MR J4 A Instruction Manual

General-Purpose AC Servo
MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL R

General-Purpose Interface
MODEL
MR-J4-_A_(-RJ)
MR-J4-03A6(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
MODEL MR-J4-A INSTRUCTIONMANUAL

MODEL
CODE 1CW804
R
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH(NA)030107ENG-R(1802)MEE Printed in Japan Specifications are subject to change without notice.
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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 according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this 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. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, 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.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get 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 main circuit 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.
Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the
regenerative resistor.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power
supply and the main circuit 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.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
A- 2
3. To prevent injury, note the following
CAUTION
Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise,
it may cause an electric shock, fire, injury, etc.
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.
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 front cover, 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.
Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet 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, it may cause
injury, malfunction, etc.
Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
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 (X, Y, Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo motor, be careful with the sharp edges of the servo motor.
The servo amplifier must be installed in a metal cabinet.
A- 3
CAUTION
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 a 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, such as heat treatment.
Additionally, disinfect and protect wood from insects before packing the products.
To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and
wire the servo motor in accordance with the Instruction Manual.
(2) Wiring
CAUTION
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(-H)) 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 connect a magnetic contactor and others between them. 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 converter unit and the drive unit will malfunction and will not output signals,
disabling the emergency stop and other protective circuits.
Servo amplifier Servo amplifier
or MR-D01 or MR-D01
24 V DC 24 V DC
DOCOM DOCOM
(DOCOMD) (DOCOMD)
Control output RA Control output RA

signal signal
For sink output interface For source output interface
When the wires are not tightened enough to the terminal block, the wires or terminal block may generate
heat because of the poor contact. Be sure to tighten the wires 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 main circuit 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.
A- 4
(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 and adjust the parameter settings. Improper settings may cause some machines
to operate unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION
Provide an external emergency stop circuit to stop the operation and shut the power off immediately.
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, it may cause an electric shock, fire, injury,
etc. 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 affect the electronic equipment used near the servo amplifier.
Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.
Use the servo amplifier with the specified servo motor.
Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
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.
A- 5
(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.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM Contacts must be opened with
(Malfunction) or MBR (Electromagnetic the emergency stop switch.
brake interlock) turns off.
Servo motor
RA
B 24 V DC
Electromagnetic brake
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart 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.
After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock,
injury, or fire.
(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 the servo amplifier that has not been energized for an extended period of 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, battery (primary battery) 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
Home position setting in the absolute position detection system
STO function of the servo amplifier

The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety
standard.
Refer to app. 12 for schedule.
When using the STO function of the servo amplifier, refer to chapter 13.
For the MR-J3-D05 safety logic unit, refer to app. 5.
Compliance with global standards

For the compliance with global standards, refer to app. 4.
A- 7
«About the manuals»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
When using the MR-J4-03A6(-RJ), refer to chapter 18.
Relevant manuals
Manual name Manual No.

MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) (Note 5) SH(NA)030143ENG
MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU Protocol) SH(NA)030175ENG
(Note 7)
MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual (Note 6) SH(NA)030153ENG
MELSERVO MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
MELSERVO Parameter Unit MR-PRU03 Instruction Manual (MR-J4) SH(NA)030186ENG
MELSERVO MR-D30 Instruction Manual (Note 8) SH(NA)030132ENG
Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.
3. It is necessary for using a direct drive motor.
4. It is necessary for using a fully closed loop system.
5. It is necessary for using an MR-J4-_A_-RJ servo amplifier in the positioning mode.
6. It is necessary for using an MR-CV_ power regeneration converter unit, MR-CR_ resistance regeneration
converter unit, and MR-J4-DU_A_(-RJ) drive unit.
7. It is necessary for using the Modbus RTU communication function.
8. It is necessary for using an MR-D30 functional safety unit.
«Wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
«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 1-56
1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function block diagram..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications ........................................................................................... 1-11
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-18
1.5 Function list ...................................................................................................................................... 1-21
1.6 Model designation ............................................................................................................................ 1-24
1.7 Structure .......................................................................................................................................... 1-25
1.7.1 Parts identification ..................................................................................................................... 1-25
1.7.2 Removal and reinstallation of the front cover............................................................................ 1-40
1.8 Configuration including peripheral equipment ................................................................................. 1-42
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keeping out of foreign materials ....................................................................................................... 2- 4
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 5
2.5 Parts having service life .................................................................................................................... 2- 6
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m
above sea level ................................................................................................................................. 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-76
3.1 Input power supply circuit ................................................................................................................. 3- 2

3.1.1 200 V class ................................................................................................................................. 3- 3
3.1.2 400 V class ................................................................................................................................. 3- 8
3.1.3 100 V class ................................................................................................................................ 3-11
3.2 I/O signal connection example......................................................................................................... 3-12
3.2.1 Position control mode................................................................................................................ 3-12
3.2.2 Speed control mode .................................................................................................................. 3-15
3.2.3 Torque control mode ................................................................................................................. 3-18
3.3 Explanation of power supply system ............................................................................................... 3-21
3.3.1 Signal explanations ................................................................................................................... 3-21
3.3.2 Power-on sequence .................................................................................................................. 3-22
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-23
3.4 Connectors and pin assignment ...................................................................................................... 3-27
3.5 Signal (device) explanations ............................................................................................................ 3-30
3.6 Detailed explanation of signals ........................................................................................................ 3-40
3.6.1 Position control mode................................................................................................................ 3-40
3.6.2 Speed control mode .................................................................................................................. 3-45
3.6.3 Torque control mode ................................................................................................................. 3-47
3.6.4 Position/speed control switching mode ..................................................................................... 3-50
3.6.5 Speed/torque control switching mode ....................................................................................... 3-52
3.6.6 Torque/position control switching mode.................................................................................... 3-54
3.7 Forced stop deceleration function ................................................................................................... 3-55
3.7.1 Forced stop deceleration function ............................................................................................. 3-55
3.7.2 Base circuit shut-off delay time function ................................................................................... 3-57
1
3.7.3 Vertical axis freefall prevention function ................................................................................... 3-58
3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-58
3.8 Alarm occurrence timing chart ......................................................................................................... 3-59
3.8.1 When you use the forced stop deceleration function ................................................................ 3-59
3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-60
3.9 Interfaces ......................................................................................................................................... 3-61
3.9.1 Internal connection diagram ...................................................................................................... 3-61
3.9.2 Detailed explanation of interfaces ............................................................................................. 3-63
3.9.3 Source I/O interfaces ................................................................................................................ 3-67
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-69
3.10.1 Safety precautions .................................................................................................................. 3-69
3.10.2 Timing chart ............................................................................................................................ 3-71
3.11 Grounding ...................................................................................................................................... 3-76
4. STARTUP 4- 1 to 4-44
4.1 Switching power on for the first time ................................................................................................. 4- 2

4.1.1 Startup procedure ...................................................................................................................... 4- 2
4.1.2 Wiring check ............................................................................................................................... 4- 3
4.1.3 Surrounding environment ........................................................................................................... 4- 6
4.2 Startup in position control mode ....................................................................................................... 4- 6
4.2.1 Power on and off procedures ..................................................................................................... 4- 6
4.2.2 Stop ............................................................................................................................................ 4- 7
4.2.3 Test operation ............................................................................................................................ 4- 8
4.2.4 Parameter setting ....................................................................................................................... 4- 9
4.2.5 Actual operation ......................................................................................................................... 4- 9
4.2.6 Trouble at start-up ...................................................................................................................... 4- 9
4.3 Startup in speed control mode ......................................................................................................... 4-12
4.3.1 Power on and off procedures .................................................................................................... 4-12
4.3.2 Stop ........................................................................................................................................... 4-13
4.3.3 Test operation ........................................................................................................................... 4-14
4.3.4 Parameter setting ...................................................................................................................... 4-15
4.3.5 Actual operation ........................................................................................................................ 4-15
4.3.6 Trouble at start-up ..................................................................................................................... 4-15
4.4 Startup in torque control mode ........................................................................................................ 4-17
4.4.1 Power on and off procedures .................................................................................................... 4-17
4.4.2 Stop ........................................................................................................................................... 4-17
4.4.3 Test operation ........................................................................................................................... 4-18
4.4.4 Parameter setting ...................................................................................................................... 4-19
4.4.5 Actual operation ........................................................................................................................ 4-19
4.4.6 Trouble at start-up ..................................................................................................................... 4-20
4.5 Display and operation sections ........................................................................................................ 4-21
4.5.1 Summary ................................................................................................................................... 4-21
4.5.2 Display flowchart ....................................................................................................................... 4-22
4.5.3 Status display mode .................................................................................................................. 4-23
4.5.4 Diagnostic mode ....................................................................................................................... 4-30
4.5.5 Alarm mode ............................................................................................................................... 4-32
4.5.6 Parameter mode ....................................................................................................................... 4-33
4.5.7 External I/O signal display......................................................................................................... 4-35
4.5.8 Output signal (DO) forced output .............................................................................................. 4-38
4.5.9 Test operation mode ................................................................................................................. 4-39
2
5. PARAMETERS 5- 1 to 5-76
5.1 Parameter list .................................................................................................................................... 5- 2

5.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 3
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 5
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 7
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 8
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-10
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11
5.1.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 5-12
5.2 Detailed list of parameters ............................................................................................................... 5-13
5.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 5-13
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-26
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-40
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-54
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-62
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-65
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-68
5.2.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 5-71
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-32
6.1 Different adjustment methods ........................................................................................................... 6- 1

6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 8
6.2.3 Caution for one-touch tuning ..................................................................................................... 6-22
6.3 Auto tuning ....................................................................................................................................... 6-23
6.3.1 Auto tuning mode ...................................................................................................................... 6-23
6.3.2 Auto tuning mode basis............................................................................................................. 6-24
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-25
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-26
6.4 Manual mode ................................................................................................................................... 6-27
6.5 2 gain adjustment mode .................................................................................................................. 6-30
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-40
7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 2
7.1.2 Adaptive filter II........................................................................................................................... 7- 5
7.1.3 Shaft resonance suppression filter............................................................................................. 7- 8
7.1.4 Low-pass filter ............................................................................................................................ 7- 9
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 9
7.1.6 Command notch filter ................................................................................................................ 7-14
7.2 Gain switching function .................................................................................................................... 7-16
7.2.1 Applications ............................................................................................................................... 7-16
7.2.2 Function block diagram ............................................................................................................. 7-17
7.2.3 Parameter.................................................................................................................................. 7-18
3
7.2.4 Gain switching procedure ......................................................................................................... 7-21
7.3 Tough drive function ........................................................................................................................ 7-25
7.3.1 Vibration tough drive function.................................................................................................... 7-25
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-27
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-31
7.5 Model adaptive control disabled ...................................................................................................... 7-34
7.6 Lost motion compensation function ................................................................................................. 7-35
7.7 Super trace control .......................................................................................................................... 7-38
8. TROUBLESHOOTING 8- 1 to 8-14
8.1 Explanation for the lists ..................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ...................................................................................................................................... 8-11
9. DIMENSIONS 9- 1 to 9-22
9.1 Servo amplifier .................................................................................................................................. 9- 1

9.2 Connector ........................................................................................................................................ 9-20
10. CHARACTERISTICS 10- 1 to 10-16
10.1 Overload protection characteristics .............................................................................................. 10- 1

10.2 Power supply capacity and generated loss .................................................................................. 10- 5
10.3 Dynamic brake characteristics ...................................................................................................... 10- 8
10.3.1 Dynamic brake operation ....................................................................................................... 10- 9
10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-12
10.4 Cable bending life ........................................................................................................................ 10-13
10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-14
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-120
11.1 Cable/connector sets .................................................................................................................... 11- 1

11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.1.2 MR-D05UDL3M-B STO cable ................................................................................................ 11- 6
11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 7
11.2 Regenerative options .................................................................................................................... 11- 8
11.2.1 Combination and regenerative power .................................................................................... 11- 8
11.2.2 Selection of regenerative option ........................................................................................... 11-10
11.2.3 Parameter setting .................................................................................................................. 11-14
11.2.4 Connection of regenerative option ........................................................................................ 11-14
11.2.5 Dimensions ........................................................................................................................... 11-19
11.3 FR-BU2-(H) Brake unit ................................................................................................................ 11-23
11.3.1 Selection................................................................................................................................ 11-24
11.3.2 Brake unit parameter setting ................................................................................................. 11-24
11.3.3 Connection example ............................................................................................................. 11-25
11.3.4 Dimensions ........................................................................................................................... 11-35
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-37
11.5 FR-CV-(H) power regeneration common converter .................................................................... 11-42
11.5.1 Model designation ................................................................................................................. 11-42
11.5.2 Selection example ................................................................................................................. 11-43
4
11.6 Junction terminal block MR-TB50................................................................................................ 11-51
11.7 MR Configurator2 ........................................................................................................................ 11-54
11.7.1 Specifications ........................................................................................................................ 11-54
11.7.2 System configuration............................................................................................................. 11-55
11.7.3 Precautions for using USB communication function ............................................................. 11-56
11.8 Battery .......................................................................................................................................... 11-57
11.8.1 Selection of battery ............................................................................................................... 11-57
11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-58
11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-62
11.8.4 MR-BAT6V1SET-A battery ................................................................................................... 11-66
11.8.5 MR-BT6VCASE battery case ................................................................................................ 11-70
11.8.6 MR-BAT6V1 battery .............................................................................................................. 11-76
11.9 Selection example of wires .......................................................................................................... 11-77
11.10 Molded-case circuit breakers, fuses, magnetic contactors ....................................................... 11-81
11.11 Power factor improving DC reactors.......................................................................................... 11-84
11.12 Power factor improving AC reactors .......................................................................................... 11-88
11.13 Relays (recommended) ............................................................................................................. 11-91
11.14 Noise reduction techniques ....................................................................................................... 11-92
11.15 Earth-leakage current breaker ................................................................................................... 11-99
11.16 EMC filter (recommended) ...................................................................................................... 11-102
11.17 External dynamic brake ........................................................................................................... 11-109
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-116
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-30
12.1 Summary....................................................................................................................................... 12- 1

12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Restrictions ............................................................................................................................ 12- 2
12.1.3 Structure ................................................................................................................................. 12- 2
12.1.4 Parameter setting ................................................................................................................... 12- 3
12.1.5 Confirmation of absolute position detection data ................................................................... 12- 3
12.2 Battery ........................................................................................................................................... 12- 4
12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery ............................................. 12- 4
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 5
12.2.3 Using MR-BT6VCASE battery case....................................................................................... 12- 6
12.3 Standard connection example ...................................................................................................... 12- 7
12.4 Signal explanation ........................................................................................................................ 12- 8
12.5 Startup procedure ......................................................................................................................... 12- 9
12.6 Absolute position data transfer protocol ...................................................................................... 12-10
12.6.1 Data transfer procedure ........................................................................................................ 12-10
12.6.2 Transfer method .................................................................................................................... 12-11
12.6.3 Home position setting............................................................................................................ 12-20
12.6.4 Use of servo motor with an electromagnetic brake............................................................... 12-22
12.6.5 How to process the absolute position data at detection of stroke end ................................. 12-23
12.7 Absolute position data transfer errors.......................................................................................... 12-23
12.8 Communication-based absolute position transfer system ........................................................... 12-26
12.8.1 Serial communication command ........................................................................................... 12-26
12.8.2 Absolute position data transfer protocol ............................................................................... 12-26
5
13. USING STO FUNCTION 13- 1 to 13-14
13.1 Introduction ................................................................................................................................... 13- 1

13.1.1 Summary ................................................................................................................................ 13- 1
13.1.2 Terms related to safety .......................................................................................................... 13- 1
13.1.3 Cautions ................................................................................................................................. 13- 1
13.1.4 Residual risks of the STO function......................................................................................... 13- 2
13.1.5 Specifications ......................................................................................................................... 13- 3
13.1.6 Maintenance ........................................................................................................................... 13- 4
13.2 STO I/O signal connector (CN8) and signal layouts..................................................................... 13- 4
13.2.1 Signal layouts ......................................................................................................................... 13- 4
13.2.2 Signal (device) explanations .................................................................................................. 13- 5
13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6
13.3.1 Connection example for CN8 connector ................................................................................ 13- 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7
13.3.3 External I/O signal connection example using an external safety relay unit ........................ 13-10
13.4 Detailed description of interfaces ................................................................................................ 13-11
13.4.1 Sink I/O interface................................................................................................................... 13-11
13.4.2 Source I/O interface .............................................................................................................. 13-12
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14- 1 to 14-40
14.1 Structure ....................................................................................................................................... 14- 2

14.1.1 Configuration diagram ............................................................................................................ 14- 2
14.1.2 Precautions for using RS-422/RS-232C/USB communication function ................................ 14- 4
14.2 Communication specifications ...................................................................................................... 14- 5
14.2.1 Outline of communication ...................................................................................................... 14- 5
14.2.2 Parameter setting ................................................................................................................... 14- 5
14.3 Protocol ......................................................................................................................................... 14- 6
14.3.1 Transmission data configuration ............................................................................................ 14- 6
14.3.2 Character codes ..................................................................................................................... 14- 7
14.3.3 Error codes ............................................................................................................................. 14- 8
14.3.4 Checksum .............................................................................................................................. 14- 8
14.3.5 Time-out processing............................................................................................................... 14- 8
14.3.6 Retry processing .................................................................................................................... 14- 9
14.3.7 Initialization ............................................................................................................................ 14- 9
14.3.8 Communication procedure example ..................................................................................... 14-10
14.4 Command and data No. list ......................................................................................................... 14-11
14.4.1 Reading command ................................................................................................................ 14-11
14.4.2 Writing commands ................................................................................................................ 14-17
14.5 Detailed explanations of commands ............................................................................................ 14-19
14.5.1 Data processing .................................................................................................................... 14-19
14.5.2 Status display mode .............................................................................................................. 14-21
14.5.3 Parameter ............................................................................................................................. 14-22
14.5.4 External I/O signal status (DIO diagnosis) ............................................................................ 14-26
14.5.5 Input device on/off ................................................................................................................. 14-29
14.5.6 Disabling/enabling I/O devices (DIO) .................................................................................... 14-30
14.5.7 Input devices on/off (test operation)...................................................................................... 14-31
14.5.8 Test operation mode ............................................................................................................. 14-32
14.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................. 14-36
6
14.5.10 Alarm history ....................................................................................................................... 14-37
14.5.11 Current alarm ...................................................................................................................... 14-38
14.5.12 Other commands................................................................................................................. 14-39
15. USING A LINEAR SERVO MOTOR 15- 1 to 15-32
15.1 Functions and configuration ......................................................................................................... 15- 1

15.1.1 Summary ................................................................................................................................ 15- 1
15.1.2 Configuration including peripheral equipment ....................................................................... 15- 2
15.2 Signals and wiring ......................................................................................................................... 15- 6
15.3 Operation and functions................................................................................................................ 15- 7
15.3.1 Startup .................................................................................................................................... 15- 7
15.3.2 Magnetic pole detection ........................................................................................................ 15-11
15.3.3 Home position return ............................................................................................................. 15-18
15.3.4 Test operation mode in MR Configurator2 ............................................................................ 15-23
15.3.5 Function................................................................................................................................. 15-24
15.3.6 Absolute position detection system....................................................................................... 15-27
15.4 Characteristics ............................................................................................................................. 15-28
15.4.1 Overload protection characteristics ...................................................................................... 15-28
15.4.2 Power supply capacity and generated loss .......................................................................... 15-29
15.4.3 Dynamic brake characteristics .............................................................................................. 15-30
15.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 15-31
16. USING A DIRECT DRIVE MOTOR 16- 1 to 16-20

16.1.1 Summary ................................................................................................................................ 16- 1
16.1.2 Configuration including peripheral equipment ....................................................................... 16- 2
16.2 Signals and wiring ......................................................................................................................... 16- 3
16.3 Operation and functions................................................................................................................ 16- 4
16.3.1 Startup procedure .................................................................................................................. 16- 5
16.3.2 Magnetic pole detection ......................................................................................................... 16- 6
16.3.3 Function................................................................................................................................. 16-12
16.4 Absolute position detection system ............................................................................................. 16-14
17. FULLY CLOSED LOOP SYSTEM 17- 1 to 17-24

17.1.1 Function block diagram .......................................................................................................... 17- 2
17.1.2 Selecting procedure of control mode ..................................................................................... 17- 3
17.1.3 System configuration.............................................................................................................. 17- 4
17.2 Load-side encoder ........................................................................................................................ 17- 6
17.2.1 Linear encoder ....................................................................................................................... 17- 6
17.2.2 Rotary encoder....................................................................................................................... 17- 6
17.2.3 Configuration diagram of encoder cable ................................................................................ 17- 7
17.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 17- 9
17.3 Operation and functions............................................................................................................... 17-10
7
17.3.1 Startup ................................................................................................................................... 17-10
17.3.2 Home position return ............................................................................................................. 17-17
17.3.3 Fully closed loop control error detection functions................................................................ 17-20
17.3.4 Auto tuning function .............................................................................................................. 17-21
17.3.5 Machine analyzer function .................................................................................................... 17-21
17.3.6 Test operation mode ............................................................................................................. 17-21
17.3.7 Absolute position detection system under fully closed loop system ..................................... 17-22
17.3.8 About MR Configurator2 ....................................................................................................... 17-23
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18- 1 to 18-84

18.1.1 Summary ................................................................................................................................ 18- 1
18.1.2 Function block diagram .......................................................................................................... 18- 2
18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3
18.1.4 Combinations of servo amplifiers and servo motors .............................................................. 18- 4
18.1.5 Function list ............................................................................................................................ 18- 5
18.1.6 Model definition ...................................................................................................................... 18- 8
18.1.7 Parts identification .................................................................................................................. 18- 9
18.1.8 Configuration including peripheral equipment ...................................................................... 18-10
18.2 Installation .................................................................................................................................... 18-11
18.2.1 Installation direction and clearances ..................................................................................... 18-12
18.2.2 Installation by DIN rail ........................................................................................................... 18-14
18.3 Signals and wiring ........................................................................................................................ 18-16
18.3.1 Input power supply circuit ..................................................................................................... 18-17
18.3.2 Explanation of power supply system..................................................................................... 18-19
18.3.3 Selection of main circuit power supply/control circuit power supply ..................................... 18-22
18.3.4 Power-on sequence .............................................................................................................. 18-22
18.3.5 I/O signal connection example .............................................................................................. 18-23
18.3.6 Connectors and pin assignment ........................................................................................... 18-31
18.3.7 Signal (device) explanations ................................................................................................. 18-34
18.3.8 Alarm occurrence timing chart .............................................................................................. 18-38
18.3.9 Interfaces (Internal connection diagram) .............................................................................. 18-40
18.3.10 Grounding ........................................................................................................................... 18-42
18.4 Startup ......................................................................................................................................... 18-43
18.4.1 Startup procedure ................................................................................................................. 18-44
18.4.2 Troubleshooting when "24 V ERROR" lamp turns on........................................................... 18-45
18.4.3 Wiring check .......................................................................................................................... 18-46
18.4.4 Surrounding environment ...................................................................................................... 18-47
18.5 Display and operation sections .................................................................................................... 18-47
18.5.1 Summary ............................................................................................................................... 18-47
18.5.2 Display flowchart ................................................................................................................... 18-48
18.5.3 Status display mode .............................................................................................................. 18-49
18.5.4 One-touch tuning................................................................................................................... 18-54
18.5.5 Diagnostic mode ................................................................................................................... 18-58
18.5.6 Alarm mode ........................................................................................................................... 18-61
18.5.7 Parameter mode ................................................................................................................... 18-63
18.5.8 External I/O signal display..................................................................................................... 18-68
18.5.9 Output signal (DO) forced output .......................................................................................... 18-71
18.5.10 Test operation mode ........................................................................................................... 18-72
18.6 Dimensions .................................................................................................................................. 18-74
8
18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-78
18.8 Options and peripheral equipment .............................................................................................. 18-79
18.8.1 Cable/connector sets ............................................................................................................ 18-79
18.8.2 Combinations of cable/connector sets .................................................................................. 18-80
18.8.3 Selection example of wires ................................................................................................... 18-81
18.8.4 Circuit protector ..................................................................................................................... 18-81
18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol) .................... 18-82
19. MR-D01 EXTENSION I/O UNIT 19- 1 to 19-48
19.1 Function block diagram................................................................................................................. 19- 2

19.2 Structure ....................................................................................................................................... 19- 4
19.2.1 Parts identification .................................................................................................................. 19- 4
19.2.2 Installation and removal of the MR-D01 extension I/O unit ................................................... 19- 5
19.3 Configuration including peripheral equipment .............................................................................. 19- 9
19.4 Installation direction and clearances ........................................................................................... 19-11
19.5 Signals and wiring ........................................................................................................................ 19-13
19.5.1 I/O Signal Connection Example ............................................................................................ 19-14
19.5.2 Connectors and pin assignment ........................................................................................... 19-29
19.5.3 Signal (device) explanations ................................................................................................. 19-31
19.5.4 Interface ................................................................................................................................ 19-37
19.6 Monitor display with MR Configurator2........................................................................................ 19-41
19.7 Dimensions .................................................................................................................................. 19-43
19.7.1 MR-D01 extension I/O unit .................................................................................................... 19-43
19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier ................................ 19-43
19.8 Options peripheral equipment ..................................................................................................... 19-44
19.8.1 Combinations of cable/connector sets .................................................................................. 19-44
19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended) ............................................. 19-45
19.8.3 MR-TB50 (Junction terminal block)....................................................................................... 19-47
APPENDIX App.- 1 to App.-74
App. 1 Peripheral equipment manufacturer (for reference).............................................................. App.- 1

App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................ App.- 1
App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 4
App. 4 Compliance with global standards ........................................................................................ App.- 5
App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-21
App. 6 EC declaration of conformity ................................................................................................ App.-39
App. 7 Analog monitor ..................................................................................................................... App.-42
App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-56
App. 9 How to replace servo amplifier without magnetic pole detection ......................................... App.-57
App. 10 Special specification............................................................................................................. App.-59
App. 11 Driving on/off of main circuit power supply with DC power supply ...................................... App.-63
App. 12 STO function with SIL 3 certification .................................................................................... App.-65
App. 13 When using the servo amplifier with the DC power supply input......................................... App.-67
App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive .......... App.-72
9
App. 15 Encoder output pulse setting method .................................................................................. App.-74
10
1. FUNCTIONS AND CONFIGURATION
POINT
In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with
48 V DC and 24 V DC power supplies are available as MR-J4-03A6(-RJ). Refer
to chapter 18 for details of MR-J4-03A6(-RJ) servo amplifiers.
1.1 Summary
The Mitsubishi Electric MELSERVO-J4 series general-purpose AC servo has further higher performance
and higher functions compared to the previous MELSERVO-J3 series.
The MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high-
resolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and
more accurate control is enabled as compared to the MELSERVO-J3 series.
The servo amplifier has position, speed, and torque control modes. In the position control mode, the
maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the
preventive maintenance support function detects an error in the machine parts. This function provides strong
support for the machine maintenance and inspection.
The MR-J4-_A_ servo amplifier supports the STO (Safe Torque Off) function. By combining with optional
MR-J3-D05, the servo amplifier supports SS1 (Safe Stop 1) function.
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to
the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain
adjustment, and others.
In the MELSERVO-J4 series, servo amplifiers with the CN2L connector are also available as MR-J4-_A_-RJ.
By using the CN2L connector, an A/B/Z-phase differential output method external encoder can be connected
to the servo amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well.
The following table indicates the communication method of the external encoder compatible with the MR-J4-
_A_ and MR-J4-_A_-RJ servo amplifiers.
1- 1
Table 1.1 Connectors to connect external encoders

External encoder Connector
Operation
communication
mode MR-J4-_A_ MR-J4-_A_-RJ
method
Two-wire type CN2 CN2
Four-wire type (Note 1, 4) (Note 1)
Linear servo
motor system A/B/Z-phase
CN2L
differential output
(Note 5)
method
CN2
Two-wire type
(Note 2, 3, 4)
Fully closed Four-wire type
CN2L
loop system A/B/Z-phase
differential output
method
Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.
3. When the communication method of the servo motor encoder is four-wire type,
MR-J4-_A_ cannot be used. Use an MR-J4-_A_-RJ.
4. This is used with software version A5 or later.
5. Connect a thermistor to CN2.
1- 2
1.2 Function block diagram
The function block diagram of this servo is shown below.
POINT
The diagram shows MR-J4-_A_-RJ as an example. The MR-J4-_A_ servo
amplifier does not have the CN2L connector.
(1) 200 V class

(a) MR-J4-500A(-RJ) or less
(Note 6)
Power factor improving Regenerative
DC reactor option
Servo amplifier P3 P4 (Note 4) P+ C D N- Servo motor

Diode (Note 1) Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 2) L2
U
Current V V
Power + M
Regene- encoder
supply L3
U U
W W
rative
TR
CHARGE
Cooling fan lamp
(Note 3) B1
RA
L11 Electromagnetic
+ Control 24 V DC B brake
circuit
L21 power STO B2
circuit
STO
CN8
switch Base Voltage Current

CN2
Overcurrent
amplifier detection protection detection
Encoder
Position Virtual
encoder Step-
command down
input Model Model circuit
position speed
control control
Virtual
motor
CN4
Model position Model speed Model torque

Battery
(for absolute position
detection system)
Actual Actual Current

position speed control
control control
CN2L
External encoder
(Note 5)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
Analog Servo-on Personal
Input command pulse. Controller
(two channel) Start
computer Analog monitor
RS-422/
Malfunction, etc USB RS-485 (two channel)
1- 3
Note 1. The built-in regenerative resistor is not provided for MR-J4-10A(-RJ).

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3.
3. Servo amplifiers MR-J4-70A(-RJ) or more have a cooling fan.
4. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1
and P2 of the MR-J3 servo amplifiers.
5. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.
6. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1- 4
(b) MR-J4-700A(-RJ)
(Note 4)
Power factor improving Regenerative
DC reactor option
Servo amplifier P3 P4 (Note 2) P+ C N- Servo motor

Diode Dynamic
stack brake
Relay circuit
MCCB MC L1 U U
(Note 1) L2
U
V V
Current
Power + M
Regene- encoder
supply U U
W W
L3 rative
TR
CHARGE
lamp
Cooling fan
RA B1
L11 Electromagnetic
circuit
L21 power STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command encoder Step-
down
position speed
control control
Virtual
motor
CN4
Battery
detection system)

control control
CN2L
External encoder
(Note 3)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
(two channel) computer Analog monitor
Start RS-422/
Note 1. For the power supply specifications, refer to section 1.3.

and P2 of MR-J3 servo amplifiers.
1- 5
(c) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)
(Note 5) External regenerative
Power factor improving resistor or (Note 4, 6)
DC reactor regenerative option
External dynamic
brake (optional)

Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) L2
U
Current V V
Power + encoder
M
supply U U Regene-
L3 rative W W
TR
CHARGE
Cooling fan lamp
RA B1
L11 Electromagnetic
L21 circuit
power STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
encoder Step-
command down
position speed
control control
Virtual
motor
CN4
Battery
detection system)

control control
CN2L
External encoder
(Note 3)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
(two channel) Start computer Analog monitor
RS-422/

and P2 of the MR-J3 servo amplifiers.
4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake
interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become
servo-off when an instantaneous power failure occurs.
1- 6
(2) 400 V class

(a) MR-J4-350A4(-RJ) or less
(Note 5)
Power factor
improving Regenerative
DC reactor option

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
(Note 2)
RA B1
L11 Control Electromagnetic
+ circuit 24 V DC B brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command Step-
encoder down
position speed
control control
Virtual
motor CN4

Battery
(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 4)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
Analog •Servo-on
•Input command pulse. Personal Controller
(2 channels) •Start computer Analog monitor
RS-422/
•Malfunction, etc USB RS-485 (2 channels)
Note 1. Refer to section 1.3 for the power supply specification.

2. Servo amplifiers MR-J4-200A4(-RJ) or more have a cooling fan.
3. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.
1- 7
(b) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)
(Note 4)
Power factor
improving Regenerative
DC reactor option

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
+ circuit 24 V DC B Electromagnetic
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command Step-
encoder down
position speed
control control
Virtual
motor
CN4
Model position Model speed Model torque Battery

(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 3)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
Analog •Servo-on Personal
•Input command pulse. Controller
RS-422/

1- 8
(c) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)
(Note 5) External
Power factor regenerative resistor
improving or (Note 4, 6)
DC reactor regenerative option External
dynamic brake
(optional)
Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
+ circuit 24 V DC B Electromagnetic
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4

Battery
(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 3)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
RS-422/

safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
1- 9
(3) 100 V class

Regenerative option
Servo amplifier P+ C D N- Servo motor

(Note 1) Dynamic brake
circuit
MCCB MC L1 U U
+ Charge
(Note 2) V V
Power lamp Current
U
encoder
M
supply Relay Regene- W W
L2 + rative
TR
Diode
stack
RA B1
L11 Electromagnetic
+ Control B brake
24 V DC
L21 circuit
power STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
Model position Model speed Model torque CN4 Battery

(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 3)
A/D USB RS-422/ D/A
RS-485
I/F
CN1 CN5 CN3 CN6
DI/O control
(two channel) •Start computer Analog monitor
RS-422/
•Malfunction, etc USB RS-485 (two channel)
Note 1. The built-in regenerative resistor is not provided for MR-J4-10A1(-RJ).

2. Refer to section 1.3 for the power supply specifications.
1 - 10
1.3 Servo amplifier standard specifications
(1) 200 V class

Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA
Rated voltage 3-phase 170 V AC
Output
Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0
3-phase or 1-
phase 200 V
At AC 3-phase or 1-phase
AC to 240 V 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
input 200 V AC to 240 V AC, 50 Hz/60 Hz
Voltage/ AC, 50 Hz/60
Frequency Hz (Note 14)
At DC
input 283 V DC to 340 V DC
(Note 17)
Rated current 3.2

[A] 0.9 1.5 2.6 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0
(Note 11) (Note 5)
Main circuit
power supply 3-phase or 1-
At AC 3-phase or 1-phase phase 170 V
input 3-phase 170 V AC to 264 V AC
Permissible input 170 V AC to 264 V AC AC to 264 V
voltage AC (Note 14)
fluctuation At DC
(Note 17)
Permissible frequency
Within ±5%
fluctuation
Power supply
[kVA] Refer to section 10.2.
capacity
Inrush current [A] Refer to section 10.5.
At AC
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
input
Voltage/
At DC
Frequency
(Note 17)
Rated current [A] 0.2 0.3
Control circuit At AC
1-phase 170 V AC to 264 V AC
power supply Permissible input
input voltage At DC
fluctuation input 241 V DC to 374 V DC
(Note 17)
Within ±5%
fluctuation
Power consumption [W] 30 45
Interface power Voltage 24 V DC ± 10%
supply Current capacity [A] 0.5 (including the CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method
External option
Dynamic brake Built-in
(Note 8, 12)
Fully closed loop control Compatible (Note 9)
Load-side encoder interface (Note 10) Mitsubishi Electric high-speed serial communication
USB: Connection to a personal computer or others (MR Configurator2-compatible)
Communication function
RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7, 13)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
1 - 11
Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA
Max. input pulse
4 Mpulses/s (for differential receiver) (Note 6), 200 kpulses/s (for open collector)
frequency
Positioning feedback
Encoder resolution (resolution per servo motor revolution): 22 bits
pulse
Position control
Command pulse
mode Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
multiplying factor
In-position range setting 0 pulse to ±65535 pulses (command pulse unit)
Error excessive ±3 revolutions
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control range Analog speed command 1: 2000, Internal speed command 1: 5000
Analog speed command
0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed control input
mode ±0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: ±10%)
Speed fluctuation ratio
±0.2% or less (ambient temperature: 25 °C ± 10 °C) when using analog speed command
Analog torque command
Torque control 0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ )
input
mode
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.
Positioning mode
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
Protective functions
undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control fault protection
Functional safety STO (IEC/EN 61800-5-2)
Standards certified by
EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
CB (Note 15)
Response performance 8 ms or less (STO input off → energy shut off)
Test pulse input (STO) Test pulse interval: 1 Hz to 25 Hz
(Note 3) Test pulse off time: Up to 1 ms
Safety Mean time to dangerous
MTTFd ≥ 100 [years] (314a)
performance failure (MTTFd)
Diagnostic coverage
DC = Medium, 97.6 [%]
(DC)
Average probability of
dangerous failures per PFH = 6.4 × 10-9 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance with CE marking EMC: EN 61800-3
global standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4)
3-phase power supply
Possible Impossible
Close mounting input
(Note 2) 1-phase power supply
Possible Impossible
input
Ambient Operation
humidity Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 16)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 13.4 18.2
1 - 12
Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 ˚C to 45 ˚C or at 75% or smaller
effective load ratio.
3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose.
4. Except for the terminal block.
5. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor.
6. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4
Mpulses/s or lower, change the setting in [Pr. PA13].
7. RS-422 communication is supported by servo amplifier with software version A3.
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
9. For the compatible version for the fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier
with MR Configurator2.
10. The MR-J4-_A servo amplifier is compatible only with the two-wire type.
The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output
method. Refer to table 1.1 for details.
11. This value is applicable when a 3-phase power supply is used.
13. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later.
14. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.
15. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
16. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
17. The DC power supply input is available only with MR-J4-_A-RJ servo amplifiers. For the connection example of the power
circuit when a DC input is used, refer to app. 13.
1 - 13
(2) 400 V class

Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4
Output
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6
Permissible voltage
Main circuit fluctuation
power supply Permissible frequency
Within ±5%
input fluctuation
Power supply
capacity
Rated current [A] 0.1 0.2
Permissible voltage
Control circuit 1-phase 323 V AC to 528 V AC
fluctuation
power supply
input Within ±5%
fluctuation
Power consumption [W] 30 45
Interface power Voltage 24 V DC ± 10%
supply Current capacity [A] 0.5 (including CN8 connector signals) (Note 1)
Dynamic brake Built-in External option (Note 6, 7)
Fully closed loop control Compatible
USB: connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: 1: n communication (up to 32 axes) (Note 8)
Max. input pulse frequency 4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector)
Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse multiplying
Position control Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
factor
mode
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Speed control input
mode ±0.01% or less (load fluctuation 0 % to 100%), 0% (power fluctuation ±10%), ±0.2% or less (ambient
temperature 25 ± 10 °C) when using analog speed command
input
mode
Positioning mode
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage protection, instantaneous power failure protection, overspeed protection,
1 - 14
Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4
Standards certified by CB
(Note 9)
Safety
performance Mean time to dangerous
failure (MTTFd)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
dangerous failures per hour PFH = 6.4 × 10-9 [1/h]
(PFH)
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
with standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Natural cooling, open Force cooling, open
Structure (IP rating) Force cooling, open (IP20) (Note 3)
(IP20) (IP20)
Close mounting Impossible
Ambient Operation
humidity Storage
Environment
Ambience
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2
I/O points.
self-diagnose.
3. Except for the terminal block.
5. MR-J4-_A4 servo amplifier is compatible only with two-wire type. MR-J4-_A4-RJ servo amplifier is compatible with two-wire
type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
1 - 15
(3) 100 V class

Model: MR-J4-_(-RJ) 10A1 20A1 40A1
Output
Rated current [A] 1.1 1.5 2.8
Rated current [A] 3.0 5.0 9.0
Permissible voltage
Main circuit fluctuation
power supply Permissible frequency
Within ±5%
input fluctuation
Power supply
capacity
Rated current [A] 0.4
Permissible voltage
Control circuit 1-phase 85 V AC to 132 V AC
fluctuation
power supply
input Within ±5%
fluctuation
Power consumption [W] 30
Voltage 24 V DC ± 10%
Interface power
0.5
supply Current capacity [A]
(including the CN8 connector signals) (Note 1)
Dynamic brake Built-in
Fully closed loop control Compatible (Note 5)
USB: Connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7)
Max. input pulse
frequency
pulse
Position control
Command pulse
mode Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
multiplying factor
Speed control range Analog speed command 1: 2000, Internal speed command 1: 5000
Speed control input
mode ±0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: ±10%)
±0.2% or less (ambient temperature: 25 °C ± 10 °C) when using analog speed command
input
mode
Positioning mode
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor
overheat protection,
Protective functions encoder error protection, regenerative error protection, undervoltage protection, instantaneous power
failure protection, overspeed protection,
1 - 16
Model: MR-J4-_(-RJ) 10A1 20A1 40A1

Standards certified by
CB (Note 8)
Safety Mean time to dangerous
performance failure (MTTFd)
Diagnostic coverage
DC = Medium, 97.6 [%]
(DC)
dangerous failures per PFH = 6.4 × 10-9 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance
CE marking EMC: EN 61800-3
with global
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
standards
UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20)
Close mounting (Note 2) Possible
Ambient Operation
humidity Storage
Environment
Ambience
Mass [kg] 0.8 1.0
I/O points.
2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 °C to 45 °C or at 75% or smaller
effective load ratio.
self-diagnose.
5. For the compatible version for the fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier
with MR Configurator2.
6. The MR-J4-_A servo amplifier is compatible only with the two-wire type.
The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output
method. Refer to table 1.1 for details.
1 - 17
1.4 Combinations of servo amplifiers and servo motors
POINT
When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot
be achieved with HG-JR series servo motor.
When you use the MR-J4-100A or MR-J4-200A with the 1-phase 200 V AC
input, contact your local sales office for the torque characteristics of the HG-UR
series, HG-RR series, and HG-JR series servo motors.
1 - 18
(1) 200 V class

Linear servo motor
Rotary servo motor Direct drive motor (Note 1)
Servo amplifier (primary side) (Note 1)
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR
MR-J4-10A(-RJ) 053 053
13 13
MR-J4-20A(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20
LM-U2PBB-07M-1SS0 TM-RG2M002C30 (Note 2)
23 23 TM-RU2M002C30 (Note 2)
TM-RG2M004E30 (Note 2)
TM-RU2M004E30 (Note 2)
MR-J4-40A(-RJ) LM-H3P2A-07P-BSS0 TM-RFM004C20
LM-H3P3A-12P-CSS0 TM-RG2M004E30 (Note 2, 4)
43 43 LM-K2P1A-01M-2SS1 TM-RU2M004E30 (Note 2, 4)
LM-U2PAD-10M-0SS0 TM-RG2M009G30 (Note 2)
LM-U2PAF-15M-0SS0 TM-RU2M009G30 (Note 2)
MR-J4-60A(-RJ) 51 LM-U2PBD-15M-1SS0 TM-RFM006C20
53
52 TM-RFM006E20
MR-J4-70A(-RJ) LM-H3P3B-24P-CSS0 TM-RFM012E20
LM-H3P3C-36P-CSS0 TM-RFM012G20
73 73 72 73 LM-H3P7A-24P-ASS0 TM-RFM040J10
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0
MR-J4-100A(-RJ) 81 53 (Note 3) TM-RFM018E20
102 103
MR-J4-200A(-RJ) LM-H3P3D-48P-CSS0
121 73 (Note 3) LM-H3P7B-48P-ASS0
201 103 103 (Note 3) LM-H3P7C-72P-ASS0
152
152 153 153 LM-FP2B-06M-1SS0
202 203 LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0
MR-J4-350A(-RJ) LM-H3P7D-96P-ASS0 TM-RFM048G20
153 (Note 3)
301 LM-K2P2C-07M-1SS1 TM-RFM072G20
202 203 203 (Note 3)
352 LM-K2P3C-14M-1SS1 TM-RFM120J10
353
LM-U2P2C-60M-2SS0
MR-J4-500A(-RJ) LM-FP2D-12M-1SS0 TM-RFM240J10
LM-FP4B-12M-1SS0
421 352 353 353 (Note 3)
LM-K2P2E-12M-1SS1
502 502 503 503
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0
MR-J4-700A(-RJ) 503 (Note 3) LM-FP2F-18M-1SS0
601 LM-FP4D-24M-1SS0
702
701M
703
MR-J4-11KA(-RJ) 801 LM-FP4F-36M-1SS0
12K1
11K1M
903
MR-J4-15KA(-RJ) 15K1 LM-FP4F-48M-1SS0
15K1M
MR-J4-22KA(-RJ) 20K1
25K1
22K1M
Note 1. This is available with servo amplifiers with software version A5 or later.
2. This is available with servo amplifiers with software version C8 or later.
3. The combination increases the maximum torque of the servo motor to 400%.
4. The combination increases the rated torque and the maximum torque.
1 - 19
(2) 400 V class

Rotary servo motor Linear servo motor
Servo amplifier
HG-SR HG-JR (primary side) (Note 1)
MR-J4-60A4(-RJ) 524 534
MR-J4-100A4(-RJ) 534 (Note 2)
1024 734
1034
MR-J4-200A4(-RJ) 734 (Note 2)
1524 1034 (Note 2)
2024 1534
2034
MR-J4-350A4(-RJ) 1534 (Note 2)
3524 2034 (Note 2)
3534
MR-J4-500A4(-RJ) 3534 (Note 2)
5024
5034
MR-J4-700A4(-RJ) 5034 (Note 2)
6014
7024
701M4
7034
MR-J4-11KA4(-RJ) 8014
12K14
11K1M4
9034
MR-J4-15KA4(-RJ) 15K14
15K1M4
MR-J4-22KA4(-RJ) 20K14 LM-FP5H-60M-1SS0
25K14
22K1M4
2. The combination is for increasing the maximum torque of the servo motor to 400%.
(3) 100 V class

Rotary servo motor Linear servo motor
Servo amplifier Direct drive motor (Note 1)
HG-KR HG-MR (primary side) (Note 1)
MR-J4-10A1(-RJ) 053 053
13 13
MR-J4-20A1(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20
LM-U2PBB-07M-1SS0 TM-RG2M002C30 (Note 2)
23 23 TM-RU2M002C30 (Note 2)
TM-RG2M004E30 (Note 2)
TM-RU2M004E30 (Note 2)
MR-J4-40A1(-RJ) LM-H3P2A-07P-BSS0 TM-RFM004C20
LM-H3P3A-12P-CSS0 TM-RG2M004E30 (Note 2, 3)
43 43 LM-K2P1A-01M-2SS1 TM-RU2M004E30 (Note 2, 3)
LM-U2PAD-10M-0SS0 TM-RG2M009G30 (Note 2)
LM-U2PAF-15M-0SS0 TM-RU2M009G30 (Note 2)
2. This is available with servo amplifiers with software version C8 or later.
3. The combination increases the rated torque and the maximum torque.
1 - 20
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
Detailed
Function Description
explanation
This realizes a high response and stable control following the ideal model. The two-
degrees-of-freedom-model model adaptive control enables you to set a response to
the command and response to the disturbance separately. Additionally, this function
Model adaptive control
can be disabled. Refer to section 7.5 for disabling this function. This is used with
servo amplifiers with software version B4 or later. Check the software version of the
servo amplifier with MR Configurator2.
Section 3.2.1
Position control mode This servo amplifier is used as a position control servo. Section 3.6.1
Section 4.2
Section 3.2.2
Speed control mode This servo amplifier is used as a speed control servo. Section 3.6.2
Section 4.3
Section 3.2.3
Torque control mode This servo amplifier is used as a torque control servo. Section 3.6.3
Section 4.4
MR-J4-_A_-
RJ Servo
Used when you use an MR-J4-_A_-RJ servo amplifier in the positioning mode under
Amplifier
the point table/program/indexer method.
Positioning mode Instruction
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version
Manual
B3 or later.
(Positioning
Mode)
Position/speed control Using an input device, control can be switched between position control and speed
Section 3.6.4
change mode control.
Speed/torque control change Using an input device, control can be switched between speed control and torque
Section 3.6.5
mode control.
Torque/position control Using an input device, control can be switched between torque control and position
Section 3.6.6
change mode control.
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary
High-resolution encoder
servo motor compatible with the MELSERVO-J4 series.
Absolute position detection Merely setting a home position once makes home position return unnecessary at
Chapter 12
system every power-on.
You can switch gains during rotation and during stop, and can use an input device to
Gain switching function Section 7.2
switch gains during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
suppression control II
Machine resonance This is a filter function (notch filter) which decreases the gain of the specific frequency
Section 7.1.1
suppression filter to suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
Shaft resonance suppression
driving may generate a mechanical vibration at high frequency. The shaft resonance Section 7.1.3
filter
suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II Section 7.1.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
Low-pass filter Section 7.1.4
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
Machine analyzer function an MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
Robust filter [Pr. PE41]
load to motor inertia ratio is high for such as roll send axis.
Slight vibration suppression
Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]
control
[Pr. PA06]
Electronic gear Input pulses can be multiplied by 1/10 to 4000.
[Pr. PA07]
S-pattern acceleration/
Speed can be increased and decreased smoothly. [Pr. PC03]
deceleration time constant
1 - 21
Detailed
explanation
Automatically adjusts the gain to optimum value if load applied to the servo motor
Auto tuning Section 6.3
shaft varies.
Used when the regenerative option cannot provide enough regenerative power.
Brake unit Section 11.3
Can be used for the 5 kW or more servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Power regeneration converter Section 11.4
Can be used for the 5 kW or more servo amplifier.
Used when the built-in regenerative resistor of the servo amplifier does not have
Regenerative option Section 11.2
sufficient regenerative capability for the large regenerative power generated.
Alarm history clear Alarm history is cleared. [Pr. PC18]
Input signal selection (device ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and [Pr. PD03] to
settings) other input device can be assigned to any pins. [Pr. PD22]
[Pr. PD23] to
Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be assigned [Pr. PD26]
(device settings) to certain pins of the CN1 connector. [Pr. PD28]
[Pr. PD47]
Output signal (DO) forced Output signal can be forced on/off independently of the servo status.
Section 4.5.8
output Use this function for checking output signal wiring, etc.
If the input power supply voltage had reduced to cause an alarm but has returned to
Restart after instantaneous
normal, the servo motor can be restarted by merely switching on the start signal.
power failure
(available in the future)
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Section 3.6.1
(5)
Torque limit Servo motor torque can be limited to any value.
[Pr. PA11]
[Pr. PA12]
Section 3.6.3
(3)
Speed limit Servo motor speed can be limited to any value.
[Pr. PC05] to
[Pr. PC11]
Status display Servo status is shown on the 5-digit, 7-segment LED display Section 4.5
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7
Voltage is automatically offset to stop the servo motor if it does not come to a stop
Automatic VC offset Section 4.5.4
when VC (Analog speed command) or VLA (Analog speed limit) is 0 V.
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8
Jog operation, positioning operation, motor-less operation, DO forced output, and
Test operation mode program operation can be used. Section 4.5.9
MR Configurator2 is required to perform positioning operation or program operation.
[Pr. PC14],
Analog monitor output Servo status is output in terms of voltage in real time.
[Pr. PC15]
Using a personal computer, you can perform the parameter setting, test operation,
MR Configurator2 Section 11.7
monitoring, and others.
Linear servo system can be configured using a linear servo motor and linear encoder.
Linear servo system Chapter 15
Refer to section 1.4 for the software version of a servo amplifier that is compatible.
The direct drive servo system can be configured to drive a direct drive motor.
Direct drive servo system Chapter 16
Refer to section 1.4 for the software version of a servo amplifier that is compatible.
Fully closed loop system can be configured using the load-side encoder.
Fully closed loop system This is used with servo amplifiers with software version A5 or later. Check the Chapter 17
software version of the servo amplifier with MR Configurator2.
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Section 6.2
Configurator2 or operation section.
Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged [Pr. PA20]
in the capacitor in case that an instantaneous power failure occurs during operation.
SEMI-F47 function [Pr. PE25]
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100
Section 7.4
V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
Tough drive function Section 7.3
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
1 - 22
Detailed
explanation
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 However, the drive recorder will not operate on the following conditions. [Pr. PA23]
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
This function is a functional safety that complies with IEC/EN 61800-5-2. You can
STO function Chapter 13
create a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off times of the
Servo amplifier life diagnosis inrush relay. This function gives an indication of the replacement time for parts of the
function servo amplifier including a capacitor and a relay before they malfunction.
This function calculates the power running energy and the regenerative power from
Power monitoring function 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 vibrational
component of the drive system in the equipment and recognizes an error in the
Machine diagnosis function
machine parts, including a ball screw and bearing.
This function improves the response delay occurred when the machine moving
Lost motion compensation
direction is reversed. This is used with servo amplifiers with software version B4 or Section 7.6
function
later. Check the software version of the servo amplifier with MR Configurator2.
This function sets constant and uniform acceleration/deceleration droop pulses to
Super trace control almost 0. This is used with servo amplifiers with software version B4 or later. Check Section 7.7
the software version of the servo amplifier with MR Configurator2.
Current MR-J4-_A_-
When the mark detection signal is turned on, the current position is latched. The
position latch RJ Servo
latched data can be read with communication commands.
function Amplifier
Mark
Instruction
detection Interrupt When MSD (Mark detection) turns on, this function converts the remaining distance to
Manual
positioning the travel distance set in [Pr. PT30] and [Pr. PT31] (Mark sensor stop travel distance).
(Positioning
function This is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
Mode)
Chapter 19
MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4- MR-J4-_A_-
_A_-RJ servo amplifiers. RJ Servo
Amplifier
MR-D01 extension I/O unit MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or
Instruction
later.
Manual
MR-D01 cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
(Positioning
Mode)
The Modbus protocol uses dedicated message frames for the serial communication
MR-J4-_A_-
between a master and slaves. The dedicated message frames have functions for
RJ Servo
reading and writing data, and you can write parameters from servo amplifiers and
Amplifier
Modbus RTU communication check the operation status of the servo amplifiers by using this function. When the
Instruction
function indexer method is used, there are functional restrictions.
Manual
This function is supported by MR-J4-_A_-RJ servo amplifiers with a capacity of 100 W
(Modbus RTU
or more manufactured in November, 2014 or later.
Protocol)
This function will be available with MR-J4-03A6-RJ servo amplifiers in the future.
The analog input resolution can be increased to 16 bits. This function is available with
High-resolution analog input
servo amplifiers manufactured in November 2014 or later. [Pr. PC60]
(VC)
This is not available with MR-J4-03A6-RJ servo amplifiers.
1 - 23
1.6 Model designation
(1) Rating plate

The following shows an example of rating plate for explanation of each item.
AC SERVO
SER.A45001001 Serial number
MODEL MR-J4-10A Model
POWER : 100W Capacity
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable power supply
OUTPUT: 3PH170V 0-360Hz 1.1A Rated output current
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175 Standard, Manual number
Max. Surrounding Air Temp.: 55°C Ambient temperature
IP20 IP rating
KCC-REI-MEK-TC300A621G51 DATE: 2014-05
KC certification number, the year
TOKYO 100-8310, JAPAN MADE IN JAPAN and month of manufacture
Country of origin
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.
MR - J 4 - 6 0 A 4 - RJ
Special specification
Series Symbol Special specification
None Standard
Rated output Fully closed loop control four-wire type/
Symbol Rated output [kW] -RJ load-side encoder A/B/Z-phase input compatible
Positioning mode compatible
10 0.1
-ED MR-J4-_A_ without a dynamic brake (Note 2)
20 0.2
-RU MR-J4-_A_-RJ without a dynamic brake (Note 2)
40 0.4
-PX MR-J4-_A_ without regenerative resistor (Note 1)
60 0.6
-RZ MR-J4-_A_-RJ without regenerative resistor (Note 1)
70 0.75
-EB MR-J4-_A_ with a special coating specification (3C2) (Note 3)
100 1
-KS MR-J4-_A_-RJ with a special coating specification (3C2) (Note 3)
200 2
350 3.5
500 5 Power supply
700 7 Symbol Power supply
11K 11 None 3-phase or 1-phase
200 V AC to 240 V AC
15K 15
1 1-phase 100 V AC to 120 V AC
22K 22
General-purpose interface
Note 1. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.
Refer to app. 10.2 for details.
2. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to app. 10.1 for details.
3. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 10.3 for details.
1 - 24
1.7 Structure
1.7.1 Parts identification
(1) 200 V class

The diagram is for MR-J4-10A-RJ.
Detailed
No. Name/Application
explanation
Display
(1) The 5-digit, 7-segment LED shows the servo status and the Section 4.5
(1)
alarm number.
Operation section
Used to perform status display, diagnostic, alarm, and
(2) parameter setting operations. Push the "MODE" and "SET"
buttons at the same time for 3 s or more to switch to the
one-touch tuning mode.
MODE UP DOWN SET
MODE UP DOWN SET
Used to set data.

Push this button
Inside of the display cover (2) together with the "MODE" Section 4.5
button for 3 s or more
to switch to the
(19) (18) Used to change the
display or data in each
mode.
(3) Used to change the mode.
Push this button
(4) together with the "SET"
(12) to switch to the
(5) one-touch tuning mode.
USB communication connector (CN5) Section
(6) (3) 11.7
Connect with the personal computer.
Analog monitor connector (CN6)
(4) Section 3.2
Outputs the analog monitor.
(14) RS-422/RS-485 communication connector (CN3)
(5) Connect with the RS-422/RS-485 communication controller, Chapter 14
(7) parameter unit, etc.
STO input signal connector (CN8)
(6) Chapter 13
Used to connect the MR-J3-D05 safety logic unit and App. 5
(15) external safety relay.
I/O signal connector (CN1) Section 3.2
(7)
Used to connect digital I/O signals. Section 3.4
(8) Encoder connector (CN2) Section 3.4
(8) Used to connect the servo motor encoder or external "Servo Motor
(Note encoder. Refer to table 1.1 for the compatible external Instruction
(16) 2) encoders. Manual (Vol.
3)"
(17) Battery connector (CN4)
(9) Used to connect the battery for absolute position data Chapter 12
(9) backup.
(13) Battery holder Section
(10) 12.2
Install the battery for absolute position data backup.
Side
(11) Protective earth (PE) terminal
Section 3.1
(10) (11) Main circuit power connector (CNP1)
(12) Section 3.3
Connect the input power supply.
(13) Rating plate Section 1.6
Control circuit power connector (CNP2)
(14) Connect the control circuit power supply and regenerative
option. Section 3.1
Section 3.3
Servo motor power output connector (CNP3)
(15)
Connect the servo motor.
Charge lamp
(16) When the main circuit is charged, this will light up. While
this lamp is lit, do not reconnect the cables.
External encoder connector (CN2L) Section 3.4
(17) Refer to table 1.1 for the compatible external encoders. "Linear
(Note Encoder
1, 2) Instruction
Manual"
Optional unit connector (CN7)
Connect the optional unit. It is available with MR-J4-_A-RJ
(18) servo amplifiers manufactured in November 2014 or later.
The MR-J4-_A servo amplifier does not have this
connector.
Connect the optional unit. It is available with MR-J4-_A-RJ
The MR-J4-_A servo amplifier does not have this
connector.
1 - 25
Note 1. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector.
2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed
loop system in this manual.
1 - 26
(b) MR-J4-350A(-RJ)
Detailed
The broken line area is the same as No. Name/Application
MR-J4-200A(-RJ) or less. explanation
Main circuit power connector (CNP1) Section 3.1
(1)
Connect the input power supply. Section 3.3
Servo motor power connector (CNP3)
(1) (3)
Section 3.1
Control circuit power connector (CNP2) Section 3.3
(4) Connect the control circuit power supply and
regenerative option.
(3) Charge lamp
(5) When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
(2) Protective earth (PE) terminal Section 3.1
Side (6)
Section 3.3
(4) Battery holder Section
(7)
Install the battery for absolute position data backup. 12.2
(5)
(7) (6)
1 - 27
(c) MR-J4-500A(-RJ)
POINT
The servo amplifier is shown with the front cover open. The front cover cannot
be removed.
Detailed
Control circuit terminal block (TE2)
(1)
Used to connect the control circuit power supply. Section 3.1
Main circuit terminal block (TE1) Section 3.3
(1) (2)
Battery holder Section
(3)
(2) (4) Rating plate Section 1.6
Regenerative option/power factor improving reactor
terminal block (TE3)
(5)
Used to connect a regenerative option or a power Section 3.1
factor improving DC reactor. Section 3.3
(3) Servo motor power supply terminal block (TE4)
(6)
(Note) Connect the servo motor.
Charge lamp
(4) (7) When the main circuit is charged, this will light up.
Side While this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal Section 3.1
(8)
Section 3.3
(5)
(6)
(7)
(8)
Note. Lines for slots around the battery holder are omitted from the illustration.
1 - 28
(d) MR-J4-700A(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
Detailed
explanation
MR-J4-200A(-RJ) or less.
Power factor improving reactor terminal block (TE3)
(1)
Used to connect the DC reactor.
Main circuit terminal block (TE1)
(2) Used to connect the input power supply, Section 3.1
regenerative option, and servo motor. Section 3.3
(7) (3)
Used to connect the control circuit power supply.
(6) (4) Protective earth (PE) terminal
(5) (5)
(Note)
Charge lamp
(1)
(2)
(4)
(3)
1 - 29
(e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)
POINT
Detailed
explanation
MR-J4-200A(-RJ) or less.
Power factor improving reactor terminal block (TE1-
2)
(1)
Used to connect a power factor improving DC
reactor and a regenerative option.
Main circuit terminal block (TE1-1) Section 3.1
(7) (2) Used to connect the input power supply and servo Section 3.3
motor.
(3)
(5)
(5) Charge lamp
(Note) (7) When the main circuit is charged, this will light up.
(2)
(3)
(4)
(1)
1 - 30
(f) MR-J4-22KA(-RJ)
POINT
Detailed
Power factor improving reactor terminal block (TE1-
2)
(1)
(7) Main circuit terminal block (TE1-1) Section 3.1
(2) Used to connect the input power supply and servo Section 3.3
(5) motor.
(Note)
(3)
(5)
Charge lamp
(2) While this lamp is lit, do not reconnect the cables.
(3)
(1)
(4)
1 - 31
(2) 400 V class

(a) For MR-J4-200A4(-RJ) or less
The diagram is for MR-J4-60A4-RJ.
Detailed
explanation
Display
(1) (1) The 5-digit, seven-segment LED shows the servo
status and the alarm number.
Operation section
(2) Used to perform status display, diagnostic, alarm,
and parameter setting operations. Push the
MODE UP DOWN SET
"MODE" and "SET" buttons at the same time for 3 s
or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Inside of the display cover Used to set data. Push Section 4.5
this button together with
(2) the "MODE" button for
3 s or more to switch to
the one-touch tuning
mode.
Used to change the
mode.
(19)
(18) Used to change the
(3) mode. Push this button
(16) together wish the "SET"
button for 3 s or more to
(4) switch to the one-touch
tuning mode.
(12)
(5) (3) 11.7
(6) Analog monitor connector (CN6)
(4) Section 3.2
(5) Connect with the RS-422/RS-485 communication Chapter 14
(7) controller, parameter unit, etc.
(8) STO input signal connector (CN8)
(6) Used to connect MR-J3-D05 safety logic unit and Chapter 13
(15) App. 5
external safety relay.
(17) I/O signal connector (CN1) Section 3.2
(7)
(9) Used to connect digital I/O signals. Section 3.4
(8) Used to connect the servo motor encoder or "Servo
Side Motor
(10) (Note external encoder. Refer to table 1.1 for the Instruction
(11) 2) compatible external encoders. Manual
(Vol. 3)"
Battery connector (CN4)
(9) Used to connect the battery for absolute position Chapter 12
data backup.
(10) 12.2
Section 3.1
(12)
regenerative option. Section 3.1
Section 3.3
(15)
Charge lamp
(16) When the main circuit is charged, this will light.
(17) Used to connect the external encoder. Refer to "Linear
(Note table 1.1 for the compatible external encoders. Encoder
1) Instruction
Manual"
Connect the optional unit. It is available with MR-J4-
(18) _A4-RJ servo amplifiers manufactured in November
2014 or later. MR-J4-_A4 servo amplifier does not
have this connector.
Connect the optional unit. It is available with MR-
(19) J4-_A4-RJ servo amplifiers manufactured in
November 2014 or later. The MR-J4-_A4 servo
amplifier does not have this connector.
1 - 32
Note 1. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector.
1 - 33
(b) MR-J4-350A4(-RJ)
Detailed
MR-J4-200A4(-RJ) or less. explanation
(1)
Connect the input power supply. Section 3.3
(1)
Section 3.1
(7) regenerative option.
Section 3.3
(4)
Charge lamp
(3) (5) When the main circuit is charged, this will light.
Protective earth (PE) terminal Section 3.1
(2) (6)
Section 3.3
Side
Battery holder
(4) (7) Install the battery for absolute position data Section 12.2
backup.
(5)
(6)
1 - 34
(c) MR-J4-500A4(-RJ)
POINT
The broken line area is the same as Detailed

MR-J4-200A4(-RJ) or less. No. Name/Application
explanation
(1)
Section 3.1
(6) Section 3.3
(2) Used to connect the input power supply,
regenerative option and servo motor.
Battery holder
(3)
(Note) (3) Install the battery for absolute position data Section 12.2
backup.
Power factor improving reactor terminal block
(4) (TE3) Section 3.1
(5)
Used to connect a power factor improving DC Section 3.3
reactor.
Charge lamp
(1) Protective earth (PE) terminal Section 3.1
(7)
Section 3.3
(2)
(7)
1 - 35
(d) MR-J4-700A4(-RJ)
POINT

explanation
(1) (TE3)
Used to connect the DC reactor.
Section 3.1
(2) Used to connect the input power supply,
(7) Section 3.3
regenerative option, and servo motor.
(6) (3)
(Note) Battery holder
(5) Install the battery for absolute position data Section 12.2
backup.
Charge lamp
(7) When the main circuit is charged, this will light.
(1)
(2)
(4)
(3)
1 - 36
(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
POINT

explanation
(TE1-2)
(1)
(7) Main circuit terminal block (TE1-1) Section 3.1
(2) Used to connect the input power supply and servo Section 3.3
motor.
(3)
(6) Used to connect the control circuit power supply.
Battery holder
backup.
(5)
(Note) (6) Rating plate Section 1.6
Charge lamp
(3)
(4)
(1)
1 - 37
(f) MR-J4-22KA4(-RJ)
POINT

explanation
(TE1-2)
(1)
(7)
Main circuit terminal block (TE1-1) Section 3.1
(5) (2) Used to connect the input power supply and servo Section 3.3
(Note) motor.
(3)
(6) Used to connect the control circuit power supply.
Battery holder
backup.
Charge lamp
(3)
(1)
(4)
1 - 38
(3) 100 V class

The diagram is for MR-J4-10A1-RJ.
No. Name/Application Detailed
explanation
Display
(1) The 5-digit, 7-segment LED shows the servo status and the Section 4.5
(1) alarm number.
Operation section
parameter setting operations. Push the "MODE" and "SET"
(2) buttons at the same time for 3 s or more to switch to the
MODE UP DOWN SET
MODE UP DOWN SET
Used to set data.

Push this button
(2) together with the "MODE" Section 4.5
Inside of the display cover button for 3 s or more
to switch to the
(19) (18) Used to change the
mode.
(3) Used to change the mode.
Push this button
(4) together with the "SET"
(12) to switch to the
(5) one-touch tuning mode.
(6) (3) 11.7
Analog monitor connector (CN6)
(4) Section 3.2
(5) Connect with the RS-422/RS-485 communication controller, Chapter 14
(7) parameter unit, etc.
STO input signal connector (CN8)
(6) Chapter 13
Used to connect the MR-J3-D05 safety logic unit and App. 5
(15) external safety relay.
I/O signal connector (CN1) Section 3.2
(7)
Used to connect digital I/O signals. Section 3.4
(8) Used to connect the servo motor encoder or external "Servo
encoder. Refer to table 1.1 for the compatible external Motor
(16) (Note
encoders. Instruction
2)
(17) Manual
(Vol. 3)"
(9) Battery connector (CN4)
(9) Used to connect the battery for absolute position data Chapter 12
(13) backup.
Side Battery holder Section
(10) 12.2
(10) (11) (11) Protective earth (PE) terminal
Section 3.1
Main circuit power connector (CNP1)
(12) Section 3.3
(14) Connect the control circuit power supply and regenerative
option. Section 3.1
Section 3.3
(15)
Charge lamp
(17) Refer to table 1.1 for the compatible external encoders. "Linear
(Note Encoder
1, 2) Instruction
Manual"
Connect the optional unit. It is available with MR-J4-_A1-RJ
The MR-J4-_A1 servo amplifier does not have this
connector.
Connect the optional unit. It is available with MR-J4-_A1-RJ
The MR-J4-_A1 servo amplifier does not have this
connector.
Note 1. This is for the MR-J4-_A1-RJ servo amplifier. The MR-J4-_A1 servo amplifier does not have the CN2L connector.
1 - 39
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
WARNING between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or
The following shows how to remove and reinstall the front cover of MR-J4-700A(-RJ) to MR-J4-22KA(-RJ)
and MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ).
The diagram shows MR-J4-700A.
(1) Removal of the front cover
A)
A)
1) Hold the ends of lower side of the front cover with 2) Pull up the cover, supporting at point A).
both hands.
3) Pull out the front cover to remove.
1 - 40
(2) Reinstallation of the front cover
Front cover
setting tab A)
A)
1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A).
the servo amplifier (2 places).
Setting tab
3) Press the cover against the terminal box until the

setting tabs click.
1 - 41
1.8 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.
When using the MR-J4-_A-RJ servo amplifier with the DC power supply input,
refer to app. 13.
1 - 42
(1) 200 V class

The diagram shows MR-J4-20A-RJ.
RS T
(Note 2)
Power
supply Personal
computer
Molded-case
circuit breaker MR Configurator2
(MCCB) CN5
(Note 3)
Magnetic CN6
contactor Analog monitor
(MC)
CN3 To RS-422/RS-485 communication
(Note 1)
controller, parameter unit, etc.
CN8 To safety relay or
MR-J3-D05 safety
Line noise logic unit
filter
(FR-BSF01)
D (Note 5)
CN1
U
L1
V Junction terminal block
L2
L3 W
Power factor P3 CN2

improving DC
reactor
(FR-HEL) P4
CN2L (Note 4)
P+ CN4
Regenerative Battery
option
C
L11
L21 Servo motor
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn
off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an
MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this
connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1 - 43
(b) MR-J4-350A(-RJ)
RS T
(Note 2)
Power
supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN6
Analog monitor
Line noise controller, parameter unit, etc.
filter CN8 To safety relay or
(FR-BSF01) MR-J3-D05 safety
logic unit
U
L1 CN1
V
L2
W Junction terminal block
L3
Power factor P3
improving DC CN2
reactor D (Note 5)
(FR-HEL) P4
CN2L (Note 4)
P+
Regenerative CN4
option Battery
C
L11
L21
Servo motor
2. For the power supply specifications, refer to section 1.3.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using
1 - 44
(c) MR-J4-500A(-RJ)
RS T
(Note 2)
Power
supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor L11
(MC)
(Note 1) L21
CN6
Analog monitor
Line noise controller, parameter unit, etc.
filter To safety relay or
(FR-BLF) CN8
MR-J3-D05 safety
logic unit
CN1
L1
L2
Junction terminal block
L3 CN2
CN2L
Power factor P3 D (Note 5) (Note 4)
improving DC
reactor U
CN4
(FR-HEL) P4 Battery
V
P+
Regenerative W
option
C
Servo motor
1 - 45
(d) MR-J4-700A(-RJ)
(Note 2)
Power RS T
supply
Molded-case
circuit breaker Personal
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
CN6
Analog monitor
(Note 1)
Line noise MR-J3-D05 safety
filter logic unit
(FR-BLF)
CN1

L21 CN2
CN2L
L11 (Note 4)
Power factor
improving DC
reactor CN4
(FR-HEL) Battery
P4
P3
L3
L2
L1
U V W
P+ C
(Note 5) Regenerative
option
Servo motor
5. When using the regenerative option, refer to section 11.2.
1 - 46
(e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)
(Note 2) R S T Personal
Power computer
supply MR Configurator2
CN5
Molded-case
circuit breaker
(MCCB)
CN6
(Note 3) Analog monitor
Magnetic CN3 To RS-422/RS-485 communication
contactor controller, parameter unit, etc.
(MC) To safety relay or
CN8
MR-J3-D05 safety
(Note 1) logic unit
CN1
Line noise
filter
(FR-BLF)
CN2
CN2L
(Note 4)
L21
CN4
L11 Battery
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL)
P3
P4
P+ C
option
Servo motor
1 - 47
(f) MR-J4-22KA(-RJ)
Personal
MR Configurator2 computer
(Note 2) R S T CN5
Power
supply
Molded-case
circuit breaker
(MCCB)
CN6
Analog monitor
(Note 3) controller, parameter unit, etc.
Magnetic To safety relay or
contactor CN8
MR-J3-D05 safety
(MC) logic unit
(Note 1)
CN1
Line noise Junction terminal block

filter CN2
(FR-BLF) CN2L
(Note 4)
L21 CN4 Battery
L11
L3
L2
L1
Power factor
improving DC U V W
reactor
(FR-HEL)
P3
P4
P+ C
option
Servo motor
1 - 48
(2) 400 V class

(a) MR-J4-200A4(-RJ) or less
The diagram is for MR-J4-60A4-RJ and MR-J4-100A4-RJ.
RS T
(Note 2) Personal
Power supply computer
MR Configurator2
Molded-case CN5
circuit breaker
(MCCB)
CN6
Analog monitor
(Note 3)
Magnetic CN3
contactor To RS-422/RS-485 communication
(MC)
(Note 1) CN8 To safety relay or
MR-J3-D05 safety
logic unit
Line noise filter

(FR-BSF01)
CN1
D (Note 5)
L1
L2
U
L3 CN2
V
Power factor P3
improving DC CN2L (Note 4)
W
reactor
(FR-HEL-H) P4 CN4
Battery
P+
Regenerative
option
C
L11
L21
Servo motor
2. Refer to section 1.3 for the power supply specification.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4-
RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.
Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
1 - 49
(b) MR-J4-350A4(-RJ)
RS T
(Note 2)
Power supply
Molded-case Personal
circuit breaker computer
(MCCB) MR Configurator2
CN5
(Note 3)
Magnetic
contactor CN6
(MC) Analog monitor
(Note 1) CN3 To RS-422/RS-485 communication
MR-J3-D05 safety
logic unit
Line noise filter
(FR-BSF01)
CN1
D (Note 5)
L1 CN2
L2 U
CN2L (Note 4)
L3 V
W CN4
Battery
Power factor P3
improving DC
reactor
(FR-HEL-H) P4
P+
Regenerative
option
C
L11
L21
Servo motor
1 - 50
(c) MR-J4-500A4(-RJ)
RS T
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN6
Power factor Analog monitor
improving DC
reactor CN3 To RS-422/RS-485 communication
(FR-HEL-H) controller, parameter unit, etc.
Line noise filter P3 CN8 To safety relay or
(FR-BSF01) MR-J3-D05 safety
logic unit
P4
CN1

CN2
CN2L (Note 4)
CN4
Battery
L21
L3 L11
L2
L1
U V W
P+ C
option
Servo motor
1 - 51
(d) MR-J4-700A4(-RJ)
RS T
(Note 2)
Power supply Personal
computer
Molded-case MR Configurator2
circuit breaker CN5
(MCCB)
CN6
(Note 3) Analog monitor
Magnetic
contactor CN3 To RS-422/RS-485 communication
(MC) controller, parameter unit, etc.
MR-J3-D05 safety
logic unit
Line noise filter CN1

(FR-BLF)
CN2
L21
L11 CN2L (Note 4)
Power factor CN4
improving DC Battery
reactor
(FR-HEL-H)
P4
P3
L3
L2
L1
U V W
P+ C
option
Servo motor
1 - 52
(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
Personal
computer
RS T MR Configurator2
(Note 2) CN5
Power supply
Molded-case
circuit breaker
(MCCB)
CN6
Analog monitor
(Note 3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety
(MC) logic unit
(Note 1)
CN1

Line noise filter CN2
(FR-BLF)
CN2L (Note 4)
CN4
L21 Battery
L11
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4
P+ C
option
Servo motor
1 - 53
(f) MR-J4-22KA4(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
CN6
Analog monitor
Magnetic MR-J3-D05 safety
contactor logic unit
(MC)
(Note 1) CN1

CN2
Line noise filter
(FR-BLF) CN2L (Note 4)
CN4
Battery
L21
L11
L3
L2
L1
Power factor
improving DC U V W
reactor
(FR-HEL-H)
P3
P4
P+ C
option
Servo motor
1 - 54
(3) 100 V class

The diagram shows MR-J4-20A1-RJ.
RS T
(Note 2)
Power
supply Personal
computer
Molded-case
(MCCB) CN5
(Note 3)
Magnetic CN6
(MC)
Power factor (Note 1) controller, parameter unit, etc.
improving AC (Note 1)
reactor To safety relay or
CN8 MR-J3-D05 safety
(FR-HAL)
logic unit
Line noise
filter
(FR-BSF01)
D (Note 5)
CN1
U
L1
L2
W
CN2
CN2L (Note 4)
P+ CN4
Regenerative Battery
option
C
L11
L21 Servo motor
Note 1. The power factor improving DC reactor cannot be used.

2. For power supply specifications, refer to section 1.3.
4. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and
Linear Encoder Instruction Manual for the compatible external encoders.
1 - 55
MEMO
1 - 56
2. INSTALLATION
2. INSTALLATION
WARNING To prevent electric shock, ground each equipment securely.

Do not hold the front cover, cables, or connectors when carrying the servo
amplifier. Otherwise, it may drop.
Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Use the equipment within the specified environment. For the environment, refer to
section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
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.
CAUTION Otherwise, injury, malfunction, etc. may occur.
Do not install or operate the servo amplifier which have been damaged or have
any parts missing.
When the equipment 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 the 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.
POINT
When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class/600 W or
lower 200 V class servo amplifier, pull out CN3 and CN8 connectors
beforehand.
2- 1
2. INSTALLATION
2.1 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, it may

cause a malfunction.
CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier
Cabinet Cabinet
40 mm
or more
Servo amplifier Wiring
allowance
80 mm or more
10 mm 10 mm
or more or more Top
(Note 2)
Bottom
40 mm
or more
(Note 1)
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2. When mounting MR-J4-500A(-RJ), maintain a minimum clearance of 25 mm on the left side.
2- 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier.
Refer to section 1.3 for availability of close mounting.
When closely mounting multiple servo amplifiers, the servo amplifier on the right
must have a larger depth than that on the left. Otherwise, the CNP1, CNP2, and
CNP3 connectors cannot be removed.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo
amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within
0 °C to 45 °C or use the servo amplifier with 75% or less of the effective load ratio.
Cabinet Cabinet
100 mm 100 mm
or more 10 mm or more or more
(Note 2) 1 mm 1 mm
30 mm 30 mm 30 mm Top
or more or more or more
Bottom
40 mm or more 40 mm
(Note 1) or more
Leaving clearance Mounting closely

Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2. When mounting MR-J4-500A(-RJ), maintain a minimum clearance of 25 mm between the MR-J4-500A(-RJ) and a servo
amplifier mounted on the left side.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2- 3
2. INSTALLATION
2.2 Keeping out of foreign materials
(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or
a cooling fan installed on the ceiling.
(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force
clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to
prevent such materials from entering the cabinet.
2.3 Encoder cable stress
(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and
brake) with having some slack from the connector connection part of the servo motor to avoid putting
stress on the connector connection part. Use the optional encoder cable within the bending life range.
Use the power supply and brake wiring cables within the bending life of the cables.
(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For installation on a machine where the servo motor moves, the bending radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2- 4
2. INSTALLATION
2.4 Inspection items
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
WARNING shock may occur. In addition, when confirming whether the charge lamp is off or
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
CAUTION cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating
conditions especially when the servo motor is movable.
(3) Check that the connector is securely connected to the servo amplifier.
(4) Check that the wires are not coming out from the connector.
(5) Check for dust accumulation on the servo amplifier.
(6) Check for unusual noise generated from the servo amplifier.
(7) 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.
2- 5
2. INSTALLATION
2.5 Parts having service life
Service life of the following parts is listed below. However, the service life vary depending on operating
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of
their service life. For parts replacement, please contact your sales representative.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on and forced stop by EM1
Relay (Forced stop 1) times: 100,000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Absolute position battery Refer to section 12.2.
(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the
capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach
the end of its life in 10 years of continuous operation in air-conditioned environment (ambient
temperature of 40 °C or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of
their life when the power has been turned on and forced stop by EM1 (Forced stop 1) has occurred
100,000 times in total, or when the STO has been turned on and off 1,000,000 times while the servo
motor is stopped under servo-off state. However, the life of relays may depend on the power supply
capacity.
(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore,
the cooling fan must be replaced in a few years of continuous operation as a guideline. If unusual noise
or vibration is found during inspection, the cooling fan must also be replaced.
The life indicates under the yearly average ambient temperature of 40 °C, free from corrosive gas,
flammable gas, oil mist, dust and dirt.
2- 6
2. INSTALLATION
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
(1) Effective load ratio and regenerative load ratio

As heat dissipation effects decrease in proportion to the decrease in air density, use the product within
the effective load ratio and regenerative load ratio shown in the following figure.
Regenerative load ratio
[%]
Effective load ratio
100
95
0
0 1000 2000 [m]
Altitude
When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 °C to 45 °C
or at 75% or smaller effective load ratio. (Refer to section 2.1.)
(2) Input voltage

Generally, a withstand voltage decreases as increasing altitude; however, there is no restriction on the
withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)
(3) Parts having service life

(a) Smoothing capacitor
The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned
environment (ambient temperature of 30 °C or less).
(b) Relay
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)
(c) Servo amplifier cooling fan

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)
2- 7
2. INSTALLATION
MEMO
2- 8
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
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
To avoid an electric shock, insulate the connections of the power supply
terminals.
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.
or MR-D01 or MR-D01
24 V DC 24 V DC
DOCOM DOCOM
(DOCOMD) (DOCOMD)

signal signal
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
(-H)) with the power line of the servo motor.
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 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
U U
U U
V V
V M V M
W W
W W
3- 1

amplifier may cause a malfunction.
CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
POINT
When you use a linear servo motor, replace the following words in the left to the
words in the right.
Load to motor inertia ratio → Load to motor mass ratio
Torque → Thrust
(Servo motor) speed → (Linear servo motor) speed
3.1 Input power supply circuit
Always connect a magnetic contactor between the power supply and the main
circuit 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 a fire when the servo amplifier malfunctions.
Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may
cause a fire when a regenerative transistor malfunctions or the like may overheat
the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
CAUTION amplifier power supply. If input voltage exceeds the upper limit of the
specification, the servo amplifier will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous
noise and to suppress lightning surge. Exogenous noise or lightning surge
deteriorates the varistor characteristics, and the varistor may be damaged. To
prevent a fire, use a molded-case circuit breaker or fuse for input power supply.
The N- terminal is not a neutral point of the power supply. Incorrect wiring will
cause a burst, damage, etc.
POINT
EM2 has the same function as EM1 in the torque control mode.
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-J3 Series Servo Amplifier's.
When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.
refer to app. 13.
Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after
deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit
breaker (MCCB) must be used with the input cables of the main circuit power supply.
3- 2
3.1.1 200 V class
(1) Using 3-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-350A(-RJ)
Malfunction
RA1 OFF ON
MC
MC
SK
Emergency stop switch
Servo amplifier Servo motor
(Note 6)
MCCB MC CNP1
(Note 10)
L1
3-phase CNP3 (Note 5)
200 V AC to L2 U U
240 V AC Motor
L3 V V
M
N- W W
P3
(Note 9) (Note 1)
P4
CNP2
P+
(Note 2) C
(Note 10)
D (Note 3)
CN2 Encoder
Encoder cable
L11
L21
(Note 7)
Main circuit power supply CN1
Forced stop 2 EM2 CN1 24 V DC (Note 11)
(Note 4)
Servo-on SON DOCOM
(Note 4)
DICOM ALM RA1 Malfunction
24 V DC (Note 11)
CN8
(Note 8)
Short-circuit connector
(Packed with the servo amplifier)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals (factory-wired). When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
11. 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.
3- 3
(2) Using 1-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-200A(-RJ)
POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-J3 Series Servo Amplifier's.
When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.
Malfunction
RA1 OFF ON
MC
MC
SK
(Note 6)
MCCB MC CNP1
1-phase L1 (Note 10)
200 V AC to CNP3 (Note 5)
240 V AC L2 U U
Motor
L3 V V
M
N- W W
P3
(Note 9) (Note 1)
P4
CNP2
P+
C
(Note 2)
D (Note 10)
CN2 (Note 3)
L11 Encoder cable Encoder
L21
(Note 7)
(Note 4)
Servo-on SON DOCOM
Malfunction (Note 4)
DICOM ALM RA1
24 V DC (Note 11) CN8

(Note 8)
(Vol. 3)".
amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
3- 4
(3) MR-J4-500A(-RJ)
Malfunction
RA1 OFF ON
MC
MC
SK
(Note 6)
MCCB MC
L1 (Note 10)
3-phase (Note 5)
200 V AC to L2 U U
240 V AC Motor
L3 V V
M
N- W W
(Note 9)
L11
L21
P3
(Note 1)
P4 (Note 10)
CN2 (Note 3)
Encoder cable Encoder
P+
(Note 2) C
D
(Note 7)
Forced stop 2 EM2
(Note 4) CN1 24 V DC (Note 11)
Servo-on SON DOCOM
(Note 4)
24 V DC (Note 11)
(Note 8) CN8
(Vol. 3)".
amplifier.
section 11.10.)
3- 5
(4) MR-J4-700A(-RJ)
Malfunction
RA1 OFF ON
MC
MC
SK
(Note 6)
MCCB MC (Note 10)
L1
3-phase (Note 5)
200 V AC to Built-in
L2 regenerative U U Motor
240 V AC
L3 resistor V V
M
(Note 2) P+ W W
C
(Note 9)
L11
L21
(Note 10)
N- (Note 3)
CN2 Encoder
Encoder cable
P3
(Note 1)
P4
(Note 7)
Forced stop 2 EM2
(Note 4) CN1 24 V DC (Note 11)
Servo-on SON DOCOM
(Note 4)
24 V DC (Note 11)
CN8
(Note 8)
(Vol. 3)".
amplifier.
section 11.10.)
3- 6
(5) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)
Malfunction OFF
RA1 ON
MC
MC
SK
Emergency stop switch (Note 13) Cooling
fan power supply
(Note 14, 15)
Servo amplifier External Servo motor
(Note 6) dynamic brake
MCCB MC (optional)
3-phase L1
(Note 10)
200 V AC to L2 U U
240 V AC Motor
L3 V V MCCB
M
P+ W W
(Note 5)
(Note 9) C
Regenerative
resistor
(Note 2)
L11
L21
(Note 10)
N- (Note 3)
CN2 Encoder
Encoder cable
P3
(Note 1)
P4
BU
BV
BW
Cooling fan (Note 12)
(Note 7)
Forced stop 2 EM2 24 V DC (Note 11)
(Note 4) CN1
Servo-on SON DOCOM
(Note 4)
24 V DC (Note 11)
CN8
(Note 8)
(Vol. 3)".
amplifier.
section 11.10.)
12. For the servo motor with a cooling fan.
13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring
of the external dynamic brake, refer to section 11.17.
3- 7
3.1.2 400 V class
(1) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)

Malfunction OFF
RA1 ON
MC
MC
Emergency stop switch SK
(Note 11)
Step-down
transformer Servo amplifier Servo motor
CNP1
(Note 6) (Note 10)
MCCB N- CNP3 (Note 5)
MC
L1 U U
3-phase Motor
380 V AC to L2 V V
480 V AC M
L3 W W
P3
(Note 9) (Note 1)
P4
CNP2
P+
(Note 2) C
D (Note 10)
CN2 (Note 3) Encoder
L11 Encoder cable
L21
(Note 7)
Forced stop 2 EM2 CN1
(Note 4) 24 V DC (Note 12)
Servo-on SON DOCOM
(Note 4)
24 V DC (Note 12)
CN8
(Note 8)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short
bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and
power factor improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section
11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor
Instruction Manual (Vol. 3)".
6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage
decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When
dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the
servo amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit
breaker. (Refer to section 11.10.)
10. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
11. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class.
12. 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.
3- 8
(2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)
Malfunction OFF
RA1 ON
MC
MC
(Note 11) Emergency stop switch SK
Step-down
transformer Servo amplifier Servo motor
(Note 6)
MCCB MC
L1 (Note 10)
3-phase (Note 5)
380 V AC to L2 Built-in U U
480 V AC regenerative Motor
L3 resistor V V
M
(Note 2) P+ W W
(Note 9) C
L11
L21
N- (Note 10)
P3 Encoder cable
(Note 1)
P4
(Note 7)
Servo-on SON DOCOM
Malfunction (Note 4)
DICOM ALM RA1
24 V DC (Note 12)
CN8
(Note 8)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short
bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and
power factor improving AC reactor cannot be used simultaneously.
6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage
decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When
dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
servo amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit
breaker. (Refer to section 11.10.)
12. 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.
3- 9
(3) MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ)

Malfunction OFF
RA1 ON
MC
MC
(Note 13)
Emergency stop switch SK Cooling fan
(Note 11)
Step-down power supply
transformer (Note 15, 16)
Servo amplifier External Servo motor
(Note 6)
MCCB MC dynamic brake
L1 (optional)
3-phase (Note 10)
380 V AC to L2 U U
480 V AC Motor
L3 V V MCCB
M
P+ W W
(Note 5)
(Note 9) C
Regenerative
resistor
(Note 2)
L11
L21
N- (Note 10)
P3 Encoder cable
(Note 1)
P4
BU
BV
BW
Cooling fan (Note 12)
(Note 7)
Servo-on SON DOCOM
(Note 4)
24 V DC (Note 14)
CN8
(Note 8)
(Vol. 3)".
amplifier.
section 11.10.)
12. For the servo motor with a cooling fan.
13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring
of the external dynamic brake, refer to section 11.17.
3 - 10
3.1.3 100 V class

Malfunction
RA1 OFF ON
MC
MC
SK
(Note 6)
MCCB MC CNP1
1-phase (Note 10)
L1
100 V AC to CNP3 (Note 5)
120 V AC Unassigned U U Motor
L2 V V
M
N- W W
Unassigned
(Note 9)
Unassigned
CNP2
P+
(Note 2) C
(Note 10)
D (Note 3)
CN2 Encoder
Encoder cable
L11
L21
(Note 7)
(Note 4)
Servo-on SON DOCOM
(Note 4)
24 V DC (Note 11)
CN8
(Note 8)
Note 1. The power factor improving DC reactor cannot be used.

(Vol. 3)".
amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker. (Refer to
section 11.10.)
3 - 11
3.2 I/O signal connection example
3.2.1 Position control mode
(1) Sink I/O interface

(Note 4) Servo amplifier
24 V DC (Note 7) (Note 4)
Positioning module CN1 24 V DC
RD75D/LD75D/QD75D (Note 7)
CN1 47 DOCOM (Note 2)
DICOM 20 48 ALM RA1 Malfunction
CLEARCOM 14 DOCOM 46 (Note 6)
CLEAR 13 CR 41 23 ZSP RA2 Zero speed
detection (Note 12)
RDYCOM 12 25 TLC RA3 Limiting torque
READY 11 RD 49
PULSE F+ 15 PP 10 24 INP RA4 In-position
PULSE F- 16 PG 11
10 m or less
PULSE R+ 17 NP 35
PULSE R- 18 NG 36 4 LA Encoder A-phase pulse
(differential line driver)
PG0 9 LZ 8 5 LAR (Note 16)
PG0 COM 10 LZR 9 6 LB Encoder B-phase pulse
(Note 11) LG 3 7 LBR
SD Plate Control common
34 LG Control common
10 m or less (Note 8)
33 OP Encoder Z-phase pulse
Plate SD (open collector)
10 m or less 2 m or less
(Note 13) (Note 7)
(Note 3, 5) Forced stop 2 EM2 42
Servo-on SON 15 (Note 7)
Reset RES 19 CN6
Proportion control PC 17 3 MO1 Analog monitor 1
External torque limit DC ± 10 V
selection
TL 18 1 LG
DC ± 10 V
Forward rotation LSP 43 2 MO2 Analog monitor 2
(Note 5) stroke end
Reverse rotation (Note 4) 24 V DC LSN 44
stroke end 2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
+10 V/maximum torque TLA 27
LG 28
SD Plate
Personal 2 m or less
(Note 9) computer
MR Configurator2 (Note 10)
USB cable CN5
(option)
+
CN8
(Note 12)
Short-circuit connector (Note 1)
3 - 12
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 is up to 500 mA. 500 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) 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. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. When this signal (normally closed contact) is switched off (at
occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
type.
9. Use SW1DNC-MRC2-_. (Refer to section 11.7.)
10. Controller or parameter units can also be connected via the CN3 connector, enabling RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3
connector) from being used, and vice versa. They cannot be used together.
RS-422/RS-485
compatible
controller
Servo amplifier
CN3
or
MR-PRU03
parameter unit
PRU03
10BASE-T cable, etc. (EIA568-compliant)
11. This connection is not required for RD75D, LD75D and QD75D. However, to enhance noise tolerance, it is recommended to
connect LG of servo amplifier and control common depending on the positioning module.
amplifier.
14. Plus and minus of the power of source interface are the opposite of those of sink interface.
15. CLEAR and CLEARCOM of source interface are interchanged to sink interface.
16. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position
mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse
be checked.
3 - 13
(2) Source I/O interface
POINT
For notes, refer to (1) in this section.
(Note 4, 14) Servo amplifier

24 V DC
(Note 7) (Note 4, 14)
RD75D/LD75D/QD75D (Note 7) 47 DOCOM
CN1 (Note 2)
DICOM 20 48 ALM RA1 Malfunction
CLEAR 13 DOCOM 46 (Note 6)
(Note 15)
CLEARCOM 14 CR 41 23 ZSP RA2 Zero speed
detection
READY 11 RD 49
PULSE F- 16 PG 11
10 m or less
PULSE R+ 17 NP 35
PG0 9 LZ 8 5 LAR (Note 16)
(Note 11) LG 3 7 LBR
(Note 13) (Note 7)
Servo-on SON 15
(Note 7)
Reset RES 19 CN6
External torque limit DC ± 10 V
selection
TL 18 1 LG
DC ± 10 V
Forward rotation LSP 43 2 MO2 Analog monitor 2
(Note 5) stroke end
Reverse rotation (Note 4, 14) 24 V DC LSN 44
stroke end 2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
+10 V/maximum torque TLA 27
LG 28
SD Plate
(Note 9) computer
USB cable CN5
(option)
+
CN8
(Note 12)
Short-circuit connector (Note 1)
3 - 14
3.2.2 Speed control mode
(1) Sink I/O interface

Servo amplifier
(Note 7) (Note 4)
CN1 24 V DC
46 DOCOM
47 DOCOM
(Note 2)
10 m or less
(Note 12) (Note 7) 48 ALM RA1 Malfunction
Main circuit power supply CN1 (Note 6)
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Servo-on SON 15 25 TLC RA3 Limiting torque
Reset RES 19
Speed selection 1 SP1 41 24 SA RA4 Speed reached
Speed selection 2 SP2 16 49 RD RA5 Ready
Forward rotation start ST1 17
Reverse rotation start ST2 18 10 m or less
Forward rotation LSP 43
(Note 5) stroke end 8 LZ Encoder Z-phase pulse
Reverse rotation LSN 44
stroke end 9 LZR ((differential line driver)
DICOM 20
(Note 4) 4 LA Encoder A-phase pulse
DICOM 21
24 V DC 5 LAR ((differential line driver)
Upper limit setting 6 LB Encoder B-phase pulse
P15R 1 (differential line driver)
Analog speed command 7 LBR
VC 2
±10 V/rated speed Control common
LG 28
Upper limit setting 34 LG
(Note 8) Analog torque limit TLA 27 33 OP Encoder Z-phase pulse
+10 V/maximum torque Plate SD (open collector)
SD Plate
(Note 9) 2 m or less
computer
MR Configurator2 (Note 10) (Note 7)
USB cable CN5 CN6
(option) 3 MO1 Analog monitor 1
DC ± 10 V
+ 1 LG
DC ± 10 V
2 MO2 Analog monitor 2
CN8 2 m or less
(Note 11)
(Packed with the servo amplifier) (Note 1)
3 - 15
3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals
and output signals.
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1
(5).)
RS-422/RS-485
compatible
controller
Servo amplifier
CN3
or
MR-PRU03
parameter unit
PRU03
amplifier.
3 - 16
POINT
Servo amplifier
(Note 7) (Note 4, 13)
CN1 24 V DC
46 DOCOM
47 DOCOM
(Note 2)
10 m or less
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Reset RES 19
Forward rotation LSP 43
(Note 5) stroke end 8 LZ Encoder Z-phase pulse
Reverse rotation LSN 44 (differential line driver)
stroke end 9 LZR
DICOM 20
4 LA Encoder A-phase pulse
(Note 4, 13) DICOM 21
24 V DC 5 LAR (differential line driver)
P15R 1 (differential line driver)
Analog speed command 7 LBR
VC 2
LG 28
SD Plate
computer
USB cable CN5 CN6
DC ± 10 V
+ 1 LG
DC ± 10
1 V
CN8 2 m or less
(Note 11)
(Packed with the servo amplifier) (Note 1)
3 - 17
3.2.3 Torque control mode
POINT
(1) For sink I/O interface

Servo amplifier
(Note 6) (Note 4)
CN1 24 V DC
46 DOCOM
47 DOCOM
(Note 2)
10 m or less
(Note 3) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Servo-on SON 15 25 VLC RA3 Limiting speed
Reset RES 19
Speed selection 2 SP2 16
10 m or less
Forward rotation selection RS1 18
Reverse rotation selection RS2 17 8 LZ Encoder Z-phase pulse
DICOM 20 9 LZR (differential line driver)
(Note 4) DICOM 21 4 LA Encoder A-phase pulse
24 V DC (differential line driver)
5 LAR
Upper limit setting
P15R 1 6 LB Encoder B-phase pulse
Analog torque command TC 27 7 LBR (differential line driver)
±8 V/maximum torque
LG 28 Control common
Upper limit setting
34 LG
Analog speed limit VLA 2
0 to ±10 V/rated speed (open collector)
SD Plate Plate SD
Personal 2 m or less 2 m or less
(Note 7) computer
USB cable CN5 CN6
+ DC ± 10 V
1 LG
DC ± 10 V
CN8
(Note 1)
3 - 18
3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals
and output signals.
RS-422/RS-485
compatible
controller
Servo amplifier
CN3
or
MR-PRU03
parameter unit
PRU03
amplifier.
3 - 19
(2) For source I/O interface
POINT
Servo amplifier
(Note 6) (Note 4, 11)
CN1 24 V DC
46 DOCOM
47 DOCOM
(Note 2)
10 m or less
(Note 3) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Reset RES 19
10 m or less
(Note 4, 11) DICOM 21 4 LA Encoder A-phase pulse
24 V DC (differential line driver)
5 LAR
Upper limit setting
Upper limit setting
34 LG
SD Plate Plate SD
(Note 7) computer
USB cable CN5 CN6
+ DC ± 10 V
1 LG
DC ± 10 V
CN8
(Note 1)
3 - 20
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.
refer to app. 13.
Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the
power supply to L1 and L3. Leave L2 open.
Servo amplifier MR-J4-10A MR-J4-350A MR-J4-60A4

(-RJ) to (-RJ) to (-RJ) to MR-J4-10A1 to
MR-J4-200A MR-J4-22KA MR-J4-22KA4 MR-J4-40A1
Power (-RJ) (-RJ) (-RJ)
Main circuit power 3-phase 200 V AC to
L1/L2/L3 L1/L2/L3
supply 240 V AC, 50 Hz/60 Hz
1-phase 200 V AC to
L1/L3
240 V AC, 50 Hz/60 Hz
3-phase 380 V AC to
L1/L2/L3
480 V AC, 50 Hz/60 Hz
1-phase 100 V AC to
L1/L2
120 V AC, 50 Hz/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4 (factory-wired).
Power factor When using the power factor improving DC reactor, disconnect P3 and P4, and connect the
P3/P4 improving power factor improving DC reactor to P3 and P4. Additionally, the power factor improving DC
DC reactor reactor cannot be used for the 100 V class servo amplifiers.
Refer to section 11.11 for details.
(1) 200 V class/100 V class
1) MR-J4-500A(-RJ) or less and MR-J4-40A1(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D (factory-
wired).
When using a regenerative option, disconnect P+ and D, and connect the regenerative
option to P+ and C.
2) MR-J4-700A(-RJ) to MR-J4-22KA(-RJ)
MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C (factory-
wired).
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+ and C.
P+/C/D Regenerative option (2) 400 V class
1) MR-J4-350A4(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-
wired)
When using a regenerative option, disconnect P+ and D, and connect the regenerative
option to P+ and C.
2) MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ)
MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ) do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-
wired)
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+ and C.
3 - 21
Connection target
Symbol Description
(application)
Supply the following power to L11 and L21.
Servo amplifier MR-J4-10A(-RJ) to MR-J4-60A4(-RJ) to MR-J4-10A1 to

Power MR-J4-22KA(-RJ) MR-J4-22KA4(-RJ) MR-J4-40A1
1-phase 200 V AC to
Control circuit power L11/L21
L11/L21 240 V AC, 50 Hz/60 Hz
supply
1-phase 380 V AC to
L11/L21
480 V AC, 50 Hz/60 Hz
1-phase 100 V AC to
L11/L21
120 V AC, 50 Hz/60 Hz
Servo motor Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W)
U/V/W
power input directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Power regeneration This terminal is used for a power regeneration converter, power regeneration common
converter converter and brake unit.
N- Power regeneration Refer to section 11.3 to 11.5 for details.
common converter
Brake unit
Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the
Protective earth (PE)
cabinet for grounding.
3.3.2 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 main circuit power supply wiring (L1/L2/L3) as shown in
above section 3.1. Configure up an external sequence to switch off the magnetic contactor as
soon as an alarm occurs.
2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit
power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply
is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main
circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 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.)
4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.
3 - 22
(2) Timing chart

SON (Servo-on) accepted
(Note)
(2.5 s to 3.5 s)
Main circuit power supply ON
Control circuit 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
ALM No alarm (ON)

(Malfunction) Alarm (OFF) 2.5 s to 3.5 s
Note. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT
For the wire sizes used for wiring, refer to section 11.9.
When wiring, remove the power connectors from the servo amplifier.
Insert only one wire or ferrule to each wire insertion hole.
MR-J4-500A(-RJ) or more and MR-J4-500A4(-RJ) or more do not have these
connectors.
Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.
(1) Connector
(a) MR-J4-10A(-RJ) to MR-J4-100A(-RJ)
Servo amplifier
CNP1
CNP2
CNP3
Table 3.1 Connector and applicable wire

Applicable wire Stripped Manufac
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] turer
CNP1 06JFAT-SAXGDK-H7.5
J-FAT-OT (N) or
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9 JST
J-FAT-OT
3 - 23
(b) MR-J4-200A(-RJ)/MR-J4-350A(-RJ)
MR-J4-200A(-RJ) MR-J4-350A(-RJ)
CNP1 CNP1
CNP2 CNP3
CNP3 CNP2

CNP1 06JFAT-SAXGFK-XL
AWG 16 to 10 4.7 mm or shorter 11.5
CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9
(c) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)

Servo amplifier
(Note)
CNP1
CNP2
CNP3
Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.

CNP1 06JFAT-SAXGDK-HT10.5
CNP2 05JFAT-SAXGDK-HT7.5 AWG 16 to 14 3.9 mm or shorter 10 J-FAT-OT-XL JST
CNP3 03JFAT-SAXGDK-HT10.5
3 - 24
(d) MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ)

Servo amplifier
CNP1
CNP2
CNP3

J-FAT-OT (N) or
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9 JST
J-FAT-OT
(2) Cable connection procedure

(a) Fabrication on cable insulator
Refer to table 3.1 to 3.4 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten

the strands.
3 - 25
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following
ferrules and crimp terminal.
Ferrule model (Phoenix Contact) Crimp terminal
Servo amplifier Wire size
For one For two (Phoenix Contact)
MR-J4-10A(-RJ) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
to
AWG 14 AI2.5-10BU
MR-J4-100A(-RJ)
MR-J4-200A(-RJ) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
to AWG 14 AI2.5-10BU AI-TWIN2×2.5-10BU
MR-J4-350A(-RJ) AWG 12 AI4-10GY
CRIMPFOX-ZA3
MR-J4-60A4(-RJ) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
to
AWG 14 AI2.5-10BU
MR-J4-350A4(-RJ)
MR-J4-10A1(-RJ) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
to
AWG 14 AI2.5-10BU
MR-J4-40A1(-RJ)
(b) Inserting wire

Insert only one wire or ferrule to each wire insertion hole.
Insert the open tool as follows and push it down to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth, and make
sure that the cable insulator will not be caught by the spring and that the conductive part of the
stripped wire will not be exposed.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
In addition, make sure that no conductor wire sticks out of the connector.
The following shows a connection example of the CNP3 connector for MR-J4-200A(-RJ) and MR-J4-
350A(-RJ).
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3 - 26
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13.
For the CN1 connector, securely connect the external conductive portion 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.
3 - 27
The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. Refer to chapter 9 DIMENSIONS
for the appearances and connector layouts of the other servo amplifiers.
CN5 (USB connector) CN6
refer to section 11.7.
3
MO1
2
MO2
1
LG
CN3 (RS-422/RS-485 connector)

refer to chapter 14. CN1
CN8
For the STO I/O signal connector,
1 26
2 27
3 28
(Note 2) CN2 4 29
5 30
2 6 10 6 31
LG 4 THM2 8
MRR MXR 7 32
1 5 9 8 33
P5 3 THM1 7 BAT
MR MX 9 34
10 35
The 3M make connector is shown. 11 36
12 37
13 38
(Note 1, 2) CN2L 14 39
(For using serial encoder)
15 40
2 6 10 CN4 16 41
LG 4 8 (Battery connector)
MRR2 MXR2 refer to section 11.8. 17 42
1 5 9 18 43
The frames of the CN1 connectors
P5 3 7 BAT
are connected to the protective earth 19 44
MR2 MX2
terminal in the servo amplifier. 20 45
(Note 1, 2) CN2L 21 46
(for using A/B/Z-phase pulse encoder) 22 47
23 48
2 6 10 24 49
LG 4 PBR 8 PSEL
PAR PZR 25 50
1 5 9
P5 3 PB 7
PA PZ
Note 1. The MR-J4-_A_-RJ servo amplifiers have CN2L connectors. This CN2L is a connector of 3M.
When using any other connector, refer to each servo motor instruction manual.
2. Refer to table 1.1 for connections of external encoders.
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 will be changed using those
parameters.
3 - 28
(Note 1) (Note 2) I/O signals in control modes

Pin No. Related parameter
I/O P P/S S S/T T T/P
1 P15R P15R P15R P15R P15R P15R
2 I -/VC VC VC/VLA VLA VLA/-
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- (Note 6) (Note 6) (Note 6) -/PP PD43/PD44 (Note 5)
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13 O (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) PD47 (Note 5)
15 I SON SON SON SON SON SON PD03/PD04
16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD07/PD08
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD09/PD10
19 I RES RES RES RES RES RES PD11/PD12
20 DICOM DICOM DICOM DICOM DICOM DICOM
22 O INP INP/SA SA SA/- -/INP PD23
23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26
26
(Note 3) (Note 3) (Note 3)
27 I TLA TC TC/TLA
TLA TLA TLA/TC
28 LG LG LG LG LG LG
29
31
32
33 O OP OP OP OP OP OP
35 I NP NP/- (Note 6) (Note 6) (Note 6) -/NP PD45/PD46 (Note 5)
36 I NG NG/- -/NG
(Note 8) 37 I PP2 PP2/- (Note 7) (Note 7) (Note 7) -/PP2 PD43/PD44 (Note 5)
(Note 8) 38 I NP2 NP2/- (Note 7) (Note 7) (Note 7) -/NP2 PD45/PD46 (Note 5)
39
40
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP PD17/PD18
44 I LSN LSN LSN LSN/- -/LSN PD19/PD20
45 I LOP LOP LOP LOP LOP LOP PD21/PD22
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD PD28
50
Note 1. I: Input signal, O: Output signal

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change
mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22].
4. Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary.
5. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.
6. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input
devices with [Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. Also, this is available
with servo amplifiers with software version B3 or later.
7. This is available as an input device of source interface. Input devices are not assigned by default. Assign the
input devices with [Pr. PD43] to [Pr. PD46] as necessary.
8. These pins are available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with
software version B7 or later.
3 - 29
3.5 Signal (device) explanations
The pin numbers in the connector pin No. column are those in the initial status.
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the
control mode field of the table shows the followings.
P: Position control mode
S: Speed control mode
T: Torque control mode
" " and " " of the table shows the followings.
: Usable device by default.
: Usable device by setting the following parameters.
[Pr. PA04], [Pr. PD03] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]
(1) I/O device

(a) Input device
Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a DI-1
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 (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
0___ EM1
off without the forced off without the forced
stop deceleration. stop deceleration.
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
2___ EM2
off after the forced off after the forced
stop deceleration. stop 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.
Turn EM1 on (short between commons) in the forced stop state to reset
that state.
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.
Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals
connected) automatically 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 " _ _ 1 _ " is set in [Pr. PD30].
This device is not designed to make a stop. Do not turn it on during
operation.
3 - 30
Control
Connector I/O
pin No. division
P S T
Forward rotation LSP CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1
stroke end sudden stop and make it servo-locked.
Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.
Reverse rotation LSN CN1-44 (Note) Input device Operation

stroke end CCW CW
direction direction
LSP LSN
Positive Negative
direction direction
1 1
0 1
1 0
0 0
Note. 0: Off
1: On
Set [Pr. PD01] as indicated below to switch on the signals (keep terminals
connected) automatically in the servo amplifier.
Status
[Pr. PD01]
LSP LSN
Automatic
_4__
on
Automatic
_8__
on
Automatic Automatic
_C__
on 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 the setting of [Pr.
PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. However, [Pr. PD47] is not
available with MR-J4-03A6(-RJ) servo amplifiers.
In the torque control mode, this device cannot be used during normal
operation. It can be used during the magnetic pole detection in the linear
servo motor control mode and the DD motor control mode. Also, when the
magnetic pole detection in the torque control mode is completed, this
signal will be disabled.
External torque TL CN1-18 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).
Internal torque TL1 To select [Pr. PC35 Internal torque limit 2/internal thrust limit 2], enable DI-1
limit selection TL1 with [Pr. PD03] to [Pr. PD22]. For details, refer to section 3.6.1 (5).
Forward rotation ST1 CN1-17 This is used to start the servo motor. DI-1
start The following shows the directions.
(Note) Input device

Servo motor starting direction
ST2 ST1
0 0 Stop (servo-lock)
0 1 CCW
1 0 CW
1 1 Stop (servo-lock)
Note. 0: Off
1: On
Reverse rotation ST2 CN1-18 If both ST1 and ST2 are switched on or off during operation, the servo
start motor will be decelerated to a stop according to the [Pr. PC02] setting and
servo-locked.
When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked
after deceleration to a stop.
3 - 31
Control
Connector I/O
pin No. division
P S T
Forward rotation RS1 CN1-18 This is used to select a servo motor torque generation directions. DI-1
selection The following shows the torque generation directions.
(Note) Input device

Torque generation direction
RS2 RS1
0 0 Torque is not generated.
Reverse rotation RS2 CN1-17 Forward rotation in power
selection 0 1 running mode/reverse rotation
in regenerative mode
Reverse rotation in power
1 0 running mode/forward rotation
in regenerative mode
1 1 Torque is not generated.
Note. 0: Off
1: On
Speed selection SP1 CN1-41 1. For speed control mode DI-1

1 This is used to select the command speed for operation.
Speed selection SP2 CN1-16 DI-1

(Note) Input device
2 Speed command
SP3 SP2 SP1
Speed selection SP3 DI-1
0 0 0 VC (Analog speed command)
3
Pr. PC05 Internal speed
0 0 1
command 1
0 1 0
command 2
0 1 1
command 3
1 0 0
command 4
1 0 1
command 5
1 1 0
command 6
1 1 1
command 7
Note. 0: Off
1: On
2. For the torque control mode

This is used to select the limit speed for operation.
(Note) Input device

Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
Note. 0: Off
1: On
3 - 32
Control
Connector I/O
pin No. division
P S T
Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional integral type DI-1
to the proportional type.
If the servo motor at a stop is rotated even for a 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).
Do not use PC (Proportional control) in the torque control. Doing so may
cause the operation to be performed at a speed exceeding the speed limit
value.
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulses on its leading DI-1
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.
Electronic gear CM1 The combination of CM1 and CM2 enables you to select four different DI-1
selection 1 electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection system.
(Note) Input device

Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
Electronic gear CM2 DI-1
0 1 Pr. PC32
selection 2
1 0 Pr. PC33
1 1 Pr. PC34
Note. 0: Off
1: 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.
3 - 33
Control
Connector I/O
pin No. division
P S T
Control switching LOP CN1-45 «Position/speed control change mode» DI-1 Refer to
This is used to select the control mode in the position/speed control Function
switching mode. and
application.
(Note) LOP Control mode
0 Position
1 Speed
Note. 0: Off
1: On
«Speed/torque control change mode»
This is used to select the control mode in the speed/torque control
switching mode.

0 Speed
1 Torque
Note. 0: Off
1: On
«Torque/position control change mode»
This is used to select the control mode in the torque/position control
switching mode.

0 Torque
1 Position
Note. 0: Off
1: On
Second STAB2 The device allows selection of the acceleration/deceleration time constant DI-1
acceleration/dece at servo motor rotation in the speed control mode or torque control mode.
leration selection The s-pattern acceleration time constant and deceleration time constant is
always uniform.
(Note) STAB2 Acceleration/deceleration time constant
0 Pr. PC01 Acceleration time constant
Pr. PC02 Deceleration time constant
1 Pr. PC30 Acceleration time constant 2
Pr. PC31 Deceleration time constant 2
Note. 0: Off
1: On
ABS transfer ABSM CN1-17 This is an ABS transfer mode request device. DI-1
mode When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-17 pin will become ABSM. (Refer to chapter 12.)
ABS request ABSR CN1-18 This is an ABS request device. DI-1
When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-18 pin will become ABSR. (Refer to chapter 12.)
Fully closed loop CLD This is used when the semi closed loop control/fully closed loop control DI-1
selection switching is enabled with [Pr. PE01].
Turn off CLD to select the semi closed loop control, and turn on CLD to
select the fully closed loop control.
This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
Motor-side/load- MECR Turn on MECR to clear the motor-side/load-side position deviation counter DI-1
side position to zero.
deviation counter - It operates during the fully closed loop control.
clear - It does not affect the position control droop pulses.
- Turning on this device during the semi closed loop control does not affect
the operation.
- Turning on this device while the fully closed loop control error detection
function is disabled in [Pr. PE03] does not affect the operation.
3 - 34
(b) Output device

Control
Connector I/O
pin No. division
P S T
Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off. DO-1
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after
power-on.
When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.
Dynamic DB When using the signal, enable it by setting [Pr. PD23] to [Pr. PD26], [Pr. DO-1
brake interlock PD28], and [Pr. PD47]. DB turns off when the dynamic brake needs to
operate. When using the external dynamic brake on the servo amplifier of
11 kW or more, this device is required. (Refer to section 11.17.)
For the servo amplifier of 7 kW or less, it is not necessary to use this
device.
The external dynamic brake cannot be used with 11 kW or more servo
amplifier for compliance with SEMI-F47 standard. Do not assign DB
(Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr.
PD47]. Failure to do so will cause the servo amplifier to become servo-off
when an instantaneous power failure occurs.
Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on DO-1
RD.
In-position INP CN1-22 When the number of droop pulses is in the preset in-position range, INP DO-1
CN1-24 will turn on. The in-position range can be changed using [Pr. PA10]. When
the in-position range is increased, INP may be on during low-speed
rotation.
INP turns on when servo-on turns on.
Speed reached SA When the servo motor speed reaches the following range, SA will turn on. DO-1
Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the
servo motor speed by the external force reaches the preset speed while
both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.
Limiting speed VLC CN1-25 VLC turns on when speed reaches a value limited with any of [Pr. PC05 DO-1
Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog
speed limit).
This turns off when SON (Servo-on) turns off.
Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of [Pr. DO-1
PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).
3 - 35
Control
Connector I/O
pin No. division
P S T
Zero speed ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. DO-1
detection Zero speed can be changed with [Pr. PC17].
OFF level 1)
Forward 70 r/min 3)
rotation 2) 20 r/min
direction ON level (Hysteresis width)
50 r/min
[Pr. PC17]
Servo motor 0 r/min
speed
[Pr. PC17]
Reverse ON level
rotation -50 r/min
20 r/min
direction OFF level (Hysteresis width)
-70 r/min 4)
ZSP ON
(Zero speed OFF
detection)
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)),
and will turn off when the servo motor is accelerated to 70 r/min again (at
2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at
3)), and will turn 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 on
level, and ZSP turns on, to the point when it is accelerated again and has
reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
Electromagnetic MBR When using the device, set operation delay time of the electromagnetic DO-1
brake interlock brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR will turn off.
Warning WNG When warning has occurred, WNG turns on. When a warning is not DO-1
occurring, WNG will turn off in 2.5 s to 3.5 s after power-on.
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. DO-1
9F Battery warning] has occurred. When the battery warning is not
occurring, BWNG will turn off in 2.5 s to 3.5 s after power-on.
Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34]. DO-1
This signal is outputted when an alarm occurs.
When an alarm is not occurring, respective ordinary signals are outputted.
ACD1 (CN1-23) For details of the alarm codes, refer to chapter 8.
When [Pr. PD34] is set to "_ _ _ 1", setting the following will trigger [AL. 37
Parameter error].
"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system
ACD2 (CN1-22) by DIO is selected.
MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24
pin.
Variable gain CDPS CDPS turns on during gain switching. DO-1
selection
Absolute position ABSV ABSV turns on when the absolute position is undetermined. DO-1
undetermined
ABS ABSB0 (CN1-22) This is used to output ABS transmission data bit 0. When "Enabled DO-1
transmission (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr.
data bit 0 PA03], the CN1-22 pin will become ABSB0 only during ABS transfer mode.
(Refer to chapter 12.)
ABS ABSB1 (CN1-23) This is used to output ABS transmission data bit 1. When "Enabled DO-1
data bit 1 PA03], the CN1-23 pin will become ABSB1 only during ABS transfer mode.
ABS ABST (CN1-25) This is used to output ABS transmission data ready. When "Enabled DO-1
data ready PA03], CN1-25 pin will become ABST only during ABS transfer mode.
3 - 36
Control
Connector I/O
pin No. division
P S T
During tough MTTR MTTR turns on when the instantaneous power failure tough drive operates DO-1
drive while the tough drive function selection is enabled with [Pr. PA20].
During fully CLDS CLDS turns on during fully closed loop control. DO-1
closed loop This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
control
(2) Input signal

Control
Connector I/O
pin No. division
P S T
Analog torque TLA CN1-27 To use the signal in the speed control mode, enable TL (External torque Analog
limit limit selection) with [Pr. PD03] to [Pr. PD22]. input
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 the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5).)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value is clamped at the maximum torque.
Resolution: 10 bits
Analog torque TC This is used to control torque in the full servo motor output torque range. Analog
command Apply 0 V to ±8 V DC between TC and LG. The maximum torque is input
generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be
changed with [Pr. PC13].
If a value equal to or larger than the maximum torque is inputted to TC, the
value is clamped at the maximum torque.
Analog speed VC CN1-2 Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is Analog
command provided at ±10 V. (Refer to section 3.6.2 (1).) input
If a value equal to or larger than the permissible speed is inputted to VC,
the value is clamped at the permissible speed.
Resolution: 14 bits or equivalent
For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to "_
_ 1 _" increases the analog input resolution to 16 bits. This function is
available with servo amplifiers manufactured in November 2014 or later.
Analog speed VLA Apply 0 V to ±10 V DC between VLA and LG. Speed set in [Pr. PC12] is Analog
limit provided at ±10 V. (Refer to section 3.6.3 (3).) input
If a value equal to or larger than the permissible speed is inputted to VLA,
the value is clamped at the permissible speed.
Forward rotation PP CN1-10 This is used to enter a command pulse train. DI-2
pulse train NP CN1-35 1) For open-collector type
Reverse rotation PP2 CN1-37 The maximum input frequency is 200 kpulses/s. For A-phase/B-phase
pulse train NP2 CN1-38 pulse train, 200 kpulses/s will be the frequency after multiplication by
PG CN1-11 four.
NG CN1-36 a) Sink input interface
Input the forward rotation pulse train between PP and DOCOM.
Input the reverse rotation pulse train between NP and DOCOM.
b) Source input interface
Input the forward rotation pulse train between PP2 and PG.
Input the reverse rotation pulse train between NP2 and NG.
2) For differential receiver type (max. input frequency: 4 Mpulses/s)
The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase
pulse train, 4 Mpulses/s will be the frequency after multiplication by
four.
Input the forward rotation pulse train between PG and PP.
Input the reverse rotation pulse train between NG and NP.
The command input pulse train form, pulse train logic, and command input
pulse train filter are changed in [Pr. PA13].
When the command pulse train is over 1 Mpulse/s and lower than 4
Mpulse/s, set [Pr. PA13] to "_ 0 _ _".
3 - 37
(3) Output signal

Control
Connector I/O
pin No. division
P S T
Encoder A- LA CN1-4 The encoder output pulses set in [Pr. PA15] are outputted in the differential DO-2
phase pulse LAR CN1-5 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 in Analog
terms of voltage. output
Output voltage: ±10 V
Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in Analog
Output voltage: ±10 V
(4) Communication
Control
Connector I/O
pin No. division
P S T
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
3 - 38
(5) Power supply

Control
Connector I/O
pin No. division
P S T
Digital I/F DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 500 mA) to I/O interface. The power supply
power supply CN1-21 capacity changes depending on the number of I/O interface points to be
input used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Power input for OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface,
open-collector supply this terminal with the positive (+) power of 24 V DC.
sink interface Supply + of 24 V DC to this terminal when using CN1-10 pin and CN1-35
pin by DI. CN1-10 pin and CN1-35 pin are available for MR-J4-_A_-RJ
servo amplifiers manufactured in November 2014 or later.
Digital I/F DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier. This
common CN1-47 is separated from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
15 V DC power P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power
supply for TC, TLA, VC, or VLA. Permissible current: 30 mA
Control common LG CN1-3 This is a common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1,
CN1-28 MO2, and P15R. Pins are connected internally.
CN1-30
CN1-34
CN3-1
CN3-7
CN6-1
Shield SD Plate Connect the external conductive portion of the shielded cable.
3 - 39
3.6 Detailed explanation of signals
3.6.1 Position control mode
POINT
Adjust the logic of a positioning module and command pulse as follows.
MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning
module
Command pulse logic setting
Signal type Positioning module MR-J4-_A_(-RJ) servo
Pr. 23 setting amplifier [Pr. PA13] setting
Positive logic Positive logic (_ _ 0 _)
Open-collector type
Negative logic Negative logic (_ _ 1 _)
Positive logic (Note) Negative logic (_ _ 1 _)
Differential line driver type
Negative logic (Note) Positive logic (_ _ 0 _)
Note. For MELSEC iQ-R series, MELSEC-Q series and MELSEC-L series, the logic means N-side
waveform. Therefore, reverse the input pulse logic of the servo amplifier.
MELSEC-F series positioning module

Command pulse logic setting
MR-J4-_A_(-RJ) servo
Signal type
Positioning module (fixed) amplifier
[Pr. PA13] setting
Open-collector
Negative logic Negative logic (_ _ 1 _)
Differential line driver
(1) Pulse train input

(a) Input pulse waveform selection
You can input command pulses in any of three different forms, and can choose positive or negative
logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details.
(b) Connection and waveform

1) Open-collector type
Connect as follows.
24 V DC OPC
(Note)
DOCOM PG
Approx. 20 mA
Approx. VCES ≤ 1.0 V Approx.
PP 1.2 kΩ ICEO ≤ 100 μA PP2 1.2 kΩ
Approx.
NP 1.2 kΩ (Note)
(Note)
NG
Approx. 20 mA
VCES ≤ 1.0 V Approx.
ICEO ≤ 100 μA NP2 1.2 kΩ
SD
24 V DC ± 10%
500 mA
SD
For sink input interface For source input interface

Note. Pulse train input interface is comprised of a photocoupler.
If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
3 - 40
The following section explains about the case where the negative logic and the forward/reverse
rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13].
(ON) (OFF) (ON) (OFF) (ON) (OFF)

Forward rotation pulse train
(transistor)
Reverse rotation pulse train
(transistor) (OFF) (ON) (OFF) (ON) (OFF) (ON)
Forward rotation command Reverse rotation command
2) Differential line driver type

Connect as follows.
Servo amplifier
Approximately
PP 100 Ω
PG
(Note) Approximately
NP 100 Ω
NG
SD

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.
The following section explains about the case where the negative logic and the forward/reverse
rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG, NP, and NG are
based on LG.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation Reverse rotation
3 - 41
(2) INP (In-position)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as
the in-position range.
ON
SON (Servo-on)
OFF
Alarm
Alarm
No alarm
In-position range
Droop pulses
ON
INP (In-position)
OFF
(3) RD (Ready)
ON
SON (Servo-on)
OFF
Alarm
Alarm
No alarm 100 ms
or shorter 10 ms or shorter 10 ms or shorter
ON
RD (Ready)
OFF
(4) Electronic gear switching

The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a
shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.
(Note) Input device
Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
0 1 Pr. PC32
1 0 Pr. PC33
1 1 Pr. PC34
Note. 0: Off
1: On
3 - 42
(5) Torque limit
If the torque limit is canceled during servo-lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
CAUTION When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio/load
to motor mass ratio] is set properly. Improper settings may cause an unexpected
operation such as an overshoot.
(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque
is always limited to the maximum value during operation. A relation between the limit value and
servo motor torque is as follows.
Maximum
CW direction torque CCW direction
Torque
100 0 100 [%]

Torque limit value Torque limit value
in [Pr. PA12] in [Pr. PA11]
A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the
servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on
products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.
Therefore, use this function at the voltage of 0.05 V or more.
Maximum Servo amplifier

torque
TL
24 V DC
(Note)
Torque
DICOM
±5% P15R
2 kΩ
2 kΩ TLA
LG
0 Japan resistor SD
0 0.05
TLA applied voltage [V] RRS10 or equivalent
TLA applied voltage vs. torque limit value Connection example
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select
[Pr. PC35 Internal torque limit 2/internal thrust limit 2].
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.
PA11] and [Pr. PA12] value will be enabled.
3 - 43
Input device (Note 1) Enabled torque limit value

Limit value status CCW power running/CW CW power running/CCW
TL1 TL
regeneration regeneration
0 0 Pr. PA11 Pr .PA12
Pr. PA11
TLA > Pr. PA11 Pr. PA12
Pr. PA12
0 1
Pr. PA11
TLA < TLA (Note 2) TLA (Note 3)
Pr. PA12
Pr. PA11
Pr. PC35 > Pr. PA11 Pr. PA12
Pr. PA12
1 0
Pr. PA11
Pr. PC35 < Pr. PC35 (Note 2) Pr. PC35 (Note 3)
Pr. PA12
TLA > Pr. PC35 Pr. PC35 (Note 2) Pr. PC35 (Note 3)
1 1
TLA < Pr. PC35 TLA (Note 2) TLA (Note 3)
Note 1. 0: Off
1: On
2. When "_ 2 _ _" is set in [Pr. PD33], the value set in [Pr. PA11] is applied. [Pr. PD33] is available with servo amplifiers
with software version B3 or later.
3. When "_ 1 _ _" is set in [Pr. PD33], the value set in [Pr. PA12] is applied. [Pr. PD33] is available with servo amplifiers
with software version B3 or later.
(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation
torque limit, reverse rotation torque limit or analog torque limit.
3 - 44
3.6.2 Speed control mode
(1) Speed setting

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage
and the servo motor speed is as follows.
Rated speed is achieved at ±10 V with initial setting. The speed at ±10 V can be changed with [Pr.
PC12].
Rated speed [r/min]

Forward rotation
Speed (CCW)
[r/min] CCW direction
-10
0 +10
CW VC applied voltage [V]
direction
Rated speed [r/min]
Reverse rotation
(CW)
The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2
(Reverse rotation start) combination.
(Note 1) Input device (Note 2) Rotation direction
VC (Analog speed command)
ST2 ST1 Internal speed command
Polarity: + 0V Polarity: -
Stop Stop Stop Stop
0 0
(servo-lock) (servo-lock) (servo-lock) (servo-lock)
0 1 CCW Stop CW CCW
1 0 CW (no servo-lock) CCW CW
Stop Stop Stop Stop
1 1
(servo-lock) (servo-lock) (servo-lock) (servo-lock)
Note 1. 0: Off
1: On
2. If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.
Normally, connect as follows.

Servo amplifier
ST1
(Note)
24 V DC ST2
DICOM
P15R
2 kΩ 2 kΩ VC
LG
Japan resistor SD
RRS10 or equivalent
3 - 45
(b) SP1 (Speed selection 1), SP2 (Speed selection 2), and speed command value
Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed
command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value
SP2 SP1
0 0 VC (Analog speed command)
0 1 Pr. PC05 Internal speed command 1
Note. 0: Off
1: On
To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value
SP3 SP2 SP1
0 0 1 Pr. PC05 Internal speed command 1
Note. 0: Off
1: On
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed commands are used to command a speed, the speed does not vary with
the ambient temperature.
(2) SA (Speed reached)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
Set speed selection Internal speed command 2
command 1
ST1 or ST2 ON
OFF
Servo motor speed
SA (Speed reached) ON
OFF
(3) Torque limit

As in section 3.6.1 (5)
3 - 46
3.6.3 Torque control mode
(1) Torque limit

(a) Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the
torque by the servo motor.
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13].
CCW direction Forward rotation

Maximum torque (CCW)
Torque
-8 -0.05
+0.05 +8
TC applied voltage [V]
Maximum torque
CW direction
Reverse rotation
(CW)
Generated torque command values will vary about 5% relative to the voltage depending on products.
The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit
value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by RS1 (Forward rotation
selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.
(Note) Input device Rotation direction
TC (Analog torque command)
RS2 RS1
Polarity: + 0V Polarity: -
0 0 Torque is not generated. Torque is not generated.
CCW CW
(Forward rotation in (Reverse rotation in
0 1 power running power running
mode/reverse rotation in mode/forward rotation in
regenerative mode) regenerative mode)
Torque is not generated.
CW CCW
(Reverse rotation in (Forward rotation in
1 0 power running power running
mode/forward rotation in mode/reverse rotation in
regenerative mode) regenerative mode)
1 1 Torque is not generated. Torque is not generated.
Note. 0: Off
1: On

Servo amplifier
RS1
(Note)
24 V DC RS2
DICOM
TC
-8 V to 8 V
LG
SD
3 - 47
(b) Analog torque command offset

Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage
as follows.
Maximum torque
Torque
[Pr. PC38]
offset range
-9999 mV to 9999 mV
0 8 (-8)
TC applied voltage [V]
(2) Torque limit

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is
always limited to the maximum value during operation. A relation between limit value and servo motor
torque is as in section 3.6.1 (5).
Note that TLA (Analog torque limit) is unavailable.
(3) Speed limit

(a) Speed limit value and speed
The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal
speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between
VLA (Analog speed limit) applied voltage and the servo motor speed is as follows. The speed limit
direction and torque command direction are the same direction.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100 r/min greater than the desired speed limit value.
Rated speed [r/min]

Forward rotation
Speed (CCW)
[r/min]
0 +10/-10
VLA applied voltage [V]
Reverse rotation
(CW)
The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.
(Note) Input device TC Speed limit direction
(Analog torque command) VLA (Analog speed limit)
Torque
RS1 RS2 Voltage Internal speed limit
command Polarity: + Polarity: -
polarity
direction
Polarity: + CCW CCW CCW CCW
1 0
Polarity: - CW CW CW CW
Polarity: + CW CW CW CW
0 1
Polarity: - CCW CCW CCW CCW
Note. 0: Off
1: On
3 - 48

Servo amplifier
SP1
(Note)
24 V DC
SP2
DICOM
P15R
2 kΩ VLA
2 kΩ
LG
Japan resistor SD
RRS10 or equivalent
(b) Speed limit value selection

Select any of the speed settings by the internal speed limits 1 to 7 and by VLA (Analog speed limit)
using SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) as follows.
(Note) Input device
Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
Note. 0: Off
1: On
When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the
ambient temperature.
(c) VLC (Limiting speed)

VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7
or analog speed limit.
3 - 49
3.6.4 Position/speed control switching mode
Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not
available in the absolute position detection system.
(1) LOP (control switching)

Use LOP (Control switching) to switch between the position control mode and the speed control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Position control mode
1 Speed control mode
Note. 0: Off
1: On
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to speed control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control Speed control Position control
mode mode mode
Zero speed
Servo motor speed level
ZSP ON
(Zero speed detection) OFF
LOP ON
(Note) (Note)
(Control switching) OFF
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.
(2) Torque limit in position control mode

3 - 50
(3) Speed setting in speed control mode

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed
command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same
as section 3.6.2 (1) (a).
Servo amplifier
ST1
(Note)
24 V DC ST2
DICOM
P15R
2 kΩ
2 kΩ VC
LG
Japan resistor SD
RRS10 or equivalent
(b) Speed command value selection

Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed
command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value
SP2 SP1
0 0 VC (Analog speed command)
Note. 0: Off
1: On
To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value
SP3 SP2 SP1
Note. 0: Off
1: On
You can change the speed during rotation. Acceleration/deceleration is performed with the setting
values of [Pr. PC01] and [Pr. PC02].
When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary
with the ambient temperature.
3 - 51
(c) SA (Speed reached)

3.6.5 Speed/torque control switching mode
Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode.

Use LOP (Control switching) to switch between the speed control mode and the torque control mode
(Note)
Control mode
LOP
0 Speed control mode
1 Torque control mode
Note. 0: Off
1: On
The control mode may be switched at any time. The following shows a switching timing chart.
Speed control Torque control Speed control
mode mode mode
LOP ON
(Control switching) OFF
Servo motor speed

(Note)
Load torque
TC 10 V
(Analog torque command) Forward rotation
in driving mode
0V
Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off
as soon as a mode is switched to the speed control, the servo motor comes to a stop
according to the deceleration time constant. A shock may occur at switching control
modes.
(2) Speed setting in speed control mode

(3) Torque limit in speed control mode

(4) Speed limit in torque control mode

(a) Speed limit value and speed
The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA
(Analog speed limit).
A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section
3.6.3 (3) (a).
3 - 52

Servo amplifier
(Note)
24 V DC SP1
DICOM
P15R
2 kΩ
2 kΩ VLA
LG
Japan resistor SD
RRS10 or equivalent
(b) Speed limit value selection

Select any of the speed settings by the internal speed limit 1 and by VLA (Analog speed limit) using
SP1 (Speed selection 1) as follows.
(Note) Input device
Speed command value
SP1
0 VLA (Analog speed limit)
1 Pr. PC05 Internal speed limit 1
Note. 0: Off
1: On
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed limit 1 is used to command a speed, the speed does not vary with the
ambient temperature.
(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)
(5) Torque control in torque control mode

(6) Torque limit in torque control mode

3 - 53
3.6.6 Torque/position control switching mode
Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.

Use LOP (Control switching) to switch between the torque control mode and the position control mode
(Note)
Control mode
LOP
0 Torque control mode
1 Position control mode
Note. 0: Off
1: On
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control Torque control Position control
mode mode mode
Zero speed
Servo motor speed
level
10 V
TC
(Analog torque command)
0V
ON
ZSP
(Zero speed detection)
OFF
LOP ON
(Control switching)
OFF
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.
(2) Speed limit in torque control mode

(3) Torque control in torque control mode

(4) Torque limit in torque control mode

(5) Torque limit in position control mode

3 - 54
3.7 Forced stop deceleration function
POINT
When alarms not related to the forced stop function occur, control of motor
deceleration cannot be guaranteed. (Refer to chapter 8.)
In the torque control mode, the forced stop deceleration function is not available.
Disable the forced stop deceleration function for a machine in which multiple
axes are connected together, such as a tandem structure. If an alarm occurs
with the forced stop deceleration function disabled, the servo motor will stop with
the dynamic brake.
Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. If SON (Servo-on) is
off, forced stop deceleration, base circuit shut-off delay time, and vertical axis
freefall prevention do not function.
3.7.1 Forced stop deceleration function
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The servo amplifier life
may be shortened.
(1) Connection diagram

Servo amplifier
24 V DC
DICOM
(Note)
Forced stop 2 EM2
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
3.9.3.
3 - 55
(2) Timing chart
POINT
When LSP/LSN is turned on during a forced stop deceleration, the motor will
stop depending on the setting of [Pr. PD30] as follows.
[Pr. PD30] Stop system
___0 Switching to sudden stop
___1 Continuing forced stop deceleration
When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC51 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of
the deceleration command, base power is cut and the dynamic brake activates.
ON
EM2 (Forced stop 2)
OFF (Enabled)
Dynamic brake
Ordinary Forced stop +
operation deceleration Electromagnetic brake
Rated speed
Servo motor speed

Command Zero speed
([Pr. PC17])
0 r/min
Deceleration time
[Pr. PC51]
Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON
(Electromagnetic OFF (Enabled)
brake interlock)
ON
SON (Servo-on)
OFF
3 - 56
3.7.2 Base circuit shut-off delay time function
The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop
(EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set
the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake
interlock) due to an alarm occurrence, and shut-off of the base circuit.
(1) Timing chart

When EM2 (Forced stop 2) turns off or an alarm occurs during driving, the servo motor will decelerate
based on the deceleration time constant. MBR (Electromagnetic brake interlock) will turn off, and then
after the delay time set in [Pr. PC16], the servo amplifier will be base circuit shut-off status.
ON
EM2 (Forced stop 2)
OFF (Enabled)
Servo motor speed
0 r/min
Base circuit ON
(Energy supply to
[Pr. PC16]
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)
Release
Electromagnetic
brake Activate
ON
SON (Servo-on)
OFF
(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay
time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the
servo motor shaft does not freefall.
3 - 57
3.7.3 Vertical axis freefall prevention function
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, those functions may
not avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].
The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop
2) or by an alarm occurrence.
The base circuit shut-off delay time function is enabled.
EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less.
(1) Timing chart

ON
EM2 (Forced stop 2)
OFF (Enabled)
Position Travel distance

Set the base circuit shut-off delay time.
([Pr. PC16])
Base circuit ON
(Energy supply to
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)
Release
Electromagnetic
brake Activate
ON
SON (Servo-on)
OFF
(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC54].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.
3.7.4 Residual risks of the forced stop function (EM2)
(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.
(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.
(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.
3 - 58
3.8 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
CAUTION signal is not being inputted, ensure safety, and reset the alarm before restarting
operation.
POINT
To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window,
or cycle the RES (Reset) However, the alarm cannot be deactivated unless its cause is removed.
3.8.1 When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
Disable the forced stop deceleration function for a machine in which multiple
axes are connected together, such as a tandem structure. If an alarm occurs
with the forced stop deceleration function disabled, the servo motor will stop with
the dynamic brake.
(1) When the forced stop deceleration function is enabled

Alarm occurrence
Servo motor Model speed command 0

speed and equal to or less than
zero speed (Note)
0 r/min
Command is not received.
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm Alarm No.
MBR ON
(Electromagnetic
brake interlock) OFF
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of
the servo motor.
3 - 59
(2) When the forced stop deceleration function is not enabled

Alarm occurrence
Braking by the dynamic brake

Dynamic brake
+ Braking by the electromagnetic brake
Servo motor speed
0 r/min
Base circuit ON
(Energy supply to
Servo amplifier
Operation delay time of the electromagnetic brake
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
3.8.2 When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
The operation status during an alarm is the same as section 3.8.1 (2).
3 - 60
3.9 Interfaces
3.9.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
Servo amplifier
(Note 1)
(Note 5)
CN1 P S T 24 V DC
(Note 1)
Approx. 46 DOCOM
P S T CN1 6.2 kΩ
SON SON SON 15 47 DOCOM
SP2 SP2 16
22 INP SA RA
PC ST1 RS2 17
TL ST2 RS1 18 23 ZSP ZSP ZSP
RES RES RES 19 (Note 3)
(Note 3) 24 INP SA
CR SP1 SP1 41
EM2 42 25 TLC TLC TLC
LSP LSP 43
Approx. 48 ALM
LSN LSN 44 6.2 kΩ
LOP LOP LOP 45 49 RD RD RD
(Note 5)
24 V DC OPC 12
(Note 7, 8)
13
DICOM 20
Approx.
DICOM 21 Approx. 100 Ω 1.2 kΩ
14 (Note 7, 8) RA
(Note 2)
PP 10 Approx. 1.2 kΩ
Isolated
PP2 37 (Note 1)
Approx.
PG 11 Approx. 100 Ω 1.2 kΩ CN1 P S T
NP 35 Approx. 1.2 kΩ 4 LA
NP2 38 5 LAR
NG 36 Differential line
6 LB
driver output
7 LBR (35 mA or less)
8 LZ
9 LZR
33 OP Open-collector
(Note 1) LG output
34
P S T CN1 (Note 1)
VC VLA 2 CN3 P S T
RS-422/RS-485
5 SDP
TLA TLA TC 27 4 SDN
15 V DC 3 RDP
P15R 1 6 RDN
7 LG
LG 3
LG 28 (Note 1)
LG 30
CN6 P S T Analog monitor
SD Case
3 MO1
2 MO2 ±10 V DC
±10 V DC
(Note 1) 1 LG
P S T CN5 (Note 1) Servo motor
D- 2 CN2 P S T Encoder
USB D+ 3 7 MX
GND 5 8 MXR
3 MR
4 MRR
2 LG
E
M
External encoder
(Note 4, 6) CN2L P S T Encoder
7 MX2
8 MXR2
3 MR2
4 MRR2
2 LG
3 - 61
Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode
2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.
DOCOM 46 DOCOM 46
24 V DC OPC 12 24 V DC OPC 12
DICOM 20 DICOM 20
DOCOM 47 DOCOM 47
PP 10 PP 10
PP2 37 PP2 37
PG 11 PG 11
NP 35 NP 35
NP2 38 NP2 38
NG 36 NG 36
4. This is for MR-J4-_A_RJ servo amplifier. The MR-J4-_A_ servo amplifier does not have the CN2L connector.
6. Refer to table 1.1 for connections of external encoders.
3 - 62
3.9.2 Detailed explanation of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.
(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.9.3 for source input.
For transistor Servo amplifier
Approximately EM2,
5 mA etc.
Approximately
6.2 kΩ
Switch
TR
DICOM
VCES 1.0 V 24 V DC ± 10%
ICEO 100 µA 500 mA
The following is for when CN1-10 pin and CN1-35 pin are used as digital input interfaces.
Servo amplifier
24 V DC ± 10%
300 mA OPC
Approx. 1.2 kΩ
10 m or less
Approx. 20 mA CN1-10, CN1-35
DOCOM
VCES ≤ 1.0 V
ICEO ≤ 100 μA
SD
3 - 63
(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow to the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the servo amplifier.
The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.
Servo amplifier
If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM Load
etc.
DOCOM
(Note) 24 V DC ± 10%
500 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
(3) Pulse train input interface DI-2

Give a pulse train signal in the differential line driver type or open-collector type.
(a) Differential line driver type

1) Interface
Servo amplifier
Max. input pulse

frequency 4 Mpulses/s
PP (NP)
Approximately
(Note 1) 100 Ω
PG (NG)
Am26LS31 or equivalent SD
VOH: 2.5 V
VOL: 0.5 V
Note 1. Pulse train input interface is comprised of a photocoupler.

2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".
2) Input pulse condition

tc tHL
tLH = tHL < 50 ns
0.9 tc > 75 ns
PP PG tF > 3 µs
0.1
tc tLH
tF
NP NG
3 - 64
(b) Open-collector type

1) Interface
Servo amplifier
Max. input pulse
24 V DC frequency 200 kpulses/s
OPC
Approximately
1.2 kΩ
2 m or less
(Note)
PP, NP
DOCOM
SD


tc tHL
tLH = tHL < 0.2 s
0.9 tc > 2 s
PP tF > 3 s
0.1
tc tLH
tF
NP
(4) Encoder output pulse DO-2

(a) Open-collector type
Interface
Maximum sink current: 35 mA
5 V DC to 24 V DC
OP OP
Photocoupler
LG LG
SD SD
3 - 65
(b) Differential line driver type

1) Interface
Maximum output current: 35 mA
LA LA
(LB, LZ) Am26LS32 or equivalent (LB, LZ) 100 Ω
150 Ω
LAR LAR High-speed photocoupler

(LBR, LZR) (LBR, LZR)
LG
SD SD
2) Output pulse
Servo motor CCW rotation
LA Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC19].
LAR T
LB
LBR
/2
LZ
LZR
400 s or more
OP
(5) Analog input

Input impedance
10 kΩ to 12 kΩ
Servo amplifier
+15 V DC
P15R
Upper limit setting
2 kΩ VC etc.
2 kΩ
Approx.
LG 10 kΩ
SD
3 - 66
(6) Analog output

Servo amplifier
MO1
(MO2)
Output voltage: ±10 V (Note 1, 2)
LG Resolution: 10 bits or equivalent
Note 1. Output voltage range varies depending on the monitored signal.

2. For MR-J4-03A6(-RJ) servo amplifiers, the output voltage becomes 5 V ± 4 V.
3.9.3 Source I/O interfaces
In this servo amplifier, source type I/O interfaces can be used.

This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals using
source (open-collector) type transistor output, relay switch, etc. Additionally, the CN1-10 and CN1-35
pins cannot be used for source inputs.
Servo amplifier
For transistor
EM2
etc.
Approximately
6.2 kΩ
TR Switch
DICOM
Approximately 24 V DC ± 10%
5 mA 500 mA
VCES 1.0 V
ICEO 100 µA
The following shows when the CN1-37 pin and the CN1-38 pin are used as digital input interface:
Servo amplifier
Switch PG
PP2 Approximately
(CN1-37) 1.2 kΩ
Switch NG
NP2 Approximately
(CN1-38) 1.2 kΩ
24 V DC ± 10%
500 mA SD
3 - 67

This is a circuit in which the emitter side of the output transistor is the output terminal. When the output
transistor is turned on, the current flows from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier
will malfunction.
ALM Load
etc.
DOCOM
(Note) 24 V DC ± 10%
500 mA
(3) Pulse train input interface DI-2

Give a pulse train signal in the open-collector type.
1) Interface
Servo amplifier
Max. input pulse
frequency 200 kpulses/s
(Note)
PG
Approx. 20 mA
ICEO ≤ 100 μA PP2 1.2 kΩ
(Note)
NG
Approx. 20 mA
ICEO ≤ 100 μA NP2 1.2 kΩ
24 V DC ± 10%
500 mA
SD


tc tHL tLH = tHL < 0.2 µs
0.9 tc > 2 µs
PP2
0.1 tF > 3 µs
tc tLH
tF
NP2
3 - 68
3.10 Servo motor with an electromagnetic brake
3.10.1 Safety precautions
Configure an electromagnetic brake circuit which is interlocked with an external

emergency stop switch.
Contacts must be opened when ALM (Malfunction) Contacts must be opened with the
or MBR (Electromagnetic brake interlock) turns off. emergency stop switch.
Servo motor
RA
B U 24 V DC
The electromagnetic brake is provided for holding purpose and must not be used
CAUTION for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.
When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for
operating the electromagnetic brake. Operating the electromagnetic brake without
using MBR during deceleration to a stop will saturate servo motor torques at the
maximum value due to brake torque of the electromagnetic brake. This can result
in delay of the deceleration to a stop from a set value.
POINT
Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the
power supply capacity and operation delay time of the electromagnetic brake.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge
absorber for the electromagnetic brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The electromagnetic brake will operate when the power (24 V DC) turns off.
2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis
system, use MBR (Electromagnetic brake interlock).
3) Turn off SON (Servo-on) after the servo motor stopped.
3 - 69

Servo amplifier
(Note 2) MBR ALM Servo motor

24 V DC RA1 (Malfunction) B1
DOCOM
(Note 1)
24 V DC U B
MBR RA1
B2
Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
(2) Setting
(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr.
PD47].
(b) In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR
(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in
section 3.10.2 (1).
3 - 70
3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
(a) SON (Servo-on) on/off

When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not
drop down for a vertical axis system, etc.
Tb [Pr. PC16 Electromagnetic brake sequence output]
Servo motor speed 0 r/min
Approx. 95 ms
ON
Base circuit
OFF
Approx. 95 ms Operation delay time
MBR ON of the electromagnetic
(Electromagnetic (Note 1) brake
ON
SON (Servo-on)
OFF
(Note 3)
Position command 0 r/min

(Note 4)
Electromagnetic Release
brake Activate Release delay time and external relay, etc. (Note 2)
Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".
3. Give a position command after the electromagnetic brake is released.
4. This is in position control mode.
3 - 71
(b) Forced stop 2 on/off
POINT
Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. If SON (Servo-on) is
turned off earlier than EM2 (Forced stop 2), the servo amplifier operates in the
same way as (1) (a) in this section.
Model speed command 0

Servo motor speed and equal to or less than
zero speed (Note 2)
0 r/min
Tb [Pr. PC16 Electromagnetic
brake sequence output]
Base circuit ON
(Energy supply to
Operation delay time
ON of the electromagnetic
EM2 (Forced stop 2) brake
OFF
MBR ON
(Electromagnetic (Note 1)
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Release
Electromagnetic
brake Activate
ON
SON (Servo-on)
OFF

2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo
motor.
3 - 72
(c) Alarm occurrence

1) When the forced stop deceleration function is enabled
Alarm occurrence

zero speed (Note)
0 r/min
Command is not received. Tb [Pr. PC16 Electromagnetic
brake sequence output]
Base circuit ON
(Energy supply to
Operation delay time
of the electromagnetic
Servo amplifier brake
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Electromagnetic Release
brake Activate
ON
SON (Servo-on)
OFF
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
2) When the forced stop deceleration function is disabled

The operation status is the same as section 3.8.1 (2).
(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic brake
Servo motor speed
0 r/min
(Note 1)
ON
Base circuit
OFF
MBR ON
Operation delay time of
No alarm the electromagnetic brake
Alarm
[AL. 10 Undervoltage] Alarm
Main circuit ON
Control circuit Power supply OFF
Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
3 - 73
(e) Main circuit power supply off during control circuit power supply on
POINT
Forced stop deceleration

Dynamic brake
The time until a voltage Dynamic brake
Servo motor speed drop is detected. + Electromagnetic brake
0 r/min
Approx. 10 ms
Main circuit ON
power supply OFF (Note 2)
Base circuit ON
(Energy supply to
MBR ON
the electromagnetic brake
ALM (Malfunction) ON (no alarm)
OFF (alarm)

2. Variable according to the operation status.
(2) When you do not use the forced stop deceleration function
POINT
(a) SON (Servo-on) on/off

It is the same as (1) (a) in this section.
(b) EM1 (Forced stop 1) on/off

Dynamic brake
Dynamic brake
+ Electromagnetic brake Electromagnetic brake
has released.
Servo motor speed Electromagnetic brake
0 r/min
Approx. 10 ms Approx. 210 ms
ON
Base circuit
OFF
Operation delay time Approx. 210 ms
MBR ON of the electromagnetic
(Electromagnetic (Note) brake
ON (Disabled)
EM1 (Forced stop)
OFF (Enabled)
Note. ON: Electromagnetic brake is not activated.

3 - 74
(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.2.
(d) Both main and control circuit power supplies off

It is the same as (1) (d) in this section.
(e) Main circuit power supply off during control circuit power supply on
Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic brake
Servo motor speed
0 r/min
(Note 1)
ON
Base circuit
OFF
MBR ON
No alarm the electromagnetic brake
Alarm
[AL. 10 Undervoltage] Alarm
Main circuit ON
power supply OFF
Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
3 - 75
3.11 Grounding

WARNING 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.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Cabinet
CN2
MCCB MC
L1
Line filter
(Note) Encoder
Power L2
supply
L3
L11
L21 U U
V V M
W W
CN1
Programmable
Ensure to connect the

wire to the PE terminal
of the servo amplifier.
Do not connect the wire
directly to the grounding
of the cabinet.
Outer
Protective earth (PE) box
Note. For the power supply specifications, refer to section 1.3.
3 - 76
4. STARTUP
4. 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
POINT
words in the right.
Torque → Thrust
4- 1
4. STARTUP
4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup.
4.1.1 Startup procedure

Wiring check Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.8), etc. (Refer to
section 4.1.2.)
Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)
Parameter setting Set the parameters as necessary, such as the used operation mode and
regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4,
and 4.4.4.)
Test operation of the servo motor For the test operation, with the servo motor disconnected from the machine
alone in test operation mode
and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)
Test operation of the servo motor For the test operation with the servo motor disconnected from the machine
alone by commands
and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
Test operation with the servo motor After connecting the servo motor with the machine, check machine motions
and machine connected
with sending operation commands from the controller.
Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Actual operation
Stop Stop giving commands and stop operation. Other conditions that stops the
servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.
4- 2
4. STARTUP
4.1.2 Wiring check
(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring

1) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should
satisfy the defined specifications. (Refer to section 1.3.)
2) Between P3 and P4 should be connected.

Servo amplifier
P3
(Note)
P4
Note. The 100 V class servo amplifiers do not have P3 and P4.
(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power
input terminals (U/V/W).
U
U
V
V M
W
W
2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W).
Otherwise, the servo amplifier and servo motor will malfunction.

U
L1 U
V
L2 V M
W
L3 W
3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor
securely using the encoder cable.
4- 3
4. STARTUP
(c) When option and auxiliary equipment are used

1) 200 V class
a) When you use a regenerative option for 5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
b) When you use a regenerative option for 7 kW or more servo amplifiers

For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+
terminal and C terminal should not be connected.
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers
For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should
not be connected.
For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+
terminal and C terminal should not be connected.
Brake unit or power regeneration converter should be connected to P+ terminal and N-
terminal. (Refer to section 11.3 and 11.4.)
Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using
a brake unit. (Refer to section 11.3)
d) When you use a power regeneration common converter

For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should
not be connected.
For 7 kW servo amplifiers, the lead wires of the built-in regenerative resistor connected to
P+ terminal and C terminal should not be connected.
The wire of power regeneration common converter should be connected to P4 terminal and
N- terminal. (Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
Servo amplifier
Power factor improving
DC reactor
P3
(Note)
P4
Note. Always disconnect between P3 and P4 terminals.
2) 400 V class
a) When you use a regenerative option for 3.5 kW or less servo amplifiers
4- 4
4. STARTUP
b) When you use a regenerative option for 5 kW or more servo amplifiers

For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor
connected to P+ terminal and C terminal should not be connected.
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers
For 5 kW or 7 kW servo amplifiers, the lead wire of built-in regenerative resistor connected
to P+ terminal and C terminal should not be connected.
Brake unit, power regeneration converter should be connected to P+ terminal and N-
terminal. (Refer to section 11.3 and 11.4.)
Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using
a brake unit. (Refer to section 11.3)
d) When you use a power regeneration common converter for 11 kW or more servo amplifiers
Power regeneration common converter should be connected to P4 terminal and N- terminal.
(Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
Servo amplifier
Power factor improving
DC reactor
P3
(Note)
P4
Note. Always disconnect between P3 and P4.
3) 100 V class
(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN1 connector. You can use this function
to check the wiring. In this case, switch on the control circuit power supply only.
Refer to section 3.2 for details of I/O signal connection.
(b) 24 V DC or higher voltage is not applied to the pins of the CN1 connector.
(c) Plate and DOCOM of the CN1 connector is not shorted.

Servo amplifier
CN1
DOCOM
Plate
4- 5
4. STARTUP
4.1.3 Surrounding environment
(1) Cable routing

(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
4.2 Startup in position control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the position
control mode.
4.2.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off SON (Servo-on).
2) Make sure that a command pulse train is not input.
3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in 2 s later, shows data.
In the absolute position detection system, first power-on results in [AL. 25 Absolute position
erased] and the servo system cannot be switched on. The alarm can be deactivated by then
switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch
may occur due to external force or the like. Power must therefore be switched on when the servo
motor is at a stop.
(2) Power-off
1) Make sure that a command pulse train is not input.
3) Switch off the main circuit power supply and control circuit power supply.
4- 6
4. STARTUP
4.2.2 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 the running of the servo motor and
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch of SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (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. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to
a stop.
LSP (Forward rotation stroke end) of LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
(Reverse rotation stroke end) off opposite direction.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
4- 7
4. STARTUP
4.2.3 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2.1 for the power on and off methods of the servo amplifier.
Test operation of the servo motor In this step, confirm that the servo amplifier and 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 correctly rotates at the slowest
speed. Refer to section 4.5.9 for the test operation mode.
Test operation of the servo motor In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
speed under 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 put 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 a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the rotation
direction, etc. of the servo motor. If the machine does not operate in the
intended direction, check the input signal.
Test operation with the servo motor In this step, connect the servo motor with the machine and confirm that the
and machine connected
machine operates normally under the commands from the controller.
stroke end).
3) When a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the operation
direction, etc. of the machine. If the machine does not operate in the
intended direction, check the input signal. In the status display, check for
any problems of the servo motor speed, command pulse frequency, load
ratio, etc.
4) Then, check automatic operation with the program of the controller.
4- 8
4. STARTUP
4.2.4 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
In the position control mode, the servo amplifier can be used by merely changing the basic setting
parameters ([Pr. PA _ _ ]) mainly.
As necessary, set other parameters.
4.2.5 Actual operation
Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.
4.2.6 Trouble at start-up
Never adjust or change the parameter values extremely as it will make operation
CAUTION unstable.
POINT
Using the optional MR Configurator2, you can refer to reason for rotation failure,
etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
(1) Troubleshooting
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on The 5-digit, Not improved even if CN1, CN2 1. Power supply voltage fault
7-segment LED is and CN3 connectors are 2. The servo amplifier is
not lit. disconnected. malfunctioning.
The 5-digit, Improved when CN1 connector is Power supply of CN1 cabling is
7-segment LED disconnected. shorted.
blinks. Improved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Improved when CN3 connector is Power supply of CN3 cabling is
disconnected. shorted.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Note)
4- 9
4. STARTUP

2 Switch on SON Alarm occurs. Refer to chapter 8 and remove 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) 4.5.7
(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 4.5.7) to see
if SON (Servo-on) is on.
3 Input command Servo motor does not Check the cumulative command 1. Wiring mistake Section
pulse. rotate. pulse on the status display (a) For open collector pulse 4.5.3
(Test operation) (section 4.5.3). train input, 24 V DC power
is not supplied to OPC.
(b) LSP and LSN are not on.
2. Pulse is not input from the
controller.
Mistake in setting of [Pr. PA13]. Chapter 5
Servo motor run in 1. Mistake in wiring to controller.
reverse direction. 2. Mistake in setting of [Pr.
PA14].
4 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault Chapter 6
fluctuations) are large following procedure.
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration three times or more
to complete auto tuning.
Large load inertia If the servo motor may be run with Gain adjustment fault Chapter 6
moment causes the safety, repeat acceleration and
servo motor shaft to deceleration three times or more to
oscillate side to side. complete auto tuning.
5 Cyclic operation Position shift occurs Confirm the cumulative command Pulse counting error, etc. due to (2) in
pulses, cumulative feedback noise. this
pulses and actual servo motor section
position.
4 - 10
4. STARTUP
(2) How to find the cause of position shift

Controller Servo amplifier
(a) Output pulse Machine
counter Servo motor
Electronic gear L
P [Pr. PA05], [Pr. PA06], M
Q (d) Machine stop position M
[Pr. PA07], [Pr. PA21]
(b) Cumulative command pulses Cause B

Cause A
SON (Servo-on) input
LSP/LSN (Stroke end) input
C Encoder
Cause C
(c) Cumulative feedback pulses
When a position shift occurs, check (a) output pulse counter display Q, (b) cumulative command pulse
P, (c) cumulative feedback pulse C, and (d) machine stop position M in the above diagram.
Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that
noise entered the wiring between the controller and servo amplifier, causing command input pulses to be
miscounted.
In a normal status without position shift, there are the following relationships.
1) Q = P (Output counter = Cumulative command pulses)
2) When [Pr. PA21] is "0 _ _ _"
CMX [Pr. PA06]

P• = C (Cumulative command pulses × Electronic gear = Cumulative feedback
CDV [Pr. PA07]
pulses)
3) When [Pr. PA21] is "1 _ _ _"
4194304
P• =C
FBP [Pr. PA05]
4) When [Pr. PA21] is "2 _ _ _"
CMX [Pr. PA06]

P• × 16 = C
CDV [Pr. PA07]
5) C • ∆ℓ = M (Cumulative feedback pulses × Travel distance per pulse = Machine position)
4 - 11
4. STARTUP
Check for a position mismatch in the following sequence.
1) When Q ≠ P
Noise entered the pulse train signal wiring between the controller and servo amplifier, causing
command input pulses to be miscounted. (Cause A)
Make the following check or take the following measures.
Check how the shielding is done.
Change the open collector type to the differential line driver type.
Run wiring away from the power circuit.
Install a data line filter. (Refer to section 11.14 (2) (a).)
Change the [Pr. PA13 Command pulse input form] setting.
CMX
2) When P • ≠C
CDV
During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation
stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C)
3) When C • ∆ℓ ≠ M
Mechanical slip occurred between the servo motor and machine. (Cause B)
4.3 Startup in speed control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the speed
control mode.
(1) Power-on
2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.
When main circuit power/control circuit power is switched on, the display shows "r (Servo motor
speed)", and in 2 s later, shows data.
(2) Power-off
1) Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start).
4 - 12
4. STARTUP
4.3.2 Stop
brings it to a stop.
Refer to section 3.10 for the servo motor with an electromagnetic brake.
Switch of SON (Servo-on). The base circuit is shut off and the servo motor coasts.
chapter 8. (Note))
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
a stop.
LSP (Forward rotation stroke end) of LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
(Reverse rotation stroke end) off opposite direction.
Simultaneous on or off of ST1 (Forward The servo motor is decelerated to a stop.
rotation start) and ST2 (Reverse rotation
start)
4 - 13
4. STARTUP
Test operation of the servo motor In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
stroke end).
3) When VC (Analog speed command) is input from the controller and ST1
(Forward rotation start) or ST2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low speed command at first and
check the rotation direction, etc. of the servo motor. If the machine 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
stroke end).
3) When VC (Analog speed command) is input from the controller and ST1
(Forward rotation start) or ST2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low speed command at first and
check the operation direction, etc. of the machine. If the machine 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.
4 - 14
4. STARTUP
POINT
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control
mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.
corresponding parameter settings.
Never adjust or change the parameter values extremely as it will make operation
CAUTION unstable.
POINT
etc.
1 Power on The 5-digit, Not improved even if CN1, CN2, 1. Power supply voltage fault
(Note)
4 - 15
4. STARTUP

(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) 4.5.7
(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 4.5.7) to
see if SON (Servo-on) is on.
3 Switch on ST1 Servo motor does not Call the status display (section Analog speed command is 0 V. Section
(Forward rotation rotate. 4.5.3) and check the input 4.5.3
start) or ST2 voltage of VC (Analog speed
(Reverse rotation command).
start). Call the external I/O signal LSP, LSN, ST1, and ST2 are off. Section
display (section 4.5.7) and check 4.5.7
the on/off status of the input
signal.
Check the internal speed Set value is 0. Section
commands 1 to 7 ([Pr. PC05] to 5.2.3
[Pr. PC11]).
Check the forward rotation Torque limit level is too low as Section
torque limit ([Pr. PA11]) and the compared to the load torque. 5.2.1
reverse rotation torque limit ([Pr.
PA12]).
When TLA (Analog torque limit) Torque limit level is too low as Section
is usable, check the input voltage compared to the load torque. 4.5.3
on the status display.
4 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault Chapter 6
fluctuations) are large following procedure.
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration three times or
more to complete auto tuning.
Large load inertia If the servo motor may be run Gain adjustment fault Chapter 6
moment causes the with safety, repeat acceleration
servo motor shaft to and deceleration three times or
oscillate side to side. more to complete auto tuning.
4 - 16
4. STARTUP
4.4 Startup in torque control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the torque
control mode.
(1) Power-on
2) Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.
Data is displayed in 2 s after "U" (Analog torque command) is displayed.
(2) Power-off
1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).
4.4.2 Stop
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Switch off SON (Servo-on). The base circuit is shut off and the servo motor coasts.
chapter 8. (Note))
EM2 (Forced stop 2) off This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop
a stop.
Simultaneous on or off of RS1 (Forward The servo motor coasts.
rotation selection) and RS2 (Reverse rotation
selection)
4 - 17
4. STARTUP
Test operation of the servo In this step, confirm that the servo motor correctly rotates at the slowest
motor alone by commands
1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on

status, RD (Ready) switches on.
2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low torque command at first and
check the rotation direction, etc. of the servo motor. If the machine 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
1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on

status, RD (Ready) switches on.
2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low torque command at first and
check the operation direction, etc. of the machine. If the machine 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.
4 - 18
4. STARTUP
POINT
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control
mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.
corresponding parameter settings.
4 - 19
4. STARTUP
Never adjust or change the parameter values extremely as it will make unstable
CAUTION movement.
POINT
etc.
1 Power on The 5-digit, Not improved even if CN1, CN2, 1. Power supply voltage fault
(Note)
(Servo-on). (Note)
(Servo motor shaft is Call the external I/O signal 1. SON (Servo-on) is not input. Section
free.) display (section 4.5.7) and check (wiring mistake) 4.5.7
the on/off status of the input 2. 24 V DC power is not supplied
signal. to DICOM.
3 Switch on RS1 Servo motor does not Call the status display (section Analog torque command is 0 V. Section
(Forward rotation rotate. 4.5.3) and check the input 4.5.3
start) or RS2 voltage of TC (Analog torque
(Reverse rotation command).
start). Call the external I/O signal RS1 and RS2 are off. Section
display (section 4.5.7) and check 4.5.7
the on/off status of the input
signal.
Check the internal speed limit 1 Set value is 0. Section
to 7 ([Pr. PC05] to [Pr. PC11]). 5.2.3
Check the analog torque Torque command level is too low Section
command maximum output ([Pr. as compared to the load torque. 5.2.3
PC13]) value.
Check the forward rotation Set value is 0. Section
torque limit ([Pr. PA11]) and the 5.2.1
reverse rotation torque limit ([Pr.
PA12]).
4 - 20
4. STARTUP
4.5 Display and operation sections
4.5.1 Summary
The MR-J4-_A_(-RJ) servo amplifier has the display section (5-digit, 7-segment LED) and operation section
(4 pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the
"MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
The operation section and display data are described below.
5-digit, 7-segment LED Displays data.
MODE UP DOWN SET
Decimal LED Displays the decimal points, alarm presence/absence, etc.
MODE Display mode change Lit to indicate the decimal point.

Low/High switching
Push this button together Decimal
with the "SET" button for
Lit to indicate a negative when "-"
3 s or more to switch to (negative) cannot be displayed.
mode.
UP Display/data scrolling
DOWN Display/data scrolling Blinks to indicate alarm occurrence.
SET Display/data determination
Data clear
Push this button together Blinks to indicate the test operation
with the "MODE" button mode.
for 3 s or more to switch to
mode.
4 - 21
4. STARTUP
4.5.2 Display flowchart
Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the
description of the corresponding display mode.
To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters,
enable them with [Pr. PA19 Parameter writing inhibit].
Display mode transition Initial screen Function Reference
Servo status display. Section
"C" appears at power-on. 4.5.3
Status display (Note)

Select this when performing the one-touch
One-touch tuning tuning.
Sequence display, external signal display, Section

output signal (DO) forced output, test 4.5.4
operation, software version display, VC
Diagnosis automatic offset, servo motor series ID
display, servo motor type ID display, servo
motor encoder ID display, drive recorder
enabled/disabled display.
Current alarm display, alarm history display, Section
parameter error number display. 4.5.5
Alarms
Display and setting of basic setting Section

Basic setting parameters. 4.5.6
parameters
Button
MODE
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

parameters
Display and setting of linear/DD motor setting

Linear/DD motor parameters.
setting parameter
Note. When the axis name is set to the servo amplifier with MR Configurator2, the axis name is displayed and the servo status is then
displayed.
4 - 22
4. STARTUP
4.5.3 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 display data as desired. When the required data is selected, the corresponding
symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears
after the symbol of the status display selected in [Pr. PC36] has been shown 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 shown below.
(a) Standard control mode/DD motor control mode
Unit total power consumption 2
(increment of 100 kWh)
Cumulative feedback Within one-revolution position

pulses (1000 pulses unit)
Servo motor speed/

Linear servo motor speed ABS counter
Droop pulses Load to motor inertia ratio
Cumulative command
pulses Bus voltage
Command pulse
frequency Internal temperature of encoder

voltage
Analog speed limit Settling time
voltage UP
DOWN
Analog torque limit voltage
Analog torque command Oscillation detection frequency
voltage
Regenerative load ratio Number of tough drives
Unit power consumption 1

Effective load ratio (increment of 1 W)

Peak load ratio (increment of 1 kW)

Instantaneous torque (increment of 1 Wh)
Within one-revolution Unit total power consumption 2

position (1 pulse unit) (increment of 100 kWh)
Cumulative feedback pulses
4 - 23
4. STARTUP
(b) Fully closed loop control mode

Load-side encoder information 2
(Note)
Cumulative feedback
pulses
Unit total power

consumption 2
Load-side encoder cumulative

feedback pulses
Load-side encoder droop pulses

(1 pulse unit)

(100000 pulses unit)
Note. The displays in the frames are the standard control modes in one cycle with some
displays omitted.
4 - 24
4. STARTUP
(c) Linear servo motor control mode

Electrical angle high
(Note)
Cumulative feedback
pulses
Unit total power

consumption 2
Z-phase counter low
Z-phase counter high
Electrical angle low
Electrical angle high
Note. The displays in the frames are the standard control modes in one cycle with some
displays omitted.
4 - 25
4. STARTUP
(2) Display examples

The following table shows the display examples.
Displayed data
Item State
Servo amplifier display
Forward rotation at 2500

r/min
Servo motor speed
Reverse rotation at 3000

r/min
Reverse rotation is indicated by "- ".
Load to motor inertia ratio 7.00 times
11252 rev
ABS counter
-12566 rev
Lit
Negative value is indicated by the lit decimal

points in the upper four digits.
4 - 26
4. STARTUP
(3) Status display list

The following table lists the servo statuses that may be shown. Refer to app. 7.3 for the measurement
point.
Status display Symbol Unit Description
Feedback pulses from the servo motor encoder are counted and 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
Cumulative feedback pulses C pulse
five digits.
Press the "SET" button to reset the display value to zero.
The value of minus is indicated by the lit decimal points in the upper four digits.
Servo motor speed/ The servo motor speed or Linear servo motor speed is displayed.
r r/min
Linear servo motor speed It is displayed rounding off 0.1 r/min (0.1 mm/s) unit.
The number of droop pulses in the deviation counter is displayed.
The decimal points in the upper four digits are lit for reverse rotation pulses.
Droop pulses E pulse
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.
Position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it
may not match the indication of the cumulative feedback pulses.
Cumulative command pulses P pulse only the lower five digits of the actual value since the servo amplifier display is
five digits.
When the servo motor is rotating in the reverse direction, the decimal points in
the upper four digits are lit.
The frequency of position command input pulses is counted and displayed.
Command pulse frequency n kpulse/s
The value displayed is not multiplied by the electronic gear (CMX/CDV).
1) Torque control mode
Input voltage of VLA (Analog speed limit) voltage is displayed.
voltage F V
Analog speed limit voltage 2) Speed control mode
Input voltage of VC (Analog speed command) voltage is displayed
1) Position control mode and speed control mode
Voltage of TLA (Analog torque limit) voltage is displayed.
voltage U V
Analog torque limit voltage
Voltage of TC (Analog torque command) voltage is displayed.
The ratio of regenerative power to permissible regenerative power is displayed
Regenerative load ratio L %
in %.
The continuous effective load current is displayed.
Effective load ratio J % The effective value in the past 15 s is displayed relative to the rated current of
100%.
The maximum occurrence torque is displayed.
Peak load ratio b % The highest value in the past 15 s is displayed relative to the rated current of
100%.
The instantaneous occurrence torque is displayed.
Instantaneous torque T % The value of torque being occurred is displayed in real time considering a rated
torque as 100%.
Position within one revolution is displayed in encoder pulses.
Within one-revolution position
Cy1 pulse only the lower five digits of the actual value since the servo amplifier display is
(1 pulse unit)
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 increments of the
Within one-revolution position 1000
Cy2 encoder.
(1000 pulses unit) pulses
The travel distance from the home position is displayed as multi-revolution
ABS counter LS rev counter value of the absolution position encoder in the absolution position
detection system.
4 - 27
4. STARTUP

The estimated ratio of the load inertia moment to the servo motor shaft inertia
Load to motor inertia ratio dC Multiplier
moment is displayed.
Bus voltage Pn V The voltage of main circuit converter (between P+ and N-) is displayed.
Internal temperature of
ETh °C Inside temperature of encoder detected by the encoder is displayed.
encoder
Settling time ST ms Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed.
Oscillation detection
oF Hz Frequency at the time of oscillation detection is displayed.
frequency
Number of tough operations Td times The number of tough drive functions activated is displayed.
Unit power consumption is displayed by increment of 1 W. Positive value indicate
Unit power consumption 1 power running, and negative value indicate regeneration. The values in excess of
PC1 W
(increment of 1 W) ±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.
Unit power consumption 2 Unit power consumption is displayed by increment of 1 kW. Positive value
PC2 kW
(increment of 1 kW) indicate power running, and negative value indicate regeneration.
Unit total power consumption is displayed by increment of 1 Wh. Positive value is
cumulated during power running and negative value during regeneration. The
Unit total power consumption
TPC1 Wh values in excess of ±99999 can be counted. However, the counter shows only
1 (increment of 1 Wh)
the lower five digits of the actual value since the servo amplifier display is five
digits.
Unit total power consumption Unit total power consumption is displayed by increment of 100 kWh. Positive
TPC2 100 Wh
2 (increment of 100 kWh) value is cumulated during power running and negative value during regeneration.
Feedback pulses from the load-side encoder are counted and displayed.
Load-side encoder only the lower five digits of the actual value since the servo amplifier display is
FC pulse
Cumulative feedback pulses five digits.
The value of minus is indicated by the lit decimal points in the upper four digits.
Droop pulses of the deviation counter between a load-side encoder and a
command are displayed. When the count exceeds ±99999, it starts from 0.
Load-side encoder
FE pulse Negative value is indicated by the lit decimal points in the upper four digits.
Droop pulses
The display shows the average droop pulses of 128 samplings at the rate of 444
[μs].
The Z-phase counter of a load-side encoder is displayed in the encoder pulse
unit.
Load-side encoder
For an incremental linear encoder, the Z-phase counter is displayed. The value is
information 1 FCY1 pulse
counted up from 0 based on the home position (reference mark). For an absolute
(1 pulse unit)
position linear encoder, the encoder absolute position is displayed.
When the count exceeds 99999, it starts from 0.
The Z-phase counter of a load-side encoder is displayed by increments of
100000 pulses.
Load-side encoder
100000 For an incremental linear encoder, the Z-phase counter is displayed. The value is
information 1 FCY2
pulses counted up from 0 based on the home position (reference mark). For an absolute
(100000 pulses unit)
When an incremental linear encoder is used as the load-side encoder, the
display shows 0.
Load-side encoder When an absolute position linear encoder is used as the load-side encoder, the
FL5 rev
information 2 display shows 0.
When a rotary encoder is used as the load-side encoder, the display shows the
value of the multi-revolution counter.
The Z-phase counter is displayed in the encoder pulse unit.
Z-phase counter low FCY1 pulse counted up from 0 based on the home position (reference mark). For an absolute
The Z-phase counter is displayed by increments of 100000 pulses.
100000
Z-phase counter high FCY2 counted up from 0 based on the home position (reference mark). For an absolute
pulses
4 - 28
4. STARTUP

Electrical angle low ECY1 pulse The servo motor electrical angle is displayed.
100000
Electrical angle high ECY2 The servo motor electrical angle is displayed by increments of 100000 pulses.
pulses
(4) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing
[Pr. PC36] settings. The item displayed in the initial status changes with 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
Torque/position Analog torque command voltage/cumulative feedback
pulses
4 - 29
4. STARTUP
4.5.4 Diagnostic mode

Name Display Description
Not ready
Indicates that the servo amplifier is being
initialized or an alarm has occurred.
Sequence
Ready
Indicates that the servo was switched on after
completion of initialization and the servo
amplifier is ready to operate.
Drive recorder enabled
When an alarm occurs in the status, the drive
recorder will operate and write the status of
occurrence.
Drive recorder enabled/disabled display The drive recorder will not operate on the
following conditions.
1. You are using the graph function of MR
Configurator2.
2. You are using the machine analyzer
function.
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 4.5.7. 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
For details, refer to section 4.5.8.
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).
Positioning operation can be performed when

there is no command from an external
controller.
Positioning operation
MR Configurator2 is required to perform
positioning operation.
Without connecting the servo motor, output
signals or status display monitoring can be
Motor-less operation provided in response to the input device as if
the servo motor is actually running.
Test operation For details, refer to section 4.5.9 (4).
mode
Merely connecting the servo amplifier allows
the resonance point of the mechanical system
Machine analyzer to be measured.
operation MR Configurator2 is required to perform
machine analyzer operation.
This is for manufacturer.
For manufacturer
For manufacturer
4 - 30
4. STARTUP

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 to rotate slowly at VC (Analog
speed command) or VLA (Analog speed limit)
of 0 V, this function automatically makes zero-
adjustment of offset voltages.
When using this function, enable the function
in the following procedure. When it is
Automatic VC offset enabled, [Pr. PC37] value changes to the
automatically adjusted offset voltage.
1) Push "SET" once.
2) Set the number in the first digit to 1 with
"UP".
3) Push "SET".
This function cannot be used if the input
voltage of VC or VLA is - +0.4 V or less, or +
0.4 V or more. (Note)
Push the "SET" button to show the series ID
of the servo motor currently connected.
Servo motor series ID
For indication details, refer to the Servo Motor
Instruction Manual (Vol. 3).
Push the "SET" button to show the type ID of
the servo motor currently connected.
Servo motor type ID
Push the "SET" button to show the encoder
ID of the servo motor currently connected.
Servo motor encoder ID
For manufacturer
For manufacturer
Note. Even if Automatic VC offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To
completely stop the servo motor, switch off ST1 or ST2.
4 - 31
4. STARTUP
4.5.5 Alarm mode
The current alarm, past alarm history and parameter error are displayed. The lower 3 digits on the display
indicate the alarm number that has occurred or the parameter number in error.
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 control circuit 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].
Parameter error No.

The data content error of [Pr. PA12 Reverse
rotation torque limit].
4 - 32
4. STARTUP
Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.
(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the fourth digit remains blinking.
(3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the
alarms that can be cleared.)
(a) Switch power off, then on.
(b) Push the "SET" button on the current alarm screen.
(c) Turn on RES (Reset).
(4) Use [Pr. PC18] to clear the alarm history.
(5) Push "UP" or "DOWN" to move to the next history.
4.5.6 Parameter mode
(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pushing the "UP" or
"DOWN" button changes the display as shown below.
To status display mode
MODE
From an alarm Basic setting Gain/filter Extension setting I/O setting Extension setting 2 Extension setting 3 Linear/DD motor
mode parameters parameters parameters parameters parameters parameters setting parameter
[Pr. PA01] [Pr. PB01] [Pr. PC01] [Pr. PD01] [Pr. PE01] [Pr. PF01] [Pr. PL01]
UP
DOWN
4 - 33
4. STARTUP
(2) Operation example

(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 speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to
the basic setting parameter screen.
…… 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" twice.
…… During blinking, the set value can be changed.

Use "UP" or "DOWN".
(_ _ _ 2: Speed control mode)
Press "SET" to enter.
To shift to the next parameter, press the "UP" or "DOWN" button.

When changing the [Pr. PA01] setting, change its set value, then switch power off once and switch it
on again to enable the new value.
(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 setting parameter screen.
Press "UP" or "DOWN" to select [Pr. PA06].
Press "SET" once.
Setting of upper 1 digit Setting of lower 4 digits

Press "MODE" once.
Press "SET" once.
…… The display blinks. ……
Change the setting with the

"UP" or "DOWN" button.
Press "SET" once.
…… Enter the setting. …
Press "MODE" once.
4 - 34
4. STARTUP
4.5.7 External I/O signal display
POINT
The I/O signal settings can be changed using the I/O setting parameters [Pr.
PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].
The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press "UP" 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 (Note 1)/ CN1-35 (Note 1)/
CN1-37 (Note 2) CN1-38 (Note 2)
CN1-42 CN1-45 CN1-18 CN1-17 CN1-16 CN1-41 CN1-19 CN1-15 CN1-44 CN1-43
Input signals
Always lit
Output signals
CN1-14 CN1-13 CN1-33 CN1-48 CN1-22 CN1-25 CN1-23 CN1-24 CN1-49

(Note 1) (Note 1)
Light on: on
Light off: off
Note 1. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.
2. This is available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software
version B7 or later.
The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.
The signals corresponding to the pins in the respective control modes are indicated below.
4 - 35
4. STARTUP
(a) Control modes and I/O signals

Signal (Note 2) Symbols of I/O signals in control modes
Connector Pin No. input/output Related parameter
(Note 1) I/O P P/S S S/T T T/P
10 I PP PP/- (Note 5) (Note 5) (Note 5) -/PP PD43/PD44 (Note 4)
CN1 24 O INP INP/SA SA SA/- -/INP PD25
35 I NP NP/- (Note 5) (Note 5) (Note 5) -/NP PD45/PD46 (Note 4)
37
I PP2 PP2/- (Note 6) (Note 6) (Note 6) -/PP2 PD43/PD44 (Note 4)
(Note 7)
38
I NP2 NP2/- (Note 6) (Note 6) (Note 6) -/NP2 PD45/PD46 (Note 4)
(Note 7)
Note 1. I: input signal, O: output signal

2. P: position control mode, S: speed control mode, T: torque control mode
P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode
5. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with
[Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. Also, this is available with servo amplifiers with
software version B3 or later.
6. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices
with [Pr. PD43] to [Pr. PD46] as necessary.
7. These pins are available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software version B7
or later.
(b) Symbol and signal names

Symbol Application Symbol Application
SON Servo-on RES Reset
LSP Forward rotation stroke end EM2 Forced stop 2
LSN Reverse rotation stroke end LOP Control switching
CR Clear TLC Limiting torque
SP1 Speed selection 1 VLC Limiting speed
SP2 Speed selection 2 RD Ready
PC Proportion control ZSP Zero speed detection
ST1 Forward rotation start INP In-position
ST2 Reverse rotation start SA Speed reached
RS1 Forward rotation selection ALM Malfunction
RS2 Reverse rotation selection OP Encoder Z-phase pulse (open collector)
TL External torque limit selection
4 - 36
4. STARTUP
(3) Display data at initial values

(a) Position control mode
PC (CN1-17)
NP (CN1-35)/
NP2 (CN1-38) CR (CN1-41)
TL (CN1-18) RES (CN1-19)
LOP (CN1-45)
SON (CN1-15)
PP (CN1-10)/
PP2 (CN1-37) LSN (CN1-44)
EM2 (CN1-42) LSP (CN1-43)
Input signal Light on: on
Light off: off
Output signals
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) INP (CN1-24)
ZSP (CN1-23)
TLC (CN1-25)
INP (CN1-22)
(b) Speed control mode

SP2 (CN1-16) SP1 (CN1-41)
ST1 (CN1-17) RES (CN1-19)
ST2 (CN1-18) SON (CN1-15)
LOP (CN1-45) LSN (CN1-44)
EM2 (CN1-42) LSP (CN1-43)
Input signal
Light on: on
Output signals Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) SA (CN1-24)
ZSP (CN1-23)
TLC (CN1-25)
SA (CN1-22)
(c) Torque control mode

SP2 (CN1-16)
RS2 (CN1-17)
RS1 (CN1-18) SP1 (CN1-41)
LOP (CN1-45) RES (CN1-19)
EM2 (CN1-42) SON (CN1-15)
Input signal
Light on: on
Output signals Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48)
ZSP (CN1-23)
VLC (CN1-25)
4 - 37
4. STARTUP
4.5.8 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 is used for
output signal wiring check, etc. This operation must be performed in the servo off state by turning off the
SON (Servo-on).
Operation
Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press the "UP" button three times.
Press the "SET" button for 2 s or more.

…… Switch on/off the signal below the lit segment.
Always lit (The leftmost digit is always lit only for MR-J4-_A_
-RJ servo amplifiers with software version B3 or later.)
…… Indicates on/off of output signal. Definitions of
on/off are the same as those for the external I/O
CN1 CN1 CN1 CN1 CN1 CN1 CN1 CN1 CN1 signals. (Light on: on, light off: off)
14 13 33 48 22 25 23 24 49
(Note) (Note)
Press the "MODE" button once.
…… The lit LED moves to the upper LED of CN1-24.
Press the "UP" button once.
…… CN1-24 switches on.

(Between CN1-24 and DOCOM are connected.)
Press the "DOWN" button once.
…… CN1-24 switches off.
Note. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.
4 - 38
4. STARTUP
4.5.9 Test operation mode
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
The test operation mode cannot be used in the absolute position detection
system by DIO ([Pr. PA03: _ _ _ 1]).
MR Configurator2 is required to perform positioning operation.
Test operation cannot be performed if SON (Servo-on) is not turned off.
(1) Mode switching

Call the display screen shown after power-on. Select JOG operation or motor-less operation in the
following procedure. Using the "MODE" button, show the diagnostic screen.
Press "UP" four times.
Press "SET" for longer than 2 s.
…… When this screen appears,

JOG operation can be performed.
Blinks in the test operation mode.
4 - 39
4. STARTUP
(2) JOG operation
POINT
When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can
be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".
JOG operation can be performed when there is no command from the controller.
(a) Operation
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops
rotating by releasing the button. The operation condition can be changed using MR Configurator2.
The initial operation condition and setting range for operation are listed below.
Item Initial setting Setting range
0 to instantaneous permissible
Speed [r/min] 200
speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
The following table shows how to use the buttons.

Button Description
Press to start CCW rotation.
"UP"
Release to stop.
Press to start CW rotation.
"DOWN"
Release to stop.
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor
decelerates to a stop.
(b) Status display

Press the "MODE" button in the JOG operation-ready status to call the status display screen. When
the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed
during the JOG operation. Every time the "MODE" button is pushed, the next status display screen
appears. When one cycle of the screen display is complete, it returns to the jog operation-ready
status screen. Refer to section 4.5.3 for details of status display. Note that the status display screen
cannot be changed by the "UP" or "DOWN" button during the JOG operation.
(c) Termination of JOG operation

To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next
screen, and then hold down the "SET" button for 2 s or longer.
4 - 40
4. STARTUP
(3) Positioning operation
POINT
Turn on EM2 (forced stop 2) when performing positioning operation.
Positioning operation can be performed when there is no command from a controller.
(a) Operation
m)
n)
g)
a)
b)
c)
d)
e)
f) l)
h)
i)
j) k)
a) Motor speed [r/min]

Enter the servo motor speed into the "Motor speed" input field.
b) Acceleration/deceleration time constant [ms]

Enter the acceleration/deceleration time constant into the "Accel./decel. time constant" input
field.
c) Travel distance [pulse]

Enter the travel distance into the "Travel distance" input field.
d) LSP/LSN are automatically turned on

When setting the external stroke signal to automatic on, click the check box to enable it. When
it is not selected, turn on LSP and LSN externally.
e) Move till Z-phase signal

Travel is made until the travel distance is reached and the first Z-phase signal in the travelling
direction turns on.
4 - 41
4. STARTUP
f) Travel distance unit selection

Select with the option buttons whether the travel distance set in c) is in the command pulse
unit or in the encoder pulse unit.
When the command input pulse unit is selected, the value, which is the set travel distance
multiplied by the electronic gear, will be the command value. When the encoder pulse unit is
selected, the travel distance is not multiplied by the electronic gear.
g) Enable repeat operation

To perform repeat operation, click the check. The initial setting and setting range for the repeat
operation are listed below.
Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to fwd. rot. (CCW)
Repeat pattern Fwd. rot. (CCW) to rev. rot. (CW)
Rev. rot. (CW) to fwd. rot. (CCW)
Rev. rot. (CW) to rev. rot. (CW)
Dwell time [s] 2.0 0.1 to 50.0
Number of operations
1 1 to 9999
[times]
To perform continuous operation with the repeat pattern and dwell time settings, which are set
by referring to the above table, click the check box of "Make the aging function enabled".
h) Forward/reverse the servo motor

Click "Forward" to rotate the servo motor in the forward rotation direction.
Click "Reverse" to rotate the servo motor in the reverse rotation direction.
i) Pause the servo motor

Click "Pause" during servo motor rotation to temporarily stop the servo motor.
"Pause" is enabled during servo motor rotation.
j) Stop the servo motor

Click "Stop" during servo motor rotation to stop the servo motor.
k) Forced stop
Click "Forced stop" during servo motor rotation to make a sudden stop.
"Forced stop" is enabled during servo motor rotation.
l) Operation status
The operation status during the repeat operation, and the number of operations are displayed
m) Axis No.
Axis No. in operation is displayed.
n) Termination of positioning operation window

Click "X" to cancel the positioning operation mode and close the window.
(b) Status display

The status display can be monitored during positioning operation.
4 - 42
4. STARTUP
(4) Motor-less operation

Without connecting the servo motor, output signals or status display can be provided in response to the
input device as if the servo motor is actually running. This operation can be used to check the sequence
of a controller or the like.
(a) Start of motor-less operation

After setting "_ _ _ 1" in [Pr. PC60], cycle the power. After that, perform external operation as in
ordinary operation.
(b) Termination of motor-less operation

To terminate the motor-less operation, set [Pr. PC60] to "_ _ _ 0" and then turn the power off.
(5) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using a
controller. Use this operation with the forced stop reset. This operation may be used independently of
whether servo-on or servo-off and whether a controller is connected or not.
Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of MR
Configurator2.
Operation Screen control
Start Click "Operation start".
Stop Click "Stop".
Forced stop Click "Forced stop".
(6) Output signal (DO) forced output

output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
4 - 43
4. STARTUP
MEMO
4 - 44
5. PARAMETERS
5. 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
POINT
The following parameters are not available with MR-J4-03A6(-RJ) servo
amplifiers.
[Pr. PA02 Regenerative option]
[Pr. PA17 Servo motor series setting]
[Pr. PA18 Servo motor type setting]
[Pr. PA26 Function selection A-5]
[Pr. PC44 Function selection C-9]
[Pr. PC45 Function selection C-A]
[Pr. PD47 Output device selection 7]
[Pr. PE03 Fully closed loop function selection 2]
[Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 -
Numerator]
Denominator]
[Pr. PE06 Fully closed loop control - Speed deviation error detection level]
[Pr. PE07 Fully closed loop control - Position deviation error detection level]
[Pr. PE08 Fully closed loop dual feedback filter]
[Pr. PE10 Fully closed loop function selection 3]
Numerator]
Denominator]
[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]
[Pr. PF34 RS-422 communication function selection 3]
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used
with MR-J4-03A6(-RJ) servo amplifiers.
5- 1
5. PARAMETERS
5.1 Parameter list
POINT
To enable a parameter whose symbol is preceded by *, cycle the power after
setting it.
Abbreviations of operation modes indicate the followings.
Standard: Semi closed loop system use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use
DD: Direct drive motor use
For MR-J4-03A6(-RJ) servo amplifiers, the operation mode is available only in
standard (semi closed loop system).
The symbols in the control mode column mean as follows.
For servo amplifier with software version B3 or later, the parameter initial values
for the manufacturer setting are partially changed.
Setting an out of range value to each parameter will trigger [AL. 37 Parameter
error].
5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation Control
mode mode
Initial
Standard
No. Symbol Name value Unit
D.D.
Full.
Lin.
P
S
T
PA01 *STY Operation mode 1000h
PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 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 [pulse]
PA11 TLP Forward rotation torque limit/positive direction thrust limit 100.0 [%]
PA12 TLN Reverse rotation torque limit/negative direction thrust limit 100.0 [%]
PA13 *PLSS Command pulse input form 0100h
PA14 *POL Rotation direction selection/travel direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 *MSR Servo motor series setting 0000h
PA18 *MTY Servo motor type setting 0000h
PA19 *BLK Parameter writing inhibit 00AAh
PA20 *TDS Tough drive setting 0000h
PA22 *PCS Position control composition selection 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
5- 2
5. PARAMETERS
Operation Control
mode mode
Initial
Standard
No. Symbol Name value Unit
D.D.
Full.
Lin.
P
S
T
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA27 For manufacturer setting 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Operation Control
mode mode
Initial
Standard
No. Symbol Name Unit
value
D.D.
Full.
Lin.
P
S
T
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
PB02 VRFT Vibration suppression control tuning mode (advanced 0000h
vibration suppression control II)
PB03 PST Position command acceleration/deceleration time constant 0 [ms]
(position smoothing)
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio/load to motor mass 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
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 0.00
damping
PB22 VRF14 Vibration suppression control 1 - Resonance frequency 0.00
damping
PB23 VFBF Low-pass filter selection 0000h
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/load to motor mass ratio after gain 7.00 [Multiplier]
switching
5- 3
5. PARAMETERS
Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
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]
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after 0.0 [Hz]
gain switching
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after 0.0 [Hz]
gain switching
PB35 VRF3B Vibration suppression control 1 - Vibration frequency 0.00
damping after gain switching
PB36 VRF4B Vibration suppression control 1 - Resonance frequency 0.00
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
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 0.00
damping
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 0.00
PB59 VRF24B Vibration suppression control 2 - Resonance frequency 0.00
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
5- 4
5. PARAMETERS
5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
PC01 STA Acceleration time constant 0 [ms]
PC02 STB Deceleration time constant 0 [ms]
PC03 STC S-pattern acceleration/deceleration time constant 0 [ms]
PC04 TQC Torque command time constant/thrust command time 0 [ms]
constant
PC05 SC1 Internal speed command 1 100 [r/min]/
Internal speed limit 1 [mm/s]
PC12 VCM Analog speed command - Maximum speed 0 [r/min]/
Analog speed limit - Maximum speed [mm/s]
PC13 TLC Analog torque/thrust command maximum output 100.0 [%]
PC14 MOD1 Analog monitor 1 output 0000h
PC15 MOD2 Analog monitor 2 output 0001h
PC16 MBR Electromagnetic brake sequence output 0 [ms]
PC17 ZSP Zero speed 50 [r/min]/
[mm/s]
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station No. setting 0 [station]
PC21 *SOP RS-422 communication function selection 0000h
PC22 *COP1 Function selection C-1 0000h
PC25 For manufacturer setting 0000h
PC30 STA2 Acceleration time constant 2 0 [ms]
PC31 STB2 Deceleration time constant 2 0 [ms]
PC32 CMX2 Command input pulse multiplication numerator 2 1
PC35 TL2 Internal torque limit 2/internal thrust limit 2 100.0 [%]
PC36 *DMD Status display selection 0000h
PC37 VCO Analog speed command offset 0 [mV]
Analog speed limit offset
5- 5
5. PARAMETERS
Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
PC38 TPO Analog torque command offset 0 [mV]
Analog torque limit offset
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]/[mm]
PC45 *COPA Function selection C-A 0000h
PC47 0
PC48 0
PC49 0
PC50 0000h
PC51 RSBR Forced stop deceleration time constant 100 [ms]
PC53 0
PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]/
[0.01 mm]
PC56 100
PC57 0000h
PC58 0
PC59 0000h
PC60 *COPD Function selection C-D 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 0000h
PC66 0
PC67 0
PC68 0
PC69 0
PC70 0
PC71 0040h
PC72 0000h
PC73 ERW Error excessive warning level 0 [rev]/[mm]
PC75 0000h
PC76 0000h
PC77 0000h
PC78 0000h
PC79 0000h
PC80 0000h
5- 6
5. PARAMETERS
5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
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
PD16 0000h
PD17 *DI8L Input device selection 8L 0A0Ah
PD18 *DI8H Input device selection 8H 0A00h
PD19 *DI9L Input device selection 9L 0B0Bh
PD20 *DI9H Input device selection 9H 0B00h
PD23 *DO1 Output device selection 1 0004h
PD24 *DO2 Output device selection 2 000Ch
PD29 *DIF Input filter setting 0004h
PD30 *DOP1 Function selection D-1 0000h
PD34 DOP5 Function selection D-5 0000h
PD36 0000h
PD37 0000h
PD38 0
PD39 0
PD40 0
PD41 0000h
PD42 0000h
PD44 *DI11H Input device selection 11H 3A00h
5- 7
5. PARAMETERS
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
PE01 *FCT1 Fully closed loop function selection 1 0000h
PE02 For manufacturer setting 0000h
PE03 *FCT2 Fully closed loop function selection 2 0003h
PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 - 1
Numerator
PE05 *FBD Fully closed loop control - Feedback pulse electronic gear 1 - 1
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection 400 [r/min]
level
PE07 BC2 Fully closed loop control - Position deviation error detection 100 [kpulse]
level
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
PE10 FCT3 Fully closed loop function selection 3 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 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - 1
Numerator
PE35 *FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - 1
Denominator
PE36 For manufacturer setting 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h
5- 8
5. PARAMETERS
Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
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]
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
5- 9
5. PARAMETERS
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
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
PF11 0000h
PF12 10000
PF13 100
PF14 100
PF15 DBT Electronic dynamic brake operating time 2000 [ms]
PF17 10
PF18 *STOD STO diagnosis error detection time 0 [s]
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 SEMI-F47 function - Instantaneous power failure detection 200 [ms]
time
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]/
[mm/s]
PF33 0000h
PF34 *SOP3 RS-422 communication function selection 3 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0
PF41 0
PF42 0
PF43 0
PF44 0
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
5 - 10
5. PARAMETERS
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation Control
mode mode
Initial
Standard
value
D.D.
Full.
Lin.
P
S
T
PL01 *LIT1 Linear servo motor/DD motor function selection 1 0301h
PL02 *LIM Linear encoder resolution - Numerator 1000 [µm]
PL03 *LID Linear encoder resolution - Denominator 1000 [µm]
PL05 LB1 Position deviation error detection level 0 [mm]/
[0.01 rev]
PL06 LB2 Speed deviation error detection level 0 [r/min]/
[mm/s]
PL07 LB3 Torque/thrust deviation error detection level 100 [%]
PL09 LPWM Magnetic pole detection voltage level 30 [%]
PL10 For manufacturer setting 5
PL11 100
PL12 500
PL13 0000h
PL14 0000h
PL15 20
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - 0000h
Function selection
PL18 IDLV Magnetic pole detection - Minute position detection method - 0 [%]
Identification signal amplitude
PL19 For manufacturer setting 0
PL20 0
PL21 0
PL22 0
PL23 0000h
PL24 0
PL25 0000h
PL26 0000h
PL27 0000h
PL28 0000h
PL29 0000h
PL30 0000h
PL31 0000h
PL32 0000h
PL33 0000h
PL34 0000h
PL35 0000h
PL36 0000h
PL37 0000h
PL38 0000h
PL39 0000h
PL40 0000h
PL41 0000h
PL42 0000h
PL43 0000h
PL44 0000h
PL45 0000h
PL46 0000h
PL47 0000h
PL48 0000h
5 - 11
5. PARAMETERS
5.1.8 Option setting parameters ([Pr. Po_ _ ])

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
S
T
Po01 For manufacturer setting 0000h
Po02 *ODI1 MR-D01 input device selection 1 0302h
Po08 *ODO1 MR-D01 output device selection 1 2726h
Po09 *ODO2 MR-D01 output device selection 2 0423h
Po10 *OOP1 Function selection O-1 2001h
Po13 *OMOD1 MR-D01 analog monitor 1 output selection 0000h
Po14 *OMOD2 MR-D01 analog monitor 2 output selection 0000h
Po15 OMO1 MR-D01 analog monitor 1 offset 0 [mV]
Po16 OMO2 MR-D01 analog monitor 2 offset 0 [mV]
Po18 0000h
Po19 0000h
Po20 0000h
Po21 OVCO MR-D01 override offset 0 [mV]
Po22 OTLO MR-D01 override offset 0 [mV]
Po24 0000h
Po25 0000h
Po26 0000h
Po27 *ODI7 MR-D01 input device selection 7 2D2Ch
Po28 *ODI8 MR-D01 input device selection 8 002Eh
Po30 0000h
Po31 0000h
Po32 0000h
5 - 12
5. PARAMETERS
5.2 Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
5.2.1 Basic setting parameters ([Pr. PA_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA01 ___x Control mode selection 0h
*STY Select a control mode.
Operation 0: Position control mode
mode 1: Position control mode and speed control mode
2: Speed control mode
3: Speed control mode and torque control mode
4: Torque control mode
5: Torque control mode and position control mode
__x_ Operation mode selection 0h

0: Standard control mode
1: Fully closed loop control mode
4: Linear servo motor control mode
6: DD motor control mode
Setting other than above will trigger [AL. 37 Parameter error]. The linear servo
system, direct drive servo system and fully closed loop system are available for the
MR-J4-_A_(-RJ) servo amplifiers of which software version is A5 or later.
For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting
value other than the initial value is set.
_x__ For manufacturer setting 0h
x___ 1h
5 - 13
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA02 __xx Regenerative option 00h
*REG Select the 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 the servo amplifier of 100 W, a regenerative resistor is not used.
For the servo amplifier of 0.2 kW to 7 kW, the built-in regenerative resistor is
used.
The supplied regenerative resistor or a regenerative option is used with the
servo amplifier of 11 kW to 22 kW.
01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
When you use FR-RC-(H) or FR-CV-(H), select "Mode 2 (_ _ _ 1)" of
"Undervoltage alarm detection mode selection" in [Pr. PC27].
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required.)
08: MR-RB31
09: MR-RB51 (Cooling fan is required.)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required.)
80: MR-RB1H-4
81: MR-RB3M-4 (Cooling fan is required.)
82: MR-RB3G-4 (Cooling fan is required.)
84: MR-RB34-4 (Cooling fan is required.)
91: MR-RB3U-4 (Cooling fan is required.)
FA: When the supplied regenerative resistor or a regenerative option used with the
servo amplifier of 11 kW to 22 kW is cooled by a cooling fan to increase
regenerative ability.
x___ 0h
5 - 14
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA03 ___x Absolute position detection system selection 0h
*ABS Set this digit when using the absolute position detection system in the position
Absolute control mode.
position 0: Disabled (incremental system)
detection 1: Enabled (absolute position detection system by DIO)
system 2: Enabled (absolute position detection system by communication) (available for the
software version A3 or later)
The absolute position detection system cannot be used when an incremental type
linear encoder is used or the semi closed loop/fully closed loop switching is enabled.
Enabling the absolute position system will trigger [AL. 37].
__x_ For manufacturer setting 0h
_x__ 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 (with EM1)
2: Forced stop deceleration function enabled (with EM2)
Refer to table 5.1 for details.
Table 5.1 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.
PA05 The servo motor rotates based on set command input pulses. 10000
*FBP To enable the parameter value, set "Electronic gear selection" to "Number of
Number of command input pulses per revolution (1 _ _ _)" of in [Pr. PA21]. "1 _ _ _" cannot be
command set in [Pr. PA21] in the Linear servo motor control mode.
input pulses
per revolution Setting range: 1000 to 1000000
5 - 15
5. PARAMETERS
Initial
No./symbol/ Setting Control
Function value
name digit mode
[unit]
PA06 Set the numerator of the electronic gear. 1
CMX To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _
Electronic _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic
gear gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6(-RJ)
numerator servo amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and
(command "J2S electronic gear setting value compatibility mode (3 _ _ _)" cannot be selected.
pulse The following shows a standard of the setting range of the electronic gear.
multiplication
numerator) 1 CMX
< < 4000
10 CDV
If the set value is outside this range, noise may be generated during
acceleration/deceleration or operation may not be performed at the preset speed
and/or acceleration/deceleration time constants.
Number of command input pulses per
revolution ([Pr. PA05] "1000" to "1000000")
Electronic gear selection Electronic gear

(x _ _ _) ([Pr. PA21]) ([Pr. PA06]/[Pr. PA07])
"0" (initial value) CMX

CDV
"1" Pt
Servo motor
FBP +
Command Deviation
pulse train counter M
"2" CMX -
X16
CDV
"3" (Note) CMX

X32 Encoder
CDV
Pt (servo motor resolution): 4194304 pulses/rev
Note. This parameter is available with servo amplifiers with software version B3 or
later.
Always set the electronic gear with servo-off state to prevent unexpected operation
due to improper setting.
Setting range: 1 to 16777215

PA07 Set the denominator of the electronic gear. 1
CDV To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _
Electronic _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic
gear gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6(-RJ)
denominator servo amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and
(command "J2S electronic gear setting value compatibility mode (3 _ _ _)" cannot be selected.
pulse
multiplication
denominator) Setting range: 1 to 16777215
5 - 16
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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
_x__ 0h
x___ 0h
Table 5.2 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 [Pr. PB08 Position loop gain]
(interpolation 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]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
5 - 17
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA09 Set a response of the auto tuning. 16
RSP
Auto tuning Machine characteristic Machine characteristic
response Guideline for Guideline for
Setting Setting
machine machine
value Response value Response
resonance resonance
frequency [Hz] frequency [Hz]
1 Low 2.7 21 Middle 67.1
2 response 3.6 22 response 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 Middle 52.9 39 High 571.5
20 response 59.6 40 response 642.7
PA10 Set an in-position range per command pulse. 100
INP To change it to the servo motor encoder pulse unit, set [Pr. PC24]. [pulse]
In-position
range Setting range: 0 to 65535
PA11 You can limit the torque or thrust generated by the servo motor. Set the parameter 100.0
TLP referring to section 3.6.1 (5). [%]
Forward When you output torque or thrust as analog monitor output, the larger value of [Pr.
rotation PA11 Forward rotation torque limit/positive direction thrust limit value] or [Pr. PA12
torque Reverse rotation torque limit/negative direction thrust limit value] will be the
limit/positive maximum output voltage (8 V).
direction Set the parameter on the assumption that the maximum torque or thrust is 100.0 [%].
thrust limit The parameter is for limiting the torque of the servo motor in the CCW power running
or CW regeneration, or limiting the thrust of the linear servo motor in the positive
direction power running or negative direction regeneration. Set this parameter to
"0.0" to generate no torque or thrust.
Setting range: 0.0 to 100.0

PA12 You can limit the torque or thrust generated by the servo motor. Set the parameter 100.0
TLN referring to section 3.6.1 (5). [%]
Reverse When you output torque or thrust with analog monitor output, the larger value of [Pr.
rotation PA11 Forward rotation torque limit/positive direction thrust limit value] or [Pr. PA12
torque Reverse rotation torque limit/negative direction thrust limit value] will be the
limit/negative maximum output voltage (8 V).
direction Set the parameter on the assumption that the maximum torque or thrust is 100.0 [%].
thrust limit The parameter is for limiting the torque of the servo motor in the CW power running
or CCW regeneration, or limiting the thrust of the linear servo motor in the positive
direction power running or negative direction regeneration. Set this parameter to
"0.0" to generate no torque or thrust.
5 - 18
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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.)
Refer to table 5.3 for settings.
__x_ Pulse train logic selection 0h
0: Positive logic
1: Negative logic
Choose the right parameter to match the logic of the command pulse train received
from a connected controller. Refer to POINT of section 3.6.1 for logic of MELSEC
iQ-R series/MELSEC-Q series/MELSEC-L series/MELSEC-F series.
_x__ Command input pulse train filter selection 1h
Selecting proper filter enables to enhance noise tolerance.
0: Command input pulse train is 4 Mpulses/s or less.
1: Command input pulse train is 1 Mpulse/s or less.
2: Command input pulse train is 500 kpulses/s or less.
3: Command input pulse train is 200 kpulses/s or less (available for the software
version A5 or later)
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".
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
5 - 19
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA13 Table 5.3 Command input pulse train form selection
*PLSS
Command Forward rotation Reverse rotation
Setting
pulse input Pulse train form (positive direction) (negative direction)
value
form command command
Forward rotation
pulse train
PP
(positive direction
pulse train)
__10
Reverse rotation NP
pulse train
(negative direction
pulse train)
Negative logic
PP
__11 Signed pulse train

L H
NP
A-phase pulse PP
train
__12
B-phase pulse
train NP
Forward rotation
pulse train
(positive direction PP
pulse train)
__00
Reverse rotation
pulse train NP
(negative direction
pulse train)
Positive logic
PP
__01 Signed pulse train
NP L
H
PP
A-phase pulse
train
__02
B-phase pulse NP
train
Arrows in the table indicate the timing of importing pulse trains. A-phase and B-phase pulse trains are imported after
they have been multiplied by 4.
5 - 20
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA14 Select command input pulses of the rotation direction or the travel direction of the 0
*POL rotary servo motor, the linear servo motor and the direct drive motor.
Rotation
direction Servo motor rotation direction/
selection/ Setting linear servo motor travel direction
travel direction value When forward rotation When reverse rotation
selection pulse is input pulse is input
0 CCW or positive direction CW or negative direction
1 CW or negative direction CCW or positive direction
The following shows the servo motor rotation directions.
Forward rotation (CCW)
Reverse rotation (CW)
The positive/negative directions of the linear servo motor are as follows.

Secondary side
Negative direction Negative direction
Secondary side
Positive direction Positive direction
Primary side Table
Positive direction
Primary side
Secondary side
Negative direction Primary side
LM-H3/LM-F series LM-U2 series LM-K2 series
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 To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic
gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19].
Refer to app. 15 for details.
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.

PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. 1
*ENR2 To set a denominator of the electronic gear, select "A-phase/B-phase pulse
Encoder electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
output pulses PC19].
2 Refer to app. 15 for details.
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.
5 - 21
5. PARAMETERS
Initial Control
No./symbol/ Setting mode
Function value
name digit
[unit] P S T
PA17 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h
*MSR Set this and [Pr. PA18] at a time.
Servo motor Refer to the following table for settings.
series setting This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
Parameter
Linear servo motor Linear servo motor
series (primary side) [Pr. PA17] [Pr. PA18]
setting setting
LM-H3P2A-07P-BSS0 2101h
LM-H3P3A-12P-CSS0 3101h
LM-H3P3B-24P-CSS0 3201h
LM-H3P3C-36P-CSS0 3301h
LM-H3 LM-H3P3D-48P-CSS0 00BBh 3401h
LM-H3P7A-24P-ASS0 7101h
LM-H3P7B-48P-ASS0 7201h
LM-H3P7C-72P-ASS0 7301h
LM-H3P7D-96P-ASS0 7401h
LM-U2PAB-05M-0SS0 A201h
LM-U2PAD-10M-0SS0 A401h
LM-U2PAF-15M-0SS0 A601h
LM-U2PBB-07M-1SS0 B201h
LM-U2 LM-U2PBD-15M-1SS0 00B4h B401h
LM-U2PBF-22M-1SS0 2601h
LM-U2P2B-40M-2SS0 2201h
LM-U2P2C-60M-2SS0 2301h
LM-U2P2D-80M-2SS0 2401h
LM-FP2B-06M-1SS0 2201h
(natural cooling)
LM-FP2D-12M-1SS0 2401h
(natural cooling)
LM-FP2F-18M-1SS0 2601h
(natural cooling)
(natural cooling)
(natural cooling)
(natural cooling)
LM-FP4H-48M-1SS0 4801h
(natural cooling)
(natural cooling)
LM-F 00B2h
(liquid cooling)
(liquid cooling)
(liquid cooling)
(liquid cooling)
(liquid cooling)
(liquid cooling)
(liquid cooling)
(liquid cooling)
LM-K2P1A-01M-2SS1 1101h
LM-K2P1C-03M-2SS1 1301h
LM-K2P2A-02M-1SS1 2101h
LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h
LM-K2P2E-12M-1SS1 2501h
LM-K2P3C-14M-1SS1 3301h
LM-K2P3E-24M-1SS1 3501h
5 - 22
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA18 When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. 0000h
*MTY Set this and [Pr. PA17] at a time.
Servo motor Refer to the table of [Pr. PA17] for settings.
type setting This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
PA19 Select a reference range and writing range of the parameter. 00AAh
*BLK Refer to table 5.4 for settings.
Parameter Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with
writing inhibit MR-J4-03A6(-RJ) servo amplifiers.
Table 5.4 [Pr. PA19] setting value and reading/writing range

Setting
PA19 PA PB PC PD PE PF PL
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
5 - 23
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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 the pins CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 with [Pr.
setting PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. For MR-J4-03A6(-RJ) servo amplifiers, MTTR (during tough drive)
cannot be assigned.
_ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to suppress vibrations by automatically changing setting

values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine
resonance suppression filter 2] in case that the vibration exceed 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].
_x__ SEMI-F47 function selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical
energy charged in the capacitor in case that an instantaneous power failure occurs
during operation. In [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time], set the time period until the occurrence of [AL. 10.1 Voltage drop in
the control circuit power].
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__ 0h
x___ Electronic gear selection 0h
0: Electronic gear ([Pr. PA06] and [Pr. PA07])
1: Number of command input pulses per revolution ([Pr. PA05])
2: J3 electronic gear setting value compatibility mode
(Electronic gear ([Pr. PA06] and [Pr. PA07] × 16))
The electronic gear setting value can be used set with MR-J3.
3: J2S electronic gear setting value compatibility mode
(Electronic gear ([Pr. PA06] and [Pr. PA07] × 32))
The electronic gear setting value can be used set with MR-J2S.
(available for the software version B3 or later)
For MR-J4-03A6(-RJ) servo amplifiers, "2" and "3" cannot be selected for this digit.
PA22 ___x For manufacturer setting 0h
*PCS __x_ Super trace control selection 0h
Position 0: Disabled
control 2: Enabled
composition
selection This parameter setting is used with servo amplifier with software version B4 or later.
x___ 0h
5 - 24
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PA23 __xx 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".
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.
Before changing the control mode during the 3 inertia mode or low response mode,
stop the motor.
_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 Setting "0" will be 50%.
tuning -
Overshoot
permissible
level Setting range: 0 to 100
PA26 ___x Torque limit function selection at instantaneous power failure (instantaneous power 0h
*AOP5 failure tough drive selection)
Function 0: Disabled
selection A-5 1: Enabled
When an instantaneous power failure occurs during operation, the torque at
acceleration is limited to save electric energy charged in the capacitor in the servo
amplifier and the time until [AL. 10.2 Voltage drop in the main circuit power] occurs is
extended with the instantaneous power failure tough drive function. Consequently,
you can set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous power
failure detection time]. The torque limit function at instantaneous power failure is
enabled when "SEMI-F47 function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)".
This parameter setting is used with servo amplifier with software version A6 or later.
_x__ 0h
x___ 0h
5 - 25
5. PARAMETERS
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB01 ___x Filter tuning mode selection 0h
FILT Set the adaptive tuning.
Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to
tuning mode section 7.1.2 for details.
(adaptive 0: Disabled
filter II) 1: Automatic setting (Do not use this in the torque control mode.)
2: Manual setting

_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.
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. Refer to section 7.1.5
Vibration for details.
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 setting
control II) of this digit, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)"
in [Pr. PA24]. Refer to section 7.1.5 for details.
0: Disabled
1: Automatic setting
2: Manual setting
x___ 0h
5 - 26
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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]. When the linear acceleration/deceleration is selected, the setting
acceleration/ range is 0 ms to 10 ms. Setting of longer than 10 ms will be recognized as 10 ms.
deceleration When the linear acceleration/deceleration is selected, do not set the "Control mode
time constant selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the
(position servo motor or linear servo motor to make a sudden stop at the time of position
smoothing) control mode switching or restart.
(Example) When a command is given from a synchronizing encoder, synchronous
operation will start smoothly even if it start during line operation.
Synchronizing
encoder
Start
Servo motor
Servo amplifier
Without time
constant setting
Servo motor With time

speed constant setting
ON t
OFF
Start
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. When the super trace control is enabled, constant speed and uniform
gain acceleration/deceleration droop pulses will be almost 0. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more as the acceleration time constant up to
the rated speed.
5 - 27
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB06 Set the load to motor inertia ratio or load to motor mass ratio. 7.00
GD2 Setting a value considerably different from the actual load moment of inertia or load [Multiplier]
Load to motor mass may cause an unexpected operation such as an overshoot.
inertia ratio/ The setting of the parameter will be the automatic setting or manual setting
load to motor depending on the [Pr. PA08] setting. Refer to the following table for details. When
mass ratio the parameter is automatic setting, the value will vary between 0.00 and 100.00.
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)
PB07 Set the response gain up 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) for details.
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.

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
_ _ _ 1: (Auto tuning mode 1) Automatic setting
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2)
5 - 28
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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.
depending on the [Pr. PA08] setting. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
_ _ _ 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 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.
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

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 the automatic setting or manual setting
compensation depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

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
PB12 Set a viscous friction torque in percentage to the rated torque at servo motor rated 0
OVA speed. Or, set a percentage of viscous friction force against the continuous thrust at [%]
Overshoot linear servo motor rated speed.
amount When the response level is low or when the torque/thrust is limited, the efficiency of
compensation the parameter may be lower.

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
5 - 29
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB14 Set the shape 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 adjusted
Notch shape 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
NH2 To enable the setting value, set "Machine resonance suppression filter 2 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB16].
resonance
suppression
filter 2 Setting range: 10 to 4500
NHQ2 _ _ _ x Machine resonance suppression filter 2 selection 0h
Notch shape 0: Disabled
selection 2 1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
5 - 30
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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 will
resonance be calculated automatically from the servo motor you use and load to motor inertia ratio. It will not be automatically
suppression calculated for the linear servo motor. When "Manual setting (_ _ _ 1)" is selected, the value set in this parameter will
filter be used.
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 "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance
suppression filter is not available.
_ _ x x Shaft resonance suppression filter setting frequency selection 00h
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
Table 5.5 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
5 - 31
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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.
Refer to section 7.1.5 for details.

PB20 Set the resonance frequency for vibration suppression control 1 to suppress low- 100.0
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.

PB21 Set a damping of the vibration frequency for vibration suppression control 1 to 0.00
VRF13 suppress low-frequency machine vibration.
Vibration Refer to section 7.1.5 for details.
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
Resonance Refer to section 7.1.5 for details.
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 "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)"
in [Pr. PB49], the shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
Select the low-pass filter.
1: Manual setting
2: Disabled
x___ 0h
5 - 32
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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]. Slight vibration suppression
control cannot be used in the speed control mode.
_x__ 0h
x___ 0h
PB25 ___x Model adaptive control selection 0h
*BOP1 0: Enabled (model adaptive control)
Function 2: Disabled (PID control)
selection B-1 This parameter is available with servo amplifiers with software version B4 or later.
__x_ Position acceleration/deceleration filter type selection 0h
Select the position acceleration/deceleration filter type.
0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control mode.
Doing so will cause the servo motor to make a sudden stop at the time of control
mode switching.
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 _ _ _ x Gain switching selection 0h
switching 0: Disabled
function 1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear 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 _ _ Gain switching time constant disabling condition selection 0h
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
This parameter is used by servo amplifier with software version B4 or later.
PB27 This is used to set the value of gain switching (command frequency, droop pulses, 10
CDL and servo motor speed/linear servo 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.) /[r/min]
condition The unit "r/min" will be "mm/s" for linear servo motors.

PB28 This is used to set the time constant until the gains switch in response to the 1
CDT conditions set in [Pr. PB26] and [Pr. PB27]. [ms]
Gain
switching
time constant Setting range: 0 to 100
5 - 33
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB29 This is used to set the load to motor inertia ratio/load to motor mass ratio for when 7.00
GD2B gain switching is enabled. [Multiplier]
Load to motor This parameter is enabled only when "Gain adjustment mode selection" is "Manual
inertia ratio/ mode (_ _ _ 3)" in [Pr. PA08].
load to motor
mass ratio
after gain
switching Setting range: 0.00 to 300.00
PB30 Set the position loop gain when the gain switching is enabled. 0.0
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. [rad/s]
Position loop This parameter is enabled only when "Gain adjustment mode selection" is "Manual
gain after mode (_ _ _ 3)" in [Pr. PA08].
gain
PB31 Set the speed loop gain when the gain switching is enabled. 0
VG2B When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. [rad/s]
Speed loop This parameter is enabled only when "Gain adjustment mode selection" is "Manual
gain after mode (_ _ _ 3)" in [Pr. PA08].
gain
switching Setting range: 0 to 65535
PB32 Set the speed integral compensation when the gain changing is enabled. 0.0
VICB When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10]. [ms]
Speed This parameter is enabled only when "Gain adjustment mode selection" is "Manual
integral mode (_ _ _ 3)" in [Pr. PA08].
compensation
after gain
PB33 Set the vibration frequency of the vibration suppression control 1 for when the gain 0.0
VRF1B switching is enabled. [Hz]
Vibration When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
suppression This parameter is enabled only when the following conditions are fulfilled.
control 1 - "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
Vibration "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
frequency setting (_ _ _ 2)".
after gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.

PB34 Set the resonance frequency for vibration suppression control 1 when the gain 0.0
suppression This parameter will be enabled only when the following conditions are fulfilled.
Resonance "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
frequency setting (_ _ _ 2)".
after gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".
5 - 34
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
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" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
control 1 - "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
Vibration setting (_ _ _ 2)".
frequency "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
damping after _ _ 1)".
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor or linear servo motor stops.

PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00
control 1 - "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
Resonance setting (_ _ _ 2)".
frequency "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
damping after _ _ 1)".
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor or linear servo motor stops.
5 - 35
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB45 Set the command notch filter.
CNHF _ _ x x Command notch filter setting frequency selection 00h
Command Refer to table 5.6 for the relation of setting values to frequency.
notch filter _ x _ _ Notch depth selection 0h
Table 5.6 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 5.7 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
5 - 36
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
resonance
suppression
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
resonance
suppression
When the setting of this digit is "Enabled", [Pr. PB17 Shaft resonance suppression
filter] is not available.
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
resonance
suppression
5 - 37
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
NHQ5 When "Robust filter selection" is "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5 is not
Notch shape available.
selection 5 _ _ _ x Machine resonance suppression filter 5 selection 0h
0: Disabled
1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
PB52 Set the vibration frequency for vibration suppression control 2 to suppress low- 100.0
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 To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
frequency mode (_ _ _ 1)" in [Pr. PA24].
The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a
value out of the range is set, the vibration suppression control will be disabled. Refer
to section 7.1.5 for details.

PB53 Set the resonance frequency for vibration suppression control 2 to suppress low- 100.0
Resonance To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
frequency mode (_ _ _ 1)" in [Pr. PA24].
The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a
value out of the range is set, the vibration suppression control will be disabled. Refer
to section 7.1.5 for details.

PB54 Set a damping of the vibration frequency for vibration suppression control 2 to 0.00
Vibration To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
frequency mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details.
damping
PB55 Set a damping of the resonance frequency for vibration suppression control 2 to 0.00
Resonance To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
frequency mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details.
damping
5 - 38
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB56 Set the vibration frequency for vibration suppression control 2 when the gain 0.0
Vibration
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
frequency
after gain "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
switching setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".

PB57 Set the resonance frequency for vibration suppression control 2 when the gain 0.0
Resonance
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
frequency
after gain "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
switching setting (_ _ 2 _)".
_ _ 1)".

PB58 Set a damping of the vibration frequency for vibration suppression control 2 when 0.00
control 2 - "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
Vibration
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
frequency
damping after setting (_ _ 2 _)".
gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".

PB59 Set a damping of the resonance frequency for vibration suppression control 2 when 0.00
control 2 - "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
Resonance
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
frequency
damping after setting (_ _ 2 _)".
gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".
5 - 39
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PB60 Set the model loop gain when the gain switching is enabled. 0.0
PG1B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. [rad/s]
Model loop This parameter will be enabled only when the following conditions are fulfilled.
gain after "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
gain
switching
_ _ 1)".
5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC01 Set the acceleration time required to reach the rated speed from 0 r/min or 0 mm/s 0
STA for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr. [ms]
Acceleration PC11 Internal speed command 7].
time constant If the preset speed command is lower
Speed
than the rated speed, acceleration/
Rated deceleration time will be shorter.
speed
0 r/min Time
(0 mm/s)
[Pr. PC01] setting [Pr. PC02] setting
For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to
increase the speed from 0 r/min to 1000 r/min in 1 second.

PC02 Set the deceleration time required to reach 0 r/min or 0 mm/s from the rated speed 0
STB for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr. [ms]
Deceleration PC11 Internal speed command 7].
time constant
5 - 40
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC03 Start/stop the servo motor or linear servo motor smoothly. 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/
deceleration
Speed command
time constant
motor speed)
(Linear servo
Servo motor
speed
0 r/min
(0 mm/s)
Time
STC STA STC STC STB STC
STA: Acceleration time constant ([Pr. PC01])
STB: Deceleration time constant ([Pr. PC02])
STC: S-pattern acceleration/deceleration time constant ([Pr. PC03])
Long setting of STA (acceleration time constant) or STB (deceleration time constant)
may produce an error in the time of the arc part for the setting of the S-pattern
acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by
2000000 2000000
for acceleration or by for deceleration.
STA STB
(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc part
times are as follows.
Acceleration: 100 ms
2000000
= 100 [ms] < 200 [ms]
20000
Therefore, it will be limited to 100 ms.
Deceleration: 200 ms
2000000
= 400 [ms] > 200 [ms]
5000
Therefore, it will be 200 ms as you set.

PC04 Set the constant of a primary delay filter for the torque/thrust command. 0
TQC Torque command (Thrust command) [ms]
Torque/thrust
command
Torque
time constant (Thrust) After filtering
TQC TQC Time

TQC: Torque/thrust command time constant

PC05 Set the speed 1 of internal speed commands. 100
SC1 [r/min]/
Internal [mm/s]
Setting range: 0 to instantaneous permissible speed
speed
Set the speed 1 of internal speed limits.
command 1
Internal
speed limit 1 Setting range: 0 to instantaneous permissible speed
5 - 41
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
SC2 [r/min]/
Internal [mm/s]
speed
command 2
Internal
SC3 [r/min]/
Internal [mm/s]
speed
Set speed 3 of internal speed limits.
command 3
Internal
SC4 [r/min]/
Internal [mm/s]
speed
command 4
Internal
SC5 [r/min]/
Internal [mm/s]
speed
command 5
Internal
SC6 [r/min]/
Internal [mm/s]
speed
command 6
Internal
SC7 [r/min]/
Internal [mm/s]
speed
command 7
Internal
PC12 Set the speed of servo motor or linear servo motor at the maximum voltage (10 V) 0
VCM input to VC (Analog speed command). [r/min]/
Analog speed When "0" is set, the rated speed of the connected servo motor or linear servo motor [mm/s]
command - is used.
Maximum When you input a command value of the permissible speed or more to VC, the value
speed is clamped at the permissible speed.
Analog speed
limit - Setting range: 0 to 50000
Maximum Set the speed of servo motor or linear servo motor at the maximum voltage (10 V)
speed input to VLA (Analog speed limit).
When "0" is set, the rated speed of the connected servo motor or linear servo motor
is used.
When you input a limit value of the permissible speed or more to VLA, the value is
clamped at the permissible speed.
5 - 42
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC13 Set the output torque/thrust at the analog torque/thrust command voltage (TC = ±8 100.0
TLC V) of +8 V on the assumption that the maximum torque/thrust is 100.0%. [%]
Analog For example, set 50.0.
torque/thrust 50.0
The maximum torque or thrust × is outputted.
command 100.0
maximum When you input a command value of the maximum torque/thrust or more to TC, the
output value is clamped at the maximum torque/thrust.
5 - 43
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC14 __xx Analog monitor 1 output selection 00h
MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to app. 7.3 for detection
Analog point of output selection.
monitor 1 Refer to table 5.8 or table 5.9 for settings.
output _x__ For manufacturer setting 0h
x___ 0h
Table 5.8 Analog monitor setting value (MR-J4-_A_(-RJ) 100 W or more)

Operation
mode (Note 1)
Setting
Standard
Item
value
Full.
Lin.
DD
_ _ 0 0 (Linear) servo motor speed
(±8 V/max. speed)
_ _ 0 1 Torque or thrust
(±8 V/max. torque or max. thrust) (Note 3)
(+8 V/max. speed)
(+8 V/max. torque or max. thrust) (Note 3)
_ _ 0 4 Current command (±8 V/max. current command)
_ _ 0 5 Command pulse frequency (±10 V/±4 Mpulses/s)
_ _ 0 6 Servo motor-side droop pulses (±10 V/100 pulses)
(Note 2)
(Note 2)
(Note 2)
(Note 2)
_ _ 0 A Feedback position (±10 V/1 Mpulse) (Note 2)
_ _ 0 B Feedback position (±10 V/10 Mpulses) (Note 2)
_ _ 0 C Feedback position (±10 V/100 Mpulses) (Note 2)
_ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,
400 V class: +8 V/800 V)
_ _ 0 E Speed command 2 (±8 V/max. speed)
_ _ 1 0 Load-side droop pulses (±10 V/100 pulses) (Note 2)
_ _ 1 4 Load-side droop pulses (±10 V/1 Mpulse) (Note 2)
_ _ 1 5 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
_ _ 1 6 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
_ _ 1 7 Internal temperature of encoder (±10 V/±128 °C)
Note 1. Items with are available for each operation mode.

2. Encoder pulse unit
3. The larger value of [Pr. PA11] or [Pr. PA12] will be the maximum torque or the maximum thrust.
5 - 44
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC14
MOD1 Table 5.9 Analog monitor setting value (MR-J4-03A6(-RJ))
Analog
monitor 1 Setting
Item
output value
__00 Servo motor speed (5 V ± 3 V/max. speed)
__01 Torque (5 V ± 3 V/max. torque) (Note 2)
__02 Servo motor speed (5 V + 3 V/max. speed)
__03 Torque (5 V + 3 V/max. torque) (Note 2)
__04 Current command (5 V ± 3 V/max. current command)
__05 Command pulse frequency (5 V ± 4 V/±4 Mpulses/s)
__06 Servo motor-side droop pulses (5 V ± 4 V/100 pulses)
(Note 1)
__07 Servo motor-side droop pulses (5 V ± 4 V/1000 pulses)
(Note 1)
__08 Servo motor-side droop pulses (5 V ± 4 V/10000
pulses) (Note 1)
__09 Servo motor-side droop pulses
(5 V ± 4 V/100000 pulses) (Note 1)
__0A Feedback position (5 V ± 4 V/1 Mpulses) (Note 1)
__0B Feedback position (5 V ± 4 V/10 Mpulses) (Note 1)
__0C Feedback position (5 V ± 4 V/100 Mpulses) (Note 1)
__0D Bus voltage (5 V + 4 V/100 V)
__0E Speed command 2 (5 V ± 3 V/max. speed)
__17 Internal temperature of encoder (5 V ± 4 V/±128 °C)
Note 1. Encoder pulse unit

2. The larger value of [Pr. PA11] or [Pr. PA12] will be 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. 7.3 for detection
Analog 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 between MBR (Electromagnetic brake interlock) and the base 0
MBR drive circuit is shut-off. For the timing chart of when the servo motor with an [ms]
Electromagnetic electromagnetic brake is used, refer to section 3.10.2.
brake sequence
output Setting range: 0 to 1000
PC17 Set the output range of ZSP (Zero speed detection). 50
ZSP ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s. [r/min]/
Zero speed [mm/s]
PC18 ___x Alarm history clear selection 0h
*BPS 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__ 0h
x___ 0h
5 - 45
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC19 ___x Encoder output pulse phase selection 0h
*ENRS Select the encoder pulse direction.
Encoder 0: A-phase 90° shift in CCW or positive direction
output pulse 1: A-phase 90° shift in CW or negative direction
selection
Servo motor rotation direction/
Setting
linear servo motor travel direction
value
CCW or positive direction CW or negative direction
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

When you select "1", the setting of [Pr. PA16 Encoder output pulses 2] will be
disabled. When you select "2", the settings of [Pr. PA15 Encoder output pulses] and
[Pr. PA16 Encoder output pulses 2] will be disabled. When you select the setting, do
not change the settings in [Pr. PA06] and [Pr. PA07] after the power-on.
0: Output pulse setting
When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.
1: Dividing ratio setting
2: The same output pulse setting as the command pulse
3: A-phase/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting
_x__ Selection of the encoders for encoder output pulse 0h
Select an encoder for servo amplifier output.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.
This is only for the fully closed loop system.
If "1" is set other than in the fully closed loop system, [AL. 37 Parameter error] will
occur.
PC20 Set a station No. 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 No. to two or more stations will disable a normal communication.
setting
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
communication When using the parameter unit, set "1 _ _ _" in [Pr. PF34].
function 0: 9600 [bps]
selection
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
4: 115200 [bps]
_ x _ _ RS-422 communication response delay time selection 0h
0: Disabled
1: Enabled (responding after 800 μs or longer delay time)
5 - 46
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC22 ___x For manufacturer setting 0h
*COP1 __x_ 0h
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
When using an encoder of A/B/Z-phase differential output method, set "0".
Incorrect setting will result in [AL. 16 Encoder initial communication error 1] or [AL.
20 Encoder normal communication error 1]. Setting "1" will trigger [AL. 37] while
"Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4-
_A_-RJ).
value other than the initial value is set. Also, it does not comply with encoders of
A/B/Z-phase differential output method.
PC23 ___x Servo-lock selection at speed control stop 0h
*COP2 Select the servo-lock selection at speed control stop.
Function In the speed control mode, the servo motor shaft can be locked to prevent the shaft
selection C-2 from being moved by an external force.
0: Enabled (servo-lock)
The operation to maintain the stop position is performed.
1: Disabled (no servo-lock)
The stop position is not maintained.
The control to make the speed 0 r/min or 0 mm/s is performed.
_x__ VC/VLA voltage averaging selection 0h
Select the VC/VLA voltage average.
Set the filtering time when VC (Analog speed command) or VLA (Analog speed limit)
is imported.
Set "0" to vary the speed to voltage fluctuation in real time. Increase the set value to
vary the speed slower to voltage fluctuation.
Setting Filtering time [ms]

value
0 0
1 0.444
2 0.888
3 1.777
4 3.555
5 7.111
x___ Speed limit selection at torque control 0h

Select the speed limit selection at torque control.
0: Enabled
1: Disabled
Do not use this function except when configuring an external speed loop.
PC24 ___x In-position range unit selection 0h
*COP3 Select a unit of in-position range.
Function 0: Command input pulse unit
selection C-3 1: Servo motor encoder pulse unit
_x__ 0h
x___ Error excessive alarm/error excessive warning level unit selection 0h
Select units for error excessive alarm level setting with [Pr. PC43] and for error
excessive warning level setting with [Pr. PC73].
0: Per 1 rev or 1 mm
1: Per 0.1 rev or 0.1 mm
2: Per 0.01 rev or 0.01 mm
3: Per 0.001 rev or 0.001 mm
5 - 47
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
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__ 0h
x___ 0h
PC27 ___x [AL. 10 Undervoltage] detection method selection 0h
*COP6 Set this parameter when [AL. 10 undervoltage] occurs due to power supply voltage
Function distortion while using FR-RC-(H) or FR-CV-(H).
selection C-6 0: When [AL. 10] does not occur
1: When [AL. 10] occurs
This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, set "1".
DC power supply is available with MR-J4-_A-RJ servo amplifiers with software
version C2 or later.
__x_ Main circuit power supply selection 0h
Select a voltage to be connected to the main circuit power supply with an MR-J4-
03A6(-RJ) servo amplifier.
0: 48 V DC
1: 24 V DC
When using 24 V DC for the main circuit power supply, set "1" to this digit.
This digit is not available with MR-J4-_A_(-RJ) 100 W or more servo amplifiers. The
characteristics of the servo motor vary depending on whether 48 V DC or 24 V DC is
used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
_x__ Undervoltage alarm selection 0h
Select the alarm and warning for when the bus voltage drops to the undervoltage
alarm level.
0: [AL. 10.2] regardless of servo motor speed
1: [AL. E9.1] at servo motor speed 50 r/min (50 mm/s) or less, [AL. 10.2] at over 50
r/min (50 mm/s)
*COP7 __x_ 0h
Function _x__ 0h
selection C-7 x___ Linear scale multipoint Z-phase input function selection 0h
When two or more reference marks exist during the full stroke of the linear encoder,
set "1".
0: Disabled
1: Enabled
This parameter setting is available with servo amplifiers with software version A5 or
later.
PC30 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 0
STA2 selection). [ms]
Acceleration Set the acceleration time required to reach the rated speed from 0 r/min or 0 mm/s
time constant for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.
2 PC11 Internal speed command 7].

PC31 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 0
STB2 selection). [ms]
Deceleration Set the deceleration time required to reach 0 r/min or 0 mm/s from the rated speed
time constant for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.
2 PC11 Internal speed command 7].
5 - 48
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC32 To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear 1
CMX2 setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value
Commanded compatibility mode (3 _ _ _)" of "Electronic gear selection" in [Pr. PA21].
pulse
multiplication
numerator 2 Setting range: 1 to 16777215
pulse
multiplication
pulse
multiplication
PC35 Set the parameter on the assumption that the maximum torque or thrust is 100.0%. 100.0
TL2 The parameter is for limiting the torque of the servo motor or the thrust of the linear [%]
Internal servo motor.
torque limit No torque or thrust is generated when this parameter is set to "0.0".
2/internal When TL1 (Internal torque limit selection) is turned on, Internal torque limits 1 and 2
thrust limit 2 are compared and the lower value will be enabled.
Set the parameter referring to section 3.6.1 (5).
5 - 49
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC36 __xx Status display selection at power-on 00h
*DMD Select a status display shown at power-on. Setting "21" to "27" will trigger [AL. 37] in
Status display the mode other than the positioning mode.
selection 00: Cumulative feedback pulses
02: Droop pulses
03: Cumulative command pulses
04: Command pulse frequency
05: Analog speed command voltage (Note 1)
06: Analog torque command voltage (Note 2)
07: Regenerative load ratio
08: Effective load ratio
09: Peak load ratio
0A: Instantaneous torque/thrust
0B: Within one-revolution position/within virtual one-revolution position (1 pulse unit)
0C: Within one-revolution position/within virtual one-revolution position (1000 pulses
unit)
0D: ABS counter/virtual ABS counter
0E: Load to motor inertia ratio/load to motor mass ratio
0F: Bus voltage
10: Internal temperature of encoder
11: Settling time
12: Oscillation detection frequency
13: Number of tough operations
14: Unit power consumption (increment of 1 W)
15: Unit power consumption (increment of 1 kW)
16: Unit total power consumption (increment of 1 Wh)
17: Unit total power consumption (increment of 100 kWh)
18: Load-side cumulative feedback pulses (Note 3, 5)
19: Load-side droop pulses (Note 3, 5)
1A: Load-side encoder information 1 (1 pulse unit) (Note 3, 5)
1B: Load-side encoder information 1 (100000 pulses unit) (Note 3, 5)
1C: Load-side encoder ABS counter (Note 3, 5)
1D: Z-phase counter (1 pulse unit) (Note 4, 5)
1E: Z-phase counter (100000 pulses unit) (Note 4, 5)
1F: Electrical angle (1 pulse unit) (Note 4, 5)
20: Electrical angle (100000 pulses unit) (Note 4, 5)
Note 1. It is for the speed control mode. It will be the analog speed limit voltage in
the torque control mode.
2. It is for the torque control mode. It will be the analog torque limit voltage in
the speed control mode and position control mode.
3. Setting "18 to 1C" will trigger [AL. 37] in the mode other than the fully closed
loop control mode.
4. Setting "1D to 20" will trigger [AL. 37] in the mode other than the linear
servo motor control mode.
5. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
_x__ Status display at power-on in corresponding control mode 0h

0: Depends on the control mode
Control mode Status display at power-on

(linear servo motor speed)
Speed Servo motor speed (linear servo motor speed)
Speed/torque Servo motor speed (linear servo motor
speed)/analog torque (thrust) command voltage
Torque Analog torque (thrust) command voltage
Torque/position Analog torque (thrust) command
voltage/cumulative feedback pulses
1: Depends on the last 2 digits settings of the parameter
5 - 50
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC37 Set the offset voltage of VC (Analog speed command). The value
VCO For example, if CCW rotation or positive direction travel is provided by switching on differs
Analog speed ST1 (Forward rotation start) while applying 0 V to VC, set a negative value. depending
command When automatic VC offset is used, the automatically offset value is set to this on the
offset/ parameter. (Refer to section 4.5.4.) servo
Analog speed The initial value is provided before shipment by the automatic VC offset function on amplifiers.
limit offset condition that the voltage between VC and LG is 0 V. [mV]
Setting range: -9999 to 9999

Set the offset voltage of VLA (Analog speed limit).
For example, if CCW rotation or positive direction travel is provided by switching on
RS1 (Forward rotation selection) while applying 0 V to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is set to this
parameter. (Refer to section 4.5.4.)
The initial value is provided before shipment by the automatic VC offset function on
condition that the voltage between VLA and LG is 0 V.

PC38 Set the offset voltage of TC (Analog torque command). 0
TPO [mV]
Analog torque Setting range: -9999 to 9999
command
Set the offset voltage of TLA (Analog torque limit).
offset/
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
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]. [mm]
excessive Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "3
alarm level rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for
linear servo motors. Setting "0" will be 100 mm.

*COP9 __x_ 0h
Function _x__ 0h
selection C-9 x___ Load-side encoder cable communication method selection 0h
Select the communication method of the encoder cable to be connected to the CN2L
connector of MR-J4-_A_-RJ.
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output method, set "0".
Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo
amplifier other than MR-J4-_A_-RJ will trigger [AL. 37].
5 - 51
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC45 _ _ _ X Encoder pulse count polarity selection 0h
*COPA Select a polarity of the linear encoder or load-side encoder.
Function 0: Encoder pulse increases in the servo motor CCW or positive direction.
selection C-A 1: Encoder pulse decreases in the servo motor CCW or positive direction.
_ _ X _ For manufacturer setting 0h
_ X _ _ Selection of A/B/Z-phase input interface encoder Z-phase connection judgment 0h
function
Select the non-signal detection status for the pulse train signal from the A/B/Z-phase
input interface encoder used as a linear encoder or load-side encoder.
This function is enabled only when you use an A/B/Z-phase input interface encoder.
Detection of
Alarm status
Setting disconnection
value Z-phase-side non- Fully closed Linear servo
signal loop system system
[AL. 71.6] [AL. 20.6]
0 Enabled
(Z-phase) (Z-phase)
1 Disabled
X _ _ _ For manufacturer setting 0h

PC51 Set deceleration time constant when you use the forced stop deceleration function. 100
RSBR Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be [ms]
Forced stop 100 ms.
deceleration
time constant Dynamic brake
Rated speed Forced stop deceleration deceleration
Servo motor speed

(Linear servo
motor speed)
0 r/min
(0 mm/s) [Pr. PC51]
[Precautions]
If the servo motor torque or linear servo motor thrust is saturated at the maximum
value during 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 control circuit power supply is
cut, dynamic braking will start regardless of the deceleration time constant setting.
5 - 52
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PC54 Set the compensation amount of the vertical axis freefall prevention function. 0
RSUP1 Set it per servo motor rotation amount or linear servo motor travel distance. [0.0001
Vertical axis When setting a positive value, the servo motor or linear servo motor moves in the rev]/
freefall direction set with [Pr. PA14] for the forward rotation pulse input. When setting a [0.01
prevention negative value, the servo motor or linear servo motor moves in the direction set with mm]
compensation [Pr. PA14] for the reverse rotation pulse input.
amount For example, if a positive compensation amount is set when the [Pr. PA14 Rotation
direction selection/travel direction selection] setting is "1", compensation will be
performed to the CW direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the (linear) servo motor speed is zero speed
or less.
5) MBR (Electromagnetic brake interlock) is enabled with [Pr. PD23] to [Pr. PD26],
[Pr. PD28], and [Pr. PD47], and the base circuit shut-off delay time is set in [Pr.
PC16].

PC60 ___x Motor-less operation selection 0h
*COPD This is used to select the motor-less operation. This is not used in the linear servo
Function motor control mode, fully closed loop control, and DD motor control mode.
selection C-D 0: Disabled
1: Enabled
__x_ High-resolution analog input selection 0h
Select the resolution of VC (analog speed command).
When you change parameters, perform offset adjustment with [Pr. PC37 Analog
speed command offset]. The offset adjustment can be performed by executing VC
automatic offset. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ,
MR-J4-_A_-RU, and MR-J4-_A_-RZ will trigger [AL. 37].
0: Disabled
1: Enabled
This digit is available with servo amplifiers manufactured in November 2014 or later.
x___ [AL. 9B Error excessive warning] selection 0h
0: [AL. 9B Error excessive warning] disabled
1: [AL. 9B Error excessive warning] enabled
This digit is available with servo amplifier with software version B4 or later.
PC73 Set an error excessive warning level. 0
ERW To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive [rev]/
Error warning] selection" in [Pr. PC60]. [mm]
excessive You can change the setting unit with "Error excessive alarm/error excessive warning
warning level level unit selection" in [Pr. PC24].
Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "1
rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for
linear servo motors. Setting "0" will be 50 mm.
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 follows, [AL. 52 Error excessive] will occur
earlier than the warning.: [Pr. PC73 Error excessive warning level] ≥ [Pr. PC43 Error
excessive alarm level]
5 - 53
5. PARAMETERS
5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PD01 Select input devices to turn on them 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.)
_ _ x _ (BIN): TL (External torque/external thrust limit selection)
_ 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)
x _ _ _ (BIN): LSN (Reverse rotation stroke end)
Convert the setting value into hexadecimal as follows.
0
Initial value
Signal name
BIN HEX
0
0
0
SON (Servo-on) 0
0
Initial value
Signal name
BIN HEX
PC (Proportional control) 0
TL (External torque/external thrust limit selection) 0
0
0
0
Initial value
Signal name
BIN HEX
0
0
0
LSP (Forward rotation stroke end) 0
LSN (Reverse rotation stroke end) 0
BIN 0: Use for an external input signal.
BIN 1: Automatic on
When you perform a magnetic pole detection without using LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end), setting [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ 1 _ _" allows you to
disable LSP and LSN.
5 - 54
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PD03 Any input device can be assigned to the CN1-15 pin.
*DI1L _ _ x x Position control mode - Device selection 02h
Input device Refer to table 5.10.
selection 1L x x _ _ Speed control mode - Device selection 02h
Refer to table 5.10.
Table 5.10 Selectable input devices

Setting Input device (Note 1)
value P S T
02 SON SON SON
03 RES RES RES
04 PC PC
05 TL TL
06 CR
07 ST1 RS2
08 ST2 RS1
09 TL1 TL1
0A LSP LSP LSP (Note 3)
0B LSN LSN LSN (Note 3)
0D CDP CDP
(Note 4)
CLD
0E
(Note 4)
MECR
0F
20 SP1 SP1
21 SP2 SP2
22 SP3 SP3
23 LOP (Note 2) LOP (Note 2) LOP (Note 2)
24 CM1
25 CM2
26 STAB2 STAB2
The diagonal lines indicate manufacturer settings. Never change the setting.
2. When assigning LOP (Control switching), assign it to the same pin in all control modes.
3. In the torque control mode, this device cannot be used during normal operation. It can be used
during the magnetic pole detection in the linear servo motor control mode and the DD motor
control mode. Also, when the magnetic pole detection in the torque control mode is completed,
this signal will be disabled.
4. It cannot be set with MR-J4-03A6(-RJ) servo amplifiers.

*DI1H _ _ x x Torque control mode - Device selection 02h
Input device Refer to table 5.10 in [Pr. PD03] for settings.
selection 1H x x _ _ For manufacturer setting 02h
5 - 55
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
*DI3L When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-17 pin will
Input device become ABSM (ABS transfer mode).
selection 3L _ _ x x Position control mode - Device selection 04h
Refer to table 5.10 in [Pr. PD03] for settings.
x x _ _ Speed control mode - Device selection 07h
*DI4L When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-18 pin will
Input device become ABSR (ABS transfer request).
selection 4L _ _ x x Position control mode - Device selection 05h
*DI8L _ _ x x Position control mode - Device selection 0Ah
selection 8L x x _ _ Speed control mode - Device selection 0Ah
selection 8H x x _ _ For manufacturer setting 0Ah
*DI9L _ _ x x Position control mode - Device selection 0Bh
selection 9L x x _ _ Speed control mode - Device selection 0Bh
5 - 56
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
selection 9H x x _ _ For manufacturer setting 0Bh
selection 10H x x _ _ For manufacturer setting 2Bh
PD23 _ _ x x Device selection 04h
*DO1 Any output device can be assigned to the CN1-22 pin.
Output device When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in
selection 1 [Pr. PA03], the CN1-22 pin will become ABSB0 (ABS send data bit 0) only during
ABS transfer mode.
_ x _ _ For manufacturer setting 0h
x___ 0h
Table 5.11 Selectable output devices

Setting Output device (Note 1)
value P S T
__00 Always off Always off Always off
__02 RD RD RD
__03 ALM ALM ALM
__04 INP SA Always off
__05 MBR MBR MBR
(Note 2)
DB DB DB
__06
__07 TLC TLC VLC
__08 WNG WNG WNG
__09 BWNG BWNG BWNG
__0A Always off SA Always off
__0B Always off Always off VLC
__0C ZSP ZSP ZSP
(Note 2)
MTTR MTTR MTTR
__0D
__0F CDPS Always off Always off
(Note 2)
CLDS Always off Always off
__10
__11 ABSV Always off Always off
2. It cannot be set with MR-J4-03A6(-RJ) servo amplifiers.
5 - 57
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PD24 __xx Device selection 0Ch
selection 2 [Pr. PA03], the CN1-23 pin will become ABSB1 (ABS send data bit 1) only during
ABS transfer mode.
x___ 0h
PD25 __xx Device selection 04h
Output device Refer to table 5.11 in [Pr. PD23] for settings.
selection 3 _x__ For manufacturer setting 0h
x___ 0h
selection 4 [Pr. PA03], the CN1-25 pin will become ABST (ABS send data ready) only during
ABS transfer mode.
x___ 0h
Output device Refer to table 5.11 in [Pr. PD23] 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]
_ _ 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])
5 - 58
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PD30 ___x Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse 0h
*DOP1 rotation stroke end) off
Function Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse
selection D-1 rotation stroke end) off. Setting "2" or "3" will trigger [AL. 37] in the mode other than
the positioning mode.
0: Quick stop
1: Slow stop
__x_ Base circuit status selection for RES (Reset) on 0h
0: Base circuit shut-off
1: No base circuit shut-off
x___ Enabled/disabled selection for a thermistor of servo motor or linear servo motor 0h
0: Enabled
1: Disabled
The setting in this digit will be disabled when using a servo motor or linear servo
motor without thermistor.
This parameter is used by servo amplifier with software version A5 or later.
PD31 ___x For manufacturer setting 0h
*DOP2 __x_ 0h
Function _x__ INP (In-position) on condition selection 0h
selection D-2 Select a condition that INP (In-position) is turned on.
0: Droop pulses are within the in-position range.
1: The command pulse frequency is 0, and droop pulses are within the in-position
range.
When the position command is not inputted for about 1 ms, the command pulse
frequency is decided as 0.
PD32 ___x CR (Clear) selection 0h
*DOP3 Set CR (Clear).
Function 0: Deleting droop pulses at the leading edge of turning on of CR
selection D-3 1: Continuous deleting of droop pulses while CR is on
2: Disabled (available for the software version B3 or later)
_x__ 0h
x___ 0h
PD33 ___x For manufacturer setting 0h
*DOP4 __x_ 0h
Function _x__ Rotation direction selection to enable torque limit/travel direction selection to enable 0h
selection D-4 thrust limit
Select a direction which enables internal torque limit 2 or external torque limit.
Refer to section 3.6.1 (5) for details.
0: Both of "CCW or positive direction" and "CW or negative direction" are enabled.
1: Enabled with "CCW or positive direction"
2: Enabled with "CW or negative direction"
This parameter setting is used with servo amplifier with software version B3 or later.
5 - 59
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PD34 ___x Alarm code output 0h
*DOP5 Select output status of alarm codes.
Function Alarm codes are outputted to the pins CN1-22, CN1-23, and CN1-24.
selection D-5 0: Disabled
1: Enabled
For details of the alarm codes, refer to chapter 8.
When "1" is set for this digit, setting the following will trigger [AL. 37 Parameter
error].
"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system by DIO is
selected.
MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24 pin.
__x_ Selection of output device at warning occurrence 0h
Select ALM (Malfunction) output status at warning occurrence.
Setting
Device status
value
ON
WNG
OFF
ON
0 ALM
OFF
Warning occurrence
ON
WNG
OFF
ON
1 ALM
OFF
Warning occurrence

x___ 0h
PD43 Any input device can be assigned to the CN1-10 pin/CN1-37 pin.
*DI11L Setting "00" will assign PP/PP2 (forward rotation pulse).
Input device The parameter is available for the following MR-J4-_A_-RJ servo amplifiers.
selection 11L 1) For 100 W or more
CN1-10 pin: Servo amplifiers with software version B3 or later
CN1-37 pin: Servo amplifiers manufactured in January 2015 or later with software version B7 or later
2) For 30 W
CN1-10 pin/CN1-37 pin: Any software version and production month
_ _ x x Position control mode - Device selection 00h
The setting is disabled.
*DI11H Setting "00" will assign PP/PP2 (forward rotation pulse).
selection 11H 1) For 100 W or more
2) For 30 W
_ _ x x Torque control mode - Device selection 00h
x x _ _ For manufacturer setting 3Ah
5 - 60
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
*DI12L Setting "00" will assign NP/NP2 (reverse rotation pulse).
selection 12L 1) For 100 W or more
2) For 30 W
_ _ x x Position control mode - Device selection 00h
The setting is disabled.
*DI12H Setting "00" will assign NP/NP2 (reverse rotation pulse/manual pulse generator).
selection 12H 1) For 100 W or more
2) For 30 W
_ _ x x Torque control mode - Device selection 00h
x x _ _ For manufacturer setting 3Bh
PD47 Any output device can be assigned to the CN1-13 pin and CN1-14 pin.
*DO7 This parameter is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
Output device This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
selection 7 _ _ x x Device selection 00h
Any output device can be assigned to the CN1-13 pin.
x x _ _ Device selection 00h
Any output device can be assigned to the CN1-14 pin.
5 - 61
5. PARAMETERS
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PE01 ___x Fully closed loop function selection 0h
*FCT1 The fully closed loop function is selected.
Fully closed 0: Always enabled
loop function 1: Switching with CLD (Fully closed loop control selection)
selection 1
Selection using
the fully closed loop control Control method
selection (CLD)
Off Semi closed loop control
On Fully closed loop control
To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of "operation
mode selection" in [Pr. PA01].
Selecting the "switching with CLD (Fully closed loop control selection)" will trigger
[AL. 37] while "absolute position detection system selection" is "Enabled (absolute
position detection system by DIO) (_ _ _ 1)" in [Pr. PA03] .
_x__ 0h
x___ 0h
PE03 __xx Fully closed loop control error detection function selection 03h
*FCT2 Select the fully closed loop control error detection function.
Fully closed This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
loop function
selection 2 : Error detection enabled -: Error detection disabled
Position deviation error
Setting Speed
During servo-on During servo-
value deviation error
With command Command 0 off
__00 - - - -
__01 - - -
__02 -
__03
__10 - - - -
__11 - - -
__12 - - -
__13 - -
__20 - - - -
__21 - - -
__22 - -
__23 -

x___ Fully closed loop control error reset selection 0h
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
PE04 Set a numerator of electronic gear for the servo motor encoder pulse at the fully 1
*FBN closed loop control.
Fully closed Set the electronic gear so that the number of servo motor encoder pulses for one
loop control - servo motor revolution is converted to the resolution of the load-side encoder.
Feedback This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
pulse
electronic gear
1 - Numerator Setting range: 1 to 65535
5 - 62
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PE05 Set a denominator of electronic gear for the servo motor encoder pulse at the fully 1
*FBD closed loop control.
Feedback This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
pulse
electronic
gear 1 -
Denominator Setting range: 1 to 65535
PE06 Set [AL. 42.9 Fully closed loop control error by speed deviation] of the fully closed 400
BC1 loop control error detection. When the speed deviation between the servo motor [r/min]
Fully closed encoder and load-side encoder becomes larger than the setting value, the alarm will
loop control - occur.
Speed This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
deviation
error
detection
PE07 Set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed 100
BC2 loop control error detection. When the position deviation between the servo motor [kpulse]
Fully closed encoder and load-side encoder becomes larger than the setting value, the alarm will
loop control - occur.
Position This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
deviation
error
detection
PE08 Set a dual feedback filter band. 10
DUF Refer to section 17.3.1 (7) for details. [rad/s]
Fully closed This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
loop dual
feedback filter Setting range: 1 to 4500
PE10 ___x For manufacturer setting 0h
FCT3 __x_ Fully closed loop control - Position deviation error detection level - Unit selection 0h
Fully closed 0: 1 kpulse unit
loop function 1: 1 pulse unit
selection 3 This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
x___ 0h
PE34 Set a numerator of electronic gear for the servo motor encoder pulse at the fully 1
*FBN2 closed loop control.
Feedback Refer to section 17.3.1 (5) for details.
pulse This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
electronic
gear 2 -
Numerator Setting range: 1 to 65535
PE35 Set a denominator of electronic gear for the servo motor encoder pulse at the fully 1
*FBD2 closed loop control.
Feedback Refer to section 17.3.1 (5) for details.
pulse This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
electronic
gear 2 -
5 - 63
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PE41 ___x Robust filter selection 0h
EOP3 0: Disabled
Function 1: Enabled
selection E-3 When you select "Enabled" of this digit, the machine resonance suppression filter 5
set in [Pr. PB51] is not available.
_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 B4 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%]
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 B4 or later.

PE47 Set this when canceling unbalanced torque of vertical axis. Set this assuming the 0
TOF rated torque of the servo motor as 100%. [0.01%]
Torque offset The torque offset does not need to be set for a machine not generating unbalanced
torque. The torque offset cannot be used for linear servo motors and direct drive
motors. Set 0.00%.
The torque offset set with this parameter will be enabled in the position control
mode, speed control mode, and torque control mode. Input commands assuming
torque offset for the torque control mode.

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 B4 or later.
function __x_ Unit setting of lost motion compensation non-sensitive band 0h
selection 0: 1 pulse unit
1: 1 kpulse unit
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]
compensation
timing Setting range: 0 to 30000
5 - 64
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PE50 Set the lost motion compensation non-sensitive band. When the fluctuation of the 0
LMCT droop pulse is the setting value or less, the speed will be 0. Setting can be changed [pulse]/
Lost motion in [Pr. PE48]. Set the parameter per encoder unit. [kpulse]
compensation This parameter is available with servo amplifiers with software version B4 or later.
non-sensitive
band Setting range: 0 to 65535
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PF09 ___x Electronic dynamic brake selection 0h
*FOP5 0: Automatic (enabled only for specified servo motors)
selection F-5 Refer to the following table for the specified servo motors.
Series Servo motor

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52
HG-AK HG-AK0136/HG-AK0236/HG-AK0336

_x__ 0h
x___ 0h
PF15 Set an operating time for the electronic dynamic brake. 2000
DBT [ms]
Electronic
dynamic
brake
operating
time Setting range: 0 to 10000
PF18 Set the time from when an error occurs in the STO input signal or STO circuit until 0
*STOD the detection of [AL. 68.1 Mismatched STO signal error]. [s]
STO When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not
diagnosis performed.
error
detection time The following shows safety levels at the time of parameter setting.
Setting STO input diagnosis by TOFB

Safety level
value output
0 Execute EN ISO 13849-1 Category 3 PL d,
IEC 61508 SIL 2,
Not execute
EN 62061 SIL CL2
1 to 60 Execute EN ISO 13849-1 Category 3 PL e,
IEC 61508 SIL 3, EN 62061 SIL CL3
Not execute EN ISO 13849-1 Category 3 PL d,
IEC 61508 SIL 2, EN 62061 SIL CL2
When the short-circuit connector is connected to the CN8 connector, set "0" in the
parameter. When MR-D30 functional safety unit is used, the parameter is not
available. For safety levels at the time of using MR-D30, refer to "MR-D30 Instruction
Manual".
This parameter is available with servo amplifiers with software version C1 or later.
5 - 65
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PF21 Set a drive recorder switching time. 0
DRT When a USB communication is cut during using a graph function or a graph function [s]
Drive is terminated, the function will be changed to the drive recorder function after the
recorder settling time of this parameter.
switching When a value from "1" to "32767" is set, it will switch after the setting value.
time setting When "0" is set, it will switch after 600 s.
When "-1" is set, the drive recorder function is disabled.

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 - However, setting "0" will be 50%.
Oscillation Example: When you set "50" to the parameter, the filter will be readjusted at the time
detection of 50% or more oscillation level.
level
PF24 ___x Oscillation detection alarm selection 0h
*OSCL2 Select alarm or warning when an oscillation continues at a filter readjustment
Vibration sensitivity level of [Pr. PF23].
tough drive The digit is continuously enabled regardless of the vibration tough drive in [Pr.
function PA20].
selection 0: [AL. 54 Oscillation detection] will occur at oscillation detection.
1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.
2: Oscillation detection function disabled
_x__ 0h
x___ 0h
PF25 Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. 200
CVAT This parameter setting range differs depending on the software version of the servo [ms]
SEMI-F47 amplifier as follows.
function - Software version C0 or earlier: Setting range 30 ms to 200 ms
Instantaneous Software version C1 or later: Setting range 30 ms to 500 ms
power failure To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200
detection time ms). However, when the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage, the
power may be normally turned off even if a value larger than 200 ms is set in the
parameter.
To disable the parameter, set "Disabled (_ 0 _ _)" of "SEMI-F47 function selection"
in [Pr. PA20].
This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
5 - 66
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PF31 Set a (linear) servo motor speed that divides a friction estimation area into high and 0
FRIC low during the friction estimation process of the machine diagnosis. [r/min]/
Machine Setting "0" will set a value half of the rated speed. [mm/s]
diagnosis When your operation pattern is under the rated speed, we recommend that you set a
function - half value of the maximum speed.
Friction
judgment Maximum speed in operation
speed Forward rotation
direction
(Positive direction)
[Pr. PF31] setting
Servo motor
speed 0 r/min
(Linear servo (0 mm/s)
motor speed)
Reverse rotation Operation pattern

direction
(Negative direction)
Setting range: 0 to permissible speed

PF34 ___x For manufacturer setting 0h
*SOP3 __x_ 0h
RS-422 _x__ 0h
communi- x___ MR-PRU03 selection 0h
cation
Select this if using an MR-PRU03.
function
0: Disabled
selection 3
1: Enabled
This parameter setting is used with servo amplifier with software version B3 or later.
5 - 67
5. PARAMETERS
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
POINT
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used
with MR-J4-03A6(-RJ) servo amplifiers.
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PL01 ___x Linear servo motor/DD motor magnetic pole detection selection 1h
*LIT1 The setting value "0" will be enabled only with absolute position linear encoders.
Linear servo 0: Magnetic pole detection disabled
motor/DD 1: Magnetic pole detection at first servo-on
motor 5: Magnetic pole detection at every servo-on
function __x_ For manufacturer setting 0h
selection 1
_x__ Stop interval selection at the home position return 3h
Set a stop interval of the home position returning.
The digit is enabled only for linear servo motors.
0: 213 (= 8192) pulses
1: 217 (= 131072) pulses
2: 218 (= 262144) pulses
3: 220 (= 1048576) pulses
4: 222 (= 4194304) pulses
5: 224 (= 16777216) pulses
6: 226 (= 67108864) pulses
PL02 Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03]. 1000
*LIM Set the numerator in [Pr. PL02]. [μm]
Linear This is enabled only for linear servo motors.
encoder
resolution -
Numerator Setting range: 1 to 65535
PL03 Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03]. 1000
*LID Set the denominator in [Pr. PL03]. [µm]
Linear This is enabled only for linear servo motors.
encoder
resolution -
PL04 ___x [AL. 42 Servo control error] detection function selection 3h
*LIT2 Refer to the following table.
Linear servo
motor/DD Setting Torque/thrust Speed deviation Position deviation
motor value deviation error (Note) error (Note) error (Note)
function 0 Disabled
selection 2 Disabled
1 Enabled
Disabled
2 Disabled
Enabled
3 Enabled
4 Disabled
Disabled
5 Enabled
Enabled
6 Disabled
Enabled
7 Enabled
Note. Refer to chapter 15 and 16 for details of each deviation error.

_x__ 0h
x___ [AL. 42 Servo control error] detection function controller reset condition selection 0h
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
5 - 68
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PL05 Set the position deviation error detection level of the servo control error detection. 0
LB1 When the deviation between a model feedback position and actual feedback position [mm]/
Position is larger than the setting value, [AL. 42 Servo control error] will occur. [0.01
deviation error However, when "0" is set, the level vary depending on the operation mode in [Pr. rev]
detection level PA01].
Linear servo motor: 50 mm
Direct drive motor: 0.09 rev

PL06 Set the speed deviation error detection level of the servo control error detection. 0
LB2 When the deviation between a model feedback speed and actual feedback speed is [mm/s]/
Speed larger than the setting value, [AL. 42 Servo control error] will occur. [r/min]
deviation error However, when "0" is set, the level vary depending on the operation mode in [Pr.
detection level PA01].
Linear servo motor: 1000 mm/s
Direct drive motor: 100 r/min

PL07 Set the torque/thrust deviation error detection level of the servo control error 100
LB3 detection. [%]
Torque/thrust When the deviation between a current command and current feedback is larger than
deviation error the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.
detection level
PL08 ___x Magnetic pole detection method selection 0h
*LIT3 0: Position detection method
Linear servo 4: Minute position detection method
motor/DD __x_ For manufacturer setting 1h
motor function _ x _ _ Magnetic pole detection - Stroke limit enabled/disabled selection 0h
selection 3
0: Enabled
1: Disabled
PL09 Set a direct current exciting voltage level during the magnetic pole detection. 30
LPWM If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the [%]
Magnetic pole magnetic pole detection, decrease the setting value.
detection If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole
voltage level detection, increase the setting value.
5 - 69
5. PARAMETERS
Initial Control
No./symbol/ Setting
Function value mode
name digit
[unit] P S T
PL17 ___x Response selection 0h
LTSTS Set a response of the minute position detection method.
Magnetic pole When reducing a travel distance at the magnetic pole detection, increase the setting
detection - value.
Minute Refer to table 5.12 for settings.
position __x_ Load to motor mass ratio/load to motor inertia ratio selection 0h
detection Select a load to mass of the linear servo motor primary-side ratio or load to mass of
method - the direct drive motor inertia ratio used at the minute position detection method. Set
Function a closest value to the actual load.
selection Refer to table 5.13 for settings.
x___ 0h
Table 5.12 Response of minute position detection method at

magnetic pole detection
Setting value Response Setting value Response
___0 Low response ___8 Middle response
___1 ___9
___2 ___A
___3 ___B
___4 ___C
___5 ___D
___6 ___E
___7 Middle response ___F High response
Table 5.13 Load to motor mass ratio/load to motor inertia ratio

Load to motor mass Load to motor mass
Setting Setting
ratio/load to motor ratio/load to motor
value value
inertia ratio inertia ratio
__0_ 10 times or less __8_ 80 times
__1_ 10 times __9_ 90 times
__2_ 20 times __A_ 100 times
__3_ 30 times __B_ 110 times
__4_ 40 times __C_ 120 times
__5_ 50 times __D_ 130 times
__6_ 60 times __E_ 140 times
__7_ 70 times __F_ 150 times or more
PL18 Set an identification signal amplitude used in the minute position detection method. 0
IDLV This parameter is enabled only when the magnetic pole detection is the minute [%]
Magnetic pole position detection method.
detection - Setting "0" will be 100% amplitude.
Minute
position
detection
method -
Identification
signal
amplitude Setting range: 0 to 100
5 - 70
5. PARAMETERS
5.2.8 Option setting parameters ([Pr. Po_ _ ])

Initial Control
Function value
name digit
[unit] P S T
Po02 Any input device can be assigned to the CN10-21 pin and CN10-26 pin.
*ODI1 _ _ x x CN10-21 selection 02h
MR-D01 input Select an input signal function of the CN10-21 pin.
device Refer to table 5.14 for settings.
selection 1 This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software
xx__ CN10-26 selection 03h
Select an input signal function of the CN10-26 pin.
This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software
Table 5.14 Selectable input devices

Setting Input device (Note)
value P S T
02 SON SON SON
03 RES RES RES
04 PC PC
05 TL TL
06 CR
07 ST1 ST1
08 ST2
09 TL1 TL1
0A LSP LSP RS2
0B LSN LSN RS1
0D CDP CDP
0E CLD
0F MECR
20 SP1 SP1
21 SP2 SP2
22 SP3 SP3
23 LOP LOP LOP
24 CM1
25 CM2
26 STAB2 STAB2
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
device Refer to table 5.14 in [Pr. Po02] for setting values.
Refer to table 5.14 in [Pr. Po02] for setting values.
5 - 71
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
x x _ _ CN10-32 selection 20h
5 - 72
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
Po08 Any output device can be assigned to the CN10-46 pin and CN10-47 pin.
*ODO1 _ _ x x CN10-46 selection 26h
MR-D01 Select an output signal function of the CN10-46 pin.
output device Refer to table 5.15 for settings.
Select an output signal function of the CN10-47 pin.
Table 5.15 Selectable output devices

Setting Output device (Note)
value P S T
00 Always off Always off Always off
02 RD RD RD
03 ALM ALM ALM
04 INP SA Always off
05 MBR MBR MBR
06 DB DB DB
07 TLC TLC VLC
08 WNG WNG WNG
09 BWNG BWNG BWNG
0A Always off SA Always off
0B Always off Always off VLC
0C ZSP ZSP ZSP
0D MTTR MTTR MTTR
0F CDPS Always off Always off
10 CDLS Always off Always off
11 ABSV Always off Always off
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
Po09 Any output device can be assigned to the CN10-48 pin and CN10-49 pin.
*ODO9 _ _ x x CN10-48 selection 23h
MR-D01 Select an output signal function of the CN10-48 pin.
output device Refer to table 5.15 in [Pr. Po08] for settings.
Select an output signal function of the CN10-49 pin.
Refer to table 5.15 in [Pr. Po08] for settings.
5 - 73
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
Po11 Select the input devices of the analog speed command, analog speed limit and torque limit.
*OOP2 _ _ _ x For manufacturer setting 0h
Function _ _ x _ Override input CN1-2/CN20-2 switching selection 0h
selection O-2 0: CN1-2 pin enabled
1: CN20-2 pin enabled
Setting "1" when no MR-D01 has been connected will trigger [AL. 37].
_ x _ _ Torque limit CN1-27/CN20-12 switching selection 0h
Setting "1" when no MR-D01 has been connected will trigger [AL. 37].
Po12 Select an alarm code output setting and an M code output setting.
*OOP3 _ _ _ x MR-D01 alarm code output 0h
selection O-3 1: Enabled
Selecting "1" in this digit will output an alarm code when an alarm occurs.
This parameter setting is available with servo amplifiers with software version B7 or
later.
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
5 - 74
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
Po13 Set a signal to output to Analog monitor 1.
*OMOD1 _ _ x x Analog monitor 1 output selection 00h
MR-D01 Refer to table 5.16 for settings.
analog This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software
monitor 1 version B7 or later.
output _ x _ _ For manufacturer setting 0h
selection
x___ 0h
Table 5.16 Analog monitor setting value

Operation
mode (Note 1)
Setting
Standard
Lin.
DD
Full.
Item
value

(±8 V/max. speed)
(±8 V/max. torque or max. thrust) (Note 3)
(+8 V/max. speed)
(+8 V/max. torque or max. thrust) (Note 3)
_ _ 0 4 Current command (±8 V/max. current command)
_ _ 0 5 Command pulse frequency (±10 V/±4 Mpulses/s)
(Note 2)
(Note 2)
(Note 2)
(Note 2)
_ _ 0 A Feedback position (±10 V/1 Mpulses) (Note 2)
_ _ 0 B Feedback position (±10 V/10 Mpulses) (Note 2)
_ _ 0 C Feedback position (±10 V/100 Mpulses) (Note 2)
_ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,
400 V class: +8 V/800 V)
_ _ 0 E Speed command 2 (±8 V/max. speed)
_ _ 1 4 Load-side droop pulses (±10 V/1 M pulses) (Note 2)
_ _ 1 5 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
_ _ 1 6 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
_ _ 1 7 Internal temperature of encoder (±10 V/±128 °C)
Note 1. Items with are available for each operation mode.
2. Encoder pulse unit
3. 8 V is outputted at the maximum torque. However, when [Pr. PA11] and [Pr. PA12] are set to limit
torque, 8 V is output at the torque highly limited.
5 - 75
5. PARAMETERS
Initial Control
Function value
name digit
[unit] P S T
Po14 Set a signal to output to Analog monitor 2.
OMOD2 _ _ x x Analog monitor 2 output selection 00h
MR-D01 Select a signal to output to MO2 (Analog monitor 2).
analog Refer to [Pr. Po13] for settings.
monitor 2 This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software
output version B7 or later.
selection
x___ 0h
Po15 This is used to set the offset voltage of MO1 (Analog monitor 1). 0
OMO1 This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software [mV]
MR-D01 version B7 or later.
analog
monitor 1
Po16 This is used to set the offset voltage of MO2 (Analog monitor 2). 0
OMO2 This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software [mV]
analog
monitor 2
Po21 This is used to set the offset voltage of the analog speed command offset and 0
OVCO Analog speed limit offset. [mV]
MR-D01 This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software
analog speed version B7 or later.
command
offset/Analog
speed limit
Po22 This is used to set the offset voltage of the analog torque limit. 0
OTLO This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software [mV]
analog torque
limit offset Setting range: -9999 to 9999
*ODI7 _ _ x x CN10-18 selection 2Ch
xx__ CN10-19 selection 2Dh
Po28 Any input device can be assigned to the CN10-20 pin.
*ODI8 _ _ x x CN10-20 selection 2Eh
x x _ _ For manufacturer setting 00h
5 - 76
6. NORMAL GAIN ADJUSTMENT
POINT
In the torque control mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.
words in the right.
Torque → Thrust
For the vibration suppression control tuning mode, the setting range of [Pr.
PB07] is limited. For the vibration suppression control tuning mode, the setting
range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment,
execute "Auto tuning mode 2" and "Manual mode" in this order.
(1) Gain adjustment mode explanation

Estimation of load to motor Automatically set Manually set
Gain adjustment mode [Pr. PA08] setting
inertia ratio parameters parameters
Auto tuning mode 1 ___1 Always estimated GD2 ([Pr. PB06]) RSP ([Pr. PA09])
(initial value) PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Auto tuning mode 2 ___2 Fixed to [Pr. PB06] value PG1 ([Pr. PB07]) GD2 ([Pr. PB06])
PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Manual mode ___3 GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 1 ___0 Always estimated GD2 ([Pr. PB06]) PG1 ([Pr. PB07])
(interpolation mode) PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 2 ___4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08]) GD2 ([Pr. PB06])
VG2 ([Pr. PB09]) PG1 ([Pr. PB07])
VIC ([Pr. PB10]) RSP ([Pr. PA09])
6- 1
(2) Adjustment sequence and mode usage
Start
Interpolation Yes 2 gain adjustment mode 1

made for 2 or more (interpolation mode)
axes?
No
The load fluctuation Yes

is large during driving?
No
One-touch tuning Handle the error
Yes
No Error handling No
Finished normally? is possible? Auto tuning mode 1
Yes
Yes
Adjustment OK?
No
Auto tuning mode 2
Yes
Adjustment OK?
No No
Adjustment OK?
2 gain adjustment mode 2

Yes
Yes
Adjustment OK?
No
Manual mode
End
6.1.2 Adjustment using MR Configurator2
This section explains the functions and adjustment using the servo amplifier with MR Configurator2.
Function Description Adjustment
Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance
the characteristic of the mechanical system frequency and determine the notch
can be measured by giving a random frequency of the machine resonance
vibration command from a personal suppression filter.
computer to the servo and measuring the
machine response.
6- 2
6.2 One-touch tuning
POINT
After the one-touch tuning is completed, "Gain adjustment mode selection" in
[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.
PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment
mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)".
When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning
function selection] is "_ _ _ 1" (initial value).
At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2
gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment
mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia ratio]
will be estimated.
The amplifier command method can be used with the servo amplifier with
software version C1 or later and MR Configurator2 with software version 1.45X
or later.
When the one-touch tuning is executed in the amplifier command method, MR
Configurator2 is required.
For MR-J4-03A6(-RJ) servo amplifier, one-touch tuning by the amplifier
command method is not available.
The one-touch tuning includes two methods: the user command method and the amplifier command method.
(1) User command method

You can execute the one-touch tuning with MR Configurator2 or push buttons. The user command
method performs one-touch tuning by inputting commands from outside the servo amplifier.
(2) Amplifier command method

You can execute the one-touch tuning with MR Configurator2. In the amplifier command method, when
you simply input a travel distance (permissible travel distance) that collision against the equipment does
not occur during servo motor driving, a command for the optimum tuning will be generated inside the
servo amplifier to perform one-touch tuning.
Movable range
Permissible Permissible
travel distance travel distance
Limit switch Limit switch
Moving
part
Servo motor
Tuning start position

Movable range at tuning
6- 3
The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode
selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will
be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].
Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol Name Parameter Symbol Name
PA08 ATU Auto tuning mode PB15 NH2 Machine resonance suppression filter 2
PA09 RSP Auto tuning response PB16 NHQ2 Notch shape selection 2
PB17 NHF Shaft resonance suppression filter
PB01 FILT Adaptive tuning mode (adaptive filter II)
PB18 LPF Low-pass filter setting
Vibration suppression control 1 -
Vibration suppression control tuning PB19 VRF11
Vibration frequency
PB02 VRFT mode (advanced vibration suppression
control II) PB20 VRF12
Resonance frequency
Position command acceleration/ PB21 VRF13
Vibration frequency damping
PB03 PST deceleration time constant (position
smoothing) PB22 VRF14
Resonance frequency damping
PB06 GD2 Load to motor inertia ratio PB23 VFBF Low-pass filter selection
PB07 PG1 Model loop gain PB46 NH3 Machine resonance suppression filter 3
PB08 PG2 Position loop gain PB47 NHQ3 Notch shape selection 3
PB09 VG2 Speed loop gain PB48 NH4 Machine resonance suppression filter 4
PB10 VIC Speed integral compensation PB49 NHQ4 Notch shape selection 4
PB12 OVA Overshoot amount compensation PB51 NHQ5 Notch shape selection 5
PB13 NH1 Machine resonance suppression filter 1 PE41 EOP3 Function selection E-3
PB14 NHQ1 Notch shape selection 1
6- 4
6.2.1 One-touch tuning flowchart
(1) User command method

(a) When you use MR Configurator2
Make one-touch tuning as follows.
Start
Start a system referring to chapter 4.

Startup of the system
Rotate the servo motor by a controller. (In the user command method, the one-touch tuning
Operation
cannot be executed if the servo motor is not operating.)
One-touch tuning start, Start one-touch tuning of MR Configurator2, and select "User command method".
mode selection
Response mode selection Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning
window of MR Configurator2.
One-touch tuning execution Click "Start" during servo motor driving to execute one-touch tuning.
One-touch tuning in progress Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
will be displayed in % in MR Configurator2.
When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
One-touch tuning completion
automatically.
When the tuning is not completed normally, the tuning error will be displayed. (Refer to section
6.2.2 (1) (e).)
Tuning result check Check the tuning result.

When the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)
End
6- 5
(b) When you use push buttons

Start

Rotate the servo motor by a controller. (In the user command method, the one-touch tuning
Operation
cannot be executed if the servo motor is not operating.)
One-touch tuning start, Push the "MODE" button during motor driving to switch to the initial screen ("AUTO.") of the
mode selection one-touch tuning.
Push the "SET" button for 2 s or more during displaying "AUTO" to switch to the response mode
selection ("AUTO.").
Push the "UP" or "DOWN" button to select a response mode from "AUTO.H" (High mode),
Response mode selection
"AUTO." (Basic mode), or "AUTO.L" (Low mode).
Push the "SET" button to start one-touch tuning. Push the "SET" button during servo motor
One-touch tuning execution driving.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
One-touch tuning in progress
will be displayed in % on the display (five-digit, seven-segment LED).
When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
One-touch tuning completion
automatically.
6.2.2 (1) (e) and section 6.2.2 (2) (d).)
Tuning result check Check the tuning result.

one-touch tuning or the initial value. (Refer to section 6.2.2 (2) (g).)
End
6- 6
(2) Amplifier command method

Start

Move the moving part to the center of a movable range.

Movement to tuning start position
One-touch tuning start, Start one-touch tuning of MR Configurator2, and select "Amplifier command method".
mode selection
Input of permissible In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move
travel distance the moving part at one-touch tuning.
Response mode selection Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning
window of MR Configurator2.
While the servo motor is stopped, click "Start" to start one-touch tuning. After the tuning is
One-touch tuning execution
started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo
motor rotation will cause an error. After one-touch tuning is executed using the amplifier
command method, control will not be performed by commands from the controller.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
will be displayed in % in MR Configurator2.
One-touch tuning completion One-touch tuning will be completed automatically after the tuning. When one-touch tuning is
completed normally, the parameters described in table 6.1 will be updated automatically.
6.2.2 (1) (e).)
Check the tuning result.

Tuning result check
one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)
After executing the one-touch tuning, cycling the power of the servo amplifier returns to the state
Servo amplifier power cycling
in which control is performed from the controller.
End
6- 7
6.2.2 Display transition and operation procedure of one-touch tuning
(1) When you use MR Configurator2

(a) Command method selection
Select a command method from two methods in the one-touch tuning window of MR Configurator2.
1)
2)
6- 8
1) User command method

It is recommended to input commands meeting the following conditions to the servo amplifier. If
one-touch tuning is executed while commands which do not meet the conditions are inputted to
the servo amplifier, the one-touch tuning error may occur.
One cycle time
Travel distance
Forward Dwell time

Servo motor rotation
speed 0 r/min
Reverse
rotation Acceleration Deceleration
time constant time constant
Fig. 6.1 Recommended command for one-touch tuning in the user command method
Item Description
Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error
Travel distance
"C004".
Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min may cause the one-touch tuning error "C005".
Set the time to reach 2000 r/min (mm/s) to 5 s or less.
Acceleration time
Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10%
constant
or more of the rated torque.
Deceleration time
The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration
constant
torque is larger, and the one-touch tuning result will be closer to the optimum value.
Dwell time Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".
One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".
6- 9
2) Amplifier command method

Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop
control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier
command method, the servo motor will be operated in a range between "current value ±
permissible travel distance". Input the permissible travel distance as large as possible within a
range that the movable part does not collide against the machine. Inputting a small permissible
travel distance decreases the possibility that the moving part will collide against the machine.
However, the estimation accuracy of the load to motor inertia ratio may be lower, resulting in
improper tuning.
Also, executing the one-touch tuning in the amplifier command method will generate a command
for the following optimum tuning inside the servo amplifier to start the tuning.
Servo motor
speed (Note)
Travel distance (Note)
Forward Dwell time (Note)

Servo motor rotation
speed 0 r/min
Reverse
rotation Acceleration Deceleration
time constant time constant
(Note) (Note)
Note. It will be automatically generated in the servo amplifier.
Fig. 6.2 Command generated by one-touch tuning in the amplifier command method
Item Description
An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible
Travel distance
travel distance with MR Configurator2.
Servo motor speed A speed not exceeding 1/2 of the rated speed will be automatically set.
Acceleration time
constant An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the
Deceleration time rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.
constant
Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.
6 - 10
(b) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Table 6.2 Response mode explanations

Response mode Explanation
High mode This mode is for high-rigid system.
Basic mode This mode is for standard system.
Low mode This mode is for low-rigid system.
6 - 11
Refer to the following table for selecting a response mode.
Table 6.3 Guideline for response mode

Response mode Machine characteristic
Response
Low mode Basic mode High mode Guideline of corresponding machine
Low response
Arm robot
General machine
tool conveyor
Precision working
machine
Inserter
Mounter
Bonder
High response
(c) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning
overshoot permissible level] will shorten the settling time and improve the
response.
When executing one-touch tuning in the amplifier command method, turn on
EM2, LSP, and LSN. When you turn off EM2, LSP, and LSN during one-touch
tuning, "C008" will be displayed at status in error code, and the one-touch tuning
will be canceled. When setting LSP and LSN to automatic on, enable the check
box "LSP, LSN auto ON" in the one-touch tuning window of MR Configurator2.
When one-touch tuning is executed in the amplifier command method while
magnetic pole detection is not being performed, magnetic pole detection will be
performed, and then one-touch tuning will start after the magnetic pole detection
is completed.
After the response mode is selected in (1) (b) in this section, clicking "Start" will start one-touch
tuning. If "Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status
in error code. (Refer to (1) (e) in this section for error codes.)
Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be
automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier
command method, an optimum tuning command will be generated in the servo amplifier after servo-
on. Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the
tuning is completed or canceled, the servo amplifier will be the servo-off status. When the servo-on
command is inputted from outside, the amplifier will be the servo-on status.
6 - 12
After one-touch tuning is executed using the amplifier command method, control will not be
performed by commands from the controller. To return to the state in which control is performed from
the controller, cycle the power.
During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be
completed at 100%.
Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the
following window will be displayed. Select whether or not to reflect the tuning result in the project.
6 - 13
After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition,
settling time and overshoot amount will be displayed in "Adjustment result".
(d) Stop of one-touch tuning

During one-touch tuning, clicking the stop button stops one-touch tuning. If the one-touch tuning is
stopped, "C000" will be displayed at status in error code. After the one-touch tuning is stopped,
parameters will return to the values at the start of the one-touch tuning. To stop one-touch tuning,
and execute it again, stop the servo motor once. In addition, after returning the moving part to the
tuning start position, execute it.
6 - 14
(e) If an error occurs

If a tuning error occurs during the one-touch tuning, the tuning will be stopped. With that, the
following error code will be displayed in status. Check the cause of tuning error. When executing
one-touch tuning again, stop the servo motor once. In addition, after returning the moving part to the
tuning start position, execute it.
Display Name Error detail Corrective action example
C000 Tuning canceled The stop button was clicked during one-touch
tuning.
C001 Overshoot exceeded Overshoot amount is a value larger than the Increase the in-position range or overshoot
one set in [Pr. PA10 In-position range] and permissible level.
[Pr. PA25 One-touch tuning - Overshoot
permissible level].
C002 Servo-off during tuning The one-touch tuning was attempted in the When executing one-touch tuning in the user
user command method during servo-off. command method, turn to servo-on, and then
The servo amplifier will be servo-off status execute it.
during one-touch tuning. Prevent the servo amplifier from being the
servo-off status during one-touch tuning.
C003 Control mode error 1. The one-touch tuning was attempted while Select the position control mode or speed
the torque control mode was selected in control mode for the control mode, and then
the control modes. execute one-touch tuning. Do not change the
2. During one-touch tuning, the control mode control mode during the one-touch tuning.
was attempted to change from the position
control mode to the speed control mode.
C004 Time-out 1. One cycle time during the operation has Set one cycle time during the operation (time
been over 30 s. from the command start to the next command
start) to 30 s or less.
2. The command speed is slow. Set the servo motor speed to 100 r/min or
higher. Error is less likely to occur as the
setting speed is higher.
When one-touch tuning by the amplifier
command is used, set a permissible travel
distance so that the servo motor speed is 100
r/min or higher. Set a permissible travel
distance to two or more revolutions as a guide
value to set the servo motor speed to 100
r/min.
3. The operation interval of the continuous Set the stop interval during operation to 200
operation is short. ms or more. Error is less likely to occur as the
setting time is longer.
C005 Load to motor inertia 1. The estimation of the load to motor inertia Drive the motor with meeting conditions as
ratio misestimated ratio at one-touch tuning was a failure. follows.
The acceleration time constant/deceleration
time constant to reach 2000 r/min (mm/s) is
5 s or less.
Speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear
servo motor's primary side or direct drive
motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
2. The load to motor inertia ratio was not Set to the auto tuning mode that does not
estimated due to an oscillation or other estimate the load to motor inertia ratio as
influences. follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Set [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] properly with
manual setting.
6 - 15
Display Name Error detail Corrective action example

C006 Amplifier command start One-touch tuning was attempted to start in Execute the one-touch tuning in the amplifier
error the amplifier command method under the command method while the servo motor is
following speed condition. stopped.
Servo motor speed: 20 r/min (mm/s) or higher
C007 Amplifier command 1. One-touch tuning was executed in the Set a permissible travel distance to 100
generation error amplifier command method when the pulses or more in the encoder pulse unit, or a
permissible travel distance is set to 100 distance so as to increase the servo motor
pulses or less in the encoder pulse unit, or speed to 150 r/min (mm/s) (50 r/min for direct
the distance is set not to increase the drive motor) or higher at the time of load to
servo motor speed to 150 r/min (mm/s) (50 motor inertia ratio estimation, and then
r/min for direct drive motor) or higher at the execute the one-touch tuning. Set a
time of load to motor inertia ratio permissible travel distance to four or more
estimation. revolutions as a guide value.
Load to motor inertia ratio will be estimated
when "0000" or "0001" is set in [Pr. PA08
Auto tuning mode] at the start of one-touch
tuning.
If the permissible travel distance is short and
the servo motor speed cannot be increased to
150 r/min (mm/s) (50 r/min for direct drive
motor) or higher, select "Auto tuning mode 2
(_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
2. The torque limit has been set to 0. Set the torque limit value to greater than 0.
C008 Stop signal EM2, LSP, and LSN were turned off during Review the one-touch tuning start position
one-touch tuning in the amplifier command and permissible travel distance for the
method. amplifier command method.
After ensuring safety, turn on EM2, LSP, and
LSN.
C009 Parameter Parameters for manufacturer setting have Return the parameters for manufacturer
been changed. setting to the initial values.
C00A Alarm One-touch tuning was attempted to start in Start one-touch tuning when no alarm or
the amplifier command method during alarm warning occurs.
or warning. Prevent alarm or warning from occurring
Alarm or warning occurred during one-touch during one-touch tuning.
tuning by the amplifier command method.
C00F One-touch tuning "One-touch tuning function selection" in [Pr. Select "Enabled (_ _ _ 1)".
disabled PA21] is "Disabled (_ _ _ 0)".
(f) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the
cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the
amplifier command method again, return the moving part to the tuning start position.
(g) If a warning occurs

If a warning which continues the motor driving occurs during one-touch tuning by the user command
method, the tuning will be continued. If a warning which does not continue the motor driving occurs
during the tuning, one-touch tuning will be stopped.
One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier
command method regardless of the warning type. Remove the cause of the warning, and return the
moving part to the tuning start position. Then, execute the tuning again.
6 - 16
(h) Initializing one-touch tuning

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to
return the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize.
Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2
enables to return the parameter to the value before clicking "Start".
When the initialization of one-touch tuning is completed, the following window will be displayed.
(returning to initial value)
6 - 17
(2) When you use push buttons
POINT
Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch
to the response mode selection ("AUTO.") without going through the initial
screen of the one-touch tuning ("AUTO").
When you use push buttons, one-touch tuning can be executed in the user
command method only. Tuning cannot be executed in the amplifier command
method with the buttons.
(a) Response mode selection

Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to (1) (b)
in this section for a guideline of response mode.
Response mode selection display
Low mode: This mode is for low-rigid system.
Basic mode: This mode is for standard system.

UP DOWN
High mode: This mode is for high-rigid system.
6 - 18
(b) One-touch tuning execution
POINT
- Overshoot permissible level] will shorten the settling time and improve the
response.
After the response mode is selected in (a), pushing the "SET" button will start one-touch tuning.
One-touch tuning in
progress
The one-touch tuning progress is displayed with 0% to 100%.

The decimal point moves right to left in rotation during the tuning.
To switch the display to the status display during the tuning, push the "MODE" button.
Complete
Completing the one-touch tuning will start writing the auto-tuned parameters to the servo
amplifier.
(c) Stop of one-touch tuning

Stop symbol
The one-touch tuning mode can be stopped by pushing the "SET" button regardless of
displayed item.
2 s interval The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns
with 2 s interval.
Error code
Pushing the "SET" button will switch to the initial screen.

Initial screen
6 - 19
(d) If an error occurs

Stop symbol
If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the
stop symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s
interval.
2 s interval
Error code
Check the error cause referring to the table 6.2 of (1) (e) in this section.

Initial screen
(e) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated and
the alarm No. will be displayed.
Alarm display
(f) If a warning occurs

If a warning occurs during the one-touch tuning, the alarm No. of the warning will be
displayed.
When the warning is one which continue the motor driving, the one-touch tuning will be
continued.
Alarm display (warning)
6 - 20
(g) Clearing one-touch tuning

Refer to table 6.1 for the parameters which you can clear.
You can initialize the parameters changed by the one-touch tuning with the clear mode. You can
reset the parameters to before tuning with the back mode.
1) Switch to the initial screen "AUTO" of the one-touch tuning with the "MODE" button.
2) Select the clear mode or back mode with the "UP" or "DOWN" button.
One-touch tuning clear mode selection
Auto mode
Clear mode
UP DOWN
Back mode
To clear the one-touch tuning, push the "SET" button for 2 s.

One-touch tuning clear mode display (initializing)
The one-touch tuning clear mode is in progress.

The clear mode symbol blinks for 3 s.
Clearing one-touch tuning is completed, the initial screen will be displayed.

Initial screen
6 - 21
6.2.3 Caution for one-touch tuning
(1) Caution common for user command method and amplifier command method
(a) The tuning is not available in the torque control mode.
(b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the
motor driving is occurring.
(c) You can execute the one-touch tuning during the following test operation modes marked by " ".
Test operation mode
How to one-touch tuning Output signal (DO) forced Positioning Motor-less Program
JOG operation
output operation operation operation
MR Configurator2
Push buttons
(d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or
unusual noise may occur during the tuning.
(2) Caution for amplifier command method

(a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error code,
and the one-touch tuning cannot be executed.
(b) One-touch tuning is not available during the test operation mode. The following test operation modes
cannot be executed during one-touch tuning.
1) Positioning operation
2) JOG operation
3) Program operation
4) Machine analyzer operation
5) Single-step feed
(c) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a
value sufficient to prevent machine collision.
(d) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr. PA08 Auto
tuning mode], the load to motor inertia ratio will not be estimated. An optimum
acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio] at the start of one-touch tuning. When the load to motor inertia ratio is incorrect,
the optimum acceleration/deceleration command may not be generated, causing the tuning to fail.
(e) When one-touch tuning is started by using communication, if the communication is interrupted during
the tuning, the servo motor will stop, and the tuning will also stop. The parameter will return to the
one at the start of the one-touch tuning.
(f) When one-touch tuning is started during the speed control mode, the mode will be switched to the
position control mode automatically. The tuning result may differ from the one obtained by executing
tuning by using the speed command.
6 - 22
6.3 Auto tuning
6.3.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to
motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
The acceleration/deceleration time constant to reach 2000 r/min (mm/s) is 5 s
or less.
Speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear servo motor's primary side or direct
drive motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.
(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor
inertia ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
6 - 23
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load moment
Automatic setting of inertia
Encoder
Command + Loop gain +
PG1, PG2, Current
control M
- VG2, VIC -
Current feedback Servo motor
Set 0 or 1 to turn on. Real-time Position/speed

auto tuning section feedback
Load to motor
Gain table inertia ratio
estimation section
Switch Speed feedback
[Pr. PA08] [Pr. PA09] [Pr. PB06 Load to

motor inertia ratio]
0 0 0
Gain adjustment mode selection Response
level setting
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status
display screen of the MR Configurator2.
If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off
the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.
6 - 24
6.3.3 Adjustment procedure by auto tuning
Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as
required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes Load to motor inertia ratio

estimation value stable?
No
Auto tuning conditions

are not satisfied? (Estimation of No
load to motor inertia ratio is
difficult.)
Yes
Set [Pr. PA08] to "_ _ _ 2" and set
[Pr. PB06 Load to motor inertia ratio]
manually.
Adjust response level setting so

that desired response is achieved
on vibration-free level.
Acceleration/deceleration repeated
No
Requested performance
satisfied?
Yes
End To 2 gain adjustment

mode 2
6 - 25
6.3.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased,
trackability to a command improves and settling time decreases, but setting the response level too high will
generate vibration.
Set a value to obtain the desired response level within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for
settings of the adaptive tuning mode and machine resonance suppression filter.
[Pr. PA09]
Machine characteristic Reference Machine characteristic Reference
Setting Guideline for (setting Setting Guideline for (setting
value Response machine resonance value of value Response machine resonance value of
frequency [Hz] MR-J3) frequency [Hz] MR-J3)
1 Low 2.7 21 Middle 67.1 17
2 response 3.6 22 response 75.6 18
3 4.9 23 85.2 19
4 6.6 24 95.9 20
5 10.0 1 25 108.0 21
6 11.3 2 26 121.7 22
7 12.7 3 27 137.1 23
8 14.3 4 28 154.4 24
9 16.1 5 29 173.9 25
10 18.1 6 30 195.9 26
11 20.4 7 31 220.6 27
12 23.0 8 32 248.5 28
13 25.9 9 33 279.9 29
14 29.2 10 34 315.3 30
15 32.9 11 35 355.1 31
16 37.0 12 36 400.0 32
17 41.7 13 37 446.6
18 47.0 14 38 501.2
19 Middle 52.9 15 39 High 571.5
20 response 59.6 16 40 response 642.7
6 - 26
6.4 Manual mode
If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.
POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Refer to section
7.2 to 7.3.)
(1) For speed control

(a) Parameter
The following parameters are used for gain adjustment.
(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a small value to the model loop gain.
4
Set a large value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
7
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
8 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 7.
9 While checking the motor status, fine-adjust each gain. Fine adjustment
6 - 27
(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2
2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)
3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value
improves trackability to a speed command, but a too high value will make overshoot liable to
occur at settling.
Speed loop gain 1 1

Model loop gain guideline ≤ × to
(1 + Load to motor inertia ratio) 4 8
(2) For position control

(a) Parameter
The following parameters are used for gain adjustment.
6 - 28
(b) Adjustment procedure

1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a small value to the model loop gain and the position loop
4 gain.
Set a large value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the position loop gain, and return slightly if vibration Increase the position loop
7
takes place. gain.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
8
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
9 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 8.
While checking the settling characteristic and motor status, fine- Fine adjustment
10
adjust each gain.
(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2
2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)
6 - 29
3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.
Speed loop gain 1 1

Position loop gain guideline ≤ × to
4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value
improves trackability to a position command, but a too high value will make overshoot liable to
occur at settling.
Speed loop gain 1 1

Model loop gain guideline ≤ × to
6.5 2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command trackability. Other parameters for gain
adjustment are set automatically.
(1) 2 gain adjustment mode 1 (interpolation mode)

The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter

The following parameters are adjustable manually.
PA09 RSP Auto tuning response
6 - 30
(2) 2 gain adjustment mode 2

Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter

The following parameters are adjustable manually.
PA09 RSP Auto tuning response
(3) Adjustment procedure of 2 gain adjustment mode
POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.

Select the auto tuning
1 Set to the auto tuning mode.
mode 1.
During operation, increase the response level setting value in [Pr. Adjustment in auto tuning
2
PA09], and return the setting if vibration occurs. mode 1.
Check value of the model loop gain and the load to motor inertia Check the upper setting
3
ratio in advance. limits.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0). Select the 2 gain
4 adjustment mode 1
(interpolation mode).
When the load to motor inertia ratio is different from the design
Check the load to motor
5 value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4)
inertia ratio.
and then set the load to motor inertia ratio manually in [Pr. PB06].
Set the model loop gain of all the axes to be interpolated to the
6 same value. At that time, adjust to the setting value of the axis, Set model loop gain.
which has the smallest model loop gain.
Considering the interpolation characteristic and motor status,
7 Fine adjustment
fine-adjust the model loop gain and response level setting.
6 - 31
(4) Parameter adjustment

[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
trackability to a position command, but a too high value will make overshoot liable to occur at settling.
Number of droop pulses is determined by the following expression.
Position command frequency [pulse/s]

Number of droop pulses [pulse] =
Model loop gain setting
Position command frequency differs depending on the operation mode.
Position command frequency

Speed [r/min]
= × Encoder resolution (number of pulses per servo motor revolution)
60
6 - 32
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used normally. Use them if you
are not satisfied with the machine status after making adjustment in the methods
in chapter 6.
words in the right.
Torque → Thrust
7.1 Filter setting
The following filters are available with MR-J4 servo amplifiers.

Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]
control Machine Machine Machine
Low-pass
Command Command + resonance resonance resonance
filter filter suppression suppression suppression
pulse train - setting filter 1 filter 2 filter 3
Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter
7- 1
7.1.1 Machine resonance suppression filter
POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A wider notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.
If a mechanical system has a unique resonance point, increasing the servo system response level may
cause resonance (vibration or unusual noise) in the mechanical system. at that resonance frequency. Using
the machine resonance suppression filter and adaptive tuning can suppress the resonance of the
mechanical system. The setting range is 10 Hz to 4500 Hz.
7- 2
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency), gain decreasing depth and width.
mechanical system
Response of
Machine resonance point
Frequency
characteristics
Notch width
Notch
Notch depth
Frequency
Notch frequency
You can set five machine resonance suppression filters at most.

Parameter that is Parameter
reset with vibration automatically
Filter Setting parameter Precaution
tough drive adjusted with one-
function touch tuning
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13 PB01/PB13/PB14
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15 PB15/PB16
suppression filter 2
Machine resonance PB46/PB47 PB46/PB47
Machine resonance PB48/PB49 Enabling the machine resonance PB48/PB49
suppression filter 4 suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 Enabling the robust filter disables the PB51
suppression filter 5 machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
7- 3
(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
([Pr. PB13]/[Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting
of the machine resonance suppression filter 1 is enabled.
(b) Machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in
[Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16]) is the same as for the
machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46]/[Pr. PB47])

[Pr. PB47].
(d) Machine resonance suppression filter 4 ([Pr. PB48]/[Pr. PB49])

[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
(e) Machine resonance suppression filter 5 ([Pr. PB50]/[Pr. PB51])

[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance
suppression filter 5.
7- 4
7.1.2 Adaptive filter II
POINT
The machine resonance frequency which adaptive filter II (adaptive tuning) can
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of
the range, set manually.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual setting.
Adaptive tuning generates the optimum filter with the currently set control gains.
If vibration occurs when the response setting is increased, execute adaptive
tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance, increase
the notch depth in the manual setting.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.
Adaptive tuning in the high accuracy mode is available with servo amplifiers with
software version C5 or later. 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.
(1) Function
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for
a predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not
be conscious of the resonance frequency of a mechanical system.
mechanical system
mechanical system
Response of
Response of
Machine resonance point Machine resonance point
Frequency Frequency
Notch depth
Notch depth
Frequency Frequency
Notch frequency Notch frequency
When machine resonance is large and When machine resonance is small and
frequency is low frequency is high
7- 5
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr. PB01]
0 0
Filter tuning mode selection
Setting
value Filter tuning mode selection Automatically set parameter
0 Disabled
1 Automatic setting PB13/PB14
2 Manual setting
Tuning accuracy selection (Note)

0: Standard
1: High accuracy
Note. This digit is available with servo amplifier with software version C5 or later.
7- 6
(3) Adaptive tuning mode procedure
Adaptive tuning
Operation
Yes Is the target response

reached?
No
Increase the response setting.
Has vibration or unusual No

noise occurred?
In the standard mode Yes In the high accuracy mode
Execute or re-execute adaptive Execute or re-execute adaptive

tuning in the standard mode. tuning in the high accuracy mode.
(Set [Pr. PB01] to "0 _ _ 1".) (Set [Pr. PB01] to "1 _ _ 1".)
Tuning ends automatically after the

predetermined period of time. If assumption fails after tuning is executed at a large vibration or
([Pr. PB01] will be "_ _ _ 2" or "_ _ _ oscillation, decrease the response setting temporarily down to
0".) the vibration level and execute again.
Yes
Has vibration or unusual
noise been resolved?
No
Factor
Decrease the response until vibration Using the machine analyzer, set the The response has increased to the machine limit.
or unusual noise is resolved. filter manually. The machine is too complicated to provide the
optimum filter.
End
7- 7
7.1.3 Shaft resonance suppression filter
POINT
This filter is set properly by default according to servo motor you use and load
moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"
(automatic setting) because changing "Shaft resonance suppression filter
selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may
lower the performance.
(1) Function
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may
generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses
the vibration.
When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use
and the load to motor inertia ratio. The disabled setting increases the response of the servo amplifier for
high resonance frequency.
(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr. PB23]
0 0 0
Shaft resonance suppression filter selection
1: Manual setting
2: Disabled
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting
values are as follows.
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
7- 8
7.1.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a
default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following
equation.
VG2
Filter frequency ([rad/s]) = × 10
1 + GD2
However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2
value.
To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].
(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23].
[Pr. PB23]
0 0 0
Low-pass filter selection
1: Manual setting
2: Disabled
7.1.5 Advanced vibration suppression control II
POINT
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment
mode 2 (_ _ _ 4)".
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,
set manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].
7- 9
(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Position
Position
Servo motor side Servo motor side
Load side Load side
t t
Vibration suppression: off (normal) Vibration suppression control: on
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].
(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr. PB02]
0 0
Vibration suppression control 1 tuning mode
Setting Vibration suppression control 1
value tuning mode selection Automatically set parameter
_ _ _ 0 Disabled
_ _ _ 1 Automatic setting PB19/PB20/PB21/PB22
_ _ _ 2 Manual setting
Vibration suppression control 2 tuning mode

Setting Vibration suppression control 2
value tuning mode selection Automatically set parameter
_ _ 0 _ Disabled
_ _ 1 _ Automatic setting PB52/PB53/PB54/PB55
_ _ 2 _ Manual setting
7 - 10
(3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.
Vibration suppression control tuning
Operation
Yes Is the target response

reached?
No
Increase the response setting.
Has vibration of workpiece No

end/device increased?
Yes
Stop operation.
Execute or re-execute vibration

suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)
Resume operation.
Tuning ends automatically after

positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)
Has vibration Yes

of workpiece end/device
been resolved?
No
Using a machine analyzer or Factor

Decrease the response until vibration considering load-side vibration Estimation cannot be made as load-side vibration
of workpiece end/device is resolved. waveform, set the vibration has not been transmitted to the servo motor side.
suppression control manually. The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).
End
7 - 11
(4) Vibration suppression control manual mode
POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value
but set different values to improve the vibration suppression performance.
The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies,
depending on the value in [Pr. PB07]. If a value out of the range is set, the
vibration suppression control will be disabled.
Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Vibration suppression Vibration suppression
Setting item
control 1 control 2
Vibration suppression control - Vibration
[Pr. PB19] [Pr. PB52]
frequency
Vibration suppression control - Resonance
[Pr. PB20] [Pr. PB53]
frequency
Vibration suppression control - Vibration
[Pr. PB21] [Pr. PB54]
frequency damping
Vibration suppression control - Resonance
[Pr. PB22] [Pr. PB55]
frequency damping
7 - 12
Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.
PB02].
Step 2 Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -
Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have
the following usable range and recommended range.
Vibration suppression Usable range Recommended setting range
control
Vibration suppression [Pr. PB19] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
control 1 [Pr. PB20] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])
Vibration suppression [Pr. PB52], [Pr. PB53] > 6.25 Hz
control 2 [Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 4
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])
(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
Resonance frequency
[Pr. PB53]
Gain characteristics
1 Hz 300 Hz
Resonance of more than
Vibration suppression control 1 - 300 Hz is not the target of control.
Vibration frequency Vibration suppression control 1 -
(anti-resonance frequency) Resonance frequency
[Pr. PB19] [Pr. PB20]
Phase
-90 degrees
(b) When vibration can be confirmed using monitor signal or external sensor
Motor-side vibration External acceleration pickup signal, etc.

(droop pulses)
Position command frequency
t t
Vibration suppression control -

Vibration frequency
Vibration cycle [Hz] Vibration suppression control - Vibration cycle [Hz]
Resonance frequency
Set the same value.

Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".
7 - 13
7.1.6 Command notch filter
POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).
(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be
set.
Position
Position
Load side Load side

t t
Command notch filter: disabled Command notch filter: enabled
7 - 14
(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency,
set the closest value to the vibration frequency [Hz] at the load side.
[Pr. PB45]
0
Notch depth Command notch filter setting frequency
Setting Depth Setting Frequency Setting Frequency Setting Frequency
value [dB] value [Hz] value [Hz] value [Hz]
0 -40.0 00 Disabled 20 70 40 17.6
1 -24.1 01 2250 21 66 41 16.5
2 -18.1 02 1125 22 62 42 15.6
3 -14.5 03 750 23 59 43 14.8
4 -12.0 04 562 24 56 44 14.1
5 -10.1 05 450 25 53 45 13.4
6 -8.5 06 375 26 51 46 12.8
7 -7.2 07 321 27 48 47 12.2
8 -6.0 08 281 28 46 48 11.7
9 -5.0 09 250 29 45 49 11.3
A -4.1 0A 225 2A 43 4A 10.8
B -3.3 0B 204 2B 41 4B 10.4
C -2.5 0C 187 2C 40 4C 10.0
D -1.8 0D 173 2D 38 4D 9.7
E -1.2 0E 160 2E 37 4E 9.4
F -0.6 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
7 - 15
7.2 Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can use an
input device to switch gains during operation.
7.2.1 Applications
The following shows when you use the function.
(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an input device to ensure stability of the servo system since the
load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7 - 16
7.2.2 Function block diagram
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching
condition].
CDP
[Pr. PB26]
Input device (CDP)
Command pulse +
frequency -
Droop pulses +
-
Changing
Model speed +
-
CDL Comparator
[Pr. PB27]
GD2 VRF11
[Pr. PB06] [Pr. PB19]
Enabled Enabled
GD2B GD2 value VRF1B VRF11 value
[Pr. PB29] [Pr. PB33]
PG1 VRF12
[Pr. PB07] [Pr. PB20]
Enabled Enabled
PG1B PG1 value VRF2B VRF12 value
[Pr. PB60] [Pr. PB34]
PG2 VRF13
[Pr. PB08] [Pr. PB21]
Enabled Enabled
PG2B PG2 value VRF3B VRF13 value
[Pr. PB30] [Pr. PB35]
VG2 VRF14
[Pr. PB09] [Pr. PB22]
Enabled Enabled
VG2B VG2 value VRF4B VRF14 value
[Pr. PB31] [Pr. PB36]
VIC VRF21
[Pr. PB10] [Pr. PB52]
Enabled Enabled
VICB VIC value VRF21B VRF21 value
[Pr. PB32] [Pr. PB56]
VRF22
[Pr. PB53]
Enabled
VRF22B VRF22 value
[Pr. PB57]
VRF23
[Pr. PB54]
Enabled
VRF23B VRF23 value
[Pr. PB58]
VRF24
[Pr. PB55]
Enabled
VRF24B VRF24 value
[Pr. PB59]
7 - 17
7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description
PB26 CDP Gain switching function Select a switching condition.
PB27 CDL Gain switching condition [kpulse/s] Set a switching condition values.
/[pulse]
/[r/min]
PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at switching.
(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
Gain switching condition

0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection (Note)

0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Note. This parameter setting is available with servo amplifiers with software version B4 or
later.
(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or
"Servo motor speed" with the gain switching selection in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]
(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. This parameter is used to
suppress shock given to the machine if the gain difference is large at gain switching, for example.
7 - 18
(2) Switchable gain parameter

Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia ratio/ PB06 GD2 Load to motor inertia ratio/ PB29 GD2B Load to motor inertia ratio/
load to motor mass ratio load to motor mass ratio load to motor mass ratio
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain after gain
switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Position loop gain after
gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Speed loop gain after gain
switching
Speed integral PB10 VIC Speed integral PB32 VICB Speed integral
compensation compensation compensation after gain
switching
Vibration suppression PB19 VRF11 Vibration suppression PB33 VRF1B Vibration suppression
control 1 - Vibration control 1 - Vibration control 1 - Vibration
frequency frequency frequency after gain
switching
control 1 - Resonance control 1 - Resonance control 1 - Resonance
switching
frequency damping frequency damping frequency damping after
gain switching
gain switching
switching
switching
gain switching
gain switching
(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral
compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]

These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.
7 - 19
(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),
and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used only
with input device (CDP) on/off.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
7 - 20
7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by input device (CDP)

(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to motor 4.00 [Multiplier]
mass ratio
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - Vibration 50 [Hz]
frequency
PB20 VRF12 Vibration suppression control 1 - 50 [Hz]
Resonance frequency
PB21 VRF13 Vibration suppression control 1 - Vibration 0.20
frequency damping
PB22 VRF14 Vibration suppression control 1 - 0.20
PB52 VRF21 Vibration suppression control 2 - Vibration 20 [Hz]
frequency
PB53 VRF22 Vibration suppression control 2 - 20 [Hz]
Resonance frequency
PB54 VRF23 Vibration suppression control 2 - Vibration 0.10
frequency damping
PB55 VRF24 Vibration suppression control 2 - 0.10
PB29 GD2B Load to motor inertia ratio/load to motor 10.00 [Multiplier]
mass ratio after gain switching
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB Speed integral compensation after gain 50 [ms]
switching
PB26 CDP Gain switching function 0001
(Switch by input device
(CDP) on/off.)
PB33 VRF1B Vibration suppression control 1 - Vibration 60 [Hz]
frequency after gain switching
PB34 VRF2B Vibration suppression control 1 - 60 [Hz]
Resonance frequency after gain switching
PB35 VRF3B Vibration suppression control 1 - Vibration 0.15
frequency damping after gain switching
PB36 VRF4B Vibration suppression control 1 - 0.15
Resonance frequency damping after gain
switching
PB56 VRF21B Vibration suppression control 2 - Vibration 30 [Hz]
frequency after gain switching
PB57 VRF22B Vibration suppression control 2 - 30 [Hz]
Resonance frequency after gain switching
PB58 VRF23B Vibration suppression control 2 - Vibration 0.05
frequency damping after gain switching
PB59 VRF24B Vibration suppression control 2 - 0.05
Resonance frequency damping after gain
switching
7 - 21
(b) Switching timing chart

OFF ON OFF
CDP (gain switching)
After-switching gain
63.4%
Before-switching gain
Gain switching
CDT = 100 ms
Model loop gain 100 → 50 → 100

Load to motor inertia ratio/load to motor
4.00 → 10.00 → 4.00
mass ratio
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 - Vibration
50 → 60 → 50
frequency
50 → 60 → 50
Resonance frequency
0.20 → 0.15 → 0.20
frequency damping
0.20 → 0.15 → 0.20
20 → 30 → 20
frequency
20 → 30 → 20
Resonance frequency
0.10 → 0.05 → 0.10
frequency damping
0.10 → 0.05 → 0.10
(2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching cannot
be used.
(a) Setting example

Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to 4.00 [Multiplier]
motor mass ratio
PB08 PG2 Position loop gain 120 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio/load to 10.00 [Multiplier]
motor mass ratio after gain
switching
PB30 PG2B Position loop gain after gain 84 [rad/s]
switching
PB31 VG2B Speed loop gain after gain 4000 [rad/s]
switching
PB32 VICB Speed integral compensation after 50 [ms]
gain switching
PB26 CDP Gain switching selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
7 - 22
(b) Switching timing chart

Command pulses Droop pulses
Command pulses
+CDL
Droop pulses
0
[pulse] -CDL
63.4%
Gain switching
CDT = 100 ms
Load to motor inertia ratio 4.00 → 10.00 → 4.00 → 10.00

Position loop gain 120 → 84 → 120 → 84
Speed loop gain 3000 → 4000 → 3000 → 4000
Speed integral compensation 20 → 50 → 20 → 50
(3) When the gain switching time constant is disabled

(a) Switching time constant disabled was selected.
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
PB28 (CDT)] = 100 [ms].
Command pulses
Droop pulses
+100 pulses
Droop pulses [pulse] 0
-100 pulses
Switching time constant After-switching gain

disabled
Switching at 0 ms
63.4%
Gain switching Before-switching gain
Switching at 0 ms
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
7 - 23
(b) Return time constant disabled was selected.

The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28
(CDT)] = 100 [ms].
OFF OFF
CDP (Gain switching) ON
Return time constant disabled

Switching at 0 ms
63.4%
Gain switching
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
7 - 24
7.3 Tough drive function
POINT
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive
setting]. (Refer to section 5.2.1.)
This function makes the equipment continue operating even under the condition that an alarm occurs. The
tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.
7.3.1 Vibration tough drive function
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to
varied vibration frequency caused by machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.
Set [Pr. PB13] and [Pr. PB15] as follows.
(1) One-touch tuning execution (section 6.1)
(2) Manual setting (section 4.2.2)
The vibration tough drive function operates when a detected machine resonance frequency is within ±30%
for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance
suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation
detection level].
POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PB46 Machine resonance
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.
PB50 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.
7 - 25
The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset
a machine resonance frequency of a parameter whose set value is closer.
Parameter that is
reset with vibration
Filter Setting parameter Precaution
tough drive
function
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15
Machine resonance PB46/PB47
Machine resonance PB48/PB49 Enabling the machine resonance
suppression filter 4 suppression filter 4 disables the shaft
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 Enabling the robust filter disables the
suppression filter 5 machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
Updates the parameter Vibration tough drive

whose setting is the
closest to the machine
resonance frequency.
[Pr. PB13] [Pr. PB15] [Pr. PB46]

Machine Machine Machine
Command Command + resonance resonance resonance
pulse train filter - suppression suppression suppression
filter 1 filter 2 filter 3
Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter
[Pr. PF23 Vibration tough drive - Oscillation detection level]

Torque
Detects the machine resonance and reconfigures the filter automatically.

ALM ON
(Malfunction) OFF
5s
WNG ON
(Warning) OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
MTTR ON
(During tough drive) OFF
7 - 26
7.3.2 Instantaneous power failure tough drive function
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive
activates, the function will increase the tolerance against instantaneous power failure using the electrical
energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10
Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the
control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus
voltage is changed automatically.
POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
When selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at
instantaneous power failure" in [Pr. PA26], if an instantaneous power failure
occurs during operation, you can save electric energy charged in the capacitor
in the servo amplifier by limiting torque at acceleration. You can also delay the
time until the occurrence of [AL. 10.2 Voltage drop in the main circuit power].
Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time].
When the load of instantaneous power failure is large, [AL. 10.2] caused by the
bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47
function - Instantaneous power failure detection time].
The external dynamic brake cannot be used for compliance with SEMI-F47
standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr.
PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier
to become servo-off when an instantaneous power failure occurs.
MR-J4-03A6(-RJ) servo amplifier is not compatible with instantaneous power
failure tough drive.
The setting range of [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time] differs depending on the software version of the servo amplifier
as follows.
Software version C0 or earlier: Setting range 30 ms to 200 ms
Software version C1 or later: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value
(200 ms). However, when the instantaneous power failure time exceeds 200 ms,
and the instantaneous power failure voltage is less than 70% of the rated input
voltage, the power may be normally turned off even if a value larger than 200 ms
is set in the parameter.
7 - 27
(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds
[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].
MTTR (During tough drive) turns on after detecting the instantaneous power failure.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Instantaneous power failure time of the control circuit power supply
ON (energization)
Control circuit
power supply OFF (power failure)
[Pr. PF25]
Bus voltage
Undervoltage level
(Note)
ALM ON
(Malfunction) OFF
WNG ON
(Warning) OFF
MTTR ON
MBR ON
(Electromagnetic
ON
Base circuit
OFF
Note. Refer to table 7.1 for the undervoltage level.
7 - 28
(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time]
Operation status differs depending on how bus voltage decrease.
(a) When the bus voltage decrease lower than undervoltage level within the instantaneous power failure
time of the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than undervoltage level
regardless of the enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control circuit power supply
ON (energization)
Control circuit
[Pr. PF25]
Bus voltage
Undervoltage level
(Note)
ALM ON
(Malfunction) OFF
WNG ON
(Warning) OFF
MTTR ON
MBR ON
(Electromagnetic
ON
Base circuit
OFF
7 - 29
(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power
failure time of the control circuit power supply
The operation continues without alarming.
Instantaneous power failure time of the
control circuit power supply
ON (energization)
Control circuit
[Pr. PF25]
Bus voltage
Undervoltage level
(Note)
ALM ON
(Malfunction) OFF
WNG ON
(Warning) OFF
MTTR ON
MBR ON
(Electromagnetic
ON
Base circuit
OFF
7 - 30
7.4 Compliance with SEMI-F47 standard
POINT
The control circuit power supply of the MR-J4-_A_(-RJ) 100 W or more servo
amplifier can comply with SEMI-F47 standard. However, a back-up capacitor
may be necessary for instantaneous power failure in the main circuit power
supply depending on the power supply impedance and operating situation.
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase
100 V AC/200 V AC for the input power supply will not comply with SEMI-F47
standard.
standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr.
PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier
to become servo-off when an instantaneous power failure occurs.
Be sure to perform actual machine tests and detail checks for power supply
instantaneous power failure of SEMI-F47 standard with your equipment.
The MR-J4-03A6(-RJ) servo amplifier is not compatible with SEMI-F47
standard.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag
immunity test" of MR-J4 series.
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the
capacitor in case that an instantaneous power failure occurs during operation.
(1) Parameter setting

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.
Setting
Parameter Description
value
PA20 _1__ Enable SEMI-F47 function selection.
Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power]
PF25 200
occurrence.
Enabling SEMI-F47 function will change operation as follows.

(a) The voltage will drop in the control circuit power at "Rated voltage × 50% or less". After 200 ms, [AL.
10.1 Voltage drop in the control circuit power] will occur.
(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.
Table 7.1 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power]
Servo amplifier Bus voltage which triggers alarm
MR-J4-10A(-RJ)
to 158 V DC
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ)
to 200 V DC
MR-J4-22KA(-RJ)
MR-J4-60A4(-RJ)
to 380 V DC
MR-J4-22KA4(-RJ)
(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
7 - 31
(2) Requirements conditions of SEMI-F47 standard

Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of
SEMI-F47 standard.
Table 7.2 Requirements conditions of SEMI-F47 standard

Permissible time of
Instantaneous power
instantaneous power
failure voltage
failure [s]
Rated voltage × 80% 1
Rated voltage × 70% 0.5
Rated voltage × 50% 0.2
7 - 32
(3) Calculation of tolerance against instantaneous power failure

Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure
voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.
Table 7.3 Tolerance against instantaneous power failure (instantaneous

power failure voltage = rated voltage × 50%, instantaneous power
failure time = 200 ms)
Tolerance against
Instantaneous maximum instantaneous
Servo amplifier
output [W] power failure [W]
(voltage drop between lines)
MR-J4-10A(-RJ) 350 250
MR-J4-20A(-RJ) 700 420
MR-J4-40A(-RJ) 1400 630
MR-J4-60A(-RJ) 2100 410
MR-J4-70A(-RJ) 2625 1150
MR-J4-100A(-RJ) 3000 1190
MR-J4-200A(-RJ) 5400 2040
MR-J4-350A(-RJ) 10500 2600
MR-J4-500A(-RJ) 15000 4100
MR-J4-700A(-RJ) 21000 5900
MR-J4-11KA(-RJ) 40000 2600
MR-J4-15KA(-RJ) 50000 3500
MR-J4-22KA(-RJ) 56000 4300
MR-J4-60A4(-RJ) 1900 190
MR-J4-100A4(-RJ) 3500 200
MR-J4-200A4(-RJ) 5400 350
MR-J4-350A4(-RJ) 10500 730
MR-J4-500A4(-RJ) 15000 890
MR-J4-700A4(-RJ) 21000 1500
MR-J4-11KA4(-RJ) 40000 2400
MR-J4-15KA4(-RJ) 50000 3200
MR-J4-22KA4(-RJ) 56000 4200
Instantaneous maximum output means power which servo amplifier can output in maximum torque at
rated speed. You can examine margins to compare the values of following conditions and instantaneous
maximum output.
Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the
maximum output. This can be handled as a margin.
The following shows the conditions of tolerance against instantaneous power failure.
(a) Delta connection

For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage
between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines
(between L1 and L2, L2 and L3, or L3 and L1).
(b) Star connection

For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in
the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations,
between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the
lines and the neutral point (between L1 and N, L2 and N, or L3 and N).
7 - 33
7.5 Model adaptive control disabled
POINT
Change the parameters while the servo motor stops.
When setting auto tuning response ([Pr. PA09]), change the setting value one by
one to adjust it while checking operation status of the servo motor.
This is used with servo amplifiers with software version B4 or later. Check the
software version of the servo amplifier with MR Configurator2.
(1) Summary
The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and
drives the servo motor following the output of the motor model in the model adaptive control. At model
adaptive control disabled, the servo amplifier drives the motor with PID control without using the model
adaptive control.
The following shows the available parameters at model adaptive control disabled.

Set [Pr. PB25] to "_ _ _ 2".
(3) Restrictions
The following functions are not available at model adaptive control disabled.
Function Explanation
Disabling the model adaptive control while the forced stop
deceleration function is enabled, [AL. 37] will occur.
Forced stop deceleration function
The forced stop deceleration function is enabled at factory
([Pr. PA04])
setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop
deceleration function disabled).
Vibration suppression control 1
([Pr. PB02]/[Pr. PB19]/[Pr. PB20]) The vibration suppression control uses the model adaptive
control. Disabling the model adaptive control will also
Vibration suppression control 2 disable the vibration suppression control.
([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
The overshoot amount compensation uses data used by
Overshoot amount compensation the model adaptive control. Disabling the model adaptive
([Pr. PB12]) control will also disable the overshoot amount
compensation.
The super trace control uses the model adaptive control.
Super trace control
Disabling the model adaptive control will also disable the
([Pr. PA22])
super trace control.
7 - 34
7.6 Lost motion compensation function
POINT
The lost motion compensation function is enabled only in the position control
mode.
The lost motion compensation function corrects response delays (caused by a non-sensitive band due to
friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function
contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a
quadrant change during circular cutting.
This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y
table.
Compensation
Travel
direction
The locus before compensation The locus after compensation

Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.
(a) Lost motion compensation function selection ([Pr. PE48])

Select the lost motion compensation function.
[Pr. PE48]
0 0
Lost motion compensation selection
0: Lost motion compensation disabled
1: Lost motion compensation enabled
Unit setting of lost motion compensation non-sensitive band
0: 1 pulse unit
1: 1 kpulse unit
(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45])

Set the same value for the lost motion compensation for each of when the forward rotation switches
to the reverse rotation and when the reverse rotation switches to the forward rotation. When the
heights of protrusions differ depending on the travel direction, set the different compensation for
each travel direction. Set a value twice the usual friction torque and adjust the value while checking
protrusions.
(c) Torque offset ([Pr. PE47])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is
usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the
unbalanced torque. The torque offset does not need to be set for a machine not generating
unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors.
Set 0.00%.
7 - 35
(d) Lost motion compensation timing ([Pr. PE49])

You can set the delay time of the lost motion compensation start timing with this parameter. When a
protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion
occurrence timing.
(e) Lost motion compensation non-sensitive band ([Pr. PE50])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion
compensation is triggered by the travel direction switching. By setting the lost motion compensation
non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the
setting value or less. This prevents unnecessary lost motion compensation.
When the value of this parameter is changed, the compensation timing is changed. Adjust the value
of Lost motion compensation timing ([Pr. PE49]).
(f) Lost motion filter setting ([Pr. PE46])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set
in this parameter, the high-pass filter output value of the set time constant is applied to the
compensation and lost motion compensation continues.
(2) Adjustment procedure of the lost motion compensation function

(a) Measuring the load current
Measure the load currents during the forward direction feed and reverse direction feed with MR
Configurator2.
(b) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (2) (a) in this section and set a value
twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.
|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|
Friction torque [%] =
2
(c) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.
7 - 36
(d) Adjusting the lost motion compensation

When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation
by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation
is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are
eliminated. Different values can be set as the compensation for each of when the forward rotation
(CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the
forward rotation (CCW).
Compensation
Travel
direction
The locus before compensation The locus after compensation
(e) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value,
or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant
change points. In this case, you can suppress the quadrant projections by delaying the lost motion
compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of
[Pr. PE49] from 0 ms (initial value) by approximately 0.5 ms to adjust the compensation timing.
Compensation
Travel
direction
Before timing delay compensation After timing delay compensation
(f) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost
motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not
compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion
compensation timing of (2) (e) in this section.
Compensation
Travel
direction
Before timing delay compensation After timing delay compensation
7 - 37
7.7 Super trace control
(1) Summary
In the normal position control, droop pulses are generated against the position control command from
the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However,
droop pulses generated during acceleration/deceleration cannot be suppressed.
With the ideal model in the servo amplifier, the super trace control enables to set constant speed and
uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed
forward gain.
Control Position command (the same command) Droop pulses
Servo motor speed
Droop pulses
Normal
control
Time Time
Droop pulses are always generated.
Servo motor speed
Droop pulses
Feed
forward gain
Time Time
Droop pulses are generated during acceleration/
deceleration.
Servo motor speed
Droop pulses
Super trace
control
Time Time
Droop pulses are almost 0 including the time of
acceleration or deceleration.
7 - 38
(2) Adjustment procedure
POINT
In the super trace control, droop pulses are near 0 during the servo motor
control. Thus, the normal INP (In-position) may always be turned on. Be sure to
set "INP (In-position) on condition selection" in [Pr. PD31] to " _ 1 _ _".
When you use the super trace control, it is recommended that the acceleration
time constant up to the rated speed be set to 1 s or more.
The following shows the adjustment procedure.

Step Operation
Execute the gain adjustment with one-touch tuning, auto tuning,
1
etc. Refer to chapter 6 for details.
Change the setting of auto tuning mode to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Change the setting of feed forward gain ([Pr. PB04]), and adjust
3
that droop pulses will be 0 at a constant speed.
Set the setting of INP (In-position) on condition selection ([Pr.
4
PD31]) to " _ 1 _ _".
5 Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
Change the setting of model loop gain ([Pr. PB07]), and adjust
6
droop pulses during acceleration/deceleration.
7 - 39
MEMO
7 - 40
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
Refer to "MELSERVO-J4 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 and warning are displayed. When an alarm
or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM will turn off.
8.1 Explanation for the lists
(1) No./Name/Detail No./Detail name

Indicates each 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 with alarm reset or cycling the power.
Alarm deactivation Explanation
Alarm reset 1. Turning on RES (Reset) with input device
2. Pushing the "SET" button while the display of the servo amplifier is the current
alarm display status
3. Pushing "Occurring Alarm Reset" in the "Alarm Display" window of MR
Configurator2
Cycling the power Turning the power off and then turning it on again.
(4) Alarm code

To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2.
Warnings ([AL. 91] 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.
When using an MR-D01 extension IO unit, you can output alarm codes by setting [Pr. Po12] to "_ _ _ 1".
Alarm codes are outputted by on/off of bit 0 to bit 3.
8- 1
8. TROUBLESHOOTING
8.2 Alarm list

Alarm
Stop Alarm code
deactivation
Detail Type
No. Name Detail name Cycling
No. (Note 2, Alarm ACD3 ACD2 ACD1 ACD0
the
3) reset (Bit 3) (Bit 2) (Bit 1) (Bit 0)
power
Voltage drop in the control
Alarm
10.1 EDB
circuit power
10 Undervoltage 0 0 1 0
Voltage drop in the main circuit
10.2 SD
power
Axis number setting error/station
11.1 DB
number setting error
11 Switch setting error
Disabling control axis setting
11.2 DB
error
12.1 RAM error 1 DB
12.2 RAM error 2 DB
Memory error 1 12.3 RAM error 3 DB 0 0 0 0
12
(RAM) 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 0 0 0 0
13.2 Clock error 2 DB
14.1 Control process error 1 DB
Control process 0 0 0 0
14 14.6 Control process error 6 DB
error
14.A Control process error 10 DB
14.B Control process error 11 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 0
(EEP-ROM) 15.4 Home position information read
DB
error
Encoder initial communication -
16.1 DB
Receive data error 1
16.2 DB
16.3 DB
16.4 DB
Encoder malfunction (Note 6)
16.5 DB
Transmission data error 1
16.6 DB
Encoder initial 16.7 DB
16 communication 0 1 1 0
error 1 16.8 DB
Incompatible encoder (Note 6)
16.A DB
Process error 1
16.B DB
Process error 2
16.C DB
Process error 3
16.D DB
Process error 4
16.E DB
Process error 5
16.F DB
Process error 6
8- 2
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
the
power
17.1 Board error 1 DB
Alarm

17.5 Board error 4 DB 0 0 0 0
17 Board error
17.8 Board error 6 EDB
19.1 Flash-ROM error 1 DB
Memory error 3 0 0 0 0
19 19.2 Flash-ROM error 2 DB
(Flash-ROM)
19.3 Flash-ROM error 3 DB
1A.1 Servo motor combination error 1 DB
Servo motor Servo motor control mode
1A 1A.2 DB 0 1 1 0
combination error combination error
1A.4 Servo motor combination error 2 DB
1B Converter alarm 1B.1 Converter unit error DB 0 0 1 0
Encoder initial 1E.1 Encoder malfunction DB
1E communication 0 1 1 0
error 2 1E.2 Load-side encoder malfunction DB
Encoder initial 1F.1 Incompatible encoder DB
1F communication 0 1 1 0
1F.2 Incompatible load-side encoder DB
error 3
Encoder normal communication
20.1 EDB
- Receive data error 1
20.2 EDB
20.3 EDB
Encoder normal 20.5 EDB
- Transmission data error 1
20 communication 0 1 1 0
error 1 20.6 EDB
20.7 EDB
20.9 EDB
20.A EDB
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
Encoder normal 21.3 Encoder data waveform error EDB
21 communication 21.4 Encoder non-signal error EDB 0 1 1 0
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
24.1 DB
hardware detection circuit
24 Main circuit error 1 1 0 0
Ground fault detected by
24.2 DB
software detection function
Servo motor encoder - Absolute
25.1 DB
Absolute position position erased
25 1 1 1 0
erased Scale measurement encoder -
25.2 DB
Absolute position erased
8- 3
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
the
power
Initial magnetic pole detection -
Alarm
27.1 DB
Abnormal termination
27.2 DB
Time out error
27.3 DB
Limit switch error
Initial magnetic Initial magnetic pole detection -
27 27.4 DB 1 1 1 0
pole detection error Estimated error
27.5 DB
Position deviation error
27.6 DB
Speed deviation error
27.7 DB
Current error
Linear encoder Linear encoder - Environment
28 28.1 EDB 0 1 1 0
error 2 error
2A.1 Linear encoder error 1-1 EDB
Linear encoder 2A.4 Linear encoder error 1-4 EDB
2A 0 1 1 0
error 1 2A.5 Linear encoder error 1-5 EDB
Encoder counter 2B.1 Encoder counter error 1 EDB
2B 1 1 1 0
error 2B.2 Encoder counter error 2 EDB
30.1 Regeneration heat error DB

(Note 1) (Note 1)
30 Regenerative error 30.2 Regeneration signal error DB 0 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 0 1 0 1
Overcurrent detected at
32.1 hardware detection circuit DB
(during operation)
32.2 software detection function DB
(during operation)
32 Overcurrent 0 1 0 0
32.3 hardware detection circuit DB
(during a stop)
32.4 software detection function DB
(during a stop)
33 Overvoltage 33.1 Main circuit voltage error EDB 1 0 0 1
34.1 SSCNET receive data error SD
SSCNET connector connection
34.2 SD
error
SSCNET communication data
34.3 SD
error
SSCNET receive
34 34.4 Hardware error signal detection SD
error 1
SSCNET receive data error
34.5 SD
(safety observation function)
SSCNET communication data
34.6 error (safety observation SD
function)
Command
35 35.1 Command frequency error SD 1 1 0 1
frequency error
Continuous communication data
36.1 SD
error
SSCNET receive
36 Continuous communication data
error 2
36.2 error (safety observation SD
function)
8- 4
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
the
power
37.1 Parameter setting range error DB
Alarm
37 Parameter error 37.2 Parameter combination error DB 1 0 0 0

37.3 Point table setting error DB
39.1 Program error DB
Instruction argument external
39.2 DB
error
39 Program error 0 0 0 0
39.3 Register No. error DB
Non-correspondence instruction
39.4 DB
error
Inrush current
Inrush current suppression
3A suppression circuit 3A.1 EDB 0 0 0 0
circuit error
error
Parameter combination error for
Parameter setting 3D.1 DB
driver communication on slave
3D error for driver
Parameter combination error for
communication 3D.2 DB
driver communication on master
Operation mode 3E.1 Operation mode error DB
3E
error 3E.6 Operation mode switch error DB 1 0 0 0
Servo control error by position
42.1 EDB (Note 4)
Servo control error deviation
(for linear servo Servo control error by speed
42.2 EDB (Note 4)
motor and direct deviation
drive motor) Servo control error by torque/
42.3 EDB (Note 4)
thrust deviation
42 Fully closed loop control error 0 1 1 0
42.8 EDB (Note 4)
by position deviation
Fully closed loop
Fully closed loop control error
control error 42.9 EDB (Note 4)
by speed deviation
(for fully closed
loop control) Fully closed loop control error
42.A by position deviation during EDB (Note 4)
command stop
Main circuit device overheat
45.1 SD
Main circuit device error 1 (Note 1) (Note 1)
45 0 0 1 1
overheat Main circuit device overheat
45.2 SD
error 2 (Note 1) (Note 1)
Abnormal temperature of servo
46.1 SD
motor 1 (Note 1) (Note 1)
46.2 SD
46.3 Thermistor disconnected error SD

Servo motor (Note 1) (Note 1)
46 0 0 1 1
overheat
46.4 Thermistor circuit error SD
(Note 1) (Note 1)
46.5 DB
46.6 DB
47.1 Cooling fan stop error SD
47 Cooling fan error Cooling fan speed reduction 0 0 1 1
47.2 SD
error
Thermal overload error 1 during
50.1 SD
operation (Note 1) (Note 1)
50.2 SD
50.3 SD
50 Overload 1 0 0 1 1
50.4 SD
a stop (Note 1) (Note 1)
50.5 SD
50.6 SD
8- 5
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
the
power
Alarm
51.1 DB
51 Overload 2 0 0 1 1
51.2 DB
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 Error excessive Error excessive during 0 torque 0 1 0 1
52.4 SD
limit
52.5 Excess droop pulse 3 EDB
54 Oscillation detection 54.1 Oscillation detection error EDB 0 0 1 1
56.2 Over speed during forced stop EDB
56 Forced stop error Estimated distance over during 0 1 1 0
56.3 EDB
forced stop
61 Operation error 61.1 Point table setting error DB 0 1 0 1
63.1 STO1 off DB
63 STO timing error 63.2 STO2 off DB 0 1 1 0
63.5 STO by functional safety unit DB
64.1 STO input error DB
Functional safety
64 64.2 Compatibility mode setting error DB 1 0 0 0
unit setting error
64.3 Operation mode setting error DB
Functional safety unit
65.1 SD
communication error 1
65.2 SD
65.3 SD
65.4 SD
Functional safety
65 unit connection 65.5 SD 0 0 0 0
error
65.6 SD
65.7 SD
Functional safety unit shut-off
65.8 DB
signal error 1
Functional safety unit shut-off
65.9 DB
signal error 2
66.1 Receive data error 1 (safety DB
observation function)
66.2 Receive data error 2 (safety DB
Encoder initial
communication error
66 66.3 Receive data error 3 (safety DB 0 1 1 0
(safety observation
function)
66.7 Transmission data error 1 DB
66.9 Process error 1 (safety DB
8- 6
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
the
power
Alarm
67.1 - Receive data error 1 (safety DB

Encoder normal
communication error
67 67.3 - Receive data error 3 (safety DB 0 1 1 0
1 (safety observation
function)
67.7 - Transmission data error 1 DB
68 STO diagnosis error 68.1 Mismatched STO signal error DB 0 0 0 0
Forward rotation-side software
69.1 limit detection - Command SD
excess error
Reverse rotation-side software
69.2 limit detection - Command SD
excess error
Forward rotation stroke end
69.3 detection - Command excess SD
69 Command error error
Reverse rotation stroke end
69.4 detection - Command excess SD
error
Upper stroke limit detection -
69.5 SD
Command excess error
Lower stroke limit detection -
69.6 SD
Command excess error
Load-side encoder initial
70.1 communication - Receive data DB
error 1
error 2
error 3
70.4 communication - Encoder DB
malfunction (Note 6)
70.5 communication - Transmission DB
data error 1
70.6 communication - Transmission DB
Load-side encoder data error 2
70 initial communication Load-side encoder initial 0 1 1 0
error 1 70.7 communication - Transmission DB
data error 3
70.8 communication - Incompatible DB
encoder (Note 6)
70.A DB
communication - Process error 1
70.B DB
70.C DB
70.D DB
70.E DB
70.F DB
8- 7
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
the
power
Load-side encoder normal
Alarm
71.1 communication - Receive data EDB

error 1
error 2
error 3
Load-side encoder 71.5 communication - Transmission EDB
normal data error 1
71 0 1 1 0
communication Load-side encoder normal
error 1 71.6 communication - Transmission EDB
data error 2
71.7 communication - Transmission EDB
data error 3
error 4
71.A communication - Receive data EDB
error 5
72.1 Load-side encoder data error 1 EDB
Load-side encoder data update
72.2 EDB
error
Load-side encoder data
72.3 EDB
Load-side encoder waveform error
normal Load-side encoder non-signal
72 72.4 EDB 0 1 1 0
communication error
error 2 Load-side encoder hardware
72.5 EDB
error 1
Load-side encoder hardware
72.6 EDB
error 2
72.9 Load-side encoder data error 2 EDB
74.1 Option card error 1 DB
74 Option card error 1 74.3 Option card error 3 DB
75.3 Option card connection error EDB
75 Option card error 2
75.4 Option card disconnected DB
Functional safety unit power
79.1 DB
voltage error (Note 5)
Functional safety unit internal
79.2 DB
error
Abnormal temperature of
Functional safety 79.3 SD
79 functional safety unit (Note 5) 1 1 1 1
unit diagnosis error
79.4 Servo amplifier error SD
79.5 Input device error SD
79.6 Output device error SD
79.7 Mismatched input signal error SD
79.8 Position feedback fixing error DB
Parameter verification error
7A.1 DB
Parameter setting range error
7A.2 DB
Parameter setting (safety observation function)
7A error (safety Parameter combination error 1 0 0 0
7A.3 DB
observation function) (safety observation function)
7A.4 combination error (safety DB
8- 8
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
No. Name Detail name Cycling ACD3 ACD2 ACD1 ACD0
No. (Note 2, Alarm
the
3) reset
power (Bit 3) (Bit 2) (Bit 1) (Bit 0)
Encoder diagnosis error 1
Alarm
7B.1 DB
Encoder diagnosis 7B.2 DB
7B error (safety 0 1 1 0
observation function) 7B.3 DB
7B.4 DB
Functional safety
7C.1 communication setting error SD
unit communication (Note 5)
7C diagnosis error 0 0 0 0
(safety observation
7C.2 communication data error SD
function) (Note 5)
7D.1 Stop observation error DB

Safety observation (Note 3)
7D 1 1 1 1
error
7D.2 Speed observation error DB
(Note 5)
Master-slave
82 82.1 Master-slave operation error 1 EDB
operation error 1
Network module undetected
84.1 DB
error
Network module Network module initialization
84 84.2 DB
initialization error error 1
Network module initialization
84.3 DB
error 2
85.1 Network module error 1 SD
Network module
85 85.2 Network module error 2 SD
error
85.3 Network module error 3 SD
86.1 Network communication error 1 SD
Network
86 86.2 Network communication error 2 SD
communication error
86.3 Network communication error 3 SD
USB
USB communication time-out
communication
8A.1 error/Serial communication SD
time-out error/serial
time-out error
communication
8A 0 0 0 0
time-out
error/Modbus RTU Modbus RTU communication
8A.2 SD
communication time-out error
time-out error
CC-Link IE communication error
8D.1 SD
1
8D.2 SD
2
8D.3 Master station setting error 1 DB
8D.5 Master station setting error 2 DB
CC-Link IE CC-Link IE communication error
8D 8D.6 SD
8D.7 SD
4
8D.8 SD
5
8D.9 Synchronization error 1 SD
8D.A Synchronization error 2 SD
8- 9
8. TROUBLESHOOTING
Alarm
Stop Alarm code
deactivation
Detail Type
No. Name Detail name Cycling ACD3 ACD2 ACD1 ACD0
No. (Note 2, Alarm
the
3) reset
power (Bit 3) (Bit 2) (Bit 1) (Bit 0)
USB communication receive
Alarm
8E.1 error/Serial communication SD

receive error
USB communication checksum
checksum error
USB communication character
8E.3 error/serial communication SD
character error
USB communication
USB communication command
error/serial
8E communication 0 0 0 0
command error
error/Modbus RTU
USB communication data
communication error
number error/Serial
8E.5 SD
communication data number
error
Modbus RTU communication
8E.6 SD
receive error
8E.7 SD
message frame error
8E.8 SD
CRC error
88888 Watchdog 8888._ Watchdog DB
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: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ).
Note that EDB is applied when an alarm below occurs:
[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2]
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 will
be DB.
Series Servo motor

HG-AK HG-AK0136/HG-AK0236/HG-AK0336
SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".
When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
5. Reset this while all the safety observation functions are stopped.
6. This alarm will occur only in the J3 compatibility mode.
8 - 10
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)
Battery cable Encoder battery cable
92.1
92 disconnection disconnection warning
warning 92.3 Battery degradation
Magnetic pole detection
ABS data transfer
93 93.1 incomplete warning at ABS data
warning
transfer request
95.1 STO1 off detection DB
95.2 STO2 off detection DB
STO warning 1 (safety
95.3 DB
95 STO warning
95.4 DB
95.5 DB
In-position warning at home
96.1
positioning
Command input warning at
96.2
home positioning
Home position
96 Servo off warning at home
setting warning 96.3
positioning
96.4 incomplete warning at home
positioning
Program operation disabled
Positioning 97.1
97 warning
specification warning
97.2 Next station position warning
Forward rotation-side software
98.1
Software limit stroke limit reached
98
warning Reverse rotation-side software
98.2
stroke limit reached
99.1 Forward rotation stroke end off (Note 4)
99.2 Reverse rotation stroke end off (Note 4)
99 Stroke limit warning
99.4 Upper stroke limit off
99.5 Lower stroke limit off
Optional unit input data sign
9A.1
Optional unit input error
9A
data error warning Optional unit BCD input data
9A.2
error
9B.1 Excess droop pulse 1 warning
Error excessive 9B.3 Excess droop pulse 2 warning
9B
warning Error excessive warning during
9B.4
0 torque limit
9C Converter warning 9C.1 Converter unit warning
Station number switch change
9D.1
warning
9D.2 Master station setting warning
CC-Link IE warning
9D Overlapping station number
1 9D.3
warning
Mismatched station number
9D.4
warning
CC-Link IE warning CC-Link IE communication
9E 9E.1
2 warning
9F.1 Low battery
9F Battery warning
9F.2 Battery degradation warning
8 - 11
8. TROUBLESHOOTING
Stop
Detail method
No. (Note 2,
3)
Excessive
Warning
E0 E0.1 Excessive regeneration warning

regeneration warning
Thermal overload warning 1
E1.1
during operation
E1.2
during operation
E1.3
during operation
E1.4
during operation
E1 Overload warning 1
E1.5
during a stop
E1.6
during a stop
E1.7
during a stop
E1.8
during a stop
Servo motor Servo motor temperature
E2 E2.1
overheat warning warning
Multi-revolution counter travel
E3.1
distance excess warning
Absolute position counter
E3.2
warning
Absolute position
E3 Absolute positioning counter
counter warning
E3.4 EEP-ROM writing frequency
warning
Encoder absolute positioning
E3.5
counter warning
Parameter setting range error
E4 Parameter warning E4.1
warning
Time-out during ABS data
E5.1
transfer
ABS time-out ABSM off during ABS data
E5 E5.2
warning transfer
SON off during ABS data
E5.3
transfer
E6.1 Forced stop warning SD
SS1 forced stop warning 1
Servo forced stop E6.2 SD
E6 (safety observation function)
warning
SS1 forced stop warning 2
E6.3 SD
Controller forced stop Controller forced stop input
E7 E7.1 SD
warning warning
Decreased cooling fan speed
Cooling fan speed E8.1
E8 warning
reduction warning
E8.2 Cooling fan stop
Servo-on signal on during main
E9.1 DB
circuit off
Bus voltage drop during low
Main circuit off E9.2 DB
E9 speed operation
warning
Ready-on signal on during main
E9.3 DB
circuit off
E9.4 Converter unit forced stop DB
ABS servo-on
EA EA.1 ABS servo-on warning
warning
The other axis error
EB EB.1 The other axis error warning DB
warning
EC Overload warning 2 EC.1 Overload warning 2
Output watt excess
ED ED.1 Output watt excess warning
warning
Instantaneous power failure
Tough drive F0.1
F0 tough drive warning
warning
F0.3 Vibration tough drive warning
8 - 12
8. TROUBLESHOOTING
Stop
Detail method
No. (Note 2,
3)
Drive recorder - Area writing
Warning
F2.1
Drive recorder - time-out warning
F2
Miswriting warning Drive recorder - Data miswriting
F2.2
warning
Oscillation
F3 F3.1 Oscillation detection warning
detection warning
Target position setting range
F4.4
error warning
Acceleration time constant
F4.6
setting range error warning
F4 Positioning warning
Deceleration time constant
F4.7
setting range error warning
Home position return type error
F4.9
warning
Cam data - Area writing time-out
F5.1
Simple cam warning
F5 function - Cam data Cam data - Area miswriting
F5.2
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 restoration failed
F6 function - Cam F6.3 Cam unregistered error
control warning Cam control data setting range
F6.4
error
F6.5 Cam No. external error
F6.6 Cam control inactive
Vibration failure prediction
F7.1
warning
Machine diagnosis Friction failure prediction
F7 F7.2
warning warning
Total travel distance failure
F7.3
prediction warning
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: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ).
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. Quick stop or slow stop can be selected using [Pr. PD30].
8 - 13
8. TROUBLESHOOTING
MEMO
8 - 14
9. DIMENSIONS
9. DIMENSIONS
9.1 Servo amplifier
POINT
Only MR-J4-_A_-RJ are shown for dimensions. MR-J4-_A_ does not have
CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_A_ are the same
as those of MR-J4-_A_-RJ except CN2L, CN7 and CN9 connectors.
9- 1
9. DIMENSIONS
(1) 200 V class

(a) MR-J4-10A(-RJ)/MR-J4-20A(-RJ)
[Unit: mm]
φ6 mounting hole 40
6 Approx. 80 135
Lock knob
161
156
168
6
With
Approx. 21
6 MR-BAT6V1SET Approx. 69.3

Approx. 38.5
Mass: 0.8 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1 Tightening torque: 3.24 [N•m]
L2 Approx. 40
Approx. 6
L3 2-M5 screw
6
N-
P3
P4
CNP2
P+
Approx. 168
C
156 ± 0.5
D
L11
L21
CNP3
U
V
W
Approx. 6
PE Screw size: M4
Tightening torque: 1.2 [N•m] Mounting hole process drawing
9- 2
9. DIMENSIONS
(b) MR-J4-40A(-RJ)/MR-J4-60A(-RJ)
[Unit: mm]
6 Approx. 80 170
Lock knob
161
156
168
6
With
MR-BAT6V1SET
Approx. 21
6 Approx. 69.3
Approx. 38.5
Mass: 1.0 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2 Approx. 40
Approx. 6
L3 2-M5 screw
6
N-
P3
P4
CNP2
P+
Approx. 168
C
156 ± 0.5
D
L11
L21
CNP3
U
V
W
Approx. 6
PE Screw size: M4
9- 3
9. DIMENSIONS
(c) MR-J4-70A(-RJ)/MR-J4-100A(-RJ)
[Unit: mm]
φ6 mounting hole
60
12 Approx. 80 185
Lock knob
Exhaust
6
156
161
168
6
Cooling fan
6 air intake
Approx.
Approx. 21
69.3
12 42
Approx. 38.5
With
MR-BAT6V1SET
6
Mass: 1.4 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2
Approx. 6
L3 Approx. 60
N-
P3
P4
CNP2
P+
Approx. 168
156 ± 0.5
C
D
L11
L21
CNP3
3-M5 screw
U
V
Approx. 6
W
PE Screw size: M4
Tightening torque: 1.2 [N•m]
Approx. 12 42 ± 0.3 Approx. 6
Mounting hole process drawing
9- 4
9. DIMENSIONS
(d) MR-J4-200A(-RJ)
[Unit: mm]
φ6 mounting hole
90
85
Lock knob 45 Approx. 80 195
Exhaust
6
156
161
168
6
Cooling fan
Approx.
Approx. 21
air intake
6 69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.1 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2
Approx. 6
L3
Approx. 90
N-
P3
P4
CNP2
P+
Approx. 168
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
V
Approx. 6
W
PE Screw size: M4
Tightening torque: 1.2 [N•m] Approx. 6 78 ± 0.3 Approx. 6
9- 5
9. DIMENSIONS
(e) MR-J4-350A(-RJ)
[Unit: mm]
85
45 Approx. 80 195
Lock knob
Exhaust
6
156
161
168
6
Cooling fan
Approx.
Approx. 21
air intake
6 69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.3 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2
Approx. 6
L3
Approx. 90
N-
P3
P4 6
(R
CNP3 )
U
Approx. 168
156 ± 0.5
V
10
W
CNP2
13 hole
P+
Mounting hole 3-M5 screw
C
dimensions
D
L11
Approx. 6
L21
PE
Screw size: M4
Tightening torque: 1.2 [N•m] Approx. 6 78 ± 0.3 Approx. 6
9- 6
9. DIMENSIONS
(f) MR-J4-500A(-RJ)
[Unit: mm]
Approx. 25 105 Approx. 80 200

2-φ6 mounting hole 6 93 6 Approx. 28 6
Cooling fan
7.5
exhaust
TE2
TE1
250
235
TE3
TE4
With
MR-BAT6V1SET PE
7.5
6 Intake
Approx.
38.5
Approx.
34
Mass: 4.0 [kg]

Mounting screw
Terminal
Screw size: M5
TE2 L11 TE2 Screw size: M3.5 Tightening torque: 3.24 [N•m]
L21
Approx. 105
TE1 L1 TE1 Screw size: M4 Approx. 6 93 ± 0.5 Approx. 6
L2
Approx. 7.5
L3
N-
4-M5 screw
TE3 P3 TE3 Screw size: M4
P4
P+
C
Approx. 250
TE4 D TE4 Screw size: M4

235 ± 0.5

U
V PE PE Screw size: M4
W Tightening torque: 1.2 [N•m]
Approx. 7.5
9- 7
9. DIMENSIONS
(g) MR-J4-700A(-RJ)
[Unit: mm]
172 Approx. 80 200

Cooling fan
7.5
exhaust
300
285
With TE3
MR-BAT6V1SET
TE1
PE TE2
7.5
6 Intake
Built-in regenerative resistor

Approx. Approx.
lead terminal fixing screw

38.5
Screw size: M4
101
Mass: 6.2 [kg]

Mounting screw
Terminal
Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
Approx. 172
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
Approx. 7.5
PE 4-M5 screw
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
TE2 Screw size: M3.5

285 ± 0.5
PE Screw size: M4
Approx. 7.5
9- 8
9. DIMENSIONS
(h) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)
[Unit: mm]
220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
10
exhaust
400
380
PE
24.2 11
TE2 TE1-1
TE1-2
60 43
78.5
With 188 Intake 25.5 22.8
10
6
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.
139.5 38.5
Mass: 13.4 [kg]

Mounting screw
Terminal
Screw size: M5
TE1-1 L1 L2 L3 U V W Tightening torque: 3.24 [N•m]
Approx. 220
Approx. 12 196 0.5 Approx. 12
TE1-2 P3 P4 P+ C N- TE2 L11 L21
Approx.
10
4-M5 screw
PE
TE1-1 Screw size: M6

Approx. 400
0.5
TE2 Screw size: M4

380
PE Screw size: M6
Approx.
10
9- 9
9. DIMENSIONS
(i) MR-J4-22KA(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
exhaust
12
400
376
TE1-1
32.7 11
TE2 TE1-2
39.7
PE
Intake
40.5
12 188.5 22.8
26.8
12
With
MR-BAT6V1SET 223.4 59.9 127.5
235.4
Approx. Approx.
179 38.5
Mass: 18.2 [kg]

Mounting screw
Terminal
Screw size: M10
Approx. 260
Approx. 12 236 ± 0.5 Approx. 12
TE1-2 P3 P4 P+ C N-
Approx.
12
4-M10 screw
PE TE2 L11 L21


Approx. 400
376 ± 0.5
TE2 Screw size: M4

PE Screw size: M8
Approx.

12
9 - 10
9. DIMENSIONS
(2) 400 V class

(a) MR-J4-60A4(-RJ)/MR-J4-100A4(-RJ)
[Unit: mm]
12 Approx. 80 195
Lock knob
6
156
161
168
6
6 Approx.
Approx. 21
69.3
12 42
Approx. 38.5
With
MR-BAT6V1SET
6
Mass: 1.7 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
N- Tightening torque: 3.24 [N•m]
L1
Approx.
L2
6
Approx. 60
L3
P3
P4
CNP2
Approx. 168
P+
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
Approx.
V
6
W 42 ± 0.3
PE Screw size: M4 Approx. 12 Approx. 6
9 - 11
9. DIMENSIONS
(b) MR-J4-200A4(-RJ)
[Unit: mm]
85
Exhaust
6
156
161
168
6
Cooling fan
Approx. air intake
Approx. 21
6
69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.1 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1
Approx.
Approx. 90
L2
6
L3
P3
P4
CNP2
Approx. 168
P+
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
Approx.
V
6
W
PE Approx. 6 78 ± 0.3 Approx. 6
Screw size: M4
9 - 12
9. DIMENSIONS
(c) MR-J4-350A4(-RJ)
[Unit: mm]
2-φ6 mounting hole 105 Approx. 80 200

6 93 6 Approx. 28 6
Lock knob
7.5
Cooling fan exhaust
Approx. 73.5
CNP1
CNP2
250
235
CNP3
Approx. 69.3
With
MR-BAT6V1SET
7.5
6 Intake
Approx.
38.5
Approx.
34
Mass: 3.6 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1 Approx. 105
L2 Approx. 6 93 ± 0.5 Approx. 6
L3
Approx.
7.5
P3 4-M5 screw
P4
CNP2
P+
C
D
Approx. 250
L11
235 ± 0.5
L21
CNP3
U
V
W
PE
Screw size: M4
Approx.
7.5
9 - 13
9. DIMENSIONS
(d) MR-J4-500A4(-RJ)
[Unit: mm]
Approx. 73.5
Approx. 28 Approx. 80 200

130
Approx. 200 6 118 Approx. 28 6
7.5
Cooling fan exhaust

250
235
Approx. 69.3
TE2 TE3
TE1
With Intake PE
7.5
MR-BAT6V1SET
Approx.
38.5

Screw size: M4
Approx.
60
Mass: 4.3 [kg]

Mounting screw
Terminal
Screw size: M5
TE2 L11 L21 TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
TE1 L1 L2 L3 P+ C U V W Approx. 130

PE
Approx.
7.5
4-M5 screw

TE3 Screw size: M4

Approx. 250

235 ± 0.5
TE1 Screw size: M4

PE Screw size: M4
Approx.

7.5
9 - 14
9. DIMENSIONS
(e) MR-J4-700A4(-RJ)
[Unit: mm]
172 Approx. 80 200

Cooling fan
7.5
exhaust
300
285
With TE3
MR-BAT6V1SET
TE1
PE TE2
7.5
6 Intake

Approx. Approx.

38.5
Screw size: M4
101
Mass: 6.5 [kg]

Mounting screw
Terminal
Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
Approx. 172
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
Approx.
7.5
4-M5 screw
PE
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
0.5

285
PE Screw size: M4
Approx.
7.5
9 - 15
9. DIMENSIONS
(f) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
[Unit: mm]
220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
10
exhaust
400
380
PE
24.2 11
TE2 TE1-1
TE1-2
60 43
78.5
With 188 Intake 25.5 22.8
10
6
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.
139.5 38.5
Mass: 13.4 [kg]

Mounting screw
Terminal
Screw size: M5
Approx. 220
TE1-2 P3 P4 P+ C N- TE2 L11 L21
Approx.
10
4-M5 screw
PE

Approx. 400
0.5
TE2 Screw size: M4

380
PE Screw size: M6
Approx.
10
9 - 16
9. DIMENSIONS
(g) MR-J4-22KA4(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
exhaust
12
400
376
TE1-1
32.7 11
TE2 TE1-2
39.7
PE
Intake
40.5
12 188.5 22.8
26.8
12
With
MR-BAT6V1SET 223.4 59.9 127.5
235.4
Approx. Approx.
179 38.5
Mass: 18.2 [kg]

Mounting screw
Terminal
Screw size: M10
Approx. 260
Approx. 12 236 ± 0.5 Approx. 12
TE1-2 P3 P4 P+ C N-
Approx.
12
4-M10 screw
PE TE2 L11 L21


Approx. 400
376 ± 0.5
TE2 Screw size: M4

PE Screw size: M8
Approx.

12
9 - 17
9. DIMENSIONS
(3) 100 V class

(a) MR-J4-10A1(-RJ)/MR-J4-20A1(-RJ)
[Unit: mm]
φ6 mounting hole
40
6 Approx. 80 135
Lock knob
161
156
168
6
Approx. 21
6 With Approx. 69.3

MR-BAT6V1SET
Approx. 38.5
Mass: 0.8 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
Approx. 40
Approx. 6
L2 2-M5 screw
6
N-
CNP2
P+
Approx. 168
C
156 ± 0.5
D
L11
L21
CNP3
U
V
W
Approx. 6
PE Screw size: M4
9 - 18
9. DIMENSIONS
(b) MR-J4-40A1(-RJ)
[Unit: mm]
φ6 mounting hole
40
6
156
161
168
6
With
Approx. 21
6 MR-BAT6V1SET Approx. 69.3

Approx. 38.5
Mass: 1.0 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
Approx. 40
Approx. 6
L2 2-M5 screw
6
N-
CNP2
P+
Approx. 168
C
156 ± 0.5
D
L11
L21
CNP3
U
V
W
Approx. 6
PE Screw size: M4
9 - 19
9. DIMENSIONS
9.2 Connector
(1) Miniature delta ribbon (MDR) system (3M)

(2) One-touch lock type
[Unit: mm]
E
D
A C
Logo, etc., are indicated here.
39.0
23.8
B 12.7
Variable dimensions
Connector Shell kit
A B C D E
10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0
(b) Jack screw M2.6 type

This is not available as option.
[Unit: mm]
E D
A C F
Logo, etc., are indicated here.
39.0
23.8
5.2
B
12.7
Variable dimensions
Connector Shell kit
A B C D E F
10150-3000PE 10350-52A0-008 41.1 52.4 18.0 14.0 17.0 46.5
9 - 20
9. DIMENSIONS
(2) SCR connector system (3M)

Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
[Unit: mm]
39.5
34.8
11.0
22.4
9 - 21
9. DIMENSIONS
MEMO
9 - 22
10. CHARACTERISTICS
10. CHARACTERISTICS
POINT
For the characteristics of the linear servo motor and the direct drive motor, refer
to sections 15.4 and 16.5.
10.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque
of the machine should be kept at 70% or less of the rated torque.
This servo amplifier has solid-state servo motor overload protection. (The servo motor overload current (full
load current) is set on the basis of 120% rated current of the servo amplifier.)
10 - 1
10. CHARACTERISTICS
The following table shows combinations of each servo motor and graph of overload protection
characteristics.
Rotary servo motor Graph of overload
protection
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR characteristics
053 053 72 Characteristics a
13 13
23 23 51 53 (Note) Characteristics b
43 43 81 73
73 73 52 103
102
121 152 103 73 (Note) Characteristics c
201 202 153 103 (Note)
152 203 153 (Note)
202 203 (Note)
301 353
352
421 352 353 353 (Note) Characteristics d
502 502 503 601
702 701M
503 (Note)
703
801 Characteristics e
12K1
15K1
20K1
25K1
11K1M
15K1M
22K1M
903
524 534 (Note) Characteristics b
1024 734
1034
1524 734 (Note) Characteristics c
2024 1034
3524 (Note)
1534
(Note)
2034
(Note)
3534
5024 3534 Characteristics d
7024 (Note)
6014
701M4
5034
(Note)
7034
8014 Characteristics e
12K14
15K14
20K14
25K14
11K1M4
15K1M4
22K1M4
9034
Note. The combination is for increasing the maximum torque of the servo motor to 400%.
10 - 2
10. CHARACTERISTICS
The following graphs show overload protection characteristics.

1000 1000
Operating Operating
100 100
Operation time [s]

Operation time [s]
Servo-lock Servo-lock
10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400
(Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%]
Characteristics a Characteristics b
1000 1000
Operating Operating
100 100
Operation time [s]
Operation time [s]
Servo-lock
Servo-lock
10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
(Note 1, 3) Load ratio [%] (Note 1, 3) Load ratio [%]
Characteristics c Characteristics d
10 - 3
10. CHARACTERISTICS
10000
1000
Operation time [s]
Operating
100
Servo-lock
10
1
0 50 100 150 200 250 300
(Note 1) Load ratio [%]
Characteristics e
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
2. The load ratio ranging from 300% to 350% applies to the HG-KR servo motor.
3. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to
400% of rated torque.
Fig. 10.1 Electronic thermal protection characteristics
10 - 4
10. CHARACTERISTICS
10.2 Power supply capacity and generated loss
(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at rated
torque and servo-off according to the duty used during operation. When the servo motor is run at less
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Table 10.1 Power supply capacity and generated loss per servo motor at rated output
(Note 2) Servo amplifier-generated heat [W]
(Note 1) At rated output
[Generated heat Area required for
Power supply
Servo amplifier Servo motor in the cabinet heat dissipation
capacity At rated output With servo-off
when cooled [m2]
[kVA]
outside the
cabinet] (Note 3)
HG-MR053 0.3 25 15 0.5
HG-MR13 0.3 25 15 0.5
MR-J4-10A(-RJ)
HG-KR053 0.3 25 15 0.5
HG-KR13 0.3 25 15 0.5
HG-MR23 0.5 25 15 0.5
MR-J4-20A(-RJ)
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40A(-RJ)
HG-KR43 0.9 35 15 0.7
HG-SR52 1.0 40 15 0.8
MR-J4-60A(-RJ) HG-SR51 1.0 40 15 0.8
HG-JR53 1.0 40 15 0.8
HG-MR73 1.3 50 15 1.0
HG-KR73 1.3 50 15 1.0
MR-J4-70A(-RJ)
HG-UR72 1.3 50 15 1.0
HG-JR73 1.3 50 15 1.0
HG-SR102 1.7 50 15 1.0
MR-J4-100A(-RJ) HG-SR81 1.5 50 15 1.0
HG-JR103 1.7 50 15 1.0
HG-SR152 2.5 90 20 1.8
HG-SR202 3.5 90 20 1.8
HG-SR121 2.1 90 20 1.8
HG-SR201 3.5 90 20 1.8
MR-J4-200A(-RJ) HG-RR103 1.7 50 15 1.0
HG-RR153 2.5 90 20 1.8
HG-UR152 2.5 90 20 1.8
HG-JR153 2.5 90 20 1.8
HG-JR203 3.5 90 20 1.8
HG-SR352 5.5 130 20 2.6
HG-SR301 4.8 120 20 2.4
MR-J4-350A(-RJ) HG-RR203 3.5 90 20 1.8
HG-UR202 3.5 90 20 1.8
HG-JR353 5.5 160 20 2.7
HG-SR502 7.5 195 25 3.9
HG-SR421 6.3 160 25 3.2
HG-RR353 5.5 135 25 2.7
MR-J4-500A(-RJ) HG-RR503 7.5 195 25 3.9
HG-UR352 5.5 195 25 3.9
HG-UR502 7.5 195 25 3.9
HG-JR503 7.5 195 25 3.9
HG-SR702 10 300 25 6.0
HG-JR703 10 300 25 6.0
MR-J4-700A(-RJ)
HG-JR701M 10 300 25 6.0
HG-JR601 8.6 250 25 5.0
10 - 5
10. CHARACTERISTICS
(Note 2) Servo amplifier-generated heat [W]

(Note 1) At rated output
[Generated heat Area required for
Power supply
Servo amplifier Servo motor in the cabinet heat dissipation
capacity At rated output With servo-off
when cooled [m2]
[kVA]
outside the
cabinet] (Note 3)
HG-JR903 13 435 130 45 8.7
HG-JR11K1M 16 530 160 45 11.0
MR-J4-11KA(-RJ)
HG-JR801 12 370 110 45 7.0
HG-JR12K1 18 570 170 45 11.5
HG-JR15K1M 22 640 195 45 13.0
MR-J4-15KA(-RJ)
HG-JR15K1 22 640 195 45 12.8
HG-JR22K1M 33 850 260 55 17.0
MR-J4-22KA(-RJ) HG-JR20K1 30 800 240 55 16.0
HG-JR25K1 38 900 270 55 19.0
HG-SR524 1.0 40 18 0.8
MR-J4-60A4(-RJ)
HG-JR534 1.0 40 18 0.8
HG-SR1024 1.7 60 18 1.2
MR-J4-100A4(-RJ) HG-JR734 1.3 60 18 1.2
HG-JR1034 1.7 60 18 1.2
HG-SR1524 2.5 90 20 1.8
HG-SR2024 3.5 90 20 1.8
MR-J4-200A4(-RJ)
HG-JR1534 2.5 90 20 1.8
HG-JR2034 3.5 90 20 1.8
HG-SR3524 5.5 130 20 2.6
MR-J4-350A4(-RJ)
HG-JR3534 5.5 160 20 2.7
HG-SR5024 7.5 195 25 3.9
MR-J4-500A4(-RJ)
HG-JR5034 7.5 195 25 3.9
HG-SR7024 10 300 25 6.0
HG-JR7034 10 300 25 6.0
MR-J4-700A4(-RJ)
HG-JR701M4 10 300 25 6.0
HG-JR6014 8.6 250 25 5.0
HG-JR9034 13 435 130 45 8.7
HG-JR11K1M4 16 530 160 45 11.0
MR-J4-11KA4(-RJ)
HG-JR8014 12 370 110 45 7.0
HG-JR12K14 18 570 170 45 11.5
HG-JR15K1M4 22 640 195 45 13.0
MR-J4-15KA4(-RJ)
HG-JR15K14 22 640 195 45 12.8
HG-JR22K1M4 33 850 260 55 17.0
MR-J4-22KA4(-RJ) HG-JR20K14 30 800 240 55 16.0
HG-JR25K14 38 900 270 55 19.0
HG-MR053 0.3 25 15 0.5
HG-MR13 0.3 25 15 0.5
MR-J4-10A1(-RJ)
HG-KR053 0.3 25 15 0.5
HG-KR13 0.3 25 15 0.5
HG-MR23 0.5 25 15 0.5
MR-J4-20A1(-RJ)
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40A1(-RJ)
HG-KR43 0.9 35 15 0.7
Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power
factor improving AC reactor or power factor improving DC reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2.
3. This value is applicable when the servo amplifier is cooled by using the panel through attachment.
10 - 6
10. CHARACTERISTICS
(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C. (With
an approximately 5 °C safety margin, the system should operate within a maximum 55 °C limit.) The
necessary cabinet heat dissipation area can be calculated by equation 10.1.
P
A= ················································································································· (10.1)
K• T
A : Heat dissipation area [m2]

P : Loss generated in the cabinet [W]
∆T : Difference between internal and ambient temperatures [°C]
K : Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses
generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a
cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier
(guideline) when the servo amplifier is operated at the ambient temperature of 40 °C under rated load.
(Outside the cabinet) (Inside the cabinet)
Air flow
Fig. 10.2 Temperature distribution in an enclosed type cabinet
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the
temperature slope inside and outside the cabinet will be steeper.
10 - 7
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value will be longer than the actual
distance. If an enough braking distance is not provided, a moving part may crash
CAUTION into the stroke end, which is very dangerous. Install the anti-crash mechanism
such as an air brake or an electric/mechanical stopper such as a shock absorber
to reduce the shock of moving parts.
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
Servo motors for MR-J4 may have the different coasting distance from that of
the previous model.
The electronic dynamic brake operates in the initial state for the HG series servo
motors of 600 W or smaller capacity. The time constant "τ" for the electronic
dynamic brake will be shorter than that of normal dynamic brake. Therefore,
coasting distance will be longer than that of normal dynamic brake. For how to
set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12].
10 - 8
10. CHARACTERISTICS
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) (a), (b) in
this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF
Dynamic brake
time constant τ
V0
Machine speed
te Time
Fig. 10.3 Dynamic brake operation diagram
V0 JL
Lmax = • te + 1+ ··························································································· (10.2)
60 JM
Lmax: Maximum coasting distance ····················································································· [mm]

V0: Machine's fast feed speed ····················································································· [mm/min]
JM: Moment of inertia of the servo motor·································································· [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft·············· [× 10-4 kg•m2]
τ: Dynamic brake time constant ···························································································· [s]
te: Delay time of control section ···························································································· [s]
For 7 kW or lower servo amplifier, there is internal relay delay time of about 10 ms. For 11 kW to 22
kW servo amplifier, there is delay caused by magnetic contactor built into the external dynamic brake
(about 50 ms) and delay caused by the external relay.
10 - 9
10. CHARACTERISTICS
(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 10.2.
(a) 200 V class
50 50
Dynamic brake time
Dynamic brake time

40 40
constant [ms]
constant [ms]
30 73 30 73 43
43
20 20
23
23
10 053 10 053
13 13
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed [r/min] Speed [r/min]
HG-MR series HG-KR series

100 350
Dynamic brake time
Dynamic brake time

300
80
constant [ms]
constant [ms]
250
60 51 81 200 102
52
40 150
121 352
201 100 152 502
20 202
50
421 301 702
0 0
0 250 500 750 1000 1250 1500 0 500 1000 1500 2000 2500 3000
HG-SR 1000 r/min series HG-SR 2000 r/min series

100 80
90 15K1 15K1M
Dynamic brake time
Dynamic brake time
70
80 25K1
constant [ms]
constant [ms]
70 60
20K1
60 50 22K1M
50 40
40 701M
30 30 11K1M
20 801 20
10 12K1 601 10
0
0 500 1000 1500 2000 0
0 500 1000 1500 2000 2500 3000
Speed [r/min]
Speed [r/min]
HG-JR1000 r/min series HG-JR1500 r/min series

260 18
53
220 16
Dynamic brake time
Dynamic brake time
903 14
constant [ms]
180
constant [ms]
12
140 103 10 103
703 503
100 353 8
73 153
503 6
60
4
20 203 153 353
0 2 203
0 1000 2000 3000 4000 5000 6000
0
Speed [r/min] 0 500 1000 1500 2000 2500 3000
Speed [r/min]
HG-JR3000 r/min series HG-RR series
10 - 10
10. CHARACTERISTICS
100
90
72
80 502
Dynamic brake time

70
constant [ms]
352
60
50
40
30
20 202
152
10
0
0 500 1000 1500 2000
Speed [r/min]
HG-UR series
(b) 400 V class

100 60
524
Dynamic brake time

50 15K14
Dynamic brake time
80
constant [ms]
3524
constant [ms]
40 25K14
60 30
12K14
2024 20 20K14
40 5024 8014
10
1024 6014
20
0
7024 0 500 1000 1500 2000
1524
0 Speed [r/min]
0 500 1000 1500 2000 2500 3000
Speed [r/min]
HG-SR series HG-JR1000 r/min series

70 120
7034
60 100
Dynamic brake time
constant [ms]
80
Dynamic brake time
50 534
constant [ms]
9034
11K1M4 60
40
1034
40 3534
30 5034
701M4 15K1M4 20
20 2034 1534
734
22K1M4 0
0 1000 2000 3000 4000 5000 6000
10
Speed [r/min]
0
0 500 1000 1500 2000 2500 3000
Speed [r/min]
HG-JR1500 r/min series HG-JR3000 r/min series
10 - 11
10. CHARACTERISTICS
10.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia
moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the
indicated value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
Permissible load to motor inertia Permissible load to motor inertia
Servo motor Servo motor
ratio [multiplier] ratio [multiplier]
HG-KR053 HG-JR53
HG-KR13 HG-JR73
HG-KR23 30 HG-JR103 30
HG-KR43 HG-JR153
HG-KR73 HG-JR203
HG-MR053 35 HG-JR353 16 (30)
HG-MR13 HG-JR503 15 (30)
HG-MR23 HG-JR703 11 (30)
32
HG-MR43 HG-JR903 18 (30)
HG-MR73 HG-JR701M 5
HG-SR51 HG-JR11K1M
10 (30)
HG-SR81 HG-JR15K1M
30
HG-SR121 HG-JR22K1M 20 (30)
HG-SR201 HG-JR601 5
HG-SR301 16 HG-JR801 30
HG-SR421 15 HG-JR12K1 20 (30)
HG-SR52 HG-JR15K1 17 (30)
30
HG-SR102 HG-JR20K1 26 (30)
HG-SR152 HG-JR25K1 21 (30)
21
HG-SR202 HG-JR534
HG-SR352 HG-JR734
13 (15)
HG-SR502 HG-JR1034 30 (30)
HG-SR702 5 (15) HG-JR1534
HG-SR524 5 (15) HG-JR2034
HG-SR1024 HG-JR3534 20 (30) (Note)
5 (17)
HG-SR1524 HG-JR5034 15 (30)
HG-SR2024 HG-JR7034 11 (30)
HG-SR3524 HG-JR9034 18 (30)
5 (15)
HG-SR5024 HG-JR701M4 7 (10)
HG-SR7024 HG-JR11K1M4
10 (30)
HG-UR72 HG-JR15K1M4
30
HG-UR152 HG-JR22K1M4 20 (30)
HG-UR202 HG-JR6014 10
16
HG-UR352 HG-JR8014 30
HG-UR502 15 HG-JR12K14 20 (30)
HG-RR103 HG-JR15K14 30 (30)
30
HG-RR153 HG-JR20K14 26 (30)
HG-RR203 16 HG-JR25K14 21 (30)
HG-RR353
15
HG-RR503
Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed
of the servo motor is 25 times.
10 - 12
10. CHARACTERISTICS
10.4 Cable bending life
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 × 108 a
5 × 107
1 × 107
5 × 106 a: Long bending life encoder cable
Number of bending times [time]
Long bending life motor power cable

Long bending life electromagnetic brake cable
1 × 106
5 × 105
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
1 × 105
5 × 104
1 × 104 b
5 × 103
1 × 103
4 7 10 20 40 70 100 200
Bend radius [mm]
10 - 13
10. CHARACTERISTICS
10.5 Inrush currents at power-on of main circuit and control circuit
POINT
For a servo amplifier of 600 W or less, the inrush current values can change
depending on frequency of turning on/off the power and ambient temperature.
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors. (Refer to section 11.10.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.
(1) 200 V class

The following shows the inrush currents (reference data) that will flow when 240 V AC is applied at the
power supply capacity. When you use a 1-phase 200 V AC power supply with MR-J4-10A(-RJ) to MR-
J4-200A(-RJ), the inrush currents of the main circuit power supply are the same.
Inrush currents (A0-P)
Servo amplifier Main circuit power supply Control circuit power supply
(L1/L2/L3) (L11/L21)
MR-J4-10A(-RJ)
MR-J4-20A(-RJ) 30 A
MR-J4-40A(-RJ) (attenuated to approx. 3 A in 20 ms)
MR-J4-60A(-RJ) 20 A to 30 A
MR-J4-70A(-RJ) 34 A (attenuated to approx. 1 A in 20 ms)
MR-J4-200A(-RJ) 113 A
42 A
MR-J4-500A(-RJ)
(attenuated to approx. 20 A in 20 ms) 34 A
85 A (attenuated to approx. 2 A in 20 ms)
MR-J4-700A(-RJ)
(attenuated to approx. 20 A in 30 ms)
226 A
MR-J4-11KA(-RJ)
226 A 42 A
MR-J4-15KA(-RJ)
(attenuated to approx. 50 A in 30 ms) (attenuated to approx. 2 A in 30 ms)
226 A
MR-J4-22KA(-RJ)
10 - 14
10. CHARACTERISTICS
(2) 400 V class

power supply capacity.
(L1/L2/L3) (L11/L21)
MR-J4-60A4(-RJ) 65 A
MR-J4-100A4(-RJ) (attenuated to approx. 5 A in 10 ms)
80 A 40 A to 50 A
MR-J4-200A4(-RJ)
100 A
MR-J4-350A4(-RJ)
65 A
MR-J4-500A4(-RJ)
(attenuated to approx. 9 A in 20 ms) 41 A
68 A (attenuated to approx. 0 A in 3 ms)
MR-J4-700A4(-RJ)
339 A
MR-J4-11KA4(-RJ)
339 A 38 A
MR-J4-15KA4(-RJ)
339 A
MR-J4-22KA4(-RJ)
(3) 100 V class

power supply capacity.
(L1/L2) (L11/L21)
MR-J4-10A1(-RJ) 20 A to 30 A
38 A
MR-J4-20A1(-RJ) (attenuated to approx. 0 A
MR-J4-40A1(-RJ) in 1 ms to 2 ms)
10 - 15
10. CHARACTERISTICS
MEMO
10 - 16
11. OPTIONS AND PERIPHERAL EQUIPMENT
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, when confirming whether the charge lamp is
off or not, always confirm it from the front of the servo amplifier.
Use the specified auxiliary equipment and options to prevent a malfunction or a

CAUTION fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.
11.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Purchase the cable and connector options indicated in this section.
11 - 1
11.1.1 Combinations of cable/connector sets
For MR-J4-_A_ servo amplifier

4)
Operation 2)
panel
Personal computer
3)
Servo amplifier 5) Servo amplifier
Controller
1) (Packed with the
servo amplifier) CN5 6) CN5
CN6 CN6
(Note 1)
CNP1 Safety logic unit
CN3 MR-J3-D05 CN3
CN9
CN8 (Note 2) 7) CN8
CNP2 CN10
CN1 CN1
CNP3
CN2 CN2
Battery
CN4 CN4
10)
9) Battery unit
MR-BT6VCASE and
MR-BAT6V1 battery
To 24 V DC power supply
for electromagnetic brake
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo
motor power supply, electromagnetic brake, and encoder.
Servo motor
Power Brake Encoder

connector connector connector
Refer to "Linear Encoder Instruction Manual" about options for

linear encoder. Linear servo motor
To CN2
Linear encoder
Power
connector
To CN2
(The connection method changes
depending on incremental system Encoder
and absolute position detection system.) connector
Direct drive motor
Refer to "Direct Drive Motor Instruction Manual" about options
for direct drive motor power and encoder.
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.
11 - 2
For MR-J4-_A_-RJ servo amplifier

4)
Operation 2)
panel
Personal computer
3)
Servo amplifier 5) Servo amplifier
Controller
1) (Packed with the
servo amplifier) CN5 6) CN5
CN6 CN6
(Note 1)
CNP1 Safety logic unit
CN3 MR-J3-D05 CN3
CN9
CN8 (Note 2) 7) CN8
CNP2 CN10
CN1 CN1
CNP3
CN2
CN2
CN2L Battery
CN4 CN4
10)
9) Battery unit
MR-BT6VCASE and
MR-BAT6V1 battery
To 24 V DC power supply
for electromagnetic brake
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo
motor power supply, electromagnetic brake, and encoder.
Servo motor
Power Brake Encoder

connector connector connector
Refer to "Linear Encoder Instruction Manual" about options for

linear encoder. Linear servo motor
To CN2
Linear encoder
Power
connector
To CN2
(The connection method changes
depending on incremental system Encoder
and absolute position detection system.) connector
Direct drive motor
Refer to "Direct Drive Motor Instruction Manual" about options
for direct drive motor power and encoder.
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.
11 - 3
No. Name Model Description Remark

1) Servo amplifier Supplied
power connector with 200 V
set class and
100 V class
servo
CNP1 Connector: CNP2 Connector: CNP3 Connector: amplifiers
06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 of 1 kW or
(JST) (JST) (JST) less.
Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14)
Insulator OD: to 3.9 mm Open tool
J-FAT-OT (N) or
J-FAT-OT
(JST)
Supplied
with 200 V
class servo
amplifiers
of 2 kW
CNP1 Connector: CNP2 Connector: CNP3 Connector: and 3.5
06JFAT-SAXGFK-XL 05JFAT-SAXGDK-H5.0 03JFAT-SAXGFK-XL kW.
(JST) (JST) (JST)
CNP3 CNP2
Applicable wire size: Applicable wire size:
1.25 mm2 to 5.5 mm2 0.8 mm2 to 2.1 mm2
(AWG 16 to 10) (AWG 18 to 14) Open tool
Insulator OD: to 4.7 mm Insulator OD: to 3.9 mm J-FAT-OT-EXL
(JST)
Supplied
with 400 V
class servo
amplifiers
of 3.5 kW
CNP1 connector: CNP2 connector: CNP3 connector: or less.
06JFAT-SAXGDK- 05JFAT-SAXGDK- 03JFAT-SAXGDK-
HT10.5 HT7.5 HT10.5
(JST) (JST) (JST)
(AWG 16 to 14)
Insulator OD: to 3.9 mm Open tool
J-FAT-OT-XL
(JST)
2) Junction terminal MR-J2M- Junction terminal block connector CN1 connector For
block cable CN1TBL_M Connector: D7950-B500FL Connector: 10150-6000EL junction
Cable length: (3M) Shell kit: 10350-3210-000 terminal
0.5 m, 1 m (3M or equivalent) block
(Refer to section connection
11.6.)
3) CN1 connector MR-J3CN1 Connector: 10150-3000PE

set Shell kit: 10350-52F0-008
(3M or equivalent)
4) Junction terminal MR-TB50 Refer to section 11.6.
block
5) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
11 - 4

6) Monitor cable MR-J3CN6CBL1M CN6 connector
3 (Red)
Cable length: 1 m Housing: 51004-0300
2 (White)
1 (Black) Terminal: 50011-8100
(Molex)
7) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
8) Short-circuit Supplied
connector with servo
amplifier
9) Battery cable MR-BT6V1CBL_M Housing: PAP-02V-O Connector: 10114-3000PE For
Cable length: Contact: SPHD-001G-P0.5 Shell kit: 10314-52F0-008 connection
0.3/1 m (JST) (3M or equivalent) with battery
(Refer to section unit
11.1.3.)
10) Junction battery MR-BT6V2CBL_M Housing: PAP-02V-O Housing: PALR-02VF-O For battery
cable Cable length: Contact: SPHD-001G-P0.5 Contact: SPAL-001GU-P0.5 junction
0.3/1 m (JST) (JST)
(Refer to section
11.1.3.)
Housing: PAP-02V-O
Contact: SPHD-001G-P0.5
(JST)
11 - 5
11.1.2 MR-D05UDL3M-B STO cable
This cable is for connecting an external device to the CN8 connector.

Cable model Cable length Application
MR-D05UDL3M-B 3m Connection cable for the CN8 connector
(1) Configuration diagram

Servo amplifier
MR-D05UDL3M-B
CN8
(2) Internal wiring diagram

CN8 connector
1
(Note)
2 2 4 6 8
Yellow (with black dots)
3 STOCOM 1 3 5 7
Yellow (with red dots)
4 STO1
Gray (with black dots)
5 STO2 Viewed from the connection part
Gray (with red dots)
6 TOFB1
White (with black dots)
7 TOFB2
White (with red dots)
8 TOFCOM
Plate Shield
Note. Do not use the two core wires with orange sheath (with red or black dots).
11 - 6
11.1.3 Battery cable/junction battery cable
(1) Model explanations

The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable
model. The cables of the lengths with the symbols are available.
Cable length
Cable model Bending life Application/remark
0.3 m 1m
For connection with MR-
MR-BT6V1CBL_M 03 1 Standard
BT6VCASE
MR-BT6V2CBL_M 03 1 Standard For junction
(2) MR-BT6V1CBL_M
(a) Appearance
Components Description
3) 1) Cable VSVC 7/0.18 × 2C
2) 1)
Housing: PAP-02V-O
2) Connector
Contact: SPHD-001G-P0.5 (JST)
Connector: 10114-3000PE
3) Connector
Shell kit: 10314-52F0-008 (3M or equivalent)
(b) Internal wiring diagram

2) 1) 3)
White
BT 1 7 BT
Black
LG 2 14 LG
Plate SD
(3) MR-BT6V2CBL_M
(a) Appearance
Components Description
2) 5) 1) Cable
4) 3) VSVC 7/0.18 × 2C
2) Cable
3) Connector Housing: PAP-02V-O
1) 4) Connector Contact: SPHD-001G-P0.5 (JST)
Housing: PALR-02VF-O
5) Connector
Contact: SPAL-001GU-P0.5 (JST)
(b) Internal wiring diagram

4) 1) 3)
White
BT 1 1 BT
Black
LG 2 2 LG
White
1 BT
Black
2 LG
2) 5)
11 - 7
11.2 Regenerative options
Do not use servo amplifiers with regenerative options other than the combinations
CAUTION specified below.
Otherwise, it may cause a fire.
11.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
(1) 200 V class

Regenerative Power [W]
Servo Built-in (Note 1) (Note 1) (Note 1)
MR-RB032 MR-RB12 MR-RB30 MR-RB3N MR-RB31 MR-RB32
amplifier regenerative MR-RB50 MR-RB5N MR-RB51
resistor
[40 Ω] [40 Ω] [13 Ω] [9 Ω] [6.7 Ω] [40 Ω]
[13 Ω] [9 Ω] [6.7 Ω]
MR-J4-10A
30
(-RJ)
MR-J4-20A
10 30 100
(-RJ)
MR-J4-40A
10 30 100
(-RJ)
MR-J4-60A
10 30 100
(-RJ)
MR-J4-70A
20 30 100 300
(-RJ)
MR-J4-100A
20 30 100 300
(-RJ)
MR-J4-200A
100 300 500
(-RJ)
MR-J4-350A
100 300 500
(-RJ)
MR-J4-500A
130 300 500
(-RJ)
MR-J4-700A
170 300 500
(-RJ)
(Note 2) Regenerative power [W]

Servo
External regenerative MR-RB5R MR-RB9F MR-RB9T
amplifier
resistor (accessory) [3.2 Ω] [3 Ω] [2.5 Ω]
MR-J4-11KA
500 (800) 500 (800)
(-RJ)
MR-J4-15KA
850 (1300) 850 (1300)
(-RJ)
MR-J4-22KA
850 (1300) 850 (1300)
(-RJ)
Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.
11 - 8
(2) 400 V class

Regenerative power [W]
(Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
Built-in MR-
Servo amplifier MR- MR- MR- MR- MR- MR- MR-
regenerative RB1H-4
RB3M-4 RB3G-4 RB5G-4 RB34-4 RB54-4 RB3U-4 RB5U-4
resistor [82 Ω]
[120 Ω] [47 Ω] [47 Ω] [26 Ω] [26 Ω] [22 Ω] [22 Ω]
MR-J4-60A4(-RJ) 15 100 300
MR-J4-100A4(-RJ) 15 100 300
MR-J4-200A4(-RJ) 100 300 500
MR-J4-350A4(-RJ) 100 300 500
MR-J4-500A4(-RJ) 130 300 500
MR-J4-700A4(-RJ) 170 300 500
(Note 2) Regenerative power [W]

External
Servo amplifier regenerative MR-RB5K-4 MR-RB6K-4
resistor [10 Ω] [10 Ω]
(accessory)
MR-J4-11KA4(-RJ) 500 (800) 500 (800)
MR-J4-15KA4(-RJ) 850 (1300) 850 (1300)
MR-J4-22KA4(-RJ) 850 (1300) 850 (1300)
Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.
(3) 100 V class

Regenerative power [W]
Servo amplifier Built-in
MR-RB032 MR-RB12
regenerative
[40 Ω] [40 Ω]
resistor
MR-J4-10A1(-RJ) 30
MR-J4-20A1(-RJ) 10 30 100
MR-J4-40A1(-RJ) 10 30 100
11 - 9
11.2.2 Selection of regenerative option
A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section.
To select a regenerative option precisely, use the capacity selection software.
(1) Rotary servo motor

(a) Regenerative energy calculation
Servo motor Feed speed of moving part
V 2)
N V
FC 1) 3)
Forward
WL rotation 4) 8)
Time
Reverse
rotation
Moving part 5) 7)
6)
V: Feed speed of moving part [mm/min]
N: Servo motor speed (N = V/∆S) [r/min] tpsa1 t1 tpsd1 t2 tpsa2 t3 tpsd2 t4
∆S: Travel distance per servo motor [mm/rev]
revolution (∆S = PB)
PB: Ball screw lead [mm]
LB: Ball screw length [mm]
DB: Ball screw diameter [mm]
WL: Moving part mass [kg]
FC: Load antidrag setting [N]
TL: Load torque converted into equivalent [N•m]
value on servo motor shaft [N•m]
η: Drive system efficiency
µ: Friction coefficient
JL: Load moment of inertia converted into [kg•cm2]
equivalent value on servo motor shaft
JM: Moment of inertia of the servo motor [kg•cm2]
π: Pi constant
g: Gravitational acceleration [m/s2]
11 - 10
Formulas for calculating torque and energy in operation

Regenerative Torque applied to servo motor [N•m]
Energy E [J]
power (Note 1, 2)
(JL/η + JM) • N 1 0.1047
1) T1 = • + TL E1 = • N • T1 • tpsa1
9.55 • 104 tpsa1 2
2) T2 = TL E2 = 0.1047 • N • T2 • t1
-(JL • η + JM) • N 1 0.1047
3) T3 = • + TL E3 = • N • T3 • tpsd1
9.55 • 104 tpsd1 2
4), 8) T4, T8 = 0 E4, E8 = 0 (No regeneration)
(JL/η + JM) • N 1 0.1047
5) T5 = • + TL E5 = • N • T5 • tpsa2
9.55 • 104 tpsa2 2
6) T6 = TL E6 = 0.1047 • N • T6 • t3
-(JL • η + JM) • N 1 0.1047
7) T7 = • + TL E7 = • N • T7 • tpsd2
9.55 • 104 tpsd2 2
Note 1. Load torque converted into equivalent value on servo motor shaft TL can be calculated
with the following expression.
TL = {(FC + (µ × WL × g)) × ∆S}/(2000 × π × η)
2. Load moment of inertia converted into equivalent value on servo motor shaft JL can be
calculated with the following expression.
JL = JL1 + JL2 + JL3
JL1 is the load moment of inertia of the moving part, JL2 is the load moment of inertia of
the ball screw, and JL3 is the load moment of inertia of the coupling. JL1 and JL2 can be
calculated with the following expressions.
JL1 = WL × (∆S/(20 × π))2
JL2 = {(π × 0.0078 × (LB/10))/32} × (DB/10)4
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
11 - 11
(b) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Inverse Capacitor Inverse Capacitor
efficiency [%] charging [J] efficiency [%] charging [J]
MR-J4-10A(-RJ) 55 9 MR-J4-60A4(-RJ) 85 12
MR-J4-20A(-RJ) 75 9 MR-J4-100A4(-RJ) 85 12
MR-J4-40A(-RJ) 85 11 MR-J4-200A4(-RJ) 85 25
MR-J4-60A(-RJ) 85 11 MR-J4-350A4(-RJ) 85 43
MR-J4-70A(-RJ) 85 18 MR-J4-500A4(-RJ) 90 45
MR-J4-100A(-RJ) 85 18 MR-J4-700A4(-RJ) 90 70
MR-J4-200A(-RJ) 85 36 MR-J4-11KA4(-RJ) 90 120
MR-J4-350A(-RJ) 85 40 MR-J4-15KA4(-RJ) 90 170
MR-J4-500A(-RJ) 90 45 MR-J4-22KA4(-RJ) 90 250
MR-J4-700A(-RJ) 90 70 MR-J4-10A1(-RJ) 55 4
MR-J4-11KA(-RJ) 90 120 MR-J4-20A1(-RJ) 75 4
MR-J4-15KA(-RJ) 90 170 MR-J4-40A1(-RJ) 85 10
MR-J4-22KA(-RJ) 90 250
Inverse efficiency (ηm): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Efficiency
varies with the speed and generated torque. Since the characteristics of the
electrolytic capacitor change with time, allow for approximately 10% higher
inverse efficiency.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = ηm • Es - Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.
PR [W] = ER/tf
11 - 12
(2) Linear servo motor

(a) Thrust and energy calculation
Linear servo motor Feed speed
secondary-side (magnet) 2)
V V
M1 Load 1) 3)
Ft Positive
M2 direction
4) 8)
Time
Linear servo motor Negative
primary-side (coil) direction
5) 7)
Linear servo motor 6)
tpsa1 t1 tpsd1 t2 tpsa2 t3 tpsd2 t4
The following shows equations of the linear servo motor thrust and energy at the driving pattern
above.
Section Thrust F of linear servo motor [N] Energy E [J]

1) F1 = (M1 + M2) • V/tpsa1 + Ft E1 = V/2 • F1 • tpsa1
2) F2 = F1 E2 = V • F2 • t1
3) F3 = -(M1 + M2) • V/tpsd1 + Ft E3 = V/2 • F3 • tpsd1
4), 8) F4, F8 = 0 E4, E8 = 0 (No regeneration)
5) F5 = (M1 + M2) • V/tpsa2 + Ft E5 = V/2 • F5 • tpsa2
6) F6 = Ft E6 = V • F6 • t3
7) F7 = -(M1 + M2) • V/tpsd2 + Ft E7 = V/2 • F7 • tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) in the sum total of negative
energies.
(b) Losses of servo motor and servo amplifier in regenerative mode

For inverse efficiency and capacitor charging energy, refer to (1) (b) in this section.
(c) Regenerative energy calculation

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative resistor.
ER [J] = η • Es - Ec
From the total of ER's whose subtraction results are positive and one-cycle period, the power
consumption PR [W] of the regenerative option can be calculated with the following equation.
PR [W] = total of positive ER's/one-cycle operation period (tf)
Select a regenerative option from the PR value. Regenerative option is not required when the energy
consumption is equal to or less than the built-in regenerative energy.
11 - 13
Set [Pr. PA02] according to the option to be used.

[Pr. PA02]
0 0
Regenerative option selection
00: Regenerative option is not used.
For servo amplifier of 100 W, regenerative resistor is not used.
For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
Supplied regenerative resistors or regenerative option is used with the servo
amplifier of 11 kW to 22 kW.
01: FR-BU2/FR-BU2-H/FR-RC/FR-RC-H/FR-CV/FR-CV-H
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4 (Cooling fan is required.)
FA: Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative
resistor as standard accessory.
11.2.4 Connection of regenerative option
POINT
When the MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G-4, MR-
RB5G-4, MR-RB34-4, MR-RB54-4, MR-RB5K-4, or MR-RB6K-4 is used, a
cooling fan is required to cool it. The cooling fan should be prepared by the
customer.
For the sizes of wires used for wiring, refer to section 11.9.
The regenerative option generates heat of 100 °C higher than the ambient temperature. Fully consider heat
dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or
make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires with a
maximum length of 5 m for a connection with the servo amplifier.
11 - 14
(1) MR-J4-500A(-RJ) or less/MR-J4-350A4(-RJ) or less

Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and
G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option
overheats abnormally.
Always remove the lead from across P+ to D.
Servo amplifier Regenerative option
P
P+
C
C
G3
D
(Note 3) G4
5 m or less
(Note 1, 2)
Cooling fan
Note 1. When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB3M-4, MR-RB3G-4, or

MR-RB5G-4, forcibly cool it with a cooling fan (92 mm × 92 mm, minimum air
flow: 1.0 m3).
2. When the ambient temperature is more than 55 °C and the regenerative load ratio
is more than 60% in MR-RB30, MR-RB-31, MR-RB32 and MR-RB3N, forcefully
cool the air with a cooling fan (1.0 m3/min or more, 92 mm × 92 mm). A cooling
fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is
required for the shaded area in the following graph.)
A cooling fan is required.
100
Load ratio [%]
60
A cooling fan is
not required.
0
0 35 55
Ambient temperature [°C]
3. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
11 - 15
(2) MR-J4-500A4(-RJ)/MR-J4-700A(-RJ)/MR-J4-700A4(-RJ)
Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the
regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is
opened when the regenerative option overheats abnormally.
Always remove the wiring (across P+ to C) of the
servo amplifier built-in regenerative resistor.
Servo amplifier Regenerative option
P
P+
C
C
G3
(Note 2) G4
5 m or less
(Note 1)
Cooling fan
Note 1. When using the MR-RB51, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-

4, forcibly cool it with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m3).
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires
(across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as
shown below.
Accessory screw

11 - 16
(3) MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ)/MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ) (when using the

supplied regenerative resistor)
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not

have a protective cover. Touching the resistor (including wiring/screw hole area)
may cause a burn injury and electric shock. Even if the power was shut-off, be
careful until the bus voltage discharged and the temperature decreased because
CAUTION of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
Do not use servo amplifiers with external regenerative resistors other than the
combinations specified below. Otherwise, it may cause a fire.
When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors
(4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the
specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.
Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (1.0 m3/min
or more, 92 mm × 92 mm) improves the regeneration capability. In this case, set "_ _ F A" in [Pr. PA02].
5 m or shorter
Servo amplifier
P+
(Note) C
Series connection
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. The
thermal sensor is not mounted on the attached regenerative resistor. An abnormal
heating of resistor may be generated at a regenerative circuit failure. Install a thermal
sensor near the resistor and establish a protective circuit to shut off the main circuit
power supply when abnormal heating occurs. The detection level of the thermal
sensor varies according to the settings of the resistor. Set the thermal sensor in the
most appropriate position on your design basis, or use the thermal sensor built-in
regenerative option. (MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-RB6K-4)
Regenerative power [W] Resultant Number of

Servo amplifier Regenerative resistor Symbol (Note)
Normal Cooling resistance [Ω] resistors
MR-J4-11KA(-RJ) GRZG400-0.8Ω GR400 R80K 500 800 3.2 4

MR-J4-15KA(-RJ) GRZG400-0.6Ω GR400 R60K 3
850 1300 5
MR-J4-22KA(-RJ) GRZG400-0.5Ω GR400 R50K 2.5
MR-J4-11KA4(-RJ) GRZG400-2.5Ω GR400 2R5K 500 800 10 4
MR-J4-15KA4(-RJ)
GRZG400-2Ω GR400 2R0K 850 1300 10 5
MR-J4-22KA4(-RJ)
Note. The following shows an indication example of symbol.
Symbol
GR400 R80K
Regenerative resistor
11 - 17
(4) MR-J4-11KA-PX to MR-J4-22KA-PX/MR-J4-11KA-RZ to MR-J4-22KA-RZ/MR-J4-11KA4-PX to MR-J4-

22KA4-PX/MR-J4-11KA4-RZ to MR-J4-22KA4-RZ (when using the regenerative option)
The MR-J4-11KA-PX to MR-J4-22KA-PX, MR-J4-11KA-RZ to MR-J4-22KA-RZ, MR-J4-11KA4-PX to
MR-J4-22KA4-PX, and MR-J4-11KA4-RZ to MR-J4-22KA4-RZ servo amplifiers are not supplied with
regenerative resistors. When using any of these servo amplifiers, always use the regenerative option
MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.
Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are
thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats
abnormally.
5 m or shorter
Servo amplifier
Regenerative option
P+ P
C C
G3
(Note)
G4
Configure up a circuit which shuts off main circuit

power when thermal protector operates.
Note. G3-G4 contact specifications

Regenerative power
Regenerative Resistance [W]
Servo amplifier
option [Ω] Without With cooling
cooling fans fans
MR-J4-11KA-PX
MR-RB5R 3.2 500 800
MR-J4-11KA-RZ
MR-J4-15KA-PX
MR-RB9F 3 850 1300
MR-J4-15KA-RZ
MR-J4-22KA-PX
MR-RB9T 2.5 850 1300
MR-J4-22KA-RZ
MR-J4-11KA4-PX
MR-RB5K-4 10 500 800
MR-J4-11KA4-RZ
MR-J4-15KA4-PX
MR-J4-15KA4-RZ
MR-RB6K-4 10 850 1300
MR-J4-22KA4-PX
MR-J4-22KA4-RZ
11 - 18
When using cooling fans, install them using the mounting holes provided in the bottom of the
regenerative option.
MR-RB5R/MR-RB9F/MR-RB9T/
Top MR-RB5K-4/MR-RB6K-4
Bottom
TE1
Cooling fan × 2
(1.0 m3/min or more,
92 mm × 92 mm)
TE1 terminal block

Mounting screw 4-M3 G4 G3 C P
11.2.5 Dimensions
(1) MR-RB12
[Unit: mm]
TE1 terminal
G3
φ6 mounting hole
40 G4
Approx. 6
36 P
15 C
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 14 to 12)

Tightening torque: 0.5 to 0.6 [N•m]
Mounting screw
5
156
168
144
Screw size: M5
TE1
Mass: 1.1 [kg]

12
6
6 2
Approx. 20 149
169
11 - 19
(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M4 screw) P
8.5
C
G3
125
82.5
G4
150
142
Screw size: M4
30

7
8.5
101.5 82.5
10 90 A 318
100 Mounting screw
B
Screw size: M5
Approx. 30
Intake Tightening torque: 5.4 [N•m]
Variable
Regenerative Mass
dimensions
option [kg]
79
A B
MR-RB30
MR-RB31
17 335
MR-RB32
MR-RB3N
2.9
MR-RB34-4
MR-RB3M-4
23 341
MR-RB3G-4
MR-RB3U-4
(3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M3 screw) P
On opposite side
7 × 14 C
12.5
49 82.5 slotted hole G3

G4
Screw size: M4
162.5
Mounting screw
Screw size: M5
82.5
350
Intake
Variable
162.5
Regenerative dimensions Mass

option [kg]
133
A B
MR-RB50
MR-RB51 17 217
2.3 7 MR-RB5N
12.5
200 A 12 108 Approx. 30 5.6

MR-RB54-4
B 120 8
MR-RB5G-4 23 223
MR-RB5U-4
11 - 20
(4) MR-RB032
[Unit: mm]
TE1 terminal
φ6 mounting hole G3
30
Approx. 12
Approx. 6
15 G4
P
C

(AWG 24 to 12)
5
156
168
144
Mounting screw
Screw size: M5
TE1
Mass: 0.5 [kg]
12
6 1.6
6
Approx. 20 99
119
(5) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4
[Unit: mm]
TE1 terminal block
2-φ10 mounting hole
10
G4 G3 C P
30
Terminal screw size: M5

Mounting screw
Screw size: M8
427
480
500
Regenerative Mass
option [kg]
MR-RB5R 10
MR-RB9F
43
Cooling fan intake 11

2.3 MR-RB9T
10
10
15 230 15 197 15 MR-RB5K-4 10

260 215 MR-RB6K-4 11
15 230 15
Screw for mounting cooling fan
4-M3 screw
82.5
Approx. 42
82.5 82.5
11 - 21
(6) MR-RB1H-4
[Unit: mm]
TE1 terminal
G3
40
G4
36
P
15 φ6 mounting hole
C
6
Applicable wire size: AWG 24 to 10

Mounting screw
Screw size: M5
168
156
144
Mass: 1.1 [kg]

Approx. 6
6 6 2
Approx. 24 149
173
(7) GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω
(standard accessories)
[Unit: mm] Variable dimensions Tightening

Regenerative Mounting Mass
torque
resistor A C K screw size [kg]
Approx. K
[N•m]
Approx. φC GRZG400-0.8Ω 10 5.5 39
Approx. 2.4
10 Approx. A
GRZG400-0.6Ω
16 8.2 46
GRZG400-0.5Ω M8 13.2 0.8
GRZG400-2.5Ω
10 5.5 39
1.6
GRZG400-2.0Ω
40
Approx. 330 9.5

385 40
411 Approx. φ47
11 - 22
11.3 FR-BU2-(H) Brake unit
POINT
Use a 200 V class brake unit and a resistor unit with a 200 V class servo
amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class
servo amplifier. Combination of different voltage class units cannot be used.
When a brake unit and a resistor unit are installed horizontally or diagonally, the
heat dissipation effect diminishes. Install them on a flat surface vertically.
Temperature of the resistor unit case rises to higher than +100 °C. Keep cables
and flammable materials away from the case.
Ambient temperature condition of the brake unit is between -10 °C to 50 °C.
Note that the condition is different from the ambient temperature condition of the
servo amplifier (between 0 °C and 55 °C).
Configure the circuit to shut down the power-supply with the alarm output of the
brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 11.3.1.
For executing a continuous regenerative operation, use FR-RC-(H) power
regeneration converter or FR-CV-(H) power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be used
simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the
brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient
regenerative capability.
When using the brake unit, set [Pr. PA02] of the servo amplifier to "_ _ 0 1".
When using the brake unit, always refer to the FR-BU2 Instruction Manual.
11 - 23
11.3.1 Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Permissible
Number of Resultant Applicable servo
continuous
Brake unit Resistor unit connected resistance amplifier
power
units [Ω] (Note 3)
[kW]
200 V FR-BU2-15K FR-BR-15K 1 0.99 8 MR-J4-500A(-RJ)
class (Note 1)
2 (parallel) 1.98 4 MR-J4-500A(-RJ)
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ)
MR-J4-15KA(-RJ)
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500A(-RJ)
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ)
MR-J4-15KA(-RJ)
FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J4-11KA(-RJ)
MR-J4-15KA(-RJ)
MR-J4-22KA(-RJ)
MT-BR5-55K 1 5.5 2 MR-J4-22KA(-RJ)
400 V FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500A4(-RJ)
class MR-J4-700A4(-RJ)
MR-J4-11KA4(-RJ)
(Note 2)
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11KA4(-RJ)
MR-J4-15KA4(-RJ)
MR-J4-22KA4(-RJ)
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J4-22KA4(-RJ)
Note 1. Only when using servo motor HG-RR353/HG-UR352

2. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo
motor speed to 1800 r/min or less.
3. When the brake unit is selected by using the capacity selection software, a brake unit other than the combinations
listed may be shown. Refer to the combinations displayed on the capacity selection software for detailed
combinations.
11.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.
Parameter Change
possible/ Remark
No. Name impossible
0 Brake mode switchover Impossible Do not change the parameter
1 Monitor display data selection Possible Refer to the FR-BU2 Instruction Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter
3 Input terminal function selection 2
77 Parameter write selection
78 Cumulative energization time
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
11 - 24
11.3.3 Connection example
POINT
Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier
results in brake unit malfunction. Always connect the PR terminal of the brake
unit to the PR terminal of the resistor unit.
(1) Combination with FR-BR-(H) resistor unit

(a) When connecting a brake unit to a servo amplifier
1) 200 V class
ALM OFF
RA1 ON
MC
MC
Servo amplifier
(Note 9)
MC CN1 24 V DC (Note 12)
MCCB
(Note 1) L1 46 DOCOM
Power L2
supply 47 DOCOM
L3
L11 48 ALM RA1
L21
(Note 11)
FR-BR
(Note 5) TH1
P
(Note 10) TH2
PR
Main circuit CN1
power supply P3
(Note 3) FR-BU2
EM2 42 P4
SON 15 PR MSG
P+ P/+ SD
(Note 4) A
DICOM 20 N/-
(Note 7)
24 V DC (Note 12) B
DICOM 21 N-
C
C BUE
(Note 8) (Note 6)
(Note 2) SD
Note 1. For power supply specifications, refer to section 1.3.

2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or
less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to
the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
10. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
11 - 25
2) 400 V class
ALM
RA1 OFF ON
MC
MC
Step-down
transformer Servo amplifier
(Note 9) CN1
MCCB MC 24 V DC (Note 12)
Power L2
supply L3 47 DOCOM
L11 48 ALM RA1
L21
(Note 11) FR-BR-H
(Note 5) TH1
P
TH2
(Note 10) PR
P3
EM2 42 (Note 3) FR-BU2-H
P4
SON 15 PR MSG
P+ P/+ SD
DICOM 20 (Note 4) A
(Note 7) N/-
24 V DC B
DICOM 21 N-
(Note 12) C
C BUE
(Note 6)
SD (Note 8)
(Note 2)

2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected
to P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+
and C terminals.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
amplifier.
11 - 26
(b) When connecting two brake units to a servo amplifier
POINT
To use brake units with a parallel connection, use two sets of FR-BU2 brake
unit. Combination with other brake unit results in alarm occurrence or
malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD)
between the two brake units.
Do not connect the converter unit and brake units as below. Connect the cables
with a terminal block to distribute as indicated in this section.
Servo amplifier Brake unit Servo amplifier Brake unit
P+ P/+ P+ P/+
N- N/- N- N/-
Brake unit Brake unit

P/+ P/+
N/- N/-
Connecting two cables to P+ and N- Passing wiring

terminals
11 - 27
ALM OFF
RA1 ON
MC
MC
SK
Servo amplifier
(Note 11)
MC CN1 24 V DC (Note 14)
MCCB
Power L2
supply 47 DOCOM
L3
L11 48 ALM RA1
L21
(Note 13)
FR-BR
(Note 5) TH1
P
TH2
PR
(Note 12) P3
Main circuit CN1 (Note 3) FR-BU2
power supply P4
EM2 42 PR MSG
(Note 10) (Note 9)
SON 15 P+ P/+ SD
(Note 4) A
(Note 7) N/-
DICOM 20 B
24 V DC (Note 14) C
DICOM 21 N- BUE
(Note 8) (Note 6)
C SD
Terminal block
(Note 2)
FR-BR
(Note 5) TH1
P
TH2
PR
FR-BU2
PR MSG
(Note 9)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 8) (Note 6)
SD
11 - 28

5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A
6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
10. For the cable to connect the terminal block and the P+ and N- terminals of the servo amplifier, use the cable indicated in (4) (b)
in this section.
12. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
11 - 29
(2) Combination with MT-BR5-(H) resistor unit

(a) 200 V class
ALM
RA1 OFF RA2
ON
MC
MC
SK
Servo amplifier
(Note 9) CN1
MCCB MC 24 V DC (Note 12)
Power L2
supply 47 DOCOM
L3
L11 48 ALM RA1
L21
(Note 11) MT-BR5 SK
(Note 5) TH1
P RA2
(Note 10) TH2
Main circuit PR
power supply CN1
P3
EM2 42 (Note 3) FR-BU2
P4
SON 15 PR MSG
P+ P/+ SD
DICOM 20 (Note 4) A
(Note 7) N/-
24 V DC B
DICOM 21 N-
(Note 12) C
C BUE
SD (Note 8) (Note 6)
(Note 2)

2. Do not connect a supplied regenerative resistor to the P+ and C terminals.
5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
amplifier.
11 - 30
(b) 400 V class

ALM OFF RA2
RA1 ON
MC
MC
Step-down Servo amplifier

transformer (Note 8)
CN1 24 V DC (Note 11)
MCCB MC
Power L2
supply 47 DOCOM
L3
L11 48 ALM RA1
L21
(Note 10) MT-BR5-H SK
(Note 4) TH1
P RA2
TH2
(Note 9) PR
P3
EM2 42 (Note 2) FR-BU2-H
P4
SON 15 PR MSG
P+ P/+ SD
DICOM 20 (Note 3) A
(Note 6) N/-
24 V DC B
DICOM 21 N-
(Note 11) C
BUE
(Note 5)
SD (Note 7)

4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
amplifier.
11 - 31
(3) Connection instructions

Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the
brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter.
The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without
twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.
Brake unit Resistor unit Brake unit Resistor unit
P+ P/+ P P P+ Twist P/+ P Twist P

N- N/- PR PR N- N/- PR PR
5 m or shorter 5 m or shorter 10 m or shorter 10 m or shorter
11 - 32
(4) Cables
(a) Cables for the brake unit
For the brake unit, HIV cable (600 V grade heat-resistant PVC insulated wire) is recommended.
1) Main circuit terminal

Main Crimp
Wire size
circuit terminal Tightening
Brake unit terminal torque N/-, P/+, PR,
N/-, P/+,
screw [N•m] HIV wire
PR, AWG
N/- P/+ PR size [mm2]
200 V FR-BU2-15K M4 5.5-4 1.5 3.5 12
class FR-BU2-30K M5 5.5-5 2.5 5.5 10
Terminal block FR-BU2-55K M6 14-6 4.4 14 6
400 V FR-BU2-H30K M4 5.5-4 1.5 3.5 12
class FR-BU2-H55K M5 5.5-5 2.5 5.5 10
FR-BU2-H75K M6 14-6 4.4 14 6
2) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over
tightening can cause a short circuit or malfunction due to damage to the screw
or the brake unit.
RES SD MSG MSG SD SD Insulator Core

PC BUE SD
A B C
Jumper
6 mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5 N•m to 0.6 N•m
Wire size: 0.3 mm2 to 0.75 mm2
Screw driver: Small flat-blade screw driver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets
of the brake unit
Wire size
Brake unit
HIV wire [mm2] AWG
FR-BU2-15K 8 8
11 - 33
(5) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals
POINT
Always use recommended crimp terminals or equivalent since some crimp
terminals cannot be installed depending on the size.
Number of (Note 1)
Servo amplifier Brake unit connected Crimp terminal (Manufacturer) Applicable
units tool
200 V MR-J4-500A(-RJ) FR-BU2-15K 1 FVD5.5-S4 (JST) a
class 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-700A(-RJ) FR-BU2-15K 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-11KA(-RJ) FR-BU2-15K 2 FVD8-6 (JST) c
FR-BU2-30K 1 FVD5.5-6 (JST) a
FR-BU2-55K 1 FVD14-6 (JST) d
MR-J4-15KA(-RJ) FR-BU2-15K 2 FVD8-6 (JST) c
FR-BU2-30K 1 FVD5.5-6 (JST) a
FR-BU2-55K 1 FVD14-6 (JST) d
MR-J4-22KA(-RJ) FR-BU2-55K 1 FVD14-8 (JST) d
400 V MR-J4-500A4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
class MR-J4-700A4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
MR-J4-11KA4(-RJ) FR-BU2-H30K 1 FVD5.5-6 (JST) a
FR-BU2-H55K 1 FVD5.5-6 (JST) a
FR-BU2-H75K 1 FVD14-8 (JST) d
Note 1. Symbols in the applicable tool field indicate applicable tools in (4) (b) in this section.
2. Coat the crimping part with an insulation tube.
(b) Applicable tool

Servo amplifier-side crimp terminals
Symbol Applicable tool
Crimp terminal Manufacturer
Body Head Dice
FDV5.5-S4 YNT-1210S
a
FDV5.5-6
b 8-4NS YHT-8S
FVD8-6 YF-1 YNE-38 DH-111 JST
c
E-4 DH-121
FVD14-6 YF-1 YNE-38 DH-112
d
FVD14-8 E-4 DH-122
11 - 34
11.3.4 Dimensions
(1) FR-BU2-(H) Brake unit
[Unit: mm]
FR-BU2-15K
φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5 4
5
6 56 6 18.5 52 62
68 132.5
[Unit: mm]
FR-BU2-30K/FR-BU2-H30K
2-φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5 5
5
6 96 6 18.5 52 59
108 129.5
[Unit: mm]
FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K
2-φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5
5
5
6 158 6 18.5 52 72
170 142.5
11 - 35
(2) FR-BR-(H) Resistor unit
[Unit: mm]
Approx.
H2
2-φC
D1
(Note)
H3 ± 1
H1 ± 3
H±5
Control circuit (Note)
terminal
Main circuit
terminal
Approx.
C C
H2
Approx. 35 W1 ± 1 Approx. 35
For FR-BR-55K/FR-BR-H55K, an
eyebolt is placed on two locations.
(Refer to the following diagram. )
Approx.
Eyebolt
D±5
40
204
33
W±5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Approximate
Resistor unit W W1 H H1 H2 H3 D D1 C
mass [kg]
FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15
200 V
FR-BR-30K 340 270 600 560 20 582 220 4 10 30
class
FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70
400 V FR-BR-H30K 340 270 600 560 20 582 220 4 10 30
class FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70
(3) MT-BR5-(H) resistor unit
[Unit: mm]
Approximate
Resistor unit Resistance
mass [kg]
85
200 V MT-BR5-55K 2.0 Ω 50

NP class
400 V MT-BR5-H75K 6.5 Ω 70
class
800
M4
M6
30
40
85
193 189
37 60 10 21
480
510
75 300 75
4φ15 mounting hole 7.5 450 7.5
11 - 36
11.4 FR-RC-(H) power regeneration converter
POINT
When using the FR-RC-(H), power regeneration converter, set [Pr. PA04] to "0 0
_ _" to enable EM1 (Forced stop 1).
When using the FR-RC-(H) power regeneration converter, refer to "Power
Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
When using the FR-RC-(H) power regeneration converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_
_ _ 1".
(1) Selection example

The converters can continuously return 75% of the nominal regenerative power. They are applied to the
servo amplifiers of the 5 kW to 22 kW.
Nominal
Power regeneration regenerative
Continuous energization time [s]

Servo amplifier 500
converter power
[kW] 300
MR-J4-500A(-RJ) 200
FR-RC-15K 15
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ) 100
FR-RC-30K 30
MR-J4-15KA(-RJ)
FR-RC-55K 55 MR-J4-22KA(-RJ) 50
MR-J4-500A4(-RJ) 30
FR-RC-H15K 15
MR-J4-700A4(-RJ) 20
MR-J4-11KA4(-RJ) 0 50 75 100 150
FR-RC-H30K 30
MR-J4-15KA4(-RJ)
Nominal regenerative power [%]
FR-RC-H55K 55 MR-J4-22KA4(-RJ)
11 - 37
(2) Connection example
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
(a) 200 V class

Servo amplifier
(Note 7)
L11
L21
Power factor
improving AC reactor
MCCB MC (Note 10)
L1
(Note 5)
Power L2
supply
L3
CN1 CN1 24 V DC (Note 9)
Forced stop 1 EM1 DOCOM
(Note 6) Malfunction (Note 8)

(Note 8) SON ALM RA
(Note 3)
Servo-on
DICOM
24 V DC
(Note 9)
(Note 2)
P3 P4 N- C P+
5 m or shorter
(Note 4)
RD N/- P/+
Ready A
SE
B
RDY output B
C
C
R/L1 Alarm output
S/L2
T/L3
RX
R
SX (Note 1)
Phase detection
S terminals
TX
T
Power regeneration converter
FR-RC
FR-RC
ALM Operation ready
B C RA OFF
ON
MC
Forced stop 1 MC
SK
(Note 6)
11 - 38
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC will not operate.
3. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the controller side.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off.
10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
11 - 39
(b) 400 V class

Servo amplifier
(Note 7)
L11
L21
Power factor
improving AC reactor
MCCB MC (Note 10)
L1
(Note 5)
Power L2
supply
L3
(Note 9)
CN1 CN1 24 V DC
Forced stop 1
(Note 6) EM1 DOCOM
(Note 8)
(Note 8) Servo-on SON ALM RA Malfunction
(Note 3)
Step-down DICOM
transformer
24 V DC
(Note 9)
(Note 2)
P3 P4 N- C P+
(Note 4) 5 m or shorter
RD N/- P/+
Lady A
SE
B
RDY output B
C
C
R/L1 Alarm output
S/L2
T/L3
RX
R
SX (Note 1)
Phase detection
S terminals
TX
T
Power regeneration converter
FR-RC-H
FR-RC-H Operation
B C ALM ready
RA OFF
ON
MC
Forced stop 1 MC
SK
(Note 6)
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC-H will not operate.
2. When using the servo amplifier of 7 kW and 5 kW, make sure to disconnect the wiring of built-in regenerative resistor across
the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+
and C terminals.
3. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the controller side.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off.
10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
11 - 40
(3) Dimensions
2-φD hole Mounting foot (removable)
E
Mounting foot
(movable)
Rating plate
Front cover Display panel

window
BA
B
Cooling fan
D F K
EE
AA
C
A
Heat generation area outside

mounting dimension
[Unit: mm]
Power regeneration Approximate
A AA B BA C D E EE K F
converter mass [kg]
FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19
FR-RC-30K 340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-55K 480 410 700 670 250 12 15 15 3.2 135 55
FR-RC-H15K
340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-H30K
FR-RC-H55K 480 410 700 670 250 12 15 15 3.2 135 55
(4) Mounting hole machining dimensions

The following shows mounting hole dimensions for mounting the heat generation area of the power
regeneration converter outside a cabinet as measures against heat generation when the converter is
mounted in an enclosed type cabinet.
[Unit: mm]
Power regeneration
(AA) (2-φD hole) a b D AA BA
converter
FR-RC-15K 260 412 10 200 432
FR-RC-30K 330 562 10 270 582
FR-RC-55K 470 642 12 410 670
FR-RC-H15K
(Mounting hole) 330 562 10 270 582
FR-RC-H30K
FR-RC-H55K 470 642 12 410 670
(BA)
11 - 41
11.5 FR-CV-(H) power regeneration common converter
POINT
For details of the power regeneration common converter FR-CV-(H), refer to the
FR-CV Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the
servo amplifier. Otherwise, the servo amplifier and FR-CV-(H) will malfunction.
Connect the DC power supply between the FR-CV-(H) and servo amplifier with
correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and
servo amplifier.
Two or more FR-CV-(H)'s cannot be installed to improve regeneration capability.
Two or more FR-CV-(H)'s cannot be connected to the same DC power supply
line.
When using FR-CV-(H), set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop
1).
When using the FR-CV-(H) power regeneration common converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr.
PC27] to "_ _ _ 1".
11.5.1 Model designation
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
F R - CV - H 7. 5 K
Capacity
Symbol Capacity [kW]
7.5K 7.5
11K 11
15K 15
22K 22
30K 30
37K 37
55K 55
Symbol Voltage class

None 200 V class
H 400 V class
11 - 42
11.5.2 Selection example
(1) 200 V class

FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W
to 22 kW. The following shows the restrictions on using the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV.
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the rated capacity of the servo amplifier with
the maximum rated capacity should be equal to or less than the value of "Maximum servo amplifier
capacity" in the following table.
The following table lists the restrictions.

FR-CV-_
Item
7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo
6
amplifiers
Total of connectable servo amplifier
3.75 5.5 7.5 11 15 18.5 27.5
capacities [kW]
Total of connectable servo motor rated
33 46 61 90 115 145 215
currents [A]
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common Dedicated stand-alone
converter reactor
FR-CV-7.5K(-AT) FR-CVL-7.5K
FR-CV-11K(-AT) FR-CVL-11K
FR-CV-37K FR-CVL-37K
FR-CV-55K FR-CVL-55K
11 - 43
(2) 400 V class

FR-CV-H power regeneration common converter can be used for the servo amplifier of 600 W to 22 kW.
The following shows the restrictions on using the FR-CV-H.
(a) Up to six servo amplifiers can be connected to one FR-CV-H.
(b) FR-CV-H capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV-H.
(c) When FR-CV-H capacity is less than the total of rated capacities of the connected servo amplifiers ×
2.5, make the maximum torque of the connected servo motors equal to or less than 200 % of the
rated torque. When FR-CV-H capacity exceeds the total of rated capacities of the connected servo
amplifiers × 2.5, the maximum torque of the connected servo amplifiers is not limited.
(d) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV-H.
(e) Among the servo amplifiers connected to the FR-CV-H, the rated capacity of the servo amplifier with
the maximum rated capacity should be equal to or less than the value of "Maximum servo amplifier
capacity" in the following table.
The following table lists the restrictions.

FR-CV-H_
Item
7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo
6
amplifiers
Total capacity of connectable servo
3.75 5.5 7.5 11 15 18.5 27.5
amplifiers [kW]
Total rated current of connectable servo
17 23 31 43 57 71 110
motors [A]
When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H).
Power regeneration common Dedicated stand-alone
converter reactor
FR-CV-H7.5K(-AT) FR-CVL-H7.5K
FR-CV-H11K(-AT) FR-CVL-H11K
FR-CV-H37K FR-CVL-H37K
FR-CV-H55K FR-CVL-H55K
11 - 44
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
(a) 200 V class
POINT
When using the servo amplifier of 7 kW or less, make sure to disconnect the
wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).

L11 U U
L21 V V
(Note 6) FR-CVL FR-CV
W W
MCCB MC R/L11 R2/L12
R2/L1
3-phase S2/L22
S/L21
200 V AC to S2/L2 CN2
230 V AC T/L31 T2/L32
T2/L3
P/L+ P4
(Note 4)
N/L- N-
24 V DC (Note 7)
R/L11
24 V DC (Note 7)
S/L21 DOCOM
P24
T/MC1 (Note 1)
SD ALM RA2
RDYB RA3 (Note 2)

RDYA
(Note 1)
A
RA1 RA2 EM1 OFF ON RA1 (Note 1)
B
MC C
RA3 (Note 2) SON
MC SON
RA1 (Note 3)
SK EM1
EM1 (Note 1, 5)
DICOM
24 V DC (Note 7)
Note 1. Configure a sequence that will shut off main circuit power at the follow cases.
FR-CV or servo amplifier alarm occurs.
EM1 (forced stop 1) turns off.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV is ready.
3. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
the FR-CV.
4. When using FR-CV, always disconnect wiring between P3 and P4 terminals.
5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
11 - 45
(b) 400 V class
POINT
When using the servo amplifier of 7 kW or less, be sure to disconnect the wiring
of built-in regenerative resistor (3.5 kW or less: P+ and D, 5 kW/7 kW: P+ and C).

L11 U U
L21 V V
(Note 6) FR-CVL-H FR-CV-H
W W
MCCB MC R/L11 R2/L12
3-phase R2/L1
380 V AC S/L21 S2/L22
to S2/L2 CN2
480 V AC T/L31 T2/L32
T2/L3
P/L+ P4
(Note 4)
N/L- N-
24 V DC (Note 7)
R/L11
Step-down 24 V DC (Note 7)
S/L21
transformer P24 DOCOM
T/MC1 (Note 1)
SD ALM RA2
RDYB RA3 (Note 2)

RDYA
(Note 1)
A (Note 1)
RA1 RA2 EM1 OFF RA1
ON
B
MC C RA3 (Note 2) SON
SON
RA1 (Note 3)
MC EM1
EM1 (Note 1, 5)
DICOM
SK
24 V DC (Note 7)
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV-H or servo amplifier.
EM1 (Forced stop 1) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.
3. Configure a sequence that will make a stop with the forced stop input of the servo amplifier if an alarm occurs in the FR-CV-H.
4. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.
5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
11 - 46
(4) Selection example of wires used for wiring
POINT
Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: Single wire set in midair
(a) Wire sizes

1) Across P to P4, N to N
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
between the FR-CV and servo amplifier.
Total of servo amplifier capacities [kW] Wire [mm2]
1 or less 2 (AWG 14)
2 3.5 (AWG 12)
5 5.5 (AWG 10)
7 8 (AWG 8)
11 14 (AWG 6)
15 22 (AWG 4)
22 50 (AWG 1/0)
27.5 50 (AWG 1/0)
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
between the FR-CV-H and servo amplifier.
Total of servo amplifier capacities [kW] Wire [mm2]
2 or less 2 (AWG 14)
3.5 3.5 (AWG 12)
5 5.5 (AWG 10)
7 5.5 (AWG 10)
11 8 (AWG 8)
15 8 (AWG 8)
22 14 (AWG 6)
27.5 22 (AWG 4)
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Power regeneration common Grounding wire size
converter [mm2]
FR-CV-7.5K to FR-CV-15K 8 (AWG 8)
FR-CV-22K/FR-CV-30K 22 (AWG 4)
FR-CV-37K/FR-CV-55K 38 (AWG 2)
FR-CV-H7.5K to FR-CV-H15K 3.5 (AWG 12)
FR-CV-H22K/FR-CV-H30K 8 (AWG 8)
FR-CV-H37K/FR-CV-H55K 14 (AWG 6)
11 - 47
(b) Example of selecting the wire sizes

When connecting multiple servo amplifiers, always use junction terminals for wiring the servo
amplifier terminals P4, N-. Also, connect the servo amplifiers in the order of larger to smaller
capacities.
1) 200 V class
Wire as short as possible.
FR-CV-55K 50 mm2 22 mm2 Servo amplifier (15 kW)

R2/L1 P/L+ P4 First unit:
(Note) 50 mm2 assuming that the total of servo amplifier
S2/L2 N/L- N- capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW
+ 2.0 kW = 27.5 kW.
T2/L3 22 mm2
8 mm2 Servo amplifier (7 kW)
R/L11 P4 Second unit:
S/L21 N- capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW =
12.5 kW.
T/MC1 8 mm2
5.5 mm2 Servo amplifier (3.5 kW)
P4 Third unit:
N- capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.
Junction terminals
3.5 mm2 Servo amplifier (2 kW)
P4 Fourth unit:
N- capacities is 2 kW since 2.0 kW = 2.0 kW.
Overall wiring length 5 m or less
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW
or less: P+ and D, 7 kW: P+ and C).
2) 400 V class
Wire as short as possible.
FR-CV-H55K 22 mm 2
R2/L1 P/L+ P4 First unit:
S2/L2 N/L- N- capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW
+ 2.0 kW = 27.5 kW.
T2/L3 8 mm2
5.5 mm2 Servo amplifier (7 kW)
R/L11 P4 Second unit:
S/L21 N- capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW =
12.5 kW.
T/MC1 5.5 mm2
3.5 mm2 Servo amplifier (3.5 kW)
P4 Third unit:
(Note) 5.5 mm2 assuming that the total of servo amplifier
N- capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.
Junction terminals
P4 Fourth unit:
N- capacities is 2 kW since 2.0 kW = 2.0 kW.
Overall wiring length 5 m or less
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW
or less: P+ and D, 7 kW: P+ and C).
11 - 48
(5) Other precautions

(a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not
use the power factor improving AC reactor (FR-HAL-(H)) or Power factor improving DC reactor (FR-
HEL-(H)).
(b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment (such
as AM radios) used near them. In this case, interference can be reduced by installing the radio noise
filter (FR-BIF(-H)) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo
amplifiers should be 5 m or less, and the wiring must be twisted.
(6) Specifications
Power regeneration
common converter
7.5K 11K 15K 22K 30K 37K 55K
FR-CV-_
Item
[kW] 3.75 5.5 7.5 11 15 18.5 27.5
capacities
Total of connectable servo
[A] 33 46 61 90 115 145 215
Output
motor rated currents

Regenerative Short-time rating Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)
braking torque Continuous rating 100% torque
Rated input AC voltage/frequency 3-phase 200 V AC to 220 V AC, 50 Hz, 200 V AC to 230 V AC, 60 Hz
supply
Power
Permissible AC voltage fluctuation 3-phase 170 V AC to 242 V AC, 50 Hz, 170 V AC to 253 V AC, 60 Hz
Permissible frequency fluctuation ±5%
Power supply capacity (Note 2) [kVA] 17 20 28 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient temperature -10 °C to 50 °C (non-freezing)
Environment
Ambient humidity 5 %RH to 90 %RH (non-condensing)

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust,
Ambience
and dirt
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s2
Molded-case circuit breaker or earth- 30 AF 50 AF 100 AF 100 AF 125AF 125AF 225 AF
leakage current breaker 30 A 50 A 75 A 100 A 125 A 125 A 175 A
S-N20 S-N35 S-N50 S-N65 S-N80 S-N95
Magnetic contactor S-N125
S-T21 S-T35 S-T50 S-T65 S-T80 S-T100
11 - 49
Power regeneration
common converter
7.5K 11K 15K 22K 30K 37K 55K
FR-CV-H_
Item
[kW] 3.75 5.5 7.5 11 15 185 27.5
capacities
Total of connectable servo
[A] 17 23 31 43 57 71 110
Output
motor rated currents

Regenerative Short-time rating Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)
braking torque Continuous rating 100% torque
Rated input AC voltage/frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Power supply
Permissible AC voltage fluctuation 3-phase 323 V AC to 528 V AC, 50 Hz/60 Hz

Permissible frequency fluctuation ±5%
Power supply capacity (Note 2) [kVA] 17 20 28 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient temperature -10 °C to 50 °C (non-freezing)
Environment
Ambient humidity 5 %RH to 90 %RH (non-condensing)

Indoors (no direct sunlight), free from corrosive gas, flammable gas,
Ambience
oil mist, dust, and dirt
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s2
Molded-case circuit breaker or earth-leakage 30AF 30AF 30AF 50AF 60AF 100AF 100AF
current breaker 15A 20A 30A 50A 60A 75A 100A
S-N20 S-N20 S-N20 S-N25 S-N35 S-N50 S-N65
Magnetic contactor
S-T21 S-T21 S-T21 S-T25 S-T35 S-T50 S-T65
Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is
activated in the time indicated in section 10.1.
2. The specified value is the power supply capacity of FR-CV-(H). The total power supply capacities of the connected servo
amplifiers are actually required.
11 - 50
11.6 Junction terminal block MR-TB50
(1) Usage
Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set.
Servo amplifier

Cable clamp MR-TB50
CN1
Junction terminal
block cable
(MR-J2M-CN1TBL_M)
Ground the junction terminal block cable on the junction terminal block side with the supplied cable
clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.14, (2) (c).
(2) Terminal labels

Use the following junction terminal block labels. This label is supplied with the junction terminal block
MR-TB50.
Position control mode
P15R LG LAR LBR LZR PG SON PC RES DICOM ZSP TLC TLA OP NP CR LSP LOP DOCOM RD
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
1
LA LB LZ PP OPC TL DICOM INP INP LG LG LG NG EMG LSN DOCOM ALM SD

10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
2
Speed control mode

P15R LG LAR LBR LZR SON ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
1
VC LA LB LZ SP2 ST2 DICOM SA SA LG LG LG EMG LSN DOCOM ALM SD

10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
2
Torque control mode

P15R LG LAR LBR LZR SON SR2 RES DICOM ZSP VLC TC OP SP1 LOP DOCOM RD
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
1
VLA LA LB LZ SP2 RS1 DICOM LG LG LG EMG DOCOM ALM SD

10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
2
(3) Dimensions
[Unit: mm]
235
2-φ4.5
Approx.
2 50
1 49
25
MITSUBISHI
50
MR-TB50
9
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 3133 35 37 39 41 43 45 47 49
25
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
2.5
244 46.5
Terminal screw: M3.5
Applicable wire: 2 mm2
Crimp terminal width: 7.2 mm or less.
11 - 51
(4) Junction terminal block cable MR-J2M-CN1TBL_M

(a) Model explanations
Model: M R - J 2 M - C N 1 T B L _ M
Symbol Cable length [m]

05 0.5
1 1
(b) Connection diagram

1) MR-J4-_A_(-RJ) 100 W or more
10150-6000EL (Servo amplifier side) D7950-B500FL (Junction terminal side)
Signal symbol
Pin No. Pin No.
Position Speed Torque
P15R P15R P15R 1 1
VC VLA 2 2
LG LG LG 3 3
LA LA LA 4 4
LAR LAR LAR 5 5
LB LB LB 6 6
LBR LBR LBR 7 7
LZ LZ LZ 8 8
LZR LZR LZR 9 9
PP 10 10
PG 11 11
OPC 12 12
13 13
14 14
SON SON SON 15 15
LOP SP2 SP2 16 16
PC ST1 RS2 17 17
TL ST2 RS1 18 18
RES RES RES 19 19
DICOM DICOM DICOM 20 20
INP SA 22 22
ZSP ZSP ZSP 23 23
INP SA 24 24
TLC TLC TLC 25 25
26 26
TLA TLA TC 27 27
LG LG LG 28 28
29 29
LG LG LG 30 30
31 31
32 32
OP OP OP 33 33
LG LG LG 34 34
NP 35 35
NG 36 36
PP2 37 37
NP2 38 38
39 39
40 40
CR SP1 SP1 41 41
EMG EMG EMG 42 42
LSP LSP 43 43
LSN LSN 44 44
LOP LOP LOP 45 45
DOCOM DOCOM DOCOM 46 46
ALM ALM ALM 48 48
RD RD RD 49 49
50 50
SD SD SD Plate
11 - 52
2) MR-J4-03A6(-RJ)
10150-6000EL (Servo amplifier side) D7950-B500FL (Junction terminal side)
Signal symbol
Pin No. Pin No.
Position Speed Torque
P15R P15R P15R 1 1
VC VLA 2 2
LG LG LG 3 3
LA LA LA 4 4
LAR LAR LAR 5 5
LB LB LB 6 6
LBR LBR LBR 7 7
LZ LZ LZ 8 8
LZR LZR LZR 9 9
PP 10 10
PG 11 11
OPC 12 12
SDP SDP SDP 13 13
SDN SDN SDN 14 14
SON SON SON 15 15
LOP SP2 SP2 16 16
PC ST1 RS2 17 17
TL ST2 RS1 18 18
RES RES RES 19 19
INP SA 22 22
ZSP ZSP ZSP 23 23
INP SA 24 24
TLC TLC TLC 25 25
MO1 MO1 MO1 26 26
TLA TLA TC 27 27
LG LG LG 28 28
MO2 MO2 MO2 29 29
LG LG LG 30 30
TRE TRE TRE 31 31
32 32
OP OP OP 33 33
LG LG LG 34 34
NP 35 35
NG 36 36
PP2 37 37
NP2 38 38
RDP RDP RDP 39 39
RDN RDN RDN 40 40
CR SP1 SP1 41 41
EMG EMG EMG 42 42
LSP LSP 43 43
LSN LSN 44 44
LOP LOP LOP 45 45
ALM ALM ALM 48 48
RD RD RD 49 49
50 50
SD SD SD Plate
11 - 53
11.7 MR Configurator2
POINT
MR-J4-_A_-RJ servo amplifier is supported with software version 1.19V or later.
MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.
11.7.1 Specifications
Item Description
Project Create/read/save/delete project, system setting, and print
Parameter Parameter setting, axis name setting, parameter converter (Note 1)
Monitor Display all, I/O monitor, graph, and ABS data display
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life
Diagnosis
diagnosis, machine diagnosis, fully closed loop diagnosis (Note 2), and linear diagnosis (Note 3)
Jog operation (Note 4), positioning operation, motor-less operation (Note 5), DO forced output,
Test operation
and program operation, test mode information
Adjustment One-touch tuning, tuning, and machine analyzer
Others Servo assistant, parameter setting range update, help display
Note 1. This is available only in the standard control mode for a rotary servo motor.
2. This is available only in the fully closed loop control mode.
3. This is available only in the linear servo motor control mode.
4. This is available in the standard control mode, fully closed loop control mode, and DD motor control mode.
5. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode,
or DD motor control mode.
11 - 54
11.7.2 System configuration
(1) Components
To use this software, the following components are required in addition to the servo amplifier and servo
motor.
Equipment Description
Microsoft® Windows® 10 Home
Microsoft® Windows® 10 Pro
Microsoft® Windows® 10 Enterprise
Microsoft® Windows® 10 Education
Microsoft® Windows® 8.1 Enterprise
Microsoft® Windows® 8.1 Pro
Microsoft® Windows® 8.1
Microsoft® Windows® 8 Pro
Microsoft® Windows® 8
OS
Microsoft® Windows® 7 Ultimate
Microsoft® Windows® 7 Professional
Microsoft® Windows® 7 Home Premium
(Note 1, 2, 3, 4, 5)
Microsoft® Windows® 7 Starter
Personal computer
Microsoft® Windows Vista® Enterprise
Microsoft® Windows Vista® Ultimate
Microsoft® Windows Vista® Business
Microsoft® Windows Vista® Home Premium
Microsoft® Windows Vista® Home Basic
Microsoft® Windows® XP Professional, Service Pack3 or later
Microsoft® Windows® XP Home Edition, Service Pack3 or later
CPU Desktop personal computer: Intel® Celeron® processor 2.8 GHz or more
(recommended) Laptop personal computer: Intel® Pentium® M processor 1.7 GHz or more
Memory
512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)
(recommended)
Hard Disk 1 GB or more
Communication
USB port
interface
Browser Windows Internet Explorer® 4.0 or more
®
One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable MR-J3USBCBL3M
Note 1. On some personal computers, MR Configurator2 may not run properly.

2. The following functions cannot be used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96DPI (Display property)
For 64-bit operating system, this software is compatible with Windows® 7 and Windows® 8.
3. When Windows® 7 or later is used, the following functions cannot be used.
Windows XP Mode
Windows touch
4. When using this software with Windows Vista® or later, log in as a user having USER authority or higher.
5. When Windows® 8 or later is used, the following functions cannot be used.
Hyper-V
Modern UI style
11 - 55
(2) Connection with servo amplifier

Personal computer
Servo amplifier USB cable

MR-J3USBCBL3M To USB
(Option) connector
CN5
11.7.3 Precautions for using USB communication function
Note the following to prevent an electric shock and malfunction of the servo amplifier.
(1) Power connection of personal computers

Connect your personal computer with the following procedures.
(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.
2) When your personal computer has two-core plug and has no grounding wire, connect the
personal computer to the servo amplifier with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.
b) Check that the power plug was disconnected and connect the device to the servo amplifier.
c) Connect the power plug of the personal computer to the AC power socket.
(b) When you use a personal computer with battery

You can use as it is.
(2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the
charged servo amplifier is connected with other devices, the servo amplifier or the connected devices
may malfunction. Connect the servo amplifier and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the servo amplifier.
(b) Shut off the power of the servo amplifier which was connected with the personal computer and
check the charge lamp is off.
(c) Connect the device with the servo amplifier.
(d) Turn on the power of the servo amplifier and the device.
11 - 56
11.8 Battery
POINT
Refer to app. 2 and 3 for battery transportation and the new EU Battery
Directive.
This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction
of the absolute position detection system.
11.8.1 Selection of battery
The available batteries vary depending on servo amplifiers. Select a required battery.
(1) Applications of the batteries

Model Name Application Built-in battery
MR-BAT6V1SET Battery For absolute position data backup MR-BAT6V1
For transporting a servo motor and
MR-BAT6V1BJ Battery for junction battery cable
machine apart
MR-BAT6V1SET-A Battery For absolute position data backup MR-BAT6V1
For absolute position data backup of
MR-BT6VCASE Battery case MR-BAT6V1
multi-axis servo motor
(2) Combinations of batteries and the servo amplifier

MR-J4-_A_(-RJ)
Model MR-J4-03A6(-RJ)
100 W or more
MR-BAT6V1SET
MR-BAT6V1BJ
MR-BAT6V1SET-A
MR-BT6VCASE
11 - 57
11.8.2 MR-BAT6V1SET battery
POINT
For the specifications and year and month of manufacture of the built-in MR-
BAT6V1 battery, refer to section 11.8.6.
(1) Parts identification and dimensions
[Unit: mm]
28 69.3
38.5
Rating plate
Connector for servo amplifier
Case
Mass: 34 [g] (including MR-BAT6V1 battery)
(2) Battery mounting

Connect as follows.
Servo amplifier
Encoder cable
CN2
CN4
MR-BAT6V1SET
Servo motor
11 - 58
(3) Battery replacement procedure
Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
WARNING N- with a voltage tester or others. 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.
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
CAUTION Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute
position data.
Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
11 - 59
(a) Battery installation and removal procedure

1) Installation procedure
POINT
For the servo amplifier with a battery holder on the bottom, it is not possible to
wire for the earth with the battery installed. Insert the battery after executing the
earth wiring of the servo amplifier.
Install a battery, and insert the

plug into the CN4 connector.
Install a battery, and insert the

plug into the CN4 connector.
Install a battery, and pass

the battery cable through
a gap between the battery
and servo amplifier.
For the servo amplifier For the servo amplifier

with a battery holder on the bottom with a battery holder on the front
2) Removal procedure
Pulling out the connector of the battery without the lock release lever pressed
CAUTION may damage the CN4 connector of the servo amplifier or the connector of the
battery.
While pressing the lock release lever,

pull out the connector.
While pressing the lock release lever, slide

the battery case toward you.
11 - 60
(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET reaches the end of its life, replace the built-in MR-BAT6V1 battery.
1) While pressing the locking part, open the cover.

Cover
Locking part
2) Replace the battery with a new MR-BAT6V1.
MR-BAT6V1
3) Press the cover until it is fixed with the projection of

the locking part to close the cover.
Projection
11 - 61
11.8.3 MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be
used with direct drive motors.
MR-BAT6V1BJ cannot be used for fully closed loop system.
[Unit: mm]
34.8 69.3
Orange: Connector for servo amplifier
38.5
Rating plate
Case
Black: Connector for branch cable
Mass: 66 [g]
(2) Year and month of manufacture of battery

Production year and month are indicated in a serial number (SERIAL) on the rating plate. The second
digit from left in the number indicates the first digit of the year, the third digit from left indicates a month
(Oct.: X, Nov.: Y, Dec.: Z). For November 2013, the serial is like, "SERIAL: _ 3Y _ _ _ _ _ _".
(3) Specification list

Item Description
Battery pack 2CR17335A (CR17335A × 2 pcs. in series)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Lithium content [g] 1.2
Mercury content Less than 1 ppm
Not subject to the dangerous goods (Class 9)
Dangerous goods class
Operating humidity and
storage humidity
(Note) Battery life 5 years from date of manufacture
Mass [g] 66
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11 - 62

Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows.
Servo amplifier
MR-BT6VCBL03M Encoder cable

CN2
CN4
MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier HG series servo motors
(5) Transporting a servo motor and machine apart
POINT
Be sure to connect the connector for branch cable connection (black) when
transporting a servo motor and machine apart. When the connector for branch
cable connection (black) is not connected to the MR-BT6VCBL03M junction
battery cable, no alarm will occur. However, the absolute position data will be
erased when you transport a servo motor and machine apart.
When you transport a servo motor and machine apart, disconnect only CN2 and CN4 of the servo
amplifier. When other connectors or cables are disconnected between the servo motor and battery, the
absolute position data will be deleted.
Servo amplifier
Disconnect only CN2

and CN4.
MR-BT6VCBL03M Encoder cable

CN2
CN4
HG series servo motors

MR-BAT6V1BJ Black: Connector for branch cable
Orange: Connector for servo amplifier
11 - 63
Ground human body and work bench.
CAUTION Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
The battery built in MR-BAT6V1BJ cannot be replaced. Do not disassemble the
MR-BAT6V1BJ. Otherwise, it may cause a malfunction.
POINT
To replace the MR-BAT6V1BJ, follow the procedures given in this section to
avoid erasing absolute position data.
For MR-BAT6V1BJ, the battery can be replaced with the control circuit power supply off.
(a) Battery installation and removal procedure

The battery installation and removal procedure to the servo amplifier are the same as for the MR-
BAT6V1SET battery. Refer to (3) of section 11.8.3.
(b) Preparation for replacing MR-BAT6V1BJ

Prepare a new MR-BAT6V1BJ as follows.
Model Number and use Remark
MR-BAT6V1BJ 1 for replacement Battery within two years from the production date.
(c) Procedures of replacing MR-BAT6V1BJ

Replace the product as follows regardless of on/off of the control circuit power supply. When it is
replaced with other procedures, the absolute position data will be erased.
1) Remove the connector for branch cable connection (black) of the old MR-BAT6V1BJ.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4 Orange
Old MR-BAT6V1BJ Black New MR-BAT6V1BJ
11 - 64
2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4
Orange
3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control
circuit power supply is on, performing 3) without [AL. 9F.1 Low battery] will trigger [AL. 9F.1].
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4 Orange
4) Remove the old MR-BAT6V1BJ from servo amplifier and mount the new MR-BAT6V1BJ. When
the control circuit power supply is on, [AL. 9F.1] will occur after 3).
Servo amplifier
MR-BT6VCBL03M
Orange CN2
Old MR-BAT6V1BJ
Black CN4 Black
Orange
New MR-BAT6V1BJ
5) Mount the connector for servo amplifier (orange) of the new MR-BAT6V1BJ. When the control
circuit power supply is on, [AL. 9F.1] will be canceled.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4
Black
New MR-BAT6V1BJ
11 - 65
11.8.4 MR-BAT6V1SET-A battery
POINT
Use MR-BAT6V1SET-A for MR-J4-03A6(-RJ) servo amplifier.
The MR-BAT6V1SET-A cannot be used for MR-J4-_A_(-RJ) 100 W or more
servo amplifiers.
For the specifications and year and month of manufacture of the built-in MR-
BAT6V1 battery, refer to section 11.8.6.
[Unit: mm]
27.4 51
Connector for servo amplifier
37.5
Case
Mass: 55 [g] (including MR-BAT6V1 battery)

Connect as follows.
Encoder cable
CN4
CN2
Servo motors
MR-BAT6V1SET-A
11 - 66
Before replacing a battery, turn off the main circuit power supply and wait until the
charge lamp turns off. Otherwise, an electric shock may occur. In addition, when
WARNING confirming whether the charge lamp is off or not, always confirm it from the front
directly by hand.
POINT
position data.
11 - 67
(a) Installation procedure
Insert the connector of the

battery into CN4.
Insert the battery along

the rails.
(b) Removal procedure
Pulling out the connector of the battery without the lock release lever pressed
CAUTION may damage the CN4 connector of the servo amplifier or the connector of the
battery.
While pressing the lock release

lever, pull out the connector.
Pull the lock release lever, and

slide the battery toward you.
11 - 68
(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET-A reaches the end of its life, replace the built-in MR-BAT6V1 battery.
Tab 1) While pressing the locking part, open the cover.
Cover
2) Replace the battery with a new MR-BAT6V1 battery.
3) Press the cover until it is fixed with the projection of

the locking part to close the cover.
Projection
(four places)
11 - 69
11.8.5 MR-BT6VCASE battery case
POINT
MR-BT6VCASE cannot be used for MR-J4-03A6(-RJ) servo amplifiers.
The battery unit consists of an MR-BT6VCASE battery case and five MR-
BAT6V1 batteries.
For the specifications and year and month of manufacture of MR-BAT6V1
battery, refer to section 11.8.6.
MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does
not have any batteries. Please prepare MR-BAT6V1 batteries separately.
(1) The number of connected servo motors

One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors,
up to four axes can be connected. Servo motors and direct drive motors in the incremental system are
included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following
table for the number of connectable axes of each servo motor.
Servo motor Number of axes
Rotary servo motor 0 1 2 3 4 5 6 7 8
Direct drive motor 4 4 4 4 4 3 2 1 0
(2) Dimensions
[Unit: mm]
2-φ5 mounting
hole 2-M4 screw
Approx. 5
Approx. 25
Approx. 70 130
25 4.6 5 5
5
Approx. 130
120 ± 0.5
130
120
5
Approx. 5
Mounting screw
Screw size: M4
[Mass: 0.18 kg]
11 - 70
POINT
One battery unit can be connected to up to 8-axis servo motors. However, when
using direct drive motors, the number of axes of the direct drive motors should
be up to 4 axes. Servo motors and direct drive motors in the incremental system
are included as the axis Nos. Linear servo motors are not counted as the axis
Nos.
(a) When using 1-axis servo amplifier

Servo amplifier
CN4
MR-BT6VCASE
CN10
MR-BT6V1CBL_M
(b) When using up to 8-axis servo amplifiers

Servo amplifier Servo amplifier Servo amplifier
CN4 CN4 CN4

MR-BT6VCASE
CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M
MR-BT6V1CBL_M
11 - 71
directly by hand.
POINT
position data.
11 - 72
(a) Assembling a battery unit
Do not mount new and old batteries together.

CAUTION When you replace a battery, replace all batteries at the same time.
POINT
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case.
1) Required items
Product name Model Quantity Remark
Battery case MR-BT6VCASE 1 MR-BT6VCASE is a case used for connecting and
mounting five MR-BAT6V1 batteries.
Battery MR-BAT6V1 5 Lithium battery (primary battery, nominal + 6 V)
2) Disassembly and assembly of the battery case MR-BT6VCASE

a) Disassembly of the case
MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be
disassembled.
Threads
Remove the two screws using a
Phillips screwdriver.
Parts identification
BAT1
BAT2 BAT3
CON2
CON3
Cover BAT4 BAT5
Remove the cover. CON1
CON4
CON5
11 - 73
b) Mounting MR-BAT6V1
Securely mount an MR-BAT6V1 to the BAT1 holder.

BAT1
Insert the MR-BAT6V1 connector mounted on BAT1

holder to CON1.
Confirm the click sound at this point.
The connector has to be connected in the right direction.
If the connector is pushed forcefully in the incorrect
CON1 direction, the connector will break.
Click Place the MR-BAT6V1 lead wire to the duct designed to
store lead wires.
Insert MR-BAT6V1 to the holder in the same procedure in
the order from BAT2 to BAT5.
Bring out the lead wire from the space between the ribs, and bend it as
shown above to store it in the duct. Connect the lead wire to the
connector. Be careful not to get the lead wire caught in the case or
other parts.
When the lead wire is damaged, external short circuit may occur, and
the battery can become hot.
11 - 74
c) Assembly of the case

After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes
and tighten them. Tightening torque is 0.71 N•m.
POINT
When assembling the case, be careful not to get the lead wires caught in the
fitting parts or the screwing parts.
Threads
d) Precautions for removal of battery

The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing
the connector, pull out the connector while pressing the lock release lever.
3) Battery cable removal
Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without
CAUTION the lock release lever pressed may damage the CN4 connector of the servo
amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.
While pressing the lock release lever,

pull out the connector.
Battery cable
11 - 75
11.8.6 MR-BAT6V1 battery
The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET
and a primary lithium battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use.
The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on
an MR-BAT6V1 battery.
Rating plate 2CR17335A WK17
11-04
6V 1650mAh
The year and month of manufacture
Item Description
Battery pack 2CR17335A (CR17335A × 2 pcs. in series)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Lithium content [g] 1.2
Mercury content Less than 1 ppm
Not subject to the dangerous goods (Class 9)
Dangerous goods class
Operating humidity and
storage humidity
(Note) Battery life 5 years from date of manufacture
Mass [g] 34
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11 - 76
11.9 Selection example of wires
POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
For the selection example when the MR-J4-_A-RJ servo amplifier is used with
the DC power supply input, refer to app. 13.3.
Wire length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1 U
L2 V M
L3 W
2) Control circuit power supply lead
L11
4) Servo motor power supply lead
L21
5) Power regeneration converter lead
Power regeneration N-
converter
Regenerative option
C
P+
3) Regenerative option lead
11 - 77
(1) Example of selecting the wire sizes

Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following
shows the wire size selection example.
(a) 200 V class

Table 11.1 Wire size selection example (HIV wire)
Wire [mm2] (Note 1)
Servo amplifier 4) U/V/W/
1) L1/L2/L3/ 2) L11/L21 3) P+/C
(Note 3)
MR-J4-10A(-RJ)
MR-J4-20A(-RJ)
MR-J4-40A(-RJ) AWG 18 to 14
MR-J4-60A(-RJ) (Note 4)
MR-J4-70A(-RJ) 2 (AWG 14)
MR-J4-100A(-RJ) 1.25 to 2
MR-J4-200A(-RJ) (AWG 16 to 14) 2 (AWG 14)
(3-phase power (Note 4)
supply input)
MR-J4-200A(-RJ) AWG 16 to 10
(1-phase power
3.5 (AWG 12)
supply input)
MR-J4-350A(-RJ)
2 (AWG 14): c
MR-J4-500A(-RJ)
5.5 (AWG 10): a 3.5 (AWG 12): a
(Note 2)
1.25 (AWG 16): a 5.5 (AWG 10): a
2 (AWG 14): d 2 (AWG 14): c 2 (AWG 14): c
MR-J4-700A(-RJ) (Note 4) 3.5 (AWG 12): a
8 (AWG 8): b
(Note 2) 5.5 (AWG 10): a
8 (AWG 8): b
14 (AWG 6): f
MR-J4-11KA(-RJ) 55 (AWG 10): g
14 (AWG 6): f 3.5 (AWG 12): g
(Note 2) (Note 5)
1.25 (AWG 16): c 8 (AWG 8): k
2 (AWG 14): c 22 (AWG 4): h
MR-J4-15KA(-RJ)
22 (AWG 4): h (Note 4) 5.5 (AWG 10): g 8 (AWG 8): k
(Note 2)
(Note 5)
MR-J4-22KA(-RJ)
38 (AWG 2): i 5.5 (AWG 10): j 38 (AWG 2): i
(Note 2)
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".
4. Be sure to use the size of 2 mm2 when corresponding to IEC/EN/UL/CSA standard.
5. This is for connecting to the linear servo motor with natural cooling method.
Use wires 5) of the following sizes with the power regeneration converter (FR-RC).
Model Wires [mm2]
FR-RC-15K 14 (AWG 6)
11 - 78
(b) 400 V class

Wires [mm2] (Note 1)
1) L1/L2/L3/ 2) L11/L21 3) P+/C
(Note 3)
MR-J4-60A4(-RJ)
1.25 to 2
MR-J4-100A4(-RJ)
2 (AWG 14) (AWG 16 to 14) 2 (AWG 14) AWG 16 to 14
MR-J4-200A4(-RJ)
(Note 4)
MR-J4-350A4(-RJ)
MR-J4-500A4(-RJ)
2 (AWG 14): b 1.25 (AWG 16): a 3.5 (AWG 12): a
(Note 2)
2 (AWG 14): c 2 (AWG 14): b
MR-J4-700A4(-RJ)
3.5 (AWG 12): a (Note 4) 5.5 (AWG 10): a
(Note 2)
MR-J4-11KA4(-RJ)
5.5 (AWG 10): d 2 (AWG 14): f
(Note 2)
8 (AWG 8): g
MR-J4-15KA4(-RJ)
8 (AWG 8): g 3.5 (AWG 12): d
(Note 2) 1.25 (AWG 16): b
2 (AWG 14): b 5.5 (AWG 10): e
(Note 4) (Note 5)
MR-J4-22KA4(-RJ)
14 (AWG 6): i 3.5 (AWG 12): e 8 (AWG 8): h
(Note 2)
(Note 6)
14 (AWG 6): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo amplifier instruction manual.
5. This is for connecting to the linear servo motor with natural cooling method.
6. This is for connecting to the linear servo motor with liquid cooling method.
Use wires (5)) of the following sizes with the power regeneration converter (FR-RC-H).
Model Wire [mm2]
FR-RC-H15K
FR-RC-H30K 14 (AWG 6)
FR-RC-H55K
(c) 100 V class

Wires [mm2]
1) L1/L2/ 2) L11/L21 3) P+/C
(Note 1)
MR-J4-10A1(-RJ) 1.25 to 2
AWG 18 to 14
MR-J4-20A1(-RJ) 2 (AWG 14) (AWG 16 to 14) 2 (AWG 14)
(Note 2)
MR-J4-40A1(-RJ) (Note 2)
Note 1. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo amplifier instruction manual.
11 - 79
(2) Selection example of crimp terminals

(a) 200 V class
Symbol (Note 2) Applicable tool
Manufacturer
Crimp terminal Body Head Dice
a FVD5.5-4 YNT-1210S
b (Note 1) 8-4NS YHT-8S
c FVD2-4
YNT-1614
d FVD2-M3
e FVD1.25-M3 YNT-2216
DH-122
f FVD14-6 YF-1 YNE-38
DH-112
g FVD5.5-6 YNT-1210S JST
DH-123
h FVD22-6 YF-1 YNE-38
DH-113
DH-124
i FVD38-8 YF-1 YNE-38
DH-114
j FVD5.5-8 YNT-1210S
DH-121
k FVD8-6 YF-1/E-4 YNE-38
DH-111
Note 1. Coat the crimping part with an insulation tube.

2. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
(b) 400 V class

Symbol Crimp terminal Applicable tool Manufacturer
(Note) Body Head Dice
b FVD2-4
YNT-1614
c FVD2-M3
d FVD5.5-6 YNT-1210S
e FVD5.5-8 YNT-1210S JST
f FVD2-6 YNT-1614
g FVD8-6
DH-121/DH-111
h FVD8-8 YF-1 YNE-38
i FVD14-8 DH-122/DH-112
Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the
11 - 80
11.10 Molded-case circuit breakers, fuses, magnetic contactors
To prevent the servo amplifier from smoke and a fire, select a molded-case circuit
breaker which shuts off with high speed.
CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.
POINT
For the selection when the MR-J4-_A-RJ servo amplifier is used with the DC
power supply input, refer to app. 13.4.
11 - 81
(1) For main circuit power supply

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications
given in this section.
Molded-case circuit breaker (Note 1, 4) Fuse
Frame, rated current Magnetic
Servo amplifier Power factor Power factor Voltage AC Voltage AC contactor
Class Current [A]
improving reactor is improving reactor is [V] [V] (Note 2)
not used used
MR-J4-10A(-RJ) 30 A frame 5 A 30 A frame 5 A
10
MR-J4-40A(-RJ) 30 A frame 10 A 30 A frame 5 A 15
S-N10
MR-J4-100A(-RJ) 20 S-T10
(3-phase power 30 A frame 15 A 30 A frame 10 A
supply input)
MR-J4-100A(-RJ)
(1-phase power 30 A frame 15 A 30 A frame 15 A 30
supply input)
S-N20
240 T 300
MR-J4-200A(-RJ) 30 A frame 20 A 30 A frame 20 A 40 (Note 3)
S-T21
S-N20
S-T21
S-N35
S-T35
MR-J4-700A(-RJ) 100 A frame 75 A 60 A frame 60 A 150 S-N50
MR-J4-11KA(-RJ) 100 A frame 100 A 100 A frame 100 A 200 S-T50
S-N65
MR-J4-15KA(-RJ) 125 A frame 125 A 125 A frame 125 A 250
S-T65
S-N95
MR-J4-22KA(-RJ) 225 A frame 175 A 225 A frame 175 A 350
S-T100
MR-J4-60A4(-RJ) 30 A frame 5 A 30 A frame 5 A 10
S-N10
S-T10
MR-J4-350A4(-RJ) 30 A frame 20 A 30 A frame 15 A 35 S-N20
(Note 3)
S-T21
S-N20
MR-J4-700A4(-RJ) 30 A frame 30 A 30 A frame 30 A 480 T 65 600
S-T21
S-N25
MR-J4-11KA4(-RJ) 50 A frame 50 A 50 A frame 50 A 100
S-T35
S-N35
S-T35
S-N50
S-T50
S-N10
MR-J4-20A1(-RJ) 30 A frame 10 A 30 A frame 10 A 240 T 15 300
S-T10
Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.
contacts) of 80 ms or less.
3. S-N18 can be used when auxiliary contact is not required.
4. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general-
purpose products.
11 - 82
The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.
Type E Combination motor controller
Rated input Rated Rated current SCCR
Servo amplifier Input phase
voltage AC [V] Model voltage [A] [kA]
AC [V] (Heater design)
MR-J4-10A(-RJ) 1.6
MR-J4-20A(-RJ) 2.5
MR-J4-40A(-RJ) 4
MR-J4-60A(-RJ) 6.3 50
MR-J4-70A(-RJ) 200 to 240 3-phase 240 6.3
MR-J4-100A(-RJ) 8
MR-J4-200A(-RJ) 18
MR-J4-350A(-RJ) MMP-T32 25
25
MR-J4-500A(-RJ) 32
MR-J4-60A4(-RJ) 2.5
MR-J4-100A4(-RJ) 4
MR-J4-200A4(-RJ) 8 50
380 to 480 3-phase 480Y/277
MR-J4-350A4(-RJ) 13
MR-J4-500A4(-RJ) 18
MR-J4-700A4(-RJ) 25 25
(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to
protect the branch circuit.
Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Servo amplifier
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10A(-RJ)
MR-J4-20A(-RJ)
MR-J4-40A(-RJ)
MR-J4-60A(-RJ)
MR-J4-70A(-RJ)
MR-J4-100A(-RJ)
MR-J4-200A(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-350A(-RJ)
MR-J4-500A(-RJ)
MR-J4-700A(-RJ)
MR-J4-11KA(-RJ)
MR-J4-15KA(-RJ)
MR-J4-22KA(-RJ)
MR-J4-60A4(-RJ)
MR-J4-100A4(-RJ)
MR-J4-200A4(-RJ)
MR-J4-350A4(-RJ)
MR-J4-500A4(-RJ) 30 A frame 5 A 480 1 600 1 600
MR-J4-700A4(-RJ)
MR-J4-11KA4(-RJ)
MR-J4-15KA4(-RJ)
MR-J4-22KA4(-RJ)
MR-J4-10A1(-RJ)
MR-J4-20A1(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-40A1(-RJ)
Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.
11 - 83
11.11 Power factor improving DC reactors
The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 85%.
As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and
P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10
cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.
(1) 200 V class
2-d mounting hole

(Varnish is removed from right mounting
hole (face and back side).) (Note 1) 4-d mounting hole
(Varnish is removed from front right mounting
hole (face and back side).) (Note 1)
D or less
D or less
P P1 D3
P P1
H
W1 D2
W1 W±2 D1
W±2
Fig. 11.1 Fig. 11.2
Servo amplifier
FR-HEL
4-d mounting hole (Note 1) P3
(Note 2)
D or less P4
D3 or less
5 m or less
H±2
W1 D2
W±2 D1 ± 2
Fig. 11.3
Note 1. Use this for grounding.
2. When using the Power factor improving DC reactor, remove the short bar across P3-P4.
11 - 84
Power factor Dimensions [mm]

Terminal Mass Wire [mm2]
Servo amplifier improving DC Dimensions D
W W1 H D1 D2 D3 d size [kg] (Note 2)
reactor (Note 1)
MR-J4-10A(-RJ)
FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4
MR-J4-20A(-RJ)
MR-J4-40A(-RJ) FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5
Fig. 11.1
MR-J4-60A(-RJ) 2 (AWG 14)
FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-70A(-RJ)
MR-J4-100A(-RJ) FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200A(-RJ) FR-HEL-3.7K 77 55 92 82 66 57 37 M4 M4 1.5
MR-J4-350A(-RJ) FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12)
MR-J4-500A(-RJ) FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10)
MR-J4-700A(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
Fig. 11.2
MR-J4-11KA(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 14 (AWG 6)
115
MR-J4-15KA(-RJ) FR-HEL-22K 105 64 93 175 117 104 M6 M10 5.6 22 (AWG 4)
(Note 1)
135
MR-J4-22KA(-RJ) FR-HEL-30K Fig. 11.3 114 72 100 200 125 101 M6 M10 7.8 38 (AWG 2)
(Note 1)
Note 1. Maximum dimensions. The dimension varies depending on the input/output lines.
2. Selection conditions of wire size are as follows.
11 - 85
(2) 400 V class
4-d mounting hole (Note 1)

D or less
(D3) D or less
P P1 (D3)
P P1
H ± 2.5
H ± 2.5
W1 D2 W1 D2
W ± 2.5 D1 ± 1 W ± 2.5 D1 ± 1
Fig. 11.4 Fig. 11.5
D or less
(D3)
P P1
H ± 2.5
6
W1 D2
W ± 2.5 D1 ± 1
Fig. 11.6
Servo amplifier
FR-HEL-H
P3
(Note 2)
P4
5 m or less
Note 1. Use this for grounding.

2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
11 - 86

Terminal Mass Wire [mm2]
Servo amplifier improving DC Dimensions
W W1 H D D1 D2 D3 d size [kg] (Note)
reactor
MR-J4-60A4(-RJ) FR-HEL-H1.5K 66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14)
Fig. 11.4
MR-J4-100A4(-RJ) FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14)
MR-J4-200A4(-RJ) FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14)
MR-J4-350A4(-RJ) FR-HEL-H7.5K Fig. 11.5 96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14)
MR-J4-500A4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12)
MR-J4-700A4(-RJ) 5.5 (AWG 10)
FR-HEL-H15K 105 75 152 125 115 95 62 M5 M6 5.0
MR-J4-11KA4(-RJ) 8 (AWG 8)
Fig. 11.6
MR-J4-15KA4(-RJ) FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)
MR-J4-22KA4(-RJ) FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)
Note. Selection conditions of wire size are as follows.

11 - 87
11.12 Power factor improving AC reactors
The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
(1) 200 V class/100 V class

Servo amplifier
Terminal layout 3-phase 200 V class
R X S Y T Z FR-HAL
MCCB MC R X
4-d mounting hole L1
(Varnish is removed from front right mounting 3-phase
hole (face and back side).) (Note 1) S Y
200 V AC to L2
240 V AC T Z
L3
D or less
Servo amplifier
1-phase 200 V class
FR-HAL
MCCB MC R X
(Note) L1
1-phase
S Y
200 V AC to
H
L2
240 V AC T Z
L3
Servo amplifier
W1 D2 1-phase 100 V class
FR-HAL
W or less (Note 2) D1 MCCB MC R X
L1
1-phase
Fig. 11.7 100 V AC to S Y
Unassigned
120 V AC
T Z
L2
Note 1. Use this hole for grounding. Note. For 1-phase 200 V AC to 240 V AC, connect the power
2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K. supply to L1 and L3. Leave L2 open.
Terminal layout
R X S Y T Z
4-d mounting hole
(Varnish is removed from front right mounting
hole (face and back side).) (Note)
D or less
4-d mounting hole (Note)
D or less
H
R S T
H±5
X Y Z
W1 D2 W1 D2
W±2 D1 W or less D1 ± 2
Fig. 11.8 Fig. 11.9

Note. Use this hole for grounding. Note. Use this for grounding.
11 - 88

Terminal Mass
Servo amplifier improving AC Dimensions
W W1 H D (Note) D1 D2 d size [kg]
reactor
MR-J4-10A(-RJ)
MR-J4-20A(-RJ) FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-J4-10A1(-RJ)
MR-J4-40A(-RJ)
FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-20A1(-RJ)
MR-J4-60A(-RJ)
MR-J4-70A(-RJ) FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-40A1(-RJ)
MR-J4-100A(-RJ)
115
(3-phase power FR-HAL-2.2K 40 115 77 71 57 M6 M4 1.5
Fig. 11.7 (Note)
supply input)
MR-J4-100A(-RJ)
(1-phase power
supply input) 115
FR-HAL-3.7K 40 115 83 81 67 M6 M4 2.2
MR-J4-200A(-RJ) (Note)
(3-phase power
supply input)
MR-J4-200A(-RJ)
115
(1-phase power FR-HAL-5.5K 40 115 83 81 67 M6 M4 2.3
(Note)
supply input)
MR-J4-350A(-RJ) FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
MR-J4-500A(-RJ) FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
MR-J4-700A(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Fig. 11.8
MR-J4-11KA(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
185
MR-J4-15KA(-RJ) FR-HAL-22K 75 150 158 100 87 M6 M8 9.0
(Note)
185
MR-J4-22KA(-RJ) FR-HAL-30K Fig. 11.9 75 150 168 100 87 M6 M10 9.7
(Note)
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11 - 89
(2) 400 V class

(φ5 groove)
R X S Y T Z
D or less
Servo amplifier
3-phase
400 V class
FR-HAL-H
MCCB MC R X
L1
3-phase S Y
380 V AC to L2
H±5
480 V AC T Z
L3
W1 D2
W ± 0.5 D1
Fig. 11.10
R X S Y T Z
R X S Y T Z
(φ6 groove)
(φ8 groove)
150 D or less
125 D or less
H±5
H±5
180
W1 D2
W1 D2
W ± 0.5 D1
W ± 0.5 D1
Fig. 11.11 Fig. 11.12
Note. Use this for grounding.
11 - 90

Terminal Mass
Servo amplifier improving AC Dimensions D
W W1 H D1 D2 d size [kg]
reactor (Note)
MR-J4-60A4(-RJ) FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-100A4(-RJ) FR-HAL-H2.2K Fig. 11.10 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-200A4(-RJ) FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
MR-J4-350A4(-RJ) FR-HAL-H7.5K 160 145 142 91 91 75 M4 M4 5.0
MR-J4-500A4(-RJ) FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0
Fig. 11.11
MR-J4-700A4(-RJ)
FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-11KA4(-RJ)
MR-J4-15KA4(-RJ) FR-HAL-H22K 220 200 215 170 90 70 M5 M8 9.5
Fig. 11.12
MR-J4-22KA4(-RJ) FR-HAL-H30K 220 200 215 170 96 75 M5 M8 11
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11.13 Relays (recommended)
The following relays should be used with the interfaces

Interface Selection example
Digital input (interface DI-1) To prevent defective contacts , use a relay for
Relay used for digital input command signals small signal (twin contacts).
(Ex.) Omron : type G2A , MY
Digital output (interface DO-1) Small relay with 12 V DC or 24 V DC of rated
Relay used for digital output signals current 40 mA or less
(Ex.) Omron : type MY
11 - 91
11.14 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunctions due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques

(a) General reduction techniques
Avoid 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.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power
input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the main
circuit cables, and those transmitted through the power supply cables.
Noises produced
by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Route 1)
Noise radiated from the power supply cable Route 2)
Noise radiated from servo motor cable Route 3)
Magnetic induction noise Routes 4) and 5)
Static induction noise Route 6)
Noises transmitted through

electric channels Noise transmitted through power supply cable Route 7)
Noise sneaking from grounding cable due to leakage current Route 8)
11 - 92
5)
7) 7)
2)
7)
Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor
3)
Servo motor M
Noise transmission
Suppression techniques
route
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo
amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted
through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power lines and the signal lines are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together.
4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power supply of peripheral equipment is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the power
7) supply cable and the devices may malfunction. The following techniques are required.
1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the servo amplifier.
2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.
If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit,
8) leakage current may flow through, causing the equipment to malfunction. In this case, the
malfunction may be prevented by the grounding wires disconnected from the equipment.
11 - 93
(2) Noise reduction techniques

(a) Data line filter (recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa
Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. These impedances are reference values and not guaranteed values.
Impedance [Ω] [Unit: mm]
100 MHz to
10 MHz to 100 MHz 39 ± 1
500 MHz Loop for fixing the
34 ± 1 cable band
φ13 ± 1
80 150
TDK
φ30 ± 1
Product name Lot number
Outline drawing (ZCAT3035-1330)
(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo
amplifier. Use the following surge killer or equivalent.
OFF
ON
MC
MC
SK
Relay
Surge killer
Surge killer
This distance should be short

(within 20 cm).
(Ex.) CR-50500 Okaya Electric Industries)

Rated Dimensions [Unit: mm]
C R
voltage Test voltage
[µF ± 20%] [Ω ± 30%] Band (clear) AWG 18 Twisted wire
φ(18.5 + 2) ± 1
AC [V] 15 ± 1
Soldered
Between terminals: φ3.6
50 625 V AC, 50/60 Hz 60 s CR-50500
250 0.5 6±1 6±1
(1/2 W) Between terminal and case:
300 min. 48 ± 1.5 300 min. 16 ± 1
2000 V AC, 50/60 Hz 60 s
(18.5 + 5) max.
Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than 4 times the drive voltage of the relay or + -
the like RA
Maximum current: Not less than twice the drive current of the relay or the
like Diode
11 - 94
(c) Cable clamp fitting AERSBAN-_SET

Generally, connecting the grounding of the shielded wire to the SD terminal of the connector
provides a sufficient effect. However, the effect can be increased when the shielded wire is
connected directly to the grounding plate as shown below.
Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable
sheath to expose the external conductor, and press that part against the grounding plate with the
cable clamp. If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the grounding plate.
[Unit: mm]
Cable Strip the cable sheath of

the clamped area. cutter
Cable clamp
(A, B) Earth plate
cable
40
External conductor
Clamp section diagram
Dimensions
[Unit: mm] [Unit: mm]
Earth plate Clamp section diagram
2-φ5 hole 17.5

installation hole
30
L or less 10
B ± 0.3
C
A
6
24 -0.2
0
35
3
24+ 00.3
7
(Note) M4 screw 6 22
35
11
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 Clamp A: 2 pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1 pc. B 45
11 - 95
(d) Line noise filter (FR-BSF01/ FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
The line noise filters can be mounted on lines of the main power FR-BSF01 (for wire size 3.5 mm2 (AWG 12) or less))
supply (L1/L2/L3) and of the servo motor power (U/V/W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For wires of the main power supply, 95 ± 0.5 2-φ5
Approx. 22.5
the effect of the filter rises as the number of passes increases, but
generally four passes would be appropriate. For the servo motor
power lines, passes must be four times or less. Do not pass the
11.25 ± 0.5
grounding wire through the filter. Otherwise, the effect of the filter Approx. 65
will drop.
33
Wind the wires by passing through the filter to satisfy the required
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number
Approx. 65
of passes as shown in Example 2.
Place the line noise filters as close to the servo amplifier as
possible for their best performance.
4.5
Example 1
MCCB MC Servo amplifier
Power L1
supply FR-BLF (for wire size 5.5 mm2 (AWG 10) or more))
L2
Line noise L3 φ7
filter
31.5
(Number of passes: 4)
7
130
Example 2
MCCB MC 85
Power Servo amplifier
supply
L1
L2
80
35
Line noise
filter L3
160
2.3
Two filters are used

(Total number of passes: 4) 180
11 - 96
(e) Radio noise filter (FR-BIF(-H))

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
200 V class/100 V class: FR-BIF
400 V class: FR-BIF-H
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
Leakage current: 4 mA
always required. Red White Blue Green
When using the FR-BIF with a single-phase power supply, always
Approx. 300
insulate the lead wires that are not used for wiring.
MR-J4-350A(-RJ) or less/MR-J4-350A4(-RJ) or less/MR-J4-
40A1(-RJ) or less
Terminal 29
block Servo amplifier
MCCB MC φ5
L1
42
hole
Power
supply L2
4
L3
58 29 7
44
Radio noise
filter
MR-J4-500A(-RJ) or less/MR-J4-500A4(-RJ) or less

Servo amplifier
MCCB MC
L1
Power L2
supply
L3
Radio noise
filter
11 - 97
(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by
NIPPON CHEMI-CON, are recommended. For detailed specification and usage of the varistors,
refer to the manufacturer catalog.
Maximum
Maximum rated limit Static
Varistor voltage rating
Power voltage capacity
(range)
supply Varistor Surge (reference
Permissible circuit Energy Rated pulse V1 mA
voltage current value)
voltage immunity power [A] [V]
immunity
AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J] [W] [pF] [V]
200 V 10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
class/ time
1.0 100
100 V 7000/2
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
class time
7500/1
400 V time
TND20V-102K 625 825 400 1.0 100 1650 560 1000 (900 to 1100)
class 6500/2
times
[Unit: mm]
L φd W
D T D H T E
Model Min. ± 0.05 1.0 or
Max. Max. Max. ± 1.0
(Note) or less less
TND20V-431K 6.4 3.3
H
21.5 24.5 20 0.8 10.0

TND20V-471K 6.6 3.5
TND20V-102K 22.5 25.5 9.5 6.4 20 0.8 10.0
W E Note. For special purpose items for lead length (L), contact the manufacturer.
L
φd
11 - 98
11.15 Earth-leakage current breaker
(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select an earth-leakage current breaker according to the following formula, and ground the servo
amplifier, servo motor, etc. securely.
To minimize leakage currents, make the input and output wires as short as possible, and keep a
distance of 30 cm or longer between the wires and ground.
Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA]………(11.1)
Earth-leakage current breaker

Cable
Mitsubishi K
NV Noise filter Type
Electric products
Servo Cable
amplifier M NV-SP
Models provided with NV-SW
harmonic and surge NV-CP 1
reduction techniques NV-CW
Ig1 Ign Iga Ig2 Igm
NV-HW
BV-C1
General models NFB 3
NV-L
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 11.13.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (Found from Fig. 11.13.)
Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H))
Iga: Leakage current of the servo amplifier (Found from table 11.5.)
Igm: Leakage current of the servo motor (Found from table 11.4.)
120 120
Leakage current [mA]
Leakage current [mA]
100 100
80 80
60 60
40 40
20 20
0 0
2 5.5 14 38100 2 5.5 14 38 100
3.5 8 22 60 150 3.5 8 22 60 150
30 80 30 80
Cable size [mm2] Cable size [mm2]
200 V class/100 V class (Note) 400 V class

Note. "Ig1" of 100 V class servo amplifiers will be 1/2 of 200 V class servo amplifiers.
Fig. 11.13 Leakage current example (lg1, lg2) for CV cable run in metal conduit
11 - 99
Table 11.4 Servo motor leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]
0.05 to 1 0.1
1.2 to 2 0.2
3 to 3.5 0.3
4.2 to 5 0.5
6 to 7 0.7
8 to 11 1.0
12 to 15 1.3
20 to 25 2.3
Table 11.5 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]
0.1 to 0.6 0.1
0.75 to 3.5 0.15
5/7 2
11/15 5.5
22 7
Table 11.6 Earth-leakage current breaker selection example

Rated sensitivity current of earth-
Servo amplifier
leakage current breaker [mA]
MR-J4-10A(-RJ) to
MR-J4-350A(-RJ)
MR-J4-60A4(-RJ) to
15
MR-J4-350A4(-RJ)
MR-J4-10A1(-RJ) to
MR-J4-40A1(-RJ)
MR-J4-500A(-RJ)
30
MR-J4-500A4(-RJ)
MR-J4-700A(-RJ)
50
MR-J4-700A4(-RJ)
MR-J4-11KA(-RJ) to
MR-J4-22KA(-RJ)
100
MR-J4-11KA4(-RJ) to
MR-J4-22KA4(-RJ)
11 - 100
(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following
conditions.
2 mm2 × 5 m 2 mm2 × 5 m
NV
MR-J4-40A M HG-KR43
Ig1 Iga Ig2 Igm
Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.
5
Ig1 = 20 • = 0.1 [mA]
1000
5
Ig2 = 20 • = 0.1 [mA]
1000
Ign = 0 (not used)
Iga = 0.1 [mA]
Igm = 0.1 [mA]
Insert these values in equation (11.1).
Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity
current (Ig) of 4.0 [mA] or more.
An earth-leakage current breaker having Ig of 15 [mA] is used with the NV-SP/SW/CP/CW/HW series.
11 - 101
11.16 EMC filter (recommended)
POINT
For when multiple servo amplifiers are connected to one EMC filter, refer to
section 6.4 of "EMC Installation Guidelines".
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC
filters have large in leakage current.
(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)
Servo amplifier Rated voltage Leakage current Mass [kg]
Model Rated current [A]
[VAC] [mA]
MR-J4-10A(-RJ) to HF3010A-UN
10 3.5
5
MR-J4-200A(-RJ) HF3010A-UN
30 5.5
MR-J4-500A(-RJ) HF3040A-UN 250
40 6
MR-J4-11KA(-RJ) 6.5
HF3100A-UN
MR-J4-15KA(-RJ) 100 12
(Note)
MR-J4-22KA(-RJ)
MR-J4-60A4(-RJ)
TF3005C-TX 5
MR-J4-100A4(-RJ)
6
MR-J4-200A4(-RJ) to
TF3020C-TX 20
MR-J4-700A4(-RJ) 500 5.5
MR-J4-11KA4(-RJ) TF3030C-TX 30 7.5
MR-J4-15KA4(-RJ) TF3040C-TX 40
12.5
MR-J4-22KA4(-RJ) TF3060C-TX 60
MR-J4-10A1(-RJ) to HF3010A-UN
10 250 5 3.5
MR-J4-40A1(-RJ) (Note)
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
Recommended filter (COSEL)

Servo amplifier Rated voltage Leakage current Mass [kg]
Model Rated current [A]
[VAC] [mA]
MR-J4-11KA(-RJ) to FTB-100-355-L
100 500 40 5.3
MR-J4-22KA(-RJ) (Note)
FTB-80-355-L
MR-J4-22KA4(-RJ) 80 500 80 5.3
(Note)
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
11 - 102

EMC filter Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E L11
L21
1 2 3 (Note 2)
Surge protector
Note 1. Refer to section 1.3 for the power supply specifications.

2. The example is when a surge protector is connected.
(3) Dimensions
(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 × 7 3-M4 M4
32 ± 2
110 ± 4
85 ± 2
IN
Approx. 41
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5
11 - 103
HF3030A-UN/HF-3040A-UN
[Unit: mm]
6-R3.25 length: 8
3-M5 3-M5
125 ± 2
140 ± 1
155 ± 2
44 ± 1
M4
85 ± 1 85 ± 1 70 ± 2
210 ± 2 140 ± 2
260 ± 5
HF3100A-UN
[Unit: mm]
2-6.5 × 8 2-φ 6.5

M8
M8
145 ± 1
165 ± 3
M6
380 ± 1
400 ± 5
160 ± 3
11 - 104
TF3005C-TX/TX3020C-TX/TF3030C-TX
[Unit: mm]
3-M4 6-R3.25 length 8 M4 M4 3-M4
M4
Approx. 12.2
125 ± 2
140 ± 1
155 ± 2
16 16
IN
Approx. 67.5
100 ± 1 100 ± 1 ±3
290 ± 2 150 ± 2
308 ± 5 Approx. 160
332 ± 5 170 ± 5
11 - 105
TF3040C-TX/TF3060C-TX
[Unit: mm]
8-R3.25 Length 8 (for M6)
3-M6 M4 M4 3-M6
M6
Approx. 17
145 ± 2
160 ± 1
175 ± 2
22 22
IN
Approx.
100 ± 1 100 ± 1 100 ± 1 91.5
390 ± 2 180 ± 2
412 ± 5 Approx. 190
438 ± 5 200 ± 5
11 - 106
FTB-100-355-L/FTB-80-355-L
[Unit: mm]
3-M8 (option-S: hexagon 350
socket head cap screw) 3-M8 (option-S: hexagon
309
Input socket head cap screw)
Output
28
Model
100
plate
26
M6 (option-S: hexagon
socket head cap screw)
M6 (option-S: hexagon Protective earth (PE)
socket head cap screw) Terminal block cover Terminal block cover
170
(Note)
143
143
20
20
Mounting hole
2-φ6.5
6.5
80 ± 0.5
Mounting plate
6.5
Mounting hole
335 ± 0.5
Note. No heat radiation holes on the opposite face.
11 - 107
(b) Surge protector
RSPD-250-U4/RSPD-500-U4 [Unit: mm]

1 2 3
5.5 ± 1
11 ± 1
φ4.2 ± 0.5
28.5 ± 1
Resin
Lead
200 +30
0
1 2 3
4.5 ± 0.5
28 ± 1
Case
41 ± 1
11 - 108
11.17 External dynamic brake
Use an external dynamic brake for a servo amplifier of MR-J4-11KA(-RJ) to MR-

J4-22KA(-RJ) and MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ). Failure to do so will
cause an accident because the servo motor does not stop immediately but coasts
at an alarm occurrence for which the servo motor does not decelerate to stop.
Ensure the safety in the entire equipment. For alarms for which the servo motor
CAUTION does not decelerate to stop, refer to chapter 8.
standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26],
[Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to
become servo-off when an instantaneous power failure occurs.
POINT
Configure up a sequence which switches off the magnetic contactor of the
external dynamic brake after (or as soon as) SON (Servo-on) has been turned
off at a power failure or a malfunction.
For the braking time taken when the external dynamic brake is operated, refer to
section 10.3.
The external dynamic brake is rated for a short duration. Do not use it very
frequently.
When using the 400 V class external dynamic brake, the power supply voltage is
restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz).
External dynamic brake operates at occurrence of alarm, [AL. E6 Servo forced
stop warning], and when power is turned off. Do not use external dynamic brake
to stop in a normal operation as it is the function to stop in emergency.
the estimated number of usage times of the external dynamic brake is 1000
times while the machine decelerates from the rated speed to a stop once in 10
minutes.
(1) Selection of external dynamic brake

The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs
or the protective circuit is activated, and is built in the 7 kW or less servo amplifier. Since it is not built in
the 11 kW or more servo amplifier, purchase it separately. Assign DB (Dynamic brake interlock) to any
of CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 pins in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and
[Pr. PD47].
Molded-case circuit breaker Fuse (Class T) Fuse (Class K5)
Servo amplifier External dynamic brake Voltage Voltage Voltage
Frame, rated current Current [A] Current [A]
AC [V] AC [V] AC [V]
MR-J4-11KA(-RJ) DBU-11K
MR-J4-15KA(-RJ) DBU-15K 30 A frame 5 A 240 1 300 1 250
MR-J4-22KA(-RJ) DBU-22K-R1
MR-J4-11KA4(-RJ) DBU-11K-4
MR-J4-15KA4(-RJ) 30 A frame 5 A 480 1 600 1 600
DBU-22K-4
MR-J4-22KA4(-RJ)
11 - 109

(a) 200 V class
Operation ready
ALM
RA1 OFF ON Servo amplifier
MC
Servo motor
U
MC
SK U
V
V M
W
(Note 3) W
MCCB MC E
L1
(Note 2)
Power L2
supply CN1
L3 24 V DC (Note 5)
L11 46 DOCOM
L21 47 DOCOM
(Note 8) P3
(Note 6)
(Note 8) P4
48 ALM RA1
(Note 1,
7) DB RA2
CN1
SON 15
EM2 42
(Note 4)
Main circuit
power supply
DICOM 20
24 V DC
(Note 5) DICOM 21
14 13 U V W
a
RA2
b
Dynamic brake
interlock
External dynamic brake
Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].
2. Refer to section 1.3 for the power supply specifications.
4. Turn off EM2 when the main power circuit power supply is off.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 11.10 and (1) in this section.)
11 - 110
(b) 400 V class

Operation ready
ALM
RA1 OFF ON Servo amplifier
MC
Servo motor
U
MC
SK U
Emergency
stop switch V
V M
(Note 7) Step-down W
(Note 3) W
transformer
MCCB MC E
(Note 2) L1
Power
supply L2
L3 CN1
24 V DC (Note 5)
L11 46 DOCOM
L21 47 DOCOM
(Note 10) P3
(Note 6)
(Note 10) P4
48 ALM RA1
(Note 1,
9) DB RA2
CN1
SON 15
EM2 42
(Note 4)
Main circuit
power supply
DICOM 20
24 V DC
(Note 5) DICOM 21
14 13 U V W
(Note 8) a
RA2
b
Dynamic brake
interlock
11 - 111
Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.
4. Turn off EM2 when the main power circuit power supply is off.
8. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-11K-4 and DBU-22K-4
is restricted as follows. When using these external dynamic brakes, use them within the range of the power supply.
External dynamic brake Power supply voltage

DBU-11K-4 1-phase 380 V AC to 463 V AC, 50
DBU-22K-4 Hz/60 Hz
10. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 11.10 and (1) in this section.)
11 - 112
(3) Timing chart

Coasting Coasting
Servo motor speed
Dynamic brake Dynamic brake
Alarm Present
Absent
ON
Base circuit
OFF
DB (Dynamic ON
brake interlock)
OFF
Disabled
Dynamic brake
Enabled
Short
Emergency
stop switch Open
a. Timing chart at alarm occurrence b. Timing chart at emergency stop switch enabled
Coasting
Dynamic brake
Electro magnetic
Servo motor speed brake interlock
(Note 1) 7 ms
ON
Base circuit
OFF
10 ms
MBR ON
(Electromagnetic
brake interlock) OFF (Valid)
Electro magnetic
(Note 2) 15 ms to 60 ms brake operation
ON delay time
ALM (Malfunction)
OFF
Main circuit ON
Power
Control circuit
OFF
ON
DB (Dynamic
Disabled
Dynamic brake
Enabled
Note 1. When powering off, DB (Dynamic brake interlock) will be turned off, and the base
circuit is turned off earlier than usual before an output shortage occurs.
(Only when assigning the DB as the output signal)
2. Variable according to the operation status.
c. Timing chart when both of the main and control circuit power are off
11 - 113
(4) Dimensions
(a) DBU-11K/DBU-15K/DBU-22K-R1
[Unit: mm]
E
B
A
5 G 2.3
E
D 100 D F
C
Terminal block
a b 13 14 U V W
Screw: M3.5 Screw: M4

Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m]
Mass (Note) Connection wire [mm2]

External dynamic brake A B C D E F G
[kg] U/V/W Except U/V/W
DBU-11K 200 190 140 20 5 170 163.5 2 5.5 (AWG 10) 2 (AWG 14)
DBU-15K/DBU-22K-R1 250 238 150 25 6 235 228 6 5.5 (AWG 10) 2 (AWG 14)

11 - 114
(b) DBU-11K-4/DBU-22K-4
[Unit: mm]
2-φ7 mounting hole
10
26
260
280
228
43
26
51 73.75 7 2.3
10
25 150 25 195 15
200 210
15 170 15
178.5
179.5
Mass: 6.7 [kg]
Terminal block
TE1 TE2
a b 13 14 U V W
Screw: M3.5 Screw: M4

Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m]
(Note) Connection wire [mm2]

U/V/W Except U/V/W
DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
DBU-22K-4 5.5 (AWG 10) 2 (AWG 14)

11 - 115
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of
the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount
of heat generated in the cabinet. In addition, designing a compact cabinet is allowed.
In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo
amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet.
Please prepare screws for mounting. They do not come with.
The environment outside the cabinet when using the panel through attachment should be within the range of
the servo amplifier operating environment.
The panel through attachments are used for MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ) and MR-J4-11KA4(-RJ)
to MR-J4-22KA4(-RJ).
The following shows the combinations.
Servo amplifier Panel through attachment
MR-J4-11KA(-RJ)
MR-J4ACN15K
MR-J4-15KA(-RJ)
MR-J4-22KA(-RJ) MR-J3ACN
MR-J4-11KA4(-RJ)
MR-J4ACN15K
MR-J4-15KA4(-RJ)
MR-J4-22KA4(-RJ) MR-J3ACN
(1) MR-J4ACN15K
(a) Panel cut dimensions
[Unit: mm]
163 4-M10 Screw
Approx.
125
535
Punched
510
hole
410
196
18
218
(b) How to assemble the attachment for panel through attachments
Attachment
Screw
(2 places)
11 - 116
(c) Mounting method
Attachment
Servo amplifier
Fit using the

assembling
screws.
Attachment
a. Assembling the panel through attachment
Punched
hole
Cabinet
Servo amplifier
b. Mounting it to inside cabinet
11 - 117
(d) Mounting dimensional diagram

[Unit: mm]
Approx. 58
20.6
145
188
Panel
Approx. 400
580
510
Attachment
Servo amplifier
Servo amplifier
78
35
Panel
12
3.2
196 155 108.3
Mounting hole
240 Approx. 263.3
(2) MR-J3ACN
(a) Panel cut dimensions
[Unit: mm]
203 4-M10 Screw
Approx.
39.5 125
Punched
535
hole
510
331
39.5
18
236
255
270
11 - 118
(b) How to assemble the attachment for panel through attachment
Attachment
Screw
(2 places)
(c) Mounting method
Attachment
Punched
hole
Servo
amplifier
Fit using the Servo
assembling amplifier
screws. Cabinet
Attachment
a. Assembling the panel through attachment b. Mounting it to inside cabinet
11 - 119
(d) Mounting dimensional diagram

[Unit: mm]
20
Approx. 58
Panel
145
194
Approx. 400
580
Servo
510
amplifier Attachment Servo amplifier
84
35
Panel
3.2
12
236
155 105 Approx. 11.5
280 Mounting Approx. 260
hole
Approx. 260
11 - 120
12. ABSOLUTE POSITION DETECTION SYSTEM
If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning]

has occurred, always perform home position setting again. Otherwise, it may
cause an unexpected operation.
CAUTION If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery,
the MR-BAT6V1 battery can become hot. Use the MR-BAT6V1 battery with case
to prevent getting burnt.
POINT
Refer to section 11.8 for the replacement procedure of the battery.
There are four types of batteries, MR-BAT6V1SET, MR-BAT6V1BJ, MR-
BAT6V1SET-A and MR-BT6VCASE available to construct the absolute position
detection system. MR-BAT6V1BJ has the following advantages compared to
other batteries.
You can disconnect the encoder cable from the servo amplifier.
You can replace the battery with the control circuit power supply off.
When absolute position data is erased from the encoder, always execute home
position setting before operation. The absolute position data of the encoder will
be erased in the followings. Additionally, when the battery is used out of
specification, the absolute position data can be erased.
MR-BAT6V1SET , MR-BAT6V1SET-A and MR-BT6VCASE
The encoder cable was disconnected.
The battery was replaced when the control circuit power supply was off.
MR-BAT6V1BJ
A connector or cable was disconnected between the servo motor and battery.
The battery was replaced with procedures other than those of (6) in section
11.8.3.
If the following parameters are changed, the home position will be erased at the
next power-on. Execute the home position return again after power-on.
[Pr. PA06 Electronic gear numerator (command pulse multiplication
numerator)]
[Pr. PA07 Electronic gear denominator (command pulse multiplication
denominator)]
[Pr. PA14 Rotation direction selection/travel direction selection]
[Pr. PT08 Home position return position data]
[Pr. PT28 Number of stations per rotation]
12.1 Summary
12.1.1 Features
For normal operation, the encoder consists of a detector designed to detect a position within one revolution
and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the programmable controller power is on or off. Therefore, once
home position return is made at the time of machine installation, home position return is not needed when
power is switched on thereafter.
Even at a power failure or a malfunction, the system can be easily restored.
12 - 1
12.1.2 Restrictions
The system cannot be configured under the following conditions. Additionally, test operation cannot be
performed in the absolute position detection system. To perform test operation, select incremental system in
[Pr. PA03].
(1) Speed control mode and torque control mode
(2) Control switch-over mode (position/speed, speed/torque, and torque/position)
(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning
(4) Changing electronic gear after home position setting.
(5) Using alarm code output.
(6) Using incremental value command method ([Pr. PT01] = "_ _ _ 1").
To configure absolute position detection system in incremental value command method, specify the
incremental value command with the sub function of the point table or the command in the program. For
details, refer to 4.2.2 and 5.2.2 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual (Positioning
Mode)".
12.1.3 Structure
The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each
battery connection.
Positioning module I/O module
RX40C7, RX41C4, RX42C4
RD75P4, RD75D4 RY40NT5P, RY41NT2P, RY42NT2P
RY40PT5P, RY41PT1P, RY42PT1P
QX40, QX41, QX42
QD75P_N, QD75D_N
QY40, QY41P, QY42P, QY50
LX40C6, LX41C4, LX42C4
LD75P4, LD75D4 LY40NT5P, LY41NT1P, LY42NT1P
LY40PT5P, LY41PT1P, LY42PT1P
FX2N-_GM, FX2N-_PG FX2N series, FX0N series
Programmable controller Servo amplifier
RD75D_
etc.
CN1 CN2
I/O
CN4
Battery Servo motor
12 - 2
POINT
Set "_ _ _ 2" in [Pr. PA03] when using the absolute position detection system by
communication. This parameter setting is supported by servo amplifier with
software version A3 or later.
Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. Set "_ _ _ 2" when using the
ABS transfer system by communication. Refer to section 12.8 for the ABS transfer system by
communication.
[Pr. PA03]
1
Absolute position detection system selection
0: Disabled (incremental system)
1: Enabled (absolute position detection system by DIO)
2: Enabled (absolute position detection system by communication-based)
(available for the software version A3 or later)
12.1.5 Confirmation of absolute position detection data
You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display"
to open the absolute position data display screen.
12 - 3
12.2 Battery
12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery

General purpose
programmable controller Servo amplifier
Pulse train
CPU Positioning module command Home position data
Current EEP-ROM memory
position
LSO Current
1XO position
Position control
Speed control
I/O module Backed up in the
case of power
Changing the
position data
failure
current
Input LS 1X
Detecting the Detecting the
Step-down number of position within
circuit revolutions one revolution
Output (6 V → 3.4 V)
MR-BAT6V1SET
Battery
Servo motor
Cumulative revolution counter High-speed

(1 pulse/rev) serial
communication
Counter within one revolution
(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Maximum revolution range Home position ± 32767 rev.
6000
(Note 1) Rotary servo motor
(only when acceleration time until 6000 r/min is 0.2 s or more)
Maximum speed at power
500
failure [r/min] Direct drive motor
Approximately 20,000 hours
(equipment power supply: off, ambient temperature: 20 °C)
Rotary servo motor
(Note 2) (power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Battery backup time Approximately 5,000 hours
Direct drive motor
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.
2. The data-holding time by the battery using MR-BAT6V1SET or MR-BAT6V1SET-A. Replace the batteries within three years
since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification,
[AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12 - 4
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be
used with direct drive motors.
MR-BAT6V1BJ cannot be used for fully closed loop system.

General purpose
Pulse train
CPU Positioning module Home position data
command
position Current
LSO
1XO position
Position control
Speed control
Backed up in the
I/O module case of power
position data
Changing the
failure
Input LS 1X
current

(6 V → 3.4 V)
Output
Primary lithium battery
Step-down circuit
MR-BAT6V1BJ
Servo motor Battery High-speed
serial
communication
Cumulative revolution counter
(1 pulse/rev)
(2) Specifications
(a) Specification list
Item Description
(Note 1)
6000
Maximum speed at power Rotary servo motor
failure [r/min]
(Note 2) (equipment power supply: off, ambient temperature: 20 °C)
Rotary servo motor
Battery backup time Approximately 29,000 hours
2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur.
12 - 5
12.2.3 Using MR-BT6VCASE battery case
POINT
One MR-BT6VCASE holds absolute position data up to eight axes servo motors.
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.

General purpose
Pulse train
CPU Positioning module Home position data
command
position Current
LSO
1XO position
Position control
Speed control
Backed up in the
I/O module case of power
position data
Changing the
failure
Input LS 1X
current

Output ( 6 V → 3.4 V )
MR-BT6VCASE
Servo motor MR-BAT6V1 × 5 High-speed

serial
communication
Cumulative revolution counter
(1 pulse/rev)
(2) Specification list

Item Description
6000
(Note 1) Rotary servo motor
Maximum speed at power
500
failure [r/min] Direct drive motor
Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or
10,000 hours/8 axes
Rotary servo motor
Approximately 55,000 hours/2 axes or less, 38,000 hours/
3 axes, or 15,000 hours/8 axes
(Note 2) (power-on time ratio: 25%, ambient temperature: 20 °C) (Note 4)
Battery backup time Approximately 10,000 hours/2 axes or less, 7,000 hours/
Direct drive motor
Approximately 15,000 hours/2 axes or less, 13,000 hours/
2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes
(including axis for using in the incremental system). Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur.
12 - 6
12.3 Standard connection example

Servo amplifier
24 V DC CN1
DICOM 20
DOCOM 46
(Note) Stroke end in forward rotation LSP 43
Stroke end in reverse rotation LSN 44
External torque limit selection TL 18
Reset
RES 19
DOCOM 46
Output Forced stop 2

EM2 42
Electromagnetic Servo-on
brake output SON 15
ABS transmission
RA2 mode
ABSM 17
ABS request
ABSR 18
ABS transmission data bit 0
Reset Input ABSB0 22
ABS transmission data bit 1
ABSB1 23
ABS transmission data ready
ABST 25
I/O unit
Dog
Proximity dog signal
Stop DOCOM 47
Stop signal
Power supply (24 V) DICOM 21
Ready RD 49
Positioning module
Zero-point P15R 1
signal OP 33
CR 41
Clear
DOCOM 47
PP 10
Command
pulses PG 11
(for differential NP 35
line driver type)
NG 36
Upper limit setting
P15R 1
Analog torque limit
TLA 27
+ 10 V/max. torque
LG 28
SD Plate
Note. For operation, always turn on LSP and LSN.
12 - 7
12.4 Signal explanation
When the absolute position data is transferred, the signals of connector CN1 change as described in this
section. They return to the previous status on completion of data transfer. The other signals are as described
in section 3.5.
For the I/O interfaces (symbols in the I/O Category column in the table), refer to section 3.8.2.
CN1
I/O Control
Signal name Code connector Function/Application
category mode
pin No.
While ABSM is on, the servo amplifier is in the
(Note) ABS transfer mode, and the functions of CN1-22,
ABS transfer mode ABSM DI-1
17 CN1-23, and CN1-25 are as indicated in this
table.
(Note) Turn on ABSR to request the absolute position
ABS request ABSR DI-1
18 data in the ABS transfer mode.
Indicates the lower bit of the absolute position
ABS transmission data data (2 bits) which is sent from the servo to the
ABSB0 22 DO-1
bit 0 programmable controller in the ABS transfer
P
mode. If there is a signal, D01 turns on.
(Position
Indicates the upper bit of the absolute position
control)
ABS transmission data data (2 bits) which is sent from the servo to the
ABSB1 23 DO-1
bit 1 programmable controller in the ABS transfer
mode.
Indicates that the data to be sent is being
ABS transmission data
ABST 25 prepared in the ABS transfer mode. At the DO-1
ready
completion of the ready state, ABST turns on.
When CR is turned on, the position control
counter is cleared and the home position data is
Home position setting CR 41 DI-1
stored into the non-volatile memory (backup
memory).
Note. When "Used in absolute position detection system" is selected in [Pr. PA03], pin 17 acts as ABSM and pin 18 as
ABSR. They do not return to the original signals if data transfer ends.
12 - 8
12.5 Startup procedure
(1) Battery installation.

Refer to section 12.2.

Set "_ _ _ 1" in [Pr. PA03] of the servo amplifier and switch power off, then on.
(3) Resetting of [AL. 25 Absolute position erased]

After connecting the encoder cable, [AL. 25] occurs at first power-on. Turn off the power, then on to
reset the alarm.
(4) Confirmation of absolute position data transfer

When SON is turned on, the absolute position data is transferred to the programmable controller.
Transferring the proper absolute position data will trigger the followings.
(a) RD (Ready) turns on.
(b) The absolute position data ready contact of programmable controller turns on.
(c) The MR Configurator2 ABS data display window (refer to section 12.1.5) and programmable
controller side ABS data registers show the same value (at the home position address of 0).
If any warning such as [AL. E5 ABS time-out warning] or programmable controller side transfer error
occurs, refer to section 12.7 or chapter 8 and take corrective action.
(5) Home position setting

The home position must be set if.
(a) System set-up is performed;
(b) The servo amplifier has been changed;
(c) The servo motor has been changed; or
(d) [AL. 25 Absolute position erased] occurred.
In the absolute position detection system, the absolute position coordinates are made up by making
home position setting at the time of system set-up. The motor shaft may operate unexpectedly if
positioning operation is performed without home position setting.
Always make home position setting before starting.
For the home position setting method and types, refer to section 12.6.3.
12 - 9
12.6 Absolute position data transfer protocol
POINT
After switching on ABSM, turn on SON. When the ABS transfer mode is off,
turning on SON does not switch on the base circuit.
12.6.1 Data transfer procedure
Each time SON is turned on (when the power is switched on for example), the programmable controller
reads the position data (present position) of the servo amplifier.
Time-out monitoring is performed by the programmable controller.
Servo amplifier Programmable controller
ON (Servo-on) on
Start processing
ABSM on
Every time the SON is turned
ON, ABSM is turned ON to set
DI0 allocation change
ABST on the data to be transmitted.
ABSR on
Repeated to configure 32-bit data

Transmission data set Watch dog timer «Current position data»
ABST off
The data is read in units of
2 bits; the read data is written
Reading 2 bits to the lowest bits, and the 16 times
register is shifted right until
32-bit data is configured.
Shift and addition
ABSR off
ABST on
ABSR on Repeated to configure 6-bit data

«Sum check data»
The data is read in units of
Transmission data set Watch dog timer
ABST off 2 bits; the read data is written
to the lowest bits, and the 3 times
register is shifted right until
Reading 2 bits 6-bit data is configured.
Shift and addition

ABSR off
ABST on
Setting the current

End processing
A sum check is executed

position
for the received 32-bit data.
After making sure that
ABSM off Sum check there are no errors in the data,
the current position is set.
DI0 allocation change ABST off
12 - 10
12.6.2 Transfer method
The following shows a sequence how to turn on the base circuit while it is off state because SON is off, EM2
is off, or an alarm is occurring. In the absolute position detection system, every time SON is turned on,
ABSM should always be turned on to read the current position in the servo amplifier to the controller. The
servo amplifier transmits to the controller the current position latched when ABSM switches from off to on. At
the same time, this data is set as a position command value inside the servo amplifier. Unless ABSM (ABS
transfer mode) is turned on, the base circuit cannot be turned on.
(1) At power-on
(a) Timing chart
ON
Power
supply
OFF
If SON is turned ON before ABSM is input
ON
SON
OFF
2), 3)
ON
4)
During transfer of ABS During transfer of ABS
ABSM
OFF
(Note) (Note)
ON
ABSR
OFF
(Note) (Note)
ON
ABST
OFF
(Note) (Note)
ABSB0 Absolute position Absolute position
ABSB1 data data
95 ms 95 ms
ON
Base circuit
OFF
1)
ON
RD Operation Operation
OFF enabled enabled
Note. For details, refer to (1) (b) in this section.
12 - 11
1) After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSM-
on is not received.
2) Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM
is turned on.
If an alarm has occurred, ABSM is not received. ABSM allows data transmission even while a
warning is occurring.
3) If ABSM is turned off during the ABS transfer mode, the ABS transfer mode is interrupted and
[AL. E5 ABS time-out warning] occurs.
If SON is turned off, RES is turned on, and EM2 is turned off during the ABS transfer mode, [AL.
E5 ABS time-out warning] occurs.
4) Note that if ABSM is turned on for a purpose other than absolute position data transmission, the
output signals will be assigned the functions of absolute position data transmission.
Output signal
CN1 Pin No.
ABSM (ABS transfer mode): off ABSM (ABS transfer mode): on
22 Positioning completion transmission data bit 03
23 Zero speed detection transmission data bit 1
25 During torque limit control transmission data ready
5) ABSM is not accepted while the base circuit is on. For re-transferring, turn off SON signal and
keep the base circuit in the off state for 20 ms or longer.
(b) Detailed description of absolute position data transfer

Servo-on in ON
programmable
controller OFF
ON
SON
OFF
(Note)
1) 7)
ON
ABSM During transfer of ABS
OFF
3) 5)
ON
ABSR
OFF
2) 4) 6)
ON
ABST
OFF
ABSB0 Lower Checksum

ABSB1 2 bits Upper 2 bits
Note. If SON does not turn on within 1 s after ABSM off, [AL. EA ABS servo-on warning] will occur. But it will not
influence the transfer. SON on will cancel [AL. EA] automatically.
12 - 12
1) The programmable controller turns on ABSM and SON at the leading edge of the internal servo-
on.
2) In response to ABS transfer mode, the servo detects and calculates the absolute position and
turns on ABST to notify the programmable controller that the servo is ready for data transmission.
3) After acknowledging that ABST is turned on, the programmable controller will turn on ABSR.
4) In response to ABSR, the servo outputs the lower 2 bits of the absolute position data and ABST
in the off state.
5) After acknowledging that ABST has been turned off, which implies that 2 bits of the absolute
position data have been transmitted, the programmable controller reads the lower 2 bits of the
absolute position data and then turns off ABSR.
6) The servo turns on ABST so that it can respond to the next request. Steps 3) to 6) are repeated
until 32-bit data and the 6-bit checksum have been transmitted.
7) After receiving of the checksum, the programmable controller confirms that the 19th ABST is
turned on, and then turns off ABSM. If ABSM is turned off during data transmission, ABSM is
interrupted and the [AL. E5 ABS time-out warning] occurs.
(c) Checksum
he checksum is the code which is used by the programmable controller to check for errors in the
received absolute position data. The 6-bit checksum is transmitted following the 32-bit absolute
position data.
At the programmable controller, calculate the sum of the received absolute position data using the
ladder program and compare it with the checksum code sent from the servo.
The method of calculating the checksum is shown. Every time the programmable controller receives
2 bits of absolute position data, it adds the data to obtain the sum of the received data. The
checksum is 6-bit data.
Example: absolute position data: -10 (FFFFFFF6H)

10b
01b «Appendix»
11b Decimal - 10
11b
11b Hexadecimal FFFF FFF6
11b
11b Binary 1111 1111 1111 0110
11b When the binary data of each 2 bits of the absolute
11b position data is added up, "10 1101 b" is obtained.
11b
11b
11b
11b
11b
11b
+ 11b
101101b
Therefore, the checksum of "-10" (absolute position data) is "2DH"
12 - 13
(2) Transmission error

(a) [AL. E5 ABS time-out warning]
In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. E5] when
a time-out error occurs.
[AL. E5 ABS time-out warning] is cleared when ABSM changes from off to on.
1) ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units
checksum)
If the ABS request signal is not turned on by the programmable controller within 5 s after ABST is
turned on, this is regarded as a transmission error and [AL. E5 ABS time-out warning] is output.
ON
ABSM
OFF
5s
ON
ABSR
OFF
Signal is not turned ON
ON
ABST
OFF
Yes
[AL. E5]
No
2) ABS request on-time time-out check (applied to 32-bit absolute position data in 2-bit units
checksum)
If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off,
this is regarded as the transmission error and [AL. E5 ABS time-out warning] is output.
ON
ABSM
OFF
5s
ON
ABSR
OFF
Signal is not turned OFF
ON
ABST
OFF
Yes
[AL. E5]
No
12 - 14
3) ABS transfer mode finish-time time-out check

If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for
absolute position data transmission) is turned on, it is regarded as the transmission error and the
[AL. E5 ABS time-out warning] is output.
5s
ON
ABSM
OFF
Signal is not turned OFF
1 2 3 4 18 19
ON
ABSR
OFF
ON
ABST
1 2 3 4 18 19
OFF
Yes
[AL. E5]
No
4) ABSM-off check during the ABS transfer

When the ABSM is turned on to start transferring and then the ABS transfer mode is turned off
before the 19th ABS transmission data ready is turned on, [AL. E5 ABS time-out warning] occurs,
regarding it as a transfer error.
ON
ABSM
OFF
1 2 3 4 18 19
ON
ABSR
OFF
1 2 3 4 18 19
ON
ABST
OFF
Yes
[AL. E5]
No
12 - 15
5) SON off, RES on, and EM2 off check during the ABS transfer
When the ABS transfer mode is turned on to start transferring and then SON is turned off, RES is
turned on, or EM2 is turned on before the 19th ABST is turned on, [AL. E5 ABS time-out warning]
occurs, regarding it as a transfer error.
ON
SON
OFF
ON
ABSM
OFF
1 2 3 4 18 19
ON
ABSR
OFF
1 2 3 4 18 19
ON
ABST
OFF
Yes
[AL. E5]
No
(b) Checksum error

If the checksum error occurs, the programmable controller should retry transmission of the absolute
position data.
Using the ladder check program of the programmable controller, turn off ABSM. After a lapse of 10
ms or longer, turn off SON (off time should be longer than 20 ms) and then turn it on again.
If the absolute position data transmission fails even after retry, process the ABS checksum error.
The start command should be interlocked with ABST to disable positioning operation when an
checksum error occurs.
The following shows an example of three retries.
20 ms 20 ms 20 ms
or longer or longer or longer
ON
SON Retry 1 Retry 2 Retry 3
OFF 10 ms 10 ms 10 ms 10 ms
or longer or longer or longer or longer
ON
ABSM
OFF
ON
ABSR
OFF
ON
ABST
OFF
Yes
ABS checksum error
No
12 - 16
(3) At the time of alarm reset

If an alarm occurs, turn off SON by detecting ALM. If an alarm has occurred, ABSM cannot be accepted.
In the reset state, ABSM can be input.
ON
SON
OFF
ON
RES
OFF
ON
OFF
ON
ABSR
OFF
ON
ABST
OFF
ABSB0 Absolute position

ABSB1 data
95 ms
ON
Base circuit
OFF
ON
ALM
OFF
ON
RD Operation
OFF enabled
Occurrence of alarm
12 - 17
(4) At the time of forced stop reset

(a) If the power is switched on in the forced stop state
he forced stop state can be reset while the absolute position data is being transferred. If the forced
stop state is reset while the absolute position data is transmitted, the base circuit is turned on 95 ms
after resetting. If ABSM is off when the base circuit is turned on, RD is turned on 5 ms after the
turning on of the base circuit. If ABSM is on when the base circuit is turned on, it is turned off and
then RES is turned on. The absolute position data can be transmitted after the forced stop state is
reset.
The current position in the servo amplifier is updated even during an forced stop. When SON or
ABSM are turned on during an forced stop as shown below, the servo amplifier transmits to the
controller the current position latched when ABSM switches from off to on, and at the same time, the
servo amplifier sets this data as a position command value. However, since the base circuit is off
during a forced stop, the servo-lock status is not encountered. Therefore, if the servo motor is
rotated by external force or the like after ABSM is turned on, this travel distance is accumulated in
the servo amplifier as droop pulses. If the forced stop is cleared in this status, the base circuit turns
on and the motor returns to the original position rapidly to compensate for the droop pulses. To avoid
this status, reread the absolute position data before clearing the forced stop.
ON
Power
supply
OFF
ON
SON
OFF
Reset
ON
EM2
OFF
ON
OFF
ON
ABSR
OFF
ON
ABST
OFF

ABSB1 data
95 ms
ON
Base circuit
OFF
5 ms
ON
RD Operation
OFF enabled
12 - 18
(b) If forced stop is activated during servo-on

ABSM is permissible while in the forced stop state. In this case, the base circuit and RD are turned
on after the forced stop state is reset.
ON
SON
OFF
ON
EM2
OFF
ON
OFF
ON
ABSR
OFF
ON
ABST
OFF

ABSB1 data
95 ms
ON
Base circuit
OFF
ON
RD Operation
OFF enabled
12 - 19
12.6.3 Home position setting
(1) Dog type home position return

Preset a home position return creep speed at which the machine will not be given impact.
On detection of a zero pulse, CR is turned from off to on. At the same time, the servo amplifier clears the
droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the
home position absolute position data.
CR should be turned on after it has been confirmed that INP is on. If this condition is not satisfied, [AL.
96 Home position setting warning] will occur, but that warning will be reset automatically by making
home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
Servo motor
Proximity dog
ON
DOG (Proximity dog)
OFF
ON
INP (In-position)
OFF
ON
CR (Home position setting)
OFF
20 ms or longer 20 ms or longer
ABSB0 (ABS transmission data bit 0)

ABSB1 (ABS transmission data bit 1) Update
ON
ABSV
(Absolute position undetermined)
OFF
ON
Control circuit power supply
OFF
12 - 20
(2) Data set type home position return
POINT
Never make home position setting during command operation or servo motor
rotation. It may cause home position sift.
It is possible to execute data set type home position return during the servo off.
Move the machine to the position where the home position is to be set by performing manual operation
such as JOG operation. When CR is on for longer than 20 ms, the stop position is stored into the non-
volatile memory as the home position absolute position data.
When the servo on, set CR to on after confirming that INP is on. If this condition is not satisfied, [AL. 96
Home position setting warning] will occur, but that warning will be reset automatically by making home
position return correctly.
The number of home position setting times is limited to 100,000 times.
Manual feed (JOG, etc.)
Servo motor
ON
INP (In-position)
OFF
ON
CR (Home position setting)
OFF
20 ms or longer
ABSB0 (ABS transmission data bit 0)

ABSB1 (ABS transmission data bit 1) Update
ON
ABSV
(Absolute position undetermined)
OFF
ON
Control circuit power supply
OFF
12 - 21
12.6.4 Use of servo motor with an electromagnetic brake
The timing charts at power on/off and SON on/off are given below.
Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When
MBR is set for the CN1-23 pin, turning ABSM on will change the CN1-23 pin to ABSB1 (ABS transmission
data bit 1). Therefore, configure an external sequence to generate the electromagnetic brake torque as soon
as ABSM and MBR turn off.
ON
Power
supply
OFF
ON
SON
OFF
ON
ABSM During transmission During transmission
OFF of ABS of ABS
ON
ABSR
OFF
ON
ABST
OFF
ABSB0 Absolute position Absolute position

ABSB1 data data
95 ms 95 ms
ON
Base circuit
OFF
5 ms 5 ms
ON
RD
OFF
Tb Tb
ON
MBR
OFF
ON
Electromagnetic
brake torque
OFF
12 - 22
12.6.5 How to process the absolute position data at detection of stroke end
The servo amplifier stops the acceptance of the command pulse when off of LSP or LSN are detected,
clears the droop pulses to 0 at the same time, and stops the servo motor. At this time, the programmable
controller keeps outputting the command pulse. Since this causes a discrepancy between the absolute
position data of the servo amplifier and the programmable controller, position mismatch will occur if the
operation is continued. To prevent this difference in position data from occurring, do as described below.
When the servo amplifier has detected the stroke end, perform JOG operation or the like to clear the stroke
end.
After that, switch SON off once, then on again, or switch the power off once, then on again. This causes the
absolute position data of the servo amplifier to be transferred to the programmable controller, restoring the
normal data.
12.7 Absolute position data transfer errors
POINT
When the following alarm or warning occurs, refer to "MELSERVO-J4 Servo
Amplifier Instruction Manual (Troubleshooting)" to remove the failure.
[AL. 25 Absolute position erased]
[AL. 96 Home position setting warning]
[AL. E3 Absolute position counter warning]
[AL. E5 ABS time-out warning]
[AL. EA ABS servo-on warning]
12 - 23
(1) The off period of the ABS transmission data ready signal output from the servo amplifier is checked. If
the off period is 1 s or longer, regard as a transfer fault and generate the ABS communication error.
Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo
amplifier due to an ABS request on time time-out.
ON
ABSM
OFF
1s
ON
ABSR
OFF
ON
ABST
OFF
The signal does not come ON
YES
ABS communication
error
NO
(2) The time required for the ABS transfer mode signal to go off after it has been turned on (ABS transfer
time) is checked. If the ABS transfer time is longer than 5 s, regard that a transfer fault has occurred,
and generate the ABS communication error. Generate the ABS communication error if [AL. E5 ABS
time-out warning] is generated at the servo amplifier due to an ABS transfer mode completion time time-
out.
5s
ON
ABSM
OFF The signal does not go OFF
1 2 3 4 18 19
ON
ABSR
OFF
ON
ABST 1 2 3 4 18 19
OFF
YES
ABS communication
error
NO
12 - 24
(3) The time required for the ABS request signal to go off after it has been turned on (ABS transfer time) is
checked. To detect [AL. E5 ABS time-out warning] at the servo amplifier. If the ABS request remains on
for longer than 1 s, regard that a fault relating to the ABS request signal or the ABST has occurred and
generate the ABS communication error.
Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo
amplifier due to an ABS request off time time-out.
ON
ABSM
OFF
1s
ON
ABSR
OFF
The signal does
not go OFF
ON
ABST
OFF
YES
ABS communication
error
NO
12 - 25
12.8 Communication-based absolute position transfer system
12.8.1 Serial communication command
The following commands are available for reading absolute position data using the serial communication
function. When reading data, take care to specify the correct station number of the servo amplifier from
where the data will be read.
When the master station sends the data No. to the slave station (servo amplifier), the slave station returns
the data value to the master station.
(1) Transmission
Transmit command [0] [2] and data No. [9] [1].
(2) Reply
The absolute position data in the command pulse unit is returned in hexadecimal.
Data 32-bit length (hexadecimal representation)
12.8.2 Absolute position data transfer protocol
(1) Data transfer procedure

Every time SON turns on at power-on or like, the controller must read the current position data in the
servo amplifier. Not performing this operation will cause a position shift.
Time-out monitoring should be performed by the controller.
Servo amplifier Controller
SON on
RD on
Absolute position data

command transmission
Command [0][2] + data No.[9][1]
Absolute position
data acquisition Watch dog timer
Absolute position data return
Current position
acquisition
Current value
change
Position command start
12 - 26
(2) Transfer method

The following shows a sequence how to turn on the base circuit while it is off state because SON is off,
EM2 is off, or an alarm is occurring. In the absolute position detection system, always give the serial
communication command to read the current position in the servo amplifier to the controller every time
RD turns on. The servo amplifier sends the current position to the controller on receipt of the command.
At the same time, this data is set as a position command value in the servo amplifier.
(a) Sequence processing at power-on

Power ON
supply OFF
ON
SON
OFF
95 ms
ON
Base
circuit OFF
5 ms
RD ON
OFF


receive
Current position change
Current position
Absolute position
data
Pulse train command
During this period, get absolute position data.
1) The base circuit turns on after 95 ms.
2) After the base circuit is turned on, RD turns on.
3) After RD turned on and the controller acquired the absolute position data, give command pulses
to the servo amplifier. If the controller gives command pulses before acquiring the absolute
position data, a position shift can occur.
(b) Communication error

If a communication error occurs between the controller and servo amplifier, the servo amplifier sends
the error code. The definition of the error code is the same as that of the communication function.
If a communication error has occurred, perform retry operation. If several retries do not result in a
normal termination, perform error processing.
12 - 27
(c) At the time of alarm reset

If an alarm has occurred, detect ALM and turn off SON. After removing the alarm occurrence factor
and deactivating the alarm, get the absolute position data again from the servo amplifier in
accordance with the procedure in (a) in this section.
SON ON
OFF
RES ON
OFF
95 ms
ON
Base circuit
OFF
ALM ON
OFF
5 ms
RD ON
OFF

Absolute position
data receive Current position change
Absolute position
data
Current position
Pulse train command
12 - 28
(d) At the time of forced stop reset

210 ms after the forced stop is deactivated, the base circuit turns on, and RD turns on further 5 ms
after that, turns on. Always get the current position data using RD as the trigger before the position
command is issued.
1) When power is switched on in a forced stop status

ON
Power
supply OFF
SON ON
OFF
EM2 ON
OFF
210 ms
ON
Base circuit
OFF
5 ms
RD ON
OFF
Absolute position
data receive
Current position
Absolute position
data
Pulse train command
2) When a forced stop is activated during servo on

SON ON
OFF
EM2 ON
OFF
95 ms
ON
Base circuit
OFF
5 ms
RD ON
OFF
Absolute position
data receive
Current position
Absolute position
data
Pulse train command
12 - 29
MEMO
12 - 30
13. USING STO FUNCTION
POINT
The MR-J4-03A6(-RJ) servo amplifier is not compatible with the STO function.
13.1 Introduction
This section provides the cautions of the STO function.
13.1.1 Summary
This servo amplifier complies with the following safety standards.

ISO/EN ISO 13849-1 Category 3 PL e
IEC 61508 SIL 3
IEC/EN 61800-5-2
IEC/EN 62061 SIL CL3
13.1.2 Terms related to safety
The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts
off power supply in the servo amplifier.
The purpose of this function is as follows.
(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
(2) Preventing unexpected start-up
13.1.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these
components are installed.
They must be familiar with all applicable local regulations and laws in which machines with these
components are installed, particularly the standards mentioned in this manual.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
Improper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by
preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon
the drive axis, additional safety measures, such as brakes or counterbalances must be used.
13 - 1
13.1.4 Residual risks of the STO function
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries
caused by these risks.
(1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does not
mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric
shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the
main circuit power supply (L1/L2/L3) of the servo amplifier.
(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee
the stop control or the deceleration control of the servo motor.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.
(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external
or other forces.
(6) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the
same as those being replaced. Once installed, make sure to verify the performance of the functions
before commissioning the system.
(8) Perform all risk assessments to the machine or the whole system.
(9) To prevent accumulation of malfunctions, perform malfunction checks at regular intervals based on the
risk assessments of the machine or the system. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(10) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum.
(11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the
STO function may not function properly due to a sneak current, failing to bring the STO shut-off state.
(12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage (SELV)
power supply with the reinforced insulation.
13 - 2
13.1.5 Specifications
(1) Specifications
Item Specifications
ISO/EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,
Safety performance (Note 2)
EN 62061 SIL CL3, EN 61800-5-2
Mean time to dangerous failure
MTTFd ≥ 100 [years] (314a) (Note 1)
(MTTFd)
Diagnostic converge (DC) DC = Medium, 97.6 [%] (Note 1)
Average probability of dangerous
PFH = 6.4 × 10-9 [1/h]
failures per hour (PFH)
Number of on/off times of STO 1,000,000 times
LVD: EN 61800-5-1
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Note 1. This is the value required by safety standards.

2. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and
whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function
column of [Pr. PF18] in section 5.2.6.
(2) Function block diagram (STO function)
Base power
supply for
CN8 upper arm
Shut-off signal (STO1)
Shut-
off
Monitor signal (TOFB1)
Base power
supply for Power
Shut-off signal (STO2) lower arm module
Shut-
off
Monitor signal (TOFB2)
M Servo motor
(3) Operation sequence (STO function)
Servo motor speed
0 r/min
ON
EM2 (Forced stop 2)
OFF
ON
STO1/STO2
OFF
ON
Magnetic contactor
OFF (8 ms)
Base circuit ON
(Supplying energy to
13 - 3
13.1.6 Maintenance
This servo amplifier has alarms and warnings for maintenance that supports the Drive safety function. (Refer
to chapter 8.)
13.2 STO I/O signal connector (CN8) and signal layouts
13.2.1 Signal layouts
POINT
wiring section.
Servo amplifier
STO I/O signal connector

CN8
2 1
4 3
STO1 STOCOM
6 5
TOFB1 STO2
8 7
TOFCOM TOFB2
13 - 4
13.2.2 Signal (device) explanations
(1) I/O device

Connector I/O
Signal name Description
pin No. division
STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1
STO1 CN8-4 Inputs STO state 1. DI-1
STO state (base shut-off): Open between STO1 and STOCOM.
STO release state (in driving): Close between STO1 and STOCOM.
Be sure to turn off STO1 after the servo motor stops by the servo-off state or with forced
stop deceleration by turning off EM2 (Forced stop 2).
STO2 CN8-5 Inputs STO state 2. DI-1
STO state (base shut-off): Open between STO2 and STOCOM.
STO release state (in driving): Close between STO2 and STOCOM.
Be sure to turn off STO2 after the servo motor stops by the servo-off state or with forced
stop deceleration by turning off EM2 (Forced stop 2).
TOFCOM CN8-8 Common terminal for monitor output signal in STO state DO-1
TOFB1 CN8-6 Monitor output signal in STO1 state DO-1
STO state (base shut-off): Between TOFB1 and TOFCOM is closed.
STO release state (in driving): Between TOFB1 and TOFCOM is opened.
TOFB2 CN8-7 Monitor output signal in STO2 state DO-1
STO state (base shut-off): Between TOFB2 and TOFCOM is closed.
STO release state (in driving): Between TOFB2 and TOFCOM is opened.
(2) Signals and STO state

The following table shows the TOFB and STO states when the power is on in normal state and STO1
and STO2 are on (closed) or off (opened).
Input signal State
Between TOFB1 and TOFB2
Between TOFB1 and TOFCOM Between TOFB2 and TOFCOM
STO1 STO2 (Monitoring STO state of servo
(Monitoring STO1 state) (Monitoring STO2 state)
amplifier)
Off Off On: STO state (base circuit shut-off) On: STO state (base circuit shut-off) On: STO state (base circuit shut-off)
Off On On: STO state (base circuit shut-off) Off: STO release state Off: STO state (base circuit shut-off)
On Off Off: STO release state On: STO state (base circuit shut-off) Off: STO state (base circuit shut-off)
On On Off: STO release state Off: STO release state Off: STO release state
(3) Test pulse of STO input signal

Set the test pulse off time inputted from outside to 1 ms or less.
13.2.3 How to pull out the STO cable
The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.
While pressing knob 1) of the STO cable plug in the
direction of the arrow, pull out the plug 2).
(This figure shows the MR-J4-_B_(-RJ) servo amplifier.
This procedure also applies to the MR-J4-_A_(-RJ) servo
amplifier.)
2)
1)
13 - 5
13.3 Connection example
POINT
Turn off STO (STO1 and STO2) after the servo motor stops by the servo off
state or with forced stop deceleration by turning off EM2 (Forced stop 2).
Configure an external sequence that has the timings shown as below using an
external device such as the MR-J3-D05 safety logic unit.
ON
STO1/STO2 OFF
ON
EM2 OFF
Servo motor
speed 0 r/min
If STO is turned off during operation, the servo motor is in dynamic brake stop
(stop category 0), and [AL. 63 STO timing error] will occur.
13.3.1 Connection example for CN8 connector
This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this
connector is used with a certified external safety relay, power to the motor can be safely removed and
unexpected restart can be prevented. The safety relay used should meet the applicable safety standards
and have forcibly guided or mirror contacts for the purpose of error detection.
In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of
various safety standards. Refer to app. 5 for details.
The following diagram is for source interface. For sink interface, refer to section 13.4.1.
Servo amplifier
Forced stop 2 CN3 Approx.

6.2 kΩ
EM2 42
DICOM 20
24 V DC
DICOM 21
CN8 Approx.
(Note 2) 3.0 kΩ CN8 (Note 1)
STO1 STO1 4
Approx.
(Note 2) 3.0 kΩ 6 TOFB1
STO2 STO2 5
8 TOFCOM
STOCOM 3
7 TOFB2
24 V DC
Door
(Note 3) Open
Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection
examples, refer to section 13.3.2 to 13.3.3. The safety level depends on the setting value
of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by
TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in
section 5.2.6.
2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1
and STO2 after the servo motor stops by the servo off state or with forced stop
deceleration by turning off EM2 (Forced stop 2).
3. Configure the interlock circuit so that the door is open after the servo motor is stopped.
13 - 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.
13 - 7

24 V
(Note 2) (Note 2)
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note 1) (Note 1)
SW1 SW2 STOA STOB
EM2 EM2
(A-axis) (B-axis)
CN9
1A SDI1A+
1B SDI1A- MC
Servo amplifier
4A SDO1A+ CN8
Control circuit
CN8A 4B SDO1A- STO1 4
CN10 STO2 5
3A SDI2A+
STOCOM 3
3B SDI2A-
TOFB1 6
1A SRESA+
1B SRESA- TOFB2 7
6A SDO2A+
TOFCOM 8
6B SDO2A-
8A TOFA CN1
EM2 (A-axis)
Servo motor
CN9
2A SDI1B+
2B SDI1B- MC
Servo amplifier
CN8B 3A SDO1B+ CN8
Control circuit
3B SDO1B- STO1 4
CN10 STO2 5
4A SDI2B+
STOCOM 3
4B SDI2B-
TOFB1 6
2A SRESB+
FG
2B SRESB- TOFB2 7
5A SDO2B+
TOFCOM 8
5B SDO2B-
8B TOFB CN1
EM2 (B-axis)
7A +24 V M
7B 0V
Servo motor
0V
Note 1. Set the delay time of STO output with SW1 and SW2. These switches for MR-J3-D05 are located where dented from the front
panel.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
13 - 8
(2) Basic operation example

The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2
of the servo amplifier via SDO1A and SDO2A of MR-J3-D05.
The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2
of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
A-axis shutdown 1 and 2 Energizing (close)
B-axis shutdown 1 and 2 Shut-off (open)
Stop
EM2 input Shut off delay
Operation
Normal (close)
STO1, STO2 STO shut-off
Shut-off (open)
Servo amplifier
Servo motor speed
0 r/min
Servo motor drivable STO status
13 - 9
13.3.3 External I/O signal connection example using an external safety relay unit
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.
This connection example complies with the requirement of ISO/EN ISO 13849-1 Category 3 PL d.
For details, refer to the safety relay module user’s manual.
24 V
S4 EMG
S3
S2 K3
Fuse KM1
+24V XS0 XS1 Z00 Z10 Z20 KM1
Safety relay module

MELSEC Power Control
supply circuit
(QS90SR2S)
KM1
24G COM0 X0 COM1 X1 Z01 Z11 Z21
Servo amplifier
CN8 Control circuit
STO1
S1 or
EMG
(Note)
STO2
STOCOM
TOFB1
K3
TOFB2
TOFCOM
0V
20
S1: STO shut-off switch (STO switch)
S2: Start switch (STO release switch) CN1
S3: On switch EM1
S4: Off switch or
KM1: Magnetic contactor EM2
K3: Safety relay
EMG: Emergency stop switch
M
Servo motor
Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at
this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.
13 - 10
13.4 Detailed description of interfaces
section 13.2. Refer to this section and make connection with the external device.
13.4.1 Sink I/O interface

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc.
Servo amplifier
For transistor
STO1
Approx. 5 mA STO2
Approx. 3.0 kΩ
Switch
TR
STOCOM
VCES 1.0 V 24 V DC ± 10%

ICEO 100 µA 500 mA

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(a) When outputting two STO states by using each TOFB
Servo amplifier If polarity of diode is

TOFB1 Load will malfunction.
TOFCOM
(Note)
24 V DC ± 10%
TOFB2 500 mA Load
13 - 11
(b) When outputting two STO states by using one TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 500 mA
13.4.2 Source I/O interface

This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source
(open-collector) type transistor output, relay switch, etc.
Servo amplifier
STO1
STO2
Approx. 3.0 k Ω
Switch
TR
STOCOM
Approx. 5 mA 24 V DC ± 10%
VCES 1.0 V 500 mA
ICEO 100 µA

This is a circuit in which the emitter of the output transistor is the output terminal. When the output
transistor is turned on, current will be applied from the output to a load.
(a) When outputting two STO states by using each TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 500 mA Load
13 - 12
(b) When outputting two STO states by using one TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 500 mA
13 - 13
MEMO
13 - 14
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO

PROTOCOL)
The CN3 connector is designed for RS-422/RS-485 communication and

CAUTION parameter unit only. Do not connect the CN3 connector to an Ethernet port, etc.
Doing so may cause a malfunction.
POINT
RS-422 serial communication function is supported by servo amplifier with
software version A3 or later.
The USB communication function (CN5 connector) and the RS-422
communication function (CN3 connector) are mutually exclusive functions. They
cannot be used together.
You can operate servo driving, parameter change, monitor function, etc. using RS-422 communication
(Mitsubishi Electric general-purpose AC servo protocol) with the servo amplifier.
14 - 1
14.1 Structure
14.1.1 Configuration diagram
(1) Single axis

Operate the single-axis servo amplifier. It is recommended to use the following cable.
Personal computer
Servo amplifier
10 m or less
CN3
To RS-232C RS-422/232C conversion cable

connector DSV-CABV (Diatrend)
(2) Multi-drop connection

(a) Diagrammatic sketch
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
CN3 CN3 CN3
Personal computer
RS-422/232C conversion cable (Note 2)

To RS-232C DSV-CABV (Diatrend)
connector
Note 1. The BMJ-8 (Hachiko Electric) is recommended as the branch connector.

2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No. 6) on the receiving side (servo amplifier) with a
150 Ω resistor.
14 - 2
(b) Cable connection diagram

Wire the cables as follows.
(Note 1) (Note 1) (Note 1, 7)

The first axis servo amplifier The second axis servo amplifier The n axis servo amplifier
Connector for CN3 Connector for CN3 Connector for CN3
(RJ45 Connector) (RJ45 Connector) (RJ45 Connector)
(Note 4, 5) (Note 4, 5) (Note 4, 5)
1 LG 1 LG 1 LG
2 P5D 2 P5D 2 P5D
3 RDP 3 RDP 3 RDP
4 SDN 4 SDN 4 SDN
5 SDP 5 SDP 5 SDP
6 RDN 6 RDN 6 RDN
7 LG 7 LG 7 LG
8 NC 8 NC 8 NC
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 5) 1 2 3 4 5 6 7 8
(Note 5)
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3 RDP
(Note 8)
4 4 4 4 4 4 (Note 2)
5 5 5 5 5 5 150
6 6 6 6 6 6 RDN
7 7 7 7 7 7
8 8 8 8 8 8
(Note 6) Branch connector (Note 6) Branch connector (Note 6) Branch connector
Note 1. Recommended connector (Hirose Electric)

Plug: TM10P-88P
Connection tool: CL250-0228-1
The following shows pin assignment viewed from connector wiring section.
7
LG
6
RDN
5
SDP
4
SDN
3
RDP
2
P5D
1
LG
2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No. 6) on the receiving side (servo amplifier)
with a 150 Ω resistor.
3. The overall length is 30 m or less in low-noise environment.
4. The wiring between the branch connector and servo amplifier should be as short as possible.
5. Use the EIA568-compliant cable (10BASE-T cable, etc.).
6. Recommended branch connector: BMJ-8 (Hachiko Electric)
7. n ≤ 32 (Up to 32 axes can be connected.)
8. RS-422/232C conversion cable DSV-CABV (Diatrend)
14 - 3
14.1.2 Precautions for using RS-422/RS-232C/USB communication function
Note the following to prevent an electric shock and malfunction of the servo amplifier.
(1) Power connection of personal computers

Connect your personal computer with the following procedures.
(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.
2) When your personal computer has two-core plug and has no grounding wire, connect the
personal computer to the servo amplifier with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.
b) Check that the power plug was disconnected and connect the device to the servo amplifier.
c) Connect the power plug of the personal computer to the AC power socket.
(b) When you use a personal computer with battery

You can use as it is.
(2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the
charged servo amplifier is connected with other devices, the servo amplifier or the connected devices
may malfunction. Connect the servo amplifier and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the servo amplifier.
(b) Shut off the power of the servo amplifier which was connected with the personal computer and
check the charge lamp is off.
(c) Connect the device with the servo amplifier.
(d) Turn on the power of the servo amplifier and the device.
14 - 4
14.2 Communication specifications
14.2.1 Outline of communication
Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal
computer) is called a master station and the device (servo amplifier) which returns data in response to the
command is called a slave station. When fetching data successively, the master station repeatedly
commands the slave station to send data.
Item Definition
9600/19200/38400/57600/115200 asynchronous
Baud rate [bps]
system
Start bit 1 bit
Data bit 8 bits
Transfer code
Parity bit 1 bit (even)
Stop bit 1 bit
Character method Half-duplex
Transfer method
communication method
(LSB) (MSB)
Next
Start 0 1 2 3 4 5 6 7 Parity Stop start
Data
1 frame (11 bits)
When the RS-422 communication function is used to operate the servo, set the communication
specifications of the servo amplifier with the parameters.
To enable the parameter values, cycle the power after setting.
(1) Serial communication baud rate

Select the communication speed. Match this value to the communication speed of the sending end
(master station).
[Pr. PC21]
Serial communication baud rate

0: 9600 [bps] 3: 57600 [bps]
1: 19200 [bps] 4: 115200 [bps]
2: 38400 [bps]
(2) RS-422 communication response delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it
returns data. Set "0" to return data in less than 800 μs or "1" to return data in 800 μs or longer.
[Pr. PC21]
RS-422 communication response delay time

0: Disabled
1: Enabled (responding after 800 s or longer delay time)
(3) Station No. setting

Set the station No. of the servo amplifier to [Pr. PC20]. The setting range is station No. 0 to 31.
14 - 5
14.3 Protocol
14.3.1 Transmission data configuration
Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier
using the parameters. Transmission data is enabled for the servo amplifier of the specified station No.
When "*" is set as the station No. added to the transmission data, the transmission data is enabled for all
servo amplifiers connected. However, when return data is required from the servo amplifier in response to
the transmission data, set "0" to the station No. of the servo amplifier which must provide the return data.
(1) Transmission of data from the controller to the servo

10 frames + (data)
Checksum
Command
Controller side Data

SOH
STX
ETX
Data* Station No.
(master station) No.
Error code
Checksum
Servo side
STX
ETX
(slave station) Station No.
6 frames
Positive response: Error code = A
Negative response: Error code = other than A
(2) Transmission of data request from the controller to the servo

10 frames
Checksum
Command
Controller side Data

SOH
STX
ETX
No. Station No.

(master station)
Error code
Checksum
Servo side
STX
ETX
Station No. Data*

(slave station)
6 frames + (Data)
(3) Recovery of communication status by time-out

EOT causes the servo to return to the receive neutral status.
Controller side
EOT
(master station)
Servo side
(slave station)
(4) Data frames

The data length depends on the command.
Data or Data or 12 frames or 16 frames
4 frames 8 frames
14 - 6
14.3.2 Character codes
(1) Control codes

Personal computer terminal
Code Hexadecimal
Description key operation
name (ASCII code)
(general)
SOH 01H start of head ctrl + A
STX 02H start of text ctrl + B
ETX 03H end of text ctrl + C
EOT 04H end of transmission ctrl + D
(2) Codes for data

ASCII unit codes are used.
b8 0 0 0 0 0 0 0 0
b7 0 0 0 0 1 1 1 1
b6 0 0 1 1 0 0 1 1
b5 0 1 0 1 0 1 0 1
b8 to b5 b4 b3 b2 b1 C 0 1 2 3 4 5 6 7
R
0 0 0 0 0 NUL DLE Space 0 @ P ` p
0 0 0 1 1 SOH DC1 ! 1 A Q a q
0 0 1 0 2 STX DC2 “ 2 B R b r
0 0 1 1 3 ETX DC3 # 3 C S c s
0 1 0 0 4 $ 4 D T d t
0 1 0 1 5 % 5 E U e u
0 1 1 0 6 & 6 F V f v
0 1 1 1 7 ‘ 7 G W g w
1 0 0 0 8 ( 8 H X h x
1 0 0 1 9 ) 9 I Y i y
1 0 1 0 10 * : J Z j z
1 0 1 1 11 + ; K [ k {
1 1 0 0 12 , < L ¥ l |
1 1 0 1 13 - = M ] m }
1 1 1 0 14 . > N ^ n ¯
1 1 1 1 15 / ? O _ o DEL
(3) Station numbers

You may set 32 station Nos. from station 0 to station 31 and the ASCII unit codes are used to specify the
stations.
Station No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F
Station No. 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
ASCII code G H I J K L M N O P Q R S T U V
For example, "30H" is transmitted in hexadecimal for the station No. "0" (axis 1).
14 - 7
14.3.3 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted.
Receiving data from the master station, the slave station sends the error code corresponding to that data to
the master station. The error code sent in upper case indicates that the servo is normal and the one in lower
case indicates that an alarm occurred.
Error code
Error name Explanation Remark
Servo: normal Servo: alarm
[A] [a] Normal Data transmitted was processed normally. Positive
response
[B] [b] Parity error Parity error occurred in the transmitted
data.
[C] [c] Checksum error Checksum error occurred in the
transmitted data.
[D] [d] Character error The transmitted character is out of Negative
specifications. response
[E] [e] Command error The transmitted command is out of
specifications.
[F] [f] Data No. error The transmitted data No. is out of
specifications.
14.3.4 Checksum
The checksum is an ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).
Station No.
STX
ETX
[0] [A] [1] [2] [5] [F] [5] [2]
STX
or ETX Check
SOH 02H 30H 41H 31H 32H 35H 46H 03H
Checksum range 30H + 41H + 31H + 32H + 35H + 46H + 03H

= 152H
Lower 2 digits 52 is sent after conversion into ASCII code [5] [2].
14.3.5 Time-out processing
The master station transmits EOT when the slave station does not start return processing (STX is not
received) 300 [ms] after the master station has ended communication processing. 100 ms after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above communication processing three times. (communication error)
100 ms 100 ms 100 ms *Time-out
300 ms 300 ms 300 ms 300 ms
Message
Message
Message
Message
Controller side
EOT
EOT
EOT
(master station)
Servo side
(slave station)
14 - 8
14.3.6 Retry processing
When a fault occurs in communication between the master and slave stations, the error code in the
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the
master station retransmits the message which was sent at the occurrence of the fault (retry processing). A
communication error occurs if the above processing is repeated and results in the error three or more
consecutive times.
*Communication error
Message
Message
Message
Controller side
(master station)
Servo side
STX
STX
STX
(slave station)
Station No. Station No. Station No.
Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave
station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry processing is performed three times.
14.3.7 Initialization
After the slave station is switched on, it cannot return to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after.
(1) Wait for 3.5 s or longer after the slave station is switched on.
(2) Check that normal communication can be made by reading the parameter or other data which does not
pose any safety problems.
14 - 9
14.3.8 Communication procedure example
The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0.
Data item Value Description
Station No. 0 Servo amplifier station 0
Command 33 Reading command
Data No. 10 Alarm history (last alarm)
Start
Station No. Command Data No.
Data make-up
Data = [0] + 3 3 + STX + 1 0 + ETX
= [0] [3] [3] STX [1] [0] ETX
Checksum calculation and
addition
Checksum = 30H + 33H + 33H + 02H + 31H + 30H + 03H = FCH
Addition of SOH to make up
transmission data Transmission data = SOH + 0 + 3 3 + STX + 1 0 + ETX + F C 46H 43H
Data transmission Master station Slave station
Data receive Master station Slave station
No
Is there receive data?
Yes No
300 ms elapsed?
Yes
No
3 consecutive times?
Yes Yes 100 ms after EOT transmission Master station Slave station
Other than error code
[A] or [a]?
No No
3 consecutive times?
Yes
Receive data analysis
Error processing Error processing
End
14 - 10
14.4 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.
14.4.1 Reading command
(1) Status display (command [0] [1])

Command Data No. Description Status display Frame length
[0] [1] [0] [0] Status display symbol and unit Cumulative feedback pulses 16
Motor-side cumu. feedback pulses (after gear)
[0] [1] Servo motor speed
Servo motor speed
[0] [2] Droop pulses
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
Instantaneous thrust
[0] [B] Position within one-revolution
Motor encoder position within one-revolution
Virtual position within one-revolution
[0] [C] ABS counter
Motor encoder ABS counter
Virtual ABS counter
[0] [D] Load to motor inertia ratio
Load to motor mass ratio
[0] [E] Bus voltage
[0] [F] (Note) Load-side cumulative feedback pulses
[1] [0] (Note) Load-side droop pulses
[1] [1] (Note) Load-side encoder information 1
Z-phase counter
[1] [6] (Note) Temperature of motor thermistor
[1] [7] (Note) Motor-side cumu. feedback pulses (before gear)
[1] [8] (Note) Electrical angle
[1] [E] (Note) Motor-side/load-side position deviation
[1] [F] (Note) Motor-side/load-side speed deviation
[2] [0] Internal temperature of encoder
[2] [1] Settling time
[2] [2] Oscillation detection frequency
[2] [3] Number of tough operations
[2] [8] Unit power consumption
[2] [9] Unit total power consumption
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
14 - 11

[0] [1] [8] [0] Status display data value and Cumulative feedback pulses 12
processing information Motor-side cumu. feedback pulses (after gear)
Servo motor speed
[8] [C] ABS counter
Virtual ABS counter
[8] [E] Bus voltage
Z-phase counter
[A] [0] Internal temperature of encoder
[A] [1] Settling time
[A] [2] Oscillation detection frequency
[A] [3] Number of tough operations
[A] [8] Unit power consumption
[A] [9] Unit total power consumption
14 - 12
(2) Parameters (command [0] [4], [0] [5], [0] [6], [0] [7], [0] [8], and [0] [9])
Command Data No. Description Frame length
[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_ _ ])
000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) (Note)
[1] [5] [0] [1] to [F] [F] Current values of parameters 12
Reads the current values of the parameters in the parameter group specified with the
command [8] [5] + data No. [0] [0]. Before reading the current values, therefore, always
specify the parameter group with the command [8] [5] + data No. [0] [0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter
No.
[1] [6] [0] [1] to [F] [F] Upper limit values of parameter setting ranges 12
Reads the permissible upper limit values of the parameters in the parameter group
specified with the command [8] [5] + data No. [0] [0]. Before reading the upper limit values,
therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].
No.
[1] [7] [0] [1] to [F] [F] Lower limit values of parameter setting ranges 12
Reads the permissible lower limit values of the parameters in the parameter group
specified with the command [8] [5] + data No. [0] [0]. Before reading the lower limit values,
therefore, always specify the parameter group with the command [8] [5] + data No. [0] [0].
No.
[0] [8] [0] [1] to [F] [F] Parameter symbols 12
Reads the symbols of the parameters in the parameter group specified with the command
[8] [5] + data No. [0] [0]. Before reading the symbols, therefore, always specify the
parameter group with the command [8] [5] + data No. [0] [0].
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]. Before reading the lower limit values, therefore, always
specify the parameter group with the command [8] [5] + data No. [0] [0].
0000: Writing enabled
0001: Writing disabled
(3) External I/O signals (command [1] [2])

[1] [2] [0] [0] Input device status 8
[4] [0] External input pin status
[6] [0] Status of input device turned on by communication
[8] [0] Output device status
[C] [0] External output pin status
14 - 13
(4) Alarm history (command [3] [3])

Command Data No. Description Alarm occurrence sequence Frame length
[3] [3] [1] [0] Alarm No. in alarm history Most recent alarm 4
[1] [1] First alarm in past
[1] [2] Second alarm in past
[1] [3] Third alarm in past
[1] [4] Fourth alarm in past
[1] [5] Fifth alarm in past
[1] [6] Sixth alarm in past
[1] [7] Seventh alarm in past
[1] [8] Eighth alarm in past
[1] [9] Ninth alarm in past
[1] [A] Tenth alarm in past
[1] [B] Eleventh alarm in past
[1] [C] Twelfth alarm in past
[1] [D] Thirteenth alarm in past
[1] [E] Fourteenth alarm in past
[1] [F] Fifteenth alarm in past
[2] [0] Alarm occurrence time in alarm history Most recent alarm 8
[2] [1] First alarm in past
[2] [2] Second alarm in past
[2] [3] Third alarm in past
[2] [4] Fourth alarm in past
[2] [5] Fifth alarm in past
[2] [6] Sixth alarm in past
[2] [7] Seventh alarm in past
[2] [8] Eighth alarm in past
[2] [9] Ninth alarm in past
[2] [A] Tenth alarm in past
[2] [B] Eleventh alarm in past
[2] [C] Twelfth alarm in past
[2] [D] Thirteenth alarm in past
[2] [E] Fourteenth alarm in past
[2] [F] Fifteenth alarm in past
(5) Current alarm (command [0] [2])

[0] [2] [0] [0] Current alarm No. 4
14 - 14
(6) Status display at alarm occurrence (command [3] [5])

[3] [5] [0] [0] Status display symbol and unit Cumulative feedback pulses 16
Motor-side cumu. feedback pulses (after gear)
Servo motor speed
[0] [C] ABS counter
Virtual ABS counter
[0] [E] Bus voltage
Z-phase counter
[2] [0] Internal temperature of encoder
[2] [1] Settling time
[2] [2] Oscillation detection frequency
[2] [3] Number of tough operations
[2] [8] Unit power consumption
[2] [9] Unit total power consumption
14 - 15

[3] [5] [8] [0] Status display data value and Cumulative feedback pulses 12
processing information Motor-side cumu. feedback pulses (after gear)
Servo motor speed
[8] [C] ABS counter
Virtual ABS counter
[8] [E] Bus voltage
Z-phase counter
[A] [0] Internal temperature of encoder
[A] [1] Settling time
[A] [2] Oscillation detection frequency
[A] [3] Number of tough operations
[A] [8] Unit power consumption
[A] [9] Unit total power consumption
(7) Test operation mode (command [0] [0])

[0] [0] [1] [2] Test operation mode reading 4
0000: Normal mode (not test operation mode)
0001: JOG operation
0002: Positioning operation
0003: Motor-less operation
0004: Output signal (DO) forced output
(8) Software version (command [0] [2])

[0] [2] [9] [0] Servo motor-side pulse unit absolute position 8
[9] [1] Command unit absolute position 8
[7] [0] Software version 16
14 - 16
14.4.2 Writing commands
(1) Status display (command [8] [1])

Command Data No. Description Setting range Frame length
[8] [1] [0] [0] Status display data deletion 1EA5 4
(2) Parameters (command [9] [4], [8] [5])

[9] [4] [0] [1] to [F] [F] Writing each parameter Depending on the 12
Writes the values of the parameters in the parameter group specified parameter
with the command [8] [5] + data No. [0] [0]. Before writing the values,
therefore, always specify the parameter group with the command [8]
[5] + data No. [0] [0].
The decimal equivalent of the data No. value (hexadecimal)
corresponds to the parameter No.
[8] [5] [0] [0] Parameter group writing 0000 to 0005 4
000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
(Note)
(3) External I/O signals (command [9] [2])

[9] [2] [6] [0] Communication input device signal Refer to section 8
14.5.5.
(4) Alarm history (command [8] [2])

[8] [2] [2] [0] Alarm history clear 1EA5 4
(5) Current alarm (command [8] [2])

[8] [2] [0] [0] Alarm clear 1EA5 4
(6) I/O device prohibition (command [9] [0])

[9] [0] [0] [0] Turns off the input device, external analog input signal or pulse train 1EA5 4
input, except EMG, LSP and LSN, independently of the external on/off
status.
[0] [3] Disables all output devices (DO). 1EA5 4
[1] [0] Cancels the prohibition of the input device, external analog input 1EA5 4
signal or pulse train input, except EMG, LSP and LSN.
[1] [3] Cancels the prohibition of the output device. 1EA5 4
14 - 17
(7) Operation mode selection (command [8] [B])

[8] [B] [0] [0] Selection of test operation mode 0000 to 0002, 0004 4
0000: Test operation mode cancel
0001: JOG operation
(8) Test operation mode data (command [9] [2], [A] [0])
[9] [2] [0] [0] Input signal for test operation Refer to section 8
14.5.7.
[A] [0] Forced output of signal pin Refer to section 8
14.5.9.
[A] [0] [1] [0] Writes the servo motor speed in the test operation mode (JOG 0000 to 7FFF 4
operation and positioning operation).
[1] [1] Writes the acceleration/deceleration time constant in the test 00000000 to 8
operation mode (JOG operation and positioning operation). 7FFFFFFF
[2] [0] Sets the travel distance in the test operation mode (Positioning 00000000 to 8
operation). 7FFFFFFF
[2] [1] Selects the positioning direction of test operation (positioning 0000 to 0101 4
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 for test operation (positioning operation). 1EA5 4
[4] [1] This is used to make a temporary stop during test operation STOP 4
(positioning operation). " " in the data indicates a blank. GO
STOP: Temporary stop CLR
GO□□: Restart for remaining distance
CLR□: Remaining distance clear
14 - 18
14.5 Detailed explanations of commands
14.5.1 Data processing
When the master station transmits a command data No. or a command + data No. + data to a slave station,
the servo amplifier returns a response or data in accordance with the purpose.
When numerical values are represented in these send data and receive data, they are represented in
decimal, hexadecimal, etc.
Therefore, data must be processed in accordance with the application.
Since whether data must be processed or not and how to process data depend on the monitoring,
parameters, etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.
(1) Processing a read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.
The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.
0 0 3 0 0 0 0 0 0 9 2 9
(Data conversion is required as indicated in the display type.)
Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit
Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H → 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit. Hence,
"23.45" is displayed.
14 - 19
(2) Writing processed data

When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.
0
Data is transferred in hexadecimal.
0: No decimal point
1: First least significant digit
For example, here is described how to process the set data when a value of "15.5" is sent.
Since the decimal point position is the second least significant digit, the decimal point position data is
"2".
As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.
155 → 9B
Hence, "0200009B" is transmitted.
14 - 20
(1) Reading the status display name and unit

The following shows how to read the status display name and unit.
(a) Transmission
Transmit the command [0] [1] and the data No. corresponding to the status display item to be read,
[0] [0] to [0] [E] and [2] [0] to [2] [9]. (Refer to section 14.4.1.)
(b) Return
The slave station returns the status display name and unit requested.
0 0
Unit characters (5 digits) Name characters (9 digits)
(2) Status display data reading

The following shows how to read the status display data and processing information.
(a) Transmission
Transmit the command [0] [1] and the data No. corresponding to the status display item to be read,
[8] [0] to [8] [E] and [A] [0] to [A] [9]. (Refer to section 14.4.1.)
(b) Return
The slave station returns the status display data requested.
0 0
Display type
0: No decimal point
(3) Status display data clear

To clear the cumulative feedback pulse data of the status display, send this command immediately after
reading each status display item. The data of the status display item transmitted is cleared to "0".
Command Data No. Data
[8] [1] [0] [0] 1EA5
For example, after sending command [0] [1] and data No. [8] [0] and receiving the status display data,
send command [8] [1], data No. [0] [0] and data [1EA5] to clear the cumulative feedback pulse value to
"0".
14 - 21
14.5.3 Parameter
(1) Specification of the parameter group

To read or write the parameter settings, etc., the group of the parameters to be operated must be
specified in advance. Write data to the servo amplifier as follows to specify the parameter group.
Transmission
Command Data No. Parameter group
data
[8] [5] [0] [0] 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_ _ ])
000B Linear servo motor/DD motor setting parameters
(Note) ([Pr. PL_ _ ])
(2) Parameter group reading

The following shows how to read the parameter group set with slave station.
(a) Transmission
Command Data No.
[0] [4] [0] [1]
(b) Return
The slave station returns the preset parameter group.
0 0 0
Parameter group
B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
(3) Reading symbols

The following shows how to read symbols of parameters. Specify a parameter group in advance. (Refer
to (1) in this section.)
(a) Transmission
Transmit the command [0] [8] and the data No. [0] [1] to [F] [F] corresponding to the parameter No.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value
(b) Return
The slave station returns the symbol of the parameter requested.
0 0 0
Symbol characters (9 digits)
14 - 22
(4) Reading the setting

The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to
(1) in this section.)
(a) Transmission
Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F].
(b) Return
The slave station returns the data and processing information of the parameter No. requested.
0

0: No decimal point
1: First least significant digit
0 3: Third least significant digit
Display type 5: Fifth least significant digit
Parameter writing type

0: Enabled after writing
1: Enabled when power is cycled after writing
Readable/unreadable
0: Readable
1: Unreadable
0 0 0
Sign
0: Sign
1: No sign
For example, data "00120000270F" means 999.9 (decimal display format) and data
"000000003ABC" means 3ABC (hexadecimal display format).
When the display type is "0" (hexadecimal) and the decimal point position is other than 0, the display
type is a special hexadecimal display format and "F" of the data value is handled as a blank. Data
"0001FFFFF053" means 053 (special hexadecimal display format).
"008000000000" is transferred when the parameter that was read is the one inaccessible for
reference in the parameter writing inhibit setting of [Pr. PA19].
14 - 23
(5) Reading the setting range

The following shows how to read the parameter setting range. Specify a parameter group in advance.
(Refer to (1) in this section.)
(a) Transmission
When reading an upper limit value, transmit the command [1] [6] and the data No. [0] [1] to [F] [F]
corresponding to the parameter No. When reading an lower limit value, transmit the command [1] [7]
and the data No. [0] [1] to [F] [F] corresponding to the parameter No. (Refer to section 14.4.1.)
(b) Return
The slave station returns the data and processing information of the parameter No. requested.
For example, data "FFFFFFEC" means "-20".
14 - 24
(6) Writing setting values
POINT
If setting values need to be changed with a high frequency (i.e. one time or more
per one hour), write the setting values to the RAM, not the EEP-ROM. The
EEPROM has a limitation in the number of write times and exceeding this
limitation causes the servo amplifier to malfunction. Note that the number of
write times to the EEP-ROM is limited to approximately 100, 000.
Write the parameter setting into EEP-ROM of the servo amplifier. Specify a parameter group in advance.
Write any value within the setting enabled range. For the setting enabled range, refer to chapter 5 or
read the setting range by performing operation in (4) in this section.
Transmit command [9] [4], the data No. , and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter No.
When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
Check the writing data is within the upper/lower limit value before writing. To prevent an error, read the
parameter data to be written, confirm the decimal point position, and create transmission data.
On completion of writing, read the same parameter data to verify that data has been written correctly.
[9] [4] [0] [1] to [F] [F] See below.
0 0

0: No decimal point
Writing mode 1: First least significant digit
0: Writing to EEP-ROM 2: Second least significant digit
3: Writing to RAM 3: Third least significant digit
When the parameter data is changed 4: Forth least significant digit
frequently through communication, 5: Fifth least significant digit
set "3" to the mode to change only the
RAM data in the servo amplifier.
When changing data frequently (once
or more within one hour), do not write
it to the EEP-ROM.
14 - 25
14.5.4 External I/O signal status (DIO diagnosis)
(1) Reading input device status

The following shows how to read the status of the input devices.
(a) Transmission
Command Data No.
[1] [2] [0] [0]
(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.
Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1/RS2 19 27 CDP
4 TL1 12 ST2/RS1 20 STAB2 28 CLD (Note)
5 PC 13 CM1 21 29 MECR (Note)
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31
(2) Reading external input pin status

The following shows how to read the on/off status of the external input pins.
(a) Transmission
Command Data No.
[1] [2] [4] [0]
(b) Return
The on/off status of the input pins are returned.
b31 b1b0
1: On
0: Off
Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin
0 43 8 18 16 24
1 44 9 45 17 25
2 42 10 18 26
3 15 11 19 27
4 19 12 20 28
5 41 13 21 29
6 16 14 22 30
7 17 15 23 31
14 - 26
(3) Reading the status of input devices switched on with communication

The following shows how to read the on/off status of the input devices switched on with communication.
(a) Transmission
Command Data No.
[1] [2] [6] [0]
(b) Return
The slave station returns the status of the input devices.
b31 b1b0
1: On
0: Off

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1/RS2 19 27 CDP
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31
(4) Reading external output pin status

The following shows how to read the on/off status of the external output pins.
(a) Transmission
Transmit command [1] [2] and 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
0 49 8 14 (Note) 16 24
1 24 9 17 25
2 23 10 18 26
3 25 11 19 27
4 22 12 20 28
5 48 13 21 29
6 33 14 22 30
7 13 (Note) 15 23 31
Note. This is available when devices are assigned to the CN1-13 pin and CN1-14 pin with MR-J4-_A_-RJ 100 W or more servo
amplifiers with software version B3 or later. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
14 - 27
(5) Reading output device status

The following shows how to read the on/off status of the output devices.
(a) Transmission
Command Data No.
[1] [2] [8] [0]
(b) Return
The slave station returns the status of the input/output devices.
b31 b1b0
1: On
0: Off

0 RD 8 ALM 16 24
1 SA 9 OP 17 25 CDPS
2 ZSP 10 MBR 18 26 CLDS (Note)
3 TLC 11 DB (Note) 19 27 ABSV
4 VLC 12 ACD0 20 28
5 INP 13 ACD1 21 29
6 14 ACD2 22 30
7 WNG 15 BWNG 23 31 MTTR (Note)
14 - 28
14.5.5 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], and data.
Command Data No. Set data
[9] [2] [6] [0] See below.
b31 b1b0
1: On
0: Off

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1/RS2 19 27 CDP
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31
14 - 29
14.5.6 Disabling/enabling I/O devices (DIO)
You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals
(devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and
LSN (Reverse rotation stroke end) cannot be disabled.
Signal Status
Input device (DI) Off
External analog input signal 0V
Pulse train input None
(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs except
EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end).
Transmit the following communication commands.
(a) Disabling
[9] [0] [0] [0] 1EA5
(b) Enabling
[9] [0] [1] [0] 1EA5
(2) Disabling/enabling the output devices (DO)

(a) Disabling
[9] [0] [0] [3] 1EA5
(b) Enabling
[9] [0] [1] [3] 1EA5
14 - 30
14.5.7 Input devices on/off (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], and data.
[9] [2] [0] [0] See below.
b31 b1b0
1: On
0: Off

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1 19 27 CDP
4 TL1 12 ST2 20 STAB2 28 CLD (Note)
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31
14 - 31
POINT
The test operation mode is used to check operation. Do not use it for actual
operation.
If communication stops for longer than 0.5 s during test operation, the servo
amplifier decelerates to a stop, resulting in servo-lock. To prevent this, continue
communication all the time by monitoring the status display, etc.
Even during operation, you can switch the servo amplifier to the test operation
mode. In this case, switching to the test operation mode will shut off the base
circuit to coast the motor.
(1) How to prepare and cancel the test operation mode

(a) Preparing the test operation mode
Set the test operation mode type with the following procedure.
1) Selection of test operation mode

Send the command [8] [B] + data No. [0] [0] + data to select the test operation mode.
Transmission
Command Data No. Selection of test operation mode
data
0001 JOG operation
[8] [B] [0] [0] 0002 Positioning operation
0004 Output signal (DO) forced output (Note)
Note. Refer to section 14.5.9 for 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
Command Data No.
[0] [0] [1] [2]
b) Reply
The slave station returns the preset operation mode.
0 0 0
Test operation mode reading
0: Normal mode (not test operation mode)
1: JOG operation
3: Motor-less operation
(b) Cancel of test operation mode

To terminate the test operation mode, send the command [8] [B] + data No. [0] [0] + data.
Transmission
data
[8] [B] [0] [0] 0000 Test operation mode cancel
14 - 32
(2) JOG operation

Transmit the command, data No., and data as follows to execute JOG operation.
Start
Command: [8] [B] Select the JOG operation in the test
Data No. : [0] [0] operation mode.
Data : 0001 (JOG operation)
Servo motor speed setting

Command: [A] [0]
Data No. : [1] [0]
Data : Write the servo motor speed [r/min]
in hexadecimal.
Set the operation pattern.

Acceleration/deceleration time constant setting
Command: [A] [0]
Data No. : [1] [1]
Data : Write the acceleration/
deceleration time constant [ms] in
hexadecimal.
When LSP/LSN was turned Off by external When LSP/LSN was turned On by external
input signal input signal or automatically
Start Start
Command: [9] [2] Command: [9] [2]
Data No. : [0] [0] Data No. : [0] [0]
Data : Forward rotation direction Data : Forward rotation direction
00000807 00000801
(Turn on SON, LSP, LSN, (Turn on SON and ST1.) Start
and ST1.) Reverse rotation direction
Reverse rotation direction 00001001
00001007 (Turn on SON and ST2.)
(Turn on SON, LSP, LSN,
and ST2.)
Stop Stop
Data No. : [0] [0] Data No. : [0] [0] Stop
Data : 00000007 Data 00000001
(Turn on SON, LSP, (Turn on SON.)
and LSN.)
End
Command: [8] [B]
Data No. : [0] [0] Test operation mode is canceled.
Data 0000
(Test operation mode is
canceled.)
14 - 33

(a) Operation procedure
Transmit the command, data No., and data as follows to execute positioning operation.
Start
Command: [8] [B] Select the JOG operation in the test
Data No. : [0] [0] operation mode.
Data : 0002 (Positioning operation)
Servo motor speed setting

Command: [A] [0]
Data No. : [1] [0]
Data : Write the speed [r/min] in
hexadecimal.
Acceleration/deceleration time constant setting

Command: [A] [0]
Data No. : [1] [1]
Data : Write the acceleration/
deceleration time constant [ms] in
hexadecimal.
Set the operation pattern.
Travel distance setting

Command: [A] [0]
Data No. : [2] [0]
Data : Write the travel distance [pulse] in
hexadecimal.
Rotation direction selection

Command: [A] [0]
Data No. : [2] [1]
Data : 0000 (Forward rotation direction)
0001 (Reverse rotation direction)
When LSP/LSN was turned Off by external When LSP/LSN was turned On by external
input signal input signal or automatically
Enable input device. Enable input device.

Data No. : [0] [0] Data No. : [0] [0] Turn on SON (Servo-on) to make the
Data : 00000007 Data : 00000001 servo amplifier ready.
(SON, LSP, and LSN turned (SON turned on.)
on.)
(Note)
Start positioning operation
Command: [A] [0] Start
Data No. : [4] [0]
Data : 1EA5
End
Command: [8] [B]
Data No. : [0] [0] Test operation mode is canceled.
Data : 0000
(Test operation mode is
canceled.)
Note. It has 100 ms delay.
14 - 34
(b) Temporary stop/restart/remaining distance clear

Transmit the following command, data No., and data during positioning operation to make
deceleration to a stop.
[A] [0] [4] [1] STOP
Transmit the following command, data No., and data during a temporary stop to restart.
Command Data No. (Note) Data
[A] [0] [4] [1] GO
Note. "□" indicates a blank.
Transmit the following command, data No., and data during a temporary stop to stop positioning
operation and erase the travel remaining distance.
Command Data No. (Note) Data
[A] [0] [4] [1] CLR
Note. "□" indicates a blank.
14 - 35
14.5.9 Output signal pin on/off (output signal (DO) forced output)
In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Using
command [9] [0], disable the external output signals in advance.
(1) Selecting output signal (DO) forced output in the test operation mode
Transmit command + [8] [B] + data No. [0] [0] + data "0004" to select output signal (DO) forced output.
0 0 0 4
Selection of test operation mode
(2) External output signal on/off

[9] [2] [A] [0] See below.
b31 b1b0
1: On
0: Off
0 49 8 14 (Note) 16 24
1 24 9 17 25
2 23 10 18 26
3 25 11 19 27
4 22 12 20 28
5 48 13 21 29
6 33 14 22 30
7 13 (Note) 15 23 31
Note. The MR-J4-_A_-RJ 100 W or more servo amplifier is available with software version B3 or later. This is not available with the
MR-J4-03A6(-RJ) servo amplifier.

Transmit command [8] [B] + data No. [0] [0] + data to stop output signal (DO) forced output.
Transmission
data
[8] [B] [0] [0] 0000 Test operation mode cancel
14 - 36
14.5.10 Alarm history
(1) Alarm No. reading

The following shows how to read alarm Nos. which occurred in the past. Alarm Nos. and occurrence
times of No. 0 (last alarm) to No. 15 (sixteenth alarm in the past) are read.
(a) Transmission
Transmit command [3] [3] + data No. [1] [0] to [1] [F]. Refer to section 14.4.1.
(b) Return
Alarm Nos. corresponding to the data No. is provided.
0 0
Alarm No. is transferred in hexadecimal.
For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm).
(2) Alarm occurrence time reading

The following shows how to read alarm occurrence times which occurred in the past.
Alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning with
operation start, with the minute unit omitted.
(a) Transmission
Transmit command [3] [3] + data No. [2] [0] to [2] [F].
Refer to section 14.4.1.
(b) Return
The alarm occurrence time is transferred in hexadecimal

Hexadecimal must be converted into decimal.
For example, data "01F5" means that the alarm occurred in 501 hours after starting operation.
(3) Clearing the alarm history

Alarm history is cleared.
[8] [2] [2] [0] 1EA5
14 - 37
14.5.11 Current alarm
(1) Current alarm reading

The following shows how to read the alarm No. which is occurring currently.
(a) Transmission
Command Data No.
[0] [2] [0] [0]
(b) Return
The slave station returns the alarm currently occurring.
0 0
Alarm No. is transferred in hexadecimal.
For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm).
(2) Reading status display at alarm occurrence

The following shows how to read the status display data at alarm occurrence. When the data No.
corresponding to the status display item is transmitted, the data value and data processing information
will be returned.
(a) Transmission
Transmit the command [3] [5] + the data No. corresponding to the status display item to read, [8] [0]
to [8] [E] and [A] [0] to [A] [9]. Refer to section 14.4.1.
(b) Return
The slave station returns the status display data of requested alarm at occurrence.
0 0
Display type
0: No decimal point
(3) Current alarm reset

As by the reset (RES) on, reset the servo amplifier alarm to make the servo amplifier ready to operate.
After removing the cause of the alarm, reset the alarm with no command entered.
[8] [2] [0] [0] 1EA5
14 - 38
14.5.12 Other commands
(1) Servo motor-side pulse unit absolute position

The following shows how to read the absolute position in the servo motor-side pulse unit. Note that
overflow will occur in the position of 8192 or more revolutions from the home position.
(a) Transmission
Command Data No.
[0] [2] [9] [0]
(b) Return
The slave station returns the requested servo motor-side pulses.
Absolute position is sent back in hexadecimal in the servo motor-side pulse unit
(Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the motor-side pulse unit.
(2) Command unit absolute position

The following shows how to read the absolute position in the command unit.
(a) Transmission
Command Data No.
[0] [2] [9] [1]
(b) Return
The slave station returns the requested command pulses.
Absolute position is sent back in hexadecimal in the command unit.

(Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the command unit.
(3) Software version

The following shows how to read the software version of the servo amplifier.
(a) Transmission
Command Data No.
[0] [2] [7] [0]
(b) Return
The slave station returns the requested software version.
Software version (15 digits)

Space
14 - 39
MEMO
14 - 40
15. USING A LINEAR SERVO MOTOR
When using the linear servo motor, read "Linear Servo Motor Instruction Manual"
WARNING and "Linear Encoder Instruction Manual".
POINT
The linear servo system is available for the servo amplifiers of which software
version is A5 or later.
The MR-J4-03A6(-RJ) servo amplifier is not compatible with linear servo motor.
15.1 Functions and configuration
15.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for
high accuracy, high speed, and efficiency. Therefore, the number of systems using a linear servo motor for a
drive axis has been increasing. Since the linear servo system can obtain the characteristics of the high
speed and the high acceleration/deceleration greater than the ball screw drive system. The linear servo
system also does not have a ball screw wear which is a weak point in the ball screw drive system. This will
extend the life of the equipment. In addition, since a response error due to backlash and friction does not
occur, you can establish a high-accuracy system.
The following shows the differences between the linear servo motor and the rotary servo motor.
Differences
Category Item Remark
Linear servo motor Rotary servo motor
Motor pole Magnetic pole detection Required Not required Automatically executed at the first
adjustment (default setting) servo-on after the power is turned
on.
For the absolute position linear
encoder, [Pr. PL01] can disable the
magnetic pole detection. The timing
of the magnetic pole detection can
be changed with [Pr. PL01]. (Refer
to (2) (b) of section 15.3.3.)
Home position Reference home position 1048576 pulses unit One servo motor Home position return pitch can be
return (initial value) revolution unit changed with parameter setting.
Absolute position Absolute position encoder Not required Required The following alarms and warnings
detection system battery are not provided for the linear servo
motor.
[AL. 25 Absolute position erased]
[AL. 92 Battery cable
disconnection warning]
[AL. 9F Battery warning]
[AL. E3 Absolute position counter
warning]
Auto tuning Load to motor inertia ratio Load to motor mass Load to motor
(J) ratio inertia ratio
MR Configurator2 Motor speed mm/s unit r/min unit
(SW1DNC-MRC2-_) (Data display and setting)
(software version Test Positioning Supported Supported
1.19V or later) operation operation
function Motor-less Not supported Supported
operation
JOG operation Not supported Supported
Program Supported Supported
operation
15 - 1
15.1.2 Configuration including peripheral equipment
Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may
POINT
Equipment other than the servo amplifier and linear servo motor are optional or
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
(1) MR-J4-_A_
The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the
configuration will be the same as rotary servo motors except for connections of linear servo motors and
linear encoders. Refer to section 1.8 depending on servo amplifiers you use.
RS T
(Note 2)
Power supply
Personal
Molded-case computer
(MCCB) CN5
(Note 3)
Magnetic CN6
Analog monitor
contactor
(MC) CN3 To RS-422/RS-485 communication
MR-J3-D05 safety logic unit
Line noise
filter
(FR-BSF01)
D
(Note 5)
CN1
U
L1
L2
L3 W
(Note 6)
Power factor P3 CN2 SCALE
improving
THM
DC reactor (Note 4)
(FR-HEL) P4
Thermistor
P+
Regenerative
option Linear servo motor
C
L11
L21
Encoder
cable
Linear encoder
15 - 2
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A or less. For 1-phase 200
V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to
section 1.3.
4. For the branch cable, use the MR-J4THCBL03M (optional).
6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
15 - 3
(2) When using serial linear encoder with MR-J4-_A_-RJ

The configuration diagram is an example of MR-J4-20A-RJ. When using the other servo amplifiers, the
RS T
(Note 2)
Power supply
Personal
(MCCB) CN5
(Note 3)
Magnetic CN6
Analog monitor
contactor
(MC) CN3 To RS-422/RS-485 communication
Line noise
filter
(FR-BSF01)
D
(Note 5)
CN1
U
L1
L2
L3 W
(Note 6)
Power factor P3 CN2 SCALE
improving
THM
DC reactor (Note 4)
(FR-HEL) P4
Thermistor
P+
Regenerative
C
L11
L21
Encoder
cable
Serial linear encoder
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A-RJ or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to
section 1.3.
4. For the branch cable, use the MR-J4THCBL03M (optional).
6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
15 - 4
(3) When using A/B/Z-phase differential output linear encoder with MR-J4-_A_-RJ
The configuration diagram is an example of MR-J4-20A-RJ. When using the other servo amplifiers, the
RS T
(Note 2)
Power supply
Personal
(MCCB) CN5
(Note 3)
Magnetic CN6
Analog monitor
contactor
(MC)
Line noise
filter
(FR-BSF01)
D
(Note 4)
CN1
U
L1
L2
L3 W
Power factor P3 CN2 Thermistor

improving
DC reactor P4 CN2L
(FR-HEL)
P+ (Note 5)
Regenerative
C
L11
L21
Encoder
cable
A/B/Z-phase differential
output linear encoder
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-J4-200A-RJ or less. For 1-
phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For the power supply specifications, refer to section 1.3.
deceleration to shift to the dynamic brake deceleration.
When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
5. Connect the thermistor to CN2 of servo amplifier and connect the encoder cable to CN2L correctly. Incorrect setting will trigger
[AL. 16].
15 - 5
15.2 Signals and wiring
WARNING Ground the servo amplifier and the linear servo motor securely.
Do not attempt to wire the servo amplifier and the linear servo motor until they
have been installed. Otherwise, it may cause an electric shock.
terminals.
Wire the equipment correctly and securely. Otherwise, the linear servo motor may
occur.
24 V DC 24 V DC
DOCOM DOCOM

signal signal

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF
(-H)) with the power wire of the linear servo motor.
causing a fire.
Connect the servo amplifier power output (U/V/W) to the linear servo motor power
input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise,
it may cause a malfunction.
Linear servo Linear servo
Servo amplifier motor Servo amplifier motor
U U
U U
V V
V M V M
W W
W W
15 - 6
Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may
CAUTION Do not modify the equipment.
The cables such as power wires deriving from the primary side cannot stand the
long-term bending action. Avoid the bending action by fixing the cables to the
moving part, etc. Also, use the cable that stands the long-term bending action for
the wiring to the servo amplifier.
This section does not describe the following items. For details of the items, refer to each section of the
detailed description field.
Item Detailed explanation
Input power supply circuit Section 3.1
Explanation of power supply system Section 3.3
Signal (device) explanations Section 3.5
Alarm occurrence timing chart Section 3.8
Interface Section 3.9
Grounding Section 3.11
Display and operation sections Section 4.5
15.3 Operation and functions
15.3.1 Startup
POINT
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
15 - 7
(1) Startup procedure

Start up the linear servo system in the following procedure.
Installation and wiring
Set the linear servo motor series and linear servo motor type.
(Note 1)
Set the linear encoder direction and the linear servo motor direction.
(Note 1)
Set the linear encoder resolution. (Refer to (4) in this section.)
(Note 1)
Positioning operation check using the test operation mode
What is the type of the

linear encoder?
Incremental linear encoder Absolute position linear encoder
Set "_ _ _ 1" in [Pr. PA03].
(Note 1)
Perform the magnetic pole detection.
(Refer to (3) in section 15.3.2.)
Release [AL. 93 ABS data transfer

warning].
Change the setting to disable the

magnetic pole detection.
(Refer to (3) in section 15.3.2.)
Positioning operation check using the controller (Refer to section 15.3.5.)
Home position return operation (Refer to section 15.3.3.)
Note 1. Use MR Configurator2.

2. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.
15 - 8
(2) Setting of linear servo motor series and linear servo motor type
To use the linear servo motor, set the linear servo motor series and linear servo motor type with [Pr.
PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. (Refer to section 5.2.1.)
(3) Setting of linear encoder direction and linear servo motor direction
POINT
If an incorrect value is set for [Pr. PC45], the servo motor may not operate
properly, or [AL. 50] or [AL. 51] may occur at the positioning operation or the
Set the first digit of [Pr. PC45] (Encoder pulse count polarity selection) so that the positive direction of
the linear servo motor matches with the increasing direction of the linear encoder feedback.
[Pr. PC45]
Encoder pulse count polarity selection

0: Linear servo motor positive direction and linear encoder increasing direction
1: Linear servo motor positive direction and linear encoder decreasing direction
(a) Parameter setting method

1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the
travel direction of the linear servo motor under commands as shown below.
Travel direction of linear servo motor
[Pr. PA14] setting Address increasing Address decreasing
command command
0 Positive direction Negative direction
1 Negative direction Positive direction
The positive/negative directions of the linear servo motor are as follows.

Negative direction
Secondary Secondary side
Negative direction side Positive direction
Table
Positive direction Primary
side
Positive direction Secondary

side
Primary side
Negative direction Primary side
LM-H3 and LM-F series LM-U2 series LM-K2 series
2) Confirm the increasing direction of the linear encoder.
3) If the positive direction of the linear servo motor matches with the increasing direction of the
linear encoder, set [Pr. PC45] to "_ _ _ 0". If the positive direction of the linear servo motor does
not match with the increasing direction of the linear encoder, set [Pr. PC45] to "_ _ _ 1".
15 - 9
(b) Confirmation method

Confirm the positive direction of the linear servo motor and the increasing direction of the linear
encoder in the following procedure.
1) In servo-off status, move the linear servo motor in the positive direction manually.
2) Confirm the motor speed (in the positive and negative directions) at that time with MR
Configurator2.
3) When [Pr. PC45] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches
with the increasing direction of the linear encoder, if the linear servo motor operates in the
positive direction, the motor speed will be a positive value. If the positive direction of the linear
servo motor does not match with the increasing direction of the linear encoder, the motor speed
will be a negative value. When [Pr. PC45] is set to "_ _ _ 1" and the positive direction of the linear
servo motor matches with the increasing direction of the linear encoder, if the linear servo motor
operates in the positive direction, the motor speed will be a negative value.
(4) Linear encoder resolution setting
POINT
To enable the parameter values, cycle the power after setting.
If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor
may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning
operation or the magnetic pole detection.
Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder
resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].
(a) Parameter setting

Set the values that apply to the following equation.
[Pr. PL02 Linear encoder resolution - Numerator]

= Linear encoder resolution [µm]
[Pr. PL03 Linear encoder resolution - Denominator
(b) Parameter setting example

When the linear encoder resolution is 0.5 μm
[Pr. PL02] 1
= Linear encoder resolution = 0.5 µm =
[Pr. PL03] 2
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Linear encoder resolution [µm]
0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0
Setting [Pr. PL02] 1 1 1 1 1 1 1 2
value [Pr. PL03] 100 50 20 10 5 2 1 1
15 - 10
15.3.2 Magnetic pole detection
POINT
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection.
When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after
the power is turned on.
The magnetic pole detection includes the following two methods. Each method has advantages and
disadvantages. Select a magnetic pole detection method suitable for your usage.
The position detection method is selected the initial value.
Magnetic pole detection Advantage Disadvantage
Position detection method 1. The magnetic pole detection has a 1. The travel distance at the
high degree of accuracy. magnetic pole detection is long.
2. The adjustment procedure at the 2. For equipment with small friction,
magnetic pole detection is simple. the initial magnetic pole detection
error may occur.
Minute position detection method 1. The travel distance at the 1. The adjustment procedure at the
magnetic pole detection is short. magnetic pole detection is
2. Even for equipment with small complex.
friction, the magnetic pole 2. If a disturbance occurs during the
detection is available. magnetic pole detection, [AL. 27
Initial magnetic pole detection
error] may occur.
15 - 11
(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced
stop 2) are on, and then cycle the servo amplifier power.
2) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic
pole detection method to "Position detection method".
3) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note)
4) Cycle the servo amplifier power.
5) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
6) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is [Pr. PL09] the final value?
NO
Has [AL. 27 Initial magnetic pole YES Reset the alarm or cycle the Increase the value of [Pr. PL09]
detection error] occurred? servo amplifier power. by five.
NO Set an approximately 70% of the

value set for [Pr. PL09] as the
final setting value.
Have [AL. 32 Overcurrent], [AL. NO If [AL. 27 Initial magnetic pole
50 Overload 1], [AL. 51 Overload 2], and Cycle the servo amplifier power. detection error] occurs with this
[AL. E1 Overload warning 1] value, specify a value
occurred?
intermediate between the value
set at [AL. E1 Overload warning
YES 1] and the value set at [AL. 27
Reset the alarm or cycle the
servo amplifier power.
error] as the final setting value.
7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
15 - 12
(b) Magnetic pole detection by the minute position detection method
pole detection method to "Minute position detection method".
3) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note 1)
5) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection], set
the load to mass of the linear servo motor primary side ratio. (Note 2)
6) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
YES Is the response by the minute

position detection method of [Pr.
PL17] the final value?
NO
Has an abnormal sound or Decrease the response by the minute

YES
vibration occurred during the position detection method of [Pr. PL17] by
magnetic pole detection? two as the final setting value.
NO
Not
Is the travel distance during the acceptable Increase the response by the minute
magnetic pole detection acceptable? position detection method of [Pr. PL17] by
(Note 3) one.
Acceptable
7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
End
Note 1. For the incremental system, the [Pr. PL01] setting is not required.
2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole
detection by the position detection method, and then perform the auto tuning to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum travel distance
at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the
response by the minute position detection method in [Pr. PL17].
15 - 13
(2) Operation at the magnetic pole detection
Note that the magnetic pole detection automatically starts simultaneously with the
WARNING turning-on of the servo-on command.
If the magnetic pole detection is not executed properly, the linear servo motor
CAUTION may operate unexpectedly.
POINT
Establish the machine configuration to use LSP (Upper stroke end) and LSN
(Lower stroke end). The machine may be damaged due to a collision without
LSP and LSN.
Assign LSP and LSN and perform the magnetic pole detection also in the torque
control mode.
At the magnetic pole detection, whether the linear servo motor moves in the
positive or negative direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
When the absolute position linear encoder is used, if a gap is generated to the
positional relation between the linear encoder and the linear servo motor,
perform the magnetic pole detection again.
The accuracy of the magnetic pole detection improves with no load.
An alarm may occur when the linear encoder is not mounted properly, or when
the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting
value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect.
For the machine that its friction becomes 30% or more of the continuous thrust,
the linear servo motor may not operate properly after the magnetic pole
detection.
For the horizontal shaft of the machine that its unbalanced thrust becomes 20%
or more of the continuous thrust, the linear servo motor may not operate
properly after the magnetic pole detection.
For the machine that multiple axes are connected like a tandem configuration, if
you try to perform the magnetic pole detection simultaneously for multiple axes,
the magnetic pole detection may not be executed. Perform the magnetic pole
detection for each axis. At this time, set the axes that the magnetic pole
detection is not performed for to servo-off.
15 - 14
(a) For the incremental linear encoder
POINT
For the incremental linear encoder, the magnetic pole detection is required
every time the power is turned on.
By turning on SON (Servo-on) after power-on, the magnetic pole detection is automatically carried
out. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the
1) Timing chart
ON
SON (Servo-on)
OFF
95 ms
ON
Base circuit
OFF
RD (Ready) ON
OFF
15 s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when LSP (Forward
rotation stroke end) and LSN (Reverse rotation stroke end) are on.
2) Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end) are on)
Servo-on position
(Magnetic pole detection start position)
LSN LSP
(Note 1) (Note 1)
(Note 2)
Magnetic pole detection completion position
Note 1. When you turn off LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) during the magnetic pole detection,
the operation of the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 27
Initial magnetic pole detection error] occurs.
2. The following shows the pitch against the magnetic pole.
LM-U2
LM-H3 Medium thrust Large thrust
Linear servo motor series LM-K2
LM-F (Continuous thrust: (Continuous thrust:
Less than 400 N) 400 N or more)
Pitch against magnetic pole
48 30 60 48
[mm]
15 - 15
3) Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation
stroke end) is off)
When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.
The linear servo motor moves to a
magnetic pole detection start position
upon servo-on, and the magnetic pole
detection is executed.
Magnetic pole detection Servo-on
start position position
LSN LSP
(Note)
The linear servo motor reciprocates several times and returns
to the magnetic pole detection start position to complete the
magnetic pole detection and to go into the servo-lock status.
At this time, there may be a gap, approximately a quarter of
the pitch against magnetic pole, from the start position.
Note. For the pitch against magnetic pole, refer to (2) (a) 2) Note 2 in this section.
(b) For the absolute position linear encoder
POINT
The magnetic pole detection is required at the following timing.
When the system is set up (at the first startup of equipment)
After a servo amplifier is replaced
After a linear servo motor (primary-side or secondary-side) is replaced
After a linear encoder (scale or head) is replaced or remounted
If a gap is generated to the positional relation between the linear encoder and
the linear servo motor, perform the magnetic pole detection again.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
1
Magnetic pole detection at first servo-on (Initial value)
2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.)
15 - 16
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
0
Magnetic pole detection disabled
After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01],
the magnetic pole detection after each power-on is not required.
(3) Magnetic pole detection method setting
POINT
In the following cases, set the magnetic pole detection method to the minute
position detection method.
When a shorten travel distance at the magnetic pole detection is required
When the magnetic pole detection by the position detection method is not
completed
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection

0: Position detection method
4: Minute position detection method
(4) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings

Set the parameters by referring to the following table.
[Pr. PL09] setting
Small ← Medium → Large
(guide value)
(10 or less (initial value) 50 or more)
Servo status
Thrust at operation Small Large
Overload, overcurrent alarm Seldom occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Seldom occurs
Magnetic pole detection accuracy Low High
(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL.
E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by
five as a guide value. When these alarms and warnings occur during the magnetic pole detection
by using MR Configurator2, the test operation of MR Configurator2 automatically completes and
the servo-off status is established.
15 - 17
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload
warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection
error] occurs with this value, specify a value intermediate between the value set at [AL. 50
Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC
Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting
value.
3) Perform the magnetic pole detection again with the final setting value to check there is no
problem.
(c) Setting example

Linear encoder magnetic
pole detection
[Pr. PL09] setting 30 35 40 45 65 70
Occurring
Alarm Not occurring
While increasing the setting value of [Pr. PL09], carry out the An alarm has occurred
magnetic pole detection repeatedly. when the setting value
of [Pr. PL09] is set to "70".
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
15.3.3 Home position return
POINT
Change the third digit value of [Pr. PL01] according to the linear encoder
resolution.
The incremental linear encoder and the absolute position linear encoder have
different reference home positions at the home position return.
For the linear encoder, a home position (reference mark) of the linear encoder is
necessary in the home position return direction. In addition, install a dog so that
the mover passes the dog, decelerates to the creep speed, and passes the
home position (reference mark).
When you configure as follows, move the mover to LSN with JOG operation and
perform home position to perform it in safe.
Returnable area: Non-returnable area:
Home position return can be performed Home position return cannot be performed
when started from this area. when started from this area.
Dog
LSN LSP
Home position return direction
Home position of linear encoder (reference mark)
15 - 18
(1) Incremental linear encoder
If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear
CAUTION encoder is large, it is very dangerous since the linear servo motor may crash into
the stroke end.
(a) When the linear encoder home position (reference mark) exists in the home position return direction
When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier
will be the home position (reference mark) of the linear encoder.
When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled
(1 _ _ _)" of "Linear scale multipoint Z-phase input function selection" in [Pr. PC28].
Home position return speed
Servo motor Creep speed

speed
0 r/min
Proximity dog ON
signal OFF
Reference home
position
Equivalent to one servo motor revolution
Machine position
Linear encoder home position Home position
15 - 19
(b) When the linear encoder home position (reference mark) does not exist in the home position return
direction
POINT
To execute a home position return securely, start a home position return after
moving the linear servo motor to the opposite stroke end with JOG operation
and others.
Change the third digit value of [Pr. PL01] according to the linear encoder
resolution.
The home position return cannot be performed from the position which the home position of the
linear encoder does not exist in the home position return direction. Move the mover to the stroke end
on the opposite side of the home position return direction with the JOG operation from the controller
and others, and then perform a home position return.
speed
0 r/min
JOG operation
ON
Proximity dog signal
OFF
ON
LZ
(Encoder Z-phase pulse) OFF
Machine position
Stroke end Home position Home position start position
Linear encoder home position
Home position returnable area Home position non-returnable area
(c) Caution for passing the home position (reference mark)

An interval for turning on home position (reference mark) signal of the linear encoder has a certain
width. (Specifications differ depending on the linear encoders. For details, refer to "Linear Encoder
Instruction Manual".)
Example: When Z-phase is recognized at startup

B A
Home position signal

A is recognized as
the on position. B is recognized as
the on position.
The position which turns on LZ (Encoder Z-phase pulse) differs depending on the directions of home
position passing. When you need to set the home position return completion to the same position
each time such as dog type home position return, always start home position return with the same
direction.
15 - 20
(d) Caution for linear encoder which does not have the home position (reference mark)
The linear encoder which does not have the home position (reference mark), LZ (Encoder Z-phase
pulse) of the servo amplifier does not be outputted. It is depending on positioning controllers to use
whether LZ (Encoder Z-phase pulse) is necessary or not for home position return. Check the
specifications of controllers.
(2) Absolute position linear encoder
POINT
The data set type home position return can also be carried out.
The home position reference position using an absolute type linear encoder will be per 1048576 pulses
based on the linear encoder home position (absolute position data = 0). You can change the stop
interval at home position return with the third digit of [Pr. PL01].
[Pr. PL01]
Stop interval setting at the home position return

Setting
value Stop interval [pulse]
0 8192
1 131072
2 262144
3 1048576 (initial value)
4 4194304
5 16777216
6 67108864
15 - 21
The following shows the relation between the stop interval at the home position return and the linear
encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter
for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the
stop interval is 16.777 mm. The value inside a bold box indicates the recommended stop interval for
each linear encoder resolution.
[Unit: mm]
Linear encoder
resolution [µm]
Pr. PL01 0.001 0.005 0.01 0.02 0.05 0.1 0.2 0.5 1 2
Stop interval
[pulse]
_0__ 8192 0.008 0.041 0.082 0.164 0.410 0.819 1.638 4.096 8.192 16.384
_1__ 131072 0.131 0.655 1.311 2.621 6.554 13.107 26.214 65.536 131.072 262.144
_2__ 262144 0.262 1.311 2.621 5.243 13.107 26.214 52.429 131.072 262.144 524.288
_3__ 1048576 1.049 5.243 10.486 20.972 52.429 104.858 209.715 524.288 1048.576 2097.152
_4__ 4194304 4.194 20.972 41.943 83.886 209.715 419.430 838.861 2097.152 4194.304 8388.608
_5__ 16777216 16.777 83.886 167.772 335.544 838.861 1677.722 3355.443 8388.608 16777.216 33554.432
_6__ 67108864 67.109 335.544 671.089 1342.177 3355.443 6710.886 13421.773 33554.432 67108.864 134217.728
In the case of a proximity dog type home position return, the nearest reference home position after
proximity dog off is the home position. The linear encoder home position can be set in any position.
LZ (Encoder Z-phase pulse) is outputted based on "Stop interval selection at the home position
return" in [Pr. PL01].
Linear servo Creep speed

motor
0 mm/s
ON
Proximity dog OFF
signal
Reference home
position (Note)
1048576 pulses
1048576 pulses × n
Linear servo motor

position
Note. Changeable with [Pr. PL01].
15 - 22
15.3.4 Test operation mode in MR Configurator2
The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
CAUTION the linear servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
POINT
The content described in this section indicates the environment where the servo
amplifier and a personal computer are directly connected.
By using a personal computer and MR Configurator2, you can execute the positioning operation, the output
signal (DO) forced output, and the program operation without connecting the controller.

Positioning operation can be performed when there is no command from the controller. Use this
operation with the forced stop reset. This operation may be used independently of whether servo-on,
servo-off, or whether a controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
(a) Operation pattern

Item Initial value Setting range
Travel distance [pulse] 1048576 0 to 99999999
Speed [mm/s] 10 0 to Maximum speed
Acceleration/decelerati
1000 0 to 50000
on time constant [ms]
Positive direction travel →
Negative direction travel
Positive direction travel →
Positive direction travel → Positive direction travel
Repeat pattern
Negative direction travel Negative direction travel →
Positive direction travel
Negative direction travel →
Negative direction travel
Dwell time [s] 2.0 0.1 to 50.0
Number of repeats
1 1 to 9999
[time]
(b) Operation method

Positive direction travel Click "Positive Direction Movement".
Negative direction travel Click "Reverse Direction Movement".
Pause Click "Pause".
Stop Click "Stop".
Forced stop Click "Forced Stop".

output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
15 - 23
(3) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using a
controller. Use this operation with the forced stop reset. This operation may be used independently of
whether servo-on, servo-off, or whether a controller is connected or not.
Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of MR
Configurator2.
Start Click "Operation start".
Pause Click "Pause".
Stop Click "Stop".
Forced stop Click "Forced Stop".
15.3.5 Function
(1) Linear servo control error detection function
POINT
For the linear servo control error detection function, the position and speed
deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate
properly. To detect this state and to stop operation, the linear servo control error detection function is
used as a protective function.
The linear servo control error detection function has three different detection methods: the position
deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with
[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with
[Pr. PL05], [Pr. PL06], and [Pr. PL07].
Servo amplifier
Servo amplifier internal value Linear servo motor

1) Model feedback position [mm]
3) Model feedback speed [mm/s]
5) Command thrust [%]
Linear encoder Linear encoder

2) Feedback position [mm]
4) Feedback speed [mm/s]
6) Feedback thrust [%]
Figure 15.1 Outline of linear servo control error detection function
15 - 24
(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
1
Position deviation error detection enabled
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to
1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 50 mm. Change the set value as necessary.
(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
2
Speed deviation error detection enabled
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to
5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 1000 mm/s. Change the set value as necessary.
(c) Thrust deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.
[Pr. PL04]
4
Thrust deviation error detection enabled
When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 15.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.
(d) Detecting multiple deviation errors

When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection
methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Setting Position deviation Speed deviation Thrust deviation

value error detection error detection error detection
1
2
3
4
5
6
7
15 - 25
(2) Auto tuning function
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s
or less.
The linear servo motor speed is 150 mm/s or higher.
The load to mass of the linear servo motor primary-side ratio is 100 times or
less.
The acceleration/deceleration thrust is 10% or less of the continuous thrust.
The auto tuning function during the linear servo motor operation is the same as that of the rotary servo
motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to
motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass
of the linear servo motor primary side.
Example) Mass of linear servo motor primary side = 2 kg

Load mass (excluding the mass of the linear servo motor primary side) = 4 kg
Mass ratio = 4/2 = 2 times
For the parameters set by the auto tuning function, refer to chapter 6.
(3) Machine analyzer function
POINT
Make sure to perform the machine analyzer function after the magnetic pole
detection. If the magnetic pole detection is not performed, the machine analyze
function may not operate properly.
The stop position at the completion of the machine analyzer function can be any
position.
15 - 26
15.3.6 Absolute position detection system
When the linear servo motor is used with the absolute position detection system, an absolute position linear
encoder is required.
(1) Operating conditions of absolute position detection system

(a) Use an absolute type linear encoder.
(b) Perform the magnetic pole detection in the incremental system and disable the magnetic pole
detection after the detection.
(c) Enable the absolute position detection system with [Pr. PA03 Absolute position detection system].
(2) Alarm detection

[AL. 25 Absolute position erased], [AL. 92 Battery cable disconnection warning], [AL. 9F Battery
warning], and [AL. E3 Absolute position counter warning] are not provided for the linear servo motor.
(3) Backup
The linear encoder backs up the absolute position data. Therefore, the encoder battery need not be
installed to the servo amplifier.
(4) Absolute position data transfer to controller

Refer to section 12.8 for absolute position data transfer to the controller.
15 - 27
15.4 Characteristics
15.4.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and
linear servo motor power wires from overloads.
shown in fig. 15.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a
small reciprocating motion.
This servo amplifier has solid-state linear servo motor overload protection. (The servo motor overload
current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000 1000
100 100
Operating
Operation time [s]
Operation time [s]
Operating
10 10
Servo-lock
1 Servo-lock
1
0.1 0.1
0 50 100 150 200 250 300 0 100 200 300 400
Load ratio [%] Load ratio [%]
a. LM-H3 series b. LM-U2 series

LM-K2 series
1000 1000
100 100
Operating Operating
Operation time [s]
Operation time [s]
10 10 Servo-lock
Servo-lock
1 1
0.1 0.1
0 100 200 300 400 500 600 0 50 100 150 200 250 300
Load ratio [%] Load ratio [%]
c. LM-F series (natural cooling) d. LM-F series (liquid cooling)
15 - 28
15.4.2 Power supply capacity and generated loss
Table 15.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
torque and servo-off according to the duty used during operation. When the linear servo motor is run at less
Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact
enclosed type cabinet.
Table 15.1 Power supply capacity and generated loss per linear servo motor at rated output
Power supply Servo amplifier-generated heat [W] Area required for
Linear servo motor (Note 2)
Servo amplifier capacity [kVA] heat dissipation
(primary side)
(Note 1) At rated output With servo-off [m2]
LM-H3P2A-07P-BSS0 MR-J4-40A(-RJ) 0.9 35 15 0.7
LM-H3P3A-12P-CSS0 MR-J4-40A1(-RJ) 0.9 35 15 0.7
LM-H3P3B-24P-CSS0 1.3 50 15 1.0
MR-J4-70A(-RJ)
LM-H3P3C-36P-CSS0 1.9 75 15 1.5
LM-H3P3D-48P-CSS0 MR-J4-200A(-RJ) 3.5 90 20 1.8
LM-H3P7A-24P-ASS0 MR-J4-70A(-RJ) 1.3 50 15 1.0
LM-H3P7B-48P-ASS0 3.5 90 20 1.8
MR-J4-200A(-RJ)
LM-H3P7C-72P-ASS0 3.8 100 20 1.1
LM-H3P7D-96P-ASS0 MR-J4-350A(-RJ) 5.5 130 20 2.7
MR-J4-20A(-RJ)
LM-U2PAB-05M-0SS0 0.5 25 15 0.5
MR-J4-20A1(-RJ)
LM-U2PAD-10M-0SS0 MR-J4-40A(-RJ) 0.9 35 15 0.7
LM-U2PAF-15M-0SS0 MR-J4-40A1(-RJ) 0.9 35 15 0.7
MR-J4-20A(-RJ)
LM-U2PBB-07M-1SS0 0.5 25 15 0.5
MR-J4-20A1(-RJ)
LM-U2PBD-15M-1SS0 MR-J4-60A(-RJ) 1.0 40 15 0.8
LM-U2PBF-22M-1SS0 MR-J4-70A(-RJ) 1.3 50 15 1.0
LM-U2P2B-40M-2SS0 MR-J4-200A(-RJ) 3.5 90 20 1.8
LM-U2P2C-60M-2SS0 MR-J4-350A(-RJ) 5.5 130 20 2.7
LM-U2P2D-80M-2SS0 MR-J4-500A(-RJ) 7.5 195 25 3.9
LM-FP2B-06M-1SS0 MR-J4-200A(-RJ) 3.5 90 20 1.8
LM-FP2D-12M-1SS0 MR-J4-500A(-RJ) 7.5 195 25 3.9
LM-FP2F-18M-1SS0 MR-J4-700A(-RJ) 10 300 25 6.0
LM-FP4B-12M-1SS0 MR-J4-500A(-RJ) 7.5 195 25 3.9
LM-FP4D-24M-1SS0 MR-J4-700A(-RJ) 10 300 25 6.0
LM-FP4F-36M-1SS0 MR-J4-11KA(-RJ) 14 460 45 9.2
LM-FP4H-48M-1SS0 MR-J4-15KA(-RJ) 18 580 45 11.6
LM-FP5H-60M-1SS0 MR-J4-22KA4(-RJ) 22 640 45 12.8
MR-J4-40A(-RJ)
LM-K2P1A-01M-2SS1 0.9 35 15 0.7
MR-J4-40A1(-RJ)
LM-K2P1C-03M-2SS1 MR-J4-200A(-RJ) 3.5 90 20 1.8
LM-K2P2A-02M-1SS1 MR-J4-70A(-RJ) 1.3 50 15 1.0
LM-K2P2C-07M-1SS1 MR-J4-350A(-RJ) 5.5 130 20 2.7
LM-K2P2E-12M-1SS1 MR-J4-500A(-RJ) 7.5 195 25 3.9
LM-K2P3C-14M-1SS1 MR-J4-350A(-RJ) 5.5 130 20 2.7
LM-K2P3E-24M-1SS1 MR-J4-500A(-RJ) 7.5 195 25 3.9
Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power
factor improving AC reactor or power factor improving DC reactor are not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2.
15 - 29
15.4.3 Dynamic brake characteristics

running load such as friction. The calculated value is considered to be longer than
the actual distance. However, if an enough braking distance is not provided, a
CAUTION moving part may crash into the stroke end, which is very dangerous. Install the
anti-crash mechanism such as an air brake or an electric/mechanical stopper
such as a shock absorber to reduce the shock of moving parts. No linear servo
motor with an electromagnetic brake is available.
POINT
stop in emergency.
For a machine operating at the recommended load to motor mass ratio or less,
Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
The approximate coasting distance from when the dynamic brake is activated until when the linear servo
motor stops can be calculated with the equation below.
Lmax = V0 • (0.03 + M • (A + B • V02))
Lmax: Coasting distance of the machine [m]

V0: Speed when the brake is activated [m/s]
M: Full mass of the moving part [kg]
A: Coefficient (Refer to the following tables.)
B: Coefficient (Refer to the following tables.)

Coefficient A Coefficient B Coefficient A Coefficient B
(primary side) (primary side)
LM-H3P2A-07P-BSS0 7.15 × 10-3 2.94 × 10-3 LM-U2PAB-05M-0SS0 5.72 × 10-2 1.72 × 10-4
LM-H3P3A-12P-CSS0 2.81 × 10-3 1.47 × 10-3 LM-U2PAD-10M-0SS0 2.82 × 10-2 8.60 × 10-5
LM-H3P3B-24P-CSS0 7.69 × 10-3 2.27 × 10-4 LM-U2PAF-15M-0SS0 1.87 × 10-2 5.93 × 10-5
LM-H3P3C-36P-CSS0 7.22 × 10-3 1.13 × 10-4 LM-U2PBB-07M-1SS0 3.13 × 10-2 1.04 × 10-4
LM-H3P3D-48P-CSS0 1.02 × 10-3 2.54 × 10-4 LM-U2PBD-15M-1SS0 1.56 × 10-2 5.18 × 10-5
LM-H3P7A-24P-ASS0 7.69 × 10-3 2.14 × 10-4 LM-U2PBF-22M-1SS0 4.58 × 10-2 1.33 × 10-5
LM-H3P7B-48P-ASS0 9.14 × 10-4 2.59 × 10-4 LM-U2P2B-40M-2SS0 1.47 × 10-3 1.27 × 10-5
LM-H3P7C-72P-ASS0 7.19 × 10-4 1.47 × 10-4 LM-U2P2C-60M-2SS0 1.07 × 10-3 7.66 × 10-6
LM-H3P7D-96P-ASS0 6.18 × 10-4 9.59 × 10-5 LM-U2P2D-80M-2SS0 9.14 × 10-4 5.38 × 10-6

Coefficient A Coefficient B Coefficient A Coefficient B
(primary side) (primary side)
LM-FP2B-06M-1SS0 8.96 × 10-4 1.19 × 10-3 LM-K2P1A-01M-2SS1 5.36 × 10-3 6.56 × 10-3
LM-FP2D-12M-1SS0 5.55 × 10-4 4.81 × 10-4 LM-K2P1C-03M-2SS1 1.17 × 10-3 3.75 × 10-4
LM-FP2F-18M-1SS0 4.41 × 10-4 2.69 × 10-4 LM-K2P2A-02M-1SS1 2.49 × 10-2 1.02 × 10-3
LM-FP4B-12M-1SS0 5.02 × 10-4 4.36 × 10-4 LM-K2P2C-07M-1SS1 6.85 × 10-4 2.80 × 10-4
LM-FP4D-24M-1SS0 3.55 × 10-4 1.54 × 10-4 LM-K2P2E-12M-1SS1 5.53 × 10-4 1.14 × 10-4
LM-FP4F-36M-1SS0 1.79 × 10-4 1.36 × 10-4 LM-K2P3C-14M-1SS1 2.92 × 10-4 1.16 × 10-4
LM-FP4H-48M-1SS0 1.15 × 10-4 1.19 × 10-4 LM-K2P3E-24M-1SS1 2.53 × 10-4 5.52 × 10-5
LM-FP5H-60M-1SS0 1.95 × 10-4 4.00 × 10-5
15 - 30
15.4.4 Permissible load to motor mass ratio when the dynamic brake is used
Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the ratio is
higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the
value, contact your local sales office.
The values of the permissible load to motor mass ratio in the table are the values when the linear servo
motor is used at the maximum speed.
Linear servo motor Permissible load to motor mass ratio
(primary side) [Multiplier]
LM-H3 series 40
LM-U2 series
100
LM-F series
LM-K2 series 50
When actual speed does not reach the maximum speed of the linear servo motor, calculate the permissible
load to motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is
300 times.)
Permissible load to motor mass ratio of the dynamic brake = Value in the table × (Servo motor maximum
speed2/Actual using speed2)
For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed:
3.0 m/s), the equation will be as follows.
Permissible load to motor mass ratio of dynamic brake = 40 × 32/22 = 90 [times]
15 - 31
MEMO
15 - 32
16. USING A DIRECT DRIVE MOTOR
CAUTION When using the direct drive motor, read "Direct Drive Motor Instruction Manual".
POINT
Refer to section 1.4 for the software version of the servo amplifier that is
compatible with the direct drive servo system.
The MR-J4-03A6(-RJ) servo amplifier is not compatible with direct drive motor.
16.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for
high accuracy and efficiency. Therefore, the number of systems using a direct drive motor for a drive axis
has been increasing. The direct drive servo system includes the following features.
(1) Performance
(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution
encoder enables the high-accuracy control.
(b) The high-resolution encoder contributes to the high-accuracy indexing.
(c) Since reducer is no longer required, no backlash occurs. In addition, the settling time is reduced, and
the high-frequency operation is enabled.
(d) Since reducer is no longer required, the motor does not deteriorate with time by reducer.
(2) Mechanism
(a) The motor's low profile design contributes to compact moving part of the machine and a low center
of gravity for enhanced equipment stability.
(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed
through.
(c) Lubrication and the maintenance due to abrasion are not required.
The following shows the differences between the direct drive motor and the rotary servo motor.
Differences
Category Item Remark
Direct drive motor Rotary servo motor
Motor pole Magnetic pole detection Required Not required Automatically executed at the first
adjustment (default setting) servo-on after the power is turned
on.
For the absolute position detection
system, [Pr. PL01] can disable the
magnetic pole detection. (Refer to
(2) (b) of 16.3.3.)
Absolute position Absolute position encoder Required Required
detection system battery
Absolute position storage Required Not required
unit
(MR-BTAS01)
16 - 1
Connecting a direct drive motor of the wrong axis to the U, V, W, or CN2 may
POINT
Equipment other than the servo amplifier and direct drive motor are optional or
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the
configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to
section 1.8 depending on servo amplifiers you use.
RS T
(Note 2)
Power supply
(Note 7) Personal
(MCCB) CN5
(Note 3)
Magnetic CN6
(MC)
MR-J3-D05 safety logic
Line noise filter unit
(FR-BSF01)
D
(Note 5)
CN1
U
L1
L2
L3 W
Power factor P3 CN2

improving
DC reactor
(FR-HEL) P4
P+ (Note 6)
CN4 Absolute position
Regenerative
option storage unit
C MR-BTAS01
(Note 4)
L11
Battery unit Direct drive motor
L21
16 - 2
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A(-RJ) or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to
section 1.3.
4. The battery unit is used for the absolute position detection system. (Refer to chapter 12.)
6. The absolute position storage unit is used for the absolute position detection system.
7. This is for MR-J4-_A_, MR-J4-_A_-RJ has a CN2L connector. However, CN2L is not used for the direct drive servo system.
WARNING Ground the servo amplifier and the direct drive motor securely.
Do not attempt to wire the servo amplifier and direct drive motor until they have
been installed. Otherwise, it may cause an electric shock.
terminals.
Wire the equipment correctly and securely. Otherwise, the direct drive motor may
occur.
24 V DC 24 V DC
CAUTION DOCOM DOCOM
Control output RA
Control output RA
signal signal

Electromagnetic interference may be given to the electronic equipment used near
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option)
on the power wire of the direct drive motor.
16 - 3
causing a fire.
Connect the servo amplifier power output (U/V/W) to the direct drive motor power
input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise,
it may cause a malfunction.
Servo amplifier Direct drive motor Servo amplifier Direct drive motor
CAUTION U
U
U
U
V V
V M V M
W W
W W

This section does not describe the following items. For details of the items, refer to each section of the
detailed description field.
Input power supply circuit Section 3.1
Explanation of power supply system Section 3.3
Signal (device) explanations Section 3.5
Alarm occurrence timing chart Section 3.8
Interface Section 3.9
Grounding Section 3.11
Display and operation sections Section 4.5
Parameter Chapter 5
Troubleshooting Chapter 8
POINT
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
For the test operation, refer to section 4.2.3, 4.3.3, 4.4.3, and 4.5.9.
After power on, the Z-phase mark of the direct drive motor must pass the
connector area once. In a system which prevents the direct drive motor from
making a full rotation, install the direct drive motor in a position where the Z-
phase mark can pass over the connector area.
16 - 4
Start up the direct drive servo system in the following procedure.
Perform this procedure once at startup.

Installation and wiring
Perform the magnetic pole detection. (Refer to section 16.3.2.) (Note 1, 4)
Positioning operation check using the test operation mode (Note 1, 4)
Incremental system Absolute position Absolute position detection system

detection system?
Set "_ _ _ 1" in [Pr. PA03].
Release [AL. 25 Absolute position

erased]. (Note 5)
Can you manually turn on Yes

the Z-phase pulse of the direct
drive motor?
No
Perform the magnetic pole detection.

(Note 6)
Transfer of absolute position data
(Refer to section 16.4.)
No
Release [AL. 93 ABS data transfer

warning]. (Note 7)
Turn on the Z-phase pulse of the Turn on the Z-phase pulse of the
direct drive motor by using the direct drive motor manually. (Note 3)
JOG operation of controller. (Note 1, 2)
Change the setting to disable the

Home position return operation (Refer to the controller manual used.)
16 - 5
Note 1. Use MR Configurator2.

2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier
power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the
absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a
warning will occur at the controller.
3 If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by
the magnetic pole detection or the JOG operation.
For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit
power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1/L2/L3). Perform this operation by
considering the safety.
4. Test operation cannot be performed in the absolute position detection system, either. To perform test operation, select
"Disabled (incremental system) (_ _ _ 0)" in [Pr. PA03]. Refer to section 16.3.2 (1) for details.
5. After the servo amplifier is connected to the direct drive motor with an encoder cable, [AL. 25 Absolute position erased] will
occur at the first power on. Cancel the alarm by turning on/off the power.
6. When the magnetic pole detection is performed with absolute position detection system by DIO transfer, [AL. 93 ABS data
transfer warning] will occur. Refer to section 16.4 for details.
7. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.
16.3.2 Magnetic pole detection
POINT
The magnetic pole detection is not required for the configured absolute position
detection system where the Z-phase pulse of the direct drive motor can be
turned on manually.
For this operation, always connect the direct drive motor encoder and the servo
amplifier and turn on the control circuit power supply of the servo amplifier.
Perform this operation by considering the safety.
When performing a magnetic pole detection without using LSP (Forward rotation
stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08 Linear servo
motor/DD motor function selection 3] to "_ 1 _ _" to disable LSP and LSN.
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
For the magnetic pole detection of vertical axis with direct drive motors, refer to
section 2.1 of "Direct Drive Motor Instruction Manual".
Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.
Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.
16 - 6
(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
pole detection method to "Position detection method".
3) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note)
5) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
6) Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test
operation mode on MR Configurator2. Set the travel distance to "0" at this time.
YES
Is [Pr. PL09] the final value?
NO
YES Reset the alarm or cycle the Increase the value of [Pr. PL09]
Has [AL. 27 Initial magnetic pole
detection error] occurred? servo amplifier power. by five.
NO
Set an approximately 70% of the
value set for [Pr. PL09] as the
final setting value.
Have [AL. 32 Overcurrent], [AL. 50 NO
If [AL. 27 Initial magnetic pole
Overload 1], [AL. 51 Overload 2], and Cycle the servo amplifier power.
[AL. E1 Overload warning 1] detection error] occurs with this
occurred? value, specify a value
intermediate between the value
set at [AL. E1 Overload warning
YES 1] and the value set at [AL. 27
Reset the alarm or cycle the
servo amplifier power.
error] as the final setting value.
7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
16 - 7
(b) Magnetic pole detection by the minute position detection method
pole detection method to "Minute position detection method".
3) [Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note 1)
5) Set the load inertia moment ratio of the direct drive motor with [Pr. PL17 Magnetic pole detection -
Minute position detection method - Function selection]. (Note 2)
6) Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test
operation mode on MR Configurator2. Set the travel distance to "0" at this time.
YES Is the response by the

minute position detection method of [Pr.
PL17] the final value?
NO
Has an abnormal sound or YES Decrease the response by the minute

vibration occurred during the magnetic position detection method of [Pr. PL17]
pole detection? by two as the final setting value.
NO
Not
Is the travel distance during the acceptable Increase the response by the minute
magnetic pole detection acceptable? position detection method of [Pr. PL17]
(Note 3) by one.
Acceptable
7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
End
Note 1. For the incremental system, the [Pr. PL01] setting is not required.
2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the
position detection method, and then perform the auto tuning to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle at
the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the
response by the minute position detection method in [Pr. PL17].
16 - 8
(2) Operation at the magnetic pole detection
Note that the magnetic pole detection automatically starts simultaneously with the
WARNING turning-on of the servo-on command.
If the magnetic pole detection is not executed properly, the direct drive motor may
CAUTION operates unexpectedly.
POINT
Establish the machine configuration to use LSP (Forward rotation stroke end)
and LSN (Reverse rotation stroke end). The machine may be damaged due to a
collision without LSP and LSN.
Assign LSP and LSN and perform the magnetic pole detection also in the torque
control mode.
At the magnetic pole detection, whether the motor rotates in the forward or
reverse direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
The accuracy of the magnetic pole detection improves with no load.
(a) Incremental system
POINT
For the incremental system, the magnetic pole detection is required every time
the power is turned on.
By turning on SON (Servo-on) after power-on, the magnetic pole detection is automatically carried
out. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the
1) Timing chart
ON
SON (Servo-on)
OFF
95 ms
ON
Base circuit
OFF
RD (Ready) ON
OFF
15 s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when LSP (Forward
rotation stroke end) and LSN (Reverse rotation stroke end) are on.
16 - 9
2) Direct drive motor movement (when LSP and LSN are on)
Center of direct drive motor rotation part
(Note) LSN LSP (Note)
Servo-on position (Magnetic pole detection start position)
10 degrees or less
Note. When the stroke limit (LSP or LSN) is turned off during the magnetic pole detection,
the magnetic pole detection is carried on to the opposite direction. When both LSP
and LSN are off, [AL. 27 Initial magnetic pole detection error] occurs.
3) Direct drive motor movement (when LSP or LSN is off)

When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.
Center of direct drive motor rotation part
LSP
LSN Servo-on position
After the machine moves to the position where the stroke limit
Magnetic pole detection (LSP or LSN) is set, the magnetic pole detection starts.
start position
10 degrees or less
(b) Absolute position detection system
POINT
The magnetic pole detection is required in the following timings.
System set-up (at the first startup of equipment)
When the Z-phase pulse of the direct drive motor is not turned on at the
system setup (When the Z-phase pulse of the direct drive motor can be turned
on manually, the magnetic pole detection is not required.)
After a direct drive motor is replaced
When [AL. 25 Absolute position erased] has occurred
Turn on the Z-phase pulse of the direct drive motor in JOG operation from the
controller after the magnetic pole detection.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
1
Magnetic pole detection at first servo-on (initial value)
16 - 10
2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
0
Magnetic pole detection disabled
After the magnetic pole detection, by turning on the Z-phase pulse of the direct drive motor in
JOG operation and by disabling the magnetic pole detection function with [Pr. PL01], the
magnetic pole detection after each power-on is not required.
(3) Magnetic pole detection method setting

Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection

0: Position detection method
4: Minute position detection method
(4) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings

Set the parameters by referring to the following table.
[Pr. PL09] setting
Small ← Medium → Large
(guide value)
(10 or less (initial value) 50 or more)
Servo status
Torques required for operation Small Large
Overload, overcurrent alarm Seldom occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Seldom occurs
Magnetic pole detection accuracy Low High
(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning
1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value.
When these alarms and warnings occur during the magnetic pole detection by using MR
Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off
status is established.
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as
the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this
value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51
Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at
the magnetic pole detection alarm as the final setting value.
3) Perform the magnetic pole detection again with the final setting value.
16 - 11
(c) Setting example

[Pr. PL09] setting value 30 35 40 45 65 70
Existent
Alarm
Non-existent
While increasing the setting value of [Pr. PL09], carry out the An alarm has occurred
magnetic pole detection repeatedly. when the setting value of
[Pr. PL09] is set to "70".
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
16.3.3 Function
(1) Servo control error detection function
POINT
For the servo control error detection function, the position and speed deviation
error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To
detect this state and to stop operation, the servo control error detection function is used as a protective
function.
The servo control error detection function has three different detection methods: the position deviation,
speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04
Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05],
[Pr. PL06], and [Pr. PL07].
Direct drive motor
Servo amplifier
Servo amplifier internal value

1) Model feedback position [rev]
3) Model feedback speed [r/min]
5) Command torque [%]
Encoder Encoder
2) Feedback position [rev]
4) Feedback speed [r/min]
6) Feedback torque [%]
Figure 16.1 Outline of servo control error detection function
(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
1
Position deviation error detection enabled
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 16.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 (0.01 rev)
to 1000 (10 rev)), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 0.09 rev. Change the set value as
necessary.
16 - 12
(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
2
Speed deviation error detection enabled
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 16.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to
2000 r/min), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 100 r/min. Change the set value as necessary.
(c) Torque deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection.
[Pr. PL04]
4
Torque deviation error detection enabled
When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 16.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.
(d) Detecting multiple deviation errors

When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection
methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Setting Position deviation Speed deviation Torque deviation

value error detection error detection error detection
1
2
3
4
5
6
7
16 - 13
16.4 Absolute position detection system
POINT
To configure the absolute position detection system by using the direct drive
motor, the battery and the absolute position storage unit (MR-BTAS01) are
required.
For encoder cables and absolute position storage units, refer to "Direct Drive
Motor Instruction Manual".
Replacing the absolute position storage unit (MR-BTAS01) will erase the
absolute position. Start up the direct drive motor again and perform home
positioning.
Replace the battery while the control circuit power is on. Replacing the unit
during control circuit power supply off will cause [AL. 25 Absolute position
erased]. A battery cannot be replaced using battery connection cable (MR-
J3BTCBL03M).
[AL. 25 Absolute position erased] will occur if the encoder cable is disconnected.
When you use the system with absolute position detection system by DIO transfer (set [Pr. PA03] to "_ _ _
1") with the following conditions, the first servo-on after power on will trigger the magnetic pole detection and
[AL. 93 ABS data transfer warning] will occur.
Magnetic pole detection always enabled (Set [Pr. PL03] to "_ _ _ 1".)
The Z-phase pulse of the direct drive motor has not turned on.
When the magnetic pole detection is performed with absolute position detection system by DIO transfer, a
deviation occurs between absolute position data of the servo amplifier side and controller side. If the
operation is continued, positions will be mismatched. Therefore, [AL. 93 ABS data transfer warning] will
occur on the servo amplifier side. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set
a home position.
16 - 14
Timing chart at power on under the condition of performing magnetic pole detection
ON
Power
OFF
First servo-on after power on Second or later servo-on
ON
SON (Servo-on)
OFF
ON
ABSM (ABS transfer mode) During ABS transfer During ABS transfer
OFF
(Note 1) (Note 1)
ON
ABSR (ABS request)
OFF
(Note 1) (Note 1)
ON
ABST
(ABS transmission data ready) OFF
(Note 1) (Note 1)
ABSB0
(ABS transmission data bit 0) Absolute Absolute
ABSB1 position data position data
(ABS transmission data bit 1)
95 ms 95 ms
ON
Base circuit
OFF
15 s or less
Magnetic pole detection time
ON
RD (Ready) Operation Operation
possible possible
OFF
(Note 2)
Existent
Warning
Non-existent
Note 1. Refer to section 12.8.2 (1) (b) for details.

2. Performing the magnetic pole detection triggers [AL. 93 ABS data transfer warning].
For transferring absolute position data to the controller, refer to section 12.8.
An electronic thermal is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and
direct drive motor power wires from overloads.
line in the graph.
This servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive
motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
16 - 15
1000 1000
Operating Operating
100 100
Operation time [s]
Operation time [s]

10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(Note) Load ratio [%] (Note) Load ratio [%]
TM-RFM002C20/TM-RFM004C20/ TM-RFM048G20/TM-RFM072G20/
TM-RFM006C20/TM-RFM006E20/ TM-RFM120J10
TM-RFM012E20/TM-RFM018E20/
TM-RFM012G20/TM-RFM040J10
10000 1000
Operating
1000 100
Operation time [s]
Operation time [s]
Operating
100 10
10 1
1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300 350
(Note) Load ratio [%] (Note) Load ratio [%]
TM-RFM240J10 TM-RG2M002C30/TM-RU2M002C30/
TM-RG2M004E30/TM-RU2M004E30/
TM-RG2M009G30/TM-RU2M009G30
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive
motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction
16 - 16
Table 16.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
torque and servo-off according to the duty used during operation. When the direct drive motor is run at less
Table 16.1 Power supply capacity and generated loss per direct drive motor at rated output
Power supply Servo amplifier-generated heat [W] Area required for
Direct drive motor Servo amplifier
capacity [kVA] At rated output With servo-off heat dissipation [m2]
TM-RG2M002C30 MR-J4-20A(-RJ)
0.25 25 15 0.5
TM-RU2M002C30 MR-J4-20A1(-RJ)
TM-RG2M004E30 MR-J4-20A(-RJ)
0.5 25 15 0.5
TM-RU2M004E30 MR-J4-20A1(-RJ)
TM-RG2M004E30
(Note) MR-J4-40A(-RJ)
0.7 35 15 0.7
TM-RU2M004E30 MR-J4-40A1(-RJ)
(Note)
TM-RG2M009G30 MR-J4-40A(-RJ)
0.9 35 15 0.7
TM-RU2M009G30 MR-J4-40A1(-RJ)
MR-J4-20A(-RJ)
TM-RFM002C20 0.25 25 15 0.5
MR-J4-20A1(-RJ)
MR-J4-40A(-RJ)
TM-RFM004C20 0.38 35 15 0.7
MR-J4-40A1(-RJ)
TM-RFM006C20 MR-J4-60A(-RJ) 0.53 40 15 0.8
TM-RFM006E20 MR-J4-60A(-RJ) 0.46 40 15 0.8
TM-RFM012E20 MR-J4-70A(-RJ) 0.81 50 15 1.0
TM-RFM018E20 MR-J4-100A(-RJ) 1.3 50 15 1.0
TM-RFM012G20 MR-J4-70A(-RJ) 0.71 50 15 1.0
TM-RFM048G20 MR-J4-350A(-RJ) 2.7 90 20 1.8
TM-RFM072G20 MR-J4-350A(-RJ) 3.8 110 20 2.2
TM-RFM040J10 MR-J4-70A(-RJ) 1.2 50 15 1.0
TM-RFM120J10 MR-J4-350A(-RJ) 3.4 90 20 1.8
TM-RFM240J10 MR-J4-500A(-RJ) 6.6 160 25 3.2
Note. The combination increases the rated torque and the maximum torque.
16 - 17

running load such as friction. The calculated value will be longer than the actual
distance. If an enough braking distance is not provided, a moving part may crash
CAUTION into the stroke end, which is very dangerous. Install the anti-crash mechanism
such as an air brake or an electric/mechanical stopper such as a shock absorber
to reduce the shock of moving parts.
POINT
stop in emergency.
Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
(1) Dynamic brake operation

(a) Calculation of coasting distance
brake time constant τ varies with the direct drive motor and machine operation speeds. (Refer to (1)
(b) in this section.)
ON
EM1 (Forced stop 1)
OFF
Dynamic brake
time constant τ
V0
Machine
speed
te Time
V0 JL
Lmax = • te + 1+ ······················································································ (16.1)
60 JM
Lmax: Maximum coasting distance [mm]

V0: Machine's fast feed speed [mm/min]
JM: Moment of inertia of direct drive motor [kg•cm2]
JL: Load moment of inertia converted into equivalent value on direct drive motor rotor [kg•cm2]
τ: Dynamic brake time constant [s]
te: Delay time of control section
[s]
There is internal relay delay time of about 10 ms.
16 - 18
(b) Dynamic brake time constant

30 70
Time constant τ [ms]

25 60
002 004 50 018
20
40 006
15
30
10 006 20
5 10 012
0 0
0 100 200 300 400 500 0 100 200 300 400 500
TM-RFM_C20 TM-RFM_E20
60 80
70 040

50 012
60
40 50
30 40
048 30
20 240
20
10 10
072 120
0 0
0 100 200 300 400 500 0 50 100 150 200
TM-RFM_G20 TM-RFM_J10
30 30
25 25
20 20
15 15
10 10
5 5
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
TM-RG2M002C30 TM-RG2M004E30
TM-RU2M002C30 TM-RU2M004E30
80
70
60
50
40
30
20
10
0
0 100 200 300 400 500 600
Speed [r/min]
TM-RG2M009G30
TM-RU2M009G30
16 - 19
(2) Permissible load to motor inertia ratio when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the
The values of the permissible load to motor inertia ratio in the table are the values at the maximum
rotation speed of the direct drive motor.
The value in the parenthesis shows the value at the rated speed of the direct drive motor.
Permissible load to motor inertia ratio
Direct drive motor
[multiplier]
TM-RFM_C20
TM-RFM_E20
100 (300)
TM-RG2M002C30
TM-RU2M002C30
TM-RFM_G20 50 (300)
TM-RFM_J10 50 (200)
TM-RG2M_E30
TM-RG2M_G30
20 (80)
TM-RU2M_E30
TM-RU2M_G30
16 - 20
17. FULLY CLOSED LOOP SYSTEM
POINT
The fully closed loop system is available for the servo amplifiers of which
software version is A5 or above.
When fully closed loop control system is used with this servo amplifier, "Linear
Encoder Instruction Manual" is needed.
Fully closed loop control system is available with position control mode.
When fully closed loop control system is configured with MR-J4-_A_ servo
amplifier, the following restrictions will be applied. However, these restrictions
will not be applied for MR-J4-_A_-RJ servo amplifiers.
A/B/Z-phase differential output method encoder cannot be used.
The load-side encoder and servo motor encoder is compatible with only the
two-wire type. The four-wire type load-side encoder and servo motor encoder
cannot be used.
When you use the KG-KR and HG-MR series for driving and load-side
encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, MR-
EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type
encoder cable according to app. 8.
The MR-J4-03A6(-RJ) servo amplifier is not compatible with the fully closed loop
system.
17 - 1
A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the
load-side encoder unit.
Electronic gear
CMX + +
Controller CDV - - Servo motor
+ Servo motor-side cumulative S

(Servo motor side) feedback pulses
Droop pulses - + (load-side encoder resolution unit) FBN
FBD Linear encoder
+
(Servo motor side)
Cumulative
feedback pulses Fully closed loop Encoder pulse setting
dual feedback - ([Pr. PA15], [Pr. PA16]
filter and [Pr. PC03])
Load-side + ([Pr. PE08]) +
droop pulses - (Note 1, 2) (Note 2)
Fully closed loop selection Fully closed loop control
Cumulative load-side ([Pr. PE01] and [Pr. PE08]) Load-side feedback pulses error detection function
feedback pulses selection ([Pr. PE03])
Control
Monitor
Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr.
PE01].
When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo
motor encoder independently of whether the servo motor is at a stop or running.
2. When the fully closed loop system is enabled in [Pr. PE01], dual feedback control in which the servo motor feedback signal
and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed.
In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is
performed when the servo motor is operating to improve control performance. When "4500" is set as the filter value of [Pr.
PE08 Fully closed loop dual feedback filter], fully closed loop control is always performed.
The following table shows the functions of each control mode.

Control Description
Feature Position is controlled according to the servo motor-side data.
Since this control is insusceptible to machine influence (such as machine resonance),
Advantage
Semi closed loop control the gains of the servo amplifier can be raised and the settling time shortened.
If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy
Disadvantage
not obtained.
Feature Position is controlled according to the servo motor-side data and load-side data.
Control is performed according to the servo motor-side data during operation, and
Dual feedback control
Advantage according to the load side-data at a stop in sequence to raise the gains during operation
and shorten the settling time. A stop is made with the load-side accuracy.
Feature Position is controlled according to the load-side data.
Advantage The load-side accuracy is obtained not only at a stop but also during operation.
Fully closed loop control
Since this control is susceptible to machine resonance or other influences, the gains of
Disadvantage
the servo amplifier may not rise.
17 - 2
17.1.2 Selecting procedure of control mode
(1) Control mode configuration

In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, the fully closed loop control and dual feedback control can be selected by the [Pr. PE08]
settings on the fully closed loop system.
Semi closed loop system
Semi closed
loop control
Operation mode selection

([Pr. PA01])
"_ _ 0 _" Semi closed/fully closed switching command
Servo amplifier OFF CLD (Fully closed loop control selection)

"_ _ 1 _"
Fully closed loop ON

(Refer to section 17.3.1 (2) (a)) function selection 1
([Pr. PE01]) Fully closed loop system
"_ _ _ 1" Fully closed loop
dual feedback filter Semi closed
loop control
([Pr. PE08])
"_ _ _ 0"
"1 to 4499" Dual feedback
control
(Refer to section 17.3.1 (2) (b))
"4500" Fully closed
loop control
(2) Dual feedback filter equivalent block diagram

A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
+ Servo motor
Position
- control unit
+ High-pass
filter
+
Linear encoder
Low-pass
filter
ω (Note)
Dual feedback filter
Operation status Control status
Fully closed Semi closed Servo motor during a stop Fully closed loop
loop control loop control (0 to ω) control
In operation (ω or more) Semi closed loop
Frequency [rad/s] control
Note. "ω" (a dual feedback filter band) is set by [Pr. PE08].
17 - 3
17.1.3 System configuration
(1) For a linear encoder

(a) MR-J4-_A_ servo amplifier
Servo amplifier
(Note)
Controller Two-wire type serial interface
compatible linear encoder
CN2
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor Table
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a battery is not required.
(b) MR-J4-_A_-RJ servo amplifier

Servo amplifier
(Note)
A/B/Z-phase pulse train interface compatible
Controller linear encoder or two-wire/four-wire type serial
interface compatible linear encoder
CN2
CN2L
(A/B/Z-phase pulse train interface

or serial interface)
Linear encoder head
Servo motor Table
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a battery is not required.
17 - 4
(2) For a rotary encoder

Servo amplifier
Drive part
Controller
CN2 (Note)
(Note) Servo motor

Two-wire type rotary encoder
HG-KR, HG-MR servo motor
(4194304 pulses/rev)
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

Servo amplifier
Drive part
Controller
CN2
CN2L
Servo motor

A/B/Z-phase differential output, two-wire
type, or four-wire type rotary encoder
HG-KR, HG-MR servo motor (4194304
pulses/rev) or synchronous encoder
Q171ENC-W8 (4194304 pulses/rev)
17 - 5
17.2 Load-side encoder
POINT
Always use the load-side encoder cable introduced in this section. Using other
products may cause a malfunction.
For details of the load-side encoder specifications, performance and assurance,
contact each encoder manufacturer.
17.2.1 Linear encoder
Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
17.2.2 Rotary encoder
When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder.
Use a two-wire type encoder cable for MR-J4-_A_ servo amplifiers. Do not use MR-EKCBL30M-L, MR-
EKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type.
17 - 6
17.2.3 Configuration diagram of encoder cable
Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary,
depending on the load-side encoder.
(1) Linear encoder

Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder.

MR-J4FCCBL03M branch cable
(Refer to section 17.2.4)
Servo amplifier
CN2 CN2 MOTOR
Encoder of rotary servo motor
Linear encoder
SCALE
Load-side
encoder
Encoder cable
(Refer to the Linear Encoder Instruction Manual.)

You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ
servo amplifier. You can also use a four-wire type linear encoder.
Servo amplifier
CN2
Linear encoder
CN2L
Load-side
encoder
Encoder cable
(Refer to the Linear Encoder Instruction Manual.)
17 - 7
(2) Rotary encoder

Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.

MR-J4FCCBL03M branch cable
(Refer to section 17.2.4)
Servo amplifier
CN2 CN2 MOTOR (Note)
SCALE
Servo motor
(Note) HG-KR Load-side
HG-MR encoder
Encoder cable
(Refer to the Servo Motor Instruction Manual (Vol. 3).)
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ
servo amplifier. You can also use a four-wire type linear encoder.
Servo amplifier
CN2
CN2L
Servo motor
HG-KR Load-side
HG-MR encoder
Encoder cable
(Refer to the Servo Motor Instruction Manual (Vol. 3).)
17 - 8
17.2.4 MR-J4FCCBL03M branch cable
Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2
connector.
When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction
Manual".
0.3 m
(Note 1) (Note 2)
CN2 MOTOR
SD Plate Plate SD
P5 1 1 P5
LG 2 2 LG
2 6 10 10 6 2
LG 4 THM2 8 SEL SEL 8 THM2 4 LG
MRR MXR MR 3 3 MR MRR
1 5 9 9 5 1
MRR 4 4 MRR
P5 3 THM1 7 BAT BAT 7 THM1 3 P5
MR MX THM1 5 5 THM1 MR
THM2 6 6 THM2
View seen from wiring side. MX 7 View seen from wiring side.
MXR 8
BAT 9 9 BAT
SEL 10 10 SEL
(Note 2)
SCALE
Plate SD
1 P5
2 LG
10 6 2
SEL 8 4 LG
MXR
9 5 1
3 MX BAT 7 3 P5
4 MXR MX
9 BAT
10 SEL View seen from wiring side.
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
17 - 9
17.3.1 Startup
(1) Startup procedure

Start up the fully closed loop system in the following procedure.
Completion of installation and wiring
Adjustment and operation check in semi closed loop system
Check that the servo

Positioning operation check using MR Configurator2 equipment is normal.
Do as necessary.
Gain adjustment
Adjustment and operation check in fully closed loop system
Selection of fully closed loop system (Refer to (2) in this section.)
Selection of load-side encoder communication system (Refer to (3) in this section.)
Setting of load-side encoder polarity (Refer to (4) in this section.)
Positioning operation check using MR Configurator2
Gain adjustment
Adjustment of dual feedback switching filter.

(for dual feedback control) (Refer to (5) in this section.)
Home position return operation (Refer to section 17.3.2.)
Completion of fully closed loop system startup
17 - 10
(2) Selection of fully closed loop system

By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be
selected as shown in the following table.
Semi closed loop
Absolute position
[Pr. PA01] [Pr. PE01] control/fully closed loop Command unit Control method
detection system
control switching signal
"_ _ 0 _" Servo motor Semi closed loop control
Semi closed encoder unit
loop system
(standard
control mode)
"_ _ 1 _ " "_ _ _ 0" Load-side encoder Dual feedback control (fully (Note)
Fully closed unit closed loop control)
loop system "_ _ _ 1" Off Semi closed loop control ×
(fully closed
On Dual feedback control (fully ×
loop control
closed loop control)
mode)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(1) Operation mode selection

Select a operation mode.
[Pr. PA01]
1 0 0
Operation mode selection
Set value Operation mode Control unit
Semi closed loop system Servo motor-side
0 (Standard control mode) resolution unit
Fully closed loop system Load-side encoder
1 (Fully closed loop control mode) resolution unit
(b) Semi closed loop control/fully closed loop control selection

Select the semi closed loop control/fully closed loop control.
[Pr. PE01]
0 0 0
Fully closed loop control selection
0: Always enabled
1: Switching using the control command of controller
(switching between semi closed/fully closed)
Selection using the control
command of controller Control method
OFF Semi closed loop control

ON Fully closed loop control
When the operation mode selection in [Pr. PA01] is set to "_ _ 1 _"
(fully closed loop system), this setting is enabled.
17 - 11
(3) Selection of load-side encoder communication method

The communication method changes depending on the load-side encoder type.
Refer to table 1.1 and "Linear Encoder Instruction Manual" for the communication method for each load-
side encoder.
Select the cable to be connected to CN2L connector in [Pr. PC44].
[Pr. PC44]
0 0 0
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output method, set "0".
Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1"
while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37].
(4) Setting of load-side encoder polarity
Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.
CAUTION PC45]. An abnormal operation and a machine collision may occur if an incorrect
direction is set, which cause a fault and parts damaged.
POINT
"Encoder pulse count polarity selection" in [Pr. PC45] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
Do not set an incorrect direction to "Encoder pulse count polarity selection" in
[Pr. PC45]. Doing so may cause [AL. 42 Fully closed loop control error] during
the positioning operation.
(a) Parameter setting method

Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW
direction of servo motor and the increasing direction of load-side encoder feedback.
[Pr. PC45]
0 0 0
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor Servo motor CCW direction
Linear encoder Address increasing direction of linear encoder
(b) How to confirm the load-side encoder feedback direction

For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.
17 - 12
(5) Setting of feedback pulse electronic gear
POINT
If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.
PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal
operation may occur. Also, it may cause [AL. 42.8 Fully closed loop control error
by position deviation] during the positioning operation.
The numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the electronic
gear are set to the servo motor-side encoder pulse. Set the electronic gear so that the number of servo
motor encoder pulses per servo motor revolution is converted to the number of load-side encoder
pulses. The relational expression is shown below.
[Pr. PE04] × [Pr. PE34] Number of load-side encoder pulses per servo motor revolution
=
[Pr. PE05] × [Pr. PE35] Number of motor encoder pulses per servo motor revolution
Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution
is within the following range.
4096 (212) ≤ Number of load-side encoder pulses per servo motor revolution ≤ 67108864 (226)
(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05
μm
Conditions
Servo motor resolution: 4194304 pulses/rev
Servo motor reduction ratio: 1/11
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 µm
Linear encoder
Linear encoder head
Geared servo motor Table
Calculate the number of linear encoder pulses per ball screw revolution.
Number of linear encoder pulses per ball screw revolution

= Ball screw lead/linear encoder resolution
= 20 mm/0.05 µm = 400000 pulses
[Pr. PE04] × [Pr. PE34] 400000 1 3125 1

= × = ×
[Pr. PE05] × [Pr. PE35] 4194304 11 32768 11
17 - 13
(b) Setting example when using the rotary encoder for the load-side encoder of roll feeder
Conditions
Servo motor resolution: 4194304 pulses/rev
Pulley diameter on the servo motor side: 30 mm
Pulley diameter on the rotary encoder side: 20 mm
Rotary encoder resolution: 4194304 pulses/rev
Drive part
Pulley diameter
d2 = 20 mm
Servo motor
Pulley diameter
d1 = 30 mm
Rotary encoder
(HG-KR or HG-MR servo motor)
4194304 pulses/rev
When the pulley diameters or reduction ratios differ, consider that in calculation.
[Pr. PE04] × [Pr. PE34] 4194304 × 30 1 3

= = ×
[Pr. PE05] × [Pr. PE35] 4194304 × 20 1 2
17 - 14
(6) Confirmation of load-side encoder position data

Check the load-side encoder mounting and parameter settings for any problems.
POINT
Depending on the check items, MR Configurator2 may be used.
Refer to section 17.3.8 for the data displayed on the MR Configurator2.
When checking the following items, the fully closed loop control mode must be set. For the setting of
control mode, refer to (2) in this section.
No. Check item Confirmation method and description
1 Read of load-side encoder position With the load-side encoder in a normal state (mounting, connection, etc.), the load-side
data cumulative feedback pulses value is counted normally when the load-side encoder is
moved. When it is not counted normally, the following factors can be considered.
1. An alarm occurred.
2. The installation of the load-side encoder was not correct.
3. The encoder cable was not wired correctly.
2 Read of load-side encoder home With the home position (reference mark, or Z-phase) of the load-side encoder in a normal
position (reference mark, Z-phase) condition (mounting, connection, etc.), the value of load-side encoder information 1 is
cleared to 0 when the home position (reference mark, or Z-phase) is passed through by
moving the load-side encoder. When it is not cleared, the following factors can be
considered.
1. The installation of the load-side encoder was not correct.
2. The encoder cable was not wired correctly.
3 Confirmation of load-side encoder Confirm that the directions of the cumulative feedback pulses of servo motor encoder (after
feedback direction gear) and the load-side cumulative feedback pulses are matched by moving the device
(Setting of load-side encoder (load-side encoder) manually in the servo-off status. If mismatched, reverse the polarity.
polarity)
4 Setting of load-side encoder When the servo motor and load-side encoder operate synchronously, the servo motor-side
electronic gear cumulative feedback pulses (after gear) and load-side cumulative feedback pulses are
matched and increased.
If mismatched, review the setting of fully closed loop control feedback electronic gear ([Pr.
PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) with the following method.
1) Check the servo motor-side cumulative feedback pulses (before gear).
2) Check the load-side cumulative feedback pulses.
3) Check that the ratio of above 1) and 2) has been that of the feedback electronic gear.
+
Command
- Servo motor
Servo motor-side cumulative 3) Electronic

feedback pulses (after gear) gear Linear
encoder
1) Servo motor-side cumulative
feedback pulses (before gear)
2) Load-side cumulative
feedback pulses
17 - 15
(7) Setting of fully closed loop dual feedback filter

With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual
feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While
observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the
dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
[Pr. PE08] setting Control mode Vibration Settling time
1 Seldom occurs Long time
to Dual feedback to to
4499 Frequently occurs Short time
4500 Fully closed loop
Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration
since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting
of the dual feedback filter should be less than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Droop pulses Droop pulses
Command Command
Time Time
Suppression of vibration: Decrease the dual feedback filter setting.
Droop pulses Droop pulses
Command Command
Time Time
17 - 16
17.3.2 Home position return
(1) General instruction

Home position return is all performed according to the load-side encoder feedback data, independently
of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the
case of a home position return using a dog signal, the home position (reference mark) must be passed
through when an incremental type linear encoder is used, or the Z-phase be passed through when a
rotary encoder is used, during a period from a home position return start until the dog signal turns off.
For the linear encoder, a home position (reference mark) of the linear encoder is necessary in the home
position return direction.
POINT
When you configure as follows, move the mover to LSN with JOG operation and
perform home position to perform it in safe.
Returnable area: Non-returnable area:
Home position return can be performed Home position return cannot be performed
when started from this area. when started from this area.
Dog
LSN LSP
Home position of linear encoder (reference mark)
(2) Load-side encoder types and home position return methods

(a) About proximity dog type home position return using absolute type linear encoder
When an absolute type linear encoder is used, the home position standard position is the position
per servo motor revolution to the linear encoder home position (absolute position data = 0).
In the case of a proximity dog type home position return, the nearest position after proximity dog off
is the home position.
The linear encoder home position may be set in any position.

speed
0 r/min
Proximity dog ON
signal OFF
Reference home
position
Machine position
17 - 17
(b) Home position return using incremental linear encoder

When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier
will be the home position (reference mark) of the linear encoder. Two or more home positions
(reference marks) should not be set. In addition, the home position return cannot be executed
without home position (reference mark).

speed
0 r/min
Proximity dog ON
signal OFF
Reference home
position
Machine position
1) Caution for passing the home position (reference mark)

An interval for turning on home position (reference mark) signal of the linear encoder has a
certain width. (Specifications differ depending on the linear encoders. For details, refer to "Linear
Encoder Instruction Manual".)
Example: When Z-phase is recognized at startup

B A
Home position signal

A is recognized as
the on position. B is recognized as
the on position.
The position which turns on a signal differs depending on the directions of home position passing.
When you need to set the home position return completion to the same position each time such
as dog type home position return, always start home position return with the same direction.
2) Caution for linear encoder which does not have the home position (Z-phase)
The linear encoder which does not have the home position (Z-phase), LZ (Encoder Z-phase
pulse) of the servo amplifier does not be outputted. The home position return can be performed
depending on specifications of controllers even if LZ (Encoder Z-phase pulse) is not outputted.
Check the controller specifications of the home position return.
17 - 18
(c) About dog type home position return when using the rotary encoder of a serial communication servo
motor
The home position for when using the rotary encoder of a serial communication servo motor for the
load-side encoder is at the load-side Z-phase position.
Load-side encoder ON
Z-phase signal OFF
Reference home position

Machine position
Servo amplifier Home position
power-on position
17 - 19
17.3.3 Fully closed loop control error detection functions
If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase
abnormally. The fully closed loop control error detection function is a protective function designed to pre-
detect it and stop operation.
The fully closed loop control error detection function has two different detection methods, speed deviation
and position deviation, and errors are detected only when the corresponding functions are enabled by setting
[Pr. PE03 Fully closed loop function selection 2].
The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].
(1) Parameter
The fully closed loop control error detection function is selected.
[Pr. PE03]
0 0 0
Fully closed loop control error detection function
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error, position deviation error detection
(Initial value)
(2) Fully closed loop control error detection functions

Servo motor
1) Servo motor-side feedback speed [r/min]
2) Servo motor-side feedback position [pulse]
(load side equivalent value)
3) Load-side feedback speed [r/min]

4) Load-side feedback position [pulse]
Linear encoder
(a) Speed deviation error detection

Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
[Pr. PE03]
1
Speed deviation error detection
The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)).
If the deviation is not less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully
closed loop control speed deviation error detection level], the function generates [AL. 42.2 Servo
control error by speed deviation] and stops the motor. The initial value of [Pr. PE06] is 400 r/min.
Change the set value as necessary.
17 - 20
(b) Position deviation error detection

Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.
[Pr. PE03]
2
Position deviation error detection
Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the
deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr. PE07 Fully closed loop
control position deviation error detection level], the function generates [AL. 42.1 Servo control error
by position deviation] and stops the motor. The initial value of [Pr. PE07] is 100 kpulses. Change the
set value as necessary.
(c) Detecting multiple deviation errors

When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error
detection method, refer to (2) (a), (b) in this section.
[Pr. PE03]
Setting Speed deviation Position deviation

value error detection error detection
1
2
3
17.3.4 Auto tuning function
Refer to section 6.3 for the auto tuning function.
17.3.5 Machine analyzer function
Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2.
Test operation mode is enabled by MR Configurator2.

For details on the test operation, refer to section 4.5.9.
Function Item Usability Remark
JOG operation It drives in the load-side encoder resolution unit
Positioning operation The fully closed loop system is operated in the load-side encoder resolution
Test unit.
Program operation
operation For details, refer to section 4.5.9 (5).
mode Output signal (DO)
Refer to section 4.5.9 (6).
forced output
Motor-less operation
17 - 21
17.3.7 Absolute position detection system under fully closed loop system
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery (MR-BAT6V1SET) need not be
installed to the servo amplifier. When an rotary encoder is used, an absolute position detection system can
be configured by installing the encoder battery (MR-BAT6V1SET) to the servo amplifier. In this case, the
battery life will be shorter because the power consumption is increased as the power is supplied to the two
encoders of motor side and load side.
For the absolute position detection system with linear encoder, the restrictions mentioned in this section
apply. Enable the absolute position detection system with [Pr. PA03 Absolute position detection system] and
use this servo within the following restrictions.
(1) Using conditions

(a) Use an absolute type linear encoder with the load-side encoder.
(b) Select Always fully closed loop ([Pr. PA01] = _ _ 1 _ and [Pr. PE01] = _ _ _ 0).
(2) Absolute position detection range using encoder

Encoder type Absolute position detection enabled range
Linear encoder (serial Movable distance range of linear encoder (within 32-bit absolute position data)
interface)
(3) Alarm detection

The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.
(4) Absolute position data transfer to controller

It is the same process as rotary servo motors. (Refer to section 12.8.)
17 - 22
17.3.8 About MR Configurator2
Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load-
side encoder operate properly.
This section explains the fully closed diagnosis screen.
Click "Monitor start" to constantly read the monitor display items from the servo amplifier.
Then, click "Monitor stop" to stop reading. Click "Parameter read" to read the parameter items from the servo
amplifier, and then click "Parameter write" to write them.
n) k) f) m)
c)
g)
i)
l) h)
j)
a) b) d) e)
Symbol Name Explanation Unit

a) Motor-side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (load-side pulse
pulses encoder unit)
(after gear) When the set value exceeds 999999999, it starts with 0.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse.
b) Motor-side droop pulses Droop pulses of the deviation counter between a servo motor-side position and a pulse
command are displayed.
c) Cumulative command Position command input pulses are counted and displayed. pulse
pulses Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse command.
d) Load-side cumulative Feedback pulses from the load-side encoder are counted and displayed. pulse
feedback pulses When the set value exceeds 999999999, it starts with 0.
e) Load-side droop pulses Droop pulses of the deviation counter between a load-side position and a command are pulse
displayed.
f) Motor-side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (Servo pulse
pulses motor encoder unit)
(Before Gear) When the set value exceeds 999999999, it starts with 0.
17 - 23
Symbol Name Explanation Unit

g) Encoder information The load-side encoder information is displayed.
The display contents differ depending on the load-side encoder type.
ID: The ID No. of the load-side encoder is displayed.
Data 1: For the incremental type linear encoder, the counter from powering on is
displayed. For the absolute position type linear encoder, the absolute
position data is displayed.
Data 2: For the incremental type linear encoder, the distance (number of pulses)
from the reference mark (Z-phase) is displayed. For the absolute position
type linear encoder, "00000000" is displayed.
h) Polarity For address increasing direction in the servo motor CCW, it is indicated as "+" and for
address decreasing direction in the servo motor CCW, as "-".
i) Z-phase pass status If the fully closed loop system is "disabled", the Z-phase pass status of the servo motor
encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop
control/fully closed loop control switching", the Z-phase pass status of the load-side
encoder is displayed.
j) Fully closed loop changing Only if the fully closed loop system is "Semi closed loop control/fully closed loop control
device switching", the device is displayed.
The state of the semi closed loop control/fully closed loop control switching signal and
the inside state during selection are displayed.
k) Parameter (Feedback The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35])
pulse electronic gear) are displayed/set for servo motor encoder pulses in this parameter. (Refer to section
17.3.1 (5).)
l) Parameter (Dual feedback The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this
filter) parameter.
m) Parameter (fully closed The parameter for the fully closed loop control is displayed or set.
loop function) Click "Parameter setting" button to display the "Fully closed loop control-Basic" window.
1)
2)
3)
4)
5)
1) Fully closed loop function selection ([Pr. PE01])

"Always valid" or "Changing by input signal (CLD)" is selected here.
2) Setting of feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr.
PE35])
Setting of feedback pulse electronic gear
3) Load-side encoder cable communication method selection ([Pr. PC44])

This is used to select a load-side encoder cable to be connected to the CN2L
connector.
4) Encoder pulse count polarity selection ([Pr. PC45])

Polarity of the load-side encoder cable information is selected.
5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgment

function ([Pr. PC45])
Select the non-signal detection status for the pulse train signal from the A/B/Z-phase
input interface encoder used as a linear encoder or load-side encoder.
This function is enabled only when you use an A/B/Z-phase input interface encoder.
n) Parameter (electronic gear) Electronic gear ([Pr. PA05], [Pr. PA06], [Pr. PA07], [Pr. PA13], [Pr. PA21])
This is used to set parameters for the electronic gear.
17 - 24
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of
the detailed explanation field for details.
Parameter Chapter 5
Normal gain adjustment Chapter 6
Special adjustment function Chapter 7
Troubleshooting Chapter 8
Absolute position detection system Chapter 12
Note. Refer to section 18.5.4 when operating one-touch tuning by using push button switch.
18.1.1 Summary
MR-J4-03A6(-RJ) servo amplifier is MELSERVO-J4 series 48 V DC and 24 V DC power compatible ultra-

small capacity servo amplifier.
The servo amplifier has position, speed, and torque control modes. In the position control mode, the
maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The following shows the differences with 100 W or more MR-J4-_A_(-RJ) servo amplifier.
Differences
Category Item MR-J4-_A_(-RJ) Related parameter
MR-J4-03A6(-RJ)
100 W or more
Power supply 200 V AC/400 V AC/
Main circuit power supply 48 V DC/24 V DC [Pr. PC27]
100 V AC
200 V AC/400 V AC/
Control circuit power supply 24 V DC
100 V AC
Functional safety STO function Compatible
Encoder Encoder resolution 4194304 pulses/rev 262144 pulses/rev
Status display 7-segment LED display digits 5-digits 3-digits [Pr. PC36]
Analog monitor output Output voltage range ± 10 V 5V±4V [Pr. PC14]/[Pr. PC15]
Dynamic brake Stop with dynamic Stop with electronic
Stop system [Pr. PF09]/[Pr. PF15]
brake dynamic brake
Regenerative option Regenerative option selection Compatible [Pr. PA02]
Operation mode Fully closed loop control mode Compatible [Pr. PA01]
Linear servo motor control
Compatible
mode
DD motor control mode Compatible
Function SEMI-F47 function Compatible [Pr. PA20]/[Pr. PF25]
J3A electronic gear setting
Compatible [Pr. PA21]
value compatibility mode
Instantaneous power failure
Compatible [Pr. PA20]/[Pr. PF25]
tough drive
Parameter unit Compatible [Pr. PF34]
18 - 1

48 V DC main circuit power supply
Circuit
48 V DC protector RA Inverter
PM
U U
Built-in
regenerative Current V V
+ resistor M
CNP1
detector
Regene W W
CHARGE -rative
lamp TR
E
CNP1
24 RA B1
Control Electro-
+ circuit 24 V DC B magnetic
24 V DC
power brake
supply B2
CN2
Encoder
Circuit
protector Base amplifier
Regenerative Current
Overcurrent Overvoltage
brake detection
Step-
Position Virtual down
circuit
command encoder
input Model Model
position speed
24 V DC control control
Virtual
motor
CN4
MR-BAT6V1SET-A
Model Model Model torque Battery
position speed (for absolute position
detection system)
Actual Actual
position speed Current
control control control
A/D D/A RS-422 USB

I/F
CN1 CN3
DI/O control
Servo-on
Analog Personal
Input command pulse.
(two channel) Analog monitor Controller computer
Start
(two channel) RS-422 Malfunction, etc USB
18 - 2
18.1 3 Servo amplifier standard specifications

Rated output 30 W
Output
Voltage 48 V DC/24 V DC (Note 5)
For 48 V DC: 1.2 A
Rated current
Main circuit For 24 V DC: 2.4 A
power supply Permissible voltage For 48 V DC: 40.8 V DC to 55.2 V DC
input fluctuation For 24 V DC: 21.6 V DC to 26.4 V DC
Power supply capacity Refer to section 18.7.2.
Inrush current Refer to section 18.7.4.
Voltage 24 V DC
Control circuit
Permissible voltage
power supply 21.6 V DC to 26.4 V DC
fluctuation
input
Power consumption [W] 5.0
Inrush current [A] Refer to section 18.7.4.
Interface Voltage 24 V DC ± 10%
power supply Current capacity [A] 0.3 (Note 1)
Permissible regenerative power of servo
0.7
amplifier built-in regenerative resistor [W]
Dynamic brake (Note 4) Built-in (electronic dynamic brake)
USB: connection to a personal computer or others (MR Configurator2-compatible)
RS-422: 1: n communication (up to 32 axes)
Max. input pulse
frequency
pulse
Position
Command pulse
control mode Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
multiplying factor
Error excessive ±3 rotation (this can be changed from parameter setting)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Speed control input
mode ±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or
less (ambient temperature 25 °C ± 10 °C) when using analog speed command
Torque 0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ)
input
control mode
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal), servo motor overheat protection, encoder error protection, regenerative error
protection, undervoltage protection, instantaneous power failure protection, overspeed
protection, and error excessive protection
18 - 3
Compliance LVD: EN 61800-5-1/EN 60950-1
CE marking
with global EMC: EN 61800-3
standards UL standard UL 508C (NMMS2)
Structure (IP rating) Natural cooling, open (IP20)
Close mounting Possible (Note 2)
DIN rail mounting (width: 35 mm) Possible
Ambient Operation 0 ˚C to 55 ˚C (non-freezing)
temperature Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient Operation
Environment humidity Storage
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 1000 m or less above sea level
Mass [kg] 0.2
I/O points.
2. When closely mounting the servo amplifiers, operate them at the ambient temperatures 45 ˚C or lower.
3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s to 4 Mpulses/s
or lower, change the setting in [Pr. PA13].
4. This is an electronic dynamic brake. This will not operate during control circuit power supply off. In addition, It may not operate
depending on alarms and warnings. Refer to chapter 8 for details.
5. Initial value is the 48 V DC setting. To use with 24 V DC, set [Pr. PC27] to "_ 1 _ _". The characteristics of the servo motor
vary depending on whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
18.1.4 Combinations of servo amplifiers and servo motors

MR-J4-03A6(-RJ) HG-AK0136
HG-AK0236
HG-AK0336
18 - 4
18.1.5 Function list
The following table lists the functions of MR-J4-03A6(-RJ) servo amplifier. For details of the functions, refer
to each section indicated in the detailed explanation field.
Detailed
explanation
This realizes a high response and stable control following the ideal model. The two-
degree-of-freedom-model model adaptive control enables you to set a response to the
Model adaptive control
command and response to the disturbance separately. Additionally, this function can
be disabled. Refer to section 7.5 for disabling this function.
Section
18.3.5 (1)
Position control mode This servo amplifier is used as a position control servo.
Section 3.6.1
Section 4.2
Section
18.3.5 (2)
Speed control mode This servo amplifier is used as a speed control servo.
Section 3.6.2
Section 4.3
Section
18.3.5 (3)
Torque control mode This servo amplifier is used as a torque control servo.
Section 3.6.3
Section 4.4
Position/speed control switch Using an input device, control can be switched between position control and speed
Section 3.6.4
mode control.
Speed/torque control switch Using an input device, control can be switched between speed control and torque
Section 3.6.5
mode control.
Torque/position control switch Using an input device, control can be switched between torque control and position
Section 3.6.6
mode control.
Positioning mode is compatible with MR-J4-03A6-RJ servo amplifier.
Positioning mode For details, refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning
Mode)".
High-resolution encoder of 262144 pluses/rev is used for the encoder of the rotary
High-resolution encoder
servo motor compatible with the MR-J4-03A6(-RJ) servo amplifier.
Absolute position detection Setting a home position once makes home position return unnecessary at every
Chapter 12
system power-on.
You can switch gains during rotation/stop, and can use input devices to switch gains
Gain switching function Section 7.2
during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
suppression control II
Machine resonance This is a filter function (notch filter) which decreases the gain of the specific frequency
Section 7.1.1
suppression filter to suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
Shaft resonance suppression
driving may generate a mechanical vibration at high frequency. The shaft resonance Section 7.1.3
filter
suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II Section 7.1.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
Low-pass filter Section 7.1.4
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
Machine analyzer function an MR Configurator2 installed personal computer and servo amplifier.
This function provides better disturbance response in case low response level that
Robust filter [Pr. PE41]
load to motor inertia ratio is high for such as roll send axes.
Slight vibration suppression
Suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
control
[Pr. PA06]
Electronic gear Input pulses can be multiplied by 1/10 to 4000.
[Pr. PA07]
S-pattern acceleration/
Speed can be increased and decreased smoothly. [Pr. PC03]
deceleration time constant
18 - 5
Detailed
explanation
Automatically adjusts the gain to optimum value if load applied to the servo motor
Auto tuning Section 6.3
shaft varies.
Brake unit This is not available with MR-J4-03A6(-RJ) servo amplifier.
Power regeneration converter This is not available with MR-J4-03A6(-RJ) servo amplifier.
Regenerative option This is not available with MR-J4-03A6(-RJ) servo amplifier.
Alarm history clear Alarm history is cleared. [Pr. PC18]
Input signal selection ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and [Pr. PD03] to
(device settings) other input device can be assigned to specified pins. [Pr. PD22]
[Pr. PD23] to
Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be assigned
[Pr. PD26]
(device settings) to certain pins of the CN1 connector.
[Pr. PD28]
Output signal (DO) forced Output signal can be forced on/off independently of the servo status. Section
output Use this function for checking output signal wiring, etc. 18.5.9
Restart after instantaneous
This is not available with MR-J4-03A6(-RJ) servo amplifier.
power failure
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Section 3.6.1
(5)
Torque limit Servo motor torque can be limited to any value.
[Pr. PA11]
[Pr. PA12]
Section 3.6.3
(3)
Speed limit Servo motor speed can be limited to any value.
[Pr. PC05] to
[Pr. PC11]
Section
Status display Servo status is shown on the 3-digit, 7-segment LED display
18.5.3
Section
External I/O signal display On/off statuses of external I/O signals are shown on the display.
18.5.8
Voltage is automatically offset to stop the servo motor if it does not come to a stop Section
Automatic VC offset
when VC (Analog speed command) or VLA (Analog speed limit is 0 V. 18.5.5
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8
Jog operation, positioning operation, motor-less operation, DO forced output, and
Section
Test operation mode program operation
18.5.10
MR Configurator2 is required for the positioning operation and program operation.
Section 18.6
Analog monitor output Servo status is outputted in terms of voltage in real time.
(3)
Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
Linear servo system This is not available with MR-J4-03A6(-RJ) servo amplifier.
Direct drive servo system This is not available with MR-J4-03A6(-RJ) servo amplifier.
Fully closed loop system This is not available with MR-J4-03A6(-RJ) servo amplifier.
Section 6.2
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Section
Configurator2 or operation section.
18.5.4
SEMI-F47 function This is not available with MR-J4-03A6(-RJ) servo amplifier.
This function makes the equipment to continue operating even under the condition
that an alarm occurs.
Tough drive function Section 7.3.1
MR-J4-03A6(-RJ) servo amplifier is compatible with vibration tough drive. This is not
compatible with 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 However, the drive recorder will not operate on the following conditions. [Pr. PA23]
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
STO function This is not available with MR-J4-03A6(-RJ) servo amplifier.
18 - 6
Detailed
explanation
Cumulative operation time can be checked. This function gives an indication of the
Servo amplifier life diagnosis replacement time for parts of the servo amplifier including a capacitor before they
function malfunction.
This function calculates the power running energy and the regenerative power from
Power monitoring function 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 vibrational
component of the drive system in the equipment and recognizes an error in the
Machine diagnosis function
machine parts, including a ball screw and bearing.
Lost motion compensation This function improves the response delay occurred when the machine moving
Section 7.6
function direction is reversed.
This function sets constant and uniform acceleration/deceleration droop pulses to
Super trace control Section 7.7
almost 0.
High-resolution analog input This is not available with MR-J4-03A6(-RJ) servo amplifier.
18 - 7
18.1.6 Model definition
(1) Rating plate

The following shows an example of rating plate for explanation of each item.
AC SERVO
SER.A4X001001 Serial number
MODEL MR-J4-03A6 Model
POWER : 30W Capacity
INPUT : 0.2A DC24V, 2.4A DC24V/1.2A DC48V Applicable power supply
STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175 Standard, Manual number
IP20 IP rating
MSIP-REI-MEK-TC300A996G51 KC certification number
DATE:2014-10 The year and month of manufacture
TOKYO 100-8310, JAPAN MADE IN JAPAN
Country of origin
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.
MR - J 4 - 0 3 A 6 - RJ
Special specification
Series Symbol Special specification
None Standard
Rated output -RJ Positioning mode compatible
Symbol Rated output [W] -EB MR-J4-03A6 with a special coating specification (3C2) (Note)
03 30 -KS MR-J4-03A6-RJ with a special coating specification (3C2) (Note)
Main circuit power supply

Symbol Main circuit power supply
6 48 V DC /24 V DC
General-purpose interface
Note. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 10.3 for details.
18 - 8

Detailed
(1) No. Name/Application
explanation
Display
Section
(1) The 3-digit, 7-segment LED shows the servo status and
18.5
the alarm number.
Operation section
parameter setting operations. Push the "MODE" and
"SET" buttons at the same time for 3 s or more to switch
(2) to the one-touch tuning mode.
(7) MODE Used to change the mode.

Push this button together
3 s or more to switch to the
UP one-touch tuning mode. Section
(2)
18.5
Used to change the display
or data in each mode.
DOWN
(10) (3)
Side
SET Used to set data.
with the "MODE" button for
3 s or more to switch to the
(4)
(3)
Connect the personal computer. 11.7
(8)
Battery connector (CN4) Section
(4)
Connect the battery for absolute position data backup. 18.9
Control circuit power voltage error lamp (24 V ERROR)
When a voltage value of the control circuit power voltage Section
(5) (5)
(24 V DC) is out of permissible range, this will light in 18.4.3
yellow.
(6) Charge lamp (CHARGE)
I/O signal connector (CN1) Section
(9)
Connect digital I/O signal, analog input signal, analog 18.3.5
(7)
monitor output signal, and RS-422 communication Section
controller. 18.3.6
Encoder connector (CN2) Section
(8)
Connect the servo motor encoder. 18.3.6
Power and servo motor power output connector (CNP1) Section
Connect input power and servo motor. 18.3.1
(9)
Section
18.3.2
Rating plate Section
(10)
18.1.6 (1)
18 - 9

POINT
48 V DC 24 V DC Personal
power power computer
supply supply MR Configurator2
+ - - +
Circuit
protector
CN3
CN4
CNP1 CN2
(Note)
24
0
PM CNP1
Relay
24 V DC Servo motor
power
supply
- +
MR-BAT6V1SET-A
Circuit CN1
protector

PM 0 24
Note. Refer to section 18.3.2 for details.
18 - 10
18.2 Installation
WARNING To prevent electric shock, ground equipment securely.

Do not hold the cables or connectors when carrying the servo amplifier.
Otherwise, it may drop.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Use the equipment within the specified environment. For the environment, refer to
section 18.1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
Do not drop or strike the servo amplifier. Isolate it from all impact loads.
Do not install or operate the servo amplifier which has been damaged or has any
CAUTION parts missing.
When the equipment 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.
Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
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, such
as heat treatment. Additionally, disinfect and protect wood from insects before
packing the products.
The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of
the detailed explanation field for details.
Keep out foreign materials Section 2.2
Encoder cable stress Section 2.3
Inspection items Section 2.4
Parts having service life Section 2.5
18 - 11
18.2.1 Installation direction and clearances
When using heat generating equipment, install them with full consideration of heat generation so that the
servo amplifier is not affected.
(1) Installation of one servo amplifier

Cabinet Cabinet
40 mm
or more
Servo amplifier Wiring allowance
80 mm or more
10 mm 10 mm
or more or more Top
Bottom
40 mm
or more
18 - 12
(2) Installation of two or more servo amplifiers
POINT
You can install MR-J4-03A6(-RJ) servo amplifiers without clearances between
them. When closely mounting the servo amplifiers, operate them at the ambient
temperatures of 0 °C to 45 °C.
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
amplifiers in consideration of mounting tolerances. In this case, operate at the ambient temperatures
0 °C to 45 °C.
Cabinet Cabinet
100 mm or more 100 mm or more

10 mm or more 1 mm 1 mm
30 mm 30 mm 30 mm Top
or more or more or more
Bottom
40 mm 40 mm
or more or more
18 - 13
18.2.2 Installation by DIN rail
To mount the servo amplifier to DIN rail, pull down the tab of hook. The hook may
come off when the tab is pushed down from the back side of the servo amplifier.
CAUTION
The following explains mounting and removing procedure of servo amplifier using DIN rail.
Mounting servo amplifier to DIN rail
Wall
Upper tab
DIN rail
Hook
1) Pull down the hook. 2) Hang the upper tab on the back of the servo amplifier
to the upper tab of DIN rail, and push toward to the
wall.
Wall
Upper tab
DIN rail
Hook
3) Push up the hook, and fix the servo amplifier.
18 - 14
Removing servo amplifier from DIN rail
Wall Wall
Upper tab Upper tab
DIN rail DIN rail
Hook
1) Pull down the hook. 2) Pull the servo amplifier forward.
Wall
Upper tab
DIN rail
3) Lift up and remove the servo amplifier.
18 - 15
A person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and check to see if the charge lamp turned 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 Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may
occur.
24 V DC 24 V DC
DOCOM DOCOM
Control output RA
Control output
RA
signal signal

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF)
with the power line of the 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
U U
U U
V V
V M V M
W W
W W

18 - 16
The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or
more. Refer to the section of the detailed explanation field for details.
Detailed explanation of signals Section 3.6
Forced stop deceleration function Section 3.7
Servo motor with an electromagnetic brake Section 3.10
18.3.1 Input power supply circuit
Connect a circuit protector between the power supply and power supply voltage
input terminals (24/PM) 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 circuit protector is not connected, continuous flow of a large current may cause
a fire when the servo amplifier malfunctions.
Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may
CAUTION cause a fire when a regenerative transistor malfunctions or the like may overheat
the built-in regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit of the
specification, the servo amplifier will break down.
POINT
18 - 17
Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after
deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc.
Malfunction OFF
RA1 ON
RA2
RA2
24 V DC (Note 7) Emergency stop switch

24 V DC Circuit
(Note 1) protector (Note 9) CNP1 CNP1 (Note 4)
24 U U
Motor
0 V V
RA2 M
PM W W
(Note 8)
48 V DC
(Note 1) E
(Note 6)
CN2 (Note 2)
Encoder cable Encoder

24 V DC Circuit
(Note 1) protector (Note 9)
(Note 5)
Main circuit power supply CN1 CN1 24 V DC (Note 7)
Forced stop 2 EM2 DOCOM
(Note 3) Malfunction (Note 3)
Servo-on SON ALM RA1
DICOM
24 V DC (Note 7)
Note 1. Use reinforced insulating type for 24 V DC and 48 V DC power supply.

servo amplifier.
7. The illustration of the 24 V DC power supply is divided between input signal, output signal, and external emergency
stop circuit for convenience. However, they can be configured by one. For 24 V DC power for I/O signal, use power
other than 24 V DC power of servo amplifier control circuit power supply.
8. The noiseless grounding ( ) terminals and E terminals are connected in the servo amplifier. Be sure to ground
from the noiseless grounding ( ) terminal of CNP1 to the grounding terminal of the cabinet.
9. Circuit protectors are required for protection of power supplies, wires, servo amplifiers and others. When not using
a circuit protector, configure an external protective circuit such as a power supply with protection function.
18 - 18
18.3.2 Explanation of power supply system
(1) Pin assignment

Servo amplifier
CNP1
5 0 24 1
6 PM 2
7 W U 3
8 E V 4
(2) Detailed explanation

Connection target
Symbol Description
(application)
24 Used to connect + of the control circuit power supply (24 V DC).
Used to connect + of the main circuit power supply (48 V DC/24 V DC).
Set [Pr. PC27] according to the specification of main circuit power supply.
Control circuit
power supply/main Parameter [Pr. PC27 function selection C-6]
PM Main circuit power supply setting value
circuit power
supply 48 V DC _ _ 0 _ (Initial value)
24 V DC __1_
0 Switch off - of the control circuit power supply and main circuit power supply.
Noiseless
Connect to the grounding terminal of the cabinet to ground.
grounding
Servo motor Connect the servo amplifier power output (U/V/W/E) to the servo motor power input (U/V/W )
U/V/W/E
power output directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
18 - 19
(3) Wiring CNP1
POINT
For the wire sizes used for wiring, refer to section 18.8.3.
Use the servo amplifier power connector for wiring CNP1.
(a) Connector
Servo amplifier
CNP1

Stripped
Connector Receptacle assembly Applicable wire size Manufacturer
length [mm]
DFMC 1,5/ 4-ST-3,5-LR or
CNP1 AWG 24 to 16 10 Phoenix Contact
equivalent
(b) Cable connection procedure

1) Fabrication on cable insulator
Refer to table 18.1 for stripped length of cable insulator. The appropriate stripped length of cables
depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length 10 mm
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten

the strands.
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the
following ferrules and crimp terminal.
Ferrule model Crimp terminal
Servo amplifier Wire size
(Phoenix Contact) (Phoenix Contact)
AWG 20 AI0.25-10YE
AWG 18 AI0.34-10TQ
MR-J4-03A6(-RJ) CRIMPFOX6
AWG 18 AI0.5-10WH
AWG 16 AI0.75-10GY
18 - 20
2) Inserting wire
When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the
end with pushing down the release button with a small flat head screwdriver, etc.
The following show a connection example when using stranded wire to the CNP 1 connector.
Release button
Stranded wire
(c) Mounting connector

1) Mounting
Fit the CNP1 connector when the servo amplifier is fixed. While pushing the connector, make
sure that the connector is locked to the top and bottom of the socket. After that, check that the
connector cannot be pulled out.
Lock hook Locked
Refer to the following example for a status of lock.
Locked
Locked
Unlocked
Good example Bad example
(Both are locked.) (Bottom is not locked.)
2) Disconnection
Pull out the CNP1 connector after unlocking the top and bottom of the connector.
18 - 21
18.3.3 Selection of main circuit power supply/control circuit power supply
The inrush current at power on will be large because a resistance for protecting inrush current is not built-in
in the main circuit power supply of the servo amplifier. The main circuit capacitor capacity of the servo
amplifier is approximately 270 μF. When the load characteristic (overcurrent protection criteria) of the power
unit is current fold back method, the power cannot be started. Be careful when selecting a power. Especially
when the power is turned ON/OFF on the power unit output side, approximately 100 μs to 300 μs
instantaneous current will flowed at power on due to capacitor charge. Therefore, a power unit such as one
which operates overcurrent at 1 ms or less cannot be used.
A circuit to protect inrush current at power on is built-in in the control circuit power supply of servo amplifier.
In addition, when using main circuit power supply and control circuit power supply, use a reinforced
insulating type.
18.3.4 Power-on sequence
POINT
The voltage of analog monitor output, output signal, etc. may be unstable at
power-on.
(1) Power-on procedure

1) When wiring the power supply, use a circuit protector for the power supply (24/PM). Configure up
an external sequence so that the relay connected to PM turns off when an alarm occurs.
2) Switch on the control circuit power supply (24/0) simultaneously with the main circuit power
supply (PM/0) or before switching on the main circuit power supply. If the main circuit power
supply is not on, the display shows the corresponding warning. However, by switching on the
main circuit power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier receives the SON (Servo-on) within 2.5 s to 3.5 s after the main circuit power
supply is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the
main circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 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.)
4) 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
(2.5 s to 3.5 s)
Main circuit ON
power supply
Control circuit 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 alarm (ON)
ALM
(Malfunction) Alarm (OFF)
2.5 s to 3.5 s
18 - 22
18.3.5 I/O signal connection example
(1) Position control mode

(a) For sink I/O interface
(Note 4) Servo amplifier
CN1 47 DOCOM (Note 2)
DICOM 20 48 ALM RA1 Malfunction (Note 6)
CLEARCOM 14 DOCOM 46
CLEAR 13 CR 41 23 ZSP RA2 Zero speed detection
READY 11 RD 49
PULSE F- 16 PG 11
10 m or less
PULSE R+ 17 NP 35
PG0 9 LZ 8 5 LAR (differential line driver)
(Note 12)
(Note 11) LG 3 7 LBR (differential line driver)
2 m or less
(Note 13) CN1
Main circuit power supply
Reset RES 19 CN1
5 V ± 4 V DC
External torque limit selection TL 18 28 LG
5 V ± 4 V DC
Forward rotation stroke end LSP 43 29 MO2 Analog monitor 2
(Note 5)
Reverse rotation stroke end 24 V DC (Note 4)
LSN 44
2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
TLA 27
+10 V/maximum torque
LG 28
SD Plate
(Note 9) computer
USB cable CN3
(option)
+
CNP1 (Note 1)
6
18 - 23
Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the
grounding terminal (PE) of the cabinet.
3.9.2 (1) 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. For 24 V DC power for I/O
signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
6. ALM (Malfunction) turns on in normal alarm-free condition. When this signal (normally closed contact) is switched off (at
type.
10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.
11. This connection is not necessary for RD75D, LD75D and QD75D. However, to enhance noise tolerance, it is recommended to
12. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position
mismatch can occur. To avoid the position mismatch, check Encoder A-phase pulse and Encoder B-phase pulse on the
controller side.
amplifier.
15. CLER and CLEARCOM of source interface are interchanged to sink interface.
18 - 24
(b) For source I/O interface
POINT
For notes, refer to (1) (a) in this section.
(Note 4,14) Servo amplifier

24 V DC (Note 7) (Note 4,14)
CN1 47 DOCOM
(Note 2)
CLEAR 13 DOCOM 46
(Note 15)
CLEARCOM 14 CR 41 23 ZSP RA2 Zero speed detection
READY 11 RD 49
PULSE F- 16 PG 11
10 m or less
PULSE R+ 17 NP 35
(Note 12)
2 m or less
(Note 13)
Reset RES 19 CN1
5 V ± 4 V DC
5 V ± 4 V DC
(Note 5)
Reverse rotation stroke end 24 V DC (Note 4,14)
LSN 44
2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
TLA 27
LG 28
SD Plate
(Note 9) computer
USB cable CN3
(option)
+
CNP1 (Note 1)
6
18 - 25
(2) Speed control mode

Servo amplifier
(Note 7) (Note 4)
CN1 24 V DC
46 DOCOM
47 DOCOM (Note 2)
10 m or less
(Note 12) (Note 7) 48 ALM RA1 Malfunction (Note 6)
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed detection
Reset RES 19
Forward rotation stroke end LSP 43
(Note 5) 8 LZ Encoder Z-phase pulse
Reverse rotation stroke end LSN 44
9 LZR (
DICOM 20
24 V DC (Note 4) DICOM 21
5 LAR (differential
( line driver)
P15R 1
(Note 11) Analog speed command 7 LBR (differential line driver)
VC 2
LG 28
SD Plate
computer
USB cable CN3 CN1
5 V ± 4 V DC
+ 28 LG
5 V ± 4 V DC
2 m or less
CNP1 (Note 1)
6
18 - 26
3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal
and output signal.
(5).)
11. Use an external power supply when inputting a negative voltage.
amplifier.
18 - 27
POINT
Servo amplifier
(Note 7) (Note 4,13)
CN1 24 V DC
46 DOCOM
47 DOCOM (Note 2)
10 m or less
Reset RES 19
9 LZR (differential line driver)
DICOM 20
24 V DC (Note 4,13) DICOM 21
5 LAR (differential line driver)
P15R 1
(Note 11) Analog speed command 7 LBR (differential line driver)
VC 2
LG 28
SD Plate
computer
USB cable CN3 CN1
5 V ± 4 V DC
+ 28 LG
5 V ± 4 V DC
2 m or less
CNP1 (Note 1)
6
18 - 28
(3) Torque control mode
POINT

Servo amplifier
(Note 6) (Note 4)
CN1 24 V DC
46 DOCOM
47 DOCOM (Note 2)
10 m or less
(Note 3) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed detection
Reset RES 19
10 m or less
24 V DC (Note 4) DICOM 21 4 LA Encoder A-phase pulse
Upper limit setting
(Note 9) Analog torque command TC 27 7 LBR (differential line driver)
Upper limit setting
34 LG
(Note 9) Analog speed limit VLA 2
SD Plate Plate SD
(Note 9) computer
USB cable CN3 CN1
(option) Analog monitor 1
26 MO1
+ 5 V ± 4 V DC
28 LG
5 V ± 4 V DC
2 m or less
CNP1 (Note 1)
6
3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal
and output signal.
9. Use an external power supply when inputting a negative voltage.
amplifier.
18 - 29
POINT
Servo amplifier
(Note 6) (Note 4,11)
CN1 24 V DC
46 DOCOM
47 DOCOM (Note 2)
10 m or less
Reset RES 19
10 m or less
24 V DC (Note 4,11) DICOM 21 4 LA Encoder A-phase pulse
Upper limit setting
(Note 9) Analog torque command TC 27 7 LBR (differential line driver)
Upper limit setting
34 LG
(Note 9) Analog speed limit VLA 2
SD Plate Plate SD
(Note 9) computer
USB cable CN3 CN1
26 MO1
+ 5 V ± 4 V DC
28 LG
5 V ± 4 V DC
2 m or less
CNP1 (Note 1)
6
18 - 30
18.3.6 Connectors and pin assignment
POINT
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
CN1
CN3 (USB connector)

50 25
49 24
48 23
47 22
46 21
45 20
44 19
43 18
42 17
41 16
CN2
40 15
1A 1B
MR MRR 39 14
2A 2B 38 13
3A 3B 37 12
36 11
4A 4B 35 10
P5 LG 34 9
5A 5B
SHD BAT 33 8
32 7
CN4 31 6
(Battery connector) 30 5
refer to section 11.8. 29 4
28 3
The frames of the CN1 connectors 27 2
are connected to the protective earth 26 1
terminal in the servo amplifier.
18 - 31
The device assignment of CN1 connector pins changes depending on the control mode. For the pins which
are given parameters in the related parameter column, their devices will be changed using those
parameters.
I/O P P/S S S/T T T/P
1 P15R P15R P15R P15R P15R P15R
2 I -/VC VC VC/VLA VLA VLA/-
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- (Note 4) (Note 4) (Note 4) -/PP PD43/PD44
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13 O SDP SDP SDP SDP SDP SDP
14 O SDN SDN SDN SDN SDN SDN
26 O MO1 MO1 MO1 MO1 MO1 MO1 PC14
27 I TLA TC TC/TLA
TLA TLA TLA/TC
29 O MO2 MO2 MO2 MO2 MO2 MO2 PC15
31 I TRE TRE TRE TRE TRE TRE
32
35 I NP NP/- (Note 4) (Note 4) (Note 4) -/NP PD45/PD46
36 I NG NG/- -/NG
37 I PP2 PP2/- (Note 5) (Note 5) (Note 5) -/PP2 PD43/PD44
38 I NP2 NP2/- (Note 5) (Note 5) (Note 5) -/NP2 PD45/PD46
39 I RDP RDP RDP RDP RDP RDP
40 I RDN RDN RDN RDN RDN RDN
50
18 - 32

2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching
mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode
3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22].
4. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input
devices with [Pr. PD43] to [Pr. PD46] as necessary. When using this pin by DI, supply + of 24 V DC to CN1-12
pin.
5. This is available as an input device of source interface. Input devices are not assigned by default. Assign the
input devices with [Pr. PD43] to [Pr. PD46] as necessary.
18 - 33
The pin numbers in the connector pin No. column are those in the initial status.
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the
control mode field of the table shows the followings.
[Pr. PA04], [Pr. PD03] to [Pr. PD26], [Pr. PD28]
(1) I/O device

(a) Input device
Control
Connector I/O
pin No. division
P S T
Forced stop 2 EM2 CN1-42 For details of device, refer to section 3.5.1 (1) (a). DI-1
Forced stop 1 EM1 (CN1-42) DI-1
Servo-on SON CN1-15 DI-1
Reset RES CN1-19 DI-1
Forward rotation LSP CN1-43 DI-1
stroke end
Reverse rotation LSN CN1-44
stroke end
External torque TL CN1-18 DI-1
limit selection
Internal torque TL1 DI-1
limit selection
Forward rotation ST1 CN1-17 DI-1
start
Reverse rotation ST2 CN1-18
start
Forward rotation RS1 CN1-18 DI-1
selection
Reverse rotation RS2 CN1-17
selection
1
2
3
Proportional PC CN1-17 DI-1
control
Clear CR CN1-41 DI-1
selection 1
selection 2
Gain switching CDP DI-1
Control switching LOP CN1-45 DI-1 Refer to
function
and
application
column
18 - 34
Control
Connector I/O
pin No. division
P S T
Second STAB2 For details of device, refer to section 3.5.1 (1) (a). DI-1
acceleration/
deceleration
selection
ABS transfer ABSM CN1-17 DI-1
mode
ABS request ABSR CN1-18 DI-1
(b) Output device

Control
Connector I/O
pin No. division
P S T
Malfunction ALM CN1-48 For details of device, refer to section 3.5.1 (1) (b). DO-1
Ready RD CN1-49 DO-1
In-position INP CN1-22 DO-1
Speed reached SA CN1-24 DO-1
Limiting speed VLC CN1-25 DO-1
Limiting torque TLC DO-1
Zero speed ZSP CN1-23 DO-1
detection
Electromagnetic MBR DO-1
brake interlock
Warning WNG DO-1
Battery warning BWNG DO-1
Alarm code ACD0 (CN1-24) DI-1
ACD1 (CN1-23)
ACD2 (CN1-22)
Variable gain CDPS DO-1
selection
Absolute position ABSV DO-1
undetermined
ABS ABSB0 (CN1-22) DO-1
transmission
data bit 0
ABS ABSB1 (CN1-23) DO-1
transmission
data bit 1
ABS ABST (CN1-25) DO-1
transmission
data ready
18 - 35
(2) Input signal

Control
Connector I/O
pin No. division
P S T
Analog torque TLA CN1-27 Refer to section 3.5 (2) for details of signal. Analog
limit input
Analog torque TC Analog
command input
Analog speed VC CN1-2 Analog
command input
Analog speed VLA Analog
limit input
Forward rotation PP CN1-10 DI-2
pulse train NP CN1-35
Reverse rotation PP2 CN1-37
pulse train NP2 CN1-38
PG CN1-11
NG CN1-36
(3) Output signal

Control
Connector I/O
pin No. division
P S T
Encoder A- LA CN1-4 Refer to section 3.5 (3) for details of signal. DO-2
phase pulse LAR CN1-5
(differential line
driver)
Encoder B- LB CN1-6
phase pulse LBR CN1-7
(differential line
driver)
Encoder Z- LZ CN1-8 DO-2
phase pulse LZR CN1-9
(differential line
driver)
Encoder Z- OP CN1-33 DO-2
phase pulse
(open-collector)
Analog monitor 1 MO1 CN1-26 This is used to output the data set in [Pr. PC14] to between MO1 and Analog
LG in terms of voltage. output
Output voltage: 5 V ± 4 V
Analog monitor 2 MO2 CN1-29 This signal outputs the data set in [Pr. PC15] to between MO2 and LG Analog
in terms of voltage. output
Output voltage: 5 V ± 4 V
(4) Communication
Control
Connector I/O
pin No. division
P S T
RS-422 I/F SDP CN1-13 These are terminals for RS-422 communication.
SDN CN1-14
RDP CN1-39
RDN CN1-40
TRE CN1-31
18 - 36
(5) Power supply

Control
Connector I/O
pin No. division
P S T
Digital I/F power DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power
supply input CN1-21 supply capacity changes depending on the number of I/O interface
points to be used.
For source interface, connect - of the 24 V DC external power supply.
Open-collector OPC CN1-12 When inputting a pulse train in the open-collector type with sink
sink interface interface, supply this terminal with the positive (+) power of 24 V DC.
power supply Supply + of 24 V DC to this terminal when using CN1-10-pin and CN1-
input 35-pin by DI.
Digital I/F DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier.
common CN1-47 This is separated from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of the 24 V DC external power supply.
15 V DC power P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as
supply power for TC, TLA, VC, or VLA. Permissible current: 30 mA
Control common LG CN1-3 Common terminal of TLA/TC/VC/VLA/OP/MO1/MO2/P15R. Pins are
CN1-28 connected internally.
CN1-30
CN1-34
Shield SD Plate Connect the external conductor of the shielded wire.
18 - 37
18.3.8 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
CAUTION signal is not being input, ensure safety, and reset the alarm before restarting
operation.
POINT
To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window,
or cycle the RES (Reset). However, the alarm cannot be deactivated unless its cause is removed.
(1) When you use the forced stop deceleration function
POINT
(a) When the forced stop deceleration function is enabled

Alarm occurrence
(Note 1)
zero speed
0 r/min
Command is not received. Dynamic brake
operating time
(Note 2)
Base circuit ON
(Energy supply to
Servo amplifier No alarm Alarm No.

display
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration
of the servo motor.
2. If the servo motor speed is 5 r/min or higher, the electric dynamic brake will operate continuously for the time
period set by [Pr. PF15].
18 - 38
(b) When the forced stop deceleration function is not enabled

Alarm occurrence
Braking by the dynamic brake

Dynamic brake
Servo motor speed + Braking by the electromagnetic brake
Braking by the electromagnetic brake
0 r/min
Dynamic brake operating time

Base circuit ON
(Energy supply to
Servo amplifier
Operation delay time of the electromagnetic brake
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
(2) When you do not use the forced stop deceleration function
POINT
The operation status during an alarm is the same as (1) (b) in this section.
18 - 39
18.3.9 Interfaces (Internal connection diagram)
Detailed explanation of interfaces Section 3.9.2
Source I/O interface Section 3.9.3
Servo amplifier
(Note 1)
(Note 4)
CN1 P S T 24 V DC
(Note 1)
46 DOCOM
P S T CN1 Approximately
6.2 kΩ
SON SON SON 15 47 DOCOM
SP2 SP2 16
22 INP SA RA
PC ST1 RS2 17
TL ST2 RS1 18 23 ZSP ZSP ZSP
RES RES RES 19 (Note 3)
(Note 3) 24 INP SA
CR SP1 SP1 41
EM2 42 25 TLC TLC TLC
LSP LSP 43
48 ALM
LSN LSN 44 Approximately
6.2 kΩ
LOP LOP LOP 45 49 RD RD RD RA
(Note 4) OPC 12
24 V DC Insulated
DICOM 20 (Note 1)
DICOM 21 Approximately Approximately CN1 P S T
(Note 2) 100 Ω 1.2 kΩ
PP 10 Approximately
4 LA
1.2 kΩ
PP2 37 5 LAR
PG 11 Approximately Approximately
6 LB Differential line
100 Ω 1.2 kΩ
NP 35 driver output
Approximately
1.2 kΩ
7 LBR (35 mA or less)
NP2 38 8 LZ
NG 36 9 LZR
33 OP Open-collector
(Note 1) 34 LG output
P S T CN1 (Note 1)
VC VLA 2 CN1 P S T
RS-422
13 SDP
TLA TLA TC 27 14 SDN
39 RDP
15 V DC
P15R 1 40 RDN
30 LG
LG 3 31 TRE (Note 5)
SD Case
(Note 1)
CN1 P S T Analog monitor
26 MO1
5V
(Note 1) 29 MO2 ± 4 V DC
5V
P S T CN3 ± 4 V DC
28 LG
D- 2 Servo motor
USB D+ 3
Encoder
GND 5 (Note 1)
CN2 P S T
1A MR
1B MRR
4B LG
CNP1
8 E M
6
18 - 40
Note 1. P: position control mode, S: speed control mode, T: torque control mode
2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.
DOCOM 46 DOCOM 46
24 V DC OPC 12 24 V DC OPC 12
DICOM 20 DICOM 20
DOCOM 47 DOCOM 47
PP 10 PP 10
PP2 37 PP2 37
PG 11 PG 11
NP 35 NP 35
NP2 38 NP2 38
NG 36 NG 36
For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
5. To use the RS-422 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to section
18.11.)
18 - 41
18.3.10 Grounding

WARNING To prevent an electric shock, always connect the noiseless grounding terminal
(marked ) of the servo amplifier to the grounding terminal of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Cabinet
24 V DC Circuit CNP1
CN2
(Note 1) protector
24
Encoder
PM
48 V DC RA CNP1
(Note 1) U U
V V M
W W
(Note 2)
E
24 V DC Circuit
(Note 1) protector Programmable
controller CN1
CNP1
Outer
box
Note 1. For power supply specifications, refer to section 18.1.3.

2. Connect of servo motor to E of the CNP1 connector. Do not connect the wire directly to the grounding
terminal of the cabinet.
18 - 42
18.4 Startup
Do not operate the switches with wet hands. Otherwise, it may cause an electric
WARNING shock.
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier and servo motor may be hot while the power is on, and for
CAUTION some time after power-off. Take safety measures such as providing covers to
avoid accidentally touching them by hands and parts such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Startup in position control mode Section 4.2
Startup in speed control mode Section 4.3
Startup in torque control mode Section 4.4
18 - 43
When switching power on for the first time, follow this section to make a startup.
01. Wiring check

Check that the servo amplifiers and servo motors are wired correctly. (Refer
to section 18.4.3.)
Set the main circuit power supply selection (48 V DC or 24 V DC) to servo
amplifier. Set [Pr. PC27] according to the flow of 02-1 to 02-4.
02. Setting of main circuit Set this setting only when using 24 V DC.
power supply selection (The initial value of the main circuit power supply selection is 48 V DC.
When using 48 V DC, turn the control circuit power supply on and move on
to procedure 03.)
1. Turning on of control circuit To set the parameter to servo amplifier, turn on the control circuit power
power supply supply. At this time, do not turn on the main circuit power supply.
2. Setting of 24 V DC main circuit Set [Pr. PC027] setting to "_ 1 _ _".
power supply with [Pr. PC27]
3. Turning off of control To reflect the parameter setting, turn off the control circuit power supply.
circuit power supply
4. Turning on of control Turn on the control circuit power supply on again, and check that [Pr. PC27]
circuit power supply
Check of [Pr. PC27] is changed to "24 V DC (_ 1 _ _)".
At this time, do not turn on the main circuit power supply.
Make sure that the main circuit power supply voltage of the servo amplifier to
03. Recheck of main circuit power
supply voltage and wiring be turned on matches with the voltage set by [Pr. PC27] and that the servo
amplifiers and servo motors are wired correctly by visual inspection, DO
forced output function (section 18.5.9), etc.
04. Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor.
05. Turning on of main circuit Turn on the main circuit power.

power supply
06. Parameter setting Set the parameters as necessary, such as the used operation mode. (Refer
to sections 18.6, 4.2.4, 4.3.4, and 4.4.4.)
07. Test operation of the servo For the test operation, with the servo motor disconnected from the machine
motor alone in test operation mode and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)
08. Test operation of the servo For the test operation with the servo motor disconnected from the machine
motor alone by command and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
09. Test operation with the servo After connecting the servo motor with the machine, check machine motions
with sending operation commands from the servo system controller.
10. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
11. Actual operation
12. Stop Stop giving commands and stop operation. Other conditions that stop the
servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.
18 - 44
18.4.2 Troubleshooting when "24 V ERROR" lamp turns on
(1) When overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be
shut off and the "24 V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn
off. Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48 V DC).
(2) If the "24 V ERROR" lamp turns on with the 3-digit, 7-segment LED on, the control circuit power supply
voltage (24 V DC) may be failure. Check that the voltage of the control circuit power supply is 21.6 V DC
or more.
18 - 45
18.4.3 Wiring check
(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring

The power supplied to the power input terminals (24/0/PM) of the servo amplifier should satisfy the
defined specifications. (Refer to section 18.1.3.)
(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power
input terminals (U/V/W).
U
U
V
V M
W
W
2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W).
Otherwise, the servo amplifier and servo motor will fail.
M
24 0 PM
24 V DC
U V W
48 V DC
3) The noiseless grounding terminal ( ) of the servo motor should be connected to the E terminal
E M
4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor
securely using the encoder cable.
(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN1 connector. You can use this function
to check the wiring. In this case, switch on the control circuit power supply only.
For details of I/O signal connection, refer to section 18.3.5.
(b) A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector.
(c) Between plate and DOCOM of the CN1 connector should not be shorted.
Servo amplifier
CN1
DOCOM
Plate
18 - 46
18.4.4 Surrounding environment
(1) Cable routing

(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
18.5 Display and operation sections
18.5.1 Summary
MR-J4-03A6(-RJ) servo amplifier has the display section (3-digit, 7-segment LED) and operation section (4
push buttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the
"MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
The operation section and display data are described below.
3-digit, 7-segment LED Displays data.
MODE Display mode change

Low/High switching
Decimal LED Displays the decimal points, alarm presence/absence, etc. 3 s or more to switch to
mode.
Lit to indicate the decimal point.
UP Display/data scrolling
Decimal DOWN Display/data scrolling
SET Display/data determination
Lit to indicate a negative when "-" Data clear
(negative) cannot be displayed. Push this button together
with the "MODE" button
for 3 s or more to switch to
Blinks to indicate alarm occurrence.
mode.
Blinks to indicate the test operation

mode.
18 - 47
18.5.2 Display flowchart
Press the "MODE" button once to shift to the next display mode. Refer to section 18.5.3 and later for the
description of the corresponding display mode.
To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters,
enable them with [Pr. PA19 Parameter writing inhibit].
Display mode transition Initial screen Function Reference
Servo status display. Section
"CL" appears at power-on. 18.5.3
Status display (Note)

Select this when performing the one-touch Section
One-touch tuning tuning. 18.5.4
Sequence display, external signal display, Section

output signal (DO) forced output, test 18.5.5
operation, software version display, VC
Diagnosis automatic offset, servo motor series ID
display, servo motor type ID display, servo
motor encoder ID display, drive recorder
enabled/disabled display.
Current alarm display, alarm history display, Section
parameter error number display. 18.5.6
Alarms
Display and setting of basic setting Section

Basic setting parameters. 18.5.7
parameters
Button
MODE
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

parameters

parameters
Note. When the axis name is set to the servo amplifier with MR Configurator2, the axis name is displayed and the servo status is then
displayed.
18 - 48
The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears
after the symbol of the status display selected in [Pr. PC36] has been shown 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 shown below.
(100 kWh unit)
Cumulative feedback Oscillation detection

pulses (pulse unit) Effective load ratio frequency (1 Hz unit)
Cumulative feedback
pulses Oscillation detection
Peak load ratio frequency (1 kHz unit)
(1000 pulses unit)
Servo motor speed Number of tough

(10 r/min unit) Instantaneous torque drives (times)
Servo motor speed Within one-revolution Number of tough

(r/min unit) position (pulse unit) drives (1000 times)
Within one-revolution Unit power

Droop pulses consumption 1
(pulse unit) position
(1000 pulses unit) (1 W unit)
Within one-revolution Unit power

Droop pulses consumption 2
position
(1000 pulses unit) (1 kW unit)
UP (1000000 pulses unit) UP
Cumulative command DOWN DOWN Unit total power

ABS counter
pulses consumption 1
(rev unit)
(pulse unit) (1 Wh unit)
Cumulative command ABS counter Unit total power

pulses (1000 rev unit) consumption 2
(1000 pulses unit) (1 kWh unit)
Command pulse Load to motor Unit total power

frequency inertia ratio consumption 3
(kpulses/s unit) (0.1 times) (1000 kWh unit)
Command pulse Load to motor

frequency inertia ratio Cumulative feedback pulses
(1000 kpulses/s unit) (100 times) (pulse unit)
Analog speed
command voltage
Analog speed limit Bus voltage
voltage
Analog torque limit

voltage Internal temperature
Analog torque of encoder
command voltage
Regenerative load ratio Settling time
18 - 49
(2) Display examples

The following table shows the display examples.
Displayed data
Item Status
Servo amplifier display
pulse unit
720000 pulses
1000 pulses unit

pulse unit
Lit
The negative value is indicated by the lit decimal
points in the upper two digits.
-680000 pulses
1000 pulses unit

Lit
The negative value is indicated by the lit decimal
points in the upper two digits.
0.1 times
Lit
At this time, the decimal point in the second digit
7.0 times
blinks.
100 times
"0" in 100 times display.

Load to motor inertia ratio
0.1 times
Lit
15.0 times At this time, the decimal point in the second digit
blinks.
100 times
"0" in 100 times display.
pulse unit
Position within one-revolution 4194303 pulses 1000 pulses unit
1000000 pulses unit
18 - 50
(3) Status display list

The following table lists the servo statuses that may be shown. Refer to app. 8.3 (2) for the
measurement point.
Feedback pulses from the servo motor encoder are counted and displayed.
Cumulative feedback pulses When the count exceeds ±999, it starts from 0.
CL pulse
(1 pulse unit)
Negative value is indicated by the lit decimal points in the upper two digits.
Cumulative feedback pulses 1000 The internal counter subtracts 500000000 when the number exceeds
Ch 2000000000. In addition, The internal counter adds 500000000 when the number
exceeds -2000000000.
The servo motor speed is displayed.
Servo motor speed
r1 10 r/min Negative value is indicated by the lit decimal points in the upper two digits.
(10 r/min unit)
Displays by 10 r/min unit.
Servo motor speed The servo motor speed is displayed.
r r/min
(1 r/min unit) Negative value is indicated by the lit decimal points in the upper two digits.
The numbers of droop pulses in the deviation counter are displayed.
Droop pulses (1 pulse unit) EL pulse
When the count exceeds ±999, it starts from 0.
Droop pulses 1000 The value displayed is not multiplied by the electronic gear (CMX/CDV).
Eh
(1000 pulses unit) pulses Negative value is indicated by the lit decimal points in the upper two digits.
Position command input pulses are counted and displayed.
Cumulative command pulses
PL pulse As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it
(1 pulse unit)
may not match the indication of the cumulative feedback pulses.
When the count exceeds ±999, it starts from 0.
Cumulative command pulses 1000
Ph Negative value is indicated by the lit decimal points in the upper two digits.
Command pulse frequency
nL kpulse/s
(1 kpulse/s unit) The frequency of position command input pulses is counted and displayed.
Command pulse frequency 1000 The value displayed is not multiplied by the electronic gear (CMX/CDV).
nh
(1000 kpulses/s unit) kpulses/s
Input voltage of VLA (Analog speed limit) voltage is displayed.
voltage F V
Analog speed limit voltage 2) Speed control mode
Input voltage of VC (Analog speed command) voltage is displayed.
1) Position control mode and speed control mode
Voltage of TLA (Analog torque limit) voltage is displayed.
voltage U V
Analog torque limit voltage 2) Torque control mode
Voltage of TC (Analog torque command) voltage is displayed.
The ratio of regenerative power to permissible regenerative power is displayed
Regenerative load ratio L %
in %.
The continuous effective load current is displayed.
Effective load ratio J % The effective value in the past 15 s is displayed relative to the rated current of
100 %.
The maximum occurrence torque is displayed.
Peak load ratio b % The highest value in the past 15 s is displayed relative to the rated torque of
100 %.
The instantaneous torque is displayed.
Instantaneous torque T % The value of torque being occurred is displayed in real time considering a rated
torque as 100%.
Position within one revolution is displayed in encoder pulses.
Within one-revolution position
Cy1 pulse When the count exceeds 999, it starts from 0.
(1 pulse unit)
The within one-revolution position is displayed in 1000 pulse increments of the
Within one-revolution position 1000 encoder.
Cy2
(1000 pulses unit) pulses When the count exceeds 999, it starts from 0.
18 - 51

The within one-revolution position is displayed in 1000000 pulse increments of
Within one-revolution position 1000000 the encoder.
Cy3
(1000000 pulses unit) pulses When the count exceeds 999, it starts from 0.
The travel distance from the home position is displayed as multi-revolution
ABS counter (1 rev unit) LSL rev
counter value of the absolution position encoder in the absolution position
detection system.
ABS counter (1000 rev unit) LSh 1000 rev
Load to motor inertia ratio 0.1
dCL
(0.1 times) times The estimated ratio of the load inertia moment to the servo motor shaft inertia
Load to motor inertia ratio 100 moment is displayed.
dCh
(100 times) times
The voltage of main circuit converter is displayed.
Bus voltage Pn V
It is displayed rounding off 0.1 V unit.
Internal temperature of
ETh °C Inside temperature of encoder detected by the encoder is displayed.
encoder
Settling time ST ms Displays settling time. When it exceeds 999 ms, "999" will be displayed.
oFL Hz
frequency (1 Hz unit)
Frequency at the time of oscillation detection is displayed.
oFh kHz
frequency (1 kHz unit)
Number of tough drive
Td1 times
operations (times)
The number of tough drive functions activated is displayed.
Number of tough drive 1000
Td2
operations (1000 times) times
Unit power consumption is displayed by increment of 1 W. Positive value indicate
power running, and negative value indicate regeneration. The values in excess of
PC1 W ±999 can be counted. However, the counter shows only the lower 3-digits of the
(1 W unit)
actual value since the servo amplifier display is 3-digits.
Unit power consumption is displayed by increment of 1 kW. Positive value
indicate power running, and negative value indicate regeneration. The values in
PC2 kW excess of ±99 can be counted. However, the counter shows only the lower 3-
(1 kW unit)
digits of the actual value since the servo amplifier display is 3-digits.
Unit total power consumption is displayed by increment of 1 Wh. Positive value is
cumulated during power running and negative value during regeneration. The
TP1 Wh values in excess of ±999 can be counted. However, the counter shows only the
1 (1 Wh unit)
lower 3-digits of the actual value since the servo amplifier display is 3-digits.
Unit total power consumption is displayed by increment of 1 kWh. Positive value
is cumulated during power running and negative value during regeneration. The
TP2 kWh values in excess of ±999 can be counted. However, the counter shows only the
2 (1 kWh unit)
lower 3-digits of the actual value since the servo amplifier display is 3-digits.
Unit total power consumption is displayed by increment of 1000 kWh. Positive
value is cumulated during power running and negative value during regeneration.
TP3 The values in excess of ±99 can be counted. However, the counter shows only
3 (1000 kWh unit) kWh
the lower 3-digits of the actual value since the servo amplifier display is 3-digits.
18 - 52
(4) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing
[Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.
Control mode Status display
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Analog torque command voltage/
Torque/position
cumulative feedback pulses
18 - 53
18.5.4 One-touch tuning
The contents mentioned in this section is an operation method only for executing one-touch tuning in the
user command method on MR-J4-03A6(-RJ) servo amplifier by using push button. Refer to section 6.2 for
details of one-touch tuning.
POINT
Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch
to the response mode selection ("AT.") without going through the initial screen of
the one-touch tuning ("AT").
Push the "MODE" button during motor driving to switch to the initial screen ("AT") of the one-touch tuning.
Push the "SET" button for 2 s or more during displaying "AT" to switch to the response mode selection
("AT.").
(1) Response mode selection

Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to section
6.2.2 (1) (a) for a guideline of response mode.
Response mode selection display
Low mode: This mode is for low-rigid system.
Basic mode: This mode is for standard system.

UP DOWN
High mode: This mode is for high-rigid system.
18 - 54
(2) One-touch tuning execution
POINT
overshoot permissible level] will shorten the settling time and improve the
response.
After the response mode is selected in (1), pushing the "SET" button will start one-touch tuning.
One-touch tuning in
progress
The one-touch tuning progress is displayed with 0% to 100%.

The decimal point moves left to right in rotation during the tuning.
To switch the display to the status display during the tuning, push the "MODE" button.
Complete
Completing the one-touch tuning will start writing the auto-tuned parameters to the servo
amplifier.
(3) Stop of one-touch tuning

Stop symbol
The one-touch tuning mode can be stopped by pushing the "SET" button regardless of
displayed item.
2s The stop symbol and error code "C 00" (cancel during tuning) will be displayed by turns
interval with 2 s interval.
Error code

Initial screen
18 - 55
(4) If an error occurs

Stop symbol
If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the
stop symbol and error code from "C 01" to "C 0F" will be displayed by turns with 2 s
interval.
2s
interval
Error code
Check the error cause referring to the table 6.2 of (1) (d) of section 6.2.2.

Initial screen
(5) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated and the alarm
No. will be displayed.
Alarm display
2s
interval
18 - 56
(6) If a warning occurs

If a warning occurs during the one-touch tuning, the alarm No. of the warning will be displayed.
When the warning is one which continue the motor driving, the one-touch tuning will be
continued.
Alarm display (warning)
2s
interval
(7) Clearing one-touch tuning

Refer to table 6.1 of section 6.2 for the parameters which you can clear.
You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset
the parameters to before tuning with the back mode.
(a) Push the "MODE" button to switch to the initial screen ("AT") of the one-touch tuning.
(b) Select the clear mode or back mode with the "UP" or "DOWN" button.
One-touch tuning clear mode selection
Auto mode
Clear mode
UP DOWN
Back mode
To clear the one-touch tuning, push the "SET" button for 2 s.

One-touch tuning clear mode display (initializing)
The one-touch tuning clear mode is in progress.

The clear mode symbol blinks for 3 s.
Clearing one-touch tuning is completed, the initial screen will be displayed.

Initial screen
18 - 57
18.5.5 Diagnostic mode

Not ready
Indicates that the servo amplifier is being
initialized or an alarm has occurred.
Sequence
Ready
Indicates that the servo was switched on after
completion of initialization and the servo
amplifier is ready to operate.
When an alarm occurs in the status, the drive
recorder will operate and write the status of
occurrence.
Drive recorder disabled
The drive recorder will not operate on the
Drive recorder enabled/disabled display following conditions.
1. You are using the graph function of MR
Configurator2.
2. You are using the machine analyzer
function.
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 18.5.8. 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
For details, refer to section 18.5.9.
JOG operation can be performed when there

is no command from an external controller.
JOG operation
Positioning operation can be performed when

there is no command from an external
controller.
positioning operation.
Without connecting the servo motor, output
signals or status display monitoring can be
Test operation
Motor-less operation provided in response to the input device as if
mode
the servo motor is actually running.
Merely connecting the servo amplifier allows
the resonance point of the mechanical system
to be measured.
Machine analyzer operation
machine analyzer operation.
This is for manufacturer adjustment.
For manufacturer adjustment
18 - 58

Indicates the version of the software.
The software version is displayed while the
"SET" button is pressed and held.
Press the "MODE" button to shift to the next
Software version: lower "SET" display mode.
Press the "UP" or "DOWN" button to shift to
the next diagnosis menu.
Indicates the system number of the software.

The software system number is displayed
while the "SET" button is pressed and held.
Press the "MODE" button to shift to the next
Software version: upper "SET" display mode.
If offset voltages in the analog circuits inside

and outside the servo amplifier cause the
servo motor to rotate slowly at VC (Analog
speed command) or VLA (Analog speed limit)
of 0 V, this function automatically makes zero-
adjustment of offset voltages.
When using this function, enable the function
in the following procedure. When it is
Automatic VC offset enabled, [Pr. PC37] value changes to the
automatically adjusted offset voltage.
1) Press the "SET" button once.
2) Set the number in the first digit to "1" with
"UP" button.
3) Press the "SET" button.
This function cannot be used if the input
voltage of VC or VLA is -0.4 V or less, or +0.4
V or more. (Note)
Note. Even if VC automatic offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To
stop completely, turn off the ST1 or ST2.
18 - 59

Displays the series ID of the servo motor
currently connected.
Press the "SET" button to show the lower 3
digits of servo motor series ID.
Servo motor series ID "SET" For indication details, refer to app. 1 of "Servo
Motor Instruction Manual (Vol. 3)".
Displays the type ID of the servo motor

digits of servo motor type ID.
Servo motor type ID "SET" For indication details, refer to app. 1 of "Servo
Displays the encoder ID of the servo motor

digits of servo motor encoder ID.
Servo motor encoder ID "SET" For indication details, refer to app. 1 of "Servo
This is for manufacturer adjustment.

For manufacturer adjustment
18 - 60
18.5.6 Alarm mode
The current alarm, past alarm history and parameter error are displayed. The alarm number that has
occurred or the parameter numbers in error are displayed on the display.
Indicates no occurrence of an alarm.
Indicates the occurrence of [AL. 33.1 Main

circuit voltage error].
Blinks at alarm occurrence.
Current alarm The alarm number and detail number are
2s displayed alternately by intervals of 2 s.
interval
Indicates that the last alarm is [AL. 50.1

Thermal overload error 1 during operation].
When an alarm is recorded to alarm history,
the second digit decimal point blinks.
"SET" Press and hold the "SET" button to show the
detail number of [AL. 50].
Indicates the second last alarm is [AL. 33.1

Main circuit voltage error].
When an alarm is recorded to alarm history,
the second digit decimal point blinks.
"SET" Press and hold the "SET" button to show the
detail number of [AL. 33].
Indicates that there is no third alarm in the

Alarm history
past.
If there is no alarm history, the display will be
as shown as in the left, when the "SET"
"SET" button is pressed.
Indicates that there is no sixteenth alarm in

the past.
"SET"
18 - 61

This indicates no occurrence of [AL. 37
Parameter error].
The parameter error number is displayed.

The parameter group in which the parameter
error has occurred is displayed. Press and
Parameter error No. hold the "SET" button to show the parameter
number with the error.
"SET" The display example on the left is when the
data of [Pr. PA12 reverse rotation torque limit]
becomes error.
The parameter number is displayed by
ascending order when several parameter
errors occurred at the same time.
Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.
(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the third digit remains blinking.
(3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the
alarms that can be cleared.)
(a) Switch power off, then on.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on RES (Reset).
(4) Use [Pr. PC18] to clear the alarm history.
(5) Push "UP" or "DOWN" to move to the next history.
18 - 62
18.5.7 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 follows.
To status display mode
MODE
From an Basic setting Gain/filter Extension setting I/O setting Extension setting 2 Extension setting 3
alarm mode parameters parameters parameters parameters parameters parameters
[Pr. PA01] [Pr. PB01] [Pr. PC01] [Pr. PD01] [Pr. PE01] [Pr. PF01]
UP
DOWN
18 - 63
(2) Operation example

(a) Parameters of 3 or less decimal digits.
The following example gives the operation procedure to change [Pr. PA Reverse rotation torque
limit].
Parameter number selection

Press "UP" or "DOWN" to select parameter number.
Press "SET" to display the item to set to the selected parameter number.
Parameter contents display

Press "UP" or "DOWN" to shift to the setting display of the next parameter
number.
Press the "MODE" button to shift to the next display.
Press the "SET" button once to display the setting.
Press the "SET" button once when the setting is displayed. The setting
blinks and is possible to be changed.
Changing the parameter contents
Press "UP" or "DOWN" to change the value and press "SET" to fix the
setting. The setting will be displayed as it is after the setting is fixed.
To cancel the setting data, press "MODE" for 2 s while the display is
blinking. The setting before the change will be displayed.
Press and hold "UP" or "DOWN" to change the data continuously. In that
case, only the highest digit changes.
Example of pressing and holding the "UP" button
The first digit The first digit does The first and second
increases from 0 to 9. not change from 0. digits do not change
The second digit from 0. The third
increases from 0 to 9. digit increases from 0
to 9.
Example of pressing and holding the "DOWN" button
The first digit The first digit does The first and second
decreases from 9 to 0. not change from 0. digits do not change
The second digit from 0. The third digit
decreases from 9 to 0. decreases from 9 to
0.
18 - 64
(b) Parameters of 4 to 6 decimal digits

The following example gives the operation procedure to change [Pr. PB03 Positioning command
acceleration/deceleration time constants (position smoothing)] to "65535".
Press "MODE" to switch to the gain/filter setting parameter screen.

Press "UP" or "DOWN" to select [Pr. PB03].
Press the "SET" button once.
Upper 3 digit Press the "MODE" button once. Lower 3 digits
…… The display blinks ……

(Note 1)


(Note 2)
Note 1. Pressing the "SET" button in either upper or lower 3-digit display makes the
display blink.
2. Pressing the "SET" button in either upper or lower 3-digit display fix the setting.
The display can be switched between upper and lower 3-digit by pressing the "MODE" button.
Switching the display between upper and lower 3-digit is also possible by pressing the "MODE"
button while the display is blinking.
The changed value will be canceled when "MODE" is pressed for 2 s or more while blinking.
To shift to the next parameter number, press the "UP" or "DOWN" button.
To change the screen to the other, press "UP" or "DOWN" to change the screen to other parameter
number display screen and press "MODE".
18 - 65
(c) Parameters of 7 or more decimal digits

The following example gives the operation procedure to change the [Pr. PA06 Electronic gear
numerator (command pulse multiplication numerator)] to "12345678".
Press "SET" once.
Upper 3 digit Press "MODE" once. Middle 3 digits Press "MODE" once. Lower 3 digits
Press "SET" once. Press "SET" once.
…… The display blinks …… …… The display blinks ……

(Note 1) (Note 1)
Change the setting with the Change the setting with the
"UP" or "DOWN" button. "UP" or "DOWN" button.
Press "SET" once. Press "SET" once.
…… Enter the setting. … …… Enter the setting. …

(Note 2) (Note 2)
Press "MODE" once.
Note 1. Pressing the "SET" button in upper, middle, or lower 3-digit display makes the display blink.
2. Pressing the "SET" button in upper, middle, or lower 3-digit display fix the setting.
The display can be switched among upper, middle, and lower 3-digits by pressing the "MODE"
button.
Switching the display between upper, middle, and lower 3-digit is also possible by pressing the
"MODE" button while the display is blinking.
18 - 66
(d) Parameter of hexadecimal

The following example gives the operation procedure to change the [Pr. PA01 Operation mode] to
"1234".

Press "UP" or "DOWN" to select [Pr. PA01].
Press "SET" once.
Upper 2 digit Press "MODE" once. Lower 2 digits
Press "SET" once.
…… The display blinks ……

(Note 1)

Press "SET" once.

(Note 2)
Press "MODE" once.
Note 1. Pressing the "SET" button in upper, middle, or lower 2-digit display makes the
display blink.
2. Pressing the "SET" button in upper, middle, or lower 2-digits display fix the
setting.
The display can be switched among upper, middle, and lower 2-digits by pressing the "MODE"
button.
Switch the display between upper, middle, and lower 2-digit is also possible by pressing the "MODE"
button while the display is blinking.
18 - 67
18.5.8 External I/O signal display
POINT
The I/O signal settings can be changed using the I/O setting parameters [Pr.
PD03] to [Pr. PD26], and [Pr. PD28].
The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.
(1) Operation
The display screen at power-on. Use the "MODE" button to display the diagnostic screen.
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.
CN1-35/ CN1-10/
CN1-38 CN1-37
CN1-18 CN1-41 CN1-42 CN1-44
CN1-45 CN1-17 CN1-16 CN1-19 CN1-15 CN1-43
Input signals
Output signals
CN1-33 CN1-48 CN1-22 CN1-25 CN1-23 CN1-49

CN1-24
Light on: on
Light off: off
The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off. The
decimal point in the second digit blinks continuously. The signals corresponding to the pins in the
respective control modes are indicated as follows:
18 - 68
(a) Control modes and I/O signals

Signal (Note 2) Symbols of I/O signals in control modes
Connector Pin No. input/output Related parameter
P P/S S S/T T T/P
(Note 1) I/O
10 I PP PP/- (Note 3) (Note 3) (Note 3) -/PP PD43/PD44
CN1 25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26
35 I NP NP/- (Note 3) (Note 3) (Note 3) -/NP PD45/PD46
37 I PP2 PP2/- (Note 4) (Note 4) (Note 4) -/PP2 PD43/PD44
38 I NP2 NP2/- (Note 4) (Note 4) (Note 4) -/NP2 PD45/PD46

2. P: position control mode, S: speed control mode, T: torque control mode
P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode
3. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with
[Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin.
4. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices
with [Pr. PD43] to [Pr. PD46] as necessary.
(b) Symbol and signal names

Symbol Signal name Symbol Signal name
SON Servo-on RES Reset
LSP Forward rotation stroke end EM2 Forced stop 2
LSN Reverse rotation stroke end LOP Control switching
CR Clear TLC Limiting torque
SP1 Speed selection 1 VLC Limiting speed
SP2 Speed selection 2 RD Ready
PC Proportional control ZSP Zero speed detection
ST1 Forward rotation start INP In-position
ST2 Reverse rotation start SA Speed reached
RS1 Forward rotation selection ALM Malfunction
RS2 Reverse rotation selection OP Encoder Z-phase pulse (open collector)
TL External torque limit selection
18 - 69
(3) Display data at initial values

(a) Position control mode
PP (CN1-10)/PP2 (CN1-37)
CR (CN1-41)
NP (CN1-35)/NP2 (CN1-38) RES (CN1-19)
PC (CN1-17) SON (CN1-15)
TL (CN1-18) LSN (CN1-44)
LOP (CN1-45) LSP (CN1-43)
EM2 (CN1-42) Light on: on

Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) INP (CN1-24)
ZSP (CN1-23)
TLC (CN1-25)
INP (CN1-22)
(b) Speed control mode

SP1 (CN1-41)
SP2 (CN1-16) RES (CN1-19)
ST1 (CN1-17) SON (CN1-15)
ST2 (CN1-18) LSN (CN1-44)
LOP (CN1-45) LSP (CN1-43)

Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) SA (CN1-24)
ZSP (CN1-23)
TLC (CN1-25)
SA (CN1-22)
(c) Torque control mode

SP2 (CN1-16)
RS2 (CN1-17) SP1 (CN1-41)
RS1 (CN1-18) RES (CN1-19)
LOP (CN1-45) SON (CN1-15)

Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48)
ZSP (CN1-23)
VLC (CN1-25)
18 - 70
18.5.9 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. Use this function for
checking output signal wiring, etc. This operation must be performed in the servo off state by turning off SON
(Servo-on).
The following shows the display at power-on. Use the "MODE" button to display the diagnostic screen.
Press the "UP" button three times.
…… 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
CN1-33 CN1-22 CN1-24 CN1-49 signals. (Light on: on, light off: off)
CN1-48 CN1-25 CN1-23
…… The lit LED moves to the upper LED of CN1-24.
Press the "UP" button once.
…… CN1-24 switches on.

(Between CN1-24 and DOCOM are connected.)
Press the "DOWN" button once.
…… CN1-24 switches off.
18 - 71
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
The test operation mode cannot be used in the absolute position detection
system by DIO ([Pr. PA03: _ _ _ 1]).
Test operation cannot be performed if SON (Servo-on) is not turned off.
Positioning operation Section 4.5.9 (3)
Motor-less operation Section 4.5.9 (4)
Program operation Section 4.5.9 (5)
Output signal (DO) forced output Section 4.5.9 (6)
(1) Mode switching

The following shows the display at power-on. Select JOG operation or motor-less operation in the
following procedure. Use the "MODE" button to display the diagnostic screen.
Press "UP" four times.
Press "SET" for longer than 2 s.
…… When this screen appears,

JOG operation can be performed.
Blinks in the test operation mode.
18 - 72
(2) JOG operation
POINT
When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can
be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".
JOG operation can be performed when there is no command from the controller.
(a) Operation/drive
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops
rotating by releasing the button. The operation condition can be changed using MR Configurator2.
The initial operation condition and setting range for operation are listed below.
0 to instantaneous permissible
Speed [r/min] 200
speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
The following table shows how to use the buttons.

Button Description
Press to start CCW rotation.
"UP"
Release to stop.
Press to start CW rotation.
"DOWN"
Release to stop.
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor
decelerates to a stop.
(b) Status display

Press the "MODE" button in the JOG operation-ready status to call the status display screen. When
the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed
during the JOG operation. Every time the "MODE" button is pushed, the next status display screen
appears. When one cycle of the screen display is complete, it returns to the JOG operation-ready
status screen. Refer to section 18.5.3 for details of status display. Note that the status display screen
cannot be changed by the, "UP" or "DOWN" button during the JOG operation.
(c) Termination of JOG operation

To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next
screen, and then hold down the "SET" button for 2 s or longer.
18 - 73
18.6 Dimensions
[Unit: mm]
Approx. 80 90
30 4
100
CNP1
Approx. 37.5
Approx.
With MR-BAT6V1SET-A 27.4 Approx. 51
Mass: 0.2 [kg]

Mounting screw
Terminal
Screw size: M4
CNP1 Tightening torque: 1.24 [N•m]
5 0 24 1
Approx. 30
6 PM 2
2-M4 screw Approx.
Approx.
7 W U 3
5
5
8 E V 4
Approx. 100
90
Approx.
5
18 - 74
Cable bending life Section 10.4
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
line in the graph.
This servo amplifier has servo motor overload protective function. (The servo motor overload current (full
load current) is set on the basis of 120% rated current of the servo amplifier.)
1000
100 Operation
Operation time [s]
Servo-lock
10
0.1
0 50 100 150 200 250 300 350 400
(Note) Load ratio [%]
HG-AK0136/HG-AK0236/HG-AK0336
Note. If operation that generates torque more than 100% of the rating is performed with an
abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50
r/min or less low-speed operation status, the servo amplifier may malfunction
18 - 75
Table 18.4 indicates the required power supply capacities for main circuit and losses generated under rated
load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in
consideration for the worst operating conditions. The actual amount of generated heat will be intermediate
between values at rated torque and servo-off according to the duty used during operation. When the servo
motor is operated under the rated speed, required power supply capacities for main circuit will be less than
the value of the table.
Table 18.4 Power supply capacity and generated heat per servo amplifier at rated output
Main circuit (48 V DC/24 V DC) (Note)
Servo motor Required power supply Servo amplifier-generated heat [W]
capacity [W] At rated output With servo-off
HG-AK0136 230 6 1
HG-AK0236 360 9 1
HG-AK0336 480 13 1
Note. Heat generated during regeneration is not included in the servo amplifier-generated
heat.
POINT
The dynamic brake of MR-J4-03A6(-RJ) is an electronic type.
stop in emergency.
The time constant "τ" for the electronic dynamic brake will be shorter than that of
normal dynamic brake. Therefore, coasting distance will be longer than that of
normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr.
PF09] and [Pr. PF15].
18 - 76
(1) Dynamic brake operation

(a) Calculation of coasting distance
brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (1) (b) in
this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than
a maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF
Dynamic brake
time constant τ
V0
Machine speed
te Time
V0 JL
Lmax = • te + 1+ ··························································································· (18.1)
60 JM
Lmax: Maximum coasting distance ······················································································ [mm]

V0: Machine's fast feed speed ····················································································· [mm/min]
JM: Moment of inertia of the servo motor ································································· [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft ············· [× 10-4 kg•m2]
τ: Dynamic brake time constant[s]
te: Delay time of control section ···························································································· [s]
The processing delay time about 3.5 ms.
(b) Dynamic brake time constant

0.0025
0136
Dynamic brake time
0.0020 0236
constant [s]
0.0015
0.0010 0336
0.0005
0
0 1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-AK series
18 - 77
(2) Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the servo amplifier may burn. If there is a possibility that the ratio may exceed the
The values of the permissible load to motor inertia ratio in the table are the values at the maximum
rotation speed of the servo motor.
Permissible load to motor
Servo motor
inertia ratio [multiplier]
HG-AK0136
HG-AK0236 30
HG-AK0336
18.7.4 Inrush currents at power-on of main circuit and control circuit
POINT
The inrush current values can change depending on frequency of turning on/off
the power and ambient temperature.
Since large inrush currents flow in the power supplies, use circuit protector. For circuit protectors, it is
recommended that the inertia delay type, which is not tripped by an inrush current, be used. Refer to section
18.8.4 for details of the circuit protector.
This following table indicates the inrush current (reference data) when the power of output side of power unit
is turned on in the conditions: main circuit of 55.2 V DC, control circuit of 26.4 V DC, and wiring length of 1
m.
Inrush current
Servo amplifier
Main circuit power supply (PM/0) Control circuit power supply (24/0)
MR-J4-03A6(-RJ) 70 A (attenuated to approx. 0 A in 1 ms) 0.5 A (attenuated to approx. 0 A in 60 ms)
18 - 78
18.8 Options and peripheral equipment
Before connecting options and peripheral equipment, turn off the power and wait
until the charge lamp turns off. Otherwise, an electric shock may occur. In
WARNING addition, when confirming whether the charge lamp is off or not, always confirm it
Use the specified peripheral equipment and options to prevent a malfunction or a

CAUTION fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.
Junction terminal block MR-TB50 Section 11.6
Battery Section 11.8
Relay (recommended) Section 11.13
Noise reduction techniques Section 11.14
18.8.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Purchase the cable and connector options indicated in this section.
18 - 79

4)
2)
Operation
panel
Personal computer
3)
Servo amplifier 5)
Controller
CN1
Battery
CN3
CN4
CN2
1) Packed with the servo amplifier
CNP1
(Note)
(Note)
HG-AK servo motor
Note. Refer to "Servo Motor Instruction Manual (Vol. 3)" for servo motor power cables and encoder cables.

1) CNP1 connector Supplied with
servo
amplifier
Model: DFMC 1,5/ 4-ST-3,5-LR or equivalent
(Phoenix Contact)
Applicable wire size: AWG 24 to 16
Insulator OD: to 2.9 mm
2) Junction terminal MR-J2M- Junction terminal block connector CN1 connector For junction
block cable CN1TBL_M Connector: D7950-B500FL Connector: 10150-6000EL terminal
Cable length: 0.5 (3M) Shell kit: 10350-3210-000 block
m, 1 m (3M or equivalent) connection
(Refer to section
11.6.)
3) CN1 connector MR-J3CN1 Connector: 10150-3000PE

set Shell kit: 10350-52F0-008
(3M or equivalent)
4) Junction terminal MR-TB50 Refer to section 11.6.
block
5) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5-pins) A connector connection
with PC-AT
compatible
personal
computer
18 - 80
18.8.3 Selection example of wires
POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Wire length: 30 m or less
The voltage drops because of the cable conductor resistance. Especially for
main circuit/control circuit power supply wiring, wire to secure the required input
voltage at servo amplifier input section. It is recommended that the cable length
be as short as possible.
The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.
1) Main/control circuit power supply lead
24 V DC power supply Servo amplifier

CNP1
+ 24 U
- 0 V M
PM W
48 V DC power supply E
+
2) Servo motor power lead
-
The following shows the wire size selection example.
Table 18.5 Wire size selection example 1 (HIV wire)

Wire [mm2]
Servo amplifier 2) U/V/W/E
1) 24/0/PM/
(Note)
MR-J4-03A6(-RJ) AWG 16 AWG 19
Note. The wire size shows applicable size of the servo amplifier connector and terminal
block. For wires connecting to the servo motor, refer to "Servo Motor Instruction
Manual (Vol. 3)".
18.8.4 Circuit protector

Power supply specification Circuit protector (Note)
Control circuit power supply (24 V DC) CP30-BA 1P 1-M 1A
Main circuit power supply (48 V DC) CP30-BA 1P 1-M 3A
Main circuit power supply (24 V DC) CP30-BA 1P 1-M 5A
Note. For operation characteristics, use an intermediate speed type.
18 - 81
18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol)
POINT
The USB communication function and RS-422 communication function are
mutually exclusive. They cannot be used together.
With MR-J4-03A6(-RJ) servo amplifier, driving servo, changing parameters, operating motor function, etc. is
possible using RS-422 communication (Mitsubishi Electric general-purpose AC servo protocol).
In this section, only the configuration of operating RS-422 communication function with MR-J4-03A6(-RJ)
servo amplifier is described. Refer to chapter 14 for details of the communication specification and protocol,
etc.

(a) Diagrammatic sketch
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
CN1 CN1 CN1
RS-422 Axis No. n (n - 1 station)

compatible Axis No. 1 (station 0) Axis No. 2 (station 1) (n = 1 to 32)
controller
(b) Cable connection diagram

Wire the cables as follows.
(Note 3) 30 m or less (Note 1)
(Note 1) (Note 1) Axis No. n
Axis No. 1 servo amplifier Axis No. 2 servo amplifier (final axis) servo amplifier
CN1 connector CN1 connector CN1 connector
Plate SD Plate SD Plate SD
13 SDP 13 SDP 13 SDP
14 SDN 14 SDN 14 SDN
39 RDP 39 RDP 39 RDP
40 RDN 40 RDN 40 RDN
31 TRE 31 TRE 31 TRE (Note 2)
3,28, 3,28, 3,28,
LG LG LG
RS-422 30,34 30,34 30,34
compatible (Note 4)
controller
18 - 82
Note 1. Connector set MR-J3CN1 (3M or equivalent)

Connector: 10150-3000PE
Shell kit: 10350-52F0-008
2. Connect between TRE and RDN of the final axis servo amplifier.
3. The overall length is 30 m or less in low-noise environment.
4. If the RS-422 compatible controller does not have a termination resistor, terminate it with a 150 Ω resistor.
18 - 83
MEMO
18 - 84
19. MR-D01 EXTENSION I/O UNIT
MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4-_A_-RJ servo amplifiers.
POINT
MR-D01 is used with servo amplifiers with software version B7 or later.
MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version
B7 or later.
MR-D01 cannot be used with the MR-J4-_A_ servo amplifier.
MR-D01 cannot be used with the MR-J4-DU_A_(-RJ) drive unit.
MR-D01 cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
19 - 1
19.1 Function block diagram

The following illustration is an example of MR-J4-20A-RJ.
(Note 5)
Power factor Regenerative
improving DC reactor option
Diode (Note 1) Dynamic

stack Relay brake
MCCB MC circuit U U
L1
(Note 2) U
V V
L2 Current
Power + detector M
supply U U Regene-
L3 Charge rative W W
lamp TR
Cooling fan
(Note 3)
RA B1
L11 Control Electro-
+ circuit B magnetic
24 V DC
L21 power brake
STO B2
supply circuit
STO
CN8
CN2
Overcurrent
detection protection detection
amplifier
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4

Battery
detection system)
position speed
control control control
CN2L
External encoder
A/D USB RS-422 D/A

RS-485
I/F
CN1 CN5 CN3 CN6 CN7
Personal MR-D01
computer CN10 CN20
USB
Controller
D I/O control
Servo-on RS-422 DI/O control
Analog Command pulse train input RS-485
(2 channels) Start Analog monitor Analog input
Malfunction, etc. (2 channels) Analog output
19 - 2
Note 1. The built-in regenerative resistor is not provided for MR-J4-10A-RJ.

3. Servo amplifiers MR-J4-70A-RJ or more have a cooling fan.
19 - 3
19.2 Structure
(1) Interface
The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ. For servo
amplifiers, refer to section 1.7.1.
Detailed
explanation
Analog input signal connector (CN20)
Section
(1) (1) Connect analog input signals of analog torque limit 19.5.1
and override.
Manufacturer setting connector (CN30)
(2) (2) This connector is attached on the MR-D01, but not
for use.
I/O signal connector (CN10) Section
(3) 19.5.1
Connect digital I/O signal and analog output signal.
(3)
(2) Rating plate

The following shows an example of the rating plate for explanation of each item.
Model
MODEL MR-D01 SER.A4X001001 Serial number

IP20 MAN.: IB(NA)0300120
INPUT : 24VDC 0.8A
Max. Surrounding Air Temp. 55°C

KCC-REI-MEK-TC350A110G51 KC certification number
DATE:2014-10 The year and month of manufacture
Country of origin
19 - 4
19.2.2 Installation and removal of the MR-D01 extension I/O unit
Before installing or removing MR-D01, turn off the power and wait for 15 minutes
or more until the charge lamp turns off. Then, confirm that the voltage between P+
WARNING and N- is safe with a voltage tester and others. 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.
Avoid installing and removing MR-D01 repeatedly. Any contact failure of the
connector may be caused.
Avoid unsealing MR-D01 to be free of dust and dirt against the connector except
installing. Make sure to use the pre-packing when storing.
Avoid using MR-D01 of which the hook and knobs for fixing are damaged. Any
contact failure of the connector may be caused.
CAUTION When mounting/dismounting MR-D01 to/from MR-J4-500A-RJ to MR-J4-22KA-RJ
and MR-J4-350A4-RJ to MR-J4-22KA4-RJ servo amplifiers, avoid dropping out
the installing screw inside it. Otherwise, it may cause a malfunction.
When mounting MR-D01 to MR-J4-500A-RJ to MR-J4-22KA-RJ and MR-J4-
350A4-RJ to MR-J4-22KA4-RJ servo amplifiers, avoid damaging the control
board by the fixing plate. Otherwise, it may cause a malfunction.
Make sure to tighten MR-D01 with the enclosed installing screws when installing.
POINT
The internal circuits of the servo amplifier and MR-D01 may be damaged by
static electricity. Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
19 - 5
(1) For MR-J4-200A(4)-RJ or less and MR-J4-350A-RJ

(a) Installation of MR-D01
1) Remove the covers of CN7 and CN9 connectors.
1) Make sure to store the removed cover.
Guide hole 2) Find the guide hole on the side of the servo amplifier. To
MR-D01 the guide hole, insert the MR-D01's guide pins.
2)
2)
Guide pin
3) Push the four corners of the side of MR-D01 simultaneously

to the servo amplifier until the four knobs click so that the
CN7 connector is connected straight.
4) Tighten the unit with the enclosed installing screw (M4).
4)
3)
Knob
(b) Removal of MR-D01

1) Remove the installing screw.
c) 2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-D01
to the arrow direction. Avoid pulling out MR-D01 while it is
a) tightened with the installation screw.
1)
2)
d)
b)
3) After removing MR-D01, make sure to cap the CN7 and

3) CN9 connectors to avoid dust and dirt.
19 - 6
(2) MR-J4-500A-RJ to MR-J4-700A-RJ and MR-J4-350A4-RJ to MR-J4-700A4-RJ

(a) Removal of the side cover
1) Keep pushing the knobs ( a), b)) and pull out the side cover
to the arrow direction.
a)
1)
b)
(b) Installation of MR-D01

1) Find the guide hole on the side of the servo amplifier. To
Guide hole
the guide hole, insert the MR-D01's guide pins.
1)
1)
1)
Guide pin
2) Push the four corners of the side of MR-D01 simultaneously

to the servo amplifier until the four knobs click so that the
CN7 connector is connected straight.
3) Tighten the unit with the enclosed installing screw (M4).
3)
2)
Knob
(c) Removal of MR-D01

1) Remove the installing screw.
2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-D01
c) to the arrow direction. Avoid pulling out MR-D01 while it is
tightened with the installation screw.
a)
2) 1)
d)
b)
19 - 7
(d) Installation of the side cover

1) Insert the side cover setting tabs into the sockets a) of the
a) servo amplifier.
1)
a)
1)
Side cover setting tab
2) Push the side cover at the supporting point a) until the

knobs click.
2)
Knob
(3) MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ
Avoid touching any remained burr after cutting off the part a) of the case.
CAUTION Otherwise, it may cause injury.
The installing screw holes for the MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ are covered and the screw
holes for mounting are not shown at shipping. When installing the unit for the first time, cut off the part a)
of the case after removing the side cover.
When cutting off the part a), avoid damaging the case of the servo amplifier. After cutting off it, inside of
the servo amplifier has been exposed even though the side cover and the unit are installed. Avoid
unwanted parts from entering through the opened area into the servo amplifier.
For installing or removing the unit, refer to (2) in this section. The side cover structure is the same for
MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ and for this unit. Install or remove the side cover with the
same way as for the unit.
a)
19 - 8
19.3 Configuration including peripheral equipment

POINT
The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ.
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power
supply
Molded-case
circuit breaker
(MCCB) CN6
Analog monitor
CN20
(Note 3) Analog output signal
Magnetic
contactor
(MC)

MR-J3-D05 safety
Line noise logic unit
filter
(FR-BSF01)
D (Note 5) CN1
Junction terminal
U block
L1
V
L2 CN10
W I/O signal
L3
Power factor P3 CN2

improving DC
reactor Servo motor
(FR-HEL) P4
CN2L (Note 4)
P+
Regenerative CN4
Battery
option
C
L11
L21
19 - 9
2. 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,
3. Depending on the main circuit 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.
4. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external
encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
19 - 10
19.4 Installation direction and clearances

cause malfunction.
CAUTION Leave specified clearances between the servo amplifier and cabinet walls or other
equipment. Otherwise, it may cause malfunction.
(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier
Cabinet Cabinet
40 mm
or more
Servo Wiring allowance
amplifier
80 mm or more
10 mm 10 mm
or more or more Top
(Note 2)
Bottom
40 mm
or more
(Note 1)
Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more.
2. To install the MR-J4-500A-RJ, leave a clearance of 25 mm or more between the left side and the wall.
19 - 11
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier. For
the possibility of close mounting, refer to section 1.3.
When mounting the servo amplifiers closely, do not install the servo amplifier
whose depth is larger than that of the left side servo amplifier since CNP1,
CNP2, and CNP3 connectors cannot be disconnected.
cooling fan to prevent the internal temperature of the cabinet from exceeding the environmental
conditions.
amplifiers in consideration of mounting tolerances. In this case, operate the servo amplifiers at the
ambient temperature of 0 °C to 45 °C or at 75% or less of the effective load ratio.
Cabinet Cabinet
100 mm or more
10 mm or more 100 mm or more
(Note 2)
1 mm 1 mm 30 mm
or more
30 mm 30 mm Top
or more or more
Bottom
40 mm or more
(Note 1) 40 mm or more
Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more.
2. To install the MR-J4-500A-RJ, leave a clearance of 25 mm or more between the MR-J4-500A-RJ and the left side servo
amplifier.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
19 - 12
POINT
Input signals of the servo amplifier are valid even when the MR-D01 has been
connected. When the same input devices have been assigned to the servo
amplifier and MR-D01 and both input signals are turned on, the input signal that
has turned on first is enabled. Even though turning off one of the input signals
that have been turned on is attempted, the input signal cannot be turned off.
Refer to the following table for details. The following table shows ST1 (Forward
rotation start) as an example.
(Note) (Note)
Device Servo motor
Servo amplifier MR-D01
0 0 Stop
Forward
0 1
rotation
ST1 Forward
1 0
rotation
Forward
1 1
rotation
Note. 0: Off
1: On
19 - 13
19.5.1 I/O Signal Connection Example
(1) Position control mode

Servo amplifier
Positioning module CN1 24 V DC (Note 4)
47 DOCOM (Note 2)
CN1
CLEARCOM 14 DOCOM 46
CLEAR 13 CR 41 23 ZSP RA2 Zero speed detection
READY 11 RD 49
PULSE F- 16 PG 11 13 (Note 24)
10 m or less
PULSE R+ 17 NP 35 14 (Note 24)
(Note 16)

Plate SD (open-collector)
(Note 13) (Note 7)
Reset RES 19 CN6
Proportional control PC 17 3 MO1 Analog monitor 1
(Note 17) ± 10 V DC
± 10 V DC
(Note 5)
Reverse rotation stroke end 24 V DC (Note 4)
LSN 44
2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
TLA 27
LG 28
SD Plate
(Note 9) computer
USB cable CN5
(option)
+
CN8
(Note 12)
(Packed with the servo (Note 1)
amplifier)
19 - 14
MR-D01
24 V DC (Note 18, 19) CN10 CN10 24 V DC (Note 18, 19)
DICOMD 13 37 DOCOMD
DICOMD 14
Servo-on SON 21 22 ACD0 RA5
Reset RES 26 23 ACD1 RA6

Alarm code
(Note 22) Internal torque limit selection TL1 28 24 ACD2 RA7
Electronic gear selection 1 CM1 29 25 ACD3 RA8
Electronic gear selection 2 CM2 30

Proportional control PC 34 49 INP RA9 In-position (Note 23)
(Note 25) 18 46 (Note 24)
(Note 25) 19 47 (Note 24)
(Note 25) 20 48 (Note 24)
(Note 25) 31 10 m or less
(Note 25) 32
(Note 25) 33
10 m or less
CN20
Analog monitor 1
CN20 4 OMO1
Upper limit setting ± 10 V DC
P15R 13 1 LG
(Note 20, 21) Analog torque limit ± 10 V DC
OTLA 12 14 OMO2
+10 V/maximum torque Analog monitor 2
LG 9
SD Plate Plate SD
19 - 15
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 500 mA or lower.
500 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) 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.
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) When this signal is switched off (at
type.
10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note
RS-422/RS-485
compatible controller
Servo amplifier
CN3
or
MR-PRU03
parameter unit
PRU03
11. This connection is not necessary for RD75D, LD75D, and QD75D. However, to enhance noise tolerance, it is recommended to
amplifier.
15. CLEAR and CLEARCOM of source interface are interchanged to sink interface.
16. Disconnection of the command cable connected to the controller, or noise may cause a position mismatch. To avoid the
position mismatch, check encoder A-phase pulse and encoder B-phase pulse on the controller side.
17. The devices can be changed by [Pr. PD03] to [Pr. PD14], [Pr. PD17] to [Pr. PD22], and [Pr. PD43] to [Pr. PD46].
18. Supply 24 V DC ± 10% to interfaces of the MR-D01 from outside. The total current capacity of these power supplies must be
800 mA or lower. 800 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 3.8.2 (1) that gives the current value necessary for the interface.
19. As the 24 V DC for the input/output signals, one 24 V DC power supply can be used to supply to the servo amplifier and MR-
D01. In this case, select an appropriate power supply capacity depending on the number of points of the input/output signals to
be used.
20. The CN1-27 pin and CN20-12 pin are exclusive. The CN1-27 pin is set by default. Select this item with [Pr. Po11].
21. OTLA will be available when TL (External torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and [Pr.
Po28]. (Refer to section 19.5.3 (5).)
22. The devices can be changed by [Pr. Po02] to [Pr. Po07].
23. The device can be changed by [Pr. Po08] and [Pr. Po09].
24. Output devices are not assigned by default. Assign the output devices with [Pr. PD47], [Pr. Po08], and [Pr. Po09] as
necessary.
25. Input devices are not assigned by default. Assign the input devices with [Pr. Po05], [Pr. Po06], [Pr. Po27], and [Pr. Po28] as
necessary.
19 - 16
POINT
Servo amplifier
24 V DC (Note 4, 14) (Note 7)
Positioning module CN1 24 V DC (Note 4, 14)
CN1 47 DOCOM
(Note 2)
CLEAR 13 DOCOM 46
(Note 15)
CLEARCOM 14 CR 41 23 ZSP RA2 Zero speed detection
READY 11 RD 49
PULSE F- 16 PG 11 13 (Note 24)
10 m or less
PULSE R+ 17 NP 35 14 (Note 24)
PG0 LZ (differential line driver)
9 8 5 LAR
(Note 16)
LG 7 (differential line driver)
(Note 11) 3 LBR
Plate SD (open-collector)
(Note 13) (Note 7)
Reset RES 19 CN6
Proportional control PC 17 3 MO1 Analog monitor 1
(Note 17) ± 10 V DC
± 10 V DC
(Note 5)
Reverse rotation stroke end 24 V DC (Note 4, 14) LSN 44
2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
TLA 27
LG 28
SD Plate
(Note 9) computer
USB cable CN5
(option)
+
(Note 12) CN8

amplifier)
19 - 17
MR-D01
DICOMD 13 37 DOCOMD
DICOMD 14

Alarm code
(Note 22) Internal torque limit selection TL1 28 24 ACD2 RA7
Electronic gear selection 1 CM1 29 25 ACD3 RA8
Electronic gear selection 2 CM2 30

Proportional control PC 34 49 INP RA9 In-position (Note 23)
(Note 25) 18 46 (Note 24)
(Note 25) 19 47 (Note 24)
(Note 25) 20 48 (Note 24)
(Note 25) 31
(Note 25) 33
10 m or less
CN20
Analog monitor 1
CN20 4 OMO1
Upper limit setting ± 10 V DC
P15R 13 1 LG
(Note 20, 21) Analog torque limit ± 10 V DC
+10 V/maximum torque OTLA 12 14 OMO2
Analog monitor 2
LG 9
SD Plate Plate SD
19 - 18
(2) Speed control mode

Servo amplifier
(Note 7)
46 DOCOM
47 DOCOM
(Note 2)
10 m or less
Reset RES 19
(Note 14) Speed selection 2 SP2 16 49 RD RA5 Ready
13 (Note 22)
14 (Note 22)
DICOM 20
24 V DC (Note 4) DICOM 21
P15R 1
Analog speed command 7 LBR (differential line driver)
VC 2
±10 V/Rated speed Control common
LG 28
Upper limit setting 34 LG Control common
+10 V/maximum torque Plate SD (open-collector)
SD Plate
computer
USB cable CN5 CN6
± 10 V DC
+ 1 LG
± 10 V DC
(Note 11) CN8 2 m or less

amplifier)
19 - 19
MR-D01
DICOMD 13 37 DOCOMD
DICOMD 14

Alarm code
Internal torque limit selection TL1 28 24 ACD2 RA7
Second acceleration/deceleration
(Note 20) selection STAB2 31 25 ACD3 RA8

Proportional control PC 34 49 SA RA9 Speed reached (Note 21)
Forward rotation start ST1 35 46 (Note 22)
Reverse rotation start ST2 36 47 (Note 22)
(Note 23) 18 48 (Note 22)
(Note 23) 20
(Note 23) 31
(Note 23) 32
(Note 23) 33
10 m or less
CN20
Upper limit setting
P15R 13 CN20
(Note 17) Analog speed command Analog monitor 1
OVC 2 4 OMO1
+10 V/Rated speed ± 10 V DC
N12R 15 1 LG
Lower limit setting ± 10 V DC
14 OMO2
Upper limit setting Analog monitor 2
(Note 18, 19) Analog torque limit Plate
OTLA 12 SD
LG 9 2 m or less
SD Plate
2 m or less
19 - 20
of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be
used for both input signal and output signal.
(5).)
RS-422/RS-485
Servo amplifier
CN3
or
MR-PRU03
parameter unit
PRU03
amplifier.
reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface.
be used.
necessary.
necessary.
19 - 21
POINT
Servo amplifier
(Note 7)
CN1 24 V DC (Note 4, 13)
46 DOCOM
47 DOCOM (Note 2)
10 m or less
Reset RES 19
(Note 12) Speed selection 2 SP2 16 49 RD RA5 Ready
13 (Note 22)
14 (Note 22)
DICOM 20
24 V DC (Note 4, 13) DICOM 21
P15R 1
Analog speed command 7 LBR (differential line driver)
VC 2
±10 V/Rated speed Control common
LG 28
Upper limit setting 34 LG Control common
+10 V/maximum torque Plate SD (open-collector)
SD Plate
computer
USB cable CN5 CN6
± 10 V DC
+ 1 LG
± 10 V DC
(Note 11) CN8 2 m or less

amplifier)
19 - 22
MR-D01
DICOMD 13 37 DOCOMD
DICOMD 14

Alarm code
Internal torque limit selection TL1 28 24 ACD2 RA7
(Note 20) Second acceleration/deceleration STAB2 31

selection 25 ACD3 RA8

Proportional control PC 34 49 SA RA9 Speed reached (Note 21)
Forward rotation start ST1 35 46 (Note 22)
Reverse rotation start ST2 36 47 (Note 22)
(Note 23) 18 48 (Note 22)
(Note 23) 20
(Note 23) 31
(Note 23) 32
(Note 23) 33
10 m or less
CN20
Upper limit setting
P15R 13 CN20
OVC 2 4 OMO1
N12R 15 1 LG
14 OMO2 Analog monitor 2
Upper limit setting
(Note 16, 17) Analog torque limit
OTLA 12 Plate SD
LG 9 2 m or less
SD Plate
2 m or less
19 - 23
(3) Torque control mode
POINT

Servo amplifier
(Note 6)
46 DOCOM
47 DOCOM (Note 2)
10 m or less
Reset RES 19
Speed selection 2 SP2 16 13 (Note 20)
10 m or less
Forward rotation selection RS1 18 14 (Note 20)
24 V DC (Note 4) DICOM 21 4 LA Encoder A-phase pulse
Upper limit setting
Upper limit setting
0 to ±10 V/Rated speed (open-collector)
SD Plate Plate SD
(Note 7) computer
USB cable CN5 CN6
+ ± 10 V DC
1 LG
± 10 V DC
(Note 9) CN8
2 m or less
(Packed with the servo
amplifier) (Note 1)
19 - 24
MR-D01
DICOMD 13 37 DOCOMD
DICOMD 14

Second acceleration/deceleration Alarm code
selection STAB2 31
(Note 18) Speed selection 1 SP1 32 24 ACD2 RA7
Proportional control PC 34 25 ACD3 RA8
Reverse rotation selection RS2 35

46 (Note 20)
47 (Note 20)
(Note 21) 18
48 (Note 20)
(Note 21) 19
49 (Note 20)
(Note 21) 20
(Note 21) 32
(Note 21) 33
10 m or less
CN20
Upper limit setting
P15R 13 CN20
OVC 2 4 OMO1
N12R 15 1 LG
14 OMO2
OTLA 12 Plate SD
LG 9 2 m or less
SD Plate
2 m or less
19 - 25
of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be
used for both input signal and output signal.
RS-422/RS-485
Servo amplifier
CN3
or
MR-PRU03
parameter unit
PRU03
amplifier.
reducing the number of I/O points. Refer to section 3.8.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives
the current value necessary for the interface.
be used.
necessary.
necessary.
19 - 26
POINT
Servo amplifier
(Note 6)
CN1 24 V DC (Note 4, 11)
46 DOCOM
47 DOCOM (Note 2)
10 m or less
Reset RES 19
Speed selection 2 SP2 16 13 (Note 20)
10 m or less
Forward rotation selection RS1 18 14 (Note 20)
24 V DC (Note 4, 11) DICOM 21 4 LA Encoder A-phase pulse
Upper limit setting
Upper limit setting
0 to ±10 V/Rated speed (open-collector)
SD Plate Plate SD
(Note 7) computer
USB cable CN5 CN6
3 MO1
+ ± 10 V DC
1 LG
± 10 V DC
(Note 9) CN8
2 m or less
(Packed with the servo
amplifier) (Note 1)
19 - 27
MR-D01
DICOMD 13 37 DOCOMD
DICOMD 14
Second acceleration/deceleration Alarm code

selection STAB2 31
(Note 18) Speed selection 1 SP1 32 24 ACD2 RA7
Proportional control PC 34 25 ACD3 RA8
Reverse rotation selection RS2 35

46 (Note 20)
47 (Note 20)
(Note 21) 18
48 (Note 20)
(Note 21) 19
49 (Note 20)
(Note 21) 20
(Note 21) 32
(Note 21) 33
10 m or less
CN20
Upper limit setting
P15R 13 CN20
OVC 2 4 OMO1
N12R 15 1 LG
14 OMO2
OTLA 12 Plate SD
LG 9 2 m or less
SD Plate
2 m or less
19 - 28
19.5.2 Connectors and pin assignment
POINT
wiring section.
The CN30 connector is for manufacturer setting. This connector is attached on
the MR-D01 servo amplifier, but not for use.
For the pin assignment of the CN10 connector, refer to (2) in this section.
For details of each signal (device), refer to section 19.5.3.
(1) Pin assignment

The following shows the front view of the servo amplifier for when MR-J4-10A-RJ and MR-D01 are used.
CN20
20 10
19 9
LG
18 8
CN10
CN30 17 7
For
manufacturer 16 6
setting
15 5
50 25
N12R 49 24
14 4
48 23
13 3
OMO2 OMO1 47 22
P15R 46 21
12 2
11 1 45 20
OTLA OVC 44 19
LG LG
43 18
42 17
41 16
40 15
39 14
38 13
37 12
36 11
35 10
34 9
33 8
32 7
31 6
30 5
29 4
28 3
27 2
26 1
For the pin assignment, refer to (2)

in this section.
19 - 29
(2) Pin assignment of the CN10 connector

I/O P S T
1
2
3
4
5
6
7
8
9
10
11
12
13 DICOMD DICOMD DICOMD
14 DICOMD DICOMD DICOMD
15
16
17
18 Po27
19 Po27
20 Po28
21 I SON SON SON Po02
22 O ACD0 ACD0 ACD0
23 O ACD1 ACD1 ACD1
24 O ACD2 ACD2 ACD2
25 O ACD3 ACD3 ACD3
26 I RES RES RES Po02
27 I TL TL Po03
28 I TL1 TL1 Po03
29 I CM1 Po04
30 I CM2 Po04
31 I STAB2 STAB2 Po05
32 I SP1 SP1 Po05
33 Po06
34 I PC PC Po06
35 I ST1 RS2 Po07
36 I ST2 RS1 Po07
37 DOCOMD DOCOMD DOCOMD
38
39
40
41
42
43
44
45
46 Po08
47 Po08
48 Po09
49 O INP SA Po09
50 SD SD SD
Note 1. I: Input signal, O: Output signal

2. P: Position control mode
19 - 30
This section describes the signals (devices) of the MR-D01 extension I/O unit.
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 the I/O division column in the table), refer to section 19.5.4 (2).
The symbols in the control mode field of the table shows the followings.
[Pr. Po02] to [Pr. Po09], [Pr. Po27], and [Pr. Po28]
19 - 31
(1) I/O device

(a) Input device
Control
Connector I/O
pin No. division
P S T
Servo-on SON CN10-21 Same as when a servo amplifier is used alone. Refer to section 3.5 (1) DI-1
Reset RES CN10-26 (a). DI-1
Forward rotation LSP DI-1
stroke end
Reverse rotation LSN
stroke end
External torque TL CN10-27 DI-1
limit selection
Internal torque TL1 CN10-28 DI-1
limit selection
Forward rotation ST1 CN10-35 DI-1
start
Reverse rotation ST2 CN10-36
start
Forward rotation RS1 CN10-36 DI-1
selection
Reverse rotation RS2 CN10-35
selection
1
2
3
Proportional PC CN10-34 DI-1
control
Clear CR DI-1
Electronic gear CM1 CN10-29 DI-1
selection 1
Electronic gear CM2 CN10-30 DI-1
selection 2
Gain switching CDP DI-1
Control switching LOP DI-1 Refer to
function
and
application
column
Second STAB2 CN10-31 DI-1
acceleration/dec
eleration
selection
Fully closed loop CLD DI-1
selection
Motor-side/load- MECR DI-1
side deviation
counter clear
19 - 32
(b) Output device

Control
Connector I/O
pin No. division
P S T
Malfunction ALM Same as when a servo amplifier is used alone. Refer to section 3.5 (1) (b). DO-1
Dynamic brake DB DO-1
interlock
Ready RD DO-1
In-position INP CN10-49 DO-1
Speed reached SA CN10-49 DO-1
Limiting speed VLC DO-1
Limiting torque TLC DO-1
Zero speed ZSP DO-1
detection
Electromagnetic MBR DO-1
brake interlock
Warning WNG DO-1
Battery warning BWNG DO-1
Alarm code 0 ACD0 (CN10-22) To use these signals, set [Pr. Po12] to "_ _ _ 1". DO-1
Alarm code 1 ACD1 (CN10-23) For details of the alarm codes, refer to chapter 8. DO-1
Alarm code 2 ACD2 (CN10-24) DO-1
Alarm code 3 ACD3 (CN10-25) DO-1
Absolute position ABSV Same as when a servo amplifier is used alone. Refer to section 3.5 (1) (b). DO-1
undetermined
During tough MTTR DO-1
drive
During fully CLDS DO-1
closed loop
control
(2) Input signal

Control
Connector I/O
pin No. division
P S T
Analog torque OTLA CN20-12 To use this signal, set [Pr. Po11] to "_ 1 _ _". When OTLA is enabled, Analog
limit torque is limited in the full servo motor output torque range. Apply 0 V to input
+10 V DC between OTLA and LG. Connect + of the power supply to
OTLA. The maximum torque is generated at +10 V.
Resolution: 12 bits
Analog torque OTC To use this signal, set [Pr. Po11] to "_ 1 _ _". This is used to control Analog
command torque in the full servo motor output torque range. Apply 0 V to ±8 V DC input
between OTC and LG. The maximum torque is generated at ±8 V. (Refer
to section 3.6.3 (1).) The torque at ±8 V can be changed with [Pr. PC13].
If a value equal to or larger than the maximum torque is input to OTC, the
value is clamped at the maximum torque.
Analog speed OVC CN20-2 To use this signal, set [Pr. Po11] to "_ _ 1 _". The signal controls the Analog
command servo motor setting speed by applying -10 V to +10 V DC to between OVC input
and LG. The percentage will be 0% with -10 V, 100% with 0 V, and 200%
with +10 V to the servo motor setting speed.
Resolution: 12 bits
Analog speed OVLA To use this signal, set [Pr. Po11] to "_ _ 1 _". Apply 0 V to ±10 V DC Analog
limit between OVLA and LG. Speed set in [Pr. PC12] is provided at ±10 V. input
(Refer to section 3.6.3 (3).)
If a limited value equal to or larger than the permissible speed is input to
OVLA, the value is clamped at the permissible speed.
19 - 33
(3) Output signal

Control
Connector I/O
pin No. division
P S T
Analog monitor 1 OMO1 CN20-4 This signal outputs the data set in [Pr. Po13] to between OMO1 and LG in Analog
Analog monitor 2 OMO2 CN20-14 This signal outputs the data set in [Pr. Po14] to between OMO2 and LG in Analog
(4) Power supply

Control
Connector I/O
pin No. division
P S T
MR-D01 digital DICOMD CN10-13
Input 24 V DC (24 V DC ± 10% 500 mA) for I/O interface. The power
I/F power supply CN10-14 supply capacity changes depending on the number of I/O interface points
input to be used.
For source interface, connect - of the 24 V DC external power supply.
MR-D01 digital DOCOMD CN10-37 Common terminal of input signals such as SON, RES, and others of the
I/F power supply servo amplifier. This is separated from LG.
input For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of the 24 V DC external power supply.
15 V DC power P15R CN20-13 This outputs 15 V DC to between P15R and LG. This is available as the
supply power for TC/TLA/VC/VLA. Permissible current: 30 mA
-12 V DC power N12R CN20-15 This outputs -12 V DC to between N12R and LG. This is available as the
supply power for VC. However, the voltage varies within the range of -12 V to -15
V. Permissible current: 30 mA
Control common LG CN20-1 Common terminal of OTLA, OVC, OMO1, OMO2, P15R, and N12R. Pins
CN20-9 are connected internally.
Shield SD CN10-50 Connect the external conductor of the shielded wire.
Plate
19 - 34
(5) Torque limit
If the torque limit is canceled during servo-lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
CAUTION When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio] is
set properly. Improper settings may cause an unexpected operation such as an
overshoot.
POINT
To use OTLA (Analog torque limit), set [Pr. Po11] to "_ 1 _ _".
(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque
is always limited to the maximum value during operation. A relation between the limit value and
servo motor torque is as follows.
Maximum
CW direction torque CCW direction
Torque
100 0 100 [%]

Torque limit value Torque limit value
in [Pr. PA12] in [Pr. PA11]
A relation between the applied voltage of OTLA (Analog torque limit) and the torque limit value of the
servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on
products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.
Therefore, use this function at the voltage of 0.05 V or more.
Maximum torque MR-D01
TL
24 V DC
(Note)
Torque
DICOMD
±5% P15R
2 kΩ
2 kΩ OTLA
LG
0 Equivalent to RRS10 SD
0 0.05
OTLA applied voltage [V] (Japan Resistor)
OTLA applied voltage vs. torque limit value Connection example
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
19.5.4 (5).
(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and OTLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and
[Pr. Po28], you can select [Pr. PC35 internal torque limit 2/Internal thrust limit 2].
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.
PA11] and [Pr. PA12] value will be enabled.
19 - 35
Input device (Note 1) Enabled torque limit value

Limit value status CCW power running/ CW power running/
TL1 TL
CW regeneration CCW regeneration
0 0 Pr. PA11 Pr. PA12
Pr. PA11
OTLA > Pr. PA11 Pr. PA12
Pr. PA12
0 1
Pr. PA11
OTLA < OTLA (Note 2) OTLA (Note 3)
Pr. PA12
Pr. PA11
Pr. PC35 > Pr. PA11 Pr. PA12
Pr. PA12
1 0
Pr. PA11
Pr. PC35 < Pr. PC35 (Note 2) Pr. PC35 (Note 3)
Pr. PA12
OTLA > Pr. PC35 Pr. PC35 (Note 2) Pr. PC35 (Note 3)
1 1
OTLA < Pr. PC35 OTLA (Note 2) OTLA (Note 3)
Note 1. 0: Off
1: On
2. When [Pr. PD33] is set to "_ 2 _ _", the value in [Pr. PA11] is applied.
3. When [Pr. PD33] is set to "_ 1 _ _", the value in [Pr. PA12] is applied.
(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation
torque limit, reverse rotation torque limit or analog torque limit.
19 - 36
19.5.4 Interface
(1) Internal connection diagram

The following shows an example of internal connection diagram of the position control mode. For the
internal connection diagram of the servo amplifier, refer to section 3.9.1.
MR-D01
24 V DC P S T CN10 CN10 P S T
DICOMD 13 14 DICOMD
DOCOMD 37 Approx. 22 ACD0 RA
5.6 kΩ
SON 21 23 ACD1
RES 26 24 ACD2
TL TL 27 25 ACD3 (Note 2)
TL1 TL1 28 46 (Note 4)
CM1 29 47 (Note 4)
(Note 1)
CM2 30 48 (Note 4)
(Note 2)
STAB2 STAB2 31 49 INP RA
(Note 1) SP1 SP1 32

(Note 3) 33 <Insulated>
PC PC 34 CN20 P S T Analog monitor
ST1 RS2 35
4 OMO1
ST2 RS1 36
(Note 3) 18 ± 10 V DC
14 OMO2
(Note 3) 19 ± 10 V DC
(Note 3) 20 11 LG
1 LG
P S T CN20
OVC 2
OTLA 12
P15R 13
+ 15 V DC
N12R 15
- 12 V DC
LG 9
SD Plate
Note 1. The devices can be changed by [Pr. Po02] to [Pr. Po09], [Pr. Po27], and [Pr. Po28].
2. This diagram shows sink I/O interface. For source I/O interface, refer to (5) in this section.
3. Input devices are not assigned by default. Assign the input devices with [Pr. Po06], [Pr. Po27], and [Pr. Po28] as necessary.
4. Output devices are not assigned by default. Assign the output devices with [Pr. Po08] and [Pr. Po09] as necessary.
19 - 37
(2) Detailed explanation of interfaces

section 19.5.3. Refer to the following and make connection with the external device.
(a) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from
sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram
for sink input.
MR-D01
For transistor
Approximately SON
5 mA etc.
Approx.
5.6 kΩ
Switch
TR
DICOMD
VCES ≤ 1.0 V 24 V DC ± 10%
ICEO ≤ 100 µA 800 mA
(b) Digital output interface DO-1

A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an
inrush current suppressing resistor (R) for a lamp load.
The following shows a connection diagram for sink output.
MR-D01
INP Load will malfunction.
etc.
DOCOMD
(Note) 24 V DC ± 10%
800 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a
high voltage (maximum of 26.4 V) from an external source.
19 - 38
(3) Analog input

Input impedance
10 kΩ to 12 kΩ
MR-D01 MR-D01
+15 V DC +15 V DC
P15R P15R
Upper limit Upper limit
setting: 2 kΩ OTLA setting: 2 kΩ OVC
2 kΩ 2 kΩ
Approx. Approx.
LG 10 kΩ N12R 10 kΩ
Lower limit - 12 V DC
SD setting: 2 kΩ SD
(4) Analog output

MR-D01
OMO1
(OMO2)
Output voltage: ±10 V (Note)
LG Resolution: 12 bits or equivalent
Note. Output voltage range varies depending on the monitored signal. When connecting
analog output to an external device, use the withstand voltage of 15 V DC or higher.
19 - 39


This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals
from a source (open-collector) type transistor output, relay switch, etc.
MR-D01
For transistor
SON
etc.
Approx.
5.6 kΩ
TR Switch
DOCOMD
Approximately 24 V DC ± 10%
5 mA 800 mA
VCES ≤ 1.0 V
ICEO ≤ 100 µA

transistor is turned on, the current will flow from the output terminal to a load.
MR-D01
will malfunction.
INP Load
etc.
DOCOMD
(Note) 24 V DC ± 10%
800 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a
high voltage (maximum of 26.4 V) from an external source.
19 - 40
19.6 Monitor display with MR Configurator2
The following shows how to display the input/output monitor with MR Configurator2 when MR-D01 has been
connected.
(1) Initial setting

When MR-D01 has been connected, click "MR-D01" from the "Option unit" menu in the creating new
project window of MR Configurator2.
(2) How to open the optional unit monitor window

Click "Monitor" in the menu bar and "I/O Monitor" from the menu.
19 - 41
The following window is displayed. Click "Option unit monitor" in the menu bar.
The following window is displayed. The input/output monitor on the MR-D01 side can be checked.
19 - 42
19.7 Dimensions
19.7.1 MR-D01 extension I/O unit
[Unit: mm]
103
98
94
20
Approx. 80 79.5
CN20
CN30
114.5
5
161
CN10
97
24.5
19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier
Servo amplifier L [mm]
100 V/200 V 0.1 kW to 3.5 kW 200 V 5 kW/7 kW
400 V 0.6 kW to 2 kW 400 V 3.5 kW to 7 kW MR-J4-10A1-RJ to MR-J4-40A1-RJ 20
Servo amplifier Servo amplifier MR-J4-10A-RJ to MR-J4-100A-RJ
MR-D01 MR-D01 MR-J4-60A4-RJ to MR-J4-100A4-RJ
MR-J4-200A-RJ/MR-J4-350A-RJ 15
MR-J4-200A4-RJ
MR-J4-500A-RJ/MR-J4-700A-RJ 10
MR-J4-350A4-RJ to MR-J4-700A4-RJ
MR-J4-11KA-RJ to MR-J4-22KA-RJ 0
MR-J4-11KA4-RJ to MR-J4-22KA4-RJ
19 - 43
19.8 Options peripheral equipment

MR-D01 2)
Servo amplifier
CN20
CN5 1)
CN6
CN30
CN3
CN8
4)
CN1 CN10
3)
CN2
CN4
No. Product name Model Description Application

1) Connector set MR-CCN1 Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
2) Junction terminal PS7DW-20V14B-F
block (Toho Technology)
(recommended)
MR-J2HBUS_M
Junction terminal block PS7DW-20V14B-F is not option. For using the

junction terminal block, option MR-J2HBUS_M is necessary. Refer to
section 19.8.2 for details.
3) Junction terminal MR-J2M- CN10 connector For
Junction terminal block connector
block cable CN1TBL_M Connector: 10150-6000EL junction
Connector: D7950-B500FL terminal
Cable length: 0.5, Shell kit: 10350-3210-000
1m (3M) block
(3M or equivalent)
(Refer to section connection
19.9.3.)
4) Junction terminal MR-TB50

Refer to section 19.8.3.
block
19 - 44
19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended)
(1) Usage
Always use the PS7DW-20V14B-F (Junction terminal block) (Toho Technology)) with the option cable
(MR-J2HBUS_M) as a set. A connection example is shown below.
MR-D01
PS7DW-20V14B-F
AERSBAN-ESET (Junction terminal block)
(Cable clamp fitting)
CN20
MR-J2HBUS_M
Ground the option cable on the junction terminal block side with AERSBAN-ESET (cable clamp fitting).
For how to use the cable clamp fitting, refer to section 11.14 (2) (c).
(2) Connection of MR-J2HBUS_M cable and junction terminal block

PS7DW-20V14B-F
MR-D01 (Junction terminal block)
CN20 (Note 1) MR-J2HBUS_M CN (Note 2) Terminal block
1 1 1 1 1
OVC 2 2 2 2 2 OVC
3 3 3 3 3
OMO1 4 4 4 4 4 OMO1
5 5 5 5 5
6 6 6 6 6
7 7 7 7 7
8 8 8 8 8
LG 9 9 9 9 9 LG
10 10 10 10 10
LG 11 11 11 11 11 LG
OTLA 12 12 12 12 12 OTLA
P15R 13 13 13 13 13 P15R
OMO2 14 14 14 14 14 OMO2
N12R 15 15 15 15 15 N12R
16 16 16 16 16
17 17 17 17 17
18 18 18 18 18
19 19 19 19 19
20 20 20 20 20
SD Shell Shell Shell Shell
E SD
Connector: 10120-6000EL (3M)

Shell kit: 10320-3210-000 (3M)
Note 1. Symbol indicating cable length is put in _.

05: 0.5 m
1: 1 m
5: 5 m
2. Do not connect anything to the terminal where no signal has been assigned.
19 - 45
(3) Dimensions of junction terminal block
[Unit: mm]
63
54
44.11
7.62
φ4.5
27
TB.E (φ6)
50
60
9.3
M3 × 5L
4.5
5
4
6.2 1.42 M3 × 6L
36.5
27.8
18.8
19 - 46
19.8.3 MR-TB50 (Junction terminal block)
(1) Usage
Always use MR-TB50 (Junction terminal block) with MR-J2M-CN1TBL_M (Junction terminal block cable)
as a set.
MR-D01

MR-TB50
Cable clamp
CN10
MR-J2M-CN1TBL_M
Ground the junction terminal block cable on the junction terminal block side with the supplied
AERSBAN-ESET (cable clamp fitting). For how to use the cable clamp fitting, refer to section 11.14 (2)
(c).
(2) Dimensions of MR-TB50

235 [Unit: mm]
2-φ4.5
9 Approx.
2 50
25
1 49
MITSUBISHI
50
MR-TB50
1 3 5 7 9 11 13 15 17 19 2123 25 2729 3133 35 37 39 4143 45 47 49

25
2 4 6 8 10 12 14 16 18 20 22 24 26 2830 32 3436 38 40 42 44 46 48 50
2.5
244 46.5
Terminal screw: M3.5
Applicable wire: 2 mm2
Crimp terminal width: 7.2 mm or less
19 - 47
(3) Connection diagram of MR-J2M-CN1TBL_M cable and MR-TB50

The following connection diagram shows for position control mode as an example.
MR-D01 MR-TB50
CN10 (Note 1) (Note 2)

Symbol MR-J2M-CN1TBL_M Terminal block
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
9 9 9 9
10 10 10 10
11 11 11 11
12 12 12 12
DICOMD 13 13 13 13
DICOMD 14 14 14 14
15 15 15 15
16 16 16 16
17 17 17 17
(Note 3) 18 18 18 18
(Note 3) 19 19 19 19
(Note 3) 20 20 20 20
SON 21 21 21 21
ACD0 22 22 22 22
ACD1 23 23 23 23
ACD2 24 24 24 24
ACD3 25 25 25 25
RES 26 26 26 26
TL 27 27 27 27
TL1 28 28 28 28
CM1 29 29 29 29
CM2 30 30 30 30
(Note 3) 31 31 31 31
(Note 3) 32 32 32 32
(Note 3) 33 33 33 33
PC 34 34 34 34
(Note 3) 35 35 35 35
(Note 3) 36 36 36 36
DOCOMD 37 37 37 37
38 38 38 38
39 39 39 39
40 40 40 40
41 41 41 41
42 42 42 42
43 43 43 43
44 44 44 44
45 45 45 45
(Note 3) 46 46 46 46
(Note 3) 47 47 47 47
(Note 3) 48 48 48 48
INP 49 49 49 49
SD 50 50 50 50
SD Plate
10150-6000EL D7950-B500FL
Note 1. Symbol indicating cable length is put in _.

05: 0.5 m
1: 1 m
2. Do not connect anything to the terminal where no signal has been assigned.
3. Output devices are not assigned by default. Assign the output devices with
[Pr. Po05] to [Pr. Po09], [Pr. Po27], and [Pr. Po28] as necessary.
19 - 48
APPENDIX
APPENDIX
App. 1 Peripheral equipment manufacturer (for reference)
Names given in the table are as of February 2018.

For information, such as the delivery time, price, and specifications of the recommended products, contact
each manufacturer.
Manufacturer Reference
NEC TOKIN NEC TOKIN Corporation
Kitagawa Industries Kitagawa Industries Co., Ltd.
JST J.S.T. Mfg. Co., Ltd.
Junkosha Purchase from Toa Electric Industrial Co. Ltd.,
Nagoya Branch
3M 3M
SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd.
Soshin Electric Soshin Electric Co., Ltd.
TE Connectivity TE Connectivity Ltd. Company
TDK TDK Corporation
Molex Molex
Toho Technology Toho Technology Corp. Kyoto factory
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the
International Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC
servo batteries.
The above change will not affect the function and performance of the product.
(1) Target model

(a) Battery (cell)
Lithium Mass of
Model Option model Type Remark
content battery
ER6 MR-J3BAT Cell 0.65 g 16 g Cells with more than 0.3 grams of
lithium content must be handled as
MR-BAT Cell 0.48 g 13 g
dangerous goods (Class 9)
ER17330
depending on packaging
A6BAT Cell 0.48 g 13 g
requirements.
App. - 1
APPENDIX
(b) Battery unit (assembled battery)

Lithium Mass of
Model Option model Type Remark
content battery
Assembled batteries with more than
Assembled two grams of lithium content must be
ER6 MR-J2M-BT battery 4.55 g 112 g handled as dangerous goods (Class
(Seven) 9) regardless of packaging
requirements.
Assembled Assembled batteries with more than
MR-BAT6V1 1.20 g 34 g
battery (Two) 0.3 grams of lithium content must be
Assembled handled as dangerous goods (Class
CR17335A MR-BAT6V1SET(-A) 1.20 g 34 g 9) depending on packaging
battery (Two)
Assembled requirements.
MR-BAT6V1BJ 1.20 g 34 g
battery (Two)
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations

The following points are changed for lithium metal batteries in transportation by sea or air based on the
revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA
Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells
are classified as UN3090, and batteries contained in or packed with equipment are classified as
UN3091.
(a) Transportation of lithium metal batteries alone

Packaging requirement Classification Main requirement
Less than eight cells per package with
less than one gram of lithium content The package must pass a 1.2 m drop test, and the
Less than two assembled batteries per UN3090 PI968 Section II handling label with battery illustration (size: 120 ×
package with less than two grams of 110 mm) must be attached on the package.
lithium content
More than eight cells per package with The package must pass a 1.2 m drop test, and the
less than one gram of lithium content handling label with battery illustration (size: 120 ×
More than two assembled batteries per UN3090 PI968 Section IB 110 mm) must be attached on the package.
package with less than two grams of The Class 9 hazard label must be attached or
lithium content others to comply with dangerous goods (Class 9).
Cells with more than one gram of lithium The package must be compliant with Class 9
content Packages, and the Class 9 hazard label must be
UN3090 PI968 Section IA
Assembled batteries with more than two attached or others to comply with dangerous
grams of lithium content goods (Class 9).
App. - 2
APPENDIX
(b) Transportation of lithium metal batteries packed with or contained in equipment

1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging
requirements.
2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging
requirements.
The special handling may be unnecessary depending on the number of batteries and gross mass
per package.
* Place for UN number (s)

** Place for telephone number for additional
information
Fig. app. 1 Example of Mitsubishi label with Fig. app. 2 Example of Mitsubishi label with
battery illustration battery illustration
(Available until December 31, 2018) (Available from January 1, 2017)
The handling label shown in Fig. app. 1 has been changed to the one shown in Fig. app. 2 in
accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017).
However, the label shown in Fig. app. 1 may be used until December 31, 2018 (for two years as an
interim measure).
(4) Details of the package change

The following caution is added to the packages of the target batteries.
"Containing lithium metal battery. Regulations apply for transportation."
(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (Fig. app. 1) must be attached to the package
of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several
packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must
be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required,
and the package must be compliant with Class 9 Packages. Documentations like the handling label in
the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation.
Please attach the documentations to the packages and the outer package.
The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.
When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the
customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.
App. - 3
APPENDIX
App. 3 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery
is explained here.
Note. This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately
from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration.
This will be indicated as follows.
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and accumulators. Please,
dispose of batteries and accumulators correctly at your local community waste collection/recycling center.
Please, help us to conserve the environment we live in!
App. - 4
APPENDIX
App. 4 Compliance with global standards
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.)

The MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors,
thus removing torque. This function electronically cuts off power supply in the servo amplifier. The servo
amplifiers without the CN8 connector (such as MR-J4-03A6) do not support this function.
App. 4.2 About safety
This chapter explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.
App. 4.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers.

Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk
based on past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating
manuals for the protective devices (e.g. light curtain) connected to the safety control system.
App. 4.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards.

IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1
ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (Except for MR-
J4-03A6 and MR-J4W2-0303B6. Refer to app. 4.8.1 for compatible models.)
MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or
safety PLCs. (For combinations of the servo amplifiers and MR-D30 or MR-J3-D05, refer to each servo
amplifier instruction manual.)
App. 4.2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to section 1.3 for specifications such as voltage,
temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other
way or if modifications are made to the device, even in the context of mounting and installation.
If you need to get close to the moving parts of the machine for inspection or
others, ensure safety by confirming the power off, etc. Otherwise, it may cause an
WARNING accident.
It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and
terminals immediately after power off.
App. - 5
APPENDIX
(1) Peripheral device and power wiring

The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14.
(a) Power Wiring (local wiring and crimping tool)

Use only copper wires or copper bus bars for wiring. The following table shows the stranded wire
sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C.
Table app. 1 Recommended wires

75 °C/60 °C stranded wire [AWG] (Note 2)
Servo amplifier (Note 7) L1/L2/L3 U/V/W/
L11/L21 P+/C
(Note 3)
MR-J4-03A6/MR-J4W2-0303B6 19/- (Note 5) 19/- (Note 6)
MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/MR-J4-60_(4)/
MR-J4-70_/MR-J4-100_(4)/MR-J4-200_(4) (T)/ 14/14
14/14
MR-J4-350_4 14/14 14/14
MR-J4-200_ (S)
12/12
MR-J4-350_ 12/12
MR-J4-500_ (Note 1) 10: a/10: a 14: c/14: c 10: b/10: b
MR-J4-700_ (Note 1) 8: b/8: b 12: a/12: a 8: b/8: b
MR-J4-11K_ (Note 1) 6: d/4: f 12: e/12: e 4: f/4: f
MR-J4-15K_ (Note 1) 4: f/3: f 10: e/10: e 3: g/2: g
MR-J4-22K_ (Note 1) 1: h/-: - 10: i/10: i 1: j/-: -
14: c/14: c
MR-J4-500_4 (Note 1) 14: c/14: c 12: a/10: a
14: c/14: c
MR-J4-700_4 (Note 1) 12: a/12: a 10: a/10: a
MR-J4-11K_4 (Note 1) 10: e/10: e 14: k/14: k 8: l/8: l
MR-J4-15K_4 (Note 1) 8: l/8: l 12: e/12: e 6: d/4: d
MR-J4-22K_4 (Note 1) 6: m/4: m 12: i/12: i 6: n/4: n
MR-J4W_-_B 14/14 (Note 4) 14/14 14/14 14/14
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
2. Alphabets in the table indicate crimping tools. Refer to table app. 2 for the crimp terminals and crimping tools.
3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of
the servo amplifiers.
4. Use the crimp terminal c for the PE terminal of the servo amplifier.
5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6.
6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6.
7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Table app. 2 Recommended crimp terminals

Symbol Crimp terminal Manufacturer
Applicable tool
(Note 2)
c FVD2-4 YNT-1614
d FVD14-6 YF-1
e FVD5.5-6 YNT-1210S
f FVD22-6 YF-1
g FVD38-6 YF-1 JST
(J.S.T. Mfg. Co.,
h R60-8 YF-1 Ltd.)
i FVD5.5-8 YNT-1210S
j CB70-S8 YF-1
k FVD2-6 YNT-1614
l FVD8-6 YF-1
m FVD14-8 YF-1
n FVD22-8 YF-1

2. Some crimp terminals may not be mounted depending on the size. Make sure to
use the recommended ones or equivalent ones.
App. - 6
APPENDIX
(b) Selection example of MCCB and fuse

Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The
T class fuses and molded-case circuit breakers in the table are selected examples based on rated
I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo
amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones
in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below
and selecting a type E combination motor controller (motor circuit breaker), refer to section 11.10.
Servo amplifier (100 V class) Molded-case circuit breaker (120 V AC) Fuse (300 V)
MR-J4-10_1/MR-J4-20_1/MR-J4-40_1 NV50-SVFU-15A (50 A frame 15 A) 20 A
Servo amplifier (200 V class) (Note) Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_ (T)/MR-J4-70_ (T)/
NF50-SVFU-5A (50 A frame 5 A) 10 A
MR-J4W2-22B (T)
MR-J4-60_ (S)/MR-J4-70_ (S) /MR-J4-100_ (T)/MR-J4W2-22B (S)/
MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/ NF50-SVFU-10A (50 A frame 10 A) 15 A
MR-J4W3-444B (T)
MR-J4-100_ (S)/MR-J4-200_ (T)/MR-J4W2-44B (S)/
MR-J4W2-1010B
MR-J4-200_ (S)/MR-J4-350_/MR-J4W2-77B (S)/
MR-J4W3-444B (S)
MR-J4-500_ NF50-SVFU-30A (50 A frame 30 A) 60 A
MR-J4-700_ NF50-SVFU-40A (50 A frame 40 A) 80 A
MR-J4-11K_ NF100-CVFU-60A (100 A frame 60 A) 125 A
MR-J4-15K_ NF100-CVFU-80A (100 A frame 80 A) 150 A
MR-J4-22K_ NF225-CWU-125A (225 A frame 125 A) 300 A
Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Servo amplifier (400 V class) Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-J4-60_4/MR-J4-100_4 NF100-HRU-5A (100 A frame 5 A) 10 A
MR-J4-200_4 NF100-HRU-10A (100 A frame 10 A) 15 A
MR-J4-11K_4 NF100-HRU-30A (100 A frame 30 A) 60 A
(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of
overvoltage category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MR-
J4W2-0303B6) set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V
DC power supply with reinforced insulation on I/O terminals.
In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type
to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which
can generate more than 1.2 A/2.4 A per axis.
App. - 7
APPENDIX
(d) Grounding
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. Do not connect two grounding cables to
the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
This product can cause a DC current in the protective earthing conductor. To protect direct/indirect
contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the
power supply side of the product.
The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the
protective earthing conductor must comply with the local safety regulations.
PE
terminals PE
terminals
(2) EU compliance
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer
with the EC directives, and this marking also applies to machines and equipment incorporating servos.
(a) EMC requirement

MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires
(max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m),
use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary
side for input and output of 200 V class and for output of 400 V class servo amplifiers. In addition,
use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers. The
following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series
Surge protector: Okaya Electric Industries RSPD series
Line noise filter: Mitsubishi Electric FR-BLF
MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic
premises; radio frequency interference is expected if used on such a network. The installer shall
provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk
of crosstalk to signal cables, the installation instructions shall either recommend that the power
interface cable be segregated from signal cables.
Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other
electric devices to the DC power supply.
(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the servo amplifiers are in compliance
with EC directives (Machinery directive (2006/42/EC), EMC directive (2014/30/EU), Low-voltage
directive (2014/35/EU), and RoHS directive (2011/65/EU)). For the copy of Declaration of
Conformity, contact your local sales office.
App. - 8
APPENDIX
(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.
(a) Installation
The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet
so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed
in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth
based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should
be used in open type (UL 50) and overvoltage category shown in table in app. 4.8.1. The servo
amplifier needs to be installed at or below pollution degree 2. For connection, use copper wires.
(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical
Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum
for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR (25 kA and 50 kA) when using a type E
combination motor controller (motor circuit breaker), refer to section 11.10.
(c) Overload protection characteristics

The MR-J4 servo amplifiers have solid-state servo motor overload protection. (It is set on the basis
(full load current) of 120% rated current of the servo amplifier.)
(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.
Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper connection.
(e) Branch circuit protection

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

This product complies with the Radio Wave Law (KC mark). Please note the following to use the
product.
이 기기는 업무용 (A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의
지역에서 사용하는 것을 목적으로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.
The seller and the user must note the above point, and use the product in a place except for home.)
In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for
inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the
product and third party sensitive radio communications for an MR-J4-22K_(4).
App. - 9
APPENDIX
App. 4.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MR-J4 servo amplifiers.
(1) For safety components and installing systems, only qualified personnel and professional engineers
should perform.
(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards
and directives applicable in the country.
(3) The item about noises of the test notices in the manuals should be observed.
App. 4.2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.
(3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum.
(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-
1 Table F.1 No. 5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1 No.
1)
(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(7) Keep the required clearance/creepage distance depending on voltage you use.
App. 4.2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-
specific waste disposal regulations. (Example: European Waste 16 02 14)
App. 4.2.7 Lithium battery transportation
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United
Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime
Organization (IMO).
The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled
batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods
(Class 9) of the UN Recommendations.
App. - 10
APPENDIX
App. 4.3 Installation direction and clearances
The devices must be installed in the specified direction. Not doing so may cause
a malfunction.
Mount the servo amplifier on a cabinet which meets IP54 in the correct direction
to maintain pollution degree 2.
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not
CAUTION have a protective cover. Touching the resistor (including wiring/screw hole area)
may cause a burn injury and electric shock. Even if the power was shut-off, be
careful until the bus voltage discharged and the temperature decreased because
of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the
amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited
Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.
Cabinet Top Cabinet
40 mm or
more 80 mm or longer
for wiring
Servo amplifier
10 mm or 10 mm or Servo amplifier
more more
(Note 2)
40 mm or
more
(Note 1)
Bottom
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and
ground will be 120 mm or more.
2. When mounting MR-J4-500_, maintain a minimum clearance of 25 mm on the left
side.
App. - 11
APPENDIX
App. 4.4 Electrical Installation and configuration diagram
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or
WARNING damages to the product before starting the installation or wiring.
The installation complies with IEC/EN 60204-1. The voltage supply to machines
must be 20 ms or more of tolerance against instantaneous power failure as
specified in IEC/EN 60204-1.
CAUTION Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo
Securely connect the cables in the specified method and tighten them with the
specified torque. Otherwise, the servo motor may operate unexpectedly.
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.
(1) 3-phase input for MR-J4 1-axis servo amplifier
Servo amplifier
(3-phase MCCB MC
230 V AC) L1 L2 L3 P+
or fuse C
D
N-
L11
L21 CN8
Power STO
supply (Note 1) CN1
(3-phase MCCB Controller
400 V AC) or fuse CN2 Encoder cable
PE
Transformer (Note 3)
(star-connected) U/V/W/PE
Cabinet side
To protective equipment Machine side
(Thermal signal) (Note 2) Servo motor
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. Please use a thermal sensor, etc. for thermal protection of the servo motor.
3. For 400 V class, a step-down transformer is not required.
(2) 1-phase input for MR-J4 1-axis servo amplifier
Servo amplifier
(1-phase MCCB MC
230 V AC) L1 L2 L3 P+
or fuse (Note 2) C
D
N-
L11
L21 CN8
Power STO
supply (Note 1) CN1
(3-phase MCCB Controller
(Note 2) or fuse
400 V AC) CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
(Thermal signal) (Note 3) Servo motor
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. When using a 100 V class servo amplifier, step down the power supply voltage to
100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase
200 V AC servo amplifiers, connect the lines to L1 and L3.
3. Please use a thermal sensor, etc. for thermal protection of the servo motor.
App. - 12
APPENDIX
(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier

Servo amplifier
24 V DC CNP1
24
0
PM
48 V DC CN1
U/V/W/E Controller
CN2 Encoder cable
Cabinet side
(Thermal signal) (Note) Servo motor
Encoder
Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.
The connectors described by rectangles are safely separated from the main circuits described by circles.
The connected motors will be limited as follows.
(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)
(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)
App. - 13
APPENDIX
App. 4.5 Signal
App. 4.5.1 Signal
The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo
amplifier instruction manual.
CN3
STO I/O signal
connector 1 11
CN8 2 12
LG LG
2 1 DI1 DI2
3 13
4 14
DOCOM MBR
4 3 MO1 MO2
5 15
STO1 STOCOM
6 16
DICOM ALM
6 5
LA LAR
TOFB1 STO2 7 17
8 18
8 7 LB LBR
TOFCOM TOFB2 LZ LZR
9 19
10 20
INP DI3
DICOM EM2
App. 4.5.2 I/O device
Input device
Symbol Device Connector Pin No.
EM2 Forced stop 2 CN3 20
STOCOM Common terminal for input signals STO1/STO2 3
STO1 STO1 state input CN8 4
STO2 STO2 state input 5
Output device
TOFCOM Common terminal for monitor output signal in STO state 8
TOFB1 Monitor output signal in STO1 state CN8 6
TOFB2 Monitor output signal in STO2 state 7
Power supply
DICOM Digital I/F power supply input 5, 10
DOCOM Digital I/F common CN3 3
SD Shield Plate
App. - 14
APPENDIX
App. 4.6 Maintenance and service
To avoid an electric shock, only qualified personnel should attempt inspections.

WARNING For repair and parts replacement, contact your local sales office.
App. 4.6.1 Inspection items
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.(Except for MR-J4-03A6 and MR-
J4W2-0303B6)
Tightening torque [N•m]
Servo amplifier
L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE
MR-J4-10_(1)/MR-J4-20_(1)/
MR-J4-40_(1)/MR-J4-60_(4)/
1.2
MR-J4-70_/MR-J4-100_(4)/
MR-J4-200_(4)/MR-J4-350_(4)
MR-J4-500_ 1.2 0.8 1.2
MR-J4-700_(4)/MR-J4-500_4 1.2 0.8 1.2
MR-J4-11K_(4)/MR-J4-15K_(4) 3.0 1.2 3.0
MR-J4-22K_(4) 6.0 1.2 6.0
MR-J4W_-_B 1.2
(2) Servo motor bearings, brake section, etc. for unusual noise.
(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.
(4) Check that the connectors are securely connected to the servo motor.
(5) Check that the wires are not coming out from the connector.
(6) Check for dust accumulation on the servo amplifier.
(7) Check for unusual noise generated from the servo amplifier.
(8) Check the servo motor shaft and coupling for connection.
App. - 15
APPENDIX
App. 4.6.2 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operation and
environment. If any fault is found in the parts, they must be replaced immediately regardless of their service
life. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years (Note 3)
Number of power-on,
Relay forced stop and controller forced stop times: 100 000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years) (Note 4)
Approximately 20,000 hours (equipment power supply: off,
Battery backup time (Note 1)
ambient temperature: 20 °C)
Battery life (Note 2) 5 years from date of manufacture
Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or
MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the
connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in
air-conditioned environment (ambient temperature of 40 °C or less for use at the maximum 1000 m above sea level, 30 °C or
less for over 1000 m to 2000 m).
4. For MR-J4W_-_B, this will reach the end of its life in 50,000 to 70,000 hours (7 to 8 years).
App. - 16
APPENDIX
App. 4.7 Transportation and storage
Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.
For detailed information on transportation and handling of the battery, refer to
app. 2 and app. 3.
CAUTION Install the product in a load-bearing place of servo amplifier and servo motor in
accordance with the instruction manual.
Do not get on or put heavy load on the equipment.
Do not hold the front cover, cables, or connectors when carrying the servo
amplifier. Otherwise, it may drop.
When you keep or use it, please fulfill the following environment.
Item Environment
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Ambient
Transportation (Note) [°C] -20 to 65 Class 2K4 (IEC/EN 60721-3-2)
temperature
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient Operation, transportation,
5 %RH to 90 %RH
humidity storage
10 Hz to 57 Hz with constant amplitude of 0.075 mm
Test condition 57 Hz to 150 Hz with constant acceleration of 9.8 m/s2 to IEC/EN 61800-5-1
(Test Fc of IEC 60068-2-6)
Vibration Operation 5.9 m/s2
resistance
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP20 (IEC/EN 60529), Terminal block IP00
IP rating
Open type (UL 50)
Operation, storage Max. 2000 m above sea level
Altitude
Transportation Max. 10000 m above sea level
Note. In regular transport packaging
App. - 17
APPENDIX
App. 4.8 Technical data
App. 4.8.1 MR-J4 servo amplifier

MR-J4-10_/
MR-J4-20_/
MR-J4-60_4/
MR-J4-40_/
MR-J4-350_/ MR-J4-100_4/
MR-J4-60_/
MR-J4-500_/ MR-J4-200_4/
MR-J4-70_/
MR-J4-700_/ MR-J4-10_1/ MR-J4-350_4/
MR-J4-100_/ MR-J4-03A6/
Item MR-J4W2-1010B/ MR-J4-20_1/ MR-J4-500_4/
MR-J4-200_/ MR-J4W2-0303B6
MR-J4-11K_/ MR-J4-40_1 MR-J4-700_4/
MR-J4W2-22B/
MR-J4-15K_/ MR-J4-11K_4/
MR-J4W2-44B/
MR-J4-22K_ MR-J4-15K_4/
MR-J4W2-77B/
MR-J4-22K_4
MR-J4W3-222B/
MR-J4W3-444B
3-phase or
3-phase
1-phase 1-phase 3-phase
200 V AC to
Main circuit (line 200 V AC to 100 V AC to 380 V AC to 48 V DC or
240 V AC,
voltage) 240 V AC, 120 V AC, 480 V AC, 24 V DC
50 Hz/60 Hz
50 Hz/60 Hz 50 Hz/60 Hz 50 Hz/60 Hz
(Note 2)
Power (Note 2)
supply 1-phase 1-phase
Control circuit (line 1-phase 200 V AC to 240 V AC, 100 V AC to 380 V AC to
24 V DC
voltage) 50/60 Hz (Note 2) 120 V AC, 480 V AC,
50 Hz/60 Hz 50 Hz/60 Hz
24 V DC (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA;
Interface (SELV)
MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA)
Safety observation function (STO) EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,
IEC/EN 61800-5-2 (Note 3) EN 62061 SIL CL 3, and EN 61800-5-2
Mean time to dangerous failure MTTFd ≥ 100 [years] (314a)
Effectiveness of fault monitoring
DC = Medium, 97.6 [%]
of a system or subsystem
Average probability of dangerous
PFH = 6.4 × 10-9 [1/h]
failures per hour
Mission time TM = 20 [years]
Pollution degree 2 (IEC/EN 60664-1)
1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1), II
Overvoltage category
3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1) (IEC/EN 60664-1)
III
Protective class I (IEC/EN 61800-5-1)
(IEC/EN 61800-5-1)
Short-circuit current rating
100 kA 5 kA (Note 1)
(SCCR)
Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the
industrial cabinet.
2. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported.
3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo
amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.
App. - 18
APPENDIX
App. 4.8.2 Dimensions/mounting hole process drawing

Variable dimension [mm]
Servo amplifier Mass [kg]
W H D
MR-J4-03A6 30 100 90 0.2
H Front Side MR-J4-10_(1)/MR-J4-20_(1) (Note) 40 (50) 168 135 (155) 0.8 (1.0)
MR-J4-40_(1)/MR-J4-60_ (Note) 40 (50) 168 170 (155) 1.0
MR-J4-70_/MR-J4-100_ 60 168 185 1.4
W D MR-J4-200_(4) 90 168 195 2.1
MR-J4-350_ 90 168 195 2.3
MR-J4-500_ 105 250 200 4.0
MR-J4-700_ 172 300 200 6.2
MR-J4-11K_(4)/MR-J4-15K_(4) 220 400 260 13.4
MR-J4-22K_(4) 260 400 260 18.2
MR-J4-60_4/MR-J4-100_4 60 168 195 1.7
MR-J4-350_4 105 250 200 3.6
MR-J4-500_4 130 250 200 4.3
MR-J4-700_4 172 300 200 6.5
MR-J4W2-0303B6 30 168 100 0.3
MR-J4W2-22B/MR-J4W2-44B 60 168 195 1.4
MR-J4W2-77B/MR-J4W2-1010B 85 168 195 2.3
MR-J4W3-222B/MR-J4W3-444B 85 168 195 2.3
Note. The value in the parenthesis shows the value of MR-J4-_GF_.
Screw
a1 e1 Variable dimensions [mm]
Servo amplifier size
c a a1 b c d d1 e e1 f
d1 f MR-J4-03A6 90 ± 0.5 5 4 4 M4
b MR-J4-10_(1)/MR-J4-20_(1)/
6 6 156 ± 0.5 6 M5
MR-J4-40_(1)/MR-J4-60_
c MR-J4-70_/MR-J4-100_ 12 12 156 ± 0.5 6 42 ± 0.3 M5
a d e MR-J4-200_(4)/MR-J4-350_ 6 45 156 ± 0.5 6 78 ± 0.3 M5
MR-J4-500_ 6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5 M5
MR-J4-700_ 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4-11K_(4)/MR-J4-15K_(4) 12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5 M5
MR-J4-22K_(4) 12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5 M10
MR-J4-60_4/MR-J4-100_4 12 12 156 ± 0.5 6 42 ± 0.3 M5
MR-J4-350_4 6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5 M5
MR-J4-500_4 6 6 235 ± 0.5 7.5 118 ± 0.5 118 ± 0.5 M5
MR-J4-700_4 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4W2-0303B6 6 6 156 ± 0.5 6 M5
MR-J4W2-22B/MR-J4W2-44B 6 6 156 ± 0.5 6 M5
MR-J4W2-77B/MR-J4W2-1010B 6 6 156 ± 0.5 6 73 ± 0.3 M5
MR-J4W3-222B/MR-J4W3-444B 6 6 156 ± 0.5 6 73 ± 0.3 M5
App. - 19
APPENDIX
App. 4.9 Check list for user documentation
MR-J4 installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must
be responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]
3. Does the protection instrument conform to the category required? Yes [ ], No [ ]
4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ]
5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional
engineers.
App. - 20
APPENDIX
App. 5 MR-J3-D05 Safety logic unit
App. 5.1 Contents of the package
Open packing, and confirm the content of packing.

Contents Quantity
MR-J3-D05 Safety logic unit 1
Connector for CN9 1-1871940-4 (TE Connectivity) 1
Connector for CN10 1-1871940-8 (TE Connectivity) 1
MR-J3-D05 Safety Logic Unit Installation Guide 1
App. 5.2 Terms related to safety
App. 5.2.1 Stop function for IEC/EN 61800-5-2
(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

This function is integrated into the MR-J4 series servo amplifiers.
The STO function shuts down energy to servo motors, thus removing torque. This function electronically
cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers.
The purpose of this function is as follows.
1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
2) Preventing unexpected start-up
(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)
SS1 is a function which initiates the STO function when the previously set delay time has passed after
the servo motor starts decelerating. The delay time can be set with MR-J3-D05.
The purpose of this function is as follows. This function is available by using an MR-J4 series servo
amplifier with MR-J3-D05.
Controlled stop according to stop category 1 of IEC/EN 60204-1
App. 5.2.2 Emergency operation for IEC/EN 60204-1
(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)
Emergency stop must override all other functions and actuation in all operation modes. Power to the
machine driving part which may cause a hazardous state must be either removed immediately (stop
category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1).
Restart must not be allowed even after the cause of the emergency state has been removed.
(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)
Removal of input power to driving device to remove electrical risk and to meet above mentioned safety
standards.
App. - 21
APPENDIX
App. 5.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed.
They must be familiar with all applicable local safety regulations and laws in which machines with these
components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and
the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
Improper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the servo amplifier
from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis,
additional safety measures, such as brakes or counter-weights must be used.
App. 5.4 Residual risk
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or
injuries caused by the residual risks.
(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this
delay time is the full responsibility of the company and/or individuals responsible for installation and
commissioning of the safety related system. The system, as a whole, must pass safety standards
certification.
(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop
function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo
motor will stop with the dynamic brake or freewheeling.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification
Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.
(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the
same as those being replaced. Once installed, be sure to verify the performance of the functions before
commissioning the system.
App. - 22
APPENDIX
(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used.
(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(9) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum.
App. 5.5 Block diagram and timing chart
(1) Function block diagram

A-axis circuit
+24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+
Safety logic
TIMER1
DCDC
power
B-axis circuit
TIMER2
0V SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-

SW1 SW2
(2) Operation sequence

Power supply
15 ms or longer
A-axis shutdown 1 and 2 Energizing (close)

SDI
B-axis shutdown 1 and 2 Shut-off (open)
50 ms or longer
A-axis EMG start/reset Release (close)
SRES
B-axis EMG start/reset Normal (open)
10 ms or shorter Shut off delay (SW1 and SW2) (Note)
A-axis STO state 1 and 2 Normal (close)
STO
B-axis STO state 1 and 2 Shut-off (open)
STO status Control enabled STO status

Control enabled
Note. Refer to App. 5.10.
App. 5.6 Maintenance and disposal
MR-J3-D05 is equipped with LED displays to check errors for maintenance.

Please dispose this unit according to your local laws and regulations.
App. 5.7 Functions and configuration
App. 5.7.1 Summary
MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO
function.
App. - 23
APPENDIX
App. 5.7.2 Specifications

Safety logic unit model MR-J3-D05
Voltage 24 V DC
Control circuit Permissible
24 V DC ± 10%
power supply voltage fluctuation
Power supply
[A] 0.5 (Note 1, 2)
capacity
Compatible system 2 systems (A-axis, B-axis independent)
Shut-off input 4 points (2 point × 2 systems) SDI_: (source/sink compatible) (Note 3)
Shut-off release input 2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)
Feedback input 2 points (1 point × 2 systems) TOF_: (source compatible) (Note 3)
Input type Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 kΩ
STO_: (source compatible) (Note 3)
Shut-off output 8 points (4 point × 2 systems)
SDO_: (source/sink compatible) (Note 3)
Photocoupler insulation, open-collector type
Output type
Permissible current: 40 mA/1 output, Inrush current: 100 mA/1 output
A-axis: Select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s, or 30.8 s.
Delay time
B-axis: Select from 0 s, 1.4 s, 2.8 s, 9.8 s, or 30.8 s.
setting
Accuracy: ±2%
STO, SS1 (IEC/EN 61800-5-2)
Functional safety
EMG STOP, EMG OFF IEC/EN 60204-1)
Standards certified EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL
by CB 2
Response
performance
(when delay time 10 ms or less (STO input off → shut-off output off)
is set to 0 s)
(Note 4)
Safety Mean time to
performance dangerous failure 516 years
(MTTFd)
Diagnosis
93.1%
converge (DC avg)
Average
probability of
4.75 × 10-9 [1/h]
dangerous failures
per hour (PFH)
LVD: EN 61800-5-1
Compliance
with standards
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Structure Natural-cooling, open (IP rating: IP 00)
Ambient
0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)
temperature
Ambient humidity 5 %RH to 90 %RH (non-condensing), storage: 5 %RH to 90 %RH (non-condensing)
Environment Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
Vibration
5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
resistance
Mass [kg] 0.2 (including CN9 and CN10 connectors)
Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an
appropriate capacity of power supply considering the inrush current.
2. Power-on duration of the safety logic unit is 100,000 times.
3. _: in signal name indicates a number or axis name.
4. For the test pulse input, contact your local sales office.
App. - 24
APPENDIX
App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier
(1) System configuration diagram

The following shows the connection targets of the STO switch and STO release switch.
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05
MR-J4_A_(-RJ)
Power Magnetic
supply CN1
contactor EM2 (Forced stop 2)
L1
L2
L3
CN8
MCCB
CN9
STO cable STO switch
MR-D05UDL3M-B
U
V
W
STO release switch CN10

FG
Servo motor
App. - 25
APPENDIX

24 V DC
(Note 2) (Note 2)
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note 1) (Note 1)
SW1 SW2 STOA STOB
EM2 EM2
(A-axis) (B-axis)
CN9
1A SDI1A+
1B SDI1A- MC
MR-J4_A_(-RJ)
4A SDO1A+ CN8
Control circuit
CN8A 4B SDO1A- STO1 4
CN10 STO2 5
3A SDI2A+
STOCOM 3
3B SDI2A-
TOFB1 6
1A SRESA+
1B SRESA- TOFB2 7
6A SDO2A+
TOFCOM 8
6B SDO2A-
8A TOFA CN1
EM2 (A-axis)
Servo motor
CN9
2A SDI1B+
2B SDI1B- MC
MR-J4_A_(-RJ)
CN8B 3A SDO1B+ CN8
Control circuit
3B SDO1B- STO1 4
CN10 STO2 5
4A SDI2B+
STOCOM 3
4B SDI2B-
TOFB1 6
2A SRESB+
FG
2B SRESB- TOFB2 7
5A SDO2B+
TOFCOM 8
5B SDO2B-
8B TOFB CN1
EM2 (B-axis)
7A +24V M
7B 0V
Servo motor
0V
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
App. - 26
APPENDIX
App. 5.8 Signal
App. 5.8.1 Connector/pin assignment
(1) CN8A
I/O
Device Symbol Pin No. Function/application
division
A-axis STO1 STO1A- 1 Outputs STO1 to A-axis driving device. O
STO1A+ 4 Outputs the same signal as A-axis STO2.
STO state (base shutdown): Between STO1A+ and STO1A- is opened.
STO release state (in driving): Between STO1A+ and STO1A- is closed.
A-axis STO2 STO2A- 5 Outputs STO2 to A-axis driving device. O
STO2A+ 6 Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between STO2A+ and STO2A- is opened.
STO release state (in driving): Between STO2A+ and STO2A- is closed.
A-axis STO TOF2A 7 Inputs STO state of A-axis driving device. I
state TOF1A 8 STO state (base shutdown): Open between TOF2A and TOF1A.
STO release state (in driving): Close between TOF2A and TOF1A.
(2) CN8B
I/O
division
B-axis STO1 STO1B- 1 Outputs STO1 to B-axis driving device. O
STO1B+ 4 Outputs the same signal as B-axis STO2.
STO state (base shutdown): Between STO1B+ and STO1B- is opened.
STO release state (in driving): Between STO1B+ and STO1B- is closed.
B-axis STO2 STO2B- 5 Outputs STO2 to B-axis driving device. O
STO2B+ 6 Outputs the same signal as B-axis STO1.
STO state (base shutdown): Between STO2B+ and STO2B- is opened.
STO release state (in driving): Between STO2B+ and STO2B- is closed.
B-axis STO TOF2B 7 Inputs STO state of B-axis driving device. I
state TOF1B 8 STO state (base shutdown): Open between TOF2B and TOF1B.
STO release state (in driving): Close between TOF2B and TOF1B.
(3) CN9
I/O
division
A-axis SDI1A+ 1A Connect this device to a safety switch for A-axis driving device. DI-1
shutdown 1 SDI1A- 1B Input the same signal as A-axis shutdown 2.
STO state (base shutdown): Open between SDI1A+ and SDI1A-.
STO release state (in driving): Close between SDI1A+ and SDI1A-.
B-axis SDI1B+ 2A Connect this device to a safety switch for B-axis driving device. DI-1
shutdown 1 SDI1B- 2B Input the same signal as B-axis shutdown 2.
STO state (base shutdown): Open between SDI1B+ and SDI1B-.
STO release state (in driving): Close between SDI1B+ and SDI1B-.
A-axis SDO1 SDO1A+ 4A Outputs STO1 to A-axis driving device. DO-1
SDO1A- 4B Outputs the same signal as A-axis SDO2.
STO state (base shutdown): Between SDO1A+ and SDO1A- is opened.
STO release state (in driving): Between SDO1A+ and SDO1A- is closed.
B-axis SDO1 SDO1B+ 3A Outputs STO1 to B-axis driving device. DO-1
SDO1B- 3B Outputs the same signal as B-axis SDO2.
STO state (base shutdown): Between SDO1B+ and SDO1B- is opened.
STO release state (in driving): Between SDO1B+ and SDO1B- is closed.
App. - 27
APPENDIX
(4) CN10
I/O
division
A-axis SDI2A+ 3A Connect this device to a safety switch for A-axis driving device. DI-1
shutdown 2 SDI2A- 3B Input the same signal as A-axis shutdown 1.
STO state (base shutdown): Open between SDI2A+ and SDI2A-.
STO release state (in driving): Close between SDI2A+ and SDI2A-.
B-axis SDI2B+ 4A Connect this device to a safety switch for B-axis driving device. DI-1
shutdown 2 SDI2B- 4B Input the same signal as B-axis shutdown 1.
STO state (base shutdown): Open between SDI2B+ and SDI2B-.
STO release state (in driving): Close between SDI2B+ and SDI2B-.
A-axis EMG SRESA+ 1A Signal for releasing STO state (base shutdown) on A-axis driving device. DI-1
start/reset SRESA- 1B Releases STO state (base shutdown) on A-axis driving device by switching between
SRESA+ and SRESA- from on (connected) to off (opened).
B-axis EMG SRESB+ 2A Signal for releasing STO state (base shutdown) on B-axis driving device. DI-1
start/reset SRESB- 2B Releases STO state (base shutdown) on B-axis driving device by switching between
SRESB+ and SRESB- from on (connected) to off (opened).
A-axis SDO2 SDO2A+ 6A Outputs STO2 to A-axis driving device. DO-1
SDO2A- 6B Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between SDO2A+ and SDO2A- is opened.
STO release state (in driving): Between SDO2A+ and SDO2A- is closed.
B-axis SDO2 SDO2B+ 5A Outputs STO2 to B-axis driving device. DO-1
SDO2B- 5B Outputs the same signal as B-axis SDO1.
STO state (base shutdown): Between SDO2B+ and SDO2B- is opened.
STO release state (in driving): Between SDO2B+ and SDO2B- is closed.
Control circuit +24V 7A Connect + side of 24 V DC.
power supply
Control circuit 0V 7B Connect - side of 24 V DC.
power GND
A-axis STO TOFA 8A TOFA is internally connected with TOF2A.
state
B-axis STO TOFB 8B TOFB is internally connected with TOF2B.
state
App. 5.8.2 Interfaces
(1) Sink I/O interface (CN9, CN10 connector)

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from
sink (open-collector) type transistor output, relay switch, etc.
MR-J3-D05
For transistor
Approximately
SRESA-,
5 mA etc.
Approx. 5.4 k
Switch
TR SRESA+,
etc.
VCES 1.0 V 24 V DC ± 10%

ICEO 100 µA 200 mA
App. - 28
APPENDIX

transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler
can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing
resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush
current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.
MR-J3-D05
reversed, MR-J3-D05
SDO2B+, Load will malfunction.
etc.
SDO2B-,
etc.
(Note) 24 V DC ± 10%
200 mA
(2) Source I/O interfaces (CN9, CN10 connector)

This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.
MR-J3-D05
SRESA-,
etc.
Approx. 5.4 k
Switch
SRESA+,
etc.
Approximately 5 mA 24 V DC ± 10%
VCES 1.0 V 200 mA
ICEO 100 µA

transistor is turned on, current will be applied from the output to a load. A maximum of 2.6 V voltage
drop occurs in the MR-J3-D05.
MR-J3-D05
reversed, MR-J3-D05
SDO2B+, Load will malfunction.
etc.
SDO2B-,
etc.
(Note) 24 V DC ± 10%
200 mA
App. - 29
APPENDIX
App. 5.8.3 Wiring CN9 and CN10 connectors
Handle with the tool with care when connecting wires.
(1) Wire strip

(a) Use wires with size of AWG 24 to 20 (0.22 mm2 to 0.5 mm2) (recommended electric wire: UL1007)
and strip the wires to make the stripped length 7.0 mm ± 0.3 mm. Confirm the stripped length with
gauge, etc. before using the wires.
(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting
lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively
deformed wires.
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires
are connected with inserted connector, the connector and the printed board may malfunction.
(a) Using extraction tool (1891348-1 or 2040798-1)

1) Dimensions and mass
[Unit: mm]
100
15
Mass: Approx. 20 g
App. - 30
APPENDIX
2) Connecting wires
a) Confirm the model number of the housing, contact and tool to be used.
b) Insert the tool diagonally into the receptacle assembly.
c) Insert the tool until it hits the surface of the receptacle assembly. At this
stage, the tool is vertical to the receptacle assembly.
d) Insert wires in the wiring hole till the end. The wires should be slightly
twisted in advance to prevent it from being loose.
It is easy to insert the wire if the wire is inserted diagonally while twisting
the tool.
e) Remove the tool.
App. - 31
APPENDIX
(b) Using a screwdriver

To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force.
Be cautious when connecting.
1) Adjusting screw driver
Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm

Length: 120 mm or less Length: 120 mm or less
Width: 2.3 mm Width: 2.5 mm
Thickness: 0.25 mm Thickness: 0.3 mm
Angle in tip of the blade: 18 ± 1 degrees Angle in tip of the blade: 12 ± 1 degrees
2.5 mm ± 0.05 mm 12° ± 1°

2.3 mm ± 0.05 mm
18° ± 1°
0.25 mm
2.3 mm 0.3 mm
2.5 mm
Screwdriver diameter: φ 2.3 mm Screwdriver diameter: φ 2.5 mm
2) Connecting wires
a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While
depressing the spring, insert the wires until they hit the end. Note that the housing and spring
may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the
wire hole. Otherwise, the connector will be damaged.
b) Pull the screwdriver out while pressing the wires. Connecting wires is completed.
c) Pull the wire lightly to confirm that the wire is surely connected.
d) To remove the wires, depress the spring by the screwdriver in the same way as connecting
wires, and then pull the wires out.
Tool insertion slot
Screw driver
App. - 32
APPENDIX
(3) Connector insertion

Insert the connector all the way straight until you hear or feel clicking. When removing the connector,
depress the lock part completely before pulling out. If the connector is pulled out without depressing the
lock part completely, the housing, contact and/or wires may be damaged.
(4) Compatible wire

Compatible wire size is listed below.
Wire size
mm2 AWG
0.22 24
0.34 22
0.50 20
(5) Others
(a) Fix a cable tie keeping a distance of "A" × 1.5 or longer from the end of the connector.
A × 1.5 or more
(b) Be sure that wires are not pulled excessively when the connector is inserted.
App. 5.8.4 Wiring FG
Wire range
Single wire: φ 0.4 mm to 1.2 mm (AWG 26 to AWG 16)
Stranded wire: 0.2 mm2 to 1.25 mm2 (AWG 24 to AWG 16),
Bottom face
wire φ 0.18 mm or more
Lead wire
App. - 33
APPENDIX
App. 5.9 LED display
I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.
LED
LED Description
MR-J3-D05 Column A Column B
A B
SRES Monitor LED for start/reset
SDI1 SRES Off: The start/reset is off. (The switch contact is opened.)
SDI2
TOF On: The start/reset is on. (The switch contact is closed.)
SDO1 Monitor LED for shut-off 1
SDO2
SW SDI1 Off: The shut-off 1 is off. (The switch contact is closed.)
FAULT On: The shut-off 1 is on. (The switch contact is opened.)
Monitor LED for shut-off 2
SDI2 Off: The shut-off 2 is off. (The switch contact is closed.)
POWER On: The shut-off 2 is on. (The switch contact is opened.)
Monitor LED for STO state
TOF Off: Not in STO state
On: In STO state
A-axis B-axis
Monitor LED for SDO1
SDO1 Off: Not in STO state
On: In STO state
Monitor LED for SDO2
SDO2 Off: Not in STO state
On: In STO state
Monitor LED for confirming shutdown delay setting
SW Off: The settings of SW1 and SW2 do not match.
On: The settings of SW1 and SW2 match.
FAULT LED
FAULT Off: Normal operation (STO monitoring state)
On: Fault has occurred.
Power supply
POWER Off: Power is not supplied to MR-J3-D05.
On: Power is being supplied to MR-J3-D05.
App. 5.10 Rotary switch setting
Rotary switch is used to shut off the power after control stop by SS1 function.
Set the delay time for STO output after the STO shut-off switch is pressed. Set the same setting for SW1 and
SW2. The delay time is set according to the rotary switch setting as shown in the following table.
Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal
or by another method so that end users will not change the setting after the shipment.
0 to F in the following table is the set value of the rotary switches (SW1 and SW2).
Rotary switch setting and delay time at A-axis/B-axis [s]

B-axis
0s 1.4 s 2.8 s 5.6 s 9.8 s 30.8 s
0s 0 1 2 - 3 4
1.4 s - - 5 - 6 7
2.8 s - - 8 - 9 A
A-axis
5.6 s - - - - B C
9.8 s - - - - D E
30.8 s - - - - - F
App. - 34
APPENDIX
App. 5.11 Troubleshooting
When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate
action.
Event Description Cause Action
Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
although power is supplied. malfunctioning.
2. Wires between MR-J3-D05 and 24 Check the wiring.
V DC power supply are
disconnected or are in contact with
other wires.
3. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
FAULT LED is on. FAULT LED of A-axis or B- 1. The delay time settings are not Check the settings of the rotary
axis is on, and will not turn matched. switch.
off. 2. Switch input error Check the wiring or sequence of the
input signals.
3. TOF signal error Check the connection with the servo
amplifier.
4. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
App. - 35
APPENDIX
App. 5.12 Dimensions
[Unit: mm]
22.5
19.5 Approx. 22.5
Approx. 5
Approx. 80 86
φ5 mounting hole 9.75
Rating plate 80 6 9.75
12
CN8A 2-M4 screw
CN8B
Approx. 192
CN9
182
182
168
192
CN10
Approx. 5
5
5
FG
Pin assignment Mounting screw

CN8A CN8B
Screw size: M4
7 8 7 8
TOF2A TOF1A TOF2B TOF1B Tightening torque: 1.2 N•m
5 6 5 6
STO2A- STO2A+ STO2B- STO2B+ Mass: 0.2 [kg]
3 4 3 4
STO1A+ STO1B+
1 2 1 2
STO1A- STO1B-
CN9 CN10
1A 1B 1A 1B
SDI1A+ SDI1A- SRESA+ SRESA-
2A 2B 2A 2B
SDI1B+ SDI1B- SRESB+ SRESB-
3A 3B 3A 3B
SDO1B+ SDO1B- SDI2A+ SDI2A-
4A 4B 4A 4B
SDO1A+ SDO1A- SDI2B+ SDI2B-
5A 5B
SDO2B+ SDO2B-
6A 6B
SDO2A+ SDO2A-
7A 7B
+24V 0V
8A 8B
TOFA TOFB
App. - 36
APPENDIX
App. 5.13 Installation
Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances
between MR-J3-D05 and other equipment including the cabinet.
Cabinet Cabinet Cabinet
40 mm or 100 mm or longer
80 mm or longer Top
longer 10 mm or for wiring
longer
10 mm or 10 mm or 30 mm or
longer longer longer
MR-J3-D05
Other device
MR-J3-D05
30 mm or MR-J3-D05
longer
40 mm or 40 mm or
longer longer Bottom
App. 5.14 Combinations of cable/connector
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05 MR-J4_A_(-RJ)
2) CN8
1)
CN9 MR-J4_A_(-RJ)
CN10
MR-J3-D05 2) CN8
attachment
connector
App. - 37
APPENDIX
No. Name Model Description

1) Connector MR-J3-D05
attachment
connector
Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8

(TE Connectivity) (TE Connectivity)
2) STO cable MR-D05UDL3M-B Connector set: 2069250-1
Cable length: 3 m (TE Connectivity)
App. - 38
APPENDIX
App. 6 EC declaration of conformity
The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit comply with the safety component laid
down in the Machinery directive.
App. - 39
APPENDIX
This certificate is valid until 2017-02-28. After March 2017, use the certificate shown on the previous page.
App. - 40
APPENDIX
App. - 41
APPENDIX
App. 7 Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage.
App. 7.1 Setting
Change the following digits of [Pr. PC14] and [Pr. PC15].

[Pr. PC14]
0 0
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)
[Pr. PC15]
0 0
Analog monitor 2 output selection
(the signal provided to the output across MO2 and LG)
[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. The setting
range is between -9999 mV and 9999 mV.
Parameter Description Setting range [mV]
PC39 This is used to set the offset voltage of MO1 (Analog monitor 1).
-9999 to 9999
PC40 This is used to set the offset voltage of MO2 (Analog monitor 2).
App. - 42
APPENDIX
App. 7.2 Set content
POINT
words in the right.
(servo motor) speed →(linear servo motor) speed
CCW direction →Positive direction
CW direction →Negative direction
Torque →Thrust
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque
to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14] and [Pr.
PC15] value.
Refer to App. 7.3 for the detection point.
(1) MR-J4-_A_(-RJ) 100 W or more

Setting Setting
Output item Description Output item Description
value value
00 Servo motor speed/ 01 Torque/Thrust (Note 8) Power running in
Linear servo motor CCW direction CCW direction
8 [V] 8 [V]
speed
Maximum speed Maximum torque
0 Maximum speed 0 Maximum torque
-8 [V] -8 [V]
CW direction Power running in
CW direction
02 Servo motor speed/ 03 Torque/Thrust (Note 8) Power running in Power running in

8 [V] CW direction CCW direction
Linear servo motor CW direction CCW direction
8 [V]
speed
Maximum speed 0 Maximum speed

Maximum torque 0 Maximum torque
04 Current command CCW direction 05 Command pulse CCW direction

8 [V] 10 [V]
(Note 8) frequency
(±10 V/±4 Mpulses/s)
Maximum current command
(Maximum torque command) 4 [Mpulse/s]
0 0 4 [Mpulse/s]
(Maximum torque command)
-8 [V] -10 [V]

CW direction CW direction
06 Servo motor-side droop CCW direction 07 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/100 pulses) 100 [pulse] (±10 V/1000 pulses) 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]
-10 [V] -10 [V]

App. - 43
APPENDIX
Setting Setting
value value
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/10000 pulses) 10000 [pulse] (±10 V/100000 pulses) 100000 [pulse]
0 10000 [pulse] 0 100000 [pulse]
-10 [V] -10 [V]

0A Feedback position CCW direction 0B Feedback position CCW direction

10 [V] 10 [V]
(Note 1, 2, 3) (Note 1, 2, 3)
(±10 V/1 Mpulse) (±10 V/10 Mpulse)
1 M [pulse] 10 M [pulse]
0 1 M [pulse] 0 10 M [pulse]
-10 [V] -10 [V]

0C Feedback position CCW direction 0D Bus voltage

10 [V]
(Note 1, 2, 3) (Note 7)
(±10 V/100 Mpulse) 8 [V]
100 M [pulse]
0 100 M [pulse]
0 400 [V]
-10 [V]
CW direction
0E Speed command 2 CCW direction 10 Load-side droop pulses CCW direction

8 [V] 10 [V]
(Note 3) (Note 3, 4, 5, 6)
(±10 V/100 pulses)
Maximum speed 100 [pulse]
0 Maximum speed 0 100 [pulse]
-8 [V] -10 [V]

11 Load-side droop pulses CCW direction 12 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/1000 pulses) (±10 V/10000 pulses)
1000 [pulse] 10000 [pulse]
0 1000 [pulse] 0 10000 [pulse]
-10 [V] -10 [V]

13 Load-side droop pulses CCW direction 14 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/100000 pulses) (±10 V/1 Mpulse)
100000 [pulse] 1 [Mpulse]
0 100000 [pulse] 0 1 [Mpulse]
-10 [V] -10 [V]

15 Motor-side/load-side CCW direction 16 Servo motor-side/load- CCW direction

10 [V] 8 [V]
position deviation side speed deviation
(Note 3, 4, 5, 6) (Note 4)
Maximum speed
(±10 V/100000 pulses) 100000 [pulse]
0 100000 [pulse] 0
Maximum speed
-10 [V] -8 [V]

App. - 44
APPENDIX
Setting
Output item Description
value
17 Internal temperature of 10 [V]
encoder
(±10 V/±128 ˚C)
-128 [°C]
0 128 [°C]
-10 [V]
Note 1. Encoder pulse unit.

2. Available in position control mode
3. This cannot be used in the torque control mode.
4. This can be used with MR Configurator2 with software version 1.19V or later.
5. This cannot be used in the speed control mode.
6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed
loop control.
7. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.
8. For details on the maximum current command (maximum torque) for ±8 V, refer to app. 7.4 for details.
(2) MR-J4-03A6(-RJ)
Setting Setting
value value
00 Servo motor speed 01 Torque (Note 5)
Power running in
(5 V ± 3 V/max. speed) CCW direction (5 V ± 3 V/max. torque) 8 [V]
CCW direction
8 [V]
5 [V] 5 [V]
CW Power running
in CW
direction direction
2 [V] 2 [V]
Maximum speed 0 Maximum speed Maximum torque 0 Maximum torque
02 Servo motor speed 03 Torque (Note 5)

(5 V + 3 V/max. speed) CW direction 8 [V] CCW direction (5 V + 3 V/max. torque) CW direction 8 [V] CCW direction
5 [V] 5 [V]
Maximum speed 0 Maximum speed Maximum torque 0 Maximum torque
04 Current command 05 Command pulse CCW direction

(Note 5) CCW direction frequency 9 [V]
8 [V]
(5 V ± 3 V/max. current (5 V ± 4 V/±4
command) 5 [V] Mpulses/s)
5 [V]
CW
direction CW
2 [V]
direction
1 [V]
(Maximum torque command)
0 Maximum current command
(Maximum torque command) 4 [Mpulse/s] 0 4 [Mpulse/s]
9 [V] 9 [V]
pulses (Note 1, 2, 3) pulses (Note 1, 2, 3)
(5 V ± 4 V/100 pulses) (5 V ± 4 V/1000 pulses)
5 [V] 5 [V]
CW CW
direction 1 [V] direction 1 [V]
100 [pulse] 0 100 [pulse] 1000 [pulse] 0 1000 [pulse]
App. - 45
APPENDIX
Setting Setting
value value
9 [V] 9 [V]
pulses (Note 1, 2, 3) pulses (Note 1, 2, 3)
(5 V ± 4 V/10000 (5 V ± 4 V/100000
pulses) 5 [V] pulses) 5 [V]
CW CW
10000 [pulse] 0 10000 [pulse] 100000 [pulse] 0 100000 [pulse]
0A Feedback position CCW direction 0B Feedback position CCW direction

9 [V] 9 [V]
(Note 1, 2, 4) (Note 1, 2, 4)
(5 V ± 4 V/1 Mpulses) (5 V ± 4 V/10 Mpulses)
5 [V] 5 [V]
CW CW
1 [Mpulse] 0 1 [Mpulse] 10 [Mpulse] 0 10 [Mpulse]
0C Feedback position CCW direction 0D Bus voltage

9 [V] 9 [V]
(Note 1, 2, 4) (5 V + 4 V/100 V)
(5 V ± 4 V/100
Mpulses) 5 [V] 5 [V]
CW
direction 1 [V]
100 [Mpulse] 0 100 [Mpulse] 0 100 [V]
0E Speed command 2 17 Internal temperature of

9 [V]
(Note 2) 8 [V]
CCW direction encoder
(5 V ± 3 V/max. speed) (5 V ± 4 V/±128 °C)
5 [V] 5 [V]
CW
direction 2 [V]
1 [V]
Maximum speed 0 Maximum speed

-128 [°C] 0 128 [°C]
Note 1. Encoder pulse unit.

2. This cannot be used in the torque control mode.
3. This cannot be used in the speed control mode.
4. Available in position control mode
5. For details on the maximum current command (maximum torque) for ±5 V, refer to app. 7.4 for details.
App. - 46
APPENDIX
App. 7.3 Analog monitor block diagram
App. 7.3.1 MR-J4-_A_(-RJ) 100 W or more
(1) Semi closed loop control
Speed Speed Current +

command Droop pulses command 2 command Bus voltage
Current
Speed encoder
Command + Position command + Speed + Current
pulse control control control PWM M Servo motor
- - -
Internal
temperature
Current feedback of encoder
Encoder
Differen-
tiation
Position feedback
Feedback + Servo motor

position speed Torque
-
Home position
(CR input position)
(2) Fully closed loop control
Command pulse
Droop pulses Speed Current +
frequency command 2 command Bus voltage
Current Servo
Speed encoder motor
Command + Position command + Speed + Current Load-side
pulse control control control PWM M
- - - encoder
Internal
temperature
Encoder
Differen- Servo motor

tiation speed Torque
FBN
FBD
+ Semi closed loop Position feedback
+ -
Dual filter
Fully closed loop +
Servo motor-side
droop pulses
Servo motor-side feedback pulses
+ - (load-side resolution unit)
Servo motor-side/
Load-side load-side speed deviation
droop pulses
+ - Load-side feedback pulses
Differen- +
tiation
-
Servo motor-side/ + Differen-
tiation
load-side position deviation -
App. - 47
APPENDIX
App. 7.3.2 MR-J4-03A6(-RJ)
Command pulse Speed Current +

frequency Droop pulses command 2 command Bus voltage
Current
Speed detector
Command + Position command + Speed + Current
pulse control control control
PWM M Servo motor
- - -
Internal
temperature
Encoder
Differen-
tiation
Position feedback
Feedback + Servo motor Torque

position - speed
Home position
(CR input position)
App. - 48
APPENDIX
App. 7.4 Values of the maximum current command (maximum torque) when the analog monitor is at the
maximum/minimum voltage
Values of the maximum current command (maximum torque) when the analog monitor is at the
maximum/minimum voltage are listed.
The current command (torque) outputs the maximum current command (maximum torque) at ±8 V (5 V ± 3 V
for MR-J4-03A6). The maximum current command (maximum torque) may not match the rated
current/maximum current ratio since it is created from the torque current in the servo amplifier.
App. 7.4.1 Rotary servo motor
(1) 200 V/100 V class

Servo motor Servo amplifier/drive unit
(maximum torque) [%]
HG-KR053 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 370
HG-KR13 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 373
HG-KR series HG-KR23 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 387
HG-KR43 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 383
HG-KR73 MR-J4-70_(-RJ) 367
HG-MR053 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 342
HG-MR13 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 336
HG-MR series HG-MR23 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 396
HG-MR43 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 361
HG-MR73 MR-J4-70_(-RJ) 345
HG-SR51 MR-J4-60_(-RJ) 311
HG-SR81 MR-J4-100_(-RJ) 329
HG-SR 1000 HG-SR121 MR-J4-200_(-RJ) 353
r/min series HG-SR201 MR-J4-200_(-RJ) 334
HG-SR301 MR-J4-350_(-RJ) 366
HG-SR421 MR-J4-500_(-RJ) 347
HG-SR52 MR-J4-60_(-RJ) 302
HG-SR102 MR-J4-100_(-RJ) 310
HG-SR152 MR-J4-200_(-RJ) 320
HG-SR 2000
HG-SR202 MR-J4-200_(-RJ) 327
r/min series
HG-SR352 MR-J4-350_(-RJ) 332
HG-SR502 MR-J4-500_(-RJ) 341
HG-SR702 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 336
HG-UR72 MR-J4-70_(-RJ) 355
HG-UR152 MR-J4-200_(-RJ) 340
HG-UR series HG-UR202 MR-J4-350_(-RJ) 350
HG-UR352 MR-J4-500_(-RJ) 320
HG-UR502 MR-J4-500_(-RJ) 330
HG-RR103 MR-J4-200_(-RJ) 300
HG-RR153 MR-J4-200_(-RJ) 250
HG-RR series HG-RR203 MR-J4-350_(-RJ) 290
HG-RR353 MR-J4-500_(-RJ) 270
HG-RR503 MR-J4-500_(-RJ) 270
HG-JR601 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 337
HG-JR801 MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 366
HG-JR12K1 MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 346
HG-JR 1000 HG-JR15K1 MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 339
r/min series HG-JR20K1 MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 337
HG-JR25K1 MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 330
HG-JR30K1 MR-J4-DU30K_(-RJ) 330
HG-JR37K1 MR-J4-DU37K_(-RJ) 330
App. - 49
APPENDIX

HG-JR701M MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 326
HG-JR11K1M MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 335
HG-JR 1500 HG-JR15K1M MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 334
r/min series HG-JR22K1M MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 317
HG-JR30K1M MR-J4-DU30K_(-RJ) 342
HG-JR37K1M MR-J4-DU37K_(-RJ) 365
MR-J4-60_(-RJ) 341
HG-JR53
MR-J4-100_(-RJ) 460
MR-J4-70_(-RJ) 331
HG-JR73
MR-J4-200_(-RJ) 460
MR-J4-100_(-RJ) 341
HG-JR103
MR-J4-200_(-RJ) 460
MR-J4-200_(-RJ) 320
HG-JR153
HG-JR 3000 MR-J4-350_(-RJ) 460
r/min series MR-J4-200_(-RJ) 320
HG-JR203
MR-J4-350_(-RJ) 460
MR-J4-350_(-RJ) 307
HG-JR353
MR-J4-500_(-RJ) 464
MR-J4-500_(-RJ) 342
HG-JR503
MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430
HG-JR703 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 341
HG-JR903 MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 352
App. - 50
APPENDIX
(2) 400 V class

HG-SR524 MR-J4-60_4(-RJ) 313
HG-SR1024 MR-J4-100_4(-RJ) 322
HG-SR1524 MR-J4-200_4(-RJ) 330
HG-SR 2000
HG-SR2024 MR-J4-200_4(-RJ) 327
r/min series
HG-SR3524 MR-J4-350_4(-RJ) 336
HG-SR5024 MR-J4-500_4(-RJ) 336
HG-SR7024 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 346
HG-JR6014 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 337
HG-JR8014 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 336
HG-JR12K14 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 346
HG-JR 1000 HG-JR15K14 MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) 335
r/min series HG-JR20K14 MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 341
HG-JR25K14 MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 337
HG-JR30K14 MR-J4-DU30K_4(-RJ) 330
HG-JR37K14 MR-J4-DU37K_4(-RJ) 330
HG-JR701M4 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 329
HG-JR11K1M4 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 338
HG-JR15K1M4 MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) 338
HG-JR 1500 HG-JR22K1M4 MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 342
r/min series HG-JR30K1M4 MR-J4-DU30K_4(-RJ) 335
HG-JR37K1M4 MR-J4-DU37K_4(-RJ) 323
MR-J4-60_4(-RJ) 320
HG-JR534
MR-J4-100_4(-RJ) 460
MR-J4-100_4(-RJ) 320
HG-JR734
MR-J4-200_4(-RJ) 459
MR-J4-100_4(-RJ) 320
HG-JR1034
MR-J4-200_4(-RJ) 459
MR-J4-200_4(-RJ) 320
HG-JR1534
HG-JR 3000 MR-J4-350_4(-RJ) 459
r/min series MR-J4-200_4(-RJ) 320
HG-JR2034
MR-J4-350_4(-RJ) 459
MR-J4-350_4(-RJ) 320
HG-JR3534
MR-J4-500_4(-RJ) 470
MR-J4-500_4(-RJ) 320
HG-JR5034
MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 413
HG-JR7034 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 337
HG-JR9034 MR-J4-11K_4(-RJ)/MR-J4-DU900_4(-RJ) 336
(3) 24 V/48 V class

HG-AK0136 MR-J4-03A6/MR-J4W2-0303B6 380
HG-AK series HG-AK0236 MR-J4-03A6/MR-J4W2-0303B6 380
HG-AK0336 MR-J4-03A6/MR-J4W2-0303B6 363
App. - 51
APPENDIX
App. 7.4.2 Servo motor with functional safety
(1) 200 V/100 V class

HG-KR053W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 370
HG-KR series HG-KR23W0C MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 387
HG-KR73W0C MR-J4-70_(-RJ) 367
HG-SR51W0C MR-J4-60_(-RJ) 311
HG-SR81W0C MR-J4-100_(-RJ) 329
HG-SR
HG-SR121W0C MR-J4-200_(-RJ) 353
1000 r/min
HG-SR201W0C MR-J4-200_(-RJ) 334
series
HG-SR301W0C MR-J4-350_(-RJ) 366
HG-SR421W0C MR-J4-500_(-RJ) 347
HG-SR52W0C MR-J4-60_(-RJ) 302
HG-SR102W0C MR-J4-100_(-RJ) 310
HG-SR HG-SR152W0C MR-J4-200_(-RJ) 320
2000 r/min HG-SR202W0C MR-J4-200_(-RJ) 327
series HG-SR352W0C MR-J4-350_(-RJ) 332
HG-SR502W0C MR-J4-500_(-RJ) 341
HG-SR702W0C MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 336
HG-JR701MW0C MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 326
HG-JR
HG-JR11K1MW0C MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 335
1500 r/min
series
MR-J4-60_(-RJ) 341
HG-JR53W0C
MR-J4-100_(-RJ) 460
MR-J4-70_(-RJ) 331
HG-JR73W0C
MR-J4-200_(-RJ) 460
MR-J4-100_(-RJ) 341
HG-JR103W0C
MR-J4-200_(-RJ) 460
MR-J4-200_(-RJ) 320
HG-JR HG-JR153W0C
MR-J4-350_(-RJ) 460
3000 r/min
MR-J4-200_(-RJ) 320
series HG-JR203W0C
MR-J4-350_(-RJ) 460
MR-J4-350_(-RJ) 307
HG-JR353W0C
MR-J4-500_(-RJ) 464
MR-J4-500_(-RJ) 342
HG-JR503W0C
MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430
HG-JR703W0C MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 341
HG-JR903W0C MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 352
App. - 52
APPENDIX
(2) 400 V class

HG-SR524W0C MR-J4-60_4(-RJ) 313
HG-SR1024W0C MR-J4-100_4(-RJ) 322
HG-SR HG-SR1524W0C MR-J4-200_4(-RJ) 330
2000 r/min HG-SR2024W0C MR-J4-200_4(-RJ) 327
series HG-SR3524W0C MR-J4-350_4(-RJ) 336
HG-SR5024W0C MR-J4-500_4(-RJ) 336
HG-SR7024W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 346
HG-JR701M4W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 329
HG-JR
HG-JR11K1M4W0C MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 338
1500 r/min
series
MR-J4-60_4(-RJ) 320
HG-JR534W0C
MR-J4-100_4(-RJ) 460
MR-J4-100_4(-RJ) 320
HG-JR734W0C
MR-J4-200_4(-RJ) 459
MR-J4-100_4(-RJ) 320
HG-JR1034W0C
MR-J4-200_4(-RJ) 459
MR-J4-200_4(-RJ) 320
HG-JR HG-JR1534W0C
MR-J4-350_4(-RJ) 459
3000 r/min
MR-J4-200_4(-RJ) 320
series HG-JR2034W0C
MR-J4-350_4(-RJ) 459
MR-J4-350_4(-RJ) 320
HG-JR3534W0C
MR-J4-500_4(-RJ) 470
MR-J4-500_4(-RJ) 320
HG-JR5034W0C
MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 413
HG-JR7034W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 337
HG-JR9034W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 336
App. - 53
APPENDIX
App. 7.4.3 Linear servo motor (primary side)
(1) 200 V/100 V class

Linear servo motor (primary side) Servo amplifier/drive unit
LM-H3P2A-07P-BSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 390
LM-H3P3A-12P-CSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 340
LM-H3P3B-24P-CSS0 MR-J4-70_(-RJ) 320
LM-H3P3C-36P-CSS0 MR-J4-70_(-RJ) 350
LM-H3 series LM-H3P3D-48P-CSS0 MR-J4-200_(-RJ) 335
LM-H3P7A-24P-ASS0 MR-J4-70_(-RJ) 315
LM-H3P7B-48P-ASS0 MR-J4-200_(-RJ) 297
LM-H3P7C-72P-ASS0 MR-J4-200_(-RJ) 320
LM-H3P7D-96P-ASS0 MR-J4-350_(-RJ) 320
(Natural cooling) MR-J4-200_(-RJ) 756
LM-FP2B-06M-1SS0
(Liquid cooling) MR-J4-200_(-RJ) 355
LM-FP2D-12M-1SS0
(Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 800
LM-FP2F-18M-1SS0
(Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 409
LM-F series LM-FP4B-12M-1SS0
(Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 778
LM-FP4D-24M-1SS0
(Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 384
(Natural cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 709
LM-FP4F-36M-1SS0
(Liquid cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 356
LM-FP4H-48M-1SS0
LM-K2P1A-01M-2SS1 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 400
LM-K2P1C-03M-2SS1 MR-J4-200_(-RJ) 375
LM-K2P2A-02M-1SS1 MR-J4-70_(-RJ) 366
LM-K2 series LM-K2P2C-07M-1SS1 MR-J4-350_(-RJ) 380
LM-K2P2E-12M-1SS1 MR-J4-500_(-RJ) 405
LM-K2P3C-14M-1SS1 MR-J4-350_(-RJ) 354
LM-K2P3E-24M-1SS1 MR-J4-500_(-RJ) 359
LM-U2PAB-05M-0SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 315
LM-U2PAD-10M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 318
LM-U2PAF-15M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 334
LM-U2PBB-07M-1SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 325
LM-U2 series LM-U2PBD-15M-1SS0 MR-J4-60_(-RJ) 320
LM-U2PBF-22M-1SS0 MR-J4-70_(-RJ) 322
LM-U2P2B-40M-2SS0 MR-J4-200_(-RJ) 424
LM-U2P2C-60M-2SS0 MR-J4-350_(-RJ) 434
LM-U2P2D-80M-2SS0 MR-J4-500_(-RJ) 432
(2) 400 V class

Linear servo motor (primary side) Servo amplifier/drive unit
LM-F series LM-FP5H-60M-1SS0
App. - 54
APPENDIX
App. 7.4.4 Direct drive motor
(1) 200 V/100 V class

Direct drive motor Servo amplifier/drive unit
TM-RFM002C20 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 320
TM-RFM004C20 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 321
TM-RFM006C20 MR-J4-60_(-RJ) 320
TM-RFM006E20 MR-J4-60_(-RJ) 333
TM-RFM012E20 MR-J4-70_(-RJ) 321
TM-RFM TM-RFM018E20 MR-J4-100_(-RJ) 321
series TM-RFM012G20 MR-J4-70_(-RJ) 300
TM-RFM048G20 MR-J4-350_(-RJ) 321
TM-RFM072G20 MR-J4-350_(-RJ) 321
TM-RFM040J10 MR-J4-70_(-RJ) 323
TM-RFM120J10 MR-J4-350_(-RJ) 321
TM-RFM240J10 MR-J4-500_(-RJ) 321
TM-RG2M002C30 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 433
TM-RG2M MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/
TM-RG2M004E30 324
series MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)
TM-RG2M009G30 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 324
TM-RU2M002C30 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 433
TM-RU2M MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/
TM-RU2M004E30 324
series MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)
TM-RU2M009G30 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 324
App. - 55
APPENDIX
App. 8 Two-wire type encoder cable for HG-MR/HG-KR
Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_A_ servo amplifiers.
For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.
Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MR-
ECNM connector set. Use the internal wiring diagram in the section to fabricate a cable up to 50 m.
App. 8.1 Configuration diagram

Fabricate a two-wire type
encoder cable.
CN2 MOTOR HG-KR
CN2 HG-MR
For driving
SCALE
Servo motor
HG-KR
HG-MR
For load-side encoder
App. 8.2 Connector set

Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector
MR-ECNM Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9
Shell kit: 36310-3200-008 (Molex) Connector pin: 170359-1
(3M) (TE Connectivity or equivalent)
Cable clamp: MTI-0002
2 6 10 (Toa Electric Industrial)
LG 4 8 2 4 6 8 10
MRR
LG MRR
1 2 3
1 5 9 or
P5 3 7 BAT
1 3 5 7 9 MR MRR BAT
P5 MR BAT 4 5 6
MR
CONT
View seen from wiring side. (Note) View seen from wiring side. (Note) 7 8 9
P5 LG SHD
Note. Do not connect anything to the pins shown as. Especially, pin 10
View seen from wiring side.
is provided for manufacturer adjustment. If it is connected with any
other pin, the servo amplifier cannot operate normally.
App. - 56
APPENDIX
App. 8.3 Internal wiring diagram

Servo amplifier-side Servo motor-side
connector connector
P5 1 7 P5
LG 2 8 LG
MR 3 1 MR
MRR 4 2 MRR
BAT 9 3 BAT
SD Plate 9 SHD
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is
not necessary for use in an incremental system.
App. 9 How to replace servo amplifier without magnetic pole detection
Be sure to write the magnetic pole information of the servo amplifier before the
CAUTION replacement to the servo amplifier after the replacement. If the information before
and after replacement are different, the servo motor may operate unexpectedly.
When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole
detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier
before the replacement to the one after the replacement using MR Configurator2.
(1) Procedures
(a) Read the magnetic pole information of the servo amplifier before the replacement.
(b) Write the read magnetic pole information to the servo amplifier after the replacement.
(c) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no
trouble.
(2) Migration method of the magnetic pole information

(a) How to read the magnetic pole information from the servo amplifier before the replacement
1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for
operation mode.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"
and then "Linear diagnosis".
App. - 57
APPENDIX
3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.
4) Click "Read All" of the magnetic pole information window. ( 2) in figure)
5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take
notes.
(b) How to write the magnetic pole information to the servo amplifier after the replacement
1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for
operation mode.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"
and then "Linear diagnosis".
3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.
4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in
figure) of the magnetic pole information window.
5) Click "Write All" ( 4) in figure) of the magnetic pole information window.
6) Cycle the power of the servo amplifier.

2) 3) 4) 1)
App. - 58
APPENDIX
App. 10 Special specification
App. 10.1 Amplifiers without dynamic brake
App. 10.1.1 Summary
This section explains servo amplifiers without a dynamic brake. The things not explained in this section will
be the same as MR-J4-_A_(-RJ).
App. 10.1.2 Model
available.
MR - J 4 - 6 0A 4 - ED
Special specifications
Series
Symbol Special specifications
ED MR-J4_-A_ without a dynamic brake
RU MR-J4-_A_-RJ without a dynamic brake
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
Rated output
Symbol Rated output [kW]
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed.

Take safety measures such as making another circuit for an emergency stop, alarm occurrence, and power
shut-off.
The following servo motors may function an electronic dynamic brake at an alarm occurrence.
Series Servo motor
Setting the following parameter disables the electronic dynamic brake.

Servo amplifier Parameter Setting value
MR-J4-_A_-ED
[Pr. PF06] ___2
MR-J4-_A_-RU
When [Pr. PA04] is "2 _ _ _" (default), the motor can be a state of forced stop deceleration at an alarm
occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration function.
App. - 59
APPENDIX
App. 10.2 Without regenerative resistor
App. 10.2.1 Summary
This section explains servo amplifiers without a regenerative resistor. The things not explained in this section
will be the same as MR-J4-_A_(-RJ).
App. 10.2.2 Model
available.
MR - J 4 - 1 1 K A 4 - PX
Series
PX MR-J4-_A_-RJ without regenerative resistor
RZ MR-J4-_A_-RJ without regenerative resistor
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
Rated output
Symbol Rated output [kW]
11K 11
15K 15
22K 22
Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard
accessory. When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR-
RB5K-4, or MR-RB6K-4 regenerative option.
App. - 60
APPENDIX
App. 10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2)
App. 10.3.1 Summary
This section explains servo amplifiers with a special coating specification. Items not given in this section will
be the same as MR-J4-_A_(-RJ).
App. 10.3.2 Model
available.
MR - J 4 - 6 0 A 4 - EB
Series
Rated output EB MR-J4-_A_ with a special coating specification (3C2)
Symbol Rated output [kW] KS MR-J4-_A_-RJ with a special coating specification (3C2)
03 0.03
10 0.1 Power supply
20 0.2 Symbol Power supply
40 0.4 None 3-phase 200 V AC to 240 V AC
60 0.6 1 1-phase 100 V AC to 120 V AC
70 0.75 4 3-phase 380 V AC to 480 V AC
100 1 6 48 V DC/24 V DC
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22
App. - 61
APPENDIX
(a) Special coating

Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with
time, resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special
coating specification, a urethane coating agent is applied to some parts capable of being coated
technically (except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive
gases. Use a servo amplifier with a special coating specification specifically for applications
susceptible to corrosive gases, including tire manufacturing and water treatment. Although the
special coating-specification products have the improved resistance to corrosive gases, proper
operations in environments mentioned above are not guaranteed. Therefore, perform periodic
inspections for any abnormality.
(b) Standard for corrosive gases

In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine,
hydrogen chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the
environmental parameter column of the table below.
The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.
3C2
Environmental parameter Unit
Mean value Maximum value
a) Sea salt None Salt mist
b) Sulfur dioxide cm3/m3 0.11 0.37
c) Hydrogen sulfide cm3/m3 0.071 0.36
d) Chlorine cm3/m3 0.034 0.1
e) Hydrogen chloride cm3/m3 0.066 0.33
f) Hydrogen fluoride cm3/m3 0.012 0.036
g) Ammonia cm3/m3 1.4 4.2
h) Ozone cm3/m3 0.025 0.05
i) Nitrogen oxides cm3/m3 0.26 0.52
The special coating-specification products have the improved corrosion resistance in environments
with corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical
models and confirmed that their corrosive gas resistance was improved, compared with the standard
models.
App. - 62
APPENDIX
App. 11 Driving on/off of main circuit power supply with DC power supply
App. 11.1 Connection example
The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in
this section, refer to section 3.1.1 to 3.1.3.
Malfunction OFF MC
RA1 ON
MC
SK
24 V DC (Note 7, 8) Servo amplifier

MCCB MC (Note 3)
L1
Power supply
(Note 1) L2
L3
(Note 4)
Main circuit
power supply CN1
Servo-on SON DOCOM
ALM (Note 2)
DICOM RA1 Malfunction
24 V DC (Note 6)
CN8
(Note 5)

amplifier.
7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.
8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply
designed exclusively for the magnetic contactor.
App. - 63
APPENDIX
App. 11.2 Magnetic contactor
Use a magnetic contactor with an operation delay time (interval between current being applied to the coil
until closure of contacts) of 80 ms or less.
Magnetic Magnetic
contactor contactor
MR-J4-10A(-RJ) MR-J4-60A4(-RJ)
MR-J4-20A(-RJ) MR-J4-100A4(-RJ) SD-N11
MR-J4-40A(-RJ) MR-J4-200A4(-RJ)
SD-N11
MR-J4-60A(-RJ) MR-J4-350A4(-RJ)
MR-J4-70A(-RJ) MR-J4-500A4(-RJ) SD-N21
MR-J4-100A(-RJ) MR-J4-700A4(-RJ)
MR-J4-200A(-RJ) MR-J4-11KA4(-RJ) SD-N25
SD-N21
MR-J4-350A(-RJ) MR-J4-15KA4(-RJ) SD-N35
MR-J4-500A(-RJ) SD-N35 MR-J4-22KA4(-RJ) SD-N50
MR-J4-700A(-RJ) MR-J4-10A1(-RJ)
SD-N50
MR-J4-11KA(-RJ) MR-J4-20A1(-RJ) SD-N11
MR-J4-15KA(-RJ) SD-N65 MR-J4-40A1(-RJ)
MR-J4-22KA(-RJ) SD-N95
App. - 64
APPENDIX
App. 12 STO function with SIL 3 certification
The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the
IEC 61508:2010 functional safety standard.
App. 12.1 Target models
MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6)
App. 12.2 Change of the compliance
The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).
Table app. 3 Compliance with SIL 3

Before change After change
Safety performance EN ISO 13849-1 Category 3 PL d, EN ISO 13849-1 Category 3 PL e,
(Standards certified by CB) IEC 61508 SIL 2, IEC 61508 SIL 3,
EN 62061 SIL CL 2, EN 62061 SIL CL 3,
EN 61800-5-2 STO function EN 61800-5-2 STO function
App. 12.3 Schedule
For the products manufactured in Japan, this change has been made sequentially from the June 2015
production.
For the products manufactured and sold in China, this change has been made sequentially from the
December 2015 production.
There may be cases where both the former and new products exist in the distribution stage.
App. 12.4 Use with SIL 3
Set the safety level with [Pr. PF18 STO diagnosis error detection time].
To use the servo amplifier with SIL 3, set [Pr. PF18 STO diagnosis error detection time] within the range of 1
to 60, connect the TOFB output (CN8) of the servo amplifier to the input of a SIL 3-certified controller and
execute the diagnosis. SIL 3 functional safety of the servo amplifiers is certified by TÜV SÜD.
App. 12.5 Use with SIL 2 (as conventional)
The servo amplifiers are still capable of SIL 2 as before regardless of whether the STO diagnosis function is
enabled or not.
Either of the conventionally-used TÜV Rheinland certification or the new TÜV SÜD certification may be
used.
App. - 65
APPENDIX
App. 12.6 How to check the country of origin, and the year and month of manufacture
The country of origin, and the year and month of manufacture are indicated on the packaging box (Fig. app.
2) and the rating plate (Fig. app. 3).
Manufacture month
and year
Country of origin
Fig. app. 2 Indication example on the packaging box

AC SERVO
SER.A45001001 Serial number
MODEL MR-J4-10B Model
POWER :100W Capacity
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable power supply
STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175 Conforming standard, manual number
IP20 IP rating
KCC-REI-MEK-TC300A624G51 DATE:2014-05
Manufacture month and year
Country of origin
Fig. app. 3 Indication example on the rating plate
App. - 66
APPENDIX
App. 13 When using the servo amplifier with the DC power supply input
POINT
The DC power supply input is available with MR-J4-_A-RJ servo amplifiers with
software version C2 or later.
set [Pr. PC27] to "_ _ _ 1".
App. 13.1 Connection example
CAUTION Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3.
(1) MR-J4-10A-RJ to MR-J4-100A-RJ

Malfunction OFF MC
RA1 ON
MC
SK
(Note 1) 24 V DC (Note 7, 8) Servo amplifier

MCCB + MC (Note 3)
AC/DC L1
3-phase or 1-phase Converter L2
200 V AC to 240 V AC (283 V DC to
340 V DC) -
L3
(Note 9)
L11
L21
(Note 4)
(Note 2)
Servo-on SON DOCOM
ALM (Note 2)
24 V DC (Note 6)
CN8
(Note 5)
(packed with the servo
amplifier)

required, delay the time to turn off the magnetic contactor.
amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1 and L3, use a fuse. (Refer to app. 13.4.)
App. - 67
APPENDIX
(2) MR-J4-200A-RJ to MR-J4-22KA-RJ

Malfunction MC
RA1 OFF
ON
MC
SK
(Note 1) 24 V DC (Note 7, 8) Servo amplifier

MCCB + MC (Note 3)
AC/DC L1
3-phase or 1-phase Converter L2
200 V AC to 240 V AC (283 V DC to
340 V DC) -
L3
N-
(Note 9)
L11
L21
(Note 4)
(Note 2)
Servo-on SON DOCOM
ALM (Note 2)
24 V DC (Note 6)
CN8
(Note 5)
(packed with the servo
amplifier)

contacts) of 80 ms or less (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus
voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic
brake deceleration is not required, delay the time to turn off the magnetic contactor.
amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1/L2/L3, and N-, use a fuse. (Refer to app. 13.4.)
App. 13.2 Power supply capacity
The power supply capacity is the same as that for the AC power supply input. Refer to section 10.2 for
details.
App. - 68
APPENDIX
App. 13.3 Selection example of wires
POINT
Wiring length: 30 m or shorter
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
(1) Example of selecting the wire sizes

Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following
shows the wire size selection example.
Wire [mm2] (Note 1)
Servo amplifier
L1/L2/L3/N-/ L11/L21
MR-J4-10A-RJ
MR-J4-20A-RJ
MR-J4-40A-RJ
2 (AWG 14)
MR-J4-60A-RJ 1.25 to 2
MR-J4-70A-RJ (AWG 16 to 14)
MR-J4-100A-RJ
MR-J4-200A-RJ
3.5 (AWG 12)
MR-J4-350A-RJ
MR-J4-500A-RJ (Note 2) 5.5 (AWG 10): a 1.25 (AWG 16): a
MR-J4-700A-RJ (Note 2) 8 (AWG 8): b 2 (AWG 14): d
MR-J4-11KA-RJ (Note 2) 14 (AWG 6): e

1.25 (AWG 16): c
MR-J4-15KA-RJ (Note 2) 22 (AWG 4): f
2 (AWG 14): c
MR-J4-22KA-RJ (Note 2) 38 (AWG 2): g
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable
tools, refer to (2) in this section.
2. To connect these models to a terminal block, be sure to use the screws that
come with the terminal block.
(2) Selection example of crimp terminals

Servo amplifier-side crimp terminal
Symbol (Note 2) Applicable tool
Manufacturer
Crimp terminal Body Head Dice
c FVD2-4
YNT-1614
d FVD2-M3
DH-122
e FVD14-6 YF-1 YNE-38 JST
DH-112
DH-123
f FVD22-6 YF-1 YNE-38
DH-113
DH-124
g FVD38-8 YF-1 YNE-38
DH-114

2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the
App. - 69
APPENDIX
App. 13.4 Molded-case circuit breakers, fuses, magnetic contactors
(1) For main circuit power supply
To prevent the servo amplifier from smoke and a fire, select a molded-case circuit
breaker which shuts off with high speed.
CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications
given in this section.
Molded-case circuit breaker (Note 1) Fuse
Frame, rated current Magnetic
Servo amplifier Power factor Power factor Voltage AC Voltage DC contactor
Class Current [A]
improving reactor is improving reactor is [V] [V] (Note 2)
not used used
MR-J4-10A-RJ 30 A frame 5 A 30 A frame 5 A
10
MR-J4-40A-RJ 30 A frame 10 A 30 A frame 5 A 15
MR-J4-100A-RJ
(3-phase power 30 A frame 15 A 30 A frame 10 A DUD-N30
20
supply input)
MR-J4-100A-RJ
240 T 400
(1-phase power 30 A frame 15 A 30 A frame 15 A
supply input)
DUD-N60
MR-J4-11KA-RJ 100 A frame 100 A 100 A frame 100 A 125
DUD-N120
MR-J4-15KA-RJ 125 A frame 125 A 125 A frame 125 A 175
MR-J4-22KA-RJ 225 A frame 175 A 225 A frame 175 A 300 DUD-N180
Note 1. Use a molded-case circuit breaker which has the same or higher operation characteristics than our lineup.
contacts) of 80 ms or less.
App. - 70
APPENDIX
(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3/N-), install an overcurrent protection device (fuse, etc.) to protect the branch
circuit.
Fuse (Class T) Fuse (Class K5)
Servo amplifier
Current [A] Voltage DC [V] Current [A] Voltage DC [V]
MR-J4-10A-RJ
MR-J4-20A-RJ
MR-J4-40A-RJ
MR-J4-60A-RJ
MR-J4-70A-RJ
MR-J4-100A-RJ
MR-J4-200A-RJ 1 400 1 400
MR-J4-350A-RJ
MR-J4-500A-RJ
MR-J4-700A-RJ
MR-J4-11KA-RJ
MR-J4-15KA-RJ
MR-J4-22KA-RJ
App. - 71
APPENDIX
App. 14 Status of general-purpose AC servo products for compliance with the China RoHS
directive
(1) Summary
The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling
Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS
directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法
(Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and
Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016.
The China RoHS directive restricts the use of six hazardous substances (lead, mercury, cadmium,
hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE))
and other hazardous substances specified by the State (currently no applicable substances). The EU
RoHS directive (2011/65/EU) also restricts the use of the above six hazardous substances.
(2) Status of our products for compliance with the China RoHS directive
The following tables show the content of six hazardous substances in our products and Environment-
Friendly Use Period marks. Table app. 4 is created based on the standard SJ/T11364.
Table app. 4 Names and the content of hazardous substances in the products
Substance name Hazardous substance (Note 1)
Threshold standard Hexavalent Environment-
Lead Mercury Cadmium
chromium PBB PBDE Friendly Use
(Pb) (Hg) (Cd) Remark
(Cr(VI)) Period mark
Threshold of cadmium: 0.01 wt% (100 ppm), (Note 2)
Part name Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)
Servo amplifier Mounting board
Servo system Heat sink
controller Resin cabinet
Plate and screw
Servo motor Bracket
Mounting board
Resin cabinet
Core and cable
Cable product Cable Including
Connector connector set
Optional unit Mounting board
Resin cabinet
Plate and screw
Note 1. : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit
requirement of GB/T26572.
: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the
limit requirement of GB/T26572.
2. Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product"
[SJ/T11364-2014]
Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.
Observe safety and usage precautions for the product, and use it within a limited number of years from the
production date. Thereby, any of the hazardous substances in the product does not cause environmental
pollution, or seriously affect human health or property.
Indicates that no certain hazardous substance is contained in the product.
App. - 72
APPENDIX
(3) Difference between the China RoHS directive and the EU RoHS directive
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a
product complies with the EU RoHS directive, a hazardous substance in the product may be considered
to be above the limit requirement (marked " ") in the China RoHS directive.
The following shows some restriction exemptions and their examples according to the EU RoHS
directive.
Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to
0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight,
and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts
Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or
more lead)
Electrical and electronic components containing lead in a glass or ceramic other than dielectric
ceramic in capacitors, e.g. piezoelectronic devices
Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip
resistors
(4) Status of our products for compliance with the China RoHS directive (Chinese)
The following shows Table app. 5 in Chinese according to "Management Methods for the Restriction of
the Use of Hazardous Substances in Electrical and Electronic Products".
表附.5 产品中所含有害物质的名称及含量
物质名称有害物质 (注1)
阈值铅汞镉六价铬环境保护
PBB PBDE
基准 (Pb) (Hg) (Cd) (Cr(VI)) 使用期限标识备注
阈值：镉：0.01wt%(100ppm)、 (注2)
部件名称镉以外：0.1wt%(1000ppm)、
伺服放大器电路板组件
伺服系统散热片
控制器树脂壳体
金属板、螺丝
伺服电机托架
电路板组件
树脂壳体
铁心、电线
电缆电线包括连接器组
加工品连接器件
选件电路板组件
模块树脂壳体
金属板、螺丝
注 1. : 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。
: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。
2. 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示
该标志表示在中国制造/销售的产品中含有特定有害物质。
只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财
产产生深刻的影响。
该标志表示制造的产品中不含有特定有害物质。
App. - 73
APPENDIX
App. 15 Encoder output pulse setting method
For details of "Encoder output pulse setting selection" in [Pr. PC19], refer to the following table.
Setting value Servo motor/direct drive motor Linear servo motor

__0_ Set the output pulses per revolution with [Pr. PA15 Set the dividing ratio to the travel distance of the linear
(Output pulse Encoder output pulses]. servo motor with [Pr. PA15 Encoder output pulses].
setting)
Output pulse = a value set in [Pr. PA15] [pulse/rev] Travel distance of linear servo motor
Output pulse =
[Pr. PA15] setting
Selecting "Load side encoder (_ 1 _ _)" of "Encoder [pulse]
selection for encoder output pulse" in [Pr. PC19] triggers
[AL. 37 Parameter error].
_ _1 _ Set the dividing ratio to the resolution per servo motor
(Dividing ratio revolution with [Pr. PA15 Encoder output pulses].
setting)
Resolution per revolution
Output pulse = [pulse/rev]
[Pr. PA15] setting
__2_ Feedback pulses from the encoder are processed as follows to be outputted. Feedback pulses are outputted in the
(The same same pulse unit as the command pulse.
output pulse
Feedback pulse
setting as the
command Encoder
pulse)
[Pr. PA06]/[Pr. PA07]
CDV
Output pulse
CMX
__3_ Set the A-phase/B-phase pulse electronic gear with [Pr. Set the A-phase/B-phase pulse electronic gear with [Pr.
(A-phase/B- PA15 Encoder output pulses] and [Pr. PA16 Encoder PA15 Encoder output pulses] and [Pr. PA16 Encoder
phase pulse output pulses 2]. output pulses 2].
electronic
gear setting) Output pulse = the servo motor resolution per revolution × Output pulse = Travel direction of linear servo motor ×
[Pr. PA15] setting [Pr. PA15] setting
[pulse/rev] [pulse]
[Pr. PA16] setting [Pr. PA16] setting
__4_ [AL. 37 Parameter error] occurs. A/B-phase pulse of A/B/Z-phase differential output
(A/B-phase encoder is outputted. This is enabled only when A/B/Z-
pulse through phase differential output encoder is used.
output
setting) Output pulse = A/B-phase pulse of A/B/Z-phase
differential output encoder [pulse]
The value set for "Encoder output pulse phase selection"

in [Pr. PC19] is not applied.
When another encoder is connected, [AL. 37 Parameter
error] occurs. Selecting "Standard control mode (_ _ 0 _)"
of "Operation mode" in [Pr. PA01] triggers [AL. 37
Parameter error].
The values set for [Pr. PA15 Encoder output pulses] and
[Pr. PA16 Encoder output pulses 2] are not applied.
App. - 74
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision Date *Manual Number Revision
Mar. 2012 SH(NA)030107ENG-A First edition
Jun. 2012 SH(NA)030107ENG-B 4. Additional instructions (2) The sentences are added.
Wiring
4. Additional instructions (3) The sentences are added.
Test run and adjustment
COMPLIANCE WITH CE The reference is changed.
MARKING
COMPLIANCE WITH The reference is changed.
UL/CSA STANDARD
COMPLIANCE WITH KC Added.
MARK
Section 1.2 (1) The diagram is changed.
Section 1.3 The table and Note are changed.
Section 1.5 The item of detailed explanation is changed.
Section 1.8 Note is changed.
Chapter 2 CAUTION is changed.
Section 2.4 POINT is changed to CAUTION.
Section 2.5 The explanation of relay lifetime is changed.
Chapter 3 The sentences are added to CAUTION.
Section 3.1 The sentences are added to CAUTION.
The sentences are changed.
Section 3.1 (1) Note 10 is added.
Section 3.2.1 (1) Note 9, 12, 13, 14, and 15 are changed and added.
Section 3.2.1 (2) The diagram is added.
Section 3.2.2 (1) Note 9, 12, 13, and 14 are changed and added.
Section 3.2.2 (2) Added.
Section 3.2.3 (1) Note 7, 10, 11, and 12 are changed and added.
Section 3.3.1 The sentences of N- are changed.
Section 3.3.3 (2) (a) The ferrule is added.
Section 3.5 (2) The sentences are added to TLA, TC, VC, VLA, PP, NP, PG,
and NG.
Section 3.5 (4) "Available in the future" is deleted.
Section 3.9.1 The part of diagram is changed.
Section 3.9.2 (1) The sentences are changed.
Section 3.9.2 (2) The sentences are added.
Section 4.1.2 (1) (b) 4) Added.
Section 4.2.2 Note is added.
Section 4.4.2 "EM2 (Forced stop 2) off" in the table is changed. Note is
added.
Section 4.5.6 POINT is deleted.
Section 4.5.9 (4) (a) is deleted
Section 5.1.1 PA25 is changed from "For manufacturer setting".
Section 5.1.3 PC21 is changed from "For manufacturer setting".
Section 5.1.6 PF09 and PF15 are changed from "For manufacturer setting".
Section 5.2.1 The setting value is added to PA03, the diagram of PA06 is
changed, and PA25 is added.
Jun. 2012 SH(NA)030107ENG-B Section 5.2.3 The sentences are added to PC12 and PC13, PC21 is added,
and the sentences are added to the initial value in PC37.
Section 5.2.6 PF09 and PF15 are added.
Section 7.3.1 The sentences are added to POINT.
Chapter 8 The sentences of the electronic dynamic brake are added.
The serial communication is added to [AL. 8A] and [AL. 8E].
The name of [AL. E1] is changed.
Section 10.3 POINT is added.
Section 10.3.2 The table is changed.
Section 11.3 The sentences are changed.
Section 11.5 (4) The connection destination of the servo amplifier is changed.
Section 11.7 (1) CAUTION is changed.
Section 11.7 (2) Note is added.
Section 12.3 The sentences are added to POINT.
Section 12.8.4 The sentences are changed.
Section 13.1.5 The value in table is changed.
Section 13.3.2 (1) The diagram is changed.
Section 13.3.3 The part of diagram is changed.
Section 13.4.1 (2) (a) Note is changed.
Chapter 14 Added.
Appendix. 4 The sentences are changed.
Appendix. 7.7.3 (1) POINT and diagram are changed.
Appendix. 7.7.3 (2) The diagram is changed.
Appendix. 7.7.3 (3) Deleted.
Appendix. 7.7.3 (4) Deleted.
Appendix. 7.8.1 (1) The pin number is changed and Note is deleted.
Appendix. 7.8.1 (2) CAUTION is deleted.
Appendix. 7.8.2 The sentences are changed.
Appendix. 7.12 The diagram is added.
Appendix. 7.14 POINT is changed.
Appendix. 8 TUV certificate of MR-J4 series is added.
Jul. 2012 SH(NA)030107ENG-C Section 3.2.1 (2) The part of diagram is changed.
Section 3.2.2 (2) The part of diagram is changed.
Section 3.2.3 (2) The part of diagram is changed.
Sep. 2012 SH(NA)030107ENG-D Section 3.2.1 The diagram is changed.
Section 3.2.2 The diagram is changed.
Section 3.10.2 (1) (b) The diagram is changed.
Feb. 2013 SH(NA)030107ENG-E HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ
servo amplifier are added.
Safety 4 (1) Two items are added to CAUTION.
Safety Instructions 4 (2) The diagram in CAUTION is changed.
COMPLIANCE WITH CE The reference is changed.
MARKING
Feb. 2013 SH(NA)030107ENG-E COMPLIANCE WITH The reference is changed.
UL/CSA STANDARD
COMPLIANCE WITH KC The reference is changed.
MARK
Section 1.1 The sentences and table of combination are added.
Section 1.2 (1) CN2L connector, Note 5 and 6 are added.
Section 1.2 (2) CN2L connector, Note 3 and 4 are added.
Section 1.2 (3) 11 kW to 22 kW and Note 5 are added.
Section 1.3 Note 3 is changed. Note 10 and 11 kW to 22 kW are added. A
part of specifications is added and changed.
Section 1.4 POINT is added. The table of combination is changed.
Section 1.5 Function item is added.
Section 1.6 (2) Table is changed and added.
Section 1.7.1 (1) Table item (17), (18), and Note are added. The diagram is
changed.
Section 1.7.1 (1) to (4) The diagram is changed.
Section 1.7.1 (5), (6) 11 kW to 22 kW are added.
Section 1.7.2 The sentences are added.
Section 1.8 (1) to (4) CN2L connector and Note 4 are added.
Section 1.8 (5), (4) 11 kW to 22 kW are added.
Chapter 2 Two items are added to CAUTION.
Section 2.1 (1) (a), (b) Note 1 and 2 are added.
Section 2.4 (1) to (6) Note 5 is added.
Chapter 3 The diagram of CAUTION is changed. POINT is added.
Section 3.1 CAUTION is added.
Section 3.1 (1) to (4) The connection diagram is changed. Note 11 is added.
Section 3.1 (5) Newly added.
Section 3.2.1 (1) The connection diagram is changed. Note 3 and 4 are
changed.
Section 3.2.1 (2) The connection diagram is changed.
changed.
changed.
Section 3.3.2 POINT is added.
Section 3.3.2 (2) Note is added.
Section 3.4 Note 1, 2, and CN2L are added.
Section 3.5 (1) (a) The content is added. The sentences are added.
Section 3.5 (1) (b) The item is added.
Section 3.6.3 (1), (3) The connection diagram is changed.
Section 3.6.4 (3) (a) The connection diagram is changed.
Section 3.6.5 (4) (a) The connection diagram is changed.
Section 3.7.3 The content is added.
Section 3.9.1 Note 4 and 5 are added. The connection diagram is changed.
Section 3.10.2 (1) (b) The content is changed.
Section 4.1.2 (1) (b) 5) Newly added.
Section 4.1.2 (1) (c) 4) is added.
Section 4.5.1 The explanation is added.
Section 4.5.2 The display content is added.
Section 4.5.3 (1) The display content is added.
Section 4.5.3 (3) The display content is added.
Section 4.5.6 The display content is added.
Section 4.5.9 (2) (b) The sentences are changed.
Section 4.5.9 (3) (a) d) The sentences are changed.
Chapter 5 CAUTION is added. POINT is added.
Feb. 2013 SH(NA)030107ENG-E Section 5.1.1 [Pr. PA17], [Pr. PA18], and [Pr. PA26] are added. [Pr. PA27]
is changed. The operation mode is added.
Section 5.1.3 [Pr. PC44] and [Pr. PC45] are added. The operation mode is
added.
Section 5.1.1 to 5.1.6 The operation mode is added.
Section 5.1.6 The name of [Pr. PF25] is changed.
Section 5.2.1 The content of [Pr. PA01] is added. The sentences of [Pr.
PA05] are added. [Pr. PA02], [Pr. PA13] and [Pr. PA19] are
changed. The name of [Pr. PA20] is changed.
Section 5.2.2 The sentences of [Pr. PB17] is changed.
Section 5.2.3 The setting of [Pr. PC19] is changed. The sentences of [Pr.
PC20] is changed. The explanation of [Pr. PC22] is changed.
The sentences of [Pr. PC35], [Pr. PC43], and [Pr. PC60] are
added. [Pr. PC36] and [Pr. PC27] are changed. [Pr. PC44]
and [Pr. PC45] are added. The contents of Note 3 and 4 are
added.
Section 5.2.4 The content of [Pr. PD01] is added. [Pr. PD03], Note 3, and
content are added. The content of [Pr. PD23] is added. The
content of [Pr. PD30] is changed.
Section 5.2.5 [Pr. PE01], [PR. PE03] to [Pr.PE08], [Pr. PE10], [Pr. PE34],
[Pr. PE35], and [Pr. PE39] are added.
Section 5.2.6 The name of [Pr. PF25] is changed.
Section 5.2.7 Newly added.
Section 6.2.2 The display of MR Configurator2 is changed.
Section 6.2.2 (1) (b) POINT is added.
Section 6.2.2 (1) (d) The table is changed.
Section 6.2.2 (1) (e) The sentences are added.
Section 6.2.2 (2) POINT is added.
Section 6.3.1 (1) The content of POINT is changed.
Section 7.1.5 (4) The content of POINT is changed.
Section 7.3.2 CAUTION is deleted.
Section 7.4 Newly added.
Chapter 8 The operation mode is added. [AL. 93] and [AL. 96.4] are
added.
Section 8.1 The name of [AL. F0.1] is changed.
Section 9.1 (1) to (7) The connection diagram is changed.
Section 9.1 (8), (9) Newly added.
Chapter 10 POINT is added.
Section 10.1 The table is added. The graph is changed and added. Note 3
is added.
Section 10.2 (1) Note 3 and content are added to the table. Partially changed.
Section 10.3.1 (1) The appended sentence is added.
Section 10.3.1 (2) The content is added.
Section 10.3.2 Note 2 and content are added to the table.
Section 10.5 The sentences are added. The content of the table is added.
Section 11.1.1 The diagram is changed and added.
Section 11.2.1 The content of the table is added. Note 2 is added.
Section 11.2.2 (1) (b) The content of the table is added.
Section 11.2.3 [Pr. PA02] is changed.
Section 11.2.4 (3), (4) Newly added.
Section 11.2.5 (5), (6) Newly added.
Aug. 2013 SH(NA)030107ENG-F Safety Instructions 4 (1) A sentence is changed. An item is deleted.
Section 1.1 Table 1.1 is changed.
Section 1.6 (1) The content is changed.
Section 1.7.1 The content of the table is changed. Note 2 is added.
Chapter 2 A sentence is changed. An item is deleted.
Section 3.1 (1) to (5) Note 1 is changed.
Section 3.4 Note 2 is changed.
Section 3.5 (2) The sentences are added to Function and application of
forward rotation pulse train/reverse rotation pulse train.
Aug. 2013 SH(NA)030107ENG-F Section 3.9.1 Note 6 is added.
Section 5.1.3 Analog torque/thrust limit maximum output of [Pr. PC13] is
deleted.
Section 5.2.1 The sentences are added to [Pr. PA13].
Section 5.2.3 Analog torque/thrust limit maximum output of [Pr. PC13] is
deleted.
Section 5.2.6 [Pr. PF23] is partly added.
Section 7.1.4 (4) POINT is deleted. Table is added.
Section 9.1 (6) to (9) A dimension is changed.
Section 11.2.4 (3) CAUTION is added.
Section 11.3.3 (1) (a) Note 3 is changed.
Section 11.3.3 (1) (b) Note 3 is changed.
Section 11.3.3 (2) (a) Note 3 is changed.
Section 11.4 Note 4 is partly changed. POINT is added.
Section 11.4 (2) Model of Power factor improving reactor is deleted. Note 4 is
changed. Note 10 is added.
Section 11.5 (5) (a) The sentences are changed.
Section 11.7 (2) (a) The content is added.
Section 11.10 (1) Table and Note 3 are changed.
Section 14.1.1 (2) (b) Note 1 is partly added.
Section 15.1.2 (1) Note 6 is added.
Section 15.1.2 (2) The content is changed.
Section 15.1.2 (3) Newly added.
Section 17.1.3 (2) (a) Note is added.
Section 17.1.3 (2) (b) The diagram is changed.
App. 4.2.1 (1) The title is changed.
App. 4.2.3 (4) The sentences are added.
App. 4.3 CAUTION is added.
Oct. 2013 SH(NA)030107ENG-G 400 V class is added.
Safety Instructions 4 (1) One item is added.
About the manuals The content of the table is added.
Section 1.5 The content of the table is added.
Section 1.6 (2) A combination is added.
Section 1.7.1 (1) (a) The content of the table is changed.
Section 3.3.1 The content of the 400 V class is added.
Section 3.3.3 (1) (c) Newly added.
Section 3.3.3 (2) (a) The content of the table is added.
Section 3.10.2 (1) (a) The content of the diagram is changed.
Section 4.1.2 (1) (c) 1) c) The content is added.
Section 4.1.2 (1) (c) 2) Newly added.
Section 4.1.2 (2) (c) 1) c) The content is added.
Section 5.2.1 A sentence is added to [Pr. PA01].
[Pr. PA02] The content is changed.
[Pr. PA17] The content is added.
[Pr. PA20] The content is changed.
Oct. 2013 SH(NA)030107ENG-G Section 5.2.3 [Pr. PC14] The content is changed.
Section 7.1.1 (1) The content of the table is changed.
Section 7.3.2 (2) (a), (d) The sentences are changed and note is added.
Chapter 8 The POINT is added. The content of the table is changed.
Note 2 of alarm table is changed.
Note 2 of warning table is changed.
Section 10.1 The table is newly added.
Section 10.2 (1) The content of the table is added.
Section 10.3.1 (2) (b) Newly added.
Section 10.5 The content of the table is added. POINT is added.
Section 11.1.1 The content of the table is added.
Section 11.2.4 The content of POINT is changed.
Section 11.2.4 (1) to (4) The content is added.
Section 11.2.5 (2), (3), (5) The content is added.
Section 11.3.1 The content of the table is added. Note is added.
Section 11.3.3 (1) (a) 2) Newly added.
Section 11.3.3 (4) The content of the table is added.
Section 11.3.3 (5) The content of the table is added.
Section 11.3.4 (1) to (3) The content is added.
Section 11.4 (2) (b) Newly added.
Section 11.4 (3), (4) The content of the table is added.
Section 11.5.1 The content is changed.
Section 11.5.2 (4) (a) 1), 2) The content is added.
Section 11.5.2 (4) (b) 2) Newly added.
Section 11.9 The content of POINT is changed.
Section 11.9 (1) (a) Note 4 is changed.
Section 11.9 (1) (b) The content is added. The content of Note 4 is changed.
Section 11.10 (1), (2) The content of the table is added. The content of Note 1 is
changed.
Section 11.14 (2) (e) The content is added.
Section 11.14 (2) (f) The content is added.
Oct. 2013 SH(NA)030107ENG-G Section 11.15 (1) The graph is added.
Section 11.16 The sentences are added.
Section 11.16 (3) (a) The content is added.
Section 11.18 The content of the table is added.
Chapter 12 Note is added. POINT is added. The content is changed. The
configuration is changed.
Section 15.1.2 (1) to (3) The sentences are added.
Section 15.4.1 The sentences are added.
App. 4.2.3 (1) The sentences are added.
App. 4.2.3 (1) (a) The content of the table is changed.
App. 4.2.3 (1) (a) 2) Newly added.
App. 4.2.3 (1) (b) 2) Newly added.
App. 4.2.3 (4) The sentences are changed.
App. 4.3 Note 2 is added.
App. 4.4 (1) (a) Note is added.
App. 4.4 (1) (b) Newly added.
App. 4.4 (2) Note is added.
App. 4.4 (3) Note is added.
App. 4.6.1 (1) (b) Newly added.
App. 4.6.2 The content of the table is added. The contents of Note 1 and
Note 2 are changed. Note 5 is added.
App. 4.8.1 (2) Newly added.
App. 4.8.2 The content of the table is added.
App. 4.8.3 The content of the table is added.
App. 11 (2) Note 7 is added.
Mar. 2014 SH(NA)030107ENG-H 100 V class MR-J4 series servo amplifiers are added.
Section 1.5 The content is added. Note is added.
Section 1.6 (2) The content is added.
Chapter 2 POINT is changed.
Section 3.3.3 (1) (d) Newly added.
Section 3.3.3 (2) (a) The content is added.
Section 3.7.1 The title is changed.
Section 3.11 The content of the note is changed.
Section 4.1.2 (1) (a) 2) Newly added.
Section 4.1.2 (1) (b) 5) Deleted.
Section 4.1.2 (1) (c) 3) Newly added.
Section 5.2.1 The content of [Pr. PA13] is added.
Section 5.2.3 The content of [Pr. PC14] is added.
Section 5.2.5 [Pr. PE39] is deleted.
Section 7.1.1 (1) Caution for the table is changed.
Section 7.2.3 (1) The title is changed.
Mar. 2014 SH(NA)030107ENG-H Section 7.3 The sentences are added.
Section 7.3.1 (2) Caution for the table is changed.
Section 7.4 POINT is changed. Sentences are added.
Section 10.3.2 Sentences are added. (1) and (2) are combined. Note 1 and 2
are deleted.
Section 10.5 POINT is added. (2) and (3) are added.
Section 11.1.1 Use of 1) in the table is changed.
Section 11.4 (2) (a) The sentences are added to Note 4.
Section 11.4 (2) (b) The sentences are added to Note 4.
Section 11.7.2 (1) Note 1 is deleted.
Section 11.9 (1) (c) Newly added.
Section 11.12 (1) Figure is added. The content of the table is added.
Section 11.14 (2) (e) The content is added.
Section 11.14 (2) (f) The content is added.
Section 11.15 (1) Note is added. The content is added to table 11.6.
Section 11.16 (2) (a) The title and content of the Note 1 are changed.
App. 1 The content of the table is added.
App. 4.2.3 (1) (a) The sentences are changed.
App. 4.2.3 (1) (a) 1) The title is changed. The content of the table is changed.
App. 4.2.3 (1) (a) 2) The content of the table is changed.
App. 4.2.3 (1) (b) The sentences are changed.
App. 4.2.3 (1) (b) 1) The title is changed. The content of the table is changed.
App. 4.2.3 (1) (b) 3) Newly added.
App. 4.4 (2) Note 1 and 2 are added.
App. 4.6.1 (1) (a) The title is changed. The content of the table is changed.
App. 4.8.1 (1) The title is changed. The content of the table is changed.
App. 4.8.2 The content of the table is changed.
App. 4.8.3 The content of the table is changed.
App. 10 Newly added.
Jan. 2015 SH(NA)030107ENG-J The model adaptive control disabled, lost motion compensation function, super trace control,
MR-BT6VCASE, and HG-JR servo motor are added.
Safety Instructions 2 The sentences are changed.
Safety Instructions 4 (6) The sentences are added.
About the manuals The content of the table is changed.
Section 1.2 Note is added.
Section 1.3 The content of the table is changed.
Note is added.
Section 1.6 (2) The content of the table is changed.
Section 1.8 Note is added.
Section 3.1 The sentences are added.
Note is added.
Section 3.2 Note is changed.
Note is added.
Section 3.10.1 CAUTION is added.
Section 4.5.4 The content of the table is changed.
Jan. 2015 SH(NA)030107ENG-J Section 4.5.7 POINT is changed.
Note is added.
Section 4.5.7 (2) (a) The content of the table is changed.
Note is added.
Note is added.
The content of the table is changed.
Section 7.2.3 (1) (a) The sentences are added.
Section 7.5 to 7.7 Newly added.
Chapter 8 The content of the chapter is changed.
Section 10.2 (1) The content of the table is changed.
Section 11.2.4 (3) CAUTION is changed.
Section 11.17 (2) Note is added.
Chapter 12 POINT is changed.
Section 12.2.2 (2) (c) Newly added.
Section 14.5.4 (4) (b) Note is added.
App. 4 The content of the section is changed.
Apr. 2015 SH(NA)030107ENG-K MR-J4-03A6(-RJ) servo amplifier is added.
Safety Instructions Partially changed.
About the manuals Partially added.
Section 1.2 Partially changed.
Section 1.3 Partially added and partially changed.
Section 1.5 Partially added.
Section 1.6 (2) Partially changed.
Section 3.2.1 Partially changed.
Apr. 2015 SH(NA)030107ENG-K Section 3.2.3 Partially changed.
Section 3.6.1 POINT is partially changed.
Section 3.6.1 (1) Partially added and partially changed.
Section 3.6.3 (3) Partially added and partially changed.
Section 3.7 POINT is partially added.
Section 3.8.1 Partially added and partially changed.
Section 4.5.3 (3) Partially changed.
Section 5.1.3 Pr. PC28 is added.
Section 5.1.4 Pr. PD43 to Pr. PD46 are added.
Section 5.2.1 Pr. PA01 to Pr. PA02 are partially added and partially
changed.
Pr. PA06 to Pr. PA07 are partially added.
Pr. PA12 to Pr. PA13 are partially changed.
Pr. PA17 to Pr. PA21 are partially added.
Pr. PA26 is partially added.
Section 5.2.3 Pr. PC14 is partially added and partially changed.
Pr. PC15 is partially changed.
Pr. PC19 to Pr. PC20 are partially changed.
Pr. PC22 is partially added.
Pr. PC27 is partially added and partially changed.
Pr. PC28 is added.
Pr. PC44 to Pr. PC45 are partially added.
Section 5.2.4 Pr. PD01 is partially added.
Pr. PD03 to Pr. PD28 are partially added and partially
changed.
Pr. PD43 to Pr. PD46 are added.
Pr. PD47 is partially added and partially changed.
Section 5.2.5 Pr. PE01 is partially added.
Pr. PE03 to Pr. PE10 are partially added.
Pr. PE34 to Pr. PE35 are partially added.
Section 5.2.6 Pr. PF09 is partially added.
Pr. PF25 is partially added.
Pr. PF34 is partially added.
Pr. PL17 is partially changed.
Section 7.3.2 POINT is partially added.
Section 7.4 POINT is partially added and partially changed.
Section 9.1 POINT is partially changed.
Section 9.1 (1) (a) to (e) The dimensions are changed.
Section 9.1 (2) (a) to (b) The dimensions are changed.
Section 9.1 (3) (a) to (b) The dimensions are changed.
Section 11.6 (4) Partially added and partially changed.
Apr. 2015 SH(NA)030107ENG-K Section 11.7 Partially changed.
Section 11.8 The contents are entirely changed.
Section 11.14 (2) (b) Partially changed.
Chapter 13 POINT is partially added.
Chapter 14 The title is changed.
Partially changed.
Section 14.4.1 Partially added.
Chapter 17 Partially added.
Chapter 18 Newly added as MR-J4-03A6 servo amplifier.
App. 4 The contents are entirely changed.
App. 7 Partially added and partially changed.
Sep. 2015 SH(NA)030107ENG-L MR-J4-100A(-RJ)/MR-J4-200A(-RJ) are compatible with a 1-phase 200 V AC input, the
contents of the one-touch tuning are changed, and operable environment is changed to
maximum altitude of 2000 m above sea level.
Safety Instructions Partially changed.
«About the manual» Partially added and partially changed.
Chapter 1 POINT is partially changed.
Section 1.6 (2) Partially added.
Section 2.6 Newly added.
Chapter 3 CAUTION is partially changed.
Sep. 2015 SH(NA)030107ENG-L Section 3.4 POINT is partially added.
Partially added and partially changed.
Section 5.1.6 [Pr. PF18] is added.
Section 5.2.6 [Pr. PF18] is added.
Partially added and partially changed.
Partially changed.
Section 7.3.2 POINT is partially added and partially changed.
Chapter 8 Partially changed.
Sep. 2015 SH(NA)030107ENG-L Section 12.3 Partially changed.
Section 18.9 The title is changed.
Chapter 19 Newly added.
App. 1 Partially added and partially changed.
App. 5 Partially changed.
App. 11 Partially added.
Feb. 2016 SH(NA)030107ENG-M The schedule for the compliance with safety integrity level 3 (SIL 3) of the IEC 61508:2010
functional safety standard is added.
STO function of the servo Partially added.
amplifier
Chapter 14 CAUTION is added.
App. 6 Partially added.
May 2016 SH(NA)030107ENG-N The adaptive filter II is improved, and the DC power supply input is added.
3. To prevent injury, note the Partially changed.
following
May 2016 SH(NA)030107ENG-N (2)Wiring Partially added.
(5)Corrective actions Partially added.
(6)Maintenance, inspection Partially added and partially changed.
and parts replacement
About the manuals Partially added.
Section 1.3 (1) Partially added and partially changed.
Section 3.5 (1) (b) Partially changed.
Chapter 4 Partially changed.
Section 5.2.1 [Pr. PA25] is partially changed.
Section 5.2.2 [Pr. PB01] is partially added.
Section 5.2.3 [Pr. PC03], [Pr. PC18], [Pr. PC26] and [Pr. PC27] are partially
changed.
Section 6.2.2 (1) (c) POINT is partially changed.
Section 7.1.2 Partially added and the diagrams are partially changed.
Section 7.2.3 (1) (b) Partially changed.
Chapter 8 Partially added and partially changed.
Section 10.5 POINT is changed.
Section 11.5.2 The diagrams are partially changed.
Section 13.3.2 The diagram is partially changed.
Chapter 19 Partially added and partially changed.
App. 5.7.3 (2) The diagram is partially changed.
Mar. 2017 SH(NA)030107ENG-P TM-RG2M series / TM-RU2M series direct drive motor is added.
(1) Transportation and Partially changed.
installation
Relevant manuals Partially changed.
Mar. 2017 SH(NA)030107ENG-P Section 3.6.1 Partially changed.
Section 5.2.3 [Pr. PC27] is partially changed.
Section 5.2.4 [Pr. PD33] and [Pr. PD34] are partially changed.
Section 11.17 The diagram is partially changed.
App. 4.2.3 Partially changed.
App. 4.4 Partially added.
App. 6 Partially added and a diagram is changed.
App. 7.4 Newly Added.
App. 13 POINT is partially changed.
App. 14 Added.
Oct. 2017 SH(NA)030107ENG-Q TM-RG2M002C30 and TM-RU2M002C30 are added.
3. To prevent injury, note the Partially changed.
following
4. Additional instructions Partially changed.
Oct. 2017 SH(NA)030107ENG-Q Chapter 6 POINT is partially added.
Section 16.2 CAUTION is partially changed.
Section 16.5.3 CAUTION is added.
App. 4.1 Partially changed.
App. 4.7 CAUTION is partially changed.
Feb. 2018 SH(NA)030107ENG-R FR-CV-H7.5K, FR-CV-H11K, and FR-CV-H15K are added.
Section 3.8.1 (1) Note 2 is deleted. The diagram is changed.
Section 3.10.2 (1) (a) The diagram is changed.
Section 3.10.2 (1) (b) POINT is added. The diagram is changed.
Section 3.10.2 (1) (c) The contents are entirely changed.
Section 5.2.3 The sentences are added to PC16.
PC19 is partially changed.
Section 11.2.2 The contents are entirely changed.
Section 11.5 FR-CV-H7.5K, FR-CV-H11K, and FR-CV-H15K are added.
App. 4.7 POINT is partially changed.
App. 5.10 The table is changed.
App. 15 Added.
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.
 2012 MITSUBISHI ELECTRIC CORPORATION
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the
United States, Japan, and/or other countries.
Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
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)030107ENG-R
General-Purpose AC Servo
MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL R

General-Purpose Interface
MODEL
MR-J4-_A_(-RJ)
MR-J4-03A6(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
MODEL MR-J4-A INSTRUCTIONMANUAL

MODEL
CODE 1CW804
R
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH(NA)030107ENG-R(1802)MEE Printed in Japan Specifications are subject to change without notice.

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MR J4 A Instruction Manual

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General-Purpose AC Servo

MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL R

MODEL MR-J4-A INSTRUCTIONMANUAL

This Instruction Manual uses recycled paper.

Indicates that incorrect handling may cause hazardous conditions,

Indicates that incorrect handling may cause hazardous conditions,

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

2. To prevent fire, note the following

(1) Transportation and installation

Control output RA Control output RA

(6) Maintenance, inspection and parts replacement

(7) General instruction

STO function of the servo amplifier

Compliance with global standards

Manual name Manual No.

Note 1. It is necessary for using a rotary servo motor.

«U.S. customary units»

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-56

1.1 Summary ........................................................................................................................................... 1- 1

2.1 Installation direction and clearances ................................................................................................ 2- 2

3. SIGNALS AND WIRING 3- 1 to 3-76

3.1 Input power supply circuit ................................................................................................................. 3- 2

4.1 Switching power on for the first time ................................................................................................. 4- 2

5.1 Parameter list .................................................................................................................................... 5- 2

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-32

6.1 Different adjustment methods ........................................................................................................... 6- 1

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-40

7.1 Filter setting ...................................................................................................................................... 7- 1

8.1 Explanation for the lists ..................................................................................................................... 8- 1

9.1 Servo amplifier .................................................................................................................................. 9- 1

10. CHARACTERISTICS 10- 1 to 10-16

10.1 Overload protection characteristics .............................................................................................. 10- 1

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-120

11.1 Cable/connector sets .................................................................................................................... 11- 1

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-30

12.1 Summary....................................................................................................................................... 12- 1

13.1 Introduction ................................................................................................................................... 13- 1

14.1 Structure ....................................................................................................................................... 14- 2

15. USING A LINEAR SERVO MOTOR 15- 1 to 15-32

15.1 Functions and configuration ......................................................................................................... 15- 1

16. USING A DIRECT DRIVE MOTOR 16- 1 to 16-20

16.1 Functions and configuration ......................................................................................................... 16- 1

17. FULLY CLOSED LOOP SYSTEM 17- 1 to 17-24

17.1 Functions and configuration ......................................................................................................... 17- 2

18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18- 1 to 18-84

18.1 Functions and configuration ......................................................................................................... 18- 1

19. MR-D01 EXTENSION I/O UNIT 19- 1 to 19-48

19.1 Function block diagram................................................................................................................. 19- 2

APPENDIX App.- 1 to App.-74

App. 1 Peripheral equipment manufacturer (for reference).............................................................. App.- 1

1. FUNCTIONS AND CONFIGURATION

Table 1.1 Connectors to connect external encoders

Note 1. The MR-J4THCBL03M branch cable is necessary.

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) 200 V class

Servo amplifier P3 P4 (Note 4) P+ C D N- Servo motor

switch Base Voltage Current

Model position Model speed Model torque