MR-J4 - B: General-Purpose AC Servo

General-Purpose AC Servo
SSCNET /H Interface AC Servo

MODEL
MR-J4-_B
SERVO AMPLIFIER
MR-J4-_B SERVO AMPLIFIER INSTRUCTION MANUAL

INSTRUCTION MANUAL
MODEL MR-J4-B INSTRUCTIONMANUAL

MODEL
CODE 1CW805
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030106-A (1203) MEE Printed in Japan Specifications subject to change without notice.

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1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher
functions compared to the previous MELSERVO-J3 series.
MR-J4-B servo amplifier is connected to controllers, including a servo system controller, on the high-speed
synchronous network SSCNET III/H. The servo amplifier directly receives a command from a controller to
drive a servo motor.
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 MELSERVO-J3 series.
MR-J4-B servo amplifier operates MELSERVO-J4 series compatible rotary servo motors, linear servo
motors, and direct drive motors as standard.
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.
SSCNET III/H achieves high-speed communication of 150 Mbps full duplex with high noise immunity due to
the SSCNET III optical cables. Large amounts of data are exchanged in real-time between the controller and
the servo amplifier. Servo monitor information is stored in the upper information system and is used for
control.
On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.
This allows you to create a large system.
MR-J4-B servo amplifier supports the Safe Torque Off (STO) function for safety. When the MR-J4W_-B
servo amplifier is connected to a SSCNET III/H-compatible motion controller, in addition to the STO function,
the servo amplifier also supports the Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS),
Safely-Limited Speed (SLS), Safe Brake Control (SBC), and Safe Speed Monitor (SSM) functions.
The MR-J4W_-B 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.
1- 1
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J4-500B or less

Powerຊ⋡ᨵၿ
factor improving Regenerative
ᅇ⏕
DC reactor
DCࣜ࢔ࢡࢺࣝ option
࢜ࣉࢩࣙࣥ
Servo amplifier P3
ࢧ࣮࣎࢔ࣥࣉ (Note 4)
P4 (ὀ4) P+ C D N- Servo
ࢧ࣮࣮࣎ࣔࢱmotor
Diode
ࢲ࢖࣮࢜ࢻ Dynamic
ࢲ࢖ࢼ࣑ࢵࢡ
stack brake
ࢫࢱࢵࢡ Relay
࣮ࣜࣞ ࣈ࣮ࣞ࢟ᅇ㊰
circuit
MCCB MC L1 U U
(Note
(ὀ2)2) U
Current V V
L2 㟁ὶ
Power
㟁※ + Regene- detector M
ᅇ⏕ ᳨ฟჾ
supply L3
U U
CHARGE rative
CHARGE TR W W
lamp TR
ࣛࣥࣉ
Cooling
෭༷ࣇ࢓ࣥ fan
(Note 3)
(ὀ3)
RA B1
L11 Control Electro-
㟁☢
+ ไᚚᅇ㊰ 24V DC B
circuit DC24V magnetic
ࣈ࣮ࣞ࢟
L21 power
㟁※ STO brake
supply B2
ᅇ㊰
circuit
STO
CN8
switch Base
࣮࣋ࢫ Voltage Overcurrent
㐣㟁ὶ Current
CN2
ࢫ࢖ࢵࢳ 㟁ᅽ᳨ฟ 㟁ὶ᳨ฟ
detection
amplifier
࢔ࣥࣉ detection ಖㆤ detection
Encoder
࢚ࣥࢥ࣮ࢲ
Position
௬᝿
Virtual
఩⨨ᣦ௧ encoder
࢚ࣥࢥ࣮ࢲ 㝆ᅽ
command
ᅇ㊰
ධຊ
input Model
ࣔࢹࣝ position Model
ࣔࢹࣝ speed
control
఩⨨ไᚚ control
㏿ᗘไᚚ Step-down
Virtual
௬᝿ circuit
motor
࣮ࣔࢱ
MR-BAT6V1SET
CN4
Model
ࣔࢹࣝ఩⨨ Model
ࣔࢹࣝ㏿ᗘ Model torque
ࣔࢹࣝࢺࣝࢡ Option battery
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
position speed (for absolute position
(⤯ᑐ఩⨨᳨ฟࢩࢫࢸ࣒
ࡢሙྜ)
detection system)
ᐇ఩⨨
Actual position Actual
ᐇ㏿ᗘ speed Current
control control 㟁ὶไᚚ
ไᚚ ไᚚ control
I/F USB D/A

control
ࢥࣥࢺ࣮ࣟࣝ
CN1A CN1B CN5 CN3
ࢥࣥࢺ࣮ࣟࣛ
Controller Servo
ࢧ࣮࣎࢔ࣥࣉ Personal
ࣃ࣮ࢯࢼࣝ Analog Digital I/O
࢔ࢼࣟࢢࣔࢽࢱ ࢹࢪࢱࣝI/O
ࡲࡓࡣ
or servo amplifier
ࡲࡓࡣ computer
ࢥࣥࣆ࣮ࣗࢱ monitor
(2ࢳࣕࣥࢿࣝ) control
ไᚚ
ࢧ࣮࣎࢔ࣥࣉ
amplifier ࢟ࣕࢵࣉ
or cap USB (2 channels)
Note 1. The built-in regenerative resistor is not provided for the MR-J4-10B.
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-J4-70B or greater have a cooling fan.
4. 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.
1- 2
(2) MR-J4-700B
Power factor
ຊ⋡ᨵၿ improving Regenerative
ᅇ⏕
DCDC reactor
ࣜ࢔ࢡࢺࣝ option
࢜ࣉࢩࣙࣥ
Servo amplifier P3
ࢧ࣮࣎࢔ࣥࣉ P4 ((Note
ὀ2) 2) P+ C N- Servo motor
ࢧ࣮࣮࣎ࣔࢱ
Diode Dynamic
ࢲ࢖ࢼ࣑ࢵࢡ
brake
stack Relay
࣮ࣜࣞ
MCCB MC L1 ࣈ࣮ࣞ࢟ᅇ㊰
circuit
U U
(Note 1)
(ὀ1)
Power L2
U
Current
㟁ὶ V V
㟁※ + detector M
supply Regene-
ᅇ⏕
᳨ฟჾ
L3
U U
CHARGE
rativeTR
TR W W
ࣛࣥࣉ
CHARGE
lamp
Cooling
෭༷ࣇ࢓ࣥ fan
RA B1
L11 Control Electro-
㟁☢
+ ไᚚᅇ㊰ B magnetic
circuit 24V DC
DC24V ࣈ࣮ࣞ࢟
brake
L21 power
㟁※ STO
supply B2
ᅇ㊰
circuit
STO
CN8
switch Base
࣮࣋ࢫ Voltage Overcurrent
㐣㟁ὶ Current
CN2
ࢫ࢖ࢵࢳ 㟁ᅽ᳨ฟ 㟁ὶ᳨ฟ
detection
amplifier
࢔ࣥࣉ detection ಖㆤ detection
Encoder
࢚ࣥࢥ࣮ࢲ
Virtual
௬᝿
Position encoder
఩⨨ᣦ௧
command ࢚ࣥࢥ࣮ࢲ 㝆ᅽ
Model position Model speed ᅇ㊰
ධຊ
input ࣔࢹࣝ ࣔࢹࣝ Step-down
control control
఩⨨ไᚚ ㏿ᗘไᚚ circuit
Virtual
௬᝿
motor
࣮ࣔࢱ
MR-BAT6V1SET
CN4
Model
ࣔࢹࣝ఩⨨ Model
ࣔࢹࣝ㏿ᗘ Model torque
ࣔࢹࣝࢺࣝࢡ Option battery
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
position speed (⤯ᑐ఩⨨᳨ฟࢩࢫࢸ࣒
(for absolute position
ࡢሙྜ) system)
detection
Actual
ᐇ఩⨨ position Actual speed
ᐇ㏿ᗘ Current
control control 㟁ὶไᚚ
control
ไᚚ ไᚚ
I/F USB D/A

ࢥࣥࢺ࣮ࣟࣝ
CN1A CN1B CN5 CN3
ࢥࣥࢺ࣮ࣟࣛ ࢧ࣮࣎࢔ࣥࣉ ࣃ࣮ࢯࢼࣝ ࢔ࢼࣟࢢࣔࢽࢱ ࢹࢪࢱࣝI/O

ࡲࡓࡣ ࡲࡓࡣ ࢥࣥࣆ࣮ࣗࢱ (2ࢳࣕࣥࢿࣝ) ไᚚ
ࢧ࣮࣎࢔ࣥࣉ ࢟ࣕࢵࣉ USB
Note 1. Refer to section 1.3 for the power supply specification.

2. 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.
1- 3
1.3 Servo amplifier standard specifications

Model MR-J4- 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B
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
Power
3-phase or 1-phase 200 V AC to 240 V AC,
supply/Freque 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
50 Hz /60 Hz
ncy
3.2 (Note
Rated current [A] 0.9 1.5 2.6 3.8 5.0 10.5 16.0 21.7 28.9
6)
Permissible
Main circuit voltage 3-phase or 1-phase 170 V AC to 264V AC 3-phase 170 V AC to 264 V AC
power supply fluctuation
input Permissible frequency
Within ±5%
fluctuation
Power supply
[kVA] Refer to section 10.2.
capacity
Inrush current [A] Refer to section 10.5.
Power
supply/Freque 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
ncy
Rated current [A] 0.2 0.3
Permissible
voltage 1-phase 170 V AC to 264V AC
Control circuit
fluctuation
power supply
Permissible frequency
Within ±5%
fluctuation
Power
[W] 30 45
consumption
Inrush current [A] 20 to 30 30
Voltage/Frequ
24 V DC ± 10%
Interface ency
power supply Power supply (Note 1) 0.3 (including CN8
[A]
capacity connector signals)
Load-side encoder interface Mitsubishi high-speed serial
(Note 5) communication
Control Sine-wave PWM control, current
method control method
Dynamic brake Built-in
Fully closed loop control Available in the future.
Communication
USB Connection to a personal computer or others (MR Configurator2-compatible)
function
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection,
Protective encoder error protection, regenerative error protection, undervoltage protection, instantaneous
functions power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, linear servo control error
protection
Safety
STO (IEC/EN 61800-5-2)
function
Standards certified by CB EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL
(Note 7) 2
Safety
Response
performa 8 ms or less (STO input off ĺ energy shut off)
performance
nce
(Note 3) Test pulse interval: 1 Hz to 25 Hz
Test pulse input (STO) Test pulse off time: Up to 1 ms
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
to standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Force cooling,
Natural cooling, Force cooling,
Structure (IP rating) open (IP20)
open (IP20) open (IP20)
(Note 4)
Close mounting (Note 2) 3RVVLEOH ,PSRVVLEOH
1- 4
Model MR-J4- 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B
Oper
0 ÛC to 55 ÛC (non-freezing)
Ambient ation
temperature Stora
-20 ÛC to 65 ÛC (non-freezing)
ge
Oper
Ambient ation
90% RH or less (non-condensing)
humidity Stora
Environment
ge
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Max. 1000 m
Altitude
above sea level
2
Vibration 5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2
Note 1. 0.3A 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 amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ÛC to 45 ÛC or at
75% or smaller effective load ratio.
3. This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to
the servo amplifier at a constant period while input signals of the servo amplifier are on.
4. Except for the terminal block.
5. It is not compatible with pulse train interface (ABZ-phase output type).
6. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
7. Available in the future.
1- 5
1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Rotary servo motor Linear servo motor (primary Direct drive motor
side)
MR-J4-10B HG-KR053, HG-KR13
HG-MR053, HG-MR13
MR-J4-20B HG-KR23 LM-U2PAB-05M-0SS0 TM-RFM002C20
HG-MR23 LM-U2PBB-07M-1SS0
MR-J4-40B HG-KR43 LM-H3P2A-07P-BSS0 TM-RFM004C20
HG-MR43 LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
MR-J4-60B HG-SR51, HG-SR52 LM-U2PBD-15M-1SS0 TM-RFM006C20
TM-RFM006E20
MR-J4-70B HG-KR73 LM-H3P3B-24P-CSS0 TM-RFM012E20
HG-MR73 LM-H3P3C-36P-CSS0 TM-RFM012G20
LM-H3P7A-24P-ASS0 TM-RFM040J10
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0
MR-J4-100B HG-SR81, HG-SR102 TM-RFM018E20
MR-J4-200B HG-SR121, HG-SR201, LM-H3P3D-48P-CSS0
HG-SR152, HG-SR202 LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-FP2B-06M-1SS0
LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0
MR-J4-350B HG-SR301, HG-SR352 LM-H3P7D-96P-ASS0 TM-RFM048G20
LM-K2P2C-07M-1SS1 TM-RFM072G20
LM-K2P3C-14M-1SS1 TM-RFM120J10
LM-U2P2C-60M-2SS0
MR-J4-500B HG-SR421, HG-SR502 LM-FP2D-12M-1SS0 TM-RFM240J10
LM-FP4B-12M-1SS0
LM-K2P2E-12M-1SS1
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0
MR-J4-700B HG-SR702 LM-FP2F-18M-1SS0
LM-FP4D-24M-1SS0
1- 6
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Detailed
Function Description
explanation
Position control mode This servo is used as a position control servo.
Speed control mode This servo is used as a speed control servo.
Torque control mode This servo is used as a torque control servo.
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 between gains during rotation and gains during stop or can use an
Gain switching function Section 7.
input device to switch gains during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.
suppression control II
Servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II Section 7.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
Low-pass filter Section 7.
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
Machine analyzer function a 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 axes.
Slight vibration suppression
Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]
control
Automatically adjusts the gain to optimum value if load applied to the servo motor
Auto tuning Section 6.3
shaft varies. Higher in performance than MR-J3 series servo amplifier.
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 regenerative 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 regenerative power generated.
Alarm history clear Alarm history is cleared. [Pr. PC21]
Output signal selection The pins that output the output devices, including ALM (Malfunction) and DB [Pr. PD07] to
(device settings) (Dynamic brake interlock), can be assigned to certain pins of the CN3 connectors. [Pr. PD09]
Output signal (DO) forced Output signal can be forced on/off independently of the servo status. Section 4..1
output Use this function for output signal wiring check and others. (1) (d)
Jog operation, positioning operation, motor-less operation, DO forced output, and
Test operation mode program operation Section 4.
Analog monitor output Servo status is output in terms of voltage in real time. [Pr. PC09]
[Pr. PC09], [Pr. PC10]
Using a personal computer, you can perform the parameter setting, test operation,
MR Configurator2 Section 11.7
monitoring, and others.
Fully closed loop system
Fully closed system can be configured using the load-side encoder. Chapter 16
(Available in the future.)
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Configurator2. Section 6.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
Tough drive function Section 7.
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
1- 7
Detailed
Function Description
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 safety function that complies with IEC/EN 61800-5-2. You can create
STO function
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 diagnostic 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
the data in the servo amplifier such as speed and current. For the SSCNET III/H
Power monitoring function system, MR Configurator2 can display the data, including the power consumption.
Since the servo amplifier can send the data to a motion controller, you can analyze
the data and display the data on a display.
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 diagnostic function
machine parts, including a ball screw and bearing.
1.6 Model designation
(1) Rating plate

AC SERVO
SER.S21001001 Serial
〇㐀␒ྕ number
MODEL MR-J4-10B Model
ᙧྡ
POWER : 100W Capacity
ᐜ㔞
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable
㐺⏝㟁※ power supply
OUTPUT: 3PH170V 0-360Hz 1.1A ᐃ᱁ฟຊ㟁ὶ
Rated output current
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175 つ᱁㸪ྠᲕ࣐ࢽࣗ࢔ࣝ␒ྕ
Standard, Manual number
Max. Surrounding Air Temp.: 55°C ࿘ᅖ ᗘtemperature
Ambient
IP20 ಖㆤ➼⣭
IP rating
The
〇㐀ᖺ᭶year and month of
TOKYO 100-8310, JAPAN 䚷 MADE IN JAPAN manufacture
(2) Model
The following describes what each block of a model name indicates.
SSCNETIII/H interface
SSCNETϪ/H࢖ࣥࢱࣇ࢙࣮ࢫ
Series
ࢩ࣮ࣜࢬྡ
Rated
ᐃ᱁ฟຊ output
グྕ Rated
Symbol ᐃ᱁ฟຊ[kW]
output
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
1- 8
1.7 Structure
1.7.1 Parts identification

Detailed
No. Name/Application explanati
(2) on
(1)
Display
Chapter
(1) The 3-digit, seven-segment LED shows the servo
(3) 4
status and the alarm number.
ON
Axis selection rotary switch (SW1)

1 2 3 4
(2)
Used to set the axis No. of servo amplifier.
Inside of the display cover
⾲♧㒊࢝ࣂ࣮ෆ㒊
Control axis setting switch (SW2) Section
The test operation switch, the control axis 4.3
(3)
deactivation setting switch, and the auxiliary axis
number setting switch are available.
USB communication connector (CN5) Section
(4)
Connect with the personal computer. 11.7
I/O signal connector (CN3) Section
Used to connect digital I/O signals. 3.2
(5)
Section
(4) 3.4
STO input signal connector (CN8) Chapter
(6) Used to connect MR-J3-D05 safety logic unit and 13
external safety relay. App. 1
SSCNET III cable connector (CN1A)
(13)
(5) (7) Used to connect the servo system controller or the Section
previous axis servo amplifier. 3.2
SSCNET III cable connector (CN1B) Section
(8) Used to connect the next axis servo amplifier. For 3.4
the final axis, put a cap.
Encoder connector (CN2) Section
(14) (6) 3.4
Used to connect the servo motor encoder.
(9)
Side
ഃ㠃 Section
(15) 11.1
Battery connector (CN4) Chapter
Section
(7) Used to connect the battery or the battery unit for 12
11.8
(10)
absolute position data backup. Chapter
12
Battery holder
Section
(11) Install the the battery for absolute position data
(16) 12.4
(8) backup.
Protective earth (PE) terminal Section
(12)
Grounding terminal 3.1
Main circuit power supply connector (CNP1) Section
(17) (13) 3.3
(9) Connect the input power supply.
Rating plate Section
(14)
1.6
Control circuit power supply connector (CNP2)
Section
(15) Connect the control circuit power supply or
3.1
(10) regenerative option.
Section
Servo motor power supply connector (CNP3)
(16) 3.3
Connect the servo motor.
Charge lamp
(11)
Bottom
ᗏ㠃face (17) Lit to indicate that the main circuit is charged. While
(12) this lamp is lit, do not reconnect the cables.
Note. The illustration above is of MR-J4-10B.
1- 9
(2) MR-J4-350B
Detailed
The broken line area is the same as MR-J4-200B or less.
◚⥺ෆࡣMR-J4-200B௨ୗ࡜ඹ㏻࡛ࡍࠋ
on
Main circuit power supply connector (CNP1) Section
Connect the input power supply. 3.1
(1)
Section
3.3
(2)
1.6
(1) Servo motor power supply connector (CNP3)
(3) Section
3.1
Control circuit power supply connector (CNP2)
Section
(4) Connect the control circuit power supply or 3.3
regenerative option.
(2) Charge lamp
Side
ഃ㠃 (5) Lit to indicate that the main circuit is charged.
(3) While this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal Section
(6)
(4) Section
3.3
Battery holder
Section
(5) (7) Install the the battery for absolute position data
12.4
backup.
Bottom
ᗏ㠃 face
(6) (7)
1 - 10
(3) MR-J4-500B
POINT
The servo amplifier is shown with the front cover open. The front cover cannot
be removed.
Detailed
The broken line area is the same as MR-J4-200B or less.
on
Control circuit terminal block (TE2) Section
(1)
Used to connect the control circuit power supply. 3.1
Main circuit terminal block (TE1) Section
(2) 3.3
Connect the input power supply.
(1)
Battery holder
Section
12.4
backup.
(4)
1.6
(2) Regenerative option/power factor improving reactor
terminal block (TE3) Section
(5)
Used to connect regenerative options and a power 3.1
factor improving DC reactor. Section
(3) Servo motor power supply terminal block (TE4) 3.3
(Note)
(ὀ) (6)
(4) Charge lamp
Side
ഃ㠃 (7) Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.
(5) Protective earth (PE) terminal Section
(8)
Section
3.3
(6)
(7)
(8)
Note. Lines around the battery holder are omitted from the illustration.
1 - 11
(4) MR-J4-700B
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
The broken line area is the same as MR-J4-200B or less. Detailed

on
Power factor improving reactor terminal block (TE3)
(1)
Used to connect the DC reactor.
Main circuit terminal block (TE1)
Section
(2) Used to connect the input power supply,
3.1
regenerative option, and servo motor.
Section
(7) Control circuit terminal block (TE2)
(3) 3.3
(6) Used to connect the control circuit power supply.
Protective earth (PE) terminal
(4)
Grounding terminal
(5) Battery holder
(Note)
(ὀ) Section
12.4
backup.
(6)
1.6
Charge lamp
(7) Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.
(1)
(2)
(4) (3)
Note. Lines around the battery holder are omitted from the illustration.
1 - 12
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
CAUTION 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.
(1) For MR-J4-700B

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. Hold the ends of

lower side of the front cover with both hands.
1 - 13
Reinstallation of the front cover
Front
ṇ㠃࢝ࣂ࣮ cover
setting tab
ྲྀ௜ࡅ࡙ࡵ A)
A)
1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A).
servo amplifier (2 places).
ྲྀ௜ࡅ࡙ࡵ
Setting tab
3) Press the cover against the terminal box until the

installing knobs click.
1 - 14
1.8 Configuration including auxiliary equipment
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.

RS T
(Note
(ὀ2) 2)
Power
㟁※ supply
Molded case circuit
ࣀ࣮ࣄ࣮ࣗࢬ Personal
ࣃ࣮ࢯࢼࣝ
㐽᩿ჾ(MCCB)
breaker (MCCB) ࢥࣥࣆ࣮ࣗࢱ
computer
MR Configurator2
CN5
(Note
(ὀ3) 3)
Magnetic
㟁☢᥋ゐჾ
(MC)
contactor
(MC)
(Note 1) Junction
(ὀ1) CN3
terminal
୰⥅➃Ꮚྎ
block
Line noise
ࣛ࢖ࣥࣀ࢖ࢬ CN8 To safety relay or MR-J3-
ࢭ࣮ࣇࢸ࢕࣮ࣜࣞࡲࡓࡣ
filter
ࣇ࢕ࣝࢱ MR-J3-D05ࢭ࣮ࣇࢸ࢕
D05 safety logic unit
(FR-BSF01) ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
CN1A Servo system controller or
ࢧ࣮࣎ࢩࢫࢸ࣒
ࢥࣥࢺ࣮ࣟࣛࡲࡓࡣ
previous servo amplifier
๓㍈ࢧ࣮࣎࢔ࣥࣉCN1B
CN1B
U
L1
V CN1B Next servo amplifier
ᚋ㍈ࢧ࣮࣎࢔ࣥࣉCN1A
L2 CN1A or cap
W ࡲࡓࡣ࢟ࣕࢵࣉ
L3
Power factor
improving
ຊ⋡ᨵၿ P3 CN2
DC reactor
DCࣜ࢔ࢡࢺࣝ
(FR-HEL) P4
P+ CN4
Regenerative
ᅇ⏕ Battery
ࣂࢵࢸࣜ
࢜ࣉࢩࣙࣥ
option
C
L11
L21 Servo
Note 1. 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.
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J-70B 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.
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.
1 - 15
(2) MR-J4-350B
RS T
(Note
(ὀ2)2)
Power㟁※
supply
Moldedࣀ࣮ࣄ࣮ࣗࢬ
case circuit
breaker㐽᩿ჾ(MCCB)
(MCCB) Personal
ࣃ࣮ࢯࢼࣝ
computer
ࢥࣥࣆ࣮ࣗࢱ
MR Configurator2
CN5
(Note 3)
(ὀ3)
Magnetic
㟁☢᥋ゐჾ
contactor
(MC)
(MC)
(Note 1)
(ὀ1) Junction
CN3 terminal
୰⥅➃Ꮚྎ
block
Line
ࣛ࢖ࣥࣀ࢖ࢬ noise
filter
ࣇ࢕ࣝࢱ CN8 To safety relay or MR-J3-
(FR-BSF01) MR-J3-D05ࢭ࣮ࣇࢸ࢕
ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
U ๓㍈ࢧ࣮࣎࢔ࣥࣉCN1B
L1
CN1B
V
L2 Next servo amplifier
W CN1B ᚋ㍈ࢧ࣮࣎࢔ࣥࣉCN1A
L3 CN1A or cap
ࡲࡓࡣ࢟ࣕࢵࣉ
Power
ຊ⋡ᨵၿ factor P3
improving
DCࣜ࢔ࢡࢺࣝ DC CN2
(FR-HEL)
reactor P4
P+
Regenerative
ᅇ⏕ CN4
option
࢜ࣉࢩࣙࣥ Battery
ࣂࢵࢸࣜ
C
L11
L21
Servo motor
ࢧ࣮࣮࣎ࣔࢱ
2. Refer to section 1.3 for the power supply specification.
1 - 16
(3) MR-J4-500B
RS T
(Note
(ὀ2) 2)
Power
㟁※ supply
Molded case circuit
ࣀ࣮ࣄ࣮ࣗࢬ
breaker (MCCB)
㐽᩿ჾ(MCCB) Personal
ࣃ࣮ࢯࢼࣝ
ࢥࣥࣆ࣮ࣗࢱ
computer
MR Configurator2
CN5
(Note 3)
(ὀ3)
Magnetic
contactor
㟁☢᥋ゐჾ
L11
(MC) (MC)
(Note
(ὀ1) 1) Junction
L21 CN3
terminal
୰⥅➃Ꮚྎ
block
Line noise
ࣛ࢖ࣥࣀ࢖ࢬ
filter CN8 To safety relay or MR-J3-
ࣇ࢕ࣝࢱ MR-J3-D05ࢭ࣮ࣇࢸ࢕
(FR-BLF) D05 safety logic unit
ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
CN1B
L1
L2 CN1B Next servo amplifier
L3 CN1A or cap
Power factor
improving DC P3 CN2
ຊ⋡ᨵၿ
reactor
DCࣜ࢔ࢡࢺࣝ U
(FR-HEL) CN4
P4 Battery
ࣂࢵࢸࣜ
V
P+
Regenerative
ᅇ⏕ W
option
࢜ࣉࢩࣙࣥ
C
Servo motor
ࢧ࣮࣮࣎ࣔࢱ
1 - 17
(4) MR-J4-700B
RS T
(Note
(ὀ2)2)
Power
㟁※ supply Personal
ࣃ࣮ࢯࢼࣝ
ࢥࣥࣆ࣮ࣗࢱ
computer
Molded case circuit
ࣀ࣮ࣄ࣮ࣗࢬ MR Configurator2
㐽᩿ჾ(MCCB)
breaker (MCCB) CN5
(Note 3)
(ὀ3)
Magnetic
㟁☢᥋ゐჾ
contactor Junction
(MC) (MC) CN3 terminal
୰⥅➃Ꮚྎ
(ὀ1)1)
(Note block
CN8 To safety relay or MR-J3-

MR-J3-D05ࢭ࣮ࣇࢸ࢕
Line
ࣛ࢖ࣥࣀ࢖ࢬ noise ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
filter
ࣇ࢕ࣝࢱ CN1A Servo system controller or
(FR-BLF) ࢥࣥࢺ࣮ࣟࣛࡲࡓࡣ
CN1B
L21 CN1B Next servo amplifier

Power factor L11 CN1A or cap
improving
ຊ⋡ᨵၿ
DC reactor
DCࣜ࢔ࢡࢺࣝ CN2
(FR-HEL)
P3 CN4
Battery
ࣂࢵࢸࣜ
P4
L3
L2
L1
U V W
P+ C
Regenerative
ᅇ⏕
࢜ࣉࢩࣙࣥ
option
Servo
1 - 18
2. INSTALLATION
2. INSTALLATION
WARNING To prevent electric shock, ground each equipment securely.
Stacking in excess of the specified number of product packages is not allowed.

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.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
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.
CAUTION 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 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.
POINT
When pulling out CNP1, CNP2, and CNP3 connectors of MR-J4-40B or less
servo amplifiers, 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) 7 kW or less
(a) Installation of one servo amplifier
Cabinet
೙ᓮ⋚ Cabinet
೙ᓮ⋚
40 mm or more
40mmએ਄
Wiring allowance
㈩✢૛⵨
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ 80 80mmએ਄
mm or more
10 mm or more
10mmએ਄ 10 mm or more
10mmએ਄
Top
ᄤ
Bottom
࿾
40 mm or more
40mmએ਄
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 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.
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 ÛC to 45 ÛC or use the servo amplifier with 75% or less of the effective load ratio.
Cabinet
೙ᓮ⋚ Cabinet
೙ᓮ⋚
100 mm or more
100mmએ਄
10 mm or more
10mmએ਄ 1 1mm
mm 1 mm
1mm
30 mm or more
30mm 30 mm
30mm 30 mm
30mm ᄤ
or more Top
એ਄ orએ਄
more એ਄
Bottom
࿾
40 mm or more
40mmએ਄
Leaving clearance
㑆㓒ࠍ޽ߌࠆ႐ว Mounting
ኒ⌕ขઃߌߩ႐ว closely
(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.
2.2 Keep out 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.
2- 3
2. INSTALLATION
(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 flexing 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 sheath 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 flexing radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2.4 SSCNET III cable laying
SSCNET III cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be
available. Especially, as optical fiber for MR-J3BUS_M/MR-J3BUS_M-A is made of synthetic resin, it melts
down if being left near the fire or high temperature. Therefore, do not make it touched the part, which can
become hot, such as radiator or regenerative option of servo amplifier.
Read described item of this section carefully and handle it with caution.
(1) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to
edges of equipment or others. For SSCNET III cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of servo amplifier. When closing the door of cabinet,
pay careful attention for avoiding the case that SSCNET III cable is hold down by the door and the cable
bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section
11.1.3.
(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away
from vinyl tape because the optical characteristic may be affected.
SSCNET III cable Cord Cable
MR-J3BUS_M △
MR-J3BUS_M-A △ △
MR-J3BUS_M-B ż
ż żż
△ : Phthalate ester plasticizer such as DBP and DOP
Optical
శࠦ࡯࠼ㇱ cord Cable
ࠤ࡯ࡉ࡞ㇱ may affect optical characteristic of cable.
żż: Cord and cable are not basically affected by
plasticizer.
2- 4
2. INSTALLATION
(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating
plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire
sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M
and MR-J3BUS_M-A cables (plastic).
In addition, MR-J3BUS_M-B cable (silica glass) is not affected by plasticizer.
A chemical substance may affect its optical characteristic. Therefore, previously check that the cable is
not affected by the environment.
(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III
cable from putting its own weight on CN1A/CN1B connector of servo amplifier. Optical cord should be
given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be
twisted.
When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which
does not contain migratable plasticizers.
If adhesive tape for bundling the cable is used, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Connector
ࠦࡀࠢ࠲ㇱ
Optical cord
శࠦ࡯࠼ㇱ
Loose slack
‫ߺࠆߚߥ߆߿✭ޓ‬
Cable
ࠤ࡯ࡉ࡞ㇱ
Bundle material ᧤✢᧚
Recommended product:ផᅑຠNKࠢ࡜ࡦࡊSP࠲ࠗࡊ
NK clamp SP type (NIX, INC)
‫)ࠬࠢ࠶࠾(ޓޓޓޓ‬
(5) Tension
If tension is added on optical cable, the increase of transmission loss occurs because of external force
which concentrates on the fixing part of optical fiber or the connecting part of optical connector. Doing so
may cause the breakage of the optical fiber or damage of the optical connector. For cable laying, handle
without putting forced tension. For the tension strength, refer to section 11.1.3.
(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets
stressed, and then transmission loss will increase. Doing so may cause the breakage of the optical
cable. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing
such as nylon band (TY-RAP).
Do not trample it down or tuck it down with the door of cabinet or others.
2- 5
2. INSTALLATION
(7) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or
bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur.
(8) Disposal
When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride
gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for
specialized industrial waste disposal services who has incineration facility for disposing hydrogen
fluoride gas or hydrogen chloride gas.
2.5 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
not, always confirm it from the front of the servo amplifier.
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.
POINT
Do not perform insulation resistance test on the servo amplifier. Otherwise, it
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.
2- 6
2. INSTALLATION
2.6 Parts having service lives
Service lives of the following parts are listed below. However, the service lives vary depending on operation
and environment. If any fault is found in the parts, they must be replaced immediately regardless of their
service lives. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on times: 100,000 times
Relay Number of on and off for STO: 1,000,000
times
10,000 hours to 30,000 hours (2 years to 3
Cooling fan
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 normal air-conditioned environment (40 ÛC
surrounding air temperature or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of
their lives when the power has been turned on 100,000 times, 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 lives 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. It must also be
changed if unusual noise or vibration is found during inspection.
The life indicates under the yearly average ambient temperature of 40 ÛC, free from corrosive gas,
flammable gas, oil mist, dust and dirt.
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
may cause an electric shock.
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.
Servo amplifier Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM
Control output Control output

CAUTION
RA RA
signal signal
DICOM DICOM
For sink output interface For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option)
with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
3- 1
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
CAUTION U
U
U
U
V V
V M V M
W W
W W
POINT
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio ψ Load to motor mass ratio
Torque [N̒ m] ψ Thrust [N]
(Servo motor) Speed [r/min] ψ (Linear servo motor) Speed [mm/s]
3.1 Input power supply circuit
Always connect a magnetic contactor between the power supply and the main
circuit power supply (L1, L2, and 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
CAUTION the 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, the servo amplifier
will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to
suppress lightning surge. The varistor can break down due to its aged
deterioration. To prevent a fire, use a molded case circuit breaker or fuse for input
power supply.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module
does not operate, and optical transmission of SSCNET III/H communication is
interrupted. Therefore, the next axis servo amplifier displays "AA" at the indicator
and turns into base circuit shut-off. The servo amplifier stops with starting
dynamic brake.
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.
When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.
3- 2
Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller
forced stop. A molded case circuit breaker (MCCB) must be used with the input cables of the main circuit
power supply.
3- 3
(1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10B to MR-J4-350B

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch
Servo amplifier Servo motor
MC
MCCB (Note 7) CNP1
L1
3-phase CNP3 (Note 6)
200 V AC to L2 U U
240 V AC Motor
L3 V V
M
N- W W
P3
(Note 10) (Note 1)
P4
PE
CNP2
P+
(Note 2) C
D (Note 3)
CN2 Encoder Encoder
L11 cable
L21
(Note 8)
Main circuit power supply CN3 CN3 24 V DC
(Note 5) Forced stop 2 EM2 DOCOM
DOCOM DICOM
ALM RA1 Malfunction (Note 4) (Note 5)
CN8
(Note 9)
Short-circuit connector
(Packed with the servo amplifier)
Note 1. Always connect P3 and P4 terminals. (factory-wired) When using the power factor improving DC reactor, refer to section
11.1. Use either the power factor improving DC reactor or the power factor improving AC reactor.
2. Always connect P+ and D. (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 connecting servo motor power wires, refer to Servo
Motor Instruction Manual (Vol. 3).
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the controller side.
5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3.
6. For connecting servo motor power wires, refer to each Servo Motor Instruction Manual (Vol. 3).
7. 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.
8. 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.
9. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.
10. 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.)
3- 4
(2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10B to MR-J4-70B
POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destination is different from MR-J3 Series Servo Amplifier. When
using MR-J4 as a replacement for MR-J3, be careful not to connect the power
to L2.
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch
MC
MCCB (Note 7) CNP1
1-phase L1
200 V AC to CNP3 (Note 6)
240 V AC L2 U U
Motor
L3 V V
M
N- W W
P3
(Note 10) (Note 1)
P4
PE
CNP2
P+
(Note 2) C
D (Note 3)
CN2 Encoder Encoder
L11 cable
L21
(Note 8)
DOCOM DICOM
CN8 ALM RA1 Malfunction (Note 4) (Note 5)

(Note 9)
amplifier.
10. 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- 5
(3) MR-J4-500B
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch
MC
MCCB (Note 7) TE1
L1
3-phase TE4 (Note 6)
200 V AC to L2 U U
240 V AC Motor
L3 V V
M
N- W W
(Note 10)
TE2
L11
PE
L21
TE3
P3
(Note 1)
P4 (Note 3)
CN2 Encoder Encoder
P+ cable
C
(Note 2)
TE4
D
(Note 8)
DOCOM DICOM
CN8
(Note 9)
amplifier.
to section 11.10.)
3- 6
(4) MR-J4-700B
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch
MC
MCCB (Note 7) TE1
L1
1-phase (Note 6)
200 V AC to L2 Built-in U U
regenerative Motor
240 V AC resistor
L3 V V
M
(Note 2) P+ W W
(Note 10) C
TE2 PE
L11
L21
TE3
N- (Note 3)
CN2 Encoder Encoder
P3 cable
(Note 1)
P4
(Note 8)
DOCOM DICOM
CN8
(Note 9)
2. When using the regenerative option, refer to section 11.2.
amplifier.
to section 11.10.)
3- 7
3.2 I/O signal connection example
POINT
EM2 has the same function as EM1 in the torque control mode.
3.2.1 For sink I/O interface

Servo amplifier
CN8
(Note 16)
(Note 12) 10 m or less

10 m or less CN3
(Note 15) (Note 12) 5 DICOM

Main circuit power supply CN3 (Note 2)
(Note 3, 4) 13 MBR RA1 Electromagnetic brake interlock
Forced stop 2 EM2 20
(Note 13)
9 INP RA2 In-position
FLS DI1 2
(Note 14)4) RLS
(Note DI2 12 15 ALM RA3 Malfunction (Note 11)
DOG DI3 19
DICOM 10 6 LA Encoder A-phase pulse
(Note 10) 24 V DC (differential line driver)
DOCOM 3 16 LAR
Personal 7 LB Encoder B-phase pulse
(Note 5) computer USB cable 17 LBR (differential line driver)
MR Configurator2 MR-J3USBCBL3M 8 LZ Encoder Z-phase pulse
(option) (differential line driver)
CN5 18 LZR
+ 11 LG Control common
4 MO1 Analog monitor 1

1 LG
Plate SD
Servo system
controller 2 m or less Servo amplifier
(Note 6)
SSCNET III cable (Note 7)
(option)
CN1A CN1B CN1A
(Note 1)
CN1B
The last servo amplifier (Note 8)

(Note 7)
CN1A
(Note 6)
SSCNET III cable
(option) (Note 9) CN1B
Cap
3- 8
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. If the controller does not have forced stop function, always install the forced stop 2 switch (Normally closed contact).
4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)
5. Use SW1DNC-MRC2-E. (Refer to section 11.8.)
6. Use SSCNET III cables listed in the following table.
Cable Cable model Cable length

Standard cord inside
MR-J3BUS_M 0.15 m to 3 m
panel
Standard cable
MR-J3BUS_M-A 5 m to 20 m
outside panel
Long-distance cable MR-J3BUS_M-B 30 m to 50 m
7. The wiring after the second servo amplifier is omitted.

8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.
Refer to section 4.6 for setting of axis selection.
9. Make sure to cap the unused CN1B connector.
10. Supply 24 V DC ± 10% 200 mA current for interfaces from the outside. 200 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.
11. ALM (Malfunction) turns on in normal alarm-free condition.
12. The pins with the same signal name are connected in the servo amplifier.
13. You can change devices of these pins with [Pr. PD07], [Pr. PD08], and [Pr. PD09].
14. Devices can be assigned for these signals with controller setting. For devices that can be assigned, refer to the controller
instruction manual. The following devices can be assigned for Q172DSCPU, Q173DSCPU, and QD77MS_.
FLS: Upper stroke limit
RLS: Lower stroke limit
DOG: Proximity dog
amplifier.
3- 9
3.2.2 For source I/O interface
POINT
For notes, refer to section 3.2.1.
Servo amplifier
CN8
(Note 16)
(Packed with the servo
amplifier)
(Note 12)
(Note 15) (Note 12) CN3
Main circuit power supply CN3 (Note 2)
(Note 3, 4) 13 MBR RA1 Electromagnetic brake interlock
Forced stop 2 EM2 20
(Note 13)
9 INP RA2 In-position
FLS DI1 2
(Note 14)4) RLS
(Note DI2 12 15 ALM RA3 Malfunction (Note 11)
DOG DI3 19 10 m or less
DOCOM 3 6 LA Encoder A-phase pulse
(Note 10) 24 V DC (differential line driver)
DICOM 10 16 LAR
7 LB Encoder B-phase pulse
10 m or less 17 LBR (differential line driver)
Personal 8 LZ Encoder Z-phase pulse

(Note 5) computer USB cable 18 LZR (differential line driver)
MR Configurator2 MR-J3USBCBL3M 11 LG Control common
(option)
CN5
+ 4 MO1 Analog monitor 1
1 LG
Plate SD
Servo system
controller 2 m or less Servo amplifier
(Note 6)
SSCNET III cable (Note 7)
(option)
CN1A CN1B CN1A
(Note 1)
CN1B
The last servo amplifier (Note 8)

(Note 7)
CN1A
(Note 6)
SSCNET III cable
(option) (Note 9) CN1B
Cap
3 - 10
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.
Connection target
Abbreviation 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-J4-10B to MR-J4-100B to

Main circuit power Power supply MR-J4-70B MR-J4-700B
L1/L2/L3
supply 3-phase 200 V AC to 240 V AC,
L1/L2/L3
50/60 Hz
1-phase 200 V AC to 240 V AC,
L1/L3
50/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4.
(factory-wired)
Power factor
P3/P4 When using the power factor improving DC reactor, disconnect P3 and P4,
improving DC reactor
and connect the power factor improving DC reactor to P3 and P4.
Refer to section 11.1 for details.
1) MR-J4-350B or less
When using 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-J4-350B to MR-J4-700B
P+/C/D Regenerative option MR-J4-350B to MR-J4-700B 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.
Refer to section 11.2 to 11.5 for details.
Supply the following power to L11 and L21.
Servo amplifier MR-J4-10B to
Control circuit power
L11/L21
L11/L12 Power supply MR-J4-700B
supply
1-phase 200 V AC to 240 V AC L11/L12
L11/L21
Connect to the servo motor power supply terminals (U, V, and W). During
Servo motor power
U/V/W power-on, do not open or close the servo motor power supply. Otherwise, it
supply
When using a power regenerative converter or brake unit, connect it to P+
Return converter and N-.
N-
Brake unit Refer
Do nottoconnect
sectionit11.3 to servo
to the 11.5 for details.MR-J4-350B or less.
amplifier
Refer to section 11.3 to 11.5 for details.
Connect it to the grounding terminal of the servo motor and to the protective
Protective earth (PE)
earth (PE) of the cabinet for grounding.
3 - 11
3.3.2 Power-on sequence
(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the main circuit power supply (3-phase: L1, L2, and L3, 1-phase: L1 and L3). 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 and L21) simultaneously with the main circuit
power supply or before switching on the main circuit power supply. If the control circuit power
supply is turned on with the main circuit power supply off, and then the servo-on command is
transmitted, [AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply
stops the warning and starts the normal operation.
3) The servo amplifier receives the servo-on command within 3 s to 4 s after the main circuit power
supply is switched on.
(Refer to paragraph (2) of this section.)
(2) Timing chart

Servo-on command accepted
(Note)
3(3 s)4
s to
Main circuit ON
Control circuit power supply OFF
ON
Base circuit
OFF
95 ms 10 ms 95 ms
Servo-on command ON
(from controller) OFF
Note. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.
3 - 12
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT
For the sizes of wires used for wiring, refer to section 11.11.
MR-J3-500B or more do not have these connectors.
Use the servo amplifier power supply connector for wiring CNP1, CNP2 and CNP3.
(1) Connectors
(a) MR-J4-10B to MR-J4-100B
Servo amplifier
CNP1
CNP2
CNP3
Table 3.1 Connector and applicable cable

Applicable cable Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGDK-H7.5
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or less 9 mm J-FAT-OT JST
CNP3 03JFAT-SAXGDK-H7.5
(b) MR-J4-200B/MR-J4-350B
MR-J4-200B MR-J4-350B
CNP1 CNP1
CNP2 CNP3
CNP2
CNP3 CNP2
CNP3
Table 3.2 Connector and applicable cable

Applicable cable Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGFK-XL
AWG 16 to 10 4.7 mm or less 11.5 mm
CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or less 9 mm
3 - 13
(2) Cable connection procedure

(a) Cable making
Refer to table 3.1 and 3.2 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 slightly and straighten them as follows.
Loose and bent strands Twist and straighten

the strands.
(b) Inserting wire

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the CNP3 connector for 2 kW and 3.5 kW.
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3 - 14
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors are as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13.
In the case of the CN3 connector, securely connect the shielded external
conductor of the cable to the ground plate and fix it to the connector shell.
Threads
Cable
Threads
Ground plate
3 - 15
The servo amplifier front view shown is that of the MR-J4-20B or less. Refer to chapter 9 DIMENSIONS for
the appearances and connector layouts of the other servo amplifiers.
CN5(USB connector) CN3
Refer to section 11.8
1 11
CN8 2 12
For the STO I/O signal LG LG
connector, refer to chapter DI1 DI2
13.
15. 3 13
4 14
DOCOM MBR
MO1 MO2
5 15
6 16
DICOM ALM
CN1A
Connector for SSCNET III LA LAR
CN2 7 17
cable for previous servo
amplifier axis 8 18
LB LBR
2 6 10
LG 4 8 CN1B LZ LZR
Connector for SSCNET III 9 19
MRR MDR
1 5 9 cable for next servo 10 20
amplifier axis INP DI3
P5 3 7 BAT
MR MD DICOM EM2
CN4
(Battery connector)
The frames of the CN2 and CN3
connectors are connected to the
protective earth terminal in the
servo amplifier.
Connector Name Description

Connector for SSCNET III cable for
CN1A Used for connection with the controller or previous axis servo amplifier.
previous servo amplifier axis
Connector for SSCNET III cable for
CN1B Used for connection with the next axis servo amplifier or for connection of the cap.
next servo amplifier axis
CN2 Connector for encoder Used to connect the servo motor encoder.
When using it as absolute position detection system, connect to battery (MR-
BAT6V1SET). Before mounting 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 N- with a voltage tester or others. Otherwise, an electric shock may
CN4 Connector for encoder battery
occur. In addition, when confirming whether the charge lamp is off or not, always
confirm it from the front of the servo amplifier. Replace the battery with main circuit
power-off and with control circuit power-on. Replacing the battery with the control
circuit power-off results in loosing absolute position data.
CN5 USB connector The personal computer is connected.
CN8 STO I/O signal connector For the STO I/O signal connector (CN8), refer to chapter 13.
3 - 16
3.5 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.In the control mode
field of the table
The pin No.s in the connector pin No. column are those in the initial status.
3.5.1 Input device

Connector I/O
Device Abbreviation Function and application
pin No. division
Turn off EM2 (open between commons) to decelerate the servo motor to a stop
with commands.
Turn EM2 on (short between commons) in the forced stop state to reset that
state.
Set [Pr. PA04] to "2 1 _ _" to disable EM2.
The following shows the setting of [Pr. PA04].
[Pr. PA04] Deceleration

EM2/EM1
setting EM2 or EM1 is off Alarm occurred
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
00__ EM1
without the forced stop without the forced stop
deceleration. deceleration.
MBR (Electromagnetic MBR (Electromagnetic
Forced stop 2 EM2 CN3-20 DI-1
brake interlock) turns off brake interlock) turns off
20__ EM2
after the forced stop after the forced stop
deceleration. deceleration.
MBR (Electromagnetic
Not using
brake interlock) turns off
01__ EM2 or
without the forced stop
EM1
deceleration.
MBR (Electromagnetic
Not using
brake interlock) turns off
21__ EM2 or
after the forced stop
EM1
deceleration.
EM2 and EM1 are mutually exclusive.

However, EM2 has the same function as EM1 in the torque control mode.
When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1.
Turn EM1 off (open between commons) to bring the motor to an forced stop
state. The base circuit is shut off, the dynamic brake is operated and decelerate
Forced stop 1 EM1 (CN3-20) the servo motor to a stop. DI-1
Turn EM1 on (short between commons) in the forced stop state to reset that
state.
Set [Pr. PA04] to "0 1 _ _" to disable EM1.
DI1 CN3-2 Devices can be assigned for these signals with controller setting. For devices DI-1
that can be assigned, refer to the controller instruction manual. The following
DI2 CN3-12 DI-1
devices can be assigned for MR-J4 compatible controller (Q172DSCPU,
DI3 CN3-19 Q173DSCPU, and QD77MS_). DI-1
3 - 17
3.5.2 Output device
(1) Output device pin

The following shows the output device pins and parameters for assigning devices.
Connector pin No. Parameter Initial device I/O division
CN3-13 [Pr. PD07] MBR
CN3-15 [Pr. PD09] ALM DO-1
CN3-9 [Pr. PD08] INP
(2) Output device explanations

Electromagnetic MBR When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02].
brake interlock When the servo-off status or alarm occurs, MBR will turn off.
Malfunction ALM When the protective circuit is activated to shut off the base circuit, ALM will turn off.
Without alarm occurring, ALM turns on about 2.5 s to 3.5 s after power-on.
In-position INP When the number of droop pulses is in the in-position range, INP 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.
The device cannot be used in the speed control mode and torque control mode.
Ready RD RD turns on when the servo is switched on and the servo amplifier is ready to operate.
Speed reached SA SA will turn off during servo-off. When servo motor rotation speed reaches approximately target
speed, SA will turn on. When the preset speed is 20 r/min or less, SA always turns on.
The signal cannot be used in the position control mode and torque control mode.
limiting torque VLC When the speed reaches the speed limit value in the torque control mode, VLC will turn on. When
the servo is off, TLC will be turned off.
The device cannot be used in the position control mode and speed control mode.
Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When
the servo is off, TLC will be turned off.
This device cannot be used in the torque control mode.
Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. Zero speed can be
detection changed using [Pr. PC07].
OFF level 1)
Forward 70 r/min 3)
rotation 2) 20 r/min
direction ON level (Hysteresis width)
50 r/min
[Pr. PC07]
Servo motor 0 r/min
speed
[Pr. PC07]
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.
When you use a linear servo motor, [r/min] explained above will be [mm/s].
3 - 18

Warning WNG When warning has occurred, WNG turns on. Without warning occurring, WNG turns off about 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. 9F Battery warning] has
occurred. When the battery warning is not occurring, BWNG will turn off about 2.5 s to 3.5 s after
power-on.
Variable gain CDPS CDPS will turn on during variable gain.
selection
Absolute position ABSV ABSV turns on when the absolute position erased.
undetermined The device cannot be used in the speed control mode and torque control mode.
During tough drive MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive
will turn on MTTR.
3.5.3 Output signal

Connector
Signal name Abbreviation Function and application
pin No.
Encoder A-phase LA CN3-6 These devices output pulses of encoder output set in [Pr. PA15] and [Pr. PA16] in the
pulse LAR CN3-16 differential line driver type.
(differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-
driver) phase pulse by a phase angle of ʌ/2.
Encoder B-phase LB CN3-7 The relationships between rotation direction and phase difference of the A-phase and B-
pulse LBR CN3-17 phase pulses can be changed using [Pr. PC03].
(differential line Output pulse specification, dividing ratio setting, and electronic gear setting can be
driver) selected.
Encoder Z-phase LZ CN3-8 Outputs the zero-point signal in the differential line driver type of the encoder. One pulse
pulse LZR CN3-18 is output per servo motor revolution. Turns on when the zero-point position is reached.
(differential line (negative logic)
driver) The minimum pulse width is about 400 ȝs. For home position return using this pulse, set
the creep speed to 100 r/min. or less.
Analog monitor 1 MO1 CN3-4 Used to output the data set in [Pr. PC09] to across MO1-LG in terms of voltage.
Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN3-14 This signal output the data set in [Pr. PC09] to between MO2 and LG in terms of voltage.
Resolution: 10 bits or equivalent
3.5.4 Power supply

Connector
Signal name Abbreviation Function and application
pin No.
Digital I/F power DICOM CN3-5 Input 24 V DC (24 V DC ±10% 200 mA) for I/O interface. The power supply capacity
supply input CN3-10 changes depending on the number of I/O interface points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Digital I/F common DOCOM CN3-3 Common terminal for input device such as EM2 of the servo amplifier. DOCOM 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.
Monitor common LG CN3-1 Common terminal of MO1 and MO2.
CN3-11 Pins are connected internally.
Shield SD Plate Connect the external conductor of the shielded wire.
3 - 19
3.6 Forced stop deceleration function
POINT
When alarms not related to the forced stop function occur, control of motor
deceleration can not be guaranteed. (Refer to section 8.1.)
In the torque control mode, the forced stop deceleration function is not available.
3.6.1 Forced stop deceleration function (SS1)
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 run. The the servo amplifier
life may be shortened.
(1) Connection diagram

Servo amplifier
24 V DC
DICOM
(Note)
Forced stop 2 EM2
Note. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3.
(2) Timing chart

When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], 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. PC07])
0 r/min
Deceleration time
[Pr. PC24]
Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON
(Electromagnetic OFF (Enabled)
brake interlock)
3 - 20
3.6.2 Base circuit shut-off delay time function
The base circuit shut-off delay time function is used to maintain power at the motor for a specified time delay
after a forced stop activation (EM2 goes off). The time between completion of EM2 (Forced stop 2) or
activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and the time at which the
base is cut, is the base cut delay time and is set by [Pr. PC02].
(1) Timing chart

ON When the servo motor is moving and EM2
EM2 (Forced stop 2)
OFF (Enabled) (Forced stop 2) turns off (activates), or
during the occurrence of an alarm, the
servo motor decelerates per the
deceleration time constant, next MBR
Servo motor speed (Electromagnetic brake interlock) turns off
(activates), and then after the delay time
0 r/min set in [Pr. PC02], the base signals in the
servo amplifier are cut (i.e. torque is
Base circuit ON
removed from the motor).
(Energy supply to
[Pr. PC02]
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)
(2) Adjustment
While the servo motor is stopped, activate (turn off) EM2 (Forced stop 2), adjust the base cut delay time
in [Pr. PC02], setting the value to approximately 1.5 times the smallest delay time in which the servo
motor does not freefall.
3 - 21
3.6.3 Vertical axis freefall prevention function
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly 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, the functions may not
avoid dropping axis a few ȝm 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 in [Pr. PC31 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.
When [Pr. PC31 Vertical axis freefall prevention compensation amount] is set to a value other than "0", and
when 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 freefall prevention function begins to work.
(1) Timing chart
EM2EM2(ᒝ೙஗ᱛ2)
(Forced stop 2) ON
OFF
OFF(᦭ല)
(Enabled)
Position
૏⟎ Travel distance
⒖േ㊂
Baseࡌ࡯ࠬ࿁〝
circuit (Energy ON
(ࠨ࡯ࡏࡕ࡯࠲߳ߩ
supply to the servo
ࠛࡀ࡞ࠡଏ⛎)
motor) OFF
MBRMBR
(Electromagnetic ON Set the base circuit shut-off delay time. ([Pr. PC02])
ࡌ࡯ࠬㆤᢿㆃᑧᤨ㑆ࠍᔅߕ⸳ቯߒߡߊߛߐ޿‫[(ޕ‬Pr.PC02])
(㔚⏛ࡉ࡟࡯ࠠ
brake interlock) OFF
ࠗࡦ࠲ࡠ࠶ࠢ) OFF(᦭ല)
(Enabled)
Actual operation of Disabled

ήല
㔚⏛ࡉ࡟࡯ࠠታ૞േ Disabled
electromagnetic brake ᦭ല
(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC31].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC02] in accordance with the travel distance ([Pr. PC31). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.
3 - 22
3.6.4 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 - 23
3.7 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 the alarm, cycle the control circuit power or give the error reset or CPU reset command from
the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.
3.7.1 When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _(initial value)" in [Pr. PA04].
(1) When the forced stop deceleration function is valid

Alarm occurrence
(Note)
Model speed command 0
and equal to or less than
Servo motor speed zero speed
0 r/min
Controller command is ignored.
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm Alarm No.
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note. The model speed command is a speed command made in the servo amplifier for forced stop deceleration of
the servo motor.
3 - 24
(2) When the forced stop deceleration function is invalid

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
display No alarm Alarm No.
Operation delay time of the electromagnetic brake
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
(3) When SSCNET III/H communication brake occurs

SSCNET III/H communication
has broken.
(Note)
Servo motor speed zero speed
0 r/min
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm (d1 or E7) AA
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note. The model speed command is a speed command made in the servo amplifier for forced stop deceleration of
the servo motor.
3.7.2 When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication brake
occurs is the same as section 3.7.1 (2).
3 - 25
3.8 Interfaces
3.8.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
Servo amplifier
Forced stop 2 CN3 Approximately CN3

6.2 k˖
EM2 20 10 DICOM
DI1 2 13 MBR RA
(Note 2) (Note)
(Note 1) DI2 12 9
(Note 3)
Approximately INP
6.2 k˖
DI3 19 15 ALM RA
24 V DC
DICOM 5
DOCOM 3
Isolated
CN3
6 LA
16 LAR
7 LB Differential line
17 LBR driver output
(35 mA or less)
8 LZ
18 LZR
11 LG
CN3 Analog monitor

CN5
VBUS 1 4 MO1
D- 2
USB ±10 V DC
D+ 3 14 MO2
±10 V DC
GND 5
1 LG
Servo motor
CN2
Encoder
7 MD
8 MDR
3 MR
4 MRR
2 LG
PE
M
Note 1. Signal can be assigned for these pins with host controller setting.
For contents of signals, refer to the instruction manual of host controller.
2. The signal cannot be used in the speed control mode and torque control mode.
3 - 26
3.8.2 Detailed description 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

Turn on/off the input signal with a relay or open collector transistor. The following is a connection
diagram for sink input. Refer to section 3.8.3 for source input.
For transistor Servo amplifier
Approximately EM2,
5 mA etc.
Approximately
6.2 k˖
Switch
TR
DICOM
VCES ื 1.0 V 24 V DC ± 10%
ICEOื 100 μA 300 mA
(2) 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.
(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 is a connection diagram for sink output. Refer to section 3.8.3 for source output.
Servo amplifier
If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM, Load
etc.
DOCOM
(Note) 24 V DC ± 10%
300 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 - 27
(3) Encoder output pulses DO-2 (differential line driver type)

(a) Interface
Max. output current: 35 mA
LA LA
(LB, LZ) Am26LS32 or equivalent (LB, LZ) 100 ˖
150 ˖
LAR LAR High-speed photocoupler

(LBR, LZR) (LBR, LZR)
LG
SD SD
(b) Output pulse

Servo motor CCW rotation
LA Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC03].
LAR T
LB
LBR
˭/2
400 ˩s or more
LZ
LZR
(4) Analog output

Servo amplifier
MO1
(MO2)
Output voltage: ±10 V
Maximum output current: 1 mA
LG Resolution: 10 bits or equivalent
Note. Output voltage range varies depending on the output contents. (Refer to section
5.3.3.)
3 - 28
3.8.3 Source I/O interface
In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1
output signals are of source type. Perform wiring according to the following interfaces.
(1) Digital input interface DI-1

Servo amplifier
For transistor
EM2,
etc.
Approximately
6.2 k˖
TR Switch
DICOM
Approximately 24 V DC ± 10%
5 mA 300 mA
VCES ื 1.0 V
ICEOื 100 μA
(2) Digital output interface DO-1

A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier
reversed, servo amplifier
will malfunction.
ALM, Load
etc.
DOCOM
(Note) 24 V DC ± 10%
300 mA
3 - 29
3.9 SSCNET III cable connection
POINT
Do not look directly at the light generated from CN1A/CN1B connector of the
servo amplifier or the end of SSCNET III cable. The light can be a discomfort
when it enters the eye. (The light source of SSCNET III/H complies with class1
defined in JIS C6802 or IEC 60825-1.)
(1) SSCNET III cable connection

For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo
amplifier of the previous axis. For CN1B connector, connect SSCNET III cable connected to servo
amplifier of the next axis. For CN1B connector of the final axis, put a cap came with servo amplifier.
The first axis servo amplifier The second axis servo amplifier The last axis servo amplifier
SSCNET III SSCNET III

SSCNET III cable cable cable
Controller CN1A CN1A CN1A
Cap
CN1B CN1B CN1B
(2) How to connect/disconnect cable
POINT
CN1A and CN1B connector are capped to protect light device inside connector
from dust. For this reason, do not remove a cap until just before mounting
SSCNET III cable. Then, when removing SSCNET III cable, make sure to put a
cap.
Keep the cap for CN1A/CN1B connector and the tube for protecting optical cord
end of SSCNET III cable in a plastic bag with a zipper of SSCNET III cable to
prevent them from becoming dirty.
When asking repair of servo amplifier for some malfunctions, make sure to cap
CN1A and CN1B connector. When the connector is not put a cap, the light
device may be damaged at the transit. In this case, replacing and repairing the
light device is required.
(a) Connection
1) For SSCNET III cable in the shipping status, the tube for protect optical cord end is put on the
end of connector. Remove this tube.
2) Remove the CN1A and CN1B connector caps of the servo amplifier.
3 - 30
3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B
connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty,
optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a
bonded textile, etc. Do not use solvent such as alcohol.
Click
CN1A CN1A
CN1B CN1B
Tab
(b) Disconnection
With holding a tab of SSCNET III cable connector, pull out the connector.
When pulling out the SSCNET III cable from servo amplifier, be sure to put the cap on the connector
parts of servo amplifier to prevent it from becoming dirty. For SSCNET III cable, attach the tube for
protection optical cord's end face on the end of connector.
3 - 31
3.10 Servo motor with an electromagnetic brake
3.10.1 Safety precautions
Configure an electromagnetic brake circuit so that it is activated also by an

external EMG stop switch.
Contacts must be opened when ALM (Malfunction) Contacts must be opened with the
or MBR (Electromagnetic brake interlock) turns off. EMG stop switch.
Servo motor
RA
B U 24 V DC
CAUTION Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before performing the operation, 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.
POINT
Refer to the Servo Motor Instruction Manual (Vol. 3) for specifications such as
the power supply capacity and operation delay time of the electromagnetic
brake.
Refer to the Servo Motor Instruction Manual (Vol. 3) or section 11.19 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 brake will operate when the power (24 V DC) turns off.
2) Turn off the servo-on command after the servo motor stopped.

Servo amplifier
(Note 2)
24 V DC MBR ALM Servo motor
RA1 (Malfaunction) B1
DOCOM
(Note 1)
DICOM 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
In [Pr. PC02 Electromagnetic brake sequence output], set the time delay (Tb) from electromagnetic
brake operation to base circuit shut-off at a servo off time as in the timing chart in section 3.10.2.
3 - 32
3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _(initial value)" in [Pr. PA04].
(a) Servo-on command (from controller) on/off

Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If
the electromagnetic brake is enabled during servo-lock, the brake life may be longer. Therefore,
when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to
about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
Servo motor speed 0 r/min
(95 ms) Tb
ON
Base circuit
OFF
(95 ms) Operation delay time of
MBR ON the electromagnetic brake
(Electromagnetic (Note 1)
Servo-on command ON
Ready-on command ON
(Note 3)
Operation command
(from controller) 0 r/min
Electromagnetic Release
brake Activate Release delay time and external relay, etc. (Note 2)
Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol. 3).
3. Give the operation command from the controller after the electromagnetic brake is released.
3 - 33
(b) EMG stop 2 switch on/off
POINT
(Note 2)
Servo motor zero speed
speed
0 r/min
Base circuit ON
(Energy supply to
ON
EM2 (Forced stop 2)
OFF
MBR ON
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note 1. ON: Electromagnetic brake is not activated.

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

The operation status during an alarm is the same as section 3.7.
(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
(10 ms) + Electromagnetic brake
Servo motor speed
Electromagnetic brake
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 - 34
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࠳ࠗ࠽ࡒ࠶ࠢࡉ࡟࡯ࠠbrake
Time until voltage decrease Dynamic brake
࠳ࠗ࠽ࡒ࠶ࠢࡉ࡟࡯ࠠ
Servo motor
ࠨ࡯ࡏࡕ࡯࠲speed 㔚࿶ૐਅᬌ಴߹ߢߩᤨ㑆
is detected +Electromagnetic
㔚⏛ࡉ࡟࡯ࠠ brake
࿁ォㅦᐲ Electromagnetic
㔚⏛ࡉ࡟࡯ࠠ brake
UPLQ
PV
Main circuit power 21
ਥ࿁〝㔚Ḯ
supply 2)) ᵈ
Base circuit (Energy supply

ࡌ࡯ࠬ࿁〝

21
ࠨ࡯ࡏࡕ࡯࠲߳ߩ
to the servo motor)
ࠛࡀ࡞ࠡଏ⛎ 2))
MBR (Electromagnetic brake 21

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interlock) ࠗࡦ࠲ࡠ࠶ࠢ
2))
Operation
㔚⏛ࡉ࡟࡯ࠠ delay time of the
૞േㆃࠇᤨ㑆 brake
electromagnetic
ON (no alarm)
21ή
$/0᡿㓚
ALM (Malfunction)
2))᦭
OFF (alarm)
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2))(OHFWURPDJQHWLFEUDNHLVDFWLYDWHG
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7KHPRGHOVSHHGFRPPDQGLVDVSHHGFRPPDQGPDGHLQWKHVHUYRDPSOLILHUIRUIRUFHGVWRSGHFHOHUDWLRQ
according to the operation status.
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(2) When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
(a) Servo-on command (from controller) on/off

It is the same as (1) (a) in this section.
(b) Off/on of the forced stop command (from controller) or EM1 (Forced stop 1)
Dynamic brake
Dynamic brake
+ Electromagnetic brake Electromagnetic brake
Servo motor speed has released.
0 r/min
(10 ms) (210 ms)
ON
Base circuit
OFF
Operation delay time (210 ms)
MBR ON of the electromagnetic
(Electromagnetic (Note) brake
Forced stop command
(from controller) Disabled (ON)
or
EM1 (Forced stop) Enabled (OFF)
Note. ON: Electromagnetic brake is not activated.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.7.
(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
(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
power supply OFF
Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
3 - 36
(f) Ready-off command from controller

It is the same as (1) (f) in this section.
3.11 Grounding
Ground the servo amplifier and servo motor securely.

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 the EMC Installation Guidelines (IB(NA)67310).
Cabinet
CN2
MCCB MC
L1
Line filter
(Note) Encoder
Power L2
supply
L3
L11
L21 U U
V V M
W W
CN1A
Servo system
controller
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 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power
supply specifications, refer to section 1.3.
3 - 37
6,*1$/6$1':,5,1*
0(02

4. STARTUP
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 heat sink, regenerative resistor, servo motor, etc. may be hot
while power is on or for some time after power-off. Take safety measures, e.g.
CAUTION provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with them.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
POINT
words.
Load to motor inertia ratio ĺ Load to motor mass ratio
Torque [N•m] ĺ Thrust [N]
(Servo motor) Speed [r/min] ĺ (Linear servo motor) Speed [mm/s]
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
4. STARTUP
4.1.1 Startup procedure
Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.1), etc. (Refer to
section 4.1.2.)
Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)
Confirm that the control axis No. set with the auxiliary axis number setting
switches (SW2-3 and SW2-4) and with the axis selection rotary switch
(SW1) match the control axis No. set with the servo system controller. (Refer
to section 4.3.1 (3).)
Set the parameters as necessary, such as the used operation mode

andregenerative option selection. (Refer to chapter 5.)
For the test operation, with the servo motor disconnected from the machine
and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to section 4.5.)
For the test operation with the servo motor disconnected from the machine
and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
After connecting the servo motor with the machine, check machine motions
with sending operation commands from the controller.
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Stop giving commands and stop operation.
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

The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier
should satisfy the defined specifications. (Refer to section 1.3.)
(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U, V, and W) should match in phase with the servo motor power
input terminals (U, V, and W).
U
U
V
V M
W
W
2) The power supplied to the servo amplifier should not be connected to the servo motor power
terminals (U, V, and W). To do so will fail the connected servo amplifier and servo motor.

U
L1 U
V
L2 V M
W
L3 W
The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(c) When you use an option and auxiliary equipment

1) When you use a regenerative option for amplifiers under 5 kW for 200 V class
The lead wire between P+ and D terminal of CNP2 connector (3.5 kW or under) or TE3
terminal block (5kW) should not be connected.
The regenerative option wire should be connected between P+ and C terminal.
A twisted cable should be used. (Refer to section 11.2.4.)
2) When you use a regenerative option for amplifiers under 7 kW for 200 V class
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should
not be connected.
The regenerative option wire should be connected between P+ and C terminal.
A twisted cable should be used when wiring is over 5 m and under 10 m. (Refer to section
11.2.4.)
4- 3
4. STARTUP
3) When you use a brake unit and power regenerative converter for over 7 kW
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should
not be connected.
Brake unit, power regenerative converter or power regenerative common converter should be
connected to P+ terminal and N- terminal. (Refer to section 11.3 to 11.5.)
4) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.13.)
Power factor Servo
ࠨ࡯ࡏࠕࡦࡊamplifier
improving
ജ₸ᡷༀ DC
reactor
DC࡝ࠕࠢ࠻࡞
P3
(Note)
(ᵈ)
P4
Note. Always disconnect between P3 and P4 terminals.
(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 CN3 connector. This function can be used
to perform a wiring check. 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 CN3 connector.
(c) SD and DOCOM of the CN3 connector is not shorted.

Servo amplifier
CN3
DOCOM
SD
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 flex life. (Refer
bending to section
life. (Refer 10.4.)10.4.)
to section
(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- 4
4. STARTUP
4.2 Startup
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
(1) Power on
When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the
servo amplifier display.
When the absolute position detection system is used in a rotary servo motor, first power-on results in
[AL. 25 Absolute position erased] and the servo-on cannot be ready. 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) Parameter setting
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC04] 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
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
details.
After setting the above parameters, turn power off as necessary. Then switch power on again to enable
the parameter values.
(3) Servo-on
Enable the servo-on with the following procedure.
(a) Switch on main circuit power supply and control circuit power supply.
(b) Transmit the servo-on command with the controller.
When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is
locked.
(4) Home position return

Always perform home position return before starting positioning operation.
4- 5
4. STARTUP
(5) Stop
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
Servo-off command The base circuit is shut off and the servo motor coasts.
The base circuit is shut off and the dynamic brake operates to
Servo system Ready-off command
bring the servo motor to a stop.
controller
The servo motor decelerates to a stop with the command. [AL.
Forced stop command
E7 Controller forced stop warning] occurs.
The servo motor decelerates to a stop with the command. With
Alarm occurrence some alarms, however, the dynamic brake operates to bring the
servo motor to a stop. (Refer to section 8. (Note))
The servo motor decelerates to a stop with the command. [AL.
E6 Servo forced stop warning] occurs. EM2 is the same signal as
Servo amplifier EM2 (Forced stop 2) off
EM1 in the torque control mode. EM2 has the same function as
EM1 in the torque control mode. Refer to section 3.5 for EM1.
The base circuit is shut off and the dynamic brake operates to
STO (STO1, STO2) off
bring the servo motor to a stop.
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.
4.3 Switch setting and display of the servo amplifier
Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with
switches on the servo amplifier.
On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the
servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an
alarm.
4.3.1 Switches
When switching the axis selection rotary switch (SW1) and auxiliary axis number
setting switch (SW2), use an insulation screw driver. Do not use a metal screw
WARNING driver. Touching patterns on electronic boards, lead of electronic parts, etc. may
cause an electric shock.
POINT
Turning "ON (up)" all the control axis setting switches (SW2) enables an
operation mode for manufacturer setting and displays "off". The mode is not
available. Set the control axis setting switches (SW2) correctly according to this
section.
Cycling the main circuit power supply and control circuit power supply enables
the setting of each switch.
4- 6
4. STARTUP
The following explains the test operation select switch, the disabling control axis switch, auxiliary axis
number setting switches, and the axis selection rotary switch.
digit,
3-dight, 7-segment LED
3ᩴ7࠮ࠣࡔࡦ࠻LED Rotary axis setting switch
ゲㆬᛯࡠ࡯࠲࡝ࠬࠗ࠶࠴
(SW1)
(SW1)
Control೙ᓮゲ⸳ቯࠬࠗ࠶࠴(SW2)
axis setting switch (SW2)
ON
1 2 3 4
Auxiliary axis number setting switch
ゲ⇟ภ⵬ഥ⸳ቯࠬࠗ࠶࠴
Control axis deactivation switch
೙ᓮゲήലࠬࠗ࠶࠴
Test operation select switch
࠹ࠬ࠻ㆇォಾ឵߃ࠬࠗ࠶࠴
(1) Test operation select switch (SW2-1)

To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the switch enables the test
operation mode. In the test operation mode, the functions such as JOG operation, positioning operation,
and machine analyzer are available with MR Configurator2. Before turning "ON (up)" the test operation
select switch, turn "OFF (down)" the disabling control axis switch.
ON
1 2 3 4
Control
೙ᓮゲήലࠬࠗ࠶࠴axis deactivation switch
"ࠝࡈ(ਅ)"ߦ⸳ቯߒߡߊߛߐ޿‫ޕ‬
Set to the "OFF (down)" position.
Test operation select switch
࠹ࠬ࠻ㆇォಾ឵߃ࠬࠗ࠶࠴
"ࠝࡦ(਄)"ߦ⸳ቯߒߡߊߛߐ޿‫ޕ‬
Set to the "ON (up)" position.
(2) Disabling control axis switch (SW2-2)

Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo
motor will be disabled-axis status and will not be recognized by the controller.
ON
1 2 3 4
Control axis deactivation switch
೙ᓮゲήലࠬࠗ࠶࠴
4- 7
4. STARTUP
(3) Switches for setting control axis No.
POINT
The control axis No. set to the auxiliary axis number setting switches (SW2-3
and SW2-4) and the axis selection rotary switch (SW1) should be the same as
the one set to the servo system controller. The number of the axes you can set
depends on the controller.
For setting the axis selection rotary switch, use a flat-blade screwdriver with the
blade edge width of 2.1 mm to 2.3 mm and the blade edge thickness of 0.6 mm
to 0.7 mm.
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches with
the axis selection rotary switch. (Refer to (3) (c) of this section.)
If the same numbers are set to different control axes in a single communication system, the system will
not operate properly. The control axes may be set independently of the SSCNET III cable connection
sequence. The following shows the description of each switch.
(a) Auxiliary axis number setting switches (SW2-3 and SW2-4)

Turning these switches "ON (up)" enables you to set the axis No. 17 or more.
(b) Axis selection rotary switch (SW1)

You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches
with the axis selection rotary switch. (Refer to (3) (c) of this section.)
Rotary axis setting switch (SW1)
7 8 9
A
3 4 5 6
B C D E
2
F 0 1
4- 8
4. STARTUP
(c) Switch combination list for the control axis No. setting
The following lists show the setting combinations of the auxiliary axis number setting switches and
the axis selection rotary switch.
Axis Axis
Auxiliary axis number selection Control Auxiliary axis number selection Control
setting switch rotary axis No. setting switch rotary axis No.
switch switch
0 1 0 17
1 2 1 18
2 3 2 19
3 4 3 20
4 5 4 21
5 6 5 22
6 7 6 23
ON ON
7 8 7 24
1 2 3 4 8 9 1 2 3 4 8 25
9 10 9 26
A 11 A 27
B 12 B 28
C 13 C 29
D 14 D 30
E 15 E 31
F 16 F 32
Axis Axis
Auxiliary axis number selection Control Auxiliary axis number selection Control
setting switch rotary axis No. setting switch rotary axis No.
switch switch
0 33 0 49
1 34 1 50
2 35 2 51
3 36 3 52
4 37 4 53
5 38 5 54
6 39 6 55
ON ON
7 40 7 56
1 2 3 4 8 41 1 2 3 4 8 57
9 42 9 58
A 43 A 59
B 44 B 60
C 45 C 61
D 46 D 62
E 47 E 63
F 48 F 64
4- 9
4. STARTUP
4.3.2 Scrolling display
(1) Normal display

When there is no alarm, the axis No. and blank are displayed in rotation.
After 1.6 s
1.6⑽ᓟ
Status
⁁ᘒ⴫␜ Blank
ࡉ࡜ࡦࠢ⴫␜
After 0.2 s
0.2⑽ᓟ
Status
⁁ᘒ⴫␜ Axis
ゲ⇟ภ No.
(1(1ᩴ)
digit) (2(2ᩴ)
digits)
Indicates ready-off and servo-off status.

"b" : ࡟࠺ࠖࠝࡈ㧘ࠨ࡯ࡏࠝࡈ⁁ᘒࠍ␜ߒ߹ߔ‫ޕ‬
Indicates ready-on and servo-off status.
"C": ࡟࠺ࠖࠝࡦ㧘ࠨ࡯ࡏࠝࡈ⁁ᘒࠍ␜ߒ߹ߔ‫ޕ‬
"d" : ࡟࠺ࠖࠝࡦ㧘ࠨ࡯ࡏࠝࡦ⁁ᘒࠍ␜ߒ߹ߔ‫ޕ‬
Indicates ready-on and servo-on status.
(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed
following the status display. For example, the following shows when [AL. 32 Overcurrent] is occurring.
After 0.8 s After 0.8 s
0.8⑽ᓟ 0.8⑽ᓟ
Status
⁁ᘒ⴫␜ alarm
ࠕ࡜࡯ࡓ No. ࡉ࡜ࡦࠢ⴫␜
Blank
⇟ภ⴫␜
After 0.2 s
0.2⑽ᓟ
Status
⁁ᘒ⴫␜ Axis
ゲ⇟ภ No. Alarm
ࠕ࡜࡯ࡓ Alarm detail
No. ࠕ࡜࡯ࡓ
(1(1ᩴ)
digit) (2(2ᩴ)
digits) (2 digits) ⹦⚦(1ᩴ)
⇟ภ(2ᩴ) (1 digit)
"F": Indicates
"n": ࠕ࡜࡯ࡓ߇⊒↢ߒߡ޿ࠆ⁁ᘒࠍ␜ߒ߹ߔ‫ޕ‬
that an alarm is occurring.
4 - 10
4. STARTUP
4.3.3 Status display of an axis
(1) Display sequence

Servo amplifier power on
ࠨ࡯ࡏࠕࡦࡊ㔚Ḯࠝࡦ
System check in progress

ࠪࠬ࠹ࡓ࠴ࠚ࠶ࠢਛ
Waiting for servo system controller power to switch on

ࠨ࡯ࡏࠪࠬ࠹ࡓࠦࡦ࠻ࡠ࡯࡜
㔚Ḯࠝࡦ(SSCNETΥ/Hㅢା)ᓙߜ
(SSCNET III/H communication)
Servo system controller power on

ࠨ࡯ࡏࠪࠬ࠹ࡓࠦࡦ࠻ࡠ࡯࡜㔚Ḯࠝࡦ
(SSCNET III/H communication begins)
(SSCNETΥ/Hㅢା㐿ᆎ)
Initial data communication with the

ࠨ࡯ࡏࠪࠬ࠹ࡓࠦࡦ࠻ࡠ࡯࡜ߣߩೋᦼ
servo system controller
࠺࡯࠲੤ା(ࠗ࠾ࠪࡖ࡜ࠗ࠭ㅢା)
(initialization communication)
When an alarm No. or warning No. is displayed

ࠕ࡜࡯ࡓ߅ࠃ߮⼊๔⇟ภߩ႐ว
(Note)
(ᵈ) Ready-off and ready-on
࡟࠺ࠖࠝࡈ߅ࠃ߮࡟࠺ࠖࠝࡦ
Example:
଀: When [AL. 50 Overload
╙1ゲߦ[AL.50 1] occurs at axis No. 1
ㆊ⽶⩄1]߇⊒↢ߒߚߣ߈
Flickering
ὐṌ⴫␜
Ready-on
࡟࠺ࠖࠝࡦ After
0.8⑽ᓟ 0.8 s
Flickering
ὐṌ⴫␜
After
0.8⑽ᓟ 0.8 s
(Note)
(ᵈ) Ready-on and servo-off
࡟࠺ࠖࠝࡦ߅ࠃ߮ࠨ࡯ࡏࠝࡈ
When alarm occurs, its
ࠕ࡜࡯ࡓ߇⊒↢ߔࠆߣ Blank
ࡉ࡜ࡦࠢ⴫␜
ࠕ࡜࡯ࡓࠦ࡯࠼ࠍ⴫␜
alarm code appears.
ߒ߹ߔ‫ޕ‬ Example: When [AL.ㆊ⽶⩄⼊๔]߇⊒↢ߒߚ
E1 Overload warning 1]
Servo-on
ࠨ࡯ࡏࠝࡦ ଀: ╙1ゲߦ[AL.E1
ߣ߈ occurs at axis No. 1
Flickering
ὐṌ⴫␜
(Note)
(ᵈ) Ready-on and servo-off
࡟࠺ࠖࠝࡦ߅ࠃ߮ࠨ࡯ࡏࠝࡈ
After
0.8⑽ᓟ 0.8 s
Flickering
ὐṌ⴫␜
Ordinary
ㅢᏱㆇォ operation After
0.8⑽ᓟ0.8 s
Blank
ࡉ࡜ࡦࠢ⴫␜
Servo system controller power off
ࠨ࡯ࡏࠪࠬ࠹ࡓࠦࡦ࠻ࡠ࡯࡜㔚Ḯࠝࡈ
During a non servo-off causing warning,
࡮ࠨ࡯ࡏࠝࡈߦߥࠄߥ޿⼊๔ᤨߪ3ᩴ⋡ߩ
the decimal point on the third digit LED
ዊᢙὐLEDߢࠨ࡯ࡏࠝࡦਛߢ޽ࠆߎߣࠍ
␜ߔ‫ޕ‬the servo-on status.
shows
Servo system controller power on

ࠨ࡯ࡏࠪࠬ࠹ࡓࠦࡦ࠻ࡠ࡯࡜㔚Ḯࠝࡦ
Note.
ᵈ. The segment of the last 2 digits shows the axis number.
ਅ2ᩴߩ࠮ࠣࡔࡦ࠻ߪゲ⇟ภࠍ␜ߒ߹ߔ‫ޕ‬
Axis
╙1ゲNo. 1 Axis
╙2ゲ No. 2 Axis
╙64ゲ No. 64
4 - 11
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4. STARTUP
4.4 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2 for the power on and off methods of the servo amplifier.
POINT
If necessary, verify controller program by using motor-less operation. Refer to
section 4.5.2 for the motor-less operation.
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 rotates correctly. Refer
to section 4.5 for the test operation mode.
Test operation of the servo motor In this step, confirm that the servo motor rotates correctly under the
alone by commands
commands from the controller.
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.
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.
Check any problems with the servo motor speed, command pulse
frequency, load ratio, and other status display items with MR Configurator2.
Then, check automatic operation with the program of the controller.
4.5 Test operation mode
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 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 that the servo amplifier and a
personal computer are directly connected.
By using a personal computer and MR Configurator2, you can execute jog operation, positioning operation,
DO forced output program operation without connecting the servo system controller.
4 - 13
4. STARTUP
4.5.1 Test operation mode in MR Configurator2
POINT
(1) Test operation mode

(a) Jog operation
Jog operation can be performed without using the servo system controller. Use this operation with
the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the jog operation screen of MR Configurator2.
1) Operation pattern
Item initial value Setting range
Speed [r/min] 200 0 to max. speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
2) Operation method
When the check box of "Rotation only while the button is being pushed" is checked.
Operation Screen control
Forward rotation start Keep pressing the "Forward" button.
Reverse rotation start Keep pressing the "Reverse" button.
Stop Release the "Forward" or "Reverse" button.
Forced stop Click the "Forced stop"
When the check box of "Rotation only while the button is being pushed" is not checked.
Forward rotation start Click the "Forward" button.
Reverse rotation start Click the "Reverse" button.
Stop Click the "Stop" button.
Forced stop Click the "Forced stop" button.
(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on or
off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
Item initial value Setting range
Travel distance [pulse] 4000 0 to 99999999
Speed [r/min] 200 0 to max. speed
1000 0 to 50000
time constant [ms]
Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to Fwd. rot. (CCW) to fwd. rot. (CCW)
Repeat pattern
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 repeats [time] 1 1 to 9999
4 - 14
4. STARTUP
2) Operation method
Forward rotation start Click the "Forward" button.
Reverse rotation start Click the "Reverse" button.
Pause Click the "Pause" button.
(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide.
Start Click the "Start" button.
(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
4 - 15
4. STARTUP
(2) Operation procedure

1) Turn off the power.
2) Turn "ON (up)" SW2-1.
ON
Set SW2-1 to "ON (up)".
SW2-1ࠍ"ࠝࡦ(਄)"ߦ⸳ቯ
1 2 3 4
Turning "ON (up)" SW2-1 during power-on will not start the test operation mode.
3) Turn on the servo amplifier.

When initialization is completed, the decimal point on the first digit will flicker.
After
1.6⑽ᓟ 1.6 s
Flickering
ὐṌ
After
0.2⑽ᓟ 0.2 s
When an alarm or warning also occurs during the test operation, the decimal point on the first
digit will flicker as follows.
After
0.8⑽ᓟ0.8 s After
0.8⑽ᓟ 0.8 s
Flickering
ὐṌ Flickering
ὐṌ
After
0.2⑽ᓟ0.2 s
4) Start operation with the personal computer.
4 - 16
4. STARTUP
4.5.2 Motor-less operation in controller
POINT
Use motor-less operation which is available by making the servo system
controller parameter setting.
Motor-less operation is done while connected with the servo system controller.
The motor-less operation using a controller is available with rotary servo motors
only. It will be available with linear servo motors and direct drive motors in the
future.
(1) Motor-less operation

Without connecting the servo motor, output signals or status displays can be provided in response to the
servo system controller commands as if the servo motor is actually running. This operation may be used
to check the servo system controller sequence. Use this operation with the forced stop reset. Use this
operation with the servo amplifier connected to the servo system controller.
To stop the motor-less operation, set the motor-less operation selection to "Disable" in the servo
parameter setting of the servo system controller. When the power supply is turned on next time, motor-
less operation will be disabled.
(a) Load conditions

Load item Condition
Load torque 0
Load to motor inertia ratio Same as the moment of inertia of the servo motor
(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
Rotary servo motor
Rotary servo Linear servo in fully closed loop
Alarm and warning Direct drive motor
motor motor system (available
in the future)
[AL.16 Encoder initial communication error 1] ż ż ż ż
[AL.1E Encoder initial communication error 2] ż ż ż ż
[AL.1F Encoder initial communication error 3] ż ż ż ż
[AL.20 Encoder normal communication error 1 (serial
communication input)]
ż ż ż ż
[AL.20 Encoder normal communication error 1 (ABZ
input)]
[AL.21 Encoder normal communication error 2] ż ż ż ż
[AL. 25 Absolute position erased] ż ż ż
[AL. 28 Linear encoder error 2] ż ż
[AL. 2A Linear encoder error 1] ż ż
[AL. 2B Encoder counter error] ż
[AL. 92 Battery cable disconnection warning] ż ż ż
[AL. 9F Battery warning] ż ż ż
[AL. E9 Main circuit off warning] ż ż ż ż
[AL. 70 Load-side encoder error 1] ż
[AL. 71 Load-side encoder error 2] ż
4 - 17
4. STARTUP

1) Set the servo amplifier to the servo-off status.
2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode
switch (SW2-1), and then turn on the power supply.
ON
Set SW2-1 to "OFF(down)".
SW2-1ࠍ"ࠝࡈ(ਅ)"ߦ⸳ቯ
1 2 3 4
3) Start the motor-less operation with the servo system controller.

The display shows the following screen.
The decimal point flickers.

ዊᢙὐ߇ὐṌߒ߹ߔ‫ޕ‬
4 - 18
5. PARAMETERS
5. PARAMETERS
Never adjust or change the parameter values extremely as it will make operation
unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
POINT
When you connect the amplifier to a servo system controller, servo parameter
values of the servo system controller will be written to each parameters.
Setting may not be made to some parameters and their ranges depending on
the servo system controller model, servo amplifier software version, and MR
Configurator2 software version. For details, refer to the servo system controller
user's manual.
5.1 Parameter list
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
Abbreviations of operation modes indicate the followings.
Norm.: Normal (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor (Available in the
future.)
Lin.: Linear servo motor use.
D.D.: Direct drive (D.D.) motor use.
5- 1
5. PARAMETERS
5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation
mode
Initial
(Note) Full.
Standard
No. Symbol Name Unit
value
D.D.
Lin.
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 For manufacturer setting 10000
PA06 1
PA07 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 1600 [pulse]
PA11 For manufacturer setting 1000.0
PA12 1000.0
PA13 0000h
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 00ABh
PA20 TDS Tough drive setting 0000h
PA21 AOP3 Function selection A-3 0001h
PA22 For manufacturer setting 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24
PC24 AOP4 Function selection A-4 0000h
PA25 For manufacturer setting 0
PA26 0000h
PA27 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
Note. Available in the future.
5- 2
5. PARAMETERS
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h
suppression control II)
PB03 TFBGN Torque feedback loop gain 18000 [rad/s]
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 damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 MVS Slight vibration suppression control 0000h
PB25 For manufacturer setting 0000h
PB26 CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpps]/
[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 switching 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain 0.0 [Hz]
switching
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain 0.00
switching
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after 0.00
gain switching
PB37 VPI For manufacturer
PI-PID settingdroop pulse
control switching 1600 [pulse]
PB38 For manufacturer setting 0.00
PB39 0.00
PB40 0.00
PB41 0
PB42 0
PB43 0000h
PB44 0.00
0.0
PB45 CNHF Command notch filter 0000h
5- 3
5. PARAMETERS
Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain 0.0 [Hz]
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain 0.00
switching
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after 0.00
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Operation
mode
Initial
(Note) Full.
Standard

value
D.D.
Lin.
PC01 ERZ Error excessive alarm level 0 [rev]/

[mm]
PC02 MBR Electromagnetic brake sequence output 0 [ms]
PC03 ENRS Encoder output pulse selection 0000h
PC04 COP1 Function selection C-1 0000h
PC07 ZSP Zero speed 50 [r/min]/
[mm/s]
PC08 OSL Overspeed alarm detection level 0 [r/min]/
[mm/s]
PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0000h
0001h
PC11 MO1 Analog monitor 1 offset 0 [mV]
PC12 MO2 Analog monitor 2 offset 0 [mV]
PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 [pulse]
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 [10000pulses]
PC15 For manufacturer setting 0
PC16 0000h
5- 4
5. PARAMETERS
Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PC19 For manufacturer setting 0000h
PC21 BPS Alarm history clear 0000h
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms]
PC26 0000h
0100h
PC29 COPB Function Selection C-B 0000h
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]/
[0.01mm]
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 0000h
PC39 0000h
PC40 0000h
PC41 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h
PC49 0000h
PC50 0000h
PC51 0000h
PC52 0000h
PC53 0000h
PC54 0000h
PC55 0000h
PC56 0000h
PC57 0000h
PC58 0000h
PC59 0000h
PC60 0000h
PC61 0000h
PC62 0000h
PC63 0000h
PC64 0000h
5- 5
5. PARAMETERS
5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PD01 For manufacturer setting 0000h
PD02 DIA2 Input signal automatic on selection 2 0000h
PD04 0021h
PD05 0022h
PD06 0000h
PD07 DO1 Output device selection 1 0005h
PD11 0004h
PD12 DOP1 Function selection D-1 0000h
PD14 DOP3 Function selection D-3 0000h
PD16 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0
PD21 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0
PD31 0
PD32 0
PD33 0000h
PD34 0000h
PD35 0000h
PD36 0000h
PD37 0000h
PD38 0000h
PD39 0000h
PD40 0000h
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h
5- 6
5. PARAMETERS
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PE01 FCT1 Fully closed loop function selection 1 0000h
PE02 For manufacturer setting 0000h
PE04 FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1
PE05 FBD Fully closed loop control - Feedback pulse electronic gear 1 - 1
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
0
PE12 0000h
0
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 - Numerator 1
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
PE42 For manufacturer setting 0
10000
PE43 0.0
10000
PE44 0000h
PE45 0000h
PE46 0000h
PE47 0000h
PE48 0000h
5- 7
5. PARAMETERS
Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PE50 0000h
PE51 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PF01 For manufacturer setting 0000h
PF02 0000h
PF03 0000h
PF04 0
PF05 0000h
PF06 0000h
PF07 0000h
PF08 0000h
PF09 0
PF10 0
PF11 0
PF12 2000
PF13 0000h
PF14 10
PF15 0000h
PF16 0000h
PF17 0000h
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [S]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 OSCL2 Vibration tough drive function selection 0000h
5- 8
5. PARAMETERS
Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PF25 CVAT Instantaneous power failure tough drive - Detection time 200 [ms]
PF27 0
PF28 0
PF29 0000h
PF30 0
0000h
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/
[mm/s]
0000h
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation
mode
Initial
(Note)Full.
Standard

value
D.D.
Lin.
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]/
[0.01rev]
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 0
5- 9
5. PARAMETERS
Operation
mode
Initial
(Note) Full.
Standard
value
D.D.
Lin.
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function 0000h
selection
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification 0 [%]
signal amplitude
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 - 10
5. PARAMETERS
5.2 Detailed list of parameters
POINT
"x" in the "Setting digit" columns means which digit to set a value.
The fully closed loop system will be available in the future.
5.2.1 Basic setting parameters ([Pr. PA_ _ ])

Initial
Setting
No. Symbol Name and function value
range
(unit)
PA01 **STY Operation mode Refer to Name
Select a operation mode. and function
column.
Setting Initial
Explanation
digit value
___x For manufacturer setting 0h
__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 result in [AL. 37 Parameter error].
_x__ For manufacturer setting 0h
x___ Operation mode selection 1h
To change this digit, use an application software "MR-J4(W)-B
mode selection". When you change it without the application, [AL.
3E Operation mode error] will occur.
0: J3 compatibility mode
1: J4 mode
5 - 11
5. PARAMETERS
Initial
Setting
range
(unit)
PA02 REG Regenerative option Refer to Name
Used to select the regenerative option. and function
Incorrect setting may cause the regenerative option to burn. column.
If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter
error] occurs.
Setting Initial
Explanation
digit value
__xx Regenerative option selection 00h
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.
01: FR-RC/FR-CV/FR-BU2
When you use FR-RC, FR-CV, or FR-BU2, select "Mode 2 (_ _
_ 1)" of "Undervoltage alarm detection mode selection" in [Pr.
PC20].
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.)
x___ 0h
PA03 ABS Absolute position detection system Refer to Name

Set this parameter when using the absolute position detection system. The parameter is not and function
available in the speed control mode and torque control mode. column.
Setting Initial
Explanation
digit value
___x Absolute position detection system selection 0h
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PA04 AOP1 Function selection A-1 Refer to Name

This is used to select the forced stop input and forced stop deceleration function. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ Servo forced stop selection 0h
0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not used.)
Refer to table 5.1 for details.
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
5 - 12
5. PARAMETERS
Initial
Setting
range
(unit)
PA04 AOP1 Table 5.1 Deceleration method Refer to Name
and function
column.
Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
00__ EM1 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off without the interlock) turns off without the
forced stop deceleration. forced stop deceleration.
20__ EM2 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off after the interlock) turns off after the
forced stop deceleration. forced stop deceleration.
0 1 _ _ Not using MBR (Electromagnetic brake
EM2 or EM1 interlock) turns off without the
forced stop deceleration.
2 1 _ _ Not using MBR (Electromagnetic brake
EM2 or EM1 interlock) turns off after the
forced stop deceleration.
PA08 ATU Auto tuning mode Refer to Name

Select the gain adjustment mode. and function
column.
Setting Initial
Explanation
digit value
___x Gain adjustment mode selection 1h
0: 2 gain adjustment mode 1 (interpolation 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/load to motor
mode 1 (interpolation mass ratio]
mode) [Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
___1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
___2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
___3 Manual mode
___4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
5 - 13
5. PARAMETERS
Initial
Setting
range
(unit)
PA09 RSP Auto tuning response 16 1 to 40
Set a response of the auto tuning.
Machine characteristic
Setting
value Response Guideline for machine
resonance frequency [Hz]
1 2.7
2 3.6
Low
3 4.9
response
4 6.6
5 10.0
6 11.3
7 12.7
8 14.3
9 16.1
10 18.1
11 20.4
12 23.0
13 25.9
14 29.2
15 32.9
16 37.0
17 41.7
18 47.0
19 52.9
Middle
20 59.6
response
21 67.1
22 75.6
23 85.2
24 95.9
25 108.0
26 121.7
27 137.1
28 154.4
29 173.9
30 195.9
31 220.6
32 248.5
33 279.9
34 315.3
35 355.1
36 400.0
37 446.6
High
38 response 501.2
39 571.5
40 642.7
PA10 INP In-position range 1600 0 to

Set an in-position range per command pulse. [pulse] 65535
5 - 14
5. PARAMETERS
Initial
Setting
range
(unit)
PA14 POL Rotation direction selection/travel direction selection 0 0 to 1
This is used to select a rotation direction or travel direction.
Servo motor rotation direction/linear servo motor travel

Setting direction
value Positioning address Positioning address
increase decrease
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 ᱜォ(CCW)
rotation (CCW)
Reverse
ㅒォ(CW) rotation (CW)
The positive/negative directions of the linear servo motor are as follows.

Secondary Negative
⽶ᣇะ direction
Negative side
ੑᰴ஥ Positive
⽶ᣇะ
direction Secondary direction
ᱜᣇะ
Positive ੑᰴ஥
side Table
࠹࡯ࡉ࡞
direction
ᱜᣇะ Primary
৻ᰴ஥ side
Positive
ᱜᣇะ
direction Negative
ੑᰴ஥
Primary
৻ᰴ஥ side direction
Negative
⽶ᣇะ Primary
৻ᰴ஥side
direction
LM-H3/LM-F series LM-U2 series LM-K2 series

PA15 ENR Encoder output pulses 4000 1 to
Set the encoder output pulses from the servo amplifier by using the number of output pulses [pulse/ 65535
per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) rev]
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. PC03].
The maximum output frequency is 4.6 Mpps. Set the parameter within this range.
PA16 ENR2 Encoder output pulses 2 1 1 to
Set a denominator of the electronic gear for the A/B-phase pulse output. 65535
To set a denominator of the electronic gear, select " A-phase/B-phase pulse electronic gear
setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC03].
5 - 15
5. PARAMETERS
Initial
Setting
range
(unit)
PA17 MSR Servo motor series setting 0000h Refer to
When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this Name
and [Pr. PA18] at a time. and
Refer to the following table for settings. function
column.
Linear servo motor Servo motor model Parameter
series (primary side) [Pr. PA17] setting [Pr. PA18] 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
LM-FP2D-12M-1SS0 2401h
LM-FP2F-18M-1SS0 2601h
LM-FP4B-12M-1SS0 4201h
LM-F 00B2h
LM-FP4D-24M-1SS0 4401h
LM-FP4F-36M-1SS0 4601h
LM-FP4H-48M-1SS0 4801h
LM-FP5H-60M-1SS0 5801h
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
PA18 MTY Servo motor type setting 0000h Refer to

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this Name
and [Pr. PA17] at a time. and
Refer to the table of [Pr. PA17] for settings. function
column
of [Pr.
PA17].
5 - 16
5. PARAMETERS
Initial
Setting
range
(unit)
PA19 BLK Parameter writing inhibit 00ABh Refer to
Select a reference range and writing range of the parameter. Name
Refer to table 5.3 for settings. and
function
column.
Table 5.3 [Pr. PA19] setting value and reading/writing range
Setting
PA19 PA PB PC PD PE PF PL
operation
Other than Reading
below Writing
Reading 19ߩߺ
000Ah
Writing 19ߩߺ
Reading
000Bh
Writing
Reading
000Ch
Writing
Reading
000Fh
Writing
Reading
00AAh
Writing
00ABh Reading
(initial
value) Writing
Reading
100Bh
Writing Only 19
Reading
100Ch
Writing Only 19
Reading
100Fh
Writing Only 19
Reading
10AAh
Writing Only 19
Reading
10ABh
Writing Only 19

5 - 17
5. PARAMETERS
Initial
Setting
range
(unit)
PA20 TDS Tough drive setting Refer to Name
Alarms may not be avoided with the tough drive function depending on the situations of the and function
power supply and load fluctuation. column.
You can assign MTTR (During tough drive) to pins CN3-11 to CN3-13, CN3-24, and CN3-25
with [Pr. PD07] to [Pr. PD09].
Setting Initial
Explanation
digit value
__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].
Refer to section 7.3 for details.

_x__ Instantaneous power failure tough drive selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to avoid generating [AL. 10 Undervoltage]

using the electrical energy charged in the capacitor in case that an
instantaneous power failure occurs during operation. Set the time of
until [AL. 10 Undervoltage] occurs in [Pr. PF25 Instantaneous
power failure tough drive - Detection time].
x___ For manufacturer setting 0h

and function
column.
Setting Initial
Explanation
digit value
___x One-touch tuning function selection 1h
0: Disabled
1: Enabled
When the digit is "0", the one-touch tuning with MR Configurator2

will be disabled.
_x__ 0h
x___ 0h
5 - 18
5. PARAMETERS
Initial
Setting
range
(unit)
PA23 DRAT Drive recorder arbitrary alarm trigger setting Refer to Name
and function
column.
Setting Initial
Explanation
digit value
__xx Alarm detail No. setting 00h
Set the digits when you execute the trigger with arbitrary alarm
detail No. for the drive recorder function.
When these digits are "0 0", only the arbitrary alarm No. setting will
be enabled.
xx__ Alarm No. setting 00h
Set the digits when you execute the trigger with arbitrary alarm No.
for the drive 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".
PC24
and function
column.
Setting Initial
Explanation
digit value
___x Vibration suppression mode selection 0h
0: Standard mode
1: 3 inertia mode
2: Low response mode
When two low resonance frequencies are generated, select "3
inertia mode (_ _ _ 1)". When the load to motor inertia ratio exceeds
the recommended load to motor inertia ratio, select "Low response
mode (_ _ _ 2)".
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 with the controller during the 3
inertia mode or low response mode, stop the motor.
_x__ 0h
x___ 0h
5 - 19
5. PARAMETERS
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial
Setting
range
(unit)
PB01 FILT Adaptive tuning mode (adaptive filter II) Refer to Name
Set the adaptive filter tuning. and function
column.
Setting Initial
Explanation
digit value
___x Filter tuning mode selection 0h
Select the adjustment mode of the machine resonance suppression
filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
_x__ 0h
x___ 0h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II) Refer to Name
This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for details. and function
column.
Setting Initial
Explanation
digit value
___x Vibration suppression control 1 tuning mode selection 0h
Select the tuning mode of the vibration suppression control 1.
0: Disabled
2: Manual setting
__x_ Vibration suppression control 2 tuning mode selection 0h
Select the tuning mode of the vibration suppression control 2. To
enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration
suppression mode selection" in [Pr. PA24 Function selection A-4].
0: Disabled
2: Manual setting
x___ 0h
PB03 TFBGN Torque feedback loop gain 18000 0 to

This is used to set a torque feedback loop gain in the continuous operation to torque control [rad/s] 18000
mode.
Decreasing the setting value will also decrease a collision load during continuous operation to
torque control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
PB04 FFC Feed forward gain 0 0 to
Set the feed forward gain. [%] 100
When the setting is 100%, the droop pulses during operation at constant speed are nearly
zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline,
when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant
up to the rated speed.
5 - 20
5. PARAMETERS
Initial
Setting
range
(unit)
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 0.00 to
This is used to set the load to motor inertia ratio or load to motor mass ratio. Multiplier 300.00
The setting of the parameter will be the automatic setting or manual setting depending on the (×1)
[Pr. PA08] setting. Refer to the following table for details. When 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 PG1 Model loop gain 15.0 1.0 to

Set the response gain up to the target position. [rad/s] 2000.0
Increasing the setting value will also increase the response level to the position command but
will be liable to generate vibration and/or noise.
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the following table for details.

_ _ _ 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)
PB08 PG2 Position loop gain 37.0 1.0 to

This is used to set the gain of the position loop. [rad/s] 2000.0
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load disturbance but
will be liable to generate vibration and/or noise.
[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 VG2 Speed loop gain 823 20 to

This is used to set the gain of the speed loop. [rad/s] 65535
Set this parameter when vibration occurs on machines of low rigidity or large backlash.
Increasing the setting value will also increase the response level but will be liable to generate
vibration and/or noise.
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
PB10 VIC Speed integral compensation 33.7 0.1 to
This is used to set the integral time constant of the speed loop. [ms] 1000.0
Decreasing the setting value will increase the response level but will be liable to generate
vibration and/or noise.
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
5 - 21
5. PARAMETERS
Initial
Setting
range
(unit)
PB11 VDC Speed differential compensation 980 0 to
This is used to set the differential compensation. 1000
To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID
switching control selection" in [Pr. PB24].
PB12 OVA Overshoot amount compensation 0 0 to
This is used to set a viscous friction torque or thrust to rated torque in percentage unit at servo [%] 100
motor rated speed or linear servo motor rated speed.
When the response level is low or when the torque/thrust is limited, the efficiency of the
parameter may be lower.
PB13 NH1 Machine resonance suppression filter 1 4500 10 to
Set the notch frequency of the machine resonance suppression filter 1. [Hz] 4500
When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01],
this parameter will be adjusted automatically.
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the
setting value will be enabled.
PB14 NHQ1 Notch shape selection 1 Refer to Name
Set the shape of the machine resonance suppression filter 1. and function
When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], column.
this parameter will be adjusted automatically.
Set manually for the manual setting.
Setting Initial
Explanation
digit value
__x_ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_x__ Notch width selection 0h
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
PB15 NH2 Machine resonance suppression filter 2 4500 10

Set the notch frequency of the machine resonance suppression filter 2. [Hz] to
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression 4500
filter 2 selection" in [Pr. PB16].
5 - 22
5. PARAMETERS
Initial
Setting
range
(unit)
column.
Setting Initial
Explanation
digit value
___x Machine resonance suppression filter 2 selection 0h
0: Disabled
1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
PB17 NHF Shaft resonance suppression filter Refer to Name

This is used for setting the shaft resonance suppression filter. and function
This is used to suppress a low-frequency machine vibration. column.
When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection"
in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load
to motor inertia ratio/load to motor mass ratio. Set manually for "Manual setting (_ _ _ 1)".
When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the
setting value of this parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in
[Pr. PB49], the shaft resonance suppression filter is not available.
Setting Explanation Initial

digit value
__xx Shaft resonance suppression filter setting frequency selection 00h
This is used for setting the shaft resonance suppression filter.
Refer to table 5.4 for settings.
Set the value closest to the frequency you need.
_x__ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
5 - 23
5. PARAMETERS
Initial
Setting
range
(unit)
PB17 NHF Table 5.4 Shaft resonance suppression filter setting Refer to Name
and function
frequency selection column.
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 LPF Low-pass filter setting 3141 100 to

Set the low-pass filter. [rad/s] 18000
The following shows a relation of a required parameter to this parameter.
[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial Automatic setting
value)
__1_ Setting value
enabled
__2_ Setting value
disabled
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 0.1 to

Set the vibration frequency for vibration suppression control 1 to suppress low-frequency [Hz] 300.0
machine vibration.
When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in
[Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ _ 2)".
Refer to section 7.1.5 for details.
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 0.1 to
Set the resonance frequency for vibration suppression control 1 to suppress low-frequency [Hz] 300.0
machine vibration.
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 0.00 to
Set a damping of the vibration frequency for vibration suppression control 1 to suppress low- 0.30
frequency machine vibration.
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 0.00 to
Set a damping of the resonance frequency for vibration suppression control 1 to suppress low- 0.30
5 - 24
5. PARAMETERS
Initial
Setting
range
(unit)
PB23 VFBF Low-pass filter selection Refer to Name
Select the shaft resonance suppression filter and low-pass filter. and function
column.
Setting Initial
Explanation
digit value
___x Shaft resonance suppression filter selection 0h
1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine
resonance suppression filter 4 selection" in [Pr. PB49], the
shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
1: Manual setting
2: Disabled
x___ 0h
PB24 MVS Slight vibration suppression control Refer to Name

Select the slight vibration suppression control and PI-PID switching control. and function
column.
Setting Initial
Explanation
digit value
___x Slight vibration suppression control selection 0h
0: Disabled
1: Enabled
To enable the slight vibration suppression control, select
"Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08]. Slight vibration suppression control
cannot be used in the speed control mode.
__x_ PI-PID switching control selection 0h
0: PI control enabled
(Switching to PID control is possible with commands of
controller.)
3: Continuous PID control enabled
x___ 0h
5 - 25
5. PARAMETERS
Initial
Setting
range
(unit)
PB26 CDP Gain switching function Refer to Name
Select the gain switching condition. and function
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. column.
PB56] to [Pr. PB60].
Setting Initial
Explanation
digit value
___x Gain switching selection 0h
0: Disabled
1: Control command from controller is enabled
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___ 0h
PB27 CDL Gain switching condition 10 0 to

This is used to set the value of gain switching (command frequency, droop pulses, and servo [kpps]/ 65535
motor speed/linear servo motor speed) selected in [Pr. PB26]. [pulse]/
The set value unit differs depending on the switching condition item. (Refer to section 7.2.3) [r/min]
The unit "r/min" will be "mm/s" for linear servo motors.
PB28 CDT Gain switching time constant 1 0 to
This is used to set the time constant at which the gains will change in response to the [ms] 100
conditions set in [Pr. PB26] and [Pr. PB27].
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 0.00 to
This is used to set the load to motor inertia ratio/load to motor mass ratio when gain switching Multiplier 300.00
is enabled. (×1)
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
PB30 PG2B Position loop gain after gain switching 0.0 0.0 to
Set the position loop gain when the gain switching is enabled. [rad/s] 2000.0
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
PB31 VG2B Speed loop gain after gain switching 0 0 to
Set the speed loop gain when the gain switching is enabled. [rad/s] 65535
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
PB32 VICB Speed integral compensation after gain switching 0.0 0.0 to
Set the speed integral compensation when the gain changing is valid. [ms] 5000.0
When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].
5 - 26
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5. PARAMETERS
Initial
Setting
range
(unit)
PB45 CNHF Command notch filter Refer to Name
Set the command notch filter. and function
column.
Setting Initial
Explanation
digit value
__xx Command notch filter setting frequency selection 00h
Refer to table 5.5 for the relation of setting values to frequency.
_x__ Notch depth selection 0h
Table 5.5 Command notch filter setting frequency selection

Setting Frequency Setting Frequency Setting Frequency
[Hz] [Hz] [Hz]
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
5 - 28
5. PARAMETERS
Initial
Setting
range
(unit)
PB45 CNHF Table 5.6 Notch depth selection Refer to Name
and function
Setting Depth [dB] Setting Depth [dB] column.
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

To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression
column.
Setting Initial
Explanation
digit value
0: Disabled
1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5

5 - 29
5. PARAMETERS
Initial
Setting
range
(unit)
column.
Setting Initial
Explanation
digit value
0: Disabled
1: Enabled
When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance
suppression filter] is not available.
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5

When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine column.
resonance suppression filter 5 is not available.
Setting Initial
Explanation
digit value
0: Disabled
1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 0.1 to

Set the vibration frequency for vibration suppression control 2 to suppress low-frequency [Hz] 300.0
machine vibration.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in
[Pr. PA24].
When "Vibration suppression control 2 tuning mode selection" is "Automatic setting (_ _ 1 _)"
in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ 2
_)".
5 - 30
5. PARAMETERS
Initial
Setting
range
(unit)
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 0.1 to
Set the resonance frequency for vibration suppression control 2 to suppress low-frequency [Hz] 300.0
machine vibration.
[Pr. PA24].
_)".
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 0.00 to
Set a damping of the vibration frequency for vibration suppression control 2 to suppress low- 0.30
[Pr. PA24].
_)".
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 0.00 to
Set a damping of the resonance frequency for vibration suppression control 2 to suppress low- 0.30
[Pr. PA24].
_)".
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 0.0 to
Set the vibration frequency for vibration suppression control 2 when the gain switching is [Hz] 300.0
enabled.
[Pr. PA24].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _
2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor
stops.
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching 0.0 0.0 to
Set the resonance frequency for vibration suppression control 2 when the gain switching is [Hz] 300.0
enabled.
[Pr. PA24].
2 _)".
_ 1)".
stops.
5 - 31
5. PARAMETERS
Initial
Setting
range
(unit)
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 to
Set a damping of the vibration frequency for vibration suppression control 2 when the gain 0.30
switching is enabled.
[Pr. PA24].
2 _)".
_ 1)".
stops.
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching 0.00 0.00 to
Set a damping of the resonance frequency for vibration suppression control 2 when the gain 0.30
switching is enabled.
[Pr. PA24].
2 _)".
_ 1)".
stops.
PB60 PG1B Model loop gain after gain switching 0.0 0.0 to
Set the model loop gain when the gain switching is enabled. [rad/s] 2000.0
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].
_ 1)".
stops.
5 - 32
5. PARAMETERS
5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial
Setting
range
(unit)
PC01 ERZ Error excessive alarm level 0 0 to
Set an error excessive alarm level. [rev]/ 1000
Set this per rev. for rotary servo motors and direct drive motors. Set this per mm for linear [mm]
servo motors. (Note)
However, setting 0 will be "3 rev" for rotary servo motors and direct drive motors. It will be "100
mm" for linear servo motors.
Not Setting can be changed in [Pr. PC06].

e.
PC02 MBR Electromagnetic brake sequence output 0 0 to
This is used to set the delay time between MBR (Electromagnetic brake interlock) and the [ms] 1000
base drive circuit is shut-off.
PC03 ENRS Encoder output pulse selection Refer to Name
This is used to select the encoder pulse direction and encoder output pulse setting. and function
column.
Setting Initial
Explanation
digit value
___x Encoder output pulse phase selection 0h
0: Increasing A-phase 90° in CCW or positive direction
1: Increasing A- phase 90° in CW or negative direction
Setting Servo motor rotation direction

value CCW CW
A⋧
A-phase A⋧
A-phase
0 B- B-
B⋧ B⋧
phase
phase
A⋧
A-phase A⋧
A-phase
1 B- B-
B⋧ B⋧
phase phase
__x_ Encoder output pulse setting selection 0h

0: Output pulse setting
1: Division ratio setting
3: A/B-phase pulse electronic gear setting
For linear servo motors, selecting "0" will output as division ratio
setting because the output pulse setting is not available.
_x__ Selection of the encoders for encoder output pulse 0h
This is used for selecting an encoder for servo amplifier output.
0: Servo motor encoder
1: Load-side encoder
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.
5 - 33
5. PARAMETERS
Initial
Setting
range
(unit)
PC04 COP1 Function selection C-1 Refer to Name
Select the encoder cable communication method selection. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ Encoder cable communication method selection 0h
0: Two-wire type
1: Four-wire type
Incorrect setting will result in [AL. 16 Encoder initial communication
error 1].

This is used to select the motor-less operation. and function
column.
Setting Initial
Explanation
digit value
___x Motor-less operation selection 0h
0: Disabled
1: Enabled
_x__ 0h
x___ 0h

Select the error excessive alarm level setting for [Pr. PC01]. The parameter is not available in and function
the speed control mode and torque control mode. column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ Error excessive alarm level unit selection 0h
0: Per rev or 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
PC07 ZSP Zero speed 50 0 to

Used to set the output range of ZSP (Zero speed detection). [r/min]/ 10000
ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s. [mm/s]
PC08 OSL Overspeed alarm detection level 0 0 to
This is used to set an overspeed alarm detection level. [r/min]/ 20000
When you set a value more than "(linear) servo motor maximum speed × 120%", the set value [mm/s]
will be clamped.
When you set "0", the value of "(linear) servo motor maximum speed × 120%" will be set.
5 - 34
5. PARAMETERS
Initial
Setting
range
(unit)
PC09 MOD1 Analog monitor 1 output Refer to Name
Used to selection the signal provided to MO1 (Analog monitor 1) output. Refer to app. 13 (3) and function
for detection point of output selection. column.
Setting Initial
Explanation
digit value
__xx Analog monitor 1 output selection 00h
x___ 0h
PC09 MOD1 Table 5.7 Analog monitor setting value Refer to Name
and function
Operation column.
mode (Note)
Setting
Item
Standard
value
D.D.
Full.
Lin.
00 (Linear) servo motor speed
(±8 V/max. speed)
01 Torque or thrust
(±8 V/max. torque or max. thrust)
02 (Linear) servo motor speed
(+8V/max. speed)
03 Torque or thrust
(+8V/max. torque or max. thrust)
04 Current command (±8 V/max. current command)
05 Speed command (±8 V/max. speed)
06 Servo motor-side droop pulses (±10 V/100 pulses)
0A Feedback position (±10 V/1 Mpulses)
0B Feedback position (±10 V/10 Mpulses)
0C Feedback position (±10 V/100 Mpulses)
0D Bus voltage (+8 V/400 V, 200 V amplifiers)
0E Speed command 2 (±8 V/max. speed)
10 Load-side droop pulses (±10 V/100 pulses)
14 Load-side droop pulses (±10 V/1 Mpulses)
15 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
16 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
17 Encoder inside temperature (±10 V/±128 ÛC)

Note. Items with ż are available for each operation mode.
Norm.: Normal (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.
D.D.: Direct drive (D.D.) motor use.
5 - 35
5. PARAMETERS
Initial
Setting
range
(unit)
PC10 MOD2 Analog monitor 2 output Refer to Name
Used to selection the signal provided to MO2 (Analog monitor 2) output. Refer to app. 13 (3) and function
for detection point of output selection. column.
Setting Initial
Explanation
digit value
Analog monitor 2 output selection
__xx 01h
Refer to [Pr. PC09] for settings.
x___ 0h
PC11 MO1 Analog monitor 1 offset 0 -999 to

This is used to set the offset voltage of MO1 (Analog monitor 1). [mV] 999
PC12 MO2 Analog monitor 2 offset 0 -999 to
This is used to set the offset voltage of MO2 (Analog monitor 2). [mV] 999
PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 -9999 to
Set a monitor output standard position (lower 4 digits) for the feedback position for when [pulse] 9999
selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2).
Monitor output standard position = [Pr. PC14] setting × 10000 + [Pr. PC13] setting
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 -9999 to
Set a monitor output standard position (higher 4 digits) for the feedback position for when [10000 9999
selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2). pulses]
Monitor output standard position = [Pr. PC14] setting × 10000 + [Pr. PC13] setting
This is used to select a home position setting condition. and function
column.
digit value
___x Selection of home position setting condition 0h
0: Need to pass servo motor Z-phase after power on
1: Not need to pass servo motor Z-phase after power on
_x__ 0h
x___ 0h

This is used to select an occurring condition of [AL. E9 Main circuit off warning]. and function
column.
digit value
__x_ 0h
_x__ 0h
x___ [AL. E9 Main circuit off warning] selection 0h
0: Detection with ready-on and servo-on command
1: Detection with servo-on command
5 - 36
5. PARAMETERS
Initial
Setting
range
(unit)
This is used to select an undervoltage alarm detection method. and function
column.
digit value
___x Undervoltage alarm detection method selection 0h
When you use FR-RC, FR-CV, or FR-BU2, select "Method 2 (_ _ _
1)".
0: Method 1
1: Method 2
_x__ 0h
x___ 0h
PC21 BPS Alarm history clear Refer to Name

Used to clear the alarm history. and function
column.
Setting Initial
Explanation
digit value
___x Alarm history clear selection 0h
0: Disabled
1: Enabled
When you select "Enabled", the alarm history will be cleared at next
power-on. After the alarm history is cleared, the setting is
automatically disabled.
_x__ 0h
x___ 0h
PC24 RSBR Forced stop deceleration time constant 100 0 to

This is used to set deceleration time constant when you use the forced stop deceleration [ms] 20000
function.
Set the time per ms from the rated speed to 0 r/min or 0 mm/s.
Dynamic
࠳ࠗ࠽ࡒ࠶ࠢ brake
Rated speed
ቯᩰ࿁ォㅦᐲ Forcedᒝ೙஗ᱛᷫㅦ
stop deceleration deceleration
ࡉ࡟࡯ࠠᷫㅦ
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲࿁ォㅦᐲ
0 0r/min
r/min
(0(0mm/s)
mm/s) [Pr.PC24]
[Pr. PC24]
[Precautions]
If the servo motor torque is saturated at the maximum torque 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.
Set a longer time than deceleration time at quick stop of the controller. If a shorter time is
set, [AL 52 Error excessive] may occur.
5 - 37
5. PARAMETERS
Initial
Setting
range
(unit)
This is used to select a polarity of the linear encoder or load-side encoder. and function
column.
Setting Initial
Explanation
digit value
___x Selection of encoder pulse count polarity 0h
0: Encoder pulse increasing direction in the servo motor CCW or
positive direction
1: Encoder pulse decreasing direction in the servo motor CCW or
positive direction
_x__ 0h
x___ 0h
PC29 COPB Function Selection C-B Refer to Name

This is used to select the POL reflection at torque control. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ POL reflection selection at torque control 0h
0: Enabled
1: Disabled
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 -25000

Set the compensation amount of the vertical axis freefall prevention function. [0.0001 to
Set it per servo motor rotation amount. rev]/ 25000
When a positive value is set, compensation is performed to the address increasing direction. [0.01mm]
When a negative value is set, compensation is performed to the address decreasing 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) was enabled in [Pr. PD07] to [Pr. PD09], and the
base circuit shut-off delay time was set in [Pr. PC16].
5 - 38
5. PARAMETERS
5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial
Setting
range
(unit)
PD02 DIA2 Input signal automatic on selection 2 Refer to Name
and function
column.
Setting digit Initial
Explanation
HEX. BIN. value
___x ___x FLS (Upper stroke limit) selection 0h
0: Disabled
1: Enabled
__x_ RLS (Lower stroke limit) selection
0: Disabled
1: Enabled
_x__ For manufacturer setting
x___
_x__ 0h
x___ 0h
PD07 DO1 Output device selection 1 Refer to Name

You can assign any output device to the CN3-13 pin. and function
column.
Setting Initial
Explanation
digit value
__xx Device selection 05h
x___ 0h
Table 5.8 Selectable output devices

Setting Output device
value
00 Always off
02 RD (Ready)
03 ALM (Malfunction)
04 INP (In-position)
05 MBR (Electromagnetic brake interlock)
07 TLC (Limiting torque)
08 WNG (Warning)
09 BWNG (Battery warning)
0A SA (Speed reached)
0C ZSP (Zero speed detection)
0F CDPS (Variable gain selection)
11 ABSV (Absolute position undetermined)
17 MTTR (During tough drive)
5 - 39
5. PARAMETERS
Initial
Setting
range
(unit)
You can assign any output device to the CN3-9 pin. INP (In-position) is assigned in the initial and function
setting. column.
The devices that can be assigned and the setting method are the same as in [Pr. PD07].
Setting Initial
Explanation
digit value
Refer to table 5.8 in [Pr. PD07] for settings.
X___ 0h

You can assign any output device to the CN3-15 pin. ALM (Malfunction) is assigned in the and function
initial setting. column.
The devices that can be assigned and the setting method are the same as in [Pr. PD07].
Setting Initial
Explanation
digit value
Refer to table 5.8 in [Pr. PD07] for settings.
x___ 0h
PD12 DOP1 Function selection D-1 Refer to Name

and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ Servo motor thermistor enabled/disabled selection 0h
0: Enabled
1: Disabled
For servo motors without thermistor, the setting will be disabled.
5 - 40
5. PARAMETERS
Initial
Setting
range
(unit)
PD14 DOP3 Function selection D-3 Refer to Name
and function
column.
Setting Initial
Explanation
digit value
__x_ Selection of output device at warning occurrence 0h
Select WNG (Warning) and ALM (Malfunction) output status at
warning occurrence.
Servo amplifier output
Setting (Note 1) Device status

value
1
WNG
0
0 1
ALM
0
Warning
⼊๔⊒↢occurrence
1
WNG
0
1 1
ALM
0
Warning occurrence (Note 2)
⼊๔⊒↢(ᵈ2)
Note 1.0: Off

1: On
2.Although ALM is turned off upon occurrence of the
warning, the forced stop deceleration is performed.

x___ 0h
5 - 41
5. PARAMETERS
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial
Setting
range
(unit)
PE01 FCT1 Fully closed loop function selection 1 Refer to Name
and function
column.
Setting Initial
Explanation
digit value
___x Fully closed loop function selection 0h
0: Always enabled
1: Switching with the control command of controller
(switching semi./full.)
Switching with the control

Control system
command of controller
Off Semi closed loop control
On Fully closed loop control
To enable the digit, select "Fully closed loop control mode (_ _ 1 _)"
of "operation mode selection" in [Pr. PA01].

_x__ 0h
x___ 0h

and function
column.
Setting Initial
Explanation
digit value
___x Fully closed loop control error detection function selection 3h
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error/position deviation error detection
__x_ Position deviation error detection system selection 0h
0: Continuous detection system
1: Detection system at stop (detected with command set to "0")
x___ Fully closed loop control error reset selection 0h
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
PE04 FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1 1 to
This is used to set a numerator of electronic gear for the servo motor encoder pulse at the fully 65535
closed loop control.
Set the electronic gear so that the number of servo motor encoder pulses for one servo motor
revolution is converted to the resolution of the load-side encoder.
PE05 FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator 1 1 to
This is used to set a denominator of electronic gear for the servo motor encoder pulse at the 65535
fully closed loop control.
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 1 to
This is used to set [AL. 42.2 Servo control error by speed deviation] of the fully closed loop r/min 50000
control error detection.
When the speed deviation between the servo motor encoder and load-side encoder becomes
larger than the setting value, the alarm will occur.
5 - 42
5. PARAMETERS
Initial
Setting
range
(unit)
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 1 to
This is used to set [AL. 42.1 Servo control error by position deviation] of the fully closed loop [kpulse] 20000
control error detection.
When the position deviation between the servo motor encoder and load-side encoder
becomes larger than the setting value, the alarm will occur.
PE08 DUF Fully closed loop dual feedback filter 10 0 to
This is used to set a dual feedback filter band. [rad/s] 4500
and function
column.
Setting Initial
Explanation
digit value
__x_ Fully closed loop control - Position deviation error detection level - 0h
Unit selection
0: 1 kplulse unit
1: 1 pulse unit
_x__ Droop pulse monitor selection for controller display 0h
2: Deviation between the servo motor and load side
x___ Cumulative feedback pulses monitor selection for controller display 0h
PE34 FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1 1 to
This is used to set a numerator of electronic gear for the servo motor encoder pulse at the fully 65535
closed loop control.
Refer to section 16.3.1 (3) for details.
PE35 FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator 1 1 to
This is used to set a denominator of electronic gear for the servo motor encoder pulse at the 65535
fully closed loop control.
Refer to section 16.3.1 (3) for details.
PE41 EOP3 Function selection E-3 Refer to Name
and function
column.
Setting Initial
Explanation
digit value
___x Robust filter selection 0h
0: Disabled
1: Enabled
When you select "Enabled" of this digit, the machine resonance
suppression filter 5 set in [Pr. PB51] is not available.
_x__ 0h
x___ 0h
5 - 43
5. PARAMETERS
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial
Setting
range
(unit)
PF21 DRT Drive recorder switching time setting 0 -1 to
This is used to set a drive recorder switching time. [s] 32767
When a USB communication is cut during using a graph function, the function will be changed
to the drive recorder function after the setting time of this parameter.
When a value from "1" to "32767" is set, it will switch after the setting value.
However, when "0" is set, it will switch after 600 seconds.
When "-1" is set, the drive recorder function is disabled.
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 0 to 100
This is used to set a filter readjustment sensitivity of [Pr. PB13 Machine resonance [%]
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration
tough drive is enabled.
Example: When you set "50" to the parameter, the filter will be readjusted at the time of 50%
or more oscillation level.
PF24 OSCL2 Vibration tough drive function selection Refer to Name
and function
column.
Setting Initial
Explanation
digit value
___x Oscillation detection alarm selection 0h
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
Select alarm or warning when a oscillation continues at a filter
readjustment sensitivity level of [Pr. PF23].
The digit is continuously enabled regardless of the vibration tough
drive in [Pr. PA20].
_x__ 0h
x___ 0h
PF25 CVAT Instantaneous power failure tough drive - Detection time 200 30 to
Set the time of the [AL. 10.1 Voltage drop in the control power] occurrence. [ms] 200
To disable the parameter, select "Disabled (_ 0 _ _)" of "Instantaneous power failure tough
drive selection" in [Pr. PA20].
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 0 to
Set a motor speed to divide a friction estimation area into high and low for the friction [r/min] Permiss
estimation process of the machine diagnosis. ible
However, setting "0" will be the value half of the rated speed. speed
When your operation pattern is under rated speed, we recommend that you set half value to
the maximum speed with this.
Maximum speed in operation

ㆇォᤨᦨᄢㅦᐲ
Forward
rotation
ᱜォᣇะ
direction [Pr. PF31] setting
[Pr.PF31]⸳ቯ୯
Servo
ࠨ࡯ࡏࡕ࡯࠲motor
speed 00r/min
r/min
࿁ォㅦᐲ
Reverse Operation
ㆇォࡄ࠲࡯ࡦ pattern
ㅒォᣇะ
rotation
direction
5 - 44
5. PARAMETERS
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Initial
Setting
range
(unit)
PL01 LIT1 Linear servo motor/DD motor function selection 1 Refer to Name
Select a magnetic pole detection timing of the linear servo motor/DD motor and stop interval of and function
the home position returning. column.
Setting Initial
Explanation
digit value
___x Linear servo motor/DD motor magnetic pole detection selection 1h
The setting value "0" will be enabled only with absolute position
linear encoders.
0: Magnetic pole detection disabled
1: Magnetic pole detection at first servo-on
5: Magnetic pole detection at every servo-on
_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.
13
0: 2 (= 8192) pulses
17
1: 2 (= 131072) pulses
18
2: 2 (= 262144) pulses
20
3: 2 (= 1048576) pulses
22
4: 2 (= 4194304) pulses
24
5: 2 (= 16777216) pulses
26
6: 2 (= 67108864) pulses
PL02 LIM Linear encoder resolution - Numerator 1000 1 to

Set a linear encoder resolution per vm in [Pr. PL02] and [Pr. PL03]. [ȝm] 65535
Set the numerator in [Pr. PL02].
This is enabled only for linear servo motors.
PL03 LID Linear encoder resolution - Denominator 1000 1 to
Set a linear encoder resolution per vm in [Pr. PL02] and [Pr. PL03]. [ȝm] 65535
Set the denominator in [Pr. PL03].
This is enabled only for linear servo motors.
5 - 45
5. PARAMETERS
Initial
Setting
range
(unit)
This is used to select a detection function and detection controller reset condition of [AL. 42 and function
Servo control error]. column.
Setting Initial
Explanation
digit value
___x [AL. 42 Servo control error] detection function selection 3h
Refer to the following table.
Position
Setting Torque/thrust Speed deviation
deviation
value deviation error error
error
0 Disabled
Disabled
1 Enabled
Disabled
2 Disabled
Enabled
3 Enabled
4 Disabled
Disabled
5 Enabled
Enabled
6 Disabled
Enabled
7 Enabled

_x__ 0h
x___ [AL. 42 Servo control error] detection function controller reset 0h
condition selection
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
PL05 LB1 Position deviation error detection level 0 0 to

This is used to set the position deviation error detection level of the servo control error [mm]/ 1000
detection. [0.01rev]
When the deviation between a model feedback position and actual feedback position is larger
than the setting value, [AL. 42 Servo control error] will occur.
However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01].
Linear servo motor: 50 mm
Direct drive motor: 0.09 rev
PL06 LB2 Speed deviation error detection level 0 0 to
This is used to set the speed deviation error detection level of the servo control error [mm/s]/ 5000
detection. [r/min]
When the deviation between a model feedback speed and actual feedback speed is larger
than the setting value, [AL. 42 Servo control error] will occur.
However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01].
Linear servo motor: 1000 mm/s
Direct drive motor: 100 r/min
PL07 LB3 Torque/thrust deviation error detection level 100 0 to
This is used to set the torque/thrust deviation error detection level of the servo control error [%] 1000
detection.
When the deviation between a current command and current feedback is larger than the
setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.
5 - 46
5. PARAMETERS
Initial
Setting
range
(unit)
and function
column.
Setting Initial
Explanation
digit value
___x Magnetic pole detection method selection 0h
0: Position detection method
4: Minute position detection method
_x__ Magnetic pole detection - Stroke limit enabled/disabled selection 0h
0: Enabled
1: Disabled
PL09 LPWM Magnetic pole detection voltage level 30 0 to

This is used to set a direct current exciting voltage level during the magnetic pole detection. [%] 100
If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic
pole detection, decrease the setting value.
If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole detection,
increase the setting value.
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection Refer to Name
To enable the parameter, select "Minute position detection method (_ _ _ 4)" in [Pr. PL08]. and function
column.
Setting Initial
Explanation
digit value
___x Response selection 0h
Set a response of the minute position detection method.
When reducing a travel distance at the magnetic pole detection,
increase the setting value. Refer to table 5.9 for settings.
__x_ Load to motor mass ratio/load to motor inertia ratio selection 0h
Select a load to mass of the linear servo motor primary-side ratio or
load to mass of the direct drive motor inertia ratio used at the
minute position detection method. Set a closest value to the actual
load.
x___ 0h
Table 5.9 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
5 - 47
5. PARAMETERS
Initial
Setting
range
(unit)
PL17 LTSTS Table 5.10 Load to motor mass ratio/load to motor inertia ratio Refer to Name
and function
Load to motor mass Load to motor mass column.
Setting value ratio/load to motor Setting value ratio/load to motor
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 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude 0 0 to
Set an identification signal amplitude used in the minute position detection method. [%] 100
This parameter is enabled only when the magnetic pole detection is the minute position
detection method.
However, setting "0" will be 100% amplitude.
5 - 48
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.
:KHQ\RXXVHDOLQHDUVHUYRPRWRUUHSODFHWKHIROORZLQJOHIWZRUGVWRWKHULJKW
ZRUGV
/RDGWRPRWRULQHUWLDUDWLR ψ /RDGWRPRWRUPDVVUDWLR
7RUTXH>1P@ ψ 7KUXVW>1@
6HUYRPRWRUVSHHG>UPLQ@ ψ /LQHDUVHUYRPRWRUVSHHG>PPV@
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 0001 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 0002 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 0003 GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain mode 1 (interpolation 0000 Always estimated GD2 ([Pr. PB06]) PG1 ([Pr. PB07])
mode) PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 2 0004 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
㐿ᆎ
2ゲએ਄ߢ
Interpolation made for Yes 2 gain adjustment mode 1
2ࠥࠗࡦ⺞ᢛࡕ࡯࠼1
2 or ⵬㑆ߔࠆ?
more axes? (interpolation
(⵬㑆ࡕ࡯࠼) mode)
No
Theㆇォਛߩ⽶⩄
load fluctuation is Yes
large during driving?
ᄌേ߇ᄢ߈޿?
No
One-touch
ࡢࡦ࠲࠶࠴⺞ᢛ tuning Handle
ಣ⟎ታᣉthe error.
Yes
No Error handling is No
Finished normally?
ᱜᏱ⚳ੌ? ࠛ࡜࡯ಣ⟎น⢻?
possible? Auto tuning mode 1
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼1
Yes
Yes
Adjustment
⺞ᢛOK?OK?
No
Auto tuning mode 2

ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼2
Yes
Adjustment
⺞ᢛOK? OK?
No No
Adjustment
⺞ᢛOK?OK?
2 gain adjustment mode 2
2 ࠥࠗࡦ⺞ᢛࡕ࡯࠼2
Yes
Yes
Adjustment
⺞ᢛOK?OK?
No
Manual mode
ࡑ࠾ࡘࠕ࡞ࡕ࡯࠼
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
Connect Mr Configurator2 and open the one-touch tuning window, and you can use the function. The
following parameters are set automatically with one-touch tuning.
Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol Name Parameter Symbol Name
PA08 ATU Auto tuning mode PB16 NHQ2 Notch shape selection 2
PA09 RSP Auto tuning response PB18 LPF ōŰŸĮűŢŴŴġŧŪŭŵŦųġŴŦŵŵŪůŨ
łťŢűŵŪŷŦġŵŶůŪůŨġŮŰťŦġĩŢťŢűŵŪŷŦġŧŪŭŵŦųġŊŊĪ Vibration suppression control 1 -

PB01 FILT PB19 VRF11
Vibration frequency
ŗŪţųŢŵŪŰůġŴŶűűųŦŴŴŪŰůġŤŰůŵųŰŭġŵŶůŪůŨġ
ŮŰťŦġĩŢťŷŢůŤŦťġŷŪţųŢŵŪŰůġŴŶűűųŦŴŴŪŰůġ Vibration suppression control 1 -
PB02 VRFT PB20 VRF12
Resonance frequency
ŤŰůŵųŰŭġŊŊĪ
Vibration suppression control 1 -
Load to motor inertia ratio/load to
PB06 GD2 PB21 VRF13 Vibration frequency dDmping
motor mass ratio
setting
PB07 PG1 Model loop gain PB22 VRF14 Resonance frequency
dDmping setting
PB08 PG2 Position loop gain PB23 VFBF ōŰŸĮűŢŴŴġŧŪŭŵŦųġŴŦŭŦŤŵŪŰů
PB09 VG2 Speed loop gain PB47 NHQ3 ŏŰŵŤũġŴũŢűŦġŴŦŭŦŤŵŪŰůġĴ
PB10 VIC Speed integral compensation PB48 NH4 ŎŢŤũŪůŦġųŦŴŰůŢůŤŦġŴŶűűųŦŴŴŪŰůġŧŪŭŵŦųġĵ
PB12 OVA Overshoot amount compensation PB49 NHQ4 ŏŰŵŤũġŴũŢűŦġŴŦŭŦŤŵŪŰůġĵ
Machine resonance suppression filter ŏŰŵŤũġŴũŢűŦġŴŦŭŦŤŵŪŰůġĶ
PB13 NH1 PB51 NHQ5
1
PB14 NHQ1 Notch shape selection 1 PE41 EOP3 Function selection E-3
Machine resonance suppression filter
PB15 NH2
2
6.2.1 One-touch tuning flowchart
Make one-touch tuning as follows.
Start
㐿ᆎ
Startup a system referring to chapter 4.

Startup of the system
ࠪࠬ࠹ࡓߩ┙਄ߍ
Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the
Operation
ㆇォ servo motor is not operating.)
Start one-touch tuning of MR Configurator2.

One-touch
ࡢࡦ࠲࠶࠴⺞ᢛ⿠േtuning start
Select a response mode (high mode, basic mode, and low mode) in the one-touch tuning window of
Response mode selection
ᔕ╵ࡕ࡯࠼ㆬᛯ MR Configurator2.
Push the start button to start one-touch tuning. Push it during motor driving.
One-touch tuning execution
ࡢࡦ࠲࠶࠴⺞ᢛታᣉ When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.
End
⚳ੌ
6- 3
6.2.2 Display transition and operation procedure of one-touch tuning
(1) Response mode selection

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

High mode This mode is for high rigid system.
Basic mode This mode is for normal system.
Low mode This mode is for low rigid system.
Refer to the following table for selecting a response mode.
6- 4
Response
Machine characteristic
mode Response
Low mode Basic mode High mode Guideline of corresponding machine
Low response
Arm robot
ࠕ࡯ࡓࡠࡏ࠶࠻
General machine
৻⥸Ꮏ૞ᯏ᪾៝ㅍᯏ
tool conveyor
Precision
㜞♖ᐲᎿ૞ᯏ
working
machine
Inserter
ࠗࡦࠨ࡯࠲
Mounter
ࡑ࠙ࡦ࠲
Bonder
ࡏࡦ࠳
High
response
6- 5
(2) One-touch tuning execution

After the response mode is selected in (1), pushing the start button during driving will start one-touch
tuning. If the start button is pushed while the motor stops, "C 0 0 2" or "C 0 0 4" will be displayed at
status in error code. (Refer to (4) in this section for error codes.)
During processing of one-touch tuning, the status will be displayed in the progress window as follows.
One-touch tuning will be finished at 100%.
Completing the one-touch tuning starts writing tuning parameters to the servo amplifier. "0 0 0 0" is
displayed at status in error code. In addition, settling time and overshoot amount will be displayed in
"Adjustment result" after adjustment.
6- 6
(3) One-touch tuning execution

During one-touch tuning, pushing the stop button stops one-touch tuning.
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code.
(4) If an error occur

If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the following
error code will be displayed in status. Check the cause of adjustment error.
Error code Name Description Action
C000 Tuning canceled The stop button was pushed during one-touch
tuning.
C001 Overshoot exceeded The overshoot amount is lager than the value Increase the in-position range.
set in [Pr. PA10 In-position range].
C002 Servo-off during tuning The one-touch tuning was attempted during Perform the one-touch tuning after servo-on.
servo-off.
C003 Control mode error The one-touch tuning was attempted while the Select the position control mode or speed
torque control mode was selected in the control mode for the control mode from the
control modes. controller, and then make one-touch tuning.
C004 Time-out 1. 1 cycle time during the operation has been Set the 1 cycle time during the operation to 30
over 30 s. s or less.
2. The command speed is low. Set the servo motor speed to100 r/min or
higher.
3. The operation interval of the continuous Maintain the operation interval during motor
operation is short. driving about 200 ms.
C005 Load to motor inertia ratio 1. The estimation of the load to motor inertia Drive the motor with meeting conditions as
misestimated ratio at one-touch tuning was a failure. follows.
Time to reach 2000 r/min is the
acceleration/deceleration time constant of 5 s
or less.
Speed is 150 r/min or higher.
The load to 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 such as an oscillation. estimate the load to motor inertia ratio as
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.
C00F One-touch tuning "One-touch tuning function selection" in [Pr. Select "Enabled (_ _ _ 1)".
disabled PA21] is "Disabled (_ _ _ 0)"
(5) If an alarm occur

If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
(6) If a warning occur

If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be
continued. If a warning which does not continue the motor driving occurs during the tuning, one-touch
tuning will be stopped.
6- 7
(7) Clearing one-touch tuning

You can clear the parameter values set with one-touch tuning.
Refer to table 6.1 for the parameters which you can clear.
Pushing "Return to before tuning" in the one-touch tuning window of MR Configurator2 enables to
rewrite the parameter to the value before pushing the start button.
In addition, pushing "Return to initial value" in the one-touch tuning window enables to rewrite the
parameter to the initial value.
Clearing one-touch tuning is completed, the following window will be displayed. (returning to initial
value)
6.2.3 Caution for one-touch tuning
(1) The tuning is not available in the torque control mode.
(2) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor
driving is occurring.
(3) The tuning is not available during the following test operation mode.
(a) Output signal (DO) forced output
(b) Motor-less operation
6- 8
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/load to motor mass 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.
Time to reach 2000 r/min is the acceleration/deceleration time constant of 5 s
or less.
Speed is 150 r/min or higher.
The load to 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- 9
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load
⽶⩄ᘠᕈ moment
Automatic
⥄േ⸳ቯ setting
ࡕ࡯ࡔࡦ࠻
of inertia
Encoder
ࠛࡦࠦ࡯࠳
Command
ᜰ઎ Loop
೙ᓮࠥࠗࡦgain Current
PG1㧘PG2㧘㔚ᵹ೙ᓮ M
VG2㧘VIC control
Current feedback
㔚ᵹࡈࠖ࡯࠼ࡃ࠶ࠢ Servo
or 1 to turn on. Real-time

Set 00߹ߚߪ1ߢࠝࡦ ࡝ࠕ࡞࠲ࠗࡓ auto tuning Position/speed
૏⟎࡮ㅦᐲ
section
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣㇱ feedback
ࡈࠖ࡯࠼ࡃ࠶ࠢ
Load to motor
⽶⩄ᘠᕈ
Gain
ࠥࠗࡦ table inertia ratio
ࡕ࡯ࡔࡦ࠻Ყ
࠹࡯ࡉ࡞ ផቯㇱ
estimation
Switch
ࠬࠗ࠶࠴ Speed feedback
ㅦᐲࡈࠖ࡯࠼ࡃ࠶ࠢ
[Pr.[Pr.PB06
PB06 Load⽶⩄ to motor
[Pr.PA08] [Pr.PA09] inertia ratio/load to motor
ᘠᕈࡕ࡯ࡔࡦ࠻Ყ/
mass ratio]
0 0 0 ⽶⩄⾰㊂Ყ]
Response
Gain adjustment mode selection level
ࠥࠗࡦ⺞ᢛࡕ࡯࠼ㆬᛯ ᔕ╵ᕈ⸳ቯsetting
When a servo motor is accelerated/decelerated, the moment of 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/load to motor mass ratio]. These results can be
confirmed on the status display screen of the MR Configurator2.
If the value of the load to motor inertia ratio is already known or if estimation cannot be made properly, set
"Gain adjustment mode selection" to " Auto tuning mode 2 (0 0 0 2)" in [Pr. PA08] to stop the estimation
(turning off the switch in above diagram), and set the load to motor inertia ratio or load to motor mass 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 (0 0 0 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 - 10
6.3.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level setting
value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment

ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣ⺞ᢛ
Acceleration/deceleration repeated
ടᷫㅦ➅㄰ߒ
Yes Load to motor inertia ratio

⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻
estimation value stable?
Ყផቯ୯߇቟ቯ?
No
Auto tuning conditions are

ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣ
not satisfied? (Estimation of
᧦ઙࠍḩߚߒߡ޿ߥ޿? No
load to motor inertia ratio is
(⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻
difficult.)
Ყផቯ߇࿎㔍)
Yes
Set [Pr. PA08] to "0 0 0 2" and set [Pr. PB06
[Pr.PA08]ࠍ"0
Load to motor inertia0ratio/load
0 2"ߦ⸳ቯߒ㧘ࡑ
to motor mass
࠾ࡘࠕ࡞ߢ[Pr.PB06
ratio] manually. ⽶⩄ᘠᕈࡕ࡯
ࡔࡦ࠻Ყ/⽶⩄⾰㊂Ყ]ࠍ⸳ቯߔࠆ‫ޕ‬
Adjust response level setting so

ᝄേ߇⊒↢ߒߥ޿࡟ࡌ࡞ߢᚲᦸ
that desired response is achieved
ߩᔕ╵ᕈߦߥࠆࠃ߁ߦᔕ╵ᕈ⸳ቯ
on vibration-free level.
ࠍ⺞ᢛߔࠆ‫ޕ‬
ടᷫㅦ➅㄰ߒ repeated
Requested performance satisfied? No

ⷐ᳞ᕈ⢻ḩ⿷?
Yes
End 2 gain adjustment

⚳ੌ ࡑ࠾ࡘࠕ࡞ࡕ࡯࠼߳
mode 2
6 - 11
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, the
track ability and settling time for a command decreases, but a too high response level will generate vibration.
Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 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 Machine characteristic
Setting value Guideline for Setting value Guideline for
Response machine resonance Response machine resonance
frequency [Hz] frequency [Hz]
1 Low response 2.7 21 Middle response 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 Middle response 59.6 40 High response 642.7
6 - 12
6.4 Manual mode
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.
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]: 0 0 0 3).
Set the estimated value to the load to motor inertia ratio/load to
3 motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a slightly smaller value to the model loop gain
4
Set a slightly larger 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 - 13
(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 setting

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯
Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2Ƈ
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) × 2Ǹ
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.
Speed integral compensation setting [ms]

2000㨪3000
҆ Speed loop gain +setting/(1 + Load to motor inertia ratio setting)
ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯/(1 ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ⸳ቯ୯)
3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value
improves track ability to a speed command, but a too high value will make overshoot liable to
occur at settling.

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯ 1 1
Model loop gain guideline × 㨪
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) 4 8
(2) For position control

(a) Parameter
The following parameters are used for gain adjustment.
6 - 14
(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]: 0 0 0 3).
Set the estimated value to the load to motor inertia ratio/load to
3 motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a slightly smaller value to the model loop gain and the
4 position loop gain.
Set a slightly larger 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.

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯
Speed loop response frequency [Hz] =
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) × 2Ǹ
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.
Speed integral compensation setting [ms]

2000㨪3000
҆
Speed loop gain +setting/(1
ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯/(1 + Load to motor inertia ratio setting)
ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ⸳ቯ୯)
6 - 15
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.

Position loop gain guideline × 㨪
(1 + Load to motor inertia
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) ratio) × 2Ƈ 4 8
4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value
improves track ability to a position command, but a too high value will make overshoot liable to
occur at settling.

Model loop gain guideline × 㨪
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) 4 8
6 - 16
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 track ability. 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 track ability.
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
(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
6 - 17
(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 Check the upper setting
3
inertia ratio in advance. limits.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: 0 0 0 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]: 0 0 0 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 position 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.
(4) Parameter adjustment

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

૏⟎ᜰ઎๟ᵄᢙ[pulse/s]
Number of droop pulses [pulse] =
Model loop gain setting
ࡕ࠺࡞೙ᓮࠥࠗࡦ⸳ቯ୯
Position command frequency differs depending on the operation mode.
Rotary servo motor and direct drive motor:
Speed [r/min]
࿁ォㅦᐲ[r/min]
Position command frequency = × Encoder resolution (number of pulses per servo motor
60
revolution)
Linear servo motor:
Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)
6 - 18
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.
:KHQ\RXXVHDOLQHDUVHUYRPRWRUUHSODFHWKHIROORZLQJOHIWZRUGVWRWKHULJKW
ZRUGV
/RDGWRPRWRULQHUWLDUDWLR ψ /RDGWRPRWRUPDVVUDWLR
7RUTXH>1P@ ψ 7KUXVW>1@
6HUYRPRWRUVSHHG>UPLQ@ ψ /LQHDUVHUYRPRWRUVSHHG>PPV@
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
Command Command + Low-pass resonance resonance resonance
pulse train filter - filter setting suppression suppression suppression
filter 1 filter 2 filter 3
[Pr. PB48] [Pr. PB50] Load
[Pr. PB49] Machine [Pr. PE41] Machine

resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance Robust Servo motor
suppression filter
filter
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 deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.
If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) 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- 1
(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.
Response of mechanical
ᯏ
᪾ Machine
ᯏ᪾౒ᝄὐ resonance point
♽
ߩ
ᔕ
╵
system
ᕈ Frequency
๟ᵄᢙ
Notch characteristics
ࡁ Notch width
ࡁ࠶࠴ᐢߐ
࠶
࠴
․ Notch depth
ࡁ࠶࠴ᷓߐ
ᕈ
Frequency
๟ᵄᢙ
Notch frequency
ࡁ࠶࠴๟ᵄᢙ
You can set five machine resonance suppression filters at most.

Filter Setting parameter Precaution Parameter that is Parameter
reset with vibration automatically
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 PB47
Machine resonance PB48/PB49 Enabling the filter disables the shaft PB48/PB49
suppression filter 4 resonance suppression filter.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 The setting of this filter is disabled while PB51
suppression filter 5 you use the robust filter.
The robust filter is disabled for the initial
setting.
7- 2
(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
([Pr. PB13] and [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] and [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] and [Pr. PB16]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])
[Pr. PB47].
(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])
[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
resonance suppression filter.
(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])
[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance
suppression filter 5.
7- 3
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.
(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.
ᯏ ᯏ
᪾ Machine
ᯏ᪾౒ᝄὐ resonance point ᪾ Machine
ᯏ᪾౒ᝄὐ resonance point
♽ ♽
ߩ ߩ
ᔕ ᔕ
╵ ╵
Frequency Frequency
system
๟ᵄᢙ ๟ᵄᢙ
system
ᕈ ᕈ
ࡁ ࡁ
࠶ ࠶
Notch depth
Notch depth
࠴ ࠴
ᷓ ᷓ
ߐ ߐ
Frequency
๟ᵄᢙ Frequency
๟ᵄᢙ
Notch frequency
ࡁ࠶࠴๟ᵄᢙ Notch frequency
ࡁ࠶࠴๟ᵄᢙ
When machine resonance is large and When machine resonance is small and
frequency is low frequency is high
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr.PB01]
0 0 0
Filter tuning mode selection
ࡈࠖ࡞࠲࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ
⸳ቯ୯
Setting value Filter tuning mode selection
ࡈࠖ࡞࠲࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ Automatically
⥄േ⸳ቯߐࠇࠆࡄ࡜ࡔ࡯࠲ set parameter
0 Disabled
ήല
1 Automatic
⥄േ⸳ቯ setting PB13࡮PB14
2 Manual
ࡑ࠾ࡘࠕ࡞⸳ቯ setting
7- 4
(3) Adaptive tuning mode procedure
Adaptive tuning
ࠕ࠳ࡊ࠹ࠖࡉ࠴ࡘ࡯࠾ࡦࠣ
Operation
ㆇォ
Yes Is the⋡ᮡᔕ╵ߦ೔㆐?
target response reached?
No
Increase the response setting.

ᔕ╵ᕈ⸳ቯࠍ਄ߍࠆ‫ޕ‬
Has vibration or unusual No

ᝄേ߹ߚߪ⇣㖸⊒↢?
noise occurred?
Yes
Execute or re-execute adaptive
ࠕ࠳ࡊ࠹ࠖࡉ࠴ࡘ࡯࠾ࡦࠣታⴕ߹ߚ
tuning. (Set [Pr. PB01] to "_ _ _ 1".)
ߪౣታⴕ‫[(ޕ‬Pr.PB01]ࠍ"_ _ _ 1"ߦ
⸳ቯߒߡߊߛߐ޿‫)ޕ‬
Tuning ends automatically after the

৻ቯᤨ㑆ᓟ࠴ࡘ࡯࠾ࡦࠣ⥄േ⚳ੌ‫ޕ‬ Ifᝄേ߹ߚߪ⊒ᝄ߇ᄢ߈޿⁁ᘒߢ࠴ࡘ࡯࠾ࡦࠣࠍታⴕߒߡ߽ផቯ
assumption fails after tuning is executed at a large vibration or
predetermined period of time. ([Pr.
([Pr.PB01]߇"_ _ _ 2"߹ߚߪ oscillation, decrease the response setting temporarily down to
ߢ߈ߥ޿႐ว㧘৻ᐲᝄേ࡟ࡌ࡞߹ߢᔕ╵ᕈ⸳ቯࠍਅߍߡ߆ࠄታ
PB01] will be "_ _ _ 2" or "_ _ _ 0".)
"_ _ _ 0"ߦߥࠆ‫)ޕ‬ the vibration level and execute again.
ⴕߒߡߊߛߐ޿‫ޕ‬
Has vibration or unusual Yes

ᝄേ߹ߚߪ⇣㖸߇⸃ᶖ?
noise been resolved?
No
Decrease the response until vibration

ᝄേ߹ߚߪ⇣㖸߇⸃ᶖߔࠆ߹ߢᔕ╵ Using the machine analyzer, set the
ࡑࠪࡦࠕ࠽࡜ࠗࠩࠍ૶↪ߒߡࡑ࠾ࡘ Factor
ⷐ࿃
or unusual noise is resolved.
ᕈࠍਅߍࠆ‫ޕ‬ filter manually.
ࠕ࡞ߢࡈࠖ࡞࠲ࠍ⸳ቯߔࠆ‫ޕ‬ The response has increased to the machine limit.
࡮ᯏ᪾ߩ㒢⇇߹ߢᔕ╵ᕈ߇਄߇ߞߡ޿ࠆ‫ޕ‬
The machine is too complicated to provide the
࡮ᯏ᪾߇ⶄ㔀ߢᦨㆡࡈࠖ࡞࠲߇ᓧࠄࠇߥ޿‫ޕ‬
optimum filter.
End
⚳ੌ
7- 5
7.1.3 Shaft resonance suppression filter
(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 enabled 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
ゲ౒ᝄᛥ೙ࡈࠖ࡞࠲ㆬᛯ
0: Automatic
1: Manual
ࡑ࠾ࡘࠕ࡞⸳ቯsetting
Disabled
2: ήല
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- 6
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
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
ࡠ࡯ࡄࠬࡈࠖ࡞࠲ㆬᛯfilter selection
0: Automatic
1: Manual
ࡑ࠾ࡘࠕ࡞⸳ቯ setting
Disabled
2: ήല
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- 7
(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
ࠨ࡯ࡏࡕ࡯࠲┵ Servo motor-side
ࠨ࡯ࡏࡕ࡯࠲┵
Load side
ᯏ᪾┵ Load side
ᯏ᪾┵
t t
Vibration
೙ᝄ೙ᓮࠝࡈsuppression: off Vibration೙ᝄ೙ᓮࠝࡦ
suppression control: on
(ㅢᏱ೙ᓮ)
(normal)
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
೙ᝄ೙ᓮ1 ࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ control 1 tuning mode
⸳ቯ୯
Setting value ೙ᝄ೙ᓮ࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ
Vibration suppression control 1 tuning mode selection Automatically
⥄േ⸳ቯߐࠇࠆࡄ࡜ࡔ࡯࠲ set parameter
_ _ _ 0 Disabled
ήല
_ _ _ 1 Automatic
⥄േ⸳ቯ setting PB19࡮PB20࡮PB21࡮PB22
_ _ _ 2 Manualࡑ࠾ࡘࠕ࡞⸳ቯ setting
೙ᝄ೙ᓮ2 ࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ control 2 tuning mode
⸳ቯ୯
Setting value
೙ᝄ೙ᓮ2࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ
Vibration suppression control 2 tuning mode selection Automatically set parameter
⥄േ⸳ቯߐࠇࠆࡄ࡜ࡔ࡯࠲
_ _ 0 _ Disabled
ήല
_ _ 1 _ Automatic
⥄േ⸳ቯ setting PB52࡮PB53࡮PB54࡮PB55
_ _ 2 _ Manualࡑ࠾ࡘࠕ࡞⸳ቯ setting
7- 8
(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
೙ᝄ೙ᓮ࠴ࡘ࡯࠾ࡦࠣ
tuning
Operation
ㆇォ
Yes Is the⋡ᮡᔕ╵ߦ೔㆐?
target response reached?
No
Increase the response setting.

ᔕ╵ᕈ⸳ቯࠍ਄ߍࠆ‫ޕ‬
Has vibration of workpiece No

ࡢ࡯ࠢ┵࡮ⵝ⟎ߩᝄേᄢ?
end/device increased?
Yes
Stop operation.
ㆇォ஗ᱛ
Execute or re-execute vibration

೙ᝄ೙ᓮ࠴ࡘ࡯࠾ࡦࠣታⴕ߹ߚߪౣ
suppression control tuning.
ታⴕ‫[(ޕ‬Pr.PB02]ࠍ"_ (Set [Pr.
_ _ 1"ߦ⸳ቯߒ
PB02] to "_ _ _ 1".)
ߡߊߛߐ޿‫)ޕ‬
Resume operation.
ㆇォౣ㐿
Tuning ends automatically after positioning

৻ቯ࿁ᢙ૏⟎᳿߼ㆇォᓟ࠴ࡘ࡯࠾ࡦ
operation is performed the predetermined
ࠣ⥄േ⚳ੌ‫[(ޕ‬Pr.PB02]߇"_
number _ "_
of times. ([Pr. PB02] will be _ 2"
__
or "_ _ _ _
߹ߚߪ"_
2" _ 0"ߦߥࠆ‫)ޕ‬
0".)
ࡢ࡯ࠢ┵࡮ⵝ⟎ߩ
Has vibration of workpiece Yes
end/device been resolved?
ᝄേ߇⸃ᶖ‫ޕ‬
No
Decrease the response until vibration Using a machine analyzer or considering Factor
ⷐ࿃
ࡑࠪࡦࠕ࠽࡜ࠗࠩ߹ߚߪᯏ᪾┵ߩ
ࡢ࡯ࠢ┵࡮ⵝ⟎ߩᝄേ߇⸃ᶖߔࠆ߹
of workpiece end/device is resolved. load-side vibration waveform, set the Estimation cannot be made as load-side vibration
࡮ᯏ᪾┵ߩᝄേ߇ࠨ࡯ࡏࡕ࡯࠲┵߹ߢવࠊߞߡ޿ߥ
ᝄേᵄᒻ߆ࠄࡑ࠾ࡘࠕ࡞ߢ೙ᝄ೙ᓮ
ߢᔕ╵ᕈࠍਅߍࠆ‫ޕ‬ vibration suppression control manually. has not been transmitted to the servo motor side.
‫ߦ߼ߚ޿ޓ‬ផቯߢ߈ߥ޿‫ޕ‬
ࠍ⸳ቯߔࠆ‫ޕ‬
The response of the model loop gain has increased
࡮ࡕ࠺࡞૏⟎ࠥࠗࡦ߇ᯏ᪾┵ߩᝄേ๟ᵄᢙ(೙ᝄ೙ᓮ
to the load-side vibration frequency (vibration
‫ߩޓ‬㒢⇇)߹ߢᔕ╵ᕈ߇਄߇ߞߡ޿ࠆ‫ޕ‬
suppression control limit).
End
⚳ੌ
7- 9
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(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
೙ᝄ೙ᓮ2 ᝄേ๟ᵄᢙ
Vibration frequency
(෻౒ᝄ๟ᵄᢙ)
(anti-resonance frequency)
[Pr.PB52] Vibration suppression control 2 - Resonance frequency
೙ᝄ೙ᓮ2 ౒ᝄ๟ᵄᢙ⸳ቯ
[Pr.PB53]
Gain characteristics
ࠥࠗࡦ․ᕈ
1Hz 300Hz
Resonance of more than 300 Hz
300Hzએ਄ߩ౒ᝄߪ
Vibration suppression control 1 is not the target of control.
Vibration suppression control 1 - ೙ᝄ೙ᓮ1
- Resonance౒ᝄ๟ᵄᢙ
frequency ኻ⽎ᄖߦߥࠅ߹ߔ‫ޕ‬
೙ᝄ೙ᓮ1 ᝄേ๟ᵄᢙ
Vibration frequency [Pr.PB20]
(෻౒ᝄ๟ᵄᢙ)
(anti-resonance frequency)
[Pr.PB19]
Phase
૏⋧
-90deg.
(b) When vibration can be confirmed using monitor signal or external sensor
Motor-side vibration
ࠨ࡯ࡏࡕ࡯࠲┵ᝄേ External acceleration pickup signal, etc.
ᄖㇱടㅦᐲࡇ࠶ࠢࠕ࠶ࡊାภߥߤ
(ḳࠅࡄ࡞ࠬ)
(droop pulses)
Position
૏⟎ᜰ઎๟ᵄᢙ command frequency
t t
Vibration cycle [Hz]

ᝄേ๟ᦼ[Hz] Vibration೙ᝄ೙ᓮᝄേ๟ᵄᢙ
suppression control - Vibration frequency Vibration
ᝄേ๟ᦼ[Hz] cycle [Hz]
೙ᝄ೙ᓮ౒ᝄ๟ᵄᢙ control - Resonance frequency
Set the same value.

ห৻୯ࠍ⸳ቯߒߡߊߛߐ޿‫ޕ‬
Step 3 Fine-adjust "Vibration suppression control - Vibration frequency dDmping setting" and "Vibration
suppression control - Resonance frequency dDmping setting".
7 - 11
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
ᯏ᪾┵ Load
ᯏ᪾┵ side
t t
Command notch filter: disabled Command notch filter: enabled
7 - 12
(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
ࡁ࠶࠴ᷓߐ depth Control command from controller
ᜰ઎ࡁ࠶࠴ࡈࠖ࡞࠲⸳ቯ๟ᵄᢙ
Setting
⸳ቯ୯
value Depth [dB]
ᷓߐ[dB] Setting Frequency
๟ᵄᢙ Setting Frequency
๟ᵄᢙ Setting Frequency
๟ᵄᢙ
⸳ቯ୯
value [Hz] ⸳ቯ୯
value [Hz] ⸳ቯ୯
value [Hz]
0 -40.0
1 -24.1 00 ήല
Disabled 20 70 40 17.6
2 -18.1 01 2250 21 66 41 16.5
3 -14.5 02 1125 22 62 42 15.6
4 -12.0 03 750 23 59 43 14.8
5 -10.1 04 562 24 56 44 14.1
6 -8.5 05 450 25 53 45 13.4
7 -7.2 06 375 26 51 46 12.8
8 -6.0 07 321 27 48 47 12.2
9 -5.0 08 281 28 46 48 11.7
A -4.1 09 250 29 45 49 11.3
B -3.3 0A 225 2A 43 4A 10.8
C -2.5 0B 204 2B 41 4B 10.4
D -1.8 0C 187 2C 40 4C 10.0
E -1.2 0D 173 2D 38 4D 9.7
F -0.6 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
7 - 13
7.2 Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can use a
control command from a controller 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 a control command from a controller 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 - 14
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]
Control command
ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ
from controller
೙ᓮᜰ઎
Command pulse
ᜰ઎ࡄ࡞ࠬ๟ᵄᢙ +
frequency
-
Droop
ḳࠅࡄ࡞ࠬ pulses +
-
Changing
ಾ឵߃
Model
ࡕ࠺࡞ㅦᐲ speed +
-
Comparator
Ყセེ
CDL
[Pr.PB27]
GD2 VRF11
[Pr.PB06] Enabled [Pr.PB19] Enabled
᦭ലߥ ᦭ലߥ
GD2B GD2 value
GD2୯ VRF11B
VRF11
VRF11୯value
[Pr.PB29] [Pr.PB33]
PG1 VRF12
᦭ലߥ ᦭ലߥ
PG1 value
PG1୯ VRF12
VRF12୯value
PG1B VRF12B
[Pr.PB60] [Pr.PB34]
PG2 VRF13
᦭ലߥ ᦭ലߥ
PG2B PG2 value
PG2୯ VRF13B
VRF13
VRF13୯value
[Pr.PB30] [Pr.PB35]
VG2 VRF14
᦭ലߥ ᦭ലߥ
VG2 value
VG2୯ VRF14
VRF14୯value
VG2B VRF14B
[Pr.PB31] [Pr.PB36]
VIC VRF21
᦭ലߥ ᦭ലߥ
VIC value
VIC୯ VRF21
VRF21୯value
VICB VRF21B
[Pr.PB32] [Pr.PB56]
VRF22
[Pr.PB53] Enabled
᦭ലߥ
VRF22
VRF22୯value
VRF22B
[Pr.PB57]
VRF23
[Pr.PB54] Enabled
᦭ലߥ
VRF23
VRF23୯value
VRF23B
[Pr.PB58]
VRF24
[Pr.PB55] Enabled
᦭ലߥ
VRF24
VRF24୯value
VRF24B
[Pr.PB59]
7 - 15
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) Variable gain operation setting parameter

Parameter Symbol Name Unit Description
PB26 CDP Gain switching selection Used to select the changing condition.
PB27 CDL Gain switching condition [kpps] Used to set the changing condition values.
/[pulse]
/[r/min]
PB28 CDT Gain switching time constant [ms] You can set the filter time constant for a gain change at
changing.
(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first digit and second
digit.
[Pr.PB26]
0 0
Gain switching selection
ࠥࠗࡦಾ឵߃ㆬᛯ
0: ήല
Disabled
1: ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ೙ᓮᜰ઎߇᦭ല
Control command from controller is enabled
Command frequency
2: ᜰ઎๟ᵄᢙ
Droop pulses
3: ḳࠅࡄ࡞ࠬ
Servo motor speed/linear servo motor speed
4: ࠨ࡯ࡏࡕ࡯࠲࿁ォㅦᐲ/࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ㅦᐲ
Gain switching condition

ࠥࠗࡦಾ឵߃᧦ઙ
0: Gain after switching is enabled with gain switching condition or more
ಾ឵߃᧦ઙએ਄ߢಾ឵߃ᓟࠥࠗࡦ᦭ല
1: Gain after switching is enabled with gain switching condition or less
ಾ឵߃᧦ઙએਅߢಾ឵߃ᓟࠥࠗࡦ᦭ല
(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor
speed/linear servo motor speed" in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpps]
Droop pulses [pulse]
Servo motor speed/linear servo motor speed [r/min]/[mm/s]
(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 - 16
(2) Switchable gain parameter

Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia PB06 GD2 Load to motor inertia PB29 GD2B Load to motor inertia
ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass
ratio ratio ratio after gain switching
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 VRF11B 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 dDmping setting frequency dDmping setting frequency dDmping setting
after gain switching
switching
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/load to motor mass ratio, position 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 dDmping setting, and resonance frequency dDmping setting.
7 - 17
(c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio or load to motor mass 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/load to
motor mass 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 model loop gain are used only with control
command from the controller.
You can switch the vibration frequency, resonance frequency, vibration frequency dDmping setting,
resonance frequency dDmping setting, and model loop gain of the vibration suppression control 1
and vibration suppression control 2.
7 - 18
7.2.4 Gain switching procedure

This operation will be described by way of setting examples.
(1) When you choose switching by control command from the controller
(a) Setting
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 dDmping setting
PB22 VRF14 Vibration suppression control 1 - 0.20
Resonance frequency dDmping setting
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
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 control command
from the controller.)
PB33 VRF11B Vibration suppression control 1 - Vibration 60 [Hz]
frequency after gain switching
PB34 VRF12B Vibration suppression control 1 - 60 [Hz]
Resonance frequency after gain switching
PB35 VRF13B Vibration suppression control 1 - Vibration 0.15
frequency dDmping setting after gain
switching
PB36 VRF14B Vibration suppression control 1 - 0.15
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 dDmping setting after gain
switching
PB59 VRF24B Vibration suppression control 2 - 0.05
7 - 19
(b) Switching timing chart

Control command from
ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ OFF OFF
೙ᓮᜰ઎
controller ON
After-switching
ಾ឵߃ᓟࠥࠗࡦ gain
63.4%
Before-switching
ಾ឵߃೨ࠥࠗࡦ gain
Gain switching
ฦࠥࠗࡦߩᄌൻ
CDT = 100ms
Model loop gain 100 ĺ 50 ĺ 100

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

In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.
(a) Setting
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 - 20
(b) Switching timing chart

Command
ᜰ઎ࡄ࡞ࠬpulse Droop
ḳࠅࡄ࡞ࠬ pulses
+CDL
Droop pulses
ḳࠅࡄ࡞ࠬ[pulse] 0
CDL
After-switching
ಾ឵߃ᓟࠥࠗࡦ gain
63.4%
Before-switching
ಾ឵߃೨ࠥࠗࡦ gain
Gain switching
ฦࠥࠗࡦߩᄌൻ
CDT = 100ms
Load to motor inertia ratio/load to motor

4.00 ĺ 10.00 ĺ 4.00 ĺ 10.00
mass ratio
Position loop gain 120 ĺ 84 ĺ 120 ĺ 84
Speed loop gain 3000 ĺ 4000 ĺ 3000 ĺ 4000
Speed integral compensation 20 ĺ 50 ĺ 20 ĺ 50
7 - 21
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.
7.3.1 Vibration tough drive function
This function prevent from vibrating by resetting a filter instantaneously when machine resonance occurs due
to varied vibration frequency caused 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].
7 - 22
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.
Filter Setting parameter Precaution Parameter that is
reset with vibration
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 filter disables the shaft
suppression filter 4 resonance suppression filter.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 The setting of this filter is disabled while
suppression filter 5 you use the robust filter.
The robust filter is disabled for the initial
setting.
Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]

control Machine Machine Machine
Command Command + Low-pass resonance resonance resonance
pulse train filter - filter setting suppression suppression suppression
filter 1 filter 2 filter 3
[Pr. PB48] [Pr. PB50] Load
[Pr. PB49] Machine [Pr. PE41] Machine

resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance Robust Servo motor
suppression filter
filter
[Pr.PF23
[Pr. ᝄേ࠲ࡈ࠼࡜ࠗࡉ⊒ᝄᬌ⍮࡟ࡌ࡞]
PF23 Vibration tough drive - Oscillation detection level]
Torque
࠻࡞ࠢ
Detects the machine resonance and reconfigures the filter automatically.

ᯏ᪾౒ᝄࠍᬌ⍮ߒ㧘ࡈࠖ࡞࠲ࠍ⥄േ⊛ߦౣ⸳ቯߒ߹ߔ‫ޕ‬
ALMCALM ON
(Malfunction)
(౒ㅢ᡿㓚) OFF
5s
WNGWNG ON
(⼊๔)
(Warning) OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
ᝄേ࠲ࡈ࠼࡜ࠗࡉᯏ⢻ߢߪONߦߥࠅ߹ߖࠎ‫ޕ‬
MTTR
MTTR ON
(࠲ࡈ࠼࡜ࠗࡉਛ)
(During tough drive) OFF
7 - 23
7.3.2 Instantaneous power failure tough drive function
During the instantaneous power failure tough drive, the torque may be limited due
to the load conditions or the set value of [Pr. PF25 Instantaneous power failure
tough drive - Detection time].
CAUTION The immunity to instantaneous power failures is increased by the instantaneous
power failure tough drive function. However, it is not compliant with the SEMI-F47
specification.
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 immunity to instantaneous power failures 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 power] detection time for the control circuit power
supply can be changed by [Pr. PF25 Instantaneous power failure tough drive - 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 the load of instantaneous power failure is large, the undervoltage alarm
([AL. 10.2]) caused by the bus voltage drop may occur regardless of the set
value of [Pr. PF25 Instantaneous power failure tough drive - Detection time].
7 - 24
(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 Instantaneous power
failure tough drive - Detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds
[Pr. PF25 Instantaneous power failure tough drive - 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
೙ᓮ࿁〝㔚Ḯ⍍஗ᤨ㑆
circuit power supply
Control circuit power ON

೙ᓮ࿁〝㔚Ḯ
supply OFF
[Pr.PF25]
Bus voltage
Უ✢㔚࿶
Undervoltage
ਇ⿷㔚࿶࡟ࡌ࡞ level
(158 (DC158V)
V DC)
ALMCALM ON
(Malfunction)
(౒ㅢ᡿㓚) OFF
WNGWNG ON
(⼊๔)
(Warning) OFF
MTTRMTTR ON
(࠲ࡈ࠼࡜ࠗࡉਛ)
(During tough drive) OFF
MBRMBR ON
(㔚⏛ࡉ࡟࡯ࠠ
(Electromagnetic
ࠗࡦ࠲ࡠ࠶ࠢ) OFF
brake interlock)
ON
Baseࡌ࡯ࠬ࿁〝
circuit
OFF
7 - 25
(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 Instantaneous power
failure tough drive - Detection time]
Operation status differs depending on how bus voltage decrease.
(a) When the bus voltage decrease lower than 158 V DC within the instantaneous power failure time of
the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the
enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control
೙ᓮ࿁〝㔚Ḯ⍍஗ᤨ㑆
circuit power supply

೙ᓮ࿁〝㔚Ḯ
supply OFF
[Pr.PF25]
Bus voltage
Უ✢㔚࿶
Undervoltage
ਇ⿷㔚࿶࡟ࡌ࡞level
(158 V(DC158V)
DC)
ALM CALM ON
(౒ㅢ᡿㓚)
(Malfunction) OFF
WNG WNG ON
(⼊๔)
(Warning) OFF
MTTRMTTR ON
(During(࠲ࡈ࠼࡜ࠗࡉਛ)
tough drive) OFF
MBR MBR
ON
(Electromagnetic
(㔚⏛ࡉ࡟࡯ࠠ
ࠗࡦ࠲ࡠ࠶ࠢ)
ON
Base circuit
ࡌ࡯ࠬ࿁〝
OFF
7 - 26
(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
೙ᓮ࿁〝㔚Ḯ
failure time of the control
circuit ⍍஗ᤨ㑆
power supply

೙ᓮ࿁〝㔚Ḯ
supply OFF
[Pr.PF25]
Bus voltage
Უ✢㔚࿶
Undervoltage
ਇ⿷㔚࿶࡟ࡌ࡞level
(158 V(DC158V)
DC)
ALM CALM ON
(Malfunction)
(౒ㅢ᡿㓚) OFF
WNG WNG ON
(⼊๔)
(Warning) OFF
MTTR MTTR ON
(During(࠲ࡈ࠼࡜ࠗࡉਛ)
tough drive) OFF
MBR MBR
ON
(Electromagnetic
(㔚⏛ࡉ࡟࡯ࠠ
ࠗࡦ࠲ࡠ࠶ࠢ)
Base circuit ON
ࡌ࡯ࠬ࿁〝
OFF
7 - 27
MEMO
7 - 28
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
Refer to MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)
for details of alarms and warnings.
8.1 Alarm and warning list
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or
the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM will turn off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ż in the
alarm deactivation column in the following table. Warnings are automatically canceled after the cause of
occurrence is removed.
For the alarms and warnings written "SD" in the stop method column, the axis stops with the dynamic brake
after forced stop deceleration. For the alarms and warnings written "DB" in the stop method column, the axis
stops with the dynamic brake without forced stop deceleration.
Stop Alarm reset Operation mode

metho Power
Detail
No. Name Detail name d Error CPU offĺo Standar
display Linear DD
(Note 4, reset reset n d
5)
10.1 Voltage drop in the control power DB
Alarm
10 Undervoltage
10.2 Voltage drop in the main circuit power SD
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12 Memory error 1 (RAM) 12.3 RAM error 3 DB
12.4 RAM error 4 DB
12.5 RAM error 5 DB
13.1 Clock error 1 DB
13 Clock error
13.2 Clock error 2 DB
14.1 Control process error 1 DB
14 Control process error
14.A Control process error 10 DB
Memory error 2 (EEP- 15.1 EEP-ROM error at power on DB
15
ROM) 15.2 EEP-ROM error during operation DB
8- 1
8. TROUBLESHOOTING

metho Power
Detail
display Linear DD
5)
Encoder initial communication - Receive
Alarm
16.1 DB
data error 1
16.2 DB
data error 2
16.3 DB
data error 3
Encoder initial communication -
16.5 DB
Transmission data error 1
16.6 DB
16.7 DB
Encoder initial Transmission data error 3
16
communication error 1 Encoder initial communication - Process
16.A DB
error 1
Encoder initial communication - Process
16.B DB
error 2
16.C DB
error 3
16.D DB
error 4
16.E DB
error 5
16.F DB
error 6
17.1 Board error 1 DB
17 Board error 17.4 Board error 3 DB
Memory error 3 (Flash- 19.1 Flash-ROM error 1 DB
19
ROM) 19.2 Flash-ROM error 2 DB
1A.1 Servo motor combination error DB
Servo motor combination
1A Servo motor control mode combination
error 1A.2 DB
error
Encoder initial
1E 1E.1 Encoder malfunction DB
communication error 2
Encoder initial
1F 1F.1 Incompatible encoder DB
Encoder normal communication - Receive
20.1 DB
data error 1
20.2 DB
data error 2
20.3 DB
data error 3
Encoder normal communication -
20.5 DB
Encoder normal Transmission data error 1
20
communication error 1 Encoder normal communication -
20.6 DB
Encoder normal communication -
20.7 DB
20.9 DB
data error 4
20.A DB
data error 5
8- 2
8. TROUBLESHOOTING

metho Power
Detail
display Linear DD
5)
21.1 Encoder error 1 DB
Alarm
21.2 Encoder data update error DB

21.3 Encoder data waveform error DB
Encoder normal
21 21.4 Encoder non-signal error DB
21.5 Encoder hardware error 1 DB
21.6 Encoder hardware error 2 DB
21.9 Encoder error 2 DB
Ground fault detected at hardware
24.1 DB
detection circuit
24 Main circuit error
Ground fault detected at software detection
24.2 DB
function
Servo motor encoder - Absolute position
25 Absolute position erased 25.1 DB
erased
Magnetic pole detection - Abnormal
27.1 DB
termination
27.2 Magnetic pole detection - Time out error DB
27.3 Magnetic pole detection - Limit switch error DB
Initial magnetic pole 27.4 Magnetic pole detection - Estimated error DB
27
detection error Magnetic pole detection - Position
27.5 DB
deviation error
Magnetic pole detection - Speed deviation
27.6 DB
error
27.7 Magnetic pole detection - Current error DB
28 Linear encoder error 2 28.1 Linear encoder - Environment error DB
2A.1 Linear encoder error 1-1 DB
2A Linear encoder error 1
2B.1 Encoder counter error 1 DB
2B Encoder counter error
2B.2 Encoder counter error 2 DB
30.1 Regeneration heat error DB (Note (Note (Note

1) 1) 1)
Regenerative error (Note

30 30.2 Regeneration signal error DB (Note (Note (Note
1)
1) 1) 1)
30.3 Regeneration feedback signal error DB (Note (Note (Note

1) 1) 1)
31 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at hardware
32.1 DB
detection circuit (during operation)
Overcurrent detected at software detection
32.2 DB
function (during operation)
32 Overcurrent
Overcurrent detected at hardware
32.3 DB
detection circuit (during a stop)
Overcurrent detected at software detection
32.4 DB
function (during a stop)
33 Overvoltage 33.1 Main circuit voltage error DB
34.1 SSCNET receive data error SD (Note

2)
34 SSCNET receive error 1
34.2 SSCNET connector connection error SD
34.3 SSCNET communication data error SD
34.4 Hardware error signal detection SD
35 Command frequency error 35.1 Command frequency error SD
36 SSCNET receive error 2 36.1 Continuous communication data error SD
8- 3
8. TROUBLESHOOTING

metho
Detail Power
No. Name Detail name d Error CPU Standar
display offĺo Linear DD
(Note 4, reset reset d
n
5)
37.1 Parameter setting range error DB
Alarm
37 Parameter error
37.2 Parameter combination error DB
Inrush current suppression
3A 3A.1 Inrush current suppression circuit error DB
circuit error
3E Operation mode error 3E.1 Operation mode error DB
42.1 Servo control error by position deviation DB (Note (Note

3) 3)
42 Servo control error 42.2 Servo control error by speed deviation DB (Note (Note
3) 3)
Servo control error by torque/thrust

42.3 DB (Note (Note
deviation
3) 3)
Main circuit device

45 45.1 Main circuit device overheat error SD (Note (Note (Note
overheat (Note 1)
1) 1) 1)
46.1 Abnormal temperature of servo motor 1 SD (Note (Note (Note

1) 1) 1)
46.2 Abnormal temperature of servo motor 2 SD (Note (Note (Note

1) 1) 1)
Servo motor overheat

46 46.3 Thermistor disconnected SD (Note (Note (Note
(Note 1)
1) 1) 1)
46.5 Abnormal temperature of servo motor 3 DB (Note (Note (Note

1) 1) 1)
46.6 Abnormal temperature of servo motor 4 DB (Note (Note (Note

1) 1) 1)
47.1 Cooling fan stop error SD
47 Cooling fan error
47.2 Cooling fan speed reduction error SD
50.1 Thermal overload error 1 during operation SD (Note (Note (Note

1) 1) 1)

1) 1) 1)

1) 1) 1)
50 Overload 1 (Note 1)
50.4 Thermal overload error 1 during a stop SD (Note (Note (Note

1) 1) 1)

1) 1) 1)

1) 1) 1)
51.1 Thermal overload error 3 during operation DB (Note (Note (Note

1) 1) 1)
51 Overload 2 (Note 1)
51.2 Thermal overload error 3 during a stop DB (Note (Note (Note

1) 1) 1)
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 DB
8- 4
8. TROUBLESHOOTING

metho
Detail Power
No. Name Detail name d Error CPU Standar
display offĺo Linear DD
(Note 4, reset reset d
n
5)
54 Oscillation detection 54.1 Oscillation detection error DB
Alarm
56.2 Over speed during forced stop DB

56 Forced stop error
56.3 Estimated distance over during forced stop DB
63.1 STO1 off DB
63 STO timing error
63.2 STO2 off DB
USB communication time-
8A 8A.1 USB communication time-out error SD
out error
8E.1 USB communication receive error SD
8E.2 USB communication checksum error SD
8E USB communication error 8E.3 USB communication character error SD
8E.4 USB communication command error SD
8E.5 USB communication data number error SD
888 Watchdog 88._ Watchdog DB
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. In some controller communication status, the alarm factor may not be removed.
3. The alarm can be canceled by setting as follows:
When a linear servo motor or a direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
4. Stop method indicates as follows:
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
SD: Decelerates to a stop
5. 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].
8- 5
8. TROUBLESHOOTING
Stop Operation mode

Detail method
No. Name Detail name Standar
display (Note 2, Linear DD
3) d
Servo amplifier overheat

91 91.1 Main circuit device overheat warning -
warning (Note 1)
Warning
Encoder battery cable disconnection

Battery cable 92.1 -
92 warning
disconnection warning
92.3 Battery degradation -
95.1 STO1 off detection DB
95 STO warning
95.2 STO2 off detection DB
96.1 In-position warning at home positioning -
Home position setting
96 Command input warning at home
warning 96.2 -
positioning
9F.1 Low battery -
9F Battery warning
9F.2 Battery degradation warning -
Excessive regeneration
E0 E0.1 Excessive regeneration warning -
warning (Note 1)
Thermal overload warning 1 during
E1.1 -
operation
E1.2 -
operation
E1.3 -
operation
E1.4 -
E1 Overload warning (Note 1) operation
E1.5 Thermal overload error 1 during a stop -
Servo motor overheat
E2 E2.1 Servo motor temperature warning -
warning
Encoder absolute positioning counter
Absolute position counter E3.2 -
E3 warning
warning
E3.5 Absolute position counter warning -
E4 Parameter warning E4.1 Parameter setting range error warning -
E6 Servo forced stop warning E6.1 Forced stop warning SD
Controller forced stop
E7 E7.1 Controller forced stop warning SD
warning
Cooling fan speed
E8 E8.1 Decreased cooling fan speed warning -
reduction warning
E9.1 Servo-on signal on during main circuit off DB
Bus voltage drop during low speed
E9 Main circuit off warning E9.2 DB
operation
E9.3 Ready-on signal on during main circuit off DB
Overload warning 2 (Note
EC EC.1 Overload warning 2 -
1)
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 -
Drive recorder - Area writing time-out
Drive recorder - Miswriting F2.1 -
F2 warning
warning
F2.2 Drive recoder - Data miswriting warning -
Oscillation detection
F3 F3.1 Oscillation detection warning -
warning
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2.2. Stop method indicates as follows:
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
SD: Decelerates to a stop
3.3. 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].
8- 6
8. TROUBLESHOOTING
8.2 Troubleshooting at power on
When the servo system does not boot and system error occurs at power on of the servo system controller,
improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take
actions according to this section.
'LVSO 'HVFULSWLRQ &DXVH &KHFNSRLQW $FWLRQ
D\
AA Communication with the The power of the servo Check the power of the servo Switch on the power of the servo
servo system controller system controller was system controller. system controller.
has disconnected. turned off.
SSCNET III cable was "AA" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the servo "AA" is displayed in the Check the power of the servo
amplifier was turned off. corresponding axis and following amplifier.
axes.
Replace the servo amplifier of the
corresponding axis.
AB Initialization The system has been in Check if the disabling control axis Turn off the disabling control axis
communication with the the test operation mode. switch (SW2-2) is on. switch (SW2-2).
servo system controller The setting of the Axis Check that the other servo Set it correctly.
has not completed. No. is incorrect. amplifier is not assigned to the
same axis No.
Axis No. does not match Check the setting and axis No. of Set it correctly.
with the axis No. set to the servo system controller.
the servo system
controller.
Information about the Check the value set in Servo Set it correctly.
servo series has not set series (Pr.100) in the simple
in the simple motion motion module.
module.
Communication cycle Check the communication cycle Set it correctly.
does not match. at the servo system controller
side.
When using 8 axes or less: 0.222
ms
When using 16 axes or less:
0.444 ms
When using 32 axes or less:
0.888 ms
SSCNET III cable was "AB" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the servo "AB" is displayed in an axis and Check the power of the servo
amplifier was turned off. the following axes. amplifier.
The servo amplifier is "AB" is displayed in an axis and Replace the servo amplifier of the
malfunctioning. the following axes. corresponding axis.
B##. The system has been in Test operation mode has Test operation setting switch Turn off the test operation setting
(Note the test operation mode. been active. (SW2-1) is turned on. switch (SW2-1).
)
off Operation mode for Operation mode for Check if all of the control axis Set the control axis setting
manufacturer setting is manufacturer setting is setting switches (SW2) are on. switches (SW2) correctly.
set. enabled.
Note. ## indicates axis No.
8- 7
8. TROUBLESHOOTING
MEMO
8- 8
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0(02

10. CHARACTERISTICS
10. CHARACTERISTICS
POINT
For the characteristics of the linear servo motor and the direct drive motor, refer
to sections 14.4 and 15.4.
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.
When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the
unbalanced torque of the machine be kept at 70% or less of the motor's 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
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
(Note 1, 2) Load ratio [%] (Note 1, 2) Load ratio [%]
HG-KR053, HG-KR13 HG-KR23, HG-KR43, HG-KR73

HG-MR053㧘HG-MR13 HG-MR23, HG-MR43, HG-MR73
HG-SR51, HG-SR81, HG-SR52, HG-SR102
1000 10000
ㆇォᤨ
Operating
100 1000
Operation time [s]
Operation time [s]
૞ ૞ Operating
ㆇォᤨ
േ Servo-lock
ࠨ࡯ࡏࡠ࠶ࠢᤨ േ ࠨ࡯ࡏࡠ࠶ࠢᤨ
Servo-lock
ᤨ 10 ᤨ 100
㑆㑆
[s] [s]
1 10
0.1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(Note 1) Load ratio [%]
(ᵈ1) ⽶⩄₸[%] (Note
(ᵈ)1) Load ratio [%]
⽶⩄₸[%]
HG-SR121㧘HG-SR201㧘HG-SR152㧘HG-SR202㧘 HG-SR421㧘HG-SR502㧘HG-SR702
HG-SR301㧘HG-SR352
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 30 r/min or less low-speed operation status, the servo amplifier may malfunction
2. regardless of the electronic thermal protection.
The load ratio ranging from 300 % to 350 % applies to the HG-KR servo motor.
Fig. 10.1 Electronic thermal protection characteristics
10 - 2
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 1) (Note 2) Servo amplifier-
Area required
Power supply generated heat [W]
Servo amplifier Servo motor for heat
capacity 2
At rated output With servo-off dissipation [m ]
[kVA]
HG-MR053 0.3 25 15 0.5
MR-J4-10B HG-MR13 0.3 25 15 0.5
HG-KR053/13 0.3 25 15 0.5
HG-MR23 0.5 25 15 0.5
MR-J4-20B
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40B
HG-KR43 0.9 35 15 0.7
HG-SR52 1.0 40 15 0.8
MR-J4-60B
HG-SR51 1.0 40 15 0.8
HG-MR73 1.3 50 15 1.0
MR-J4-70B
HG-KR73 1.3 50 15 1.0
HG-SR102 1.7 50 15 1.0
MR-J4-100B
HG-SR81 1.5 50 15 1.0
HG-SR152 2.5 90 20 1.8
HG-SR202 3.5 90 20 1.8
MR-J4-200B
HG-SR121 2.1 90 20 1.8
HG-SR201 3.5 90 20 1.8
HG-SR352 5.5 130 20 2.6
MR-J4-350B
HG-SR301 4.8 120 20 2.4
HG-SR502 7.5 195 25 3.9
MR-J4-500B
HG-SR421 6.3 160 25 3.2
MR-J4-700B HG-SR702 10 300 25 6.0
Note 1. Note that the power supply capacity will vary according to 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.
10 - 3
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 ÛC at the ambient temperature of 40 ÛC. (With
an approximately 5 ÛC safety margin, the system should operate within a maximum 55 ÛC 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]
ǻT : Difference between internal and ambient temperatures [ÛC]
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 ÛC 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 - 4
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
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 make EM1 (Forced stop) valid after servo motor stops when using
EM1 (Forced stop) frequently in other than emergency.
Servo motors for MR-J4 may have the different coasting distance from that of
the previous model.
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 Ĳ varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) of
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)
OFF
Dynamic brake
time constant ˱
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·····················································································[kg•cm2]
JL : Load moment of inertia converted into equivalent value on servo motor shaft·····················[kg•cm2]
Ĳ : Dynamic brake time constant ········································································································· [s]
te : Delay time of control section··········································································································· [s]
For 7 kW or lower servo, there is internal relay delay time of about 10 ms.
10 - 5
10. CHARACTERISTICS
(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant Ĳ for equation 10.2.
50 50
Time constant Ĳ [ms]

40 40

ᤨ ᤨ
ቯ 30 73 ቯ 30 73 43
ᢙ 43 ᢙ
Ǽ 20 Ǽ 20
[ms] [ms] 23
23
10 053 10 053
13 13
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
࿁ォㅦᐲ[r/min]
Speed [r/min] ࿁ォㅦᐲ[r/min]
Speed [r/min]
HG-MR series HG-KR series

100 350
300

80
ᤨ ᤨ 250
ቯ 60 51 81 ቯ 200 102
ᢙ ᢙ 52
Ǽ 40 Ǽ 150 352
[ms] 121 [ms] 100
201 152 502
20 202
50
421 301 702
0 0
0 250 500 750 1000 1250 1500 0 500 1000 1500 2000 2500 3000
࿁ォㅦᐲ[r/min]
Speed [r/min] Speed [r/min]
࿁ォㅦᐲ[r/min]
HG-SR1000 r/min series HG-SR2000 r/min series
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.
Servo Servo motor
amplifier HG-KR_ HG-MR_ HG-SR_1 HG-SR_2
HG-MR053: 35
MR-J4-10B 30
HG-MR13: 32
MR-J4-20B 30 32
MR-J4-40B 30 32
MR-J4-60B 30 30
MR-J4-70B 30 32
MR-J4-100B 30 30
MR-J4-200B 30 21
MR-J4-350B 16 13 (Note)
MR-J4-500B 15 13 (Note)
MR-J4-700B 5 (Note)
Note. The permissible load to motor inertia ratio is 15 at the rated rotation speed.
10 - 6
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 bending
a: Long flex life life cable
encoder encoder cable
Number of flexing times [time]
bending
Long flex life motorlife motor
power power cable
cable
Long flex life electromagnetic
bending brake cable
life electromagnetic brake cable
SSCNET III cable using long distance cable
1 × 106
5 × 105
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
1 × 105 SSCNET III cable using inside panel standard cord
5 × 104 SSCNET III cable using outside panel standard cable
1 × 104 b
5 × 103
1 × 103
4 7 10 20 40 70 100 200
Bend radius [mm]
10.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at
the power supply capacity of 2500 kVA and the wiring length of 1 m.
Inrush currents (A0-P)
Servo amplifier Main circuit power supply (L1, L2, and Control circuit power supply (L11 and
L3) L21)
MR-J4-10B, MR-J4-20B, 30 A (attenuated to approx. 3 A in 20
MR-J4-40B, MR-J4-60B ms)
34 A (attenuated to approx. 7 A in 20 20 A to 30 A (attenuated to approx. 1 A
MR-J4-70B, MR-J4-100B
ms) in 20 ms)
113 A (attenuated to approx. 12 A in 20
MR-J4-200B, MR-J4-350B
ms)
42 A (attenuated to approx. 20 A in 20
MR-J4-500B
ms) 34 A (attenuated to approx. 2 A in 20
85 A (attenuated to approx. 20 A in 30 ms)
MR-J4-700B
ms)
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.
10 - 7
10. CHARACTERISTICS
MEMO
10 - 8
11. Options and peripheral devices
11. OPTIONS AND AUXILIARY EQUIPMENT
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, 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

Cautions fire.
11.1 Cable/connector sets
POINT
IP rating indicated for cables and connecters is for a cable or connector alone.
When the cables and connectors are used to connect the servo amplifier and
servo motor, and if IP rating of the servo amplifier and servo motor are lower
than that of the cable and connector, specifications of the servo amplifier and
servo motor apply.
Purchase the cable and connector options indicated in this section.
11 - 1
11.1.1 Combinations of cable/connector sets

Personal Safety logic unit
Servo system computer MR-J3-D05
controller
CN9
8) 8)
5) CN10
2)3)4) Servo Servo

amplifier 7) amplifier
1) (Servo amplifier attachment) CN5 CN5

CN3 6) CN3
(Note 1) (Note 3)
CNP1
CN8 (Note 2) CN8
CNP2 CN1A CN1A

2)3)4)
CN1B CN1B
CNP3
CN2 CN2
Cap
(Servo amplifier attachment)
CN4 CN4
Refer to Servo Motor INSTRUCTION MANUAL (Vol.3) about options for

servo motor power, electromagnetic brake, and encoder.
Battery To 24 V DC power supply

for electromagnetic brake Servo motor
Power supply Brake Encoder

connector connector connector
Refer to Liner Encoder INSTRUCTION MANUAL about options

for liner encoder. Liner servo motor
To CN2
Liner encoder
Power supply connector
To CN2
The connection method changes
depending on INC/ABS system. Encoder connector
Refer to DIRECT DRIVE MOTOR INSTRUCTION MANUAL Direct drive motor

about options for direct drive motor power and encoder.
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, terminal blocks.

2. When not using the STO function, attach a short-circuit connecter ( 9) ) supplied with a servo amplifier.
11 - 2
No. Name Type Description Application

1) Servo amplifier Supplied
power supply with servo
connector set amplifiers
of 1 kW or
less
CNP1 CNP2 CNP3
Connector: 06JFAT- Connector: 05JFAT- Connector: 03JFAT-
SAXGDK-H7.5 SAXGDK-H5.0 SAXGDK-H7.5
(JST) (JST) (JST)
2
Applicable wire size:0.8 mm (AWG10) to 2.1
2
mm (AWG 8)
(AWG 18 to 14) Open tool
Insulator OD: to 3.9 mm J-FAT-OT
(JST)
Supplied
with servo
amplifiers
of 2 kW
CNP1 CNP2 CNP3

Connector: 06JFAT- Connector: Connector:
SAXGFK-XL 05JFAT-SAXGDK-H5.0 03JFAT-SAXGFK-XL
(JST) (JST) (JST)
(For CNP1, CNP3) CNP2
Applicable wire Applicable wire size:0.8
2 2 2
size:1.25 mm to 5.5 mm to 2.1 mm
2
mm (AWG 18 to 14) Open tool
(AWG 16 to 10) Insulator OD: to 3.9 quantity: 1
Insulator OD: to 4.7 mm Model: J-FAT-OT-EXL
mm
(JST)
2) SSCNET III MR-J3BUS_M Connector: PF-2D103 Connector: PF-2D103 Standard
cable Cable length: (JAE) (JAE) cord
0.15 m to 3 m inside
(Refer to section panel
11.1.3.)
3) SSCNET III MR-J3BUS_M-A Standard
cable Cable length: cable
5 m to 20 m outside
(Refer to section panel
11.1.3.)
4) SSCNET III MR-J3BUS_M-B Connector: CF-2D103-S Connector: CF-2D103-S Long-
cable Cable length: (JAE) (JAE) distance
30 m to 50 m cable
(Refer to section
11.1.3.)
5) USB cable MR-J3USBCBL3M For CN5 connector For personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
6) Connector set MR-CCN1 Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
7) Junction terminal PS7DW-20V14B-F
block (Yoshida Electric Industry)
(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 11.6 for details.
11 - 3
No. Name Type Description Application

8) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
9) Short-circuit Supplied
connector with servo
amplifier
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 View seen from the connector
Gray (with red dots) connection paert
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 - 4
11.1.3 SSCNET III cable
POINT
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET III cable. The light can be a discomfort when it
enters the eye.
Refer to appendix.3 for long distance cable over 50 m and ultra-long bending life
cable.
(1) Model explanations

The numerals in the Cable length field of the table are the symbols entered in the _ part of the cable
model. Cables of which symbol exists are available.
Cable length
Bending
Cable model 0.15 0.3 0.5 Application/remark
1m 3m 5m 10 m 20 m 30 m 40 m 50 m life
m m m
Using inside panel
MR-J3BUS_M 015 03 05 1 3 Standard
standard cord
Using outside panel
MR-J3BUS_M-A 5 10 20 Standard
standard cable
Long
(Note) Using long distance
30 40 50 bending
MR-J3BUS_M-B cable
life
Note. For cable of 30 m or less, contact your local sales office.
(2) Specifications
Description
SSCNET III cable model MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B
SSCNET III cable length 0.15 m 0.3 m to 3 m 5 m to 20 m 30 m to 50 m
Optical Enforced covering cable: 50 Enforced covering cable: 50
Minimum bend
cable(cord) 25 mm mm mm
radius
Cord: 25 mm Cord: 30 mm
420 N 980 N
Tension strength 70 N 140 N
(Enforced covering cable) (Enforced covering cable)
Temperature
range for use -40 °C to 85 °C -20 °C to 65 °C
(Note)
Ambience Indoors (no direct sunlight)
2.2 ± 0.07
2.2 ± 0.2
4.4 ± 0.1 4.4 ± 0.4

2.2 ± 0.07
Appear
[mm]
ance
2.2 ± 0.07 4.4 ± 0.1 6.0 ± 0.2 7.6 ± 0.5
Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as
that for servo amplifier.
11 - 5
(3) Dimensions
(a) MR-J3BUS015M
[Unit: mm]
Protective tube (6.7) (15) (13.4) (37.65)
(20.9)
150 +50
- 0
8 +0
(2.3)
(1.7)
(b) MR-J3BUS03M to MR-J3BUS3M

Refer to the table shown in (1) of this section for cable length (L).
[Unit: mm]
Protective tube
(Note)
(100) (100)
L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
(c) MR-J3BUS5M-A to MR-J3BUS20M-A/MR-J3BUS30M-B to MR-J3BUS50M-B

Refer to the table shown in (1) of this section for cable length (L).
Variable dimensions
SSCNET III cable
A B
MR-J3BUS5M-A to MR-J3BUS20M-A 100 30
MR-J3BUS30M-B to MR-J3BUS50M-B 150 50
[Unit: mm]
Protective tube
(Note)
(A) (B) (B) (A)

L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
11 - 6
11.2 Regenerative options
Do not use servo amplifiers with regenerative options other than the combinatons
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.
Regenerative Power [W]
Servo Built-in (Note) (Note)
amplifier MR-RB032 MR-RB12 MR-RB30 MR-RB3N MR-RB31 MR-RB32 MR-RB5N
regenerative MR-RB50 MR-RB51
[40 ȍ] [40 ȍ] [13 ȍ] [9 ȍ] [6.7 ȍ] [40 ȍ] [9 ȍ]
resistor [13 ȍ] [6.7 ȍ]
MR-J4-10B 30
MR-J4-20B 10 30 100
MR-J4-40B 10 30 100
MR-J4-60B 10 30 100
MR-J4-70B 20 30 100 300
MR-J4-100B 20 30 100 300
MR-J4-200B 100 300 500
MR-J4-350B 100 300 500
MR-J4-500B 130 300 500
MR-J4-700B 170 300 500
Note. Always install a cooling fan.
11 - 7
11.2.2 Selection of the regenerative option
(1) For rotary servo motor and direct drive motor

Use the following method when regeneration occurs continuously in vertical motion applications or when
it is desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation

tf (1 cycle)
Servo motor speed

V
Up
Time
Down
Unbalance torque
M t1 t2 t3 t4
Tpsa1 Tpsd1 Tpsa2 Tpsd2
Friction
torque 1)
(+)
(Power running)
Generated torque
2) 4) 8)
TF 5)
TU 6)
3)
(Regenerative) 7)
(-)
Formulas for calculating torque and energy in operation

Regenerative
Torque applied to servo motor [N•m] Energy E [J]
power
(JL + JM) • V 1 0.1047
1) T1 = • + TU + TF E1 = • V • T1 • tpsa1
9.55 • 104 tpsa1 2
2) T2 = TU + TF E2 = 0.1047 • V • T2 • t1
-(JL + JM) • V 1 0.1047
3) T3 = • + TU + TF E3 = • V • T3 • tpsa2
9.55 • 104 tpsa2 2
4) T4 = TU E4 = 0(No regeneration)
(JL + JM) • V 1 0.1047
5) T5 = • - TU + TF E5 = • V • T5 • tpsd2
9.55 • 104 tpsd2 2
6) T6 = -TU + TF E6 = 0.1047 • V • T6 • t3
-(JL + JM) • V 1 0.1047
7) T7 = • - TU + TF E7 = • V • T7 • tpsd2
9.55 • 104 tpsd2 2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
11 - 8
(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-J4-10B 55 9 MR-J4-100B 85 18
MR-J4-20B 75 9 MR-J4-200B 85 36
MR-J4-40B 85 11 MR-J4-350B 85 40
MR-J4-60B 85 11 MR-J4-500B 90 45
MR-J4-70B 85 18 MR-J4-700B 90 70
Inverse efficiency (Ș): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the
efficiency varies with the speed and generated torque, allow for about 10%.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = Ș • 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 - 9
(2) For linear servo motor

(a) Calculation of thrust and energy
Liner servo motor Feed speed
secondary-side (magnet) 2)
V V
M1 Load 1) 3)
Ft Positive
M2 direction
4) 8)
Time
Liner servo motor Negative
primary-side (coil) direction
5) 7)
Liner 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 Travel direction of linear servo motor 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) of the sum total of negative
energies.
(b) Losses of servo motor and servo amplifier in regenerative mode

Refer to this section (1) (b) for inverse efficiency and Capacitor charging.
(c) generative 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] = Ș • Es - Ec
From the total of ER's whose subtraction results are positive and a 1-cycle period, the power
consumption of the regenerative option can be calculated with the following expression.
Power consumption PR [W] (total of positive ER's)/1-cycle operation period (tf)
Select the 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 - 10
11.2.3 parameter setting
Set [Pr. PA02] according to the option to be used.

[Pr. PA02]
0 0
Selection of regenerative option
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.
01: FR-BU2/FR-RC/FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is reuired)
08: MR-RB31
09: MR-RB51 (Cooling fan is reuired)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is reuired)
11.2.4 Connection of regenerative option
POINT
When the MR-RB50, MR-RB51, or MR-RB5N 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. Always use twisted cables
of max. 5 m length for connection with the servo amplifier.
11 - 11

Always remove the wiring from across P+ - D and fit the regenerative option across P+ - 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+ - 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 or MR-RB5N, forcibly cool it with a cooling fan (92 mm
3
× 92 mm, minimum air flow: 1.0 m /min).
2. When the ambient temperature is more than 55 °C and the regenerative load ratio
is more than 60% in MR-RB30, MR-RB31, MR-RB32, or MR-RB3N, forcefully
3
cool the air with a cooling fan (1.0 m /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 to cool it within the range shown in the slash in the following figure. )
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 - 12
(2) MR-J4-700B
Always remove the wiring (across P+ - C) of the servo amplifier built-in regenerative resistor and fit the
regenerative option across P+ - C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is
opened when the regenerative option overheats abnormally.
Always remove wiring (across P+ - C) of servo
amplifier built-in regenerative resistor.
Servo amplifier Regenerative option
P
P+
C
C
G3
(Note2) G4
5 m or less
(Note1)
Cooling fan
Note 1. When using the MR-RB51, forcibly cool it with a cooling fan (92 mm × 92 mm,
3
minimum air flow: 1.0 m /min).
2. 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
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires
(across P+ - C), fit them back to back, and secure them to the frame with the accessory screw as shown
below.
Accessory screw
Built-in regenerative resistor

lead terminal fixing screw
11 - 13
11.2.5 Dimensions
(1) MR-RB12
[Unit: mm]
TE1 Treminal block
G3
40 G4
Approx. 6
36 P
15 C
2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to
12)
Tigjtning torque: 0.5 to 0.6 [N•m]
5 Mounting screw
156
168
144
Screw size: M5
TE1 Tightening torque: 3.24 [N•m]
Mass: 1.1 [kg]

12
6
6 2
Approx. 20 149
169
(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M4 screw) P
8.5
C
G3
125
82.5
150
142
G4
Screw size: M4
30
Tightening torque: 1.2 [N•m]

7
8.5
101.5 82.5
10 90 17 318
100 Mounting screw
335
Screw size: M6
Approx. 30
Air intake Tightening torque: 5.4 [N•m]
Mass: 2.9 [kg]

79
11 - 14
(3) MR-RB50/MR-RB51/MR-RB5N
[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 Tightening torque: 1.2 [N•m]
Mounting screw
Air Screw size: M6
82.5
350
intake Tightening torque: 5.4 [N•m]
Mass: 5.6 [kg]

162.5
133
2.3 7
12.5
200 17 12 108 Approx. 30

217 120 8
(4) MR-RB032
[Unit: mm]
TE1 Treminal block
30 G3
Approx. 12
Approx. 6
15 G4
P
C
2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to
12)
Tightening torque: 0.5 to 0.6 [N•m]
5
156
168
144
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N•m]
TE1
Mass: 0.5 [kg]
12
6 1.6
6
Approx. 20 99
119
11 - 15
11.3 FR-BU2 Brake unit
POINT
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 power
regenerative converter or FR-CV power regenerative 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 Brake Unit Instruction Manual.
11.3.1 Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Permissible
Number of Resultant
continuous Applicable servo
Brake unit Resistor unit connected resistance
power [kW] amplifier
units [ȍ]
[kW]
200 V FR-BU2-15K FR-BR-15K 2(parallel) 1.98 4 MR-J4-500B
class MR-J4-700B
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500B
MR-J4-700B
11.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.

Parameter Change
possible/ Remarks
No. Name
impossible
0 Brake mode switchover Impossible Do not change the parameter
1 Monitor display data selection Possible Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter
3 Input terminal function selection 2
77 Parameter write selection
Cumulative energization time
78
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
11 - 16
11.3.3 Connection example
POINT
EM2 is the same signal as EM1 in the torque control mode.
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 resistor unit

(a) When connecting a brake unit to a servo amplifier
ALM
RA1 OFF ON
MC
MC
SK
Emergency stop switch
Servo amplifier (Note 10)

(Note 9) Main circuit
CN3 power supply
MCCB MC
(Note 1) L1 20 EM2
Power L2
supply 3 DOCOM
L3
24 V DC
L11 10 DICOM FR-BR
L21
15 ALM (Noe 5) TH1
(Note 11) RA1
P
TH2
PR
P3
(Note 3) FR-BU2
P4
PR MSG
P+ P/+ SD
(Note 4) A
(Note 7) N/-
B
N-
C
C BUE
(Note 8) (Note 6)
SD
(Note 2)
Note 1. For power supply specifications, refer to section 1.3.

2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P
and C terminals.
3. Always connect between P3 and P4 terminals. (factory-wired) Use either the power factor improving DC reactor or the power
factor improving AC reactor. When using the power factor improving DC reactor, refer to section 11.11.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection 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+ to N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
10. Turn off EM2 when the main power circuit power supply is off.
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 - 17
(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 - 18
ALM
RA1 OFF ON
MC
MC
SK
Emergency stop switch
Servo amplifier (Note 12)

(Note 11) Main circuit
CN3 power supply
MCCB MC
(Note 1) L1 20 EM2
Power L2
supply 3 DOCOM
L3
L11 24 V DC
10 DICOM FR-BR
L21
(Note 13) 15 ALM RA1 (Note 5) TH1
P
TH2
PR
P3
(Note 3) FR-BU2
P4
(Note 10) PR MSG
(Note 9)
P+ P/+ SD
(Note 4) A
(Note 7) N/-
B
C
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 6)
SD (Note 8)
Note 1. For power supply specifications, refer to section 1.3.

2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+
and C terminals.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection results in servo amplifier and
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+ to N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection results in servo amplifier and
10. For the cable to connect the terminal block and the P+ and N- terminals of the servo amplifier, use the cable indicated in (3)(b)
of this section.
12. Turn off EM2 when the main power circuit power supply is off.
11 - 19
(2) Connection instructions

The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake
unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per
one meter). Even when the cable is twisted, the cable should be less than 10 m. Using cables longer
than 5 m without twisting or twisted cables longer than 10 m, may result in the brake unit 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 less 5 m or less 10 m or less 10 m or less
(3) 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,
screw N/-. P/+,
[N•m] HIV wire
size PR, 2 AWG
N/- P/+ PR [mm ]
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
11 - 20
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 Sheath 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 to 0.6 [N•m]
Wire size: 0.3 mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(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 2
HIV wire [mm ] AWG
FR-BU2-15K 8 8
(4) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals
POINT
Make sure to use recommended crimp terminals or equivalent since some crimp
terminals cannot be installed depending on the size.
Number
(Note 1)
of
Servo amplifier Brake unit Crimp terminal (Manufacturer) Applicable
connected
tool
units
200 V
MR-J4-500B FR-BU2-15K 1 FVD5.5-S4(JST) a
class
2 8-4NS(JST)(Note2) b
FR-BU2-30K 1 FVD5.5-S4(JST) a
MR-J4-700B FR-BU2-15K 2 8-4NS(JST)(Note2) b
FR-BU2-30K 1 FVD5.5-S4(JST) a
Note 1. Symbols in the applicable tool field indicate applicable tools in (4)(b) of this section.
2. Coat the crimping part with an insulation tube.
11 - 21
(b) Applicable tool

Servo amplifier side crimp terminals
Symbol
Crimp terminal Applicable tool Manufacturer
FVD5.5-S4
a YNT-1210S
FVD5.5-6 JST
b 8-4NS YHT-8S
11.3.4 Dimensions
(1) FR-BU2 Brake unit
[Unit: mm]
FR-BU2-15K
(Screw size: M4)

5
118
128
Rating
plate
5 4
5
6 56 6 18.5 52 62
68 132.5
FR-BU2-30K
(Screw size: M4)

5
118
128
Rating
plate
5 5
5
6 96 6 18.5 52 59
108 129.5
11 - 22
(2) FR-BR Resistor unit
[Unit: mm]
Approx.
H2
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
D±5
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]
200 V FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15
class FR-BR-30K 340 270 600 560 20 582 220 4 10 30
11.4 FR-RC Power regenerative converter
POINT
When using FR-RC, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
When using the power regenerative converter, set "_ _ 0 1" in [Pr. PA02].
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to the
servo amplifiers of the 5 kW to 7 kW.
Nominal
Continuous energization time [s]
Power regenerative regenerative 500

Servo amplifier
converter power
[kW] 300
FR-RC-15K 15 MR-J4-500B 200
FR-RC-30K 30 MR-J4-700B
100
50
30
20
0 50 75 100 150
Nominal regenerative power [%]
11 - 23
(2) Connection example
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
Servo amplifier
(Note 7)
L11
L21
Power factor
improving reactor
MCCB MC FR-HAL
L1
(Note 5)
Power L2
supply
L3
CN3 CN3 24 V DC
Forced stop 1 EM1 DOCOM
(Note 6) DOCOM DICOM
ALM RA Malfunction
(Note 3)
(Note 2)
P3 P4 N- C P+
(Note 4) 5 m or less
RD N/- P/+
A
Ready 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 regenerative converter
FR-RC
FR-RC
Operation ready
B C ALM
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. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+
and C terminals.
3. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic
contactor after detection of alarm occurrence on the controller side.
5. For power supply specifications, refer to section 1.3.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuitpower with
external circuit at EM1 (Forced stop 1) off.
11 - 24
(3) Dimensions
Mounting foot (removable)
Mounting foot
E
movable
Rating plate
Display
Front cover panel
window
BA
B
Cooling fan
D F K
AA
EE
C
A
Heat generation area outside mounting dimension
[Unit: mm]
Approxim
Power regenerative
A AA B BA C D E EE K F ate mass
converter
[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
(4) Mounting hole machining dimensions

When the power regenerative converter is installed to an enclosed type cabinet, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
[Unit: mm]
Power regenerative
(AA) a b D AA BA
converter
FR-RC-15K 260 412 10 200 432
FR-RC-30K 330 562 10 270 582
(Mounting hole)
(BA)
11 - 25
11.5 Power regenerative common converter
POINT
For details of the power regenerative common converter FR-CV, refer to the FR-
CV-(H) Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2, and L3)
of the servo amplifier. Doing so will fail the servo amplifier and FR-CV.
Connect the DC power supply between the FR-CV and servo amplifier with
correct polarity. Connection with incorrect polarity will fail the FR-CV and servo
amplifier.
Two or more FR-CV's cannot be installed to improve regeneration capability.
Two or more FR-CV's cannot be connected to the same DC power supply line.
When using FR-CV, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
When using the power regenerative common converter, set [Pr. PA02] to "_ _ 0 1".
(1) Model
Capacity
Symbol Capacity [kW]
7.5K 7.5
11K 11
15K 15
22K 22
30K 30
37K 37
55K 55
(2) Selection
The power regenerative common converter FR-CV can be used for the servo amplifier of 200 V class
with 750 W to 7 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 servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
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
11 - 26
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regenerative 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
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
(Note 7) FR-CVL FR-CV Servo amplifier Servo motor

MCCB MC R/L11 R2/L12 L11 U U
R2/L1
3-phase L21 V V
S/L21 S2/L22
200 to S2/L2
230 V AC T/L31 T2/L32
W W
T2/L3
P/L+ P+
P4
(Note 5)
N/L- N- CN2
R/L11 (Note 6)
EM1
S/L21 (Note 1) (Note 4)
P24 EM1
T/MC1 DOCOM
RA1
SD
DICOM
RESET
RES
RDYB Servo system
SD (Note 2)
RDYA controller
(Note 3)
RSO
(Note 1)
SE
RA1 EM1 OFF ON
A (Note 1)
MC RA1
B
MC
C
SK
24 V DC
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. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input.
Configure a sequence that will make the servo inoperative when the RSO signal is on.
4. 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. When the servo system controller does not have an emergency stop input, use the forced stop
input of the servo amplifier to make a stop as shown in the diagram.
FR-CV,
5. When using the servo disconnect
amplifier of 7 between P3make
kW or less, and P4 terminals.
sure to disconnect the wiring of built-in regenerative resistor (5 kW
6. or
Setless:
[Pr. P+
PA04]
andtoD,"07 0kW:
_ _"
P+toand
enable
C). EM1 (Forced stop 1).
7. When
6. Set [Pr.wires
PA04]used for0L11
to "0 _ _"and L21 are
to enable thinner
EM1 thanstop
(Forced wires
1).used for L1, L2, and L3, use a molded case circuit breaker.
11 - 27
(4) Selection example of wires used for wiring
POINT
Selection condition of wire size is as follows.
Wire type: 600 V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air
(a) Wire sizes

1) Across P - P4, N - N-
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
between the FR-CV and servo amplifier.
2
Total of servo amplifier capacities [kW] Wires [mm ]
1 or less 2
2 3.5
5 5.5
7 8
11 14
15 22
22 50
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 regenerative common Grounding wire size
2
converter [mm ]
FR-CV-7.5K to FR-CV-15K 14
FR-CV-22K, FR-CV-30K 22
FR-CV-37K, FR-CV-55K 38
(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.
Wire as short as possible
FR-CV-30K 22 mm 2
8 mm2 Servo amplifier (7 kW)
R2/L1 P/L+ P4 First unit:
(Note) 22mm2 assuming that the total
S2/L2 N/L- N- of servo amplifier capacities is
15 kW since 7 kW + 3.5 kW +
T2/L3 8 m2 2.0 kW = 12.5 kW.
3.5 mm2 Servo amplifier (3.5 kW)
R/L11 P4 Second unit:
(Note) 8mm2 assuming that the total of
S/L21 N-
servo amplifier capacities is 7kW
T/MC1 since 3.5 kW + 2.0 kW = 5.5 kW.
2 mm2
2 mm2 Servo amplifier (2 kW)
P4 Third unit:
(Note) 2mm2 assuming that the total of
N-
servo amplifier capacities is 2kW
Junction terminal 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: P4 and D, 7 kW: P4 and C).
11 - 28
(5) Other precautions

(a) Always use the dedicated stand-alone reactor (FR-CVL) as the power factor improving reactor. Do
not use the power factor improving AC reactor (FR-HAL) or Power factor improving DC reactor (FR-
HEL).
(b) The inputs/outputs (main circuits) of the FR-CV 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) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV and servo
amplifiers should be 5 m or less, and the wiring must be twisted.
(6) Specifications
Power regenerative common
converter FR-CV-_ 7.5K 11K 15K 22K 30K 37K 55K
Item
Total of connectable servo amplifier
[kW] 3.75 5.5 7.5 11 15 18.5 27.5
capacities
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
Total of connectable servo
[A] 33 46 61 90 115 145 215
motor rated currents
Output
Total capacity of applicable servo motors, 300% torque, 60 s

Regenerative Short-time rating
(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
Power supply
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
[kVA] 17 20 28 41 52 66 100
(Note 2)
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient temperature -10 °C to 50 °C (non-freezing)
Environment
Ambient humidity 90% RH or less (non-condensing)

Indoors (no direct sunlight), free from corrosive gas, flammable gas,
Ambience
oil mist, dust, and dirt
2
Altitude, vibration 1000 m or less above sea level, 5.9 m/s or less
Molded case circuit breaker or leakage 30AF 50AF 100AF 100AF 225AF 225AF 225AF
current breaker 30A 50A 75A 100A 125A 125A 175A
Magnetic contactor S-N20 S-N35 S-N50 S-N65 S-N95 S-N95 S-N125
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is
activated in the time indicated in section 10.1.
2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
11 - 29
11.6 Junction terminal block PS7DW-20V14B-F (recommended)
(1) Usage
Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the
option cable (MR-J2HBUS_M) as a set. A connection example is shown below.
Servo amplifier
Junction terminal block
Cable clamp PS7DW-20V14B-F
(AERSBAN-ESET)
CN3
MR-J2HBUS_M
Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-
ESET). For the use of the cable clamp fitting, refer to section 11.14, (2)(c).
(2) Connection of MR-J2HBUS_M cable and junction terminal block

Junction terminal block
Servo amplifier PS7DW-20V14B-F
CN3 (Note)MR-J2HBUS_M CN Terminal block
LG 1 1 1 1 1 LG
DI1 2 2 2 2 2 DI1
DOCOM 3 3 3 3 3 DOCOM
MO1 4 4 4 4 4 MO1
DICOM 5 5 5 5 5 DICOM
LA 6 6 6 6 6 LA
LB 7 7 7 7 7 LB
LZ 8 8 8 8 8 LZ
INP 9 9 9 9 9 INP
DICOM 10 10 10 10 10 DICOM
LG 11 11 11 11 11 LG
DI2 12 12 12 12 12 DI2
MBR 13 13 13 13 13 MBR
MO2 14 14 14 14 14 MO2
ALM 15 15 15 15 15 ALM
LAR 16 16 16 16 16 LAR
LBR 17 17 17 17 17 LBR
LZR 18 18 18 18 18 LZR
DI3 19 19 19 19 19 DI3
EM2 20 20 20 20 20 EM2
SD Shell Shell Shell Shell
E SD
Connector: 52316-2019 (Molex)

Shell kit: 52370-2070 (Molex)
Note. Symbol indicating cable length is put in _.

05: 0.5 m
1: 1 m
5: 5 m
11 - 30
(3) Dimensions of junction terminal block
[Unit: mm]
63
54
44.11
7.62
27
50
60
9.3
M3 × 5L
4.5
5
4
6.2 1.42 M3 × 6L
36.5
27.8
18.8
11.7 MR Configurator2
MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.
(1) Specifications
Item Description
Project Project creation, reading, saving, or deleting, System setting, Print
Parameter Parameter setting
Monitor Batch display, Input/output monitor display, Graph, ABS data display
Alarm display, Display of data that generated alarm, Drive recorder, Reason for rotation failure
Diagnostic display, System structure display, Life assessment, Machine assessment, Fully closed loop
diagnostics, Liner diagnostics
Jog operation, Positioning operation, Motor-less operation (Note), DO forced output, Program
Test operation
operation, Test mode information
Adjustment One-touch adjustment, Tuning, Machine analyzer
Servo assistant, Update parameter setting range, Machine unit conversion display setting, Help
Others
display, Connection to MELFANSweb
Note. This function is available only with rotary servo motors and will be available with linear servo motors and direct drive
motors in the future.
11 - 31
(2) System configuration

(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor.
Equipment (Note 1) Description
® ®
Microsoft Windows 7 Ultimate [Service Pack none/1]
® ®
Microsoft Windows 7 Enterprise [Service Pack none/1]
® ®
Microsoft Windows 7 Professional [Service Pack none/1]
® ®
Microsoft Windows 7 Home Premium [Service Pack none/1]
® ®
Microsoft Windows 7 Starter [Service Pack none/1]
® ®
Microsoft Windows Vista Home Basic [Service Pack none/1/2]
® ®
OS Microsoft Windows Vista Home Premium [Service Pack none/1/2]
® ®
Microsoft Windows Vista Business [Service Pack none/1/2]
® ®
Microsoft Windows Vista Ultimate [Service Pack none/1/2]
(Note 2, 3, 4, 5) ® ®
Microsoft Windows Vista Enterprise [Service Pack none/1/2]
Personal computer ® ®
Microsoft Windows XP Professional [Service Pack 2/3]
® ®
Microsoft Windows XP Home Edition [Service Pack 2/3]
® ®
Microsoft Windows 2000 Professional [Service Pack 4]
®
Desktop PC: Celeron processor 2.8 GHz or more
CPU ®
Laptop PC: Pentium M processor 1.7 GHz or more
Memory 512 MB or more (32 bit OS), 1 GB or more (64 bit OS)
Hard Disk 1 GB or more of free space
Communication
USB port
interface
Browser 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. Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and/or other countries.
Celeron and Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, MR Configurator2 may not run properly.
® ® ® ® ® ®
3. When Microsoft Windows 7, Microsoft Windows Vista , or Microsoft Windows XP is used,the follow functions cannot be
used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96 DPI (Display property)
®
Moreover, only Windows 7 corresponds to OS in 64 bits.
® ®
4. When Microsoft Windows 7 is used, the follow functions cannot be used.
Windows XP Mode
Windows touch
® ®
5. In Windows Vista and Windows 7, please use this sowtware by the user more than the USER authority.
11 - 32
(b) Connection with servo amplifier

Personal computer
Servo amplifier
USB cable
MR-J3USBCBL3M To USB
(Option) connector
CN5
11.8 Battery
POINT
Refer to appendix 7 and 8 for battery transportation and the new EU Battery
Directive.
(1) Purpose of use for MR-BAT6V1SET

This battery is used to construct an absolute position detection system. Refer to section 12.3 for the
fitting method, etc.
(2) Year and month when MR-BAT6V1SET is manufactured

The manufacturing years of MR-BAT6V1SET have been described to the rating plate put on a built-in
MR-BAT6V1 battery.
2CR17335A WK17
11-04
6V 1650mAh
The year and month of manufacture
11 - 33
11.9 Selection example of wires
POINT
Refer to section 11.1.3 for SSCNET III cable.
To comply with the UL/CSA standard, use the wires shown in appendix 9 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection condition of wire size is as follows.
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 regenerative converter lead
Power regenerative N-
converter
Regenerative option
C
P+
5 m or less
3) Regenerative option lead
11 - 34
(1) When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below.
Table 11.1 Wire size selection example 1 (HIV wire)

2
Wires [mm ]
Servo amplifier 4) U/V/W/
1) L1/L2/L3 2) L11/L21 3) P+/C
(Note 3)
MR-J4-10B
MR-J4-20B
MR-J4-40B AWG 18 to 14
MR-J4-60B 2 (AWG 14) AWG 16 to 14 (Note 4)
2 (AWG 14)
MR-J4-70B (Note 4)
MR-J4-100B
MR-J4-200B 1.3 to 5.3
MR-J4-350B 3.5 (AWG 12) (AWG 16 to 10)
2 (AWG 14): c
MR-J4-500B (Note 2) 5.5 (AWG 10): a 3.5 (AWG 12): a
1.25 (AWG 16): a 5.5 (AWG 10): a
2 (AWG 14): d 2 (AWG 14): c 2 (AWG 14): c
(Note 4) 3.5 (AWG 12): a
MR-J4-700B (Note 2) 8 (AWG 8): b
5.5 (AWG 10): a
8 (AWG 8): b
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. This wire size is applicable wire size of servo amplifier connectors or terminals. For selecting
cables, refer to each servo amplifier instruction manual.
2
4. Be sure to use 2 mm wire when corresponding to EN standard.
Use wires 5) of the following sizes with the power regenerative converter (FR-RC).
2
Model Wires [mm ]
FR-RC-15K 14 (AWG 16)
FR-RC-30K 14 (AWG 16)
FR-RC-55K 22 (AWG 14)
(2) Selection example of crimp terminals

The table below shows a selection example of crimp terminals for the servo amplifier terminal block.
Symbol (Note 2) Crimp
Applicable tool Manufacturer
terminals
a FVD5.5-4 YNT-1210S
(Note 1)
8-4NS YHT-8S
b
c FVD2-4 JST
YNT-1614
d FVD2-M3
e FVD1.25-M3 YNT-2216
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.
11 - 35
11.10 Molded case circuit breakers, fuses, magnetic contactors
(1) For main circuit power supply

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 Magnetic
Servo amplifier Voltage Current Voltage contactor
Frame, rated current Class (Note 2)
AC [V] [A] AC [V]
MR-J4-10B
30 A frame 5 A 10
MR-J4-20B
MR-J4-40B 30 A frame 10 A 15
S-N10
MR-J4-60B
MR-J4-70B 30 A frame 15 A 20
240 T 300
MR-J4-100B
MR-J4-200B 30 A frame 20 A 40 S-N18
MR-J4-350B 30 A frame 30 A 70 S-N20
MR-J4-500B 50 A frame 50 A 125 S-N35
MR-J4-700B 100 A frame 75 A 150 S-N50
Note 1. To comply with the UL/CSA standard, use the wires shown in appendix 8 for wiring.
2. 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.
(2) For control circuit power supply

If wires for L11 and L21 are slimmer than wires for L1, L2, and L3, use a 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-J4-10B
MR-J4-20B
MR-J4-40B
MR-J4-60B
MR-J4-70B
30 A frame 5 A 240 1 300 1 250
MR-J4-100B
MR-J4-200B
MR-J4-350B
MR-J4-500B
MR-J4-700B
Note. To comply with the UL/CSA standard, use the wires shown in appendix 8 for wiring.
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), 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.
11 - 36
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
Max. D
Max. D
P P1
D3
P P1
H
H
W1 W1 D2
W±2 W±2 D1
Fig. 11.1 Fig. 11.2

Servo amplifier
FR-HEL
P3
(Note 2)
P4
5 m or less
Note 1. Use this hole for grounding.

2. When using the Power factor improving DC reactor, remove the short bar across P3-P4.
Power factor Dimensions [mm] Terminal 2

Mass Wire [mm ]
Servo amplifier improving DC Reference D screw
W W1 H D1 D2 D3 d [kg] (Note 2)
reactor (Note 1) size
MR-J4-10B/MR-
FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4
J4-20B
MR-J4-40B FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5
Fig. 11.1
MR-J4-60B/MR- 2 (AWG 14)
FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
J4-70B
MR-J4-100B FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200B FR-HEL-3.7K 77 55 92 82 66 57 37 M4 M4 1.5
MR-J4-350B FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12)
Fig. 11.2
MR-J4-500B FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10)
MR-J4-700B FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
Note 1. Maximum dimensions (The dimension varies depending on the bending degree of the input/output line.)
2. Selection condition of wire size is as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
11 - 37
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.
Terminal layout
R X S Y T Z
4-d mounting hole
Servo amplifier
Max. D 3-phase 200 V class
FR-HAL
MCCB MC R X
L1
3-phase S Y
L2
200 to 240 V AC
T Z
L3
H
Servo amplifier
1-phase 200 V class
FR-HAL
MCCB MC R X
L1
W1 D2 (Note)
1-phase S Y
L2
Max. W (Note 2) D1 200 to 240 V AC
T Z
L3
Fig. 11.3
Note 1. Use this hole for grounding. Note. For 1-phase 200 V AC to 240 V AC, connect the power
2. W ± 2 for HR-HAL-0.4K to 1.5K. supply to L1 and L3. Leave L2 open.
Terminal layout
R X S Y T Z
4-d mounting hole
hole (face and back side).) (Note )
Max. D
H
W1 D2
W±2 D1
Fig. 11.4
Note. Use this hole for grounding.
11 - 38
Power factor Dimensions [mm] Terminal

Mass
Servo amplifier improving DC Reference D screw
W W1 H D1 D2 d [kg]
reactor (Note) size
MR-J4-10B/MR-
FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
J4-20B
MR-J4-40B FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-60B/ Fig. 11.3
FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-70B
MR-J4-100B FR-HAL-2.2K 115 (Note) 40 115 77 71 57 M6 M4 1.5
MR-J4-200B FR-HAL-3.7K 115 (Note) 40 115 83 81 67 M6 M4 2.2
MR-J4-350B FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
MR-J4-500B FR-HAL-11K Fig. 11.4 160 75 164 111 109 92 M6 M6 5.2
MR-J4-700B FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Note. Maximum dimensions (The dimension varies depending on the bending degree of the input/output line.)
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
11.14 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 malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques

(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together.Separate power lines from signal cables.
Use 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 3.12.)
11 - 39
(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 Noises transmitted Noise radiated directly Route 1)

by servo amplifier in the air from servo amplifier
Noise radiated from the

Route 2)
power supply cable
Noise radiated from

Route 3)
servo motor cable
Magnetic induction
noise Routes 4) and 5)
Static induction
Route 6)
noise
Noises transmitted Noise transmitted through

through electric Route 7)
power supply cable
channels
Noise sneaking from

grounding cable due to Route 8)
leakage current
11 - 40
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 laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur.The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
4)5)6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of the servo amplifier
system, noises produced by the servo amplifier may be transmitted back through the power supply
7) cable and the devices may malfunction.The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the servo amplifier.
2. Insert the line noise filter (FR-BSF01/FR-BLF) on the power cables of the servo amplifier.
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
8) circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
11 - 41
(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, the ZCAT3035-1330 by TDK, the ESD-SR-250 by NEC TOKIN, and GRFC-13 by
Kitagawa Industries are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. This impedances are reference values and not guaranteed values.
Impedance [ȍ] [Unit: mm]
100 MHz to 500
10 MHz to 100 MHz 39 ± 1
MHz Loop for fixing the
80 150 34 ± 1 cable band
TDK
Product name Lot number

Outline drawing (ZCAT3035-1330)
(b) Surge killer (recommended)

The recommended surge killer for installation to an AC relay, AC valve or the like near the servo
amplifier is shown below. Use this product 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 Co., Ltd.)

Rated
C R
voltage
[ȝF ± [ȍ ± Test voltage Dimensions
Voltage
20%] 30%]
AC [V]
Between terminals: 625 V AC
50/60 Hz 60 s Band (clear) AWG18 Twisted wire
50 (1/2 15 ± 1
250 0.5 Between terminal and case: Soldered
W)
2,000 V AC 50/60 Hz 60 s
CR-10201
6±1 6±1
300 mim 48 ± 1.5 300 mim 16 ± 1
(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 - 42
(c) Cable clamp fitting AERSBAN-_SET

Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an 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]
Strip the cable sheath of Cable

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
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 - 43
(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]
2
Use the line noise filters for wires of the main power supply (L1, FR-BSF01 (for wire size 3.5 mm (AWG 12) or less)
L2, and L3) and of the servo motor power (U, V, and W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For the main power supply, the effect 95 ± 0.5
Approx. 22.5
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
grounding wire through the filter, or the effect of the filter will drop. Approx. 65
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
of passes as shown in Example 2.
Approx. 65
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
L2 2
FR-BLF (for wire size 5.5 mm (AWG 10) or more)
Line noise L3
filter 31.5
(Number of turns: 4)
130
7
Example 2 85
MCCB MC
Power Servo amplifier
80
35
supply
L1
Line noise L2 160
2.3
filter L3 180
Two filters are used

(Total number of turns: 4)
11 - 44
(e) Radio noise filter (FR-BIF)

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: FR-BIF
Connection diagram Dimensions
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 wires that are not used for wiring.
MR-J4-350B or less
Terminal
block Servo amplifier
MCCB MC 29
L1
Power
42
L2 hole
supply
L3
4
58 29 7
44
Radio noise
filter
Mr-J4B-500B or more
Servo amplifier
MCCB MC
L1
Power L2
supply
L3
Radio noise
filter
11 - 45
(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 and TND20V-471K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Maximum
Maximum rating 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]
10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
200 V time
1.0 100
class 7000/2
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
time
[Unit: mm]
D H T E (Note) L ĳd W
D T Model
Max. Max. Max. ± 1.0 min. ± 0.05 ± 1.0
TND20V-431K 6.4 3.3
21.5 24.5 20 0.8 10.0
TND20V-471K 6.6 3.5
H
Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L
11 - 46
11.15 Leakage current breaker
(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
To minimize leakage currents, make the input and output cables as short as possible, and make the
grounding cable longer than 30 cm.
Rated sensitivity current 10 • {Ig1 + Ign + Iga + K • (Ig2 Igm) } [mA] ······································ (11.1)
Leakage current breaker

Cable K
Mitsubishi
NV Noise filter Type
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 leakage current breaker to the input terminals of
Ig2 the servo amplifier (Found from Fig. 11.5.)
Ign Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
Iga motor (Found from Fig. 11.5.)
Igm Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)
Leakage current of the servo amplifier (Found from table 11.4.)
Leakage current of the servo motor (Found from table 11.3.)
120
Leakage current [mA]
100
80
60
40
20
0
2 5.5 14 38100
3.5 8 22 60 150
30 80
Cable size [mm2]
Fig.11.5 Leakage current example (lg1, lg2) for CV cable run in metal conduit
11 - 47
Table 11.3 Servo motor’s leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]
0.05 to 1 0.1
2 0.2
3.5 0.3
5 0.5
7 0.7
Table 11.4 Servo amplifier's 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
Table 11.5 Leakage circuit breaker selection example

Rated sensitivity current of
Servo amplifier capacity [kW]
leakage circuit breaker [mA]
MR-J4-10B to MR-J4-350B 15
MR-J4-500B 30
MR-J4-700B 50
11 - 48
(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions.
2 mm2 × 5 m 2 mm2 × 5 m
NV
MR-J4-40B M HG-KR43
Ig1 Iga Ig2 Igm
Use a 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 a leakage current breaker having the rated sensitivity current
(Ig) of 4.0 [mA] or more.
A leakage current breaker having Ig of 15 [mA] is used with the NV-SP/SW/CP/CW/HW series.
11 - 49
11.16 EMC filter (recommended)
It is recommended that one of the following filters be used to comply with EN standard's EMC directive.
Some EMC filters have large in leakage current.
(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)
Mass
Servo amplifier Rated current Rated voltage Leakage current
Model [kg]
[A] [V AC] [mA]
MR-J4-10B to MR-
(Note) HF3010A-UN 10 3.5
J4-100B
5
MR-J4-200B/MR-
(Note) HF3030A-UN 30 Max. 250 5.5
J4-350B
MR-J4-500B/MR-
(Note) HF3040A-UN 40 6.5 6
J4-700B
Note. A surge protector is separately required to use any of these EMC filters.

EMC filter Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E L11
L21
(Note 2)
1 2 3 Surge protector
(RSPD-250-U4)
(OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Leave L2 open.
2. The example is when a surge protector is connected.
11 - 50
(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
(41)
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5
HF3030A-UN/HF-3040A-UN
[Unit: mm]
6-K
3-L 3-L
G±1
D±2
E±1
F±2
J±2
C±1 C±1
B±2 H±2
A±5
Dimensions [mm]
Model
A B C D E F G H J K L M
HF3030A-UN
260 210 85 155 140 125 44 140 70 R3.25 Length 8 M5 M4
HF3040A-UN
11 - 51
(b) Surge protector

RSPD-250-U4
[Unit: mm]
1 2 3
5.5 ± 1
11 ± 1
28.5 ± 1
Resin
Lead
200 +30
0
1 2 3
4.5 ± 0.5
28 ± 1
Case
41 ± 1
11 - 52
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14. USING A LINEAR SERVO MOTOR
When using the linear servo motor, read the Linear Servo Motor Instruction
WARNING Manual (SH(NA)030110) and the Linear Encoder Instruction Manual
(SH(NA)030111).
14.1 Functions and configuration
14.1.1 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 Remarks
Linear servo motor Rotary servo motor
External I/O signal FLS (Upper stroke limit), Required (for Not required Automatically turns on in the
RLS (Lower stroke limit) magnetic pole parameter setting.
detection)
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 14.3.3.)
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.
(Refer to section 14.3.3)
Absolute position Absolute position encoder Not required Required The following alarms and warnings
detection system battery (MR-BAT6V1SET) 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-J) (Data display and setting)
(Software version Test Positioning Supported Supported
1.09K or later) operation operation
function Motor-less Supported Supported
operation
JOG operation None Supported
Program Supported Supported
operation
14 - 1
14.1.2 Servo system with auxiliary equipment
Connecting an inappropriate linear servo motor to the CNP3 and CN2 will cause
CAUTION an unexpected operation or an alarm.
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 _".
RS T
(Note 2)
(ᵈ2)
Power
㔚Ḯsupply
Molded
ࡁ࡯ࡅࡘ࡯࠭ case Personal
ࡄ࡯࠰࠽࡞
ㆤᢿེ(MCCB)
circuit breaker computer
ࠦࡦࡇࡘ࡯࠲
(MCCB) or fuse MR Configurator2
CN5
(Note 3)
(ᵈ3)
Magnetic
㔚⏛ធ⸅ེ
contactor
(MC)
(MC)
(ᵈ1) CN3 Junction terminal
ਛ⛮┵ሶบ
block
(Note 1)
Line noise
࡜ࠗࡦࡁࠗ࠭ Safety relay or
࠮࡯ࡈ࠹ࠖ࡝࡟࡯߹ߚߪ
CN8
filter
ࡈࠖ࡞࠲ MR-J3-D05࠮࡯ࡈ࠹ࠖ
MR-J3-D05 safety logic unit
(FR-BSF01) ࡠࠫ࠶࡙ࠢ࠾࠶࠻߳
DD(ᵈ5)
(Note) Servo system
ࠨ࡯ࡏࠪࠬ࠹ࡓ
CN1A
ࠦࡦ࠻ࡠ࡯࡜߹ߚߪ
controller or Front axis
೨ゲࠨ࡯ࡏࠕࡦࡊCN1B
servo amplifier CN1B
U
L1
V CN1B Rear servo amplifier
ᓟゲࠨ࡯ࡏࠕࡦࡊCN1A
L2
CN1A or Cap
߹ߚߪࠠࡖ࠶ࡊ
L3 W
Power factor
improving
ജ₸ᡷༀ P3 CN2 SCALE
DC࡝ࠕࠢ࠻࡞
DC reactor THM
(FR-HEL) (ᵈ4)
(Note 2)
(FR-HEL) P4
P+
Regenerative
࿁↢ Linear
࡝࠾ࠕ servo motor
option
ࠝࡊ࡚ࠪࡦ ࠨ࡯ࡏࡕ࡯࠲
C
L11
L21
Encoder
ࠛࡦࠦ࡯࠳
ࠤ࡯ࡉ࡞
cable
Linear
࡝࠾ࠕࠛࡦࠦ࡯࠳
encoder
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B or less. For 1-phase 200 V
AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to section 1.3.
4. For the branch cable, use the MR-J4THCBL03M (optional).
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
14 - 2
14.2 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.
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
DC24V DC24V
DOCOM DOCOM
Control Control
೙ᓮ಴ജାภ
output signal RA ೙ᓮ಴ജାภ
output signal RA
DICOM DICOM
ࠪࡦࠢ಴ജ
For sink output interface ࠰࡯ࠬ಴ജ
For source output interface
ࠗࡦ࠲ࡈࠚ࡯ࠬߩ႐ว ࠗࡦ࠲ࡈࠚ࡯ࠬߩ႐ว
CAUTION
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option)
with the power wire of the linear servo motor.
causing a fire.
Connect the servo amplifier power output (U, V, and W) to the linear servo motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction. Linear
࡝࠾ࠕ ࡝࠾ࠕ
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Linear servo
ࠨ࡯ࡏࡕ࡯࠲ motor Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ servo motor
ࠨ࡯ࡏࡕ࡯࠲
U U
U U
V V
V M V M
W W
W W
14 - 3

The cables such as power wires deriving from the primary side cannot stand the
CAUTION long-term flexing action. Avoid the flexing action by fixing the cables to the moving
part, etc. Also, use the cable that stands the long-term flexing action for the wiring
to the servo amplifier.
This section does not describe the following items. For the items, refer to the corresponding sections below.
Item Reference
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 3.7
Interfaces Section 3.8
SSCNET III cable connection Section 3.9
Grounding Section 3.11
Switch setting and display of the servo
Section 4.3
amplifier
14 - 4
14.3 Operation and functions
14.3.1 Startup
POINT
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
(1) Startup procedure

Start up the linear servo in the following procedure.
Installation and wiring

ขઃߌ࡮㈩✢ߩታᣉ
(ᵈ)
(Note) Settings of the linear encoder direction and the linear servo
࡝࠾ࠕࠛࡦࠦ࡯࠳ᣇะߣ࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ᣇะߩ⸳ቯ(ᧄ㗄(2)ෳᾖ)
motor direction (Refer to (2) of this section.)
࡝࠾ࠕࠛࡦࠦ࡯࠳ߩ
What is the type of
the linear
⒳㘃ߪ?encoder?
Incremental linear encoder Absolute position linear
ࠗࡦࠢ࡝ࡔࡦ࠲࡞࡝࠾ࠕࠛࡦࠦ࡯࠳ ⛘ኻ૏⟎࡝࠾ࠕࠛࡦࠦ࡯࠳
encoder
Settings of (ᵈ)
the linear encoder resolution (Refer to (3) of this section.)
࡝࠾ࠕࠛࡦࠦ࡯࠳ಽ⸃⢻ߩ⸳ቯ(ᧄ㗄(3)ෳᾖ)
(ᵈ)
(Note) Perform the magnetic pole detection. (Refer to (3) of 14.3.2.)
⏛ᭂᬌ಴ߩታᣉ(14.3.2㗄(3)ෳᾖ)
⏛ᭂᬌ಴ਇⷐߩ⸳ቯߦᄌᦝ
Change the setting to disable the magnetic
pole detection. (Refer to (3) of 14.3.2.)
(14.3.2㗄(3)ෳᾖ)
(ᵈ)
(Note)Positioning operation check using the test operation mode
࠹ࠬ࠻ㆇォࡕ࡯࠼ߦࠃࠆ૏⟎᳿߼ㆇォߩ⏕⹺(14.3.4㗄ෳᾖ)
Positioning operation check using the controller (Refer to section 14.3.5)

ࠦࡦ࠻ࡠ࡯࡜ߦࠃࠆ૏⟎᳿߼ㆇォߩ⏕⹺(14.3.5㗄ෳᾖ)
Home position return operation (Refer to section 14.3.3)

ේὐᓳᏫㆇォ(14.3.3㗄ෳᾖ)
Positioning operation
૏⟎᳿߼ㆇォ
Note. Use MR Configurator2.
14 - 5
(2) Settings of the linear encoder direction and the linear servo motor direction
Set the first digit of [Pr. PC27] (6HOHFWLRQRIHQFRGHUSXOVHFRXQWSRODULW\) so that the positive direction of
the linear servo motor matches with the increasing direction of the linear encoder feedback.
[Pr.PC27]
Selection of encoder pulse count polarity
Selection of encoder pulse count polarity

ࠛࡦࠦ࡯࠳ࡄ࡞ࠬࠞ࠙ࡦ࠻ᭂᕈㆬᛯ
Linear servo motor positive direction and linear encoder increasing direction
0: ࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ᱜᣇะߢ࡝࠾ࠕࠛࡦࠦ࡯࠳Ⴧടᣇะ
Linear servo motor positive direction and linear encoder decreasing direction
1: ࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ᱜᣇะߢ࡝࠾ࠕࠛࡦࠦ࡯࠳ᷫዋᣇะ
(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
Secondary direction
Negative ⽶ᣇะ
side
ੑᰴ஥ Positive
direction
⽶ᣇะ
Secondary direction
ᱜᣇะ
Positive ੑᰴ஥
side Primary ࠹࡯ࡉ࡞
Table
direction
ᱜᣇะ ৻ᰴ஥
side
ᱜᣇะ Secondary
Positive ੑᰴ஥
side
৻ᰴ஥
Primary direction ৻ᰴ஥
Primary
side Negative
⽶ᣇะ side
direction
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. PC27] to "_ _ _ 0". If the positive direction of the linear servo motor does
not match with the increasing direction of the linear encoder, set [Pr. PC27] to "_ _ _ 1".
(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. PC27] 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. PC27] is set to "_ _ _ 1" and the positive direction of the linear
14 - 6
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.
14 - 7
(3) Linear encoder resolution setting

Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder
resolution numerator setting] and [Pr. PL03 Linear encoder resolution denominator setting].
POINT
To enable the parameter value, cycle the power after setting.
(a) Parameter setting

Set the values that apply to the following equation.
[Pr. PL02 Linear

[Pr.PL02 encoder resolution numerator setting]
࡝࠾ࠕࠛࡦࠦ࡯࠳ಽ⸃⢻⸳ቯ ಽሶ]
= Linear encoder resolution [μm]
[Pr.PL03
[Pr. ࡝࠾ࠕࠛࡦࠦ࡯࠳ಽ⸃⢻⸳ቯ
PL03 Linear ಽᲣ]
encoder resolution denominator setting]
(b) Parameter setting example

When the linear encoder resolution is 0.5 μm
[Pr. PL02]
[Pr.PL02] 1
= Linear encoder resolution = 0.5 μm =
[Pr.PL03]
[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
POINT
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.
14.3.2 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 in the initial setting.
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 large.
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 small. 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.
14 - 8
(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
Magnetic
⏛ᭂᬌ಴pole detection
Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2)
1) FLS(਄㒢ࠬ࠻ࡠ࡯ࠢ࡝ࡒ࠶࠻)㧘RLS(ਅ㒢ࠬ࠻ࡠ࡯ࠢ࡝ࡒ࠶࠻)߅ࠃ߮EM2(ᒝ೙஗ᱛ2)߇ࠝࡦߦߥߞ
ߡ޿ࠆߎߣࠍ⏕⹺ߒ㧘ࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
are on, and turn the servo amplifier power off and on again.
Set the test operation select switch (SW2-1) of the servo amplifier to "Up", and turn the
2) ࠨ࡯ࡏࠕࡦࡊߩ࠹ࠬ࠻ㆇォಾ឵߃ࠬࠗ࠶࠴(SW2-1)ࠍ"ࠝࡦ(਄)"ߦ⸳ቯߒࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ
޿ߞߚࠎࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
servo amplifier power off and on again.
Set [Pr. ࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲/DDࡕ࡯࠲ᯏ⢻ㆬᛯ3]ࠍ"_

3) [Pr.PL08 PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the
_ _ 0"ߦ⸳ቯߒߡ⏛ᭂᬌ಴ᣇᴺࠍ"૏⟎ᬌ಴
ᣇᑼ"ߦߒ߹ߔ‫ޕ‬
magnetic pole detection method to "Position detection method"

4) [Pr.PL01 PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable
_ _ 1"ߦ⸳ቯߒߡ"ೋ࿁ࠨ࡯ࡏࠝࡦᤨ ⏛ᭂᬌ
಴"ߦߒ߹ߔ‫(ޕ‬ᵈ)
"Magnetic pole detection at first servo-on".
Turn the servo amplifier power off and on again.

5) ࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
6) [Pr.PL09
Set [Pr. ⏛ᭂᬌ಴㔚࿶࡟ࡌ࡞]ࠍ⋡቟ߣߒߡ"10"(⋡቟୯)ߦ⸳ቯߒ߹ߔ‫ޕ‬
PL09 Magnetic pole detection voltage level] to "10" (guide value).
Execute
7) MR "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
Configurator2ߩ࠹ࠬ࠻ㆇォࡕ࡯࠼ߩ"૏⟎᳿߼ㆇォ"ߢ"ᱜᣇะ⒖േ"߹ߚߪ"ㅒᣇะ⒖േ"ࠍታⴕ
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
ߒ߹ߔ‫߈ߣߩߎޕ‬㧘⒖േ㊂ࠍ"0"ߦߒߡߊߛߐ޿‫ޕ‬
The magnetic pole detection is carried out.

⏛ᭂᬌ಴߇ታᣉߐࠇ߹ߔ‫ޕ‬
YES Is [Pr. PL09] the

[Pr.PL09]
final value?
ߪᦨ⚳୯߆?
NO
Has
[AL.27[AL.ೋᦼ⏛ᭂᬌ಴⇣Ᏹ]
27 Initial magnetic YES ࠕ࡜࡯ࡓ࡝࠮࠶࠻߹ߚߪࠨ࡯ࡏ
Reset the alarm or turn off the
ࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎࠝࡈߦ
servo amplifier power, and then [Pr.PL09]ߩ୯ࠍ5਄ߍ߹ߔ‫ޕ‬
Increase the value of [Pr. PL09] by five.
pole detection
߇⊒↢ߒߚ߆? error] occurred?
ߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
turn on the power again.
NO
[AL.32 ㆊ㔚ᵹ]㧘 Turn the servo amplifier

Have [AL. 32 Overcurrent], [AL. 50
[AL.50 ㆊ⽶⩄1]㧘[AL.51 ㆊ⽶⩄2] NO ࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎ [Pr.PL09]ߩ⚂70%ࠍᦨ⚳⸳ቯ୯
Set an approximately 70% of the value set
Overload 1], [AL. 51 Overload 2], and ࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹
power off and on again. for [Pr. PL09] as the final setting value.
ߦߒ߹ߔ‫ޕ‬
߅ࠃ߮[AL.E1 ㆊ⽶⩄⼊๔]
[AL. E1 Overload warning 1] occurred? ߔ‫ޕ‬ If [AL. 27 Initial magnetic pole detection
߇⊒↢ߒߚ߆? ߎߩ୯ߢ㧘[AL.27
error] occurs with this ೋᦼ⏛ᭂᬌ಴
value, specify a
⇣Ᏹ]߇಴ࠆ႐ว㧘[AL.E1
value intermediate between the value ㆊ⽶⩄ set
at [AL. E1 Overload warning 1] andೋᦼ
⼊๔]߇⊒↢ߒߚ୯ߣ[AL.27 the
YES Reset the alarm or turn off the
ࠕ࡜࡯ࡓ࡝࠮࠶࠻߹ߚߪࠨ࡯ࡏ value set at [AL. 27 Initial magnetic pole
⏛ᭂᬌ಴⇣Ᏹ]߇⊒↢ߒߚ୯ߩਛ
servo amplifier power, and
ࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎࠝࡈߦ detection error] as the final setting value.
㑆ߩ୯ࠍᦨ⚳⸳ቯ୯ߦߒ߹ߔ‫ޕ‬
then turn on the power again.
ߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
Set [Pr. PL01]_to_"_

8) [Pr.PL01]ࠍ"_ _ _ 0" to set "Magnetic pole detection disabled".(Note)
0"ߦ⸳ቯߒߡ"⏛ᭂᬌ಴ήല"ߦߒ߹ߔ‫(ޕ‬ᵈ) invalid". (Note)
End
⚳ੌ
Note. When the linear encoder is an incremental type, the [Pr. PL01] setting is not required.
14 - 9
(b) Magnetic pole detection by the minute position detection method
Magnetic pole detection

⏛ᭂᬌ಴
Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2)
1) FLS(਄㒢ࠬ࠻ࡠ࡯ࠢ࡝ࡒ࠶࠻)㧘RLS(ਅ㒢ࠬ࠻ࡠ࡯ࠢ࡝ࡒ࠶࠻)߅ࠃ߮EM2(ᒝ೙஗ᱛ2)߇ࠝࡦߦߥߞ
ߡ޿ࠆߎߣࠍ⏕⹺ߒ㧘ࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
are on, and turn the servo amplifier power off and on again.
Set the test operation select switch (SW2-1) of the servo amplifier to "Up", and turn the
2) ࠨ࡯ࡏࠕࡦࡊߩ࠹ࠬ࠻ㆇォಾ឵߃ࠬࠗ࠶࠴(SW2-1)ࠍ"ࠝࡦ(਄)"ߦ⸳ቯߒࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ
޿ߞߚࠎࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
servo amplifier power off and on again.

3) [Pr.PL08 PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the
_ _ 4"ߦ⸳ቯߒߡ⏛ᭂᬌ಴ᣇᑼࠍ"ᓸዊ૏⟎
magnetic pole detection method to "Position detection method"
ᬌ಴ᣇᑼ"ߦߒ߹ߔ‫ޕ‬

4) [Pr.PL01 PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable
_ _ 1"ߦ⸳ቯߒߡ"ೋ࿁ࠨ࡯ࡏࠝࡦᤨ ⏛ᭂᬌ
"Magnetic pole detection at first servo-on".
಴"ߦߒ߹ߔ‫(ޕ‬ᵈ1)
Turn the servo amplifier power off and on again.

5) ࠨ࡯ࡏࠕࡦࡊߩ㔚Ḯࠍ޿ߞߚࠎࠝࡈߦߒ㧘ౣᐲ㔚Ḯࠍᛩ౉ߒ߹ߔ‫ޕ‬
With [Pr.⏛ᭂᬌ಴ᓸዊ૏⟎ᬌ಴ᣇᑼ
6) [Pr.PL17 PL17 Magnetic pole detection - Minute position detection method - Function
ᯏ⢻ㆬᛯ]ߢ㧘࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲৻ᰴ஥ߦኻߔࠆ⽶⩄⾰㊂Ყ
ࠍ⸳ቯߒ߹ߔ‫(ޕ‬ᵈ2)
selection], set the load to mass of the linear servo motor primary side ratio. (Note 2)
Execute
7) MR "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
Configurator2ߩ࠹ࠬ࠻ㆇォࡕ࡯࠼ߩ"૏⟎᳿߼ㆇォ"ߢ"ᱜᣇะ⒖േ"߹ߚߪ"ㅒᣇะ⒖േ"ࠍታⴕߒ
߹ߔ‫߈ߣߩߎޕ‬㧘⒖േ㊂ࠍ"0"ߦߒߡߊߛߐ޿‫ޕ‬
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.

⏛ᭂᬌ಴߇ታᣉߐࠇ߹ߔ‫ޕ‬
Is the[Pr.PL17]ߩᓸዊ
response by the minute
YES
position detection method of
૏⟎ᬌ಴ᣇᑼߩᔕ╵ᕈߪ
[Pr. PL17] the final value?
ᦨ⚳୯߆?
NO
Has an abnormal sound or

⏛ᭂᬌ಴ᤨߦ⇣㖸㧘ᝄേ YES Decrease the response by the minute position detection
[Pr.PL17]ߩᓸዊ૏⟎ᬌ಴ᣇᑼߩᔕ╵ᕈࠍ2
vibration occurred during the method of [Pr. PL17] by two as the final setting value.
߇⊒↢ߒߡ޿ࠆ߆?
magnetic pole detection? ਅߍߚ୯ࠍᦨ⚳⸳ቯ୯ߦߒ߹ߔ‫ޕ‬
NO
Not
Is the travel distance during acceptable
໧㗴޽ࠅ [Pr.PL17]ߩᓸዊ૏⟎ᬌ಴ᣇᑼߩᔕ╵ᕈࠍ1
⏛ᭂᬌ಴ᤨߩ⒖േ㊂ߪ
the magnetic pole detection
Increase the response by the minute position detection
໧㗴ߥ޿߆?(ᵈ3) method of [Pr. PL17] by one.
਄ߍ߹ߔ‫ޕ‬
acceptable?
Acceptable
໧㗴ߥߒ
8) [Pr.PL01]ࠍ"_
Set [Pr. PL01]_ to disabled".(Note)
"_ _ _ 0" to set "Magnetic pole detection invalid".
_ 0"ߦ⸳ቯߒߡ"⏛ᭂᬌ಴ήല"ߦߒ߹ߔ‫(ޕ‬ᵈ) (Note)
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].
14 - 10
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
During the magnetic Magnetic
⏛ᭂᬌ಴ቢੌ pole detection completion
Servo-off status
ࠨ࡯ࡏࠝࡈ⁁ᘒ pole detection
⏛ᭂᬌ಴ታᣉਛ (servo-on status)
(ࠨ࡯ࡏࠝࡦ⁁ᘒ)

ዊᢙὐ߇ὐṌߒ߹ߔ‫ޕ‬
(2) Preparation for the magnetic pole detection
POINT
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) as
shown below. Turning on the power enables the test operation mode.
ON
1 2 3 4
14 - 11
(3) 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 operates unexpectedly.
POINT
Establish the machine configuration using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
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.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or a servo alarm 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.
A servo 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.
14 - 12
(a) For the incremental linear encoder
POINT
When the incremental linear encoder is used, the magnetic pole detection is
required when the power is turned on.
For the incremental linear encoder, the magnetic pole detection is required every time the power is
turned on. By turning on the servo-on command from the controller after the power-on, the magnetic
pole detection is automatically carried out. Therefore, there is not need to set the parameter (first
digit of [Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
Servo-on command ON
ࠨ࡯ࡏࠝࡦᜰ઎
OFF 95 ms
95ms
Base circuit ON
ࡌ࡯ࠬ࿁〝
OFF
RD (Ready)
RD(Ḱ஻ቢੌ) ON
OFF
15 15sએਅ
s or less
Magnetic pole detection time (Note)
⏛ᭂᬌ಴ᤨ㑆(ᵈ)
Note. The magnetic pole detection time indicates the operation time when FLS (Upper
stroke limit) and RLS (Lower stroke limit) are on.
2) Linear servo motor movement (when FLS (Upper stroke limit) and RLS (Lower stroke limit) are
on)
Servo-on
ࠨ࡯ࡏࠝࡦ૏⟎ position
(Magnetic pole detection start position)
(⏛ᭂᬌ಴㐿ᆎ૏⟎)
RLS FLS
(Note
(ᵈ1)1) (Note
(ᵈ1)1)
(Note
(ᵈ2) 2)
Magnetic pole detection completion position
⏛ᭂᬌ಴ቢੌ૏⟎
Note 1. When FLS (Upper stroke limit) or RLS (Lower stroke limit) turns off during the magnetic pole detection, the operation of the
magnetic pole detection is carried on to the opposite direction. When both FLS and RLS are off, [AL. 27 Initial magnetic pole
2. detection error] occurs.
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]
14 - 13
3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off)
When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
The linear servo motor moves to a magnetic pole
ࠨ࡯ࡏࠝࡦߣหᤨߦછᗧߩ⏛ᭂ
detection start position upon servo-on, and the
ᬌ಴㐿ᆎ૏⟎߹ߢ⒖േߒߚ޽ߣ㧘
magnetic pole detection is executed.
⏛ᭂᬌ಴ࠍ㐿ᆎߒ߹ߔ‫ޕ‬
Servo-on
ࠨ࡯ࡏࠝࡦ
⏛ᭂᬌ಴㐿ᆎ૏⟎
start position position
૏⟎
RLS FLS
(Note)
(ᵈ)
Magnetic
⏛ᭂᬌ಴ቢੌ૏⟎ pole detection completion position
The linear servo motor reciprocates several times and returns to the magnetic pole detection start
ᢙ࿁ᓔᓳㆇォߒߚᓟ㧘⏛ᭂᬌ಴㐿ᆎ૏⟎ߦᚯࠅ⏛ᭂᬌ಴߇
position to complete the magnetic pole detection and to go into the servo-lock status. At this time,
ቢੌߒߡࠨ࡯ࡏࡠ࠶ࠢ⁁ᘒߦߥࠅ߹ߔ‫߈ߣߩߎޕ‬㧘㐿ᆎ૏
there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.
⟎߆ࠄ⏛ᭂኻࡇ࠶࠴⒟ᐲߕࠇࠆߎߣ߇޽ࠅ߹ߔ‫ޕ‬
Note. For the pitch against magnetic pole, refer to (3) (a) 2) Note 2 of this section.
(b) For the absolute position linear encoder
POINT
When the absolute position linear encoder is used, the magnetic pole detection
is required when the power is turned on with 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 its position is adjusted
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.
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)
ೋ࿁ࠨ࡯ࡏࠝࡦᤨ⏛ᭂᬌ಴
ೋᦼ୯
2) Execute the magnetic pole detection. (Refer to (3) (a) 1), 2) of this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr.PL01]
0
Magnetic
⏛ᭂᬌ಴ήല 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.
14 - 14
(4) 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]
[Pr.PL08]
Magnetic pole detection method selection

⏛ᭂᬌ಴ᣇᴺߩㆬᛯ
Position detection method
0: ૏⟎ᬌ಴ᣇᑼ
Minute position detection method
4: ᓸዊ૏⟎ᬌ಴ᣇᑼ
(5) 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 ĸ Medium ĺ 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.
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.
14 - 15
(c) Setting example

Linear encoder
magnetic pole detection
⏛ᭂᬌ಴
[Pr. PL09] setting

[Pr.PL09]ߩ⸳ቯ୯ 30 35 40 45 65 70
Occurring ᦭
Alarm
ࠕ࡜࡯ࡓ Not occurring
ή
While increasing the setting value of [Pr. PL09], carry out the
[Pr.PL09]ߩ⸳ቯ୯ࠍᄢ߈ߊߒߥ߇ࠄ㧘⏛ᭂᬌ಴ࠍ➅ࠅ㄰ߒ An alarm has occurred when the setting
[Pr.PL09]ߩ⸳ቯ୯ࠍ70ߦߒߚߣ߈
magnetic
ታᣉߔࠆ‫ޕ‬ pole detection repeatedly. value of [Pr. PL09] is set to 70.
ߦࠕ࡜࡯ࡓ߇⊒↢ߒߚ‫ޕ‬
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
14.3.3 Home position return
POINT
The incremental linear encoder and the absolute position linear encoder have
different reference home positions at the home position return.
(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 an incremental linear encoder is used, the home position is the position per 1048576 pulses
(changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position
(reference mark) passed through first after a home position return start. Change the setting value of
[Pr. PL01] according to the linear encoder resolution.
[Pr. PL01]
[Pr.PL01]
Stop interval setting at the home position return

ේὐᓳᏫᤨߩ஗ᱛ㑆㓒⸳ቯ
⸳ቯ୯
Setting value Stop interval [pulse]
஗ᱛ㑆㓒[pulse]
0 8192
1 131072
2 262144
3 1048576 (initial value)
1048576(ೋᦼ୯)
4 4194304
5 16777216
6 67108864
14 - 16
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 [ȝm] 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.
Set one linear encoder home position in the full stroke, and set it in the position that can always be
passed through after a home position return start. The encoder Z-phase pulse (LZ) cannot be used.
Home position return direction
ේὐᓳᏫᣇะ
Home position
ේὐᓳᏫㅦᐲ return speed
Linear servo motor

࡝࠾ࠕࠨ࡯ࡏ Creep
ࠢ࡝࡯ࡊㅦᐲspeed
ࡕ࡯࠲
0 mm/s
0mm/s
ON
Proximity dog signal
ㄭὐ࠼ࠣାภ OFF
Reference home position

ේὐၮḰ૏⟎
(Note)
(ᵈ)
1048576 pulses
1048576pulses
1048576 pulses ×n୚
1048576pulses n
Linear servo motor position

࡝࠾ࠕࠨ࡯ࡏ
ࡕ࡯࠲૏⟎
Linear encoder home position
࡝࠾ࠕࠛࡦࠦ࡯࠳ේὐ Home
ේὐ૏⟎position
Note. Changeable with [Pr. PL01].
14 - 17
(b) When the linear encoder home position does not exist in the home position return direction
If the home position return is performed from the position where the linear encoder does not exist in
the home position return direction, a home position return error occurs on the controller. The error
contents differ according to the controller type. Move the linear servo motor 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.
ේὐᓳᏫᣇะ
Home position
Linear servo motor

࡝࠾ࠕࠨ࡯ࡏ Creep
ࡕ࡯࠲
00mm/s
mm/s
JOG operation
JOGㆇォ
ON

࡝࠾ࠕࠨ࡯ࡏ
ࡕ࡯࠲૏⟎
Stroke end Linear encoder home position
ࠬ࠻ࡠ࡯ࠢࠛࡦ࠼࡝࠾ࠕࠛࡦࠦ࡯࠳ේὐ Home
Home position
ේὐᓳᏫน⢻㗔ၞ returnable area Home position non-returnable area
ේὐᓳᏫਇน⢻㗔ၞ
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
from the controller and others.
Change the third digit value of [Pr. PL01] according to the linear encoder
resolution.
14 - 18
(2) Absolute position linear encoder

When an absolute linear encoder is used, the reference home position is the position per 1048576
pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position
(absolute position data = 0).
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. The
encoder Z-phase pulse (LZ) cannot be used.
ේὐᓳᏫᣇะ
Home position
ේὐᓳᏫㅦᐲreturn speed
Linear servo motor

࡝࠾ࠕࠨ࡯ࡏ Creep speed
ࠢ࡝࡯ࡊㅦᐲ
ࡕ࡯࠲
00mm/s
mm/s
ON
ReferenceේὐၮḰ૏⟎
home position
(Note)
(ᵈ)
1048576pulses
1048576 pulses
1048576 pulses × n୚
1048576pulses n

࡝࠾ࠕࠨ࡯ࡏ
ࡕ࡯࠲૏⟎
࡝࠾ࠕࠛࡦࠦ࡯࠳ේὐ Home
Note. Changeable with [Pr. PL01].
POINT
The data set type home position return can also be carried out.
14 - 19
14.3.4 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 servo system controller.
(1) Test operation mode type

(a) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on or
off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
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 ĺ
Negative direction travel
Positive direction travel ĺ
Positive direction travel ĺ Positive direction travel
Repeat pattern
Negative direction travel Negative direction travel ĺ
Positive direction travel
Negative direction travel ĺ
Negative direction travel
Dwell time [s] 2.0 01 to 50.0
Number of repeats
1 1 to 9999
[time]
2) Operation method
Positive direction travel Click the "Positive Direction Movement" button.
Negative direction travel Click the "Reverse Direction Movement" button.
(b) Output signal (DO) forced output
14 - 20
Output signals can be switched on/off forcibly independently of the servo status. This function is
used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide.
Start Click the "Operation start" button.

1) Turn off the power.
2) Turn "ON (up)" SW2-1.
ON
1 2 3 4
Turning "ON (up)" SW2-1 during power-on will not enable the test operation mode.
3) Turn on the servo amplifier.

When initialization is over, the display shows the following screen.
After
1.6⑽ᓟ1.6 s
Flickering
ὐṌ
After
0.2⑽ᓟ0.2 s
4) Start operation with the personal computer.
14 - 21
14.3.5 Operation from controller
The linear servo can be used with any of the following controllers.
Servo system controller Model
Motion controller Q17_DSCPU
Simple motion module QD77MS_
(1) Operation method

For the system using the incremental linear encoder, the magnetic pole detection is automatically
performed at the first servo-on after the power-on. For this reason, when performing the positioning
operation, create the sequence which surely confirms the servo-on status as the inter lock condition of
the positioning command.
Also, some parameter settings and the home position return type differ according to the controller type.
(2) Servo system controller setting

(a) Setting precautions
The following parameters will be enabled by turning the servo amplifier power off and on again after
the controller writes the parameters to the servo amplifier.
Set content
Setting item Motion controller Simple motion module
Q17_DSCPU QD77MS_
Command
Linear encoder resolution unit
resolution
Servo amplifier
MR-J4-B Linear
setting
Motor setting Automatic setting
(Note) Initial
No. Name
Symbol value
PA01 **STY Operation mode (Note 2) 1000h 0040h
PC01 ERZ Error excessive alarm level 0
PC03 *ENRS Encoder output pulse selection 0000h
PC27 **COP9 Function selection C-9 0000h
Linear servo motor/DD motor function
PL01 **LIT1 0301h
selection 1
PL02 **LIM Linear encoder resolution - Numerator 1000
Linear encoder resolution -
PL03 **LID 1000
Denominator
Parameter
PL04 *LIT2 0003h
selection 2
PL05 LB1 Position deviation error detection level 0
PL06 LB2 Speed deviation error detection level 0 Set the items as required.
Torque/thrust deviation error detection
PL07 LB3 100
level
PL08 *LIT3 0010h
selection 3
PL09 LPWM Magnetic pole detection voltage level 30
Magnetic pole detection - Minute
PL17 LTSTS position detection method - Function 0000h
selection
PL18 IDLV position detection method - 0
Identification signal amplitude
Positioning Unit setting mm
control Number of pulses (AP)
parameter Refer to (2) (b) of this section.
Travel distance (AL)
14 - 22
Note. The parameter whose symbol is preceded by * is enabled with the following conditions:
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
(b) Settings of the number of pulses (AP) and travel distance (AL)
User
࡙࡯ࠩ Controller
ࠦࡦ࠻ࡠ࡯࡜ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Command
ᜰ઎ AP +
[mm] AL - ࡝࠾ࠕ
Linear servo motor
ࠨ࡯ࡏࡕ࡯࠲
Position feedback
૏⟎ࡈࠖ࡯࠼ࡃ࠶ࠢ AL
[mm] AP
Linear encoder
Speed feedback
ㅦᐲࡈࠖ࡯࠼ࡃ࠶ࠢ Differ-
ᓸಽ
entiation
[mm/s]
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following
conditions.
When the linear encoder resolution is 0.05 μm
Number of pulses (AP)

ࡄ࡞ࠬᢙ(AP)[pulse] 1 20
Travel distance (AL) [ȝm]
= =
⒖േ㊂(AL)[ m] 0.05 1
14.3.6 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
ࠨ࡯ࡏࠕࡦࡊ
Servo amplifier internal value

ࠨ࡯ࡏࠕࡦࡊౝㇱ୯ Linear servo motor
1) Model feedback position [mm] ࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲
1)ࡕ࠺࡞ࡈࠖ࡯࠼ࡃ࠶ࠢ૏⟎[mm]
3) Model feedback speed [mm/s]
3)ࡕ࠺࡞ࡈࠖ࡯࠼ࡃ࠶ࠢㅦᐲ[mm/s]
5) Command thrust [%]
5)ᜰ઎ផജ[%]
Linear encoder
࡝࠾ࠕࠛࡦࠦ࡯࠳ Linear encoder
2) Feedback position [mm]
2)ࡈࠖ࡯࠼ࡃ࠶ࠢ૏⟎[mm]
4) Feedback speed [mm/s]
4)ࡈࠖ࡯࠼ࡃ࠶ࠢㅦᐲ[mm/s]
6) Feedback thrust [%]
6)ࡈࠖ࡯࠼ࡃ࠶ࠢផജ[%]
Figure 14.1 Outline of linear servo control error detection function
14 - 23
(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
[Pr.PL04]
1
Position deviation error detection enabled
૏⟎஍Ꮕ⇣Ᏹᬌ⍮᦭ല
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, 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. Replace the set value as required.
(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
[Pr.PL04]
2
Speed deviation error detection enabled
ㅦᐲ஍Ꮕ⇣Ᏹᬌ⍮᦭ല
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 14.1, 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. Replace the set value as required.
(c) Thrust deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.
[Pr. PL04]
[Pr.PL04]
4
Thrust deviation error detection enabled
ផജ஍Ꮕ⇣Ᏹᬌ⍮᦭ല
When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 14.1, 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%. Replace the set value as required.
(d) Detecting multiple deviation errors

When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), (c) of this section.
[Pr. PL04]
[Pr.PL04]
⸳ቯ୯ ૏⟎஍Ꮕ⇣Ᏹᬌ⍮ Speed

ㅦᐲ஍Ꮕ⇣Ᏹᬌ⍮
Setting value Position deviation error detection
deviation error detection ផജ஍Ꮕ⇣Ᏹᬌ⍮
Trust deviation error detection
1
2
3
4
5
6
7
14 - 24
(2) Auto tuning function

The auto tuning function during the linear servo 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 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.
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.
(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.
14.3.7 Absolute position detection system
When the linear servo is used in the absolute position detection system, an absolute position linear encoder
is required. The linear encoder backs up the absolute position data. Therefore, the encoder battery MR-
BAT6V1SET need not be installed to the servo amplifier. Additionally, [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.
14 - 25
14.4 Characteristics
14.4.1 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.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 14.2. [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-hand side area of the continuous or
broken line in the graph.
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
ㆇォᤨ Operation time [s]
Operation time [s]
૞ ૞ Operating
ㆇォᤨ
േ േ
ᤨ 10 ᤨ 10
Servo-lock
ࠨ࡯ࡏࡠ࠶ࠢᤨ
㑆㑆
[s] [s]
Servo-lock
1 1

0 50 100 150 200 250 300 0 100 200 300 400
Load ratio [%]
⽶⩄₸[%] Load ratio [%]
⽶⩄₸[%]
a. LM-H3 series b. LM-U2 series

LM-K2 series

Operating
ㆇォᤨ Operating
ㆇォᤨ
Operation time [s]
Operation time [s]
૞ ૞
േ േ
ᤨ ᤨ
Servo-lock
㑆㑆
[s] [s]
Servo-lock

Load ratio [%]
⽶⩄₸[%] Load ratio [%]
⽶⩄₸[%]
c. LM-F (natural cooling) d. LM-F (liquid cooling)
14 - 26
14.4.2 Power supply capacity and generated loss
Table 14.1 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
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact
enclosed type cabinet.
Table 14.1 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 Servo amplifier capacity [kVA] (Note 2) heat dissipation
(Note 1) At rated output With servo-off [m2]
LM-H3P2A-07P-BSS0 0.9 35 15 0.7
MR-J4-40B
LM-H3P3A-12P-CSS0 0.9 35 15 0.7
LM-H3P3B-24P-CSS0 1.3 50 15 1.0
MR-J4-70B
LM-H3P3C-36P-CSS0 1.9 75 15 1.5
LM-H3P3D-48P-CSS0 MR-J4-200B 3.5 90 20 1.8
LM-H3P7A-24P-ASS0 MR-J4-70B 1.3 50 15 1.0
LM-H3P7B-48P-ASS0 3.5 90 20 1.8
MR-J4-200B
LM-H3P7C-72P-ASS0 3.8 100 20 1.1
LM-H3P7D-96P-ASS0 MR-J4-350B 5.5 130 20 2.7
LM-U2PAB-05M-0SS0 MR-J4-20B 0.5 25 15 0.5
LM-U2PAD-10M-0SS0 0.9 35 15 0.7
MR-J4-40B
LM-U2PAF-15M-0SS0 0.9 35 15 0.7
LM-U2PBB-07M-1SS0 MR-J4-20B 0.5 25 15 0.5
LM-U2PBD-15M-1SS0 MR-J4-60B 1.0 40 15 0.8
LM-U2PBF-22M-1SS0 MR-J4-70B 1.3 50 15 1.0
LM-U2P2B-40M-2SS0 MR-J4-200B 3.5 90 20 1.8
LM-U2P2C-60M-2SS0 MR-J4-350B 5.5 130 20 2.7
LM-U2P2D-80M-2SS0 MR-J4-500B 7.5 195 25 3.9
LM-FP2B-06M-1SS0 MR-J4-200B 3.5 90 20 1.8
LM-FP2D-12M-1SS0 MR-J4-500B 7.5 195 25 3.9
LM-FP2F-18M-1SS0 MR-J4-700B 10 300 25 6.0
LM-FP4B-12M-1SS0 MR-J4-500B 7.5 195 25 3.9
LM-FP4D-24M-1SS0 MR-J4-700B 10 300 25 6.0
LM-K2P1A-01M-2SS1 MR-J4-40B 0.9 35 15 0.7
LM-K2P1C-03M-2SS1 MR-J4-200B 3.5 90 20 1.8
LM-K2P2A-02M-1SS1 MR-J4-70B 1.3 50 15 1.0
LM-K2P2C-07M-1SS1 MR-J4-350B 5.5 130 20 2.7
LM-K2P2E-12M-1SS1 MR-J4-500B 7.5 195 25 3.9
LM-K2P3C-14M-1SS1 MR-J4-350B 5.5 130 20 2.7
LM-K2P3E-24M-1SS1 MR-J4-500B 7.5 195 25 3.9
Note 1. Note that the power supply capacity will vary according to 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.
14 - 27
14.4.3 Dynamic brake characteristics
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 break 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.)
Linear servo motor Coefficient A Coefficient B Linear servo motor Coefficient A Coefficient B
-2 -4
LM-H3P2A-07P-BSS0 7.15E-03 2.94E-03 LM-U2PAB-05M-0SS0 5.72 × 10 1.72 × 10
-2 -5
LM-H3P3A-12P-CSS0 2.81E-03 1.47E-03 LM-U2PAD-10M-0SS0 2.82 × 10 8.60 × 10
-2 -5
LM-H3P3B-24P-CSS0 7.69E-03 2.27E-04 LM-U2PAF-15M-0SS0 1.87 × 10 5.93 × 10
-2 -4
LM-H3P3C-36P-CSS0 7.22E-03 1.13E-04 LM-U2PBB-07M-1SS0 3.13 × 10 1.04 × 10
-2 -5
LM-H3P3D-48P-CSS0 1.02E-03 2.54E-04 LM-U2PBD-15M-1SS0 1.56 × 10 5.18 × 10
-2 -5
LM-H3P7A-24P-ASS0 7.69E-03 2.14E-04 LM-U2PBF-22M-1SS0 4.58 × 10 1.33 × 10
-3 -5
LM-H3P7B-48P-ASS0 9.14E-04 2.59E-04 LM-U2P2B-40M-2SS0 1.47 × 10 1.27 × 10
-3 -6
LM-H3P7C-72P-ASS0 7.19E-04 1.47E-04 LM-U2P2C-60M-2SS0 1.07 × 10 7.66 × 10
-4 -6
LM-H3P7D-96P-ASS0 6.18E-04 9.59E-05 LM-U2P2D-80M-2SS0 9.14 × 10 5.38 × 10
Linear servo motor Coefficient A Coefficient B Linear servo motor Coefficient A Coefficient B
-4 -3 -3 -3
LM-FP2B-06M-1SS0 8.96 × 10 1.19 × 10 LM-K2P1A-01M-2SS1 5.36 × 10 6.56 × 10
-4 -4 -3 -4
LM-FP2D-12M-1SS0 5.55 × 10 4.81 × 10 LM-K2P1C-03M-2SS1 1.17 × 10 3.75 × 10
-4 -4 -2 -3
LM-FP2F-18M-1SS0 4.41 × 10 2.69 × 10 LM-K2P2A-02M-1SS1 2.49 × 10 1.02 × 10
-4 -4 -4 -4
LM-FP4B-12M-1SS0 5.02 × 10 4.36 × 10 LM-K2P2C-07M-1SS1 6.85 × 10 2.80 × 10
-4 -4 -4 -4
LM-FP4D-24M-1SS0 3.55 × 10 1.54 × 10 LM-K2P2E-12M-1SS1 5.53 × 10 1.14 × 10
-4 -4 -4 -4
LM-FP4F-36M-1SS0 1.79 × 10 1.36 × 10 LM-K2P3C-14M-1SS1 2.92 × 10 1.16 × 10
-4 -4 -4 -5
LM-FP4H-48M-1SS0 1.15 × 10 1.19 × 10 LM-K2P3E-24M-1SS1 2.53 × 10 5.52 × 10
-4 -5
LM-FP5H-60M-1SS0 1.95 × 10 4.00 × 10
The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value is considered to be longer than
the actual distance. However, if an enough breaking distance is not obtained, the
CAUTION linear servo motor 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.
14 - 28
14.4.4 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 load to
motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load
inertia moment 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.
Servo amplifier
Linear servo motor MR-J4-
20_ 40_ 60_ 70_ 200_ 350_ 500_ 700_
LM-H3P2A-07P-BSS0 35
LM-H3P3A-12P-CSS0 35
LM-H3P3B-24P-CSS0 35
LM-H3P3C-36P-CSS0 35
LM-H3
LM-H3P3D-48P-CSS0 35
series
LM-H3P7A-24P-ASS0 35
LM-H3P7B-48P-ASS0 35
LM-H3P7C-72P-ASS0 35
LM-H3P7D-96P-ASS0 35
LM-U2PAB-05M-0SS0 30
LM-U2PAD-10M-0SS0 30
LM-U2PAF-15M-0SS0 30
LM-U2PBB-07M-1SS0 30
LM-U2
LM-U2PBD-15M-1SS0 30
series
LM-U2PBF-22M-1SS0 30
LM-U2P2B-40M-2SS0 30
LM-U2P2C-60M-2SS0 30
LM-U2P2D-80M-2SS0 30
LM-FP2B-06M-1SS0 15
LM-FP2D-12M-1SS0 15
LM-F
LM-FP2F-18M-1SS0 15
series
LM-FP4B-12M-1SS0 15
LM-FP4D-24M-1SS0 15
LM-K2P1A-01M-2SS1 30
LM-K2P1C-03M-2SS1 30
LM-K2P2A-02M-1SS1 30
LM-K2
series
LM-K2P2E-12M-1SS1 30
LM-K2P3E-24M-1SS1 30
14 - 29
MEMO
14 - 30
15. USING A DIRECT DRIVE MOTOR
When using the direct drive motor, read the Direct Drive Motor Instruction Manual
CAUTION (SH(NA)030112).
15.1.1 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-indexer

high-accuracyaccuracy.
indexing.
(c) Since transmission mechanism is no longer required, no backlash occurs. In addition, the settling
time is reduced, and the high-frequency operation is enabled.
(d) Since transmission mechanism is no longer required, the direct drive motor does not deteriorate with
time.
(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 Remarks
Direct drive motor Rotary servo motor
External I/O signal FLS (Upper stroke limit), Required (for Not required Automatically turns on in the
RLS (Lower stroke limit) magnetic pole parameter setting.
detection)
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
(3) (a) of section 15.3.2.)
Absolute position Absolute position encoder Required Required
detection system battery (MR-BAT6V1SET)
Absolute position storage Required Not required
unit
(MR-BTAS01)
15 - 1
15.1.2 Servo system with auxiliary equipment
Connecting an inappropriate servo motor to the CNP3_ and CN2_ will cause an
CAUTION unexpected operation or an alarm.
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 _".
RS T
(Note
(ᵈ2)2)
Power
㔚Ḯ supply
Molded
ࡁ࡯ࡅࡘ࡯࠭ case
Personal
ࡄ࡯࠰࠽࡞
circuit breaker
ㆤᢿེ(MCCB) computer
ࠦࡦࡇࡘ࡯࠲
(MCCB)
MR Configurator2
CN5
(Note 3)
(ᵈ3)
Magnetic
㔚⏛ធ⸅ེ
contactor
(MC)
(MC)
(Note 1)
(ᵈ1) CN3
Junction
ਛ⛮┵ሶบ terminal block
Line
࡜ࠗࡦࡁࠗ࠭noise CN8 To safety relay or
࠮࡯ࡈ࠹ࠖ࡝࡟࡯߹ߚߪ
filter
ࡈࠖ࡞࠲ MR-J3-D05࠮࡯ࡈ࠹ࠖ
MR-J3-D05 safety logic unit
(FR-BSF01)
(FR-BSF01) ࡠࠫ࠶࡙ࠢ࠾࠶࠻߳
DD(ᵈ5)
(Note 5) Servo
ࠨ࡯ࡏࠪࠬ࠹ࡓsystem controller
CN1A
or previous servo
ࠦࡦ࠻ࡠ࡯࡜߹ߚߪ
೨ゲࠨ࡯ࡏࠕࡦࡊCN1B
amplifier CN1B
U
L1
V CN1B Next servo amplifier
ᓟゲࠨ࡯ࡏࠕࡦࡊCN1A
L2 CN1A or cap
W ߹ߚߪࠠࡖ࠶ࡊ
L3
Power factor
ജ₸ᡷༀ P3 CN2
improving DC
DC࡝ࠕࠢ࠻࡞
reactor
(FR-HEL) P4
(FR-HEL)
P+ (Note
(ᵈ5) 5)
Regenerative CN4 ⛘ኻ૏⟎
࿁↢ Absolute position
option
ࠝࡊ࡚ࠪࡦ ࡙࠾࠶࠻
storage unit
C MR-BTAS01
MR-BTAS01
(ᵈ4)
(Note 4)
L11
Direct
࠳ࠗ࡟ࠢ࠻ drive
Battery unit
ࡃ࠶࠹࡝࡙࠾࠶࠻ motor
࠼࡜ࠗࡉࡕ࡯࠲
L21
15 - 2
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B 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 (MR-BAT6V1SET) is used for the absolute position detection system. (Refer to chapter 12.)
5. Always connect P+ and D. When using the regenerative option, refer to section 11.2.
6. The absolute position storage unit is used for the absolute position detection system.
15.2 Signals and wiring
WARNING Ground the servo amplifier and the direct drive motor securely.
Do not attempt to wire the servo amplifier and the 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.
24VDC 24VDC
DOCOM DOCOM
CAUTION
Control output RA Control output RA
signal signal
DICOM DICOM
For sink output interface For source output interface

Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option)
with the power wire of the direct drive motor.
15 - 3
causing a fire.
During power-on, do not open or close the power line of the direct drive motor.
Connect the servo amplifier power output (U, V, and W) to the power input of the
direct drive motor (U, V, and W) directly. Do not let a magnetic contactor, etc.
CAUTION
intervene. Otherwise, it may cause a malfunction.
Direct drive Direct drive
Servo amplifier motor Servo amplifier motor
U U
U U
V V
V M V M
W W
W W
This section does not describe the following items. For the items, refer to the corresponding sections below.
Item Reference
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 3.7
Interfaces Section 3.8
SSCNET III cable connection Section 3.9
Grounding Section 3.11
Switch setting and display of the servo
Section 4.3
amplifier
POINT
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
For the test operation, refer to section 4.4.
The Z-phase pulse of the direct drive motor must be turned on after power-on.
When the machine configuration does not allow one or more revolution of the
direct drive motor, install the direct drive motor so that the Z-phase pulse can be
turned on.
15 - 4
15.3.1 Startup procedure
Start up the direct drive servo in the following procedure.
Perform this procedure once at startup.

Set [Pr. PA01]. (Refer to section 3.14.)
Installation and wiring
Incremental system Absolute position detection system

Absolute position
detection system?
Can you manually turn Yes

on the Z-phase pulse of the
direct drive motor?
No
Perform
Executethe
themagnetic
magneticpole
poledetection.
detection. (Refer to section 15.3.2.) (Note 1)
Turn on the Z-phase pulse of the Turn on the

Z-phase Z-phase
pulse of the pulse
direct of the
drive
direct drive motor by using the JOG direct driveismotor
operation. (Notes 1 and 2) motor turnedmanually. (Note 3)
on manually.
Changepulse
Z-phase the setting to disable
of the direct the
drive motor
magnetic
is turned on bypole detection.
the JOG operation.
(Refer to (2) of section 15.3.2.)
Turn
Turnthe
theservo
servoamplifier
amplifierpower
power
off and off
supply on and
again.
on(Note
again.2)(Note 2)
Positioning operation check using the test operation mode (Note 1)
Positioning operation check using the controller (Refer to section 15.3.3.)
Home position return operation (Refer

(Refer to
to the
the controller
manual ofmanual used.)
the controller.)
Positioning operation
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 power
supply of the servo amplifier (L11 and L21) (turn off the main circuit power supply L1, L2, and L3). Perform this operation by
considering the safety.
15 - 5
15.3.2 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 power supply of the servo amplifier. Perform
this operation by considering the safety.
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.
15 - 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
1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
turn the servo amplifier power off and on again.
2) Turn "Ontest
Set the (up)" the test select
operation operation select
switch switchof(SW2-1)
(SW2-1) of amplifier
the servo the servotoamplifier,
"Up", and and then
turn thecycle
servothe
power of the
amplifier servo
power off amplifier.
and on again.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic pole
detection method to "Position detection method".
4) Set [Pr. PL01 Linear

Linear servo
servo motor/DD
motor/DD motor
motor function
functionselection
selection1]
1]toto"_
"_____1"
1"totoset
set"Magnetic
"Magneticpole
pole
valid". (Note)
detection always enabled". (Note)
5) Turn the servo amplifier power off and on again.
6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10" (guide value).
7) Execute "Forward
"Forward rotation"
rotation" or
or "Reverse
"Reverse rotation"
rotation"with
with "Positioning
"Positioningoperation"
operation"ininthe
thetest
testoperation
operation
moving
mode on MR Configurator2. Set the travel distance
distance toto
"0""0"
atat this
this time.
time.
YES
Is [Pr. PL09] the final value?
NO
YES Reset the alarm or turn off the Increase the value of [Pr. PL09]
Has [AL. 27 Initial magnetic pole servo amplifier power, and then
detection error] occurred? turn on the power again. by five.
NO
Set
Set ananapproximately
approximately 70%
70% of of
thethe
valueset
value setfor
for[Pr.
[Pr.PL09]
PL09] asas
thethe
Have [AL. 32 Overcurrent], NO Turn the servo amplifier power finalsetting
final settingvalue.
value.If [AL. 27 Initial
[AL. 50 Overload 1], [AL. 51 Overload 2], If [AL. 27pole
magnetic Initial magnetic
detection pole
error]
and [AL. E1 Overload warning 1] off and on again. detection
occurred? occurs witherror] occurs
this value, with this
specify a
value,intermediate
value specify a valuebetween the
intermediate between the value
value
set atset at E1
[AL. [AL.Overload
E1 Overloadwarning]
YES warning
Reset the alarm or turn off and the 1] and the
value set value
at [AL.set27atInitial
[AL.
the servo amplifier power, and 27 Initial magnetic
magnetic pole detection
pole detection error] as
then turn on the power again. the final
error] setting
as the final value.
setting value.
8) Set
Set [Pr.
[Pr. PL01]
PL01] to
to "_
"_ __ __ 0"
0" to
to set
set "Magnetic
"Magnetic pole
pole detection
detection disabled". (Note)
invalid". (Note)
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
15 - 7
(b) Magnetic pole detection by the minute position detection method
1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
turn the servo amplifier power off and on again.
2) Turn "Ontest
Set the (up)" the test select
operation operation select
switch switchof(SW2-1)
(SW2-1) of amplifier
the servo the servotoamplifier,
"Up", and and then
turn thecycle
servothe
amplifier
power power
of the off amplifier.
servo and on again.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole
detection method to "Minute position detection method".
4) Set
Set [Pr.
[Pr. PL01
PL01 Linear
Linear servo
servo motor/DD
motor/DDmotor
motorfunction
functionselection
selection1]1]toto"_
"_____1"1"totoset
set"Magnetic
"Magneticpole
pole
detection
detection always
always enabled". (Note)
valid". (Note)
5) Turn the servo amplifier power off and on again.
6) 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)
7) Execute
Execute "Forward
"Forward rotation"
rotation" or
or "Reverse
"Reverse rotation"
rotation"with
with"Positioning
"Positioningoperation"
operation"ininthe
thetest
testoperation
operation
moving
mode on MR Configurator2. Set the travel distance
distance to to
"0""0"
at at this
this time.
time.
YES Is theresponse
Is the response of theof the
minute
minuteposition
position detection
detection method
method set
of [Pr.byPL17] thefinalized?
[Pr. PL17] final value?
NO
Has an abnormal sound or YES Decrease the response by of the minute

vibration occurred during the position detection method of [Pr. PL17] by
magnetic pole detection? two as the final setting value.
NO
Not
IsIsthe
themoving
travel distance
distance acceptable Increase the response by
of the minute
during the magnetic pole position detection method of [Pr. PL17] by
detection acceptable? one.
(Note 3)
Acceptable
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
invalid". (Note)
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].
15 - 8
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
Magnetic pole
During the detection
magnetic completed
Servo-off status pole detection (Servo-on status)
(2) Preparation for the magnetic pole detection
POINT
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) and
the disabling control axis switch (SW2-2, SW2-3, and SW2-4) as shown below. Turning on the power
enables the test operation mode.
ON
1 2 3 4
15 - 9
(3) 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 using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
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.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or a servo alarm 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
When the motor is used in the incremental system, the magnetic pole detection
is required when the power is turned on.
For the incremental system, the magnetic pole detection is required every time the power is turned
on. By turning on the servo-on command from the controller after the power-on, the magnetic pole
detection is automatically carried out. Therefore, there is not need to set the parameter (first digit of
[Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
ON
Servo-on command
OFF
95ms
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 FLS (Upper
stroke limit) and RLS (Lower stroke limit) are on.
15 - 10
2) Direct drive motor movement (when FLS and RLS are on)
Center
Center of
of direct drivedrive
the direct motor rotation
motor part part
rotation
(Note) RLS FLS (Note)
Servo-on position (Magnetic pole detection start position)
10 degrees or less
Note. When the stroke limit (FLS or RLS) turns off during the magnetic pole detection, the
magnetic pole detection is carried on to the opposite direction. When FLS and RLS
are off, [AL. 27 Initial magnetic pole detection error] occurs.
3) Direct drive motor movement (when FLS or RLS is off)

When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
Center
Center of
of direct drivedrive
the direct motor rotation
motor part part
rotation
FLS
RLS Servo-on position
After
After the
the machine moves
motor moves to to
thethe position
position where
where the
the stroke
stroke limit
limit
Magnetic pole detection (FLS or
(FLS or RLS)
RLS) is
is set,
set, the
the magnetic
magnetic polepole detection
detection starts.
starts.
start position
10 degrees or less
(b) Absolute position detection system
POINT
When the absolute position detection system is used, the magnetic pole
detection is required when the power is turned on with the following timing.
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 in JOG operation 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
(Default value)
value)
15 - 11
2) Execute the magnetic pole detection. (Refer to (2) (a) 1), 2) of this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection HQDEOHd).
[Pr.PL01]
0
Magnetic pole detection disabled
invalid
After the magnetic pole detection, by turning on the Z-phase pulse 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.
(4) 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
(5) 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 ĸ Medium ĺ Large
(Guide value)
(10 or less (initial value) 50 or more)
Servo status
Torques required for operation Small Large
Overload, overcurrent alarm Not frequently occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Not frequently 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.
15 - 12
3) Perform the magnetic pole detection again with the final setting value.
(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 when the setting
magnetic pole detection repeatedly. 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).
To configure the absolute position detection system by using the direct drive motor, the battery unit (MR-
BAT6V1SET) and the absolute position storage unit MR-BTAS01 are required.
(1) Operation method

For the incremental system, the magnetic pole detection is automatically performed at the first servo-on
after the power-on. For this reason, when performing the positioning operation, create the sequence
which surely confirms the servo-on status as the inter lock condition of the positioning command.
Also, some parameter settings and the home position return differ according to the controller type.
15 - 13

The following parameters will be valid by turning the servo amplifier power off and on again after the
controller writes the parameters to the servo amplifier.
Setting
Setting item Motion controller Simple motion module
Q17_DSCPU QD77MS_
Amplifier setting MR-J4-B DD
Motor setting Automatic setting
(Note) Initial
No. Name
Symbol value
PA01 **STY Operation mode 1000h 0060h
PC01 *ERZ Error excessive alarm level 0
PC03 *ENRS Encoder output pulse selection 0000h
PL01 **LIT1 0301h
selection 1
PL04 *LIT2 0003h
selection 2
Parameter PL05 LB1 Position deviation error detection level 0
PL06 LB2 Speed deviation error detection level 0
Torque/thrust deviation error detection
PL07 LB3 100 Set the items as required.
level
PL08 *LIT3 0010h
selection 3
PL09 LPWM Magnetic pole detection voltage level 30
PL17 LTSTS position detection method - Function 0000h
selection
PL18 IDLV position detection method - 0
Identification signal amplitude
Note. The parameter whose symbol is preceded by * is enabled with the following conditions:
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, power off and on the servo amplifier.
15 - 14
15.3.4 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 15.1 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
Position deviation
deviation error
error detection
detection enabled
valid
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 rev to
1000 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. Replace the set value as required.
(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr.PL04]
2
Speed
Speed deviation
deviation error
error detection
detection enabled
valid
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 r/min to
2000 r/min), [AL. 42 Servo control error] will occur and the linear servo motor will stop. The initial
value of this detection level is 100 r/min. Replace the set value as required.
15 - 15
(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
detection enabled
valid
When you compare the command torque ( 5)) and the feedback torque ( 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 Servo control error] will occur and the linear servo motor will stop. The initial value
of this detection level is 100%. Replace the set value as required.
(d) Detecting multiple deviation errors

When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), (c) of 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
15.4 Characteristics
15.4.1 Overload protection characteristics
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.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection
curve 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-hand side area of the
continuous or broken line in the graph.
When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the
unbalanced torque of the machine be kept at 70% or less of the motor's rated torque.
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.)
15 - 16
1000 1000
Operating
ㆇォᤨ Operating
ㆇォᤨ
100 100
Operation time [s]
Operation time [s]

૞ ૞
ᬺ Servo-lock
ࠨ࡯ࡏࡠ࠶ࠢᤨ ᬺ Servo-lock
ᤨ 10 ᤨ 10
㑆㑆
[s] [s]
1 1
0.1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(Note) Load ratio [%]
(ᵈ)⽶⩄₸[%] (Note) Load ratio [%]
(ᵈ)⽶⩄₸[%]
TM-RFM002C20, TM-RFM004C20, TM-RFM048G20, TM-RFM072G20,

TM-RFM006C20, TM-RFM006E20, TM-RFM120J10
TM-RFM012E20, TM-RFM018E20,
TM-RFM012G20, TM-RFM040J10
10000
1000
Operation time [s]
૞ Operating
ㆇォᤨ
ᬺ Servo-lock
ᤨ 100
㑆
[s]
10
1
0 50 100 150 200 250 300
(Note) Load ratio [%]
(ᵈ)⽶⩄₸[%]
TM-RFM240J10
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 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
15 - 17
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 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
Table 15.1 Power supply capacity and generated loss per direct drive motor at rated output
Power supply Servo amplifier-generated heat [W] Area required for heat
Servo motor 2
capacity [kVA] At rated output With servo-off dissipation [m ]
TM-RFM002C20 0.25 25 15 0.5
TM-RFM004C20 0.38 35 15 0.7
TM-RFM006C20 0.53 40 15 0.8
TM-RFM006E20 0.46 40 15 0.8
TM-RFM012E20 0.81 50 15 1.0
TM-RFM018E20 1.3 50 15 1.0
TM-RFM012G20 0.71 50 15 1.0
TM-RFM048G20 2.7 90 20 1.8
TM-RFM072G20 3.8 110 20 2.2
TM-RFM040J10 1.2 50 15 1.0
TM-RFM120J10 3.4 90 20 1.8
TM-RFM240J10 6.6 160 25 3.2
15.4.3 Dynamic brake characteristics
POINT
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
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.
15 - 18
(1) Dynamic brake operation

(a) Calculation of coasting distance
Fig. 15.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 15.1 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant Ĳ varies with the direct drive motor and machine operation speeds. (Refer to (1)
(b) of this section.)
ON
EM1
EM1(Forced stop
(Forced 1)
stop)
OFF
Dynamic brake
time constant
V0
Machine
speed
te Time
Fig. 15.3 Dynamic brake operation diagram
V0 JL
Lmax = • te + 1+ ········································································································· (15.1)
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]
: Load moment of inertia converted into equivalent value on direct drive motor
JL [kg•cm2]
rotor
Ǽ : Dynamic brake time constant [s]
te : Delay time of control section [s]
There is internal relay delay time of about 10 ms.
15 - 19
(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant Ĳ for equation 15.1.
Dynamic brake time constant [ms]
Dynamic brake time constant [ms]

30 70
Time constant ɬ [ms]

Time constant ɬ [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
Speed [r/min] Speed [r/min]
TM-RFM_C20 TM-RFM_E20
60 80
040

ᤨ 50 012 ᤨ 70
ቯ ቯ 60
ᢙ 40 ᢙ 50
Ǽ 30 Ǽ 40
[ms] 048 [ms]
30 240
20
20
10 10
072 120
0 0
0 100 200 300 400 500 0 50 100 150 200
Speed [r/min]
࿁ォㅦᐲ[r/min] Speed [r/min]
࿁ォㅦᐲ[r/min]
TM-RFM_G20 TM-RFM_J10
(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 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 direct drive motor.
The value in the parenthesis shows the value at the rated speed of the direct drive motor.
Direct drive motor Servo
amplifier
MR-J4-20_ MR-J4-40_ MR-J4-60_ MR-J4-70_ MR-J4-100_ MR-J4-350_ MR-J4-500_
TM-RFM002C20 100 (300) 100 (300) 100 (300)
TM-RFM004C20 100 (300) 100 (300) 100 (300)
TM-RFM006C20 100 (300) 100 (300) 100 (300)
TM-RFM006E20 100 (300) 100 (300) 100 (300)
TM-RFM012E20 100 (300) 100 (300) 100 (300)
TM-RFM018E20 100 (300) 100 (300) 100 (300)
TM-RFM012G20 50 (300) 50 (300)
TM-RFM048G20 50 (300) 50 (300)
TM-RFM072G20 50 (300) 50 (300)
TM-RFM040J10 50 (200) 50 (200) 50 (200)
TM-RFM120J10 50 (200) 50 (200) 50 (200)
TM-RFM240J10 50 (200) 50 (200) 50 (200)
15 - 20
16. FULLY CLOSED LOOP SYSTEM (available in the future)
POINT
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-B servo
amplifier, the following restrictions apply.
ABZ-phase differential output type encoder cannot be used.
Linear encoder with 4-wire type communication method cannot be used.
When HG-KR or HG-MR series is used as the servo motor for fully closed
loop control, the optional 4-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 the encoder
cable according to appendix 10.
16.1.1 Function block diagram
A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the
load-side encoder unit.
+ +
Controller
ࠦࡦ࠻ࡠ࡯࡜
- - Servo motor
ࠨ࡯ࡏࡕ࡯࠲
Servo motor-side cumulative S
(Servo motor side)
(ࠨ࡯ࡏࡕ࡯࠲┵) + feedback pulses
ࠨ࡯ࡏࡕ࡯࠲┵Ꮻㆶࡄ࡞ࠬ
Droop
ḳࠅࡄ࡞ࠬpulses + (load-side encoder
(ᯏ᪾┵ಽ⸃⢻න૏)resolution unit)
- FBN
Linear encoder
+ FBD
(Servo motor side)
(ࠨ࡯ࡏࡕ࡯࠲┵)
Cumulative
feedback
ࡄ࡞ࠬ⚥Ⓧ pulses ࠺ࡘࠕ࡞ Encoder
ࠛࡦࠦ࡯࠳ࡄ࡞ࠬ⸳ቯ pulse setting
Dual
ࡈࠖ࡯࠼ feedback - ([Pr.PA15]㧘[Pr.PA16]
([Pr. PA15]，[Pr. PA16]
ࡃ࠶ࠢࡈࠖ࡞࠲
filter ([Pr. PE08]) ߅ࠃ߮[Pr.PC03])
Load-side
ᯏ᪾┵ + ([Pr.PE08]) + and [Pr. PC03])
(Note 2)
ḳࠅࡄ࡞ࠬ
droop pulses (ᵈ2)
- (Note 1，2)
(ᵈ1㧘2)
Fully closed loop selection
ࡈ࡞ࠢࡠ࡯࠭࠼ㆬᛯ Fully closed loop control
ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ
Cumulative
ᯏ᪾┵ ([Pr.PE01]߅ࠃ߮[Pr.PE08])
([Pr. PE01] and [Pr. PE08]) Load-side feedback pulses
ᯏ᪾┵Ꮻㆶࡄ࡞ࠬ error detection function
⇣Ᏹᬌ⍮ᯏ⢻ㆬᛯ
load-side
ࡈࠖ࡯࠼ࡃ࠶ࠢ ([Pr.PE03])
selection ([Pr. PE03])
ࡄ࡞ࠬ⚥Ⓧ
feedback pulses Control
೙ᓮ
Monitor
ࡕ࠾࠲
Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of
[Pr. PE01].
2. When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo
2. motor encoder independently of whether the servo motor is at a stop or running.
When the fully closed loop system is valid 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 "18000" is set as the filter value of
[Pr. PE08 Dual feedback filter], fully closed loop control is always performed.
16 - 1
The following table shows the functions of each control mode.

%QPVTQN &GUETKRVKQP
Feature Position is controlled according to the servo motor-side data.
Advantag Since this control is insusceptible to machine influence (such as machine resonance), the
Semi closed loop control e gains of the servo amplifier can be raised and the settling time shortened.
Disadvant If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy not
age obtained.
Feature Position is controlled according to the servo motor-side data and load-side data.
Dual feedback control Control is performed according to the servo motor-side data during operation, and
Advantag
according to the load side-data at a stop in sequence to raise the gains during operation
e
and shorten the settling time. A stop is made with the load-side accuracy.
Feature Position is controlled according to the load-side data.
Advantag The load-side accuracy is obtained not only at a stop but also during operation.
Fully closed loop control e
Disadvant Since this control is susceptible to machine resonance or other influences, the gains of
age the servo amplifier may not rise.
16 - 2
16.1.2 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, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
Semi closed loop system
࠮ࡒࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ
Semi closed loop

࠮ࡒࠢࡠ࡯࠭࠼೙ᓮ
control
Operation mode selection

ㆇォࡕ࡯࠼ㆬᛯ
([Pr.PA01])
([Pr. PA01])
Refer to the controller
ࠦࡦ࠻ࡠ࡯࡜ߩ
"_ _ 0 _" ࡙࡯ࠩ࡯࠭ࡑ࠾ࡘࠕ࡞ෳᾖ
user's manual.
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Off
ࠝࡈ
"_ _ 1 _"
Fully closed loop function On

ࠝࡦ
Refer to (16.3.1㗄(2)(a)ෳᾖ)
section 16.3.1 (2) (a) selection 1
ࡈ࡞ࠢࡠ࡯࠭࠼ᯏ⢻ㆬᛯ1
([Pr.PE01])
([Pr. PE01]) Fully closed loop system
ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ
"_ _ _ 1" Fully closed loop dual
ࡈ࡞ࠢࡠ࡯࠭࠼࠺ࡘࠕ࡞
ࡈࠖ࡯࠼ࡃ࠶ࠢࡈࠖ࡞࠲
feedback filter
([Pr.PE08])
([Pr. PE08])
"_ _ _ 0" "0"
Semi closed loop control
Refer to (16.3.1㗄(2)(b)ෳᾖ)
section 16.3.1 (2) (b)
"1㨪17999"
"1㨪4499"
to Dual feedback
࠺ࡘࠕ࡞ࡈࠖ࡯࠼
control
ࡃ࠶ࠢ೙ᓮ
"18000"
"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
ࠨ࡯ࡏࡕ࡯࠲
Position
૏⟎೙ᓮེ
- control unit
+ High-pass
ࡂࠗࡄࠬ
ࡈࠖ࡞࠲
filter
+
Linear encoder
Low-pass
ࡠ࡯ࡄࠬ
filter
ࡈࠖ࡞࠲
˶(ᵈ)
(Note)
Dual feedback filter
࠺ࡘࠕ࡞ࡈࠖ࡯࠼ࡃ࠶ࠢࡈࠖ࡞࠲
Semi closed loop Operation
ㆇォ⁁ᘒstatus Control
೙ᓮ⁁ᘒ status
Fully closed loop
ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ ࠮ࡒࠢࡠ࡯࠭࠼೙ᓮ
control Servo motor during a stop (0toto Ȧ) ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ
ࠨ࡯ࡏࡕ࡯࠲஗ᱛᤨ(0㨪˶) Fully closed loop control
control
In operation or
ㆇォਛ(˶㨪) (Ȧ or more)
more) Semi closed loop control
Frequency
๟ᵄᢙ[rad/s]
Note. "Ȧ" (a dual feedback filter band) is set by [Pr. PE08].
16 - 3
16.1.3 System configuration
(1) For a linear encoder

Servo
SSCNET III/H controller

SSCNETΥ/Hࠦࡦ࠻ࡠ࡯࡜
SSCNET
SSCNETΥ/H III/H (ᵈ)(Note)
Position command
૏⟎ᜰ઎ ࠪ࡝ࠕ࡞ࠗࡦ࠲ࡈࠚ࡯ࠬኻᔕ࡝࠾ࠕࠛࡦࠦ࡯࠳
Serial interface compatible linear encoder
control೙ᓮାภ
signal
To the next servo amplifier
ᓟゲࠨ࡯ࡏࠕࡦࡊ߳
CN2
Load-side
ᯏ᪾┵ࠛࡦࠦ࡯࠳ାภencoder signal
Servo motor encoder signal

ࠨ࡯ࡏࡕ࡯࠲ࠛࡦࠦ࡯࠳ାภ
Linear encoder head

࡝࠾ࠕࠛࡦࠦ࡯࠳ࡋ࠶࠼
Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Table
࠹࡯ࡉ࡞
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a battery (MR-BAT6V1SET) is not required.
(2) For a rotary encoder

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
SSCNET III/H controller

SSCNETΥ/Hࠦࡦ࠻ࡠ࡯࡜
SSCNET III/H
SSCNETΥ/H Drive
㚟േㇱpart
Position
૏⟎ᜰ઎ command
೙ᓮାภ
control signal To the next
ᓟゲࠨ࡯ࡏ
servo
ࠕࡦࡊ߳ amplifier
CN2
Servo motor
ࠨ࡯ࡏࡕ࡯࠲
Rotary encoder
ࡠ࡯࠲࡝ࠛࡦࠦ࡯࠳
(HG-KR߹ߚߪHG-MRࠨ࡯ࡏࡕ࡯࠲)
(HG-KR or HG-MR servo motor)
4194304pulses/rev
4194304pulses/rev
16 - 4
16.2 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.
16.2.1 LINEAR ENCODER

Linear encoder type Manufacturer Model Communication
method
Absolute type Magnescale SR77 Two-wire type
SR87
Mitutoyo AT343A Two-wire type
AT543A-SC
AT545A-SC
ST741A
ST742A
ST743A
ST744A
Renishaw RESOLUTE RL40M Two-wire type
Incremental type Magnescale SR75 Two-wire type
SR85
SL710 + PL101-RM/RHM
Renishaw RGH26P Two-wire type
RGH26Q
16.2.2 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. Do not use MR-EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, or
MR-EKCBL50M-H as they are four-wire type.
16.2.3 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
MR-J4FCCBL03Mಽጘࠤ࡯ࡉ࡞
(16.2.4㗄ෳᾖ)
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN2 CN2 MOTOR
Encoder of rotary servo motor
࿁ォဳࠨ࡯ࡏࡕ࡯࠲ߩࠛࡦࠦ࡯࠳
Linear encoder
SCALE
ᯏ᪾┵
Load-side encoder
ࠛࡦࠦ࡯࠳
Encoder cable
ࠛࡦࠦ࡯࠳ࠤ࡯ࡉ࡞
(࡝࠾ࠕࠛࡦࠦ࡯࠳ᛛⴚ⾗ᢱ㓸ෳᾖ)
(Refer to Linear Encoder Instruction Manual.)
16 - 5
(2) Rotary encoder

Refer to Linear Encoder Instruction Manual for encoder cables for rotary encoder.
MR-J4FCCBL03M branch cable
MR-J4FCCBL03Mಽጘࠤ࡯ࡉ࡞
(16.2.4㗄ෳᾖ)
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN2 CN2 MOTOR
Encoder of rotary servo motor
࿁ォဳࠨ࡯ࡏࡕ࡯࠲ߩࠛࡦࠦ࡯࠳
SCALE
Servo
(ᵈ)
(Note) HG-KR ᯏ᪾┵
HG-MR Load-side
ࠛࡦࠦ࡯࠳encoder
Encoder cable
(ࠨ࡯ࡏࡕ࡯࠲ᛛⴚ⾗ᢱ㓸(╙3㓸)ෳᾖ)
(Refer to Servo Motor Instruction Manual (Vol. 3).)
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.
16 - 6
16.2.4 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.
0.3m
(Note
(ᵈ1) 1) (Note
(ᵈ2)2)
CN2 MOTOR
SD Plate
ࡊ࡟࡯࠻ Plate SD
ࡊ࡟࡯࠻
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.
㈩✢஥߆ࠄ⷗ߚ࿑ߢߔ‫ޕ‬ MX 7 View seen from wiring side.
㈩✢஥߆ࠄ⷗ߚ࿑ߢߔ‫ޕ‬
MXR 8
BAT 9 9 BAT
SEL 10 10 SEL
(Note
(ᵈ2)2)
SCALE
Plate SD
ࡊ࡟࡯࠻
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.
㈩✢஥߆ࠄ⷗ߚ࿑ߢߔ‫ޕ‬
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2.2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
16 - 7
16.3.1 Startup
(1) Startup procedure

Start up the fully closed loop system in the following procedure.
Completion of installation and wiring

ขઃߌ߅ࠃ߮㈩✢ቢੌ
Adjustment and operation check in semi closed loop system

࠮ࡒࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓߢߩ⺞ᢛߣേ߈ߩ⏕⹺
Positioning operation check using MR Configurator2 Check that the servo equipment is normal.
ࠨ࡯ࡏᯏེ߇ᱜᏱ߆ࠍ⏕⹺ߒ߹ߔ‫ޕ‬
MR Configurator2ߦࠃࠆ૏⟎᳿߼ㆇォߩ⏕⹺
ᔅⷐߦᔕߓߡታᣉߒߡߊߛߐ޿‫ޕ‬
Do as necessary.
Gain adjustment
ࠥࠗࡦ⺞ᢛ
Adjustment and operation check in fully closed loop system

ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓߢߩ⺞ᢛߣേ߈ߩ⏕⹺
Selection of fully closed loop system

ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓߩㆬᛯ(ᧄ㗄(2)ෳᾖ)
(Refer to (2) of this section.)
Selection of load-side encoder communication system

ᯏ᪾┵ࠛࡦࠦ࡯࠳ߩㅢାᣇᑼㆬᛯ(ᧄ㗄(3)ෳᾖ)
(Refer to (3) of this section.)
Setting of load-side encoder polarity (Refer to (4) of this section.)

ᯏ᪾┵ࠛࡦࠦ࡯࠳ᭂᕈߩ⸳ቯ(ᧄ㗄(4)ෳᾖ)
Positioning
MR operation check using MR Configurator2
Configurator2ߦࠃࠆ૏⟎᳿߼ㆇォߩ⏕⹺
Gain adjustment
ࠥࠗࡦ⺞ᢛ
Adjustment of dual feedback switching filter.

࠺ࡘࠕ࡞ࡈࠖ࡯࠼ࡃ࠶ࠢಾ឵߃ࡈࠖ࡞࠲ߩ⺞ᢛ
(for dual feedback control) (Refer to (5) of this section.)
(࠺ࡘࠕ࡞ࡈࠖ࡯࠼ࡃ࠶ࠢ೙ᓮᤨ)(ᧄ㗄(5)ෳᾖ)
Positioning operation check using the controller

ࠦࡦ࠻ࡠ࡯࡜ߦࠃࠆ૏⟎᳿߼ㆇォߩ⏕⹺(16.3.3㗄ෳᾖ)
(Refer to section 16.3.3.)
Home position return operation (Refer to section 16.3.2.)

ේὐᓳᏫㆇォ(16.3.2㗄ෳᾖ)
Positioning
૏⟎᳿߼ㆇォ operation
Completion of fully closed loop system startup

ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓߩ┙਄ߍቢੌ
16 - 8
(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 control/
Absolute position
fully closed loop control
[Pr. PA01] [Pr. PE01] Command unit Control System detection
selection
system
command
"_ _ 0 _" Servo motor Semi closed loop control
Semi closed encoder unit
loop system
(standard
control mode)
"_ _ 1 _ " "_ _ _ 0" Load-side encoder Dual feedback
Fully closed unit control (fully closed loop (Note)
loop system control)
(fully closed "_ _ _ 1" Off Semi closed loop control
loop control
On Dual feedback
mode)
control (fully closed loop
control)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(1) Operation mode selection

Select a operation mode.
[Pr. PA01]
[Pr.PA01]
0 0 0
Operation
ㆇォࡕ࡯࠼ㆬᛯ mode selection
⸳ቯ୯
Setting value Operation
ㆇォࡕ࡯࠼ mode Control
೙ᓮන૏ unit
Semi closed loop system
࠮ࡒࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ
0 Servo motor-side resolution unit
ࠨ࡯ࡏࡕ࡯࠲┵ಽ⸃⢻න૏
(Standard
(ᮡḰ೙ᓮࡕ࡯࠼)control mode)
Fully closed loop system
ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ Load-side encoder resolution
1 (Fully closed loop control mode) unitᯏ᪾┵ಽ⸃⢻න૏
(ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮࡕ࡯࠼)
(b) Semi closed loop control/fully closed loop control selection

Select the semi closed loop control/fully closed loop control.
[Pr. PE01]
[Pr.PE01]
0 0 0
Fully closed loop control selection
ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮㆬᛯ
0: Always
Ᏹᤨ᦭ല enabled
1: Switching
ࠦࡦ࠻ࡠ࡯࡜೙ᓮࠦࡑࡦ࠼ߦࠃࠆಾ឵߃(࠮ࡒ/ࡈ࡞ಾ឵߃)
using the control command of controller (switching between semi closed/fully closed)
Selection
ࠦࡦ࠻ࡠ࡯࡜ߩ೙ᓮusing the control
command of controller Control
೙ᓮᣇᑼ method
ࠦࡑࡦ࠼ߦࠃࠆㆬᛯ
Off
ࠝࡈ ࠮ࡒࠢࡠ࡯࠭࠼೙ᓮ
Semi closed loop control
On
ࠝࡦ Fully closed loop control
When the control mode selection in [Pr. PA01]
ߎߩ⸳ቯߪ[Pr.PA01]ߩ೙ᓮࡕ࡯࠼ㆬᛯ߇"_ is set to "_ _ 1 _" (fully
_ 1 _"(ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ
closed loop system), this setting is enabled.
࠹ࡓ)ߩߣ߈ߦ᦭ലߦߥࠅ߹ߔ‫ޕ‬
16 - 9
(3) 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. 42.1 Servo 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] ࠨ࡯ࡏࡕ࡯࠲1࿁ォ޽ߚࠅߩᯏ᪾┵ࠛࡦࠦ࡯࠳ࡄ࡞ࠬᢙ

Number of motor encoder pulses per servo motor revolution
= Number of load side encoder pulses per servo motor revolution
[Pr.PE05] × [Pr.PE35] ࠨ࡯ࡏࡕ࡯࠲1࿁ォ޽ߚࠅߩࠨ࡯ࡏࡕ࡯࠲ࠛࡦࠦ࡯࠳ࡄ࡞ࠬᢙ
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
ȝm
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

࡝࠾ࠕࠛࡦࠦ࡯࠳ࡋ࠶࠼
Geared servo motor

ᷫㅦᯏઃ߈ࠨ࡯ࡏࡕ࡯࠲ Table
࠹࡯ࡉ࡞
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
1) [Pr.PE04] × 2) [Pr.PE34] 400000 1 1) 3125 2) 1

= × = ×
3) [Pr.PE05] × 4) [Pr.PE35] 4194304 11 3) 32768 4) 11
16 - 10
(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 pulse/rev
Drive
㚟േㇱ part
Pulley
ࡊ࡯࡝ᓘ diameter
d2 = 20mm
Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Pulley
ࡊ࡯࡝ᓘ diameter
d1 = 30mm
Rotary encoder
(HG-KR߹ߚߪHG-MRࠨ࡯ࡏࡕ࡯࠲)
4194304pulses/rev
4194304 pulses/rev
When the pulley diameters or reduction ratios differ, consider that in calculation.
1) [Pr.PE04] × 2) [Pr.PE34] 4194304 × 30 1) 1 2) 3

= = ×
3) [Pr.PE05] × 4) [Pr.PE35] 4194304 × 20 3) 1 4) 2
16 - 11
(4) 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 16.3.6 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.
0Q %JGEMKVGO %QPHKTOCVKQPOGVJQFCPFFGUETKRVKQP
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.
2 Read of load-side encoder scale With the home position (reference mark, or Z-phase) of the load-side encoder in a normal
home position (reference mark, Z- condition (mounting, connection, etc.), the value of load-side encoder information 1 is
phase) cleared to 0 when the home position (reference mark, or Z-phase) is passed through by
moving the load-side encoder.
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
ᜰ઎
- Servo
Servo motor-side cumulative

ࠨ࡯ࡏࡕ࡯࠲┵Ꮻㆶࡄ࡞ࠬ⚥Ⓧ Electronic
3) gear
㔚ሶࠡࠕ Linear
࡝࠾ࠕ
(ࠡࠕᓟ) pulses (after gear)
feedback
ࠛࡦࠦ࡯࠳
encoder
Servo motor-side cumulative
1) ࠨ࡯ࡏࡕ࡯࠲┵Ꮻㆶࡄ࡞ࠬ⚥Ⓧ
feedback
(ࠡࠕ೨) pulses (before gear)
2) Load-side
ᯏ᪾┵Ꮻㆶࡄ࡞ࠬ⚥Ⓧcumulative feedback pulses
16 - 12
(5) 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
0 Semi closed loop
1 Not frequently occurs Long time
to Dual feedback to to
17999
4499 Frequently occurs Short time
18000
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
ḳࠅࡄ࡞ࠬ Droop
Command
ᜰ઎ Command
ᜰ઎
Time
ᤨ㑆 Time
ᤨ㑆
Suppression of vibration: Decrease the dual feedback filter setting.
Droop
ḳࠅࡄ࡞ࠬ pulses Droop
Command
ᜰ઎ Command
ᜰ઎
Time
ᤨ㑆 Time
ᤨ㑆
16 - 13
16.3.2 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 scale 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.
(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 reference 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.
Home position
ේὐᓳᏫᣇะ return direction
Home position
Servoࠨ࡯ࡏࡕ࡯࠲
motor speed Creep speed
ࠢ࡝࡯ࡊㅦᐲ
࿁ォㅦᐲ
0r/min
ON
㨯㨯㨯㨯㨯㨯
ේὐၮḰ૏⟎
Equivalent
ࠨ࡯ࡏࡕ࡯࠲1࿁ォ⋧ᒰto one servo motor revolution
Machine position
ᯏ᪾૏⟎
࡝࠾ࠕࠛࡦࠦ࡯࠳ේὐ Home position
ේὐ૏⟎
16 - 14
(b) About proximity dog type home position return using incremental linear encoder
1) When the linear encoder home position (reference mark) exists in the home position return
direction
When an incremental linear encoder is used, the home position is the position per servo motor
revolution to the linear encoder home position (reference mark) passed through first after a home
position return start.
In the case of a proximity dog type home position return, the nearest position after proximity dog
off is the home position.
Set one linear encoder home position in the full stroke, and set it in the position that can always
be passed through after a home position return start.
Home position
ේὐᓳᏫᣇะ return direction
Home position
motor speed Creep
࿁ォㅦᐲ
0r/min
ON
㨯㨯㨯㨯㨯㨯
ේὐၮḰ૏⟎
Equivalentࠨ࡯ࡏࡕ࡯࠲1࿁⋧ᒰ
to one servo motor revolution
Machine position
ᯏ᪾૏⟎
ේὐ૏⟎
2) When the linear encoder home position does not exist in the home position return direction
If the home position return is performed from the position where the linear encoder home position
(reference mark) does not exist, a home position return error occurs on the controller side. The
error contents differ according to the controller type. When starting a home position return at the
position where the linear encoder home position (reference mark) does not exist in the home
position return direction, move the axis up to the stroke end on the side opposite to the home
position return direction by JOG operation, etc. of the controller once, then make a home position
return.
ේὐᓳᏫᣇะ
Home positionේὐᓳᏫㅦᐲ
return speed
motor speed Creep speed
ࠢ࡝࡯ࡊㅦᐲ
࿁ォㅦᐲ
0r/min
JOG operation
JOGㆇォ
ON
Machine position
ᯏ᪾૏⟎
Stroke end
ࠬ࠻ࡠ࡯ࠢࠛࡦ࠼ Linear encoder home position
ේὐ૏⟎
Home position
ේὐᓳᏫน⢻㗔ၞreturnable area Home position non-returnable area
ේὐᓳᏫਇน⢻㗔ၞ
16 - 15
POINT
To execute a home position return securely, start a home position return after
moving the axis to the opposite stroke end by jog operation, etc. of the
controller.
A home position return cannot be made if the incremental linear encoder does
not have a linear encoder home position (reference mark). Always provide a
linear encoder home position (reference mark). (one place in the fully stroke)
(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
ᯏ᪾┵ࠛࡦࠦ࡯࠳
Z-phase
Z⋧ାภsignal OFF
Reference
ේὐၮḰ૏⟎ home position
Equivalent
ᯏ᪾┵1࿁ォ⋧ᒰ to one servo motor revolution
Machine
ᯏ᪾૏⟎ position
Servo
ࠨ࡯ࡏࠕࡦࡊamplifier Home
㔚Ḯᛩ౉૏⟎
power-on position
(b) About data setting type (Common to all load-side encoders)

In the data setting type home position return method, pass through a scale home position (reference
mark) and the Z-phase signal of the rotary encoder, and then make a home position return.
When the machine has no distance of one servo motor encoder revolution until the Z-phase of the
rotary encoder is passed through, a home position return can be made by changing the home
position setting condition selection in [Pr. PC17] if the home position is not yet passed through.
16 - 16
The fully closed loop control compatible servo amplifier can be used with any of the following controllers.
%CVGIQT[ /QFGN 4GOCTMU
Motion controller Q17nDSCPU Speed control (II) instructions (VVF and VVR) cannot
Simple motion module QD77MS_ be used.
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.
(1) Operation from controller

Positioning operation from the controller is basically performed like the semi closed loop control.

When using fully closed loop system, make the following setting.
[[Pr.PA01], [Pr.PC17], [Pr.PE01], [Pr.PE03] to [Pr.PE05], [Pr.PE34] and [Pr.PE35] are written to the
servo amplifier and then are enabled using any of the methods indicated by ż in Parameter valid
conditions. [Pr. PE06] to [Pr. PE08] are enabled at setting regardless of the valid conditions.
Parameter valid
Settings
conditions
Setting item Power Motion Simple motion
Controller
supply controller module
reset
Offĺon Q17nDSCPU QD77MS_
Command Load-side encoder resolution
resolution unit
Servo MR-J4-B fully closed loop servo amplifier setting MR-J4-B fully closed loop control
parameter Motor setting Automatic setting
Home position setting condition selection ([Pr. PC17]) Set the items as required.
Fully closed loop selection ([Pr. PA01] and [Pr. PE01])
Fully closed loop selection 2 ([Pr. PE03])
Fully closed loop control error detection speed deviation Valid at setting
error detection level regardless of the valid
([Pr. PE06]) conditions
⸳ቯᤨߦ᦭ല
Fully closed loop control error detection position
deviation error detection level
([Pr. PE07])
Fully closed loop electronic gear numerator ([Pr. PE04]
and [Pr. PE34])
Fully closed loop electronic gear denominator ([Pr. PE05]
and [Pr. PE35])
Fully closed loop dual feedback filter ([Pr. PE08]) Valid at setting
regardless of the valid
conditions
⸳ቯᤨߦ᦭ല
Positioning Unit setting mm/inch/degree/pulse
control Number of pulses per revolution (AP) For the setting methods, refer to (2) (a), (b) in this section.
parameter Travel distance per revolution (AL)
೙ᓮ↪
ࡄ࡜ࡔ࡯࠲
16 - 17
(a) When using a linear encoder (unit setting: mm)

Load-side
ᯏ᪾┵ಽ⸃⢻න૏ encoder resolution unit
User
ࠦࡦ࠻ࡠ࡯࡜ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Command
ᜰ઎ AP +
[mm] AL - Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Linear encoder
Position
૏⟎ࡈࠖ࡯࠼ࡃ࠶ࠢfeedback AL
[mm] AP
Electronic
㔚ሶࠡࠕ
gear
Speed feedback
ㅦᐲࡈࠖ࡯࠼ࡃ࠶ࠢ Differen
[r/min] ᓸಽ
-tiation
Load-side encoder resolution unit

ᯏ᪾┵ಽ⸃⢻න૏ Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ㅦᐲ
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw
revolution in the following conditions.
Ball screw lead: 20 mm

Linear encoder resolution: 0.05 μm
Number of linear encoder pulses (AP) per ball screw revolution

= Ball screw lead/linear encoder resolution= 20 mm/0.05 μm = 400000 pulses
Number of pulses per revolution[pulse](AP)

1࿁ォ޽ߚࠅߩࡄ࡞ࠬᢙ [pulse] (AP) 400000pulses 400000
= =
1࿁ォ޽ߚࠅߩ⒖േ㊂
Travel distance per revolution[μm](AL)
[ȝm] (AL) 20mm 20000
(b) When using a rotary encoder (unit setting: deg)

Load-side
ᯏ᪾┵ಽ⸃⢻න૏ encoder resolution unit
User
ࠦࡦ࠻ࡠ࡯࡜ Servo
Command
ᜰ઎ AP +
[deg] AL -
Position
૏⟎ࡈࠖ࡯࠼ࡃ࠶ࠢfeedback AL
[deg] AP
Electronic
㔚ሶࠡࠕ
gear Servo motor
ࠨ࡯ࡏࡕ࡯࠲
Speed feedback
ㅦᐲࡈࠖ࡯࠼ࡃ࠶ࠢ Differen Rotary encoder
[r/min] ᓸಽ (HG-KR߹ߚߪHG-MRࠨ࡯ࡏࡕ࡯࠲)
-tiation
Load-side encoder resolution unit
ᯏ᪾┵ಽ⸃⢻න૏ Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ㅦᐲ 4194304pulses/rev
4194304 pulses/rev
Calculate the number of pulses (AP) and travel distance (AL) of the rotary encoder per servo motor
revolution in the following conditions.
Resolution of rotary encoder = Load-side resolution: 4194304 pulses/rev
1࿁ォ޽ߚࠅߩࡄ࡞ࠬᢙ
Number [pulse](AP)
of pulses per revolution [pulse] (AP) 4194304pulses 524288
= =
1࿁ォ޽ߚࠅߩ⒖േ㊂
Travel distance per revolution [deg] (AL)
[deg](AL) 360deg 45
16 - 18
16.3.4 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]
[Pr.PE03]
0 0 0
Fully closed loop control error detection function selection
ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ⇣Ᏹᬌ⍮ᯏ⢻
Disabled
0: ήല
Speed deviation error detection
1: ㅦᐲ஍Ꮕ⇣Ᏹᬌ⍮
Position deviation error detection
2: ૏⟎஍Ꮕ⇣Ᏹᬌ⍮
3: Speed deviation error, position deviation error detection (initial value)
ㅦᐲ஍Ꮕ⇣Ᏹ㧘૏⟎஍Ꮕ⇣Ᏹᬌ⍮(ೋᦼ୯)
(2) Fully closed loop control error detection functions

Servo motor
ࠨ࡯ࡏࡕ࡯࠲
1) Servo motor-side feedback speed [r/min]
ࠨ࡯ࡏࡕ࡯࠲┵ࡈࠖ࡯࠼ࡃ࠶ࠢㅦᐲ[r/min]
2) Servo motor-side feedback position [pulse]
ࠨ࡯ࡏࡕ࡯࠲┵ࡈࠖ࡯࠼ࡃ࠶ࠢ૏⟎[pulse]
(load side equivalent value)
(ᯏ᪾┵ߦ឵▚ߒߚ୯)
Load-side feedback speed [r/min]

3) ᯏ᪾┵ࡈࠖ࡯࠼ࡃ࠶ࠢㅦᐲ=r/min]
Load-side feedback position [pulse]
4) ᯏ᪾┵ࡈࠖ࡯࠼ࡃ࠶ࠢ૏⟎=pulse]
Linear encoder
(a) Speed deviation error detection

Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
[Pr.PE03]
[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 initial value of [Pr. PE06] is 400 r/min. Change the
set value as required.
16 - 19
(b) Position deviation error detection

Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.
[Pr. PE03]
[Pr.PE03]
2
Position
૏⟎஍Ꮕ⇣Ᏹᬌ⍮ 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 42.1 Servo control
error by position deviation] and stops. The initial value of [Pr. PE07] is 100 kpulses. Change the set
value as required.
(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]
[Pr. PE03]
⸳ቯ୯ Speed
Setting value ૏⟎஍Ꮕ⇣Ᏹᬌ⍮
deviation error detection Position deviation error detection
1
2
3
(3) Test operation mode

Test operation mode is enabled by MR Configurator2.
For details on the test operation mode, refer to section 4.5.
(WPEVKQP +VGO 7UCDKNKV[ 4GOCTMU
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.
operation Program operation
For details, refer to section 4.5.1 (1) (c).
mode Output signal (DO)
Refer to section 4.5.1 (1) (b).
forced output
Motor-less operation Refer to section 4.5.2.
16 - 20
16.3.5 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

'PEQFGTV[RG #DUQNWVGRQUKVKQPFGVGEVKQPGPCDNGFTCPIG
Linear encoder Movable distance range of scale (within 32-bit absolute position data)
(Serial Interface)
(3) Alarm detection

The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.
16 - 21
16.3.6 About MR Configurator 2
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.
k) f) m)
k) f) m)
c)
c)
g)
g)
i) i)
h)
j) h)
j)
l)l) a) a)b) b) d) d)e) e)
Symb
0COG 'ZRNCPCVKQP 7PKV
ol
a) Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (load-side pulse
pulses (after gear) encoder unit)
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 Cumu. Com. pulses Position command input pulses are counted and displayed. pulse
The "-" symbol is indicated for reverse command.
d) Load side cumu. feedback Feedback pulses from the load-side encoder are counted and displayed. pulse
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.
16 - 22
Symb
0COG 'ZRNCPCVKQP 7PKV
ol
f) Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (Servo pulse
pulses (before gear) motor encoder unit)
When the set value exceeds 999999999, it starts with 0.
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 "Invalid", the Z-phase pass status of the servo motor
encoder is displayed. If the fully closed loop system is "Valid" 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 bit and the
inside state during selection are displayed.
k) Parameter (Feedback pulse The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35])
electronic gear) are displayed/set for servo motor encoder pulses in this parameter. (Refer to section
16.3.1 (3).)
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 loop The parameter for the fully closed loop control is displayed or set.
selection) Click "Parameter setting" button to display the "Fully closed loop control - Basic setting"
window.
1) 2)
1) 2)
3)
3)
1) Fully closed loop selection ([Pr. PE01])

"Always valid" or "6ZLWFKLQJZLWKWKHFRQWUROFRPPDQGRIFRQWUROOHU" is selected here.
2) Fully closed loop feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34],
[Pr. PE35])
Setting of feedback pulse electronic gear
3) Selection of encoder pulse count polarity ([Pr. PC27])

Polarity of the load-side encoder information is selected.
16 - 23
MEMO
16 - 24
APPENDIX
App. 1 Auxiliary equipment manufacturer (for reference)
Names given in the table are as of January 2012.

Manufacturer Reference
JST J.S.T. Mfg. Co., Ltd.
Junkosha Purchase from Toa Electric Industry Co. Ltd.,
Nagoya Branch
3M 3M
Soshin Electric Soshin Electric Co., Ltd.
TE Connectivity TE Connectivity
Molex Molex
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)
Model Option model
ER6 MR-J3BAT
ER17330 MR-BAT, A6BAT
(b) Battery unit (assembled)

Model Option model
ER17330 MR-J2M-BT
MR-BAT6V1
CR17335A
MR-BAT6V1SET
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations

The following points are changed for lithium metal batteries transportation by sea or air due to
Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal
batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are
classified as UN3091.
(a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no
longer exempt from the following: attachment of a handling label, submission of the Shipper's
Declaration for Dangerous Goods, and a 1.2 m drop test.
(b) A battery handling label (size: 120 mm × 110 mm) is required. Emergency telephone number must
be filled out in the additional handling information of the Shipper's Declaration for Dangerous Goods.
App. - 1
APPENDIX
(c) New handling label design containing battery illustration must be used. (only air transportation)
Figure. Example of Mitsubishi Label with Battery Illustration
(4) Action taken by Mitsubishi

The following caution will be 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 (figure) and the Shipper's Declaration for
Dangerous Goods are required to the package of a Mitsubishi cell or battery. In addition, attaching them
to the outer package containing several packages of Mitsubishi cells or batteries are also required.
Please attach the documentations in the specified design to the packages and the outer packages.
App. - 2
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 centre.
Please, help us to conserve the environment we live in!
App. 4 Compliance with the CE marking
This servo amplifier is designed to comply with EN61800-3 and EN61800-5-1 standard.
App. 4.1 What is CE marking?
The CE marking is mandatory and must be affixed to specific products placed on the European Union. When
a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking
also applies to machines and equipment incorporating servos.
(1) EMC directive

The EMC directive applies to the servo units alone. This servo is designed to comply with the EMC
directive. The EMC directive also applies to machines and equipment incorporating servos. This requires
the EMC filters to be used with machines and equipment incorporating servos to comply with the EMC
directive.
(2) Low voltage directive

The low voltage directive also applies to servo units alone. This servo is designed to comply with the low
voltage directive.
App. - 3
APPENDIX
(3) Machinery directive

The MR-J4 series servo amplifiers comply with the safety component laid down in the Machinery
directive.
Do not allow using the machine until the machine in which this servo amplifier is mounted is declared to
comply with the machinery directive.
4.2 For compliance
Be sure to perform an appearance inspection of every unit before installation. In addition, have a final
performance inspection on the entire machine/system, and keep the inspection record.
(1) Servo amplifiers and servo motors used

Use servo amplifiers and servo motors which standard product.
Servo amplifier : MR-J4-10B, MR-J4-20B, MR-J4-40B, MR-J4-60B, MR-J4-70B, MR-J4-100B,
MR-J4-200B, MR-J4-350B, MR-J4-500B, MR-J4-700B
Servo motor : HG-MR_, HG-KR_, HG-SR_
(2) Structure
To comply with the CE marking, configure each equipment as follows.
Cabinet
೙ᓮ⋚
Reinforced
insulating
ᒝൻ⛘✼ဳ type
24 V DC
DC24V
power
㔚Ḯ
supply
Molded
ࡁ࡯ࡅࡘ࡯࠭ case Magnetic
circuit
ㆤᢿེ breaker 㔚⏛ធ⸅ེ
contactor Servo motor
ࠨ࡯ࡏࡕ࡯࠲
Servo
ࠨ࡯ࡏ
MCCB MC amplifier
ࠕࡦࡊ M
(3) Environment
(a) Operate the servo amplifier at pollution degree 2 or 1 set forth in EN 61800-5-1. For this purpose,
install the servo amplifier in a cabinet which is protected against water, oil, carbon, dust, dirt, etc.
(IP54).
(b) Use the equipment under the following environment.

Item Environment
(Note 2) 0 ÛC to 55 ÛC
(Note 1) Ambient Operation
(non-freezing)
temperature
Storage/transportation -20 ÛC to 65 ÛC (non-freezing)
Ambient humidity Operation/storage/transportation 90% RH or less (non-condensing)
Operation/storage 1000 m or shorter
Altitude
Transportation 10000 m or shorter
Note 1. Ambient temperature is the internal temperature of the cabinet.

2. The servo amplifier of under 3.5 kW for 200 V class can be mounted closely. In this
case, keep the ambient temperature within 0 ÛC to 45 ÛC or use the servo amplifier
with 75% or less of the effective load ratio.
App. - 4
APPENDIX
(4) Power supply

(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of
overvoltage category III set forth in EN 61800-5-1. However, when you use the neutral point of 400 V
system for single phase supply, a reinforced insulating transformer is required in the power input
section.
(b) The control circuit provides safe separation to the main circuit in the servo amplifier. For the interface
power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals.
(5) Grounding
(a) 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.
(b) Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect
cables to the terminals one-to-one.
PE terminal
PE┵ሶ
PE terminal
PE┵ሶ
(c) If using a leakage circuit breaker, always ground the protective earth (PE) terminal of the servo
amplifier to prevent an electric shock.
(6) Wiring
(a) The wires to be connected to the terminal block of the servo amplifier must have crimp terminals
provided with insulating tubes to prevent contact with adjacent terminals.
Insulating
⛘✼࠴ࡘ࡯ࡉ tube
Wire
㔚✢
Crimp ࿶⌕┵ሶ
terminal
(b) Use the servo motor-side power connector which complies with EN. The EN compliant power
connector sets are available from us as options.
(c) The servo amplifier must be installed in the metal cabinet.
(7) Peripheral devices/options

(a) Use the molded case circuit breaker and magnetic contactor models which are EN-compliant
products given in the MR-J4 Series Servo Amplifier Instruction Manual. Use a leakage current
device (RCD) of type B as necessary. When it is not used, provide insulation between the servo
amplifier and other device by double insulation or reinforced insulation, or install a transformer
between the main power supply and the servo amplifier.
Refer to App. 5 (8) for molded case circuit breakers and fuses.
(b) The sizes of the wires given in the MR-J4 Series Servo Amplifier Instruction Manual meet the
following conditions. For use in any other conditions, follow table 6 and Annex D of EN 60204-1.
Ambient temperature: 40 ÛC
Insulator: PVC (polyvinyl chloride)
Route the wires on wall surface or open cable tray.
(c) Use shielded wires for I/O power wires.
(d) Use EMC filters of HF3000A-UN series manufactured by Soshin Electric.
App. - 5
APPENDIX
(e) Use the surge protector of RSPD-250-U4 manufactured by Okaya Electric Industries.
(8) Performing EMC tests

When EMC tests are run on a machine and device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied
the operating environment/electrical equipment specifications.
For EMC directive conforming methods about servo amplifiers, refer to the EMC Installation Guidelines
(IB(NA)67310).
(9) Short Circuit Current Rating (SCCR)

We confirmed in the short-circuit test that this servo amplifier is suitable for use in a circuit rated at 100
kA RMS or less, and maximum voltage 500 V.

Refer to App. 5 (9) for configuration diagram.
App. 5 Compliance with UL/CSA standard
This servo amplifier is designed to comply with UL 508C and CSA C22.2 No.14 standard.
For the situation of safety certification, contact your local sales office.
(1) Servo amplifiers and servo motors used

Use servo amplifiers and servo motors which standard product.
Servo motor
Servo amplifier
HG-MR HG-KR HG-SR
MR-J4-10B 053/13 053/13
MR-J4-20B 23 23
MR-J4-40B 43 43
MR-J4-60B 51/52
MR-J4-70B 73 73
MR-J4-100B 81/102
MR-J4-200B 121/152/201/202
MR-J4-350B 301/352
MR-J4-500B 421/502
MR-J4-700B 702
App. - 6
APPENDIX
(2) Installation
The MR-J4 series have been approved as the products which have been installed in a cabinet. The
minimum cabinet size is based on 150% of each MR-J4 combination. And also, design the cabinet so
that the ambient temperature in the cabinet is 55 ÛC or less.
The servo amplifier must be installed in the metal cabinet.
To ensure safety, do not touch the charging section for 15 minutes after power-off.
Item Environment
(Note 2) 0 ÛC to 55 ÛC
(Note 1) Ambient Operation
(non-freezing)
temperature
Storage/transportation -20 ÛC to 65 ÛC (non-freezing)
Ambient humidity Operation/storage/transportation 90% RH or less (non-condensing)
Operation/storage 1000 m or shorter
Altitude
Transportation 10000 m or shorter
Note 1. Ambient temperature is the internal temperature of the cabinet.

2. The servo amplifier of under 3.5 kW for 200 V class can be mounted closely. In this
case, keep the ambient temperature within 0 ÛC to 45 ÛC or use the servo amplifier
with 75% or less of the effective load ratio.
(3) Short Circuit Current Rating (SCCR)

We confirmed in the short-circuit test that this servo amplifier is suitable for use in a circuit rated at 100
kA RMS or less, and maximum voltage 500 V.
(4) Overload protection characteristics

Servo amplifier MR-J4 series has solid-state servo motor overload protection. (It is set on the basis (full
load current) of 120% rated current of the servo amplifier.)
(5) Selection example of wires

To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 ÛC for wiring.
The following table shows the wire sizes [AWG] and the crimp terminal symbols rated at 75 Û C. C.
(Note 2) Wires [AWG]
Servo amplifier
L1/L2/L3/ L11/L21 P+/C/D U/V/W
MR-J4-10B/MR-J4-20B
MR-J4-40B/MR-J4-60B 14
MR-J4-70B/MR-J4-100B 14 14
MR-J4-200B 12 (Note 3)
MR-J4-350B 10
(Note 1) MR-J4-500B 8: a 14: c
14: c
(Note 1) MR-J4-700B 8: b 12: a
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 the following table for the crimp terminals and crimping tools.
3. The wire size depends on the servo motor characteristics.
App. - 7
APPENDIX
Table: Recommended crimp terminals

Symbol (Note 2) Crimp Manufacturer
Applicable tool
terminals
a FVD5.5-4 YNT-1210S
(Note 1) 8-4NS YHT-8S JST
b
c FVD2-4 YNT-1614
Note 1. Coat the crimping part with an insulation tube.

2. Always use recommended crimp terminals or equivalent since some crimp
terminals cannot be installed depending on the size.
(6) Tightening torque of each terminal

Tightening torque [N•m]
Servo amplifier
L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE
MR-J4-10B/MR-J4-20B
MR-J4-40B/MR-J4-60B
MR-J4-70B/MR-J4-100B 1.2
MR-J4-200B/
MR-J4-350B
MR-J4-500B 1.2 0.8 1.2

MR-J4-700B 1.2 0.8 1.2
(7) About wiring protection

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

Use the UL/CSA standard-compliant products.
Use the molded case circuit breaker (UL489 Listed MCCB) or a Class T fuse indicated in the table
below.
Molded case circuit breaker Fuse
Servo amplifier
Current Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10B
MR-J4-20B
50 A frame 5 A
MR-J4-40B 10
MR-J4-60B
MR-J4-70B
50 A frame 10 A 240 300
MR-J4-100B 15
MR-J4-200B 50 A frame 20 A 40
MR-J4-350B 50 A frame 30 A 60
MR-J4-500B 50 A frame 40 A 80
MR-J4-700B 50 A frame 50 A 100
App. - 8
APPENDIX

Representative configuration diagram example to conform to the UL/CSA standard is shown below. The
grounding wiring is excluded from the figure configuration.
Malfunction
᡿㓚 OFF
ࠝࡈ ON
RA1
RA1 ࠝࡦ M
C
MC
EMG
㕖Ᏹ஗ᱛ stop SK
switch
ࠬࠗ࠶࠴
MCCB
MCCB
or
߹ߚߪ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
fuse
ࡅࡘ࡯࠭ MC
3-phase
㔚Ḯ L1
200 V AC to
ਃ⋧AC200V L2
㨪240V
240 V AC L3
L11 CN1A
L21 Controller
ࠦࡦ࠻ࡠ࡯࡜
MCCB
MCCB CN2
or
߹ߚߪ Encoder cable
ࡅࡘ࡯࠭
fuse U࡮V࡮W
Cabinet
೙ᓮ⋚஥ side
Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Machine
ᯏ᪾஥side
Encoder
ࠛࡦࠦ࡯࠳
(10) Power supply

The control circuit provides safe separation to the main circuit in the servo amplifier.
Connector/terminal
Main circuit CNP1/CNP2/CNP3/TE1/TE2/TE3/TE4
Control circuit CN1A/CN1B/CN2/CN3/CN4/CN5/CN8
(11) UL/CSA standard certification mark on products

The following mark shows UL/CSA standard certification of MR-J4 multi-axis servo amplifiers.
Mark Certification Body Remarks
TUV Rheinland of North America Inc. NRTL listing mark (UL 508C)
Independent public testing institution in North America
National recognized testing laboratory (NRTL)
App. 6 Compliance with KC mark
For the situation of compliance, contact your local sales office.
When you use the products in South Korea, note the following.
決匶匶垚櫋怺殯 (A 匏) 洊沖砒洇穯匶匶嵢昢砖廪沖嬖垚斲殯沖垚決洖汊渂汞穞柢匶愚岂彶, 儆洛歾汞

滆櫳櫖昢斲殯穞垚冉汊徯洇求嵢穯城埪 .
(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.)
App. - 9
APPENDIX
App. 7 MR-J3-D05 Safety logic unit
App. 7.1 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 Installation Guide 1
App. 7.2 Terms related to safety
App. 7.2.1 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 safety 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 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 safety logic unit.
The purpose of this safety function is as follows. This function is available by using a MR-J4 series servo
amplifier with MR-J3-D05.
Controlled stop according to stop category 1 of IEC/EN 60204-1
App. 7.2.2 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. - 10
APPENDIX
App. 7.3 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/EN 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. 7.4 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 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/EN 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 safety logic unit, confirm that the new equipment is
exactly the same as those being replaced. Once installed, be sure to verify the performance of the safety
functions before commissioning the system.
App. - 11
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. For a linear servo motor, the primary side will
move a distance of pole pitch.
App. 7.5 Block diagram and timing chart
(1) Function block diagram

A-axis circuit
Aゲ࿁〝
+24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+
Safety logic
቟ోࡠࠫ࠶ࠢ
TIMER1
DCDC
DCDC㔚Ḯ
power
B-axis
Bゲ࿁〝 circuit
TIMER2
0V SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-

SW1 SW2
(2) Operation sequence
Power
㔚Ḯ supply
15 ms or longer
15msએ਄
A-axis
Aゲㆤᢿ1 shutdown 2
1 and 2ㅢ㔚(㐽)
Energizing (close)
SDI
B-axis
Bゲㆤᢿ1 shutdown 2
1 and 2ㆤᢿ(㐿)
Shut-off (open)
50 ms or longer
50msએ਄
A-axis
Aゲㆤᢿ⸃㒰EMG start/reset Release
⸃㒰(㐽) (close)
SRES
B-axis
Bゲㆤᢿ⸃㒰 EMG start/reset Normal
ㅢᏱ(㐿) (open)
10 ms or shorter
10msએਅ Shut off delay (SW1
ㆤᢿㆃᑧ(SW1 and SW2) (Note)
SW2)(ᵈ)
AゲSTO1
A-axis STO state21 and 2ㅢᏱ(㐽)
Normal (close)
STO
BゲSTO1
B-axis STO state21 and 2ㆤᢿ(㐿)
Shut-off (open)
STO status
STO⁁ᘒ Control
೙ᓮน⢻⁁ᘒ enabled STO status
STO⁁ᘒ
Control
೙ᓮน⢻⁁ᘒ enabled
Note. Refer to App. 7.10.
App. - 12
APPENDIX
App. 7.6 Maintenance and disposal
MR-J3-D05 safety logic unit is equipped with LED displays to check errors for maintenance.
Please dispose this unit according to your local laws and regulations.
App. 7.7 Functions and configuration
App. 7.7.1 Introduction
The safety logic unit MR-J3-D05 has two systems in which the each system has SS1 function (delay time)
and output of STO function.
App. - 13
APPENDIX
App. 7.7.2 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
2 systems (A-axis, B-axis independent)
system
Shut-off input 4 points (2 point × 2 systems) SDI_: (source/sink compatible) (Note 3)
Shut-off
2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)
release input
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 kȍ
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 method
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)
Safety function
EMG STOP㧘EMG OFF IEC/EN 60204-1)
Standards certified EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2,
by CB EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
Response
performance
10 ms or less (STO input off ĺ shut-off output off)
(when delay time
is set to 0s)
Test pulse input Test pulse interval: 1 Hz to 25 Hz
(STO) (Note 4) Test pulse off time: Up to 1 ms
Safety
performance Mean time to
dangerous failure 516 years
(MTTFd)
Diagnosis
93.1%
converge (DC avg)
Average
probability of -9
4.75 × 10 [1/h]
dangerous failures
per hour (PFH)
LVD: EN 61800-5-1
Compliance to
CE marking EMC: EN 61800-3
standards
MD: EN ISO 13849-1㧘EN 61800-5-2㧘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 90% RH or less (non-condensing), storage: 90% RH or less (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
2
Vibration 5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)
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
2.2. appropriate capacity of power supply considering the inrush current.
3.3. Power-on duration of the safety logic unit is 100,000 times.
4.4. _: in signal name indicates a number or axis name.
This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to
the servo amplifier at a constant period while input signals of the servo amplifier are on.
App. - 14
APPENDIX
App. 7.7.3 When using MR-J3-D05 with a MR-J4 series servo amplifier
(1) System configuration diagram
POINT
The STO cable (MR-D05UDL-M) for MR-J3 series is not available.
MR-J3-D05
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Power Magnetic
supply
㔚Ḯ contactor
㔚⏛ធ⸅ེ
L1
L2
L3
CN8
MCCB
STO switch
STOࠬࠗ࠶࠴ CN9
MR-D05UDL3M-B
cable
ࠤ࡯ࡉ࡞
U STO release switch

STO⸃㒰ࠬࠗ࠶࠴
V
W
CN10
FG
Servo motor
ࠨ࡯ࡏࡕ࡯࠲
App. - 15
APPENDIX

DC24V
MR-J3-D05
CN9
(ᵈ) (ᵈ)
SDI1A+ 1A
SW1 SW2
SDI1A- 1B
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN8 SDO1A+ 4A
4 STO1 SDO1A- 4B
5 STO2 CN10
SDI2A+ 3A
3 STOCOM
STOA
SDI2A- 3B
6 TOFB1
SRESA+ 1A
RESA
7 TOFB2 SRESA- 1B
SDO2A+ 6A
8 TOFCOM
SDO2A- 6B
CN3 TOFA 8A
EM2 (A-axis)
EM2(Aゲ)
CN9
SDI1B+ 2A
SDI1B- 2B
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN8 SDO1B+ 3A
4 STO1 SDO1B- 3B
5 STO2 CN10
SDI2B+ 4A
3 STOCOM
STOB
SDI2B- 4B
6 TOFB1
SRESB+ 2A
RESB FG
7 TOFB2 SRESB- 2B
SDO2B+ 5A
8 TOFCOM
SDO2B- 5B
CN3 TOFB 8B
EM2 (B-axis)
EM2(Bゲ)
+24V 7A
0V 7B
Note. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
App. - 16
APPENDIX
(3) Description of signal and function

The following table lists which operation, the forced stop deceleration or the dynamic brake, will function
for each signal input or power-off.
Forced stop
Input signal to deceleration
MR-J4 series Signal logic Definition : operates Remarks
servo amplifier : does not
operate
Normally closed Decelerating to stop
EM2
contact opens signal
Normally closed
STO1 STO1 shut-off signal -
contact opens
Normally closed
STO2 STO2 shut-off signal -
contact opens
Normally closed
LSP Stroke end +
contact opens Unlike the decelerating to stop signal, RES and SON
Normally closed are prioritized.
LSN Stroke end -
contact opens
Normally open
Reset command Alarm reset -
contact closes
Servo-on Normally open
Servo-off -
command contact opens
Servo amplifier
Control circuit Decelerating to stop starts with dynamic brake after
power supply control circuit power supply shut-off is detected.
shut-off
Servo amplifier
Deceleration to stop starts at the detection voltage of
Main circuit
[AL. 10 Undervoltage], and the dynamic brake starts at
power supply
80% of the detection voltage.
shut-off
(4) Basic operation example

The following shows when you use MR-J3-D05 with a MR-J4 series servo amplifier.
The switching of STOA is output to CN8A and usually is input to the MR-J4 series servo amplifier.
The switching of STOB is output to CN8B and usually is input to the MR-J4 series servo amplifier.
A-axis shutdown
Aゲㆤᢿ11 and
2 2 Energizing
ㅢ㔚(㐽) (close)
B-axis shutdown
Bゲㆤᢿ11 and
2 2 Shut-off
ㆤᢿ(㐿)(open)
Stop
஗ᱛ
EM2 input
EM2౉ജ Shut
ㆤᢿㆃᑧoff delay
Operation
ㆇォ
Energizing
ㅢᏱ(㐽) (close)
STO1㧘STO2 STO shut-off
STOㆤᢿਛ
Shut-off
ㆤᢿ(㐿) (open)
MR-J4 series
MR-J4䉲䊥䊷䉵
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ㅦᐲ
0 r/min
Servo motor drivable
ࠨ࡯ࡏࡕ࡯࠲㚟േน⢻ STO status
STO⁁ᘒ
App. - 17
APPENDIX
App. 7.8 Signal
App. 7.8.1 Connector/pin assignment
(1) CN8A
Pin (Note)
Device Symbol Function/application
No. I/O
A-axis STO1 STO1A- 4 Outputs STO1 to A-axis driving device. O
STO1A+ 1 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.
Note. Exclusive interface for MR-J4 series servo amplifiers.
(2) CN8B
Pin (Note)
No. I/O
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.
Note. Exclusive interface for MR-J4 series servo amplifiers.
(3) CN9
Pin I/O
No. 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. - 18
APPENDIX
(4) CN10
Pin I/O
No. 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. 7.8.2 Interfaces
(1) Sink I/O interface (CN9, CN10 connector)

(a) Digital input interface DI-1
Turn on/off the input signal with a relay or open-collector transistor.
For transistor MR-J3-D05
࠻࡜ࡦࠫࠬ࠲ߩ႐ว
SRESA-,
SRESA-
Approximately
⚂5mA5 mA etc.
ߥߤ
About 5.4 kȍ
⚂5.4k˖
Switch
ࠬࠗ࠶࠴
SRESA+,
SRESA+
TR
etc.
ߥߤ
VVCES ≦ 1.0 V
CES ҇ 1.0V 24DC24V
V DC ±± 10%
10%
ICEO
ICEO≦҇ 100 ȝA
100μA 200 mA
200mA
App. - 19
APPENDIX
(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. (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
࠳ࠗࠝ࡯࠼ߩᭂᕈࠍ
reversed, MR-J3-D05
㑆㆑߃ࠆߣMR-J3-D05
SDO2B+,
SDO2B+ Load
⽶⩄ will malfunction.
߇᡿㓚ߒ߹ߔ‫ޕ‬
etc.
ߥߤ
SDO2B-,
SDO2B-
etc.
ߥߤ
(Note) 24 V DC 10%
(ᵈ)DC24V ± 10%
200mA
　　　200 mA
(2) Source I/O interfaces (CN9, CN10 connector)

In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and
DO-1 output signals are of source type. Perform wiring according to the following interfaces.
(a) Digital input interface DI-1

MR-J3-D05
SRESA-
SRESA-,
etc.
ߥߤ
About 5.4 kȍ
⚂5.4k˖
Switch
ࠬࠗ࠶࠴
SRESA+,
SRESA+
ߥߤ
etc.
Approximately
⚂5mA 5 mA 24DC24V
V DC ±±10%
10%
VCES
VCES≦҇1.0 V
1.0V 200mA
200 mA
ICEO≦҇100
ICEO ȝA
100μA
(b) Digital output interface DO-1

A maximum of 2.6 V voltage drop occurs in the servo amplifier.
MR-J3-D05
࠳ࠗࠝ࡯࠼ߩᭂᕈࠍ
reversed, MR-J3-D05
㑆㆑߃ࠆߣMR-J3-D05
SDO2B+,
SDO2B+ Load
⽶⩄ will malfunction.
߇᡿㓚ߒ߹ߔ‫ޕ‬
ߥߤ
etc.
SDO2B-
SDO2B-,
ߥߤ
etc.
(Note) 24 V ±DC
(ᵈ)DC24V ± 10%
10%
200mAmA
　　　200
App. - 20
APPENDIX
App. 7.8.3 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, feazed 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]
Mass : Approx. 20 g
App. - 21
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 feazed.
It is easy to insert the wire if the wire is inserted diagonally while twisting
the tool.
e) Remove the tool.
App. - 22
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, Blade thickness: 0.25 mm Width: 2.5 mm, Blade thickness: 0.3 mm
Angle in tip of the blade: 18 ± 1 degrees Angle in tip of the blade: 12 ± 1 degrees
ĳ2.5 mm ± 0.05
2.5mm mm
0.05mm
ĳ2.3 mm ± 0.05
2.3mm mm
0.05mm 12Û ± 1Û
12
18Û± 11Û
18
0.25 mm
0.25mm
2.3 mm
2.3mm 0.3 mm
0.3mm
2.5 mm
2.5mm
Screwdriver diameter: ĳ 2.3 mm Screwdriver diameter: ĳ 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

࠷࡯࡞ᝌ౉ࠬࡠ࠶࠻
Screw
࠼࡜ࠗࡃ driver
App. - 23
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
2
mm AWG
0.22 24
0.34 22
0.50 20
(5) Others
(a) Fix a wire tie at least distance of "A" × 1.5 away from the end of the connector.
(b) Be sure that wires are not pulled excessively when the connector is inserted.
App. 7.8.4 Wiring FG
Wire range
Single wire: ĳ 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 wire ĳ 0.18 mm or more
face
ᐩ㕙
Lead
࡝࡯࠼✢ wire
App. - 24
APPENDIX
App. 7.9 LED display
I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.
LED
LED Definition Column Column
A B
Monitor LED for start/reset
Off: The start/reset is off. (The switch contact is
SRES opened.)
On: The start/reset is on. (The switch contact is
closed.)
Monitor LED for shut-off 1
Off: The shut-off 1 is off. (The switch contact is
SDI1 closed.)
On: The shut-off 1 is on. (The switch contact is
opened.)
Monitor LED for shut-off 2
Off: The shut-off 2 is off. (The switch contact is
SDI2 closed.)
On: The shut-off 2 is on. (The switch contact is
opened.)
Monitor LED for STO state A-axis B-axis
TOF Off: Not in STO state
On: In STO state
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
POWER Off: Power is not supplied to MR-J3-D05.
On: Power is being supplied to MR-J3-D05.
App. 7.10 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 STO shut off switch is pressed. Set same setting for SW1 and SW2,
and set the rotary switch setting according to the delay time in the table below.
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/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. - 25
APPENDIX
App. 7.11 Troubleshooting
When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate
action.
Event Definition 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. 7.12 Dimensions
[Unit: mm]
22.5
19.5
(80) 86 (22.5)
ĳ5 mounting
5ขઃߌⓣ hole 9.75
Rating
ቯᩰฬ᧼ plate 80 6 9.75
2-M4 screw
2-M4ߨߓ
Mounting hole process drawing

ขઃߌⓣടᎿ࿑
FG
Mounting screw
Screw size: M4
Tightening torque: 1.2 N•m
Mass: 0.2 [kg]
App. - 26
APPENDIX
App. 7.13 Installation
Follow the instructions in this chapter and install MR-J3-D05 in the specified direction. Leave clearances
between MR-J3-D05 and other equipment including the cabinet.
Cabinet
೙ᓮ⋚ Cabinet
೙ᓮ⋚ Cabinet
೙ᓮ⋚
40mm
40 mm Top
100 mm or longer
100mmએ਄ ᄤ
એ਄
or longer 80 mm or longer for
㈩✢૛⵨
10mmએ਄
10 mm or longer
wiring
80mmએ਄
10 mm10mmએ਄
or longer 10 mm or
10mmએ਄ 30 mm or
30mmએ਄
longer
MR-J3-D05
longer
MR-J3-D05
30 mm or
30mmએ਄ Other
ઁߩᯏེ MR-J3-D05
longer device
40
40mmmm
or longer 40 mm or longer
40mmએ਄ Bottom
࿾
એ਄
App. 7.14 Combinations of cable/connector
POINT
The STO cable (MR-D05UDL-M) for MR-J3 series is not available.
MR-J3-D05 Servo
2) CN8
1)
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN9
CN10
MR-J3-D05
MR-J3-D05ઃዻ 2) CN8
attachment
ࠦࡀࠢ࠲
connector
App. - 27
APPENDIX
No. Product 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- Connector set: 2069250-1
D05UDL3M-B (TE Connectivity)
Cable length:
0.3/1/3 m
COMPLIANCE WITH THE MACHINERY DIRECTIVES
The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery).
App. - 28
APPENDIX
App. 8 EC declaration of conformity
The MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive.
App. - 29
APPENDIX
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
replacement to the servo amplifier after the replacement. If the information before
CAUTION and after replacement are not the same, 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-B" 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 the "Magnetic pole information" button ( 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-B" 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 the "Magnetic pole information" button ( 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.
App. - 30
APPENDIX
2) 3) 4) 1)
App. 10 Two-wire type encoder cable for HG-MR/HG-KR
Use a two-wire type encoder cable for the fully closed loop control (available in the future).
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. 10.1Configuration diagram

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Servo motor
ࠨ࡯ࡏࡕ࡯࠲
CN2 MOTOR HG-KR
CN2A HG-MR
CN2B
Fabricate a two-wire type
SCALE 2✢ᑼࠛࡦࠦ࡯࠳ࠤ࡯ࡉ࡞ࠍ
encoder
⵾૞ߔࠆ‫ޕ‬ cable.
App. - 31
APPENDIX
App. 10.2Connector 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 Industry)
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
(Note) View seen from wiring side.
㈩✢஥߆ࠄ⷗ߚ࿑ߢߔ‫(ޕ‬ᵈ) (Note) View seen from wiring side.
㈩✢஥߆ࠄ⷗ߚ࿑ߢߔ‫(ޕ‬ᵈ) 7 8 9
P5 LG SHD
Note. Keep open the pins shown with . Especially, pin 10 is provided View seen from wiring side.
㈩✢஥߆ࠄ⷗ߚ࿑ߢߔ‫ޕ‬
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
App. 10.3Internal wiring diagram

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ஥ Servo motor-
ࠨ࡯ࡏࡕ࡯࠲஥
side connector
ࠦࡀࠢ࠲ side connector
ࠦࡀࠢ࠲
P5 1 7 P5
LG 2 8 LG
MR 3 1 MR
MRR 4 2 MRR
BAT 9 3 BAT
SD Plate
ࡊ࡟࡯࠻ 9 SHD
(Note)
(ᵈ)
Note. Always make connection for use in an absolute position detection system. Wiring is
not necessary for use in an incremental system.
App. - 32
APPENDIX
App. 11 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System

& Service
POINT
For the details of the SSCNET III cables, contact your local sales office.
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET III cable. The light can be a discomfort when it
enters the eye.
The cable is available per 1 m up to 100 m. The number of the length (1 to 100) will be in the underscore
in the cable model.
Cable length
Cable model Bending life Application/remark
1 m to 100 m
Ultra-long Using long distance
SC-J3BUS_M-C 1 to 100
bending life cable
App.12 Analog monitor
The servo status can be output to two channels in terms of voltage.
(1) Setting
Change the following digits of [Pr. PC09] and [Pr. PC10].
[Pr. PC09]
[Pr.PC09]
0 0
ࠕ࠽ࡠࠣࡕ࠾࠲ch1಴ജㆬᛯ
(MO1-LG㑆ߦ಴ജߔࠆାภ)
(the signal provided to the output across MO1 and LG)
[Pr. PC10]
[Pr.PC10]
0 0
ࠕ࠽ࡠࠣࡕ࠾࠲ch2಴ജㆬᛯ
(MO2-LG㑆ߦ಴ജߔࠆାภ)
(the signal provided to the output across MO2 and LG)
[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages. Setting
value is 㧙999 mV to 999 mV.
Parameter Description Setting range [mV]
PC11 This is used to set the offset voltage of MO1 (Analog monitor 1).
-999 to 999
PC12 This is used to set the offset voltage of MO2 (Analog monitor 2).
App. - 33
APPENDIX
(2) Setting
POINT
words.
(servo motor) speed [r/min] ൺ (linear servo motor) speed [mm/s]
CCW direction ൺ Positive direction
CW direction ൺ Negaative direction
Torque [N•m] ൺ Thrust [N]
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. PC09]
and [Pr. PC10] value.
Refer to (3) for the detection point.
Setting Setting
Output item Description Output item Description
value value
Power running in CCW direction
00 Servo motor speed CCW direction
CCWᣇะ 01 Torque CCWᣇะ߳ജⴕ
88[V]
[V] 88[V]
[V]
Maximum
ᦨᄢ࿁ォㅦᐲ speed Maximum
ᦨᄢ࠻࡞ࠢ torque
0 Maximum
ᦨᄢ࿁ォㅦᐲ speed 0 Maximum
ᦨᄢ࠻࡞ࠢtorque
-8 [V]
-8[V] -8 [V]
-8[V]
CW direction
CWᣇะ CWᣇะ߳ജⴕ
Power running in CW direction
02 Servo motor speed CW direction 88[V]

[V] CCW direction
03 Torque 8 [V] Power running
Power running 8[V]
CWᣇะ CCWᣇะ in CW direction
CWᣇะ߳ജⴕ CCWᣇะ߳ജⴕ
in CCW direction
Maximum
ᦨᄢ࿁ォㅦᐲ speed 0 Maximum
ᦨᄢ࿁ォㅦᐲ speed
Maximum
ᦨᄢ࠻࡞ࠢ torque 0 Maximum
ᦨᄢ࠻࡞ࠢtorque
04 Current command CCW direction

CCWᣇะ 05 Speed command CCW direction
CCWᣇะ
8 [V]
8[V] 88[V]
[V]
Maximum
current command
ᦨᄢ㔚ᵹᜰ઎
(Maximum torque
(ᦨᄢ࠻࡞ࠢᜰ઎)
command) Maximum
0 0 Maximum
Maximum
ᦨᄢ㔚ᵹᜰ઎ current
command (Maximum
(ᦨᄢ࠻࡞ࠢᜰ઎)
torque command)
-8[V]
-8 [V] -8 [V]
-8[V]
CWᣇะ
CW direction CW direction
CWᣇะ
06 Servo motor-side CCW direction

CCWᣇะ 07 Servo motor-side CCW direction
CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
droop pulses droop pulses
(Note 1, 4, 6, 7) (Note 1, 4, 6, 7)
(±10 V/100 pulses) 100 [pulse]
100[pulse] (±10 V/1000 pulses) 1000 [pulse]
1000[pulse]
0 100 [pulse]
100[pulse] 0 1000 [pulse]
1000[pulse]
-10 [V]
-10[V] -10 [V]
-10[V]
CW direction
CWᣇะ CW direction
CWᣇะ
08 Servo motor-side CCW direction

CCWᣇะ 09 Servo motor-side CCW direction
CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
droop pulses droop pulses
(Note 1, 4, 6, 7) (Note 1, 4, 6, 7)
(±10 V/10000 pulses) 10000 [pulse]
10000[pulse] (±10 V/100000 100000 [pulse]
100000[pulse]
0 10000 [pulse]
10000[pulse] pulses) 0 100000 [pulse]
100000[pulse]
-10 [V]
-10[V] -10[V]
-10 [V]
CW direction
CWᣇะ
App. - 34
APPENDIX
Setting Output item Description Setting Output item Description

value value
0A Feedback position CCW direction
CCWᣇะ 0B Feedback position CCW direction
CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
(Note 1, 2, 4) (Note 1, 2, 4)
(±10 V/1 Mpulse) (±10 V/10 Mpulse)
1M [pulse]
1M[pulse] 10M [pulse]
10M[pulse]
0 1M [pulse]
1M[pulse] 0 10M [pulse]
10M[pulse]
-10 [V]
-10[V] -10 [V]
-10[V]
CW direction
CWᣇะ
0C Feedback position CCW direction

CCWᣇะ 0D Bus voltage (Note 3)
10 [V]
10[V]
(Note 1, 2, 4)
(±10 V/100 Mpulse) 8 [V]
8[V]
100M [pulse]
100M[pulse]
0 100M [pulse]
100M[pulse]
0 400[V]
400 [V]
-10 [V]
-10[V]
CW direction
CWᣇะ
0E Speed command 2 CCW direction

CCWᣇะ 10 Load-side droop CCW direction
CCW ᣇะ
88[V]
[V] 10 [V]
10[V]
(Note 4, 5) pulses
(Note 4, 6, 7)
Maximum
ᦨᄢ࿁ォㅦᐲ speed (±10 V/100 pulses) 100 [pulse]
100[pulse]
0 Maximum
ᦨᄢ࿁ォㅦᐲ speed 0 100 [pulse]
100[pulse]
-8 [V]
-8[V] -10 [V]
-10[V]
CW direction
CWᣇะ CW
CWdirection
ᣇะ
11 Load-side droop CCW direction

CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
pulses pulses
(Note 4, 6, 7) (Note 4, 6, 7)
(±10 V/1000 pulses) 1000 [pulse]
1000[pulse] (±10 V/10000 pulses) 10000 [pulse]
10000[pulse]
0 1000 [pulse]
1000[pulse] 0 10000 [pulse]
10000[pulse]
-10 [V]
-10[V] -10[V]
-10 [V]
CW direction
CWᣇะ
13 Load-side droop CCW direction

CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
pulses pulses
(Note 4, 6, 7) (Note 4, 6, 7)
(±10 V/100000 100000 [pulse]
100000[pulse] (±10 V/1 Mpulses) 1M [pulse]
1M[pulse]
pulses) 0 100000 [pulse]
100000[pulse] 0 1M [pulse]
1M[pulse]
-10 [V]
-10[V] -10 [V]
-10[V]
CW direction
CWᣇะ
15 Motor-side/load-side CCWCCWᣇะ
direction 16 Servo motor- CCW direction
CCWᣇะ
10 [V]
10[V] 8 8[V]
[V]
position deviation side/load-side speed
(Note 4, 6, 7) deviation
(±10 V/100000 100000 [pulse]
100000[pulse] Maximum
pulses) 0 100000 [pulse]
100000[pulse] 0 Maximum
-10 [V]
-10[V] -8 [V]
-8[V]
CW direction
CWᣇะ CWᣇะ
CW direction
17 Encoder inside 10 [V]

10[V]
temperature (±10
128 °C)
V/±128ÛC)
-128 [°C]
-128[°C]
0 128 [°C]
128[°C]
-10 [V]
-10[V]
App. - 35
APPENDIX
Note 1. Encoder pulse unit.

2. Available in position control mode
3. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.
4. This cannot be used in the torque control mode.
5. This can be used with MR Configurator2 with software version 1.02C or later.
6. This cannot be used in the speed control mode.
7. 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.
(3) Analog monitor block diagram

(a) Semi closed loop control
Speed Speed Current + Bus voltage

ㅦᐲᜰ઎ Droop
ḳࠅࡄ࡞ࠬ pulses ㅦᐲᜰ઎2 㔚ᵹᜰ઎ Უ✢㔚࿶
command command 2 command
Differen- Current
㔚ᵹ
ᓸಽ Speed ᬌ಴ེ
encoder
tiation
Position command
ࠦࡦ࠻ࡠ࡯࡜߆ࠄ + ૏⟎ ㅦᐲᜰ઎ +
Position command
control
Speed
ㅦᐲ + Current
㔚ᵹ PWM M Servo
control control
received from a controller
ฃߌߣࠆ૏⟎ᜰ઎ - ೙ᓮ - ೙ᓮ - ೙ᓮ
Encoder
ࠛࡦࠦ࡯࠳ inside
temperature
ౝ᳇᷷ᐲ
Current feedback
㔚ᵹࡈࠖ࡯࠼ࡃ࠶ࠢ
Encoder
ࠛࡦࠦ࡯࠳
Differen-
ᓸಽ
tiation
Position feedback data Position feedback

૏⟎ࡈࠖ࡯࠼ࡃ࠶ࠢ
ࠦࡦ࠻ࡠ࡯࡜ߦ㄰ߔ૏⟎
returned to a controller
ࡈࠖ࡯࠼ࡃ࠶ࠢ࠺࡯࠲
+
Feedback
ࡈࠖ࡯࠼ࡃ࠶ࠢ૏⟎ position - Servo motor
ࠨ࡯ࡏࡕ࡯࠲
standard position (Note) Torque
࠻࡞ࠢ
ၮḰ૏⟎(ᵈ) speed
࿁ォㅦᐲ
Feedback
position
૏⟎
Note. The feedback position is output based on the position data passed between servo system controller and servo amplifier. [Pr.
PC13] and [Pr. PC14] can set up the standard position of feedback position that is output to analog monitor in order to adjust the
output range of feedback position. The setting range is between -9999 pulses and 9999 pulses.
Standard position of feedback position = [Pr. PC14] setting value × 10000 + [Pr. PC13] setting value
Parameter Description Setting range

Sets the lower-order four digits of the standard position of
PC13 -9999 to 9999 [pulse]
feedback position
Sets the higher-order four digits of the standard position of
PC14 -9999 to 9999 [10000 pulses]
feedback position
App. - 36
APPENDIX
(b) Fully closed loop control (Available in the future.)
Speed Droop pulses Speed Current + Bus voltage

ㅦᐲᜰ઎
command
ḳࠅࡄ࡞ࠬ ㅦᐲᜰ઎2
command 2
㔚ᵹᜰ઎
command
Უ✢㔚࿶
Differen- Current
㔚ᵹ ࠨ࡯ࡏ Servo
ᓸಽ
tiation Speed encoder
ᬌ಴ེ ࡕ࡯࠲ motor
+ ૏⟎ ㅦᐲᜰ઎ +
command
Position Speed
ㅦᐲ + Current
㔚ᵹ Load-side
ᯏ᪾┵
Position૏⟎ᜰ઎
command control control control PWM M
- ೙ᓮ - ೙ᓮ - ೙ᓮ encoder
ࠛࡦࠦ࡯࠳
Encoder
ࠛࡦࠦ࡯࠳ inside
temperature
ౝ᳇᷷ᐲ
Current feedback
㔚ᵹࡈࠖ࡯࠼ࡃ࠶ࠢ Encoder
ࠛࡦࠦ࡯࠳
Differen- Servo motor

ࠨ࡯ࡏࡕ࡯࠲
ᓸಽ Torque
࠻࡞ࠢ
tiation speed
࿁ォㅦᐲ
FBN
FBD
+ Semi closed loop
࠮ࡒࠢࡠ࡯࠭࠼ Position feedback
૏⟎ࡈࠖ࡯࠼ࡃ࠶ࠢ
+ -
࠺ࡘࠕ࡞
Dual filter
Fully closed loop
ࡈ࡞ࠢࡠ࡯࠭࠼ ࡈࠖ࡞࠲ +
Servo motor-side
ࠨ࡯ࡏࡕ࡯࠲┵
droop
ḳࠅࡄ࡞ࠬpulses
Servo motor-side feedback pulses
ࠨ࡯ࡏࡕ࡯࠲┵Ꮻㆶࡄ࡞ࠬ
+ - (ᯏ᪾┵ಽ⸃⢻න૏)
(load-side encoder resolution unit)
Servo motor-side/load-side
ࠨ࡯ࡏࡕ࡯࠲┵࡮ᯏ᪾┵
Load-side
ᯏ᪾┵ speed deviation
ㅦᐲ஍Ꮕ
droop
+ - Load-side
ᯏ᪾┵Ꮻㆶࡄ࡞ࠬ droop pulses
Differen- +
ᓸಽ
tiation -
Servo motor-side/load-side
ࠨ࡯ࡏࡕ࡯࠲┵࡮ᯏ᪾┵ + Differen-
position deviation ᓸಽ
tiation
૏⟎஍Ꮕ -
App. - 37
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Mar. 2012 SH(NA)030106-A First edition
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

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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 responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages
or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to
products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines
and the Product and any other operations conducted by you.
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)030106-A
General-Purpose AC Servo
SSCNET /H Interface AC Servo

MODEL
MR-J4-_B
SERVO AMPLIFIER
MR-J4-_B SERVO AMPLIFIER INSTRUCTION MANUAL

INSTRUCTION MANUAL
MODEL MR-J4-B INSTRUCTIONMANUAL

MODEL
CODE 1CW805
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030106-A (1203) MEE Printed in Japan Specifications subject to change without notice.
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Phone: +44 (0)1707 / 27 61 00 Beijer Electronics OY FINLAND INEA RBT d.o.o. SLOVENIA
Fax: +44 (0)1707 / 27 86 95 Peltoie 37 Stegne 11
FIN-28400 Ulvila SI-1000 Ljubljana
MITSUBISHI ELECTRIC CORPORATION JAPAN Phone: +358 (0)207 / 463 540 Phone: +386 (0)1 / 513 8116
Office Tower “Z” 14 F Fax: +358 (0)207 / 463 541 Fax: +386 (0)1 / 513 8170
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212 UTECO GREECE Beijer Electronics AB SWEDEN
Phone: +81 3 622 160 60 5, Mavrogenous Str. Box 426
Fax: +81 3 622 160 75 GR-18542 Piraeus SE-20124 Malmö
Phone: +30 211 / 1206 900 Phone: +46 (0)40 / 35 86 00
MITSUBISHI ELECTRIC AUTOMATION, Inc. USA Fax: +30 211 / 1206 999 Fax: +46 (0)40 / 93 23 01
500 Corporate Woods Parkway
Vernon Hills, IL 60061 MELTRADE Kft. HUNGARY Omni Ray AG SWITZERLAND
Phone: +1 847 478 21 00 Fertő utca 14. Im Schörli 5
Fax: +1 847 478 22 53 HU-1107 Budapest CH-8600 Dübendorf
Phone: +36 (0)1 / 431-9726 Phone: +41 (0)44 / 802 28 80
Fax: +36 (0)1 / 431-9727 Fax: +41 (0)44 / 802 28 28
Beijer Electronics SIA LATVIA GTS TURKEY
Ritausmas iela 23 Bayraktar Bulvari Nutuk Sok. No:5
LV-1058 Riga TR-34775 Yukarı Dudullu-Ümraniye-İSTANBUL
Phone: +371 (0)784 / 2280 Phone: +90 (0)216 526 39 90
Fax: +371 (0)784 / 2281 Fax: +90 (0)216 526 3995
Beijer Electronics UAB LITHUANIA CSC Automation Ltd. UKRAINE
Savanoriu Pr. 187 4-B, M. Raskovoyi St.
LT-02300 Vilnius UA-02660 Kiev
Phone: +370 (0)5 / 232 3101 Phone: +380 (0)44 / 494 33 55
Fax: +370 (0)5 / 232 2980 Fax: +380 (0)44 / 494-33-66
Systemgroup UKRAINE
2 M. Krivonosa St.
UA-03680 Kiev
Phone: +380 (0)44 / 490 92 29
Fax: +380 (0)44 / 248 88 68
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com

MR-J4 - B: General-Purpose AC Servo

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General-Purpose AC Servo

SSCNET /H Interface AC Servo

MR-J4-_B SERVO AMPLIFIER INSTRUCTION MANUAL

MODEL MR-J4-B INSTRUCTIONMANUAL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

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1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J4-500B or less

I/F USB D/A

CN1A CN1B CN5 CN3

I/F USB D/A

CN1A CN1B CN5 CN3

ࢥࣥࢺ࣮ࣟࣛ ࢧ࣮࣎࢔ࣥࣉ ࣃ࣮ࢯࢼࣝ ࢔ࢼࣟࢢࣔࢽࢱ ࢹࢪࢱࣝI/O

Note 1. Refer to section 1.3 for the power supply specification.

1.3 Servo amplifier standard specifications

1.4 Combinations of servo amplifiers and servo motors

1.5 Function list

1.6 Model designation

(1) Rating plate

1.7.1 Parts identification

(1) MR-J4-200B or less

Axis selection rotary switch (SW1)

Note. The illustration above is of MR-J4-10B.

The broken line area is the same as MR-J4-200B or less. Detailed

1.7.2 Removal and reinstallation of the front cover

(1) For MR-J4-700B

3) Pull out the front cover to remove. Hold the ends of

Reinstallation of the front cover

3) Press the cover against the terminal box until the

1.8 Configuration including auxiliary equipment

(1) MR-J4-200B or less

CN8 To safety relay or MR-J3-

L21 CN1B Next servo amplifier

WARNING To prevent electric shock, ground each equipment securely.

Stacking in excess of the specified number of product packages is not allowed.

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, it may

(b) Installation of two or more servo amplifiers

2.2 Keep out foreign materials

2.3 Encoder cable stress

2.4 SSCNET III cable laying

(1) Minimum bend radius

(2) Prohibition of vinyl tape use

(3) Precautions for migrating plasticizer added materials

(4) Bundle fixing

(6) Lateral pressure

2.5 Inspection items

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