0] to [6] [2].
Command Data No. Setting data
[9] [2] [6] [0] to [6] [2] See below.

b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Symbol
Bit
Data No. [6] [0] Data No. [6] [1] Data No. [6] [2]
0 SON MD0
1 LSP
2 LSN
3 TL TCH
4 TL1 TP0
5 PC TP1
6 RES OVR
7 CR
8 SP1
9 SP2 DOG
10 SP3
11 ST1/RS2
12 ST2/RS1
13 CMX1
14 CMX2
15 LOP
16 MSD LPS
17 PI1
18 EM2/EM1 PI2
19 PI3
20 STAB2 CAMC
21 CI0
22 CI1
23 CI2
24 TSTP CI3 DI0
25 CLTC DI1
26 CPCD DI2
27 CDP DI3
28 DI4
29
30
31

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.2.3 Input device on/off (for test operation)

Each input devices can be turned on/off for test operation. However, when the device to be switched off is in
the external input signal, also switch off the input signal.

Transmit command [9] [2] + data No. [0] [0] to [0] [2].
Command Data No. Setting data
[9] [2] [0] [0] to [0] [2] See below.

b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Symbol
Bit
Data No. [0] [0] Data No. [0] [1] Data No. [0] [2]
0 SON MD0
1 LSP
2 LSN
3 TL TCH
4 TL1 TP0
5 PC TP1
6 RES OVR
7 CR
8 SP1
9 SP2 DOG
10 SP3
11 ST1/RS2
12 ST2/RS1
13 CMX1
14 CMX2
15 LOP
16 MSD LPS
17 PI1
18 EM2/EM1 PI2
19 PI3
20 STAB2 CAMC
21 CI0
22 CI1
23 CI2
24 TSTP CI3 DI0
25 CLTC DI1
26 CPCD DI2
27 CDP DI3
28 DI4
29
30
31

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.2.4 Test operation mode

POINT
The test operation mode is for checking an operation. Do not use it for an actual
operation.
If communication stops for 0.5 s or longer during the test operation, the servo
motor decelerates to a stop, resulting in servo-lock. To prevent this, keep the
communication all the time by checking the status display, etc.
The test operation mode can be started even in operation. In this case,
switching to the test operation mode will shut off the base circuit to coast the
servo motor.

(1) How to prepare and cancel the test operation mode

(a) Preparation of the test operation mode
Set the test operation mode type with the following procedure.

1) Setting of test operation mode

Transmit the command [8] [B] + data No. [0] [0] + data to set the test operation mode.
Command Data No. Transmission data Setting test operation mode
0004 Output signal (DO) forced output (Note)
[8] [B] [0] [0]
0005 Single-step feed

Note. Refer to section 10.2.5 for the output signal (DO) forced output.

2) Check of test operation mode

Read the test operation mode set for the slave station, and check that it is set correctly.

a) Transmission
Transmit command [0] [0] + data No. [1] [2].
Command Data No.
[0] [0] [1] [2]

b) Return
The slave station returns the preset operation mode.

0 0 0
Reading test operation mode
0: Normal mode (not test operation mode)
1: JOG operation
2: Positioning operation
3: Motor-less operation
4: Output signal (DO) forced output
5: Single-step feed

(b) Cancel of test operation mode

To stop the test operation mode, transmit the command [8] [B] + data No. [0] [0] + data. Turn off the
servo amplifier before switching the operation mode from the test to the normal.
Command Data No. Transmission data Setting test operation mode
[8] [B] [0] [0] 0000 Test operation mode cancel

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(2) Single-step feed

Set each value of target point tables for the single-step feed before executing single-step feed. Transmit
command and data No. to execute single-step feed.
Start
Command: [8] [B] Select the single-step feed
Data No.: [0] [0] in the test operation mode.
Data: 0005 (Single-step feed)

Point table No. setting

Command: [9] [2]
Set a point table No.
Data No.: [0] [2]
Data: Writes point table No.
in hexadecimal.
When LSP/LSN are turned off with When LSP/LSN are turned on or automatically
an external input signal... turned on...

Enabling input devices Enabling input devices

Command: [9] [2] Command: [9] [2]
Data No.: [0] [0] Data No.: [0] [0]
Data: 00000007 Data: 00000001
Turn on SON (Servo-on) to make
(SON/LSP/LSN are on.) (SON is on.)
the servo amplifier ready.
Command: [9] [2] Command: [9] [2]
Data No.: [0] [2] Data No.: [0] [2]
Data: _ _ 000001 (Note 2) Data: _ _ 000001 (Note 2)
(MD0 is on.) (MD0 is on.)

Start (Note 1) Start (Note 1)

Command: [9] [2] Command: [9] [2]
Data No.: [0] [0] Data No.: [0] [0] Start.
Data: 00000807 Data: 00000801
(ST1 is on.) (ST1 is on.)

End
Command: [8] [B]
Data No.: [0] [0] Cancel the single-step feed.
Data: 0000
(Single-step feed canceled)

Turn the power off/on of the servo amplifier. Cancel the test operation mode.

Note 1. Start it after checking ZP (Home position return completion). See the 4 bit of the read data with the command [1] [2] and data
No. [8] [2].
2. A point table No. in hexadecimal will be entered to "_ _".

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.2.5 Output signal pin on/off (output signal (DO) forced output)

In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Disable
the external input signals in advance with command [9] [0].

(1) Selecting the output signal (DO) forced output of the test operation mode
Transmit command + [8] [B] + data No. [0] [0] + data "0004" to select the output signal (DO) forced
output.

0 0 0 4
Setting test operation mode
4: Output signal (DO) 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 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit CN1 connector pin Bit CN1 connector pin

0 49 16
1 24 17
2 23 18
3 19
4 20
5 48 21
6 33 22
7 23
8 24
9 25
10 26
11 27
12 28
13 29
14 30
15 31

(3) Output signal (DO) forced output

To stop the output signal (DO) forced output, transmit command [8] [B] + data No. [0] [0] + data. Turn off
the servo amplifier before switching the operation mode from the test to the normal.
Command Data No. Transmission data Setting test operation mode
[8] [B] [0] [0] 0000 Test operation mode cancel

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10.2.6 Point table

(1) Reading data

(a) Position data
Reads position data of point tables.

1) Transmission
Transmits the command [4] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the position data of point table requested.

Data is transferred
in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit
(not used normally)
0 0 2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
Display type 6: Sixth least significant digit
0: Data is used unchanged in hexadecimal
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

(b) Speed data

Reads speed data of point tables.

1) Transmission
Transmits the command [5] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the speed data of point table requested.

0
Data is transferred
in hexadecimal.

0 0

Display type
0: Data is used unchanged in hexadecimal
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(c) Acceleration time constant

Reads acceleration time constant of point tables.

1) Transmission
Transmits the command [5] [4] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the acceleration time constant of point table requested.

0
Data is transferred
in hexadecimal.

0 0

Display type
0: Data is used unchanged in hexadecimal
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

(d) Deceleration time constant

Reads deceleration time constant of point tables.

1) Transmission
Transmits the command [5] [8] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the deceleration time constant of point table requested.

0
Data is transferred
in hexadecimal.

0 0

Display type
0: Data is used unchanged in hexadecimal.
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(e) Dwell
Reads dwell of point tables.

1) Transmission
Transmits the command [6] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the dwell of point table requested.

0
Data is transferred
in hexadecimal.

0 0

Display type
0: Data is used unchanged in hexadecimal.
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

(f) Auxiliary function

Reads auxiliary function of point tables.

1) Transmission
Transmits the command [6] [4] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the auxiliary function of point table requested.

0
Data is transferred
in hexadecimal.

0 0

Display type
0: Data is used unchanged in hexadecimal.
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(g) M code
Reads M code of point tables.
M code will be available in the future.

1) Transmission
Transmits the command [4] [5] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
read. Refer to section 10.1.1.

2) Return
The slave station returns the M code of point table requested.

0
Data is transferred
in hexadecimal.

0 0

Display type
0: Data is used unchanged in hexadecimal.
1: Data must be converted into decimal

Position data writing type

0: Enabled after writing
1: Enabled when power is cycled after writing

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(2) Writing data

If setting values need to be changed with a high frequency (i.e. once or more per
hour), write the setting values to the RAM, not to the EEP-ROM. The EEP-ROM
CAUTION 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.

(a) Position data

Writes position data of point tables.
Transmits the command [C] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [0] [0] [1] to [1] [F] Refer to the following:

Data is transferred
in hexadecimal.

Decimal point position

0: No decimal point
Select the same decimal point position
1: First least significant digit (not used normally)
as the set feed length multiplication
2: Second least significant digit
(STM) in [Pr. PT03].
3: Third least significant digit
If a different decimal point position is
4: Forth least significant digit
set, slave stations will not receive data.
5: Fifth least significant digit
6: Sixth least significant digit

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the position data frequently using communication, set "1" to the write mode to
change only the RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(b) Speed data

Writes speed data of point tables.
Transmits the command [C] [6] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [6] [0] [1] to [1] [F] Refer to the following:

0
Hexadecimal data

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the speed data frequently using communication, set "1" to the write mode to change
only the RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

(c) Acceleration time constant

Writes acceleration time constant of point tables.
Transmits the command [C] [7] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [7] [0] [1] to [1] [F] Refer to the following:

0
Hexadecimal data

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the acceleration time constant frequently using communication, set "1" to the write
mode to change only the RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(d) Deceleration time constant

Writes deceleration time constant of point tables.
Transmits the command [C] [8] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [8] [0] [1] to [1] [F] Refer to the following:

0
Hexadecimal data

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the deceleration time constant frequently using communication, set "1" to the write
mode to change only the RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

(e) Dwell
Writes dwell of point tables.
Transmits the command [C] [A] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [A] [0] [1] to [1] [F] Refer to the following diagram.

0
Hexadecimal data

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the dwell frequently using communication, set "1" to the mode to change only the
RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

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10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

(f) Auxiliary function

Writes auxiliary function of point tables.
Transmits the command [C] [B] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [B] [0] [1] to [1] [F] Refer to the following:

0
Hexadecimal data

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the auxiliary function frequently using communication, set "1" to the write mode to
change only the RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

(g) M code
Writes M code of point tables.
M code will be available in the future.
Transmits the command [C] [2] + the data No. [0] [1] to [1] [F] corresponding to the point tables to
write. Refer to section 10.1.1.
Command Data No. Data
[C] [2] [0] [1] to [1] [F] Refer to the following:

0
Hexadecimal data

Writing mode
0: Writing to EEP-ROM/RAM
1: Writing to RAM

When changing the M code frequently using communication, set "1" to the write mode to change
only the RAM data in the servo amplifier.
When changing data once or more within an hour, do not write it to the EEP-ROM.

10 - 31
10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

MEMO

10 - 32
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision Date *Manual Number Revision
May. 2015 SH(NA)030150ENG-A First edition
Dec. 2016 SH(NA)030150ENG-B The details of the simple cam function are added.
3. To prevent injury, note the Partially changed.
following
4. Additional instructions
(1) Transportation and Partially changed.
installation
(2) Wiring Partially added.
(5) Corrective actions Partially added.
(6) Maintenance, inspection Partially added and partially changed.
and parts replacement
DISPOSAL OF WASTE The contents are entirely changed.
Servo amplifier harmonic Deleted.
suppression measures
Compliance with global Partially changed.
standards
About the manual The manual numbers are changed.
Section 1.2 Partially changed.
Section 1.3 Partially added and partially changed.
Section 1.4 Partially added and partially changed.
Section 2.2 Partially changed.
Section 2.3 Partially changed.
Section 2.6 Partially changed.
Section 3.1.1 Partially changed.
Section 3.1.2 (2) Note is changed.
Section 3.1.7 Notes are added.
Section 3.1.9 Partially changed.
Chapter 4 Sentences are added in the POINT.
Section 4.1.1 Partially changed.
Section 4.1.4 Sentences are added in the POINT.
Section 4.2.1 (1) (b) Partially changed.
Section 4.2.2 (3) (e) Partially changed.
Section 4.2.2 (3) (f) Partially changed.
Section 4.4.8 Partially changed.
Section 4.6 Partially changed.
Section 5.1.1 Partially changed.
Section 5.1.4 Sentences are added in the POINT.
Section 5.2.2 (1) Partially changed.
Section 5.2.2 (2) (g) Partially changed.
Section 5.2.2 (2) (h) Partially changed.
Section 5.4.4 Partially changed.
Section 5.8 Partially changed.
Section 6.1 The composition is changed. The contents are added.
Section 7.1 [Pr. PE44] to [Pr. PE50] are added and partially changed.
Section 7.2 [Pr. PE44] to [Pr. PE50] are added and partially changed.
Section 8.2 The composition is changed.
Section 8.3 Deleted.
Section 10.2.1 Partially changed.
Section 10.2.2 Partially changed.
Section 10.2.3 Partially changed.
Aug. 2017 SH(NA)030150ENG-C A maximum altitude of 2000 m above sea level is supported.
3. To prevent injury, note the Partially changed.
following
Revision Date *Manual Number Revision
Aug. 2017 SH(NA)030150ENG-C 4. Additional instructions Partially changed.
(1) Transportation and Partially changed.
installation
(2) Wiring Partially changed.
(3) Test run and adjustment Partially changed.
(4) Usage Partially changed.
(5) Corrective actions Partially changed.
Relevant manuals Partially changed.
Chapter 2 CAUTION is added.
Section 2.1 Partially changed.
Section 4.1 WARNING and CAUTION are added. Partially changed.
Section 4.2.2 Partially changed.
Section 5.1 WARNING and CAUTION are added. Partially changed.
Section 6.1 POINT is added. Partially changed.
Section 6.1.9 POINT is added. Partially changed.
Section 6.2.2 Partially changed.
Chapter 7 CAUTION is changed.
Section 7.2.2 Partially changed. Partially added.
Section 7.2.3 Partially added.
Section 7.2.4 Partially changed.
Section 8.2 Partially changed.
Section 8.3 Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
 2015 MITSUBISHI ELECTRIC CORPORATION
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
All other product names and company names are trademarks or registered trademarks of their respective companies.
 Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.

[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.

[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your
hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a
safety device required by applicable laws and has any function or structure considered to be indispensable according to a
common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.

SH(NA)030150ENG-C
 General-Purpose AC Servo

MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL(POSITIONING MODE)

General-Purpose Interface AC Servo
MODEL

MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)

MR-JE-A
MODEL INSTRUCTIONMANUAL(ITIGIME)
MODEL
CODE 1CW707
C

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

C
SH(NA)030150ENG-C(1708)MEE Printed in Japan Specifications are subject to change without notice.