General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A
SERVO AMPLIFIER

MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL B

INSTRUCTION MANUAL

MR-JE-A SERVOAMPLIFIER
MODEL INSTRUCTIONMANUAL
MODEL
CODE 1CW706

B
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

SH (NA) 030128-B (1307) MEE Printed in Japan Specifications are subject to change without notice.
 Safety Instructions
Please read the instructions carefully before using the equipment.

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

Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

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

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

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

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

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

A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp
is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
When using an earth-leakage current breaker (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

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

3. To prevent injury, note the following

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the
parts (cables, etc.) by hand.

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

(1) Transportation and installation

CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient Operation 0 ˚C to 55 ˚C (non-freezing)
temperature Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient Operation
90 %RH or less (non-condensing)
humidity Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

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

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

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

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

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.

(3) Test run and adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.

A- 4
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the EMG stop switch.
brake interlock) turns off.

Servo motor
RA

B 24 V DC

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

(6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary
accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years
when it is used in general environment. For replacement, please contact your local sales office.

A- 5
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.

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

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes

Compliance with global standards

Refer to appendix 2 for the compliance with global standard.

«About the manual»

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

Relevant manuals

Manual name Manual No.

MELSERVO-JE Series Instructions and Cautions for Safe Use of AC Servos (packed with the IB(NA)0300194
servo amplifier)
MELSERVO HF-KN/HF-SN Servo Motor Instruction Manual SH(NA)030123
EMC Installation Guidelines IB(NA)67310

«Cables used for wiring»

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

A- 6
 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-12

1.1 Summary........................................................................................................................................... 1- 1
1.2 Function block diagram..................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ............................................................................................ 1- 4
1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1- 5
1.5 Function list....................................................................................................................................... 1- 5
1.6 Model designation............................................................................................................................. 1- 7
1.7 Structure ........................................................................................................................................... 1- 8
1.7.1 Parts identification...................................................................................................................... 1- 8
1.8 Configuration including peripheral equipment ................................................................................. 1-10

2. INSTALLATION 2- 1 to 2- 6

2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keep out foreign materials................................................................................................................ 2- 3
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 4
2.5 Parts having service lives ................................................................................................................. 2- 5

3. SIGNALS AND WIRING 3- 1 to 3-62

3.1 Input power supply circuit ................................................................................................................. 3- 2

3.2 I/O signal connection example.......................................................................................................... 3- 6
3.2.1 Position control mode................................................................................................................. 3- 6
3.2.2 Speed control mode .................................................................................................................. 3-11
3.2.3 Torque control mode ................................................................................................................. 3-13
3.3 Explanation of power supply system ............................................................................................... 3-15
3.3.1 Signal explanations ................................................................................................................... 3-15
3.3.2 Power-on sequence .................................................................................................................. 3-16
3.3.3 Wiring CNP1 and CNP2............................................................................................................ 3-17
3.4 Connectors and pin assignment ...................................................................................................... 3-19
3.5 Signal (device) explanations............................................................................................................ 3-21
3.6 Detailed explanation of signals ........................................................................................................ 3-29
3.6.1 Position control mode................................................................................................................ 3-29
3.6.2 Speed control mode .................................................................................................................. 3-34
3.6.3 Torque control mode ................................................................................................................. 3-36
3.6.4 Position/speed control switching mode..................................................................................... 3-39
3.6.5 Speed/torque control switching mode....................................................................................... 3-41
3.6.6 Torque/position control switching mode.................................................................................... 3-43
3.7 Forced stop deceleration function ................................................................................................... 3-44
3.7.1 Forced stop deceleration function............................................................................................. 3-44
3.7.2 Base circuit shut-off delay time function ................................................................................... 3-46
3.7.3 Vertical axis freefall prevention function ................................................................................... 3-47
3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-47
3.8 Alarm occurrence timing chart ......................................................................................................... 3-48
3.8.1 When you use the forced stop deceleration function................................................................ 3-48
3.8.2 When you do not use the forced stop deceleration function..................................................... 3-49

1
3.9 Interfaces ......................................................................................................................................... 3-50
3.9.1 Internal connection diagram...................................................................................................... 3-50
3.9.2 Detailed explanation of interfaces............................................................................................. 3-52
3.9.3 Source I/O interfaces ................................................................................................................ 3-56
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-57
3.10.1 Safety precautions .................................................................................................................. 3-57
3.10.2 Timing chart ............................................................................................................................ 3-58
3.11 Grounding ...................................................................................................................................... 3-61

4. STARTUP 4- 1 to 4-36

4.1 Switching power on for the first time................................................................................................. 4- 1

4.1.1 Startup procedure ...................................................................................................................... 4- 1
4.1.2 Wiring check............................................................................................................................... 4- 2
4.1.3 Surrounding environment........................................................................................................... 4- 3
4.2 Startup in position control mode ....................................................................................................... 4- 4
4.2.1 Power on and off procedures..................................................................................................... 4- 4
4.2.2 Stop ............................................................................................................................................ 4- 4
4.2.3 Test operation ............................................................................................................................ 4- 5
4.2.4 Parameter setting....................................................................................................................... 4- 6
4.2.5 Actual operation ......................................................................................................................... 4- 6
4.2.6 Trouble at start-up...................................................................................................................... 4- 7
4.3 Startup in speed control mode.......................................................................................................... 4- 9
4.3.1 Power on and off procedures..................................................................................................... 4- 9
4.3.2 Stop ............................................................................................................................................ 4- 9
4.3.3 Test operation ........................................................................................................................... 4-10
4.3.4 Parameter setting...................................................................................................................... 4-11
4.3.5 Actual operation ........................................................................................................................ 4-12
4.3.6 Trouble at start-up..................................................................................................................... 4-12
4.4 Startup in torque control mode ........................................................................................................ 4-13
4.4.1 Power on and off procedures.................................................................................................... 4-13
4.4.2 Stop ........................................................................................................................................... 4-13
4.4.3 Test operation ........................................................................................................................... 4-14
4.4.4 Parameter setting...................................................................................................................... 4-15
4.4.5 Actual operation ........................................................................................................................ 4-15
4.4.6 Trouble at start-up..................................................................................................................... 4-16
4.5 Display and operation sections........................................................................................................ 4-17
4.5.1 Summary ................................................................................................................................... 4-17
4.5.2 Display flowchart ....................................................................................................................... 4-18
4.5.3 Status display mode.................................................................................................................. 4-19
4.5.4 Diagnostic mode ....................................................................................................................... 4-23
4.5.5 Alarm mode ............................................................................................................................... 4-25
4.5.6 Parameter mode ....................................................................................................................... 4-26
4.5.7 External I/O signal display......................................................................................................... 4-28
4.5.8 Output signal (DO) forced output .............................................................................................. 4-31
4.5.9 Test operation mode ................................................................................................................. 4-32

5. PARAMETERS 5- 1 to 5-44

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

5.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 1

2
 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 2
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 3
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 5
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 6
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])............................................................................ 5- 7
5.2 Detailed list of parameters ................................................................................................................ 5- 8
5.2.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 8
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-17
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-28
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-38
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-42
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 5-43

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-24

6.1 Different adjustment methods........................................................................................................... 6- 1

6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 3
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 5
6.2.3 Caution for one-touch tuning..................................................................................................... 6-13
6.3 Auto tuning....................................................................................................................................... 6-14
6.3.1 Auto tuning mode ...................................................................................................................... 6-14
6.3.2 Auto tuning mode basis............................................................................................................. 6-15
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-16
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-17
6.4 Manual mode ................................................................................................................................... 6-18
6.5 2 gain adjustment mode .................................................................................................................. 6-22

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-26

7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 1
7.1.2 Adaptive filter II........................................................................................................................... 7- 4
7.1.3 Shaft resonance suppression filter............................................................................................. 7- 6
7.1.4 Low-pass filter ............................................................................................................................ 7- 7
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 7
7.1.6 Command notch filter ................................................................................................................ 7-12
7.2 Gain switching function.................................................................................................................... 7-13
7.2.1 Applications ............................................................................................................................... 7-13
7.2.2 Function block diagram ............................................................................................................. 7-14
7.2.3 Parameter.................................................................................................................................. 7-15
7.2.4 Gain switching procedure ......................................................................................................... 7-17
7.3 Tough drive function ........................................................................................................................ 7-20
7.3.1 Vibration tough drive function.................................................................................................... 7-20
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-22

8. TROUBLESHOOTING 8- 1 to 8-28

8.1 Alarm and warning list ...................................................................................................................... 8- 1

3
8.2 Remedies for alarms......................................................................................................................... 8- 6
8.3 Remedies for warnings .................................................................................................................... 8-24

9. DIMENSIONS 9- 1 to 9- 6

9.1 Servo amplifier .................................................................................................................................. 9- 1

9.2 Connector ......................................................................................................................................... 9- 4

10. CHARACTERISTICS 10- 1 to 10- 8

10.1 Overload protection characteristics .............................................................................................. 10- 1

10.2 Power supply capacity and generated loss .................................................................................. 10- 3
10.3 Dynamic brake characteristics...................................................................................................... 10- 5
10.3.1 Dynamic brake operation ....................................................................................................... 10- 5
10.3.2 Permissible load to motor inertia when the dynamic brake is used....................................... 10- 6
10.4 Cable bending life ......................................................................................................................... 10- 7
10.5 Inrush current at power-on ........................................................................................................... 10- 7

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-30

11.1 Cable/connector sets .................................................................................................................... 11- 1

11.1.1 Combinations of cable/connector sets................................................................................... 11- 2
11.2 Regenerative option...................................................................................................................... 11- 4
11.2.1 Combination and regenerative power .................................................................................... 11- 4
11.2.2 Selection of regenerative option ............................................................................................ 11- 5
11.2.3 Parameter setting................................................................................................................... 11- 6
11.2.4 Selection of regenerative option ............................................................................................ 11- 7
11.2.5 Dimensions ........................................................................................................................... 11-10
11.3 Junction terminal block MR-TB50................................................................................................ 11-12
11.4 MR Configurator2 ........................................................................................................................ 11-14
11.5 Selection example of wires .......................................................................................................... 11-16
11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)............................... 11-17
11.7 Power factor improving AC reactor.............................................................................................. 11-17
11.8 Relay (recommended) ................................................................................................................. 11-18
11.9 Noise reduction techniques ......................................................................................................... 11-19
11.10 Earth-leakage current breaker................................................................................................... 11-25
11.11 EMC filter (recommended) ........................................................................................................ 11-27

APPENDIX App. - 1 to App. -13

App. 1 Peripheral equipment manufacturer (for reference).............................................................. App.- 1

App. 2 Compliance with global standards ........................................................................................App.- 1
App. 3 Analog monitor ..................................................................................................................... App.-10
App. 4 Low-voltage directive ........................................................................................................... App.-13

4
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

The Mitsubishi general-purpose AC servo MELSERVO-JE series have limited functions with keeping high
performance based on MELSERVO-J4 series.
The servo amplifier has position, speed, and torque control modes. In the position control mode, the
maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function, drive recorder function, and preventive maintenance support function strongly
support machine maintenance.
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to
the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain
adjustment, and others.
The MELSERVO-JE series servo motor equipped with an incremental encoder whose resolution is 131072
pulses/rev will enable a high-accuracy positioning.

1- 1
1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-JE-100A or less

Regenerative
option

P+ C Servo motor
Diode Dynamic
stack Relay (Note 1) brake circuit
MCCB MC L1 U U
(Note 2) U
V V
Power L2 Current
+ encoder M
supply U U
Regene-
L3 rative W W
TR

CHARGE
lamp
RA B1
Electromagnetic
24 V DC B brake
B2
Control
circuit
Base Voltage Current

CN2
power Overcurrent
amplifier detection protection detection
Encoder

Position Virtual
command encoder
input Model Model
position speed
control control
Virtual
motor

Model position Model speed Model torque

Actual Actual Current

position speed control
control control

A/D D/A USB

I/F
CN1 CN3

DI/O control
Analog Servo-on Personal
(two channel) Input command pulse. computer
Analog monitor Start
(two channel) Malfunction, etc USB

Note 1. The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For the power supply specifications, refer to section 1.3.

1- 2
1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

Regenerative
option

P+ C D N- (Note 2) Servo motor

Diode Dynamic
stack Relay brake circuit
MCCB MC L1 U U
(Note 1) U
V V
Power
L2 Current M
+ Regene- encoder
supply U U
W W
L3 rative
TR

CHARGE
lamp
Cooling fan RA B1
Electromagnetic
24 V DC B brake
B2
Control
circuit
Base Voltage Current

CN2
power Overcurrent
amplifier detection protection detection
Encoder

Position Virtual
command encoder
input Model Model
position speed
control control
Virtual
motor

Model position Model speed Model torque

Actual Actual Current

position speed control
control control

A/D D/A USB

I/F
CN1 CN3

DI/O control
Analog Servo-on Personal
(two channel) Input command pulse. computer
Analog monitor Start
(two channel) Malfunction, etc USB

Note 1. For the power supply specifications, refer to section 1.3.

2. This is for manufacturer adjustment. Leave this open.

1- 3
1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Model: MR-JE- 10A 20A 40A 70A 100A 200A 300A
Rated voltage 3-phase 170 V AC
Output
Rated current [A] 1.1 1.5 2.8 5.8 6.0 11.0 11.0
3-phase or 1-phase 200 V AC to 240 V AC, 50 3-phase 200 V AC to 240 V AC, 50
Voltage/Frequency
Hz/60 Hz Hz/60 Hz
Rated current [A] 0.9 1.5 2.6 3.8 5.0 10.5 14.0
Permissible voltage
3-phase or 1-phase 170 V AC to 264 V AC 3-phase 170 V AC to 264 V AC
Power supply fluctuation
input Permissible frequency
Within ±5%
fluctuation
Power supply capacity
Refer to section 10.2.
[kVA]
Inrush current [A] Refer to section 10.5.
Interface Voltage 24 V DC ± 10%
power supply Current capacity [A] (Note 1) 0.3
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Communication function USB: Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Max. input pulse
4 Mpulses/s (for differential receiver) (Note 3), 200 kpulses/s (for open collector)
frequency
Positioning feedback
Encoder resolution (resolution per servo motor revolution): 131072 pulses/rev
pulse
Position Command pulse
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
control mode multiplying factor
In-position range
0 pulse to ±65535 pulses (command pulse unit)
setting
Error excessive ±3 revolutions
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed
0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed control command input
mode ±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less
Speed fluctuation ratio
(ambient temperature 25 °C ± 10 °C) when using analog speed command
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Analog torque
Torque 0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ)
command input
control mode
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
Protective functions
undervoltage protection, instantaneous power failure protection, overspeed protection, and
error excessive protection
LVD: EN 61800-5-1
Compliance
CE marking EMC: EN 61800-3
to global
standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Force cooling, open
Structure (IP rating) Natural cooling, open (IP20)
(IP20)
Close mounting (Note 2) Possible
Ambient Operation 0 ˚C to 55 ˚C (non-freezing)
temperature Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient Operation
90 %RH or less (non-condensing)
humidity Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
2
Vibration resistance 5.9 m/s , at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.5 2.1
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at
75% or smaller effective load ratio.
3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4 Mpulses/
s or lower, change the setting in [Pr. PA13].

1- 4
1. FUNCTIONS AND CONFIGURATION

1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Servo motor
MR-JE-10A HF-KN13
MR-JE-20A HF-KN23
MR-JE-40A HF-KN43
MR-JE-70A HF-KN73
HF-SN52
MR-JE-100A HF-SN102
MR-JE-200A HF-SN152, HF-SN202
MR-JE-300A HF-SN302

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
Detailed
Function Description
explanation
Section 3.2.1
Position control mode This servo is used as a position control servo. Section 3.6.1
Section 4.2
Section 3.2.2
Speed control mode This servo is used as a speed control servo. Section 3.6.2
Section 4.3
Section 3.2.3
Torque control mode This servo is used as a torque control servo. Section 3.6.3
Section 4.4
Position/speed control switch Using an input device, control can be switched between position control and speed
Section 3.6.4
mode control.
Speed/torque control switch Using an input device, control can be switched between speed control and torque
Section 3.6.5
mode control.
Torque/position control switch Using an input device, control can be switched between torque control and position
Section 3.6.6
mode control.
High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo
High-resolution encoder
motor compatible with the MELSERVO-JE series.
You can switch gains during rotation and during stop, and can use an input device to
Gain switching function Section 7.2
switch gains during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
suppression control II
Servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II Section 7.1.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
Low-pass filter Section 7.1.4
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
Machine analyzer function an MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
Robust filter [Pr. PE41]
load to motor inertia ratio is high for such as roll send axes.
Slight vibration suppression
Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]
control
[Pr. PA06]
Electronic gear Input pulses can be multiplied by 1/10 to 4000.
[Pr. PA07]
S-pattern
acceleration/deceleration time Speed can be increased and decreased smoothly. [Pr. PC03]
constant
Automatically adjusts the gain to optimum value if load applied to the servo motor
Auto tuning Section 6.3
shaft varies.
Used when the built-in regenerative resistor of the servo amplifier does not have
Regenerative option Section 11.2
sufficient regenerative capability for the regenerative power generated.

1- 5
1. FUNCTIONS AND CONFIGURATION

Detailed
Function Description
explanation
Alarm history clear Alarm history is cleared. [Pr. PC18]
Output signal selection ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and [Pr. PD03] to
(device settings) other input device can be assigned to any pins. [Pr. PD20]
Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be assigned [Pr. PD24] to
(device settings) to certain pins of the CN1 connector. [Pr. PD28]
Output signal (DO) forced Output signal can be forced on/off independently of the servo status.
Section 4.5.8
output Use this function for checking output signal wiring, etc.
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Section 3.6.1
(5)
Torque limit Servo motor torque can be limited to any value.
[Pr. PA11]
[Pr. PA12]
Section 3.6.3
(3)
Speed limit Servo motor speed can be limited to any value.
[Pr. PC05] to
[Pr. PC11]
Status display Servo status is shown on the 5-digit, 7-segment LED display. Section 4.5.3
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7
Voltage is automatically offset to stop the servo motor if it does not come to a stop
Automatic VC offset Section 4.5.4
when VC (Analog speed command) or VLA (Analog speed limit is 0 V.
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8
Jog operation, positioning operation, motor-less operation, DO forced output, and
Test operation mode program operation Section 4.5.9
MR Configurator2 is required for the positioning operation and program operation.
[Pr. PC14],
Analog monitor output Servo status is outputted in terms of voltage in real time.
[Pr. PC15]
Using a personal computer, you can perform the parameter setting, test operation,
MR Configurator2 Section 11.4
monitoring, and others.
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Section 6.2
Configurator2 or operation section.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
Tough drive function Section 7.3
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data
on the drive recorder window on MR Configurator2 by clicking the "Graph" button.
Drive recorder function However, the drive recorder will not operate on the following conditions. [Pr. PA23]
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
You can check the cumulative energization time and the number of on/off times of the
Servo amplifier life diagnosis inrush relay. This function gives an indication of the replacement time for parts of the
function servo amplifier including a capacitor and a relay before they malfunction.
MR Configurator2 is necessary for this function.
This function calculates the power running energy and the regenerative power from
Power monitoring function the data in the servo amplifier such as speed and current. Power consumption and
others are displayed on MR Configurator2.
From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
Machine diagnosis function
machine parts, including a ball screw and bearing.
MR Configurator2 is necessary for this function.

1- 6
1. FUNCTIONS AND CONFIGURATION

1.6 Model designation

(1) Rating plate

The following shows an example of rating prate for explanation of each item.
AC SERVO Serial number
SER. S33001001 Model
MR-JE-10A Capacity
POWER : 100W Applicable power supply
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Rated output current
OUTPUT : 3PH170V 0-360Hz 1.1A
STD.: IEC/EN61800-5-1 MAN. : IB(NA)0300194
Standard, Manual number
Max. Surrounding Air Temp. : 55°C Ambient temperature
IP20 IP rating
KCC-REI-MEK-TC300A745G51 DATE: 2013-05 KC certification number,
The year and month of manufacture
TOKYO 100-8310, JAPAN MADE IN JAPAN
Country of origin

(2) Model
The following describes what each block of a model name indicates.

General-purpose interface
Series
Rated output
Symbol Rated output [kW]
10 0.1
20 0.2
40 0.4
70 0.75
100 1
200 2
300 3

1- 7
1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification

(1) MR-JE-100A or less

Detailed
(1) No. Name/Application explanati
on

(2) Display
Section
(1) The 5-digit, 7-segment LED shows the servo status
4.5
(3) and the alarm number.
Operation section
Used to perform status display, diagnostic, alarm,
and parameter setting operations. Push the "MODE"
and "SET" buttons at the same time for 3 s or more
(7) to switch to the one-touch tuning mode.
Side Used to change the mode.
(4) Section
Used to change the 4.5
(2) display or data in each Section
mode.
6.2
Used to set data.

To the one-touch tuning

mode
(5)
USB communication connector (CN3) Section
(3)
Connect with the personal computer. 11.4
I/O signal connector (CN1) Section
(8) Digital I/O signal, analog input signal, and analog 3.2
(4)
monitor output are connected. Section
3.4
(6) Encoder connector (CN2) Section
(5)
Used to connect the servo motor encoder. 3.4
Power connector (CNP1) Section
Input power supply, built-in regenerative resistor, 3.1
(6)
regenerative option, and servo motor are connected. Section
3.3
Rating plate Section
(9) 1.6
Charge lamp
(8) When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Bottom
Protective earth (PE) terminal Section
Grounding terminal 3.1
(9)
Section
3.3

1- 8
1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

Detailed
(1)
No. Name/Application explanati
(2) on
(3) Display
Section
(1) The 5-digit, 7-segment LED shows the servo status
4.5
and the alarm number.
Operation section
(6) Used to perform status display, diagnostic, alarm,
and parameter setting operations. Push the "MODE"
and "SET" buttons at the same time for 3 s or more
(7) to switch to the one-touch tuning mode.
Side Used to change the mode.
(4) Section
Used to change the 4.5
(2) display or data in each Section
mode.
6.2
Used to set data.

(8)
(5) To the one-touch tuning
mode
(9)
USB communication connector (CN3) Section
(3)
Connect with the personal computer. 11.4
Bottom I/O signal connector (CN1) Section
(10) Digital I/O signal, analog input signal, and analog 3.2
(4)
monitor output are connected. Section
3.4
Encoder connector (CN2) Section
(5)
Used to connect the servo motor encoder. 3.4
Power connector (CNP1) Section
Input power supply and regenerative option are 3.1
(6)
connected. Section
3.3
Rating plate Section
(7)
1.6
Servo motor power connector (CNP2) Section
Connect the servo motor. 3.1
(8)
Section
3.3
Charge lamp
(9) When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal Section
Grounding terminal 3.1
(10)
Section
3.3

1- 9
1. FUNCTIONS AND CONFIGURATION

1.8 Configuration including peripheral equipment

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

CAUTION amplifier may cause a malfunction.

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

(1) MR-JE-100A or less

The diagram shows MR-JE-10A.

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

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

Line noise
filter
(FR-BSF01) CN2

L1
L2
L3

U Servo motor
V
W

Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-70A or less. For 1-phase 200 V
AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section
1.3.
2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the
dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.

1 - 10
1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

The diagram shows MR-JE-200A.
RS T
(Note 1)
Power
supply

Molded-case
circuit breaker

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

Power factor
improving AC
reactor
(FR-HAL)

Line noise
filter
(FR-BSF01)

CN1
L1
L2 Junction terminal block
L3
U
V
W
CN2

Servo motor

Note 1. For the power supply specifications, refer to section 1.3.

2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the
dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.

1 - 11
1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 12
2. INSTALLATION

2. INSTALLATION

WARNING To prevent electric shock, ground each equipment securely.

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

Do not hold the lead wire of the regenerative resistor when transporting the servo
amplifier.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to
section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
CAUTION Do not drop or strike the servo amplifier. Isolate it from all impact loads.
Do not install or operate the servo amplifier which has been damaged or has any
parts missing.
When the product has been stored for an extended period of time, contact your
local sales office.
When handling the servo amplifier, be careful about the edged parts such as
corners of the servo amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine,
bromine, and iodine are used for disinfecting and protecting wooden packaging
from insects, they cause malfunction when entering our products. Please take
necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat
method). Additionally, disinfect and protect wood from insects before packing
products.

2- 1
2. INSTALLATION

2.1 Installation direction and clearances

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

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

MR-JE-40A to MR-JE-100A have a regenerative resistor on their back face. The regenerative resistor
generates heat of 100 ˚C higher than the ambient temperature. Please fully consider heat dissipation,
installation position, etc. when mounting it.

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier
Cabinet Cabinet

40 mm
or more
Servo
amplifier Wiring allowance
80 mm
or more
10 mm 10 mm
or more or more Top

Bottom
40 mm
or more

2- 2
2. INSTALLATION

(b) Installation of two or more servo amplifiers

POINT
Close mounting is possible for all capacity type of MR-JE servo amplifiers.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo
amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within
0 ˚C to 45 ˚C or use the servo amplifier with 75% or less of the effective load ratio.
Cabinet Cabinet

100 mm or more 100 mm or more

10 mm or more 1 mm 1 mm

30 mm 30 mm 30 mm Top
or more or more or more

Bottom

40 mm or more 40 mm or more

Leaving clearance Mounting closely

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

2.2 Keep out foreign materials

(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.

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

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

2- 3
2. INSTALLATION

2.3 Encoder cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight
stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and
brake) with having some slack from the connector connection part of the servo motor to avoid putting
stress on the connector connection part. Use the optional encoder cable within the bending life range.
Use the power supply and brake wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.

(4) For installation on a machine where the servo motor moves, the flexing radius should be made as large
as possible. Refer to section 10.4 for the bending life.

2.4 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Otherwise, an electric shock may
occur. In addition, when confirming whether the charge lamp is off or not, always
WARNING confirm it from the front of the servo amplifier.
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.

Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
CAUTION cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating
conditions especially when the servo motor is movable.

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

2- 4
2. INSTALLATION

2.5 Parts having service lives

Service lives of the following parts are listed below. However, the service life vary depending or operating
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of
their service lives. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on and forced stop times
Relay
by EM1 (Forced stop 1): 100,000 times
50,000 hours to 70,000 hours (7 years to 8
Cooling fan
years)

(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the
capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach
the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 ˚C
surrounding air temperature or less).

(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays will reach the end of
their lives depending on their power supply capacity when the number of power-on times and number of
forced stop times by EM1 (Forced stop 1) are 100,000 times in total.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 50,000 hours to 70,000 hours. Normally, therefore,
the cooling fan must be replaced in seven to eight years of continuous operation as a guideline. It must
also be changed if unusual noise or vibration is found during inspection.
The life indicates under the yearly average ambient temperature of 40 ˚C, free from corrosive gas,
flammable gas, oil mist, dust and dirt.

2- 5
2. INSTALLATION

MEMO

2- 6
3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Otherwise, an electric shock may occur. In addition, when
confirming whether the charge lamp is off or not, always confirm it from the front
of the servo amplifier.
Ground the servo amplifier and servo motor securely.
WARNING Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply
terminals.

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

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

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

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

CAUTION Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF)
with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

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

amplifier may cause a malfunction.

3- 1
3. SIGNALS AND WIRING

3.1 Input power supply circuit

Always connect a magnetic contactor between the power supply and the power
supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that
shuts down the power supply on the side of the servo amplifier’s power supply. If
a magnetic contactor is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Use ALM (Malfunction) to switch power off. Not doing so may cause a fire when a
regenerative transistor malfunctions or the like may overheat the regenerative
resistor.
Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A,
disconnect the lead wires of the regenerative resistor from the CNP1 connector.
CAUTION Not doing so may break the lead wires of the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit of the
specification, the servo amplifier will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to
suppress lightning surge. The varistor can break down due to its aged
deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input
power supply.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.

POINT
EM2 has the same function as EM1 in the torque control mode.
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-E Super Series Servo
Amplifier's. When using MR-JE as a replacement for MR-E Super, be careful not
to connect the power to L2.

Configure the wirings so that the power supply is shut off and SON (Servo-on) is turned off after deceleration
to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit breaker (MCCB)
must be used with the input cables of the main circuit power supply.

3- 2
3. SIGNALS AND WIRING

(1) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-100A

OFF
ON
MC

EMG stop switch RA1 MC SK

Malfunction
Servo amplifier Servo motor
(Note 5)
MCCB MC CNP1
L1
3-phase (Note 4, 7)
200 V AC to L2 Built-in U U
Motor
240 V AC regenerative
L3 resistor V V
M
(Note 1) P+ W W
C

(Note 7)
CN2 (Note 2) Encoder
Encoder cable

(Note 6)
Power CN1
supply
Forced stop 2 EM2 CN1
(Note 3) 24 V DC (Note 8)
Servo-on SON DOCOM

DICOM ALM RA1 Malfunction (Note 3)

24 V DC (Note 8)

Note 1. MR-JE-40A to MR-JE-100A have a built-in regenerative resistor. (factory-wired) When using the regenerative option,
refer to section 11.2.
2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HF-KN/HF-SN Servo
Motor Instruction Manual".
3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
4. For connecting servo motor power wires, refer to "HF-KN/HF-SN Servo Motor Instruction Manual".
5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.
6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.

3- 3
3. SIGNALS AND WIRING

(2) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-70A

POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-E Super Series Servo
Amplifier's. When using MR-JE as a replacement for MR-E Super, be careful not
to connect the power to L2.

OFF
ON
MC

EMG stop switch RA1 MC SK

Malfunction
Servo amplifier Servo motor
(Note 5)
MCCB MC CNP1
1-phase L1
(Note 4, 7)
200 V AC to L2 Built-in U U
Motor
240 V AC regenerative
L3 resistor V V
M
(Note 1) P+ W W
C

(Note 7)
CN2 (Note 2) Encoder
Encoder cable

(Note 6)
Power CN1
supply
Forced stop 2 EM2 CN1
(Note 3) 24 V DC (Note 8)
Servo-on SON DOCOM

DICOM ALM RA1 Malfunction (Note 3)

24 V DC (Note 8)

Note 1. MR-JE-40A and MR-JE-70A have a built-in regenerative resistor. (factory-wired) When using the regenerative option,
refer to section 11.2.
2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HF-KN/HF-SN Servo
Motor Instruction Manual".
3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
4. For connecting servo motor power wires, refer to "HF-KN/HF-SN Servo Motor Instruction Manual".
5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.
6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.

3- 4
3. SIGNALS AND WIRING

(3) MR-JE-200A/MR-JE-300A
OFF
ON
MC

EMG stop switch RA1 MC SK

Malfunction
Servo amplifier Servo motor
(Note 5)
MCCB MC CNP1
L1
3-phase CNP2 (Note 4, 7)
200 V AC to L2 U U
240 V AC Motor
L3 V V
M
N- W W
C
D
(Note 1)
P+

(Note 7)
CN2 (Note 2) Encoder
Encoder cable

(Note 6)
Power CN1
supply
Forced stop 2 EM2 CN1
(Note 3) 24 V DC (Note 8)
Servo-on SON DOCOM

DICOM ALM RA1 Malfunction (Note 3)

24 V DC (Note 8)

Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HF-KN/HF-SN Servo
Motor Instruction Manual".
3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
4. For connecting servo motor power wires, refer to "HF-KN/HF-SN Servo Motor Instruction Manual".
5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.
6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.

3- 5
3. SIGNALS AND WIRING

3.2 I/O signal connection example

3.2.1 Position control mode

(1) When you use a positioning module LD75D/QD75D

(a) For sink I/O interface
Servo amplifier
24 V DC (Note 4) (Note 7)
Positioning module CN1
LD75D/QD75D 24 V DC (Note 4)
(Note 7)
CN1 47 DOCOM (Note 2)
(Note 14) DICOM 20 48 ALM RA1 Malfunction (Note 6)
CLEARCOM 14 DOCOM 46
CLEAR 13 CR 41 23 ZSP RA2 Zero speed detection
RDYCOM 12 24 INP RA3 In-position
READY 11 RD 49
PULSE F+ 15 PP 10 10 m or less
PULSE F- 16 PG 11
4 LA Encoder A-phase pulse
PULSE R+ 17 NP 35 (differential line driver)
5 LAR
PULSE R- 18 NG 36
6 LB Encoder B-phase pulse
PG0 9 LZ 8 (differential line driver)
7 LBR
PG0 COM 10 LZR 9
Control common
(Note 10) LG 3
34 LG Control common
SD Plate
33 OP Encoder Z-phase pulse
Plate SD (open collector)
10 m or less (Note 8)
2 m or less

10 m or less (Note 7)
(Note 11) CN1
Power supply
(Note 3, 5) Forced stop 2 EM2 42 (Note 7)
CN1
Servo-on SON 15
26 MO1 Analog monitor 1
Reset RES 19 ± 10 V DC
Forward rotation 30 LG
LSP 43
(Note 5) stroke end 29 MO2 Analog monitor 2
Reverse rotation 24 V DC (Note 4) LSN 44 ± 10 V DC
stroke end
DICOM 21
0 V to +10 V Plate SD
Analog torque limit TLA 27
+10 V/maximum torque 2 m or less
LG 28
SD Plate
2 m or less
Personal
(Note 9) computer
MR Configurator2
CN3
USB cable (option)
+ (Note 1)

3- 6
3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end) (normally closed contact).
6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at
occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
type.
9. Use SW1DNC-MRC2-E. (Refer to section 11.4.)
10. This connection is not necessary for LD75D and QD75D. However, to enhance noise immunity, it is recommended to connect
LG of servo amplifier and control common depending on the positioning module.
11. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
12. Plus and minus of the power of source interface are the opposite of those of sink interface.
13. CLEAR and CLEARCOM of source interface are interchanged to sink interface.
14. When a command cable malfunctions due to disconnection or noise, a position mismatch can occur. To avoid position
mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked.

3- 7
3. SIGNALS AND WIRING

(b) For source I/O interface

POINT
For notes, refer to (1) (a) in this section.

Servo amplifier
24 V DC (Note 4, 12) (Note 7)
Positioning module CN1 24 V DC (Note 4, 12)
LD75D/QD75D (Note 7)
47 DOCOM (Note 2)
CN1
(Note 14) DICOM 20 48 ALM RA1 Malfunction (Note 6)
CLEAR 13 DOCOM 46
(Note 13)
CLEARCOM 14 CR 41 23 ZSP RA2 Zero speed detection
RDYCOM 12 24 INP RA3 In-position
READY 11 RD 49
PULSE F+ 15 PP 10 10 m or less
PULSE F- 16 PG 11
4 LA Encoder A-phase pulse
PULSE R+ 17 NP 35 (differential line driver)
5 LAR
PULSE R- 18 NG 36
6 LB Encoder B-phase pulse
PG0 9 LZ 8 (differential line driver)
7 LBR
PG0 COM 10 LZR 9
Control common
(Note 10) LG 3
34 LG Control common
SD Plate
33 OP Encoder Z-phase pulse
Plate SD (open collector)
10 m or less (Note 8)
2 m or less

10 m or less (Note 7)
(Note 11) CN1
Power supply
(Note 3, 5) Forced stop 2 EM2 42 (Note 7)
CN1
Servo-on SON 15
26 MO1 Analog monitor 1
Reset RES 19 ± 10 V DC
Forward rotation 30 LG
LSP 43
(Note 5) stroke end 29 MO2 Analog monitor 2
Reverse rotation 24 V DC (Note 4, 12) LSN 44 ± 10 V DC
stroke end
DICOM 21
0 V to +10 V Plate SD
Analog torque limit TLA 27
+10 V/maximum torque 2 m or less
LG 28
SD Plate
2 m or less
Personal
(Note 9) computer
MR Configurator2
CN3
USB cable (option)
+ (Note 1)

3- 8
3. SIGNALS AND WIRING

(2) When you use a positioning module FX3U-_ _MT/ES (For sink I/O interface)
2 m or less (Note 8)
Programmable controller
FX3U-_ _MT/ES (Note 11)
(Note 15)
S/S
24 V Servo amplifier
0V (Note 7)(Note 7)
L CN1 CN1
Programmable 24 V DC 24 V DC (Note 4)
controller (Note 4) DICOM 20 47 DOCOM
power supply (Note 2)
N OPC 12
DOCOM 46 48 ALM RA1 Malfunction (Note 6)
Y000 PP 10 23 ZSP RA2 Zero speed detection
(Note 12) COM1
Y010 NP 35 10 m or less
COM3
8 LZ Encoder Z-phase pulse
9 LZR (differential line driver)
Y004 CR 41
4 LA Encoder A-phase pulse
(Note 13) COM2 (differential line driver)
5 LAR
6 LB Encoder B-phase pulse
X___ INP 24 (differential line driver)
7 LBR
34 LG Control common
X___ RD 49
Plate SD
(Note 14) X000 OP 33
LG 3
SD Plate

10 m or less (Note 7)
(Note 10) CN1
Power supply
(Note 3, 5) Forced stop 2 EM2 42 (Note 7)
CN1
Servo-on SON 15
26 MO1 Analog monitor 1
Reset RES 19 ± 10 V DC
30 LG
Forward rotation LSP 43
(Note 5) stroke end 29 MO2 Analog monitor 2
Reverse rotation 24 V DC (Note 4) LSN 44 ± 10 V DC
stroke end DICOM 21
0 V to +10 V Plate SD
Analog torque limit TLA 27
+10 V/maximum torque 2 m or less
LG 28
SD Plate
2 m or less
Personal
(Note 9) computer
MR Configurator2
CN3
USB cable (option)
+ (Note 1)

3- 9
3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end) (normally closed contact).
6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at
occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. Connect them within 2 m because of open-collector type.
9. Use SW1DNC-MRC2-E. (Refer to section 11.4.)
10. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
11. Select the number of I/O points of the programmable controller depending on your system.
12. It will be COM0 for FX3U-16MT/ES.
13. It will be COM4 for FX3U-16MT/ES.
14. Select it within X000 to X007.
15. When a command cable malfunctions due to disconnection or noise, a position mismatch can occur. To avoid position
mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked.

3 - 10
3. SIGNALS AND WIRING

3.2.2 Speed control mode

(1) For sink I/O interface

Servo amplifier
(Note 7)
CN1 24 V DC (Note 4)
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 7) 48 ALM RA1 Malfunction (Note 6)
(Note 11) CN1
Power supply
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed detection
Servo-on SON 15 24 SA RA3 Speed reached
Forward rotation start ST1 19
Reverse rotation start ST2 41 49 RD RA4 Ready
Forward rotation LSP 43
(Note 5) stroke end LSN 44
10 m or less
Reverse rotation
stroke end
DICOM 20 8 LZ Encoder Z-phase pulse
24 V DC (Note 4) DICOM 21 9 LZR (differential line driver)

-10 V to +10 V 4 LA Encoder A-phase pulse

(Note 10) Analog speed command VC 2 5 LAR (differential line driver)
±10 V/rated speed LG 28 6 LB Encoder B-phase pulse
7 LBR (differential line driver)
0 V to +10 V TLA 27
(Note 8) Analog torque limit Control common
+10 V/maximum torque SD Plate 34 LG
2 m or less 33 OP Encoder Z-phase pulse
Plate SD (open collector)
Personal
(Note 9) computer
MR Configurator2
2 m or less
CN3
USB cable (option) (Note 7)
CN1
+
26 MO1 Analog monitor 1
± 10 V DC
30 LG
29 MO2 Analog monitor 2
± 10 V DC

Plate SD
2 m or less

(Note 1)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end) (normally closed contact).
6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).
7. The pins with the same signal name are connected in the servo amplifier.
8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17],
and [Pr. PD19]. (Refer to section 3.6.1 (5).)
9. Use SW1DNC-MRC2-E. (Refer to section 11.4.)
10. Use an external power supply when inputting a negative voltage.
11. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
12. Plus and minus of the power of source interface are the opposite of those of sink interface.

3 - 11
3. SIGNALS AND WIRING

(2) For source I/O interface

POINT
For notes, refer to (1) in this section.

Servo amplifier
(Note 7)
CN1 24 V DC (Note 4, 12)
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 7) 48 ALM RA1 Malfunction (Note 6)
(Note 11) CN1
Power supply
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed detection
Servo-on SON 15 24 SA RA3 Speed reached
Forward rotation start ST1 19
Reverse rotation start ST2 41 49 RD RA4 Ready
Forward rotation LSP 43
(Note 5) stroke end LSN 44
10 m or less
Reverse rotation
stroke end DICOM 20 8 LZ Encoder Z-phase pulse
24 V DC (Note 4, 12) DICOM 21 9 LZR (differential line driver)

-10 V to +10 V 4 LA Encoder A-phase pulse

(Note 10) Analog speed command VC 2 5 LAR (differential line driver)
±10 V/rated speed LG 28 6 LB Encoder B-phase pulse
7 LBR (differential line driver)
0 V to +10 V TLA 27
(Note 8) Analog torque limit Control common
+10 V/maximum torque 34 LG
SD Plate
2 m or less 33 OP Encoder Z-phase pulse
Plate SD (open collector)
(Note 9) Personal
MR Configurator2 computer
2 m or less
CN3
USB cable (option) (Note 7)
CN1
+
26 MO1 Analog monitor 1
± 10 V DC
30 LG
29 MO2 Analog monitor 2
± 10 V DC

Plate SD
2 m or less

(Note 1)

3 - 12
3. SIGNALS AND WIRING

3.2.3 Torque control mode

POINT
EM2 has the same function as EM1 in the torque control mode.

(1) For sink I/O interface

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

47 DOCOM
(Note 2)
10 m or less
(Note 6) 48 ALM RA1 Malfunction (Note 6)
(Note 9) CN1
Power supply
(Note 3) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed detection
Servo-on SON 15 49 RD RA3 Ready
Forward rotation start RS1 41
Reverse rotation start RS2 19 10 m or less
DICOM 20
8 LZ Encoder Z-phase pulse
24 V DC (Note 4) DICOM 21
9 LZR (differential line driver)
-8 V to +8 V 4 LA Encoder A-phase pulse
Analog torque command TC 27 (differential line driver)
±8 V/maximum torque 5 LAR
LG 28
6 LB Encoder B-phase pulse
-10 V to +10 V VLA 2 7 LBR (differential line driver)
(Note 8) Analog speed limit
0 to ±10 V/rated speed Control common
SD Plate 34 LG
2 m or less
33 OP Encoder Z-phase pulse
Personal Plate SD (open collector)
(Note 7)
MR Configurator2 computer 2 m or less
CN3
USB cable (option) (Note 6)
+ CN1
26 MO1 Analog monitor 1
± 10 V DC
30 LG
29 MO2 Analog monitor 2
± 10 V DC

Plate SD
2 m or less

(Note 1)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
5. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).
6. The pins with the same signal name are connected in the servo amplifier.
7. Use SW1DNC-MRC2-E. (Refer to section 11.4.)
8. Use an external power supply when inputting a negative voltage.
9. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.
10. Plus and minus of the power of source interface are the opposite of those of sink interface.

3 - 13
3. SIGNALS AND WIRING

(2) For source I/O interface

POINT
For notes, refer to (1) in this section.

Servo amplifier
(Note 6)
CN1 24 V DC (Note 4, 10)
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 6) 48 ALM RA1 Malfunction (Note 5)
(Note 9) CN1
Power supply 23 ZSP RA2 Zero speed detection
(Note 3) Forced stop 2 EM2 42
Servo-on SON 15 49 RD RA3 Ready
Forward rotation start RS1 41
Reverse rotation start RS2 19 10 m or less
DICOM 20
8 LZ Encoder Z-phase pulse
24 V DC (Note 4, 10) DICOM 21 (differential line driver)
9 LZR
-8 V to +8 V 4 LA Encoder A-phase pulse
Analog torque command TC 27 (differential line driver)
±8 V/maximum torque 5 LAR
LG 28
6 LB Encoder B-phase pulse
-10 V to +10 V VLA 2 7 LBR (differential line driver)
(Note 8) Analog speed limit Control common
0 to ±10 V/rated speed
SD Plate 34 LG
2 m or less
33 OP Encoder Z-phase pulse
Personal Plate SD (open collector)
(Note 7)
MR Configurator2 computer 2 m or less
CN3
USB cable (option) (Note 6)
+ CN1
26 MO1 Analog monitor 1
± 10 V DC
30 LG
29 MO2 Analog monitor 2
± 10 V DC

Plate SD
2 m or less

(Note 1)

3 - 14
3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.

Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC,
connect the power supply to L1 and L3. Leave L2 open.

Servo amplifier MR-JE-10A to MR-JE-100A to

Power supply MR-JE-70A MR-JE-300A
L1/L2/L3 Power supply
3-phase 200 V AC to 240 V AC, 50 L1/L2/L3
Hz/60 Hz
1-phase 200 V AC to 240 V AC, 50 L1/L3
Hz/60 Hz

1) MR-JE-100A or less
MR-JE-10A to MR-JE-100A do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C.
(factory-wired)
MR-JE-10A and MR-JE-20A do not have a built-in regenerative resistor.
When using a regenerative option, disconnect wires of P+ and C for the built-in
Regenerative regenerative resistor. And then connect wires of the regenerative option to P+
P+/C/D
option and C.
2) MR-JE-200A or more
When using a servo amplifier built-in regenerative resistor, connect P+ and D.
(factory-wired)
When using a regenerative option, disconnect P+ and D, and connect the
regenerative option to P+ and C.
Refer to section 11.2 for details.
Connect them to the servo motor power supply (U, V, and W). Connect the servo
Servo motor amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
U/V/W
power output directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
This is for manufacturer adjustment.
N- Leave this open.
MR-JE-10A to MR-JE-100A do not have N-.
Protective earth Connect it to the grounding terminal of the servo motor and to the protective earth
(PE) (PE) of the cabinet for grounding.

3 - 15
3. SIGNALS AND WIRING

3.3.2 Power-on sequence

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

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the power supply (3-phase: L1, L2, and L3, 1-phase: L1 and L3). Configure an external sequence
to switch off the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the power supply is switched
on. Therefore, when SON (Servo-on) is switched on simultaneously with the power supply, the
base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will switch on in further
about 5 ms, making the servo amplifier ready to operate. (Refer to (2) of this section.)

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

(2) Timing chart

SON (Servo-on) accepted

(2.5 s to 3.5 s)
ON
Power supply
OFF
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
SON (Servo-on)
OFF 95 ms
ON
RES (Reset)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
RD (Ready)
OFF

ALM No alarm No alarm (ON)

(Malfunction) Alarm (OFF) 2.5 s to 3.5 s

3 - 16
3. SIGNALS AND WIRING

3.3.3 Wiring CNP1 and CNP2

POINT
For the wire sizes used for wiring, refer to section 11.5.

To wire to CNP1 and CNP2, use servo amplifier power connectors packed with the amplifier or optional
connectors (refer to section 11.1.1).

(1) Connector
(a) MR-JE-10A to MR-JE-100A
Servo amplifier

CNP1

Table 3.1 Connector and applicable wire

Receptacle Applicable wire Stripped Manu-
Connector Open tool
assembly Size Insulator OD length [mm] facturer
CNP1 09JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9 J-FAT-OT JST

(b) MR-JE-200A/MR-JE-300A
Servo amplifier

CNP1

CNP2

Table 3.2 Connector and applicable wire

Receptacle Applicable wire Stripped Manu-
Connector Open tool
assembly Size Insulator OD length [mm] facturer
CNP1 07JFAT-SAXGFK-XL
AWG 16 to 10 4.7 mm or shorter 11.5 J-FAT-OT-EXL JST
CNP2 03JFAT-SAXGFK-XL

3 - 17
3. SIGNALS AND WIRING

(2) Cable connection procedure

(a) Fabrication on cable insulator
Refer to table 3.1 and 3.2 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator Core

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten

the strands.

You can also use a ferrule to connect with the connectors. The following shows references to select
ferrules according to wire sizes.
Ferrule model (Phoenix Contact) Crimp terminal
Servo amplifier Wire size
For one For two (Phoenix Contact)
MR-JE-10A to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-JE-100A AWG 14 AI2.5-10BU
AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK CRIMPFOX-ZA3
MR-JE-200A to
AWG 14 AI2.5-10BU AI-TWIN2×2.5-10BU
MR-JE-300A
AWG 12 AI4-10GY

(b) Inserting wire

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the wire
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the CNP2 connector for 2 kW and 3 kW.

1) Push down the open tool.

3) Release the open tool to fix the wire.

2) Insert the wire.

3 - 18
3. SIGNALS AND WIRING

3.4 Connectors and pin assignment

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

Cable

Screw
Ground plate

The servo amplifier front view shown is that of the MR-JE-40A or less. Refer to chapter 9 DIMENSIONS for
the appearances and connector layouts of the other servo amplifiers.

CN3 (USB connector)

Refer to section 11.4 CN1

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

3 - 19
3. SIGNALS AND WIRING

The device assignment of CN1 connector pins changes depending on the control mode. For the pins
which are given parameters in the related parameter column, their devices will be changed using those
parameters.
(Note 1) (Note 2) I/O signals in control modes
Pin No. Related parameter
I/O P P/S S S/T T T/P
1
2 I -/VC VC VC/VLA VLA VLA/-
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- -/PP
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13
14
15 I SON SON SON SON SON SON Pr. PD03/Pr. PD04
16
17
18
19 I RES RES/ST1 ST1 ST1/RS2 RS2 RS2/RES Pr. PD11/Pr. PD12
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22
23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr. PD24
24 O INP INP/SA SA SA/- -/INP Pr. PD25
25
26 O MO1 MO1 MO1 MO1 MO1 MO1 Pr. PC14
(Note 3) (Note 3) (Note 3) (Note 3)
27 I TLA TC
TLA TLA TLA/TC TC/TLA
28 LG LG LG LG LG LG
29 O MO2 MO2 MO2 MO2 MO2 MO2 Pr. PC15
30 LG LG LG LG LG LG
31
32
33 O OP OP OP OP OP OP
34 LG LG LG LG LG LG
35 I NP NP/- -/NP
36 I NG NG/- -/NG
37
38
39
40
41 I CR CR/ST2 ST2 ST2/RS1 RS1 RS1/CR Pr. PD13/Pr. PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP Pr. PD17/Pr. PD18
44 I LSN LSN LSN LSN/- -/LSN Pr. PD19/Pr. PD20
45

3 - 20
3. SIGNALS AND WIRING

(Note 1) (Note 2) I/O signals in control modes

Pin No. Related parameter
I/O P P/S S S/T T T/P
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD Pr. PD28
50

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

2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching
mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode
3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13],
[Pr. PD17], and [Pr. PD19].

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode
field of the table
P: position control mode, S: speed control mode, T: torque control mode Torque control mode
: devices used with initial setting status, : devices used by setting [Pr. PA04] and [Pr. PD03] to [Pr.
PD28]
The pin numbers in the connector pin No. column are those in the initial status.

(1) I/O device

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

[Pr. PA04] Deceleration method

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

EM2 and EM1 are mutually exclusive.

EM2 has the same function as EM1 in the torque control mode.
Forced stop 1 EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1. DI-1
Turn EM1 off (open between commons) to bring the motor to a forced stop
state. The base circuit is shut off, the dynamic brake is operated and
decelerate the servo motor to a stop.
Turn EM1 on (short between commons) in the forced stop state to reset
that state.
Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo amplifier DI-1
ready to operate. (servo-on status)
Turn it off to shut off the base circuit and coast the servo motor.
Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals
connected) automatically in the servo amplifier.

3 - 21
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Reset RES CN1-19 Turn on RES for more than 50 ms to reset the alarm. DI-1
Some alarms cannot be deactivated by RES (Reset). Refer to section 8.1.
Turning RES on in an alarm-free status shuts off the base circuit. The base
circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30].
This device is not designed to make a stop. Do not turn it on during
operation.
Forward rotation LSP CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1
stroke sudden stop and make it servo-locked.
end Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.

Reverse rotation LSN CN1-44 (Note) Input device Operation

stroke end CCW CW
LSP LSN
direction direction
1 1
0 1
1 0
0 0
Note. 0: Off
1: On

Set [Pr. PD01] as indicated below to switch on the signals (keep terminals
connected) automatically in the servo amplifier.

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

When LSP or LSN turns off, [AL. 99 Stroke limit warning] occurs, and WNG
(Warning) turns on. When using WNG, enable it by setting [Pr. PD24], [Pr.
PD25] and [Pr. PD28].
External torque TL Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12 DI-1
limit selection Reverse torque limit], and turning on it will enable TLA (Analog torque
limit). For details, refer to section 3.6.1 (5).
Internal torque TL1 To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD03] to DI-1
limit selection [Pr. PD20]. For details, refer to section 3.6.1 (5).
Forward rotation ST1 This is used to start the servo motor. DI-1
start The following shows the directions.

(Note) Input device

Servo motor starting direction
ST2 ST1
0 0 Stop (servo-lock)
0 1 CCW
1 0 CW
1 1 Stop (servo-lock)
Note. 0: Off
1: On

Reverse rotation ST2 If both ST1 and ST2 are switched on or off during operation, the servo
start motor will be decelerated to a stop according to the [Pr. PC02] setting and
servo-locked.
When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked
after deceleration to a stop.

3 - 22
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Forward rotation RS1 This is used to select a servo motor torque generation directions. DI-1
selection The following shows the torque generation directions.

(Note) Input device

Torque generation direction
RS2 RS1
0 0 Torque is not generated.
Reverse rotation RS2 Forward rotation in power
selection 0 1 running mode/reverse rotation
in regenerative mode
Reverse rotation in power
1 0 running mode/forward rotation
in regenerative mode
1 1 Torque is not generated.
Note. 0: Off
1: On

Speed selection SP1 1. For speed control mode DI-1

1 This is used to select the command speed for operation.

Speed selection SP2 (Note) Input device DI-1

Speed command
2 SP3 SP2 SP1
Speed selection SP3 0 0 0 VC (Analog speed command) DI-1
3 Pr. PC05 Internal speed
0 0 1
command 1
Pr. PC06 Internal speed
0 1 0
command 2
Pr. PC07 Internal speed
0 1 1
command 3
Pr. PC08 Internal speed
1 0 0
command 4
Pr. PC09 Internal speed
1 0 1
command 5
Pr. PC10 Internal speed
1 1 0
command 6
Pr. PC11 Internal speed
1 1 1
command 7
Note. 0: Off
1: On

2. For the torque control mode

This is used to select the limited speed for operation.

(Note) Input device

Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7
Note. 0: Off
1: On

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3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Proportion PC Turn PC on to switch the speed amplifier from the proportional integral type DI-1
control to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit).
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulse on its leading DI-1
edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on.
Electronic gear CM1 The combination of CM1 and CM2 enables you to select four different DI-1
selection 1 electronic gear numerators set in the parameters.

(Note) Input device

Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
Electronic gear CM2 0 1 Pr. PC32 DI-1
selection 2 1 0 Pr. PC33
1 1 Pr. PC34
Note. 0: Off
1: On

Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] DI-1
to [Pr. PB60] as the load to motor inertia ratio and gain values.

3 - 24
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Control switching LOP «Position/speed control switching mode» DI-1 Refer to
This is used to select the control mode in the position/speed control Function
switching mode. and
application.
(Note) Control
LOP mode
0 Position
1 Speed
Note. 0: Off
1: On

«Speed/torque control switch mode»

This is used to select the control mode in the speed/torque control
switching mode.

(Note) Control
LOP mode
0 Speed
1 Torque
Note. 0: Off
1: On

«Torque/position control switch mode»

This is used to select the control mode in the torque/position control
switching mode.

(Note) Control
LOP mode
0 Torque
1 Position
Note. 0: Off
1: On

Second STAB2 The device allows selection of the acceleration/deceleration time constant DI-1
acceleration/ at servo motor rotation in the speed control mode or torque control mode.
deceleration The s-pattern acceleration/deceleration time constant is always uniform.
selection
(Note) Acceleration/deceleration time
STAB2 constant
0 Pr. PC01 Acceleration time
constant
Pr. PC02 Deceleration time
constant
1 Pr. PC30 Acceleration time
constant 2
Pr. PC31 Deceleration time
constant 2
Note. 0: Off
1: On

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3. SIGNALS AND WIRING

(b) Output device

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off. DO-1
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after
power-on.
When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.
Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on DO-1
RD.
In-position INP CN1-24 When the number of droop pulses is in the preset in-position range, INP DO-1
will turn on. The in-position range can be changed using [Pr. PA10]. When
the in-position range is increased, INP may be on during low-speed
rotation.
INP turns on when servo-on turns on.
Speed reached SA When the servo motor speed reaches the following range, SA will turn on. DO-1
Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the
servo motor speed by the external force reaches the preset speed while
both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.
Limiting speed VLC VLC turns on when speed reaches a value limited with any of [Pr. PC05 DO-1
Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog
speed limit).
This turns off when SON (Servo-on) turns off.
Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of [Pr. DO-1
PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).
Zero speed ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or less. DO-1
detection Zero speed can be changed with [Pr. PC17].

OFF level 1)
Forward 70 r/min 3)
rotation 2) 20 r/min
direction ON level (Hysteresis width)
50 r/min
[Pr. PC17]
Servo motor 0 r/min
speed
[Pr. PC17]
Reverse ON level
rotation -50 r/min
20 r/min
direction OFF level (Hysteresis width)
-70 r/min 4)
ZSP ON
(Zero speed OFF
detection)

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)),
and will turn off when the servo motor is accelerated to 70 r/min again (at
2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at
3)), and will turn off when the servo motor speed has reached -70 r/min (at
4)).
The range from the point when the servo motor speed has reached on
level, and ZSP turns on, to the point when it is accelerated again and has
reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
Electromagnetic MBR When using the device, set operation delay time of the electromagnetic DO-1
brake interlock brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR will turn off.
Warning WNG When warning has occurred, WNG turns on. When a warning is not DO-1
occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s.

3 - 26
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34]. DI-1
This signal is outputted when an alarm occurs.
ACD1 (CN1-23) When an alarm is not occurring, respective ordinary signals are outputted.
For details of the alarm codes, refer to chapter 8.
ACD2 (CN1-49) When you select alarm code output while MBR or ALM is selected for
CN1-23, CN1-24, or CN1-49 pin, [AL. 37 Parameter error] will occur.
Variable gain CDPS CDPS turns on during gain switching. DO-1
selection
During tough MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous DO-1
drive power failure tough drive will turn on MTTR.

(2) Input signal

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Analog torque TLA CN1-27 To use the signal, enable TL (External torque limit selection) with [Pr. Analog
limit PD03] to [Pr. PD20]. input
When TLA is enabled, torque is limited in the full servo motor output torque
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5).)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value is clamped at the maximum torque.
Resolution: 10 bits
Analog torque TC This is used to control torque in the full servo motor output torque range. Analog
command Apply 0 V to ±8 V DC between TC and LG. The maximum torque is input
generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be
changed with [Pr. PC13].
If a value equal to or larger than the maximum torque is inputted to TC, the
value is clamped at the maximum torque.
Analog speed VC CN1-2 Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is Analog
command provided at ±10 V. (Refer to section 3.6.2 (1).) input
If a value equal to or larger than the permissible speed is inputted to VC,
the value is clamped at the permissible speed.
Resolution: 14 bits or equivalent
Analog speed VLA Apply 0 V to ±10 V DC between VLA and LG. Speed set in [Pr. PC12] is Analog
limit provided at ±10 V. (Refer to section 3.6.3 (3).) input
If a limited value equal to or larger than the permissible speed is inputted
to VLA, the value is clamped at the permissible speed.
Forward rotation PP CN1-10 This is used to enter a command pulse train. DI-2
pulse train NP CN1-35 The command input pulse train form, pulse train logic, and command input
Reverse rotation PG CN1-11 pulse train filter are changed in [Pr. PA13].
pulse train NG CN1-36 For open-collector type, set [Pr. PA13] to "_ 3 _ _".
For differential receiver type, set [Pr. PA13] depending on the maximum
input frequency.
For open-collector type (sink input interface)
The maximum input frequency is 200 kpulses/s. For A-phase/B-phase
pulse train, 200 kpulses/s will be the frequency after multiplication by
four.
Input the forward rotation pulse train between PP and DOCOM.
Input the reverse rotation pulse train between NP and DOCOM.
For differential receiver type
The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase
pulse train, 4 Mpulses/s will be the frequency after multiplication by four.
Input the forward rotation pulse train between PG and PP.
Input the reverse rotation pulse train between NG and NP.

3 - 27
3. SIGNALS AND WIRING

(3) Output signal

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Encoder A- LA CN1-4 These devices output pulses of encoder output pulse set in [Pr. PA15] in DO-2
phase pulse LAR CN1-5 the differential line driver type.
(differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the
driver) encoder A-phase pulse by a phase angle of π/2.
Encoder B- LB CN1-6 The relation between rotation direction and phase difference of the A-
phase pulse LBR CN1-7 phase and B-phase pulses can be changed with [Pr. PC19].
(differential line
driver)
Encoder Z- LZ CN1-8 The encoder zero-point signal is outputted in the differential line driver DO-2
phase pulse LZR CN1-9 type. One pulse is outputted per servo motor revolution. This turns on
(differential line when the zero-point position is reached. (negative logic)
driver) The minimum pulse width is about 400 μs. For home position return using
this pulse, set the creep speed to 100 r/min. or less.
Encoder Z- OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2
phase pulse
(open-collector)
Analog monitor 1 MO1 CN1-26 This is used to output the data set in [Pr. PC14] to between MO1 and LG in Analog
terms of voltage. output
Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN1-29 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in Analog
terms of voltage. output
Resolution: 10 bits or equivalent

(4) Power supply

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Digital I/F power DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power
supply input CN1-21 supply capacity changes depending on the number of I/O interface points
to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Open-collector OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface,
sink interface supply this terminal with the positive (+) power of 24 V DC.
power supply
input
Digital I/F DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier. This
common CN1-47 is separated from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
Control common LG CN1-3 This is a common terminal for TLA, TC, VC, VLA, OP, MO1, and MO2.
CN1-28 Pins are connected internally.
CN1-30
CN1-34
Shield SD Plate Connect the external conductor of the shielded wire.

3 - 28
3. SIGNALS AND WIRING

3.6 Detailed explanation of signals

3.6.1 Position control mode

POINT
Adjust the logic of a positioning module and command pulse as follows.
Q series/L series positioning module
Command pulse logic setting
Signal type Q series/L series positioning MR-JE-_A servo amplifier
module Pr. 23 setting [Pr. PA13] setting
Positive logic Positive logic (_ _ 0 _)
Open-collector type
Negative logic Negative logic (_ _ 1 _)
Positive logic (Note) Negative logic (_ _ 1 _)
Differential line driver type
Negative logic (Note) Positive logic (_ _ 0 _)

Note. For Q series and L series, the logic means N-side waveform. Therefore, reverse the input
pulse logic of the servo amplifier.

F series positioning module

Command pulse logic setting
Signal type F series positioning module MR-JE-_A servo amplifier [Pr.
(fixed) PA13] setting
Open-collector type
Negative logic Negative logic (_ _ 1 _)
Differential line driver type

(1) Pulse train input

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

(b) Connection and waveform

1) Open-collector type
Connect as follows.
Servo amplifier

24 V DC OPC

DOCOM
Approx.
PP 1.2 kΩ
Approx.
NP 1.2 kΩ
(Note)

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.

3 - 29
3. SIGNALS AND WIRING

The following section explains about the case where the negative logic and the forward/reverse
rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13].

(ON) (OFF) (ON) (OFF) (ON) (OFF)

Forward rotation pulse train
(transistor)
Reverse rotation pulse train
(transistor) (OFF) (ON) (OFF) (ON) (OFF) (ON)

Forward rotation command Reverse rotation command

2) Differential line driver type

Connect as follows.
Servo amplifier
Approximately
PP 100Ω

PG

(Note) Approximately
NP 100Ω

NG

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.

The following example shows that an input waveform has been set to the negative logic and
forward/reverse rotation pulse trains by setting "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG,
NP, and NG are based on LG.
Forward rotation
pulse train

PP

PG

Reverse rotation
pulse train

NP

NG

Forward rotation Reverse rotation

3 - 30
3. SIGNALS AND WIRING

(2) INP (In-position)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as
the in-position range.
ON
SON (Servo-on)
OFF

Alarm
Alarm
No alarm

In-position range
Droop pulses

ON
INP (In-position)
OFF

(3) RD (Ready)
ON
SON (Servo-on)
OFF

Alarm
Alarm
No alarm 100 ms
or shorter 10 ms or shorter 10 ms or shorter
ON
RD (Ready)
OFF

(4) Electronic gear switching

The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a
shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.
(Note) Input device
Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
0 1 Pr. PC32
1 0 Pr. PC33
1 1 Pr. PC34

Note. 0: Off
1: On

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3. SIGNALS AND WIRING

(5) Torque limit

If the torque limit is canceled during servo-lock, the servo motor may suddenly
CAUTION rotate according to position deviation in respect to the command position.

(a) Torque limit and torque

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

Torque

100 0 100 [%]

Torque limit value Torque limit value
in [Pr. PA12] in [Pr. PA11]

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

Maximum Servo amplifier

torque
24 V DC TL
(Note)
Torque

DICOM
0 V to +10 V
±5% TLA
LG
SD
0
0 0.05
TLA applied voltage [V]
TLA applied voltage vs. torque limit value Connection example

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Torque limit value selection

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

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3. SIGNALS AND WIRING

(Note) Input device Enabled torque limit value

Limit value status CCW power running/CW CW power running/CCW
TL1 TL
regeneration regeneration
0 0 Pr. PA11 Pr .PA12
Pr. PA11
TLA > Pr. PA11 Pr. PA12
Pr. PA12
0 1
Pr. PA11
TLA < TLA TLA
Pr. PA12
Pr. PA11
Pr. PC35 > Pr. PA11 Pr. PA12
Pr. PA12
1 0
Pr. PA11
Pr. PC35 < Pr. PC35 Pr. PC35
Pr. PA12
TLA > Pr. PC35 Pr. PC35 Pr. PC35
1 1
TLA < Pr. PC35 TLA TLA

Note. 0: Off
1: On

(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation
torque limit, reverse rotation torque limit or analog torque limit.

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3. SIGNALS AND WIRING

3.6.2 Speed control mode

(1) Speed setting

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

Rated speed [r/min]

Forward rotation
Speed (CCW)
[r/min] CCW direction
-10
0 +10
CW VC applied voltage [V]
direction
Rated speed [r/min]
Reverse rotation
(CW)

The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2
(Reverse rotation start) combination.
(Note 1) Input device (Note 2) Rotation direction
VC (Analog speed command)
ST2 ST1 Internal speed command
Polarity: + 0V Polarity: -
Stop Stop Stop Stop
0 0
(servo-lock) (servo-lock) (servo-lock) (servo-lock)
0 1 CCW Stop CW CCW
1 0 CW (no servo-lock) CCW CW
Stop Stop Stop Stop
1 1
(servo-lock) (servo-lock) (servo-lock) (servo-lock)

Note 1. 0: Off
1: On
2. If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.

Normally, connect as follows.

Servo amplifier

ST1
(Note)
24 V DC ST2
DICOM
-10 V to +10 V
VC
LG
SD

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

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3. SIGNALS AND WIRING

(b) Speed command value selection

To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with
[Pr. PD03] to [Pr. PD20].
(Note) Input device
Speed command value
SP3 SP2 SP1
0 0 0 VC (Analog speed command)
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7

Note. 0: Off
1: On

You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed commands are used to command a speed, the speed does not vary with
the ambient temperature.

(2) SA (Speed reached)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
Set speed selection Internal speed command 2
command 1

ST1 or ST2 ON
OFF

Servo motor speed

SA (Speed reached) ON
OFF

(3) Torque limit

As in section 3.6.1 (5)

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3. SIGNALS AND WIRING

3.6.3 Torque control mode

(1) Torque limit

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

CCW direction Forward rotation

Maximum torque (CCW)
Torque
-8 -0.05
+0.05 +8
TC applied voltage [V]

Maximum torque
CW direction
Reverse rotation
(CW)

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

Note. 0: Off
1: On

Normally, connect as follows.

Servo amplifier

RS1
(Note)
24 V DC RS2
DICOM
TC
-8 V to 8 V
LG
SD

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

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3. SIGNALS AND WIRING

(b) Analog torque command offset

Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage
as follows.

Maximum torque

Torque

[Pr. PC38]
offset range
-9999 mV to 9999 mV
0 8 (-8)
TC applied voltage [V]

(2) Torque limit

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

(3) Speed limit

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

Rated speed [r/min]

Forward rotation
Speed (CCW)
[r/min] CCW direction
-10
0 +10
CW VLA applied voltage [V]
direction
Rated speed [r/min]
Reverse rotation
(CW)

The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.
(Note) Input device Speed limit direction
VLA (Analog speed limit)
RS1 RS2 Internal speed command
Polarity: + Polarity: -
1 0 CCW CW CCW
0 1 CW CCW CW

Note. 0: Off
1: On

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3. SIGNALS AND WIRING

Normally, connect as follows.

Servo amplifier

-10 V to +10 V
VLA
LG
SD

(b) Speed limit value selection

To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1
(Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD03] to [Pr.
PD20].
(Note) Input device
Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7

Note. 0: Off
1: On

When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the
ambient temperature.

(c) VLC (Limiting speed)

VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7
or analog speed limit.

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3. SIGNALS AND WIRING

3.6.4 Position/speed control switching mode

Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the position control mode and the speed control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Position control mode
1 Speed control mode

Note. 0: Off
1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to speed control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control Speed control Position control
mode mode mode

Zero speed
Servo motor speed level

ZSP ON
(Zero speed detection) OFF

LOP ON
(Control switching) (Note) (Note)
OFF

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.

(2) Torque limit in position control mode

As in section 3.6.1 (5)

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3. SIGNALS AND WIRING

(3) Speed setting in speed control mode

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed
command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same
as section 3.6.2 (1) (a).
Normally, connect as follows.
Servo amplifier

ST1
(Note)
24 V DC ST2
DICOM
-10 V to +10 V
VC
LG
SD

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Speed command value selection

To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with
[Pr. PD03] to [Pr. PD20].
(Note) Input device
Speed command value
SP3 SP2 SP1
0 0 0 VC (Analog speed command)
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7

Note. 0: Off
1: On

You can change the speed during rotation. Acceleration/deceleration is performed with the setting
values of [Pr. PC01] and [Pr. PC02].
When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary
with the ambient temperature.

(c) SA (Speed reached)

As in section 3.6.2 (2)

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3. SIGNALS AND WIRING

3.6.5 Speed/torque control switching mode

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

(1) LOP (control switching)

Use LOP (Control switching) to switch between the speed control mode and the torque control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Speed control mode
1 Torque control mode

Note. 0: Off
1: On

The control mode may be switched at any time. The following shows a switching timing chart.
Speed control Torque control Speed control
mode mode mode

LOP ON
(Control switching) OFF

Servo motor speed

(Note)
Load torque
TC 10V
(Analog torque command) Forward rotation
in driving mode
0

Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off
as soon as a mode is switched to the speed control, the servo motor comes to a stop
according to the deceleration time constant. A shock may occur at switching control
modes.

(2) Speed setting in speed control mode

As in section 3.6.2 (1)

(3) Torque limit in speed control mode

As in section 3.6.1 (5)

(4) Speed limit in torque control mode

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

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3. SIGNALS AND WIRING

Normally, connect as follows.

Servo amplifier

-10 V to +10 V
VLA
LG
SD

(b) Speed limit value selection

To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1
(Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD03] to [Pr.
PD20].
(Note) Input device
Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7

Note. 0: Off
1: On

When the internal speed command 1 is used to command a speed, the speed does not vary with the
ambient temperature.

(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)

(5) Torque control in torque control mode

As in section 3.6.3 (1)

(6) Torque limit in torque control mode

As in section 3.6.3 (2)

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3. SIGNALS AND WIRING

3.6.6 Torque/position control switching mode

Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the torque control mode and the position control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Torque control mode
1 Position control mode

Note. 0: Off
1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control Torque control Position control
mode mode mode

Zero speed
Servo motor level
speed

10 V
TC (Analog
torque command)
0V

ON
ZSP (Zero
speed detection) OFF

ON
LOP (Note) (Note)
(Control switching) OFF

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.

(2) Speed limit in torque control mode

As in section 3.6.3 (3)

(3) Torque control in torque control mode

As in section 3.6.3 (1)

(4) Torque limit in torque control mode

As in section 3.6.3 (2)

(5) Torque limit in position control mode

As in section 3.6.1 (5)

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3. SIGNALS AND WIRING

3.7 Forced stop deceleration function

POINT
When alarms not related to the forced stop function occur, control of motor
deceleration can not be guaranteed. (Refer to chapter 8.)
In the torque control mode, the forced stop deceleration function is not available.

3.7.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The the servo amplifier
life may be shortened.

(1) Connection diagram

Servo amplifier

24 V DC
DICOM
(Note)
Forced stop 2 EM2

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
3.9.3.

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3. SIGNALS AND WIRING

(2) Timing chart

POINT
When LSP/LSN is turned on during a forced stop deceleration, the motor will
stop depending on the setting of [Pr. PD30] as follows.
[Pr. PD30] Stop system
___0 Switching to sudden stop
___1 Continuing forced stop deceleration

When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC51 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of
the deceleration command, base power is cut and the dynamic brake activates.
ON
EM2 (Forced stop 2)
OFF (Enabled)

Dynamic brake
Ordinary Forced stop +
operation deceleration Electromagnetic brake
Rated speed

Servo motor speed

Command Zero speed
([Pr. PC17])
0 r/min
Deceleration time

[Pr. PC51]
Base circuit ON
(Energy supply to
the servo motor) OFF

MBR ON
(Electromagnetic OFF (Enabled)
brake interlock)

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3. SIGNALS AND WIRING

3.7.2 Base circuit shut-off delay time function

The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop
(EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set
the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake
interlock) due to an alarm occurrence, and shut-off of the base circuit.

(1) Timing chart

ON When EM2 (Forced stop 2) turns off or an
EM2 (Forced stop 2)
OFF (Enabled) alarm occurs during driving, the servo motor
will decelerate based on the deceleration
time constant. MBR (Electromagnetic brake
interlock) will turn off, and then after the
Servo motor speed delay time set in [Pr. PC16], the servo
amplifier will be base circuit shut-off status.
0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF
[Pr. PC16]
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)

(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay
time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the
servo motor shaft does not freefall.

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3. SIGNALS AND WIRING

3.7.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not
avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].
The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop
2) or by an alarm occurrence.
The base circuit shut-off delay time function is enabled.
EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less.

(1) Timing chart

ON
EM2 (Forced stop 2)
OFF (Enabled)

Position Travel distance

Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON Set the base circuit shut-off delay time. ([Pr. PC16])
(Electromagnetic
brake interlock) OFF (Enabled)

Actual operation of Disabled

electromagnetic brake Enabled

(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC54].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.7.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.

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3. SIGNALS AND WIRING

3.8 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation
CAUTION signal is not being input, ensure safety, and reset the alarm before restarting
operation.

POINT
In the torque control mode, the forced stop deceleration function is not available.

To deactivate an alarm, cycle the power, push the "SET" button in the current alarm window, or cycle the
RES (Reset) However, the alarm cannot be deactivated unless its cause is removed.

3.8.1 When you use the forced stop deceleration function

POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(1) When the forced stop deceleration function is enabled

Alarm occurrence
(Note)
Model speed command 0
and equal to or less than
Servo motor speed zero speed

0 r/min
Controller command is ignored.

Base circuit ON
(Energy supply to
the servo motor) OFF

Servo amplifier
display No alarm Alarm No.

MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration
of the servo motor.

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3. SIGNALS AND WIRING

(2) When the forced stop deceleration function is not enabled

Alarm occurrence

Braking by the dynamic brake

Dynamic brake
+ Braking by the electromagnetic brake
Servo motor speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF

Servo amplifier
display No alarm Alarm No.
Operation delay time of the electromagnetic brake
MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

3.8.2 When you do not use the forced stop deceleration function

POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].

The operation status during an alarm is the same as section 3.8.1 (2).

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3. SIGNALS AND WIRING

3.9 Interfaces

3.9.1 Internal connection diagram

The following diagram is for sink I/O interface when command pulse train input is differential line driver type.
Servo amplifier
(Note 1)
CN1 P S T
(Note 1) (Note 4) 24 V DC
Approx. 46 DOCOM
P S T CN1 6.2 kΩ
SON SON SON 15 47 DOCOM
RES ST1 RS2 19
(Note 3) 23 ZSP ZSP ZSP RA
CR ST2 RS1 41
(Note 3)
EM2 42 24 INP SA
Approx.
LSP LSP 43 6.2 kΩ 48 ALM
LSN LSN 44
(Note 4) OPC RD
12 49 RD RD RA
24 V DC
DICOM 20
DICOM 21 Approx. Approx.
(Note 2) 100 Ω 1.2 kΩ
PP 10
PG 11 Approx. Approx.
100 Ω 1.2 kΩ
NP 35
NG 36
Isolated
(Note 1)
CN1 P S T
4 LA
5 LAR
6 LB Differential line
driver output
7 LBR (35 mA or less)
8 LZ
(Note 1)
9 LZR
P S T CN1
33 OP Open-collector
VC VLA 2 34 LG output

TLA TLA TC 27 (Note 1)

LG 3 CN1 P S T Analog monitor
LG 28 26 MO1
SD Case
29 MO2 ± 10 V DC
(Note 1) ± 10 V DC
30 LG
P S T CN3
D- 2 (Note 1) Servo motor
USB D+ 3 CN2 P S T
Encoder
GND 5 7 MD
8 MDR
3 MR
4 MRR
2 LG
E
M

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3. SIGNALS AND WIRING

Note 1. P: position control mode, S: speed control mode, T: torque control mode
2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.

DOCOM 46
24 V DC OPC 12
DICOM 20
DOCOM 47
PP 10
PG 11
NP 35
NG 36

3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
4. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

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3. SIGNALS AND WIRING

3.9.2 Detailed explanation of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.9.3 for source input.
For transistor Servo amplifier
Approximately EM2
5 mA etc.
Approximately
6.2 kΩ
Switch
TR
DICOM
VCES 1.0 V 24 V DC ± 10%
ICEO 100 A 300 mA

(2) Digital output interface DO-1

This is a circuit in which the collector side of the output transistor is the output terminal. When the output
transistor is turned on, the current flows from the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the servo amplifier.
The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.
Servo amplifier

If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM Load
etc.

DOCOM
(Note) 24 V DC ± 10%
300 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

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3. SIGNALS AND WIRING

(3) Pulse train input interface DI-2

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

(a) Differential line driver type

1) Interface
Servo amplifier

Max. input pulse

frequency 4 Mpulses/s
10 m or less (Note 2)
PP (NP)
Approximalely
(Note 1) 100 Ω
PG (NG)

Am26LS31 or equivalent SD
VOH: 2.5 V
VOL: 0.5 V

Note 1. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.
2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".

2) Input pulse condition

tc tHL tLH = tHL < 50 ns
0.9 tc > 75 ns
PP PG
0.1 tF > 3 µs

tc tLH
tF

NP NG

(b) Open-collector type

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

DOCOM

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.

3 - 53
3. SIGNALS AND WIRING

2) Input pulse condition

tc tHL tLH = tHL < 0.2 µs
0.9 tc > 2 µs
PP
0.1 tF > 3 µs

tc tLH
tF

NP

(4) Encoder output pulse DO-2

(a) Open-collector type
Interface
Maximum sink current: 35 mA
5 V DC to 24 V DC

Servo amplifier Servo amplifier

OP OP

Photocoupler
LG LG

SD SD

(b) Differential line driver type

1) Interface
Maximum output current: 35 mA
Servo amplifier Servo amplifier
LA LA
(LB, LZ) Am26LS32 or equivalent (LB, LZ) 100 Ω

150 Ω

LAR LAR High-speed photocoupler

(LBR, LZR) (LBR, LZR)

LG
SD SD

3 - 54
3. SIGNALS AND WIRING

2) Output pulse
Servo motor CCW rotation
LA Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC19].
LAR T
LB

LBR
/2
LZ
LZR
400 s or more
OP

(5) Analog input

Input impedance
10 kΩ to 12 kΩ
Servo amplifier

VC etc.

Approx.
LG 10 kΩ

SD

(6) Analog output

Servo amplifier

MO1
(MO2)
Output voltage: ±10 V (Note)
Maximum output current: 1 mA
LG Resolution: 10 bits or equivalent

Note. Output voltage range varies depending on the monitored signal.

3 - 55
3. SIGNALS AND WIRING

3.9.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.
Servo amplifier
For transistor
EM2
etc.
Approximately
6.2 kΩ
TR Switch

DICOM
Approximately DC 24 V ± 10%
5 mA 300 mA
VCES 1.0 V
ICEO 100 A

(2) Digital output interface DO-1

This is a circuit in which the emitter side of the output transistor is the output terminal. When the output
transistor is turned on, the current flows from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier

If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM Load
etc.

DOCOM
(Note) 24 V DC ± 10%
300 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

3 - 56
3. SIGNALS AND WIRING

3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

Configure an electromagnetic brake circuit so that it is activated also by an

external EMG stop switch.
Contacts must be opened when ALM (Malfunction) Contacts must be opened with the
or MBR (Electromagnetic brake interlock) turns off. EMG stop switch.

Servo motor
RA

B U 24 V DC

CAUTION Electromagnetic brake

The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.

POINT
Refer to "HF-KN/HF-SN Servo Motor Instruction Manual" for specifications such
as the power supply capacity and operation delay time of the electromagnetic
brake.
Refer to "HF-KN/HF-SN Servo Motor Instruction Manual" for the selection of a
surge absorber for the electromagnetic brake.

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

1) The brake will operate when the power (24 V DC) turns off.

2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis
system, use MBR (Electromagnetic brake interlock).

3) Turn off SON (Servo-on) after the servo motor stopped.

(1) Connection diagram

Servo amplifier

(Note 2) MBR ALM Servo motor

24 V DC RA1 (Malfaunction) B1
DOCOM
(Note 1)
24 V DC U B
MBR RA1

B2

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

3 - 57
3. SIGNALS AND WIRING

(2) Setting
(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD03] to [Pr. PD20].

(b) In [Pr. PC16 Electromagnetic brake sequence output], set the time delay (Tb) from electromagnetic
brake operation to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2 (1).

3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) SON (Servo-on) on/off

When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not
drop down for a vertical axis system, etc.

Coasting
Servo motor speed 0 r/min

Approx. 95 ms Tb
ON
Base circuit
OFF
Approx. 95 ms Operation delay time of
MBR ON the electromagnetic brake
(Electromagnetic (Note 1)
brake interlock) OFF

ON
SON (Servo-on)
OFF
(Note 3)

Position command 0 r/min

(Note 4)
Release
Electromagnetic
brake Activate Release delay time and external relay, etc. (Note 2)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.
2. Electromagnetic brake is released after the release delay time of electromagnetic brake and operation time of external circuit
relay, etc. For the release delay time of electromagnetic brake, refer to "HF-KN/HF-SN Servo Motor Instruction Manual".
3. Give a position command after the electromagnetic brake is released.
4. This is in position control mode.

3 - 58
3. SIGNALS AND WIRING

(b) Forced stop 2 on/off

POINT
In the torque control mode, the forced stop deceleration function is not available.

(Note 2)
Model speed command 0
and equal to or less than
Servo motor speed zero speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF

ON
EM2 (Forced stop 2)
OFF
MBR ON
(Electromagnetic (Note 1)
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.
2. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.

(d) Power off

Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic brake
Servo motor speed
Electromagnetic brake
0 r/min
(Note 1)
ON
Base circuit
OFF

MBR ON
(Electromagnetic (Note 2)
OFF
brake interlock)
Operation delay time of
No alarm the electromagnetic brake
Alarm
[AL.10 Undervoltage] Alarm

ON
Power supply
OFF

Note 1. Variable according to the operation status.

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

3 - 59
3. SIGNALS AND WIRING

(2) When you do not use the forced stop deceleration function

POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) SON (Servo-on) on/off

It is the same as (1) (a) in this section.

(b) EM1 (Forced stop 1) on/off

Dynamic brake
Dynamic brake
+ Electromagnetic brake Electromagnetic brake
has released.
Servo motor speed Electromagnetic brake
0 r/min
Approx. 10 ms Approx. 210 ms
ON
Base circuit
OFF
Operation delay time Approx. 210 ms
MBR ON of the electromagnetic
(Electromagnetic (Note) brake
brake interlock) OFF

Disabled (ON)
EM1 (Forced stop)
Enabled (OFF)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.

(d) Power off

It is the same as (1) (d) of this section.

3 - 60
3. SIGNALS AND WIRING

3.11 Grounding

Ground the servo amplifier and servo motor securely.

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

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

Cabinet
Servo amplifier Servo motor
CN2
MCCB MC
L1
Line filter

(Note) Encoder
Power L2
supply
L3

U U
V V M
W W
CN1
Programmable
controller

Ensure to connect the

wire to the PE terminal
of the servo amplifier.
Do not connect the wire
directly to the grounding
of the cabinet.

Outer
box
Protective earth (PE)

Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power
supply specifications, refer to section 1.3.

3 - 61
3. SIGNALS AND WIRING

MEMO

3 - 62
4. STARTUP

4. STARTUP

Do not operate the switches with wet hands. Otherwise, it may cause an electric
WARNING shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot
CAUTION while power is on or for some time after power-off. Take safety measures, e.g.
provide covers, to avoid accidentally touching the parts (cables, etc.) by hand.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.8), etc. (Refer to
section 4.1.2.)

Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)

Parameter setting Set the parameters as necessary, such as the used operation mode and
regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4,
and 4.4.4.)

Test operation of the servo motor For the test operation, with the servo motor disconnected from the machine
alone in test operation mode
and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)

Test operation of the servo motor For the test operation with the servo motor disconnected from the machine
alone by commands
and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.

Test operation with the servo motor After connecting the servo motor with the machine, check machine motions
and machine connected
with sending operation commands from the controller.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Actual operation

Stop Stop giving commands and stop operation. Other conditions that stop the
servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.

4- 1
4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring

Before switching on the power supply, check the following items.

(a) Power supply system wiring

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

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U, V, and W) should match in phase with the servo motor
power input terminals (U, V, and W).
Servo amplifier Servo motor
U
U
V
V M
W
W

2) The power supplied to the servo amplifier should not be connected to the power outputs (U, V,
and W). Doing so will fail the connected servo amplifier and servo motor.

Servo amplifier Servo motor

U
L1 U
V
L2 V M
W
L3 W

3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
Servo amplifier Servo motor

4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor
securely using the encoder cable.

(c) When you use an option and peripheral equipment

1) When you use a regenerative option for 1 kW or less servo amplifiers
The built-in regenerative resistor and wirings should be removed from the servo amplifier.
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should
not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
A twisted cable should be used. (Refer to section 11.2.4.)

2) When you use a regenerative option for 2 kW or more servo amplifiers

The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
A twisted cable should be used. (Refer to section 11.2.4.)

4- 2
4. STARTUP

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used
to perform a wiring check. Switch off SON (Servo-on) to enable the function.
Refer to section 3.2 for details of I/O signal connection.

(b) A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector.

(c) Between SD and DOCOM of the CN1 connector should not be shorted.
Servo amplifier
CN1
DOCOM

SD

4.1.3 Surrounding environment

(1) Cable routing

(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector of the servo motor should not be stressed.

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

4- 3
4. STARTUP

4.2 Startup in position control mode

Make a startup in accordance with section 4.1. This section provides descriptions specific to the position
control mode.

4.2.1 Power on and off procedures

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

1) Switch off SON (Servo-on).

2) Make sure that a command pulse train is not input.

3) Turn on the power.

When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in 2 s later, shows data.

(2) Power-off
1) Make sure that a command pulse train is not input.

2) Switch off SON (Servo-on).

3) Shut off the power.

4.2.2 Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch off SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
chapter 8.)
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
LSP (Forward rotation stroke end) off, LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
(Reverse rotation stroke end) off opposite direction.

4- 4
4. STARTUP

4.2.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2.1 for how to power on and off the servo amplifier.
Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate
alone in JOG operation of test
operation mode normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor correctly rotates at the slowest
speed. Refer to section 4.5.9 for the test operation mode.

Test operation of the servo motor In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
speed under the commands from the controller.
Make sure that the servo motor rotates in the following procedure.

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

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

3) When a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the rotation
direction, etc. of the servo motor. If the machine does not operate in the
intended direction, check the input signal.

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

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

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

3) When a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the operation
direction, etc. of the machine. If the machine does not operate in the
intended direction, check the input signal. In the status display, check for
any problems of the servo motor speed, command pulse frequency, load
ratio, etc.

4) Then, check automatic operation with the program of the controller.

4- 5
4. STARTUP

4.2.4 Parameter setting

POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H

In the position control mode, the servo amplifier can be used by merely changing the basic setting
parameters ([Pr. PA _ _ ]) mainly.
As necessary, set other parameters.

4.2.5 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.

4- 6
4. STARTUP

4.2.6 Trouble at start-up

Never make a drastic adjustment or change to the parameter values as doing so

CAUTION will make the operation unstable.

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

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

(1) Troubleshooting
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on LED is not lit. Not improved even if CN1 and 1. Power supply voltage fault
LED flickers. CN2 connectors are disconnected. 2. The servo amplifier is
malfunctioning.
Improved when CN1 connector is Power supply of CN1 cabling is
disconnected. shorted.
Improved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Servo-on). Servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not input. Section
not servo-locked. servo amplifier is ready to (wiring mistake) 4.5.7
(Servo motor shaft is operate. 2. 24 V DC power is not
free.) 2. Check the external I/O signal supplied to DICOM.
indication (section 4.5.7) to see
if SON (Servo-on) is on.
3 Input command Servo motor does not Check the cumulative command 1. Wiring mistake Section
pulse (test rotate. pulse on the status display (a) For open collector pulse 4.5.3
operation). (section 4.5.3). train input, 24 V DC power
is not supplied to OPC.
(b) LSP and LSN are not on.
2. Pulse is not input from the
controller.
Mistake in setting of [Pr. PA13]. Chapter
Servo motor run in 1. Mistake in wiring to controller. 5
reverse direction. 2. Mistake in setting of [Pr.
PA14].
4 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault Chapter
fluctuations) are large following procedure. 6
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times to
complete auto tuning.
Large load inertia If the servo motor may be driven Gain adjustment fault Chapter
moment causes the with safety, repeat acceleration 6
servo motor shaft to and deceleration several times to
oscillate side to side. complete auto tuning.
5 Cyclic operation Position shift occurs Confirm the cumulative command Pulse counting error, etc. due to (2) of
pulses, cumulative feedback noise. this
pulses and actual servo motor section
position.

4- 7
4. STARTUP

(2) How to find the cause of position shift

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

(b) Cumulative command pulses Cause B

Cause A
SON (Servo-on) input
LSP/LSN (Stroke end) input
C Encoder

Cause C
(c) Cumulative feedback pulses

When a position shift occurs, check (a) output pulse counter Q, (b) cumulative command pulse P, (c)
cumulative feedback pulse C, and (d) machine stop position M in the above diagram.
Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that
noise entered the wiring between the controller and servo amplifier, causing command input pulses to be
miscounted.

In a normal status without position shift, there are the following relationships.

1) Q = P (Output counter = Cumulative command pulses)

2) When [Pr. PA21] is "0 _ _ _"

CMX [Pr. PA06]

P• = C (Cumulative command pulses × Electronic gear = Cumulative feedback
CDV [Pr. PA07]
pulses)

3) When [Pr. PA21] is "1 _ _ _"

131072
P• =C
FBP [Pr. PA05]

4) C • Δℓ = M (Cumulative feedback pulses × Travel distance per pulse = Machine position)

Check for a position mismatch in the following sequence.

1) When Q ≠ P
Noise entered the pulse train signal wiring between the controller and servo amplifier, causing
command input pulses to be miscounted. (Cause A)
Make the following check or take the following measures.
Check how the shielding is done.
Change the open collector type to the differential line driver type.
Run wiring away from the power circuit.
Install a data line filter. (Refer to section 11.9 (2) (a).)
Change the [Pr. PA13 Command pulse input form] setting.

4- 8
4. STARTUP

CMX
2) When P • ≠C
CDV
During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation
stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C)

3) When C • Δℓ ≠ M
Mechanical slip occurred between the servo motor and machine. (Cause B)

4.3 Startup in speed control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the speed
control mode.

4.3.1 Power on and off procedures

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

1) Switch off SON (Servo-on).

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

3) Turn on the power.

When main circuit power/control circuit power is switched on, the display shows "r (Servo motor
speed)", and in 2 s later, shows data.

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

2) Switch off SON (Servo-on).

3) Shut off the power.

4.3.2 Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop.
Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch off SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
chapter 8.)
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
LSP (Forward rotation stroke end) off, LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
(Reverse rotation stroke end) off opposite direction.
Simultaneous on or off of ST1 (Forward The servo motor is decelerated to a stop.
rotation start) and ST2 (Reverse rotation
start)

4- 9
4. STARTUP

4.3.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.3.1 for how to power on and off the servo amplifier.
Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate
alone in JOG operation of test
operation mode normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor correctly rotates at the slowest
speed. Refer to section 4.5.9 for the test operation mode.

Test operation of the servo motor In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
speed under the commands from the controller.
Make sure that the servo motor rotates in the following procedure.

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

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

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

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

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

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

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

4) Then, check automatic operation with the program of the controller.

4 - 10
4. STARTUP

4.3.4 Parameter setting

POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H

When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control
mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.
As necessary, set other parameters.

4 - 11
4. STARTUP

4.3.5 Actual operation

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

4.3.6 Trouble at start-up

Never make a drastic adjustment or change to the parameter values as doing so

CAUTION will make the operation unstable.

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

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on LED is not lit. Not improved even if CN1 and 1. Power supply voltage fault
LED flickers. CN2 connectors are 2. The servo amplifier is
disconnected. malfunctioning.
Improved when CN1 connector is Power supply of CN1 cabling is
disconnected. shorted.
Improved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Servo-on). Servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not input. Section
not servo-locked. servo amplifier is ready to (wiring mistake) 4.5.7
(Servo motor shaft is operate. 2. 24 V DC power is not supplied
free.) 2. Check the external I/O signal to DICOM.
indication (section 4.5.7) to
see if SON (Servo-on) is on.
3 Switch on ST1 Servo motor does not Call the status display (section Analog speed command is 0 V. Section
(Forward rotation rotate. 4.5.3) and check the input 4.5.3
start) or ST2 voltage of VC (Analog speed
(Reverse rotation command).
start). Call the external I/O signal LSP, LSN, ST1, and ST2 are off. Section
display (section 4.5.7) and check 4.5.7
the on/off status of the input
signal.
Check the internal speed Set value is 0. Section
commands 1 to 7 ([Pr. PC05] to 5.2.3
[Pr. PC11]).
Check the forward rotation Torque limit level is too low as Section
torque limit ([Pr. PA11]) and the compared to the load torque. 5.2.1
reverse rotation torque limit ([Pr.
PA12]).
When TLA (Analog torque limit) Torque limit level is too low as Section
is usable, check the input voltage compared to the load torque. 4.5.3
on the status display.

4 - 12
4. STARTUP

No. Start-up sequence Fault Investigation Possible cause Reference

4 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault Chapter
fluctuations) are large following procedure. 6
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times to
complete auto tuning.
Large load inertia If the servo motor may be driven Gain adjustment fault Chapter
moment causes the with safety, repeat acceleration 6
servo motor shaft to and deceleration several times to
oscillate side to side. complete auto tuning.

4.4 Startup in torque control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the torque
control mode.

4.4.1 Power on and off procedures

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

1) Switch off SON (Servo-on).

2) Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.

3) Turn on the power.

Data is displayed in 2 s after "U" (Analog torque command) is displayed.

(2) Power-off
1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).

2) Switch off SON (Servo-on).

3) Shut off the power.

4.4.2 Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch off SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
chapter 8.)
EM2 (Forced stop 2) off This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
Simultaneous on or off of RS1 (Forward The servo motor coasts.
rotation selection) and RS2 (Reverse rotation
selection)

4 - 13
4. STARTUP

4.4.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.4.1 for how to power on and off the servo amplifier.
Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate
alone in JOG operation of test
operation mode normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor correctly rotates at the slowest
speed. Refer to section 4.5.9 for the test operation mode.

Test operation of the servo In this step, confirm that the servo motor correctly rotates at the slowest
motor alone by commands
speed under the commands from the controller.
Make sure that the servo motor rotates in the following procedure.

1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on

status, RD (Ready) switches on.

2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low torque command at first and
check the rotation direction, etc. of the servo motor. If the machine does
not operate in the intended direction, check the input signal.

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

1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on

status, RD (Ready) switches on.

2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low torque command at first and
check the operation direction, etc. of the machine. If the machine does
not operate in the intended direction, check the input signal. In the status
display, check for any problems of the servo motor speed, load ratio, etc.

3) Then, check automatic operation with the program of the controller.

4 - 14
4. STARTUP

4.4.4 Parameter setting

POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H

When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control
mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.
As necessary, set other parameters.

4.4.5 Actual operation

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

4 - 15
4. STARTUP

4.4.6 Trouble at start-up

Never make a drastic adjustment or change to the parameter values as doing so

CAUTION will make the motion unstable.

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

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on LED is not lit. Not improved even if CN1 and 1. Power supply voltage fault
LED flickers. CN2 connectors are 2. The servo amplifier is
disconnected. malfunctioning.
Improved when CN1 connector is Power supply of CN1 cabling is
disconnected. shorted.
Improved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Servo-on). Servo motor shaft is Call the external I/O signal 1. SON (Servo-on) is not input. Section
free. display (section 4.5.7) and check (wiring mistake) 4.5.7
the on/off status of the input 2. 24 V DC power is not supplied
signal. to DICOM.
3 Switch on RS1 Servo motor does not Call the status display (section Analog torque command is 0 V. Section
(Forward rotation rotate. 4.5.3) and check the input 4.5.3
start) or RS2 voltage of TC (Analog torque
(Reverse rotation command).
start). Call the external I/O signal RS1 and RS2 are off. Section
display (section 4.5.7) and check 4.5.7
the on/off status of the input
signal.
Check the internal speed limit 1 Set value is 0. Section
to 7 ([Pr. PC05] to [Pr. PC11]). 5.2.3
Check the analog torque Torque command level is too low Section
command maximum output ([Pr. as compared to the load torque. 5.2.3
PC13]) value.
Check the forward rotation Set value is 0. Section
torque limit ([Pr. PA11]) and the 5.2.1
reverse rotation torque limit ([Pr.
PA12]).

4 - 16
4. STARTUP

4.5 Display and operation sections

4.5.1 Summary

The MR-JE-A servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4
pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Push the "MODE" and
"SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
The operation section and display data are described below.

5-digit, 7-segment LED Displays data.

Decimal LED Displays the decimal points, alarm presence/absence, etc.

MODE Display mode change

Low/High switching Lit to indicate the decimal point.
Display/data scrolling (UP)
Decimal
Display/data scrolling (DOWN)
SET Display/data determination Lit to indicate a negative when "-"
Data clear (negative) cannot be displayed.
AUTO To the one-touch tuning mode

Flickers to indicate alarm occurrence.

Flickers to indicate the test operation

mode.

4 - 17
4. STARTUP

4.5.2 Display flowchart

Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the
description of the corresponding display mode.
To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters,
enable them with [Pr. PA19 Parameter writing inhibit].
Display mode transition Initial screen Function Reference
Servo status display. Section
appears at power-on. 4.5.3
Status display (Note)

One-touch tuning Section 6.2

Select this when performing the one-touch
One-touch tuning tuning.

Sequence display, external signal display, Section

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

Display and setting of basic setting Section

Basic setting parameters. 4.5.6
parameters
Button
MODE
Display and setting of gain/filter parameters.
Gain/filter
parameters

Display and setting of extension setting

Extension setting parameters.
parameters

Display and setting of I/O setting parameters.

I/O setting
parameters

Display and setting of extension setting 2

Extension setting 2 parameters.
parameters

Display and setting of extension setting 3

Extension setting 3 parameters.
parameters

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

4 - 18
4. STARTUP

4.5.3 Status display mode

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears
after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s.

(1) Display transition

After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button
changes the display as shown below.
Unit total power
consumption 2
(increment of 100 kWh)

Cumulative feedback Within one-revolution position

pulses (1000 pulse unit)

Servo motor speed ABS counter (Note)

Droop pulses Load to motor inertia ratio

Cumulative command Bus voltage

pulses

Command pulse frequency Encoder inside temperature

Analog speed command

voltage
Settling time
Analog speed limit
voltage UP

Analog torque limit DOWN

voltage
Analog torque command Oscillation detection frequency
voltage

Regenerative load ratio Number of tough drives

Unit power consumption 1

Effective load ratio (increment of 1 W)

Unit power consumption 2

Peak load ratio (increment of 1 kW)

Unit total power consumption 1

Instantaneous torque (increment of 1 Wh)

Within one-revolution Unit total power consumption 2

position (1 pulse unit) (increment of 100 kWh)

Cumulative feedback pulses

Note. Travel distance from power on is displayed by counter value.

4 - 19
4. STARTUP

(2) Display examples

The following table shows the display examples.
Displayed data
Item Status
Servo amplifier display

Forward rotation at 2500

r/min

Servo motor speed

Reverse rotation at 3000

r/min

Reverse rotation is indicated by "- ".

Load to motor inertia ratio 7.00 times

11252 pulses

Cumulative feedback
pulses

-12566 pulses
Lit

Negative value is indicated by the lit decimal

points in the upper four digits.

4 - 20
4. STARTUP

(3) Status display list

The following table lists the servo statuses that may be shown. Refer to appendix 4 for the measurement
point.
Status display Symbol Unit Description
Feedback pulses from the servo motor encoder are counted and displayed.
The values in excess of ±99999 can be counted. However, the counter shows
only the lower five digits of the actual value since the servo amplifier display is
Cumulative feedback pulses C pulse
five digits.
Press the "SET" button to reset the display value to zero.
The value of minus is indicated by the lit decimal points in the upper four digits.
The servo motor speed is displayed.
Servo motor speed r r/min
It is displayed rounding off 0.1 r/min unit.
The number of droop pulses in the deviation counter are displayed.
The decimal points in the upper four digits are lit for reverse rotation pulses.
The values in excess of ±99999 can be counted. However, the counter shows
Droop pulses E pulse
only the lower five digits of the actual value since the servo amplifier display is
five digits.
The number of pulses displayed is in the encoder pulse unit.
Position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it
may not match the indication of the cumulative feedback pulses.
The values in excess of ±99999 can be counted. However, the counter shows
Cumulative command pulses P pulse only the lower five digits of the actual value since the servo amplifier display is
five digits.
Press the "SET" button to reset the display value to zero.
When the servo motor is rotating in the reverse direction, the decimal points in
the upper four digits are lit.
The frequency of position command input pulses is counted and displayed.
Command pulse frequency n kpulse/s
The value displayed is not multiplied by the electronic gear (CMX/CDV).
1) Torque control mode
Analog speed command
Input voltage of VLA (Analog speed limit) voltage is displayed.
voltage F V
Analog speed limit voltage 2) Speed control mode
Input voltage of VC (Analog speed command) voltage is displayed
1) Position control mode and speed control mode
Analog torque command
Voltage of TLA (Analog torque limit) voltage is displayed.
voltage U V
2) Torque control mode
Analog torque limit voltage
Voltage of TC (Analog torque command) voltage is displayed.
The ratio of regenerative power to permissible regenerative power is displayed in
Regenerative load ratio L %
%.
The continuous effective load current is displayed.
Effective load ratio J % The effective value in the past 15 s is displayed relative to the rated current of
100 %.
The maximum occurrence torque is displayed.
Peak load ratio b % The highest value in the past 15 s is displayed relative to the rated current of 100
%.
The instantaneous occurrence torque is displayed.
Instantaneous torque T % The value of torque being occurred is displayed in real time considering a rated
torque as 100%.
Position within one revolution is displayed in encoder pulses.
The values in excess of ±99999 can be counted. However, the counter shows
Within one-revolution position
Cy1 pulse only the lower five digits of the actual value since the servo amplifier display is
(1 pulse unit)
five digits.
When the servo motor rotates in the CCW direction, the value is added.
The within one-revolution position is displayed in 1000 pulse increments of the
Within one-revolution position 1000
Cy2 encoder.
(1000 pulses unit) pulses
When the servo motor rotates in the CCW direction, the value is added.
ABS counter LS rev Travel distance from power on is displayed by counter value.
The estimated ratio of the load inertia moment to the servo motor shaft inertia
Load to motor inertia ratio dC Multiplier
moment is displayed.

4 - 21
4. STARTUP

Status display Symbol Unit Description

Bus voltage Pn V The voltage of main circuit converter (between P+ and N-) is displayed.
Encoder inside temperature ETh °C Inside temperature of encoder detected by the encoder is displayed.
Settling time ST ms Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed.
Oscillation detection
oF Hz Frequency at the time of oscillation detection is displayed.
frequency
Number of tough drive
Td times The number of tough drive functions activated is displayed.
operations
Unit power consumption is displayed by increment of 1 W. Positive value indicate
Unit power consumption 1 power running, and negative value indicate regeneration. The values in excess of
PC1 W
(increment of 1 W) ±99999 can be counted. However, the counter shows only the lower five digits of
the actual value since the servo amplifier display is five digits.
Unit power consumption 2 Unit power consumption is displayed by increment of 1 kW. Positive value
PC2 kW
(increment of 1 kW) indicate power running, and negative value indicate regeneration.
Unit total power consumption is displayed by increment of 1 Wh. Positive value is
cumulated during power running and negative value during regeneration. The
Unit total power consumption
TPC1 Wh values in excess of ±99999 can be counted. However, the counter shows only
1 (increment of 1 Wh)
the lower five digits of the actual value since the servo amplifier display is five
digits.
Unit total power consumption Unit total power consumption is displayed by increment of 100 kWh. Positive
TPC2 100 kWh
2 (increment of 100 kWh) value is cumulated during power running and negative value during regeneration.

(4) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing
[Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.
Control mode Status display
Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback
pulses

4 - 22
4. STARTUP

4.5.4 Diagnostic mode

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

Sequence
Ready
Indicates that the servo was switched on after
completion of initialization and the servo
amplifier is ready to operate.
Drive recorder enabled
When an alarm occurs in the status, the drive
recorder will operate and write the status of
occurrence.
Drive recorder disabled
Drive recorder enabled/disabled display The drive recorder will not operate on the
following conditions.
1. You are using the graph function of MR
Configurator2.
2. You are using the machine analyzer
function.
3. [Pr. PF21] is set to "-1".
This Indicates the on/off status of external I/O
signal.
External I/O signal display Refer to section 4.5.7. The upper segments correspond to the input
signals and the lower segments to the output
signals.
This allows digital output signal to be
switched on/off forcibly.
Output signal (DO) forced output
For details, refer to section 4.5.8.

JOG operation can be performed when there

is no command from an external controller.
JOG operation
For details, refer to section 4.5.9 (2).

Positioning operation can be performed when

there is no command from an external
controller.
Positioning operation
MR Configurator2 is required to perform
positioning operation.
For details, refer to section 4.5.9 (3).
Without connecting the servo motor, output
signals or status display monitoring can be
Test operation
Motor-less operation provided in response to the input device as if
mode
the servo motor is actually running.
For details, refer to section 4.5.9 (4).
Merely connecting the servo amplifier allows
the resonance point of the mechanical system
Machine analyzer to be measured.
operation MR Configurator2 is required to perform
machine analyzer operation.
Refer to section 11.4 for details.
This is for manufacturer adjustment.
For manufacturer
adjustment

4 - 23
4. STARTUP

Name Display Description

Indicates the version of the software.

Software version - Lower

Indicates the system number of the software.

Software version - Upper

If offset voltages in the analog circuits inside

and outside the servo amplifier cause the
servo motor to rotate slowly at VC (Analog
speed
command) or VLA (Analog speed limit) of 0
V, this function automatically makes zero-
adjustment of offset voltages.
When using this function, enable the function
in the following procedure. When it is
Automatic VC offset enabled, [Pr. PC37] value changes to the
automatically adjusted offset voltage.
1) Push "SET" once.
2) Set the number in the first digit to 1 with
"UP"/"DOWN".
3) Push "SET".
This function cannot be used if the input
voltage of VC or VLA is - +0.4 V or less, or +
0.4 V or more. (Note)
Push the "SET" button to show the series ID
of the servo motor currently connected.
Servo motor series ID For indication details, refer to appendix 1 of
"HF-KN/HF-SN servo Motor Instruction
Manual".
Push the "SET" button to show the type ID of
the servo motor currently connected.
Servo motor type ID For indication details, refer to appendix 1 of
"HF-KN/HF-SN servo Motor Instruction
Manual".
Push the "SET" button to show the encoder
ID of the servo motor currently connected.
Servo motor encoder ID For indication details, refer to appendix 1 of
"HF-KN/HF-SN servo Motor Instruction
Manual".
This is for manufacturer adjustment.

For manufacturer adjustment

This is for manufacturer adjustment.

For manufacturer adjustment

Note. Even if Automatic VC offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To
completely stop the servo motor, switch off ST1 or ST2.

4 - 24
4. STARTUP

4.5.5 Alarm mode

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

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

Indicates that the last alarm is [AL. 50.1

Thermal overload error 1 during operation].

Indicates the second last alarm is [AL. 33.1

Main circuit voltage error].

Indicates the third last alarm is [AL. 10.1

Voltage drop in the power].

Indicates that there is no tenth alarm in the

past.
Alarm history

Indicates that there is no eleventh alarm in

the past.

Indicates that there is no twelfth alarm in the

past.

Indicates that there is no sixteenth alarm in

the past.

This indicates no occurrence of [AL. 37

Parameter error].

Parameter error No.

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

4 - 25
4. STARTUP

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

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

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

(a) Switch power off, then on.

(b) Push the "SET" button on the current alarm screen.

(c) Turn on RES (Reset).

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

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

4.5.6 Parameter mode

(1) Parameter mode transition

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

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

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

UP

DOWN

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

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

4 - 26
4. STARTUP

(2) Operation example

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

…… The parameter number is displayed.

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

Press "SET" twice.

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

Press "UP" twice.

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

Use "UP" or "DOWN".
(_ _ _ 2: Speed control mode)
Press "SET" to enter.

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

When changing the [Pr. PA01] setting, change its set value, then switch power off once and switch it
on again to enable the new value.

(b) Parameters of 6 or more digits

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

Press "SET" once.

Setting of upper 1 digit Setting of lower 4 digits

Press "MODE" once.

Press "SET" once.

…… The screen flickers.……

Press "UP" or "DOWN" to

change the setting.

Press "SET" once.

……Enter the setting. …

Press "MODE" once.

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4. STARTUP

4.5.7 External I/O signal display

POINT
The I/O signal settings can be changed using the I/O setting parameters [Pr.
PD03] to [Pr. PD28].

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

(1) Operation
The display screen at power-on. Using the "MODE" button, display the diagnostic screen.

Press "UP" twice.

…… External I/O signal display screen

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.
CN1 CN1 CN1 CN1 CN1 CN1
42 41 19 15 44 43

Input signal

Always lit

Output signals

CN1 CN1 CN1 CN1 CN1

33 48 23 24 49
Light on: on
Light off: off

The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.
The signals corresponding to the pins in the respective control modes are indicated below.

4 - 28
4. STARTUP

(a) Control modes and I/O signals

Signal (Note 2) Symbols of I/O signals in control modes
Connector Pin No. input/output Related parameter
P P/S S S/T T T/P
(Note 1) I/O
15 I SON SON SON SON SON SON Pr. PD03/Pr. PD04
16
17
18
19 I RES RES/ST1 ST1 ST1/RS2 RS2 RS2/RES Pr. PD11/Pr. PD12
22
23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr. PD24
24 O INP INP/SA SA SA/- -/INP Pr. PD25
CN1 25
33 O OP OP OP OP OP OP
41 I CR CR/ST2 ST2 ST2/RS1 RS1 RS1/CR Pr. PD13/Pr. PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP Pr. PD17/Pr. PD18
44 I LSN LSN LSN LSN/- -/LSN Pr. PD19/Pr. PD20
45
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD Pr. PD28

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

2. P: position control mode, S: speed control mode, T: torque control mode
P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode

(b) Symbol and signal names

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

4 - 29
4. STARTUP

(3) Display data at initial values

(a) Position control mode
CR (CN1-41)
RES (CN1-19)
SON (CN1-15)
LSN (CN1-44)
EM2 (CN1-42) LSP (CN1-43)
Input signal
Light on: on
Output signals Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) INP (CN1-24)
ZSP (CN1-23)

(b) Speed control mode

ST2 (CN1-41)
ST1 (CN1-19)
SON (CN1-15)
LSN (CN1-44)
EM2 (CN1-42) LSP (CN1-43)
Input signal
Light on: on
Output signals Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) SA (CN1-24)
ZSP (CN1-23)

(c) Torque control mode

RS1 (CN1-41)
RS2 (CN1-19)
EM2 (CN1-42) SON (CN1-15)
Input signal
Light on: on
Output signals Light off: off
OP (CN1-33) RD (CN1-49)
ALM (CN1-48) ZSP (CN1-23)

4 - 30
4. STARTUP

4.5.8 Output signal (DO) forced output

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

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

Operation
The display screen at power-on. Using the "MODE" button, display the diagnostic screen.

Press "UP" three times.

Press "SET" for longer than 2 s.

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

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

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

Press "UP" once.

…… CN1-24 switches on.

(Between CN1-24 and DOCOM are connected.)

Press "DOWN" once.

…… CN1-24 switches off.

Press "SET" for longer than 2 s.

4 - 31
4. STARTUP

4.5.9 Test operation mode

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

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

(1) Mode switching

The display screen at power-on. Select JOG operation or motor-less operation in the following
procedure. Using the "MODE" button, display the diagnostic screen.

Press "UP" four times.

Press "SET" for longer than 2 s.

…… When this screen appears,

JOG operation can be performed.

Flickers in the test operation mode.

4 - 32
4. STARTUP

(2) JOG operation

POINT
When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can
be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".

JOG operation can be performed when there is no command from the controller.

(a) Operation
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops
rotating by releasing the button. The operation condition can be changed using MR Configurator2.
The initial operation condition and setting range for operation are listed below.
Item Initial setting Setting range
0 to permissible instantaneous
Speed [r/min] 200
speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]

The following table shows how to use the buttons.

Button Description
Press to start CCW rotation.
"UP"
Release to stop.
Press to start CW rotation.
"DOWN"
Release to stop.

If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor
decelerates to a stop.

(b) Status display

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

(c) Termination of JOG operation

To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next
screen, and then hold down the "SET" button for 2 s or longer.

4 - 33
4. STARTUP

(3) Positioning operation

POINT
MR Configurator2 is required to perform positioning operation.
Turn on EM2 (forced stop 2) when performing positioning operation.

Positioning operation can be performed when there is no command from the controller.

(a) Operation
m)

n)

g)
a)

b)
c)

d)
e)
f)
l)

h)

i)

j) k)

a) Motor speed [r/min]

Enter the servo motor speed into the "Motor speed" input field.

b) Acceleration/deceleration time constant [ms]

Enter the acceleration/deceleration time constant into the "Accel/decel time" input field.

c) Travel distance [pulse]

Enter the travel distance into the "Travel distance" input field.

d) LSP/LSN are automatically turned on

When setting the external stroke signal to automatic on, click the check box to enable it. When
it is not selected, turn on LSP and LSN externally.

e) Move till Z-phase signal

Travel is made until the travel distance is reached and the first Z-phase signal in the travelling
direction turns on.

4 - 34
4. STARTUP

f) Travel distance unit selection

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

g) Enable repeat operation

To perform repeat operation, click the check. The initial setting and setting range for the repeat
operation are listed below.
Item Initial setting Setting range
Fwd. rot. (CCW) to rev. rot.
(CW)
Fwd. rot. (CCW) to fwd. rot.
Fwd. rot. (CCW) to rev. rot. (CCW)
Repeat pattern
(CW) Rev. rot. (CW) to fwd. rot.
(CCW)
Rev. rot. (CW) to rev. rot.
(CW)
Dwell time [s] 2.0 0.1 to 50.0
Number of operations
1 1 to 9999
[times]

To perform continuous operation with the repeat pattern and dwell time settings, which are set
by referring to the above table, click the check box of "Make the aging function enabled".

h) Forward/reverse the servo motor

Click the "Forward CCW" button to rotate the servo motor in the forward rotation direction.
Click the "Reverse CW" button to rotate the servo motor in the reverse rotation direction.

i) Pause the servo motor

Click the "Pause" button during servo motor rotation to temporarily stop the servo motor.
This button is enabled during servo motor rotation.

h) Stop the servo motor

Click the "Stop" button during servo motor rotation to stop the servo motor.

k) Forced stop
Click the "Forced stop" button during servo motor rotation to make a sudden stop.
This button is enabled during servo motor rotation.

l) Operation status
The operation status during the repeat operation, and the number of operations are displayed

m) Axis No.
Axis No. in operation is displayed.

n) Termination of positioning operation window

Click the close button to cancel the positioning operation mode and close the window.

(b) Status display

The status display can be monitored during positioning operation.

4 - 35
4. STARTUP

(4) Motor-less operation

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

(a) Start of motor-less operation

After setting "_ _ _ 1" in [Pr. PC60], cycle the power. After that, perform external operation as in
ordinary operation.

(b) Termination of motor-less operation

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

(5) Program operation

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

(6) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. This function is used for
output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.

4 - 36
5. PARAMETERS

5. PARAMETERS

Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not set a value other than the described values to each parameter.

5.1 Parameter list

POINT
To enable a parameter whose symbol is preceded by *, turn off the power for 1 s
or more after setting and turn it on again. However, the time will be longer
depending on a setting value of [Pr. PF25 SEMI-F47 function - Instantaneous
power failure detection time (instantaneous power failure tough drive - detection
time)] when "SEMI-F47 function selection (instantaneous power failure tough
drive selection)" is enabled in [Pr. PA20].
The symbols in the control mode column mean as follows.
P: Position control mode
S: Speed control mode
T: Torque control mode

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Initial Control mode
No. Symbol Name Unit
value P S T
PA01 *STY Operation mode 1000h
PA02 *REG Regenerative option 0000h
PA03 For manufacturer setting 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 *FBP Number of command input pulses per revolution 10000
PA06 CMX Electronic gear numerator (command pulse multiplication numerator) 1
PA07 CDV Electronic gear denominator (command pulse multiplication denominator) 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 [pulse]
PA11 TLP Forward rotation torque limit 100.0 [%]
PA12 TLN Reverse rotation torque limit 100.0 [%]
PA13 *PLSS Command pulse input form 0100h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 For manufacturer setting 0000h
PA18 0000h
PA19 *BLK Parameter writing inhibit 00AAh
PA20 *TDS Tough drive setting 0000h
PA21 *AOP3 Function selection A-3 0001h
PA22 For manufacturer setting 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA26 *AOP5 Function selection A-5 0000h
PA27 For manufacturer setting 0000h
PA28 0000h

5- 1
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PA29 For manufacturer setting 0000h
PA30 0000h
PA31 0000h
PA32 0000h

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial Control mode
No. Symbol Name Unit
value P S T
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
VRFT Vibration suppression control tuning mode (advanced vibration
PB02 0000h
suppression control II)
PST Position command acceleration/deceleration time constant (position
PB03 0 [ms]
smoothing)
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]
PB16 NHQ2 Notch shape selection 2 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00
PB23 VFBF Low-pass filter selection 0100h
PB24 *MVS Slight vibration suppression control 0000h
PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpulse/s]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]
PB30 PG2B Gain switching position loop gain 0.0 [rad/s]
PB31 VG2B Gain switching speed loop gain 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain 0.0 [Hz]
switching
PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after gain 0.00
switching
PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping after 0.00
gain switching
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00

5- 2
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PB41 For manufacturer setting 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]
PB47 NHQ3 Notch shape selection 3 0000h
PB48 NH4 Machine resonance suppression filter 4 4500 [Hz]
PB49 NHQ4 Notch shape selection 4 0000h
PB50 NH5 Machine resonance suppression filter 5 4500 [Hz]
PB51 NHQ5 Notch shape selection 5 0000h
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain 0.0 [Hz]
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain 0.00
switching
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after 0.00
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h

5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Initial Control mode
No. Symbol Name Unit
value P S T
PC01 STA Acceleration time constant 0 [ms]
PC02 STB Deceleration time constant 0 [ms]
PC03 STC S-pattern acceleration/deceleration time constant 0 [ms]
PC04 TQC Torque command time constant 0 [ms]
PC05 SC1 Internal speed command 1 100 [r/min]
Internal speed limit 1
PC06 SC2 Internal speed command 2 500 [r/min]
Internal speed limit 2
PC07 SC3 Internal speed command 3 1000 [r/min]
Internal speed limit 3
PC08 SC4 Internal speed command 4 200 [r/min]
Internal speed limit 4
PC09 SC5 Internal speed command 5 300 [r/min]
Internal speed limit 5
PC10 SC6 Internal speed command 6 500 [r/min]
Internal speed limit 6
PC11 SC7 Internal speed command 7 800 [r/min]
Internal speed limit 7
PC12 VCM Analog speed command - Maximum speed 0 [r/min]
Analog speed limit - Maximum speed
PC13 TLC Analog torque command maximum output 100.0 [%]
PC14 MOD1 Analog monitor 1 output 0000h
PC15 MOD2 Analog monitor 2 output 0001h

5- 3
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PC16 MBR Electromagnetic brake sequence output 0 [ms]
PC17 ZSP Zero speed 50 [r/min]
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 For manufacturer setting 0
PC21 0000h
PC22 *COP1 Function selection C-1 0020h
PC23 *COP2 Function selection C-2 0000h
PC24 *COP3 Function selection C-3 0000h
PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h
PC27 For manufacturer setting 0000h
PC28 For manufacturer setting 0000h
PC29 0000h
PC30 STA2 Acceleration time constant 2 0 [ms]
PC31 STB2 Deceleration time constant 2 0 [ms]
PC32 CMX2 Command input pulse multiplication numerator 2 1
PC33 CMX3 Command input pulse multiplication numerator 3 1
PC34 CMX4 Command input pulse multiplication numerator 4 1
PC35 TL2 Internal torque limit 2 100.0 [%]
PC36 *DMD Status display selection 0000h
PC37 VCO Analog speed command offset 0 [mV]
Analog speed limit offset
PC38 TPO Analog torque command offset 0 [mV]
Analog torque limit offset
PC39 MO1 Analog monitor 1 offset 0 [mV]
PC40 MO2 Analog monitor 2 offset 0 [mV]
PC41 For manufacturer setting 0
PC42 0
PC43 ERZ Error excessive alarm level 0 [rev]
PC44 For manufacturer setting 0000h
PC45 0000h
PC46 0
PC47 0
PC48 0
PC49 0
PC50 0000h
PC51 RSBR Forced stop deceleration time constant 100 [ms]
PC52 For manufacturer setting 0
PC53 0
PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]
PC55 For manufacturer setting 0
PC56 100
PC57 0000h
PC58 0
PC59 0000h
PC60 *COPD Function selection C-D 0000h
PC61 For manufacturer setting 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 0000h
PC66 0000h
PC67 0000h
PC68 0000h

5- 4
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PC69 For manufacturer setting 0000h
PC70 0000h
PC71 0000h
PC72 0000h
PC73 0000h
PC74 0000h
PC75 0000h
PC76 0000h
PC77 0000h
PC78 0000h
PC79 0000h
PC80 0000h

5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Initial Control mode
No. Symbol Name Unit
value P S T
PD01 *DIA1 Input signal automatic on selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 *DI1L Input device selection 1L 0202h
PD04 *DI1H Input device selection 1H 0002h
PD05 For manufacturer setting 2100h
PD06 0021h
PD07 0704h
PD08 0007h
PD09 0805h
PD10 0008h
PD11 *DI5L Input device selection 5L 0703h
PD12 *DI5H Input device selection 5H 0007h
PD13 *DI6L Input device selection 6L 0806h
PD14 *DI6H Input device selection 6H 0008h
PD15 For manufacturer setting 0000h
PD16 0000h
PD17 *DI8L Input device selection 8L 0A0Ah
PD18 *DI8H Input device selection 8H 0000h
PD19 *DI9L Input device selection 9L 0B0Bh
PD20 *DI9H Input device selection 9H 0000h
PD21 For manufacturer setting 2323h
PD22 0023h
PD23 0004h
PD24 *DO2 Output device selection 2 000Ch
PD25 *DO3 Output device selection 3 0004h
PD26 For manufacturer setting 0007h
PD27 0003h
PD28 *DO6 Output device selection 6 0002h
PD29 *DIF Input filter setting 0004h
PD30 *DOP1 Function selection D-1 0000h
PD31 For manufacturer setting 0000h
PD32 *DOP3 Function selection D-3 0000h
PD33 For manufacturer setting 0000h
PD34 DOP5 Function selection D-5 0000h
PD35 For manufacturer setting 0000h
PD36 0000h
PD37 0000h
PD38 0

5- 5
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PD39 For manufacturer setting 0
PD40 0
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial Control mode
No. Symbol Name Unit
value P S T
PE01 For manufacturer setting 0000h
PE02 0000h
PE03 0003h
PE04 1
PE05 1
PE06 400
PE07 100
PE08 10
PE09 0000h
PE10 0000h
PE11 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 1
PE35 1
PE36 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h

5- 6
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PE41 EOP3 Function selection E-3 0000h
PE42 For manufacturer setting 0
PE43 0.0
PE44 0000h
PE45 0000h
PE46 0000h
PE47 0000h
PE48 0000h
PE49 0000h
PE50 0000h
PE51 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial Control mode
No. Symbol Name Unit
value P S T
PF01 For manufacturer setting 0000h
PF02 0000h
PF03 0000h
PF04 0
PF05 0
PF06 0000h
PF07 1
PF08 1
PF09 0000h
PF10 0000h
PF11 0000h
PF12 10000
PF13 100
PF14 100
PF15 2000
PF16 0000h
PF17 10
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 *OSCL2 Vibration tough drive function selection 0000h
SEMI-F47 function - Instantaneous power failure detection time
PF25 CVAT 200 [ms]
(instantaneous power failure tough drive - detection time)

5- 7
5. PARAMETERS

Initial Control mode

No. Symbol Name Unit
value P S T
PF26 For manufacturer setting 0
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]
PF32 For manufacturer setting 50
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h

5.2 Detailed list of parameters

POINT
Set a value to each "x" in the "Setting digit" columns.

5.2.1 Basic setting parameters ([Pr. PA_ _ ])

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

__x_ For manufacturer setting 0h

_x__ 0h
x___ 1h

5- 8
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA02 __xx Regenerative option 00h
*REG Used to select the regenerative option.
Regenerative Incorrect setting may cause the regenerative option to burn.
option If a selected regenerative option is not for use with the servo amplifier, [AL. 37
Parameter error] occurs.

00: Regenerative option is not used.

For servo amplifier of 200 W or less, regenerative resistor is not used.
For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required.)
_x__ For manufacturer setting 0h
x___ 0h
PA04 ___x For manufacturer setting 0h
*AOP1 __x_ 0h
Function _x__ 0h
selection A-1
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 5.1 for details.
Table 5.1 Deceleration method
Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
0___ EM1 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
without the forced stop without the forced stop
deceleration. deceleration.
2___ EM2 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
after the forced stop after the forced stop
deceleration. deceleration.

PA05 The servo motor rotates based on set command input pulses. 10000
*FBP To enable the parameter value, select "Number of command input pulses per
Number of revolution (1 _ _ _)" of "Electronic gear selection" in [Pr. PA21].
command
input pulses Setting range: 1000 to 1000000
per revolution

5- 9
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA06 Set the numerator of the electronic gear. 1
CMX To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear
Electronic selection" in [Pr. PA21].
gear The following shows a standard of the setting range of the electronic gear.
numerator
(command 1 CMX
pulse ＜ ＜ 4000
10 CDV
multiplication
numerator)
If the set value is outside this range, noise may be generated during
acceleration/deceleration or operation may not be performed at the preset speed
and/or acceleration/deceleration time constants.
Number of command input pulses per revolution
([Pr. PA05] "1000" to "1000000")

Electronic gear selection Electronic gear

(x _ _ _ ) ([Pr. PA21]) ([Pr. PA06] [Pr. PA07])

"0" (initial value) CMX

CDV
Command
pulse train Servo motor
"1" Pt + Deviation
counter M
FBP -

Pt (servo motor resolution): 131072 pulses/rev

Encoder

Always set the electronic gear with servo-off state to prevent unexpected operation
due to improper setting.

Setting range: 1 to 16777215

PA07 Set the denominator of the electronic gear. 1
CDV To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear
Electronic selection" in [Pr. PA21].
gear
denominator Setting range: 1 to 16777215
(command
pulse
multiplication
denominator)

5 - 10
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA08 ___x Gain adjustment mode selection 1h
ATU Select the gain adjustment mode.
Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode)
mode 1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
Refer to table 5.2 for details.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

Table 5.2 Gain adjustment mode selection

Setting Gain adjustment
Automatically adjusted parameter
value mode
_ _ _ 0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio]
mode 1 (interpolation [Pr. PB08 Position loop gain]
mode) [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]

5 - 11
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA09 Set a response of the auto tuning. 16
RSP
Auto tuning Machine characteristic Machine characteristic
response Setting Guideline for Setting Guideline for
value Response machine value Response machine
resonance resonance
frequency [Hz] frequency [Hz]
Low 2.7 Middle 67.1
1 respon 21 respon
se se
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
Middle 59.6 High 642.7
20 respon 40 respon
se se

Setting range: 1 to 40
PA10 Set an in-position range per command pulse. 100
INP To change it to the servo motor encoder pulse unit, set [Pr. PC24]. [pulse]
In-position
range Setting range: 0 to 65535
PA11 You can limit the torque generated by the servo motor. Set the parameter referring 100.0
TLP section 3.6.1 (5). [%]
Forward The larger value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse
rotation rotation torque limit] will be the maximum output voltage (8 V).
torque limit Set the parameter on the assumption that the maximum torque is 100 [%]. The
parameter is for limiting the torque of the servo motor in the CCW power running or
CW regeneration. Set this parameter to "0.0" to generate no torque.

Setting range: 0.0 to 100.0

PA12 You can limit the torque generated by the servo motor. Set the parameter referring 100.0
TLN section 3.6.1 (5). [%]
Reverse The larger value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse
rotation rotation torque limit] will be the maximum output voltage (8 V).
torque limit Set the parameter on the assumption that the maximum torque is 100 [%]. The
parameter is for limiting the torque of the servo motor in the CW power running or
CCW regeneration. Set this parameter to "0.0" to generate no torque.

Setting range: 0.0 to 100.0

5 - 12
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA13 ___x Command input pulse train form selection 0h
*PLSS 0: Forward/reverse rotation pulse train
Command 1: Signed pulse train
pulse input 2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after
form multiplying by four.)
Refer to table 5.3 for settings.
__x_ Pulse train logic selection 0h
0: Positive logic
1: Negative logic
Refer to table 5.3 for settings.
_x__ Command input pulse train filter selection 1h
Selecting proper filter enables to enhance noise immunity.
0: Command input pulse train is 4 Mpulses/s or less.
1: Command input pulse train is 1 Mpulse/s or less.
2: Command input pulse train is 500 kpulses/s or less.
3: Command input pulse train is 200 kpulses/s or less.
1 Mpulse/s or lower commands are supported by "1". When inputting commands
over 1 Mpulse/s and 4 Mpulses/s or lower, set "0".
Setting a value not according to the command pulse frequency may cause the
following malfunctions.
Setting a value higher than actual command will lower noise immunity.
Setting a value lower than actual command will cause a position mismatch.
x___ For manufacturer setting 0h

Table 5.3 Command input pulse train form selection

Setting Forward rotation Reverse rotation
Pulse train form
value command command
Forward rotation PP
pulse train
_ _ 1 0h
Reverse rotation
pulse train NP
Negative logic

PP

_ _ 1 1h Signed pulse train

L H
NP

A-phase pulse PP
train
_ _ 1 2h
B-phase pulse
train NP

Forward rotation PP
pulse train
_ _ 0 0h
Reverse rotation
pulse train NP
Positive logic

PP
_ _ 0 1h Signed pulse train
NP L
H

A-phase pulse PP
train
_ _ 0 2h
B-phase pulse
train NP

Arrows in the table indicate the timing of importing pulse trains. A-phase pulse train and B-phase pulse train are
imported after they have been multiplied by 4.

5 - 13
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA14 Select servo motor rotation direction relative to the input pulse train. 0
*POL
Rotation Servo motor rotation direction
Setting
direction value When forward rotation When reverse rotation
selection pulse is input pulse is input
0 CCW CW
1 CW CCW

The following shows the servo motor rotation directions.

Forward rotation (CCW)

Reverse rotation (CW)

Setting range: 0, 1
PA15 Set the encoder output pulses from the servo amplifier by using the number of 4000
*ENR output pulses per revolution, dividing ratio, or electronic gear ratio. (after [pulse/
Encoder multiplication by 4) rev]
output pulses To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic
gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19].
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.

Setting range: 1 to 4194304

PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. 1
*ENR2 To set a denominator of the electronic gear, select "A-phase/B-phase pulse
Encoder electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
output pulses PC19].
2
Setting range: 1 to 4194304

5 - 14
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA19 Select a reference range and writing range of the parameter. 00AAh
*BLK Refer to table 5.4 for settings.
Parameter
writing inhibit
Table 5.4 [Pr. PA19] setting value and reading/writing range
Setting
PA19 PA PB PC PD PE PF
operation
Other Reading
than
Writing
below
Reading Only 19
000Ah
Writing Only 19
Reading
000Bh
Writing
Reading
000Ch
Writing
00AAh Reading
(initial
Writing
value)
Reading
100Bh
Writing Only 19
Reading
100Ch
Writing Only 19
Reading
10AAh
Writing Only 19

PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load
*TDS fluctuation.
Tough drive You can assign MTTR (During tough drive) to pins CN1-23, CN1-24, and CN1-49 with [Pr. PD24], [Pr. PD25], and [Pr.
setting PD28].
_ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0h
0: Disabled
1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing setting

values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine
resonance suppression filter 2] in case that the vibration exceed the value of the
oscillation level set in [Pr. PF23].
To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough
drive function selection].
Refer to section 7.3 for details.
_x__ SEMI-F47 function selection (instantaneous power failure tough drive selection) 0h
0: Disabled
1: Enabled

Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical
energy charged in the capacitor in the servo amplifier in case that an instantaneous
power failure occurs during operation. In [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time (instantaneous power failure tough drive -
detection time)], set the time until the occurrence of [AL. 10.1 Voltage drop in the
power].
When the parameter is enabled, the power should be off for the setting value of [Pr.
PF25] + 1.5 s or more before cycling the power to enable a parameter whose symbol
is preceded by "*".
x___ For manufacturer setting 0h

5 - 15
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PA21 ___x One-touch tuning function selection 1h
*AOP3 0: Disabled
Function 1: Enabled
selection A-3
When the digit is "0", the one-touch tuning is not available.
__x_ For manufacturer setting 0h
_x__ 0h
x___ Electronic gear selection 0h
0: Electronic gear ([Pr. PA06] and [Pr. PA07])
1: Number of command input pulses per revolution ([Pr. PA05])
PA23 _ _ x x Alarm detail No. setting 00h
DRAT Set the digits when you execute the trigger with arbitrary alarm detail No. for the
Drive drive recorder function.
recorder When these digits are "0 0", only the arbitrary alarm No. setting will be enabled.
arbitrary x x _ _ Alarm No. setting 00h
alarm trigger Set the digits when you execute the trigger with arbitrary alarm No. for the drive
setting recorder function.
When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.
Setting example:
To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".
To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".
PA24 _ _ _ x Vibration suppression mode selection 0h
AOP4 0: Standard mode
Function 1: 3 inertia mode
selection A-4 2: Low response mode

When you select the standard mode or low response mode, "Vibration suppression
control 2" is not available.
When you select the 3 inertia mode, the feed forward gain is not available.
Before changing the control mode during the 3 inertia mode or low response mode,
stop the motor.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PA25 Set a permissible value of overshoot amount for one-touch tuning as a percentage of 0
OTHOV the in-position range. [%]
One-touch However, setting "0" will be 50%.
tuning -
Overshoot
permissible
level
PA26 ___x Torque limit function selection at instantaneous power failure 0h
*AOP5 0: Disabled
Function 1: Enabled
selection A-5 Selecting "1" for this digit will limit torques to save electric energy when an
instantaneous power failure occurs during operation and will make [AL. 10
Undervoltage] less likely to occur.
The torque limit function at instantaneous power failure is enabled when "SEMI-F47
function selection (instantaneous power failure tough drive selection)" in [Pr. PA20]
is "Enabled (_ 1 _ _)".
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 16
5. PARAMETERS

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

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

__x_ For manufacturer setting 0h

_x__ 0h
x___ 0h
PB02 ___x Vibration suppression control 1 tuning mode selection 0h
VRFT Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5
Vibration for details.
suppression 0: Disabled
control tuning 1: Automatic setting
mode 2: Manual setting
(advanced
vibration __x_ Vibration suppression control 2 tuning mode selection 0h
suppression Select the tuning mode of the vibration suppression control 2. To enable the digit,
control II) select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.
PA24]. Refer to section 7.1.5 for details.
0: Disabled
1: Automatic setting
2: Manual setting
_x__ For manufacturer setting 0h
x___ 0h
PB03 This is used to set the constant of a primary delay to the position command. 0
PST You can select a control method from "Primary delay" or "Linear [ms]
Position acceleration/deceleration" in [Pr. PB25 Function selection B-1]. The setting range of
command "Linear acceleration/deceleration" is 0 ms to 10 ms. Setting of longer than 10 ms will
acceleration/d be recognized as 10 ms.
eceleration When the linear acceleration/deceleration is selected, do not set the "Control mode
time constant selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the
(position servo motor to make a sudden stop at the time of position control mode switching.
smoothing) (Example) When a command is given from a synchronizing encoder, synchronous
operation will start smoothly even if it start during line operation.

Synchronizing
encoder

Start
Servo motor
Servo amplifier

Without time
constant setting
With time
Servo motor constant setting
speed

ON t
OFF
Start

Setting range: 0 to 65535

5 - 17
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB04 Set the feed forward gain. 0
FFC When the setting is 100%, the droop pulses during operation at constant speed are [%]
Feed forward nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
gain As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the
acceleration time constant up to the rated speed.

Setting range: 0 to 100

PB06 This is used to set the load to motor inertia ratio. 7.00
GD2 The setting of the parameter will be the automatic setting or manual setting [Multiplier]
Load to motor depending on the [Pr. PA08] setting. Refer to the following table for details. When
inertia ratio the parameter is automatic setting, the value will vary between 0.00 and 100.00.

Setting range: 0.00 to 300.00

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode)
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2) Manual setting
_ _ _ 3: (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)

PB07 Set the response gain up to the target position. 15.0

PG1 Increasing the setting value will also increase the response level to the position [rad/s]
Model loop command but will be liable to generate vibration and/or noise.
gain The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode)
_ _ _ 1: (Auto tuning mode 1) Automatic setting
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3: (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2)

PB08 This is used to set the gain of the position loop. 37.0
PG2 Set this parameter to increase the position response to level load disturbance. [rad/s]
Position loop Increasing the setting value will also increase the response level to the load
gain disturbance but will be liable to generate vibration and/or noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode)
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3: (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2) Automatic setting

5 - 18
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB09 This is used to set the gain of the speed loop. 823
VG2 Set this parameter when vibration occurs on machines of low rigidity or large [rad/s]
Speed loop backlash. Increasing the setting value will also increase the response level but will
gain be liable to generate vibration and/or noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

Setting range: 20 to 65535

PB10 This is used to set the integral time constant of the speed loop. 33.7
VIC Decreasing the setting value will increase the response level but will be liable to [ms]
Speed generate vibration and/or noise.
integral The setting of the parameter will be the automatic setting or manual setting
compensation depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

Setting range: 0.1 to 1000.0

PB11 This is used to set the differential compensation. 980
VDC To enable the setting value, turn on PC (proportional control).
Speed
differential Setting range: 0 to 1000
compensation
PB12 Set a viscous friction torque per percent to the servo motor rated speed. 0
OVA When the response level is low, or when the torque is limited, the efficiency of the [%]
Overshoot parameter can be lower.
amount
compensation Setting range: 0 to 100
PB13 Machine resonance suppression filter 1 4500
NH1 Set the notch frequency of the machine resonance suppression filter 1. [Hz]
Machine When "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" is selected in
resonance [Pr. PB01], this parameter will be adjusted automatically.
suppression When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr.
filter 1 PB01], the setting value will be enabled.

Setting range: 10 to 4500

PB14 Set the shape of the machine resonance suppression filter 1.
NHQ1 When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], this parameter will be
Notch shape adjusted automatically.
selection 1 Set manually for the manual setting.
_ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB15 Set the notch frequency of the machine resonance suppression filter 2. 4500
NH2 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 2 selection" in [Pr. PB16].
resonance
suppression Setting range: 10 to 4500
filter 2

5 - 19
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB16 Set the shape of the machine resonance suppression filter 2.
NHQ2 _ _ _ x Machine resonance suppression filter 2 selection 0h
Notch shape 0: Disabled
selection 2 1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB17 Set the shaft resonance suppression filter.
NHF This is used to suppress a low-frequency machine vibration.
Shaft When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the value
resonance will be calculated automatically from the servo motor you use and load to motor inertia ratio. Set manually for "Manual
suppression setting (_ _ _ 1)".
filter When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this
parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft
resonance suppression filter is not available.
_ _ x x Shaft resonance suppression filter setting frequency selection 00h
Refer to table 5.5 for settings.
Set the value closest to the frequency you need.
_ x _ _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
x _ _ _ For manufacturer setting 0h

Table 5.5 Shaft resonance suppression filter

setting frequency selection
Setting Setting
Frequency [Hz] Frequency [Hz]
value value
00 Disabled 10 562
01 Disabled 11 529
02 4500 12 500
03 3000 13 473
04 2250 14 450
05 1800 15 428
06 1500 16 409
07 1285 17 391
08 1125 18 375
09 1000 19 360
0A 900 1A 346
0B 818 1B 333
0C 750 1C 321
0D 692 1D 310
0E 642 1E 300
0F 600 1F 290

5 - 20
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB18 Set the low-pass filter. 3141
LPF The following shows a relation of a required parameter to this parameter. [rad/s]
Low-pass
filter setting Setting range: 100 to 18000

[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value
enabled
__2_ Setting value
disabled

PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0
VRF11 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is "Automatic setting
suppression (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 1 - "Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details.
Vibration
frequency Setting range: 0.1 to 300.0
PB20 Set the resonance frequency for vibration suppression control 1 to suppress low- 100.0
VRF12 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is "Automatic setting
suppression (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 1 - "Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details.
Resonance
frequency Setting range: 0.1 to 300.0
PB21 Set a damping of the vibration frequency for vibration suppression control 1 to 0.00
VRF13 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 1 tuning mode selection" is "Automatic setting
suppression (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 1 - "Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details.
Vibration
frequency Setting range: 0.00 to 0.30
damping
PB22 Set a damping of the resonance frequency for vibration suppression control 1 to 0.00
VRF14 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 1 tuning mode selection" is "Automatic setting
suppression (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 1 - "Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details.
Resonance
frequency Setting range: 0.00 to 0.30
damping
PB23 ___x Shaft resonance suppression filter selection 0h
VFBF Select the shaft resonance suppression filter.
Low-pass 0: Automatic setting
filter selection 1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PB49], the shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
Select the low-pass filter.
0: Automatic setting
1: Manual setting
2: Disabled
_x__ For manufacturer setting 1h
x___ 0h

5 - 21
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB24 ___x Slight vibration suppression control selection 0h
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration 1: Enabled
suppression To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of
control "Gain adjustment mode selection" in [Pr. PA08]. Slight vibration suppression control
cannot be used in the speed control mode.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PB25 ___x For manufacturer setting 0h
*BOP1 __x_ Position acceleration/deceleration filter type selection 0h
Function Select the position acceleration/deceleration filter type.
selection B-1 0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control mode.
Doing so will cause the servo motor to make a sudden stop at the time of control
mode switching.
_x__ For manufacturer setting 0h
x___ 0h
PB26 Select the gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain _ _ _ x Gain switching selection 0h
switching 0: Disabled
function 1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed
_ _ x _ Gain switching condition selection 0h
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_ x _ _ For manufacturer setting 0h
x___ 0h
PB27 This is used to set the value of gain switching (command frequency, droop pulses, 10
CDL and servo motor speed) selected in [Pr. PB26]. [kpulse/s]
Gain The set value unit differs depending on the switching condition item. (Refer to /[pulse]
switching section 7.2.3.) /[r/min]
condition
Setting range: 0 to 9999
PB28 This is used to set the time constant at which the gains will change in response to 1
CDT the conditions set in [Pr. PB26] and [Pr. PB27]. [ms]
Gain
switching Setting range: 0 to 100
time constant
PB29 This is used to set the load to motor inertia ratio when gain switching is enabled. 7.00
GD2B This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain [Multipli
Load to motor adjustment mode selection" in [Pr. PA08]. er]
inertia ratio
after gain Setting range: 0.00 to 300.00
switching
PB30 Set the position loop gain when the gain switching is enabled. 0.0
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. [rad/s]
Gain This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
switching adjustment mode selection" in [Pr. PA08].
position loop
gain Setting range: 0.0 to 2000.0

5 - 22
5. PARAMETERS

No./ Setting Initial Control mode

Function value
symbol/name digit P S T
[unit]
PB31 Set the speed loop gain when the gain switching is enabled. 0
VG2B When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. [rad/s]
Gain This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
switching adjustment mode selection" in [Pr. PA08].
speed loop
gain Setting range: 0 to 65535
PB32 Set the speed integral compensation when the gain changing is enabled. 0.0
VICB When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10]. [ms]
Speed This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
integral adjustment mode selection" in [Pr. PA08].
compensation
after gain Setting range: 0.0 to 5000.0
switching
PB33 Set the vibration frequency for vibration suppression control 1 when the gain 0.0
VRF1B switching is enabled. [Hz]
Vibration When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 1 - "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
Vibration "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
frequency setting (_ _ _ 2)".
after gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB34 Set the resonance frequency for vibration suppression control 1 when the gain 0.0
VRF2B switching is enabled. [Hz]
Vibration When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20].
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 1 - "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
Resonance "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
frequency setting (_ _ _ 2)".
after gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB35 Set a damping of the vibration frequency for vibration suppression control 1 when 0.00
VRF3B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
control 1 - "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
Vibration setting (_ _ _ 2)".
frequency "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
damping after _ _ 1)".
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor stops.

Setting range: 0.00 to 0.30

PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00
VRF4B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
control 1 - "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
Resonance setting (_ _ _ 2)".
frequency "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
damping after _ _ 1)".
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor stops.

Setting range: 0.00 to 0.30

5 - 23
5. PARAMETERS

No./ Setting Initial Control mode

Function value
symbol/name digit P S T
[unit]
PB45 Set the command notch filter.
CNHF _ _ x x Command notch filter setting frequency selection 00h
Command Refer to table 5.6 for the relation of setting values to frequency.
notch filter _ x _ _ Notch depth selection 0h
Refer to table 5.7 for details.
x _ _ _ For manufacturer setting 0h

Table 5.6 Command notch filter setting frequency selection

Setting Frequency Setting Frequency Setting Frequency
value [Hz] value [Hz] value [Hz]
00 Disabled 20 70 40 17.6
01 2250 21 66 41 16.5
02 1125 22 62 42 15.6
03 750 23 59 43 14.8
04 562 24 56 44 14.1
05 450 25 53 45 13.4
06 375 26 51 46 12.8
07 321 27 48 47 12.2
08 281 28 46 48 11.7
09 250 29 45 49 11.3
0A 225 2A 43 4A 10.8
0B 204 2B 41 4B 10.4
0C 187 2C 40 4C 10
0D 173 2D 38 4D 9.7
0E 160 2E 37 4E 9.4
0F 150 2F 36 4F 9.1
10 140 30 35.2 50 8.8
11 132 31 33.1 51 8.3
12 125 32 31.3 52 7.8
13 118 33 29.6 53 7.4
14 112 34 28.1 54 7.0
15 107 35 26.8 55 6.7
16 102 36 25.6 56 6.4
17 97 37 24.5 57 6.1
18 93 38 23.4 58 5.9
19 90 39 22.5 59 5.6
1A 86 3A 21.6 5A 5.4
1B 83 3B 20.8 5B 5.2
1C 80 3C 20.1 5C 5.0
1D 77 3D 19.4 5D 4.9
1E 75 3E 18.8 5E 4.7
1F 72 3F 18.2 5F 4.5

Table 5.7 Notch depth selection

Setting Setting
Depth [dB] Depth [dB]
value value
0 -40.0 8 -6.0
1 -24.1 9 -5.0
2 -18.1 A -4.1
3 -14.5 B -3.3
4 -12.0 C -2.5
5 -10.1 D -1.8
6 -8.5 E -1.2
7 -7.2 F -0.6

5 - 24
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500
NH3 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 3 selection" in [Pr. PB47].
resonance
suppression Setting range: 10 to 4500
filter 3
PB47 Set the shape of the machine resonance suppression filter 3.
NHQ3 _ _ _ x Machine resonance suppression filter 3 selection 0h
Notch shape 0: Disabled
selection 3 1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB48 Set the notch frequency of the machine resonance suppression filter 4. 4500
NH4 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 4 selection" in [Pr. PB49].
resonance
suppression Setting range: 10 to 4500
filter 4
PB49 Set the shape of the machine resonance suppression filter 4.
NHQ4 _ _ _ x Machine resonance suppression filter 4 selection 0h
Notch shape 0: Disabled
selection 4 1: Enabled
When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression
filter] is not available.
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB50 Set the notch frequency of the machine resonance suppression filter 5. 4500
NH5 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 5 selection" in [Pr. PB51].
resonance
suppression Setting range: 10 to 4500
filter 5

5 - 25
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB51 Set the shape of the machine resonance suppression filter 5.
NHQ5 When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression
Notch shape filter 5 is not available.
selection 5 _ _ _ x Machine resonance suppression filter 5 selection 0h
0: Disabled
1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB52 Set the vibration frequency for vibration suppression control 2 to suppress low- 100.0
VRF21 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 2 tuning mode selection" is "Automatic setting
suppression (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 2 - "Manual setting (_ _ 2 _)".
Vibration To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
frequency selection" in [Pr. PA24].

Setting range: 0.1 to 300.0

PB53 Set the resonance frequency for vibration suppression control 2 to suppress low- 100.0
VRF22 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 2 tuning mode selection" is "Automatic setting
suppression (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 2 - "Manual setting (_ _ 2 _)".
Resonance To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
frequency selection" in [Pr. PA24].

Setting range: 0.1 to 300.0

PB54 Set a damping of the vibration frequency for vibration suppression control 2 to 0.00
VRF23 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 2 tuning mode selection" is "Automatic setting
suppression (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 2 - "Manual setting (_ _ 2 _)".
Vibration To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
frequency selection" in [Pr. PA24].
damping
Setting range: 0.00 to 0.30
PB55 Set a damping of the resonance frequency for vibration suppression control 2 to 0.00
VRF24 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 2 tuning mode selection" is "Automatic setting
suppression (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for
control 2 - "Manual setting (_ _ 2 _)".
Resonance To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
frequency selection" in [Pr. PA24].
damping
Setting range: 0.00 to 0.30

5 - 26
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB56 Set the vibration frequency for vibration suppression control 2 when the gain 0.0
VRF21B switching is enabled. [Hz]
Vibration When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52].
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 2 - "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
Vibration "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
frequency "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
after gain setting (_ _ 2 _)".
switching "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB57 Set the resonance frequency for vibration suppression control 2 when the gain 0.0
VRF22B switching is enabled. [Hz]
Vibration When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB53].
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 2 - "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
Resonance "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
frequency "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
after gain setting (_ _ 2 _)".
switching "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB58 Set a damping of the vibration frequency for vibration suppression control 2 when 0.00
VRF23B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
control 2 - "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
Vibration "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
frequency setting (_ _ 2 _)".
damping after "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
gain _ _ 1)".
switching Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

PB59 Set a damping of the resonance frequency for vibration suppression control 2 when 0.00
VRF24B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
control 2 - "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
Resonance "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
frequency setting (_ _ 2 _)".
damping after "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
gain _ _ 1)".
switching Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

5 - 27
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PB60 Set the model loop gain when the gain switching is enabled. 0.0
PG1B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. [rad/s]
Model loop This parameter will be enabled only when the following conditions are fulfilled.
gain after "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
gain "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
switching _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 2000.0

5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial Control mode
No./ Setting
Function value
symbol/name digit P S T
[unit]
PC01 This is used to set the acceleration time required to reach the rated speed from 0 0
STA r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed [ms]
Acceleration command 1] to [Pr. PC11 Internal speed command 7].
time constant If the preset speed command is lower
Speed than the rated speed, acceleration/
Rated deceleration time will be shorter.
speed

0 r/min Time
[Pr. PC01] setting [Pr. PC02] setting

For example for the servo motor of 3000 r/min rated speed, set 3000 (3s) to increase
speed from 0 r/min to 1000 r/min in 1 second.

Setting range: 0 to 50000

PC02 This is used to set the deceleration time required to reach 0 r/min from the rated 0
STB speed in response to VC (Analog speed command) and [Pr. PC05 Internal speed [ms]
Deceleration command 1] to [Pr. PC11 Internal speed command 7].
time constant
Setting range: 0 to 50000

5 - 28
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC03 This is used to smooth start/stop of the servo motor. 0
STC Set the time of the arc part for S-pattern acceleration/deceleration. [ms]
S-pattern
acceleration/d
eceleration Speed
command
time constant

Servo motor
speed

0 r/min
Time
STC STA STC STC STB STC

STA: Acceleration time constant ([Pr. PC01])

STB: Deceleration time constant ([Pr. PC02])
STC: S-pattern acceleration/deceleration time constant ([Pr. PC03])
Long setting of STA (acceleration time constant) or STB (deceleration time constant)
may produce an error in the time of the arc part for the setting of the S-pattern
acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by

2000000 2000000
for acceleration or by for deceleration.
STA STB

(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc part
times are as follows.

During acceleration: 100 ms

2000000
= 100 [ms] ＜ 200 [ms]
20000
Therefore, it will be limited to 100 [ms].
During deceleration: 200 ms
2000000
= 400 [ms] ＞ 200 [ms]
5000
Therefore, it will be 200 [ms] as you set.

Setting range: 0 to 5000

PC04 This is used to set the constant of a primary delay to the torque command. 0
TQC [ms]
Torque command
Torque
command
time constant Torque
After filtering

TQC TQC Time

TQC: Torque command time constant

Setting range: 0 to 50000

5 - 29
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC05 This is used to set speed 1 of internal speed commands. 100
SC1 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 1 of internal speed limits.
command
1/internal Setting range: 0 to permissible instantaneous speed
speed limit 1
PC06 This is used to set speed 2 of internal speed commands. 500
SC2 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 2 of internal speed limits.
command 2
Internal Setting range: 0 to permissible instantaneous speed
speed limit 2
PC07 This is used to set speed 3 of internal speed commands. 1000
SC3 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 3 of internal speed limits.
command 3
Internal Setting range: 0 to permissible instantaneous speed
speed limit 3
PC08 This is used to set speed 4 of internal speed commands. 200
SC4 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 4 of internal speed limits.
command 4
Internal Setting range: 0 to permissible instantaneous speed
speed limit 4
PC09 This is used to set speed 5 of internal speed commands. 300
SC5 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 5 of internal speed limits.
command 5
Internal Setting range: 0 to permissible instantaneous speed
speed limit 5
PC10 This is used to set speed 6 of internal speed commands. 500
SC6 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 6 of internal speed limits.
command 6
Internal Setting range: 0 to permissible instantaneous speed
speed limit 6
PC11 This is used to set speed 7 of internal speed commands. 800
SC7 [r/min]
Internal Setting range: 0 to permissible instantaneous speed
speed This is used to set speed 7 of internal speed limits.
command 7
Internal Setting range: 0 to permissible instantaneous speed
speed limit 7

5 - 30
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC12 This is used to set the speed at the maximum input voltage (10 V) of VC (Analog 0
VCM speed command). [r/min]
Analog speed When "0" is set, the analog speed command maximum speed would be the rated
command - speed of the servo motor connected.
Maximum If a value equal to or larger than the permissible speed is inputted to VC, the value is
speed clamped at the permissible speed.
Analog speed Setting range: 0 to 50000
limit - This is used to set the speed at the maximum input voltage (10 V) of VLA (Analog
Maximum speed limit).
speed When "0" is set, the analog speed command maximum speed would be the rated
speed of the servo motor connected.
If a limited value equal to or larger than the permissible speed is inputted to VLA, the
value is clamped at the permissible speed.
Setting range: 0 to 50000
PC13 This is used to set the output torque at the analog torque command voltage (TC = ±8 100.0
TLC V) of +8 V on the assumption that the maximum torque is 100.0%. [%]
Analog torque For example, set 50.0.
command 50.0
maximum The maximum torque × is outputted.
100.0
output
If a value equal to or larger than the maximum torque is inputted to TC, the value is
clamped at the maximum torque.
Setting range: 0.0 to 1000.0
PC14 __xx Analog monitor 1 output selection 00h
MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 4 (3) for
Analog detection point of output selection.
monitor 1 Refer to table 5.8 for settings.
output _x__ For manufacturer setting 0h
x___ 0h
Table 5.8 Analog monitor setting value
Setting
Item
value
00 Servo motor speed (±8 V/max. speed)
01 Torque (±8 V/max. torque) (Note 2)
02 Servo motor speed (+8 V/max. speed)
03 Torque (+8 V/max. torque) (Note 2)
04 Current command (±8 V/max. current command)
05 The command pulse frequency (±10 V/4 Mpulses/s)
06 Servo motor-side droop pulses (±10 V/100 pulses) (Note 1)
07 Servo motor-side droop pulses (±10 V/1000 pulses) (Note 1)
08 Servo motor-side droop pulses (±10 V/10000 pulses) (Note 1)
09 Servo motor-side droop pulses (±10 V/100000 pulses) (Note 1)
0D Bus voltage (+8 V/400 V)
0E Speed command 2 (±8 V/max. speed)
17 Encoder inside temperature (±10 V/±128 ˚C)

Note 1. Encoder pulse unit

2. 8 V is outputted at the maximum torque. However, when [Pr. PA11] and [Pr. PA12] are set to limit
torque, 8 V is outputted at the torque highly limited.

5 - 31
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC15 __xx Analog monitor 2 output selection 01h
MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 4 (3) for
Analog detection point of output selection.
monitor 2 Refer to [Pr. PC14] for settings.
output
_x__ For manufacturer setting 0h
x___ 0h
PC16 This is used to set the delay time between MBR (Electromagnetic brake interlock) 0
MBR and the base drive circuit is shut-off. [ms]
Electromagne
tic brake
sequence Setting range: 0 to 1000
output
PC17 Used to set the output range of ZSP (Zero speed detection). 50
ZSP ZSP (Zero speed detection) has hysteresis of 20 r/min. [r/min]
Zero speed
Setting range: 0 to 10000
PC18 ___x Alarm history clear selection 0h
*BPS Used to clear the alarm history.
Alarm history 0: Disabled
clear 1: Enabled
When you select "Enabled", the alarm history will be cleared at next power-on. After
the alarm history is cleared, the setting is automatically disabled.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PC19 ___x Encoder output pulse phase selection 0h
*ENRS Select the encoder pulse direction.
Encoder 0: Increasing A-phase 90° in CCW
output pulse 1: Increasing A-phase 90° in CW
selection
Setting Servo motor rotation direction
value CCW CW
A-phase A-phase
0
B-phase B-phase

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

__x_ Encoder output pulse setting selection 0h

0: Output pulse setting
1: Dividing ratio setting
2: The same output pulse setting as the command pulse
3: A-phase/B-phase pulse electronic gear setting
When you select "1", the settings of [Pr. PA16 Encoder output pulses 2] will be
disabled.
When you select "2", the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16
Encoder output pulses 2] will be disabled. When you select the setting, do not
change the settings in [Pr. PA06] and [Pr. PA07] after the power-on.
_x__ For manufacturer setting 0h
x___ 0h

5 - 32
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC22 ___x For manufacturer setting 0h
*COP1 __x_ 0h
Function _x__ 2h
selection C-1 x___ Encoder cable communication method selection 0h
Select the encoder cable communication method.
0: Two-wire type
1: Four-wire type
If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20
Encoder normal communication error 1] occurs.
PC23 ___x Servo-lock selection at speed control stop 0h
*COP2 Select the servo-lock selection at speed control stop.
Function In the speed control mode, the servo motor shaft can be locked to prevent the shaft
selection C-2 from being moved by an external force.
0: Enabled (servo-lock)
The operation to maintain the stop position is performed.
1: Disabled (no servo-lock)
The stop position is not maintained.
The control to make the speed 0 r/min is performed.
__x_ For manufacturer setting 0h
_x__ VC/VLA voltage averaging selection 0h
Select the VC/VLA voltage average.
This is used to set the filtering time when VC (Analog speed command) or VLA
(Analog speed limit) is imported.
Set 0 to vary the speed to voltage fluctuation in real time. Increase the set value to
vary the speed slower to voltage fluctuation.

Setting
Filtering time [ms]
value
0 0
1 0.444
2 0.888
3 1.777
4 3.555
5 7.111

x___ Speed limit selection at torque control 0h

Select the speed limit selection at torque control.
0: Enabled
1: Disabled
Do not use this function except when configuring an external speed loop.
PC24 ___x In-position range unit selection 0h
*COP3 Select a unit of in-position range.
Function 0: Command input pulse unit
selection C-3 1: Servo motor encoder pulse unit
__x_ For manufacturer setting 0h
_x__ 0h
x___ Error excessive alarm level unit selection 0h
Select a setting unit of the error excessive alarm level set in [Pr. PC43].
0: 1 rev unit
1: 0.1 rev unit
2: 0.01 rev unit
3: 0.001 rev unit

5 - 33
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC26 ___x [AL. 99 Stroke limit warning] selection 0h
*COP5 Select [AL. 99 Stroke limit warning].
Function 0: Enabled
selection C-5 1: Disabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PC30 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 0
STA2 selection). [ms]
Acceleration This is used to set the acceleration time required to reach the rated speed from 0
time constant r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed
2 command 1] to [Pr. PC11 Internal speed command 7].

Setting range: 0 to 50000

PC31 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 0
STB2 selection). [ms]
Deceleration This is used to set the deceleration time required to reach 0 r/min from the rated
time constant speed in response to VC (Analog speed command) and [Pr. PC05 Internal speed
2 command 1] to [Pr. PC11 Internal speed command 7].

Setting range: 0 to 50000

PC32 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 1
CMX2 selection" in [Pr. PA21].
Commanded
pulse Setting range: 1 to 16777215
multiplication
numerator 2
PC33 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 1
CMX3 selection" in [Pr. PA21].
Commanded
pulse Setting range: 1 to 16777215
multiplication
numerator 3
PC34 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 1
CMX4 selection" in [Pr. PA21].
Commanded
pulse Setting range: 1 to 16777215
multiplication
numerator 4
PC35 Set the parameter on the assumption that the maximum torque is 100 %. The 100.0
TL2 parameter is for limiting the torque of the servo motor. [%]
Internal No torquet is generated when this parameter is set to "0.0".
torque limit 2 When TL1 (Internal torque limit selection) is turned on, Internal torque limits 1 and 2
are compared and the lower value will be enabled.

Setting range: 0.0 to 100.0

5 - 34
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC36 __xx Status display selection at power-on 00h
*DMD This is used to select a status display shown at power-on.
Status display 00: Cumulative feedback pulses
selection 01: Servo motor speed
02: Droop pulses
03: Cumulative command pulses
04: Command pulse frequency
05: Analog speed command voltage (Note 1)
06: Analog torque command voltage (Note 2)
07: Regenerative load ratio
08: Effective load ratio
09: Peak load ratio
0A: Instantaneous torque
0B: Within one-revolution position (1 pulse unit)
0C: Within one-revolution position (100 pulses unit)
0D: ABS counter (Note 3)
0E: Load to motor inertia ratio
0F: Bus voltage
10: Encoder inside temperature
11: Settling time
12: Oscillation detection frequency
13: Number of tough operations
14: Unit power consumption (increment of 1 W)
15: Unit power consumption (increment of 1 kW)
16: Unit total power consumption (increment of 1 Wh)
17: Unit total power consumption (increment of 100 kWh)

Note 1. It is for the speed control mode. It will be the analog speed limit voltage in
the torque control mode.
2. It is for the torque control mode. It will be the analog torque limit voltage in
the speed control mode and position control mode.
3. Travel distance from power on is displayed by counter value.
_x__ Status display at power-on in corresponding control mode 0h
0: Depends on the control mode

Control mode Status display at power-on

Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command
voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative
feedback pulses
1: Depends on the last two digit setting of the parameter
x___ For manufacturer setting 0h

5 - 35
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC37 This is used to set the offset voltage of VC (Analog speed command). The
VCO For example, if CCW rotation is provided by switching on ST1 (Forward rotation value
Analog speed start) with applying 0 V to VC, set a negative value. differs
command When automatic VC offset is used, the automatically offset value is set to this depend
offset/Analog parameter. (Refer to section 4.5.4.) ing on
speed limit The initial value is provided before shipment by the automatic VC offset function on the
offset condition that the voltage between VC and LG is 0 V. servo
amplifi
ers.
Setting range: -9999 to 9999
[mV]
This is used to set the offset voltage of VLA (Analog speed limit).
For example, if CCW rotation is provided by switching on RS1 (Forward rotation
selection) with applying 0 V to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is set to this
parameter. (Refer to section 4.5.4.)
The initial value is provided before shipment by the automatic VC offset function on
condition that the voltage between VLA and LG is 0 V.

Setting range: -9999 to 9999

PC38 This is used to set the offset voltage of TC (Analog torque command). 0
TPO [mV]
Analog torque Setting range: -9999 to 9999
command
This is used to set the offset voltage of TLA (Analog torque limit).
offset/Analog
torque limit
offset Setting range: -9999 to 9999
PC39 This is used to set the offset voltage of MO1 (Analog monitor 1). 0
MO1 [mV]
Analog
monitor 1
offset Setting range: -9999 to 9999
PC40 This is used to set the offset voltage of MO2 (Analog monitor 2). 0
MO2 [mV]
Analog
monitor 2
offset Setting range: -9999 to 9999
PC43 Set an error excessive alarm level. 0
ERZ You can change the setting unit with "Error excessive alarm level" in [Pr. PC24]. [rev]
Error However, setting "0" will be 3 rev. Setting over 200 rev will be clamped with 200 rev.
excessive
alarm level Setting range: 0 to 1000

5 - 36
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PC51 This is used to set deceleration time constant when you use the forced stop 100
RSBR deceleration function. [ms]
Forced stop Set the time per ms from the rated speed to 0 r/min.
deceleration
time constant Dynamic brake
Rated speed Forced stop deceleration deceleration

Servo motor speed

0 r/min
[Pr. PC51]

[Precautions]
If the servo motor torque is saturated at the maximum torque during forced stop
deceleration because the set time is too short, the time to stop will be longer than
the set time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced
stop deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an alarm that does not
lead to a forced stop deceleration occurs or if the power supply is cut, dynamic
braking will start regardless of the deceleration time constant setting.

Setting range: 0 to 20000

PC54 Set the compensation amount of the vertical axis freefall prevention function. 0
RSUP1 Set it per servo motor rotation amount. [0.0001
Vertical axis The function will pull up an shaft per rotation amount to the servo motor rotation rev]
freefall direction at the time of inputting forward rotation pulse for a positive number, and at
prevention the time of inputting reverse rotation pulse for a negative number.
compensation For example, if a positive compensation amount is set when the [Pr. PA14 Rotation
amount direction selection] setting is "1", compensation will be performed to the CW
direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor speed is zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD24], [Pr. PD25],
and [Pr. PD28], and the base circuit shut-off delay time was set in [Pr. PC16].

Setting range: -25000 to 25000

PC60 ___x Motor-less operation selection 0h
*COPD This is used to select the motor-less operation.
Function 0: Disabled
selection C-D 1: Enabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 37
5. PARAMETERS

5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial Control mode
No./ Setting
Function value
symbol/name digit P S T
[unit]
PD01 Select input devices to turn on them automatically.
*DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting 0h
Input signal (HEX) _ _ x _ (BIN): For manufacturer setting
automatic on _ x _ _ (BIN): SON (Servo-on)
selection 1
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): For manufacturer setting
_ _ x _ _ _ _ x (BIN): PC (Proportional control) 0h
(HEX) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ _ x _ (BIN): TL (External torque limit selection)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ x _ _ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): LSP (Forward rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): LSN (Reverse rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ For manufacturer setting 0h
Convert the setting value into hexadecimal as follows.

0
Initial value
Signal name
BIN HEX
0
0
0
SON (Servo-on) 0
0

Initial value
Signal name
BIN HEX
PC (Proportional control) 0
TL (External torque limit selection) 0
0
0
0

Initial value
Signal name
BIN HEX
0
0
0
LSP (Forward rotation stroke end) 0
LSN (Reverse rotation stroke end) 0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

5 - 38
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PD03 Any input device can be assigned to the CN1-15 pin.
*DI1L _ _ x x Position control mode - Device selection 02h
Input device Refer to table 5.9 for settings.
selection 1L x x _ _ Speed control mode - Device selection 02h
Refer to table 5.9 for settings.

Table 5.9 Selectable input devices

Setting Input device (Note 1)
value P S T
02 SON SON SON
03 RES RES RES
04 PC PC
05 TL TL
06 CR
07 ST1 RS2
08 ST2 RS1
09 TL1 TL1
0A LSP LSP
0B LSN LSN
0D CDP CDP
20 SP1 SP1
21 SP2 SP2
22 SP3 SP3
23 LOP (Note 2) LOP (Note 2) LOP (Note 2)
24 CM1
25 CM2
26 STAB2 STAB2

Note 1. P: position control mode, S: speed control mode, T: torque control mode
The diagonal lines indicate manufacturer settings. Never change the setting.
2. When assigning LOP (Control switching), assign it to the same pin in all control modes.

PD04 Any input device can be assigned to the CN1-15 pin.

*DI1H _ _ x x Torque control mode - Device selection 02h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 1H _ x _ _ For manufacturer setting 0h
x___ 0h
PD11 Any input device can be assigned to the CN1-19 pin.
*DI5L _ _ x x Position control mode - Device selection 03h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 5L x x _ _ Speed control mode - Device selection 07h
Refer to table 5.9 in [Pr. PD03] for settings.
PD12 Any input device can be assigned to the CN1-19 pin.
*DI5H _ _ x x Torque control mode - Device selection 07h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 5H _ x _ _ For manufacturer setting 0h
x___ 0h
PD13 Any input device can be assigned to the CN1-41 pin.
*DI6L _ _ x x Position control mode - Device selection 06h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 6L x x _ _ Speed control mode - Device selection 08h
Refer to table 5.9 in [Pr. PD03] for settings.

5 - 39
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PD14 Any input device can be assigned to the CN1-41 pin.
*DI6H _ _ x x Torque control mode - Device selection 08h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 6H _ x _ _ For manufacturer setting 0h
x___ 0h
PD17 Any input device can be assigned to the CN1-43 pin.
*DI8L _ _ x x Position control mode - Device selection 0Ah
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 8L x x _ _ Speed control mode - Device selection 0Ah
Refer to table 5.9 in [Pr. PD03] for settings.
PD18 Any input device can be assigned to the CN1-43 pin.
*DI8H _ _ x x Torque control mode - Device selection 00h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 8H _ x _ _ For manufacturer setting 0h
x___ 0h
PD19 Any input device can be assigned to the CN1-44 pin.
*DI9L _ _ x x Position control mode - Device selection 0Bh
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 9L x x _ _ Speed control mode - Device selection 0Bh
Refer to table 5.9 in [Pr. PD03] for settings.
PD20 Any input device can be assigned to the CN1-44 pin.
*DI9H _ _ x x Torque control mode - Device selection 00h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 9H _ x _ _ For manufacturer setting 0h
x___ 0h
PD24 _ _ x x Device selection 0Ch
*DO2 Any output device can be assigned to the CN1-23 pin.
Output device Refer to table 5.10 for settings.
selection 2 _ x _ _ For manufacturer setting 0h
x___ 0h

Table 5.10 Selectable output devices

Setting Output device (Note)
value P S T
00 Always off Always off Always off
02 RD RD RD
03 ALM ALM ALM
04 INP SA Always off
05 MBR MBR MBR
07 TLC TLC VLC
08 WNG WNG WNG
0A Always off SA Always off
0B Always off Always off VLC
0C ZSP ZSP ZSP
0D MTTR MTTR MTTR
0F CDPS Always off Always off

Note. P: position control mode, S: speed control mode, T: torque control mode

5 - 40
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PD25 _ _ x x Device selection 04h
*DO3 Any output device can be assigned to the CN1-24 pin.
Output device Refer to table 5.10 in [Pr. PD24] for settings.
selection 3 _ x _ _ For manufacturer setting 0h
x___ 0h
PD28 _ _ x x Device selection 02h
*DO6 Any output device can be assigned to the CN1-49 pin.
Output device Refer to table 5.10 in [Pr. PD24] for settings.
selection 6 _ x _ _ For manufacturer setting 0h
x___ 0h
PD29 Select a filter for the input signal.
*DIF _ _ _ x Input signal filter selection 4h
Input filter If external input signal causes chattering due to noise, etc., input filter is used to
setting suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
_ _ x _ RES (Reset) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
_ x _ _ CR (Clear) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
x _ _ _ For manufacturer setting 0h
PD30 _ _ _ x Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse 0h
*DOP1 rotation stroke end) off
Function Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse
selection D-1 rotation stroke end) off
0: Quick stop
1: Slow stop
_ _ x _ Base circuit status selection for RES (Reset) on 0h
0: Base circuit shut-off
1: No base circuit shut-off
_ x _ _ For manufacturer setting 0h
x___ 0h
PD32 _ _ _ x CR (Clear) selection 0h
*DOP3 This is used to set CR (Clear).
Function 0: Deleting droop pulses at the leading edge of turning on of CR
selection D-3 1: Continuous deleting of droop pulses while CR is on
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 41
5. PARAMETERS

Initial Control mode

No./ Setting
Function value
symbol/name digit P S T
[unit]
PD34 ___x Alarm code output 0h
*DOP5 This is used to select if output alarm codes.
Function Alarm codes are outputted to pins CN1-23, CN1-24, and CN1-49.
selection D-5 0: Disabled
1: Enabled
For details of the alarm codes, refer to chapter 8.
When you select alarm code output while MBR or ALM is selected for CN1-23, CN1-
24, or CN1-49 pin, [AL. 37 Parameter error] will occur.
__x_ Selection of output device at warning occurrence 0h
Select ALM (Malfunction) output status at warning occurrence.

Setting Device status

value

ON
WNG
OFF
ON
0 ALM
OFF
Warning occurrence

ON
WNG
OFF
ON
1 ALM
OFF
Warning occurrence

_x__ For manufacturer setting 0h

x___ 0h

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial Control mode
No./ Setting
Function value
symbol/name digit P S T
[unit]
PE41 ___x Robust filter selection 0h
EOP3 0: Disabled
Function 1: Enabled
selection E-3 When you select "Enabled" of this digit, the machine resonance suppression filter 5
set in [Pr. PB51] is not available.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 42
5. PARAMETERS

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial Control mode
No./ Setting
Function value
symbol/name digit P S T
[unit]
PF21 This is used to set a drive recorder switching time. 0
DRT When a USB communication is cut during using a graph function or a graph function [s]
Drive is terminated, the function will be changed to the drive recorder function after the
recorder setting time of this parameter.
switching When a value from "1" to "32767" is set, it will switch after the setting value.
time setting When "0" is set, it will switch after 600 s.
When "-1" is set, the drive recorder function is disabled.

Setting range: -1 to 32767

PF23 This is used to set a filter readjustment sensitivity of [Pr. PB13 Machine resonance 50
OSCL1 suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the [%]
Vibration vibration tough drive is enabled.
tough drive - Example: When you set "50" to the parameter, the filter will be readjusted at the
Oscillation time of 50% or more oscillation level.
detection
level Setting range: 0 to 100
PF24 ___x Oscillation detection alarm selection 0h
*OSCL2 Select alarm or warning when an oscillation continues at a filter readjustment
Vibration sensitivity level of [Pr. PF23].
tough drive The digit is continuously enabled regardless of the vibration tough drive in [Pr.
function PA20].
selection 0: [AL. 54 Oscillation detection] will occur at oscillation detection.
1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.
2: Oscillation detection function disabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PF25 Set the time of the [AL. 10.1 Voltage drop in the power] occurrence. 200
CVAT To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection [ms]
SEMI-F47 (instantaneous power failure tough drive selection)" in [Pr. PA20].
function - When "Enabled (_ 1 _ _)" is selected of "SEMI-F47 function selection (instantaneous
Instantaneous power failure tough drive selection)" in [Pr. PA20], the power should be off for the
power failure setting value of this parameter + 1.5 s or more before cycling the power to enable a
detection time parameter whose symbol is preceded by "*".
(instantaneous Setting range: 30 to 2000
power failure
tough drive -
detection time)
PF31 Set a servo motor speed to divide a friction estimation area into high and low for the 0
FRIC friction estimation process of the machine diagnosis. [r/min]
Machine However, setting "0" will be the value half of the rated speed.
diagnosis When your operation pattern is under rated speed, we recommend that you set half
function - value to the maximum speed with this.
Friction
judgement Maximum speed in operation
speed
Forward rotation
direction
[Pr. PF31] setting

Servo motor
speed 0 r/min

Operation pattern
Reverse rotation
direction

Setting range: 0 to
permissible speed

5 - 43
5. PARAMETERS

MEMO

5 - 44
6. NORMAL GAIN ADJUSTMENT

6. NORMAL GAIN ADJUSTMENT

POINT
In the torque control mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment,
execute "Auto tuning mode 2" and "Manual mode" in this order.

(1) Gain adjustment mode explanation

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

6- 1
6. NORMAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

Start

Interpolation Yes 2 gain adjustment mode 1

made for 2 or more (interpolation mode)
axes?
No

The load fluctuation Yes

is large during driving?

No

One-touch tuning Handle the error

Yes

No Error handling No
Finished normally? is possible? Auto tuning mode 1

Yes
Yes
Adjustment OK?

No

Auto tuning mode 2

Yes
Adjustment OK?

No No
Adjustment OK?

2 gain adjustment mode 2

Yes

Yes
Adjustment OK?

No

Manual mode

End

6.1.2 Adjustment using MR Configurator2

This section explains the functions and adjustment using the servo amplifier with MR Configurator2.
Function Description Adjustment
Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance
the characteristic of the mechanical system frequency and determine the notch
can be measured by giving a random frequency of the machine resonance
vibration command from a personal suppression filter.
computer to the servo and measuring the
machine response.

6- 2
6. NORMAL GAIN ADJUSTMENT

6.2 One-touch tuning

You can execute the one-touch tuning with MR Configurator2 or push buttons. The following parameters are
set automatically with one-touch tuning.

Table 6.1 List of parameters automatically set with one-touch tuning

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

6.2.1 One-touch tuning flowchart

(1) When you use MR Configurator2

Make one-touch tuning as follows.

Start

Startup a system referring to chapter 4.

Startup of the system

Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the
Operation servo motor is not operating.)

Start one-touch tuning of MR Configurator2.

One-touch tuning start

Select a response mode (high mode, basic mode, and low mode) in the one-touch tuning window of
Response mode selection MR Configurator2.

Push the start button to start one-touch tuning. Push it during motor driving.
One-touch tuning execution When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.

End

6- 3
6. NORMAL GAIN ADJUSTMENT

(2) When you use push buttons

Make one-touch tuning as follows.

Start

Startup a system referring to chapter 4.

Startup of the system

Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the
Operation servo motor is not operating.)

Select the initial screen ("AUTO") of the one-touch tuning with the "MODE" button during motor
One-touch tuning start
driving. Push the "SET" button for 2 s or more during displaying "AUTO" to switch to the response
mode selection ("AUTO."). Push the "MODE" and "SET" buttons at the same time for 3 s or more to
switch to the response mode selection ("AUTO.") without going through the initial screen of the one-
touch tuning ("AUTO").

The initial value of response mode is "AUTO." (basic mode). As necessary, push the "UP" or "DOWN"
Response mode selection button to select "AUTO.H" (high mode) or "AUTO.L" (low mode).

Push the "SET" button to start one-touch tuning. Push the "SET" button during servo motor driving.
One-touch tuning execution
When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.

End

6- 4
6. NORMAL GAIN ADJUSTMENT

6.2.2 Display transition and operation procedure of one-touch tuning

(1) When you use MR Configurator2

(a) Response mode selection
Select a response mode from three modes in the one-touch tuning window of MR Configurator2.

Response mode Explanation

High mode This mode is for high rigid system.
Basic mode This mode is for standard system.
Low mode This mode is for low rigid system.

Refer to the following table for selecting a response mode.

6- 5
6. NORMAL GAIN ADJUSTMENT

Response mode Machine characteristic

Response
Low mode Basic mode High mode Guideline of corresponding machine
Low response

Arm robot

General machine
tool conveyor

Precision working
machine

Inserter
Mounter
Bonder

High response

6- 6
6. NORMAL GAIN ADJUSTMENT

(b) One-touch tuning execution

POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning
- Overshoot permissible level] will shorten the settling time and improve the
response.

After the response mode is selected in (a), pushing the start button during driving will start one-touch
tuning. If the start button is pushed while the motor stops, "C 0 0 2" or "C 0 0 4" will be displayed at
status in error code. (Refer to table 6.2 of (1) (d) of this section for error codes.)

During processing of one-touch tuning, the status will be displayed in the progress window as
follows. One-touch tuning will be finished at 100%.

Completing the one-touch tuning starts writing tuning parameters to the servo amplifier. "0 0 0 0" is
displayed at status in error code. In addition, settling time and overshoot amount will be displayed in
"Adjustment result" after adjustment.

6- 7
6. NORMAL GAIN ADJUSTMENT

(c) Stop of one-touch tuning

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

(d) Error occurrence

If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the
following error code will be displayed in status. Check the cause of tuning error.

Table 6.2 Error code list during one-touch tuning

Error code Name Description Action
C000 Tuning canceled The stop button or "SET" of the push button
was pushed.
C001 Overshoot exceeded The overshoot amount is lager than the value Increase the in-position range.
set in [Pr. PA10 In-position range].
C002 Servo-off during tuning The one-touch tuning was attempted during Perform the one-touch tuning after servo-on.
servo-off.
C003 Control mode error The one-touch tuning was attempted while the Select the position control mode or speed
torque control mode was selected in the control mode for the control mode from the
control modes. controller, and then make one-touch tuning.
C004 Time-out 1. One cycle time during the operation has Set the one cycle time during the operation to
been over 30 s. 30 s or less.
2. The command speed is low. Set the servo motor speed to100 r/min or
higher.
3. The operation interval of the continuous Maintain the operation interval during motor
operation is short. driving about 200 ms.
C005 Load to motor inertia 1. The estimation of the load to motor inertia Drive the motor with meeting conditions as
ratio misestimated ratio at one-touch tuning was a failure. follows.
Time to reach 2000 r/min is the
acceleration/deceleration time constant of 5
s or less.
Speed is 150 r/min or higher.
The load to motor inertia ratio is 100 times
or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
2. The load to motor inertia ratio was not Set to the auto tuning mode that does not
estimated due to such as an oscillation. estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Set [Pr. PB06 Load to motor inertia ratio]
properly with manual setting.
C00F One-touch tuning "One-touch tuning function selection" in [Pr. Select "Enabled (_ _ _ 1)".
disabled PA21] is "Disabled (_ _ _ 0)".

(e) If an alarm occurs

If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
Remove the cause of the alarm and execute one-touch tuning again.

(f) If a warning occurs

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

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6. NORMAL GAIN ADJUSTMENT

(g) Clearing one-touch tuning

You can clear the parameter values set with one-touch tuning.
Refer to table 6.1 for the parameters which you can clear.
Pushing "Return to value before tuning" in the one-touch tuning window of MR Configurator2
enables to rewrite the parameter to the value before pushing the start button.
In addition, pushing "Return to initial value" in the one-touch tuning window enables to rewrite the
parameter to the initial value.

When clearing one-touch tuning is completed, the following window will be displayed. (returning to
initial value)

6- 9
6. NORMAL GAIN ADJUSTMENT

(2) When you use push buttons

POINT
Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch
to the response mode selection ("AUTO.") without going through the initial
screen of the one-touch tuning ("AUTO").

(a) Response mode selection

Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to (1) (a)
of this section for a guideline of response mode.
Response mode selection display

Low mode: This mode is for low rigid system.

Basic mode: This mode is for standard system.

UP DOWN

High mode: This mode is for high rigid system.

6 - 10
6. NORMAL GAIN ADJUSTMENT

(b) One-touch tuning execution

POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning
- Overshoot permissible level] will shorten the settling time and improve the
response.

After the response mode is selected in (a), pushing the "SET" button will start one-touch tuning.
One-touch tuning in
progress

The one-touch tuning progress is displayed with 0% to 100%.

The decimal point moves left to right in rotation during the tuning.
To switch the display to the status display during the tuning, push the "MODE" button.

Complete
Completing the one-touch tuning will start writing the auto-tuned parameters to the servo
amplifier.

(c) Stop of one-touch tuning

Stop symbol

The one-touch tuning mode can be stopped by pushing the "SET" button regardless of
displayed item.

2 s interval The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns
with 2 s interval.
Error code

Pushing the "SET" button will switch to the initial screen.

Initial screen

6 - 11
6. NORMAL GAIN ADJUSTMENT

(d) If an error occurs

Stop symbol

If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the
stop symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s
interval.

2 s interval

Error code

Check the error cause referring table 6.2 of (1) (d) of this section.

Pushing the "SET" button will switch to the initial screen.

Initial screen

(e) If an alarm occurs

One-touch tuning in progress

If an alarm occurs during tuning, one-touch tuning will be forcibly terminated and the alarm
No. will be displayed.

Alarm display

(f) If a warning occurs

One-touch tuning in progress

If a warning occurs during tuning, the alarm No. of the warning will be displayed.
When the warning is one which continue the motor driving, the one-touch tuning will be
continued.

Alarm display (warning)

6 - 12
6. NORMAL GAIN ADJUSTMENT

(g) Clearing one-touch tuning

Refer to table 6.1 for the parameters which you can clear.
You can initialize the parameters changed by the one-touch tuning with the clear mode. You can
reset the parameters to before tuning with the back mode.

1) Push the "MODE" button to switch to the initial screen "AUTO" of the one-touch tuning.

2) Select the clear mode or back mode with the "UP" or "DOWN" button.
One-touch tuning clear mode selection

Auto mode

Clear mode
UP DOWN

Back mode

To clear the one-touch tuning, push the "SET" button for 2 s.

One-touch tuning clear mode display (initializing)

The one-touch tuning clear mode is in progress.

The clear mode symbol flickers for 3 s.

Clearing one-touch tuning is completed, the initial screen will be displayed.

Initial screen

6.2.3 Caution for one-touch tuning

(1) The tuning is not available in the torque control mode.

(2) The one-touch tuning cannot be executed while an alarm or warning which withholds the motor driving is
occurring.

(3) You can execute the one-touch tuning during the following test operation modes marked by "○".
Test operation mode
How to one-touch tuning Output signal (DO) forced Positioning Motor-less Program
JOG operation
output operation operation operation
MR Configurator2
Push buttons

6 - 13
6. NORMAL GAIN ADJUSTMENT

6.3 Auto tuning

6.3.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to
motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

POINT
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
Time to reach 2000 r/min is the acceleration/deceleration time constant of 5 s
or less.
Speed is 150 r/min or higher.
The load to motor inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor
inertia ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter Symbol Name
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

6 - 14
6. NORMAL GAIN ADJUSTMENT

6.3.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Load moment
Automatic setting of inertia

Encoder
Command + Loop gain +
PG1, PG2, Current
control M
- VG2, VIC -

Current feedback Servo motor

Set 0 or 1 to turn on. Real-time Position/speed

auto tuning section feedback

Load to motor
Gain table inertia ratio
estimation section
Switch Speed feedback

[Pr. PA08] [Pr. PA09] [Pr. PB06 Load to

motor inertia ratio]
0 0 0
Gain adjustment mode selection Response
level setting

When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status
display screen of the MR Configurator2.
If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off
the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.

POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.

6 - 15
6. NORMAL GAIN ADJUSTMENT

6.3.3 Adjustment procedure by auto tuning

Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as
required completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes Load to motor inertia ratio

estimation value stable?

No

Auto tuning conditions

are not satisfied? (Estimation of No
load to motor inertia ratio is
difficult.)

Yes
Set [Pr. PA08] to "_ _ _ 2" and set
[Pr. PB06 Load to motor inertia ratio]
manually.

Adjust response level setting so

that desired response is achieved
on vibration-free level.

Acceleration/deceleration repeated

No
Requested performance
satisfied?

Yes

End To 2 gain adjustment

mode 2

6 - 16
6. NORMAL GAIN ADJUSTMENT

6.3.4 Response level setting in auto tuning mode

Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the
track ability and settling time for a command decreases, but a too high response level will generate vibration.
Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance.
Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.1.1 and
7.1.2 for settings of the adaptive tuning mode and machine resonance suppression filter.

[Pr. PA09]
Machine characteristic Machine characteristic
Setting value Guideline for Setting value Guideline for
Response machine resonance Response machine resonance
frequency [Hz] frequency [Hz]
1 Low response 2.7 21 Middle response 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 Middle response 59.6 40 High response 642.7

6 - 17
6. NORMAL GAIN ADJUSTMENT

6.4 Manual mode

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.

POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Section 7.1.1,
7.1.2)

(1) For speed control

(a) Parameter
The following parameters are used for gain adjustment.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.3.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set an estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a slightly smaller value to the model loop gain
4
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
7
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
8 achieved, response may be increased by suppressing resonance Refer to section 7.1.1 and
with the adaptive tuning mode or machine resonance 7.1.2.
suppression filter and then executing steps 3 to 7.
9 While checking the motor status, fine-adjust each gain. Fine adjustment

6 - 18
6. NORMAL GAIN ADJUSTMENT

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing the setting
increases the response level, but the mechanical system is liable to vibrate. The actual response
frequency of the speed loop is as indicated in the following expression.

Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.

2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)

3) [Pr. PB07 Model loop gain]

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

Speed loop gain 1 1

Estimated model loop gain ≤ × to
(1 + Load to motor inertia ratio) 4 8

(2) For position control

(a) Parameter
The following parameters are used for gain adjustment.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

6 - 19
6. NORMAL GAIN ADJUSTMENT

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.3.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set an estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a slightly smaller value to the model loop gain and the
4 position loop gain.
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the position loop gain, and return slightly if vibration Increase the position loop
7
takes place. gain.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
8
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
9 achieved, response may be increased by suppressing resonance Section 7.1.1 and 7.1.2
with the adaptive tuning mode or machine resonance
suppression filter and then executing steps 3 to 8.
While checking the settling characteristic and motor status, fine- Fine adjustment
10
adjust each gain.

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing the setting
increases the response level, but the mechanical system is liable to vibrate. The actual response
frequency of the speed loop is as indicated in the following expression.

Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.

2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)

6 - 20
6. NORMAL GAIN ADJUSTMENT

3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.
Increasing the position loop gain increases the response level to a disturbance, but the
mechanical system is liable to vibrate.

Speed loop gain 1 1

Position loop gain guideline ≤ × to
(1 + Load to motor inertia ratio) 4 8

4) [Pr. PB07 Model loop gain]

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

Speed loop gain 1 1

Estimated model loop gain ≤ × to
(1 + Load to motor inertia ratio) 4 8

6 - 21
6. NORMAL GAIN ADJUSTMENT

6.5 2 gain adjustment mode

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

(1) 2 gain adjustment mode 1

For the 2 gain adjustment mode 1, manually set the model loop gain that determines command track
ability. The mode constantly estimates the load to motor inertia ratio, and automatically set other
parameters for gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Manually adjusted parameter

The following parameters are adjustable manually.
Parameter Symbol Name
PA09 RSP Auto tuning response
PB07 PG1 Model loop gain

(2) 2 gain adjustment mode 2

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

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Manually adjusted parameter

The following parameters are adjustable manually.
Parameter Symbol Name
PA09 RSP Auto tuning response
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain

6 - 22
6. NORMAL GAIN ADJUSTMENT

(3) Adjustment procedure of 2 gain adjustment mode

POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.

Step Operation Description

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

(4) Parameter adjustment

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

Position command frequency [pulse/s]

Number of droop pulses [pulse] =
Model loop gain setting

Speed [r/min]
Position command frequency = × Encoder resolution (number of pulses per servo motor
60
revolution)

6 - 23
6. NORMAL GAIN ADJUSTMENT

MEMO

6 - 24
7. SPECIAL ADJUSTMENT FUNCTIONS

7. SPECIAL ADJUSTMENT FUNCTIONS

POINT
The functions given in this chapter need not be used normally. Use them if you
are not satisfied with the machine status after making adjustment in the methods
in chapter 6.

7.1 Filter setting

The following filters are available with MR-JE servo amplifiers.

Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]
control Machine Machine Machine
Low-pass
Command Command + resonance resonance resonance
filter filter suppression suppression suppression
pulse train - setting filter 1 filter 2 filter 3

Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter

7.1.1 Machine resonance suppression filter

POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.

If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance
of the mechanical system. The setting range is 10 Hz to 4500 Hz.

7- 1
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency), gain decreasing depth and width.

mechanical system
Response of
Machine resonance point

Frequency

characteristics
Notch width
Notch

Notch depth
Frequency
Notch frequency

You can set five machine resonance suppression filters at most.

Parameter
Parameter that is
automatically
Filter Setting parameter Precaution reset with vibration
adjusted with one-
tough drive function
touch tuning
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13 PB01/PB13/PB14
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15 PB15/PB16
suppression filter 2
Machine resonance PB46/PB47 PB47
suppression filter 3
Machine resonance PB48/PB49 Enabling the filter disables the shaft PB48/PB49
suppression filter 4 resonance suppression filter.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 The setting of this filter is disabled while PB51
suppression filter 5 you use the robust filter.
The robust filter is disabled for the initial
setting.

7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
([Pr. PB13] and [Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting
of the machine resonance suppression filter 1 is enabled.

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

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

(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in
[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
resonance suppression filter.
How to set the machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in
[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance
suppression filter 5.
How to set the machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

7- 3
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.2 Adaptive filter II

POINT
The machine resonance frequency which adaptive filter II (adaptive tuning) can
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of
the range, set manually.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 s and a filter is generated. After filter generation, the adaptive
tuning mode automatically shifts to the manual setting.
Adaptive tuning generates the optimum filter with the currently set control gains.
If vibration occurs when the response setting is increased, execute adaptive
tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance, increase
the notch depth in the manual setting.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.

(1) Function
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for
a predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not
be conscious of the resonance frequency of a mechanical system.
mechanical system

mechanical system
Response of

Response of

Machine resonance point Machine resonance point

Frequency Frequency
Notch depth

Notch depth

Frequency Frequency
Notch frequency Notch frequency

When machine resonance is large and When machine resonance is small and
frequency is low frequency is high

(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr. PB01]
0 0 0
Filter tuning mode selection
Setting
value Filter tuning mode selection Automatically set parameter

0 Disabled
1 Automatic setting PB13/PB14
2 Manual setting

7- 4
7. SPECIAL ADJUSTMENT FUNCTIONS

(3) Adaptive tuning mode procedure

Adaptive tuning

Operation

Yes Is the target response

reached?

No

Increase the response setting.

Has vibration or unusual No

noise occurred?

Yes

Execute or re-execute adaptive

tuning. (Set [Pr. PB01] to "_ _ _ 1".)

Tuning ends automatically after the

predetermined period of time. If assumption fails after tuning is executed at a large vibration or
([Pr. PB01] will be "_ _ _ 2" or oscillation, decrease the response setting temporarily down to
"_ _ _ 0".) the vibration level and execute again.

Yes
Has vibration or unusual
noise been resolved?

No

Factor
Decrease the response until vibration Using the machine analyzer, set the The response has increased to the machine limit.
or unusual noise is resolved. filter manually. The machine is too complicated to provide the
optimum filter.

End

7- 5
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.3 Shaft resonance suppression filter

(1) Function
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may
generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses
the vibration.
When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use
and the load to motor inertia ratio. The disabled setting increases the response of the servo amplifier for
high resonance frequency.

(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr. PB23]
0 1 0
Shaft resonance suppression filter selection
0: Automatic setting
1: Manual setting
2: Disabled

To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting
values are as follows.

Shaft resonance suppression filter setting frequency selection

Setting value Frequency [Hz] Setting value Frequency [Hz]
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

7- 6
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.4 Low-pass filter

(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as
the initial value. The filter frequency of the low-pass filter is automatically adjusted to the value in the
following equation.

VG2
Filter frequency ([rad/s]) = × 10
1 + GD2

To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].

(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23].
[Pr. PB23]
0 1 0
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled

7.1.5 Advanced vibration suppression control II

POINT
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment
mode 2 (_ _ _ 4)".
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,
set manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].

7- 7
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Position

Position
Servo motor side Servo motor side
Load side Load side
t t
Vibration suppression: off (normal) Vibration suppression control: on

When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].

(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr. PB02]
0 0
Vibration suppression control 1 tuning mode
Setting Vibration suppression control 1
value tuning mode selection Automatically set parameter

_ _ _ 0 Disabled
_ _ _ 1 Automatic setting PB19/PB20/PB21/PB22
_ _ _ 2 Manual setting

Vibration suppression control 2 tuning mode

Setting Vibration suppression control 2
value tuning mode selection Automatically set parameter

_ _ 0 _ Disabled
_ _ 1 _ Automatic setting PB52/PB53/PB54/PB55
_ _ 2 _ Manual setting

7- 8
7. SPECIAL ADJUSTMENT FUNCTIONS

(3) Vibration suppression control tuning procedure

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

Vibration suppression control tuning

Operation

Yes Is the target response

reached?

No

Increase the response setting.

Has vibration of workpiece No

end/device increased?

Yes

Stop operation.

Execute or re-execute vibration

suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)

Resume operation.

Tuning ends automatically after

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

Has vibration Yes

of workpiece end/device
been resolved?

No

Using a machine analyzer or Factor

Decrease the response until vibration considering load-side vibration Estimation cannot be made as load-side vibration
of workpiece end/device is resolved. waveform, set the vibration has not been transmitted to the servo motor side.
suppression control manually. The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).

End

7- 9
7. SPECIAL ADJUSTMENT FUNCTIONS

(4) Vibration suppression control manual mode

POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value
but set different values to improve the vibration suppression performance.
A vibration suppression control effect is not produced if the relation between the
[Pr. PB07 Model loop gain] value and vibration frequency is as follows.

Vibration suppression control 1:

1
[Pr. PB19] < (0.9 × [Pr. PB07])
2π
1
[Pr. PB20] < (0.9 × [Pr. PB07])
2π
Vibration suppression control 2:
[Pr. PB19] < [Pr. PB52]
[Pr. PB52] < 5.0 + 0.1 × [Pr. PB07]
[Pr. PB53] < 5.0 + 0.1 × [Pr. PB07]
1
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + × [Pr. PB52])
8
1.1 < [Pr. PB52] / [Pr. PB19] < 5.5

Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Vibration suppression Vibration suppression
Setting item
control 1 control 2
Vibration suppression control - Vibration
[Pr. PB19] [Pr. PB52]
frequency
Vibration suppression control - Resonance
[Pr. PB20] [Pr. PB53]
frequency
Vibration suppression control - Vibration
[Pr. PB21] [Pr. PB54]
frequency damping
Vibration suppression control - Resonance
[Pr. PB22] [Pr. PB55]
frequency damping

Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.
PB02].

7 - 10
7. SPECIAL ADJUSTMENT FUNCTIONS

Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -
Resonance frequency" as follows.

(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
Vibration suppression control 2 -
Resonance frequency
[Pr. PB53]

Gain characteristics

1 Hz 300 Hz
Resonance of more than
Vibration suppression control 1 - 300 Hz is not the target of control.
Vibration frequency Vibration suppression control 1 -
(anti-resonance frequency) Resonance frequency
[Pr. PB19] [Pr. PB20]
Phase
-90 deg.

(b) When vibration can be confirmed using monitor signal or external sensor

Motor-side vibration External acceleration pickup signal, etc.

(droop pulses)

Position command frequency

t t

Vibration suppression control -

Vibration frequency
Vibration cycle [Hz] Vibration suppression control - Vibration cycle [Hz]
Resonance frequency

Set the same value.

Step 3. Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".

7 - 11
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.6 Command notch filter

POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).

(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be
set.

Position
Position

Load side Load side

t t

Command notch filter: disabled Command notch filter: enabled

7 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency,
set the closest value to the vibration frequency [Hz] at the load side.
[Pr. PB45]
0
Notch depth Command notch filter setting frequency
Setting Depth Setting Frequency Setting Frequency Setting Frequency
value [dB] value [Hz] value [Hz] value [Hz]
0 -40.0 00 Disabled 20 70 40 17.6
1 -24.1 01 2250 21 66 41 16.5
2 -18.1 02 1125 22 62 42 15.6
3 -14.5 03 750 23 59 43 14.8
4 -12.0 04 562 24 56 44 14.1
5 -10.1 05 450 25 53 45 13.4
6 -8.5 06 375 26 51 46 12.8
7 -7.2 07 321 27 48 47 12.2
8 -6.0 08 281 28 46 48 11.7
9 -5.0 09 250 29 45 49 11.3
A -4.1 0A 225 2A 43 4A 10.8
B -3.3 0B 204 2B 41 4B 10.4
C -2.5 0C 187 2C 40 4C 10.0
D -1.8 0D 173 2D 38 4D 9.7
E -1.2 0E 160 2E 37 4E 9.4
F -0.6 0F 150 2F 36 4F 9.1
10 140 30 35.2 50 8.8
11 132 31 33.1 51 8.3
12 125 32 31.3 52 7.8
13 118 33 29.6 53 7.4
14 112 34 28.1 54 7.0
15 107 35 26.8 55 6.7
16 102 36 25.6 56 6.4
17 97 37 24.5 57 6.1
18 93 38 23.4 58 5.9
19 90 39 22.5 59 5.6
1A 86 3A 21.6 5A 5.4
1B 83 3B 20.8 5B 5.2
1C 80 3C 20.1 5C 5.0
1D 77 3D 19.4 5D 4.9
1E 75 3E 18.8 5E 4.7
1F 72 3F 18.2 5F 4.5

7.2 Gain switching function

You can switch gains with the function. You can switch gains during rotation and during stop, and can use an
input device to switch gains during operation.

7.2.1 Applications

The following shows when you use the function.

(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an input device to ensure stability of the servo system since the
load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7 - 13
7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.2 Function block diagram

The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching
condition].
CDP
[Pr. PB26]
Input device (CDP)

Command pulse +
frequency -

Droop pulses +
-
Changing
Model speed +
-

CDL Comparator
[Pr. PB27]

GD2 VRF11
[Pr. PB06] [Pr. PB19]
Enabled Enabled
GD2B GD2 value VRF11B VRF11 value
[Pr. PB29] [Pr. PB33]

PG1 VRF12
[Pr. PB07] [Pr. PB20]
Enabled Enabled
PG1B PG1 value VRF12B VRF12 value
[Pr. PB60] [Pr. PB34]

PG2 VRF13
[Pr. PB08] [Pr. PB21]
Enabled Enabled
PG2B PG2 value VRF13B VRF13 value
[Pr. PB30] [Pr. PB35]

VG2 VRF14
[Pr. PB09] [Pr. PB22]
Enabled Enabled
VG2B VG2 value VRF14B VRF14 value
[Pr. PB31] [Pr. PB36]

VIC VRF21
[Pr. PB10] [Pr. PB52]
Enabled Enabled
VICB VIC value VRF21B VRF21 value
[Pr. PB32] [Pr. PB56]

VRF22
[Pr. PB53]
Enabled
VRF22B VRF22 value
[Pr. PB57]

VRF23
[Pr. PB54]
Enabled
VRF23B VRF23 value
[Pr. PB58]

VRF24
[Pr. PB55]
Enabled
VRF24B VRF24 value
[Pr. PB59]

7 - 14
7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.

(1) Variable gain operation setting parameter

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

(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first digit and second
digit.
[Pr. PB26]
0 0
Gain switching selection
0: Disabled
1: Input device ((CDP) gain switching )
2: Command frequency
3: Droop pulses
4: Servo motor speed

Gain switching condition

0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor
speed" in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]

(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. This parameter is used to
suppress shock given to the machine if the gain difference is large at gain switching, for example.

7 - 15
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Switchable gain parameter

Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia ratio PB06 GD2 Load to motor inertia ratio PB29 GD2B Gain switching
Load to motor inertia ratio
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Gain switching
Model loop gain
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Gain switching
Position loop gain
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Gain switching
Speed loop gain
Speed integral PB10 VIC Speed integral PB32 VICB Gain switching
compensation compensation Speed integral
compensation
Vibration suppression PB19 VRF11 Vibration suppression PB33 VRF11B Vibration suppression
control 1 control 1 control 1 - Vibration
Used to set the value of the Used to set the value of the frequency after gain
after-changing vibration after-changing vibration switching
suppression control suppression control
vibration frequency setting. vibration frequency setting.
Vibration suppression PB20 VRF12 Vibration suppression PB34 VRF12B Vibration suppression
control 1 - Resonance control 1 - Resonance control 1 - Resonance
frequency frequency frequency after gain
switching
Vibration suppression PB21 VRF13 Vibration suppression PB35 VRF13B Vibration suppression
control 1 - Vibration control 1 - Vibration control 1 - Vibration
frequency damping frequency damping frequency damping after
gain switching
Vibration suppression PB22 VRF14 Vibration suppression PB36 VRF14B Vibration suppression
control 1 - Resonance control 1 - Resonance control 1 - Resonance
frequency damping frequency damping frequency damping after
gain switching
Vibration suppression PB52 VRF21 Vibration suppression PB56 VRF21B Vibration suppression
control 2 - Vibration control 2 - Vibration control 2 - Vibration
frequency frequency frequency after gain
switching
Vibration suppression PB53 VRF22 Vibration suppression PB57 VRF22B Vibration suppression
control 2 - Resonance control 2 - Resonance control 2 - Resonance
frequency frequency frequency after gain
switching
Vibration suppression PB54 VRF23 Vibration suppression PB58 VRF23B Vibration suppression
control 2 - Vibration control 2 - Vibration control 2 - Vibration
frequency damping frequency damping frequency damping after
gain switching
Vibration suppression PB55 VRF24 Vibration suppression PB59 VRF24B Vibration suppression
control 2 - Resonance control 2 - Resonance control 2 - Resonance
frequency damping frequency damping frequency damping after
gain switching

(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to
be switched.

(b) [Pr.PB19] to [Pr.PB22]/[Pr.PB52] to [Pr.PB55]

These parameters are the same as in ordinary manual adjustment. You can switch the vibration
frequency, resonance frequency, vibration frequency damping, and resonance frequency damping
by switching gain during motor stop.

7 - 16
7. SPECIAL ADJUSTMENT FUNCTIONS

(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].

(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.

(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr.
PB59])/[Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and model loop gain are used only with input device
(CDP) on/off.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.

7.2.4 Gain switching procedure

This operation will be described by way of setting examples.

(1) When you choose switching by input device (CDP)

(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio 4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - 50 [Hz]
Vibration frequency
PB20 VRF12 Vibration suppression control 1 - 50 [Hz]
Resonance frequency
PB21 VRF13 Vibration suppression control 1 - 0.20
Vibration frequency damping
PB22 VRF14 Vibration suppression control 1 - 0.20
Resonance frequency damping
PB52 VRF21 Vibration suppression control 2 - 20 [Hz]
Vibration frequency
PB53 VRF22 Vibration suppression control 2 - 20 [Hz]
Resonance frequency
PB54 VRF23 Vibration suppression control 2 - 0.10
Vibration frequency damping
PB55 VRF24 Vibration suppression control 2 - 0.10
Resonance frequency damping
PB29 GD2B Gain switching 10.00 [Multiplier]
Load to motor inertia ratio
PB60 PG1B Model loop gain after gain 50 [rad/s]
switching
PB30 PG2B Gain switching position loop gain 84 [rad/s]
PB31 VG2B Gain switching speed loop gain 4000 [rad/s]
PB32 VICB Speed integral compensation after 50 [ms]
gain switching
PB26 CDP Gain switching function 0001
(Switch by input device
(CDP) on/off.)

7 - 17
7. SPECIAL ADJUSTMENT FUNCTIONS

Parameter Symbol Name Setting value Unit

PB28 CDT Gain switching time constant 100 [ms]
PB33 VRF11B Vibration suppression control 1 - 60 [Hz]
Vibration frequency after gain
switching
PB34 VRF12B Vibration suppression control 1 - 60 [Hz]
Resonance frequency after gain
switching
PB35 VRF13B Vibration suppression control 1 - 0.15
Vibration frequency damping after
gain switching
PB36 VRF14B Vibration suppression control 1 - 0.15
Resonance frequency damping
after gain switching
PB56 VRF21B Vibration suppression control 2 - 30 [Hz]
Vibration frequency after gain
switching
PB57 VRF22B Vibration suppression control 2 - 30 [Hz]
Resonance frequency after gain
switching
PB58 VRF23B Vibration suppression control 2 - 0.05
Vibration frequency damping after
gain switching
PB59 VRF24B Vibration suppression control 2 - 0.05
Resonance frequency damping
after gain switching

(b) Switching timing chart

OFF ON OFF
CDP (gain switching)
After-switching gain

63.4%
Before-switching gain
Gain switching
CDT = 100 ms

Model loop gain 100 → 50 → 100

Load to motor inertia ratio 4.00 → 10.00 → 4.00
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 - Vibration
50 → 60 → 50
frequency
Vibration suppression control 1 -
50 → 60 → 50
Resonance frequency
Vibration suppression control 1 - Vibration
0.20 → 0.15 → 0.20
frequency damping
Vibration suppression control 1 -
0.20 → 0.15 → 0.20
Resonance frequency damping
Vibration suppression control 2 - Vibration
20 → 30 → 20
frequency
Vibration suppression control 2 -
20 → 30 → 20
Resonance frequency
Vibration suppression control 2 - Vibration
0.10 → 0.05 → 0.10
frequency damping
Vibration suppression control 2 -
0.10 → 0.05 → 0.10
Resonance frequency damping

7 - 18
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) When you choose switching by droop pulses

In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.

(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio 4.00 [Multiplier]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio after 10.00 [Multiplier]
gain switching
PB30 PG2B Gain switching position loop gain 84 [rad/s]
PB31 VG2B Gain switching speed loop gain 4000 [rad/s]
PB32 VICB Speed integral compensation after 50 [ms]
gain switching
PB26 CDP Gain switching selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
PB28 CDT Gain switching time constant 100 [ms]

(b) Switching timing chart

Command pulses Droop pulses

Command pulses

+CDL
Droop pulses
0
[pulse] -CDL

After-switching gain

63.4%
Before-switching gain
Gain switching
CDT = 100 ms

Load to motor inertia ratio 4.00 → 10.00 → 4.00 → 10.00

Position loop gain 120 → 84 → 120 → 84
Speed loop gain 3000 → 4000 → 3000 → 4000
Speed integral compensation 20 → 50 → 20 → 50

7 - 19
7. SPECIAL ADJUSTMENT FUNCTIONS

7.3 Tough drive function

POINT
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive
setting]. (Refer to section 5.2.1.)

This function makes the equipment continue operating even under the condition that an alarm occurs.

7.3.1 Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to
varied vibration frequency caused by machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.
Set [Pr. PB13] and [Pr. PB15] as follows.

(1) One-touch tuning execution (section 6.2)

(2) Manual setting (section 5.2.2)

The vibration tough drive function operates when a detected machine resonance frequency is within ±30%
for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance
suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation
detection level].

POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PB46 Machine resonance
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.
PB50 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.

7 - 20
7. SPECIAL ADJUSTMENT FUNCTIONS

The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset
a machine resonance frequency of a parameter whose set value is closer.
Parameter that is
Filter Setting parameter Precaution reset with vibration
tough drive function
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15
suppression filter 2
Machine resonance PB46/PB47
suppression filter 3
Machine resonance PB48/PB49 Enabling the filter disables the shaft
suppression filter 4 resonance suppression filter.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 The setting of this filter is disabled while
suppression filter 5 you use the robust filter.
The robust filter is disabled for the initial
setting.

Updates the parameter Vibration tough drive

whose setting is the
closest to the machine
resonance frequency.

[Pr. PB13] [Pr. PB15] [Pr. PB46]

Machine Machine Machine
Command Command + resonance resonance resonance
pulse train filter - suppression suppression suppression
filter 1 filter 2 filter 3

Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter

[Pr. PF23 Vibration tough drive - Oscillation detection level]

Torque

Detects the machine resonance and reconfigures the filter automatically.

ALM ON
(Malfunction) OFF
5s
WNG ON
(Warning) OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
MTTR ON
(During tough drive) OFF

7 - 21
7. SPECIAL ADJUSTMENT FUNCTIONS

7.3.2 Instantaneous power failure tough drive function

The immunity to instantaneous power failures is increased by the instantaneous

CAUTION power failure tough drive function. However, it is not guarantee to comply with the
SEMI-F47 standard.

The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive
activates, the function will increase the immunity to instantaneous power failures using the electrical energy
charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10 Undervoltage]
simultaneously. The [AL. 10.1 Voltage drop in the power] detection time for the power supply can be
changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (instantaneous power
failure tough drive - detection time)]. In addition, [AL.10.2 Bus voltage drop] detection level for the bus
voltage is changed automatically.

POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
Selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at
instantaneous power failure" in [Pr. PA26] will limit torques to save electric
energy when an instantaneous power failure occurs during operation and will
make [AL. 10 Undervoltage] less likely to occur.
When the load of instantaneous power failure is large, the undervoltage alarm
([AL. 10.2]) caused by the bus voltage drop may occur regardless of the set
value of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection
time (instantaneous power failure tough drive - detection time)].

7 - 22
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Instantaneous power failure time > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection
time (instantaneous power failure tough drive - detection time)]
The alarm occurs when the instantaneous power failure time exceeds [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time (instantaneous power failure tough drive - detection time)].
MTTR (During tough drive) turns on after the instantaneous power failure is detected.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Instantaneous power failure time

ON
Power supply
OFF
[Pr. PF25]

Bus voltage

Undervoltage level
(158 V DC)

ALM ON
(Malfunction) OFF

WNG ON
(Warning) OFF

MTTR ON
(During tough drive) OFF

MBR ON
(Electromagnetic OFF
brake interlock)
ON
Base circuit
OFF

7 - 23
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Instantaneous power failure time < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection
time (instantaneous power failure tough drive - detection time)]
Operation status differs depending on how bus voltage decrease.

(a) When the bus voltage decreases lower than 158 V DC within the instantaneous power failure time
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the
enabled instantaneous power failure tough drive.
Instantaneous power failure time

ON
Power supply
OFF
[Pr. PF25]

Bus voltage

Undervoltage level
(158 V DC)

ALM ON
(Malfunction) OFF

WNG ON
(Warning) OFF

MTTR ON
(During tough drive) OFF
MBR ON
(Electromagnetic
brake interlock) OFF

ON
Base circuit
OFF

7 - 24
7. SPECIAL ADJUSTMENT FUNCTIONS

(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power
failure time
The operation continues without alarming.
Instantaneous power failure time

ON
Power supply
OFF
[Pr. PF25]

Bus voltage

Undervoltage level
(158 V DC)

ALM ON
(Malfunction) OFF

WNG ON
(Warning) OFF

MTTR ON
(During tough drive) OFF
MBR ON
(Electromagnetic
brake interlock) OFF

ON
Base circuit
OFF

7 - 25
7. SPECIAL ADJUSTMENT FUNCTIONS

MEMO

7 - 26
8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.

8.1 Alarm and warning list

When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs,
ALM will turn off.
To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2.
Warnings ([AL. 91] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be
outputted when they occur. The alarm codes will not be outputted in normal condition.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ○ in the
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed.
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with
the dynamic brake after forced stop deceleration. For the alarms and warnings written "DB" in the stop
method column, the servo motor stops with the dynamic brake without forced stop deceleration.

Table 8.1 Alarm list

Alarm code Alarm deactivation
Press
Stop the
CN1 CN1 CN1 Detailed method Alarm "SET" Power
No. Name Detail name off to
49 23 24 display (Note 2, reset button
on the On
3) (RES)
(Bit 2) (Bit 1) (Bit 0) current (Note 4)
alarm
screen.
10.1 Voltage drop in the power DB
Alarm

10 0 1 0 Undervoltage
10.2 Bus voltage drop SD
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12 0 0 0 Memory error 1 (RAM)
12.4 RAM error 4 DB
12.5 RAM error 5 DB
13.1 Clock error 1 DB
13 0 0 0 Clock error
13.2 Clock error 2 DB
14.1 Control process error 1 DB
14.2 Control process error 2 DB
14.3 Control process error 3 DB
14.4 Control process error 4 DB
14.5 Control process error 5 DB
14 0 0 0 Control process error
14.6 Control process error 6 DB
14.7 Control process error 7 DB
14.8 Control process error 8 DB
14.9 Control process error 9 DB
14.A Control process error 10 DB
Memory error 2 15.1 EEP-ROM error at power on DB
15 0 0 0
(EEP-ROM) 15.2 EEP-ROM error during operation DB

8- 1
8. TROUBLESHOOTING

Alarm code Alarm deactivation

Press
Stop the
CN1 CN1 CN1 Detailed method Alarm "SET" Power
No. Name Detail name off to
49 23 24 display (Note 2, reset button
on the On
3) (RES)
(Bit 2) (Bit 1) (Bit 0) current (Note 4)
alarm
screen.
Encoder initial communication - Receive
Alarm

16.1 DB
data error 1
Encoder initial communication - Receive
16.2 DB
data error 2
Encoder initial communication - Receive
16.3 DB
data error 3
Encoder initial communication -
16.5 DB
Transmission data error 1
Encoder initial communication -
16.6 DB
Transmission data error 2
Encoder initial communication -
16.7 DB
Encoder initial Transmission data error 3
16 1 1 0
communication error 1 Encoder initial communication - Process
16.A DB
error 1
Encoder initial communication - Process
16.B DB
error 2
Encoder initial communication - Process
16.C DB
error 3
Encoder initial communication - Process
16.D DB
error 4
Encoder initial communication - Process
16.E DB
error 5
Encoder initial communication - Process
16.F DB
error 6
17.1 Board error 1 DB
17 0 0 0 Board error 17.3 Board error 2 DB
17.4 Board error 3 DB
Memory error 3 19.1 FLASH-ROM error 1 DB
19 0 0 0
(FLASH-ROM) 19.2 FLASH-ROM error 2 DB
Servo motor combination
1A 1 1 0 1A.1 Servo motor combination error DB
error
Encoder initial
1E 1 1 0 1E.1 Encoder malfunction DB
communication error 2
Encoder initial
1F 1 1 0 1F.1 Incompatible encoder DB
communication error 3
Encoder normal communication - Receive
20.1 DB
data error 1
Encoder normal communication - Receive
20.2 DB
data error 2
Encoder normal communication - Receive
20.3 DB
data error 3
Encoder normal communication -
20.5 DB
Encoder normal Transmission data error 1
20 1 1 0
communication error 1 Encoder normal communication -
20.6 DB
Transmission data error 2
Encoder normal communication -
20.7 DB
Transmission data error 3
Encoder normal communication - Receive
20.9 DB
data error 4
Encoder normal communication - Receive
20.A DB
data error 5
21.1 Encoder data error 1 DB
21.2 Encoder data update error DB
Encoder normal 21.3 Encoder data waveform error DB
21 1 1 0
communication error 2 21.5 Encoder hardware error 1 DB
21.6 Encoder hardware error 2 DB
21.9 Encoder data error 2 DB

8- 2
8. TROUBLESHOOTING

Alarm code Alarm deactivation

Press
Stop the
CN1 CN1 CN1 Detailed method Alarm "SET" Power
No. Name Detail name off to
49 23 24 display (Note 2, reset button
on the On
3) (RES)
(Bit 2) (Bit 1) (Bit 0) current (Note 4)
alarm
screen.
Ground fault detected by hardware
Alarm

24.1 DB
detection circuit
24 1 0 0 Main circuit error
Ground fault detected by software
24.2 DB
detection function

30.1 Regeneration heat error DB

(Note 1) (Note 1) (Note 1)
Regenerative error
30 0 0 1 30.2 Regeneration signal error DB
(Note 1) (Note 1) (Note 1) (Note 1)

30.3 Regeneration feedback signal error DB

(Note 1) (Note 1) (Note 1)
31 1 0 1 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at hardware
32.1 DB
detection circuit (during operation)
Overcurrent detected at software detection
32.2 DB
function (during operation)
32 1 0 0 Overcurrent
Overcurrent detected at hardware
32.3 DB
detection circuit (during a stop)
Overcurrent detected at software detection
32.4 DB
function (during a stop)
33 0 0 1 Overvoltage 33.1 Main circuit voltage error DB
35 1 0 1 Command frequency error 35.1 Command frequency error SD
37.1 Parameter setting range error DB
37 0 0 0 Parameter error
37.2 Parameter combination error DB
Main circuit device
45 0 1 1 45.1 Main circuit device overheat error SD
overheat (Note 1) (Note 1) (Note 1) (Note 1)

46.1 Abnormal temperature of servo motor 1 SD

(Note 1) (Note 1) (Note 1)
Servo motor overheat
46 0 1 1 46.5 Abnormal temperature of servo motor 3 DB
(Note 1) (Note 1) (Note 1) (Note 1)

46.6 Abnormal temperature of servo motor 4 DB

(Note 1) (Note 1) (Note 1)
47 0 1 1 Cooling fan error 47.2 Cooling fan speed reduction error SD

50.1 Thermal overload error 1 during operation SD

(Note 1) (Note 1) (Note 1)

50.2 Thermal overload error 2 during operation SD

(Note 1) (Note 1) (Note 1)

50.3 Thermal overload error 4 during operation SD

(Note 1) (Note 1) (Note 1)
50 0 1 1 Overload 1 (Note 1)
50.4 Thermal overload error 1 during a stop SD
(Note 1) (Note 1) (Note 1)

50.5 Thermal overload error 2 during a stop SD

(Note 1) (Note 1) (Note 1)

50.6 Thermal overload error 4 during a stop SD

(Note 1) (Note 1) (Note 1)

51.1 Thermal overload error 3 during operation DB

(Note 1) (Note 1) (Note 1)
51 0 1 1 Overload 2 (Note 1)
51.2 Thermal overload error 3 during a stop DB
(Note 1) (Note 1) (Note 1)
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 1 0 1 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 DB
54 0 1 1 Oscillation detection 54.1 Oscillation detection error DB
56.2 Over speed during forced stop DB
56 1 1 0 Forced stop error
56.3 Estimated distance over during forced stop DB

8- 3
8. TROUBLESHOOTING

Alarm code Alarm deactivation

Press
Stop the
CN1 CN1 CN1 Detailed method Alarm "SET" Power
No. Name Detail name off to
49 23 24 display (Note 2, reset button
on the On
3) (RES)
(Bit 2) (Bit 1) (Bit 0) current (Note 4)
alarm
screen.
USB communication time-
Alarm

8A 0 0 0 8A.1 USB communication time-out error SD

out error
8E.1 USB communication receive error SD
8E.2 USB communication checksum error SD
8E 0 0 0 USB communication error 8E.3 USB communication character error SD
8E.4 USB communication command error SD
8E.5 USB communication data number error SD
88888 Watchdog 8888._ Watchdog SD

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. Stop method indicates as follows:
DB: Stop with dynamic brake
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. To cancel the alarm, turn off the power and check that the 5-digit, 7-segment LED display is off, and then turn on the power.

8- 4
8. TROUBLESHOOTING

Table 8.2 Warning list

Stop
Detailed method
No. Name Detail name
display (Note 2,
3)
Servo amplifier overheat
Warning

91 91.1 Main circuit device overheat warning

warning (Note 1)
99.1 Forward rotation stroke end off (Note 4)
99 Stroke limit warning
99.2 Reverse rotation stroke end off (Note 4)
Excessive regeneration
E0 E0.1 Excessive regeneration warning
warning (Note 1)
Thermal overload warning 1 during
E1.1
operation
Thermal overload warning 2 during
E1.2
operation
Thermal overload warning 3 during
E1.3
Overload warning 1 operation
E1
(Note 1) Thermal overload warning 4 during
E1.4
operation
E1.5 Thermal overload error 1 during a stop
E1.6 Thermal overload error 2 during a stop
E1.7 Thermal overload error 3 during a stop
E1.8 Thermal overload error 4 during a stop
E6 Servo forced stop warning E6.1 Forced stop warning SD
Cooling fan speed
E8 E8.1 Decreased cooling fan speed warning
reduction warning
E9.1 Servo-on signal on during main circuit off DB
E9 Main circuit off warning Bus voltage drop during low speed
E9.2 DB
operation
Overload warning 2
EC EC.1 Overload warning 2
(Note 1)
Output watt excess
ED ED.1 Output watt excess warning
warning
Instantaneous power failure tough drive
F0.1
F0 Tough drive warning warning
F0.3 Vibration tough drive warning
Drive recorder - Area writing time-out
Drive recorder - Miswriting F2.1
F2 warning
warning
F2.2 Drive recorder - Data miswriting warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. Stop method indicates as follows:
DB: Stop with dynamic brake
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. Quick stop or slow stop can be selected using [Pr. PD30].

8- 5
8. TROUBLESHOOTING

8.2 Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate
CAUTION the alarm before restarting operation. Otherwise, it may cause injury.
As soon as an alarm occurs, make the Servo-off status and interrupt the power.

POINT
When any of the following alarms has occurred, do not cycle the power
repeatedly to restart. Doing so will cause a malfunction of the servo amplifier
and servo motor. Remove its cause and allow about 30 minutes for cooling
before resuming the operation.
[AL. 30 Regenerative error] [AL. 45 Main circuit device overheat]
[AL. 46 Servo motor overheat] [AL. 50 Overload 1]
[AL. 51 Overload 2]

Remove the cause of the alarm in accordance with this section. Use MR Configurator2 to refer to the cause
of alarm occurrence.
Alarm No.: 10 or less Name: Undervoltage
The power supply voltage dropped.
Alarm content
The bus voltage dropped.
Display Detail name Cause Check method Check result Action
10.1 Voltage drop in (1) The connection of the Check the power It has a failure. Connect it correctly.
the power power connector has a connector.
failure. It has no failure. Check (2).
(2) Power supply voltage is Check if the voltage of The voltage is lower than Review the voltage of
low. the power supply is 160 160 V AC. the power supply.
V AC or lower. The voltage is higher Check (3).
than 160 V AC.
(3) An instantaneous power Check if the power has a It has a problem. Review the power.
failure has occurred for problem.
longer time than the
specified time. The time
will be 60 ms when [Pr.
PA20] is "_ 0 _ _". The
time will be the value set
in [Pr. PF25] when [Pr.
PA20] is "_ 1 _ _".
10.2 Bus voltage (1) The connection of the Check the power It has a failure. Connect it correctly.
drop power connector has a connector.
It has no failure. Check (2).
failure.
(2) Power supply voltage is Check if the voltage of The voltage is lower than Increase the power
low. the power supply is 160 160 V AC. supply voltage.
V AC or lower. The voltage is higher Check (3).
than 160 V AC.
(3) The alarm has occurred Check that the bus The voltage is less than Increase the acceleration
during acceleration. voltage during 200 V DC. time constant. Or
acceleration is 200 V DC increase the power
or more. supply capacity.
The voltage is 200 V DC Check (4).
or more.
(4) The servo amplifier is Check the bus voltage The voltage of the power Replace the servo
malfunctioning. value. supply is 160 V AC or amplifier.
more, and the bus
voltage is less than 200
V DC.

8- 6
8. TROUBLESHOOTING

Alarm No.: 12 Name: Memory error 1 (RAM)

Alarm content A part (RAM) in the servo amplifier is failure.
Display Detail name Cause Check method Check result Action
12.1 RAM error 1 (1) A part in the servo Disconnect the cables It is repeatable. Replace the servo
amplifier is failure. except the power supply, amplifier.
and then check the It is not repeatable. Check (2).
repeatability.
(2) Something near the Check the power supply It has a failure. Take countermeasures
device caused it. for noise. against its cause.
12.2 RAM error 2 Check it with the check method for [AL. 12.1].
12.4 RAM error 4
12.5 RAM error 5

Alarm No.: 13 Name: Clock error

Alarm content A part in the servo amplifier is failure.
Display Detail name Cause Check method Check result Action
13.1 Clock error 1 (1) A part in the servo Disconnect the cables It is repeatable. Replace the servo
amplifier is failure. except the power supply, amplifier.
and then check the It is not repeatable. Check (2).
repeatability.
(2) Something near the Check the power supply It has a failure. Take countermeasures
device caused it. for noise. against its cause.
Check if the connector is
shorted.
13.2 Clock error 2 Check it with the check method for [AL. 13.1].

Alarm No.: 14 Name: Control process error

Alarm content The process did not complete within the specified time.
Display Detail name Cause Check method Check result Action
14.1 Control process (1) The parameter setting is Check if the parameter It is incorrect. Set it correctly.
error 1 incorrect. setting is incorrect. It is correct. Check (2).
(2) Something near the Check the power supply It has a failure. Take countermeasures
device caused it. for noise. Check if the against its cause.
connector is shorted. It has no failure. Check (3).
(3) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.
14.2 Control process (1) The parameter setting is Check if the parameter It is incorrect. Set it correctly.
error 2 incorrect. setting is incorrect. It is correct. Check (2).
(2) Something near the Check the power supply It has a failure. Take countermeasures
device caused it. for noise. Check if the against its cause.
connector is shorted. It has no failure. Check (3).
(3) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.
14.3 Control process Check it with the check method for [AL. 14.1].
error 3
14.4 Control process
error 4
14.5 Control process
error 5
14.6 Control process
error 6
14.7 Control process
error 7
14.8 Control process
error 8
14.9 Control process
error 9
14.A Control process
error 10

8- 7
8. TROUBLESHOOTING

Alarm No.: 15 Name: Memory error 2 (EEP-ROM)

Alarm content A part (EEP-ROM) in the servo amplifier is failure.
Display Detail name Cause Check method Check result Action
15.1 EEP-ROM error (1) EEP-ROM is Disconnect the cables It is repeatable. Replace the servo
at power on malfunctioning at power except the power supply, amplifier.
on. and then check the It is not repeatable. Check (2).
repeatability.
(2) Something near the Check the power supply It has a failure. Take countermeasures
device caused it. for noise. Check if the against its cause.
connector is shorted.It has no failure. Check (3).
(3) The number of write Check if parameters has It has a failure. Replace the servo
times exceeded 100,000. been used very amplifier. Change the
frequently. process to use
parameters less
frequently after
replacement.
15.2 EEP-ROM error (1) EEP-ROM is Check if the error occurs It occurs. Replace the servo
during operation malfunctioning during when you change amplifier.
normal operation. parameters during It does not occur. Check (2).
normal operation.
(2) A write error occurred Check if the alarm It takes an hour or more. Replace the servo
while tuning results was occurs after an hour from amplifier.
processed. power on. It takes less than an Check (3).
hour.
(3) Something near the Check the power supply It has a failure. Take countermeasures
device caused it. for noise. Check if the against its cause.
connector is shorted.

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content An error occurred in the communication between an encoder and servo amplifier.
Display Detail name Cause Check method Check result Action
16.1 Encoder initial (1) An encoder cable is Check if the encoder It has a failure. Replace or repair the
communication malfunctioning. cable is disconnected or cable.
- Receive data shorted. It has no failure. Check (2).
error 1 (2) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability. It is repeatable. Check (3).
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
It is repeatable. Check (4).
repeatability.
(4) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
vibration, etc.
16.2 Encoder initial Check it with the check method for [AL. 16.1].
communication -
Receive data
error 2

8- 8
8. TROUBLESHOOTING

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content An error occurred in the communication between an encoder and servo amplifier.
Display Detail name Cause Check method Check result Action
16.3 Encoder initial (1) An encoder cable was Check if the encoder It is not connected. Connect it correctly.
communication - disconnected. cable is connected
Receive data correctly. It is connected. Check (2).
error 3 (2) The parameter setting of Check the [Pr. PC22] The setting is incorrect. Set it correctly.
two-wire type/four-wire setting.
The setting is correct. Check (3).
type is incorrect.
(3) An encoder cable is Check if the encoder It has a failure. Replace or repair the
malfunctioning. cable is disconnected or cable.
shorted. It has no failure. Check (4).
(4) The power voltage has Check the power It is an instantaneous Review the power and
been unstable. voltage. power failure. related parts.
It has no failure. Check (5).
(5) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability. It is repeatable. Check (6).
(6) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability. It is repeatable. Check (7).
(7) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
vibration, etc.
16.5 Encoder initial Check it with the check method for [AL. 16.1].
communication -
Transmission
data error 1
16.6 Encoder initial
communication -
Transmission
data error 2
16.7 Encoder initial
communication -
Transmission
data error 3
16.A Encoder initial (1) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
communication - malfunctioning. amplifier, and then check amplifier.
Process error 1 the repeatability. It is repeatable. Check (2).
(2) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
It is repeatable. Check (3).
repeatability.
(3) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
vibration, etc.
16.B Encoder initial Check it with the check method for [AL. 16.A].
communication -
Process error 2
16.C Encoder initial
communication -
Process error 3
16.D Encoder initial
communication -
Process error 4
16.E Encoder initial
communication -
Process error 5
16.F Encoder initial
communication -
Process error 6

8- 9
8. TROUBLESHOOTING

Alarm No.: 17 Name: Board error

Alarm content A part in the servo amplifier is malfunctioning.
Display Detail name Cause Check method Check result Action
17.1 Board error 1 (1) A current detection Check if the alarm It occurs. Replace the servo
circuit is malfunctioning.occurs during the servo- amplifier.
on status. It does not occur. Check (2).
(2) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.
17.3 Board error 2 Check it with the check method for [AL. 17.1].
17.4 Board error 3 (1) The servo amplifier Disconnect the cables It is repeatable. Replace the servo
recognition signal was except the power supply, amplifier.
not read properly. and then check the It is not repeatable. Check (2).
repeatability.
(2) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.

Alarm No.: 19 Name: Memory error 3 (FLASH-ROM)

Alarm content A part (Flash-ROM) in the servo amplifier is failure.
Display Detail name Cause Check method Check result Action
19.1 FLASH-ROM (1) The Flash-ROM is Disconnect the cables It is repeatable. Replace the servo
error 1 malfunctioning. except the power supply, amplifier.
and then check the It is not repeatable. Check (2).
repeatability.
(2) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.
19.2 FLASH-ROM Check it with the check method for [AL. 19.1].
error 2

Alarm No.: 1A Name: Servo motor combination error

Alarm content The combination of servo amplifier and servo motor is incorrect.
Display Detail name Cause Check method Check result Action
1A.1 Servo motor (1) The servo amplifier and Check the model name The combination is Use them in the correct
combination the servo motor was of the servo motor and incorrect. combination.
error connected incorrectly. corresponding servo The combination is Check (2).
amplifier. correct.
(2) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.

Alarm No.: 1E Name: Encoder initial communication error 2

Alarm content An encoder is malfunctioning.
Display Detail name Cause Check method Check result Action
1E.1 Encoder (1) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunction malfunctioning. and then check the
It is repeatable. Check (2).
repeatability.
(2) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
vibration, etc.

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8. TROUBLESHOOTING

Alarm No.: 1F Name: Encoder initial communication error 3

Alarm content The connected encoder is not compatible with the servo amplifier.
Display Detail name Cause Check method Check result Action
1F.1 Incompatible (1) A servo motor, which is Check the model of the It is not compatible with Replace it with the servo
encoder not compatible with the servo motor. the amplifier. motor which is
servo amplifier, was compatible.
connected. It is compatible with the Check (2).
amplifier.
(2) The software version of Check if the software It is not supported. Replace the servo
the servo amplifier does version supports the amplifier to one which
not support the servo servo motor. software version
motor. supports the servo
motor.
It is supported. Check (3).
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the It is repeatable. Replace the servo
repeatability. amplifier.

Alarm No.: 20 Name: Encoder normal communication error 1

Alarm content An error occurred in the communication between an encoder and servo amplifier.
Display Detail name Cause Check method Check result Action
20.1 Encoder normal (1) An encoder cable is Check if the encoder It has a failure. Repair or replace the
communication - malfunctioning. cable is disconnected or cable.
Receive data shorted. It has no failure. Check (2).
error 1 (2) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability. It is repeatable. Check (3).
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
It is repeatable. Check (4).
repeatability.
(4) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
vibration, etc.
20.2 Encoder normal Check it with the check method for [AL. 20.1].
communication -
Receive data
error 2
20.3 Encoder normal
communication -
Receive data
error 3
20.5 Encoder normal
communication -
Transmission
data error 1
20.6 Encoder normal
communication -
Transmission
data error 2
20.7 Encoder normal
communication -
Transmission
data error 3
20.9 Encoder normal
communication -
Receive data
error 4
20.A Encoder normal
communication -
Receive data
error 5

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8. TROUBLESHOOTING

Alarm No.: 21 Name: Encoder normal communication error 2

Alarm content The encoder detected an error signal.
Display Detail name Cause Check method Check result Action
21.1 Encoder data (1) The encoder detected a Decrease the loop gain, It is not repeatable. Use the encoder with low
error 1 high speed/acceleration and then check the loop gain.
rate due to an oscillation repeatability. It is repeatable. Check (2).
or other factors.
(2) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
It is repeatable. Check (3).
repeatability.
(3) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
vibration, etc.
21.2 Encoder data (1) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
update error malfunctioning. and then check the
It is repeatable. Check (2).
repeatability.
(2) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.
21.3 Encoder data Check it with the check method for [AL. 21.2].
waveform error
21.5 Encoder Check it with the check method for [AL. 21.2].
hardware error
1
21.6 Encoder
hardware error
2
21.9 Encoder data Check it with the check method for [AL. 21.1].
error 2

Alarm No.: 24 Name: Main circuit error

A ground fault occurred on the servo motor power lines.
Alarm content
A ground fault occurred at the servo motor.
Display Detail name Cause Check method Check result Action
24.1 Ground fault (1) The servo amplifier is Disconnect the servo It occurs. Replace the servo
detected by malfunctioning. motor power cables (U, amplifier.
hardware V, and W) and check if It does not occur. Check (2).
detection circuit the alarm occurs.
(2) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (3).
(3) A ground fault occurred Disconnect the servo It is shorted. Replace the servo motor.
at the servo motor. motor power cables on
motor side, and check
insulation of the motor It is not shorted. Check (4).
(between U, V, W, and
).
(4) The servo amplifier Shut off the power, and They are in contact. Correct the wiring.
power input cable and check if the servo
servo motor power input amplifier power input
cable were shorted. cable and servo motor They are not in contact. Check (5).
power input cable are in
contact.
(5) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.
24.2 Ground fault Check it with the check method for [AL. 24.1].
detected by
software
detection
function

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8. TROUBLESHOOTING

Alarm No.: 30 Name: Regenerative error

Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.
Alarm content
A regenerative transistor in the servo amplifier is malfunctioning.
Display Detail name Cause Check method Check result Action
30.1 Regeneration (1) The setting of the Check the regenerative The setting value is Set it correctly.
heat error regenerative resistor resistor (regenerative incorrect.
(regenerative option) is option) and [Pr. PA02] It is set correctly. Check (2).
incorrect. setting.
(2) The regenerative resistor Check if the regenerative It is not connected Connect it correctly.
(regenerative option) is resistor (regenerative correctly.
not connected. option) is connected It is connected correctly. Check (3).
correctly.
(3) Power supply voltage Check the input power It is over 240 V AC. Reduce the power
high. supply voltage. supply voltage.
It is 240 V AC or less. Check (4).
(4) The regenerative load Check the regenerative It is 100% or more. Reduce the frequency of
ratio has been over load ratio when alarm positioning. Reduce the
100%. occurs. load. Use a regenerative
option if it is not being
used. Review the
regenerative option
capacity.
30.2 Regeneration (1) A detection circuit of the Check if the regenerative It is overheating Replace the servo
signal error servo amplifier is resistor (regenerative abnormally. amplifier.
malfunctioning. option) is overheating.
30.3 Regeneration (1) A detection circuit of the Remove the regenerative The alarm occurs. Replace the servo
feedback signal servo amplifier is option or built-in amplifier.
error malfunctioning. regenerative resistor and
then check if the alarm The alarm does not Check (2).
occur at power on. occur.

(2) Something near the Check the noise, ground It has a failure. Take countermeasures
device caused it. fault, ambient against its cause.
temperature, etc.

Alarm No.: 31 Name: Overspeed

Alarm content The servo motor seed has exceeded the permissible instantaneous speed.
Display Detail name Cause Check method Check result Action
31.1 Abnormal (1) The command pulse Check the command The command pulse Check operation pattern.
motor speed frequency is high. pulse frequency. frequency is high.
The command pulse Check (2).
frequency is low.
(2) The servo motor was at Check if the torque at the It is the maximum torque. Increase the
the maximum torque at time of acceleration is acceleration/deceleration
the time of acceleration. the maximum torque. time constant. Or reduce
the load.
It is lower than the Check (3).
maximum torque.
(3) The servo system is Check if the servo motor It is oscillating. Adjust the servo gain. Or
unstable and oscillating. is oscillating. reduce the load.
It is not oscillating. Check (4).
(4) The velocity waveform Check if it is It is overshooting. Increase the
has overshot. overshooting because acceleration/deceleration
the acceleration time time constant.
constant is too short. It is not overshooting. Check (5).
(5) An encoder is Check if the alarm is It is occurring during less Replace the servo motor.
malfunctioning. occurring during less than permissible
than permissible instantaneous speed.
instantaneous speed.

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8. TROUBLESHOOTING

Alarm No.: 32 Name: Overcurrent

Alarm content A current higher than the permissible current was applied to the servo amplifier.
Display Detail name Cause Check method Check result Action
32.1 Overcurrent (1) The servo amplifier is Disconnect the servo It occurs. Replace the servo
detected at malfunctioning. motor power cables (U, amplifier.
hardware V, and W) and check if It does not occur. Check (2).
detection circuit the alarm occurs.
(during (2) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
operation) occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (3).
(3) The servo motor is Disconnect the servo A ground fault is Replace the servo motor.
malfunctioning. motor power cables on occurring.
motor side, and check
insulation of the motor A ground fault is not Check (4).
(between U, V, W, and occurring.
).
(4) The dynamic brake is Check if the error occurs It occurs. Replace the servo
malfunctioning. when you turn on the amplifier.
servo-on command. It does not occur. Check (5).
(5) The connection Check if the encoder It is not correct. Wire it correctly.
destination of the cable is connected
encoder cable is correctly. It is correct. Check (6).
incorrect.
(6) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.
32.2 Overcurrent (1) The servo gain is high. Check if an oscillation is An oscillation is Reduce the speed loop
detected at occurring. occurring. gain ([Pr. PB09]).
software An oscillation is not Check (2).
detection occurring.
function (during (2) The servo amplifier is Disconnect the servo It occurs. Replace the servo
operation) malfunctioning. motor power cables (U, amplifier.
V, and W) and check if It does not occur. Check (3).
the alarm occurs.
(3) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (4).
(4) The servo motor is Disconnect the servo A ground fault is Replace the servo motor.
malfunctioning. motor power cables on occurring.
motor side, and check
insulation of the motor A ground fault is not Check (5).
(between U, V, W, and occurring.
).
(5) The connection Check if the encoder It is not correct. Connect it correctly.
destination of the cable is connected
encoder cable is correctly. It is correct. Check (6).
incorrect.
(6) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.
32.3 Overcurrent Check it with the check method for [AL. 32.1].
detected at
hardware
detection circuit
(during a stop)
32.4 Overcurrent Check it with the check method for [AL. 32.2].
detected at
software
detection
function (during
a stop)

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8. TROUBLESHOOTING

Alarm No.: 33 Name: Overvoltage

Alarm content The value of the bus voltage exceeded 400 V DC.
Display Detail name Cause Check method Check result Action
33.1 Main circuit (1) The setting of the Check the regenerative The setting value is Set it correctly.
voltage error regenerative resistor resistor (regenerative incorrect.
(regenerative option) is option) and [Pr. PA02] It is set correctly. Check (2).
incorrect. setting.
(2) The regenerative resistor Check if the regenerative It is not connected Connect it correctly.
(regenerative option) is resistor (regenerative correctly.
not connected. option) is connected It is connected correctly. Check (3).
correctly.
(3) Wire breakage of built-in Measure the resistance The resistance is When using a built-in
regenerative resistor or of the built-in abnormal. regenerative resistor,
regenerative option regenerative resistor or replace the servo
regenerative option. amplifier. When using a
regenerative option,
replace the regenerative
option.
The resistance is normal. Check (4).
(4) The regeneration Set a longer deceleration It is not repeatable. When using a built-in
capacity is insufficient. time constant, and then regenerative resistor,
check the repeatability. use a regenerative
option. When using a
regenerative option, use
a larger capacity one.
It is repeatable. Check (5).
(5) Power supply voltage Check the input voltage. It is over 264 V AC. Reduce the input
high. voltage.
It is 264 V AC or less. Check (6).
(6) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.

Alarm No.: 35 Name: Command frequency error

Alarm content Input pulse frequency of command pulse is too high.
Display Detail name Cause Check method Check result Action
35.1 Command (1) The command pulse Check the command The command pulse Check operation pattern.
frequency error frequency is high. pulse frequency. frequency is high.
The command pulse Check (2).
frequency is low.
(2) Something near the Check the noise, It has a failure. Take countermeasures
device caused it. ambient temperature, against its cause.
etc.

Alarm No.: 37 Name: Parameter error

Alarm content Parameter setting is incorrect.
Display Detail name Cause Check method Check result Action
37.1 Parameter (1) A parameter was set out Check the parameter It is out of setting range. Set it within the range.
setting range of setting range. error No. and setting It is within the setting Check (2).
error value. range.
(2) The parameter setting Replace the servo It is not repeatable. Replace the servo
has changed due to a amplifier, and then check amplifier.
servo amplifier the repeatability.
malfunction.
37.2 Parameter (1) A parameter setting Check the parameter A setting value is Correct the setting value.
combination contradicts another. error No. and setting incorrect.
error value.

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8. TROUBLESHOOTING

Alarm No.: 45 Name: Main circuit device overheat

Alarm content Inside of the servo amplifier overheated.
Display Detail name Cause Check method Check result Action
45.1 Main circuit (1) Ambient temperature has Check the ambient It is over 55 ˚C. Lower the ambient
device exceeded 55 ˚C. temperature. temperature.
overheat error It is less than 55 ˚C. Check (2).
(2) The close mounting is Check the specifications It is out of specifications. Use within the range of
out of specifications. of close mounting. specifications.
It is within specifications. Check (3).
(3) Turning on and off were Check if the overload It occurred. Check operation pattern.
repeated under the status occurred many
It did not occur. Check (4).
overload status. times.
(4) A cooling fan, heat sink, Clean the cooling fan, It is not repeatable. Clean it periodically.
or openings is clogged heat sink, or openings,
with foreign matter. and then check the It is repeatable. Check (5).
repeatability.
(5) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.

Alarm No.: 46 Name: Servo motor overheat

Alarm content The servo motor overheated.
Display Detail name Cause Check method Check result Action
46.1 Abnormal (1) Ambient temperature of Check the ambient It is over 40 ˚C. Lower the ambient
temperature of the servo motor has temperature of the servo temperature.
servo motor 1 exceeded 40 ˚C. motor. It is less than 40 ˚C. Check (2).
(2) Servo motor is Check the effective load The effective load ratio is Reduce the load or
overloaded. ratio. high. review the operation
pattern.
The effective load ratio is Check (3).
small.
(3) The thermal sensor in Check the servo motor The servo motor Replace the servo motor.
the encoder is temperature when the temperature is low.
malfunctioning. alarm occurs.
46.5 Abnormal Check it with the check method for [AL. 46.1].
temperature of
servo motor 3
46.6 Abnormal (1) A current was applied to Check the effective load The effective load ratio is Reduce the load or
temperature of the servo amplifier in ratio. high. review the operation
servo motor 4 excess of its continuous pattern. Or use a larger
output current. capacity motor.

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Alarm No.: 47 Name: Cooling fan error

The speed of the servo amplifier cooling fan decreased.
Alarm content
Or the cooling fan speed decreased to the alarm occurrence level or less.
Display Detail name Cause Check method Check result Action
47.2 Cooling fan (1) Foreign matter was Check if a foreign matter Something has been Remove the foreign
speed caught in the cooling fan. is caught in the cooling caught. matter.
reduction error fan. Nothing has been Check (2).
caught.
(2) Cooling fan life expired. Check the cooling fan The fan speed is less Replace the servo
speed. than the alarm amplifier.
occurrence level.

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.
Display Detail name Cause Check method Check result Action
50.1 Thermal (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
overload error 1 cable was disconnected. power cable. servo motor power
during operation cable.
It is not disconnected. Check (2).
(2) The connection of the Check the wiring of U, V, It is incorrect. Connect it correctly.
servo motor is incorrect. and W. It is correct. Check (3).
(3) The electromagnetic Check if the It is not released. Release the
brake has not released. electromagnetic brake is electromagnetic brake.
(The electromagnetic released during
It is released. Check (4).
brake has been operation.
activated.)
(4) A current was applied to Check the effective load The effective load ratio is Reduce the load. Or use
the servo amplifier in ratio. high. a larger capacity motor.
excess of its continuous The effective load ratio is Check (5).
output current. small.
(5) The connection Check if the encoder It is not correct. Connect it correctly.
destination of the cable is connected
encoder cable is correctly. It is correct. Check (6).
incorrect.
(6) The servo system is Check if it is resonating. It is resonating. Adjust gains.
unstable and resonating. It is not resonating. Check (7).
(7) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability. It is repeatable. Check (8).
(8) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.
50.2 Thermal Check it with the check method for [AL. 50.1].
overload error 2
during operation
50.3 Thermal
overload error 4
during operation

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8. TROUBLESHOOTING

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.
Display Detail name Cause Check method Check result Action
50.4 Thermal (1) A moving part collided Check if it collided. It collided. Check operation pattern.
overload error 1 against the machine. It did not collide. Check (2).
during a stop (2) The servo motor power Check the servo motor It is disconnected. Repair or replace the
cable was disconnected. power cable. servo motor power
cable.
It is not disconnected. Check (3).
(3) Hunting occurs during Check if the hunting is The hunting is occurring. Adjust gains.
servo-lock. occurring. The hunting is not Check (4).
occurring.
(4) The electromagnetic Check if the It is not released. Release the
brake has not released. electromagnetic brake is electromagnetic brake.
(The electromagnetic released.
It is released. Check (5).
brake has been
activated.)
(5) A current was applied to Check the effective load The effective load ratio is Reduce the load. Or use
the servo amplifier in ratio. high. a larger capacity motor.
excess of its continuous The effective load ratio is Check (6).
output current. small.
(6) The connection Check if the encoder It is not correct. Connect it correctly.
destination of the cable is connected
encoder cable is correctly. It is correct. Check (7).
incorrect.
(7) The servo system is Check if it is resonating. It is resonating. Adjust gains.
unstable and resonating. It is not resonating. Check (8).
(8) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability. It is repeatable. Check (9).
(9) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.
50.5 Thermal Check it with the check method for [AL. 50.4].
overload error 2
during a stop
50.6 Thermal
overload error 4
during a stop

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8. TROUBLESHOOTING

Alarm No.: 51 Name: Overload 2

Alarm content Maximum output current flowed continuously due to machine collision or the like.
Display Detail name Cause Check method Check result Action
51.1 Thermal (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
overload error 3 cable was disconnected. power cable. servo motor power
during operation cable.
It is not disconnected. Check (2).
(2) The connection of the Check the wiring of U, V, It is incorrect. Connect it correctly.
servo motor is incorrect. and W. It is correct. Check (3).
(3) The connection of the Check if the encoder It is incorrect. Connect it correctly.
encoder cable is cable is connected
It is correct. Check (4).
incorrect. correctly.
(4) The torque is insufficient. Check the peak load The torque is saturated. Reduce the load or
ratio. review the operation
pattern. Or use a larger
capacity motor.
The torque is not Check (5).
saturated.
(5) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability. It is repeatable. Check (6).
(6) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.
51.2 Thermal (1) A moving part collided Check if it collided. It collided. Check operation pattern.
overload error 3 against the machine. It did not collide. Refer to (2).
during a stop (2) The servo motor power Check it with the check method for [AL. 51.1].
cable was disconnected.
(3) The connection of the
servo motor is incorrect.
(4) The connection of the
encoder cable is
incorrect.
(5) The torque is saturated.
(6) The servo amplifier is
malfunctioning.
(7) An encoder is
malfunctioning.

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8. TROUBLESHOOTING

Alarm No.: 52 Name: Error excessive

Alarm content Droop pulses have exceeded the alarm occurrence level.
Display Detail name Cause Check method Check result Action
52.1 Excess droop (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
pulse 1 cable was disconnected. power cable. servo motor power
cable.
It is not disconnected. Check (2).
(2) The connection of the Check the wiring of U, V, It is incorrect. Connect it correctly.
servo motor is incorrect. and W. It is correct. Check (3).
(3) The connection of the Check if the encoder It is incorrect. Connect it correctly.
encoder cable is cable is connected
It is correct. Check (4).
incorrect. correctly.
(4) The torque limit has Check if the limiting The limiting torque is in Increase the torque limit
been enabled. torque is in progress. progress. value.
The limiting torque is not Check (5).
in progress.
(5) A moving part collided Check if it collided. It collided. Check operation pattern.
against the machine. It did not collide. Check (6).
(6) The torque is insufficient. Check the peak load The torque is saturated. Reduce the load or
ratio. review the operation
pattern. Or use a larger
capacity motor.
The torque is not Check (7).
saturated.
(7) Power supply voltage Check the bus voltage The bus voltage is low. Check the power supply
dropped. value. voltage and power
supply capacity.
The bus voltage is high. Check (8).
(8) Acceleration/deceleration Set a longer deceleration It is not repeatable. Increase the
time constant is too time constant, and then acceleration/deceleration
short. check the repeatability. time constant.
It is repeatable. Check (9).
(9) The position loop gain is Increase the position It is not repeatable. Increase the position
small. loop gain, and then loop gain ([Pr. PB08]).
check the repeatability. It is repeatable. Check (10).
(10) Servo motor shaft was Measure the actual It is rotated by external Review the machine.
rotated by external force. position under the servo- force.
lock status. It is not rotated by Check (11).
external force.
(11) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.
52.3 Excess droop Check it with the check method for [AL. 52.1].
pulse 2
52.4 Error excessive (1) The torque limit has Check the torque limit The torque limit has Do not input a command
during 0 torque been 0. value. been 0. while the torque limit
limit value is 0.
52.5 Excess droop Check it with the check method for [AL. 52.1].
pulse 3

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8. TROUBLESHOOTING

Alarm No.: 54 Name: Oscillation detection

Alarm content An oscillation of the servo motor was detected.
Display Detail name Cause Check method Check result Action
54.1 Oscillation (1) The servo system is Check if the servo motor The torque ripple is Adjust the servo gain
detection error unstable and oscillating. is oscillating. vibrating. with the auto tuning. Set
Check the torque ripple the machine resonance
with MR Configurator2. suppression filter.
The torque ripple is not Check (2).
vibrating.
(2) The resonance Measure the resonance The resonance Change the setting value
frequency has changed frequency of the frequency of the of the machine
due to deterioration. equipment and compare equipment is different resonance suppression
it with the setting value of from the filter setting filter.
the machine resonance value.
suppression filter. The resonance Check (3).
frequency of the
equipment is the same
as the filter setting value.
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.

Alarm No.: 56 Name: Forced stop error

Alarm content The servo motor does not decelerate normally during forced stop deceleration.
Display Detail name Cause Check method Check result Action
56.2 Over speed (1) The forced stop Increase the parameter It is not repeatable. Adjust the deceleration
during forced deceleration time setting value of [Pr. time constant.
stop constant is short. PC51], and then check It is repeatable. Check (2).
the repeatability.
(2) The torque limit has Check if the limiting The limiting torque is in Review the torque limit
been enabled. torque is in progress. progress. value.
The limiting torque is not Check (3).
in progress.
(3) The servo system is Check if the servo motor The torque ripple is Adjust the servo gain.
unstable and oscillating. is oscillating. vibrating. Set the machine
Check the torque ripple resonance suppression
with MR Configurator2. filter.
The torque ripple is not Check (4).
vibrating.
(4) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.
56.3 Estimated (1) The forced stop Increase the parameter It is not repeatable. Adjust the deceleration
distance over deceleration time setting value of [Pr. time constant.
during forced constant is short. PC51], and then check It is repeatable. Check (2).
stop the repeatability.
(2) The torque limit has Check if the limiting The limiting torque is in Review the torque limit
been enabled. torque is in progress. progress. value.
The limiting torque is not Check (3).
in progress.
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability.

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8. TROUBLESHOOTING

Alarm No.: 8A Name: USB communication time-out error

Communication between the servo amplifier and a personal computer, etc. stopped for the specified time
Alarm content
or longer.
Display Detail name Cause Check method Check result Action
8A.1 USB (1) Communication Check if a command It was not transmitted. Transmit a command.
communication commands have not was transmitted from
time-out error been transmitted. the personal computer, It was transmitted. Check (2).
etc.
(2) A USB cable was Replace the USB cable, It is not repeatable. Replace the USB cable.
disconnected. and then check the
repeatability. It is repeatable. Check (3).
(3) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then amplifier.
check the repeatability.

Alarm No.: 8E Name: USB communication error

Alarm content A communication error occurred between servo amplifier and a personal computer, etc.
Display Detail name Cause Check method Check result Action
8E.1 USB (1) A USB cable is Check the USB cable, It is not repeatable. Replace the USB cable.
communication malfunctioning. and then check the
It is repeatable. Check (2).
receive error repeatability.
(2) The setting of the Check the setting of the It is incorrect. Review the settings.
personal computer, etc. personal computer, etc.
It is correct. Check (3).
is incorrect.
(3) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.
8E.2 USB (1) The setting of the Check the setting of the It is incorrect. Review the settings.
communication personal computer, etc. personal computer, etc.
checksum error is incorrect.
8E.3 USB (1) The transmitted Check the character The transmitted Correct the transmission
communication character is out of code at the time of character is out of data.
character error specifications. transmission. specifications.
The transmitted Check (2).
character is within
specifications.
(2) The communication Check if transmission It is not conforming. Modify the transmission
protocol is failure. data conforms the data according to the
communication protocol. communication protocol.
It is conforming. Check (3).
(3) The setting of the Check the setting of the It is incorrect. Review the settings.
personal computer, etc. personal computer, etc.
is incorrect.
8E.4 USB (1) The transmitted Check the command at The transmitted Correct the transmission
communication command is out of the time of transmission. command is out of data.
command error specifications. specifications.
The transmitted Check (2).
command is within
specifications.
(2) The communication Check if transmission It is not conforming. Modify the transmission
protocol is failure. data conforms the data according to the
communication protocol. communication protocol.
It is conforming. Check (3).
(3) The setting of the Check the setting of the It is incorrect. Review the settings.
personal computer, etc. personal computer, etc.
is incorrect.

8 - 22
8. TROUBLESHOOTING

Alarm No.: 8E Name: USB communication error

Alarm content A communication error occurred between servo amplifier and a personal computer, etc.
Display Detail name Cause Check method Check result Action
8E.5 USB (1) The transmitted data Check the data number The transmitted data Correct the transmission
communication number is out of at the time of number is out of data.
data number specifications. transmission. specifications.
error The transmitted data Check (2).
number is within
specifications.
(2) The communication Check if transmission It is not conforming. Modify the transmission
protocol is failure. data conforms the data according to the
communication protocol. communication protocol.
It is conforming. Check (3).
(3) The setting of the Check the setting of the It is incorrect. Review the settings.
personal computer, etc. personal computer, etc.
is incorrect.

Alarm No.: 88888 Name: Watchdog

Alarm content A part such as CPU is malfunctioning.
Display Detail name Cause Check method Check result Action
8888._ Watchdog (1) A part in the servo Replace the servo It is not repeatable. Replace the servo
amplifier is failure. amplifier, and then check amplifier.
the repeatability.

8 - 23
8. TROUBLESHOOTING

8.3 Remedies for warnings

POINT
When any of the following alarms has occurred, do not cycle the power of the
servo amplifier repeatedly to restart. Doing so will cause a malfunction of the
servo amplifier and servo motor. If the power of the servo amplifier is switched
off/on during the alarms, allow more than 30 minutes for cooling before
resuming operation.
[AL. 91 Servo amplifier overheat warning] [AL. E0 Excessive regeneration
warning]
[AL.E1 Overload warning 1] [AL.EC Overload warning 2]

If [AL. E6] or [AL. E9] occurs, the amplifier will be the servo-off status. If any other warning occurs, operation
can be continued but an alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use MR Configurator2 to refer to the cause of
warning occurrence.
Alarm No.: 91 Name: Servo amplifier overheat warning
Alarm content The temperature inside of the servo amplifier reached a warning level.
Display Detail name Cause Check method Check result Action
91.1 Main circuit (1) Ambient temperature of Check the ambient It is over 55 ˚C. Lower the ambient
device overheat the servo amplifier has temperature. temperature.
warning exceeded 55 ˚C. It is less than 55 ˚C. Check (2).
(2) The close mounting is Check the specifications It is out of specifications. Use within the range of
out of specifications. of close mounting. specifications.

Alarm No.: 99 Name: Stroke limit warning

Alarm content The stroke limit signal is off.
Display Detail name Cause Check method Check result Action
99.1 Forward rotation (1) The forward rotation Check if the limit switch It is not connected. Connect it correctly.
stroke end off stroke limit switch has is connected correctly.
It is connected. Check (2).
not connected.
(2) The forward rotation Check if the forward It turned off. Check operation pattern.
stroke limit was rotation stroke limit
exceeded during driving. switch turned off.
99.2 Reverse rotation (1) The reverse rotation Check if the limit switch It is not connected. Connect it correctly.
stroke end off stroke limit switch has is connected correctly.
It is connected. Check (2).
not connected.
(2) The reverse rotation Check if the reverse It turned off. Check operation pattern.
stroke limit was rotation stroke limit
exceeded during driving. switch turned off.

Alarm No.: E0 Name: Excessive regeneration warning

There is a possibility that regenerative power may exceed permissible regenerative power of built-in
Alarm content
regenerative resistor or regenerative option.
Display Detail name Cause Check method Check result Action
E0.1 Excessive (1) The regenerative power Check the effective load It is 85% or more. Reduce the frequency of
regeneration exceeded 85% of the ratio. positioning.
warning permissible regenerative Increase the
power of the built-in deceleration time
regenerative resistor or constant.
regenerative option. Reduce the load.
Use a regenerative
option if it is not being
used.

8 - 24
8. TROUBLESHOOTING

Alarm No.: E1 Name: Overload warning 1

Alarm content [AL.50 Overload 1] or [AL.51 Overload 2] may occur.
Display Detail name Cause Check method Check result Action
E1.1 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.1].
overload to the alarm level of [AL.
warning 1 50.1 Thermal overload
during operation error 1 during operation].
E1.2 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.2].
overload to the alarm level of [AL.
warning 2 50.2 Thermal overload
during operation error 2 during operation].
E1.3 Thermal (1) The load was over 85% Check it with the check method for [AL. 51.1].
overload to the alarm level of [AL.
warning 3 51.1 Thermal overload
during operation error 3 during operation].
E1.4 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.3].
overload to the alarm level of [AL.
warning 4 50.3 Thermal overload
during operation error 4 during operation].
E1.5 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.4].
overload error 1 to the alarm level of [AL.
during a stop 50.4 Thermal overload
error 1 during a stop].
E1.6 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.5].
overload error 2 to the alarm level of [AL.
during a stop 50.5 Thermal overload
error 2 during a stop].
E1.7 Thermal (1) The load was over 85% Check it with the check method for [AL. 51.2].
overload error 3 to the alarm level of [AL.
during a stop 51.2 Thermal overload
error 3 during operation].
E1.8 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.6].
overload error 4 to the alarm level of [AL.
during a stop 50.6 Thermal overload
error 4 during a stop].

Alarm No.: E6 Name: Servo forced stop warning

Alarm content EM2/EM1 (Forced stop) turned off.
Display Detail name Cause Check method Check result Action
E6.1 Forced stop (1) EM2/EM1 (Forced stop) Check the status of It is off. Ensure safety and turn
warning turned off. EM2/EM1. on EM2/EM1 (Forced
stop).
It is on. Check (2).
(2) An external 24 V DC Check if the external 24 It is not inputted. Input the 24 V DC power
power supply have not V DC power supply is supply.
inputted. inputted. It is inputted. Check (3).
(3) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.

Alarm No.: E8 Name: Cooling fan speed reduction warning

Alarm content The cooling fan speed decreased to the warning occurrence level or less.
Display Detail name Cause Check method Check result Action
E8.1 Decreased (1) Foreign matter was Check if a foreign matter Something has been Remove the foreign
cooling fan caught in the cooling fan. is caught in the cooling caught. matter.
speed warning fan. Nothing has been Check (2).
caught.
(2) Cooling fan life expired. Check the total of power It exceed the cooling fan Replace the servo
on time of the servo life. amplifier.
amplifier.

8 - 25
8. TROUBLESHOOTING

Alarm No.: E9 Name: Main circuit off warning

The servo-on command was inputted with power supply off.
Alarm content
The bus voltage dropped during the servo motor driving under 50 r/min.
Display Detail name Cause Check method Check result Action
E9.1 Servo-on signal (1) The bus voltage is less Check the bus voltage. It is less than 215 V DC. Review the wiring.
on during main than 215 V DC. Check the power supply
circuit off capacity.
(2) The servo amplifier is Check the bus voltage The voltage of the Replace the servo
malfunctioning. value. power supply is 160 V amplifier.
AC or more, and the bus
voltage is less than 200
V DC.
E9.2 Bus voltage (1) The bus voltage dropped Check the bus voltage. It is less than 200 V DC. Review the power supply
drop during low during the servo motor capacity. Increase the
speed operation driving under 50 r/min. acceleration time
constant.

Alarm No.: EC Name: Overload warning 2

Alarm content Operations over rated output were repeated while the servo motor shaft was not rotated.
Display Detail name Cause Check method Check result Action
EC.1 Overload (1) The load is too large or Check the effective load The effective load ratio is Reduce the load.
warning 2 the capacity is not ratio. high. Replace the servo motor
enough. with the one of larger
capacity.

Alarm No.: ED Name: Output watt excess warning

The status, in which the output wattage (speed × torque) of the servo motor exceeded the rated output,
Alarm content
continued steadily.
Display Detail name Cause Check method Check result Action
ED.1 Output watt (1) The status, in which the Check the servo motor The output wattage is Reduce the servo motor
excess warning output wattage (speed × speed and torque. 150% of rating. speed. Reduce the load.
torque) of the servo
motor exceeded 150% of
the rated output,
continued steadily.

Alarm No.: F0 Name: Tough drive warning

Alarm content Tough drive function was activated.
Display Detail name Cause Check method Check result Action
F0.1 Instantaneous (1) The power supply Check it with the check method for [AL. 10.1].
power failure voltage dropped.
tough drive
warning
F0.3 Vibration tough (1) The setting value of the Check if it was changed It was changed Set the machine
drive warning machine resonance frequently. frequently. resonance suppression
suppression filter was filter. Check the machine
changed due to a status if screws are
machine resonance. loose or the like.

8 - 26
8. TROUBLESHOOTING

Alarm No.: F2 Name: Drive recorder - Miswriting warning

Alarm content A waveform measured by the drive recorder function was not recorded.
Display Detail name Cause Check method Check result Action
F2.1 Drive recorder - (1) The Flash-ROM is Disconnect the cables It is repeatable. Replace the servo
Area writing malfunctioning. except the power supply, amplifier.
time-out and then check the
warning repeatability.
F2.2 Drive recorder - (1) Data were not written to Check if the records They have all written. Delete the records in the
Data miswriting the drive recorder area. have all written. drive recorder window of
warning MR Configurator2.
If records cannot be
written after deletion,
replace the servo
amplifier.

Alarm No.: F3 Name: Oscillation detection warning

Alarm content [AL. 54 Oscillation detection] may occur.
Display Detail name Cause Check method Check result Action
F3.1 Oscillation Check it with the check method for [AL. 54.1].
detection
warning

8 - 27
8. TROUBLESHOOTING

MEMO

8 - 28
9. DIMENSIONS

9. DIMENSIONS

9.1 Servo amplifier

(1) MR-JE-10A to MR-JE-40A

[Unit: mm]
2.9

50
6
φ6 mounting hole Approx. 80 135
6

CN3

CN1
156

168
CN2

CNP1
PE
6

6 The built-in regenerative

6 resistor (lead wire) is mounted
only in MR-JE-40A.

Mass: 0.8 [kg]

Mounting screw
Terminal
Screw size: M5
Tightening torque: 3.24 [N•m]
CNP1
L1 Approx. 50
L2 Approx. 6
L3
Approx.

2-M5 screw
6

P+
C
U
V
W
Approx. 168
156 ± 0.5

PE
Screw size: M4
Tightening torque: 1.2 [N•m]
Approx.

Mounting hole process drawing

6

9- 1
9. DIMENSIONS

(2) MR-JE-70A/MR-JE-100A

[Unit: mm]

70
22
φ6 mounting hole Approx. 80 185

6
CN3

CN1

156

168
CN2

CNP1
PE
6

6
22 42

3.3

Mass: 1.5 [kg]

Mounting screw
Terminal
Screw size: M5
Tightening torque: 3.24 [N•m]
CNP1
L1 Approx. 70
Approx.

L2
6

L3
P+
C
U
Approx. 168

V
156 ± 0.5

3-M5 screw
PE
Screw size: M4
Tightening torque: 1.2 [N•m]
Approx.

42 ± 0.3
6

Approx. 22 Approx. 6
Mounting hole process drawing

9- 2
9. DIMENSIONS

(3) MR-JE-200A/MR-JE-300A

[Unit: mm]

90
85
φ6 mounting hole 45 Approx. 80 195
CN3 Exhaust

6 CNP1

161
156

168
CN1
CNP2

CN2
6

PE Cooling fan
6 air intake
6 78

Mass: 2.1 [kg]

Mounting screw
Terminal
Screw size: M5
Tightening torque: 3.24 [N•m]
CNP1
L1 Approx. 90
Approx.

L2
6

L3
N-
C
D
Approx. 168

P+
156 ± 0.5

CNP2
U 3-M5 screw
V PE
Screw size: M4
W Tightening torque: 1.2 [N•m]
Approx.
6

Approx. 6 78 ± 0.3 Approx. 6

Mounting hole process drawing

9- 3
9. DIMENSIONS

9.2 Connector

(1) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type

[Unit: mm]
E

D
A C
Logo etc, are indicated here.
39.0
23.8

B 12.7

Variable dimensions
Connector Shell kit
A B C D E
10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0

(b) Jack screw M2.6 type

This is not available as option.

[Unit: mm]
E D

A C F
Logo etc, are indicated here.
39.0
23.8
5.2

B
12.7

Variable dimensions
Connector Shell kit
A B C D E F
10150-3000PE 10350-52A0-008 41.1 52.4 18.0 14.0 17.0 46.5

9- 4
9. DIMENSIONS

(2) SCR connector system (3M)

Receptacle: 36210-0100PL
Shell kit: 36310-3200-008

[Unit: mm]
39.5
34.8

11.0
22.4

9- 5
9. DIMENSIONS

MEMO

9- 6
10. CHARACTERISTICS

10. CHARACTERISTICS

10.1 Overload protection characteristics

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that
the unbalanced torque of the machine be kept at 70% or less of the motor's rated torque.
This servo amplifier has servo motor overload protective function. (The servo motor overload current (full
load current) is set on the basis of 120% rated current of the servo amplifier.)

10 - 1
10. CHARACTERISTICS

1000 1000

Operating Operating
100 100
Operation time [s]

Operation time [s]

Servo-lock Servo-lock
10 10

1 1

0.1 0.1
0 50 100 150 200 250 300 320 0 50 100 150 200 250 300 320
(Note) Load ratio [%] (Note) Load ratio [%]

HF-KN13, HF-KN23, HF-KN43 HF-SN152, HF-SN202, HF-SN302

HF-KN73, HF-SN52, HF-SN102
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless
of the electronic thermal protection.

Fig. 10.1 Electronic thermal protection characteristics

10 - 2
10. CHARACTERISTICS

10.2 Power supply capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at rated
torque and servo-off according to the duty used during operation. When the servo motor is run at less
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.

Table 10.1 Power supply capacity and generated loss per servo motor at rated output
(Note 1) (Note 2) Servo amplifier- Area required
Servo amplifier Servo motor Power supply generated heat [W] for heat
2
capacity [kVA] At rated output With servo-off dissipation [m ]
MR-JE-10A HF-KN13 0.3 25 15 0.5
MR-JE-20A HF-KN23 0.5 25 15 0.5
MR-JE-40A HF-KN43 0.9 35 15 0.7
HF-KN73 1.3 50 15 1.0
MR-JE-70A
HF-SN52 1.0 40 15 0.8
MR-JE-100A HF-SN102 1.7 50 15 1.0
HF-SN152 2.5
MR-JE-200A 90 20 1.8
HF-SN202 3.5
MR-JE-300A HF-SN302 4.8 120 20 2.4

Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is
applicable when the power factor improving AC reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate
heat generated by the regenerative option, refer to section 11.2.

10 - 3
10. CHARACTERISTICS

(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within +10 ˚C at the ambient temperature of 40 ˚C. (With
an approximately 5 ˚C safety margin, the system should operate within a maximum 55 ˚C limit.) The
necessary cabinet heat dissipation area can be calculated by equation 10.1.

P
A= ·········································································································································· (10.1)
K • ΔT

A : Heat dissipation area [m2]

P : Loss generated in the cabinet [W]
ΔT : Difference between internal and ambient temperatures [˚C]
K : Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses
generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a
cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier
(guideline) when the servo amplifier is operated at the ambient temperature of 40 ˚C under rated load.

Fig. 10.2 Temperature distribution in an enclosed type cabinet

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the
temperature slope inside and outside the cabinet will be steeper.

10 - 4
10. CHARACTERISTICS

10.3 Dynamic brake characteristics

POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.

10.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) of this
section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF

Dynamic brake
time constant τ
V0
Machine speed

te Time

Fig. 10.3 Dynamic brake operation diagram

V0 JL
Lmax = • te + 1+ ··············································································································· (10.2)
60 JM

Lmax: Maximum coasting distance ········································································································· [mm]

V0: Machine's fast feed speed ······································································································· [mm/min]
JM: Moment of inertia of the servo motor ··············································································· [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft ················· [× 10-4 kg•m2]
τ: Dynamic brake time constant ················································································································ [s]
te: Delay time of control section ················································································································ [s]
There is internal relay delay time of about 10 ms.

10 - 5
10. CHARACTERISTICS

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 10.2.
25 100
73 102

Dynamic brake time

Dynamic brake time

20 80

constant [ms]

constant [ms]
15 60
23 43 202
10 40 52
302
5 20
13 152
0 0
0 500 1500 2500 3500 4500 0 500 1000 1500 2000 2500 3000
1000 2000 3000 4000
Speed [r/min] Speed [r/min]

HF-KN series HF-SN series

10.3.2 Permissible load to motor inertia when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the
value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor.
Permissible load to
Servo motor
motor inertia ratio [multiplier]
HF-KN13
HF-KN23
HF-KN43
HF-KN73
30
HF-SN52
HF-SN102
HF-SN152
HF-SN202
HF-SN302 16

10 - 6
10. CHARACTERISTICS

10.4 Cable bending life

The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 × 108 a
5 × 107

1 × 107
5 × 106 a: Long bending life encoder cable
Long bending life motor power cable
Number of bending times

Long bending life electromagnetic brake cable

1 × 106
5 × 105
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
1 × 105
5 × 104

1 × 104 b
5 × 103

1 × 103
4 7 10 20 40 70 100 200
Bend radius [mm]

10.5 Inrush current at power-on

The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at
the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-phase 200 V
AC power supply with MR-JE-10A to MR-JE-70A, the inrush currents will be the same.
Servo amplifier Inrush currents (A0-P)
MR-JE-10A, MR-JE-20A, 32 A
MR-JE-40A (attenuated to approx. 3 A in 20 ms)
36 A
MR-JE-70A, MR-JE-100A
(attenuated to approx. 7 A in 20 ms)
102 A
MR-JE-200A, MR-JE-300A
(attenuated to approx. 12 A in 20 ms)

Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors. (Refer to section 11.6.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.

10 - 7
10. CHARACTERISTICS

MEMO

10 - 8
11. OPTIONS AND PERIPHERAL EQUIPMENT

11. OPTIONS AND PERIPHERAL EQUIPMENT

Before connecting options and peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Otherwise, an electric
WARNING shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.

Use the specified peripheral equipment and options to prevent a malfunction or a

CAUTION fire.

POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.

11.1 Cable/connector sets

POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.

Please purchase the cable and connector options indicated in this section.

11 - 1
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.1.1 Combinations of cable/connector sets

4)

Operation 3)
panel

2)
Servo amplifier
Personal computer
Controller
5)
CN3

CN1
1) (Packed with the
servo amplifier)
(Note) CN2

CNP1

Refer to "HF-KN/HF-SN Servo Motor Instruction Manual" for options for

servo motor power supply, electromagnetic brake, and encoder.

To 24 V DC power supply
for electromagnetic brake Servo motor

Power Brake Encoder

connector connector connector

Note. Connectors for 1 kW or less. Refer to section 3.3.3 (1) (b) for 2 kW or more.

11 - 2
11. OPTIONS AND PERIPHERAL EQUIPMENT

No. Product name Model Description Application

1) Servo amplifier MR-JECNP1-01 Supplied
CNP1 power with servo
connector amplifiers
of 1 kW or
less

CNP1 Connector:
09JFAT-SAXGDK-H5.0
(JST)
Applicable wire size: AWG 18 to 14
Insulator OD: to 3.9 mm
Open tool
J-FAT-OT
(JST)
MR-JECNP1-02 Supplied
with servo
amplifiers
of 2 kW
and 3 kW
CNP1 Connector:
07JFAT-SAXGFK-XL
(JST)
Applicable wire size: AWG 16 to 10 Open tool
Insulator OD: to 4.7 mm J-FAT-OT-EXL
(JST)
Servo amplifier MR-JECNP2-02
power connector
CNP2 Connector:
03JFAT-SAXGFK-XL
(JST)
Applicable wire size: AWG 16 to 10
Insulator OD: to 4.7 mm
2) Junction terminal MR-J2M- Junction terminal block connector CN1 connector For
block cable CN1TBL_M Connector: D7950-B500FL Connector: 10150-6000EL junction
Cable length: (3M) Shell kit: 10350-3210-000 terminal
0.5 m, 1 m (3M or equivalent) block
(Refer to section connection
11.3.)

3) CN1 connector MR-J3CN1 Connector: 10150-3000PE

set Shell kit: 10350-52F0-008
(3M or equivalent)
4) Junction terminal MR-TB50 Refer to section 11.3.
block
5) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer

11 - 3
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2 Regenerative option

Do not use servo amplifiers with regenerative options other than the combinations
CAUTION specified below.
Otherwise, it may cause a fire.

11.2.1 Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.
Regenerative power [W]
Servo Built-in (Note)
amplifier MR-RB032 MR-RB12 MR-RB30 MR-RB32
regenerative MR-RB50
[40 Ω] [40 Ω] [13 Ω] [40 Ω]
resistor [13 Ω]
MR-JE-10A 30
MR-JE-20A 30 100
MR-JE-40A 10 30 100
MR-JE-70A 20 30 100 300
MR-JE-100A 20 30 100 300
MR-JE-200A 100 300 500
MR-JE-300A 100 300 500

Note. Always install a cooling fan.

11 - 4
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2.2 Selection of regenerative option

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

(1) Regenerative energy calculation

tf (1 cycle)

Servo motor speed

V
Up

Time
Down

Unbalance torque
M t1 t2 t3 t4
tpsa1 tpsd1 tpsa2 tpsd2
Friction
torque 1)
(+)
(Power running)

Generated torque
2) 4) 8)
TF 5)

TU 6)
3)
(Regenerative) 7)
(-)

Formulas for calculating torque and energy in operation

Regenerative
Torque applied to servo motor [N•m] Energy E [J]
power
(JL/η + JM) • V 1 0.1047
1) T1 = • + TU + TF E1 = • V • T1 • tpsa1
9.55 • 104 tpsa1 2
2) T2 = TU + TF E2 = 0.1047 • V • T2 • t1
-(JL • η + JM) • V 1 0.1047
3) T3 = • + TU + TF E3 = • V • T3 • tpsa2
9.55 • 104 tpsa2 2
4), 8) T4, T8 = TU E4, E8 ≥ 0 (No regeneration)
(JL/η + JM) • V 1 0.1047
5) T5 = • - TU + TF E5 = • V • T5 • tpsd2
9.55 • 104 tpsd2 2
6) T6 = -TU + TF E6 = 0.1047 • V • T6 • t3
-(JL • η + JM) • V 1 0.1047
7) T7 = • - TU + TF E7 = • V • T7 • tpsd2
9.55 • 104 tpsd2 2

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

11 - 5
11. OPTIONS AND PERIPHERAL EQUIPMENT

(2) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Inverse Capacitor Inverse Capacitor
Servo amplifier Servo amplifier
efficiency [%] charging [J] efficiency [%] charging [J]
MR-JE-10A 55 11 MR-JE-100A 85 25
MR-JE-20A 75 11 MR-JE-200A 85 42
MR-JE-40A 85 14 MR-JE-300A 85 42
MR-JE-70A 85 25

Inverse efficiency (η): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the
efficiency varies with the speed and generated torque, allow for about 10%.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.

ER [J] = η • Es - Ec

Calculate the power consumption of the regenerative option on the basis of one-cycle operation
period tf [s] to select the necessary regenerative option.

PR [W] = ER/tf

11.2.3 Parameter setting

Set [Pr. PA02] according to the option to be used.

[Pr. PA02]

0 0
Regenerative option selection
00: Regenerative option is not used.
For servo amplifier of 200 W, regenerative resistor is not used.
For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)

11 - 6
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2.4 Selection of regenerative option

POINT
When you use a regenerative option with an MR-JE-40A to MR-JE-100A,
remove the built-in regenerative resistor and wiring from the servo amplifier.
When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan
should be prepared by the customer.
For the wire sizes used for wiring, refer to section 11.5.
A built-in regenerative resistor should not be mounted/removed frequently.
When you remount a built-in regenerative resistor, check the lead wires of the
built-in regenerative resistor for scratches or cracks.

The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider heat
dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant
wires or make the wires flame-resistant and keep them away from the regenerative option. Always use
twisted cables of max. 5 m length for connection with the servo amplifier.

(1) MR-JE-100A or less

When you use a regenerative option for MR-JE-40A to MR-JE-100A, remove wirings of P+ and C,
remove the built-in regenerative resistor, and then connect the regenerative option between P+ and C.
G3 and G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative
option overheats abnormally.
Always remove the wiring (across P+ to C) of the
servo amplifier built-in regenerative resistor.
Servo amplifier Regenerative option
P
P+
C
C
(Note 1)
G3
(Note 2)
G4

5 m or less

Note 1. The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A.
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA

11 - 7
11. OPTIONS AND PERIPHERAL EQUIPMENT

To remove the built-in regenerative resistor mounted on the back of MR-JE-40A to MR-JE-100A, follow
the procedures 1) to 3) with referring the illustration.

1) Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1).
(Refer to (3) (b) of 3.3.2.)

2) Remove the wirings of the built-in regenerative resistor from the closest position to the power
connector (CNP1) in order. Please pay full attention not to break the wirings.

3) Remove the screw fixing the built-in regenerative resistor and dismount the built-in regenerative
resistor.

(Note)
3)

1)

2)

Note. Screw size: M3

Tightening torque: 0.72 [N•m]

11 - 8
11. OPTIONS AND PERIPHERAL EQUIPMENT

(2) MR-JE-200A or more

Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and
G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative option
overheats abnormally.
Always remove the lead from across P+ to D.
Servo amplifier Regenerative option
P
P+
C
C
G3
D
(Note 3) G4

5 m or less
(Note 1, 2)
Cooling fan

3
Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (1.0 m /min or more,
92 mm × 92 mm).
2. When the ambient temperature is more than 55 °C and the regenerative load ratio
is more than 60% in MR-RB30 and MR-RB32, forcefully cool the air with a cooling
3
fan (1.0 m /min or more, 92 mm × 92 mm). A cooling fan is not required if the
ambient temperature is 35 °C or less. (A cooling fan is required for the shaded
area in the following graph.)
A cooling fan is required.
100
Load ratio [%]

60
A cooling fan is
not required.

0
0 35 55
Ambient temperature [°C]

3. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA

11 - 9
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2.5 Dimensions

(1) MR-RB12
[Unit: mm]
TE1 terminal block

G3
φ6 mounting hole
40 G4
Approx. 6

36 P
15 C

2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to
12)
Tightening torque: 0.5 to 0.6 [N•m]

5 Mounting screw
156
168

144

Screw size: M5
TE1 Tightening torque: 3.24 [N•m]

Mass: 1.1 [kg]

12
6

6 2
Approx. 20 149
169

(2) MR-RB30/MR-RB32
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M4 screw) P
8.5

C
G3
125

82.5
150
142

G4

Terminal screw size: M4

30

Tightening torque: 1.2 [N•m]

7
8.5

101.5 82.5
10 90 17 318
100 Mounting screw
335
Screw size: M6
Approx. 30

Air intake Tightening torque: 5.4 [N•m]

Mass: 2.9 [kg]

79

11 - 10
11. OPTIONS AND PERIPHERAL EQUIPMENT

(3) MR-RB50
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M3 screw) P
On opposite side
7 × 14 C

12.5
49 82.5 slotted hole
G3
G4

Terminal screw size: M4

162.5 Tightening torque: 1.2 [N•m]

Mounting screw
Air Screw size: M6
82.5

350

intake Tightening torque: 5.4 [N•m]

Mass: 5.6 [kg]

162.5
133

2.3 7
12.5

200 17 12 108 Approx. 30

217 120 8

(4) MR-RB032
[Unit: mm]
TE1 terminal block
φ6 mounting hole G3
30
Approx. 12
Approx. 6

15 G4
P
C

2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to
12)
Tightening torque: 0.5 to 0.6 [N•m]
5
156
168

144

Mounting screw
Screw size: M5
Tightening torque: 3.24 [N•m]
TE1
Mass: 0.5 [kg]
12

6 1.6
6

Approx. 20 99
119

11 - 11
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.3 Junction terminal block MR-TB50

(1) Usage
Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set.
Servo amplifier

Junction terminal block

Cable clamp MR-TB50

CN1
Junction terminal
block cable
(MR-J2M-CN1TBL_M)

Install the junction terminal block cable on the junction terminal block side with the supplied cable clamp
fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.9, (2) (c).

(2) Terminal block label

Use the following for the terminal label. For the input/output pin assignment in the control mode, refer to
(4) (b) of this section.
11

13

15

17

19

21

23

25

27

29

31

33

35

37

39

41

43

45

47

49
1

9
10

12

14

16

18

20

22

24

26

28

30

32

34

36

38

40

42

44

46

48

50
2

(3) Dimensions
[Unit: mm]
235
2- 4.5
Approx.

2 50
1 49
25

MITSUBISHI
50

MR-TB50
9

1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 3133 35 37 39 41 43 45 47 49
25

2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
2.5

244 46.5

Terminal screw: M3.5

2
Applicable wire: 2 mm
Crimp terminal width: 7.2 mm or shorter

11 - 12
11. OPTIONS AND PERIPHERAL EQUIPMENT

(4) Junction terminal block cable MR-J2M-CN1TBL_M

(a) Model explanations
Model:

Symbol Cable length [m]

05 0.5
1 1

(b) Connection diagram

10150-6000EL D7650-B500FL
(Servo amplifier side) (Junction terminal side)
Signal symbol
Pin No. Pin No.
Position Speed Torque
1 1
VC VLA 2 2
LG LG LG 3 3
LA LA LA 4 4
LAR LAR LAR 5 5
LB LB LB 6 6
LBR LBR LBR 7 7
LZ LZ LZ 8 8
LZR LZR LZR 9 9
PP 10 10
PG 11 11
OPC 12 12
13 13
14 14
SON SON SON 15 15
16 16
17 17
18 18
RES ST1 RS2 19 19
DICOM DICOM DICOM 20 20
DICOM DICOM DICOM 21 21
22 22
ZSP ZSP ZSP 23 23
INP SA 24 24
25 25
MO1 MO1 MO1 26 26
TLA TLA TC 27 27
LG LG LG 28 28
MO2 MO2 MO2 29 29
LG LG LG 30 30
31 31
32 32
OP OP OP 33 33
LG LG LG 34 34
NP 35 35
NG 36 36
37 37
38 38
39 39
40 40
CR ST2 RS1 41 41
EM2 EM2 EM2 42 42
LSP LSP 43 43
LSN LSN 44 44
45 45
DOCOM DOCOM DOCOM 46 46
DOCOM DOCOM DOCOM 47 47
ALM ALM ALM 48 48
RD RD RD 49 49
50 50
SD SD SD Plate

11 - 13
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.4 MR Configurator2

POINT
For the MR-JE servo amplifier, use MR Configurator2 with software version
1.19V or later.

MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.

(1) Specifications
Item Description
Project Create/read/save/delete project, system setting, and print
Parameter Parameter setting, axis name setting
Monitor Display all, I/O monitor, and graph
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life
Diagnosis
diagnosis, machine diagnosis
Jog operation, positioning operation, motor-less operation, DO forced output, and program
Test operation
operation, test mode information
Adjustment One-touch tuning, tuning, and machine analyzer
Servo assistant, parameter setting range update, machine unit conversion setting, and help
Others
display

(2) System requirements

(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor.
Equipment (Note 1) Description
® ®
Microsoft Windows 7 Enterprise [Service Pack none/1]
® ®
Microsoft Windows 7 Ultimate [Service Pack none/1]
® ®
Microsoft Windows 7 Professional [Service Pack none/1]
® ®
Microsoft Windows 7 Home Premium [Service Pack none/1]
® ®
Microsoft Windows 7 Starter [Service Pack none/1]
® ®
Microsoft Windows Vista Enterprise [Service Pack none /1/2]
® ®
OS Microsoft Windows Vista Ultimate [Service Pack none/1/2]
® ®
Microsoft Windows Vista Business [Service Pack none/1/2]
® ®
Microsoft Windows Vista Home Premium [Service Pack none/1/2]
® ®
Microsoft Windows Vista Home Basic [Service Pack none/1/2]
(Note 2, 3, 4, 5) ® ®
Microsoft Windows XP Professional [Service Pack 2/3]
Personal computer ® ®
Microsoft Windows XP Home Edition [Service Pack 2/3]
® ®
Microsoft Windows 2000 Professional [Service Pack 4]
® ®
Desktop personal computer: Intel Celeron processor 2.8GHz or more is
recommended.
CPU ® ®
Laptop personal computer: Intel Pentium M processor 1.7GHz or more is
recommended.
Memory 512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)
Hard Disk 1GB or more of free space
Communication
USB port
interface
® ®
Browser Windows Internet Explorer 4.0 or more (Note 1)
One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable MR-J3USBCBL3M

11 - 14
11. OPTIONS AND PERIPHERAL EQUIPMENT

Note 1. Microsoft, Windows, Internet Explorer and Windows Vista are registered trademarks of Microsoft Corporation in the United
States and other countries.
Celeron and Pentium are the registered trademarks of Intel Corporation.
2. On some personal computers, MR Configurator2 may not run properly.
® ® ® ® ® ®
3. When Microsoft Windows 7, Microsoft Windows Vista , or Microsoft Windows XP is used, the following functions cannot
be used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96 DPI (Display property)
®
For 64-bit operating system, this software is compatible with Windows 7.
®
4. When Windows 7 is used, the following functions cannot be used.
Windows XP Mode
Windows touch
® ®
5. When using this software with Windows Vista and Windows 7, log in as a user having USER authority or higher.

(b) Connection with servo amplifier

Personal computer
Servo amplifier
USB cable
MR-J3USBCBL3M To USB
(Option) connector

CN3

11 - 15
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.5 Selection example of wires

POINT
To comply with the UL/CSA standard, use the wires shown in appendix 2 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection conditions of wire size is as follows.
Construction condition: One wire is constructed in the air.
Wiring length: 30 m or shorter

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Power lead

Servo amplifier
Power supply
L1 U
L2 V M
L3 W

2) Servo motor power supply lead

Regenerative option
C
P+

3) Regenerative option lead

Table 11.1 shows examples for using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV
wire).

Table 11.1 Wire size selection example (HIV wire)

2
Wire [mm ]
Servo amplifier 2) U/V/W/
1) L1/L2/L3/ 3) P+•C
(Note 1)
MR-JE-10A
MR-JE-20A
AWG 18 to 14
MR-JE-40A
2 (AWG 14) (Note 2)
MR-JE-70A 2 (AWG 14)
MR-JE-100A
MR-JE-200A
AWG 16 to 10
MR-JE-300A 3.5 (AWG 12)

Note 1. The wire size shows applicable size of the servo amplifier connector. For wires
connecting to the servo motor, refer to "HF-KN/HF-SN Servo Motor Instruction
Manual".
2
2. Be sure to use the size of 2 mm when corresponding to UL/CSA standard.

11 - 16
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When
using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this
section.
Molded-case circuit breaker (Note 1) Fuse Magnetic
Servo amplifier Voltage Current Voltage contactor
Frame, rated current Class (Note 2)
AC [V] [A] AC [V]
MR-JE-10A
30 A frame 5 A 10
MR-JE-20A
S-N10
MR-JE-40A 30 A frame 10 A 15
S-T10
MR-JE-70A
30 A frame 15 A 20
MR-JE-100A 240 T 300
S-N20 (Note 3)
MR-JE-200A 30 A frame 20 A 40
S-T21
S-N20
MR-JE-300A 30 A frame 30 A 70
S-T21

Note 1. When having the servo amplifier comply with the UL/CSA standard, refer to appendix 2.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to
the coil until closure of contacts) of 80 ms or less.
3. S-N18 can be used when auxiliary contact is not required.

11.7 Power factor improving AC reactor

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

(1) Connection example

Servo amplifier
3-phase 200 V class
FR-HAL
MCCB MC R X
L1
3-phase S Y
200 V AC to L2
240 V AC T Z
L3

Servo amplifier
1-phase 200 V class
FR-HAL
MCCB MC R X
(Note) L1
1-phase
200 V AC to S Y
L2
240 V AC T Z
L3

Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave
L2 open.

11 - 17
11. OPTIONS AND PERIPHERAL EQUIPMENT

(2) Dimensions

Terminal layout
R X S Y T Z
4-d mounting hole
(Varnish is removed from front right mounting
hole (face and back side).) (Note 1)

D or less

H
W1 D2
Max. W (Note 2) D1

Fig. 11.1

Power factor Dimensions [mm]

Dimens Terminal Mass
Servo amplifier improving AC D
ions W W1 H D1 D2 d size [kg]
reactor (Note 3)
MR-JE-10A,
FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-JE-20A
MR-JE-40A FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-JE-70A FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
Fig.
11.1 115
MR-JE-100A FR-HAL-2.2K 40 115 77 71 57 M6 M4 1.5
(Note 3)
115
MR-JE-200A FR-HAL-3.7K 40 115 83 81 67 M6 M4 2.2
(Note 3)
115
MR-JE-300A FR-HAL-5.5K 40 115 83 81 67 M6 M4 2.3
(Note 3)

Note 1. Use this for grounding.

2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K.
3. Maximum dimensions. The dimension varies depending on the input/output lines.

11.8 Relay (recommended)

The following relays should be used with the interfaces.

Interface Selection example
Digital input (interface DI-1) To prevent defective contacts, use a relay for
Relay used for digital input command signals small signal (twin contacts).
(Ex.) Omron: type G2A, type MY
Digital output (interface DO-1) Small relay with 12 V DC or 24 V DC of rated
Relay used for digital output signals current 40 mA or less
(Ex.) Omron: type MY

11 - 18
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.9 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral equipment malfunction due to noises produced by the servo amplifier, noise suppression
measures must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques
Avoid bundling power lines (input/output) and signal cables together or running them in parallel to
each other. Separate the power lines from the signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)

(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power
input section of the equipment is recommended.

(c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral equipment located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced
by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Route 1)

Noise radiated from the power supply cable Route 2)

Noise radiated from servo motor cable Route 3)

Magnetic induction noise Routes 4) and 5)

Static induction noise Route 6)

Noises transmitted through

electric channels Noise transmitted through power supply cable Route 7)

Noise sneaking from grounding cable due to leakage current Route 8)

11 - 19
11. OPTIONS AND PERIPHERAL EQUIPMENT

5)

7) 7)
2)
7)

Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor

3)
Servo motor M

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

11 - 20
11. OPTIONS AND PERIPHERAL EQUIPMENT

(2) Noise reduction techniques

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

φ13 ± 1
TDK

φ30 ± 1
Product name Lot number
Outline drawing (ZCAT3035-1330)

(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo
amplifier. Use the following surge killer or equivalent.
OFF
ON
MC

MC
SK
Relay
Surge killer

Surge killer

This distance should be short

(within 20 cm).

(Ex.) CR-50500 Okaya Electric Industries)

Rated
C R Dimensions [Unit: mm]
voltage Test voltage
[µF ± 20%] [Ω ± 30%]
φ(18.5 + 2) ± 1

AC [V] Band (clear) AWG 18 Twisted wire

15 ± 1
Between terminals: Soldered
625 V AC, 50/60 Hz 60 s φ3.6
50
250 0.5 CR-50500
(1/2 W) Between terminal and case: 6±1 6±1
2000 V AC, 50/60 Hz 60 s 300 min. 48 ± 1.5 300 min. 16 ± 1
(18.5 + 5) max.

Note that a diode should be installed to a DC relay or the like.

Maximum voltage: not less than four times the drive voltage of the relay or + -
the like RA

Maximum current: not less than two times the drive current of the relay or
the like Diode

11 - 21
11. OPTIONS AND PERIPHERAL EQUIPMENT

(c) Cable clamp fitting AERSBAN-_SET

Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an grounding plate as
shown below.
Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable
sheath to expose the external conductor, and press that part against the grounding plate with the
cable clamp. If the cable is thin, clamp several cables in a bunch.
The cable clamp comes as a set with the grounding plate.
[Unit: mm]

Cable Strip the cable sheath of

the clamped area. cutter
Cable clamp
(A, B) Earth plate

cable
40

External conductor
Clamp section diagram

Dimensions

[Unit: mm] [Unit: mm]

Earth plate Clamp section diagram

2-φ5 hole 17.5

installation hole

30

L or less 10
B ± 0.3

C
A
6

24 -0.2
0

35
3

24+ 00.3
7

(Note) M4 screw 6 22
35
11

Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.

Model A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 Clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1pc. B 45

11 - 22
11. OPTIONS AND PERIPHERAL EQUIPMENT

(d) Line noise filter (FR-BSF01)

This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
2
Use the line noise filters for lines of the power supply (L1, L2, and FR-BSF01 (for wire size 3.5 mm (AWG 12) or less)
L3) and of the servo motor power (U, V, and W). Pass each of the
Approx. 110
wires through the line noise filter an equal number of times in the
95 ± 0.5 2-φ5
same direction. For the power supply, the effect of the filter rises

Approx. 22.5
as the number of passes increases, but generally four passes
would be appropriate. For the servo motor power lines, passes
must be four times or less. Do not pass the grounding wire

11.25 ± 0.5
through the filter. or the effect of the filter will drop. Approx. 65
Wind the wires by passing through the filter to satisfy the required
φ33
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number
of passes as shown in Example 2.

Approx. 65
Place the line noise filters as close to the servo amplifier as
possible for their best performance.

4.5
Example 1
MCCB MC Servo amplifier
Power L1
supply
L2
Line noise L3
filter

(Number of passes: 4)

Example 2
MCCB MC
Power Servo amplifier
supply
L1
Line noise L2
filter L3

Two filters are used

(Total number of passes: 4)

11 - 23
11. OPTIONS AND PERIPHERAL EQUIPMENT

(e) Radio noise filter (FR-BIF)

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
200 V class: FR-BIF
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
Leakage current: 4 mA
always required. Red White Blue Green
When using the FR-BIF with a single-phase power supply, always

Approx. 300
insulate the lead wires that are not used for wiring.
Terminal
block Servo amplifier
MCCB MC
L1 29
Power
supply L2 φ5

42
hole
L3

4
58 29 7
44
Radio noise
filter

(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Maximum
Maximum rating Static
limit voltage Varistor voltage rating
Power capacity
Surge (range)
supply Varistor Permissible circuit Energy Rated pulse (reference
current V1 mA
voltage voltage immunity power [A] [V] value)
immunity
AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J] [W] [pF] [V]
10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
200 V times
1.0 100
class 7000/2
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
times

[Unit: mm]
(Note)
D T D H T E φd W
Model L
Max. Max. Max. ±1.0 ±0.05 ±1.0
min.
TND20V-431K 6.4 3.3
H

21.5 24.5 20 0.8 10.0

TND20V-471K 6.6 3.5

Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L

11 - 24
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.10 Earth-leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select an earth-leakage current breaker according to the following formula, and ground the servo
amplifier, servo motor, etc. securely.
To minimize leakage currents, make the input and output cables as short as possible, and make the
grounding cable longer than 30 cm.

Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA]············································· (11.1)

Earth-leakage current breaker

Cable
Mitsubishi K
NV Noise filter Type
products
Servo Cable
amplifier M NV-SP
Models provided with NV-SW
harmonic and surge NV-CP 1
reduction techniques NV-CW
Ig1 Ign Iga Ig2 Igm
NV-HW
BV-C1
General models NFB 3
NV-L

Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 11.2.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (found from Fig. 11.2.)
Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)
Iga: Leakage current of the servo amplifier (Found from table 11.3.)
Igm: Leakage current of the servo motor (Found from table 11.2.)

120
Leakage current [mA]

100
80
60
40
20
0
2 5.5 14 38100
3.5 8 22 60 150
30 80
Cable size [mm2]

Fig. 11.2 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit

11 - 25
11. OPTIONS AND PERIPHERAL EQUIPMENT

Table 11.2 Servo motor leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]
0.1 to 1 0.1
2 0.2
3 0.3

Table 11.3 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]
0.1 to 0.6 0.1
0.75 to 3 0.15

Table 11.4 Earth-leakage current breaker selection example

Rated sensitivity current of earth-
Servo amplifier capacity [kW]
leakage current breaker [mA]
MR-JE-10A to MR-JE-300A 15

(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following
conditions.
2 mm2 × 5 m 2 mm2 × 5 m

NV
Servo amplifier
M Servo motor
MR-JE-40A HF-KN43

Ig1 Iga Ig2 Igm

Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.

5
Ig1 = 20 • = 0.1 [mA]
1000

5
Ig2 = 20 • = 0.1 [mA]
1000

Ign = 0 (not used)

Iga = 0.1 [mA]

Igm = 0.1 [mA]

Insert these values in equation (11.1).

Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity
current (Ig) of 4.0 mA or more.
An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.

11 - 26
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.11 EMC filter (recommended)

It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC
filters have large in leakage current.

(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)
Servo amplifier Rated current Rated voltage Leakage current Mass [kg]
Model
[A] [V AC] [mA]
MR-JE-10A to (Note)
10 3.5
MR-JE-100A HF3010A-UN
250 5
MR-JE-200A, (Note)
30 5.5
MR-JE-300A HF3030A-UN

Note. A surge protector is separately required to use any of these EMC filters.

(2) Connection example

EMC filter Servo amplifier

MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E

(Note 2)
1 2 3 Surge protector
(RSPD-250-U4)
(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Leave L2 open.
2. The example is when a surge protector is connected.

11 - 27
11. OPTIONS AND PERIPHERAL EQUIPMENT

(3) Dimensions
(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 × 7 3-M4 M4

32 ± 2

110 ± 4
85 ± 2
IN
Approx. 41
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5

HF3030A-UN
[Unit: mm]
6-R3.25 length:8

3-M5 3-M5
125 ± 2
140 ± 1
155 ± 2

M4
44 ± 1

70 ± 2
85 ± 1 85 ± 1
210 ± 2 140 ± 2
260 ± 5

11 - 28
11. OPTIONS AND PERIPHERAL EQUIPMENT

(b) Surge protector

RSPD-250-U4 [Unit: mm]

1 2 3

5.5 ± 1

11 ± 1
φ4.2 ± 0.5

28.5 ± 1
Resin

Lead

200 +30
0

1 2 3

4.5 ± 0.5
28 ± 1

Case

41 ± 1

11 - 29
11. OPTIONS AND PERIPHERAL EQUIPMENT

MEMO

11 - 30
APPENDIX

App. 1 Peripheral equipment manufacturer (for reference)

Names given in the table are as of July 2013.

Manufacturer Contact information
JST J.S.T. Mfg. Co., Ltd.
3M 3M
Soshin Electric Soshin Electric Co., Ltd.

App. 2 Compliance with global standards

App. 2.1 About safety

This section explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.

App. 2.1.1 Professional engineer

Only professional engineers should mount MR-JE servo amplifiers.

Here, professional engineers are persons who have taken proper engineering training qualified persons who
are engaged in electrical equipment.
Please note if you can take a proper engineering training at your local Mitsubishi Electric office. Contact your
local sales office for schedules and locations.

App. 2.1.2 Applications of the devices

MR-JE servo amplifiers comply with the following safety standards.

IEC/EN 61800-5-1, IEC/EN 61800-3

App. 2.1.3 Correct use

Always use the MR-JE servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.3
for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or
if modifications are made to the device, even in the context of mounting and installation.

It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals
WARNING immediately after power off.

App. - 1
APPENDIX

(1) Peripheral device and power wiring

(a) Local wiring
Use only copper wires rated at 75 ˚C for wiring. The following table shows wires [AWG] rated at 75
˚C.
Wire [AWG]
Servo amplifier (Note 2) (Note 1, 2)
P+/C
L1/L2/L3/ U/V/W/
MR-JE-10A/MR-JE-20A/MR-JE-40A/MR-JE-70A/MR-JE-100A/
14 14 14
MR-JE-200A/MR-JE-300A

Note 1. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of
the servo amplifiers.
2. The following shows the PE terminal specifications of the servo amplifier.
Screw size: M4
Tightening torque: 1.2 [N•m]
Recommended crimp terminals: R2-4 (JST)
Crimping tool: YPT-60-21 (JST)

(b) Selection example of MCCB and fuse

When a servo amplifier is protected by T class fuses or circuit breaker having an interrupting rating
not less than 300 A effective value and 240 V maximum, use T class fuses or molded-case circuit
breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit
breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you
select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller
capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones
other than Class T fuses and molded-case circuit breakers below, refer to section 11.6.
Servo amplifier Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-JE-10A/MR-JE-20A/MR-JE-40A/MR-JE-70A NF50-SWU-5A (50 A frame 5 A) 10 A
MR-JE-70A (Note)/MR-JE-100A NF50-SWU-10A (50 A frame 10 A) 15 A
MR-JE-200A/MR-JE-300A NF50-SWU-15A (50 A frame 15 A) 30 A

Note. For 1-phase 200 V AC power input

(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of
overvoltage category III set forth in IEC/EN 60664-1. However, when you use the neutral point for
single phase supply, a reinforced insulating transformer is required in the power input section. For
the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O
terminals.

(d) Grounding
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the
servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to
the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
If using an earth-leakage current breaker, always ground the protective earth (PE) terminal of the
servo amplifier to prevent an electric shock. Only an RCD (earth-leakage current breaker) of type B
can be used for the power supply side of the product.

PE terminals
PE terminals

App. - 2
APPENDIX

(2) EU compliance
The MR-JE servo amplifiers are designed to comply with the following directions to meet requirements
for mounting, using, and periodic technical inspections: EMC directive (2004/108/EC) and Low-voltage
directive (2006/95/EC).

(a) EMC requirement

MR-JE servo amplifiers comply with category C3 in accordance with IEC/EN 61800-3. Use a EMC
filter and surge protector on the primary side. As for I/O signal wires (max. length 10 m) and encoder
cables (max. length 50 m), connect them to a shielded grounding. However, when the encoder cable
length is longer than 30 m for MR-JE-70A and MR-JE-100A, set a radio noise filter (FR-BIF) to the
input power supply side of the servo amplifier. The following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series
Surge protector: Okaya Electric Industries RSPD-250-U4 series
Radio noise filter: Mitsubishi Electric FR-BIF
- MR-JE Series are not intended to be used on a low-voltage public network which supplies domestic
premises;
- radio frequency interference is expected if used on such a network.
The installer shall provide a guide for Installation and use, including recommended mitigation
devices.

(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in
compliance with the necessary requirements and standards (2004/108/EC and 2006/95/EC). For the
copy of Declaration of Conformity, contact your local sales office.

(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14.

(a) Installation
The minimum cabinet size is 150% of MR-JE servo amplifier's volume. Also, design the cabinet so
that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in
the metal cabinet. For environment, the units should be used in open type (UL 50) and overvoltage
category III or lower. The servo amplifier needs to be installed at or below of pollution degree 2. For
connection, use copper wires.

(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical
Amperes, 500 Volts Maximum.

(c) Overload protection characteristics

The MR-JE servo amplifiers have servo motor overload protective function. (It is set on the basis (full
load current) of 120% rated current of the servo amplifier.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.

(e) Capacitor discharge

It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals immediately after
power off.

App. - 3
APPENDIX

(f) Branch circuit protection

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

(4) South Korea compliance

This product complies with the Radio Wave Law (KC mark). Please note the following to use the
product.
이 기기는 업무용 (A급) 전자파적합기기로서 판 매자 또는 사용자는 이 점을 주의하시기 바라며，
가정외의 지역에서 사용하는 것을 목적으 로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.
The seller and the user must note the above point, and use the product in a place except for home.)

App. 2.1.4 General cautions for safety protection and protective measures

Observe the following items to ensure proper use of the MELSERVO MR-JE servo amplifiers.

(1) Only qualified personnel and professional engineers should perform system installation.

(2) When mounting, installing, and using the MELSERVO MR-JE servo amplifier, always observe standards
and directives applicable in the country.

App. 2.1.5 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-
specific waste disposal regulations. (Example: European Waste 16 02 14)

App. 2.2 Mounting/dismounting

Installation direction and clearances

The devices must be installed in the specified direction. Not doing so may cause
a malfunction.
CAUTION Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical
direction to maintain pollution degree 2.

Cabinet Top Cabinet

40 mm
or more 80 mm or longer
for wiring
Servo amplifier

10 mm 10 mm Servo amplifier
or more or more

40 mm
or more

Bottom

App. - 4
APPENDIX

App. 2.3 Electrical Installation and configuration diagram

Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or
WARNING damages to the product before starting the installation or wiring.

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

CAUTION amplifier may cause a malfunction.

The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.

(1) 3-phase input

Servo amplifier
(3-phase MCCB MC
230 V AC) L1 L2 L3
or fuse

Power
supply CN1
(3-phase Controller
400 V AC) CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
Machine side
Servo motor
Encoder

(2) 1-phase input

Servo amplifier
(3-phase MCCB MC
230 V AC) L1 L2 L3
or fuse

Power
supply
(3-phase CN1
400 V AC) Controller
CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
Machine side
Servo motor
Encoder

The control circuit connectors described by rectangles are safely separated from the main circuits described
by circles.
The connected motors will be limited as follows.

HF-KN/HF-SN series servo motors (Mfg.: Mitsubishi Electric)

App. - 5
APPENDIX

App. 2.4 Signal

App. 2.4.1 Signal

The following shows CN1 connector signals as a typical example. Refer to section 3.4 for other connectors.
CN1

1 26
2 27 MO1
3 TLA 28
4 LG 29 LG
LA 5 MO2 30
6 LAR 31 LG
LB 7 32
8 LBR 33
LZ 9 OP 34
10 LZR 35 LG
PP 11 NP 36
12 PG 37 NG
OPC 13 38
14 39
15 40
16 SON 41
17 CR 42
18 43 EM2
19 LSP 44
20 RES 45 LSN
DICOM
21 46
22 DICOM 47 DOCOM
DOCOM
23 48
24 ZSP 49 ALM
INP 25 RD 50

This is in position control mode.

App. 2.4.2 Input/output device

The following shows typical I/O devices. Refer to section 3.5 for other devices.

Input device
Symbol Device Connector Pin No.
SON Servo-on 15
RES Reset 19
CR Clear 41
CN1
EM2 Forced stop 2 42
LSP Forward rotation stroke end 43
LSN Reverse rotation stroke end 44

App. - 6
APPENDIX

Output device
Symbol Device Connector Pin No.
ZSP Zero speed detection 23
INP In-position 24
CN1
ALM Malfunction 48
RD Ready 49

Power supply
Symbol Device Connector Pin No.
DICOM Digital I/F power supply input 20, 21
DOCOM Digital I/F common CN1 46, 47
SD Shield Plate

App. 2.5 Maintenance and service

To avoid an electric shock, only qualified personnel should attempt inspections.

WARNING For repair and parts replacement, contact your local sales office.

Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
CAUTION cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.

App. 2.5.1 Inspection items

It is recommended that the following points periodically be checked.

(1) Check for loose protective earth (PE) terminal screws of the servo amplifier. Retighten any loose screws.
(Tightening torque: 1.2 N•m)

(2) Check servo motor bearings, brake section, etc. for unusual noise.

(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.

(4) Check that the connectors are securely connected to the servo motor.

(5) Check that the wires are not coming out from the connector.

(6) Check for dust accumulation on the servo amplifier.

(7) Check for unusual noise generated from the servo amplifier.

(8) Check the servo motor shaft and coupling for connection.

App. - 7
APPENDIX

App. 2.5.2 Parts having service lives

Service lives of the following parts are listed below. However, the service life vary depending or operating
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of
their service lives. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor (Note) 10 years
Number of power-on times and forced stop times:
Relay
100,000 in total
Cooling fan 50,000 hours to 70,000 hours (7 years to 8 years)

Note. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on
ambient temperature and operating conditions.
The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 ˚C
surrounding air temperature or less).

App. 2.6 Transportation and storage

Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.
Install the servo amplifier and servo motor in a load-bearing place in accordance
CAUTION with "MR-JE-_A Servo Amplifier Instruction Manual".
Do not get on or put heavy load on the equipment.
Do not hold the lead wire of the regenerative resistor when transporting the servo
amplifier.

When you keep or use it, please fulfill the following environment.
Item Environment
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Ambient
Transportation (Note) [°C] -20 to 65 Class 2K4 (IEC/EN 60721-3-2)
temperature
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient Operation, transportation,
5% to 90 %RH
humidity storage
10 Hz to 57 Hz with constant deviation of 0.075 mm
2
Test values 57 Hz to 150 Hz with constant acceleration of 9.8 m/s (1 g) to IEC/EN 61800-5-1
Vibration (Test Fc of IEC 60068-2-6)
2
load Operation 5.9 m/s (0.6 g)
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP20 (IEC/EN 60529)
IP rating
Open type (UL 50)
Operation, storage 1000 m or less above sea level
Altitude
Transportation 10000 m or less above sea level

Note. In regular transport packaging

App. - 8
APPENDIX

App. 2.7 Technical data

App. 2.7.1 MR-JE servo amplifier

MR-JE-10A/MR-JE-20A/MR-JE-40A/
Item MR-JE-100A/MR-JE-200A/MR-JE-300A
MR-JE-70A
3-phase or 1-phase 200 V AC to 240 V AC, 50
Power Line voltage 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Hz/60 Hz
supply
Interface (SELV) 24 V DC, (required current capacity: 300 mA)
Control method Sine-wave PWM control, current control method
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category III (IEC/EN 60664-1)
Protection class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA

App. 2.7.2 Servo amplifier dimensions

Variable dimension table [mm]
Servo amplifier Mass [kg]
W H D
MR-JE-10A/MR-JE-20A/MR-JE-40A 50 168 135 0.8
H Front Side MR-JE-70A/MR-JE-100A 70 168 185 1.5
MR-JE-200A/MR-JE-300A 90 168 195 2.1

W D

App. 2.7.3 Mounting hole

Variable dimensions [mm] Screw size
a1 Servo amplifier
e a a1 b c d e
c MR-JE-10A/MR-JE-20A/MR-JE-40A 6 6 156 ± 0.5 6 M5
MR-JE-70A/MR-JE-100A 22 22 156 ± 0.5 6 42 ± 0.3 M5
b MR-JE-200A/MR-JE-300A 6 45 156 ± 0.5 6 78 ± 0.3 M5

c
a d

App. - 9
APPENDIX

App. 3 Analog monitor

POINT
A voltage of analog monitor output may be irregular at power-on.

The servo status can be outputted to two channels in terms of voltage.

(1) Setting
Change the following digits of [Pr. PC14] and [Pr. PC15].
[Pr. PC14]

0 0
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)

[Pr. PC15]

0 0
Analog monitor 2 output selection
(the signal provided to the output across MO2 and LG)

[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. Setting
value is -9999 mV to 9999 mV.
Parameter Description Setting range [mV]
This is used to set the offset voltage of MO1
PC39
(Analog monitor 1).
-9999 to 9999
This is used to set the offset voltage of MO2
PC40
(Analog monitor 2).

App. - 10
APPENDIX

(2) Setting
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the
torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14]
and [Pr. PC15] value.
Refer to (3) for the detection point.
Setting Setting
Output item Description Output item Description
value value
00 Servo motor speed 01 Torque Power running in
CCW direction CCW direction
8 [V] 8 [V]

Maximum speed Maximum torque

0 0
Maximum speed Maximum torque

-8 [V] -8 [V]
CW direction Power running in
CW direction

02 Servo motor speed 8 [V]

03 Torque 8 [V]
CW direction CCW direction Power running in Power running in
CW direction CCW direction

Maximum speed 0 Maximum speed Maximum torque 0 Maximum torque

04 Current command CCW direction 05 The command pulse CCW direction

8 [V] 10 [V]
Maximum current frequency (±10 V/±4
command Mpulses/s)
(Maximum torque
command) 4 [Mpulse/s]
0 Maximum current 0 4 [Mpulse/s]
command
(Maximum torque
command)
-8 [V] -10 [V]
CW direction CW direction

06 Servo motor-side droop CCW direction 07 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 2, 3) (Note 1, 2, 3)
(±10 V/100 pulses) 100 [pulse] (±10 V/1000 pulses) 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

08 Servo motor-side droop CCW direction 09 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 2, 3) (Note 1, 2, 3)
(±10 V/10000 pulses) 10000 [pulse] (±10 V/100000 pulses) 100000 [pulse]
0 10000 [pulse] 0 100000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

0D Bus voltage 0E Speed command 2 CCW direction

8 [V]
(Note 2)
8 [V]
Maximum speed

0
Maximum speed
0 400 [V]
-8 [V]
CW direction

17 Encoder inside 10 [V]

temperature (±10
V/±128 ˚C)
-128 [°C]
0 128 [°C]

-10 [V]

App. - 11
APPENDIX

Note 1. Encoder pulse unit

2. This cannot be used in the torque control mode.
3. This cannot be used in the speed control mode.

(3) Analog monitor block diagram

Speed Speed Current +

command Droop pulses command 2 command Bus voltage

Current
Speed encoder
Command + Position command + Speed + Current
pulse control control control PWM M Servo motor
- - -
Encoder inside
temperature
Current feedback
Encoder

Differen-
tiation

Position feedback

Servo motor Torque

speed

App. - 12
APPENDIX

App. 4 Low-voltage directive

MR-JE series servo amplifiers are certificated in compliance with Low-voltage directive. The following shows
a certificate by the Certification Body.

Supplementation: Refer to section 1.6 (2) for the models shown in "(see Appendix 1)".

App. - 13
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
May. 2013 SH(NA)030128-A First edition
Jul. 2013 SH(NA)030128-B 4. Additional instructions Partially changed.
(3) Transportation and
installation
Section 1.3 Partially changed.
Section 1.6 Partially changed.
Chapter 2 CAUTION is partially changed.
Chapter 3 CAUTION is partially changed.
Section 3.2.1 Partially changed.
Section 3.4 Partially changed.
Section 3.5 Partially changed.
Section 3.6.1 Partially changed.
Section 3.9.1 Partially changed.
Section 3.9.2 Partially changed.
Section 3.9.3 Partially deleted.
Section 5.2.1 Partially added and partially changed in Pr. PA13.
Section 11.3 Partially changed.
Section 11.6 Partially changed.
App. 2 Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
© 2013 MITSUBISHI ELECTRIC CORPORATION
Country/Region Sales office Tel/Fax

USA Mitsubishi Electric Automation Inc. Tel : +1-847-478-2100

500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA Fax : +1-847-478-0327

Germany Mitsubishi Electric Europe B.V. German Branch Tel : +49-2102-486-0

Gothaer Strasse 8, D-40880 Ratingen, Germany Fax : +49-2102-486-1120

Italy Mitsubishi Electric Europe B.V. Italian Branch Tel : +39-39-60531

Viale Colleoni 7 Fax : +39-39-6053312
1-20041 Agrate Brianza (Milano), Italy

China Mitsubishi Electric Automation (China) Ltd. Tel : +86-21-6120-0808

4F Zhi Fu Plazz, No. 80 Xin Chang Road Fax : +86-21-6121-2444
Shanghai 200003, China

Taiwan Setsuyo Enterprise Co., Ltd. Tel : +886-2-2299-2499

6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan Fax : +886-2-2299-2509

Korea Mitsubishi Electric Automation Korea Co., Ltd. Tel : +82-2-3660-9552

3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul Fax : +82-2-3664-8372
157-200, Korea

Singapore Mitsubishi Electric Asia Pte, Ltd. Tel : +65-6470-2460

307 Alexandra Road #05-01/02, Fax : +65-6476-7439
Mitsubishi Electric Building Singapore 159943
 Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.

[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.

[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your
hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a
safety device required by applicable laws and has any function or structure considered to be indispensable according to a
common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.

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

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.

SH(NA)030128-B
 General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A
SERVO AMPLIFIER

MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL B

INSTRUCTION MANUAL

MR-JE-A SERVOAMPLIFIER
MODEL INSTRUCTIONMANUAL
MODEL
CODE 1CW706

B
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

SH (NA) 030128-B (1307) MEE Printed in Japan Specifications are subject to change without notice.