BNP-B3944D (ENG

AC Servo with Built-in Indexing function

MR-J2-CT Series
Specifications and Instruction Manual
 Introduction

Thank you for purchasing the Mitsubishi AC Servo.

This instruction manual describes the handling and caution points for using this CNC.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.

This is the instruction manual for the MDS-B-Vx4 servo driver. The entire MDS-B Series
drive system, which includes the power supply unit and spindle, is not explained in detail in
this manual. Refer to the "MELDAS AC Servo and Spindle, MDS-A Series/MDS-B Series
Specification Manual (BNP-B3759B)" for the specifications for the entire system.

1
 Precautions for safety
Please read this instruction manual and auxiliary documents before starting installation,
operation, maintenance or inspection to ensure correct usage. Thoroughly understand
the device, safety information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "DANGER" and
"CAUTION".
When a dangerous situation may occur if handling is mistaken
DANGER
leading to fatal or major injuries.

When a dangerous situation may occur if handling is mistaken

CAUTION
leading to medium or minor injuries, or physical damage.

Note that some items described as CAUTION may lead to major results
depending on the situation. In any case, important information that must be observed is
described.
The signs indicating prohibited and mandatory items are described below.

This sign indicates that the item is prohibited (must not be

carried out). For example, is used to indicate "Fire
Prohibited".

This sign indicates that the item is mandatory (must be carried

out). For example, is used to indicate grounding.

After reading this instruction manual, keep it in a safe place for future reference.

The precautions, separate functions, etc., in this manual that do not extend to the
physical damage level are ranked as "Request", "Notice", and "Memo".

Request : This indicates items where this product may fail if handling is mistaken,
without leading to physical damage.
Notice : This indicates items where separate functions can be carried out by
changing the parameters, or where there are other usage methods.
Meno : This indicates important items the operator should be aware of when
using the servo.

2
For Safe Use

1. Electric shock prevention

DANGER

Wait at least 10 minutes after turning the power OFF, before starting wiring or inspections.
Failure to observe this could lead to electric shocks.

Ground the servo amplifier and servomotor with Class 3 grounding or higher.

Wiring and inspection work must be done by a qualified technician.

Wire the servo amplifier and servomotor after installation. Failure to observe this could lead
to electric shocks.

Do not touch the switches with wet hands. Failure to observe this could lead to electric
shocks.

Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to
observe this could lead to electric shocks.

2. Fire prevention

CAUTION
Install the servo amplifier, servomotor and regenerative resistor on noncombustible material.
Direct installation on combustible material or near combustible materials could lead to fires.

If the servo amplifier fails, shut off the power supply on the servo amplifier power supply
side. If a large current continues to flow, it could lead to fires.

Shut off the power supply if an error signal occurs. The regenerative resistor could
abnormally overheat due to regenerative transistor failure, etc., and this could lead to fires.

3
3. Injury prevention

CAUTION

Do not apply a voltage other than that specified in Instruction Manual on each terminal.
Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the terminal connections. Failure to observe this item could lead to ruptures
or damage, etc.

Do not mistake the polarity( + , – ) . Failure to observe this item could lead to ruptures or
damage, etc.

Do not touch the servo amplifier fins, regenerative resistor or servomotor, etc., while the
power is turned ON or immediately after turning the power OFF. Some parts are heated to
high temperatures, and touching these could lead to burns.

4. Various precuations
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.

(1) Transportation and installation

CAUTION

Correctly transport the product according to its weight.

Do not stack the products above the tolerable number.

Do not hold the cables, axis or detector when transporting the servomotor.

Do not hold the front cover when transporting the servo amplifier. The unit could drop.

Follow this Instruction Manual and install the unit in a place where the weight can be borne.

Do not get on top of or place heavy objects on the unit.

Always observe the installation directions.

Secure the specified distance between the servo amplifier and control panel, or between the
servo amplifier and other devices.

Do not install or run a servo amplifier or servomotor that is damaged or missing parts.

Do not let conductive objects such as screws or metal chips, etc., or combustible materials
such as oil enter the servo amplifier or servomotor.

The servo amplifier and servomotor are precision devices, etc., so do not drop them or apply
strong impacts to them.

4
 CAUTION

Store and use the units under the following environment conditions.

Conditions
Environment
Servo amplifier Servomotor
Ambient 0°C to +55°C 0°C to +40°C
temperature (with no dew condensation) (with no dew condensation)
90% RH or less 80%RH or less
Ambient humidity
(with no dew condensation) (with no dew condensation)
Storage temperature –15°C to +70°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
Atmosphere
With no corrosive gas, combustible gas, oil mist or dust.
Altitude 1000m or less above sea level

Vibration 0.5G 2G

Securely fix the servomotor to the machine. Insufficient fixing could lead to the
servomotor deviating during operation.

Always install servomotors with reduction gears in the designated direction. Failure to
do so could lead to oil leaks.

Never touch the rotary sections of the servomotor during operations. Install a cover, etc.,
on the shaft.

When coupling to a servomotor shaft end, do not apply an impact by hammering, etc.
The detector could be damaged.

Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.

When storing for a long time, please contact your dealer.

5
(2) Wiring

CAUTION

Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.

(3) Trial operation and adjustment

CAUTION

Check and adjust each parameter before starting operation. Failure to do so could lead to
unforeseen operation of the machine.

Do not make remarkable adjustments and changes as the operation could become unstable.

(4) Usage methods

CAUTION
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.

Unqualified persons must not disassemble or repair the unit.

If the alarm is reset (RST) while the operation start signal (ST) is ON, the servo may start
unexpectedly. Always confirm that the operation signal is OFF before resetting. Failure to do
so could lead to accidents.

Never make modifications.

Reduce magnetic interference by installing a noise filter. The electronic devices used near
the servo amplifier could be affected by magnetic noise.

Always use the servomotor and servo amplifier with the designated combination.

The servomotor's magnetic brakes are for holding purposes. Do not use them for normal
braking.

There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.

6
(5) Troubleshooting

CAUTION

If a hazardous situation is predicted during stop or product trouble, use a servomotor with
magnetic brakes or install an external brake mechanism.
Shut off with an
Use a double circuit configuration emergency stop signal.

that allows the operation circuit for Amplifier

Servomotor section EMG
the magnetic brakes to be operated
even by the external emergency Magnetic RA
DC24V
stop signal. brake

If an alarm occurs, eliminate its cause and ensure safety before resetting the alarm and
starting operation again.

Never go near the machine after restoring the power after a failure, as the machine could
start suddenly.
(Design the machine so that personal safety can be ensured even if the machine starts
suddenly.)

(6) Maintenance, inspection and part replacement

CAUTION

The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary
damage due to failures, replacing this part every ten years when used under a normal
environment is recommended. Contact the nearest Service Center or Service Station for
replacement of parts.

(7) Disposal

CAUTION

Treat this unit as general industrial waste.

(8) General precautions

CAUTION

The drawings given in this Specifications and Maintenance Instruction Manual show the covers and
safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions
to their respective places before starting operation, and always follow the instructions given in this
manual.

7
8
 Chapter 1 Preface

1-1 Inspection at purchase......................................................................................... 1-2

1-1-1 Package contents ...................................................................................... 1-2
1-1-2 Explanation of types .................................................................................. 1-2
1-2 Explanation of each part ...................................................................................... 1-5
1-2-1 Explanation of each servo amplifier part .................................................... 1-5
1-2-2 Explanation of each servomotor part ......................................................... 1-5
1-3 Basic configuration .............................................................................................. 1-6
1-3-1 Examples of MR-J2-10CT to MR-J2-100CT basic configurations .............. 1-6
1-3-2 Examples of MR-J2-200CT and MR-J2-350CT basic configurations ......... 1-7
1-4 Combinations of servo amplifier and servomotor capacities............................ 1-8
1-5 Outline of built-in function ................................................................................... 1-9
1-5-1 Axis control function................................................................................... 1-9
1-5-2 Servo control function ................................................................................ 1-9
1-5-3 Feed function ............................................................................................. 1-9
1-5-4 Coordinate system setting function............................................................ 1-9
1-5-5 Command method ..................................................................................... 1-10
1-5-6 Operation function ..................................................................................... 1-10
1-5-7 Absolute position detection function .......................................................... 1-11
1-5-8 Machine compensation function ................................................................ 1-11
1-5-9 Protective functions ................................................................................... 1-11
1-5-10 Operation auxiliary function ........................................................................ 1-11
1-5-11 Diagnosis function ...................................................................................... 1-11

1–1
 Chapter 1 Preface

1-1 Inspection at purchase

Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor
are as ordered.

1-1-1 Package contents

ԘServo amplifier ԙServomotor
Packaged parts Qty. Packaged parts Qty.
Servo amplifier 1
Control power connector Servomotor 1
Excluding MR-J2-200CT 1
and MR-J2-350CT

1-1-2 Explanation of types

Appearance Rating nameplate and type configuration

MITSUBISHI SERVO DRI VE UNIT

Type TYPE MR-J2-20CT
Rated input 4#6'&+0276
#%8*\#
#%8*\#
Rated output 4#6'&176276#%#
/#07#.$02$
Current status S/W䇭䇭BND517W000B0 H/W VER. A
SERIAL# XXXXXXXXXXX DATE 97/05
Serial No. MITSUBISHI ELECTRIC CORPORATION JAPAN

    㨄   㨄   㨄   㨄   㨄   㨄   㨄   㨄   㨄   㨄   㨄    

MR - J2 - CT

Mitsubishi
AC servo
MR-J2 series
Servo amplifier

Capacity class symbol

Corresponding motor
Symbol HC-SF HC-SF HC-RF HA-FF HC-MF
(2000r/min) (3000r/min) (3000r/min) (3000r/min) (3000r/min)
10 − − − 053, 13 053, 13
20 − − − 23 23
40 − − − 33, 43 43
60 52 53 − 63 −
70 − − − − 73
100 102 103 − − −
200 152, 202 153, 203 103, 153 − −
300 352 353 203 − −

1–2
 Chapter 1 Preface

Appearance Rating nameplate and type configuration

HC-SF Series
• Medium inertia
• Medium capacity MITSUBISHI
AC SERVO
Type HC-SF52
3AC 126V 3.2A
Rated output 0.5kW IEC34-1
Rated speed IP65 CI.F
Serial No., MITSUBISHI ELECTRIC
MADE IN JAPAN

HC−SF ԙ Ԛ ԛ

HC-RF Series
• Low inertia ԛShaft end shape
• Medium capacity Symbol Shaft end shape The key is not
None Straight attached in the
K Keyway keyway.

Ԛ Magnetic brake
Symbol Magnetic brake
None None
B With magnetic brake

ԙRated output and rated speed

HC-SF Series HC-RF Series
Servomotor

Rating 2000r/min Rating 3000r/min Rating 3000r/min

Rating Rating Rating
Symbol Symbol Symbol
output output output
52 0.5kW 53 0.5kW 103 1.0kW
102 1.0kW 103 1.0kW 153 0.5kW
152 1.5kW 153 1.5kW 203 2.0kW
202 2.0kW 203 2.0kW
352 3.5kW 353 3.5kW

Ԙ Motor series
Symbol Motor series
HC-SF Medium inertia, medium capacity
HC-RF Low inertia, medium capacity

1–3
 Chapter 1 Preface

Appearance Rating nameplate and type configuration

HA-FF Series
• Low inertia
• Small capacity MITSUBISHI
AC SERVO
Type HA-FF63
3AC 129V 3.6A
Rated output 600W IEC34-1
Detector
Serial No. MITSUBISHI ELECTRIC
MADE IN JAPAN

HA−FF ԙ Ԛ ԛ Ԝ ԝ

HC-MF Series
• Ultra-low inertia ԝ Standards compliance
• Small capacity Symbol Standards compliance
None None
−UE EN standards compliant

ԜShaft end shape

HA-FF HC-MF
Symbol
053•13 23~63 053•13 23~73
Keyway
None Straight Straight Straight
(with key)
Keyway
K ˜ ˜ ˜
(with key)
D D cut ˜ D cut ˜
Servomotor

ԛ Magnetic brake
Symbol Magnetic brake
None None
B With magnetic brake

Ԛ Power input
Symbol Power input Always attach "C" to the
None Lead HA-FF-UE. There is no
Cannon "C" for other series
C servomotors.
connector

ԙ Rated output and rated speed

HA-FF Series HC-MF Series
Rating 3000r/min Rating 3000r/min
Symbol Rating output Symbol Rating output
053 0.05kW 053 0.05kW
13 0.1kW 13 0.1kW
23 0.2kW 23 0.2kW
33 0.3kW 43 0.4kW
43 0.4kW 73 0.75kW
63 0.6kW

Ԙ Motor series
Symbol Motor series
HA-FF Low inertia, small capacity
HC-MF Ultra-low inertia, small capacity

1–4
 Chapter 1 Preface

1-2 Explanation of each part

1-2-1 Explanation of each servo amplifier part
Absol ute position detection battery
Absol ute posi tion detection battery hol der

Absolute position detection battery connector

Display section : The operation status and alarm s are displayed.

Axis No. setting rotary switch

Installation screw hole

Display setting section cover

CN1A
NC bus connector
CN1B
NC bus connector
CN2
For motor end detector connection connector
CN3
Digital input/output, personal computer
connection, D/A output connector

Charge l amp
This indicates that a high voltage is applied
in the amplifier (m ain circuit capacitor).
When this lamp is lit, do not touch the
terminal block or connect/disconnect the
cables and connectors.
Groundi ng terminal
Terminal block cover Connect the grounding wire

MR-J2-10CT MR-J2-200CT MR-J2-10CT MR-J2-70CT

㨪
㨪
㨪

MR-J2-100CT MR-J2-350CT MR-J2-60CT MR-J2-100CT

.  .  . L11 L21 D P C N &

&
%
%
2
2
.
.
.
.
0
7  8 9 L1 L2 L3 U V W
Main circuit termi nal block
Connect the main circuit power supply and motor power supply Control power suppl y connector
wire. (In the 200CT and 350CT, this includes the control power Connect the control power supply and regenerative
supply and regeneration option.) option.

1-2-2 Explanation of each servomotor part

HC-SF, HC-RF Series HA-FF, HC-MF Series
Detector connector Power connector

Power cable
Detector cable

Motor shaft
Motor shaft
Detector
Detector

1–5
 Chapter 1 Preface

1-3 Basic configuration

The MR-J2-CT is a Mitsubishi CNC auxiliary axis servo amplifier with an indexing function for the rotation
axis built in.
The MR-J2-CT is used with a high-speed serial bus connection to the Mitsubishi CNC. The run
command to the MR-J2-CT is issued from the PLC built into the CNC.

1-3-1 Examples of MR-J2-10CT to MR-J2-100CT basic configurations

3-phase AC
power supply Mitsubishi CNC
200V to 230V
50/60Hz
L1, L2, L3

SH21 cable

No fuse breaker
To next
Terminator
amplifier
A-TM

Commercial personal
MR-J2-10CT
Setup computer and
software Windows 3.1 or above MR-J2-100CT
& SH21
cable

Emergency stop

Contactor Near-point dog

Cutoff the main circuit Brake control signal BRK
power supply when an Contactor control
emergency stop occurs. signal MC

Analog output 2ch

Relay terminal block
for maintenance

Grounding

Main circuit .  .  .

power
supply
Detector cable
Main circuit
output
7 8 9
Control power supply

When using
the external
regenerative
resistor,
disconnect this
External regenerative & % 2 . . 0
connection.
resistor (option)
N is for 70CT, and 100CT only

AC servomotor

1–6
 Chapter 1 Preface

1-3-2 Examples of MR-J2-200CT and MR-J2-350CT basic configurations

3-phase AC Mitsubishi CNC

power supply
200V to 230V
50/60Hz
L1, L2, L3

SH21 cable

No fuse breaker Commercial personal

computer and To next
Setup Terminator
Windows 3.1 or above amplifier
software A-TM

& MR-J2-200CT
MR-J2-350CT
Emergency stop
SH21
Near-point dog cable
Brake control signal BRK

Contactor control MC
signal
Analog output 2ch
Relay terminal block
for maintenance

Contactor
Cutoff the main circuit When using the external
power supply when an regenerative resistor,
emergency stop occurs. disconnect this connection.

Grounding
Control power supply

Detector cable
External regenerative
resistor (option)
. . & 2 % 0
. . . 7 8 9

Main circuit power supply

AC servomotor

1–7
 Chapter 1 Preface

1-4 Combinations of servo amplifier and servomotor capacities

Top line : Rated output, Middle line : Rated speed, Bottom line : Max. torque
MR-J2-10 MR-J2-20 MR-J2-40 MR-J2-60 MR-J2-70 MR-J2-10 MR-J2-20 MR-J2-35
CT CT CT CT CT 0CT 0CT 0CT
Medium HC-SF52 500W
capacity 2000rpm
Medium 7.16N· m
inertia HC-SF102 1000W
(IP65) 2000rpm
14.4N· m
HC-SF152 1500W
2000rpm
21.6N· m
HC-SF202 2000W
2000rpm
28.5N· m
HC-SF352 3500W
2000rpm
50.1N· m
HC-SF53 500W
3000rpm
4.77N· m
HC-SF103 1000W
3000rpm
9.55N· m
HC-SF153 1500W
3000rpm
14.3N· m
HC-SF203 2000W
3000rpm
19.1N· m
HC-SF353 3500W
3000rpm
33.4N· m
Medium HC-RF103 1000W
capacity 3000rpm
Low inertia 7.95N· m
(IP65) HC-RF153 1500W
3000rpm
11.9N· m
HC-RF203 2000W
3000rpm
(Note 2) 15.9N· m
Small HA-FF053 50W
capacity 3000rpm
Low inertia 0.48N· m
(IP54) HA-FF13 100W
(IP44) 3000rpm
0.95N· m
HA-FF23 200W
3000rpm
1.9N· m
HA-FF33 300W
3000rpm
2.9N· m
HA-FF43 400W
3000rpm
3.8N· m
HA-FF63 600W
3000rpm
5.7N· m
Small HA-MF053 50W
capacity 3000rpm
Ultra-low 0.48N· m
inertia HA-MF13 100W
(IP44) 3000rpm
0.95N· m
HC-MF23 200W
3000rpm
1.9N· m
HC-MF43 400W
3000rpm
3.8N· m
HC-MF73 750W
3000rpm
7.2N· m
(Note 1) Blank boxes in the table indicate that a combination is not possible.
(Note 2) Take care to the HC-RF motor and amplifier capacity combination.

1–8
 Chapter 1 Preface

1-5 Outline of built-in function

1-5-1 Axis control function

No. of control axes : 1 axis

Command and setting unit : 0.001deg.
Positioning resolution : Follows No. of detector pulses and gear ratio.
<Example>
When using an HC-SF motor (No. of detector pulses:
16384 pulses/rev) motor and a gear ratio of 1:10, the
positioning resolution will be: (Refer to Chapter 13)
Positioning resolution =
360° × 2
Detector resolution × 2 = = 0.0044°
16384 × 10

Servo OFF function : The power to the motor can be randomly cut off (motor
free run) using commands.
Follow up function : The axis movement is monitored even during servo OFF
or emergency stop, and the machine position counter is
updated.
Torque limit function : The motor's output torque can be limited. Four random
limit values can be set, and one selected with a command.

1-5-2 Servo control function

Control method : The real-time automatic tuning function with model

adaptive control is incorporated. The servo's characteristic
gain does not need to be adjusted.
Vibration suppressing function : The vibration caused by machine resonance can be
suppressed with a notch filter and jitter compensation.

1-5-3 Feed function

Feedrate designation : Four per-minute feeds can be set with a deg/min unit
(rotation axis) or mm/min (linear axis), and one selected
with a command. The feedrate command range is 1 to
100000.
Acceleration/deceleration method : The inclined constant acceleration/deceleration is
automatically controlled. The linear
acceleration/deceleration or soft acceleration/deceleration
can be selected.
Acceleration/deceleration pattern : Four acceleration/deceleration patterns can be set, and
designation method one selected with a command.
Short-cut control : When using the rotation axis, the rotation direction with
least movement distance is automatically judged and the
axis is rotated. The rotation direction can be designated
with a command.

1-5-4 Coordinate system setting function

Coordinate system : Corresponds to the rotation axis coordinates (0° to 360°)

and the linear coordinates.
Coordinate system shift function : The machine coordinates can be shifted.

1–9
 Chapter 1 Preface

1-5-5 Command method

Station method (for rotation axis) : A point (station) obtained by equally dividing the rotation
axis can be selected with a command, and positioned to.
The max. No. of divisions is 360.
<When eight stations are set (8 divisions)>
Station No.
ࠬ࠹࡯࡚ࠪࡦ⇟ภ
㧝 ࠬ࠹࡯࡚ࠪࡦ
Station
㧤 㧞

㧣 㧟

㧢 㧠
㧡

Station method (for linear axis) : The equal division points (stations) are determined by the
valid stroke length and No. of stations. The Max. No. of
stations is 360.
<When five stations are set>
Zeroේὐ
point Valid stroke length
᦭ല䉴䊃䊨䊷䉪㐳 䉴䊁䊷䉲䊢䊮
Station

1 2 3 4 5 Station No.
䉴䊁䊷䉲䊢䊮⇟ภ

• The zero point is station 1, and the final end of the valid
stroke is station 5.
• When using a linear axis, the No. of equal divisions is
"No. of stations -1".

Uneven station method : When the positioning positions (stations) are not at an
equal pitch, up to eight coordinate points can be randomly
set to determine the station coordinates. This can be used
for either the rotation axis or linear axis.

Random coordinate designation method : Random coordinates (absolute coordinates using zero
point as reference) can be transferred from the PLC and
used for positioning.

1-5-6 Operation function

The following seven operation modes can be used. The operation mode is changed with commands
from the PLC.

Automatic mode : This mode carries out positioning to the designated station No. with the
start signal. If the start signal turns OFF before the positioning is finished,
the axis will be positioned to the nearest station position.
Positioning to random coordinates is also possible.
Manual mode : This mode rotates at a set speed in the designated direction while the start
signal is ON.
If the start signal turns OFF, the axis will be positioned to the nearest
station position.
JOG mode : This mode rotates at a set speed in the designated direction while the start
signal is ON.
Incremental feed mode : This feed mode moves only the designated movement amount at each
start.
Manual handle mode : This mode moves the axis with the pulse command (manual handle
signal) transferred from the NC.

1–10
 Chapter 1 Preface

Reference point return mode : This mode positions to the reference point. The dog switch method, or
the method to position to the reference point registered in the memory
can be used.
Stopper positioning mode : This mode positions by pressing against the machine end, etc. The
approach amount, pressing amount, pressing speed, and pressing
torque limit amount can be set.

1-5-7 Absolute position detection function

The detector monitors the machine movement even when the power is turned OFF. After turning the
power ON, automatic operation can be started immediately without returning to the reference point (zero
point).

1-5-8 Machine compensation function

Electronic gears : By setting the gear ratio and ball screw pitch (for linear axis), the
commanded position and speed will be automatically converted to the
motor's rotation angle and speed. All settings can be made with the
machine end movement amount and speed without considering the weight
of one detector pulse.
Backlash compensation : The positioning error caused by backlash of the gear or ball screw, etc.,
can be compensated.

1-5-9 Protective functions

Emergency stop function : A hot line can be established with the CNC allowing the external
emergency stop signal to be directly input. During an emergency
stop, the axis can be stopped with the dynamic brakes built in the
amplifier, or by decelerating to a stop.
Excessive error monitor function : The max. tolerable amount of the axis tracking delay (droop) can
be monitored during feed. If a droop exceeding the tolerable
value occurs, the servomotor will emergency stop.
Interlock : Movement of the axis in a specific direction can be prohibited.
Edit lock : Rewriting of the parameters can be prohibited.

1-5-10 Operation auxiliary function

PSW : Eight sets of position switches using software processing are mounted. Using these, the
axis movement state can be monitored even without mechanical switches.

1-5-11 Diagnosis function

Self diagnosis : The various alarms are displayed on the main unit's 7-segment LED display, and
output to the CNC and personal computer.
Servo monitor : The operation state (speed, current, etc.) is output to the CNC and personal
computer. The personal computer requires dedicated setup software.
Signal monitor : The commands sent to the personal computer from the PLC and the status output
signal to the PLC can be monitored. The personal computer requires dedicated
setup software.
Test operation : Commands from the personal computer can be fed and operated. The personal
computer requires dedicated setup software.
Analog monitor : The operation state (speed, current, etc.) to the amplifier CN3 connector are analog
output. Two channels can be used simultaneously.
Alarm history : The past six alarms can be recorded and output to the CNC or personal computer.

1–11
 Chapter 2 Wiring and Connection

2-1 System connection diagram ................................................................................ 2-3

2-2 Servo amplifier main circuit terminal block, control circuit terminal block...... 2-4
2-2-1 Main circuit terminal block, control circuit terminal block signal layout ..... 2-4
2-2-2 Names and application of main circuit terminal block and control
circuit terminal block signals ...................................................................... 2-5
2-2-3 How to use the control circuit terminal block (MR-J2-10CT~100CT).......... 2-6
2-3 CNC and servo amplifier connection .................................................................. 2-7
2-4 Motor and detector connection ........................................................................... 2-8
2-4-1 Connection of HC-SF52, HC-SF53, HC-SF102, HC-SF103 ...................... 2-8
2-4-2 Connection of HC-SF152, HC-SF153 ........................................................ 2-8
2-4-3 Connection of HC-SF202, HC-SF203, HC-SF352, HC-SF353 .................. 2-9
2-4-4 Connection of HC-RF103, HC-RF153, HC-RF203..................................... 2-9
2-4-5 Connection of HA-FF Series ...................................................................... 2-10
2-4-6 connection of HA-FF‫غ‬C-UE Series........................................................... 2-10
2-4-7 Connection of HC-MF(-UE) Series............................................................. 2-11
2-5 Connection of power supply................................................................................ 2-12
2-5-1 Example of connection when controlling the contactor with the MR-J2-CT 2-12
2-5-2 Example of connection when controlling the contactor
with the MDS-B-CV/CR ............................................................................. 2-13
2-6 Connection of regenerative resistor ................................................................... 2-15
2-6-1 Standard built-in regenerative resistor ....................................................... 2-15
2-6-2 External option regenerative resistor ......................................................... 2-15
2-7 Connection of digital input/output (DIO) signals ................................................ 2-16
2-7-1 Types and functions of digital input/output (DIO) signals........................... 2-16
2-7-2 Wiring of digital input/output (DIO) signals................................................. 2-17
2-8 Connection with personal computer .................................................................. 2-20

2–1
 Chapter 2 Wiring and Connection

1. Wiring work must be done by a qualified technician.

2. Wait at least 10 minutes after turning the power OFF and check the voltage
with a tester, etc., before starting wiring. Failure to observe this could lead to
DANGER electric shocks.
3. Securely ground the servo amplifier and servomotor with Class 3 grounding
or higher.
4. Wire the servo amplifier and servomotor after installation. Failure to observe
this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items or engage the cable.
Failure to observe this could lead to electric shocks.

1. Correctly and securely perform the wiring. Failure to do so could lead to

runaway of the servomotor.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + , – ). Failure to observe this item could lead
to ruptures or damage, etc.
4. Do not mistake the direction of the diodes for the surge absorption installed
on the DC relay for the motor brake and contactor (magnetic contact)
control. The signal might not be output when a failure occurs.

CAUTION Servo amplifier

%1/

8&%

Control output signal 4#

5. Electronic devices used near the servo amplifier may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
6. Do not install a phase advancing capacitor, surge absorber or radio noise
filter on the power supply wire (U, V, W) of the servomotor.
7. Do not modify this unit.
8. The CN1A, CN1B, CN2 and CN3 connectors on the front of the amplifier
have the same shape. If the connectors are connected incorrectly, faults
could occur. Make sure that the connection is correct.
9. When grounding the motor, connect to
the protective grounding terminal on the
servo amplifier, and ground from the
other protective grounding terminal.
(Use one-point grounding)
Do not separately ground the connected
motor and servo amplifier as noise could
be generated.

2–2
 Chapter 2 Wiring and Connection

2-1 System connection diagram

Configure a sequence that shuts off the
MC when an emergency stop occurs. The
converter unit output or CN3 connector Servo amplifier
output (MC) of the MR-J2-CT can be R-J2-CT
used.
NFB U Servomotor
MC TE1
Power supply L1 U V
3-phase 䌓䌍
L2 V SM
200VAC W
L3 W
Alw ays d is con ne ct t h e E
con nection be tween P an d D TE2
wh en c onn ec tin g t he exter n al PE
B1
reg en er at ive opti on . L11 䋾
Th e ser vo a m pl i f i er L21
DC24V MBR Z (Note 3)
cou ld be damaged. B2
C Class 3
䋾 ࿁↢
Regenerative D grounding Magnetic
䉥䊒䉲䊢䊮
option or higher Shut off with motor brake brake
P
control output OFF
Detector cable
Mount the optional battery CN2 Detector
(MR-BAT) in the amplifier
Battery option CON1 (Note 4)
when using the absolute
(Note 5)
position detection. CN3 Do not connect when using external power supply
Connect the MDS-A-BT-‫غ‬ 10 VDD
to the final axis.
5 COM
MBR Digital output 1 (motor brake)
13 MBR
(Note 6) MC Digital output 2 (contactor)
15 MC

19 DOG
CN1A

SH21 cable (Note 1) Digital input 1 (external emergency stop)

Mitsubishi
NC
20 EMGX
Digital input 2 (external emergency stop)
3 SG
Connect the SH21 cable
5m or less
from the NC to the CN1A V
4 MO1
connector Monitor output ch.1
1 LG
14 MO2 V Monitor output ch.2
11 LG
Plate PE
5m or less

12 TxD
RS-232C
2 RxD
11 LG
1 LG Personal computer cable
CN1B

SH21 cable
CS1 Personal computer
0

MR-J2-CT
CN1B CN1A

(2nd axis)
CS1
SH21 cable
(Note 2)
1

MR-J2-CT
CN1B CN1A

(nth axis)
CS1
Always insert the terminator n-1
connector (A-TM) into CN1B (Note 2)
for the final axis)

Notes)
1. The total length of the SH21 cable must be within 30 m.
2. The motor side connections following the 2nd axis have been omitted.
3. This is a motor with magnetic brakes. The power connected to the magnetic brake does not have a
polarity.
4. The connection method will differ according to the motor.
5. When using as an absolute position detector, connect MR-BAT or MDS-A-BT-‫ غ‬instead of the

2–3
 Chapter 2 Wiring and Connection

terminator connector.
6. Do not mistake the diode direction. If connected in reverse, the amplifier will fail and the signal will not be
output.

2–4
 Chapter 2 Wiring and Connection

2-2 Servo amplifier main circuit terminal block, control circuit terminal block

Do not apply a voltage other than that specified in Instruction Manual on each
CAUTION terminal. Failure to observe this item could lead to ruptures or damage, etc.

2-2-1 Main circuit terminal block, control circuit terminal block signal layout
The signal layout of each terminal block is as shown below.
Servo MR-J2-10CT
amplifier MR-J2-20CT MR-J2-70CT MR-J2-200CT
MR-J2-40CT MR-J2-100CT MR-J2-350CT
Terminal MR-J2-60CT
Ԙ

ԙ
Terminal position Ԙ ԙ
Ԙ
Ԛ Ԛ

Front Bottom Ԛ

L1 L2 L3

Main circuit
Ԙ terminal
block (TE1) L1 L2 L3 U V W
Terminal signal

U V W Terminal screw : M4
Terminal screw : M4

Front Front

Control
circuit
ԙ &
terminal Rear & % L11 L21 D P C N
% Rear 2 Terminal screw : M4
block (TE2) 2 . 
.
.  0
. 

Protective MR-J2-10CT ~ 20CT

grounding
Ԛ
terminal
block (PE)
MR-J2-40CT to 60CT

2–5
 Chapter 2 Wiring and Connection

2-2-2 Names and application of main circuit terminal block and control circuit terminal
block signals
The following table shows the details for each terminal block signal.

Name Signal name Description

L1· L2· L Main circuit Main circuit power supply input terminal
3 power supply Connect a 3-phase 200 to 230VAC, 50/60Hz power supply.
Control circuit power supply input terminal
Control circuit
L11· L12 Connect a single-phase 200 to 230VAC, 50/60Hz power supply.
power supply
Connect the same power supply phase for L11 and L1, and L21 and L2.
Regenerative option connection terminal. P to D is wired at shipment.
Regenerative
P· C· D When using the regenerative option, disconnect the wire between P and D
option
and wire the regenerative option between P and C.
Main circuit This is not used normally.
(N) reference
potential (This is the reference potential for the main circuit DC voltage.)

Servomotor Servomotor power supply output terminal

U· V· W
output The servomotor power supply terminal (U, V, W) is connected.
Protective Grounding terminal
grounding
(PE) The servomotor grounding terminal is connected and grounded.

Never connect anything to the main circuit reference voltage (N).

DANGER Failure to observe this could lead to electric shock or servo amplifier damage.

When using a standard built-in regenerative resistor, connect it between the P

and D terminals. (Shipment state.)
When using an external option regenerative resistor, disconnect the wiring
CAUTION between the P and D terminals, and connect between P and C. Standard built-in
regenerative resistors cannot be used in combination with an external option
regenerative resistor.

2–6
 Chapter 2 Wiring and Connection

2-2-3 How to use the control circuit terminal block (MR-J2-10CT to 100CT)
Length to peel
Treatment of wire end
Single strand: Peel the wire sheath, and use the wire.
2
(Wire size: 0.25 to 2.5 mm ) Approx. 10 mm

Stranded wire: Peel the wire sheath, and then twist the core wires. Take care to prevent short
circuits with the neighboring poles due to the fine strands of the core wires. Solder
plating onto the core wire section could cause a contact defect and must be
2
avoided. (Wire size: 0.25 to 2.5 mm )
Use a bar terminal and bundle the strands. (Phoenix contact)

Bar terminal for one wire

䋱ᧄ↪᫔┵ሶ Bar terminal
2ᧄ↪᫔┵ሶ for two wires
(Bar terminal phenol with insulation
䋨⛘✼䉴䊥䊷䊑ઃ᫔┵ሶ䊐䉢䊉䊷䊦䋩 (TWIN phenol with insulation sleeve)
䋨⛘✼䉴䊥䊷䊑ઃTWIN䊐䉢䊉䊷䊦䋩
sleeve)
Wire size Bar terminal type
2 Crimping tool
[mm ] AWG For one wire For two wires
AI0.25-6YE
0.25 24 –
AI0.25-8YE
AI0.5-6WH
0.5 20 –
AI0.5-8WH
AI0.75-6GY AI-TWIN2×0.75-8GY
0.75 18
AI0.75-8GY AI-TWIN2×0.75-10GY
CRIMPFOX-UD6
AI1-6RD AI-TWIN2×1-8RD
1 18
AI1-8RD AI-TWIN2×1-10RD
AI1.5-6BK AI-TWIN2×1.5-8BK
1.5 16
AI1.5-8BK AI-TWIN2×1.5-12BK
AI2.5-8BU AI-TWIN2×2.5-10BU
2.5 14
AI2.5-8BU-1000 AI-TWIN2×2.5-13BU

Connection method
Insert the core wire section of the wire into the opening, and tighten with a screwdriver so that the
wire does not come out. (Tightening torque: 0.5 to 0.6 N•m) When inserting the wire into the
2
opening, make sure that the terminal screw is sufficiently loose. When using a wire that is 1.5 mm
or less, two wires can be inserted into one opening.

Flat-tip screwdriver
࡮Tip : 0.4 to 0.6 mm
࡮Total width: 2.5 to 3.5 mm

Loosen Tighten

Wire

Opening

Control circuit terminal block

2–7
 Chapter 2 Wiring and Connection

2-3 CNC and servo amplifier connection

The CNC bus cables are connected from the CNC to each servo amplifier so that they run in a straight
line from the NC to the terminator connector (battery unit). The CNC bus is dedicated for the MR-J2-CT
Series, so other servo amplifiers, etc., cannot be connected to the same CNC bus. Up to seven axes
can be connected per system. (Note that the number of connected axes is limited by the CNC. The
following drawing shows an example with three axes connected.)

< Connection >

CN1A : CN1B connector of NC side amplifier or NC output
CN1B : CN1A connector of terminator connector side amplifier or terminator connector (battery
unit)

Connected to the CNC

MR-J2-CT dedicated output MR-J2-CT MR-J2-CT MR-J2-CT
Refer to the 1st axis 2nd axis 3rd axis (final
instruction manual
of each CNC for
details.

CN1A CN1B CN1A CN1B CN1A CN1B

SH21 cable
Connect to the
battery unit with a
terminator connector
or SH21 cable.

Max. length of 30m from the CNC to the terminator connector.

Arrange the CNC and servo amplifiers so that the NC bus cable length from the
CAUTION CNC to the terminator connector (battery unit) is 30m or less.

Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to
POINT section "6-1-1 Setting the rotary switches".) The axis No. has no relation to the
order for connecting to the CNC.

2–8
 Chapter 2 Wiring and Connection

2-4 Motor and detector connection

2-4-1 Connection of HC-SF52, HC-SF53, HC-SF102, HC-SF103

Detector connector MR-J2-60CT Detector connector 㧦 CN2

MS3102A20-29P
MR-J2-100CT
Pin No.
A
M No.1 No.11
B
N C
D
S R Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
(Refer to Chapter 4 for details on the cable
F Pin Signal Pin Signal
G treatment)
1 LG 11 LG
Pin Signal Max. 50m 2 LG 12 LG
A 3 13
B 4 14
C MR 5 15
D MRR 6 16
E 7 MR 17 MRR
F BAT 8 18 P5㧔+5V㧕
G LG 9 BAT 19 P5㧔+5V㧕
H 10 20 P5㧔+5V㧕
U V W
J
K
Power wire and grounding wire
L
M Power supply (Refer to Chapter 4 for details on selecting the wire.)
Pin Signal
N SD connector
A U
P CE05-2A22-23P Motor and amplifier combinations
B V
R LG C W Motor Amplifier
S P5㧔+5V㧕 G A
D Grounding HC-SF52㧘53 MR-J2-60CT
T F H B E HC-SF102㧘103 MR-J2-100CT
C F
E G B1
D
H B2

B1 and B2 are the brake terminals.

(Only for motor with brakes.)
24VDC with no polarity.

2-4-2 Connection of HC-SF152, HC-SF153

Detector connector MR-J2-200CT Detector connector 㧦 CN2

MS3102A20-29P Pin No.
A
M No.1 No.11
B
N C
D
S R Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
(Refer to Chapter 4 for details on the cable
F Pin Signal Pin Signal
G treatment)
1 LG 11 LG
Pin Signal Max. 50m 2 LG 12 LG
A 3 13
B 4 14
C MR 5 15
D MRR 6 16
E 7 MR 17 MRR
F BAT 8 18 P5㧔+5V㧕
G LG 9 BAT 19 P5㧔+5V㧕
H 10 20 P5㧔+5V㧕
U V W
J
K
Power wire and grounding wire
L
M Power supply (Refer to Chapter 4 for details on selecting the
Pin Signal wire.)
N SD connector
A U
P CE05-2A22-23P
B V
R LG C W
S P5㧔+5V㧕 G A
D Grounding
T F H B E
C F
E G B1
D
H B2

B1 and B2 are the brake terminals.

(Only for motor with brakes.)
24VDC with no polarity.

2–9
 Chapter 2 Wiring and Connection

2-4-3 Connection of HC-SF202, HC-SF203, HC-SF352, HC-SF353

Detector connector MR-J2-200CT to 350CT Detector connector 㧦 CN2
MS3102A20-29P Pin No.
A
M No.1 No.11
B
N C
D
S R Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
(Refer to Chapter 4 for details on the cable
F Pin Signal Pin Signal
G treatment)
1 LG 11 LG
Pin Signal Max. 50m 2 LG 12 LG
A 3 13
B 4 14
C MR Brake connector 5 15
D MRR MS3102A10SL-4P 6 16
E 7 MR 17 MRR
A B
Pin Signal 8 18 P5㧔+5V㧕
F BAT A B1
G LG 9 BAT 19 P5㧔+5V㧕
B B2 10 20 P5㧔+5V㧕
H
24VDC with no polarity
J
K
U V W
Power wire and grounding wire
L
M (Refer to Chapter 4 for details on selecting the wire.)
N SD
P Motor and amplifier combinations
R LG Power supply Motor Amplifier
S P5㧔+5V㧕 connector Pin Signal HC-SF202㧘203 MR-J2-200CT
T CE05-2A24-10P A U HC-SF352㧘353 MR-J2-350CT
B V
F A
C W
G D Grounding
E B
E
D C
F
G

2-4-4 Connection of HC-RF103, HC-RF153, HC-RF203

Detector connector MR-J2-200CT to 350CT Detector connector 㧦 CN2

MS3102A20-29P Pin No.
A
M
B No.1 No.11
N C
D
S R Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
F
(Refer to Chapter 4 for details on the cable
G treatment) Pin Signal Pin Signal
1 LG 11 LG
Pin Signal Max. 50m 2 LG 12 LG
A 3 13
B 4 14
C MR 5 15
D MRR 6 16
E 7 MR 17 MRR
F BAT 8 18 P5㧔+5V㧕
G LG 9 BAT 19 P5㧔+5V㧕
H 10 20 P5㧔+5V㧕
U V W
J
K
Power wire and grounding wire
L
M Power supply (Refer to Chapter 4 for details on selecting the wire.)
Pin Signal
N SD connector
A U
P CE05-2A22-23P Motor and amplifier combinations
B V
R LG C W Motor Amplifier
G A
S P5㧔+5V㧕 D Grounding HC-RF103㧘153 MR-J2-200CT
T F H B
E HC-RF203 MR-J2-350CT
C
F
E
D G B1
H B2

B1 and B2 are the brake terminals.

(Only for motor with brakes.)
24VDC with no polarity.

2–10
 Chapter 2 Wiring and Connection

2-4-5 Connection of HA-FF Series

Detector connector MR-J2-10CT to 60CT Detector connector 㧦 CN2
Pin No.
1 2 3
4 5 6 No.1 No.11
7 8 9
Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
(Refer to Chapter 4 for details on the cable
Pin Signal Pin Signal Pin Signal
treatment)
1 MR 1 LG 11 LG
2 MRR 2 LG 12 LG
3 BAT 3 13
4 4 14
Max. 50m
5 5 15
6 Power supply lead
6 16
7 P5㧔+5V㧕 2
VCTF3-1.25 0.5m 7 MR 17 MRR
8 LG With round crimp terminal with end insulator 8 18 P5㧔+5V㧕
9 LG 1.25-4
Red:U phase, White:V phase, Black : W phase 9 BAT 19 P5㧔+5V㧕
10 20 P5㧔+5V㧕

U V W
Detector cable 0.3m
With connector Power wire and grounding wire
172169-9 (AMP) (Refer to Chapter 4 for details on selecting the wire.)
Motor and amplifier combinations
Grounding Brake lead
terminal 2
Motor Amplifier
VCTF2-0.5 0.5m HA-FF053㧘13 MR-J2-10CT
M3 screw
With round crimp terminal with
HA-FF23 MR-J2-20CT
end insulator 1.25-2
HA-FF33, 43 MR-J2-40CT
24VDC with no polarity.
HA-FF63 MR-J2-60CT

2-4-6 Connection of HA-FF C-UE Series

Detector connector MR-J2-10CT ~ 60CT Detector connector 㧦 CN2

MS3102A20-29P
Pin No.
A
M
B No.1 No.11
N C
L
T
D
P
K S R
E Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
J
F
(Refer to Chapter 4 for details on the cable
H G treatment) Pin Signal Pin Signal
1 LG 11 LG
Pin Signal Max. 50m 2 LG 12 LG
A 3 13
B 4 14
C MR 5 15
D MRR 6 16
E 7 MR 17 MRR
F BAT 8 18 P5㧔+5V㧕
G LG 9 BAT 19 P5㧔+5V㧕
H 10 20 P5㧔+5V㧕
U V W
J Power supply connector
K
CE05-2A14S-2PD-B㧔D17㧕 Power wire and grounding wire
L
M Pin Signal (Refer to Chapter 4 for details on selecting the wire.)
D A
N SD A U
P C B B V Motor and amplifier combinations
R LG C W Motor Amplifier
S P5㧔+5V㧕 D Grounding
HA-FF053C-UE㧘13C-UE MR-J2-10CT
T HA-FF23C-UE MR-J2-20CT
HA-FF33C-UE, 43C-UE MR-J2-40CT
Brake connector
HA-FF63C-UE MR-J2-60CT
MS3102A10SL-4P

A B
Pin Signal
A B1
B B2
24VDC with no polarity

2–11
 Chapter 2 Wiring and Connection

2-4-7 Connection of HC-MF(-UE) Series

MR-J2-10CT to 40CT Detector connector 㧦 CN2
Detector connector
MR-J2-70CT
Pin No.
1 2 3
No.1 No.11
4 5 6
7 8 9
Option cable㧦MR-JHSCBL‫غ‬M-H No.10 No.20
(Refer to Chapter 4 for details on the cable
Pin Signal treatment) Pin Signal Pin Signal
1 MR 1 LG 11 LG
2 MRR 2 LG 12 LG
3 BAT 3 13
4 Max. 50m 4 14
5 5 15
6 Brake lead 6 16
7 P5㧔+5V㧕 2
2-0.3 0.3m 7 MR 17 MRR
8 LG With round crimp terminal with end 8 18 P5㧔+5V㧕
9 LG insulator 1.25-2
Blue: B1, B2 24VDC with no polarity 9 BAT 19 P5㧔+5V㧕
10 20 P5㧔+5V㧕

U V W

Detector cable 0.3m

Power supply lead Power wire and grounding wire
With connector
172169-9 (AMP) 4-AWG19 0.3m (Refer to Chapter 4 for details on selecting the wire.)
With round crimp terminal with
end insulator 1.25-4 Motor and amplifier combinations
Red : U phase, White :V phase, Motor Amplifier
Black : W phase HC-MF053㧔-UE㧕㧘13㧔-UE㧕 MR-J2-10CT
Yellow/Green : Grounding
HC-MF23㧔-UE㧕 MR-J2-20CT
HC-MF43㧔-UE㧕 MR-J2-40CT
HC-MF73㧔-UE㧕 MR-J2-60CT

2–12
 Chapter 2 Wiring and Connection

2-5 Connection of power supply

1. Make sure that the power supply voltage is within the specified range of the
servo amplifier. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a no-fuse breaker (NFB), and make sure
that the circuit is cut off when an error occurs or during inspections. Refer to
Chapter 4 and select the no-fuse breaker.
3. The wire size will differ according to the amplifier capacity. Refer to Chapter 4
CAUTION and select the size.
4. For safety purposes, always install a contactor (magnetic contactor) on the
main circuit power supply input. Large rush currents will flow when the power
is turned ON. Refer to Chapter 4 and select the correct contactor.
5. When the MR-J2-CT emergency stop sequence is separated from other
amplifiers using a parameter setting, always install a contactor dedicated for
that axis.

2-5-1 Example of connection when controlling the contactor with the MR-J2-CT
Drive the contactor via the relay from the contactor control output of the (MC) CN3 connector. There are
also some types of contactors that can be directly driven with 24VDC.
3-phase Contactor
NFB
200㨪230V

There are also types that are

built into the contactor.

MR-J2-CT MR-J2-CT

CN3
L1 L1
TE1 TE1 10 VDD
L2 L2
L3 L3 5 COM
15 MC
L11 L11
TE2 TE2
L21 L21

Class 3 Terminator connector

grounding (A-TM) or battery unit
or higher (MDS-A-BT-‫)غ‬

SH21 cable SH21 cable

Mitsubishi CN1A CN1B CN1A CN1B
CNC

2–12
 Chapter 2 Wiring and Connection

2-5-2 Example of connection when controlling the contactor with the MDS-B-CV/CR
If there is a converter unit in the system, the contactor control can be shared using the contactor control
output (MC1) of the converter. Note that this is only possible when the emergency stop sequence is
shared with the CNC feed axis servo amplifier, etc.

(1) When sharing a converter and power supply

3-phase Contactor AC reactor (B-AL)

NFB
200~230V

Always required with

the MDS-B-CV.

MR-J2-CT MDS-B-SP/Vx MDS-B-CV/CR

L1
L1 L2
TE1
L2 L3
L3
L11 L11
TE2 L11
L21 L21
L21
MC1
Class 3
L㧗 L㧗
grounding
L㧙 L㧙
or higher
SH21 cable
CN4 CN4
Mitsubishi SH21 cable
CN1A CN1B CN1A CN1B
CNC

SH21 cable
Terminator connector (A-TM)
or battery unit (MDS-A-BT-‫)غ‬

1. The MDS-B-CV is a power supply regenerative type converter; an AC reactor

is required in the power supply line.
Connect the MR-J2-CT main circuit power supply on the power supply side of
CAUTION the AC reactor.
2. A no-fuse breaker and contactor cannot be shared when the rated current of
the no-fuse breaker exceeds 60A.

2–13
 Chapter 2 Wiring and Connection

(2) When not sharing a converter and power supply

If the rated current exceeds 60A by the selection of the no-fuse breaker when the converter and
power supply are shared, install the no-fuse breakers and contactors separate from the converter
unit.

3-phase
NFB1 Contactor 1 AC reactor (B-AL)
200~230V

Always required with

the MDS-B-CV.

MR-J2-CT MDS-B-SP/Vx MDS-B-CV/CR

Contactor 2
NFB2
L1
L1 L2
TE1
L2 L3
L3
L11 L11
TE2 L11
L21 L21
L21
MC1
Class 3 L㧗 L㧗
grounding L㧙 L㧙
or higher
SH21 cable
CN4 CN4
Mitsubishi SH21 cable
CN1A CN1B CN1A CN1B
CNC

SH21 cable
Terminator connector (A-TM)
or battery unit (MDS-A-BT-‫)غ‬

Install independent no-fuse breakers and contactors as the MR-J2-CT main

circuit power supply if the total current capacity exceeds 60A when the converter
and power supply are shared.
DANGER No-fuse breakers may not operate for short-circuits in small capacity amplifiers if
they are shared with a large capacity unit, and this could cause fires. For the
MR-J2-CT, use an NF60 type or lower capacity breaker.
(Refer to section "4-7 Selection of no-fuse breakers".)

2–14
 Chapter 2 Wiring and Connection

2-6 Connection of regenerative resistor

2-6-1 Standard built-in regenerative resistor

The built-in regenerative resistor is connected by short-circuiting between the P and D terminals of the
control circuit terminal block (TE2). (Shipment state). Confirm that a short bar has been connected
between the P and D terminals.

MR-J2-CT (Note) The terminal block TE2 is on the top front of the
amplifier in the MR-J2-200CT and -350CT.

Built-in regenerative
resistor

TE2 Confirm that a short bar has been connected

D C P
between the P and D terminals

2-6-2 External option regenerative resistor

Disconnect the short bar connected between the P and D terminals, and connect the option
regeneration resistor between the P and C terminals. The servo amplifier has an internal regenerative
resistor electronic thermal (software process), and when overheating of the regenerative resistor is
detected, an over-regeneration (alarm 30) is detected. The thermal protector terminals (G3, G4) are
used when double-protecting against overheating of the regenerative resistor. When double-protecting,
construct a sequence in which an emergency stop occurs if a current stops flowing between G3 and G4.

MR-J2-CT

G3 and G4: External regeneration

Thermal protector terminals  resistance unit
The current stops flowing
between G3 and G4 when there is
abnormal overheating.
Contact capacity: 150mA
Contact ON resistance: 10mΩ

TE2 G3
D C P G4
Twist the wires. P
˜ ˜ C

Disconnect the
short bar. 5m or less

1. Be careful when selecting the installation location. Choose a location where

foreign matter (cutting chips, cutting oil, etc.) does not adhere to the external
regenerative resistor unit terminal. A short-circuit between the P and C
terminals could lead to servo amplifier damage.
DANGER 2. The regenerative resistor generates heat of approximately 100 degrees (or
higher, depending on the installation conditions). Give sufficient consideration
to heat dissipation and installation position.
• Use flame resisting wire.
• Make sure the wires do not contact the regenerative resistor unit.

Always use twisted pair cable to connect to the servo amplifier, and keep the
CAUTION length of the wiring to 5m or less.

2–15
 Chapter 2 Wiring and Connection

2-7 Connection of digital input/output (DIO) signals

2-7-1 Types and functions of digital input/output (DIO) signals

The digital input/output (DIO) signals are assigned to the connector CN3, and have the following
functions.
Connector for DIO : CN3
Pin Signal Pin Signal
1 LG 11 LG
2 RxD 12 TxD
3 SG 13 MBR
4 MO1 14 MO2
5 COM 15 MC
6 16
7 17
Relay terminal : MR-J2CN3TM
8 18
(Option)
9 19 DOG
10 VDD 20 EMGX
CN3 CN3 CN3

To personal
computer etc.
SH21 cable

VDD COM EM DOG MO1 MO2

PE SG MC MBR LG LG

Each model I/F

Connector I/O
Signal name Abbrev. Function and application
pin No. class
Magnetic brake MBR CN3-13 This is the motor magnetic brake control output signal. DO
control The brakes are released by the SERVO ON signal
(motor power ON), and operated by the SERVO OFF
(motor power OFF) signal.
Contactor MC CN3-15 Contactor control output signal. DO
control The contactor is turned ON by the READY ON signal,
and turned OFF by the READY OFF signal.
Near-point dog DOG CN3-19 This inputs a near-point signal when executing dog-type DI
zero point return.
Emergency stop EMGX CN3-20 This is the external emergency stop signal input. DI

1. The MBR and MC pin Nos. are set to the default parameter settings. The
output pin No. can be changed with the MBR and MC signals by parameter
setting. (Refer to the table below.)
POINT 2. The external emergency stop input (EMGX) is invalid when the parameters
are set to their default values. Set parameter #103.bit0 to "0" to use this
function.

No. Abbrev. Parameter name Description

#102 ∗Cont2 Control parameter 2 HEX setting parameter. Set bits without a description to their default values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default
0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0
value

bit Meaning when "0" is set. Meaning when "1" is set.

1 Error not corrected at servo OFF Error corrected at servo OFF
2 Linear axis Rotation axis
3 Station assignment direction CW Station assignment direction CCW
4 Uniform indexing Non-uniform indexing
5 DO channel standard DO channel reverse assignment
assignment
7 Incremental detection Absolute position detection

2–16
 Chapter 2 Wiring and Connection

2-7-2 Wiring of digital input/output (DIO) signals

Either an internal or external power supply can be used, but they cannot be used together in the same
amplifier.

(1) Motor brake control signal (MBR) output circuit

The motor brake power supply is controlled via a relay. When using an inductive load, install a
diode. (Tolerable current: 40mA or less, rush current: 100mA or less)

The servo amplifier will

When using an internal power supply

MR-J2-CT fail if the diode polarity

is incorrect. Always install a surge
DC24V
absorber.
DC24V
CN3
Surge Brake
10 VDD absorber
5 COM
13 MBR
3 SG
Brake control relay (The brake cannot be directly
driven by an internal power supply.)
When using an external power supply

The servo amplifier will

MR-J2-CT fail if the diode polarity
is incorrect. Always install a surge
DC24V
absorber.
DC24V
CN3
Surge Brake
10 VDD DC27V absorber
5 COM or less
13 MBR
3 SG
Brake control relay (The brake cannot be directly
driven by an external power supply.)

When using an internal power supply, the power supply can be directly
POINT connected to VDD if only the digital output (MC, MBR) is being used. When using
the digital input (DOG, EMGX), always connect between VDD and COM.

1. Always install a surge absorber near the motor's brake terminal to eliminate
noise and protect the contacts.
2. The magnetic brakes cannot be directly driven with the output signal from the
CAUTION servo amplifier. Always install a relay.
3. The magnetic brakes cannot be driven by the servo amplifier's VDD (24VDC).
Always install a separate power supply.

2–17
 Chapter 2 Wiring and Connection

(2) Contactor control signal (MC) output circuit

A relay or photocoupler can be driven with this circuit. When using an inductive load, install a diode.
(Tolerable current: 40mA or less, rush current: 100mA or less)

Contactor
When using an internal power supply

The servo amplifier will

fail if the diode polarity
MR-J2-CT
is incorrect.

DC24V
CN3
10 VDD
5 COM
15 MC
3 SG
Contactor control relay (There are also types
that are built into the contactor.)

Contactor
When using an external power supply

The servo amplifier will

fail if the diode polarity
MR-J2-CT
is incorrect.

DC24V
CN3
10 VDD
DC27V
5 COM or less
15 MC
3 SG
Contactor control relay (There are also types
that are built into the contactor.)

When using an internal power supply, the power supply can be directly
POINT connected to VDD if only the digital output (MC, MBR) is being used. When using
the digital input (DOG, EMGX), always connect between VDD and COM.

2–18
 Chapter 2 Wiring and Connection

(3) Near point dog signal (DOG) input circuit

Issue a signal using a relay or open-collector transistor.
When using an internal power supply

MR-J2-CT

When using a transistor:

DC24V VCES㻡1.0V
CN3 I CEO㻡100㱘A
Current direction
10 VDD approximately
5 COM 5mA
4.7k 19 DOG
3 SG Near-point dog
Near-point dog canceled by closing.
When using an external power supply

MR-J2-CT

When using a transistor:

DC24V VCES㻡1.0V
DC27V I CEO㻡100㱘A
CN3 or less
10 VDD
5 COM Current direction
4.7k 19 DOG
3 SG Near-point dog
Near-point dog canceled by closing.

(4) External emergency stop signal (EMGX) input circuit

Issue a signal using a relay or open-collector transistor.
When using an internal power supply

MR-J2-CT

When using a transistor:

DC24V VCES㻡1.0V
CN3 I CEO㻡100㱘A
Current direction
10 VDD approximately
5 COM 5mA
4.7k 20 EMGX
External emergency stop
3 SG
Emergency stop canceled by closing.
When using an external power supply

MR-J2-CT

When using a transistor:

DC24V VCES㻡1.0V
DC27V I CEO㻡100㱘A
CN3 or less
10 VDD
5 COM Current direction
4.7k 20 EMGX
External emergency stop
3 SG
Emergency stop canceled by closing.

2–19
 Chapter 2 Wiring and Connection

2-8 Connection with personal computer

RS-232-C is used for connection with the commercial personal computer. The connector is CN3.

Commercial personal computer +

Windows 3.1 and above

or

Optional cable
MR-CPCATCBL (for DOS/V) &
MR-CPC98CBL (for PC98)

CN3
CN3 CN3 CN3
Setup software

SH21 cable

VDD COM EM DOG MO1 MO2

PE SG MC MBR LG LG

Relay terminal block

MR-J2-CN3TM (option)

2–20
 Chapter 3 Installation

3-1 Installation of the servo amplifier .......................................................................... 3-2

3-1-1 Environmental conditions............................................................................... 3-2
3-1-2 Installation direction and clearance................................................................ 3-3
3-1-3 Prevention of entering of foreign matter ........................................................ 3-3
3-2 Installation of servomotor ...................................................................................... 3-4
3-2-1 Environmental conditions............................................................................... 3-4
3-2-2 Cautions for mounting load (prevention of impact on shaft) .......................... 3-5
3-2-3 Installation direction ....................................................................................... 3-5
3-2-4 Tolerable load of axis .................................................................................... 3-5
3-2-5 Oil and waterproofing measures.................................................................... 3-6
3-2-6 Cable stress................................................................................................... 3-8
3-3 Noise measures ...................................................................................................... 3-9

3–1
 Chapter 3 Installation

1. Install the unit on noncombustible material. Direct installation on combustible

material or near combustible materials could lead to fires.
2. Follow this Instruction Manual and install the unit in a place where the weight
can be borne.
3. Do not get on top of or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
CAUTION 5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the servo amplifier or servomotor.
6. Do not block the servo amplifier intake and outtake ports. Doing so could
lead to failure.
7. The servo amplifier and servomotor are precision devices, so do not drop
them or apply strong impacts to them.
8. Do not install or run a servo amplifier or servomotor that is damaged or
missing parts.
9. When storing for a long time, please contact your dealer.

3-1 Installation of the servo amplifier

1. Always observe the installation directions. Failure to observe this could lead
to faults.
CAUTION 2. Secure the specified distance between the servo amplifier and control panel,
or between the servo amplifier and other devices. Failure to observe this
could lead to faults.

3-1-1 Environmental conditions

Environment Conditions
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90% RH or less (with no dew condensation)
Storage temperature –20°C to +65°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, combustible gas, oil mist or dust
Altitude 1000m or less above sea level
2
Vibration 5.9m/sec (0.6G) or less

3–2
 Chapter 3 Installation

3-1-2 Installation direction and clearance

Install the servo amplifier so that the front side is visible. Refer to the following drawings for the heat
dissipation and wiring of each unit, and secure sufficient space for ventilation.

Front view Side view

(Top)

100mm 10mm
or more or more

70mm
or more

10mm 40mm 10mm

or more or more or more

(Bottom)

The ambient temperature condition for the servo amplifier is 55°C or less.
Because heat can easily accumulate in the upper portion of the amplifier, give
CAUTION sufficient consideration to heat dissipation when designing the power distribution
panel. If required, install a fan in the power distribution panel to agitate the heat
in the upper portion of the amplifier.

3-1-3 Prevention of entering of foreign matter

Treat the cabinet with the following items.

• Make sure that the cable inlet is dust and oil proof by using
packing, etc.
• Make sure that the external air does not enter inside by using
head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special measures
such as oil-proofing the top so that oil does not enter the
cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery. If
cutting chips, etc., stick onto the electronic parts, trouble may
occur.

3–3
 Chapter 3 Installation

3-2 Installation of servomotor

1. Do not hold the cables, axis or detector when transporting the servomotor.
Failure to observe this could lead to faults or injuries.
2. Securely fix the servomotor to the machine. Insufficient fixing could lead to
the servomotor deviating during operation. Failure to observe this could lead
CAUTION to injuries.
3. When coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the servomotor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break.

3-2-1 Environmental conditions

Environment Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 80% RH or less (with no dew condensation)
Storage temperature –15°C to +70°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
• Indoors (Where unit is not subject to direct sunlight)
Atmosphere
• With no corrosive gas or combustible gas, mist or dust
Altitude 1000m or less above sea level
2
HC-SF (1.5kW) or less X: 9.8 m/sec (1G)
2
HC-RF Y: 24.5m/sec (2.5G) or less

HC-SF (2.0kW) or less X: 19.6 m/sec2 (2G)

Vibration 2
Y: 49 m/sec (5G) or less
2
X: 19.6 m/sec (2G)
HA-FF, HC-MF 2
Y: 19.6 m/sec (2G) or less

The vibration conditions are as shown below.


Vibration amplitude (double-sway width) ( Ǵm)



 Servomotor



: ;


    Acceleration

Speed (r/min)

3–4
 Chapter 3 Installation

3-2-2 Cautions for mounting load (prevention of impact on shaft)

Ԙ When using the servomotor with key way, use the
screw hole at the end of the shaft to mount the pulley Servom otor
onto the shaft. To install, first place the double-end D ouble-end stud
stud into the shaft screw holes, contact the coupling
end surface against the washer, and press in as if
tightening with a nut. When the shaft does not have a
key way, use a frictional coupling, etc.
N ut
ԙ When removing the pulley, use a pulley remover, and
make sure not to apply an impact on the shaft. Pulley
W asher
Ԛ Install a protective cover on the rotary sections such as
the pulley installed on the shaft to ensure safety.
ԛ The direction of the detector installation on the
servomotor cannot be changed.

Never hammer the end of the shaft

CAUTION during assembly.

3-2-3 Installation direction

There are no restrictions on the installation direction. Installation in any 7R
direction is possible, but as a standard the servomotor is installed so that
the motor power supply wire and detector cable cannon plugs (lead-in
wires) face downward. When the servomotor is not installed in the
standard direction, refer to section "3-2-5 Oil and waterproofing
&QYP
measures" and take the appropriate measures.
The brake plates may make a sliding sound when a servomotor with
magnetic brake is installed with the shaft facing upward, but this is not a Standard installation
fault. direction

3-2-4 Tolerable load of axis

There are limits to the load that can be applied to the .
motor shaft. When mounting the motor on a machine, Radial load
make sure the loads applied in the radial direction and
thrust direction are less than the tolerable values shown in
the table below. These loads can cause motor output
Thrust load
torque, so this point should be carefully considered when
designing the machine.
L : Length from flange isntallation
surface to center of load weight
[mm]

Servomotor Tolerable radial load Tolerable thrust load

HC-SF52, 53, 102, 103, 152, 153 980N (100kgf), L=55 490N (50kgf)
HC-SF202, 203, 352, 353 2058N (210kgf), L=79 980N (100kgf)
HC-RF103, 153, 203 686N (70kgf), L=45 196N (20kgf)
HA-FF053 108N (11kgf), L=30 98N (10kgf)
HA-FF13 118N (12kgf), L=30 98N (10kgf)
HA-FF23, 33 176N (18kgf), L=30 147N (15kgf)
HA-FF43, 63 323N (33kgf), L=40 284N (29kgf)
HC-MF053, 13, 23 88N (9kgf), L=25 59N (6kgf)
HC-MF43 245N (25kgf), L=30 98N (10kgf)
HC-MF73 392N (40kgf), L=40 147N (15kgf)

3–5
 Chapter 3 Installation

1. Use a flexible coupling when connecting with a ball screw, etc., and keep the
shaft center deviation to below the tolerable radial load of the shaft.
2. When using the motor shaft with a pulley or gear installed, the radial load
increases the smaller the diameter of the pulley or gear becomes. This
should be carefully considered when designing the machine.
3. When using a timing belt, adjust so that the radial load (2x the tension)
CAUTION occurring from the belt's tension is less than the value shown in the table
above.
4. In machines where thrust loads such as a worm gear are applied, carefully
consider providing separate bearings, etc., on the machine side so that loads
exceeding the tolerable thrust loads are not applied to the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.

3-2-5 Oil and waterproofing measures

Ԙ A form based on IEC standards (IP types) is displayed as
Oil or water
the servomotor protective form (Refer to "12-2-1 List of
Specifications."). However, these standards are
short-term performance specifications. They do not
guarantee continuous environmental protection
characteristics. Measures such as covers, etc., must be
provided if there is any possibility that oil or water will fall
on the motor, or the motor will be constantly wet and Servomotor
permeated by water. Note that IP-type motors are not
indicated as corrosion-resistant.
ԙ When a gear box is installed on the servomotor, make sure that the oil level height from the
center of the shaft is higher than the values given below. Open a breathing hole on the gear
box so that the inner pressure does not rise.
Only oil seals compliant with EN standards are mounted on the HA-FF Series.

Servomotor Oil level (mm)

HC-SF52, 102, 152 Gear
20 Servomotor
HC-SF53, 103, 153
HC-SF202, 203, 352, 353 25 Oil level
HC-RF103, 153, 203 20
HA-FF053C-UE, 13C-UE 8 Lip
HA-FF23C-UE, 33C-UE 12 V- ring
HA-FF43C-UE, 63C-UE 14

1. The servomotors, including those having IP65 specifications, do not have a

completely waterproof (oil-proof) structure. Do not allow oil or water to
constantly contact the motor, enter the motor, or accumulate on the motor.
Oil can also enter the motor through cutting chip accumulation, so be careful
of this also.
CAUTION 2. When the motor is installed facing upwards, take measures on the machine
side so that gear oil, etc., does not flow onto the motor shaft.
3. The HC-MF Series and standard HA-FF Series servomotors do not have an
oil seal. Provide a seal on the gear box side so that lubricating oil, etc., does
not enter the servomotor.

3–6
 Chapter 3 Installation

Ԛ When installing the servomotor horizontally, set the power cable and detector cable to face
downward.
When installing vertically or on an inclination, provide a cable trap.

Cable trap

ԛ Do not use the unit with the cable submerged in oil or water.
(Refer to right drawing.) Cover

Servo-
motor

Oil or water pool

<Fault> Capillary tube phenomenon

Ԝ When installing on the top of the shaft end, make sure Gear
that oil from the gear box, etc., does not enter the
Lubricating oil
servomotor. The servomotor does not have a
waterproof structure.

Servomotor

3–7
 Chapter 3 Installation

3-2-6 Cable stress

Ԙ Sufficiently consider the cable clamping method so that bending stress and the stress from the
cable's own weight is not applied on the cable connection.
ԙ In applications where the servomotor moves, make sure that excessive stress is not applied on the
cable.
If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves,
make sure that the cable bending section is within the range of the optional detector cable.
Fix the detector cable and power cable enclosed with the servomotor.
Ԛ Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the
machine corners, or stepped on by workers or vehicles.
ԛ The bending life of the detector cable is as shown below. Regard this with a slight allowance. If the
servomotor is installed on a machine that moves, make the bending radius as large as possible.

˜ 

˜ 

˜ 

˜ 
No. of bends (times)

˜ 

˜ 

˜ 

˜ 

‫ޓ‬ ˜ 

˜ 

˜ 
˜ 
         
Bending radius (mm)

Detector cable bending life

(The optional detector cable and wire of our company: A14B2343)
Note: The values in this graph are calculated values and are not guaranteed.

3–8
 Chapter 3 Installation

3-3 Noise measures

Noise includes that which enters the servo amplifier from an external source and causes the servo
amplifier to malfunction, and that which is radiated from the servo amplifier or motor and causes the
peripheral devices or amplifier itself to malfunction. The servo amplifier output is a source of noise as
the DC voltage is switched at a high frequency. If the peripheral devices or amplifier malfunction
because of the noise, measures must be taken to suppressed this noise. These measures differ
according to the propagation path of the noise.

(1) General measures for noise

Avoid wiring the servo amplifier's power supply wire and signal wires in parallel or in a bundled state.
Always use separate wiring. Use a twisted pair shield wire for the detector cable, the control signal
wires for the bus cable, etc., and for the control power supply wire. Securely ground the shield.
Use one-point grounding for the servo amplifier and motor.

(2) Measures against noise entering from external source and causing servo amplifier to
malfunction
If a device generating noise is installed near the servo amplifier, and the servo amplifier could
malfunction, take the following measures.
Install a surge killer on devices (magnetic contactor, relay, etc.) that generate high levels of noise.
Install a data line filter on the control signal wire.
Ground the detector cable shield with a cable clamp.

(3) Measures against noise radiated from the servo amplifier and causing peripheral devices
to malfunction
The types of propagation paths of the noise generated from the servo amplifier and the noise
measures for each propagation path are shown below.

Noise generated Airborne Noise directly radiated Path Ԙ

from servo amplifier propagation noise from servo amplifier

Magnetic Path ԛ Noise radiated from Path ԙ

induction noise and Ԝ power supply wire

Static induction Noise radiated from

Path ԝ Path Ԛ
noise servomotor

Cable Noise propagated over Path Ԟ

propagation noise power supply wire

Noise lead in from Path ԟ

grounding wire by
leakage current

3–9
 Chapter 3 Installation

㽸
㽳
㽸
㽳

㽲 Servo Sensor
Instru- Receiver amplifier power
ment supply
㽷
㽴
㽵 㽹
Sensor

Servomotor 䌓䌍

Noise
propaga-tion Measures
path
When devices such as instruments, receivers or sensors, which handle minute
signals and are easily affected by noise, or the signal wire of these devices, are
stored in the same panel as the servo amplifier and the wiring is close, the device
could malfunction due to airborne propagation of the noise. In this case, take the
following measures.
(1) Install devices easily affected as far away from the servo amplifier as possible.
Ԙ ԙ Ԛ (2) Lay the signals wires easily affected as far away from the input wire with the
servo amplifier.
(3) Avoid parallel wiring or bundled wiring of the signal wire and power wire.
(4) Insert a line noise filter on the input/output wire or a radio noise filter on the
input to suppress noise radiated from the wires.
(5) Use a shield wire for the signal wire and power wire, or place in separate metal
ducts.
If the signal wire is laid in parallel to the power wire, or if it is bundled with the power
wire, the noise could be propagated to the signal wire and cause malfunction
because of the magnetic induction noise or static induction noise. In this case, take
the following measures.
(1) Install devices easily affected as far away from the servo amplifier as possible.
ԛ Ԝ ԝ
(2) Lay the signals wires easily affected as far away from the input wire with the
servo amplifier.
(3) Avoid parallel wiring or bundled wiring of the signal wire and power wire.
(4) Use a shield wire for the signal wire and power wire, or place in separate metal
ducts.
If the power supply for the peripheral devices is connected to the power supply in
the same system as the servo amplifier, the noise generated from the servo
amplifier could back flow over the power supply wire and cause the devices to
Ԟ
malfunction. In this case, take the following measures.
(1) Install a radio noise filter on the servo amplifier's power wire.
(2) Install a line noise filter on the servo amplifier's power wire.
If a closed loop is structured by the peripheral device and servo amplifier's
grounding wires, the leakage current could penetrate and cause the devices to
ԟ
malfunction. In this case, change the device grounding methods and the grounding
place.

3–10
 Chapter 4 Options and Peripheral Devices

4-1 Regenerative option ................................................................................................ 4-2

4-1-1 Combinations with servo amplifiers ............................................................... 4-2
4-1-2 Outline dimension drawing of option regenerative resistor ............................ 4-3
4-2 Battery option for absolute position system.......................................................... 4-5
4-2-1 Battery (MR-BAT) .......................................................................................... 4-5
4-2-2 Battery unit (MDS-A-BT-2/-4/-6/-8) ................................................................ 4-6
4-3 Relay terminal block ................................................................................................ 4-7
4-4 Cables and connectors ........................................................................................... 4-8
4-4-1 Cable option list ............................................................................................. 4-9
4-4-2 Connector outline dimension drawings .......................................................... 4-12
4-4-3 Flexible conduits ............................................................................................ 4-17
4-4-4 Cable wire and assembly............................................................................... 4-19
4-4-5 Option cable connection diagram .................................................................. 4-20
4-5 Setup software ......................................................................................................... 4-24
4-5-1 Setup software specifications ........................................................................ 4-24
4-5-2 System configuration ..................................................................................... 4-24
4-6 Selection of wire ...................................................................................................... 4-25
4-7 Selection of no-fuse breakers................................................................................. 4-26
4-8 Selection of contactor ............................................................................................. 4-27
4-8-1 Selection from rush current............................................................................ 4-27
4-8-2 Selection from input current........................................................................... 4-28
4-9 Control circuit related.............................................................................................. 4-29
4-9-1 Circuit protector ............................................................................................. 4-29
4-9-2 Relays............................................................................................................ 4-29
4-9-3 Surge absorber.............................................................................................. 4-29

4–1
 Chapter 4 Options and Peripheral Devices

Wait at least 10 minutes after turning the power OFF, confirm that the CHARGE
lamp has gone out, and check the voltage with a tester, etc., before connecting
DANGER the options or peripheral devices. Failure to observe this could lead to electric
shocks.

1. Always use the designated option.

Failure to do so could lead to faults or fires.
2. Take care to the installation environment of the option regenerative resistor
CAUTION so that cutting chips and oil do not come in contact.
There is a risk of short-circuit accidents at the resistor terminal block and of
the oil adhered on the resistor burning. These can cause fires.

4-1 Regenerative option

4-1-1 Combinations with servo amplifiers
Confirm the regenerative resistor capacity and possibility of connecting with the servo amplifier. Refer to
section "13-4 Selection of regenerative resistor" for details on selecting an option regenerative resistor.
Standard built-in External option regenerative resistor
regenerative resistor MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50
Corresponding
servo amplifier Regenerative capacity 30W 100W 300W 300W 500W
Resistance
40Ω 40Ω 40Ω 13Ω 13Ω
value
MR-J2-10CT No built-in resistor ٤
MR-J2-20CT 10W 100Ω ٤ ٤
MR-J2-40CT 10W 100Ω ٤ ٤
MR-J2-60CT 10W 40Ω ٤ ٤
MR-J2-70CT 20W 40Ω ٤ ٤
MR-J2-100CT 20W 40Ω ٤ ٤
MR-J2-200CT 100W 13Ω ٤ ٤
MR-J2-350CT 100W 13Ω ٤ ٤

No. Abbrev. Parameter name Explanation

#002 ∗RTY Regenerative option type Set the regenerative resistor type.

0 0 0 0 (Initialized setting value)

Setting value Descriptions

Amplifier standard built-in resistor
0
(10CT has no built-in resistor.)
1 Setting prohibited
2 MR-RB032 (30W)
3 MR-RB12 (100W)
4 MR-RB32 (300W)
5 MR-RB30 (300W)
6 MR-RB50 (500W)
7~F Setting prohibited

The regenerative option and servo amplifier cannot be set to a combination other
CAUTION than that designated. Failure to use the correct combination could lead to fires.

4–2
 Chapter 4 Options and Peripheral Devices

4-1-2 Outline dimension drawing of option regenerative resistor

<MR-RB032>
[Unit : mm]
15 ø6 installation hole

12
MR-RB032

168
156

144
G3
G4
P
C

35
20 99
6

6
119
30

Regenerative Regenerative Resistance Weight

option power (W) value (Ω ) (kg)
MR-RB032 30 40 0.5

<MR-RB12>
[Unit : mm]
15 ø6 installation hole

MR-RB12
144
168

156

G3
G4
P
C
47
6

6
20 149
40

Regenerative Regenerative Resistance Weight

option power (W) value (Ω ) (kg)
MR-RB12 100 40 0.8

4–3
 Chapter 4 Options and Peripheral Devices

<MR-RB32, MR-RB30>
[Unit : mm]

MR-RB30/32
125
150

P
C
G3
G4

52
7 79
17 318
90

100
30

Regenerative Regenerative Resistance Weight

option power (W) value (Ω ) (kg)
MR-RB32 300 40 2.9
MR-RB30 300 13 2.9

<MR-RB50>
[Unit : mm]
95
P
G4 G3 C
MR-RB50
350

325

7 103 17 200
116
27

128

Regenerative Regenerative Resistance Weight

option power (W) value (Ω ) (kg)
MR-RB50 500 13 5.6
4–4
 Chapter 4 Options and Peripheral Devices

4-2 Battery option for absolute position system

A battery or battery unit is required for the absolute position system.
Battery option specifications
Item Battery Battery unit
Type MR-BAT MDS-A-BT-2, -BT-4, -BT-6, -BT-8
Nominal voltage 3.6V 3.6V
BT-2 BT-4 BT-6 BT-8
Nominal capacity 1700mAh
4000mAh 8000mAh 12000mAh 16000mAh
Max. 7 axes in one system (in same CNC
No. of backup axes Only one axis by mounted amplifier
bus)
Battery continuous back
Approx. 10,000 hours Approx. 12,000 hours
up time
5 years from date of battery
Battery useful life 7 years from date of unit manufacture
manufacture
Data save time during HC-SF, HC-RF : 20 hours at time of delivery, 10 hours after 5 years
battery replacement HA-FF, HC-MF : 2 hours at time of delivery, 1 hour after 5 years
Back up time from
battery warning to Approx. 100 hours
alarm occurrence

1. To protect the absolute position, do not shut off the servo amplifier control
power supply if the battery voltage becomes drop (S52 0092).
2. The battery life will be greatly affected by the ambient temperature. The
CAUTION above data shows the theoretic values for when the ambient temperature of
the battery is 25°C. If the ambient temperature rises, generally the back up
time and useful life will be shorter.

4-2-1 Battery (MR-BAT)

This is a battery that is built in the servo amplifier. It must be stored in the servo amplifier of the absolute
position control axis.

The internal circuit of the servo amplifier can be damaged by static electricity.
Always observe the following points.
CAUTION Ԙ Always ground the body and work table.
ԙ Never touch the conductive parts such as the connector pins or electrical
parts by hand.

Mount the battery into the servo amplifier with the following procedure.
Ԙ Open the operation section window. (For the MR-J2-200CT/-350CT, also remove the front cover.)
ԙ Mount the battery into the battery holder.
Ԛ Insert the battery connector into CON1 until a click is heard.

CON1

CON1

Battery holder Battery holder

Battery (MR-BAT) Battery (MR-BAT)

For MR-J2-10CT to MR-J2-100CT For MR-J2-200CT and MR-J2-350CT

4–5
 Chapter 4 Options and Peripheral Devices

4-2-2 Battery unit (MDS-A-BT-2/-4/-6/-8)

This is a battery that is installed outside of the servo amplifier.
One battery unit can back up the absolute position data for the servo amplifiers of several axes. The
number of servo amplifiers that can be backed up with one battery unit is as follows.
Battery unit type No. of units that can be backed up
MDS-A-BT-2 2 units
MDS-A-BT-4 4 units
MDS-A-BT-6 6 units
MDS-A-BT-8 7 units

<Outline dimension drawing>

MDS-A-BT-2/-4/-6/-8
[Unit : mm]
15 ø6, Use an M5 screw for the installation.

52
160

145
135

17

R3

6 100
30

<Connection>
The battery unit is connected with a bus cable (SH21) between the amplifiers instead of the
terminator.

MR-J2-CT MR-J2-CT

CNC

SH21 cable SH21 cable SH21 cable

Battery unit
MDS-A-BT-2
MDS-A-BT-4
MDS-B-BT-6
MDS-A-BT-8

4–6
 Chapter 4 Options and Peripheral Devices

4-3 Relay terminal block

Signals input/output from the CN3 connector on the front of the servo amplifier can be sent to the
terminal block. Connect the terminal block to the CN3 connector with an SH21 cable. This can also be
used with the servo amplifier MDS-B-SVJ2 Series.

Abbrev
Name Descriptions
.
CN3A Connector 3 input/output A Connect from the CN3 connector with an SH21 cable.
CN3B Connector 3 input/output B Common for any connector, so each signal will pass
through. Generally when the CN3 control signal is being
CN3C Connector 3 input/output C used, each signal can be output from the relay terminal
block by relaying through these connectors.
This is the 24V power supply output in the amplifier. When
Internal power supply
VDD using an internal power supply, use relayed once through the
output
COM terminal.
Connect VDD when using the amplifier internal power
COM Common power supply supply. Connect the + side of the external power supply
when using an external power supply.
External emergency stop
EMG This is the input terminal for external emergency stops.
input
Input the near-point dog signal when carrying out a dog-type
DOG Dog
zero point return.
This is the D/A output ch.1.
MO1 Monitor output 1
Measure the voltage across MO1-LG.
This is the D/A output ch.2.
MO2 Monitor output 2
Measure the voltage across MO2-LG.
This has the same potential as the amplifier FG or cable
PE Plate ground
shield.
SG 24V power supply ground This is the ground when using digital input/output.
MC Contactor control output This is the output terminal for contactor control.
MBR Motor brake control output This is the output terminal for motor brake control.
LG 5V power supply ground This is the ground when using D/A output.

< Outline dimension drawing >

MR-J2CN3TM
2-Ǿ5.3
Installation hole) [Unit㧦mm]

CN3A CN3B CN3C

37.5

75

VDD COM EMG DOG MO1 MO2

PE SG MC MBR LG LG

88

100 41.5

4–7
 Chapter 4 Options and Peripheral Devices

4-4 Cables and connectors

The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown
below. Cables can only be ordered in the designated lengths shown on the following pages. Purchase a
connector set, etc., to create special length cables when required.

MR-J2-CT MR-J2-CT
CNC

Ԙ Ԙ CNC bus cable ԙ Terminator

connector set

Ԙ
Ԝ Cable for
personal
computer
Ԙ Battery unit

Relay terminal block Personal computer

HC-SF
HC-RF
ԝ Power supply connector

ԟ Brake connector

Ԛ Detector cable
connector set

HA-FF**C-UE
ԟ Brake connector

Ԟ Power supply connector

Ԛ Detector cable
connector set

HA-FF
HC-MF

ԛ Detector cable
connector set

4–8
 Chapter 4 Options and Peripheral Devices

4-4-1 Cable option list

(1) Cables
Part name Type Descriptions
For Ԙ Communication cable for SH21 Servo amplifier side Servo amplifier side
CN1A, CNC unit - Amplifier Length: connector (Sumitomo 3M) connector (Sumitomo 3M)
CN1B Amplifier - Amplifier 0.35, 0.5, 0.7, 1, 1.5, 2, Connector : 10120-6000EL Connector : 10120-6000EL
2.5, 3, 3.5, 4, 4.5, 5, 6, Shell kit : 10320-3210-000 Shell kit : 10320-3210-000
7, 8, 9, 10, 15, 20, 30m
FCUA-R000 and
MR-J2HBUS‫غ‬M can
also be used.
ԙ Terminator connector A-TM Terminator connector
FCUA-A-TM can also
be used.
For Ԛ Detector IP65 and Straight Length is shown in the Servo amplifier side Servomotor detector side
CN2 cable for EN MR-ENCBL‫غ‬M-H‫غ‬. connector (Sumitomo 3M) connector (DDK)
HC-SF, standard Length : 2, 5, 10, 20, Connector : 10120-3000VE Connector :
HC-RF, compati- 30m Shell kit : 10320-52F0-008 MS3106A20-29S(D190)
HA-FF∗∗C- ble Straight back shell:
UE CE02-20BS-S
Clamp: CE3057-12A-3

For Straight Length is shown in the Servo amplifier side Servomotor detector side
general MR-JHSCBL‫غ‬M-H‫غ‬. connector (Sumitomo 3M) connector (DDK)
environ- Length : 2, 5, 10, 20, Connector : 10120-3000VE Plug: MS3106B20-29S
ment 30m Shell kit : 10320-52F0-008 Clamp: MS3057-12A

ԛ Detector For Straight Length is shown in the Servo amplifier side Servomotor detector side
cable for general MR-JCCBL‫غ‬M-H‫غ‬. connector (Sumitomo 3M) connector (Japan AMP)
HA-FF, environ- Length : 2, 5, 10, 20, Connector : 10120-3000VE Connector: 172161-9
HC-MF ment 30m Shell kit : 10320-52F0-008 Connector pin: 170359-1
Clamp: MTI-0002

For Ԝ Communication cable for PC98 MR-CPC98CBL3M Servo amplifier side PC98 series
CN3 Length : 3m connector Personal computer side
(3M or equivalent part) connector
Connector : 10120-6000EL GM-25LM (Honda Tsushin)
Shell kit : 10320-3210-000

Ԝ Communication cable for DOS/V MR-CPCATCBL3M Servo amplifier side DOS/V series
Length : 3m connector Personal computer side
(3M or equivalent part) connector
Connector : 10120-6000EL GM-9LM (Honda Tsushin)
Shell kit : 10320-3210-000

(Note) The connector maker may change without notice.

The PC98 notebook also has half-pitch, 14-pin type connectors. Check the
CAUTION shape of the RS-232-C connector on the personal computer being used, and
prepare a commercially available conversion connector if required.

4–9
 Chapter 4 Options and Peripheral Devices

(2) Connector sets

Part name Type Descriptions
For Ԙ Communication connector set for FCUA-CS000 Servo amplifier side Servo amplifier side
CN1A, CNC - Amplifier connector (Sumitomo 3M) connector (Sumitomo 3M)
CN1B Amplifier - Amplifier Connector : 10120-3000VE Connector : 10120-3000VE
Shell kit : 10320-52F0-008 Shell kit : 10320-52F0-008

For ԛ Detector connector IP65 and Straight MR-ENCNS Servo amplifier side Servomotor detector side
CN2 set for EN Compliant cable connector (Sumitomo 3M) connector (DDK)
HC-SF, HC-RF, standard range Connector : 10120-3000VE Connector :
HA-FF∗∗C-UE compati- ø6.8 ~ ø10 Shell kit : 10320-52F0-008 MS3106A20-29S(D190)
ble Back shell: CE02-20BS-S
Clamp: CE3057-12A-3

For Straight MR-J2CNS Servo amplifier side Servomotor detector side

general connector (Sumitomo 3M) connector (DDK)
environ- Connector : 10120-3000VE Connector :
ment Shell kit : 10320-52F0-008 MS3106B20-29S
Cable clamp: CE3057-12A

Ԝ Detector connector For Straight MR-J2CNM Servo amplifier side Servomotor detector side
set for general connector (Sumitomo 3M) connector (DDK)
HA-FF, HC-MF environ- Connector : 10120-3000VE Connector : 172161-9
ment Shell kit : 10320-52F0-008 Connector pin : 170359-1
Clamp: MTI-0002

For ԝ Power supply IP67 and Straight PWCE22-23S Servomotor detector side
motor connector for EN Compliant cable connector (DDK)
power HC-SF52 ~ 152, standard range Connector :
supply HC-SF53 ~ 153, compati- ø9.5 ~ ø13 CE05-6A22-23SD-B-BSS
HC-RF103 ~ 203 ble MR-PWCNS1 Clamp: CE3057-12A-2 (D265)
can also be
used.

Angle PWCE22-23L Servomotor detector side

Compliant cable connector (DDK)
range Connector :
ø9.5 ~ ø13 CE05-8A22-23SD-B-BAS
Clamp: CE3057-12A-2 (D265)

For Straight FCUA-CN802 Servomotor detector side

general connector (DDK)
environ- Connector : MS3106B22-23S
ment Clamp: MS3057-12A

Angle FCUA-CN806 Servomotor detector side

connector (DDK)
Connector : MS3108B22-23S
Clamp: MS3057-12A

(Note) The connector maker may change without notice.

4–10
 Chapter 4 Options and Peripheral Devices

Part name Type Descriptions

For ԝ Power supply IP67 and Straight PWCE24-10S Servomotor detector side
motor connector for EN Compliant cable connector (DDK)
power HC-SF202~352, standard range Connector :
supply HC-SF203~353 compati- ø13 ~ ø15.5 CE05-6A24-10SD-B-BSS
ble Clamp: CE3057-16A-2 (D265)
MR-WCNS2 can
also be used.

Angle PWCE24-10L Servomotor detector side

Compliant cable connector (DDK)
range Connector :
ø13 ~ ø15.5 CE05-8A24-10SD-B-BAS
Clamp: CE3057-16A-2 (D265)

For Straight FCUA-CN803 Servomotor detector side

general connector (DDK)
environ- Connector : MS3106B24-10S
ment Clamp: MS3057-16A

Angle FCUA-CN807 Servomotor detector side

connector (DDK)
Connector : MS3108B24-10S
Clamp: MS3057-16A

Ԟ Power supply For Straight MR-PWCNF Servomotor detector side

connector for general connector
HA-FF∗∗C-UE environ- Connector :
ment CE05-6A14S-2SD-B (DDK)
Clamp: YSO14-9-11 (Daiwa)

For ԟ Brake connector for IP67 and Straight BRKP10SL-4S Servomotor detector side
motor HC-SF202B~352B, EN Compliant cable connector
brakes HC-SF203B~353B, standard range Connector :
HA-FF∗∗CB-UE compati- ø5 ~ ø8.3 MS3106A10SL-4S (D190)
ble MR-BKCN can (DDK)
also be used. Clamp: YSO10-5-8 (Daiwa)

Angle BRKP10SL-4L Servomotor detector side

Compliant cable connector
range Connector :
ø5 ~ ø8.3 MS3106A10SL-4S (D190)
(DDK)
Clamp: YLO10-5-8 (Daiwa)

For Straight FCUA-CN804 Servomotor detector side

general connector
environ- (Japan Aviation Electronics)
ment Connector :
MS3106B10SL-4S
Clamp: MS3057-4A

Angle FCUA-CN808 Servomotor detector side

connector
(Japan Aviation Electronics)
Connector :
MS3108B10SL-4S
Clamp: MS3057-4A

(Note) The connector maker may change without notice.

4–11
 Chapter 4 Options and Peripheral Devices

4-4-2 Connector outline dimension drawings

Servo amplifier CN2 connector

Maker: Sumitomo 3M [Unit: mm]
<Type>
Connector: 10120-3000VE 12.0

Shell kit: 10320-52F0-008

10.0
22.0 14.0

39.0
23.8

33.3 12.7

Maker: Sumitomo 3M [Unit: mm]

<Type>
Connector: 10120-6000EL
11.5

Shell kit: 10320-3210-000

Because this connector is an 20.9

integrated molding part of
the cable, it is not an option
setting in the connector set.
The terminator connector
42.0

33.0

(A-TM) also has the same

outline.

29.7

D-SUB connector for personal computer

Maker: Honda Tsushin [Unit: mm]
<Type> A F
For PC98: GM-25L (25 pins) C
For DOS/V: GM-9L (9 pins)
D

ǾE (Cable entry)

B

Type A B C D E F
GM-9L 33 24.99 18.5 33 6 17.9
GM-25L 55 47.04 40 46 10 20.6

4–12
 Chapter 4 Options and Peripheral Devices

Connectors for detector and motor power supply (IP67 and EN standard compatible)
Straight plug
D or less
Maker : DDK W A
7.85 or more

ǾCr0.8

- 0.38
ǾB +0
[Unit: mm]
+0 D or
Type A B −0.38 C±0.8 less W
3 3
CE05-6A22-23SD-B-BSS 1 /8-18UNEF-2B 40.48 38.3 61 1 /16-18UNEF-2A
1 7
CE05-6A24-10SD-B-BSS 1 /2-18UNEF-2B 43.63 42.0 68 1 /16-18UNEF-2A

Angle plug
D or less
Maker : DDK A
R r0.7

ǾB +-00.38
Y or more
䋨S䋩r1
U r0.7

[Unit: mm]
B
D or Y or
Type A +0 W R± 0.7 U± 0.7 (S)± 1
−0.38
less more
3 3
CE05-8A22-23SD-B-BAS 1 /8-18UNEF-2B 40.48 75.5 1 /16-18UNEF-2A 16.3 33.3 49.6 7.5
1 7
CE05-8A24-10SD-B-BAS 1 /2-18UNEF-2B 43.63 86.3 1 /16-18UNEF-2A 18.2 36.5 54.7 7.5

Cable clamp
Maker : DDK 㧔D㧕
A
C
1.6
V screw
Gr0.7
Bushing (inside
Br0.7
ǾF
diameter)

ǾE
(Cable clamp inside
diameter)
H
(Moveable range of one side)

[Unit:mm]
Effective
Total Outside
Shell length dia.
screw Installation Compliant
Type length Bushing
size screws (V) cable
A B C D E F G H
CE3057-12A-2 (D265) 20, 13 3 CE3420-12-2 ø9.5~ø13
23.8 35 10.3 41.3 19 37.3 4 1 /16-18UNEF-2B
CE3057-12A-3 (D265) 22 10 CE3420-12-3 ø6.8~ø10
7
CE3057-16A-2 (D265) 24 26.2 42.1 10.3 41.3 23.8 15.5 42.9 4.8 1 /16-18UNEF-2B CE3420-16-2 ø13~ø15.5

4–13
 Chapter 4 Options and Peripheral Devices

Connectors for detectors, motor power supply and brakes (IP67 and EN standard compatible)
Straight plug
Maker : DDK Gasket Jr0.12 A

ǾG +0.05
-0.25

ǾB +-0.38
0
D Er0.3
H or less Cr0.5
[Unit: mm]
+0 +0.05
Type A B −0.38 C±0.5 D E±0.3 G −0.25 J±0.12
5 9
MS3106A10SL-4S (D190) /8-24UNEF-2B 22.22 23.3 /16-24UNEF-2A 7.5 12.5 13.49
1 1
MS3106A20-29S (D190) 1 /4-18UNEF-2B 37.28 34.11 1 /8-18UNEF-2A 12.16 26.8 18.26

Straight plug [Unit:mm]

7
-20UNEF-2B screw
Maker : DDK 8

Type : CE05-6A14S-2SD-B 3
4 -20UNEF-2A screw

-0.38
+0
D terminal

Ǿ28.57
5.6r0.8 24r1

Straight back shell [Unit:mm]

Maker : DDK
Type : CE02-20BS-S

Connectors for motor power supply and brakes (IP67 and EN standard compatible)
Cable clamp
Maker : Daiwa
YSO O-ring A0 YLO L1
D䋨D1䋩

L2

L
O-ring
D2 A0
[Unit:mm]
Accommodatin American Length before Side to Corner to
Type g outside standard screw tightening side corner
diameter thread Aø L L1 L2 D D1 D2
YSO10-5 ~ 8, 9
ø5 ~ 8.3 /16-24UNEF-2B 43 39 42.5 24 26 26
YLO10-5 ~ 8
3
YSO14-9 ~ 11 ø8.3 ~ 11.3 /4-20UNEF-2B 44 43.5 44.5 26 28 35

4–14
 Chapter 4 Options and Peripheral Devices

Connectors for detectors, motor power supply and brakes (for general environment)
Straight plug L or less
W or
Maker : DDK more Jr0.12

-0.38
A

Y or less

ǾQ +0
V
[Unit: mm]
Coupling Length of Total Connection nut Cable clamp Effective Max.
screw coupling section length outside diameter installation screw width
Type screw length
A J ± 0.12 L or +0
øQ −0.38 V W or Y or
less more less
1 3
MS3106B20-29S 1 /4-18UNEF 18.26 55.57 37.28 1 /16-18UNEF 9.53 47
3 3
MS3106B22-23S 1 /8-18UNEF 18.26 55.57 40.48 1 /16-18UNEF 9.53 50
1 7
MS3106B24-10S 1 /2-18UNEF 18.26 58.72 43.63 1 /16-18UNEF 9.53 53

Angle plug L or less

Maker : DDK Jr0.12
Rr0.5

-0.38
+0
ǾQ
Ur0.5

V
W or more

[Unit: mm]
Coupling Length of Total Connection Cable clamp Effective
screw coupling length nut outside installation screw
Type section diameter screw length
L or +0 W or
A J ± 0.12 less
øQ −0.38 R± 0.5 U± 0.5 V more
3 3
MS3108B22-23S 1 /8-18UNEF 18.26 76.98 40.48 24.1 33.3 1 /16-18UNEF 9.53
1 7
MS3108B24-10S 1 /2-18UNEF 18.26 86.51 43.63 25.6 36.5 1 /16-18UNEF 9.53

Straight plug [Unit:mm]

13.5r0.3
Maker : Japan Aviation 5
5
/8-24UNEF-2B
/8-24UNEF-2A
Electronics
Ǿ22.2r0.8

Type: MS3106B10SL-4S

Effective screw 9.5

section length or more
(Including relief 38.9
of 2.77 or less) or less

Angle plug [Unit:mm]

Maker : Japan Aviation 13.5r0.3 5
/8-24UNEF-2B
Electronics
Ǿ22.2r0.8

Type: MS3106B10SL-4S
9.5 or more

Ǿ25.0r0.8

5
/8-24UNEF-2A 36.9r0.8
46.0 or less

4–15
 Chapter 4 Options and Peripheral Devices

Connectors for detectors, motor power supply and brakes (for general environment)
Cable clamp
Ar0.7
Maker : DDK
C
1.6 ǾE(Bushing inside diameter)

ǾD(Cable clamp inside

V diameter)

ǾBr0.7

Gr0.7
F (Moveable range)
[Unit: mm]
Outside Effective
Total Installation
diamete screw
Type Shell size length screw Bushing
r length
A± 0.7 øB± 0.7 C øD øE F G± 0.7 V
5
MS3057-4A 10SL, 12S 20.6 20.6 10.3 7.9 5.6 1.6 22.2 /8-24UNEF AN3420-4
3
MS3057-12A 20, 22 23.8 35.0 10.3 19.0 15.9 4.0 37.3 1 /16-18UNEF AN3420-12
7
MS3057-16A 24, 28 26.2 42.1 10.3 23.8 19.1 4.8 42.9 1 /16-18UNEF AN3420-16

HA-FF, HC-MF motor detector connector (for general environment)

Maker: Japan AMP [Unit: mm]
<Type>
Connector: 1-172161-9 20 23.7
Connector pin: 170359-1
Crimp tool: 755330-1

A crimp tool is required for

16

wiring to the connector.

Contact Japan AMP (Ltd.)
for the crimping tool.

4–16
 Chapter 4 Options and Peripheral Devices

4-4-3 Flexible conduits

Basically, splash proofing can be ensured if cab-tire cable and connectors with IP65 or higher
specifications are used. However, to further improve the oil resistance (chemical resistance to oil),
weather resistance (resistance to the environment when used outdoors, etc.), durability, tensile
strength, flattening strength, etc., run the cable through a flexible conduit when wiring.
The following shows an example of a flexible conduit. Contact the connector maker for more
information.

(1) Method for connecting to a connector with back shell

Connector with Connector

back shell for conduit Flexible conduit

Cable

Type
DDK Japan Flex
Application Applicable motors
Connector Connector Connector for
Flexible conduit
(straight) (angle) conduit
HC-SF52~152 RCC-104CA2022 VF-04 (Min. inside dia.: 14)
CE05-6A22-23S CE05-8A22-23S
HC-SF53~153
For power D-B-BSS D-B-BAS RCC-106CA2022 VF-06 (Min. inside dia.: 19)
HC-RF103~203
supply
HC-SF202 ~ 352 CE05-6A24-10S CE05-8A24-10S RCC-106CA2428 VF-06 (Min. inside dia.: 19)
HC-SF203 ~ 353 D-B-BSS D-B-BAS RCC-108CA2428 VF-08 (Min. inside dia.: 24.4)
HA-FF053C-UE~63C-UE Select according to section "(2) Method for connecting to the connector main body".
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.

Connector
Back shell for conduit Flexible conduit

Cable

Connector

Type
DDK Japan Flex
Application Applicable motors
Connector/ back Connector/ back Connector for
Flexible conduit
shell (straight) shell (angle) conduit
HC-SF202B ~ 352B
For brakes HC-SF203B ~ 353B Select according to section "(2) Method for connecting to the connector main body".
HA-FF∗∗CB-UE
HC-SF Connector Connector VF-04
HC-RF MS3106A20-29S MS3106A20-29 RCC-104CA2022
(Min. inside dia.: 14)
For detectors HA-FF∗∗C-UE (D190) S (D190)
Back shell Back shell VF-06
RCC-106CA2022
CE02-20BS-S CE-20BA-S (Min. inside dia.: 19)

(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.

4–17
 Chapter 4 Options and Peripheral Devices

(2) Method for connecting to the connector main body

Connector
for conduit Flexible conduit

Cable

Connector

Type
DDK DAIWA DENGYO Co., Ltd.
Application Applicable motors
Connector for
Connector (straight) Flexible conduit
conduit
HC-SF52 ~ 152, MSA-16-22 (Straight) FCV16
HC-SF53 ~ 153 MAA-16-22 (Angle) (Min. inside dia.: 15.8)
CE05-6A22-23SD-B
HC-RF103 ~ 203 MSA-22-22 (Straight) FCV22
MAA-22-22 (Angle) (Min. inside dia.: 20.8)
For power HC-SF202~352, MSA-22-24 (Straight) FCV22
supply HC-SF203~353 MAA-22-24 (Angle) (Min. inside dia.: 20.8)
CE05-6A24-10SD-B
MSA-28-24 (Straight) FCV28
MAA-28-24 (Angle) (Min. inside dia.: 26.4)
HA-FF053C-UE~63C-UE MSA-12-14 (Straight) FCV12
CE05-6A14S-2SD-B
MAA-12-14 (Angle) (Min. inside dia.: 12.3)
HC-SF202B ~ 352B,
MSA-10-10 (Straight) FCV10
For brakes HC-SF203B ~ 353B, MS3106A10SL-4S (D190)
MAA-10-10 (Angle) (Min. inside dia.: 10.0)
HA-FF∗∗CB-UE
HC-SF MSA-16-20 (Straight) FCV16
For HC-RF MAA-16-20 (Angle) (Min. inside dia.: 15.8)
MS3106A20-29S (D190)
detectors HA-FF∗∗CB-UE MSA-22-20 (Straight) FCV22
MAA-22-20 (Angle) (Min. inside dia.: 20.8)
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.

4–18
 Chapter 4 Options and Peripheral Devices

4-4-4 Cable wire and assembly

(1) Cable wire

The following shows the specifications and processing of the wire used in each cable.
Manufacture the cable using the recommended wire or equivalent parts.
Recommended wire type Wire characteristics
Finished
(Cannot be directly Sheath No. of Applica-ti
outside Config-ur Conductor Withstand Insulation
ordered from Mitsubishi material pairs on
diameter ation resistance voltage resistance
Electric Corp.)
Personal
computer
7 strands/ 222Ω/km AC350/ 1MΩ/km
UL20276 AWG28 7pair 5.6mm PVC 7 communi-
0.13mm or less 1min or more
cation
cable
7 strands/ 222Ω/km AC350/ 1MΩ/km NC unit
UL20276 AWG28 10pair 6.1mm PVC 10
0.13mm or less 1min or more bus cable
14 strands/ 105Ω/km AC500/ 1500MΩ/km Detector
A14B2343 (Note) 7.2mm PVC 6
0.08mm or less 1min or more cable
(Note) Junko Co. (Dealer: Toa Denki)

(2) Cable assembly

Assemble the cable as shown in the following drawing, with the cable shield wire securely
connected to the ground plate of the connector.
Core wire Core wire

Shield
Shield (external conductor) (external conductor) Sheath
Sheath

Ground plate

(3) Cable protection tube (noise countermeasure)

If influence from noise is unavoidable, or further noise resistance is required, selecting a flexible
tube and running the signal cable through this tube is effective. This is also an effective
countermeasure for preventing the cable sheath from being cut or becoming worn.
A cable clamp (MS3057) is not installed on the detector side, so be particularly careful of broken
wires in applications involving bending and vibration.

Connector
Supplier Tube
Amplifier side Installation screws Motor detector side
RBC-104 (straight) G16
FBA-4
Japan Flex RBC-204 (45°) G16 RCC-104-CA2022
(FePb wire braid sheath)
RBC-304 (90°) G16
PSG-104 (straight) Screw diameter ø26.4
Hi-flex
Daiwa PLG-17 (90°) Screw diameter ø26.4 PDC20-17
PT #17 (FePb sheath)
PS-17 (straight) PF1/2
Purika Tube Wire conduit tube
Sankei Works BC-17 (straight) PDC20-17
PA-2 (FePb sheath) screws : 15

(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.

4–19
 Chapter 4 Options and Peripheral Devices

4-4-5 Option cable connection diagram

Do not mistake the connection when manufacturing the detector cable. Failure
CAUTION to observe this could lead to faults, runaway or fires.

(1) NC unit bus cable

< SH21 cable connection diagram >

This is an actual connection diagram for the SH21 cable supplied by Mitsubishi.
Manufacture the cable as shown below. The cable can be up to 30m long.
Refer to section "4-4-4 Cable wire and assembly" for details on wire.

1 1
11 11
2 2
12 12
3 3
13 13
4 4
14 14
5 5
15 15
6 6
16 16
7 7
17 17
8 8
18 18
9 9
19 19
10 10
20 20

PE PE Plate

4–20
 Chapter 4 Options and Peripheral Devices

(2) Detector cable for HC-SF, HC-RF and HA-FF C-UE motors

< MR-JHSCBL M-H cable connection diagram >

This is an actual connection diagram for the MR-JHSCBL‫غ‬M-H cable supplied by Mitsubishi.
The connection differs according to the cable length.

MR-JHSCBL2M-H MR-JHSCBL10M-H
MR-JHSCBL5M-H MR-JHSCBL20M-H
MR-JHSCBL30M-H
Amplifier Encoder Amplifier Encoder

7 C MR 7 C MR
17 D MRR 17 D MRR
9 F BAT 9 F BAT
1 G LG 1 G LG
11 R LG 2 R LG
19 18
12
20 S P5(+5V)
11
19
12
20 S P5(+5V)

PE N Pleat PE N Pleat

< Connection diagram for cable manufacturing >

Manufacture the cable as shown below. The cable can be up to 50m long.
Refer to section "4-4-4 Cable wire and assembly" for details on wire.

Amplifier Encoder

7 C MR
17 D MRR
9 F BAT
1 G LG
2 R LG
18

11
19
12
20 S P5(+5V)

PE N Pleat

1. Do not connect anything to pins unless particularly described when

CAUTION manufacturing cable. (Leave OPEN.)
2. Contact Mitsubishi before manufacturing cable over 50m long.

4–21
 Chapter 4 Options and Peripheral Devices

(3) Detector cable for HC-MF, HA-FF motors

< MR-JCCBL M-H cable connection diagram >

This is an actual connection diagram for the MR-JCCBL‫غ‬M-H cable supplied by Mitsubishi.
The connection differs according to the cable length.

MR-JCCBL2M-H MR-JCCBL10M-H
MR-JCCBL5M-H MR-JCCBL20M-H
MR-JCCBL30M-H
Amplifier Encoder Amplifier Encoder

7 1 MR 7 1 MR
17 2 MRR 17 2 MRR
6 4 MD 6 4 MD
16 5 MDR 16 5 MDR
9 3 BAT 9 3 BAT
1 1
11 8 LG 2 8 LG
19 18
12
20 7 P5(+5V)
11
19
12
20 7 P5(+5V)

PE 9 Pleat PE 9 Pleat

< Connection diagram for cable manufacturing >

Manufacture the detector cable as shown below. The cable can be up to 50m long.
Refer to section "4-4-4 Cable wire and assembly" for details on wire.
Amplifier Encoder

7 1 MR
17 2 MRR
9 3 BAT
1
2 8 LG
18

11
19
12
20 7 P5(+5V)

PE 9 Pleat

The MR-JCCBL‫غ‬M-H cable is universal so that it can be used even with

other detectors. The MD and MDR signals normally cannot be used with the
POINT HA-FF and HC-MF cables. When manufacturing a cable, connect only the
pins that are actually used.

1. Do not connect anything to pins unless particularly described when

CAUTION manufacturing cable. (Leave OPEN.)
2. Contact Mitsubishi before manufacturing cable over 50m long.

4–22
 Chapter 4 Options and Peripheral Devices

(4) Personal computer communication cables

< Personal computer communication cable connection diagram >

This is the actual connection diagram for the personal computer communication cables supplied
by Mitsubishi.

MR-CPC98CBL3M MR-CPCATCBL3M
(For PC98) (For DOS/V)

Amplifier Computer Amplifier Computer

1 1
2 2 SD 2 3 TxD
11 7 RD 11 5 GND
12 3 SG 12 2 RxD
4 RS 4 DTR
5 CS 6 DSR
7 RTS
8 CTS

PE PE

D-SUB 25Pin D-SUB 9Pin

< Connection diagram for cable manufacturing >

Follow the connection diagrams above when manufacturing cables. Refer to section "4-4-4
Cable wire and assembly" for details on wire types.

1. The PC98 notebook also has half-pitch, 14-pin type connectors. Check the
shape of the RS-232-C connector on the personal computer being used.
CAUTION 2. The wiring distances will differ according to the working environment, but
can be up to 15m in an office, etc., where there is little noise present.

4–23
 Chapter 4 Options and Peripheral Devices

4-5 Setup software

The setup software is used to set and change the parameters, check the operation state and carry out
test operation from the personal computer using the servo amplifier's communication function.

4-5-1 Setup software specifications

Item Details (Note 1)

Type Japanese: FWS-B02B012
English : FWS-B05B013
Communication signal RS-232-C compliance
Transmission speed 9600bps
Monitor Batch display, high-speed display, graphic display
Alarm Alarm display, alarm history
Diagnosis Input/output signal display, power ON cumulative display, automatic tuning
status display, absolute position monitor
Parameter Data setting list display, change list display, detailed information display
Test operation Automatic operation, manual operation, jog operation, reference point
return, absolute position reference point setting
File operation Data write, save, print
(Note 1) This software may not run correctly depending on the personal computer being used.

4-5-2 System configuration

The following items are required to use this software.

Model Details
Personal computer Provided with 80386 or more CPU, Windows 3.1 compatible (80486 or
more is recommended) (Note 1)
RAM: 8MB or more, Hard disk: 1MB or more, Serial port used
OS Windows 3.1 (Note 2)
Display 640 × 400 or more color, or 16 tone monochrome, Windows 3.1
compatible
Keyboard Compatible with personal computer
Mouse Windows 3.1 compatible. Note that a serial mouse cannot be used.
Printer Windows 3.1 compatible
Communication cable MR-CPC98CBL3M, MR-CPCATCBL3M
When not using these cables, refer to section 4-4-5 (4), and manufacture a
cable.
(Note 1) Windows is a registered trademark of Microsoft Corporation.
(Note 2) Windows 95 can be run. Note that this is a 16-bit application, so there may be some
Windows 95 functions that do not work.

4–24
 Chapter 4 Options and Peripheral Devices

4-6 Selection of wire

Select the wire size for each servo amplifier capacity as shown below.

Wire size
Amplifier type L1, L2, L3 U, V, W P, C
L11, L21 Magnetic brakes
(Note 1) (Note 2) (Note 3)
MR-J2-10CT
MR-J2-20CT IV1.25SQ IV1.25SQ
MR-J2-40CT
MR-J2-60CT IV1.25SQ IV2SQ IV1.25SQ
MR-J2-70CT
IV2SQ IV2SQ
MR-J2-100CT
MR-J2-200CT
MR-J2-350CT IV3.5SQ IV3.5SQ

(Note 1) This value is for a single amplifier. Refer to the next table when wiring across several amplifiers.
(Note 2) The wires in the table (U, V, W) are for when the distance between the servomotor and servo amplifier is 30m or
less.
(Note 3) Twist and wire the connecting wire for the regenerative option (P, C).

When wiring L1, L2, L3 and the ground wire across several servo amplifiers, use the following table
and select the wire size from the total capacity of the motors connected downward.

Total motor capacity 1kW or less 2.5kW or less 6kW or less 9kW or less 12kW or less
Wire size (mm2) IV1.25SQ IV2SQ IV3.5SQ IV5.5SQ IV8SQ

(Note) Select IV3.5SQ if the SVJ2-20 is included, even when the total amplifier capacity is 2.5kW
or less.

4–25
 Chapter 4 Options and Peripheral Devices

4-7 Selection of no-fuse breakers

Use the following table to obtain the NFB (no-fuse breaker) rated current from the total rated capacity
(J2-CT total output capacity) of the motor driving the MR-J2-CT to be connected to the NFB to be
selected, and select the no-fuse breaker.
When the MDS-B-SVJ2 Series servo amplifier is being used, select the no-fuse breaker in the same
manner from the total rated output (J2-CT+SVJ2 total output capacity) of the motor including the
J2-CT and SVJ2.
When the MDS-B-SPJ2 spindle amplifier or converter unit will share no-fuse breakers, select from the
total NFB rated current of each SVJ2 total output capacity and SPJ2 spindle amplifier or convertor unit.
However, separate the MR-J2-CT servo amplifier no-fuse breaker from the others, and select the
NF60 type (60A) or smaller capacity dedicated for MR-J2-CT servo amplifiers if the total NFB rated
current exceeds 60A.
NFB rated current table
J2-CT (+SVJ2)
1.5kW or less 3.5kW or less 7kW or less 10kW or less 13kW or less 16kW or less
total rated capacity
NFB rated current 10A 20A 30A 40A 50A 60A

MDS-B-SPJ2-02
MDS-B-SPJ2-04 MDS-B-SPJ2-22
MDS-B-SPJ2 MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110
MDS-B-SPJ2-075 MDS-B-SPJ2-37
MDS-B-SPJ2-15
MDS-A-CR-10 MDS-A/B-CV-37 MDS-A/B-CV-55 MDS-A/B-CV-75 MDS-A-CR-90
Converter unit MDS-A-CR-22
MDS-A-CR-15 MDS-A-CR-55 MDS-A-CR-75 MDS-A/B-CV-110
MDS-A-CR-37
NFB rated current 10A 20A 30A 40A 50A

No-fuse breaker selection table

NFB rated current 10A 20A 30A 40A 50A 60A
Recommended NFB
NF30-CS3P1 NF30-CS3P2 NF30-CS3P3 NF50-CP3P4 NF50-CP3P5 NF60-CP3P6
(Mitsubishi Electric Corp.:
0A 0A 0A 0A 0A 0A
Option part)
Separately ordered parts: These parts are not handled by either the CNC Dept. or dealers.

The NFB is selected when one MR-J2-60CT (HC-SF52) axis and three MDS-B-SVJ2-10
(HC102) axes are connected.
The total motor output of all J2-CT and SVJ2 axes is calculated as shown below.
0.5kW + 1.0kW × 3 = 3.5kW
Thus, the total NFB rated current is 20A, and from that the NF30-CP3P20A NFB is
selected.

The NFB is selected when one MR-J2-60CT (HC-FF63) axis, one MR-J2-200CT
(HC-SF202) axis, and an MDS-B-CR-90 (HC102) are connected.
The MR-J2-CT side capacity is calculated as shown below.
0.6kW + 2.0kW = 2.6kW
From that, the NFB rated current of 20A is obtained from the table.
The MDS-B-CV-90 NFB rated current of 50A is obtained from the table.
Thus, the total NFB rated current is 70A, and from that the NFB is separated from the
converter unit, and the NF30-CS3P20A NFB is selected for the MR-J2-CT. (Refer to the
section "MDS-A/B Series Specification Manual" to select the convertor NFB.)

Install independent no-fuse breakers and contactors as the MR-J2-CT main

circuit power supply if the total current capacity exceeds 60A when the power
supply is shared between the converter and a large capacity SPJ2 spindle
DANGER amplifier.
No-fuse breakers may not operate for short-circuits in small capacity amplifiers
if they are shared with a large capacity unit, and this could cause fires. For the
MR-J2-CT, use an NF60 type or lower capacity breaker.

4–26
 Chapter 4 Options and Peripheral Devices

4-8 Selection of contactor

Select the contactor based on section "4-8-1 Selection from rush current" when the system connected
to the contactor to be selected is an MR-J2-CT or MDS-B-SVJ2 and 3.7kW or less MDS-B-SPJ2
spindle amplifier.
When a converter unit or 5.5kW or more MDS-B-SPJ2 spindle amplifier is included, calculate both the
capacities in sections "4-8-1 Selection from rush current" and "4-8-2 Selection from input current", and
select the larger of the two capacities.

The contactors can be directly driven from the SVJ2 contactor control output
POINT (24VDC) is a DC/AC interface unit is added.

4-8-1 Selection from rush current

Use the following table to select the contactors so the total rush current for each unit does not exceed
the closed circuit current amount.
Rush current table
MR-J2-10CT MR-J2-40CT MR-J2-70CT MR-J2-200CT
MR-J2-CT
MR-J2-20CT MR-J2-60CT MR-J2-100CT MR-J2-350CT
Rush current 45A 50A 70A 100A

MDS-B-SVJ2-01
MDS-B-SVJ2-10
MDS-B-SVJ2 MDS-B-SVJ2-03 MDS-B-SPJ2-06 MDS-B-SVJ2-07
MDS-B-SVJ2-20
MDS-B-SVJ2-04
Rush current 45A 50A 70A 100A

MDS-B-SPJ2-15 MDS-B-SPJ2-55
MDS-B-SPJ2-02
MDS-B-SPJ2 MDS-B-SPJ2-075 MDS-B-SPJ2-22 MDS-B-SPJ2-75
MDS-B-SPJ2-04
MDS-B-SPJ2-37 MDS-B-SPJ2-110
Rush current 45A 50A 100A 15A

MDS-A-CR-10 ~ MDS-A-CR-90
Converter unit MDS-A/B-CV-110
MDS-A/B-CV-37 ~ MDS-A/B-CV-75
Rush current 15A 40A

Contactor selection table 1

Contactor closed current
capacity 110A 200A 220A 300A 400A 550A 650A 850A
(Total rush current)
Recommended contactor
S-N10 S-N18 S-N20 S-N25 S-N35 S-K50 S-K65 S-K80
(Mitsubishi Electric Corp.:
AC200V AC200V AC200V AC200V AC200V AC200V AC200V AC200V
Option part)
Separately ordered parts: These parts are not handled by either the CNC Dept. or dealers.

The rush current of the MDS-B-SPJ2 spindle amplifier decreases at capacities

POINT of 5.5kW or more.

The contactor is selected for the MDS-B-SVJ2-10 (HC102) with 3 axes and one
MR-J2-350CT (HC-SF352) axis connected.
< Selection only from rush current >
(350CT × 1 axis rush current) + (SVJ2-10 × 3 axes rush current)
= 1 × 100A + 3 × 100A = 400A
Therefore, S-N35 200VAC is selected.

4–27
 Chapter 4 Options and Peripheral Devices

4-8-2 Selection from input current

Use the following table to select the contactors so the total input current for each unit does not exceed
the rated continuity current.

Input current table

J2-CT (+SVJ2)
1.5kW or less 3.5kW or less 7kW or less 10kW or less 13kW or less 16kW or less
total output capacity
Input current 10A 20A 30A 40A 50A 60A

MDS-B-SPJ2-02
MDS-B-SPJ2-04 MDS-B-SPJ2-22
MDS-B-SPJ2 MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110
MDS-B-SPJ2-075 MDS-B-SPJ2-37
MDS-B-SPJ2-15
Input current 10A 20A 30A 40A 50A

MDS-A/B-CV-37 MDS-A/B-CV-55 MDS-A/B-CV-75 MDS-A-CR-90

MDS-A-CR-10
Converter unit MDS-A-CR-22
MDS-A-CR-15 MDS-A-CR-55 MDS-A-CR-75 MDS-A/B-CV-110
MDS-A-CR-37
Input current 10A 20A 30A 40A 50A

Contactor selection table 2

Contactor rated continuity
current 20A 32A 50A 60A
(Total input current)
Recommended contactor S-N10 S-N20 S-N25 S-N35
(Mitsubishi Electric Corp.:
Option part) AC200V AC200V AC200V AC200V

Separately ordered parts: These parts are not handled by either the CNC Dept. or dealers.

The contactor is selected for the MR-J2-70CT (HC-MF73) with 4 axes and an
MDS-B-CV-75 connected.
< Selection from rush current >
(70CT × 3 axes rush current) + (MDS-B-CV-75 rush current) = 3 × 75A + 15A = 225A
Therefore, S-N25 200VAC.
< Selection from input current >
(70CT × 3 axes input current) + (MDS-B-CV-75 input current) = 20A + 40A = 60A
Therefore, S-N35 200VAC.
From these, the S-N35 200VAC is selected as having the larger of the two capacities.

4–28
 Chapter 4 Options and Peripheral Devices

4-9 Control circuit related

4-9-1 Circuit protector
When installing a circuit protector dedicated for the control power input, use a circuit protector with
inertial delay to prevent malfunctioning in respect to the rush current generated when the power is
turned ON. The size and conductivity time of the rush current fluctuate according to the power supply
impedance and potential.
Recommended circuit CP30-BA type with
Conductivity protector
Servo amplifier Rush current medium-speed inertial
time (Mitsubishi Electric
delay
Corp.: Option part)
MR-J2-10CT ~ 100CT 70 ~ 100A 0.5 ~ 1msec
Current for selection 1.0A per axis
MR-J2-200CT ~ 350CT 100 ~ 130A 0.5 ~ 1msec
Separately ordered parts: These parts are not handled
by either the CNC Dept. or dealers.

4-9-2 Relays
Use the following relays for the input/output interface (motor brake output: MBR, contactor output: MC,
near point dog : DOG external emergency stop : EMGX.)
Interface name Selection example
For digital input signal (DOG, EMGX) Use a minute signal relay (twin contact) to prevent a contact
defect.
<Example> OMRON: G2A type, MY type
For digital output signal (MBR, MC) Use a compact relay with 24VDC, 40mA or less.
<Example> OMROM: MY type

4-9-3 Surge absorber

A surge absorber is required when using magnetic brakes. Use a surge absorber with the following
specifications or an equivalent part.
When using the surge absorber, carry out insulation treatment with a vinyl tube, etc., as shown in the
outline dimension drawing.

Max. rating Static electricity Varistor

capacity voltage
Max. limit voltage
Surge Energy (reference rating
Rated
Tolerable circuit voltage with-stand with-stand value) (range)
power
level level
AC(V) DC(V) (A) (J) (W) (A) (V) (pF) (V)
220
140 180 500/time 5 0.4 25 360 300
(198 ~ 242)

<Example> (These parts cannot be directly ordered from Mitsubishi Electric Corp.)
• ERZ-C10DK221 (Matsushita Denki)
• TNR-12G221K (Malcon Denshi)

<Outline dimension drawing>

ERZ-C10DK221 [Unit: mm]
4.7r1.0
13.5
16.5
30.0 or less

30.0 or less

Vinyl tube

Ǿ0.8 Crimp terminal

for M4 screw

4–29
 Chapter 5 Operation Control Signal

5-1 System configuration ............................................................................................. 5-2

5-1-1 Built-in indexing function................................................................................ 5-2

5-1-2 Parameters .................................................................................................... 5-3

5-2 R-register.................................................................................................................. 5-4

5-3 Explanation of operation commands (NC servo amplifier) ............................. 5-5

5-4 Explanation of operation status signals (servo amplifier NC)......................... 5-11

5–1
 Chapter 5 Operation control signal

5-1 System configuration

5-1-1 Built-in indexing function

Conventional CNC servo amplifiers received acceleration/deceleration commands to the target position
from the CNC and controlled the motor. With the MR-J2-CT, the acceleration/deceleration commands
that were until now received from the CNC are created in the amplifier, and the motor is controlled.
The operation commands for the MR-J2-CT are all carried out from the user PLC via the R-register. The
response signals from the MR-J2-CT indicating the operation status are also returned to the user PLC
R-register. These signals are automatically communicated with the MR-J2-CT by the CNC via
high-speed serial communication.

CNC feed axis servo amplifier

CNC system processing MDS-B-SVJ2/MDS-B-Vx, etc.
Parameters and monitor
screen
FӠT FӠT‫ޔ‬commands
CNC feed axis motor
Acceleration/deceleration Position FB, status
pattern generation

User PLC processing Motor control

Conventional servo control system

Servo amplifier with built-in FӠT

indexing function
CNC system processing MR-J2-CT
Auxiliary axis parameters Acceleration/deceleration
and auxiliary axis monitor pattern generated in the CT
screen Target values, start
signals
Communication
processing I/F Auxiliary axis motor
Completion signals,
User PLC processing alarms
Motor control
R-register

MR-J2-CT servo control system

1. The MR-J2-CT carries out position control as a single amplifier unit; it is a

positioning-dedicated servo amplifier. Use a conventional servo amplifier
(MDS-B-SVJ2, MDS-B-Vx Series) when interpolation control is required.
POINT 2. The connections between the CNC and MR-J2-CT, monitor screens,
parameter input methods, etc., differ according to the CNC, so refer to the
appropriate instruction manual for the CNC being used.

5–2
 Chapter 5 Operation control signal

5-1-2 Parameters

All parameters, including absolute position data, are saved in the MR-J2-CT. Using separately sold
setup software, it is possible to rewrite the parameters and set the reference point from the personal
computer using RS-232-C serial communication, and adjustment, test operation, etc., of individual
auxiliary axes is supported. Note that because the parameters and absolute position data are saved in
the amplifier, this data must be written to the new amplifier when the amplifier is replaced.
When replacing the amplifier, first upload the parameters from the old amplifier and store them in the
memory of the CNC, then download them into the new amplifier. The absolute position data is
constantly backed up in the CNC, so download that data into the new amplifier. This function is mounted
on all CNC's supporting MR-J2-CT amplifiers. Refer to the appropriate instruction manual of the CNC
being used for information on the operation method.
If the parameters cannot be uploaded from the old amplifier, download the CNC backup parameters.
Note that because the parameters are reset by the auto-tuning function, the control immediately after
amplifier replacement may be unstable. However, if the amplifier continues to be used in that condition
the auto-tuning will cause the parameters to reach a convergent value, and the characteristics will
improve.
MR-J2-CT
CNC internal memory Personal computer
High-speed serial (setup software)
• Parameters communication
• Backup reference point
RS-232-C serial
data
communication
Operation is necessary to
backup parameters.

• Parameter revision
• Reference point setting
MR-J2-CT internal memory • Various monitoring
• Parameters
• Reference point data
• Alarm history

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 Chapter 5 Operation control signal

5-2 R register
The MR-J2-CT is controlled by the input/output from the PLC program to the R-registers in the table
below. The R-register addresses differ according to the CNC type and MR-J2-CT axis No. settings. (The
order in the table below is an example.)

(1) List of operation commands (CNC → servo amplifier)

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
bitF bitE bitD bitC bitB bitA bit9 bit8
H RDF ∗IT− ∗IT+ MRST ∗PRT1 QEMG ∗SVF
Handle feed READY OFF Interlock (−) Interlock (+) Master reset Data protect PLC Servo OFF
operation emergency
mode selection stop
R (aaaa+0) S ZST AZS ZRN J MAN AUT
Incremental Reference Reference Reference JOG operation Manual Automatic
feed operation point setting point default point return mode selection operation operation
mode selection setting mode mode selection mode selection mode selection
selection
PR2 PR1 MP2 MP1 PUS STS DIR ST
Operation Operation Incremental Incremental Stopper Random point Rotation Operation start
parameter parameter feed feed positioning feed direction
selection 2 selection 1 magnification magnification commands commands
R (aaaa+1) factor 2 factor 1 valid valid

ST128 ST64 ST32 ST16 ST8 ST4 ST2 ST1

Station Station Station Station Station Station Station Station
selection 128 selection 64 selection 32 selection 16 selection 8 selection 4 selection 2
selection 1
R (aaaa+2)
ST256
Station
selection 256
OVR OV64 OV32 OV16 OV8 OV4 OV2 OV1
Speed override Speed override Speed override Speed override Speed override Speed override Speed override Speed override
valid 64 32 16 8 4 2 1
R (aaaa+3)

R (aaaa+4)
Command position when random point feed commands are valid. (32bit)
R (aaaa+5)

(2)List of operation status signals (servo amplifier → CNC)

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
bitF bitE bitD bitC bitB bitA bit9 bit8
ADJ TLQ MVN MVP AX1 SMZ INP RDY
Machine being Torque limited Axis moving Axis moving Axis selection Smoothing In-position Servo READY
adjusted (−) (+) output zero
R (bbbb+0) NEAR JST JSTA SA MA HO RST ZP
Near set Set position Automatic set Servo READY Controller In handle feed Resetting Reference
position reached position ready operation point reached
reached mode
SO AZSO DOG ZRNO ARNN JO MANO AUTO
In incremental In reference Near-point dog In reference Returning to In JOG In manual In automatic
feed operation point default point return reference point operation operation operation
mode setting mode mode mode mode mode
R (bbbb+1) ZSE ZSF ZSN ABS BAT AL4 AL2 AL1
Default setting Default setting Absolute Absolute Battery voltage Alarm 4 Alarm 2 Alarm 1
error finished completed position data position power low
loss off movement
exceeded
STO128 STO64 STO32 STO16 STO8 STO4 STO2 STO1
Station Station Station Station Station Station Station Station
position 128 position 64 position 32 position 16 position 8 position 4 position 2 position 1
R (bbbb+2)
STO256
Station
position 256
PSW8 PSW7 PSW6 PSW5 PSW4 PSW3 PSW2 PSW1
Position switch Position switch Position switch Position switch Position switch Position switch Position switch Position switch
8 7 6 5 4 3 2 1
R (bbbb+3)
PSI PFN PMV
In stopper Positioning In positioning
completed operation

1. The array of R-register addresses in the table is an example. The R-register

assignments differ for each CNC, so refer to the appropriate instruction
CAUTION manual for the CNC being used.
2. Signals indicated with an asterisk (∗) are handled as B contacts (Valid at OFF
"0").

5–4
 Chapter 5 Operation control signal

5-3 Explanation of operation commands (NC servo amplifier)

Abbreviation ∗SVF Signal name Servo OFF R (aaaa+0).bit0

When the servo OFF signal is set to "0" (B contact), the control axis enters the servo OFF status. No matter
which operation mode the servo is in and turned OFF, the axis movement will stop, and the servo will turn
OFF. The axis movement restarts when the servo is turned ON again.
If the axis moves for any reason while the servo is OFF, it can be selected whether to compensate that
movement amount when the servo turns ON the next time. Select with parameter "#102 cont2 Control
parameter 2 bit1".
(1) When carrying out movement amount compensation (#102 bit1=1)
When the servo is OFF, the coordinates are always updated by the amount the axis has moved.
When the servo is OFF, the coordinates show the machine position.
(2) When not carrying out movement amount compensation (#102 bit1=0)
When the servo is OFF, the coordinates are not updated even when the axis moves. When the servo
is OFF, the coordinates show the machine position when the servo is OFF.
When the servo is turned ON, the axis is moved to the position where the servo was turned OFF.
When the servo is OFF and the axis movement exceeds the excessive error width (whichever was
selected among parameter #155, #163, #171, and #179), a servo alarm occurs.
(Caution) The actual servo OFF operation is validated after the In-position (INP) is completed. When
using a mechanical clamp, carry out the clamp operation after confirming the In-position status.
< Memo> When the power is turned ON, the servo OFF signal turns OFF ("0") and the servo OFF function
becomes valid. It is necessary to turn the servo OFF to ON ("1"), and release the servo OFF
before operation using the NC user PLC.

Abbreviation QEMG Signal name PLC emergency stop R (aaaa+0).bit1

This signal from the NC (host controller) built-in PLC causes the direct emergency stop function to work.
When this signal is ON, this servo amplifier enters the emergency stop state. It is released when the signal
is turned OFF.
When the emergency stop signal output is validated, an emergency stop signal for other amplifiers is also
output by this signal in an emergency stop state.

Abbreviation ∗PRT1 Signal name Data protect 1 R (aaaa+0).bit2

This is a signal to protect the parameters stored in the MR-J2-CT.
When this signal is OFF, parameters cannot be downloaded using the setup software. Note that this signal
is invalid for the write functions from the CNC, not from the setup software.

Abbreviation MRST Signal name Master reset R (aaaa+0).bit3

This signal resets the MR-J2-CT.
When the master reset (MRST) signal is ON, the following reset operations are carried out.
(1) The axis movement decelerates to a stop.
(2) Alarms that can be released by the reset are released.
(3) A signal is output while resetting (RST).

Abbreviation ∗IT+ Signal name Interlock + R (aaaa+0).bit4

When the control axis is moving in the + direction, this signal decelerates and stops the axis movement
immediately.
When this signal is OFF from before movement, the motion is stopped in the same manner as without
starting. In any case the movement is started or restarted by turning this signal ON.

Abbreviation ∗IT− Signal name Interlock – R (aaaa+0).bit5

This is the same as above, the only difference being that the direction differs from the interlock + (IT+)
signal.

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 Chapter 5 Operation control signal

Abbreviation RDF Signal name READY OFF R (aaaa+0).bit6

This is a signal to turn OFF the READY status.
When put into a READY OFF status, the power supply to the servomotor is shut off, and the contactor
control output is simultaneously turned OFF. If the motor is in operation, it will stop by a dynamic brake stop
or a deceleration control stop. Servo READY (SA) and servo READY (RDY) are also turned OFF, but an
alarm does not occur. When this signal is turned OFF, the machine immediately returns to the original
state.

Abbreviation H Signal name Handle mode selection R (aaaa+0).bit7

This signal selects the handle feed mode.
The axis will move for the amount determined by input pulse multiplied by feed magnification after this
signal is turned ON, each signal [operation parameter selection (PR1, PR2), and incremental feed
magnification (MP1, MP2)] is determined, and the handle pulse is input.
(Caution 1) Turning this signal ON when other operation modes are ON will result in a "M01 0101 No
operation mode" type operation alarm.
(Caution 2) The handle mode acceleration/deceleration time is the acceleration/deceleration time
constant 2 linear acceleration/deceleration of the selected operation parameter group.

Abbreviation AUT Signal name Automatic operation mode selection R (aaaa+0).bit8

This signal selects the automatic operation mode.
When the station No. is designated and the operation start (ST) is ON, the movement toward the
designated station begins.
(Caution) Turning the manual operation mode selection signal ON when other operation mode selection
signals are ON will result in a "M01 0101 No operation mode" type operation alarm.

Abbreviation MAN Signal name Manual operation mode selection R (aaaa+0).bit9

This signal selects the manual operation mode.
When the rotation direction is designated and the operation start signal (ST) is turned ON, the axis will begin
moving, and the rotation will continue in the designated direction until the operation start signal (ST) is
turned OFF. When the operation start signal (ST) turns OFF, the axis will be positioned to the nearest
station.
(Caution) Turning the JOG mode selection signal ON when other operation mode selection signals are
ON will result in a "No operation mode" type operation alarm.

Abbreviation J Signal name JOG mode selection R (aaaa+0).bitA

This signal selects the JOG mode.
When the rotation direction is designated and the operation start signal (ST) is turned ON, the axis will begin
moving, and the rotation will continue in the designated direction until the operation start signal (ST) is
turned OFF. Unlike the manual operation mode, when the operation start signal (ST) is turned OFF, the
axis immediately decelerate to a stop.
(Caution) Turning the JOG mode selection signal ON when other operation mode selection signals are
ON will result in a "No operation mode" type operation alarm.

Abbreviation ZRN Signal name Reference point return mode R (aaaa+0).bitB

selection
This signal selects the reference point return mode.
When the reference point return mode signal (ZRN) is ON, the mode is designated for reference point
return. After the reference point return mode signal is turned ON, and the operation parameter group is
selected, the reference point return is begun by turning the operation start signal (ST) ON.
In the incremental specifications, the first reference point return after turning the power ON will be dog-type.
However, after the first time, the dog-type or memory-type reference point return will be set by the
parameter "#101 cont1 Control parameter bit1". When the absolute position coordinate system is
established in the absolute position specifications, the reference point return will be memory-type every
time.

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 Chapter 5 Operation control signal

Abbreviation AZS Signal name Reference point initialization mode R (aaaa+0).bitD

selection
This signal selects the mode that initializes the reference point for the absolute position detection system.
When this signal is turned ON, the reference point initialization mode is held until the NC power is turned
OFF. (Cannot be canceled)
When the stopper method is selected, the operation parameter group 4 torque limit value and the excessive
error detection width are automatically selected.

Abbreviation ZST Signal name Reference point set R (aaaa+0).bitE

This signal turns ON when designating the reference point position with the reference point initialization for
the absolute position detection system. When this signal is turned ON by the initialization mode of the
reference point system, that position is set as the absolute position reference point.

Abbreviation S Signal name Incremental feed mode selection R (aaaa+0).bitF

This signal selects the incremental feed mode.
The axis movement will begin after this signal is turned ON, each signal [operation parameter selection
(PR1, PR2), incremental feed magnification (MP1, MP2), and rotation direction (DIR)] is determined, and
the operation start signal (ST) is turned ON.
(Caution 1) Turning this signal ON when other operation modes are ON will result in a "No operation
mode" type operation alarm.
(Caution 2) In the incremental mode, the axis will inch, even if the start signal ST is OFF.

Incremental mode selection (s)

㨼㩧㩂㩢㩜㩧㩊㩣㩝㨺㩎㩨ㆬᛯ㧔㨟㧕ାภ
Incremental feed magnification selection (MP1, MP2)
㨼㩧㩂㩢㩜㩧㩊㩣ㅍࠅ୚₸ㆬᛯ㧔/2‫ޔ‬/2㧕ାภ
Operation parameter selection (PR1, PR2)
േ૞㩔㩩㩡㩜㨺㩊ㆬᛯ㧔24㨮24㧕ାภ
Rotation direction selection (DIR)
࿁ォᣇะㆬᛯ㧔&+4㧕ାภ
Reset (RST) 㩢㩈㨹㩎㧔456㧕

Start signal (ST)

⿠േାภ㧔56
Axis movement
ゲߩ⒖േ

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 Chapter 5 Operation control signal

Abbreviation ST Signal name Operation start R (aaaa+1).bit0

This signal starts the operation in each operation mode. When this signal is turned ON, the operation will
start. The operation start signal (hereafter "start signal") is handled as a status, so the ON status must be
maintained until the operation is finished.

[Operation movement in each operation mode]

(1) Automatic operation mode
Station selection
Operation start
Automatic set position
Set position
Near set position
Output 0 (zero)
Station position
Axis movement

The station selection signal (ST1 to ST256) and operation parameter selection (PR1, PR2) are
established before inputting the operation start signal. These signals are read in by the startup of the
start signal, so they are held even if they are changed after the startup.
When the start signal is input, the output signals related to the set position all turn OFF. The station
position output will be output as 0. Because the automatic set position (JSTA) and set position (JST) is
output when the positioning is completed, the operation start signal turns OFF. Even when the start
signal turns OFF, the output signal related to the set position is held as it is.
When the start signal ST is turned OFF during axis movement, the axis will stop at the nearest station.
Note that for a linear axis, if there is not a nearest point in the movement direction, the commanded
station becomes the nearest point.
< Memo> When the shortcut function is OFF for the rotating axis, the positioning direction can be
designated with the rotation direction (DIR).

(2) Manual operation mode

Rotation direction
Operation start
Automatic set position
Set position
Near set position
Output 0 (zero)
Station position
Axis movement

The rotation direction (DIR) and operation parameter selection (PR1, PR2) are established before
inputting the operation start signal. These signals are read in by the startup of the start signal, so they
are held even if they are changed after the startup.
When the start signal is input, the output signals related to the set position all turn OFF. The station
position output will be output as 0.
While the start signal is ON, the rotation direction continues in the designated direction. When the start
signal is turned OFF, positioning is carried out to the nearest station that can be stopped at in the rotation
direction. Note that for a linear axis, if there is no nearest point in the movement direction, the axis will
immediately decelerate to a stop.
When positioning is completed, a set position (JST) is output.
< Memo> The automatic set position (JSTA) will not be output.

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 Chapter 5 Operation control signal

Abbreviation ST Signal name Operation start R (aaaa+1).bit0

(3) JOG operation mode
Rotation direction
Operation start
Automatic set position
Set position
Near set position
Station position Output 0 (zero)

Axis movement

The rotation direction (DIR) and operation parameter selection (PR1, PR2) are established before
inputting the operation start signal. These signals are read in by the startup of the start signal, so they
are held even if they are changed after the startup.
When the start signal is input, the output signals related to the set position all turn OFF. The station
position output will be output as 0.
While the start signal is ON, the rotation direction continues in the designated direction. When the start
signal is turned OFF, the axis decelerates to a stop.
The set position (JST) and near set position (NEAR) are output if the axis is stopped within each
tolerable width from the station position.

Abbreviation DIR Signal name Rotation direction designation R (aaaa+1).bit1

This signal designates the rotation direction of the operation in each operation mode.
It is input before the operation start (ST), to designate the rotation direction.
This signal is invalid in the automatic operation mode when the shortcut control is set and selected by the
parameter.
When the shortcut control is not selected, positioning is carried out according to the direction designated by
this signal.
This signal is read in at the operation start (ST). Consequently, it is ignored after starting, even if the signal
changes.
The actual motor rotation direction is reversed by changing the setting of parameter #102.bit3.
DIR signal Axis rotation direction Station movement direction
0 Forward run Direction of increasing station No.
1 Reverse run Direction of decreasing station No.

Abbreviation STS Signal name Random point feed command valid R (aaaa+1).bit2
This signal selects the mode that executes the positioning in 0.001° units toward the random position
(coordinate) transferred from the NC. When the random point feed command valid is executed, it is
necessary to turn ON the automatic operation mode selection (AUT) simultaneously.

Abbreviation PUS Signal name Pressing positioning command valid R (aaaa+1).bit3

This signal selects the mode that executes random point feed including pressing operation. The positioning
coordinates are the random position (coordinates) transferred from the NC as with the random point feed
command.
When the random coordinate command is executed, it is necessary to simultaneously turn ON the
automatic operation mode select (AUT). It is not necessary to simultaneously turn ON the random point
feed command valid (STS). (An operation error will occur)

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 Chapter 5 Operation control signal

Abbreviation MP1, MP2 Signal name Incremental feed magnification 1 R (aaaa+1).bit4 to 5

and 2
This signal selects the incremental feed amount, and the handle feed magnification.
In the handle feed, the selection is the movement amount per handle notch.
MR2 signal MR1 signal Feed amount
0 0 0.001°
0 1 0.01°
1 0 0.1°
1 1 1°

Abbreviation PR1, PR2 Signal name Operation parameter selection 1, 2 R (aaaa+1).bit6 to 7

This signal selects one set of parameter group to actually be used from the four sets of parameter group 4
that designate the axis feed operation. The operation group cannot be changed while the operation start
(ST) signal is input (The group is held in the amplifier.)
Operation parameters (four sets)

Operation parameter group 4

Operation parameter group 3
Operation parameter group 2 Operation parameter
• Automatic feedrate
Operation parameter group 1 • Manual feedrate
Selection • Acceleration/deceleration time constant 1
• Automatic feedrate
• Manual feedrate • Acceleration/deceleration time constant 2
• Acceleration/deceleration time constant 1 • Torque limit
• Acceleration/deceleration time constant 2 • Excessive error detection width
• Torque limit • Set position detection width
• Excessive error detection width • Near set position detection width
• Set position detection width
• Near set position detection width

PR2 signal PR1 signal Selected operation parameter group

0 0 1
0 1 2
1 0 3
1 1 4

Abbreviation ST1 to ST256 Signal name Station selection 1~256 R (aaaa+2).bit0 to 8

This signal designates the index station No. in the automatic operation mode.
The index station No. is input before operation start (ST) is input in the automatic operation mode.
This signal is input with as a 9-digit binary. Input 000000001 corresponds to station No. 1.
This signal is read in at the startup of the operation Start (ST). Consequently, it is ignored after starting,
even if the signal changes.
When this signal is set to 000000000, and the automatic operation is started, a one station rotation special
command will result. (Note that this cannot be used when the station positions are determined in
non-uniform assignments.)

Abbreviation OV1 to OV64 Signal name Speed override 1 to 64 R (aaaa+3).bit0 to 6

This signal designates the override value added to the selected feedrate. The override value is designated
by a binary.
Selected speed × speed override
Effective feedrate =
100

Abbreviation OVR Signal name Speed override valid R (aaaa+3).bit7

This is a signal to validate the speed override. When this signal is turned OFF, the set feedrate becomes
the operation speed without calculating the override.

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 Chapter 5 Operation control signal

5-4 Explanation of operation status signals (servo amplifier NC)

Abbreviation RDY Signal name Servo READY R (bbbb+0).bit0

This signal indicates that the servo system is in an operable status.
This signal turns ON in the following situations:
(1) When the servo system diagnosis is normally completed after turning the power ON.
(2) After a servo alarm occurrence, when that alarm has been released by the reset (MRST).
(3) When the emergency stop has been released.
(4) When the READY OFF (RDF) and servo OFF (∗SVF) has been released.
This signal turns OFF in the following situations:
(1) When the servo READY (SA) signal is turned OFF.
(2) When the servo OFF signal is input, and the amplifier is in a servo OFF state.

Abbreviation INP Signal name In-position R (bbbb+0).bit1

This signal notifies that the control axis is in-position.
This signal turns ON in the following situation:
(1) When the smoothing zero (SMZ) signal is turned ON, and the droop is within the range set in the
parameters.
This signal turns OFF in the following situations:
(1) When the smoothing zero (SMZ) signal is turned OFF. (When there is a movement command.)
(2) When the droop exceeds the range set in the parameters.
(Caution 1) The "in-position (INP)" signal may turn ON, even during movement, when the axis is moving
at extremely low speeds.
(Caution 2) The in-position detection range is set in the parameter "#006 INP In-position detection width".

Acceleration/
deceleration delay Position loop process
process

Acceleration/deceleration delay Servo droop

Abbreviation SMZ Signal name Smoothing zero R (bbbb+0).bit2

This signal indicates that the acceleration/deceleration process in the built-in controller is finished, and that
no command to the control section remains.

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 Chapter 5 Operation control signal

Abbreviation AX1 Signal name Axis selection output R (bbbb+0).bit3

This signal indicates that the control axis has received the movement command.
This signal turns ON in the following cases, and turns OFF after smoothing zero (SMZ) is detected.
[In automatic operation mode]
The operation start (ST) turns ON, and is ON while the axis is moving.
[In manual operation mode]
The operation start (ST) turns ON, and is ON while the axis is moving.
[In JOG mode]
The operation start (ST) turns ON, and is ON while the axis is moving.
[In reference point return mode]
This signal turns ON while the operation start (ST) signal is ON, and the axis is moving. Note that after
the near-point dog is detected and the axis slows to creep speed, the axis selection output signal remains
ON until the reference point is reached, even if the feed selection signal is turned OFF.
When the interlock is applied, this signal remains ON even when the servo is OFF. This signal will turn
OFF during emergency stop.

Feed selection +, – (+J, –J)

Axis movement

Axis selection output (AX1)

Abbreviation MVP Signal name In Axis movement + R (bbbb+0).bit4

This signal turns ON when the axis starts moving in the + direction, and turns OFF after smoothing zero
(SMZ) is detected or the axis starts moving in the − direction.

Abbreviation MVN Signal name In Axis movement – R (bbbb+0).bit5

This signal turns ON when the axis starts moving in the − direction, and turns OFF after smoothing zero
(SMZ) is detected or the axis starts moving in the + direction.

Abbreviation TLQ Signal name Torque limited R (bbbb+0).bit6

This signal turns ON when the motor output torque (motor current) is limited at the torque limit value of the
selected operation parameter group.

Abbreviation ADJ Signal name Adjusting machine R (bbbb+0).bit7

This signal indicates that the machine is being adjusted by the setup software adjusting function.
When this signal turns ON, the signal from the setup software is validated and the control signal from the
NC side cannot be received.

Abbreviation ZP Signal name Reference point reached R (bbbb+0).bit8

This signal indicates that the control axis is on the reference point.
This signal turns ON in the following situation:
(1) When the reference point is reached in the reference point return mode. The signal will not turn ON
when the reference point is reached by another mode or command.
This signal turns OFF in the following situations:
(1) When moved from the reference point by a movement command, etc.
(2) When the machine is in an emergency stop status due to an emergency stop or servo alarm
occurrence, etc.
(3) When the axis moved by the servo OFF.
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 Chapter 5 Operation control signal

Abbreviation RST Signal name Resetting R (bbbb+0).bit9

This signal indicates that the built-in controller is being reset.
This signal turns ON in the following situations:
(1) When the MRST signal turns ON.
(2) When the MRST signal is turned ON, and the built-in controller is being reset.
(3) When in an emergency stop status.

Abbreviation HO Signal name In handle mode R (bbbb+0).bitA

This signal indicates that the handle mode has been selected.

Abbreviation MA Signal name Controller preparation complete R (bbbb+0).bitB

This signal notifies that the positioning controller built in the amplifier is in a status to carry out normal
operation.
This signal turns ON in the following situation:
(1) When normal operation has begun after turning the power ON.
The signal turns OFF in the following situations:
(1) When the power is turned OFF.
(2) When an MR-J2-CT error such as a CPU error, or memory error, etc. is detected.
(3) When a servo error that cannot be released unless the MR-J2-CT is first turned OFF occurs.

Abbreviation SA Signal name Servo preparation complete R (bbbb+0).bitC

This signal indicates that the servo system is in a status to carry out normal operation. Conversely, when
this signal is not ON, it shows that the servo (position control) is not operating.
This signal turns ON in the following situations:
(1) When the servo system diagnosis is normally completed after turning the power ON.
(2) After a servo alarm occurrence, when that alarm has been released by the master reset (MRST).
(3) When the emergency stop has been released.
(4) When the READY OFF (RDF) signal is turned OFF.
This signal turns OFF in the following situations:
(1) When the controller READY (MA) signal is turned OFF.
(2) When a servo alarm occurs.
(3) When the machine is in an emergency stop status.
(4) When the READY OFF (RDF) signal is turned ON.
When an MR-J2-,CT error such as a CPU error, or memory error, etc. is detected.
(Caution 1) With the servo OFF (∗SVF), the servo preparation complete (SA) will not turn OFF as long
as there are no separate conditions for turning the SA OFF.
(Caution 2) In OFF condition (3), all I/O output points will turn OFF.

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Abbreviation JSTA Signal name Automatic set position reached R (bbbb+0).bitD

In the automatic operation, this signal notifies that the positioning to the commanded station No. is
complete. The same tolerable ON width is as set position reached is used.
This signal turns ON in the following situation:
(1) In the automatic operation mode, when the positioning to the designated station No. is complete. The
signal actually turns ON before the positioning is complete, when the tolerable width is entered.
The signal turns OFF in the following situations:
(1) When the start signal is input in any of the operation modes.
(2) When the axis deviates outside the tolerable width.
(Caution 1) In automatic operation, this signal will not turn ON when positioning to the nearest station is
carried out by the start signal OFF.
(Caution 2) When this signal is ON, it will not turn OFF if the same station No. index is started.
(Caution 3) When the positioning to the station is completed by the manual mode, if the same station
No. index is started, this signal will turn ON. However, there will be no movement.
(Caution 4) Once turned OFF, this signal will not turn ON again even if the tolerable width is returned to.

Abbreviation JST Signal name Set position reached R (bbbb+0).bitE

This signal notifies that the positioning to the station position is complete.
It is ON when the machine position is at any of the station positions. The tolerable ON width is set
beforehand as a parameter.
This signal turns ON in the following situations:
(1) When the positioning to the station is complete in automatic or manual operation. The signal actually
turns ON before the positioning is complete, when the tolerable width is entered.
(2) When the stop position after JOG operation is the station position or within the tolerable width.
(3) When the reference point return position corresponds to those of the stop position in (2).
Other than the above conditions, this signal normally monitors the machine position, and carries out
comparisons between stations. Therefore, this signal is output even when the machine moves to a station
position outside the operation.
This signal turns OFF in the following situations:
(1) When the start signal is input in any of the operation modes. When the operation is started by a start
signal, this signal will not turn ON, even when a station position is passed during operation.
(2) When the axis deviates outside the tolerable width.

Abbreviation NEAR Signal name Near set position R (bbbb+0).bitF

This signal notifies that the machine position is near the station.
It operates in the same manner as the set position (JST), but the tolerable width setting is treated
separately. Generally, the tolerable width setting values are set larger than those for the set position, and a
mechanical clamp operation is begun just before completion of the positioning, etc.

Abbreviation AUTO Signal name In automatic operation mode R (bbbb+1).bit0

This signal indicates that the automatic operation mode has been selected.

Abbreviation MANO Signal name In manual operation mode R (bbbb+1).bit1

This signal indicates that the manual operation mode has been selected.

Abbreviation JO Signal name In JOG operation mode R (bbbb+1).bit2

This signal indicates that the JOG operation mode has been selected.

Abbreviation ARNN Signal name In reference point return R (bbbb+1).bit3

This signal indicates that the machine is in dog-type reference point return.

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 Chapter 5 Operation control signal

Abbreviation ZRNO Signal name In reference point return mode R (bbbb+1).bit4

This signal indicates that the reference point return mode has been selected.

Abbreviation DOG Signal name Near-point dog R (bbbb+1).bit5

The input status of the near-point dog for the reference point return is output as is. This is used to confirm
the near-point dog signal.
(The near-point dog signal is input from connector CN3.)

Abbreviation AZSO Signal name Reference point initialization mode R (bbbb+1).bit6

This signal indicates that the reference point initialization mode has been selected.
Before switching from another mode to the absolute position reference point initialization mode, smoothing
zero (command acceleration/deceleration delay is zero) is confirmed.

Abbreviation SO Signal name In incremental feed operation mode R (bbbb+1).bit7

This signal indicates that the incremental mode has been selected.

Abbreviation AL1 Signal name Alarm 1 R (bbbb+1).bit8

This signal indicates that an alarm has occurred requiring the power to be turned ON again after the cause
is removed.

Abbreviation AL2 Signal name Alarm 2 R (bbbb+1).bit9

This signal indicates that an alarm has occurred which can be released by the master reset signal after the
cause is removed.

Abbreviation AL4 Signal name Alarm 4 R (bbbb+1).bitA

This signal indicates that an operation alarm or absolute position alarm has occurred.

Abbreviation BAT Signal name Battery voltage low R (bbbb+1).bitB

This signal indicates that the voltage of the absolute position system battery is low.

Abbreviation ABS Signal name Absolute position power OFF R (bbbb+1).bitC

movement exceeded
This signal indicates that the axis moved beyond the tolerable amount while the control power was OFF in
the absolute position system.

Abbreviation ZSN Signal name Absolute position loss R (bbbb+1).bitD

This signal indicates that the absolute position data has been lost in the absolute position system.

Abbreviation ZSF Signal name Initialization error completed R (bbbb+1).bitE

This signal indicates that in the absolute position system the reference point initialization has completed
normally, and that the absolute position coordinates have been established.

Abbreviation ZSE Signal name Initialization set error finished R (bbbb+1).bitF

This signal indicates that the reference point initialization has not finished normally in the absolute position
system.

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 Chapter 5 Operation control signal

Abbreviation STO1 to STO256 Signal name Station position 1 to 256 R (bbbb+2).bit0 to 8

This signal shows the present station No. in as a 9-digit binary.
This signal outputs the station position when the set position reached (JST) signal is ON, and outputs a "0"
when the set position reached signal is OFF.

Abbreviation PSW1 to 8 Signal name Position switch 1 to 8 R (bbbb+3).bit0 to 7

This signal turns ON when the axis is within the setting range of the respective position switches.

Abbreviation PMV Signal name In positioning operation R (bbbb+3).bit8

This signal indicates that the positioning is being carried out in the pressing positioning mode operation.
The positioning finishes, smoothing zero is confirmed, and the signal turns OFF.

Abbreviation PFN Signal name Positioning complete R (bbbb+3).bit9

This signal indicates that the positioning is finished in the pressing positioning mode operation. This signal
turns ON when the "In positioning operation" (PMV) turns OFF. It is held until the next start.

Abbreviation PSI Signal name Pressing in R (bbbb+3).bitA

This signal is ON while moving the set pressing amount in operation in the pressing positioning mode.

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 Chapter 6 Setup and Operation

6-1 Setup of servo amplifier ....................................................................................... 6-2

6-1-1 Parameter initialization............................................................................... 6-2
6-1-2 Transition of LED display after power is turned ON ................................... 6-2
6-1-3 Servo parameter default settings ............................................................... 6-3
6-1-4 Operation parameter group default settings .............................................. 6-4
6-1-5 Setting during emergency stops ................................................................ 6-7
6-2 Test operation....................................................................................................... 6-9
6-2-1 Test operation............................................................................................ 6-9
6-2-2 JOG operation ........................................................................................... 6-10
6-2-3 Incremental feed operation ........................................................................ 6-11
6-2-4 Handle feed operation ............................................................................... 6-11
6-3 Setting the coordinate zero point ........................................................................ 6-12
6-3-1 Dog-type reference point return ................................................................. 6-12
6-3-2 Adjusting the dog-type reference point return ............................................ 6-14
6-3-3 Memory-type reference point return ........................................................... 6-16
6-3-4 Mode with no reference point..................................................................... 6-16
6-4 Positioning operations by the station method ................................................... 6-17
6-4-1 Setting the station ...................................................................................... 6-17
6-4-2 Setting linear axis stations ......................................................................... 6-19
6-4-3 Automatic operation ................................................................................... 6-21
6-4-4 Manual operation ....................................................................................... 6-23
6-5 Stopper positioning operation............................................................................. 6-24
6-5-1 Operation sequence ................................................................................. 6-24
6-5-2 Setting the parameters............................................................................... 6-26
6-6 Machine compensation and protection functions.............................................. 6-27
6-6-1 Backlash compensation ............................................................................. 6-27
6-6-2 Interlock function........................................................................................ 6-27
6-6-3 Soft limit ..................................................................................................... 6-28
6-6-4 Servo OFF ................................................................................................. 6-29
6-6-5 READY OFF .............................................................................................. 6-30
6-6-6 Data protect ............................................................................................... 6-30
6-7 Miscellaneous functions ...................................................................................... 6-31
6-7-1 Feedrate override....................................................................................... 6-31
6-7-2 Position switches ....................................................................................... 6-31

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 Chapter 6 Setup and Operation

6-1 Setup of servo amplifier

6-1-1 Parameter initialization
When starting up MR-J2-CT with a machine for the first time, initialize the parameters first. Then, set and
adjust the machine specifications. To initialize the parameters, open the window on the top of the amplifier,
and set the axis No. setting rotary switch to "7". Then turn the amplifier control power ON. When the
amplifier LEDs change from a "dot display (..)" to an "end display (En)", the parameter initialization has
been completed. (With the software version C4 and below, the initialization is completed when the display
changes to the "alarm display". Set the axis No. setting rotary switch to the specified axis No., turn the
amplifier control power ON, and then connect with the NC. When the parameters are initialized, the
absolute position data will also be initialized, so the alarm "ZERO POINT INITIALIZATION INCOMPLETE
(Z70 0001)" will always occur when the power is turned ON for the first time.
Rotary switch setting Set axis No.
0 1st axis
1 2nd axis
Display section
The operation status and alarms 2 3rd axis
are displayed. 3 4th axis
Setting section 4 5th axis
Axis No. setting rotary switch
5 6th axis
6 7th axis
7 Parameter initialization
8
9
A
B Setting prohibited
C
D
E
F Test operation mode

1. Be aware that if the power is turned ON during parameter initialization (rotary

switch 7), absolute position data and all parameters will be lost.
CAUTION 2. The test operation mode is a mode commanded from the personal
computer setup software. Commands and emergency stop signals from the
CNC are ignored.

6-1-2 Transition of LED display after power is turned ON

When the axis No. is set, and the servo amplifier power and CNC power are turned ON, the servo
amplifier will carry out a self-diagnosis, and the initial signal with the CNC will start.
The LEDs on the front of the servo amplifier will change as shown below according to the progression of
these processes.
If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "Chapter 10 Troubleshooting" for
details on the alarm displays.
LED display
䌌䌅䌄䈱⴫␜

Servo amplifier power Servo amplifier in self-diagnosis and internal

䉰䊷䊗䉝䊮䊒䈱㔚Ḯ䉥䊮 䉰䊷䊗䉝䊮䊒䈱⥄Ꮖ⸻ᢿ䇮ౝㇱೋᦼ⸳ቯታⴕਛ䇯
ON initialization execution.
NC power ON
䌎䌃䈱㔚Ḯ䉥䊮

In initial communication execution with the NC.

䌎䌃䈫䈱ೋᦼㅢାታⴕਛ䇯

In normal operation (servo OFF).

ㅢᏱㆇォ䋨䉰䊷䊗䉥䊐䋩ਛ䇯
• 䊶⸳ቯ䈘䉏䈩䈇䉎ゲ⇟ภ䉕⴫␜䋨╙৻ゲ䋩
Displays the set axis No. (1st axis)

In normal operation (servo ON).

ㅢᏱㆇォ䋨䉰䊷䊗䉥䊮䋩ਛ䇯
䊶⸳ቯ䈘䉏䈩䈇䉎ゲ⇟ภ䉕⴫␜䋨╙৻ゲ䋩
• Displays the set axis No. (1st axis)
NC power OFF
䌎䌃䈱㔚Ḯ䉥䊐 䌎䌃䈱㔚Ḯ䈏䉥䊮䈘䉏䉎䈱䉕ᓙᯏ䇯

Standing by for the NC power to be turned ON.

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 Chapter 6 Setup and Operation

6-1-3 Servo parameter default settings

"Servo parameters" mainly mean the parameters (#001 to #099) related to servo control. Because the
motor type and detector resolution are automatically set in the MR-J2-CT, set the parameters related to
the following specifications first when setting up. The servo gain is automatically adjusted by the
auto-tuning. The operation when starting may be unstable. However, the gain will gradually be tuned to
the optimum value by the acceleration/deceleration operation of the servomotor. The adjusted
parameters will be saved even when the power is turned OFF.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#0002 ∗RTY Regenerative option type 0000 Set the regenerative resistor type when an external option
regenerative resistor is used. Do not set values that have no
description.
Built-in standard
regenerative resistor : 0000 (Default value)
MR-RB032 : 0200
MR-RB12 : 0300
MR-RB32 : 0400
MR-RB30 : 0500
MR-RB50 : 0600

#0003 ∗PC1 Motor side gear ratio 1 Set as an integer expressing the reduced fraction 1 ~ 32767
(machine rotation ratio) of the No. of gear teeth on the motor side and the
#0004 ∗PC2 Machine side gear ratio 1 No. of gear teeth on the machine side. If there are 1 ~ 32767
(motor rotation ratio) multiple gear levels, set the total gear ratio. For
rotation axes, set the No. of motor rotations per one
machine rotation.
#0005 ∗PIT Feed pitch 360 deg Set 360 for rotation axes. (Default value). Set the 1 ~ 32767
(mm) feed lead for linear axes.

(1) Setting the gear ratio

Set the No. of gear teeth on the motor side in PC1, and
the No. of gear teeth on the machine side in PC2. If
there are multiple gear levels, set the total gear ratio in a Final gear vs. magazine cycle
form reduced to its lowest terms. PC2/ PC1 becomes deceleration ratio 㧩 8/40 㧩 1/5
the motor speed when the axis is moved the amount set
in the feed pitch parameter ( PIT).
The final axis rotation becomes 360 deg. for rotation axes.
For example, with the magazine shown in the drawing at
the right, one magazine cycle is 360 deg., and the gear Motor side gear
ratio is the No. of motor rotations required to rotate the Final gear
magazine one cycle. For the drawing at the right, the Gear deceleration ratio
㧩 1/10
parameter default values are as follows.
∗ PC1 = 1
∗ PC2 = 50 40-magazine gear ratio setting 1/50
∗ PIT = 360

For rotation axes, set the motor speed required to rotate the axis end one rotation
POINT (position the axis 360 deg) in the gear ratio.

(2) Setting the feed pitch

Set the feed pitch to 360 for rotation axes. Set the ball screw lead for linear axes that use a ball
screw.
For rack and pinion, etc., structures, set the movement amount per final gear (final step of the
rotation system) rotation. In this case, set the deceleration ratio to the final gear for the gear ratio.

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 Chapter 6 Setup and Operation

6-1-4 Operation parameter group default settings

(1) Operation parameter group
There are eight types of parameters related to feed control such as feedrate and acceleration/
deceleration time constants of the axes in each operation mode. When these are put together in a
set, they are called an operation parameter group. A total of four operation parameter groups can
be set. By selecting any set of operation parameter selections 1 and 2 (PR1, PR2) from the PLC
and operating, the operating conditions can be changed to match the machine status each time.
There are also operation modes such as stopper positioning control, in which the amplifier
automatically selects the operation parameter group and controls the machine.

Parameters determining the operation pattern

Operation parameter group 4 PR1 = 1, PR2 = 1

Operation parameter group 3 PR1 = 0, PR2 = 1

Operation parameter group 2 PR1 = 1, PR2 = 0

Operation parameter group 1 PR1 = 0, PR2 = 0

Parameter name Function

Automatic operation speed Automatic operation feedrate
Manual operation speed Manual/JOG operation feedrate
Acceleration/deceleration time Linear sections of acceleration/deceleration
constant 1 time constant of all operation modes
Acceleration/deceleration time Non-linear sections of acceleration/deceleration
constant 2 time constant of all operation modes
Torque limit value Torque (current) limit value
Excessive error detection width Tolerable position droop (tracking delay) value
Four sets
Set position output width Tolerable set position signal output value
Near set position output width Tolerable near set position output value

(2) Setting the feedrate

The machine end speed is set as a feedrate in a parameter separately for automatic operation and
manual operation. Because the electronic gear automatically calculates the motor speed, etc.,
setting can be done without being concerned with gear ratio, pitch, detector resolution, etc.
Moreover, the parameter #150 automatic operation speed operation parameter group 1 (Aspeed1)
as a clamp speed (feedrate upper limit value). The axis feedrate will be limited at the value set in
Aspeed1, even if a higher speed than this is set in another parameter.
Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#150 Aspeed1 Operation parameter 1 5000 deg/min Set the feedrate during automatic operation 1~100000
Automatic operation speed (mm/min) when each operation parameter group is
#158 Aspeed2 Operation parameter 2 selected.
Automatic operation speed #150 Aspeed1 functions as the clamp value
#166 Aspeed3 Operation parameter 3 for the automatic operation speeds and
Automatic operation speed manual operation speeds of all operation
#174 Aspeed4 Operation parameter 4 groups.
A speed exceeding Aspeed1 cannot be
Automatic operation speed commanded, even if set in the parameters.
#151 Mspeed1 Operation parameter group 1 2000 deg/min Set the feedrate during manual operation and 1~100000
Manual operation speed (mm/min) JOG operation when each operation
#159 Mspeed2 Operation parameter group 2 parameter group is selected.
Manual operation speed
#167 Mspeed3 Operation parameter group 3
Manual operation speed
#175 Mspeed4 Operation parameter group 4
Manual operation speed

The operation parameter group 1 automatic operation speed (Aspeed1) works

POINT as the clamp speed for all operation speeds. A feedrate exceeding Aspeed1
cannot be commanded.

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 Chapter 6 Setup and Operation

(3) Setting the acceleration/deceleration pattern and acceleration/deceleration time constant

A constant inclination acceleration/deceleration operation is carried out for all axis movement (In the
handle feed operation mode, a constant time linear acceleration/deceleration operation is carried
out). As for the acceleration/deceleration time constants, set all linear acceleration/ deceleration
times for clamp speed (Aspeed1) in acceleration/deceleration time constant 1 (timeN.1). When
operating at speeds less than the clamp speed, the axis will accelerate/decelerate at the same
inclination. At this time, set 1 (default value) in the acceleration/deceleration time constant 2
(timeN.2).
S-character (soft) acceleration/deceleration operation is carried out if any value other than 1 is set in
the acceleration/deceleration time constant 2 (timeN.2). In this case, set the time of the linear part
for acceleration/deceleration time constant 1, and the total time of the non-linear parts (same as the
non-linear time at acceleration start and finish) for acceleration/deceleration time constant 2. Thus,
the total acceleration/deceleration time becomes the sum of the acceleration/deceleration time
constant 1 and acceleration/deceleration time constant 2.
In the handle feed operation mode, only acceleration/deceleration time constant 2 (timeN.2) is used,
and a linear acceleration/deceleration operation is carried out.
Speed

Parameter #150
Automatic operation speed
(clamp)

Time

Linear section setting: Acceleration/deceleration time constant 1

Non-linear section setting: Half each of acceleration/deceleration time constant 2

All acceleration/deceleration time is the sum of acceleration/deceleration time 1 + acceleration/deceleration time 2

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#152 time1.1 Operation parameter group 1 100 msec Set the linear acceleration/deceleration time for 1 ~ 9999
Acceleration/deceleration time the operation parameter group 1 automatic
constant 1 operation speed (clamp speed) when each
#160 time2.1 Operation parameter group 2 operation parameter group is selected. When
Acceleration/deceleration time operating at speeds less than the clamp speed,
constant 1 the axis will linearly accelerate/decelerate at the
#168 time3.1 Operation parameter group 3 inclination determined above. When this is set
Acceleration/deceleration time together with acceleration/deceleration time
constant 1 constant 2, S-character acceleration/deceleration
#176 time4.1 Operation parameter group 4 is carried out. In this case, set the
Acceleration/deceleration time acceleration/deceleration time of the linear part in
constant 1 this parameter.
#153 time1.2 Operation parameter group 1 1 msec Set the linear acceleration/deceleration time 1 ~ 9999
Acceleration/deceleration time constant in the handle feed operation mode when
constant 2 each operation parameter group is selected.
#161 time2.2 Operation parameter group 2 When S-character acceleration/deceleration is
Acceleration/deceleration time carried out, set the total time of the non-linear
constant 2 parts. When 1 is set in this parameter, linear
#169 time3.2 Operation parameter group 3 acceleration/deceleration is carried out.
Acceleration/deceleration time
constant 2
#177 time4.2 Operation parameter group 4
Acceleration/deceleration time
constant 2

Set the acceleration/deceleration time constant as the acceleration/deceleration

time for the clamp speed (Aspeed1).
POINT When operating at speeds less that the clamp speed, the acceleration/
deceleration operation is carried out at the same inclination as when operating
at clamp speed.
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 Chapter 6 Setup and Operation

(4) Setting the torque limit value

Each operation parameter group has an individual torque limit value (current limit value). When set
to the default value 500, the torque is automatically limited at the maximum torque determined in
the motor specifications. Operate with the default value when not especially limiting the torque.
Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
Operation parameter group 1 500 % Set the motor output torque limit value when 1 ~ 500
#154 TL1
Torque limit value each operation parameter group is selected.
Operation parameter group 2 At the default value of 500, the torque is
#162 TL2
Torque limit value limited at the maximum torque of the motor
Operation parameter group 3 specifications.
#172 TL3 Set the default value when torque limiting is
Torque limit value
Operation parameter group 4 not especially required.
#178 TL4
Torque limit value

(5) Setting the excessive error detection width

Each operation parameter group has an individual excessive error alarm (S03 0052). An alarm is
detected when the position droop (position command - position FB) exceeds the setting value. The
standard setting value is calculated from the feedrate using the following equation. Excessive error
alarms can occur easily when the load inertia is large or the auto-tuning response is lowered, so
raise the excessive error detection width in these cases.

OD (N) = Aspeed (N) (deg or mm)

1000
Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#155 OD1 Operation parameter group 1 100 deg Set the excessive error detection width when 0 ~ 32767
Excessive error detection width (mm) each operation parameter group is selected.
#163 OD2 Operation parameter group 2 An excessive error alarm (S03 0052) is
Excessive error detection width detected when the position droop becomes
#171 OD3 Operation parameter group 3 larger than this setting value.
Excessive error detection width
#179 OD4 Operation parameter group 4
Excessive error detection width

(6) Setting the output width of signals related to the set position
Set the respective detection widths of the set position reached (JST) and automatic set position
reached (JSTA) signals that indicate that the machine positioning is completed. Also set the
detection width for the near set position (NEAR) signal that indicates that the machine position is
near each station.
Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#152 just1 Operation parameter group 1 0.500 deg The signal indicating that the machine position is at 0.000 ~
Set position output width (mm) any one of the stations is the set position reached 99999.999
#160 just2 Operation parameter group 2 (JST) signal. During automatic operation, the
Set position output width automatic set position reached (JSTA) signal is
detected under the same conditions. Set the
#168 just3 Operation parameter group 3 tolerable values at which these signals are output
Set position output width when each operation parameter group is selected.
#176 just4 Operation parameter group 4 These signals turn OFF when the machine position
Set position output width is separated from the station by more than this
value.
#153 near1 Operation parameter group 1 1.000 deg The signal indicating that the machine position is 0.000 ~
Near set position output width (mm) near any one of the station positions is the near set 99999.999
#161 near2 Operation parameter group 2 position (NEAR) signal. Set the tolerable values at
Near set position output width which these signals are output when each
#169 near3 Operation parameter group 3 operation parameter group is selected. These
Near set position output width values are generally set wider than the set position
#177 near4 output width. In terms of operations, this is related
Operation parameter group 4 to special commands when the station selection is
Near set position output width 0.
Refer to section "6-4-3 Automatic operation."

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 Chapter 6 Setup and Operation

6-1-5 Setting during emergency stops

(1) Setting the emergency stop
Emergency stop circuits are wired in the CNC bus in the same manner as a normal feed axis servo,
but in addition they are also input in the CN3 connector on the front of the amplifier. These
emergency stops can be set to valid/invalid in the parameters. The parameters can be set to select
whether the emergency stop for trouble occurring in an auxiliary axis extends to other auxiliary axes
and feed axis servos, or whether an axis itself emergency stops for alarms occurring in other
auxiliary axes or feed axis servos.

NC MR-J2-CT
Terminator
Emergency stop CN1A CN1B

Alarm
#103.bit2 #103.bit3
PLC
Emergency stop Emergency Emergency
stop input stop output
Control circuit
(Caution)
CN3
Emergency stop button Each switch status expresses the External emergency stop
interlock, etc. default value status. Each parameter (EMGX)
represents the following states.
#103.bit0
0=
1=

No. Abbrev. Parameter name Explanation

#103 ∗Emgcont Emergency stop control This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

bit Meaning when "0" is set. Meaning when "1" is set.

External emergency stop invalid
0 External emergency stop valid
(default value)
Dynamic brake stop at Deceleration control stop at
1
emergency stop emergency stop
CNC bus emergency stop input CNC bus emergency stop input
2
valid invalid
CNC bus emergency stop output CNC bus emergency stop output
3
valid invalid

When setting so that an emergency stop is ignored, give safety in the system
CAUTION consideration. PLC emergency stops (QEMG) are always valid, regardless of the
parameter settings.

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 Chapter 6 Setup and Operation

(2) Deceleration control during emergency stops

The method by which the motor stops during emergency stops can be set in the parameters. Either
a dynamic brake method or a deceleration control method can be selected. Consider the
characteristics in the following table, and select the method appropriate for the machine being
used.
Deceleration stop method
Deceleration control Dynamic brake
during emergency stop
A shorter stopping distance is possible than with The stopping distance is longer than with
Stopping distance
a dynamic brake. deceleration control.
Because the stop is carried out using software The deceleration torque cannot be limited.
Deceleration torque control, the deceleration torque (deceleration The deceleration torque also becomes
time constant) can be freely set. smaller as the speed drops.
When an alarm occurs in which motor control
The machine can stop by a dynamic brake for
During alarm occurrence itself becomes impossible, the machine stops by
all alarm occurrences.
a dynamic brake.
The software is interposed in the motor stop The software is not interposed in the motor
SW control after an emergency stop occurs stop control after an emergency stop occurs
(software stop). (hardware stop).

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#010 EMGt Deceleration control time 500 msec Set the deceleration time from the clamp speed 0 ~ 32768
constant (Aspeed1). Set the same value as the
acceleration/deceleration time constant for normal
rapid traverse.

When a dynamic brake stop is selected, the software does not play any part in
POINT the motor stop control after the emergency stop occurs.

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 Chapter 6 Setup and Operation

6-2 Test operation

Operation using the following mode is also possible before the coordinate zero point (reference point) is
confirmed (zero point initial setting incomplete: Z70 0001 occurring.).

6-2-1 Test operation

Operation of only the servo amplifier unit can be carried out without communicating with the NC. The
connected personal computer setup software substitutes for the NC commands.
In the test operation mode, operation is possible in all operation modes except the handle mode.
(Note that automatic operation and manual operation are not possible before the reference point is set.)
Absolute position initialization can also be carried out.

(1) Starting the test operation

When the rotary switch that sets the axis No. is set to F, and the power is turned ON, the machine
changes to test operation mode.
When the test operation menu from the setup software is selected, and the communication is
begun, a servo ON signal is automatically output, and the test operation is prepared for.

(2) Operating the test operation

Operation is conducted in the following manner: In the setup software, select the operation mode,
operation parameters, and other selections (in incremental feed, the feed magnification, etc.). Click
on the forward run or reverse run button. A start signal will be input, and the operation will begin.

(3) Test operation during normal operation

It is possible to conduct test operation with the setup software, even when normally connected to
the CNC.
It is possible to change from the setup software to the test operation mode.
In this case, when the test operation mode is switched to, the various signals from the CNC are
temporarily intercepted, and the commands from the setup software take priority. However, the
following signals from the CNC are valid.

Abbreviation Signal name

QEMG PLC emergency stop
MRST Master reset
∗IT+, ∗IT– Interlock

Refer to the "Setup Software Instruction Manual (BNP-B2208)" for information

POINT on how to use the setup software.

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 Chapter 6 Setup and Operation

6-2-2 JOG operation

When the rotation direction is designated and the start signal is input, rotation begins in the designated
direction, and continues until the start signal turns OFF. The machine immediately decelerates to a stop
when the start signal turns OFF.

(1) Setting the JOG operation mode

Set the following signals before inputting an operation start (ST) signal. The settings are validated
when the operation start signal is input.

Abbrev. Signal name Explanation

Select the JOG operation mode. "M01 0101 No operation mode"
JOG operation mode
JOG will occur if the selected mode duplicates another operation
selection
mode. Always leave this signal ON during JOG operation.
The rotation direction can also be reversed using the parameter
DIR Rotation direction
#102.bit3 setting.
Operation parameter The machine is operated at the manual operation speed
PR1, PR2
selection 1 and 2 (Mspeed) of the selected operation group.

(2) Starting the JOG operation

Turn ON the "Operation start (ST)" signal. Because this signal is treated as a status, the rotation will
continue until the signal turns OFF. When the start signal turns OFF, the machine will immediately
decelerate to a stop.

JOG operation mode selection

(J) Value is validated at ST ON.
Rotation direction
Operation parameter selection
(PR1, 2)
Operation start (ST)

Movement command (speed

command)
Output if within the range
set in the parameters.
In JOG operation mode (JO) "0" is output.
Station position (STO1 to 256)
Smoothing zero (SMZ)
Near set position (NEAR)
Set position reached (JST)
Automatic set position reached
(JSTA)
Axis selection output (AX1)
Axis moving (+) (MVP)
Axis moving (−) (MVN)

1. If the position where the motor stops is coincidentally within the set position
output width of a particular station, a set position reached (JST) signal and
POINT that station position (ST01 to 256) will be output.
2. In the JOG operation mode, the automatic set position reached (JSTA) signal
does not turn ON even if the machine is positioned on the station.

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 Chapter 6 Setup and Operation

6-2-3 Incremental feed operation

In this mode a constant amount of feed is executed each time a start signal is input.

(1) Setting the incremental feed operation mode

Set the following signals before inputting an operation start (ST) signal. The settings are validated
when the operation start signal is input.
Abbrev. Signal name Explanation
Incremental feed operation Select the incremental feed operation mode. "M01 0101 No operation mode"
S
mode selection will occur if the selected mode duplicates another operation mode.
The rotation direction can also be reversed using the parameter #102.bit3
DIR Rotation direction
setting.
Operation parameter The acceleration/deceleration is carried out with the acceleration/deceleration
PR1, PR2
selection 1 and 2 time constant of the selected operation group.
Incremental feed
MP1, MP2 Select the feed amount for each time the operation is started.
magnification factor 1 and 2

(2) Starting the incremental feed operation mode

Turn ON the operation start (ST) signal. The axis will move the designated feed amount and stop,
even if this signal is turned OFF during movement.

6-2-4 Handle feed operation

In this mode the axis feed is carried out in response to the amount of handle pulses transferred from the
CNC via a high-speed serial bus. The axis feed can be carried out using the pulse generator attached to
new model CNCs.

(1) Setting the handle feed operation mode

Set the following signals.
Abbrev. Signal name Explanation
Select the handle feed operation mode. "M01 0101 No operation mode" will
Handle feed operation mode occur if the selected mode duplicates another operation mode.
H
selection The handle input is prioritized for the auxiliary axis (MR-J2-CT) by turning this
signal ON.
The rotation direction can also be reversed using the parameter #102.bit3
DIR Rotation direction
setting.
The acceleration/deceleration is carried out with the acceleration/deceleration
Operation parameter
PR1, PR2 time constant 2 of the selected operation group. In this case, constant time
selection 1 and 2
acceleration/deceleration is carried out.
Incremental feed
MP1, MP2 Select the movement amount per handle 1 pulse (1 notch).
magnification factor 1 and 2

(2) Starting the handle feed operation mode

The handle pulse input is prioritized for the auxiliary axis (MR-J2-CT) by inputting the handle feed
operation mode selection (H). Confirm the in handle feed operation mode (HO) signal before
inputting the handle pulses.
Incremental feed operation mode Handle feed operation mode
selection (S) Value is validated at ST ON. selection (S)
Rotation direction (DIR) Rotation direction (DIR)
Operation parameter selection Operation parameter selection
(PR1, 2) (PR1, 2)
Incremental feed magnification Incremental feed magnification
factor (MP1, 2) factor (MP1, 2)
Operation start (ST) Handle pulse input
Validated only
Movement command (speed at startup Movement command (speed
command) command)
In incremental feed operation In handle feed operation mode
mode (SO) (HO)
Smoothing zero (SMZ) Smoothing zero (SMZ)

Incremental feed operation Handle feed operation

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 Chapter 6 Setup and Operation

6-3 Setting the coordinate zero point

It is necessary to determine the coordinate zero point before positioning operation. The index function
built into the MR-J2-CT carries out positioning with the coordinate zero point as a reference.

Refer to Chapter 7 "Absolute position detection system" for the setting method of
POINT the absolute position system coordinate zero point.

6-3-1 Dog-type reference point return

The dog-type reference point return is a method for establishing the coordinate zero point in an
incremental system. The coordinate zero point is determined with the electrically determined reference
point (machine specific point) used as a reference. This reference point is determined by the signals
(near-point dog signals) turned ON/OFF by the near-point dog and limit switch.
In the motor end position detector there is a Z phase signal that is output once per rotation. Looking from
the movable section of the machine driven by the motor, a Z phase signal is output for every set
movement amount. The position at which this Z phase is output is called the grid. One specific point of
these grid points is recognized as the electrical zero point by the servo amplifier. The dog signal is used
as a means to designate/recognize which grid point is the electrical zero point in the servo amplifier.

Electrical zero point → Reference point → Coordinate zero point

Determined by the electrical zero Determined by the reference point and
point and reference point shift the offset amount. The default offset
amount (ZRNshift). amount is 0, and the electrical zero
The default shift amount is 0, and point, reference point, and coordinate
the electrical zero point and zero point are in the same position.
reference point are in the same
position.

(1) Operation principle

The operation to determine the electrical zero point is explained below.
The dog signal is OFF when the limit switch is on the near-point dog. The dog signal is a B contact
that is ON, when the limit switch is not on the near-point dog.

(1) When the machine movable parts are Direction of machine movement
moved, the dog signal limit switch is ON
from the near-point dog, and the dog signal Limit switch
is OFF.
Near-point dog
ٌ ٌ ٌ ً ٌφ
Grid
Electrical zero point

(2) When the machine movable parts are Direction of machine movement
moved further in the same direction, the
limit switch leaves the dog, and the dog
signal turns ON.


ٌ ٌ ٌ ً ٌ

Electrical zero point

(3) The servo amplifier recognizes the first grid Stop

point after the dog signal turns ON as the
electrical zero point.


ٌ ٌ ٌ ً ٌ

Electrical zero point

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 Chapter 6 Setup and Operation

(2) Execution procedure

The execution procedure for dog-type reference point return is shown below.
(1) Initial setting Confirm that the parameter "#101 cont1.bit D No zero point" setting is to 0 (zero).
< Memo > When "#101 cont1 bit-D No zero point"= 1, the specification will be that
there is no reference point. The machine position when the power is turned
ON becomes the reference point.
(2) Set the speed Set the parameters that designate the axis feedrate during reference point return "#110
ZRNspeed Reference point return speed" and "#111 ZRNcreep Reference point return
creep speed".
< Memo > If the reference point return speed is too fast, it may not be able to
decelerate fully when the limit switch is ON, and a "dog length insufficient
alarm" may occur. If this alarm occurs, decrease the reference point return
speed.Machine feedrate
ZRNspeed Reference point return speed

ZRNcreep Reference point return creep speed

Near-point
dog

Grid
ٌ ٌ ٌ ً ٌφ
Electrical zero point

(3) Designate the Determine the motor rotation direction for reference point return execution with
reference parameter "#101 cont1.bit8 Reference point return direction".
point return #101 cont1. bit8
direction Approach direction
Reference point return direction
0 Motor rotates CW and approaches
1 Motor rotates CCW and approaches

(4) Select the When the "reference point return mode (ZRN)" signal is turned ON, and the start signal
reference is turned ON, reference point return will be executed.
point mode The axis automatically stops at the electrical zero point.
< Memo > The default settings are electrical zero point = reference point = coordinate
zero point. Refer to the next section when setting the reference point and
coordinate zero point to a different position than the electrical zero point.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

High-speed zero point return Dog-type method for each zero
1
after zero point establishment point return operation
Reference point return direction Reference point return direction
8
(+) (−)
Rotation direction determined by Rotation direction in the shortcut
9
DIR direction
Machine reference position Electrical zero point becomes the
A
becomes the reference point reference position
Coordinate zero point creation Zero point established at power
D
valid supply ON position
Rotation direction in DIR or in the Rotation direction in the random
E
shortcut direction position command sign direction
Stopper direction is positioning Stopper direction is for the stopper
F
direction amount in the sign direction

#110 ZRNspeed Reference point return 1000 deg/min Set the clamp value for the feedrate when a 1~100000
speed (mm/min) reference point return is carried out. The
feedrate becomes the manual operation speed
of the parameter group selected at that time,
but it is clamped by this parameter setting
value.
#111 ZRNcreep Reference point return 200 deg/min Set the approach speed to the reference point 1~65535
creep speed (mm/min) after dog detection during a reference point
return.
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 Chapter 6 Setup and Operation

6-3-2 Adjusting the dog-type reference point return

The procedure to adjust the reference point return should always be executed in the following order.

#113 ∗grspc #112 grid mask #114 ZRNshift

Grid space Grid mask amount Reference point shift amount

(1) Setting the grid spacing

The normal grid spacing is a space per rotation of the detector. When incremental system detection
is used, the grid spacing per detector rotation can be pseudo-divided. Using this, the distance from
leaving the dog to reaching the electrical zero point becomes shorter, and the time necessary for
reference point return can be shortened.
Machine movement direction

Limit switch

Near-point dog
Reference point return path before
parameter setting

Speed

Effective grid spacing :Ǽ’ ٌ ٌ ٌ ٌ ٌ ً ٌ ٌ ٌ

Electrical zero point
Electrical grid spacing :Ǽ ٌ ٌ ٌ
Actual grid spacing set in parameter
#113 grspc grid spacing. Motor detector electrical grid spacing

Reference point return operation when grspc = 2 (4 divisions)

The divided grid spacing is obtained with the following expression.

Electrical grid spacing : τ

= No. of gear teeth on the motor side × Pitch = Movement amount per motor rotation
No. of gear teeth on the machine side

Effective grid spacing τ’ = Electrical grid spacing τ (n: #113 grspc grid spacing)
n
2

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
∗grspc
n
#113 Grid spacing 0 1/2 Divide the grid spacing that is the conventional 0~4
divisions motor rotation movement amount into 2, 4, 8, or
16 divisions.

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 Chapter 6 Setup and Operation

(2) Setting the grid mask

After leaving the dog, the first grid point becomes the reference point. However, if the position
where the dog is left and the grid point are close, the second grid encountered may accidentally
become the reference point. This is due to variation in the time the limit switch contact takes to turn
OFF. Ideally, the position where the dog is left should be in the center of the grid spacing.
The dog installation can be changed and this can be adjusted. However, by pseudo-extending the
dog length with the parameter "#112 grid mask Grid mask amount", the dog OFF point can be
simply and ideally adjusted.
Machine movement Machine movement
direction direction
Limit switch Limit switch

Near-point dog Near-point dog

Reference point is
unstable
The dog length is artificially
Speed extended by the grid mask.

 Gridψ ٌ ٌ ً ً ٌ ٌ ٌ ٌ ً ٌ
Electrical zero point

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#112 grid mask Grid mask amount 0 1/1000deg Set the amount that the dog is artificially 0 ~ 65536
(µm) extended. Set 1/2 the grid spacing as a
standard.

Machine movement
(3) Setting the reference point shift amount direction
To set the reference point (machine zero Limit switch
point) to a random position, outside the
equally spaced grid points, set the shift Near-point dog Reference point
amount in the parameter "#114 ZRNshift (machine zero point)
Reference point shift amount".
Speed
Electrical zero point

Grid ψ ٌ ً ٌ

#114 ZRNshift
Reference point shift amount

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#114 ZRNshift Reference point shift 0 1/1000deg Set the shift amount in a dog-type reference 0 ~ 65536
amount (µm) point return from the electric zero point
determined on the grid to the reference point.

(4) Adjusting the reference point return speed Machine movement

When the near-point dog signal is turned OFF direction
in dog-type reference point returns, the Limit switch
machine stops temporarily, the distance to the
electric zero point is obtained, and the Near-point dog
movement at creep speed begins. If the
near-point dog is short at this time, the machine Grid cannot be detected
is not able to stop within the dog, and the Speed
changeover to the creep speed occurs away
from the dog. Because of this, the initial grid

Grid ψ ٌ ً ً
may not be read. In this case, lower the
reference point return speed, and adjust so the
changeover to creep speed occurs within the
dog.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#110 ZRNspeed Reference point return 1000 deg/min Set the clamp value of the feedrate during a 1~100000
speed (mm/min) reference point return.

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 Chapter 6 Setup and Operation

6-3-3 Memory-type reference point return

This function registers the reference point in the controller of the incremental system, and executes
rapid reference point return.
Only the first reference point return after the power is turned ON is with the dog-type method. All
subsequent returns after the first time are carried out with the memory method. Set parameter "#101
Cont1.bit1" to "1" to have the machine carry out dog-type reference point returns subsequent to the first
return also.

#101 Cont1.bit1 Explanation

A dog-type reference point index operation is carried out before the reference
point is determined (first time), but after the reference point is determined
0
positioning to the reference point is carried out at high speed (without being
clamped at the ZRNspeed).
For reference point return operations, reference point index operations are
1 carried out each time with the dog-type method regardless of the reference point
determination.

6-3-4 Mode with no reference point

In this mode the position when the machine is turned ON in the incremental system becomes the
reference point.
It can be changed by the parameter "#101 Cont1.bit D.

#101 Cont1.bit D Explanation

A dog-type reference point return operation is required to determine the
0
reference point.
The position where the power was turned ON becomes the reference point. A
1
dog-type reference point return operation is not required.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

High-speed zero point return Dog-type method for each zero
1
after zero point establishment point return operation
Reference point return direction Reference point return direction
8
(+) (−)
Rotation direction determined by Rotation direction in the shortcut
9
DIR direction
Machine reference position Electrical zero point becomes the
A
becomes the reference point reference position
Coordinate zero point creation Zero point established at power
D
valid supply ON position
Rotation direction in DIR or in the Rotation direction in the random
E
shortcut direction position command sign direction
Stopper direction is positioning Stopper direction is for the stopper
F
direction amount in the sign direction

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 Chapter 6 Setup and Operation

6-4 Positioning operations by the station method

This method equally divides one rotation of the rotation axis (360 degrees) and uses the respective
division points as positioning targets.
These equally divided respective points are called stations, and are automatically assigned station Nos.
in order from the one nearest to the reference point (zero point).

㧝
Station No.
6-4-1 Setting the station 㧤 㧞 Station

(1) Setting the No. of stations

Set the No. of equal divisions of one rotation (360 degrees) of
㧣 㧟
the rotation axis (the No. of stations) in the parameter "#100
station No. of Indexing stations". The No. of stations is an
integer from 2~360. Set station 1 in the reference point, and 㧢 㧠
assign the station Nos. from station 2 onwards in order in the 㧡
motor CW (forward run) direction.
Example of stations determined
with 8 equal divisions

(2) Setting the station offset

Reference point
By setting the distance between the reference point and
Station offset
the station No. "1" position (station offset amount), the
㧤 Station
position of all stations can be shifted. 㧝
When the offset amount is 0 (zero), the reference point 㧣
becomes the station No. "1" position. 㧞
Set the station offset amount in parameter "#115 ST. Each station is
㧢 automatically arranged
offset Station offset". in equal spacing.
㧟
㧡
㧠

In the dogless method absolute position detection system, the coordinate zero
point is determined first, then the reference point is determined by the parameter
(the opposite for dog-type). Consequently, even if the station offset is set, the
POINT coordinate zero point (station 1 position) will not shift, and the reference point
side will shift. In this case, shift the coordinate zero point in the "#116 ABS Base
Absolute position zero point" setting.

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 Chapter 6 Setup and Operation

(3) Setting the station No. automatic assignment direction

The station No. assignment direction can be selected with parameters.

#102 Cont1.bit3 Explanation

Assign the station Nos. in the motor rotation CW direction. When forward run is
0 selected in rotation direction (DIR), the motor rotates in the CW direction (in the
direction of increasing station Nos.).
Assign the station Nos. in the motor rotation CCW direction. When forward run is
1 selected in rotation direction (DIR), the motor rotates in the CCW direction (in the
direction of increasing station Nos.).

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#100 ∗station Index No. of stations 2 Set the No. of stations. In linear axes, the 2 ~ 360
No. of divisions = No. of stations − 1.
#102 ∗Cont2 Control parameter 2 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0

bit Meaning when "0" is set. Meaning when "1" is set.

1 Error not corrected at servo OFF Error corrected at servo OFF
2 Linear axis Rotation axis
3 Station assignment direction CW Station assignment direction CCW
4 Uniform index Non-uniform index
DO channel standard
5 DO channel reverse assignment
assignment
7 Incremental detection Absolute position detection

#115 ST.offset Station offset 0.000 deg (mm) Set the distance (offset) from the reference −99999.999
point to station 1. ~ 9999.999

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 Chapter 6 Setup and Operation

6-4-2 Setting linear axis stations

(1) For uniform assignment
In linear axes, determine the spacing between stations from the stroke length and No. of stations,
and assign stations at uniform spacing. Station 1 is assigned to the coordinate zero point
(coordinate position = 0). Set the station Nos. in order following the assignment direction parameter
(#102.bit3). Thus, the final station is set at the coordinates separated from station 1 by only the
linear axis stroke length (#104 tleng).

#102 Cont2.bit3 station assignment direction

Coordinate zero point Reference point

Station No. 1 2 3 4 5 6 7 8

#115 ST.offset
Station offset
#104 tleng linear axis stroke length

Linear axis when the No. of stations = 8 (No. of divisions is 7)

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#100 ∗station Index No. of stations 2 Set the No. of stations. In linear axes, the No. 2 ~ 360
of divisions = No. of stations − 1.
#102 ∗Cont2 Control parameter 2 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0

bit Meaning when "0" is set. Meaning when "1" is set.

1 Error not corrected at servo OFF Error corrected at servo OFF
2 Linear axis Rotation axis
3 Station assignment direction CW Station assignment direction CCW
4 Uniform index Non-uniform index
DO channel standard
5 DO channel reverse assignment
assignment
7 Incremental detection Absolute position detection

#104 ∗tleng Linear axis stroke length 100.00 mm Set the movement stroke length for linear 0.001 ~
axes. 9999.999
This is meaningless when setting
non-uniform assignments or commanding
random positions.
#115 ST.offset Station offset 0.000 deg Set the distance (offset) from the reference −99999.999
(mm) point to station 1. ~99999.999

Set the distance from the reference point (#116 ABS base absolute position zero
point) after determining the reference point in the absolute position system, and
determine the linear coordinate zero point (station 1).
The reference point is not especially used in the coordinate zero point creation
POINT process. However, by setting "0" (default value) in the #115 ST.offset station
offset, it is generally used as "reference point = coordinate zero point." In this
case, the reference point return operation becomes a positioning operation to the
coordinate zero point.

When the station offset (#115 ST.offset) is set, the coordinates of all stations
CAUTION move only the setting value.

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 Chapter 6 Setup and Operation

(2) For non-uniform assignment

When the required positioning coordinates are not uniformly spaced, set the station positions at the
respective coordinate positions. Station 1 is assigned to the coordinate zero point (coordinate
position = 0). Up to 9 stations including station 1 can be assigned to random coordinates. This can
also be used for rotation axes.
Set parameter "#102 cont2 control parameter 2 bit.4" to "1", select non-uniform assignment, and
set the coordinate values of stations 2 to 9 in "#190 stops 2 to #197 stops9".

Coordinate zero point Reference point Station No.

2 6 1 3 7 4 8 9 5

stpos2 stpos6 stpos3 stpos7 stpos4 stpos8 stpos9 stpos5

#115 ST.offset
Station offset

Up to 9 stations can be set (station 1 is fixed at the coordinate zero point)

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#190 stpos2 Station 2 coordinate value 0.000 deg Set the coordinate value of each station when −99999.999
#191 stpos3 Station 3 coordinate value (mm) non-uniform assignment is selected. ~99999.999
#192 stpos4 Station 4 coordinate value The station 1 coordinate value is fixed at 0.000
#193 stpos5 Station 5 coordinate value (machine coordinate zero point).
#194 stpos6 Station 6 coordinate value
#195 stpos7 Station 7 coordinate value
#196 stpos8 Station 8 coordinate value
#197 stpos9 Station 9 coordinate value

1. Setting is also possible for rotation axes.

2. The station Nos. do not have to be arrayed in increasing order.
3. Commands are designated with the station Nos. (1 to 9), in the same manner
POINT as normal indexing.
4. Station No. 0 designated special feed commands cannot be used.
5. If the required positioning coordinates exceed 9 locations, carry out
positioning with a random point feed command.

The coordinates of all stations move only the setting value when the station
CAUTION offset (#115 ST.offset) is set, even if setting non-uniform assignments.

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 Chapter 6 Setup and Operation

6-4-3 Automatic operation

In this operation mode the automatic positioning is carried out to the designated station No. When the
station No. is designated and the operation start is input, positioning is carried out to the station of the
designated No. When the positioning is completed, each of the following signals are output: Automatic
set position reached (JSTA), Set position reached (JST), Near set position (NEAR), and the station No.
(STO1 to STO256). Shortcut rotation direction or direction rotation can be selected using the
parameters.
(1) Setting the automatic operation mode
Set the following signals before inputting an operation start signal. The settings are validated when
the operation start signal (ST) is input.
Abbrev. Signal name Explanation
Select the automatic operation mode. "M01 0101 No operation mode" will
Automatic operation mode
AUT occur if the selected mode duplicates another operation mode. Always leave
selection
this signal ON during automatic operation.
Set the station No. assignment direction to "standard". This is meaningless
DIR Rotation direction
for shortcut rotation setting.
The operation is carried out with the automatic operation speed (Aspeed)
Operation parameter
PR1, PR2 and acceleration/deceleration time constant (timeN.1, timeN.2) of the
selection 1 and 2
selected operation group.
Set the station No. to which the positioning is carried out. Setting to "0" will
ST1 ~ ST256 Station selection 1 to 256
result in a special command.

(2) Starting the automatic operation mode

Start the operation by turning ON the operation start (ST) signal. The operation start is held until
positioning is completed.
Automatic operation mode
selection (AUT) Value is validated at ST ON.
Rotation direction (DIR)
Operation parameter selection
(PR1, 2)
Station selection (ST1 to 256)
Operation start (ST)

Movement command (speed

command)

Automatic operation mode

selection (AUTO) "0" is output. "0" is output.
Station position (STO1 to 256)
Smoothing position (SMZ)
Near set position (NEAR)

Set position reached (JST)

Automatic set position reached Settling time
(JSTA)
Axis selection output (AX1)
Axis moving (+) (MVP)
Axis moving (−) (MVN)

1. A settling time is required from when the movement commands become zero
(SMZ=1) until the positioning is completed. The settling time will lengthen if a
set position output width narrower than required is set, so set the required
POINT positioning accuracy in the set position output width.
2. If the start signal is turned OFF during positioning, the positioning will be
carried out to the nearest station. In this case, an automatic set position
reached (JSTA) signal will not be output.

The control axis rotation direction is determined by a combination of the

following: Operation mode, input control signal "rotation direction (DIR)",
parameter "#101 cont1 control parameter 1.bit9 rotation direction shortcut", and
CAUTION "#102 cont2 control parameter 2. bit3 station assignment direction CCW". At
operation start, pay careful attention to the motor rotation direction. When
operating the servomotor for the first time, the motor should be operated as a
single unit to confirm the operation, etc.
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 Chapter 6 Setup and Operation

(3) Designating the shortcut rotation control

This function automatically judges the direction with the least rotation when positioning to a station
in automatic operation.
When the shortcut rotation control function is valid, the axis rotates in the direction with the fewest
No. of motor rotations, and positioning is carried out. Thus, the axis does not rotate over 180
degrees.
(4) Special station No.
A special operation for one station feed is carried out when station No. 0 is designated and a start
signal is input. At this time, the operation will differ depending upon whether the machine position is
inside or outside the "near" range.
Station Machine #101 Explanation
Positioning operation
No. position at start Cont1.bit9 drawing
Inside the "near" Positioning is carried out to the next station in the
− Fig. 1
range designated rotation direction.
Positioning is carried out to the nearest station in the
0 1 Fig. 2
Outside the shortcut rotation direction.
"near" range Positioning is carried out to the nearest station in the
0 Fig. 3
designated rotation direction.

Axis stopped position Axis stopped position Axis stopped position

when the start signal is input. when the start signal is input. when the start signal is input.
Station 1 Station 1 Station 1

Near range Near range Near range

Designated rotation
direction
Station 2 Station 2 Station 2

Fig. 1 Fig. 2 Fig. 3

(5) Random position command operation
In this mode the positioning coordinates are directly commanded from the PLC in 0.001 deg. (mm)
units, and positioning is carried out to a random position other than a station. In addition to the
settings during normal automatic operation, set the following signals before inputting an operation
start signal.
For rotation axes, when #101 Cont1.bitE = 1 is set to "1", the axis rotates in the sign direction of the
random position command, and positioning is carried out to coordinates having a plus value
separate from the rotation sign. If a command exceeding 360 degrees is issued, the integer
expressing "command value/360" becomes the No. of rotations, and the fraction becomes the
positioning coordinates.
Abbrev. Signal name Explanation
The positioning position input from the PLC is validated.
STS Random point feed command valid
Always turn ON during the random position command operation.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

High-speed zero point return after Dog-type method for each zero point
1
zero point establishment return operation
8 Reference point return direction (+) Reference point return direction (−)
Rotation direction in the shortcut
9 Rotation direction determined by DIR
direction
Machine reference position Electrical zero point becomes the
A
becomes the reference point reference position
Zero point established at power
D Coordinate zero point creation valid
supply ON position
Rotation direction in DIR or in the Rotation direction in the random
E
shortcut direction position command sign direction
Stopper direction is positioning Stopper direction is for the stopper
F
direction amount in the sign direction

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 Chapter 6 Setup and Operation

6-4-4 Manual operation

In this operation mode, the axis is moved only while the operation start signal is being input. Positioning
is carried out to the nearest station after the operation start signal turns OFF. When the positioning is
completed, the following signals are output: Set position reached (JST), Near set position (NEAR), and
the station No. (STO1 to STO256).

(1) Setting the manual operation mode

Set the following signals before inputting an operation start signal. The settings are validated when
the operation start signal (ST) is input.
Abbrev. Signal name Explanation
Select the manual operation mode. "M01 0101 No operation mode" will
Manual operation mode
MAN occur if the selected mode duplicates another operation mode. Always leave
selection
this signal ON during manual operation.
DIR Rotation direction Set the station No. assignment direction to "standard".
The operation is carried out with the manual operation speed (Mspeed) and
Operation parameter
PR1, PR2 acceleration/deceleration time constant (timeN.1, timeN.2) of the selected
selection 1 and 2
operation group.

(2) Starting the manual operation mode

Start the operation by turning ON the operation start (ST) signal. The operation start is held until
positioning is completed.

Manual operation mode selection

(MAN) Value is validated at ST ON.
Rotation direction (DIR)
Operation parameter selection
(PR1, 2)
Station selection (ST1 to 256)
Operation start (ST)

Movement command (speed Positioned to

command) nearest station after ST OFF also.

"0" is output. "0" is output.

Manual operation mode selection
(MAN)
Station position (STO1 to 256)
Smoothing position (SMZ)
Near set position (NEAR)

Set position reached (JST)

Automatic set position reached
(JSTA)
Axis selection output (AX1)
Axis moving (+) (MVP)
Axis moving (−) (MVN)

In the manual operation mode, the automatic set position reached (JSTA) signal
POINT does not turn ON, even when positioning is carried out to a station.

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 Chapter 6 Setup and Operation

6-5 Stopper positioning operation

In this operation mode, positioning is carried out with the axis presses against a stopper, etc.
This operation mode is an expansion function of random position designation automatic operation.
Besides normal random point positioning, stopper operation and torque control are automatically carried
out.

The station method is not used in stopper positioning operations. Commands are
POINT carried out with random position command operations.

6-5-1 Operation sequence

(1) Setting the stopper positioning operation mode
Set the following signals before the operation start signal. When the stopper positioning command
valid (PUS) signal is turned ON, and random position positioning is carried out to the stopper
starting coordinates, stopper positioning is carried out after positioning is completed, following the
value set in the parameters.

Abbrev. Signal name Explanation

Select the automatic operation mode. "M01 0101 No operation
Automatic operation
AUT mode" will occur if the selected mode duplicates another
mode selection
operation mode.
Select the stopper positioning mode. When this signal is turned
Stopper positioning
PUS ON and the positioning is started, execute the stopper
command valid
positioning sequence.

1. The rotation direction (DIR) signal setting is meaningless.

POINT 2. The operation parameter group to be used is automatically selected in each
operation.

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 Chapter 6 Setup and Operation

(2) Explanation of operation in the stopper positioning operation mode

The stopper positioning operation is as follows.

Automatic operation mode selection

(AUT)
Stopper positioning command valid
(PUSR)
Operation start (ST) Operation parameter Operation parameter
group 1 Operation parameter group 2 group 3
#220 stopper amount
Machine stop
Movement command (speed
command)
Stopper
#221 stopper standby time
Torque limit value Positioning torque limited
Stopper torque limited Pressing torque limited
0
#222 Stopper torque
release time
In positioning operation (PMV)
Positioning completed (PFN) #223 set position signal output
delay time
In stopper (PSI)
Set position related signals (JSTA,
Stopper positioning
JST, NEAR) completed

Operation Explanation Related parameter

Ԙ Stopper starting When the operation start (ST) signal is input in the stopper positioning mode, < Operation group 1 >
coordinate positioning positioning is carried out to the command coordinates (stopper starting
coordinates). This operation is carried out with operation parameter group 1.
A positioning operation using shortcut control can be carried out by
parameter setting.
During positioning, the In positioning operation (PMV) signal is output. The
positioning completed (PFN) signal turns ON when the positioning is
completed.
ԙ Stopper standby After the positioning operation deceleration stops, the operation will stop for < Operation group 2 >
the time set in the parameter (#221 stopper standby time). If the parameter #221 pusht1
value is 0, the operation will immediately move to the next stopper operation
after deceleration stopping.
Ԛ Stopper After stopper standby, the stopper operation is executed. The stopper < Operation group 2 >
amount is set in the parameters (#220 stopper amount). At this time, the #220 push
positioning operation is carried out using the speed, time constant, and
torque limit value of operation parameter 2. During stopper operation, an in
stopper (PSI) signal is output.
ԛ Pressing torque After the stopper operation finishes and the parameter (#222 stopper torque < Operation group 3 >
changeover release time) time has lapsed, the torque changes over to the pressing #222 pusht2
torque. The pressing torque is the torque limit value of operation parameter
group 3.
Ԝ Set position related The automatic set position reached (JSTA), set position reached (JST), and < Operation group 3 >
signal output near set position (NEAR) signals are turned ON after the stopper operation #223 pusht3
is completed and the time set in the parameter (#222 stopper torque release
time) has lapsed. This status is held until the rising edge of the next
operation start signal.

1. Set point related signals (automatic set position, set position, and near set
position) are output for pressing positions. At that time, operation parameter
group 3 becomes valid.
2. After the pressing is completed, and the pressing torque limit has been
switched, this torque limit value (TL3) will be held until the next operation start
(ST) startup, or until the pressing positioning command valid (PUSR) is
turned OFF.
3. The station position (STO1 to 256) normally outputs as 0.
POINT 4. The manual mode cannot be selected in the pressing positioning command
mode. When the operation start is turned ON with the manual mode, an
operation error "M01 0164" will result. It is possible to select other operation
modes.
5. If the start signal is turned OFF before a series of operations finishes, a
deceleration stop will occur at that position. At that time, the automatic set
position signal will not turn ON. If this happens during positioning, the
positioning complete signal also will not turn ON.

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6-5-2 Setting the parameters

The stopper positioning operation method can be selected using the parameter settings.

(1) Method for positioning to the stopper starting coordinates

The method for positioning for rotation axes can be selected from the following three methods by
parameter setting.
Positioning #101 #101
Explanation
method Cont1.bit9 Cont1.bitE
The command coordinates are absolute position coordinates, handled
Shortcut invalid 0 0 within 360 deg. The positioning direction is that which does not cross 0
deg.
The command coordinates are absolute position coordinates, short cut
rotation is executed and positioning is carried out to those coordinates.
Shortcut valid 1 0 Even commands of 360 deg. or more will result in positioning within 180
deg. If the movement amount is 180 deg., positioning is in the (+)
direction.
The command sign expresses the rotation direction, and positioning is
carried out as an absolute position to a value having a plus value
separate from the rotation sign. If the commanded coordinates exceed
360.000, the axis will move one rotation or more. For the movement
Rotation amount in this case, the integer expressing "command value/360"
direction Meaningless 1 becomes the No. of rotations, and the fraction becomes the positioning
designation coordinates. For example, a command of −400.000 will result in
positioning of one rotation in the (−) direction from the current position, to
a position of 40.000.
Note that only when the command value is ±360.000 is the command
handled as ±0.000.

(2) Setting the stopper direction

The stopper operation is automatically started after the positioning to the stopper starting
coordinates is completed. The operation direction can be selected from one of the two following
methods by parameter setting.
Stopper direction #101 cont1.bitF Explanation
The stopper is carried out in the same direction as the positioning to
Positioning direction 0
the stopper starting coordinates.
The stopper direction is fixed at the same direction as the stopper
Parameter direction 1
amount parameter sign.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

High-speed zero point return Dog-type method for each zero point
1
after zero point establishment return operation
Reference point return direction
8 Reference point return direction (−)
(+)
Rotation direction determined Rotation direction in the shortcut
9
by DIR direction
Machine reference position Electrical zero point becomes the
A
becomes the reference point reference position
Coordinate zero point creation Zero point established at power
D
valid supply ON position
Rotation direction in DIR or in Rotation direction in the random
E
the shortcut direction position command sign direction
Stopper direction is positioning Stopper direction is for the stopper
F
direction amount in the sign direction

#220 push Stopper amount 0.000 deg Set the command stroke during the stopper. 0.000 ~
(mm) 359.999
#221 pusht1 Stopper standby time 0 msec Set the standby time from the stopper starting 0~9999
coordinate positioning to the operation start.
#222 pusht2 Stopper torque release 0 msec Set the time from the completion of the stopper 0~9999
time operation to the changeover of the pressing torque.
#223 pusht3 Set position signal output 0 msec Set the time from the completion of the stopper 0~9999
delay time operation to the output of the automatic set position
reached (JSTA), set position reached (JST), and
near set position (NEAR) signals.

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 Chapter 6 Setup and Operation

6-6 Machine compensation and protection functions

6-6-1 Backlash compensation

This function compensates the error (backlash) in the machine system
when the movement direction is reversed. When the axis movement
direction is reversed, the compensation amount set in the parameter is
automatically added. The compensation amount is not added to the
machine position coordinates. This function compensates the actual Backlash
machine position.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#130 backlash Backlash compensation 0 1/1000deg Set the backlash compensation amount. 0 ~ 9999
amount (µm)

6-6-2 Interlock function

This function interrupts the axis movement with a signal input, and immediately causes the servomotor
to deceleration stop. For feed in the plus direction, the axis movement is interrupted and the motor is
deceleration stopped when the interlock (+) ( IT+) is turned ON. For feed in the plus direction, the same
occurs when the interlock (−) ( IT−) is turned ON (B contact). The movement will start again when the
interlock is turned OFF. The speed and acceleration/deceleration time constant at this time follows the
setting of the selected operation parameter group.

Operation start (ST)

Rotation direction (DIR)
Interlock (+) ( IT+)
Interlock (−) ( IT−)

Axis movement (speed

FB)

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 Chapter 6 Setup and Operation

6-6-3 Soft limit

For linear axes, this function prevents the machine collision to the machine end by setting the moveable
range. Commands exceeding the soft limit points cannot be issued in any operation mode. An operation
error (M01 0007) will occur when the machine is stopped by the soft limit function. If the machine
position is outside the moveable range, only movement commands in the direction to return to the
moveable range will be allowed.
To operate this function, set the plus direction limit position and minus direction limit position in the
respective parameters.
The soft limit will not function if the plus and minus direction parameters are set to the same value.

#118 Limit(−) Station No. #117 Limit(+)

(−) direction 1 2 3 4 5 6 (+) direction

Movement to Movement to
within the range Movement stops Movement stops within the range
is possible. is possible.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#117 Limit (+) Soft limit (+) 1.000 mm Commands in the plus direction that exceed this −99999.999
value are not possible. If the machine is in a ~99999.999
position exceeding the setting value, commands
in the minus direction are possible.
The soft limit function will not operate if Limit (+)
and Limit (−) are set to the same value.
#118 Limit (−) Soft limit (−) 1.000 mm Commands in the minus direction that exceed −99999.999
this value are not possible. If the machine is in a ~99999.999
position exceeding the setting value, commands
in the plus direction are possible.

The soft limit function is only valid for linear axis settings. In actual operation, the
POINT axis stops slightly before the setting position.

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 Chapter 6 Setup and Operation

6-6-4 Servo OFF

This function releases the servo lock. When locking the machine with an external force, such as a
mechanical clamp, the servo control is turned OFF, and torque is not output for the deflection that occurs
due to the external force. When the servo OFF state is entered, servo READY (RDY) turns OFF. The motor
brake braking control (MBR) also turns OFF, and the motor brakes are activated.
When the vertical axis drop prevention function is used, READY OFF can be delayed from the servo OFF
command input by the time set in the parameters. Dropping of the axes can be prevented by delaying the
brake operation2E Set the time to delay READY OFF in "#013 MBR VERTICAL AXIS DROP PREVENTION
TIME". Input servo OFF while confirming the position, and set the min. delay time at which the axis will not
drop.
If the servo is turned OFF during machine movement, the speed command will decelerate to a stop. When
the in-position is detected, the servo OFF state will be entered. If the operation is still starting, operation will
resume after servo OFF is canceled.
Operation start (ST)
Servo OFF ( SVF)

Movement command
(speed command)
In-position (INP)
Motor brake braking output (MBR) Brake release
(CN3 output)
Servo READY (RDY)
MBR Vertical axis drop prevention time

The amount of movement during servo OFF is constantly monitored, so there is no coordinate deviation.
The handling for this movement amount can be selected from the following two methods by parameter
setting.
During servo OFF #102 Cont2.bit1 Explanation
The movement amount during servo OFF becomes the droop. When the
servo is turned ON again, the machine will return to the position where the
Error not corrected 0 servo was turned OFF.
An alarm will occur if the droop that occurs during servo OFF exceeds the
excessive error detection width.
Even if the machine moves during servo OFF, the machine position
(command position) is updated without this amount becoming the droop.
Error corrected 1
Thus, at the next servo ON the machine will stop at the position to which it
moved.

Defaul Setting
No. Abbrev. Parameter name t value
Unit Explanation
range
#006 INP In-position detection 50 1/1000deg The in-position is detected when the 1 ~ 32767
width (µm) position droop becomes equal to or less
than this setting value.
#013 MBR Vertical axis drop 100 msec Input the time to delay servo OFF after the 0 ~ 1000
prevention time servo OFF command is input Increment in
units of 100msec, and set the min. value at
which the axis does not drop.
#102 ∗Cont2 Control parameter 2 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0

bit Meaning when "0" is set. Meaning when "1" is set.

1 Error not corrected at servo OFF Error corrected at servo OFF
2 Linear axis Rotation axis
3 Station assignment direction CW Station assignment direction CCW
4 Uniform index Non-uniform index
DO channel standard
5 DO channel reverse assignment
assignment
7 Incremental detection Absolute position detection

Do not set a vertical axis drop prevention time longer than required.
The servo control and brakes could collide causing an overload alarm or
amplifier damage. There is no problem if the duplicate time is within
CAUTION 100msec.

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 Chapter 6 Setup and Operation

6-6-5 READY OFF

This is a function to turn OFF the main circuit power to each amplifier. When the amplifier enters a
READY OFF state, the servo READY (RDY) and servo READY (SA) signals turn OFF, and the CN3
connector motor brake control output (MBR) and contactor control output (MC) signals turn OFF. When
starting the operation again after the READY OFF is canceled, carry out an operation start.

READY OFF (RDF)

Servo READY (SA)
Servo READY (RDY)
Contactor OFF
Contactor control output (main circuit input shut off)
(MC) (CN3 output)
Motor brake control output Brakes activation
(MBR) (CN3 output)

1. Always install an independent contactor in the servo amplifier in which the

READY OFF is commanded, and carry out control with that amplifier's
CAUTION contactor control output.
2. For safety, issue the READY OFF command after confirming that the motor
has stopped.

6-6-6 Data protect

This function protects the parameters stored in the amplifier main unit. When the data protect ( PRT1)
signal is ON (B contact), the downloading of parameters from the personal computer setup software is
prohibited. Parameter downloading from the CNC screen is not prohibited.

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 Chapter 6 Setup and Operation

6-7 Miscellaneous functions

6-7-1 Feedrate override

The effective feedrate is the speed set in the parameters multiplied by the override (%). The override
range is from 0 to 100%, which can be commanded in 1% units. This override is valid for all movement
except that in the handle mode. The override is invalidated when the override valid (OVR) signal is
turned OFF, and the set speed will become the effective feedrate as is.
The override command is designated by a 7-bit binary (OV1 to OV64). The override is handled as 100%
if the command exceeds 100%. If a 0% override is commanded, the axis will deceleration stop, and an
operation error "M01 0103 feedrate zero" will occur.

6-7-2 Position switches

There are eight types of position switches (PSW1 to PSW8) that indicate that the machine is in the
designated region. The region where each position switch outputs ON is set in the parameters. The
machine position to be judged can be selected from the machine position of the command system
without consideration of the droop, or from the machine FB position (actual machine position) which
includes the droop.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#200 PSWcheck PSW detection method This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

0 The position switch output is The position switch output is
1 judged by the machine position judged by the machine FB position
2 of the command system. (actual position).
3
4
5
6
7

#201 PSW1dog1 PSW1 region setting 1 0.000 deg (mm) When the machine is in the region between −99999.999
#202 PSW1dog2 PSW1 region setting 2 region settings 1 and 2, the position switch ~99999.999
#203 PSW2dog1 PSW2 region setting 1 of each No. will turn ON.
#204 PSW2dog2 PSW2 region setting 2 The size of the setting value for region
#205 PSW3dog1 PSW3 region setting 1 setting 1 and 2 does not affect the position
#206 PSW3dog2 PSW3 region setting 2 switch operation.
#207 PSW4dog1 PSW4 region setting 1 For rotation axes, the output turns ON at the
#208 PSW4dog2 PSW4 region setting 2 region not including 0.000.
#209 PSW5dog1 PSW5 region setting 1
#210 PSW5dog2 PSW5 region setting 2
#211 PSW6dog1 PSW6 region setting 1
#212 PSW6dog2 PSW6 region setting 2
#213 PSW7dog1 PSW7 region setting 1
#214 PSW7dog2 PSW7 region setting 2
#215 PSW8dog1 PSW8 region setting 1
#216 PSW8dog2 PSW8 region setting 2

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 Chapter 7 Absolute Position Detection System

7-1 Setting of absolute position detection system ....................................................... 7-2

7-1-1 Starting the system .......................................................................................... 7-2
7-1-2 Initialization methods ....................................................................................... 7-2
7-2 Setting up the absolute position detection system ............................................. 7-3
7-2-1 Reference point return method........................................................................ 7-3
7-2-2 Machine stopper method ................................................................................. 7-3
7-2-3 Reference point setting method ...................................................................... 7-4

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 Chapter 7 Absolute Position Detection System

7-1 Setting of absolute position detection system

The control unit registers the initially set reference point, and the detector monitors the movement
direction and distance that the machine moves even when the power is turned OFF. Thus, when the
power is turned ON again, automatic operation can be started automatically without returning to the
reference point.

7-1-1 Starting the system

Turn the power ON, and set parameter #102 Cont2.bit7 to "1" to validate the absolute position detection.
The absolute position detection is selected even after the parameters are initialized (refer to section
6-1-1 Initializing the parameters). When the power is turned ON again after making the setting, the
absolute position detection system will be validated.
If the absolute position detection is set for the first time after connecting the motor and amplifier, the
ABSOLUTE POSITION LOST (S01 0025) alarm will occur, so turn the amplifier power ON again.
If only the alarm ZERO POINT NOT INITIALIZED (Z70 0001) occurs, the absolute position detection
system has started up correctly. This alarm will be reset when the absolute position is established with
the following procedures.

7-1-2 Initialization methods

The following three types of initialization methods can be selected with the parameter settings.
Initialization #120 #120
Explanation
method ABS Type.bit1 ABS Type.bit2
The reference point is determined using the near-point dog. The
Reference point
0 Meaningless operation method is the same as the dog-type reference point return
return method
using the incremental system.
Machine stopper The reference point is determined by pushing against a machine
1 0
method end, etc., with the torque (current) limit set.
Reference point The reference point is determined by setting the axis to the
1 1
setting method machine's reference point.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#102 ∗Cont2 Control parameter 2 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0

bit Meaning when "0" is set. Meaning when "1" is set.

1 Error not corrected at servo OFF Error corrected at servo OFF
2 Linear axis Rotation axis
Station assignment direction Station assignment direction
3
CW CCW
4 Uniform index Non-uniform index
DO channel standard
5 DO channel reverse assignment
assignment
7 Incremental detection Absolute position detection
#120 ABS Type Absolute position This is a HEX setting parameter. Set bits without a description to their default
detector parameter values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

1 Dog-less type initialization Dog-type initialization
Reference point setting
2 Machine stopper initialization
initialization
3 Electrical zero point direction + Electrical zero point direction −

1. The battery option is required to use the absolute position system. Refer to the
section "4-2 Battery option for absolute position system" for details.
2. After establishing the coordinate zero point with the absolute position
POINT detection system, if the parameters are set to the incremental detection, the
coordinate data will be set. If the parameter is returned to the absolute position
detection, the coordinate zero point will need to be established again.

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 Chapter 7 Absolute Position Detection System

7-2 Setting up the absolute position detection system

Dog-type Reference point return method (Determine reference point using near-point
dog)
Absolute position Machine stopper method (Determine reference point by pushing axis
Dog-less type
initialization method against machine end)
Reference point setting method (Determine reference point by setting axis to
machine's reference point)

7-2-1 Reference point return method

The coordinate zero point is established with the dog-type reference point return operation. The
operation method is the same as the dog-type reference point return using the incremental system. Refer
to the section "6-3 Setting the coordinate zero point".

7-2-2 Machine stopper method

Jog feed is carried out with the torque (current) limit set, and the axis is pushed against the machine end,
etc., to determine the absolute position reference point.

(1) Initialization
Turn the following signal ON, and change to the absolute position reference point initialization mode.
The operation parameter group 4 will be automatically selected during the reference point
initialization mode. Set the torque limit value (TL4) and excessive error detection width (OD4) to
values appropriate for the pushing operation. (Refer to following table.)

Abbrev. Signal name Explanation

AZS Reference point The absolute position reference point initialization mode is entered. Set the
initialization mode selection parameter to the machine stopper method, and then initialize the reference
zero point.
This mode is held until the NC power is turned OFF.

(2) Explanation of operations Axis stopper

position
① The axis is pushed against the machine end
stopper with jog or handle feed. When the torque Axis movement ①
(current) reaches the limit value due to this ②
pushing, the limiting torque (TLQ) is output, and Setting distance in #116 ABS Base
Absolute position zero point
the position is saved as the "absolute position #101 Cont1.bitA = 1
reference point". #101 Cont1.bitA = 0
② The axis is moved in the direction opposite the
pushing direction. When the axis moves and △ △ △ ▲ ← Grid
reaches the first grid point, the axis automatically Machine coordinate Electrical
stops, and the absolute position coordinates are zero point zero point
established.
If parameter "101 Cont1.bitA" is set to "1", the electrical zero point (grid) will be set as the
"absolute position reference point" instead of the pushed position.
③ In this state, the absolute position reference point will become the coordinate zero point. To set a
point other than the push position or electrical zero point as the absolute position coordinate zero
point, move the machine coordinate zero point with parameter #116 ABS Base Absolute position
zero point.

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 Chapter 7 Absolute Position Detection System

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

High-speed zero point return Dog-type method for each zero
1
after zero point establishment point return operation
Reference point return direction Reference point return direction
8
(+) (−)
Rotation direction determined by Rotation direction in the shortcut
9
DIR direction
Machine reference position Electrical zero point becomes the
A
becomes the reference point reference position
Coordinate zero point creation Zero point established at power
D
valid supply ON position
Rotation direction in DIR or in Rotation direction in the random
E
the shortcut direction position command sign direction
Stopper direction is positioning Stopper direction is for the stopper
F
direction amount in the sign direction

#178 TL4 Operation parameter 500 % Set so that the torque limit is not reached with 1 ~ 500
group 4 the acceleration to the pushing speed, and so
Torque limit value that the value is less than 100%.
#179 OD4 Operation parameter 100 deg (mm) Set a value that will not cause an excessive 0 ~ 32767
group 4 error alarm when pushing.
Excessive error detection
width

7-2-3 Reference point setting method

The absolute position reference point is determined by setting the axis to the machine's reference point.

(1) Initialization
Turn the following signal ON, and change to the
absolute position reference point initialization Reference point setting position
mode. Electrical zero point when Electrical zero point
Set the direction from the position to carry out ABS Type. bit3 = 1 when bit3 = 0
reference point setting to the grid to be used as
− direction + direction
the electrical zero point in parameter #120 ABS
▲ ▲
Type Absolute position detection parameter
bit3.

Abbrev. Signal name Explanation

AZS Reference point The absolute position reference point initialization mode is entered. Set the
initialization mode selection parameter to the reference point setting method, and then initialize the
reference zero point.
This mode is held until the NC power is turned OFF.

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 Chapter 7 Absolute Position Detection System

(2) Explanation of operation

Reference point
① Using jog, handle or incremental feed, set initialization mode
the axis position to the position to become selection
the "absolute position reference point".
Axis movement ①
② Turn the reference point setting (ZST)
③
signal ON. Setting distance in #116 ABS Base
Absolute position zero point
③ Using jog, handle or incremental feed,
#101 Cont1.bitA = 1
move the axis in the direction of the grid to
#101 Cont1.bitA = 0
be the electrical zero point. When the axis
reaches the grid to be the electrical zero
△ △ △ ▲ △
point, it will automatically stop, and the Machine coordinate Electrical Grid
absolute position coordinates will be zero point zero point
established.
If parameter #101 Cont1.bitA is set to "1", the electrical zero point (grid) will be set as the
"absolute position reference point" instead of the position where reference point setting was
turned ON.
③ In this state, the absolute position reference point will become the coordinate zero point. To set a
point other than the position where reference point setting (ZST) was turned ON or the electrical
zero point as the absolute position coordinate zero point, move the machine coordinate zero
point with parameter #116 ABS Base Absolute position zero point.

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

High-speed zero point return Dog-type method for each zero
1
after zero point establishment point return operation
Reference point return direction Reference point return direction
8
(+) (−)
Rotation direction determined by Rotation direction in the shortcut
9
DIR direction
Machine reference position Electrical zero point becomes the
A
becomes the reference point reference position
Coordinate zero point creation Zero point established at power
D
valid supply ON position
Rotation direction in DIR or in Rotation direction in the random
E
the shortcut direction position command sign direction
Stopper direction is positioning Stopper direction is for the stopper
F
direction amount in the sign direction

#116 ABS base Absolute position zero 0.000 deg Set the movement amount when the machine −99999.999
point (mm) coordinate zero point is to be moved from the ~99999.999
reference point during absolute position
initialization.
#120 ABS Type Absolute position This is a HEX setting parameter. Set bits without a description to their default
detector parameter values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default value 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0

bit Meaning when "0" is set. Meaning when "1" is set.

1 Dog-less type initialization Dog-type initialization
Reference point setting
2 Machine stopper initialization
initialization
3 Electrical zero point direction + Electrical zero point direction −

7–5
 Chapter 8 Servo Adjustment

8-1 Measuring the adjustment data ........................................................................... 8-2

8-1-1 D/A output .................................................................................................... 8-2
8-1-2 Graph display ............................................................................................... 8-2
8-2 Automatic tuning..................................................................................................... 8-3
8-2-1 Model adaptive control ................................................................................. 8-3
8-2-2 Automatic tuning specifications .................................................................... 8-3
8-2-3 Adjusting the automatic tuning...................................................................... 8-4
8-3 Manual adjustment ............................................................................................... 8-5
8-3-1 Setting the model inertia............................................................................... 8-5
8-3-2 Adjusting the gain......................................................................................... 8-6
8-4 Characteristics improvements ............................................................................. 8-7
8-4-1 Vibration suppression measures................................................................... 8-7
8-4-2 Overshooting measures ............................................................................... 8-7
8-5 Adjusting the acceleration/deceleration operation ................................................ 8-8
8-5-1 Setting the operation speed.......................................................................... 8-8
8-5-2 Setting the acceleration/deceleration time constant ...................................... 8-8

8–1
 Chapter 8 Servo Adjustment

8-1 Measuring the adjustment data

8-1-1 D/A output

The MR-J2-CT has a function to D/A output the various control data. To adjust the servo and set the servo
parameters matching the machine, the status in the servo must be observed using D/A output. Measure
using a hi-corder or synchroscope on hand.

(1) Specifications CN3 connector

Pin Name Pin Name
Item Explanation 1 LG 11 LG
No. of changes 2ch 2 RxD 12 TxD
Output frequency 888µsec (Minimum value) 3 SG 13 MBR
Output accuracy 8bit 4 MO1 14 MO2
5 COM 15 MC
Output voltage range −10V ~ 0 ~ +10V
6 16
Output scale setting Fixed 7 17
CN3 connector 8 18
MO1 = pin 4 9 19 DOG
Output pins
MO2 = pin 14 10 VDD 20 EMGX
GND = pin 1, 11
Function Offset amount adjustment function
Relay terminal block: MR-J2CN3TM
Option Lead out the SH21 cable from the CN3
connector, and connect.

(2) Setting the output data

No. Abbrev. Parameter name Explanation
#050 MD1 D/A output channel 1 data Set the No. of the data to be output to each D/A output channel.
No.
#053 MD2 D/A output channel 2 data 0 0 0 0 (Default value)
No.

No. Details Scale

0 Speed feedback (signed) Max. speed = 8V
1 Current feedback (signed) Max. current (torque) = 8V
2 Speed feedback (unsigned) Max. speed = 8V
3 Current feedback (unsigned) Max. current (torque) = 8V
4 Current command Max. current (torque) = 8V
5 Command FӠT 100000 [deg/min] = 10V
6 Droop 1 (1/1) 2048 [pulse] = 10V
7 Droop 2 (1/4) 8192 [pulse] = 10V
8 Droop 3 (1/16) 32768 [pulse] = 10V
9 Droop 4 (1/32) 65536 [pulse] = 10V
A Droop 5 (1/64) 131072 [pulse] = 10V

(3) Setting the offset amount

If the D/A output's zero level does not match (is not set to 0V), adjust the output offset with the
following parameters.
Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#051 MO1 D/A output channel 1 0 mV Set if the zero level of each D/A output channel does −999~999
output offset not match.
#052 MO2 D/A output channel 2
output offset

8-1-2 Graph display

When the setup software is used, the adjustment data can be displayed on the personal computer screen
as a graph. Refer to the "Setup Software Instruction Manual (BNP-B2208)" for details on the handling
methods, etc.

8–2
 Chapter 8 Servo Adjustment

8-2 Automatic tuning

8-2-1 Model adaptive control

The MR-J2-CT servo control has the following type of model scale type control system. It is two free
structures having position loop gain and speed loop gain on both the model loop side and actual loop side.
If the model load inertia (GD2) is equivalent to the actual load inertia, the actual load can be correctly
driven with the torque command (current command) created on the model lop side. If an error is
generated between the actual load response and model response, due to disturbance, etc., the actual
loop will function to compensate for the error amount.
In this manner, by setting the responsiveness for the command and the responsiveness for disturbance
independently, the model adaptive control can realize control capable of relatively high-speed control
even with a low actual loop gain.

Hypothetical Model load

motor
PG1 VG1 Current loop gain

Command
㧗 㧗 㧗
㧙 㧙 㧙
Model position FB Model speed FB GD2

Model loop
Torque command

P side : VG2 Motor Actual load

PG2 I side : VIC
㧗 㧗 㧗

㧗 㧗
㧙 㧙 㧙
Actual position FB Actual speed FB

Actual loop

Model adaptive control

8-2-2 Automatic tuning specifications

The MR-J2-CT has a built-in automatic tuning function, so bothersome servo gain adjustments are carried
out by the servo amplifier. With automatic tuning, the size of the motor load inertia is automatically
detected, and the optimum servo gain for that inertia is set. The load inertia is detected and the servo gain
adjusted while the motor is accelerating and decelerating, so acceleration/deceleration operation is
always required for automatic tuning. If the load inertia changes because the No. of tools in the magazine
has been changed or the arm is grasping the workpiece, a new gain will be set accordingly.
The adjusted gain is saved in the amplifier's memory, so control will be carried out with the adjusted gain
even after the amplifier's power is turned ON again.
Automatically tuned parameters
No. Abbrev. Parameter name Details
#008 PG1 Position loop gain 1 This determines the tracking in respect to the position command.
#019 PG2 Position loop gain 2 This determines the position responsiveness in respect to the load disturbance.
#020 VG1 Speed loop gain 1 This determines the tracking in respect to the speed command.
#021 VG2 Speed loop gain 2 This determines the speed responsiveness in respect to the load disturbance.
#022 VIC Speed integral This determines the responsiveness of the low-frequency region of speed control.
compensation
#024 GD2 Load inertia ratio This determines the load inertia ratio in respect to the motor inertia.

1. Automatic tuning detects the load inertia and adjusts the gain while the motor is
accelerating or decelerating. Thus, acceleration/deceleration operation is
required for tuning. Even if there is a load torque, tuning (gain adjustment) will
POINT not be carried out while the motor is stopped or during constant speed feed.
2. If the detected load inertia does not change, the gain setting value will also not
change.

8–3
 Chapter 8 Servo Adjustment

8-2-3 Adjusting the automatic tuning

Automatic tuning detects the load inertia and automatically sets the servo gain. However, whether to set a
generally higher gain (high response) or a lower gain (low response) is adjusted with the parameters. Set
a low responsiveness if the load vibrates easily, and set a high responsiveness to shorten the settling time
and thereby reduce the positioning time. If no problems occur with the standard setting, there is no need to
change the parameters.

Machine operation Ideal machine operation Setting method

Machine resonance occurs Suppress the machine resonance. Decrease the responsiveness setting value.
The machine gears can be heard Reduce the gear noise.
The machine overshoots when Reduce the overshooting. Increase the friction characteristic selection.
stopping Decrease the responsiveness setting value.
The stop settling time is long (Note) Reduce the stop settling time. Increase the responsiveness setting value.
(Note) Stop settling time: Time for servomotor to stop after command changes to zero.

1. Automatic tuning sets the various gain to match the load inertia or with the
optimum balance. Note that the machine rigidity must be determined and set
POINT by the operator.
2. The automatic tuning responsiveness can be increased by using the vibration
suppressing function.

No. Abbrev. Parameter name Explanation

#007 ATU Automatic tuning Set the adjustment parameters for automatic tuning. Do not set the values having
no explanation.
0 1 0 2 (Default value)

Setting
Details
value
Low response (Load with low rigidity, load
1
that easily vibrates)
2 Standard setting value
3 Standard setting value
4 Standard setting value
High response (Load with high rigidity, load
5
that does not easily vibrate)

Setting
Details
value
0 Standard
Large friction (Set the position loop gain to a
1
low value.)

Setting
Details
value
Automatically tune only PG2, VG2, VIC, and
0
GD2.
Automatically tune PG1, PG2, VG1, VG2,
1
VIC and GD2 (all gains).
2 Do not automatically tune.

8–4
 Chapter 8 Servo Adjustment

8-3 Manual adjustment (This setting is valid from software version C5)
With automatic tuning, the model loop load inertia (GD2) is set to the actual load inertia, and the optimum
gain is automatically set according to the size of that inertia. The method of manually setting (inputting the
parameters) each gain is explained in this section.

Hypothetical Model load

motor
PG1 VG1 Current loop gain

Command
㧗 㧗 㧗
㧙 㧙 㧙
Model position FB Model speed FB GD2

Model loop
Torque command

P side : VG2 Motor Actual load

PG2 I side : VIC
㧗 㧗 㧗

㧗 㧗
㧙 㧙 㧙
Actual position FB Actual speed FB

Actual loop

8-3-1 Setting the model inertia

Manual adjustment is carried out when sufficient characteristics cannot be obtained with automatic tuning.
This often occurs when the load inertia is not correctly detected. If the load inertia ratio on the MONITOR
screen greatly differs from the calculated value, or if it is unstable, manually set only the load inertia ratio.
Then, set the gain for that load inertia ratio to the optimum value with automatic tuning.

Monitor's load inertia ratio

Machine characteristics Explanation
(GD2) phenomenon
The load inertia is detected while the motor is accelerating
or decelerating, so if the friction is large, a large inertia will
The difference between the value
be detected during acceleration, and a small inertia will be
The machine friction is large after acceleration and the value
detected during deceleration. The average value obtained
after deceleration is large.
from the values after acceleration and deceleration is the
true load inertia ratio.
The detected load inertia is the load inertia during
acceleration/deceleration. Normally, the inertia during the
lightest load is detected, so this can be improved by setting
Cam drive (The load inertia
The value is extremely small the inertia to math the load during actual drive.
changes during constant speed
compared to the calculated value. In this case, the load inertia itself will not change, so
operation)
improvements can also be made by increasing the
automatic tuning responsiveness. (Set a higher gain for the
same load inertia.)

Step Operation Explanation

1 Set parameter "#007 ATU" to 0101. Start the automatic tuning with a low response.
When the load inertia is set, the following parameter will be set to
the set load inertia. Do not drive the motor at this time.
#008 PG1 : Position loop gain 1
2 Set the load inertia ratio in parameter "#024 GD2". #019 PG2 : Position loop gain 2
#020 VG1 : Speed loop gain 1
#021 VG2 : Speed loop gain 2
#022 VIC : Speed integral compensation
3 Set parameter "#007 ATU" to 0201. Stop the automatic tuning, and fix the set gain.
Confirm the operation, and if vibration, etc., is not
4 occurring, raise the automatic tuning The optimum value is just before the vibration increases.
responsiveness, and repeat (Step 1) to (Step 3).

8–5
 Chapter 8 Servo Adjustment

8-3-2 Adjusting the gain

If the balance of the various gains set with automatic tuning does not match the machine, the gains must
be adjusted individually. Adjust with the following procedure.
(1) GD2: Load inertia ratio
Set the model load inertia to be used in the model loop. If the model load inertia and actual load
inertia match, the model section operation will approach the actual operation. Thus, there is no need
to raise the actual loop gain PG2 or VG2 more than necessary.
Even when adjusting manually, adjust the following gain using the gain determined in section "8-2-1
Setting the model inertia" as the default value.
JL
GD2 = (JL: Load inertia, JM: Motor inertia)
JM
(2) VG2: Speed loop gain 2
The speed lop gain dominates the response dumping. If this gain is extremely low, vibration will occur
at the PG2 frequency, and if too high, machine resonance will be induced. To adjust, gradually raise
VG2, and set at 70% of the max. value where the machine resonance does not occur.
The VG2 unit is the response frequency, but in actual use, it is the response setting including the load
inertia. Thus, the actual response frequency (rad/sec) will be the value divided by the load inertia rate
(1+JL/Jm).
(3) VG2: Position loop gain 2
PG2 determines the position response in respect to disturbance. Normally it is set with the following
equation. Adjust PG1 to shorten the settling time.
6 × VG2
PG2 = (rad/sec)
1 + (JL/JM)
(4) VIC: Speed integral compensation
If the load torque fluctuation is large or the machine friction is large, uneven rotation or overshooting
during position settling will increase. In this case, the position and speed fluctuation can be reduced
by reducing VIC. However, if it is too low, vibration will occur. Adjust with the load inertia ratio while
referring to the following table.
Load inertia ratio 1 3 5 10 20 30 or more
Speed integral compensation (msec) 20 30 40 60 100 200

(5) VG1: Speed loop gain 1

(6) PG1: Position loop gain 1
These are the model loop side gains that determine the responsiveness in respect to the command.
The model side makes an ideal response, so no mater how high these gains are set, the model
system will not resonate. However, the impact to the machine during acceleration/deceleration will
increase, so the vibration during acceleration/deceleration and the overshooting when stopping will
increase. Adjust to the optimum value while actually driving the machine and maintaining the relation
given in the following equation.
PG1 is directly related to the target response characteristics, so if this gain is increased, the settling
time will be shortened.
VG1
PG1 = (rad/sec)
4
Default Setting
No. Abbrev. Parameter name Unit Explanation
value range
#008 PG1 Position loop gain 1 70 rad/sec Set the position loop gain for the model loop. 4 ~ 1000
This determines the tracking in respect to the
position command.
#019 PG2 Position loop gain 2 25 rad/sec Set the position loop gain for the actual loop. 1 ~ 500
This determines the position responsiveness in
respect to disturbance.
#020 VG1 Speed loop gain 1 1200 rad/sec Set the speed loop gain for the model loop. 20 ~ 5000
This determines the tracking in respect to the speed
command.
#021 VG2 Speed loop gain 2 600 rad/sec Set the speed loop gain for the actual loop. 20 ~ 8000
This determines the speed responsiveness in
respect to disturbance.
#022 VIC Speed integral 20 msec This determines the responsiveness of the 1 ~ 1000
compensation low-frequency region of speed control.
#024 GD2 Load inertia ratio 2.0 fold This determines the load inertia ratio in respect to 0.0 ~ 50.0
the motor inertia.

8–6
 Chapter 8 Servo Adjustment

8-4 Characteristics improvements

8-4-1 Vibration suppression measures

(1) Notch filter

The resonance elimination filter operates at the set frequency. Observe the FB torque (current FB)
waveform using the monitor output function or setup software graph display function, etc., and
measure the resonance frequency. Note that the resonance frequency that can be observed is
approx. 0 to 500Hz. Directly observe the phase current using a current probe, etc., for resonance
exceeding 500Hz. Note that when the filter is set, other frequency resonance could occur.

No. Abbrev. Parameter name Explanation

#014 NCH Notch filter No. Set the frequency of the machine resonance suppressing filter. Do not set the
values having no explanation.
Setting value 0 1 2 3 4 5 6 7
Frequency (Hz) Non-starting 1125 563 375 282 225 188 161

(2) Jitter compensation

If the motor position enters the machine's backlash when stopping, the load inertia will be very small.
This is because a very large speed loop gain is set in respect to the load inertia, so vibration occurs.
Jitter compensation allows the vibration that occurs while the motor is stopping to be suppressed by
ignoring the speed feedback pulses of the backlash amount when the speed feedback polarity
changes. Set the value to suppress the vibration by increasing the No. of ignored pulses one pulse at
a time. (The position feedback is controlled as normal, so there is no worry of positional deviation.)
Note that if an axis with which vibration does not occur is set, vibration could be induced.

No. Abbrev. Parameter name Explanation

#016 JIT Jitter compensation Set the No. of pulses ignored for jitter compensation. Do not set the values having
no explanation.
Setting value 0 1 2 3
No. of ignored pulses Non-starting 1 2 3

Jitter compensation is effective in suppressing vibration only while the motor is

POINT stopped.

8-4-2 Overshooting measures

(1) Speed differential compensation

With normal PI control, the torque when the position droop reaches zero is held while the motor is
stopped. However, with a machine having a large frictional torque, the holding toque will increase,
and thus overshooting may occur. By lowering the speed differential compensation from the standard
value, overshooting can be compensated.

Default Setting
No. Abbrev. Parameter name Unit Explanation
value range
#024 VDC Speed differential 1000 When the default value 1000 is set, the normal PI 0 ~ 1000
compensation control will be applied.
Adjust the overshooting amount by reducing this
value in units of 20.

8–7
 Chapter 8 Servo Adjustment

8-5 Adjusting the acceleration/deceleration operation

8-5-1 Setting the operation speed

The operation speed is set to match the motor speed to the machine specifications within a range less
than the max. speed. The operation speed is set for each operation group, but the operation group used
with each operation mode is determined with the PLC group structure. The operation speed can be set
freely for each operation group, but operation at a speed exceeding the operation parameter group 1
automatic operation speed (#150: Aspeed1) is not possible.

The parameter #150 (Aspeed1) operation parameter group 1 automatic operation

POINT speed will be the clamp value (max. limit speed) for the automatic operation
speed and manual operation speed in all operation groups.

8-5-2 Setting the acceleration/deceleration time constant

For the acceleration/deceleration time constant, the linear acceleration/deceleration time in respect to the
operation parameter group 1 automatic operation speed is set with an msec unit. Even if the operation
group is not 1, the acceleration/deceleration inclination will be set with the time to accelerate to
#150:Aspeed1.
The acceleration/deceleration time constant for rapid traverse (speed used for positioning at the highest
speed) is set so that the max. current during rapid traverse acceleration/deceleration is within the range
given below (this applies to only when the operation speed is less than the rated speed).
The max. current can be confirmed with the MAX CURRENT 2 display on the NC auxiliary axis monitor or
the peak load rate display in the setup software. With the setup software, the command torque can be
displayed in a graph and confirmed. Set the acceleration/deceleration time constants for the operation
modes to a value higher than the acceleration/deceleration time constant for rapid traverse.
When using deceleration control to control the stopping of the motor during an emergency stop, set the
same value as the rapid traverse acceleration/deceleration time constant in the deceleration control time
constant (#010: EMGt).
If the operation speed exceeds the motor's rated speed, adjust the acceleration/deceleration time
constant so that the output torque at the high speed region is within the motor's specification range. The
output torque is especially limited if the servomotor is at a speed higher than the rated speed. An
insufficient torque will occur easily if the amplifier input voltage is low (170 to 190V), and can cause an
excessive error to occur during acceleration or deceleration. The S-character acceleration/deceleration
function is effective for reducing the acceleration/deceleration torque in high speed regions.
Max. current for acceleration/deceleration

HC-SF series HC-RF series HA-FF series

Motor type Max. current Motor type Max. current Motor type Max. current
HC-SF52 240 ~ 270% HC-RF103 200 ~ 225% HA-FF053 240 ~ 270%
HC-SF102 240 ~ 270% HC-RF153 200 ~ 225% HA-FF13 240 ~ 270%
HC-SF152 240 ~ 270% HC-RF203 200 ~ 225% HA-FF23 240 ~ 270%
HC-SF202 240 ~ 270% HC-MF series HA-FF33 240 ~ 270%
HC-SF352 240 ~ 270% Motor type Max. current HA-FF43 240 ~ 270%
HC-SF53 240 ~ 270% HC-MF053 260 ~ 290% HA-FF63 240 ~ 270%
HC-SF103 240 ~ 270% HC-MF13 260 ~ 290%
HC-SF153 240 ~ 270% HC-MF23 280 ~ 290%
HC-SF203 240 ~ 270% HC-MF43 275 ~ 290%
HC-SF353 240 ~ 270% HC-MF73 280 ~ 290%

The acceleration deceleration time constants of all operation groups will be set to
POINT the acceleration/deceleration time constant in respect to the speed set in
parameter #150 (Aspeed1).

When using at a region higher than the rated speed, take special care to the
acceleration/deceleration torque. If the amplifier's input voltage is low (170 to
190V), an excessive error could occur easily during acceleration/deceleration.
CAUTION When adjusting, determine the acceleration/deceleration time constant from the
motor's speed - torque characteristics so that the acceleration/deceleration torque
is within the specifications. The output torque at high speed regions can be
reduced by using the S-character acceleration/deceleration function.

8–8
 Chapter 9 Inspections

9-1 Inspections .................................................................................................. 9-2

9-2 Life parts ...................................................................................................... 9-2

9–1
 Chapter 9 Inspections

1. Wait at least 10 minutes after turning the power OFF and check that the
input/output and voltage are zero with a tester, etc., before starting wiring
or inspections. Failure to observe this could lead to electric shocks.
DANGER 2. Only qualified persons must carry out the inspections. Failure to observe
this could lead to electric shocks. Contact your dealer for repairs or part
replacements.

3. Do not perform a megger test (insulation resistance measurement) on the

CAUTION servo amplifier. Failure to observe this could lead to faults.
4. Never disassemble or modify the unit.

9-1 Inspections
Periodically inspecting the following points is recommended.
Ԙ Are any screws on the terminal block loose? Tighten if loose.
ԙ Is there any abnormal noise from the servomotor bearings or the brakes?
Ԛ Are any of the cables damaged or cracked? If the cable moves with the machine, carry out a
periodic inspection according to the usage conditions.
ԛ Is the axis at the load coupling section misaligned?

9-2 Life parts

The guidelines for the part replacement interval are as shown below. These will differ according to the
usage methods and environmental conditions, of if an abnormality is found, the part must be replaced.
Contact your dealer for repairs and part replacements.

Part name Standard replacement time Remarks

Servo amplifier Smoothing capacity 10 years The standard replacement time is
Relay – a reference time. If an
abnormality is found before the
Cooling fan 10,000 to 30,000 hours
standard replacement time is
(2 to 3 years) reached, the part must be
Battery 10,000 hours replaced.
Servomotor Bearings 20,000 to 30,000 hours
Detector 20,000 to 30,000 hours
Oil seal, V-ring 5,000 hours

ԘSmoothing capacitor : The smoothing capacitor characteristics will deteriorate due to the effect
of the ripple current, etc. The capacitor life will be greatly affected by the
ambient temperature and usage conditions, but when run continuously in
a normal air-conditioned environment, the life will be reached in 10
years.
ԙRelays : Contact defects will occur due to contact wear caused by the switching
current. This will differ according to the power capacity, but the life will
be reached at a No. of cumulative switches (switching life) of 100,000
times.
Ԛ Servomotor bearings : When used at the rated speed and rated load, replace the bearings after
about 20,000 to 30,000 hours. This will differ according to the operation
state, but if abnormal noise or vibration is found during the inspection,
the bearings must be replaced.
ԛ Servomotor oil seal, V-ring: These parts must be replaced after about 5,000 hours of operation at the
rated speed. This will differ according to the operation state, but these
parts must be replaced if oil leaks, etc., are found during the inspection.

9–2
 Chapter 10 Troubleshooting

10-1 Troubleshooting at start up............................................................................... 10-2

10-2 Displays and countermeasures for various alarms ......................................... 10-2
10-2-1 Amplifier unit LED display during alarm ................................................. 10-2
10-2-2 Alarm/warning list................................................................................... 10-3
10-3 Detailed explanations and countermeasures of alarms .................................. 10-4
10-3-1 Detailed explanations and countermeasures for servo alarms............... 10-4
10-3-2 Detailed explanations and countermeasures for system alarms ............ 10-9
10-3-3 Detailed explanations and countermeasures for operation alarms ........ 10-10

10–1
 Chapter 10 Troubleshooting

10-1 Troubleshooting at start up

Excessive adjustment and changes of the parameters will cause unstable

operation, so do not carry out.
CAUTION The fault items that might occur when starting up, and countermeasures for
these faults are shown below. Remedy according to each item.

Start up
No. Fault item Investigation item Assumed cause
flow
1 Power ON The LED does not Does not improve even when Ԙ Power voltage defect
light. connectors CN1A, CN1B, CN2 and ԙ Servo amplifier fault
CN3 are disconnected.
Improved when connectors CN1A, The power supply of the
CN1B and CN3 are disconnected. CN1A, CN1B or CN3 cable
wiring is short circuited.
Improved when connector CN2 is Ԙ The power supply of the
disconnected. detector cable is short
circuited.
ԙ Detector fault
An alarm occurs. Refer to section 10-3 and remove the cause.
2 Servo ON An alarm occurs. Refer to section 10-3 and remove the cause.
The servo does Ԙ Confirm whether the NC is NC side sequence program
not lock. outputting a servo ON signal. defect.
(The motor shaft ԙ Confirm whether the servo
is free.) amplifier is receiving the servo
ON signal. (A personal
computer and setup software
are required.)
3 Servo The speed is Adjust the gain with the following Incorrect gain adjustment.
adjustment inconsistent at procedure.
low speeds. Ԙ Increase the automatic tuning
responsiveness.
ԙ Carry out acceleration/
deceleration to complete
automatic tuning.

10-2 Displays and countermeasures for various alarms

10-2-1 Amplifier unit LED display during alarm

The MR-J2-‫غ‬CT has various self diagnosis functions built in. If these self diagnosis functions detect
an error, the alarm classification code and alarm No. will be displayed on the 7-segment LED on the
upper front of the amplifier unit. The 7-segment LED displays in the following order.

AL
ࠕ࡜࡯ࡓ߇⊒↢ ⊒↢ߒߡ޿ࠆ
displays when The axis No. of ⊒↢ߒߡ޿ࠆ
The class of ⊒↢ߒߡ޿ࠆ
The No.of the ⊒↢ߒߡ޿ࠆ
The class of ⊒↢ߒߡ޿ࠆ
The No.of the
ߒߡ޿ࠆ႐ว
an ࠕ࡜࡯ࡓߩ
alarm occurs. the occurring ࠕ࡜࡯ࡓ඙ಽ
occurring alarrm ࠕ࡜࡯ࡓߩ
occurring alarm ࠕ࡜࡯ࡓ඙ಽ
occurring alarrm ࠕ࡜࡯ࡓߩ
occurring alarm
㧭㧸ࠍ⴫␜‫ޕ‬ ✚ᢙࠍ⴫␜ ࠍ⴫␜ ⇟ภࠍ⴫␜ ࠍ⴫␜ ⇟ภࠍ⴫␜
alarm displays. displays. displays. displays. displays.

1st alarm display 2nd alarm display

୘⋡ߩࠕ࡜࡯ࡓ⴫␜ 㧞୘⋡ߩࠕ࡜࡯ࡓ⴫␜
➅ࠅ㄰ߒ⴫␜
Repetitive display

10–2
 Chapter 10 Troubleshooting

10-2-2 Alarm/warning list

Alarm No. Main unit LED
Class (displayed on Details
personal computer)
display
S01 0011 S1 11 PCB error (control circuit error)
S01 0013 S1 13 Software processing timeout
S01 0016 S1 16 Motor type error, detector initial communication error, detector
CPU error
S01 0017 S1 17 PCB error (A/D conversion initial error)
S01 0025 S1 25 Absolute position lost
S01 0034 S1 34 CRC error
S01 0036 S1 36 Timeout, NC power down
S01 0037 S1 37 Parameter error (regenerative resistor type error)
S01 0038 S1 38 Communication frame error
S01 0039 S1 39 Communication INFO error
S02 0011 S2 11 PCB error (drive circuit error)
Servo alarm

S02 0013 S2 13 Software processing timeout, clock error

S02 0015 S2 15 EEROM error
S02 0017 S2 17 PCB error (A/D conversion error)
S02 0018 S2 18 PCB error (LSI error)
S02 0020 S2 20 Detector error (detector data alarm, detector communication error)
S02 0020 S2 24 Ground fault detection at power ON
S03 0010 S3 10 Undervoltage
S03 0030 S3 30 Regeneration error
(regeneration transistor error, over-regeneration)
S03 0031 S3 31 Overspeed
S03 0032 S3 32 Overcurrent (hardware overcurrent, software overcurrent)
S03 0033 S3 33 Overvoltage
S03 0046 S3 46 Motor overheating, detector heating
S03 0050 S3 50 Overload 1 (amplifier overload, motor overload)
S03 0051 S3 51 Overload 2 (collision detection)
S03 0052 S3 52 Excessive error
S52 0092 S- 92 Battery voltage drop
warning

S52 00E0 S- E0 Over-regeneration warning

Servo

S52 00E1 S- E1 Amplifier overload warning, motor overload warning

S52 00E3 S- E3 Absolute position counter warning
S52 00E9 S- E9 Main circuit OFF warning
Z70 0001 Z0 01 Zero point initialization incomplete
Z70 0002 Z0 02 Absolute position reference data lost
System alarms

Z70 0003 Z0 03 Absolute position parameter changed or lost

Z71 0001 Z1 01 Absolute position counter memory power voltage drop
Z73 0001 Z3 01 Battery voltage drop warning
Z73 0003 Z3 03 Absolute position counter warning
88 display Watch dog
Q01 #### q1 ## Emergency stop
M01 0001 M0 01 Near-point dog length insufficient
M01 0003 M0 03 Zero point return direction illegal
M01 0004 M0 04 External interlock
M01 0005 M0 05 Internal interlock
M01 0007 M0 07 Soft limit
Operation alarm

M01 0024 M0 24 In absolute position alarm. Zero point return not possible.
M01 0025 M0 25 In initializing absolute position. Zero point return not possible.
M01 0101 M1 01 No operation mode
M01 0103 M1 03 Feedrate 0
M01 0160 M1 60 Station No. designation illegal. Starting not possible.
M01 0161 M1 61 Zero point return incomplete. Starting not possible.
M01 0162 M1 62 In initializing zero point. Starting not possible.
M01 0163 M1 63 In absolute position alarm. Starting not possible.
M01 0164 M1 64 In random positioning mode. Manual operation not possible.
M01 0165 M1 65 Uneven indexing station No. illegal. Starting not possible.

10–3
 Chapter 10 Troubleshooting

10-3 Detailed explanations and countermeasures of alarms

10-3-1 Detailed explanations and countermeasures for servo alarms

These alarms indicate that an error has occurred in the servo control circuit.
Personal
Main unit LED
computer Name Details Cause Remedy
display
display
PCB error 1 An error occurred in Servo amplifier internal part Replace servo
the amplifier's internal fault amplifier.
PCB. <Investigation method>
S01 0011 • Alarm (AL11) occurs even
5  when all connectors are
disconnected and power is
turned ON.
Software processing An error occurred in Replace servo
S01 0013 timeout, clock error the amplifier's internal amplifier.
5  reference clock.
Motor type, Motor type error A type or capacity motor that Use a correct
detector type error cannot be driven is connected. amplifier and
motor
combination.
Detector initial The detector cable connector Connect correctly.
communication error. is disconnected.
S01 0016
Detector fault. Replace the
5 
motor.
Detector cable defect Replace or repair
(broken wire or short circuit) cable.
Detector CPU error Detector fault. Replace the motor
(detector).
PCB error An error occurred in Servo amplifier internal part Replace servo
(A/D conversion initial the amplifier's internal fault amplifier.
error) A/D converter. <Investigation method>
S01 0017 • Alarm (AL10) occurs even
5  when all connectors are
disconnected and power is
turned ON.
Absolute position lost An error occurred in The voltage of the super Turn the power
the detector's internal capacitor in the detector has ON for 2 to 3
absolute position data. dropped. (During setup or minutes while the
when unit was left with detector alarm is
cable disconnected for one occurring, and
hour or more.) then turn the
S01 0025
power ON again.
5  Battery voltage drop Replace the
battery, and
initialize the
absolute position
again.
CRC error An error occurred in An error occurred in the Take
S01 0034 the communication communication data due to countermeasures
5  with the NC. disturbance such as noise. against noise.
Communication Communication with The bus cable (SH21) Connect correctly.
timeout, NC down the NC was cut off. connection was disconnected.
The NC power was turned Turn the NC
S01 0036
OFF. power ON.
5 
The amplifier or NC is faulty. Replace the
amplifier or NC.
Parameter error The parameter setting An external regenerative Set the parameter
value is incorrect. resistor that is not combined correctly.
S01 0037
was designated with parameter
5 
#002.
Frame error An error occurred in An error occurred in the Take
S01 0038 the communication communication data due to countermeasures
5  with the NC. disturbance such as noise. against noise.

INFO error Undefined data was An incompatible NC is Change the NC

transferred from the connected to. software version
S01 0039
NC. to a compatible
5 
version.

10–4
 Chapter 10 Troubleshooting

These alarms indicate that an error has occurred in the servo control circuit.
Personal
Main unit LED
computer Name Details Cause Remedy
display
display
PCB error 1 An error occurred in Servo amplifier internal part Replace servo
(drive circuit error) the amplifier's internal fault amplifier.
PCB. <Investigation method>
S02 0011 • Alarm (AL11) occurs even
5  when all connectors are
disconnected and power is
turned ON.
Software processing An error occurred in Replace servo
timeout, clock error the amplifier's internal amplifier.
S02 0013
reference clock.
5 
EEROM error A write error occurred EEROM defect Replace servo
to the EEROM in the amplifier.
S02 0015
amplifier.
5 
PCB error An error occurred in Servo amplifier internal part Replace servo
(A/D conversion error) the amplifier's internal fault amplifier.
A/D converter. <Investigation method>
S02 0017 • Alarm (AL17) occurs even
5  when all connectors are
disconnected and power is
turned ON.
PCB error (LSI error) An error occurred in Servo amplifier internal part Replace servo
the amplifier's internal fault amplifier.
LSI. <Investigation method>
S02 0018 • Alarm (AL18) occurs even
5  when all connectors are
disconnected and power is
turned ON.
Detector error An error occurred in • The detector cable Connect correctly.
the communication connection is disconnected.
S02 0020 between the servo
 amplifier and detector.
5 • Detector cable defect Replace or repair
(broken wire or short circuit) cable.
Ground fault detection A ground fault of the • There is a ground fault in the Repair the ground
output was detected output wire or the in the fault section.
S02 0024
when the power was motor. Replace the cable
5  turned ON. or motor.

10–5
 Chapter 10 Troubleshooting

These alarms indicate that an error has occurred in the servo control circuit.
Personal
Main unit LED
computer Name Details Cause Remedy
display
display
Undervoltage The power The power voltage is low. Review the power
voltage is 160V supply.
or less. A momentary power failure lasting 15ms or
longer occurred.
The power capacity is insufficient causing a
power voltage drop when starting.
S03 0010 The power was turned ON immediately after
5  turning the power OFF.
Servo amplifier internal part fault Replace the servo
<Investigation method> amplifier.
• Alarm (AL10) occurs even when all
connectors are disconnected and power is
turned ON.
Regeneration The tolerable Parameter #002 setting is incorrect. Set correctly.
error regeneration The external regenerative option is not Connect correctly.
power of the connected, or the TE2 short cable is not
internal connected.
regenerative The tolerable regeneration power was Lower the
resistor or exceeded due to high frequency operation or positioning
external continuous regeneration operation. frequency.
regenerative Change the
option was regenerative
exceeded. option to a larger
S03 0030
capacity. Lower
5  the load.
The power voltage was 260V or more. Review the power
supply.
Regenerative The regenerative transistor in the servo Replace the servo
transistor error
amplifier is faulty. amplifier.
<Investigation method>
The alarm occurs even when the external
regenerative option and TE2 short cable is
disconnected.
Overspeed The motor's The acceleration/deceleration time constant Increase the
speed exceeded is small casing a large overshoot. acceleration/decel
the tolerable eration time
momentary constant.
S03 0031
speed. The electronic gear ratio is large. Review the gear
5  ratio.
Detector fault. Replace the
detector.
Overcurrent A current The servo amplifier's output U, V and W Repair the wiring.
exceeding the phases are short circuited.
servo amplifier's The servo amplifier's output U, V and W Replace the servo
tolerable current phases ground faulted during operation. amplifier.
flowed. Correct the wiring.
S03 0032 The overcurrent detection circuit Take
malfunctioned due to external noise. countermeasures
5 
The servo amplifier's power module is faulty. against noise.
<Investigation method>
Alarm 32 occurs even when the servo
amplifier output (terminal block TE1's U, V,
W) is disconnected.
Overvoltage The voltage of The TE2 short cable or external regenerative Wire correctly.
the converter in resistor lead wire is broken or disconnected.
the servo The regenerative resistance transistor is Replace the servo
amplifier was faulty. amplifier.
400V or more. The internal regenerative resistor or external For the internal
regenerative option has a broken wire. regenerative
S03 0033 resistor, replace
5  the amplifier.
For the external
regenerative
option, replace the
regenerative
option.

10–6
 Chapter 10 Troubleshooting

These alarms indicate that an error has occurred in the servo control circuit.
Personal
Main unit LED
computer Name Details Cause Remedy
display
display
Motor overheating An operation state The servomotor is in the Reduce the motor
causing the motor to overload state. load. Review the
S03 0046 overheat continued. operation pattern.
5  The thermal protector in the Replace the
detector is faulty. detector.
Overload 1 The servo amplifier or The servomotor's continuous Reduce the motor
servomotor overload output exceeded the rated load. Review the
protection function output. operation pattern.
activated. (Refer to Change to a motor
the graph in 11-1 The servo amplifier output
or amplifier with
Overload protection exceeded the tolerable
large output.
characteristics.) instantaneous output
The servo system is unstable, Change the
S03 0050 and hunting is occurring. setting of the
5  automatic tuning
response
characteristics.
The motor connection is Correct the
incorrect. connection.
The detector is faulty. Replace the
servomotor.
Overload 2 The max. output The machine axis was collided Review the
current flowed for against. operation pattern.
several seconds due
to a machine collision The motor connection is Correct the
or overload. incorrect. connection.
The servo system is unstable, Change the
S03 0051 and hunting is occurring. setting of the
5  automatic tuning
response
characteristics.
The detector is faulty. Replace the
servomotor.
Excessive error A position deflection The acceleration/deceleration Increase the
exceeding the time constant is too low. acceleration/
excessive error deceleration time
detection setting value constant.
occurred.
The torque limit value is too Increase the
low. torque limit value.
Starting is not possible due to Review the power
low torque caused by power facility capacity.
voltage drop. Use a motor with
S03 0052 a large output.
5  The machine end was collided Review the
with. operation pattern.
The detector is faulty. Replace the
servomotor.
The motor connection is Connect correctly.
incorrect.
Communication cable defect Repair or replace
(broken wire or short circuit) the cable.

10–7
 Chapter 10 Troubleshooting

These alarms indicate that an error has occurred in the servo control circuit.
Personal
Main unit LED
computer Name Details Cause Remedy
display
display
Battery voltage drop The absolute position The battery is not mounted. Mount a battery.
detection battery
Battery life Replace the
S52 0092 voltage dropped.
battery and
5㧙  initialize the
absolute position.
Over-regeneration The regeneration A level 85% or more of the 1. Lower the
warning power may have built-in regenerative resistor or positioning
exceeded the tolerable external regenerative option's frequency.
range of the built-in tolerable regeneration power 2. Change the
S52 00E0 regenerative
5㧙 ' regenerative resistor was reached.
or external option to a
regenerative option. larger one.
3. Lower the load.
Amplifier overload The overload alarm 1 85% or more of the overload Refer to the items
warning or 2 could occur. alarm 1 or 2 occurrence level for S03 0050, S03
S52 00E1 was reached. 0051.
5㧙 ' Motor overload
warning
Absolute position There is an error in 1. Noise entered the detector. Take
counter warning the absolute position countermeasures
S52 00E3 detector internal data. against noise.
5㧙 ' 2. Detector fault. Replace the
servomotor.
Main circuit OFF The servo ON signal was input Turn ON the main
warning while the main circuit power circuit power.
S52 00E9 was OFF.
5㧙 ' The contactor operation is
faulty.

10–8
 Chapter 10 Troubleshooting

10-3-2 Detailed explanations and countermeasures for system alarms

Personal
Main unit LED
computer Name Cause Remedy
display
display

Zero point initialization The zero point (reference point) has not Initialize the zero point
Z70 0001 incomplete been initialized in the absolute position (reference point).
system.

Absolute position data The absolute position coordinate data in Initialize the zero point
Z70 0002 lost the amplifier has been lost. (reference point).
< 

Absolute position The absolute position system related Correctly set the parameters
Z70 0003 system related parameters have been changed or lost. and then initialize the zero
<  parameter error point (reference point).

Absolute position Battery voltage drop Check the battery and detector
Z71 0001 memory battery Detector cable wire breakage or looseness cable and then initialize the
<  voltage drop zero point (reference point).

Absolute position Battery voltage drop Check the battery and detector
Z73 0001 memory battery Detector cable wire breakage or looseness cable. The zero point does not
<  voltage warning need to be initialized.

Absolute position An error occurred in the detector's Replace the detector.

Z73 0003 counter warning absolute position counter.
< 

Watch dog An error occurred in the amplifier's control Replace the amplifier.
circuit.


Emergency stop An emergency stop occurred due to some The emergency stop cause is
alarm. displayed with bit
Q01 ####
correspondence in ##, so
3  check the cause.

Emergency stop The emergency stop was applied. Check the NC emergency stop
and external emergency stop.
'

Details of emergency stop causes

㕖Ᏹ஗ᱛⷐ࿃䈱⹦⚦

bit00 䉰䊷䊗䉝䊤䊷䊛䊶ㅢା⇣Ᏹ
Servo alarm, communication error
bit11 䊋䉾䊁䊥䊷ૐਅ
Battery drop
bit22 䊋䉴EMGIାภ౉ജ
Bus EMG1 signal input
bit33 䊋䉴ALM0ାภ౉ജ
Bus ALM0 signal input

bit4 4 ᄖㇱ㕖Ᏹ஗ᱛାภ
External emergency stop signal
bit5 5

bit6 6 ೙ᓮାภ㕖Ᏹ஗ᱛ
PLC emergency stop input
bit7 7 Other cause
H/W㕖Ᏹ஗ᱛ


10–9
 Chapter 10 Troubleshooting

10-3-3 Detailed explanations and countermeasures for operation alarms

These alarms indicate that there is a mistake in the operation or in the operation command.
Personal
Main unit LED
computer Name Cause Remedy
display
display
Near-point dog length When executing dog-type reference point, Lower the zero point return
M01 0001 insufficient the zero point return speed is too fast or speed or increase the dog
/  the dog length is too short. length.

Reference point return When executing reference point return, the Move the axis in the correct
M01 0003 direction illegal axis was moved in the opposite of the direction.
/  designated direction.

External interlock The axis interlock function is valid. Cancel the interlock signal
M01 0004
/ 
Internal interlock An interlock was established by the servo Cancel the servo OFF.
M01 0005 OFF function.
/ 
Soft limit The soft limit was reached. Check the soft limit setting and
M01 0007 machine position
/ 

In absolute position Reference point return was executed Initialize the absolute position
alarm. Reference during an absolute position alarm. reference point and then fix the
M01 0024
point return not absolute position coordinates.
/  possible.

In initializing absolute Reference point return was executing Initialize the absolute position
position. Reference while initializing the absolute position. reference point and then fix the
M01 0025
point return not absolute position coordinates.
/  possible.

No operation mode The operation mode is not designated, or Correctly designate the
M01 0101 the operation mode was changed during operation mode.
/  axis movement.

Feedrate 0 The operation parameter's feedrate setting Set a value other than zero in
is zero. the feedrate setting or override
The operation parameter feedrate setting value.
M01 0103
is zero.
/  Or, the override is valid, and the override
value is zero.

Station No. A station No. exceeding the No. of indexed Correctly designate the station
M01 0160 designation illegal. divisions was designated. No.
/  Starting not possible.

Reference point return Automatic/manual operation was started Execute the reference point
M01 0161 incomplete. Starting before reference point return was executed return.
/  not possible. with the incremental system.

In initializing reference The start signal was input while initializing Complete the absolute position
M01 0162 point. Starting not the absolute position reference point. reference point initialization.
/  possible.

In absolute position The start signal was input during an Initialize the absolute position
M01 0163 alarm. Starting not absolute position alarm. reference point and then fix the
/  possible. absolute position coordinates.

In random positioning The manual operation mode was started Turn the random positioning
M01 0164 mode. Manual during the random positioning mode. mode OFF before switching to
/  operation not possible. the manual operation mode.

Uneven indexing The commanded station No. was higher Check the commanded station
M01 0165 station No. illegal. than 8 during uneven indexing. No.
/  Starting not possible.

10–10
 Chapter 11 Characteristics

11-1 Overload protection characteristics.................................................................... 11-2

11-2 Servo amplifier generation loss........................................................................... 11-3
11-2-1 Servo amplifier calorific value ...................................................................... 11-3
11-2-2 Heat radiation area of fully closed type control panel .................................. 11-4
11-3 Magnetic brake characteristics ........................................................................... 11-5
11-3-1 Motor with magnetic brakes ......................................................................... 11-5
11-3-2 Magnetic brake characteristics .................................................................... 11-6
11-3-3 Magnetic brake power supply ...................................................................... 11-8
11-4 Dynamic brake characteristics ............................................................................ 11-9
11-4-1 Deceleration torque ..................................................................................... 11-9
11-4-2 Coasting amount .........................................................................................
11-10
11-5 Vibration class ......................................................................................................
11-11

11–1
 Chapter 11 Characteristics

11-1 Overload protection characteristics

The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier
from overloads. The operation characteristics of the electronic thermal relay are shown below.
If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 alarm will occur. If the maximum current flows continuously for several seconds due to a
machine collision, etc., overload 2 alarm will occur. Use within the region to the left of the solid or
dotted line in the graph.
When applying a load while stopped (during servo lock), make sure that 70% or the rated torque is
not exceeded.
a : HC-MF Series
a䋺HC䋭MF䉲䊥䊷䉵 1000
HA-FF Series
䇭 HA䋭FF䉲䊥䊷䉵
(300W or more)
䇭䋨300Wએ਄䋩
HC-SF
䇭 HC䋭SF䉲䊥䊷䉵
Series
When
࿁ォᤨ rotating
HC-RF
䇭 HC䋭RF䉲䊥䊷䉵
Series 100

േ૞ᤨ㑆
When stopped
஗ᱛᤨ
10
Operation time

[s]
1

0. 1
0 50 100 150 200 250 300 350 400
Load rate [%]
⽶⩄₸䌛䋦䌝

bb䋺HA䋭FF䉲䊥䊷䉵
: HA-FF Series 1000
(200W
䇭䋨200Wએਅ䋩 or less)

When rotating
࿁ォᤨ
100

േ૞ᤨ㑆

10
Operation time

[s] When stopped

஗ᱛᤨ
1

0. 1
0 50 100 150 200 250 300 350 400
Load rate [%]
⽶⩄₸䌛䋦䌝

Fig. 11-1 Overload protection characteristics of MR-J2-CT

11–2
 Chapter 11 Characteristics

11-2 Servo amplifier generation loss

11-2-1 Servo amplifier calorific value

The servo amplifier calorific value is determined from the following table by the motor with which the
servo amplifier is combined. The calorific value for the actual machine will be a value between the
calorific values at the stall torque (at the rated torque) and the zero torque according to the frequency
during operation. Consider the worst usage conditions for the thermal design of the fully closed type
control panel, and use the values given below. Even when the servomotor is run below the maximum
speed, the servo amplifier calorific value will not change if the generated torque is the same.

Table 11-1 Servo amplifier calorific values

Calorific value (W) Area required for Calorific value (W) Area required for
Motor type At rated At zero heat radiation Motor type At rated At zero heat radiation
2 2
torque torque (m ) torque torque (m )
HC-SF52 40 15 0.8 HC-FF053 25 15 0.5
HC-SF102 50 15 1.0 HC-FF13 25 15 0.5
HC-SF152 60 20 1.2 HC-FF23 25 15 0.5
HC-SF202 85 20 1.7 HC-FF33 30 15 0.6
HC-SF352 140 20 2.8 HC-FF43 35 15 0.7
HC-SF53 40 15 0.8 HC-FF63 40 15 0.8
HC-SF103 50 15 1.0
HC-SF153 60 20 1.2 HC-MF053 25 15 0.5
HC-SF203 85 20 1.7 HC-MF13 25 15 0.5
HC-SF353 140 20 2.8 HC-MF23 25 15 0.5
HC-MF43 35 15 0.7
HC-RF103 45 15 0.9 HC-MF73 50 15 1.0
HC-RF153 60 20 1.2
HC-RF203 120 20 2.4

1. The heat generated by the regeneration resistor is not included in the servo
amplifier calorific value. Refer to section "13-4 Selection of regenerative
resistor" and calculate the calorific value of the regenerative resistor using
POINT the regeneration load and positioning frequency.
2. The area required for heat radiation is the heat radiation area (guideline) of
the fully closed type control panel storing the servo amplifier when using
the unit at an ambient temperature of 40°C and stall (rated) load.

11–3
 Chapter 11 Characteristics

11-2-2 Heat radiation area of fully closed type control panel

Set the temperature in the fully closed type control panel (hereafter control panel) in which the servo
amplifier is stored so that the ambient temperature is 40°C +10°C or less. (Provide a 5°C allowance in
respect to the maximum working environmental conditions temperature of 55°C.) The control panel
heat radiation area is usually calculated with the following expression.

P (Inside panel)
A= .............. (11-1)
K • ٌT (Outside air) Temperature

2
A : Heat radiation area [m ]
P : Loss generated in control panel
ٌT : Temperature difference between
control panel and outside air [°C]
K : Heat radiation coefficient (5 ~ 6) Air flow

When calculating the heat radiation area with Fig. 11-2 Fully closed type control panel
the above expression (11-1), use P as the temperature gradient
total loss generated in the control panel. Refer
When air flows along the outside of the panel, the
to the table in section "11-2-1 Servo amplifier
temperature slope will become sudden, and an
calorific value" for the servo amplifier calorific effective heat exchange will be possible both inside and
values. A indicates the area effective for heat outside of the fully closed control type panel.
radiation, so if the control panel is directly
installed on a heat insulating wall, etc.,
provide the control panel's surface area as an
allowance.
The required heat radiation area will also differ according to the conditions in the control panel. If the
convection in the control panel is poor, effective heat radiation will not be possible. In this case, when
designing the control panel, consider the placement of devices in the control panel, and mixing the air
with a fan, etc.

11–4
 Chapter 11 Characteristics

11-3 Magnetic brake characteristics

1. The axis will not be mechanically held even when the dynamic brakes are
used. If the machine could drop when the power fails, use a servomotor
with magnetic brakes or provide an external brake mechanism as holding
means to prevent dropping.
2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life or
machine structure (when ball screw and servomotor are coupled with a
timing belt, etc.). Provide a stop device on the machine side to ensure
safety. When releasing the brakes, always confirm that the servo is ON
CAUTION first. Sequence control considering this condition is possible if the amplifier
motor brake control signal (MBR) is used.
3. When operating the brakes, always turn the servo OFF (or ready OFF).
When releasing the brakes, always confirm that the servo is ON first.
Sequence control considering this condition is possible if the amplifier
motor brake control signal (MBR) is used.
4. When the vertical axis drop prevention function is used, the drop of the
minimum axis at the servo OFF command input can be suppressed to a
minimum.

11-3-1 Motor with magnetic brakes

(1) Types
The motor with magnetic brakes is set for each motor. The "B" following the standard motor type
indicates the motor with brakes.

(2) Applications
When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and
dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic
pressure reaches zero when the power turns OFF. When used with a robot, deviation of the
posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with the
deceleration stop (dynamic brake stop), and the risks of colliding with the grinding stone and
scattering can be prevented.
This motor cannot be used for purposes other than holding and braking during a power failure
(emergency stop). (This cannot be used for normal deceleration, etc.)

(3) Features
ԘThe magnetic brakes use a DC excitation method, thus:
• The brake mechanism is simple and the reliability is high.
• There is no need to change the brake tap between 50 Hz and 60 Hz.
• There is no rush current when the excitation occurs, and shock does not occur.
• The brake section is not larger than the motor section.
ԙThe magnetic brakes are built into the motor, and the installation dimensions are the same as
the motor without brakes.

11–5
 Chapter 11 Characteristics

11-3-2 Magnetic brake characteristics

Table 11-2 (1) Magnetic brake characteristics 1

Motor type HC-SF Series HC-RF Series
52B, 102B, 152B 202B, 352B
103B, 153B, 203B
53B, 103B, 153B 203B, 353B
Item
Type (Note 1) Spring braking type safety brakes
Rated voltage 24 VDC
Rated current at 20°C (A) 0.80 1.43 0.80
Excitation coil resistance at 20°C (Ω) 29 16.8 30
Capacity (W) 19 34 19
Attraction current (A) 0.2 0.4 0.25
Dropping current (A) 0.08 0.2 0.085
(N· m) 8.3 43.1 6.8
Static friction torque
(kgf· cm) 85 440 70
2
J (kg· cm ) 2.0 10 0.35
Moment of inertia (Note 2) 2 2
GD (kgf· cm ) 8.0 40 1.4
Release delay time (sec) (Note 3) 0.04 0.1 0.03

Braking delay time (sec) AC OFF (sec) 0.12 0.12 0.12

(Note 3) DC OFF (sec) 0.03 0.03 0.03
(N· m) 400 4,500 400
Per braking
Tolerable (kgf· cm) 4,082 46,000 4,082
braking work
amount (N· m) 4,000 45,000 4,000
Per hour
(kgf· cm) 40,816 460,000 40,816
Brake play at motor axis (deg.) 0.2 ~ 0.6 0.2 ~ 0.6 0.2 ~ 0.6
No. of braking operations (times) 20,000 20,000 20,000
Brake life
(N· m) 200 1,000 200
(Note 4) Braking amount per
braking (kgf· cm) 2,041 10,204 2,041

11–6
 Chapter 11 Characteristics

Table 11-2 (2) Magnetic brake characteristics 2

Motor type HA-FF Series HC-MF Series

053B, 13B 23B, 33B 43B, 63B 053B, 13B 23B, 43B 73B
Item
Type (Note 1) Spring braking type safety brakes
Rated voltage 24 VDC
Rated current at 20°C (A) 0.22 0.31 0.46 0.26 0.33 0.42
Excitation coil resistance at 20°C (Ω) 111 78 52 91 73 57
Capacity (W) 7 7.4 11 6.3 7.9 10
Attraction current (A) 0.15 0.2 0.3 0.18 0.18 0.2
Dropping current (A) 0.06 0.06 0.1 0.06 0.11 0.12
(N· m) 0.39 1.18 2.3 0.32 1.3 2.4
Static friction torque
(kgf· cm) 4 12 23.5 3.2 13 24.5
2
J (kg· cm ) 0.02 0.13 0.34 0.0031 0.04 0.13
Moment of inertia (Note 2) 2 2
GD (kgf· cm ) 0.07 0.53 1.4 0.0124 0.19 0.5
Release delay time (sec) (Note 3) 0.03 0.03 0.03 0.03 0.03 0.03

Braking delay time (sec) AC OFF (sec) 0.08 0.1 0.12 0.08 0.1 0.12
(Note 3) DC OFF (sec) 0.01 0.03 0.03 0.01 0.02 0.03
(N· m) 3.9 18.0 46.0 5.6 22.0 64.0
Per braking
Tolerable (kgf· cm) 39.8 183.7 469.4 57.1 224.5 653.1
braking work
amount (N· m) 39 180 460 56 220 640
Per hour
(kgf· cm) 398 1,837 4,694 571 2,245 6,531
Brake play at motor axis (deg.) 0.3 ~ 3.5 0.2 ~ 2.0 0.2 ~ 1.3 0.19 ~ 2.5 0.12 ~ 1.2 0.1 ~ 0.9
No. of braking operations (times) 30,000 30,000 30,000 20,000 20,000 20,000
Brake life
(N· m) 4 18 47 4 15 32
(Note 4) Braking amount per
braking (kgf· cm) 41 184 480 41 153 327

Notes:
1. There is no manual release mechanism. If handling is required such as during the machine core alignment
work, prepare a separate 24 VDC power supply, and electrically release the brakes.
2. These are the values added to the servomotor without brakes.
3. This is the value for 20°C at the initial attraction gap.
4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be
adjusted. Thus, the brake life is reached when adjustments are required.
5. The internal power output (VDD) 24 VDC for digital output cannot be used. Always prepare a separate
power supply.
6. A leakage flux will be generated at the shaft end of the servomotor with magnetic brakes.
7. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a
problem in terms of function.

11–7
 Chapter 11 Characteristics

11-3-3 Magnetic brake power supply

1. The internal power supply output (VDD) 24 VDC as digital output cannot be
used for the magnetic brake release power supply. Always prepare an
external release power supply dedicated for the magnetic brakes.
CAUTION 2. Always install a surge absorber on the brake terminal when using DC OFF.
3. Do not connector or disconnect the cannon plug while the brake power is
ON. The cannon plug pins could be damaged by sparks.

(1) Brake excitation power supply

Ԙ Prepare a brake excitation power supply that can accurately ensure the attraction current in
consideration of the voltage fluctuation and excitation coil temperature.
ԙ The brake terminal polarity is random. Make sure not to mistake the terminals with other
circuits.

(2) Brake excitation circuit

(a) AC OFF and (b) DC OFF can be used to turn OFF the brake excitation power supply (to apply
the brakes).

(a) AC OFF
The braking delay time will be longer, but the excitation circuit will be simple, and the relay cut
off capacity will be smaller.
(b) DC OFF
The braking delay time can be shortened, but a surge absorber will be required and the relay
cut off capacity will increase.
<Cautions>
• Provide sufficient DC cut off capacity at the contact.
• Always use a serge absorber.
• When using the cannon plug type, the surge absorber will be further away, so use shielded
wires between the motor and surge absorber.

SW 24VDC 24VDC

SW1 SW2
Magnetic brakes 1

Magnetic brakes 2
Magnetic brakes

100 VAC 100 VAC ZD1

or PS or PS
200 VAC 200 VAC
VAR1 VAR2
ZD2

(a) Example of AC OFF (b) Example of DC OFF

PS : 25 VDC stabilized power supply

ZD1, ZD2 : Zener diode for power supply
protection (1W, 24V)
VAR1, VAR2: Surge absorber (220V)

Fig. 11-3 Magnetic brake circuits

11–8
 Chapter 11 Characteristics

11-4 Dynamic brake characteristics

When an emergency stop occurs due to an alarm occurrence, the dynamic brakes will activate and
the motor will stop. (A deceleration control stop can also be selected with the parameter setting.)

11-4-1 Deceleration torque

The dynamic brakes use the motor as a generator, and obtains the deceleration torque by consuming
that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a
maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing.
The torque for each motor is shown in the following table.

Tdp

Deceleration
torque

0 Ndp
Motor speed

Fig. 11-4 Deceleration torque characteristics of a dynamic brake stop

Table 11-3 Max. deceleration torque of a dynamic brake stop

Rated
Rated torque
Motor type torque Tdp (N•m) Ndp (r/min) Motor type Tdp (N•m) Ndp (r/min)
(N•m)
(N•m)
HA-SF52 2.39 2.40 496 HA-FF053 0.16 0.12 3509
HA-SF102 4.78 5.59 473 HA-FF13 0.32 0.17 2646
HA-SF152 7.16 18.49 1062 HA-FF23 0.64 0.38 1163
HA-SF202 9.55 10.56 457 HA-FF33 0.95 0.56 1064
HA-SF352 16.70 32.57 945 HA-FF43 1.30 0.75 668
HA-SF53 1.59 2.54 472 HA-FF63 1.90 0.96 624
HA-SF103 3.18 5.36 417
HA-SF153 4.78 18.88 1676 HC-MF053 0.16 0.11 1445
HA-SF203 6.37 10.63 771 HC-MF13 0.32 0.34 1642
HA-SF353 11.1 22.94 1338 HC-MF23 0.64 0.40 465
HC-MF43 1.30 0.76 426
HC-RF103 3.18 3.67 582 HC-MF73 2.40 1.59 260
HC-RF153 4.78 5.44 668
HC-RF203 6.37 7.16 973

11–9
 Chapter 11 Characteristics

11-4-2 Coasting amount

The motor coasting amount when stopped by a dynamic brake can be approximated using the
following expression.
No JL
CMAX = • te + ( 1 + ) • (A • No3 + B • No)
60 JM
CMAX : Maximum motor coasting amount (turn)
No : Initial motor speed (r/min)
2
JM : Motor inertia (kg•cm )
JL : Motor shaft conversion load inertia (kg•cm2)
te : Brake drive relay delay time (sec) (Normally, 0.03sec)
A : Coefficient A (Refer to the table below)
B : Coefficient B (Refer to the table below)
Emergency stop (EMG) OFF
ON

Motor brake control output (MBR) OFF

ON
OFF
Motor brake actual operation
ON

Motor speed

Initial speed: No
Coasting amount

Time
te

Fig. 11-5 Dynamic brake braking diagram

Table 11-4 Coasting amount calculation coefficients

JM JM
Motor type 2 A B Motor type 2 A B
(kg•cm ) (kg•cm )
HA-SF52 6.5 16.13 × 10−11 11.93 × 10−5 HA-FF053 0.063 0.11 × 10−11 16.21 × 10−5
HA-SF102 13.6 14.97 × 10−11 10.03 × 10−5 HA-FF13 0.095 0.15 × 10−11 12.72 × 10−5
HA-SF152 20.0 2.96 × 10−11 10.03 × 10−5 HA-FF23 0.35 0.58 × 10−11 9.35 × 10−5
HA-SF202 42.5 25.60 × 10−11 16.07 × 10−5 HA-FF33 0.5 0.61 × 10−11 8.23 × 10−5
HA-SF352 82.0 7.75 × 10−11 20.76 × 10−5 HA-FF43 0.98 1.42 × 10−11 7.60 × 10−5
HA-SF53 6.6 15.99 × 10−11 10.71 × 10−5 HA-FF63 1.2 1.46 × 10−11 6.83 × 10−5
HA-SF103 13.6 17.70 × 10−11 9.24 × 10−5
HA-SF153 20.0 1.84 × 10−11 15.49 × 10−5 HC-MF053 0.019 0.35 × 10−11 2.17 × 10−5
HA-SF203 42.5 15.08 × 10−11 26.92 × 10−5 HC-MF13 0.03 0.16 × 10−11 1.27 × 10−5
HA-SF353 82.0 7.77 × 10−11 41.74 × 10−5 HC-MF23 0.088 1.38 × 10−11 0.90 × 10−5
HC-MF43 0.143 1.29 × 10−11 0.70 × 10−5
HC-RF103 1.5 2.04 × 10−11 2.07 × 10−5 HC-MF73 0.6 4.29 × 10−11 0.87 × 10−5
HC-RF153 1.9 1.52 × 10−11 2.04 × 10−5
HC-RF203 2.3 0.96 × 10−11 2.73 × 10−5

11–10
 Chapter 11 Characteristics

11-5 Vibration class

The vibration class of the servomotor is V-10 at the rated speed. The servomotor installation posture
and measurement position to be used when measuring the vibration are shown below.

Servomotor

Top

Measurement
position
Bottom

Fig. 11-6 Servomotor vibration measurement conditions

11–11
 Chapter 12 Specifications

12-1 Servo amplifiers.................................................................................................... 12-2

12-1-1 List of specifications .................................................................................... 12-2
12-1-2 Outline dimension drawings......................................................................... 12-3
12-2 Servomotor ........................................................................................................... 12-5
12-2-1 List of specifications .................................................................................... 12-5
12-2-2 Torque characteristic drawings .................................................................... 12-8
12-2-3 Outline dimension drawings.........................................................................
12-11
12-2-4 Special axis servomotor...............................................................................
12-22

12–1
 Chapter 12 Specifications

12-1 Servo amplifiers

12-1-1 List of specifications

Servo amplifier type

10CT 20CT 40CT 60CT 70CT 100CT 200CT 350CT
(MR-J2-)
Voltage, frequency 3-phase 200 to 230 VAC/ 50, 60 Hz
Tolerable voltage
3-phase 170 to 253 VAC/ 50, 60 Hz
Power fluctuation
supply
Tolerable
frequency Within ±5%
fluctuation
Method Sine wave PWM control, current control method
Dynamic brakes Built-in
External
Regenerative resistor Built-in or external option
only
External digital input External emergency stop input
External digital output Contactor control output, motor brake control output
External analog output ±10V, 2ch
Overcurrent cut off, over voltage cut off, overload cut off (electronic
thermal relay), servomotor overheating protection, detector error
Protective functions
protection, regeneration error protection, undervoltage, instantaneous
power failure protection, overspeed protection, excessive error protection
Structure Protection type (protection method: IP20)
Environment conditions To follow section 3-1-1 Environmental conditions
Weight [kg] 0.7 0.7 0.7 1.1 1.5 1.5 2.0 2.0

12–2
 Chapter 12 Specifications

12-1-2 Outline dimension drawings

• MR-J2-10CT, -20CT
Wiring allowance [Unit: mm]
50 70 or more 135
6 ø6 installation hole

Heat radiation
100 or more
allowance
6
168
156

40 or more
allowance
6

Wiring
6
3 - M4 × 0.7
6

• MR-J2-40CT, -60CT
[Unit: mm]
Wiring allowance
70 70 or more 135
22
Heat radiation

ø6 installation hole
100 or more
allowance
6
168
156

40 or more
allowance
6

Wiring

6
3 - M4 × 0.7
22

12–3
 Chapter 12 Specifications

• MR-J2-70CT, -100CT
[Unit: mm]
Wiring allowance
70 70 or more 190

Heat radiation
22 ø6installation hole

100 or more
allowance
6
168
156

40 or more
allowance
Wiring
6

6 6

22 6

3 - M4 × 0.7

• MR-J2-200CT, -350CT
[Unit: mm]
Wiring allowance
90 75 or more 195
Heat radiation

6 6
100 or more

2-ø6
allowance

installation hole
6
168
156

40 or more
allowance
6

6 6
Wiring

6 6
12- M4 × 0.7 screws 3- M4 × 0.7 screws

6
12–4
 Chapter 12 Specifications

12-2 Servomotor
12-2-1 List of specifications

HC-SF Series (2000r/min rating)

Servomotor type Absolute position standard
HC-SF52 HC-SF102 HC-SF152 HC-SF202 HC-SF352
Corresponding servo amplifier type 60CT 100CT 200CT 350CT
Rated output [kW] 0.5 1.0 1.5 2.0 3.5
Continuous Rated current [A] 3.2 6.0 9.0 10.7 16.6
characteristics Rated torque 2.39 4.78 7.16 9.55 16.7
[N•m]{[kgf•cm]} {24.4} {48.7} {73.1} {97.4} {170.0}
Rated speed [r/min] 2000
Max. speed [r/min] 3000 2500
Max. current [A] 9.6 18 27 33 51
7.16 14.4 21.6 28.5 50.1
Max. torque [N•m]{[kgf•cm]}
{73.1} {146} {219} {292} {510}
Power rate at continuous rated torque
8.7 16.7 25.6 21.5 34.1
[kW/sec]
2
J [kg•cm ] 6.6 13.7 20.0 42.5 82.0
Motor inertia 2 2
GD [kgf•cm ] 26.5 54.8 79.8 170 328
2
Motor inertia J [kg•cm ] 8.6 15.7 22.0 52.5 92.0
2 2
with brakes GD [kgf•cm ] 34.5 62.8 87.8 210 368
Recommended motor shaft
10-times or less of motor inertia
conversion load inertia rate
Power facility capacity [kVA] 1.0 1.7 2.5 3.5 5.5
Speed/position detector Resolution per motor rotation 16384 (pulse/rev)
Structure Fully closed, self-cooling (protection method: IP65)
Environment conditions To follow section 3-2-1 Environment conditions
Weight With/without brakes [kg] 5.0 / 7.5 7.0 / 9.0 9.0 / 11 12 / 18 19 / 25

HC-SF Series (3000r/min rating)

Servomotor type Absolute position standard
HC-SF53 HC-SF103 HC-SF153 HC-SF203 HC-SF353
Corresponding servo amplifier type 60CT 100CT 200CT 350CT
Rated output [kW] 0.5 1.0 1.5 2.0 3.5
Continuous Rated current [A] 3.2 5.4 8.6 10.2 16.8
characteristics Rated torque 1.59 3.18 4.78 6.37 11.0
[N•m]{[kgf•cm]} {16.3} {32.5} {48.7} {65.0} {114}
Rated speed [r/min] 3000
Max. speed [r/min] 3000
Max. current [A] 9.6 16 26 31 49
4.77 9.55 14.3 19.1 33.4
Max. torque [N•m]{[kgf•cm]}
{48.7} {97.4} {146} {195} {341}
Power rate at continuous rated torque
3.8 7.4 11.4 9.5 15.1
[kW/sec]
2
J [kg•cm ] 6.6 13.7 20.0 42.5 82.0
Motor inertia 2 2
GD [kgf•cm ] 26.5 54.8 79.8 170 328
2
Motor inertia J [kg•cm ] 8.6 15.7 22.0 52.5 92.0
2 2
with brakes GD [kgf•cm ] 34.5 62.8 87.8 210 368
Recommended motor shaft
10-times or less of motor inertia
conversion load inertia rate
Power facility capacity [kVA] 1.0 1.7 2.5 3.5 5.5
Speed/position detector Resolution per motor rotation 16384 (pulse/rev)
Structure Fully closed, self-cooling (protection method: IP65)
Environment conditions To follow section 3-2-1 Environment conditions
Weight With/without brakes [kg] 5.0 / 7.5 7.0 / 9.0 9.0 / 11 12 / 18 19 / 25

12–5
 Chapter 12 Specifications

HC-RF Series
Servomotor type Absolute position standard
HC-RF103 HC-RF153 HC-RF203
Corresponding servo amplifier type 200CT 350CT
Rated output [kW] 1.0 1.5 2.0
Continuous Rated current [A] 6.1 8.8 14
characteristics Rated torque 3.18 4.77 6.37
[N•m]{[kgf•cm]} {32.5} {48.7} {64.9}
Rated speed [r/min] 3000
Max. speed [r/min] 4500
Max. current [A] 18.4 23.4 37
7.95 11.9 15.9
Max. torque [N•m]{[kgf•cm]}
{81.3} {122} {162}
Power rate at continuous rated torque
67.4 120 176
[kW/sec]
2
J [kg•cm ] 1.5 1.9 2.3
Motor inertia 2 2
GD [kgf•cm ] 6.0 7.6 9.2
2
Motor inertia J [kg•cm ] 1.9 2.3 2.7
2 2
with brakes GD [kgf•cm ] 7.4 9.0 10.6
Recommended motor shaft
5-times or less of motor inertia
conversion load inertia rate
Power facility capacity [kVA] 1.7 2.5 3.5
Speed/position detector Resolution per motor rotation 16384 (pulse/rev)
Structure Fully closed, self-cooling (protection method: IP65)
Environment conditions To follow section 3-2-1 Environment conditions
Weight With/without brakes [kg] 3.9 / 6.0 5.0 / 7.0 6.2 / 8.3

HA-FF Series
Servomotor type Absolute position standard
HA-FF053 HA-FF13 HA-FF23 HA-FF33 HA-FF43 HA-FF63
Corresponding servo amplifier type 10CT 20CT 40CT 60CT
Rated output [kW] 0.05 0.1 0.2 0.3 0.4 0.6
Continuous Rated current [A] 0.6 1.1 1.3 1.9 2.5 3.6
characteristics Rated torque 0.16 0.32 0.64 0.95 1.3 1.9
[N•m]{[kgf•cm]} {1.62} {3.25} {6.5} {9.7} {13.0} {19.5}
Rated speed [r/min] 3000
Max. speed [r/min] 4000
Max. current [A] 1.8 3.3 3.9 5.7 7.5 10.8
0.48 0.95 1.9 2.9 3.8 5.7
Max. torque [N•m]{[kgf•cm]}
{4.86} {9.74} {19.5} {29.2} {39.0} {58.5}
Power rate at continuous rated torque
4.0 10.2 11.7 18.1 17.2 30.1
[kW/sec]
2
J [kg•cm ] 0.063 0.095 0.35 0.5 0.98 1.2
Motor inertia 2 2
GD [kgf•cm ] 0.25 0.38 1.4 2.0 3.9 4.8
2
Motor inertia J [kg•cm ] 0.08 0.113 0.483 0.633 1.325 1.55
2 2
with brakes GD [kgf•cm ] 0.32 0.45 1.93 2.53 5.3 6.2
Recommended motor shaft
10-times or less of motor inertia
conversion load inertia rate
Power facility capacity [kVA] 0.3 0.3 0.5 0.7 0.9 1.1
Speed/position detector Resolution per motor rotation 8192 (pulse/rev)
Fully closed, self-cooling
Structure
(protection method: IP44, excluding connector section. IP54 for HA-FF∗∗C-UE Series.)
Environment conditions To follow section 3-2-1 Environment conditions
Weight With/without brakes [kg] 1.3 / 1.6 1.5 / 1.8 2.3 / 2.9 2.6 / 3.2 4.2 / 5.0 4.8 / 5.6

12–6
 Chapter 12 Specifications

HC-MF Series
Servomotor type Absolute position standard
HC-MF053 HC-MF13 HC-MF23 HC-MF43 HC-MF73
Corresponding servo amplifier type 10CT 20CT 40CT 70CT
Rated output [kW] 0.05 0.1 0.2 0.4 0.75
Continuous Rated current [A] 0.85 0.85 1.5 2.8 5.2
characteristics Rated torque 0.16 0.32 0.64 1.3 2.4
[N•m]{[kgf•cm]} {1.62} {3.25} {6.5} {13.0} {2.4}
Rated speed [r/min] 3000
Max. speed [r/min] 4500
Max. current [A] 2.6 2.6 5.0 9.0 18
0.48 0.95 1.9 3.8 7.2
Max. torque [N•m]{[kgf•cm]}
{4.86} {9.74} {19.5} {39.0} {73.1}
Power rate at continuous rated torque
13.47 34.13 41.8 116.55 94.43
[kW/sec]
2
J [kg•cm ] 0.019 0.03 0.088 0.143 0.6
Motor inertia 2 2
GD [kgf•cm ] 0.074 0.12 0.35 0.57 2.4
2
Motor inertia J [kg•cm ] 0.022 0.033 0.13 0.19 0.8
2 2
with brakes GD [kgf•cm ] 0.086 0.13 0.54 0.76 2.9
Recommended motor shaft
30-times or less of motor inertia
conversion load inertia rate
Power facility capacity [kVA] 0.3 0.3 0.5 0.9 1.3
Speed/position detector Resolution per motor rotation 8192 (pulse/rev)
Fully closed, self-cooling
Structure
(protection method: IP44 excluding the shaft penetration section and connectors)
Environment conditions To follow section 3-2-1 Environment conditions
Weight With/without brakes [kg] 0.40 / 0.75 0.53 / 0.89 0.99 / 1.6 1.45 / 2.1 3.0 / 4.0

12–7
 Chapter 12 Specifications

12-2-2 Torque characteristic drawings

(1) HC-SF Series
[kgf㨯cm] [N㨯m] 㨇 HC-SF52 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-SF102 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-SF152 㨉
100 10 200 20 400 40

80 8
2000 150 15 300 30
2000
7.16 14.4
Torque

Torque

Torque
60 6 21.6 2000
100 10 200 20
Short-time operation Short-time operation
40 4
Short-time operation
2.39 50 5 100 10
20 2 2.44
4.78 4.26 6.52
1.33 7.16
Continuous operation Continuous operation 2.65 Continuous operation 3.98
0 0 0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
Speed [r/min] Speed [r/min] Speed [r/min]

[kgf㨯cm] [N㨯m] 㨇 HC-SF202 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-SF352 㨉

400 40 600 60

2000
2000 50.1
300 30
28.5 400 40
Torque

Torque

Short-time operation
200 20
Short-time operation
200 20 20.0
13.6
100 10 16.7
9.55 13.4
Continuous operation 7.64 Continuous operation

0 0 0 0
0 1000 2000 2500 0 1000 2000 2500
Speed [r/min] Speed [r/min]

[kgf㨯cm] [N㨯m] 㨇 HC-SF53 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-SF103 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-SF153 㨉

50 5 100 10 200 20
4.77 9.55
40 4 80 8
150 15
Short-time operation Short-time operation
14.3
30 3 60 6
Torque

Torque

Torque

100 10
20 2 40 4 Short-time operation

1.59 3.18 50 5
10 1 20 2 4.78
Continuous operation Continuous operation
Continuous operation

0 0 0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000

Speed [r/min] Speed [r/min] Speed [r/min]

[kgf㨯cm] [N㨯m] 㨇 HC-SF203 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-SF353 㨉

200 20 400 40
19.1 33.4
150 15 Short-time operation 300 30

Short-time operation
Torque

Torque

100 10 200 20

11.1 (Caution) The data in these

50 5 6.37 100 10
Continuous operation characteristics is for an input
Continuous operation voltage of 200VAC.
0 0 0 0
0 1000 2000 3000 0 1000 2000 3000

Speed [r/min] Speed [r/min]

12–8
 Chapter 12 Specifications

(2) HC-RF Series

[kgf㨯cm] [N㨯m] 㨇 HC-RF103 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-RF153 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-RF203 㨉

200 20 200 20 200 20

15.9 3000
150 15 150 15 150 15

3000
Torque

Torque

Torque
11.9
100 10 100 10 100 10 Short-time operation

3000
Short-time operation
7.95 6.0
50 5 Short-time operation
50 5 3.8 50 5 6.37
2.9 4.77 Continuous operation 4.24
3.18 3.18
Continuous operation
Continuous operation 2.12
0 0 0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed [r/min] Speed [r/min] Speed [r/min]

(Caution) The data in these characteristics is for an input voltage of 200VAC.

(3) HA-FF Series

[kgf㨯cm] [N㨯m] 㨇 HA-FF053 㨉 [kgf㨯cm] [N㨯m] 㨇 HA-FF13 㨉 [kgf㨯cm] [N㨯m] 㨇 HA-FF23 㨉

10 1.0 10 1.0 20 2.0
0.95 3000 1.9 3000
0.89
8 0.8 8 0.8 16 1.6

Short-time operation Short-time operation

1.35
6 0.6 6 0.6 12 1.2
Torque
Torque

Torque
0.48
4 0.4 Short-time operation
4 0.4 8 0.8

0.32 0.64
2 0.2 2 0.2 0.24 4 0.4 0.48
Continuous operation Continuous operation
0.16
Continuous operation 0.12
0 0 0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed [r/min] Speed [r/min] Speed [r/min]

[kgf㨯cm] [N㨯m] 㨇 HA-FF33 㨉 [kgf㨯cm] [N㨯m] 㨇 HA-FF43 㨉 [kgf㨯cm] [N㨯m] 㨇 HA-FF63 㨉

50 5 50 5 80 8

40 4 40 4
60 6
3.8 3000 5.7
3000 3000
30 3 30 3
Torque

Torque

Torque

2.9 Short-time operation 40 4

2.8 Short-time operation
4.2
20 2 20 2
Short-time operation
2.1
1.3 20 2
10 1 10 1 1.9
0.95 0.95 1.4
Continuous operation Continuous operation Continuous operation
0.72
0 0 0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed [r/min] Speed [r/min] Speed [r/min]

(Caution) The data in these characteristics is for an input voltage of 200VAC.

12–9
 Chapter 12 Specifications

(4) HC-MF Series

[kgf㨯cm] [N㨯m] 㨇 HC-MF053 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-MF13 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-MF23 㨉

10 1.0 10 1.0 20 2.0
0.95 4000 1.9 3000
8 0.8 8 0.8 0.83 16 1.6

6 0.6 6 0.6 Short-time operation 12 1.2 Short-time operation

Torque

Torque

Torque
0.48
4 0.4 Short-time operation 4 0.4 8 0.8 0.9

0.32 0.64
2 0.2 2 0.2 4 0.4 0.42
0.16 0.21
Continuous operation Continuous operation
Continuous operation 0.11
0 0 0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed [r/min] Speed [r/min] Speed [r/min]

[kgf㨯cm] [N㨯m] 㨇 HC-MF43 㨉 [kgf㨯cm] [N㨯m] 㨇 HC-MF73 㨉

50 5 100 10

40 4 80 8
3000 3000
3.8 7.2
30 3 60 6
Torque

Torque

Short-time operation Short-time operation

20 2 40 4
1.7 2.4 2.9
10 1 1.3 20 2
0.85 1.6
Continuous operation Continuous operation
0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed [r/min] Speed [r/min]

(Caution) The data in these characteristics is for an input voltage of 200VAC.

12–10
 Chapter 12 Specifications

12-2-3 Outline dimension drawings

• HC-SF52(B)
• HC-SF53(B)
• HC-SF102(B)
• HC-SF103(B)
• HC-SF152(B)
• HC-SF153(B)
[Unit:mm]

.  䂔130

   45㫦



ǾJ

ǾJ
Ǿ
5 
14 
㱢
81.5


Oil seal
KL 5$

19.5

Detector connector Power supply connector 4-㱢9 installation hole
/5#2 %'#2 Use a hexagon socket head bolt.

Servomotor type
L (Note 1) KL
2000r/min 3000r/min
HC-SF52(B) HC-SF53(B) 120(153) 51.5
HC-SF102(B) HC-SF103(B) 145(178) 76.5
HC-SF152(B) HC-SF153(B) 170(203) 101.5

Note 1. The dimensions given in parentheses are for when magnetic brakes are provided.

12–11
 Chapter 12 Specifications

• HC-SF202
• HC-SF203
• HC-SF352
• HC-SF353
[Unit:mm]

L 79 ‫غ‬
39.5 18 3 45㫦

Ǿ   

00
㱢2

  
75


Ǿ


㱢
23
0


Oil seal
5$
19.5
KL
4-㱢13.5 46
installation hole
Detector connector Power supply connector
Use a hexagon socket head bolt.
/5#2 %'#2

Servomotor type
L KL
2000r/min 3000r/min
HC-SF202 HC-SF203 145 68.5
HC-SF352 HC-SF353 187 110.5

• HC-SF202B
• HC-SF203B
• HC-SF352B
• HC-SF353B
[Unit:mm]

L 79 ‫غ‬
39.5 18 3 45㫦

0
20
 

  

75 㱢
Ǿ 

Ǿ

㱢
81.5

23
0
117



Oil seal
5$
19.5

69 KL
46

Detector connector Brake connector Power supply connector 4-㱢13.5 installation hole
/5#2 /5#5.2 %'  #  2 Use a hexagon socket head bolt.

Servomotor type
L KL
2000r/min 3000r/min
HC-SF202B HC-SF203B 193 68.5
HC-SF352B HC-SF353B 235 110.5

12–12
 Chapter 12 Specifications

• HC-RF103(B)
• HC-RF153(B)
• HC-RF203(B)
[Unit:mm]

. 

    ‫غ‬

 
q Ǿ installation hole

ǾJ
Use a hexagon socket
 head bolt.

ǾJ
Ǿ
 
Ǿ



Oil seal
5$
 -.

Detector connector Power supply connector
/5#2 %'#2

Servomotor type L (Note 1) KL

HC-RF103(B) 147(185) 71
HC-RF153(B) 172(210) 96
HC-RF203(B) 197(235) 121

Note 1. The dimensions given in parentheses are for when magnetic brakes are provided.

12–13
 Chapter 12 Specifications

• HA-FF053
• HA-FF13
[Unit:mm]

䌌 30 䂔54
Ground terminal M3 screw Ground terminal 6 2.5
39 45䉙
(opposite side)

V-ring

60
㱢
㱢47

㱢50h7
㱢
68

㱢8h6
39

39
4- 㱢 4 .5

Detector cable wire outlet Power supply lead wire outlet

0.3m detector cable Power supply lead

With end connector 172169-9 V C T F 3 - 1 .2 5 2 0 .5 䌭
(AMP) (With round crimp terminals
with end insulation tube 1.25-4)
Red : U phase, White : V phase, Black : W phase

Servomotor type L
HA-FF053 106
HA-FF13 123

Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.

• HA-FF053B
• HA-FF13B
[Unit:mm]

䌌 30 䂔54
Ground terminal M3 screw 39 Ground terminal 6 2.5
(opposite side) 45䉙

V-ring
60
㱢
㱢47

㱢50h7

㱢
68
㱢8h6

39
39

4- 㱢4 .5

Detector cable wire outlet Brake lead

Power supply lead VCT F 2 - 0 . 5 2 0 . 5 䌭
wire outlet
(With round crimp terminals
with end insulation tube 1.25-4)
0.3m detector cable
With end connector 172169-9 (AMP) Power supply lead
V C TF 3 - 1 .2 5 2 0.5 䌭
(With round crimp terminals
with end insulation tube 1.25-4)
Red : U phase, White : V phase,
Black : W phase
Servomotor type L
HA-FF053B 141
HA-FF13B 158

Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.

12–14
 Chapter 12 Specifications

• HA-FF23
• HA-FF33
[Unit:mm]

䌌 30 䂔76
39 8 3 45㫦
Ground terminal M3 screw
25

16 4
0
㱢47 㸠A 㱢9

㱢70h7
㱢
100
㸠A
39

50
V-ring

4
4-㱢5.5

2.5
Detector cable wire outlet

4
Power supply lead
0.3m detector cable wire outlet M4㬍0.7 screw Depth15
With end connector 172169-9
㱢11h6
(AMP) Cross-section
Power supply lead
A-A
VCTF 3-1 .25 2 0.5䌭
(With round crimp terminals
with end insulation tube 1.25-4)
Red : U phase, White : V phase,
Black : W phase
Servomotor type L
HA-FF23 130.5
HA-FF33 148

• HA-FF23B
• HA-FF33B
[Unit:mm]

䌌 30 䂔76
39 8 3
45㫦
Ground terminal M3 screw 25

16 4
0
A 㱢9
㱢47

㸠
㱢70h7

㱢
㸠A 10
0
39

50

V-ring

4
4-㱢5.5
2.5

Detector cable wire outlet

4

Power supply lead

wire outlet
0.3m detector cable M4㬍0.7 screw Depth15
With end connector Power supply lead
172169-9 (AMP) 㱢11h6
Brake lead
VC TF 3-1 .2 5 2 0.5䌭
Cross-section (With round crimp terminals
V CT F 2 - 0 .5 2 0 .5 䌭 A-A with end insulation tube 1.25-4)
(With round crimp terminals
Red : U phase, White : V phase,
with end insulation tube 1.25-4)䋩
Black : W phase

Servomotor type L
HA-FF23B 168
HA-FF33B 185.5

12–15
 Chapter 12 Specifications

• HA-FF43
• HA-FF63
[Unit:mm]

䌌 40 䂔100

Ground terminal M3 screw 39 10 3 45㫦

35

25 5
A 5
11

㱢47
㱢

㱢95h7
㱢
13
5
39
A

62
V-ring

5 4-㱢9

3
5
Power supply lead
wire outlet
M5 㬍 0 .8 screw Depth20
Detector cable wire outlet
0.3m detector cable 㱢16h6
Power supply lead
With end connector 172169-9 Cross-section
A-A V C T F 3 - 1 .2 5 2 0 .5 䌭
(AMP) (With round crimp terminals
with end insulation tube 1.25-4)
Red : U phase, White : V phase,
Black : W phase
Servomotor type L
HA-FF43 154.5
HA-FF63 169.5

• HA-FF43B
• HA-FF63B
[Unit:mm]

䌌 40 䂔10 0
Ground terminal M3 screw 39 10 3
45㫦
35

25 5
5
A 11
㱢47

㱢
㱢95h7

㱢
A 13
5
39

62

V-ring

5
4-㱢9
3
5

Detector cable wire outlet Power supply lead

wire outlet M5㬍0.8 screw Depth20
㱢16h6
Cross-section Power supply lead
0.3m detector cable Brake lead A-A
With end connector 172169-9 (AMP) VCTF 2-0.5 2 0.5䌭 VCTF 3-1 .25 2 0.5䌭
(With round crimp terminals (With round crimp terminals
with end insulation tube 1.25-4) with end insulation tube 1.25-4)
Red : U phase, White : V phase,
Black : W phase

Servomotor type L
HA-FF43B 191.5
HA-FF63B 206.5

12–16
 Chapter 12 Specifications

• HA-FF053C-UE
• HA-FF13C-UE
[Unit:mm]

.  䂔54
   45㫦
 4-㱢4.5

ǾJ
Ǿ 60

ǾJ
㱢
㱢
68




 ‫غ‬ Oil seal

*#  ( (  % 7'
㧦)/ $
*#  ((  %7'
 㧦5$
-.


Detector connector Power supply connector
/5#2 %'#52&$㧔&㧕

Servomotor type L KL
HA-FF053C-UE 120 49.5
HA-FF13C-UE 137 66.5

Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.

• HA-FF053CB-UE
• HA-FF13CB-UE
[Unit:mm]

.  䂔54
  
45㫦
 4-㱢4.5
ǾJ

60
Ǿ

㱢
ǾJ

㱢
68


 ‫غ‬ ‫غ‬ Oil seal



*#  ( (  %$ 7'
 㧦)/ $
   *#  ((   % $7 '
 㧦5$
-.

 Detector connector Power supply connector Brake connector

/5    #     2 %'#52&$㧔&㧕 / 5  '   5 .  2

Servomotor type L KL
HA-FF053CB-UE 155 84
HA-FF13CB-UE 172 101

Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.

12–17
 Chapter 12 Specifications

• HA-FF23C-UE
• HA-FF33C-UE
[Unit:mm]

.  䂔76
  
45㫦

4-㱢5.5
 
#
Ǿ

Ǿ

ǾJ
Ǿ

# 
Oil seal


 5$


‫غ‬ 

ǾJ

-.

 
M4 screw depth 15
Cross-
Detector connector Power supply connector section
/ 5    #    2 %'#52&$㧔&㧕 A-A

Servomotor type L KL
HA-FF23C -UE 145 71.5
HA-FF33C -UE 162 89

• HA-FF23CB-UE
• HA-FF33CB-UE
[Unit:mm]

.  䂔76
  
45㫦

4-㱢5.5
 
# 0
Ǿ

㱢9
ǾJ

㱢
# 10
0
Oil seal
5     $





‫غ‬ ‫غ‬


ǾJ



-.


M4 screw depth 15
Detector connector Power supply connector Brake connector
/5     #     2 %'#52&$㧔&㧕 / 5     '  5 .   2

Servomotor type L KL
HA-FF23CB-UE 182 109
HA-FF33CB-UE 200 127

12–18
 Chapter 12 Specifications

• HA-FF43C-UE
• HA-FF63C-UE
[Unit:mm]

.  ‫غ‬
  
q

㨺Ǿ
 

Ǿ # 
Ǿ

ǾJ
Ǿ

# 




‫غ‬ Oil seal
5  $


-.


ǾJ

Detector connector Power supply connector
/5#2 %'#52&$
&
 M5 screw depth 20
Cross-section A-A

Servomotor type L KL
HA-FF43C-UE 169 93
HA-FF63C-UE 184 108

• HA-FF43CB-UE
• HA-FF63CB-UE
[Unit:mm]

.  ‫غ‬
  
q
 㨺Ǿ
 
# 

Ǿ

Ǿ
ǾJ

Ǿ


#





‫غ‬ ‫غ‬ Oil seal

5$

 
-.
ǾJ




Detector connector Power supply connector  M5 screw depth 20

/5#2 %'#52&$
& Cross-section A-A
Brake connector
/5'5.2

Servomotor type L KL
HA-FF43CB-UE 206 130
HA-FF63CB-UE 221 145

12–19
 Chapter 12 Specifications

• HC-MF053 (-UE)
• HC-MF13 (-UE)
• HC-MF23 (-UE)
• HC-MF43 (-UE)
• HC-MF73 (-UE)
[Unit:mm]

LL LR 䂔LD
LG LE E-㱢LZ 䋴䋵㫦
(Note 2)
(Note 2)

㱢䌓h6
(Note 2)

㱢LBh7
㱢
LA
䌌H

(Note 2)
(Note 2)
V-ring (Note 3)
25.2 (Note 2) Power supply lead
䋴䋭AWG19 䋰䋮䋳䌭
( With round crimp terminals with end insulation 1.25-4)

Detector cable 0.3m

With connector 172169-9 (AMP)

Servomotor type LA LB LD LE LG LH LL LR E LZ S
HC-MF053 46 30 40 2.5 5 28 81.5 25 2 4.5 8
HC-MF13 46 30 40 2.5 5 28 96.5 25 2 4.5 8
HC-MF23 70 50 60 3 7 38 99.5 30 4 5.8 14
HC-MF43 70 50 60 3 7 38 124.5 30 4 5.8 14
HC-MF73 90 70 80 3 8 48 142.0 40 4 6.6 19
HC-MF053-UE 46 30 40 2.5 5 28 89.5 25 2 4.5 8
HC-MF13-UE 46 30 40 2.5 5 28 104.5 25 2 4.5 8
HC-MF23-UE 70 50 60 3 7 38 108.5 30 4 5.8 14
HC-MF43-UE 70 50 60 3 7 38 133.5 30 4 5.8 14
HC-MF73-UE 90 70 80 3 8 48 150.0 40 4 6.6 19

Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. The HC-MF053/13 does not have this hole.
Note 3. EN standard compatible motors (HF-MF‫غ‬-UE) have a V-ring.
HC-MF053-UE㧘HC-MF13-UE 㧦 V-10A
HC-MF23-UE㧘HC-MF43-UE 㧦 V-16A
HC-MF73-UE 㧦 V-25A

12–20
 Chapter 12 Specifications

• HC-MF053B(-UE)
• HC-MF13B(-UE)
• HC-MF23B(-UE)
• HC-MF43B(-UE)
• HC-MF73B(-UE)
[Unit:mm]

.. .4 ‫غ‬. &
.) .' 'Ǿ.< q
(Note 2)
(Note 2)
(Note 2)

Ǿ5J

Ǿ.$J
Ǿ
.#
䌌H

(Note 2) (Note 2)
V-ring (Note 4)
25.2 (Note 2) Power supply lead
㧠㧙# 9)    O
(With round crimp terminals with
end insulation 1.25-4)
Detector cable 0.3m Brake lead   O
With connector With round crimp terminals with end
172169-9 (AMP) insulation 1.25-4
Blue : B1,B2

Servomotor type LA LB LD LE LG LH LL LR E LZ S
HC-MF053B 46 30 40 2.5 5 28 109.5 25 2 4.5 8
HC-MF13B 46 30 40 2.5 5 28 124.5 25 2 4.5 8
HC-MF23B 70 50 60 3 7 38 131.5 30 4 5.8 14
HC-MF43B 70 50 60 3 7 38 156.5 30 4 5.8 14
HC-MF73B 90 70 80 3 8 48 177.5 40 4 6.6 19
HC-MF053B-UE 46 30 40 2.5 5 28 117.5 25 2 4.5 8
HC-MF13B-UE 46 30 40 2.5 5 28 132.5 25 2 4.5 8
HC-MF23B-UE 70 50 60 3 7 38 140.5 30 4 5.8 14
HC-MF43B-UE 70 50 60 3 7 38 165.5 30 4 5.8 14
HC-MF73B-UE 90 70 80 3 8 48 185.5 40 4 6.6 19

Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. The HC-MF053B/13B does not have this hole.
Note 3. Connect the brake release power supply to the brake lead.
Note 4. EN standard compatible motors (HC-MF‫غ‬B-UE) have a V-ring.
HC-MF053B-UE㧘HC-MF13B-UE 㧦 V-10A
HC-MF23B-UE㧘HC-MF43B-UE 㧦 V-16A
HC-MF73B-UE 㧦 V-25A

12–21
 Chapter 12 Specifications

12-2-4 Special axis servomotor

The servomotors have a no keyway, straight axis as a standard. However, a keyway axis and D-cut
axis have been prepared as special shaft shapes. Note that models HA-FF23 to 63 have keyway axes
as a standard. Also, some motors may not be compatible.

Shaft shape Shaft shape

Servomotor type Servomotor type
Key way D cut Key way D cut
HC-MF053, 13 ˜ ٤ HC-SF52 ~ 352 ٤ ˜
HC-MF23 ~ 73 (Note 1) ٤ ˜ HC-SF53 ~ 353 ٤ ˜
HA-FF053, 13 ˜ ٤ HC-RF103 ~ 203 ٤ ˜
HA-FF23 ~ 63 (Note 2) ٤ ˜

(Note 1) With key.

(Note 2) With key as a standard. Refer to section "12-2-3 Outline dimensions drawings" for the shapes.

With key
Changed dimensions table (Unit: mm)
R
Changed dimensions
Q Servomotor type
S R Q W QK QL U H Y
HC-MF23K M4 × 0.7
14h6 30 27 5 20 3 3 5
QK QL HC-MF43K Depth 15
M5 × 0.8
HC-MF73K 19h6 40 37 6 25 5 3.5 6
Depth 20

W
H

S Y

With key
R Changed dimensions table (Unit : mm)
Q Changed dimensions
Servomotor type
S R Q W QK QL U r
QK QL
HC-SF52K ~ 152K 0
8−0.036 +0.2
U 24h6 55 50 36 5 4 0 4
A HC-SF53K ~ 153K
W

HC-SF202K ~ 352K +0.01 0 +0.2

35 79 − 10−0.036 55 5 5 5
ǾS

0 0
HC-SF203K ~ 353K
0 +0.2
HC-RF103K ~ 203K 24h6 45 40 8−0.036 25 5 40 4
A r
Cross-section A-A

D cut
R Changed dimensions table (Unit : mm)
Changed dimensions
Servomotor type
R QK
QK
1

HC-MF053D, 13D 25 20.5

HA-FF053D, 13D 30 25.5

Ǿ8h6

12–22
 Chapter 13 Selection

13-1 Outline................................................................................................................... 13-2

13-1-1 Servomotor................................................................................................. 13-2
13-1-2 Regeneration methods ............................................................................... 13-3
13-2 Selection of servomotor series ............................................................................ 13-4
13-2-1 Motor series characteristics ........................................................................ 13-4
13-2-2 Servomotor precision.................................................................................. 13-4
13-3 Selection of servomotor capacity ........................................................................ 13-5
13-3-1 Load inertia ratio......................................................................................... 13-5
13-3-2 Short time characteristics ........................................................................... 13-5
13-3-3 Continuous characteristics.......................................................................... 13-6
13-4 Selection of regenerative resistor ........................................................................ 13-9
13-4-1 Calculation of regenerative energy.............................................................. 13-9
13-4-2 Calculation of positioning frequency............................................................ 13-11
13-5 Example of servo selection .................................................................................. 13-12
13-5-1 Motor selection calculation ......................................................................... 13-12
13-5-2 Regenerative resistor selection calculation ................................................. 13-15
13-5-3 Servo selection results ............................................................................... 13-15
13-6 Motor shaft conversion load torque..................................................................... 13-16
13-7 Expressions for load inertia calculation .............................................................. 13-17

13–1
 Chapter 13 Selection

13-1 Outline

13-1-1 Servomotor
It important to select a servomotor matched to the purpose of the machine that will be installed. If the
servomotor and machine to be installed do not match, the motor performance cannot be fully realized,
and it will also be difficult to adjust the parameters. Be sure to understand the servomotor characteristics
in this chapter to select the correct motor.

(1) Motor inertia

The servomotor series is mainly categorized according to the motor inertia size. The features in
Table 13-1 are provided according to the motor inertia size.
Table 13-1 Motor inertia
Motor model Medium inertia motor Low inertia motor
Motor type HC-SF HC-RF, HA-FF, HC-MF
Inertia The flange size is large. The flange size is small.
The inertia is comparatively large. The inertia is small.
Acceleration/deceleration The acceleration/deceleration time Acceleration/deceleration is possible
constant does not change much even with a short time constant in respect
for a low inertia load. to low inertia loads.
The effect of the motor inertia is large. The effect of the motor inertia is
small.
Installation The motor size in respect to the The motor size in respect to the
output capacity is large, and the output capacity is small, and the
installation space is large. installation space is smaller.
Disturbance The effect of disturbance is small. The effect of disturbance is large.
characteristics
Speed fluctuation The effect of the torque ripple and The effect of the torque ripple and
cogging torque is small, and speed cogging torque is large, and speed
fluctuation does not occur easily. fluctuation occurs easily.
Suitability Suitable for high precision Suitable for high speed high
interpolation control frequency positioning

The servomotor has an optimum load inertia scale. If the load inertia exceeds the optimum range, the
control becomes unstable and the servo parameters become difficult to adjust. When the load inertia
is too large, decelerate with the gears (The motor axis conversion load inertia is proportional to the
square of the deceleration ratio.), or change to a motor with a large inertia.

The HC-MF motor has the lowest inertia. This series pursues low inertia motor
performance. To realize the proper acceleration/deceleration performance of the
POINT low inertia motor, set the load inertia to within five times of the motor inertia. If the
load inertia ratio increases, the control stability will deteriorate, and in the end the
positioning will take longer.

(2) Rated speed

Even with motors having the same capacity, the rated speed will differ according to the motor. The
motor's rated output is designed to be generated at the rated speed, and the output P (W) is
expressed with expression (13-1). Thus, even when the motors have the same capacity, the rated
torque will differ according to the rated speed.
P = 2πNT (W) ..................................................... (13-1)
N : Motor speed (1/sec)
T : Output torque (N⋅m)

In other words, even with motors having the same capacities, the one with the lower rated speed will
generate a larger torque. When actually mounted on the machine, if the positioning distance is short and
the motor cannot reach the maximum speed, the motor with the lower rated speed will have a shorter
positioning time. When selecting the motor, consider the axis stroke and usage methods, and select the
motor with the optimum rated speed.
Due to the relation with the above expression, the continuous characteristic torque will be less than the
rated torque in the range from the rated speed to the maximum speed.
13–2
 Chapter 13 Selection

13-1-2 Regeneration methods

When the servomotor decelerates, rotating load inertia or the operation energy of the moving object is
returned to the servo amplifier through the servomotor as electrical power. This is called "regeneration".
The three general methods of processing regeneration energy are shown below.

Table 13-2 Servo amplifier regeneration methods

Regeneration method Explanation
1. Condenser regeneration This is a regeneration method for small-capacity amplifiers. The
method regeneration energy is charged to the condenser in the amplifier, and
this energy is used during the next acceleration.
The regeneration capacity decreases as the power supply voltage
becomes higher.
2. Resistance regeneration If the condenser voltage rises too high when regenerating with the
method condenser only, the regenerative electrical power is consumed using
the resistance. If the regeneration energy is small, it will only be
charged to the condenser. Because regeneration energy becomes
heat due to resistance, heat radiation must be considered.
In large capacity servo amplifiers the regenerative resistance
becomes large and this is not practical.
3. Power supply This is a method to return the regeneration energy to the power
regeneration method supply. The regeneration energy does not become heat as in
regenerative resistance. (Heat is generated due to regeneration
efficiency problems.)
The circuit becomes complicated, but in large capacity servo
amplifiers having large regeneration capacity this method is more
advantageous than resistance regeneration.

The condenser regeneration method and resistance regeneration method are used in the MR-J2-CT. For
amplifiers (20CT and higher) of 200W or more, the regenerative resistor is mounted in the amplifier as a
standard. If the regenerative capacity becomes large, an option regenerative resistor is connected
externally to the amplifier. (Combined use with the built-in resistor is not possible.)

The MR-J2-10CT (100W) uses condenser regeneration as a standard. A built-in

POINT regenerative resistor is not mounted.

13–3
 Chapter 13 Selection

13-2 Selection of servomotor series

13-2-1 Motor series characteristics
The servomotor series is categorized according to purpose, motor inertia size, and detector resolution.
Select the motor series that matches the purpose of the machine to be installed.
Table 13-3 Motor series characteristics
Motor Capacity Detector
Characteristics
series (rated speed) resolution
This is a motor for medium inertia and medium capacity. It is suitable
0.5 to 3.5kW
for comparatively heavy load positioning such as for pallet
(2000r/min)
HC-SF 16384p/rev changers, etc. It is drip-proofed against cutting oil entering the unit,
0.5 to 3.5kW
and it clears IP65 specifications for environmental resistance
(3000r/min)
performance.
This is a motor for medium inertia and medium capacity. It has a
high output, compact design, and is suitable for high speed driving
1.0 to 2.0kW
HC-RF 16384p/rev of light loads such as loaders. It is drip-proofed against cutting oil
(3000r/min)
entering the unit, and it clears IP65 specifications for environmental
resistance performance.
This is a motor for low inertia and small capacity. It is suitable for
50 to 600W high speed positioning of light loads such as for tool changers and
HA-FF 8192p/rev
(3000r/min) turrets. The HA-FF∗∗C-UE Series with canon plug specifications
wiring is also available.
This is a motor for ultra-low inertia and small capacity. It is suitable
for ultra-high speed positioning of light loads such as high speed
arms and machine end sections. A molded structure using high
50 to 750W
HC-MF 8192p/rev heat conducting resin is utilized to realize a high output motor with a
(3000r/min)
compact design. The motor characteristics can be realized even
further and the positioning time shortened by making the load inertia
ratio smaller.

13-2-2 Servomotor precision

The control precision of the servomotor is determined by the detector resolution, motor characteristics
and parameter adjustment. This section examines the following three types of servomotor control
precision when the servo parameters are adjusted. When selecting a servo, confirm that these types of
precision satisfy the machine specifications before determining the servomotor series.
(1) Theoretic precision: ∆ε
This value is determined from the motor detector precision, and is the control resolution per machine
end rotation.
(2) Positioning precision : ∆εp
This value expresses the machine positioning precision. When the motor is a single unit, this matches
with the theoretic precision ∆ε. However, when the motor is actually installed on a machine, the
positioning precision ∆ε becomes 1 to 2 times the theoretic precision ∆ε. This is due to the effect on
the motor control by the machine rigidity, etc. Furthermore, the value to which the error from the
motor shaft to the machine end is added becomes the actual machine end positioning precision ∆εp.
(3) Absolute position repeatability : ∆εa
This is the precision outline that affects the absolute position system machine, and expresses the
repeatability of the position before the power was shut off and the position when the power is turned
on again.
With the single motor unit, the precision is 1 to 2 times the theoretic precision ∆ε. Note that the
absolute position repeatability ∆εa is the difference from when the power was turned off last and
returned on. This error is not cumulated.
Table 13-4 Precision by motor series
Control resolution RNG Theoretic precision Positioning precision Absolute position
Motor series
(pulse/rev) ∆ε ∆εp repeatability ∆εa
HC-SF 16384
HC-RF 16384 360 × ∗PC1
∆ε ~ 2∆ε ∆ε ~ 2∆ε
HA-FF 8192 RNG × ∗PC2
HC-MF 8192
(Note 1) PC1: Motor side gear ratio, PC2: Machine side gear ratio
(Note 2) The calculation expression in the table expresses the approximate precision at the motor end. The actual precision at the
machine end is obtained by adding the machine precision to this value.

13–4
 Chapter 13 Selection

13-3 Selection of servomotor capacity

The following three elements are used to determine the servomotor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)

Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions is
not fulfilled.

13-3-1 Load inertia ratio

Each servomotor has an appropriate load inertia ratio (load inertia/motor inertia). The control becomes
unstable when the load inertia ratio is too large, and the positioning time cannot be shortened due to the
lengthening of the settling time.
If the load inertia ratio exceeds the recommended value in the servomotor list of specifications, increase
the motor capacity or change to a motor series with a large inertia. Note that the recommended value for
the load inertia ratio is strictly one guideline. This does not mean that controlling a load with inertia
exceeding the recommended value is impossible.

13-3-2 Short time characteristics

In addition to the rated output, the servomotor has an output range that can only be used for short times
such as acceleration/deceleration. This range is expressed at the maximum torque. The maximum torque
differs for each motor even at the same capacity, so confirm the torque in section "12-2 Servomotor".
The maximum torque affects the acceleration/deceleration time constant that can be driven. The linear
acceleration/deceleration time constant ta can be approximated from the machine specifications using
expression (13-2). Determine the maximum motor torque required from this expression, and select the
motor capacity. The same selection can also be made by using the "Simple motor capacity selection
diagrams" on the page 13-8.

(JL + JM) × N
ta = (msec) ..................................................... (13-2)
95.5 × (0.8 × TMAX − TL)

N : Motor reach speed (r/min)

2
JL : Motor shaft conversion load inertia (kg· cm )
2
JM : Motor inertia (kg· cm )
TMAX : Maximum motor torque (N· m)
TL : Motor shaft conversion load (friction, unbalance) torque (N· m)

13–5
 Chapter 13 Selection

13-3-3 Continuous characteristics

A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is
calculated from the motor shaft conversion and load torque. If numbers Ԙ to ԟ in the following drawing
were considered a one cycle operation pattern, the continuous effective load torque is obtained from the
root mean square of the torque during each operation, as shown in the expression (13-3).

Ԙ ԙ Ԛ ԛ Ԝ ԝ Ԟ ԟ

Motor
speed 0

T1
T7
T2 T4
Motor
torque 0
Time
T3 T6 T8
T5
t1 t2 t3 t4 t5 t6 t7 t8
t0

Fig. 13-1 Continuous operation pattern

Trms = T12·t1 + T22·t2 + T32·t3 + T42·t4 + T52·t5 + T62·t6 + T72·t7 + T82·t8 ...................... (13-3)
t0

Select a motor so that the continuous effective load torque (Trms) is 80% or less of the motor rated torque
(Tra).

Trms ≤ 0.8 • Tra ..................................................... (13-4)

The amount of acceleration torque (Ta) shown in tables 13-5 and 13-6 is the torque to accelerate the load
inertia in a frictionless state. It can be calculated by the expression (13-5). (For linear
acceleration/deceleration)

(JL + JM) × N
Ta = (N· m) ..................................................... (13-5)
95.5 × ta

N : Motor reach speed (r/min)

2
JL : Motor shaft conversion load inertia (kg· cm )
2
JM : Motor inertia (kg· cm )
ta : Linear acceleration/deceleration time constant (msec)

13–6
 Chapter 13 Selection

(1) Horizontal axis load torque

When operations Ԙ to ԟ are for a horizontal axis, calculate so that the following torques are required
in each period.

Table 13-5 Load torques of horizontal axes

Period Load torque calculation method Explanation
Normally the acceleration/deceleration time constant is
(Amount of acceleration torque) +
Ԙ calculated so this torque is 80% of the maximum torque of the
(Kinetic friction torque)
motor.
ԙ (Kinetic friction torque)
The signs for the amount of acceleration torque and amount of
(Amount of deceleration torque) +
Ԛ deceleration torque are reversed when the absolute value is the
(Kinetic friction torque)
same value.
Calculate so that the static friction torque is always required
ԛ (Static friction torque)
during a stop.
− (Amount of acceleration torque) − The signs are reversed with period Ԙ when the kinetic friction
Ԝ
(Kinetic friction torque) does not change according to movement direction.
The signs are reversed with period ԙ when the kinetic friction
ԝ − (Kinetic friction torque)
does not change according to movement direction.
− (Amount of deceleration torque) − The signs are reversed with period Ԛ when the kinetic friction
Ԟ
(Kinetic friction torque) does not change according to movement direction.
Calculate so that the static friction torque is always required
ԟ − (Static friction torque)
during a stop.

(2) Unbalance axis load torque

When operations Ԙ to ԟ are for an unbalance axis, calculate so that the following torques are
required in each period. Note that the forward speed shall be an upward movement.

Table 13-6 Load torques of unbalance axes

Period Load torque calculation method Explanation
(Amount of acceleration torque) + Normally the acceleration/deceleration time constant is
Ԙ (Kinetic friction torque) + (Unbalance calculated so this torque is 80% of the maximum torque of the
torque) motor.
(Kinetic friction torque) + (Unbalance
ԙ
torque)
(Amount of deceleration torque) + The signs for the amount of acceleration torque and amount of
Ԛ (Kinetic friction torque) + (Unbalance deceleration torque are reversed when the absolute value is the
torque) same value.
(Static friction torque) + (Unbalance The holding torque during a stop becomes fairly large.
ԛ
torque) (Upward stop)
− (Amount of acceleration torque) −
Ԝ (Kinetic friction torque) + (Unbalance
torque)
− (Kinetic friction torque) + (Unbalance The generated torque may be in the reverse of the movement
ԝ
torque) direction, depending on the size of the unbalance torque.
− (Amount of deceleration torque) −
Ԟ (Kinetic friction torque) + (Unbalance
torque)
− (Static friction torque) + (Unbalance The holding torque becomes smaller than the upward stop.
ԟ
torque) (Downward stop)

During a stop, the static friction torque may constantly be applied. The static
friction torque and unbalance torque may particularly become larger during an
POINT unbalance upward stop, and the torque during a stop may become extremely
large. Therefore, caution is advised.

13–7
 Chapter 13 Selection

< Acceleration/deceleration time constant 2 for servomotors >

When No. = Rated speed.

70 100 150 200 300 400msec

㧨HC-SF Series㧪

HC-SF352

HC-SF202

HC-SF152

HC-SF102

HC-SF52

50 70 100 150 200 300 400 500 700msec

HC-SF353

HC-SF203

HC-SF153

HC-SF103

HC-SF53

100 150 200 300 400 500mse

0.1 1 10 100 1000

5 10 20 30msec
㧨HC-RF Series㧪

HC-RF203

HC-RF153

HC-RF103

5 10 20 30msec

0.1 1 10 100 1000

10 20 30 50 70 100mse
㧨HA-FF Series㧪

HA-FF63

HA-FF43

HA-FF33

HA-FF23

HA-FF13

HA-FF053

5 10 20 30 50msec

0.01 0.1 1 10 100

1 5 10 20 30 50 70 100mse
㧨HC-MF Series㧪

HC-MF73

HC-MF43

HC-MF23

HC-MF13

HC-MF053

1 5 10 20 30msec

0.01 0.1 1 10 100

2
Motor shaft conversion load inertia (kg/cm )
Fig. 13-2 (2) Simple motor capacity selection diagram
13–8
(Friction and unbalance torque are not considered in this diagram.)
 Chapter 13 Selection

13-4 Selection of regenerative resistor

To select the regenerative resistor, first the regenerative energy from when each axis stops (is positioned)
is calculated. A regenerative resistor having a capacity to satisfy the positioning frequency, determined
from the machine specifications, is selected.

13-4-1 Calculation of regenerative energy

(1) For horizontal axis
For the horizontal axis, the regenerative energy ER consumed by the regenerative resistor can be
calculated with the expression (13-6). If the ER value is negative, all of the regenerative energy is
absorbed (condenser regeneration) by the capacitor on the amplifier, and the energy consumption by
the regenerative resistor is zero (ER = 0).
ER = 5.48 × 10 · η · (JL + JM) · N – Ec (J)
–7 2
..................................................... (13-6)
η : Motor reverse effect
2
JL : Motor inertia (kg· cm )
2
JM : Load inertia (kg· cm )
N : Motor speed (r/min)
Ec : Amplifier charging energy (J)
Example

The regeneration energy is obtained for when the axis stops from the rated speed while a load
with the same inertia as the motor is connected to the HC-SF52 motor.
Regeneration energy ER is calculated using expression (13-6) below.
ER = 5.48 × 10−7 × 0.85 × (6.6 + 6.6) × 2000 − 11 = 13.6 (J)
2

Table 13-7 Servomotor reverse effect and amplifier charging energy

Motor reverse Charging energy Motor reverse Charging energy
Servomotor Servomotor
effect η Ec (J) effect η Ec (J)
HA-SF52 0.85 11 HA-FF053 0.35 9
HA-SF102 0.85 20 HA-FF13 0.55 9
HA-SF152 0.85 40 HA-FF23 0.70 9
HA-SF202 0.85 40 HA-FF33 0.75 9
HA-SF352 0.85 40 HA-FF43 0.85 9
HA-SF53 0.85 11 HA-FF63 0.85 11
HA-SF103 0.85 20
HA-SF153 0.85 40 HC-MF053 0.35 9
HA-SF203 0.85 40 HC-MF13 0.55 9
HA-SF353 0.85 40 HC-MF23 0.70 9
HC-MF43 0.85 9
HC-RF103 0.85 40 HC-MF73 0.85 20
HC-RF153 0.85 40
HC-RF203 0.85 40

The regenerative energy is the value for when the amplifier input power voltage is
220 V.
POINT If the input voltage is higher than this, the charging energy will decrease and the
regeneration energy will increase.

13–9
 Chapter 13 Selection

(2) For an unbalance axis (for linear axes)

The regenerative energy differs in the upward stop and downward stop for an unbalance axis. A
constant regeneration state results during downward movement if the unbalance torque is the same
as or larger than the friction torque.

Regeneration energy
A regeneration state only occurs when deceleration torque (downward torque) is generated.
ERU = 5.24 × 10−5 • η • Tdu • N • td − Ec (J) ...................................................................... (13-7)
Upward stop

η : Motor reverse efficiency

Tdu : Upward stop deceleration torque (N· m)
N : Motor speed (r/min)
td : Deceleration time (time constant) (msec)
Ec : Amplifier charging energy (J)
A regeneration state occurs even during constant rate feed when the upward torque Ts during
dropping is generated.
Calculated so that Ts = 0 when Ts is downward.

ERD =
2π • η • Ts • L + 5.24 × 10−5 • η • Tdd • N • td − Ec (J)...................................... (13-8)
Downward stop

∆S
η : Motor reverse efficiency
Ts : Upward torque during dropping (N· m)
L : Constant rate travel (mm)
∆S : Travel per motor rotation (mm)
Tdd : Downward stop deceleration torque (N· m)
N : Motor speed (r/min)
td : Deceleration time (time constant) (msec)
Ec : Amplifier charging energy (J)
One return is assumed to be one cycle, and the regeneration energy per cycle (ER) is obtained using
expression (13-9).
ER = ERU + ERD (J) .............................................................................. (11-9)

(Example)
In a vertical axis driven by an HC-SF52 motor, a return operation is executed at an
acceleration/deceleration time constant of 50msec. The operation is executed with a feed of
20000mm/min for a distance of 200mm. The regenerative energy per return operation is
obtained at this time.
Note the following :
Travel per upward motor rotation : 10mm
Upward stop deceleration torque : 5N· m
Downward stop deceleration torque : 8N· m
Upward torque during downward movement : 0.5N· m
Using expression (13-7), the upward stop regeneration energy ERU is as follows :
ERU = 5.24 × 10−5 × 0.85 × 5 × 2000 × 50 − 11 = 11.3 (J)
The acceleration/deceleration distance required to accelerate at the 50msec acceleration/
deceleration time constant to 20000mm/min. is as follows:
20000 × 50
= 8.3 (mm)
2 × 60 × 1000

Therefore, the constant speed travel is 183.4mm.

The downward stop regeneration energy ERD is obtained using the following expression (13-8).
ERD =
2π × 0.85 × 0.5 × 183.4 + 5.24 × 10−5 × 0.85 × 8 × 2000 × 50 − 11 = 73.6 (J)
10

Thus, the regeneration energy per return operation ER is as follows :

ER = 11.3 + 73.6 = 84.9 (J)

13–10
 Chapter 13 Selection

13-4-2 Calculation of positioning frequency

Select the regenerative resistor so that the positioning frequency DP (times/minute) calculated by the
regenerative resistor capacity PR (W) and the regenerative energy ER (J) consumed by the regenerative
resistor is within the range shown in expression (13-10). With the unbalance axis, the number of times for
one cycle to raise and lower the axis is judged as DP.

DP < 48 ·
PR
(times/minute) ..................................................... (13-10)
ER

Table 13-8 Regenerative resistor correspondence table

Standard built-in External option regenerative resistor
regenerative resistor MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50
Corresponding PR = Regeneration
servo amplifier 30W 100W 300W 300W 500W
amount
Resistance
40Ω 40Ω 40Ω 13Ω 13Ω
value

MR-J2-10CT No built-in resistor ٤

MR-J2-20CT 10W 100Ω ٤ ٤

MR-J2-40CT 10W 100Ω ٤ ٤

MR-J2-60CT 10W 100Ω ٤ ٤

MR-J2-70CT 20W 40Ω ٤ ٤

MR-J2-100CT 20W 40Ω ٤ ٤

MR-J2-200CT 100W 13Ω ٤ ٤

MR-J2-350CT 100W 13Ω ٤ ٤

13–11
 Chapter 13 Selection

13-5 Example of servo selection

A servomotor is selected using a magazine with the following specifications as an example.

Magazine Circumferential speed = 40000mm/min

Specification item Unit Up
axis
Axis type Rotation
No. of mounting tools tools 40
Position = 180 deg.
Tool spacing mm 100 (farthest point)
Magazine circumferential Down
mm/min 40000
speed
Maximum tool weight kg 10 Position = 0 deg.
(change position)
Chain drive frictional force kgf 80
Motor deceleration ratio 1/200 Tool spacing = 100mm
Motor shaft conversion load 2
kg•cm 20.0 Unbalance occurrence area
inertia (with no tools)
Positioning time msec Within 4000
Positioning frequency time/min 3 Fig. 13-3 40-magazine configuration
Motor brakes Available

13-5-1 Motor selection calculation

(1) Obtaining load inertia
The load inertia in the selection is always judged as the maximum value. Because the load inertia
without tools is provided by the specifications, the load inertia at maximum load when all tools are
attached is obtained. The tool inertia for a chain-driven magazine can be calculated as the object of
linear movement. Due to this, the motor shaft conversion load inertia of one tool weighing the
maximum 10kg is obtained.

• Motor shaft conversion load inertia per tool: JT

Obtain the tool movement amount per motor rotation ∆S before calculating the inertia.
1
∆S = Chain circumference × deceleration ratio = (40 × 100) • = 20 (mm)
200
Conversion to the motor shaft by the deceleration ratio is included in the movement amount per
motor rotation. Refer to "13-7 Calculation of load inertia".
∆S 2 20 2 2
JT = W • ( ) = 10 • ( ) = 1.013 (kg· cm )
20π 20π
• Motor shaft conversion total load inertia: JL
This is the sum of the load inertia with no tools and the tool inertia.
JL = 20.0 + 40 × 1.013 = 60.5 (kg· cm )
2

(2) Obtaining unbalance torque

The unbalance torque is the largest when all the tools are 70kg
in the unbalance occurrence area on the left side of Fig.
13-3, and no tools are on the vertical movement area on Motor side
the right side. For simplification purposes here, if it is circumference Magazine side
: 20mm circumference
assumed all seven tools in the unbalance occurrence : 4000mm
area are in a part where they move vertically, then an
unbalance weight of 70kg would act upon the magazine Deceleration
ratio = 1/200
chain. If the magazine and motor are likened to 4000mm
and 20mm circumference pulleys, as in Fig. 13-4, 70kg of Fig. 13-4 Unbalance torque
unbalance weight acts upon the motor side pulley.
Thus, the unbalance torque is obtained as follows:
70 × g × ((motor side pulley radius ) 70 × 9.8 × 20
TU = = = 2.2 (N· m)
1000mm 1000 × 2π

13–12
 Chapter 13 Selection

(3) Obtaining friction torque

The friction torque is obtained from the chain drive frictional force, in the same manner as the
unbalance torque.
80 × 9.8 × 20
TF = = 2.5 (N· m)
1000 × 2π

(4) Selecting the appropriate motor from the load inertia ratio
The motor series is limited to the HC-SF Series, because of the load inertia and recommended load
inertia of the motor. The motor speed is 2000r/min, because of the magazine circumferential speed
and deceleration ratio. Furthermore, because a motor with brakes is required, a 2000r/min-rated
HC-SF series motor with brakes is selected.
Determine the motor series at this time, also giving careful consideration to the details in sections
"13-1 Outline" and "13-2 Selection of servomotor series".

Motor inertia Load inertia Load inertia

Motor type 2 2 Judgment
(kg· cm ) (kg· cm ) magnification
HC-SF52B 8.6 60.5 7.03 ٤
HC-SF102B 15.7 60.5 3.85 ٤
HC-SF152B 22.0 60.5 2.75 ٤
HC-SF202B 52.5 60.5 1.15 ٤
HC-SF352B 92.0 60.5 0.66 ٤

(5) Selecting the appropriate motor from the short time characteristics
If the acceleration/deceleration time constant is included in the specifications, the appropriate motor
is selected by calculating the acceleration/deceleration time constant for each motor from expression
(13-2). Judgment here is by the positioning time rather than the acceleration/deceleration time
constant. The positioning that takes the most time is that from the farthest point (180 degree position),
and that positioning time will be calculated here using the HC-SF52B motor.

• Acceleration/deceleration time constant: ta

This is obtained from expression (13-2).
(JL + JM) × N (60.5 + 8.6) × 2000
ta = = = 1408 (msec)
95.5 × (0.8 × TMAX − TU − TF) 95.5 × (0.8 × 7.16 − 2.2 − 2.5)

• Acceleration/deceleration distance: La
This value is obtained with a linear acceleration/deceleration carried out at the angle that the axis
moves from the start until the acceleration finishes and the maximum speed (3600 deg./min) is
reached. The circumferential speed 4000mm/min becomes 3600 deg./min at the MR-J2-CT
parameter settings (angular speed setting).
1 3600 × 1408
La = × = 42.2 (deg)
2 60 × 1000

• Constant rate travel: Lc

This is the angle at which the axis moves at maximum speed.
Lc = 180 − 2 × 42.2 = 95.6 (deg)

• Longest positioning time: P

The positioning time at a movement angle of 180 deg. is calculated. When actually controlled with
a motor, a settling time is required from when the commands become zero to when the motor
starts positioning. That time is considered to be 100msec here.
95.6 × 60 × 1000
P = 1408 × 2 + + 100 = 2816 + 1593 + 100 = 4509 (msec)
3600

13–13
 Chapter 13 Selection

The following table shows the results when these values are calculated for other motors in the same
manner. The acceleration/deceleration time constants of the HC-SF152B and HC-SF202B motors
do not change much. This is because the inertia of the motor itself greatly increases due to the larger
flange sizes on HC-SF202 or higher rated motors. An HC-SF102B or higher rated motor satisfies the
specifications (4000msec).
Acceleration/ Constant rate Constant Longest
Motor type deceleration time travel distance rate travel positioning Judgment
constant (msec) (deg) time (msec) time (msec)
HC-SF52B 1408 95.6 1593 4509 ˜
HC-SF102B 234 166.0 2767 3335 ٤
HC-SF152B 137 171.8 2863 3237 ٤
HC-SF202B 131 172.2 2870 3232 ٤
HC-SF352B 90 174.6 2910 3190 ٤

(6) Selecting the appropriate motor from the continuous characteristics

The torque generated in each state is obtained using the HC-SF102B motor as an example. In
rotation axes, because the direction of the unbalance torque differs from that of linear axes and
cannot be defined, the torque is always obtained as if it acts in the direction of the load. Because there
is always a possibility that friction torque and unbalance torque act also when the motor is stopped,
these are also considered in the calculation.

• Acceleration torque: Ta
Ta = 0.8 • TMAX = 0.8 × 14.4 = 11.5 (N· m)

• Torque during constant rate travel

Tc = T U + TF = 2.2 + 2.5 = 4.7 (N· m)

• Deceleration torque
Td = Ta − 2 × TF = 11.5 − 2 × 2.5 = 6.5 (N· m)

• Torque during stop

Ts = TU + TF = 2.2 + 2.5 = 4.7 (N· m)

Following the specifications, the continuous effective load torque is obtained when positioning is
carried out three times per minute.
11.52 × 702 + 4.72 × 8301 + 6.52 × 702 + 4.72 × 50295
Trms = = 4.86 (N· m)
60 × 1000

The following table shows the results when the continuous effective load torque is obtained for other
motors in the same manner. An HC-SF152B or higher rated motor satisfies the expression (13-4).
During During constant During
Rated During stop Effective
acceleration rate travel deceleration
Motor type torque load Judg-
Torque Time Torque Time Torque Time Torque Time
(N· m) torque ment
(N· m) (msec) (N· m) (msec) (N· m) (msec) (N· m) (msec)
HC-SF102B 4.78 11.5 702 4.7 8301 6.5 702 4.7 50295 4.86 ˜
HC-SF152B 7.16 17.3 411 4.7 8589 12.3 411 4.7 50589 4.98 ٤
HC-SF202B 9.55 22.8 393 4.7 8610 17.8 393 4.7 50604 5.22 ٤
HC-SF352B 16.7 40.1 270 4.7 8730 35.1 270 4.7 50730 5.89 ٤

As a result of the selection calculations above, the motors that satisfy conditions (4) to (6) are the HC-SF152B
to HC-SF352B models. Thus, the appropriate motor for this magazine axis is the HC-SF152B
(MR-J2-200CT).

Because there is always a possibility that friction torque and unbalance torque act
POINT also when the motor is stopped, the sum of these is calculated as the torque
during stop.

13–14
 Chapter 13 Selection

13-5-2 Regenerative resistor selection calculation

Because unbalance torque occurs in this magazine axis, the regenerative load should be calculated as an
unbalance axis. However, because the direction of the unbalance torque generation cannot be defined,
the regenerative load is calculated from the load inertia only (as a horizontal axis).

(1) Obtaining the regeneration energy

The regeneration energy per braking is obtained from expression (13-6) for MR-J2-200CT +
HC-SF152B.
ER = 5.48 × 10−7 × 0.85 × (60.5 + 22.0) × 2000 − 40 = 113.7 (J)
2

(2) Obtaining the tolerable No. of positionings

The tolerable cycle operation frequency per minute DP is calculated for a standard built-in
regenerative resistor. Refer to expression (13-10).
PR 100
DP = 48 • = 48 × = 42.2 (times)
ER 113.7

Because the No. of positionings shown in the specifications is 3 times/min., the standard built-in
regenerative resistor can be judged to be sufficient.

Try to choose a resistor with some allowance, because the regeneration load can
POINT easily become large compared to a horizontal axis.

13-5-3 Servo selection results

As a result of calculating the servo selection, the servo specifications for this magazine axis have been
determined.

Item Type
Servo amplifier MR-J2-200CT
Servomotor HC-SF152B
Regenerative resistor Built-in

The shape of the motor shaft (with/without key) will be determined based on separate machine
specifications.

13–15
 Chapter 13 Selection

13-6 Motor shaft conversion load torque

The main load torque calculation expressions are shown below.

Type Mechanism Calculation expression

F V F· ٌS
TL = · ( )=
2×10 πη
3
N 2×10 πη
3

TL : Load torque (N· m)

F : Force in axial direction of linear motion
machine (N)
η : Drive system efficiency (%)
V : Speed of linear operation object (mm/min)
㱓 F0 N : Motor speed (r/min)
FC
Z2 ∆S: Object movement amount per motor rotation (mm)
Linear Z1, Z2: Deceleration ratio
Servo-
movement motor W
F in the above expression is obtained from the lower expression when
the table is moved as shown on the left.
Z1
F = Fc + µ (W · g · F0)
Fc : Force applied on axial direction of moving section (N)
F0 : Tightening force on inner surface of table guide (N)
W : Total weight of moving section (kg)
2
g : Gravitational acceleration (m/sec )
µ : Friction coefficient

Z1 1 1 1
TLO TL = Z · · η TLO + TF = ·n · η TLO + TF
2

TL : Load torque (N· m)

Rotary TLO : Load torque on load shaft (N)
movement Z1 Z2 TF : Motor shaft conversion load friction torque (N· m)
η : Drive system efficiency
Servomotor Z 1, Z 2 : Deceleration ratio
n : Deceleration rate

When rising
TL = T U + T F

When lowering
TL = –TU · η + TF
2

TL : Load torque (N· m)

Servomotor
TU : Unbalanced torque (N· m)
TF : Friction torque on moving section (N· m)

(W 1 − W 2) · g V (W 1 – W 2) · g · ٌS
TU = · ( )=
2 × 10 πη
3
2 × 10 πη
1/n 3 N
Vertical Counter-
weight µ · (W 1 + W 2) · g · ٌS
movement TF =
2 × 10 πη
3

W2
Guide W 1 : Load weight (kg)
Load
W 2 : Counterweight weight (kg)
η : Drive system efficiency
2
W1 g : Gravitational acceleration = 9.8 (m/sec )
V : Speed of linear operation object (mm/min)
N : Motor speed (r/min)
ٌS: Object movement speed per motor rotation (mm)
µ : Friction coefficient

13–16
 Chapter 13 Selection

13-7 Expressions for load inertia calculation

The calculation method for a representative load inertia is shown.
Type Mechanism Calculation expression
Cylinder 㱢 D 1. π· ρ· L W
Rotary JL = 32
4 4
(D1 – D2 ) = 8
2 2
(D1 – D2 )
㱢 D 2.
shaft is
cylinder Reference data
JL : Load inertia
center 2 Material densities Iron
[kg· cm ] –3 3
..... 7.80×10 [kg/cm ]
ρ : Density of cylinder material[kg· cm ]
2
Aluminum
L : Length of cylinder [cm] –3 3
..... 2.70×10 [kg/cm ]
D1 : Outer diameter of cylinder [cm] Copper
–3 3
D2 : Inner diameter of cylinder [cm] ..... 8.96×10 [kg/cm ]
Rotary shaft

When rotary shaft and cylinder shaft W 2 2

JL = (D + 8R )
are deviated 8
R 2
JL : Load inertia [kg· cm ]
W : Weight of cylinder [kg]
D : Outer diameter of cylinder [cm]
R : Distance between rotary axis and
cylinder axis [cm]
D
Rotary shaft

2 2
JL = W ( a +b +R )
2
R 3
2
JL : Load inertia [kg· cm ]
b W : Weight of cylinder [kg]
a b
Column
a a.b.R : Left diagram [cm]

Rotary shaft

V JL = W ( 1 · V ) = W ( ٌS
2
)
2
2πN 10 20π
2
Object that JL : Load inertia [kg· cm ]
moves Servomotor W : Weight of object that moves linearly [kg]
linearly N : Motor speed [r/min]
W V : Speed of object that moves linearly [mm/min]
N ٌS : Stroke of object that moves linearly per motor rotation [mm]

Suspended
D 2
object JL = W ( ) + JP
D 2
2
JL : Load inertia [kg· cm ]
W : Weighty of object [kg]
D : Diameter of pulley [cm]
2
JP : Inertia of pulley [kg· cm ]

Load B N2 2 N3 2
N3 JB J31 JL = J11 + (J21 + J22 + JA) · ( N1 ) + (J31 + JB) · ( N )
1

J21 2
JL : Load inertia [kg· cm ]
Converted JA,JB : Inertia of load A, B
2
[kg· cm ]
load Servomotor J22 J11~J31 : Inertia
2
[kg· cm ]
Load A N2
JA N1~N3 : Each shaft’s speed [r/min]
N1
N1
J11

13–17
Appendix Parameter Lists

Appendix–1
 Appendix Parameter Lists

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#001 ∗MSR Motor series 0000 Set the motor series. This is automatically
judged by the system when the default value
(0000) is set.
#002 ∗RTY Regeneration option type Set the regenerative resistor type. Do not set values without a description.
0 0 0 0 (Default setting value)

Setting
Description
value
Amplifier standard built-in resistor (10CT has no
0
built-in resistor)
1 Setting prohibited
2 MR-RB032 (30W)
3 MR-RB12 (100W)
4 MR-RB32 (300W)
5 MR-RB30 (300W)
6 MR-RB50 (500W)
7~F Setting prohibited

#003 ∗PC1 Motor side gear ratio 1 Set the No. of gear teeth on the motor side and 1 ~ 32767
(machine rotation ratio) the No. of gear teeth on the machine side as an
#004 ∗PC2 Machine side gear ratio 1 integer reduced to its lowest terms. Set the total 1 ~ 32767
(motor rotation ratio) gear ratio if there are multiple gear levels. For
rotation axes, set the No. of motor rotations per
machine rotation.
#005 ∗PIT Feed pitch 360 deg (mm) Set 360 (default value) for rotation axes. 1 ~ 32767
Set the feed lead for linear axes.
#006 INP In-position detection width 50 1/1000 In-position is detected when the position droop 1 ~ 32767
deg (µm) becomes this setting value or less.
#007 ATU Auto-tuning Set the adjustment of the auto-tuning. Do not set values without a description.
0 1 0 2 (Default setting value)

Setting
Description
value
Low response (low-rigidity loads, loads which
1
easily vibrate)
2 Standard setting value
3 Standard setting value
4 Standard setting value
High response (high-rigidity loads, loads which do
5
not easily vibrate)

Setting
Description
value
0 Standard
Large friction amount (set the position loop gain
1
slightly lower)

Setting
Description
value
0 Only auto-tune PG2, VG2, VIC, and GD2.
Only auto-tune PG1, PG2, VG1, VG2, VIC, and
1
GD2 (total gain).
2 No auto-tuning.

#008 PG1 Position loop gain 1 70 rad/sec Set the position loop gain of the model loop. 4 ~ 1000
Determine the tracking ability regarding the
position commands.
#009 0 Not used.
#010 EMGt Deceleration control time 500 msec Set the deceleration time from the clamp speed 0 ~ 32768
constant (Aspeed1). For normal rapid traverse, set the
same value as the acceleration/deceleration
time constant.

Appendix–2
 Appendix Parameter Lists

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#011 0 Not used.
#012 0 Not used.
#013 MBR Vertical axis drop prevention 100 msec Input the time the READY OFF is delayed 0 ~ 1000
time during an emergency stop. Increase the setting
by 100msec at a time and set the minimum
value where the axis does not drop.
#014 NCH Notch filter No. Set the frequency of the mechanical resonance control filter. Do not set values
without a description.
Setting value 0 1 2 3 4 5 6 7
No
Frequency (Hz) 1125 563 375 282 225 188 161
start

#015 0 Not used

#016 JIT Jitter compensation Set the No. of ignored jitter compensation pulses. Do not set values without a
description.
Setting value 0 1 2 3
No. of ignored pulses. No start 1 2 3

#017 0 Not used.

#018 0 Not used.
#019 PG2 Position loop gain 2 25 rad/sec Set the position loop gain of the actual loop. 1 ~ 500
Determine the position responsiveness for
external disturbance.
#020 VG1 Speed loop gain 1 1200 rad/sec Set the speed loop gain of the model loop. 20 ~ 5000
Determine the tracking ability regarding the
speed commands.
#021 VG2 Speed loop gain 2 600 rad/sec Set the speed loop gain of the actual loop. 20 ~ 8000
Determine the speed responsiveness for
external disturbance.
#022 VIC Speed integral 20 msec Determine the characteristics of the speed 1 ~ 1000
compensation low-frequency region.
#023 VDC Speed differential 1000 PI control normally results from a default value 0 ~ 1000
compensation of 1000.
Adjust the override amount by lowering in
increments of 20.
#024 GD2 Load inertia ratio -fold Set the load inertia ratio for the motor inertia. 0.0 ~ 50.0
#025 Not used
#030 ∗MTY Motor type Set the motor type. This is automatically judged by the system when the default
value (0000) is set.
#050 MD1 D/A output channel 1 data Set the Nos. of the data to be output on D/A output channel 1.
Nos.
0 0 0 0 (Default setting value)

No. Description Magnification

Speed feedback
0 Maximum speed = 8V
(with sign)
Current feedback Maximum current (torque)
1
(with sign) = 8V
Speed feedback
2 Maximum speed = 8V
(without sign)
Current feedback (without Maximum current (torque)
3
sign) = 8V
Maximum current (torque)
4 Current command
= 8V
5 Command FӠT 100000 [deg/min] = 10V
6 Position droop 1 (1/1) 2048 [pulse] = 10V
7 Position droop 2 (1/4) 8192lse] = 10V
8 Position droop 3 (1/16) 32768lse] = 10V
9 Position droop 4 (1/32) 65536 [pulse] = 10V
A Position droop 5 (1/64) 131072 [pulse] = 10V

Appendix–3
 Appendix Parameter Lists

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#051 MO1 D/A output channel 1 output 0 mV Set this value when the zero level of D/A output −999 ~ 999
offset channel 1 is not suitable.
#052 0 Not used
#053 MD2 D/A output channel 2 data Set the Nos. of the data to be output on D/A output channel 2.
No. The descriptions are the same as those of #050 MD1D/A output channel data No.
1.
#054 MO2 D/A output channel 2 output 0 mV Set this value when the zero level of D/A output −999 ~ 999
offset channel 2 is not suitable.
#055 0 Not used
#100 ∗station No. of indexing stations 2 Set the No. of stations. For linear axes, this 2 ~ 360
value is expressed by: No. of divisions = No. of
stations − 1.
#101 ∗Cont1 Control parameter 1 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
value

bit Meaning when "0" is set. Meaning when "1" is set.

1 High-speed zero point return after Dog-type return for each zero point
establishment of zero point. return operation.
8 Reference point return direction (+) Reference point return direction (−)
9 Rotation direction determined by Rotation direction in the shortcut
DIR direction
A Machine reference position Electrical zero point becomes the
becomes the reference point reference position
D Coordinate zero point creation valid Zero point established at power
supply ON position
E Rotation direction in DIR or in the Rotation direction in the random
shortcut direction position command sign direction
F Stopper direction is positioning Stopper direction is in the sign
direction direction of the stopper amount

#102 ∗Cont2 Control parameter 2 This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default
0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0
value

bit Meaning when "0" is set. Meaning when "1" is set.

1 Error not corrected at servo OFF Error corrected at servo OFF
2 Linear axis Rotation axis
3 Station assignment direction CW Station assignment direction CCW
4 Uniform index Non-uniform index
5 DO channel standard assignment DO channel reverse assignment
7 Incremental detection Absolute position detection

#103 ∗Emgcont Emergency stop control

bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
value

bit Meaning when "0" is set. Meaning when "1" is set.

External emergency stop invalid
0 External emergency stop valid
(default value)
Dynamic brake stop at emergency Deceleration control stop at
1
stop emergency stop
CNC bus emergency stop input CNC bus emergency stop input
2
valid invalid
CNC bus emergency stop output CNC bus emergency stop output
3
valid invalid

Appendix–4
 Appendix Parameter Lists

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#104 ∗tleng Linear axis stroke length 100.000 mm Set the movement stroke length for linear axes. 0.001 ~
This is meaningless when setting non-uniform 99999.999
assignments or commanding random positions.
#110 ZRNspeed Reference point return 1000 deg/min Set the clamp value of the feedrate when a 1 ~ 100000
speed (mm/min) reference point return is carried out. The
feedrate becomes the manual operation speed
of the parameter group selected at that time, but
it is clamped by this parameter setting value.
#111 ZRNcreep Reference point return creep 200 deg/min Set the approach speed to the reference point 1 ~ 65535
speed (mm/min) after dog detection during a reference point
return.
#112 grid mask Grid mask 0 1/1000 Set the amount that the dog is artificially 0 ~ 65536
deg (µm) extended. Set 1/2 the grid spacing as a
standard.
#113 ∗ grspc
n
Grid spacing 0 1/2 Divide the grid spacing that is the conventional 0 ~ 4
divisions motor rotation movement amount into 2, 4, 8, or
16 divisions.
#114 ZRNshift Reference point shift amount 0 1/1000 Set the shift amount in a dog-type reference 0 ~ 65536
deg (µm) point return from the electric zero point
determined on the grid to the reference point.
#115 ST.offset Station offset 0.000 deg (mm) Set the distance (offset) from the reference −99999.999
point to station 1. ~99999.999
#116 ∗ABS base Absolute position zero point 0.000 deg (mm) When movement of the machine coordinate −99999.999
zero point from the reference point is required ~99999.999
during absolute position default setting, set that
movement amount.
#117 Limit (+) Soft limit (+) 1.000 mm Commands in the plus direction that exceed this −99999.999
setting value are not possible. If the machine is ~99999.999
in a position exceeding the setting value,
commands in the minus direction are possible.
The soft limit function will not operate if Limit (+)
and Limit (−) are set to the same value.
#118 Limit (−) Soft limit (−) 1.000 mm Commands in the minus direction that exceed −99999.999
this value are not possible. If the machine is in a ~99999.999
position exceeding the setting value, commands
in the plus direction are possible.
#120 ABS Type Absolute position detection This is a HEX setting parameter. Set bits without a description to their default
parameter values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
value

bit Meaning when "0" is set. Meaning when "1" is set.

1 Dogless-type method default Dog-type method default setting
setting
2 Mechanical stopper method default Reference point matching method
setting default setting
3 Electrical zero point direction (+) Electrical zero point direction (−)

#123 ABScheck Absolute position power 0.000 deg (mm) Set the value for the tolerable amount of 0.000 ~
OFF tolerable movement movement for a machine that moved during 99999.999
value power OFF in an absolute position detection
system. The "Absolute position power OFF
movement exceeded (ABS)" signal will turn ON
if the machine moves more that this setting
value during while the power is OFF.
The movement amount is not checked when
this parameter is set to 0.000.
#130 backlash Backlash compensation 0 1/1000 Set the backlash compensation amount. 0 ~ 9999
amount deg (µm)
#132 0 Not used
#133 0 Not used
#134 0 Not used
#135 0 Not used

Appendix–5
 Appendix Parameter Lists

< Operation parameter group 1 >

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#150 Aspeed1 Operation parameter group 1 5000 deg/min Set the feedrate during automatic operation 1 ~ 100000
Automatic operation speed (mm/min) when operation parameter group 1 is selected.
This parameter functions as the clamp value for
the automatic operation speeds and manual
operation speeds of all operation groups.
A speed exceeding Aspeed1 cannot be
commanded, even if set in the parameters.
#151 Mspeed1 Operation parameter group 1 2000 deg/min Set the feedrate during manual operation and 1 ~ 100000
Manual operation speed (mm/min) JOG operation when operation parameter group
1 is selected.
#152 time1.1 Operation parameter group 1 100 msec Set the linear acceleration/deceleration time for 1 ~ 9999
Acceleration/deceleration time the operation parameter group 1 automatic
constant 1 operation speed (clamp speed) when operation
parameter group 1 is selected. When operating
at speeds less than the clamp speed, the axis
will linearly accelerate/decelerate at the
inclination determined above.
When this is set together with
acceleration/deceleration time constant 2,
S-character acceleration/deceleration is carried
out. In this case, set the
acceleration/deceleration time of the linear part
in this parameter.
#153 time1.2 Operation parameter group 1 1 msec Set this parameter when carrying out 1 ~ 9999
Acceleration/deceleration time S-character acceleration/deceleration.
constant 2 When S-character acceleration/deceleration is
carried out, set the total time of the non-linear
parts. When 1 is set in this parameter, linear
acceleration/deceleration is carried out.
For the handle feed operation mode, this
becomes the linear acceleration/deceleration
that is the acceleration/deceleration time
constant.
#154 TL1 Operation parameter group 1 500 % Set the motor output torque limit value when 1 ~ 500
Torque limit value operation parameter group 1 is selected. At the
default value, the torque is limited at the
maximum torque of the motor specifications.
Set the default value when torque limiting is not
especially required. In the stopper positioning
operation mode, this becomes the torque limit
value when positioning to the stopper starting
coordinates.
#155 OD1 Operation parameter group 1 100 deg (mm) Set the excessive error detection width when 0 ~ 32767
Excessive error detection width operation parameter group 1 is selected. An
excessive error alarm (S03 0052) is detected
when the position droop becomes larger than
this setting value.
#152 just1 Operation parameter group 1 0.500 deg (mm) The signal indicating that the machine position 0.000 ~
Set position output width is at any one of the stations is the set position 99999.999
reached (JST) signal. During automatic
operation, the automatic set position reached
(JSTA) signal is also output under the same
conditions.
Set the tolerable values at which these signals
are output when operation parameter group 1 is
selected. These signals turn OFF when the
machine position is separated from the station
by more than this value.
#153 near1 Operation parameter group 1 1.000 deg (mm) The signal indicating that the machine position 0.000 ~
Near set position output width is near any one of the station positions is the 99999.999
near set position (NEAR) signal. Set the
tolerable values at which these signals are
output when operation parameter group 1 is
selected. These values are generally set wider
than the set position output width.
During operations, this is related to special
commands when the station selection is 0.
Refer to section "6-4-3 Automatic operation."

Appendix–6
 Appendix Parameter Lists

< Operation parameter group 2 >

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#158 Aspeed2 Operation parameter group 2 5000 deg/min Set the feedrate during automatic operation 1 ~ 100000
Automatic operation speed (mm/min) when operation parameter group 2 is selected.
#159 Mspeed2 Operation parameter group 2 2000 deg/min Set the feedrate during manual operation and 1 ~ 100000
Manual operation speed (mm/min) JOG operation when operation parameter group
2 is selected.
#160 time2.1 Operation parameter group 2 100 msec Set the linear acceleration/deceleration time for 1 ~ 9999
Acceleration/deceleration time the operation parameter group 1 automatic
constant 1 operation speed (clamp speed) when operation
parameter group 2 is selected. When operating
at speeds less than the clamp speed, the axis
will linearly accelerate/decelerate at the
inclination determined above.
When this is set together with
acceleration/deceleration time constant 2,
S-character acceleration/deceleration is carried
out. In this case, set the
acceleration/deceleration time of the linear part
in this parameter.
#161 time2.2 Operation parameter group 2 1 msec Set this parameter when carrying out 1 ~ 9999
Acceleration/deceleration time S-character acceleration/deceleration.
constant 2 When S-character acceleration/deceleration is
carried out, set the total time of the non-linear
parts. When 1 is set in this parameter, linear
acceleration/deceleration is carried out.
For the handle feed operation mode, this
becomes the linear acceleration/deceleration
that is the acceleration/deceleration time
constant.
#162 TL2 Operation parameter group 2 500 % Set the motor output torque limit value when 1 ~ 500
Torque limit value operation parameter group 2 is selected. At the
default value, the torque is limited at the
maximum torque of the motor specifications.
In the stopper positioning operation mode, this
becomes the torque limit value during stopper
operation.
#163 OD2 Operation parameter group 2 100 deg (mm) Set the excessive error detection width when 0 ~ 32767
Excessive error detection width operation parameter group 2 is selected. An
excessive error alarm (S03 0052) is detected
when the position droop becomes larger than
this setting value.
In the stopper positioning operation mode, this
becomes the torque limit value excessive error
detection width during stopper operation.
#164 just2 Operation parameter group 2 0.500 deg (mm) The signal indicating that the machine position 0.000 ~
Set position output width is at any one of the stations is the set position 99999.999
reached (JST) signal. During automatic
operation, the automatic set position reached
(JSTA) signal is also output under the same
conditions.
Set the tolerable values at which these signals
are output when operation parameter group 2 is
selected. These signals turn OFF when the
machine position is separated from the station
by more than this value.
#165 near2 Operation parameter group 2 1.000 deg (mm) The signal indicating that the machine position 0.000 ~
Near set position output width is near any one of the station positions is the 99999.999
near set position (NEAR) signal. Set the
tolerable values at which these signals are
output when operation parameter group 2 is
selected. These values are generally set wider
than the set position output width.
During operations, this is related to special
commands when the station selection is 0.
Refer to section "6-4-3 Automatic operation."

Appendix–7
 Appendix Parameter Lists

< Operation parameter group 3 >

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#166 Aspeed3 Operation parameter group 3 5000 deg/min Set the feedrate during automatic operation 1 ~ 100000
Automatic operation speed (mm/min) when operation parameter group 3 is selected.
#167 Mspeed3 Operation parameter group 3 2000 deg/min Set the feedrate during manual operation and 1 ~ 100000
Manual operation speed (mm/min) JOG operation when operation parameter group
3 is selected.
#168 time3.1 Operation parameter group 3 100 msec Set the linear acceleration/deceleration time for 1 ~ 9999
Acceleration/deceleration time the operation parameter group 1 automatic
constant 1 operation speed (clamp speed) when operation
parameter group 3 is selected. When operating
at speeds less than the clamp speed, the axis
will linearly accelerate/decelerate at the
inclination determined above.
When this is set together with
acceleration/deceleration time constant 2,
S-character acceleration/deceleration is carried
out. In this case, set the
acceleration/deceleration time of the linear part
in this parameter.
#169 time3.2 Operation parameter group 3 1 msec Set this parameter when carrying out 1 ~ 9999
Acceleration/deceleration time S-character acceleration/deceleration.
constant 2 When S-character acceleration/deceleration is
carried out, set the total time of the non-linear
parts. When 1 is set in this parameter, linear
acceleration/deceleration is carried out.
For the handle feed operation mode, this
becomes the linear acceleration/deceleration
that is the acceleration/deceleration time
constant.
#170 TL3 Operation parameter group 3 500 % Set the motor output torque limit value when 1 ~ 500
Torque limit value operation parameter group 3 is selected. At the
default value, the torque is limited at the
maximum torque of the motor specifications.
In the stopper positioning operation mode, this
becomes the pressing torque limit value after
completion of the positioning.
#171 OD3 Operation parameter group 3 100 deg (mm) Set the excessive error detection width when 0 ~ 32767
Excessive error detection width operation parameter group 3 is selected. An
excessive error alarm (S03 0052) is detected
when the position droop becomes larger than
this setting value.
In the stopper positioning operation mode, this
becomes the excessive error detection width
during pressing after completion of the
positioning.
#172 just3 Operation parameter group 3 0.500 deg (mm) The signal indicating that the machine position 0.000 ~
Set position output width is at any one of the stations is the set position 99999.999
reached (JST) signal. During automatic
operation, the automatic set position reached
(JSTA) signal is also output under the same
conditions.
Set the tolerable values at which these signals
are output when operation parameter group 3 is
selected. These signals turn OFF when the
machine position is separated from the station
by more than this value.
#173 near3 Operation parameter group 3 1.000 deg (mm) The signal indicating that the machine position 0.000 ~
Near set position output width is near any one of the station positions is the 99999.999
near set position (NEAR) signal. Set the
tolerable values at which these signals are
output when operation parameter group 3 is
selected. These values are generally set wider
than the set position output width.
During operations, this is related to special
commands when the station selection is 0.
Refer to section "6-4-3 Automatic operation."

Appendix–8
 Appendix Parameter Lists

< Operation parameter group 4 >

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#174 Aspeed4 Operation parameter group 4 5000 deg/min Set the feedrate during automatic operation 1 ~ 100000
Automatic operation speed (mm/min) when operation parameter group 4 is selected.
#175 Mspeed4 Operation parameter group 4 2000 deg/min Set the feedrate during manual operation and 1 ~ 100000
Manual operation speed (mm/min) JOG operation when operation parameter group
4 is selected.
#176 time4.1 Operation parameter group 4 100 msec Set the linear acceleration/deceleration time for 1 ~ 9999
Acceleration/deceleration time the operation parameter group 1 automatic
constant 1 operation speed (clamp speed) when operation
parameter group 4 is selected. When operating
at speeds less than the clamp speed, the axis
will linearly accelerate/decelerate at the
inclination determined above.
When this is set together with
acceleration/deceleration time constant 2,
S-character acceleration/deceleration is carried
out. In this case, set the
acceleration/deceleration time of the linear part
in this parameter.
#177 time4.2 Operation parameter group 4 1 msec Set this parameter when carrying out 1 ~ 9999
Acceleration/deceleration time S-character acceleration/deceleration.
constant 2 When S-character acceleration/deceleration is
carried out, set the total time of the non-linear
parts. When 1 is set in this parameter, linear
acceleration/deceleration is carried out.
For the handle feed operation mode, this
becomes the linear acceleration/deceleration
that is the acceleration/deceleration time
constant.
#178 TL4 Operation parameter group 4 500 % Set the motor output torque limit value when 1 ~ 500
Torque limit value operation parameter group 4 is selected. At the
default value, the torque is limited at the
maximum torque of the motor specifications.
In the stopper default setting mode in absolute
position detection systems, this becomes the
torque limit value during stopper operation.
#179 OD4 Operation parameter group 4 100 deg (mm) Set the excessive error detection width when 0 ~ 32767
Excessive error detection width operation parameter group 4 is selected. An
excessive error alarm (S03 0052) is detected
when the position droop becomes larger than
this setting value.
In the stopper default setting mode in absolute
position detection systems, this becomes the
excessive error detection width during stopper
operation.
#180 just4 Operation parameter group 4 0.500 deg (mm) The signal indicating that the machine position 0.000 ~
Set position output width is at any one of the stations is the set position 99999.999
reached (JST) signal. During automatic
operation, the automatic set position reached
(JSTA) signal is also output under the same
conditions.
Set the tolerable values at which these signals
are output when operation parameter group 4 is
selected. These signals turn OFF when the
machine position is separated from the station
by more than this value.
#181 near4 Operation parameter group 4 1.000 deg (mm) The signal indicating that the machine position 0.000 ~
Near set position output width is near any one of the station positions is the 99999.999
near set position (NEAR) signal. Set the
tolerable values at which these signals are
output when operation parameter group 4 is
selected. These values are generally set wider
than the set position output width.
During operations, this is related to special
commands when the station selection is 0.
Refer to section "6-4-3 Automatic operation."

Appendix–9
 Appendix Parameter Lists

Default Setting
No. Abbrev. Parameter name value
Unit Explanation
range
#190 stops2 Station 2 coordinate value 0.000 deg (mm) Set the coordinate value of each station when −99999.999
#191 stops3 Station 3 coordinate value non-uniform assignment is selected. ~99999.999
#192 stops4 Station 4 coordinate value The station 1 coordinate value is fixed at 0.000
(machine coordinate zero point).
#193 stops5 Station 5 coordinate value
#194 stops6 Station 6 coordinate value
#195 stops7 Station 7 coordinate value
#196 stops8 Station 8 coordinate value
#197 stops9 Station 9 coordinate value
#200 PSWcheck PSW detection method This is a HEX setting parameter. Set bits without a description to their default
values.
bit F E D C B A 9 8 7 6 5 4 3 2 1 0
Default
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
value

bit Meaning when "0" is set. Meaning when "1" is set.

0 The position switch output is The position switch output is
1 judged by the machine position of judged by the machine FB position
2 the command system. (actual position).
3
4
5
6
7

#201 PSW1dog1 PSW1 region setting 1 0.000 deg (mm) When the machine position is in the region −99999.999
#202 PSW1dog2 PSW1 region setting 2 between region settings 1 and 2, the position ~99999.999
#203 PSW2dog1 PSW2 region setting 1 switch of each No. will turn ON.
#204 PSW2dog2 PSW2 region setting 2 The size of the setting value for region setting 1
and 2 does not affect the position switch
#205 PSW3dog1 PSW3 region setting 1
operation.
#206 PSW3dog2 PSW3 region setting 2
For rotation axes, the output turns ON at the
#207 PSW4dog1 PSW4 region setting 1 region not including 0.000.
#208 PSW4dog2 PSW4 region setting 2
#209 PSW5dog1 PSW5 region setting 1
#210 PSW5dog2 PSW5 region setting 2
#211 PSW6dog1 PSW6 region setting 1
#212 PSW6dog2 PSW6 region setting 2
#213 PSW7dog1 PSW7 region setting 1
#214 PSW7dog2 PSW7 region setting 2
#215 PSW8dog1 PSW8 region setting 1
#216 PSW8dog2 PSW8 region setting 2
#220 push Stopper amount 0.000 deg (mm) Set the command stroke of the stopper 0.000 ~
operation during stopper positioning operations. 359.999
#221 pusht1 Stopper standby time 0 msec Set the standby time from the stopper starting 0 ~ 9999
coordinate positioning to the stopper operation
start during stopper positioning operations.
#222 pusht2 Stopper torque release time 0 msec Set the time from the completion of the stopper 0 ~ 9999
operation to the changeover of the pressing
torque during stopper positioning operations.
#223 pusht3 Set position signal output 0 msec Set the time from the completion of the stopper 0 ~ 9999
delay time operation to the output of the automatic set
position reached (JSTA), set position reached
(JST), and near set position (NEAR) signals
during stopper positioning operations.

Appendix–10