Mitsubishi Electric MELSERVO-J4, MELSERVO MR-J4-03A6-RJ Instruction Manual

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-J4-_A_-RJ
MR-J4-03A6-RJ

SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)

C

www.kavrammuhendislik.com.tr

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".

WARNING

CAUTION

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 that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

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

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

www.kavrammuhendislik.com.tr

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to a fire or smoke generation.
Always connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the
side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a
large current may cause smoke or a fire when the servo amplifier malfunctions.
In order to configure a circuit that shuts down the power supply on the side of the servo amplifier's
power supply, always connect one molded-case circuit breaker or fuse per one servo amplifier between
the power supply and the main circuit power supply (L1/L2/L3) of a servo amplifier. If a molded-case
circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire
when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

A - 2

www.kavrammuhendislik.com.tr

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 the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
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

temperature

Storage -20 ˚C to 65 ˚C (non-freezing)

Ambient
humidity

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)

Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.

Operation 0 ˚C to 55 ˚C (non-freezing)

Operation

5 %RH to 90 %RH (non-condensing)

A - 3

r

www.kavrammuhendislik.com.tr

CAUTION

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause 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) Wiring

CAUTION

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(-H)) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

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 amplifie

or MR-D01

DOCOM

(DOCOMD)

Control output
signal

For sink output interface

24 V DC

RA

Servo amplifier

or MR-D01

DOCOM

(DOCOMD)

Control output
signal

For source output interface

24 V DC

RA

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.

A - 4

www.kavrammuhendislik.com.tr

(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.

(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

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
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 which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction)
or MBR (Electromagnetic brake interlock) turns off.

Servo motor

B

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.

RA

Contacts must be opened
with the emergency stop switch.

24 V DC

A - 5

www.kavrammuhendislik.com.tr

(6) Maintenance, inspection and parts replacement

CAUTION

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

(7) General instruction

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

DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.

EEP-ROM life

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

Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes
Write to the EEP-ROM due to program changes

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".
For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

A - 6

www.kavrammuhendislik.com.tr

Compliance with global standards

For the compliance with global standards, refer to app. 4 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".

«About the manual»

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

Relevant manuals

Manual name Manual No.

MELSERVO MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual SH(NA)030107ENG

MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus-RTU Protocol) (Note

5)

MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual (Note 6) SH(NA)030153ENG

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG

MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG

MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG

EMC Installation Guidelines IB(NA)67310ENG

Parameter Unit MR-PRU03 Instruction Manual (MR-J4) SH(NA)030186ENG

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using the Modbus-RTU communication function.

6. It is necessary for using the MR-J4-DU_A_(-RJ) drive unit or MR-CR55K_ converter unit.

This Instruction Manual does not describe the following items. The followings are the same as MR-J4­_A_-RJ Servo amplifiers. For details of the items, refer to each chapter/section of the detailed explanation
field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

Item Detailed explanation

Installation MR-J4-_A_ chapter 2

Normal gain adjustment MR-J4-_A_ chapter 6

Special adjustment functions MR-J4-_A_ chapter 7

Dimensions MR-J4-_A_ chapter 9

Characteristics MR-J4-_A_ chapter 10

ABSOLUTE POSITION DETECTION SYSTEM (only 12.1
Summary and 12.2 Battery)

USING STO FUNCTION MR-J4-_A_ chapter 13

USING A LINEAR SERVO MOTOR (Note) MR-J4-_A_ chapter 15

USING A DIRECT DRIVE MOTOR MR-J4-_A_ chapter 16

FULLY CLOSED LOOP SYSTEM (Note) MR-J4-_A_ chapter 17

MR-J4-03A6-RJ SERVO AMPLIFIER MR-J4-_A_ chapter 18

Note. For the home position return, refer to each chapter indicated in the detailed

explanation field and chapter 4 in this Instruction Manual.

«Wiring»

SH(NA)030175ENG

MR-J4-_A_ chapter 12

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

A - 7

www.kavrammuhendislik.com.tr

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

A - 8

CONTENTS

www.kavrammuhendislik.com.tr

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

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

1.2 Positioning mode specification list .................................................................................................... 1- 2

1.3 Function list ....................................................................................................................................... 1- 5

1.4 Configuration including peripheral equipment ................................................................................. 1-10

2. SIGNALS AND WIRING 2- 1 to 2-46

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

2.1.1 MR-J4-_A_-RJ 100 W or more .................................................................................................. 2- 3

2.1.2 MR-J4-03A6-RJ ......................................................................................................................... 2- 9

2.2 Connectors and pin assignment ...................................................................................................... 2-15

2.3 Signal (device) explanations ............................................................................................................ 2-22

2.4 Analog override ................................................................................................................................ 2-38

2.5 Internal connection diagram ............................................................................................................ 2-40

2.6 Power-on sequence ......................................................................................................................... 2-45

2.6.1 MR-J4-_A_-RJ 100 W or more ................................................................................................. 2-45

2.6.2 MR-J4-03A6-RJ ........................................................................................................................ 2-46

3. DISPLAY AND OPERATION SECTIONS 3- 1 to 3-54

3.1 MR-J4-_A_-RJ 100 W or more ......................................................................................................... 3- 1

3.1.1 Display sequence ....................................................................................................................... 3- 1

3.1.2 Status display ............................................................................................................................. 3- 3

3.1.3 Diagnostic mode ....................................................................................................................... 3-12

3.1.4 Alarm mode ............................................................................................................................... 3-15

3.1.5 Point table setting ...................................................................................................................... 3-17

3.1.6 Parameter mode ....................................................................................................................... 3-21

3.1.7 External I/O signal display ......................................................................................................... 3-23

3.1.8 Output signal (DO) forced output .............................................................................................. 3-24

3.1.9 Single-Step feed ........................................................................................................................ 3-25

3.1.10 Teaching function .................................................................................................................... 3-27

3.2 MR-J4-03A6-RJ ............................................................................................................................... 3-28

3.2.1 Display flowchart ....................................................................................................................... 3-28

3.2.2 Status display mode .................................................................................................................. 3-29

3.2.3 Diagnostic mode ....................................................................................................................... 3-34

3.2.4 Alarm mode ............................................................................................................................... 3-38

3.2.5 Point table setting ...................................................................................................................... 3-40

3.2.6 Parameter mode ....................................................................................................................... 3-44

3.2.7 External I/O signal display ......................................................................................................... 3-49

3.2.8 Output signal (DO) forced output .............................................................................................. 3-50

3.2.9 Step feed ................................................................................................................................... 3-51

3.2.10 Teaching function .................................................................................................................... 3-53

4. HOW TO USE THE POINT TABLE 4- 1 to 4-80

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

4.1.1 Power on and off procedures ..................................................................................................... 4- 2

1

4.1.2 Stop ............................................................................................................................................ 4- 2

www.kavrammuhendislik.com.tr

4.1.3 Test operation ............................................................................................................................ 4- 3

4.1.4 Parameter setting ....................................................................................................................... 4- 4

4.1.5 Point table setting ....................................................................................................................... 4- 5

4.1.6 Actual operation ......................................................................................................................... 4- 5

4.1.7 Troubleshooting at start-up ........................................................................................................ 4- 5

4.2 Automatic operation mode ................................................................................................................ 4- 7

4.2.1 Automatic operation mode ......................................................................................................... 4- 7

4.2.2 Automatic operation using point table ....................................................................................... 4-12

4.3 Manual operation mode ................................................................................................................... 4-42

4.3.1 JOG operation ........................................................................................................................... 4-42

4.3.2 Manual pulse generator operation ............................................................................................ 4-44

4.4 Home position return mode ............................................................................................................. 4-46

4.4.1 Outline of home position return ................................................................................................. 4-46

4.4.2 Dog type home position return .................................................................................................. 4-49

4.4.3 Count type home position return ............................................................................................... 4-51

4.4.4 Data set type home position return ........................................................................................... 4-53

4.4.5 Stopper type home position return ............................................................................................ 4-54

4.4.6 Home position ignorance (servo-on position as home position) ............................................... 4-56

4.4.7 Dog type rear end reference home position return ................................................................... 4-57

4.4.8 Count type front end reference home position return ............................................................... 4-59

4.4.9 Dog cradle type home position return ....................................................................................... 4-60

4.4.10 Dog type last Z-phase reference home position return ......................................................... 4-62

4.4.11 Dog type front end reference home position return type ....................................................... 4-64

4.4.12 Dogless Z-phase reference home position return type .......................................................... 4-66

4.4.13 Automatic retract function used for the home position return ................................................ 4-67

4.4.14 Automatic positioning to home position function .................................................................... 4-68

4.4.15

4.4.16

Precautions for using linear servo motors .............................................................................. 4-69

Precautions for using the fully closed loop system ................................................................. 4-73

4.5 Roll feed mode using the roll feed display function ......................................................................... 4-76

4.6 Point table setting method ............................................................................................................... 4-78

4.6.1 Setting procedure ...................................................................................................................... 4-78

4.6.2 Detailed setting window ............................................................................................................ 4-80

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

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

5.1.1 Power on and off procedures ..................................................................................................... 5- 1

5.1.2 Stop ............................................................................................................................................ 5- 2

5.1.3 Test operation ............................................................................................................................ 5- 3

5.1.4 Parameter setting ....................................................................................................................... 5- 4

5.1.5 Actual operation ......................................................................................................................... 5- 5

5.1.6 Troubleshooting at start-up ........................................................................................................ 5- 5

5.2 Program operation method ............................................................................................................... 5- 6

5.2.1 Program operation method ........................................................................................................ 5- 6

5.2.2 Program language ...................................................................................................................... 5- 7

5.2.3 Basic settings of signals and parameters ................................................................................. 5-30

5.2.4 Timing chart of the program operation ...................................................................................... 5-32

5.3 Manual operation mode ................................................................................................................... 5-34

5.3.1 JOG operation ........................................................................................................................... 5-34

5.3.2 Manual pulse generator operation ............................................................................................ 5-35

2

5.4 Home position return mode ............................................................................................................. 5-37

www.kavrammuhendislik.com.tr

5.4.1 Summary of home position return ............................................................................................. 5-37

5.4.2 Dog type home position return .................................................................................................. 5-40

5.4.3 Count type home position return ............................................................................................... 5-42

5.4.4 Data set type home position return ........................................................................................... 5-44

5.4.5 Stopper type home position return ............................................................................................ 5-45

5.4.6 Home position ignorance (servo-on position as home position) ............................................... 5-46

5.4.7 Dog type rear end reference home position return ................................................................... 5-47

5.4.8 Count type front end reference home position return ............................................................... 5-49

5.4.9 Dog cradle type home position return ....................................................................................... 5-51

5.4.10 Dog type last Z-phase reference home position return ......................................................... 5-53

5.4.11 Dog type front end reference home position return type ....................................................... 5-55

5.4.12 Dogless Z-phase reference home position return type .......................................................... 5-57

5.4.13 Automatic retract function used for the home position return ................................................ 5-58

5.5 Serial communication operation ...................................................................................................... 5-59

5.5.1 Positioning operation using the program .................................................................................. 5-59

5.5.2 Multi-drop method (RS-422 communication) ............................................................................ 5-60

5.5.3 Group specification ................................................................................................................... 5-61

5.6 Incremental value command method .............................................................................................. 5-63

5.7 Roll feed mode using the roll feed display function ......................................................................... 5-64

5.8 Program setting method .................................................................................................................. 5-65

5.8.1 Setting procedure ...................................................................................................................... 5-65

5.8.2 Window for program edit ........................................................................................................... 5-66

5.8.3 Indirect addressing window ....................................................................................................... 5-67

6. HOW TO USE INDEXER 6- 1 to 6-30

6.1 Startup .............................................................................................................................................. 6- 2

6.1.1 Power on and off procedures ..................................................................................................... 6- 2

6.1.2 Stop ............................................................................................................................................ 6- 2

6.1.3 Test operation ............................................................................................................................ 6- 3

6.1.4 Parameter setting ....................................................................................................................... 6- 4

6.1.5 Actual operation ......................................................................................................................... 6- 5

6.1.6 Troubleshooting at start-up ........................................................................................................ 6- 5

6.2 Automatic operation mode ................................................................................................................ 6- 7

6.2.1 Automatic operation mode ......................................................................................................... 6- 7

6.2.2 Automatic operation mode 1 (rotation direction specifying indexer) .......................................... 6- 8

6.2.3 Automatic operation mode 2 (shortest rotating indexer) ........................................................... 6-12

6.3 Manual operation mode ................................................................................................................... 6-15

6.3.1 Station JOG operation ............................................................................................................... 6-15

6.3.2 JOG operation ........................................................................................................................... 6-18

6.4 Home position return mode ............................................................................................................. 6-20

6.4.1 Outline of home position return ................................................................................................. 6-20

6.4.2 Torque limit changing dog type home position return ............................................................... 6-22

6.4.3 Torque limit changing data set type .......................................................................................... 6-24

6.4.4 Backlash compensation and digital override ............................................................................ 6-26

6.4.5 Safety precautions .................................................................................................................... 6-29

7. PARAMETERS 7- 1 to 7-100

7.1 Parameter list .................................................................................................................................... 7- 2

3

7.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 7- 3

www.kavrammuhendislik.com.tr

7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 7- 4

7.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 7- 6

7.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 7- 9

7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 7-10

7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 7-12

7.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 7-13

7.1.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 7-14

7.1.9 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-15

7.2 Detailed list of parameters ............................................................................................................... 7-16

7.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 7-17

7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 7-30

7.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 7-42

7.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 7-56

7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 7-68

7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 7-71

7.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 7-73

7.2.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 7-75

7.2.9 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-83

7.3 How to set the electronic gear ......................................................................................................... 7-93

7.3.1 Electronic gear settings in the point table method and program method ................................. 7-93

7.3.2 Electronic gear setting in the indexer method ........................................................................... 7-96

7.4 Software limit ................................................................................................................................... 7-97

7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off . 7-98

7.6 Stop method at software limit detection ........................................................................................... 7-99

8. TROUBLESHOOTING 8- 1 to 8-14

8.1 Explanation for the lists ..................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2

8.3 Warning list ...................................................................................................................................... 8-11

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

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

10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)

10- 1 to 10-40

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

10.1.1 Reading command ................................................................................................................. 10- 2

10.1.2 Writing commands ................................................................................................................ 10-12

10.2 Detailed explanations of commands ............................................................................................ 10-16

10.2.1 External I/O signal status (DIO diagnosis) ............................................................................ 10-16

10.2.2 Input device on/off ................................................................................................................. 10-21

10.2.3 Input device on/off (for test operation) .................................................................................. 10-22

10.2.4 Test operation mode ............................................................................................................. 10-23

10.2.5 Output signal pin on/off (output signal (DO) forced output) .................................................. 10-25

10.2.6 Point table ............................................................................................................................. 10-26

10.3 Settings equivalent to previous models ....................................................................................... 10-34

10.3.1 Relevant matters to monitor information ............................................................................... 10-34

10.3.2 Relevant matters to input/output ........................................................................................... 10-36

4

11. MR-D01 EXTENSION I/O UNIT 11- 1 to 11-78

www.kavrammuhendislik.com.tr

11.1 Function block diagram ................................................................................................................. 11- 2

11.2 Structure ....................................................................................................................................... 11- 4

11.2.1 Parts identification .................................................................................................................. 11- 4

11.2.2 Installation and removal of the MR-D01 extension I/O unit ................................................... 11- 5

11.3 Configuration including peripheral equipment .............................................................................. 11- 9

11.4 Installation direction and clearances ........................................................................................... 11-11

11.5 Signals and wiring ........................................................................................................................ 11-13

11.5.1 I/O signal connection diagram .............................................................................................. 11-14

11.5.2 Connectors and pin assignment ........................................................................................... 11-40

11.5.3 Signal (device) explanations ................................................................................................. 11-42

11.5.4 Interfaces .............................................................................................................................. 11-56

11.6 Monitor display with MR Configurator2 ........................................................................................ 11-60

11.7 Operation ..................................................................................................................................... 11-62

11.7.1 Operation mode and selecting method ................................................................................. 11-62

11.7.2 When using MR-DS60 (6-digit digital switch) for automatic operation with BCD

(3-digit × 2) inputs ................................................................................................................. 11-62

11.7.3 When using a programmable controller for automatic operation with BCD

(3 digits × 2) inputs ................................................................................................................ 11-66

11.7.4 Home position return in the BCD (3 digits × 2) input operation ............................................ 11-69

11.8 Dimensions .................................................................................................................................. 11-70

11.8.1 MR-D01 extension I/O unit .................................................................................................... 11-70

11.8.2 When an MR-D01 extension IO unit is connected to a servo amplifier ................................ 11-70

11.9 Options and peripheral equipment .............................................................................................. 11-71

11.9.1 Combinations of cable/connector sets .................................................................................. 11-71

11.9.2 MR-DS60 (6-digit digital switch) ............................................................................................ 11-72

11.9.3 PS7DW-20V14B-F (Junction terminal block) (recommended) ............................................. 11-75

11.9.4 MR-TB50 (Junction terminal block)....................................................................................... 11-77

12. APPLICATION OF FUNCTIONS

12- 1 to 12-62

12.1 Simple cam function ..................................................................................................................... 12- 1

12.1.1 Outline of simple cam function ............................................................................................... 12- 1

12.1.2 Simple cam function block ..................................................................................................... 12- 2

12.1.3 Simple cam specification list .................................................................................................. 12- 3

12.1.4 Control of simple cam function ............................................................................................... 12- 4

12.1.5 Operation in combination with the simple cam ...................................................................... 12- 5

12.1.6 Setting list ............................................................................................................................... 12- 7

12.1.7 Data to be used with simple cam function ............................................................................. 12- 8

12.1.8 Function block diagram for displaying state of simple cam control ...................................... 12-28

12.1.9 Operation .............................................................................................................................. 12-28

12.1.10 Cam No. setting method ..................................................................................................... 12-38

12.1.11 Stop operation of cam control ............................................................................................. 12-39

12.1.12 Restart operation of cam control ......................................................................................... 12-41

12.1.13 Cam axis position at cam control switching ........................................................................ 12-42

12.1.14 Clutch .................................................................................................................................. 12-49

12.1.15 Cam position compensation target position ........................................................................ 12-51

12.1.16 Cam position compensation time constant ......................................................................... 12-52

12.2 Mark detection ............................................................................................................................. 12-53

12.2.1 Current position latch function .............................................................................................. 12-53

5

12.2.2 Interrupt positioning function ................................................................................................. 12-59

www.kavrammuhendislik.com.tr

12.3 Infinite feed function (setting degree) .......................................................................................... 12-62

6

1. FUNCTIONS AND CONFIGURATION

)

www.kavrammuhendislik.com.tr

1. FUNCTIONS AND CONFIGURATION

The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details, refer to each section
indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".

Item

Combinations of servo amplifiers and servo motors MR-J4-_A_ section 1.4 MR-J4-_A_ section 18.1.4

Model code definition MR-J4-_A_ section 1.6 MR-J4-_A_ section 18.1.6

Structure (parts identification) MR-J4-_A_ section 1.7 MR-J4-_A_ section 18.1.7

MR-J4-_A_-RJ 100 W

or more

1.1 For proper use of the positioning mode

(1) Servo amplifier/MR Configurator2

The positioning mode is used by the servo amplifier and MR Configurator2 with the following software
versions.

Product name Model Software version

Servo amplifier

MR Configurator2 SW1DNC-MRC2-_ 1.34L or later

MR-J4-_A_-RJ 100 W or more B3 or later

MR-J4-03A6-RJ Does not depend on the software version.

(2) Parameter setting

(a) Selection of the positioning mode

Select a positioning mode with [Pr. PA01 Operation mode] to use.

[Pr. PA01]

Detailed explanation

MR-J4-03A6-RJ

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

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

(c) Assigning recommended input/output devices

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

Control mode selection
6: Positioning mode (point table method
7: Positioning mode (program method)
8: Positioning mode (indexer method)

1 - 1

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

1.2 Positioning mode specification list

The specifications only of the positioning mode are listed here. For other specifications, refer to section 1.3
and 18.1.3 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

Positioning mode

Command method

Item Description

Servo amplifier model MR-J4-_A_-RJ 100 W or more/MR-J4-03A6-RJ

Operational specifications Positioning with specification of point table No. (255 points) (Note 6, 7)

Absolute
value

Position

Point table

command
input
(Note 1)

command
method

Incremental
value
command
method

Speed command input

Setting range of feed length per point: -999999 to 999999 [×10

-99.9999 to 99.9999 [×10
Setting range of rotation angle: -360.000 to 360.000 [degree]

Setting range of feed length per point: 0 to 999999 [×10

0 to 99.9999 [×10

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

Set the acceleration/deceleration time constants in the point table.

Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].

Set in the point table.

STM

inch], -999999 to 999999 [pulse],

Set in the point table.

STM

inch], 0 to 999999 [pulse],

STM

STM

μm],

μm],

System Signed absolute value command method/incremental value command method

Analog override 0 V DC to ±10 V DC/0% to 200%

Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

Signed 6-digit BCD digital switch or contact input

Setting range of feed length: -999999 to 999999 [×10

-99.9999 to 99.9999 [×10

STM

inch], -999999 to 999999 [pulse],

STM

μm],

Setting range of rotation angle: -360.000 to 360.000 [degree]

Absolute value

command

method

BCD input

Signed 6-digit BCD digital switch or contact input

Setting range of feed length: 0 to 999999 [×10

0 to 99.9999 [×10

STM

inch], 0 to 999999 [pulse],

STM

μm],

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

Position command input (Note 1)

Incremental

value command

method

command
input

System Signed absolute value command method/incremental value command method

Speed

Selects the rotation speeds and acceleration/deceleration times of

the point table No. 1 to 15 by a contact input.

Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].

Setting of position command data with RS-422/RS-485 communication
Setting range of feed length per point: -999999 to 999999 [×10

-99.9999 to 99.9999 [×10

STM

inch], -999999 to 999999 [pulse],

STM

μm],

Setting range of rotation angle: -360.000 to 360.000 [degree]

Absolute value

command

method

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

Setting range of feed length per point: 0 to 999999 [×10

0 to 99.9999 [×10

STM

inch], 0 to 999999 [pulse],

STM

μm],

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

Position command input (Note 1)

Incremental

value command

method

command
input

Speed

Position command data input

System Signed absolute value command method/incremental value command method

Operational specifications

Program

Position
command
input
(Note 1)

RS-422/RS-485 communication (Note 5)

Absolute
value
command
method

Incremental
value
command
method

Speed command input

Selects the rotation speed and acceleration/deceleration time constant

through RS-422/RS-485 communication.

Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].

Program language (program with MR Configurator2)

Program capacity: 640 steps (256 programs)

Setting range of feed length: -999999 to 999999 [×10

-99.9999 to 99.9999 [×10

STM

inch], -999999 to 999999 [pulse],

Set with program language.

STM

μm],

Setting range of rotation angle: -360.000 to 360.000 [degree]

Setting range of feed length: -999999 to 999999 [×10

-99.9999 to 99.9999 [×10

STM

inch], -999999 to 999999 [pulse],

Set with program language.

STM

μm],

Setting range of rotation angle: -999.999 to 999.999 [degree]

Set servo motor speed, acceleration/deceleration time constants,

and S-pattern acceleration/deceleration time constants with program language.

S-pattern acceleration/deceleration time constants are also settable with [Pr. PC03].

System Signed absolute value command method/signed incremental value command method

Analog override Set with external analog input (0 V DC to ±10 V DC/0% to 200%)

Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

1 - 2

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

Item Description

Operational specifications

Indexer

Speed command input Selects the rotation speed and acceleration/deceleration time constant by a contact input.

System Rotation direction specifying indexer/shortest rotating indexer

Positioning mode

Other functions

Digital override Selects the override multiplying factor by a contact input.

Command method

Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

Point
table

Operation mode

Program Depends on settings of program language.

Automatic operation mode

Indexer

Point
table/

program

Indexer

Manual operation mode

Dog type

Count type

Point table/program

Data set type

Home position return mode

Stopper type

Home position ignorance
(servo-on position as

home position)

Dog type rear end
reference

Count type front end
reference

Dog cradle type

Dog type last Z-phase
reference (Note 4)

Dog type front end
reference

Dogless Z-phase
reference (Note 4)

Torque limit changing dog
type

Indexer

Torque limit changing data
set type

Automatic positioning to home
position function (Note 2)

Each
positioning
operation

Automatic
continuous
positioning
operation

Rotation
direction
specifying
indexer

Shortest
rotating indexer

JOG operation

Manual pulse
generator
operation

JOG operation Decelerates to a stop regardless of the station.

Station JOG
operation

Varying-speed operation (2 to 255 speeds)/automatic continuous positioning operation (2 to 255 points)/

Executes a contact input or an inching operation with the RS-422/RS-485 communication function based on

Positions to the nearest station where the servo motor can decelerate to a stop when the start signal turns off.

home position address settable/home position shift amount settable/home position return direction selectable/

Home position return direction selectable/home position shift amount settable/home position address settable/

Sets any position as a home position using manual operation, etc./home position address settable

Home position return direction selectable/home position shift amount settable/home position address settable/

Home position return direction selectable/home position shift amount settable/home position address settable/

Returns to home position upon the first Z-phase pulse based on the front end of the proximity dog.

Home position return direction selectable/home position shift amount settable/home position address settable/

Returns to home position upon the Z-phase pulse right before the proximity dog based on the front end of the

Home position return direction selectable/home position shift amount settable/home position address settable/

Home position return direction selectable/home position shift amount settable/home position address settable/

Home position return direction selectable/home position shift amount settable/home position address settable

Home position return direction selectable/home position shift amount settable/home position address settable

Sets any position as home position/home position address settable/torque limit automatic changing function

Absolute position detection/backlash compensation/overtravel prevention with external limit switch

Operates each positioning based on position command and speed command.

Positions to the specified station. Rotates in the shorter direction from the current position.

Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.

Rotates in a direction specified by the rotation direction decision when the start signal turns on.

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

automatic retract on dog back to home position/automatic stroke retract function

Returns to home position upon the encoder pulse count after touching the proximity dog.

automatic retract on dog back to home position/automatic stroke retract function

Home position return direction selectable/home position address settable

automatic retract on dog back to home position/automatic stroke retract function

automatic retract on dog back to home position/automatic stroke retract function

automatic retract on dog back to home position/automatic stroke retract function

automatic retract on dog back to home position/automatic stroke retract function

Returns to home position to the front end of the dog based on the front end of the proximity dog.

automatic retract on dog back to home position/automatic stroke retract function

Returns to home position to the Z-phase pulse with respect to the first Z-phase pulse.

Returns to home position upon Z-phase pulse after an external limit is detected.

(LSP/LSN)/software stroke limit/mark detection function (Note 3)/override

Positioning by specifying the station position (Note 7)

The maximum number of divisions: 255

Point table No. input method/position data input method

automatic continuous operation to a point table selected at startup/

automatic continuous operation to the point table No. 1

Positions to the specified station. Rotation direction settable

Manual feeding is executed with a manual pulse generator.

Returns to home position upon hitting the stroke end.

Sets a home position where SON (Servo-on) signal turns on.

Returns to home position based on the rear end of the proximity dog.

Returns to home position based on the front end of the proximity dog.

Torque limit automatic changing function

Returns to home position without external limits.

High-speed automatic positioning to a defined home position

speed command set with parameters.

Returns to home position without dog.

Home position address settable

proximity dog.

1 - 3

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

Note 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection].

2. The automatic positioning to home position function is not available with the program method and the indexer method.

3. Indexer method does not have the mark detection function.

4. Dog type last Z-phase reference home position return and dogless Z-phase reference home position return type are not

compatible with direct drive motors and incremental linear encoders.

5. For MR-J4-_A_-RJ servo amplifiers with a capacity of 100 W or more, the RS-485 communication is available with the servo

amplifiers manufactured in November, 2014 or later.

6. For MR-J4-03A6-RJ servo amplifiers, point table No. 1 to No. 99 can be set with the operation section (4 push buttons). Use

MR Configurator2 to set point table No. 100 to 255. (Refer to section 3.2.5.)

7. For MR-J4-03A6-RJ servo amplifiers, up to six points of DO are available; therefore, PT0 (Point table No. output 1) to PT7

(Point table No. output 8) or PS0 (Station output 1) to PS7 (Station output 8) cannot be outputted simultaneously.

1 - 4

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

1.3 Function list

POINT

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

The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".

Function Description

This function achieves a high response and stable control following the ideal
model. The two-degrees-of-freedom model adaptive control enables you to
set a response to the command and response to the disturbance separately.

Model adaptive control

Positioning mode
(point table method)

Positioning mode
(program method)

Positioning mode
(indexer method)

Roll feed display function

Current
position
latch

Mark
detection

Infinite feed function
(setting degree)

Simple cam function

function

Interrupt
positioning
function

Additionally, this function can be disabled. To disable this function, refer to
section 7.5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". This is
available with servo amplifiers with software version B4 or later. Check the
software version using MR Configurator2.

Set 1 to 255 point tables in advance, and select any point table to perform
operation in accordance with the set values. To select point tables, use
external input signals or communication function.

Set 1 to 256 programs in advance and select any program to perform
operation in accordance with the programs. To select programs, use
external input signals or communication function.

Set 2 to 255 divided stations in advance to perform operation to the station
positions. To select station positions, use external input signals or
communication function.

Positions based on specified travel distance from a status display "0" of
current/command positions at start.

When the mark detection signal turns on, the current position is latched. The
latched data can be read with communication commands.

When MSD (Mark detection) turns on, this function converts the remaining
distance to the travel amount set in [Pr. PT30] and [Pr. PT31] (Mark sensor
stop travel distance).

This is available with servo amplifiers with software version B7 or later.

When the unit of position data of the automatic operation or manual
operation is set to degree, the detection of [AL. E3.1 Multi-revolution counter
travel distance excess warning] is disabled and the home position is retained
even if the servo motor rotates 32768 revolutions or more are in the same
direction. Thus, the current position is restored after the power is cycled.

This function can be used with the absolute position detection system.
This is available with servo amplifiers with software version B7 or later.

This function enables the encoder following function, mark sensor input
compensation function, synchronous operation using positioning data, and
synchronous interpolation operation.

This function is not available with the servo amplifier to which the MR-D30
unit has been connected. This is available with servo amplifiers with
software version B7 or later.

This function will be available with MR-J4-03A6-RJ servo amplifiers in the
future.

Control mode

Detailed

explanation

CL

CP/BCD

PS

Chapter 4

Chapter 5

Chapter 6

Section 4.5

Section

12.2.1

Section

12.2.2

Section

12.3

Section

12.1

1 - 5

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

Control mode

Function Description

Dog type/count type/data setting type/stopper type/home position
ignorance/dog type rear end reference/count type front end reference/dog

home position return

High-resolution encoder

Absolute position
detection system

Gain switching function

Advanced vibration
suppression control II

Machine resonance
suppression filter

Shaft resonance
suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration
suppression control

Electronic gear

Auto tuning

Brake unit

Power regeneration
converter

Regenerative option

Alarm history clear Alarm history is cleared.

Input signal selection
(device settings)

cradle type/dog type last Z-phase reference/dog type Z-phase
reference/dogless Z-phase reference

Torque limit changing dog type/torque limit changing data set type
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the

rotary servo motor compatible with the MELSERVO-J4 series. However, the
encoder resolution of the rotary servo motor compatible with MR-J4-03A6­RJ servo amplifiers will be 262144 pulses/rev.

Home position return is required only once, and not required at every power­on. Only "12.1 Summary" and "12.2 Battery" will be appropriate references
for the positioning mode.

You can switch gains during rotation/stop, and can use input devices to
switch gains during operation.

This function suppresses vibration at the arm end or residual vibration.

This is a filter function (notch filter) which decreases the gain of the specific
frequency to suppress the resonance of the mechanical system.

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.

Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as servo system
response is increased.

Analyzes the frequency characteristic of the mechanical system by simply
connecting 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 load to motor inertia ratio is high for such as roll send axes.

Suppresses vibration of ±1 pulse generated at a servo motor stop.

Position commands can be multiplied by 1/864 to 33935.
Position commands can be multiplied by 1/9999 to 9999.
Automatically adjusts the gain to optimum value if load applied to the servo

motor shaft varies.
Used when the regenerative option cannot provide enough regenerative

power.
Can be used for the 5 kW or more servo amplifier.
This is not available with MR-J4-03A6-RJ servo amplifiers.
Used when the regenerative option cannot provide enough regenerative

power.
Can be used for the 5 kW or more servo amplifier.
This is not available with MR-J4-03A6-RJ servo amplifiers.
Used when the built-in regenerative resistor of the servo amplifier does not

have sufficient regenerative capability for the regenerative power generated.
This is not available with MR-J4-03A6-RJ servo amplifiers.

ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo­on) and other input device can be assigned to any pins.

CL

CP/BCD

Detailed

explanation

PS

Section 4.4
Section 5.4

Section 6.4

MR-J4-_A_
chapter 12

MR-J4-_A_
section 7.2

MR-J4-_A_
section 7.1.5

MR-J4-_A_
section 7.1.1

MR-J4-_A_
section 7.1.3

MR-J4-_A_
section 7.1.2

MR-J4-_A_
section 7.1.4

[Pr. PE41]

[Pr. PB24]

[Pr. PA06]
[Pr. PA07]

MR-J4-_A_
section 6.3

MR-J4-_A_
section 11.3

MR-J4-_A_
section 11.4

MR-J4-_A_
section 11.2

[Pr. PC18]
[Pr. PD04]
[Pr. PD06]
[Pr. PD08]
[Pr. PD10]
[Pr. PD12]
[Pr. PD14]
[Pr. PD18]
[Pr. PD20]
[Pr. PD22]
[Pr. PD44]
[Pr. PD46]

1 - 6

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

Function Description

Output signal selection
(device settings)

Output signal (DO) forced
output

Command pulse selection Supports only A-axis/B-axis pulse trains.

Torque limit Servo motor torque can be limited to any value.

Status display

External I/O signal display On/off statuses of external I/O signals are shown on the display.

Alarm code output

Test operation mode

Analog monitor output Servo status is outputted in terms of voltage in real time.

MR Configurator2

Linear servo system

Direct drive servo system

Fully closed loop system

One-touch tuning

The output devices including MBR (Electromagnetic brake interlock) can be
assigned to certain pins of the CN1 connector.

However, [Pr. PD47] is not available with MR-J4-03A6-RJ servo amplifiers.

Output signal can be forced on/off independently of the servo status.
Use this function for checking output signal wiring, etc.

Servo status is shown on the 5-digit, 7-segment LED display.
For MR-J4-03A6-RJ servo amplifiers, the servo status is shown on the 3-

digit, 7-segment LED display.

If an alarm has occurred, the corresponding alarm number is outputted in 3­bit code.

Jog operation/positioning operation/motor-less operation/DO forced
output/program operation/single-step feed

However, MR Configurator2 is necessary for positioning operation, program
operation, and single-step feed.

Using a personal computer, you can perform the parameter setting, test
operation, monitoring, and others.

Linear servo system can be configured using a linear servo motor and linear
encoder.

For the home position return, refer to the chapter indicated in the detailed
explanation field and section 4.4.15.

This is not available with MR-J4-03A6-RJ servo amplifiers.
The direct drive servo system can be configured to drive a direct drive

motor.
This is not available with MR-J4-03A6-RJ servo amplifiers.
Fully closed loop system can be configured using the load-side encoder.
For the home position return, refer to the chapter indicated in the detailed

explanation field and section 4.4.16.
This is not available with MR-J4-03A6-RJ servo amplifiers.

Gain adjustment is performed just by one click on a certain button on MR
Configurator2 or operation section.

Control mode

CL

CP/BCD

[Pr. PA13]

Detailed

explanation

PS

[Pr. PD23] to
[Pr. PD26]
[Pr. PD28]
[Pr. PD47]
Section 3.1.8
Section 3.2.8
MR-J4-_A_

section 4.5.8
section

18.5.9

[Pr. PA11]
[Pr. PA12]
Section

3.1.2
Section

3.2.2
Section

3.1.7
Section

3.2.7

Chapter 8

Section

3.1.8
Section

3.1.9
Section

3.2.8
Section

3.2.9
MR-J4-_A_

section 4.5.8
section 4.5.9
section

18.5.9
section

18.5.10
[Pr. PC14]
[Pr. PC15]
MR-J4-_A_

section 11.7

MR-J4-_A_
chapter 15

MR-J4-_A_
chapter 16

MR-J4-_A_
chapter 17

MR-J4-_A_
section 6.2

section

18.5.4

1 - 7

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

Function Description

This function which complies with the SEMI-F47 standard enables to avoid
triggering [AL. 10 Undervoltage] using the electrical energy charged in the

SEMI-F47 function

Tough drive function

Drive recorder function

STO function

Servo amplifier life
diagnosis function

Power monitoring function

Machine diagnosis
function

Lost motion compensation
function

Super trace control

Limit switch

S-pattern
acceleration/deceleration

Software limit

Analog override

Digital override

capacitor in case that an instantaneous power failure occurs during
operation.

This is not available with MR-J4-03A6-RJ servo amplifiers.
This function makes the equipment continue operating even under the

condition that an alarm occurs.
The tough drive function includes two types: the vibration tough drive and

the instantaneous power failure tough drive.
MR-J4-03A6-RJ servo amplifiers are not compatible with 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.

However, 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 amplifier complies with the STO function as functional safety of IEC/EN
61800-5-2. You can create a safety system for the equipment easily.

This is not available with MR-J4-03A6-RJ servo amplifiers.

You can check the cumulative energization time and the number of on/off
times of the inrush relay. This function gives an indication of the replacement
time for parts of the 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 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 parts, including a ball screw and bearing.

MR Configurator2 is necessary for this function.

This function improves the response delay occurred when the machine
moving direction is reversed. This is used with servo amplifiers with software
version B4 or later. Check the software version of the servo amplifier with
MR Configurator2.

This function sets constant and uniform acceleration/deceleration droop
pulses to almost 0. This is used with servo amplifiers with software version
B4 or later. Check the software version of the servo amplifier with MR
Configurator2.

Limits travel intervals using LSP (Forward rotation stroke end) and LSN
(Reverse rotation stroke end).

Enables smooth acceleration and deceleration.
Set S-pattern acceleration/deceleration time constants with [Pr. PC03].
Compared with linear acceleration/deceleration, the

acceleration/deceleration time will be longer for the S-pattern
acceleration/deceleration time constants regardless of command speed.

Limits travel intervals by address using parameters.
Enables the same function with the limit switch by setting parameters.

Limits a servo motor speed with analog inputs.
A value can be changed from 0% to 200% for a set speed.

A commanded speed multiplied by an override value selected with OVR
(Override selection) will be an actual servo motor speed.

A value can be changed from 0% to 360% for a set speed.

Control mode

CL

CP/BCD

Section 7.4

Section 2.4

Detailed

explanation

PS

MR-J4-_A_
section 7.4

[Pr. PA20]
[Pr. PF25]

MR-J4-_A_
section 7.3

[Pr. PA23]

MR-J4-_A_
chapter 13

MR-J4-_A_
section 7.6

MR-J4-_A_
section 7.7

[Pr. PC03]
section 5.2.2

[Pr. PT42]
[Pr. PT43]
section

6.4.4 (2)

1 - 8

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

Function Description

After an operation travels to a target position with a JOG operation or

Teaching function

MR-D01 extension I/O unit

Modbus-RTU
communication function

High-resolution analog
input (VC)

manual pulse generator operation, pushing the SET button of the operation
part or turning on TCH (Teach) will import position data.

MR-D01 is an extension I/O unit that can extend the input/output signals of
MR-J4-_A_-RJ servo amplifiers.

MR-D01 extension I/O unit is available with servo amplifiers with software
version B7 or later.

The Modbus protocol uses dedicated message frames for the serial
communication between a master and slaves. Using the functions in the
message frames enables to read or write data from/to parameters, write
input commands, and check operation status of servo amplifiers. When the
indexer method is used, there are functional restrictions.

This function is supported by MR-J4-_A_-RJ servo amplifiers with a capacity
of 100 W or more manufactured in November, 2014 or later.

This function will be available with MR-J4-03A6-RJ servo amplifiers in the
future.

The analog input resolution can be increased to 16 bits. This function is
available with servo amplifiers manufactured in November 2014 or later.

This is not available with MR-J4-03A6-RJ servo amplifiers.

Control mode

CL

CP/BCD

[Pr. PC60]

Detailed

explanation

PS

Section

3.1.10
Section

3.2.10

Chapter 11

MR-J4-_A_­RJ Servo
Amplifier
Instruction
Manual
(Modbus­RTU
Protocol)

1 - 9

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

1.4 Configuration including peripheral equipment

CAUTION

(1) MR-J4-_A_-RJ 100 W or more

The following illustration is an example of MR-J4-20A-RJ.

(Note 2)
Power supply

Molded-case
circuit breaker
(MCCB)

RS T

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.

POINT

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

Personal
computer

MR Configurator2

CN5

(Note 3)
Magnetic
contactor
(MC)

(Note 1)

Line noise filter
(FR-BSF01)

Power factor
improving DC
reactor
(FR-HEL)

Regenerative
option

L1
L2
L3

P+

C

P3

P4

L11

L21

D (Note 5)

CN6

To RS-422/RS-485 communication

CN3

controller, parameter unit, etc.

CN8

Analog monitor

To safety relay or
MR-J3-D05 safety
logic unit

U

V

W

CN1

CN2

CN2L (Note 4)

CN4

Battery

Manual pulse generator

Junction terminal block

Servo motor

1 - 10

1. FUNCTIONS AND CONFIGURATION

A

A

y

www.kavrammuhendislik.com.tr

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

2.

3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop

4. When using MR-J4-_A_-RJ servo amplifiers with a capacity of 100 W or more in the linear servo system or in the fully closed

5.

(2) MR-J4-03A6-RJ

48 V DC main circuit power suppl

When not using the power factor improving DC reactor, short P3 and P4.

1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A-RJ or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to
section 1.3 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn
off the magnetic contactor.

loop system, connect an external encoder to this connector. Refer to Table 1.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual" and "Linear Encoder Instruction Manual" for the connectible external encoders.

lways connect between P+ and D terminals. When using the regenerative option, refer to section 11.2 of "MR-J4-_A_(-RJ)
Servo Amplifier Instruction Manual".

48 V DC

power

supply

+-

24 V DC

power
supply

-+

Circuit

protector

MR Configurator2

Personal
computer

CN3

CN4

CNP1
(Note)

24

0

PM

Relay

24 V DC main circuit power supply

24 V DC

power
supply

-+

Circuit

protector

PM 0 24

Note. For details, refer to section 18.3.2 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

CN1

CN2

CNP1

MR-BAT6V1SET-A

Manual pulse generator

Junction terminal block

Servo motor

1 - 11

1. FUNCTIONS AND CONFIGURATION

www.kavrammuhendislik.com.tr

MEMO

1 - 12

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

2. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
when confirming whether the charge lamp is off or not, always confirm it from the
front of the servo amplifier.

WARNING

Ground the servo amplifier and servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply
terminals.

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

Servo amplifie

or MR-D01

DOCOM

(DOCOMD)

Control output
signal

For sink output interface

24 V DC

RA

Servo amplifier

or MR-D01

For source output interface

(DOCOMD)

Control output
signal

DOCOM

24 V DC

RA

CAUTION

Use a noise filter, etc. to minimize the influence of electromagnetic interference.
Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(­H)) 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/W) to the servo motor power input
(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may
cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.

M

2 - 1

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details, refer to each section
indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".

Item

Input power supply circuit MR-J4-_A_ section 3.1 MR-J4-_A_ section 18.3.1

Explanation of power supply system (except section 2.6
Power-on sequence)

Detailed explanation of signals MR-J4-_A_ section 3.6

Forced stop deceleration function MR-J4-_A_ section 3.7

Alarm occurrence timing chart MR-J4-_A_ section 3.8 MR-J4-_A_ section 18.3.8

Interface (except for section 2.5 Internal connection
diagram)

Servo motor with an electromagnetic brake MR-J4-_A_ section 3.10

Grounding MR-J4-_A_ section 3.11 MR-J4-_A_ section 18.3.10

MR-J4-_A_-RJ 100 W

or more

MR-J4-_A_ section 3.3 MR-J4-_A_ section 18.3.2

Detailed explanation

MR-J4-03A6-RJ

MR-J4-_A_ section 3.9

2 - 2

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

2.1 I/O signal connection example

2.1.1 MR-J4-_A_-RJ 100 W or more

(1) Point table method

POINT

Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with
[Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

(Note 3, 5)

(Note 15)

(Note 5)

(Note 18, 19)

(Note 11) Analog override

(Note 8) Analog torque limit

(Note 9)
MR Configurator2

Forced stop 2
Servo-on
Operation mode selection 1
Forward rotation start
Reverse rotation start
Proximity dog
Forward rotation stroke end
Reverse rotation stroke end
Point table No. selection 1
Point table No. selection 2
Point table No. selection 3
Point table No. selection 4

±10 V/0% to 200%

+10 V/maximum torque

Personal
computer

+

24 V DC (Note 4, 14)

Upper limit
setting

Upper limit
setting

(Note 12)
Short-circuit connector
(Packed with the servo amplifier)

10 m or shorter

(Note 13)

Main circuit

power supply

2 m or shorter

(Note 10)
USB cable
(option)

EM2
SON
MD0

ST1

ST2
DOG
LSP
LSN

DI0

DI1

DI2

DI3

DICOM

DICOM

OPC

P15R

VC

LG

TLA

SD

Servo amplifie

(Note 7)

CN1

(Note 7)
CN1

42
15
16
17
18
45
43
44
19

41

10

35
20
21

12

1
2

28

Plate

27

Plate

(Note 7)

CN6

CN5

CN8

DOCOM

46

47 DOCOM

ALM

48

22 CPO

23 ZP

25 MEND

24 INP

49

RD

13

(Note 16)

14

(Note 16)

8LZ
9 LZR
4LA
5 LAR
6LB
7 LBR

34 LG
33 OP

SD

2 m or shorter

3 MO1
1LG
2 MO2

2 m or shorter

(Note 1)

24 V DC (Note 4, 14)

(Note 2)

RA1

RA2

RA3

RA4

RA5

RA6

10 m or shorter

Malfunction (Note 6)

Rough match

Home position
return completion

Travel completion

In-position

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Control common

Encoder Z-phase pulse
(open-collector)

± 10 V DC
± 10 V DC

(Note 17)

Analog monitor 1

Analog monitor 2

2 - 3

2. SIGNALS AND WIRING

A

_

r

www.kavrammuhendislik.com.tr

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable

when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. A 24

V DC power supply can be used for both input signal and output signal.

5. 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.

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. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10],

9. Use SW1DNC-MRC2-_. (Refer to section 11.7 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".)

10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note

LM (Malfunction) turns on in normal alarm-free condition (normally closed contact).

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual".)

that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3

connector) from being used, and vice versa. They cannot be used together.

RS-422/RS-485

compatible controller

Servo amplifie

MR-PRU03

or

parameter unit

PRU03

10BASE-T cable, etc. (EIA568-compliant)

11. Use an external power supply when inputting a negative voltage.

12. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

amplifier.

14. This diagram shows sink I/O interface.

15. The device can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20],

[Pr. PD22], [Pr. PD44], and [Pr. PD46].

16. These output devices are not assigned by default. Assign the output device with [Pr. PD47] as necessary.

17. These devices are recommended assignments. The device can be changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].

18. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change

them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

19. Supply + of 24 V DC to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin

and the CN1-35 pin. They are not used with source input interface. For the positioning mode, input devices (DI2 and DI3) are

assigned by default.

CN3

2 - 4

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

(2) Program method

POINT

Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with
[Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

(Note 3, 5)

(Note 15)

(Note 5)

(Note 18, 19)

(Note 11) Analog override

(Note 8) Analog torque limit

(Note 9)
MR Configurator2

Forced stop 2
Servo-on
Operation mode selection 1
Forward rotation start
Reverse rotation start
Proximity dog
Forward rotation stroke end
Reverse rotation stroke end
Program No. selection 1
Program No. selection 2
Program No. selection 3
Program No. selection 4

±10 V/0% to 200%

+10 V/maximum torque

Personal
computer

+

24 V DC (Note 4, 14)

Upper limit
setting

Upper limit
setting

(Note 12)
Short-circuit connector
(Packed with the servo amplifier)

10 m or shorter

(Note 13)

Main circuit

power supply

2 m or shorter

(Note 10)
USB cable
(option)

EM2
SON
MD0

ST1
ST2

DOG

LSP
LSN

DI0

DI1

DI2

DI3

DICOM

DICOM

OPC

P15R

VC

LG

TLA

SD

Servo amplifie

(Note 7)

CN1

46

47 DOCOM

1
2

48

22 CPO

23 ZP

25 MEND

24 INP

49

13
14

34 LG
33 OP

Plate

(Note 7)

CN6

(Note 7)
CN1

42
15
16
17
18
45
43
44
19

41

10

35
20
21

12

28

27

Plate

CN5

CN8

24 V DC (Note 4, 14)

DOCOM

ALM

RD

(Note 16)

(Note 16)

8LZ
9 LZR
4LA
5 LAR
6LB
7 LBR

SD

2 m or shorter

3 MO1
1LG
2 MO2

2 m or shorter

(Note 1)

(Note 2)

RA1

RA2

RA3

RA4

RA5

RA6

10 m or shorter

Control common

Encoder Z-phase pulse
(open-collector)

Malfunction (Note 6)

Rough match

Home position
return completion

Travel completion

In-position

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Analog monitor 1

± 10 V DC
± 10 V DC

Analog monitor 2

(Note 17)

2 - 5

2. SIGNALS AND WIRING

A

_

r

www.kavrammuhendislik.com.tr

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable

when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. A 24

V DC power supply can be used for both input signal and output signal.

5. 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.

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. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10],

9. Use SW1DNC-MRC2-_. (Refer to section 11.7 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".)

10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note

LM (Malfunction) turns on in normal alarm-free condition (normally closed contact).

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual".)

that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3

connector) from being used, and vice versa. They cannot be used together.

RS-422/RS-485

compatible controller

Servo amplifie

MR-PRU03

or

parameter unit

PRU03

10BASE-T cable, etc. (EIA568-compliant)

11. Use an external power supply when inputting a negative voltage.

12. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

amplifier.

14. This diagram shows sink I/O interface.

15. The device can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20],

[Pr. PD22], [Pr. PD44], and [Pr. PD46].

16. These output devices are not assigned by default. Assign the output device with [Pr. PD47] as necessary.

17. These devices are recommended assignments. The device can be changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].

18. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change

them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

19. Supply + of 24 V DC to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin

and the CN1-35 pin. They are not used with source input interface. For the positioning mode, input devices (DI2 and DI3) are

assigned by default.

CN3

2 - 6

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

(3) Indexer method

POINT

In the indexer method, assign the following input device to CN1-18 pin with [Pr.
PD10].
CN1-18: MD1 (Operation mode selection 2)
Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with
[Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

(Note 3, 5)

(Note 14)

(Note 5)

(Note 17, 18)

Forced stop 2
Servo-on

Operation mode selection 1
Forward rotation start
Operation mode selection 2

External limit/Rotation direction decision/
Automatic speed selection
Forward rotation stroke end

Reverse rotation stroke end

Next station No. selection 1
Next station No. selection 2
Next station No. selection 3
Next station No. selection 4

(Note 8) Analog torque limit

+10 V/maximum torque

(Note 9)
MR Configurator2

Personal
computer

+

10 m or shorter

(Note 12)

Main circuit

power supply

24 V DC (Note 4, 13)

Upper limit
setting

2 m or shorter

(Note 10)
USB cable
(option)

(Note 11)
Short-circuit connector
(Packed with the servo amplifier)

EM2
SON
MD0

ST1

MD1

SIG
LSP
LSN

DI0

DI1

DI2

DI3

DICOM

DICOM

OPC

P15R

LG

TLA

SD

Servo amplifier

(Note 7)

CN1

46

47 DOCOM

42
15
16
17
18
45
43
44
19

41

10

35
20
21

12

1

28

27

48

22 CPO

23 ZP

25 MEND

24 INP

49

13
14

8LZ
9 LZR
4LA
5 LAR
6LB
7 LBR

34 LG
33 OP

Plate

(Note 7)

CN6

3 MO1
1LG
2 MO2

(Note 7)
CN1

Plate

CN5

CN8

24 V DC (Note 4, 13)

DOCOM

ALM

RD

(Note 15)

(Note 15)

10 m or shorter

SD

2 m or shorter

2 m or shorter

(Note 1)

(Note 2)

RA1

RA2

RA3

RA4

RA5

RA6

Control common
Encoder Z-phase pulse
(open-collector)

± 10 V DC
± 10 V DC

Malfunction (Note 6)

Rough match

Home position
return completion

Travel completion

In-position

Ready

Encoder Z-phase pulse
(

(differential line driver)

Encoder A-phase pulse
(

(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Analog monitor 1

Analog monitor 2

(Note 16)

2 - 7

2. SIGNALS AND WIRING

A

_

r

www.kavrammuhendislik.com.tr

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable

when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. A 24

V DC power supply can be used for both input signal and output signal.

5. 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.

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. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10],

9. Use SW1DNC-MRC2-_. (Refer to section 11.7 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".)

10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication.

LM (Malfunction) turns on in normal alarm-free condition (normally closed contact).

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual".)

Note that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3

connector) from being used, and vice versa. They cannot be used together.

RS-422/RS-485

compatible controller

Servo amplifie

MR-PRU03

or

parameter unit

PRU03

10BASE-T cable, etc. (EIA568-compliant)

11. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

amplifier.

13. This diagram shows sink I/O interface.

14. The signals can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20],

[Pr. PD22], [Pr. PD44], and [Pr. PD46].

15. These output devices are not assigned by default. Assign the output device with [Pr. PD47] as necessary.

16. These devices are recommended assignments. The device can be changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].

17. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change

them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

18. Supply + of 24 V DC to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin

and the CN1-35 pin. They are not used with source input interface. For the positioning mode, input devices (DI2 and DI3) are

assigned by default.

CN3

2 - 8

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

2.1.2 MR-J4-03A6-RJ

(1) Point table method

POINT

Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with
[Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

(Note 3, 5)

(Note 14)

(Note 5)

(Note 16, 17)

(Note 11) Analog override

±10 V/0% to 200%

(Note 8) Analog torque limit

+10 V/maximum torque

(Note 9)
MR Configurator2

Forced stop 2
Servo-on
Operation mode selection 1
Forward rotation start
Reverse rotation start
Proximity dog
Forward rotation stroke end
Reverse rotation stroke end
Point table No. selection 1
Point table No. selection 2
Point table No. selection 3
Point table No. selection 4

24 V DC (Note 4, 13)

Upper limit
setting

Upper limit
setting

Personal
computer

+

10 m or less

(Note 12)
Main circuit power supply

DICOM

DICOM

P15R

2 m or less

(Note 10)

USB cable

(option)

EM2
SON
MD0

ST1
ST2

DOG

LSP

LSN

DI0

DI1

DI2

DI3

OPC

VC

LG

TLA

SD

Servo amplifie

(Note 7)

CN1

46

47 DOCOM

(Note 7)

CN1

Plate

CN3

48

22 CPO

42
15

23 ZP

16

25 MEND

17
18

24 INP

45

49

43
44
19

41

10

35
20
21

12

1
2

34 LG

28

33 OP

Plate

27

(Note 7)

CN1
26 MO1
28 LG
29 MO2

CNP1

DOCOM

ALM

RD

8LZ
9 LZR
4LA
5 LAR
6LB
7 LBR

SD

2 m or less

2 m or less

6

24 V DC (Note 4, 13)

(Note 2)

RA1

RA2

RA3

RA4

RA5

RA6

10 m or less

Control common

Encoder Z-phase pulse
(open-collector)

5 V DC ± 4 V DC
5 V DC ± 4 V DC

(Note 1)

Malfunction (Note 6)

Rough match

Home position
return completion

Travel completion

In-position

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Analog monitor 1

Analog monitor 2

(Note 15)

2 - 9

2. SIGNALS AND WIRING

A

_

www.kavrammuhendislik.com.tr

Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the

grounding terminal of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.

300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number

of I/O points. Refer to section 3.9.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value

necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal. For 24 V DC power

for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

5. 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.

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. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10],

9. Use SW1DNC MRC2-_. (Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 11.7.)

10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.

11. Use an external power supply when inputting a negative voltage.

12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

13. This diagram shows sink I/O interface.

14. The devices can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr.

15. Recommended device assignments are shown. The device can be changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].

16. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change

17. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin

LM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual".)

amplifier.

PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].

them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

and the CN1-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (DI2 and DI3)

are assigned by default.

2 - 10

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

(2) Program method

POINT

Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with
[Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

(Note 3, 5)

(Note 14)

(Note 5)

(Note 16, 17)

(Note 11) Analog override

(Note 8) Analog torque limit

(Note 9)
MR Configurator2

Forced stop 2
Servo-on
Operation mode selection 1
Forward rotation start
Reverse rotation start
Proximity dog
Forward rotation stroke end
Reverse rotation stroke end
Program No. selection 1
Program No. selection 2
Program No. selection 3
Program No. selection 4

±10 V/0% to 200%

+10 V/maximum torque

Personal
computer

+

24 V DC (Note 4, 13)

Upper limit
setting

Upper limit
setting

10 m or less

(Note 12)
Main circuit power supply

DICOM

DICOM

P15R

2 m or less

(Note 10)

USB cable

(option)

EM2
SON
MD0

ST1
ST2

DOG

LSP
LSN

DI0

DI1

DI2

DI3

OPC

VC

LG

TLA

SD

Servo amplifie

(Note 7)

CN1

46

47 DOCOM

42
15
16
17
18
45
43
44
19

41

10

35
20
21

12

28

27

1
2

48

22 CPO

23 ZP

25 MEND

24 INP

49

8LZ
9 LZR
4LA
5 LAR
6LB
7 LBR

34 LG
33 OP

Plate

(Note 7)

CN1

26 MO1
28 LG
29 MO2

CNP1

6

(Note 7)
CN1

Plate

CN3

DOCOM

ALM

RD

SD

2 m or less

2 m or less

(Note 1)

24 V DC (Note 4, 13)

(Note 2)

RA1

RA2

RA3

RA4

RA5

RA6

10 m or less

Malfunction (Note 6)

Rough match

Home position
return completion

Travel completion

In-position

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Control common

Encoder Z-phase pulse
(open-collector)

5 V DC ± 4 V DC
5 V DC ± 4 V DC

(Note 15)

Analog monitor 1

Analog monitor 2

2 - 11

2. SIGNALS AND WIRING

A

_

www.kavrammuhendislik.com.tr

Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) to the grounding terminal of

the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.

300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number

of I/O points. Refer to section 3.9.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value

necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal. For 24 V DC power

for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

5. 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.

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. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10],

9. Use SW1DNC MRC2-_. (Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 11.7.)

10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.

11. Use an external power supply when inputting a negative voltage.

12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

13. This diagram shows sink I/O interface.

14. The devices can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr.

15. Recommended device assignments are shown. The device can be changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].

16. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change

17. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin

LM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual".)

amplifier.

PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].

them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

and the CN1-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (DI2 and DI3)

are assigned by default.

2 - 12

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

(3) Indexer method

POINT

In the indexer method, assign the following input device to CN1-18 pin with [Pr.
PD10].
CN1-18: MD1 (Operation mode selection 2)
Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with
[Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

(Note 3, 5)

(Note 13)

(Note 5)

(Note 15, 16)

Forced stop 2
Servo-on
Operation mode selection 1
Forward rotation start

Operation mode selection 2
External limit/Rotation direction decision/
Automatic speed selection
Forward rotation stroke end

Reverse rotation stroke end
Next station No. selection 1

Next station No. selection 2
Next station No. selection 3
Next station No. selection 4

(Note 8) Analog torque limit

+10 V/maximum torque

(Note 9)
MR Configurator2

+

Upper limit
setting

Personal
computer

10 m or less

(Note 11)
Main circuit power supply

24 V DC (Note 4, 12)

2 m or less

(Note 10)

USB cable

(option)

EM2
SON
MD0
ST1
MD1

SIG
LSP
LSN

DI0

DI1

DI2

DI3

DICOM

DICOM

OPC

P15R

LG

TLA

SD

Servo amplifie

(Note 7)

CN1

46

47 DOCOM

42
15
16
17
18
45
43
44
19

41

10

35
20
21

12

28

27

1

48

22 CPO

23 ZP

25 MEND

24 INP

49

34 LG
33 OP

Plate

(Note 7)

CN1

26 MO1
28 LG
29 MO2

CNP1

(Note 7)
CN1

Plate

CN3

DOCOM

ALM

RD

8LZ
9 LZR
4LA
5 LAR
6LB
7 LBR

SD

2 m or less

2 m or less

6

24 V DC (Note 4, 12)

(Note 2)

RA1

RA2

RA3

RA4

RA5

RA6

10 m or less

Control common
Encoder Z-phase pulse
(open-collector)

5 V DC ± 4 V DC
5 V DC ± 4 V DC

(Note 1)

Malfunction (Note 6)

Rough match

Home position
return completion

Travel completion

In-position

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Analog monitor 1

Analog monitor 2

(Note 14)

2 - 13

2. SIGNALS AND WIRING

A

_

www.kavrammuhendislik.com.tr

Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) to the grounding terminal of

the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.

300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number

of I/O points. Refer to section 3.9.2 (1) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" that gives the current value

necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal. For 24 V DC power

for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

5. 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.

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. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10],

9. Use SW1DNC MRC2-_. (Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 11.7.)

10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.

11. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

12. This diagram shows sink I/O interface.

13. The devices can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr.

14. Recommended device assignments are shown. The device can be changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].

15. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change

16. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin

LM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual".)

amplifier.

PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].

them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

and the CN1-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (DI2 and DI3)

are assigned by default.

2 - 14

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

2.2 Connectors and pin assignment

POINT

The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13 of "MR-J4-_A_(-RJ)
Servo Amplifier Instruction Manual".
For the CN1 connector, securely connect the external conductor of the shielded
cable to the ground plate and fix it to the connector shell.

Screw

Cable

Screw

Ground plate

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

2 - 15

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

(1) MR-J4-_A_-RJ 100 W or more

The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. For other views of servo
amplifiers, connector arrangements, and details, refer to chapter 9 of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".

CN5 (USB connector)
Refer to "MR-J4-_A_(-RJ) Servo
Amplifier Instruction Manual"
section 11.7.

CN6

3

MO1

2

MO2

1

LG

CN8
For the STO I/O signal connector,
refer to chapter 13.2 of
"MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".

(Note 2) CN2

2

LG 8

1

P5

4

MRR

3

MR

6

THM2

5

THM1

MXR

7

MX

10

BAT

9

This is a connector of 3M.

(Note 1, 2) CN2L

(using serial encoder)

2

LG 8

1

P5

4

MRR2

3

MR2

6

5

MXR2

7

MX2

10

BAT

9

(Note 1, 2) CN2L

(using A/B/Z-phase pulse encoder)

2

LG 8

1

P5

4

PAR

3

6

PBR

5

PB

PA

PZR

PZ

10

PSEL

9

7

CN3 (RS-422/RS485 connector)
Refer to "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual" chapter 14.

CN4 (battery connector)
Refer to "MR-J4-_A_(-RJ)
Servo Amplifier Instruction
Manual" section 11.8.

The frame of the CN1 connector is connected
to the PE (grounding) terminal in the servo
amplifier.

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25 50

CN1

27

29

31

33

35

37

39

41

43

45

47

49

26

28

30

32

34

36

38

40

42

44

46

48

Note 1. This CN2L is a connector of 3M.

2. For the connection with external encoders, refer to table 1.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction

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.

When using any other connector, refer to each servo motor instruction manual.

Manual".

2 - 16

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Pin No.

1 P15R P15R P15R
2 I VC VC
3 LG LG LG
4 O LA LA LA
5 O LAR LAR LAR
6 O LB LB LB
7 O LBR LBR LBR
8 O LZ LZ LZ

9 O LZR LZR LZR
10 (Note 8) I (Note 10) (Note 10) (Note 10) PD44 (Note 9)
11 I PG PG PG
12 OPC OPC OPC
13 O (Note 4) (Note 4) (Note 4) PD47
14 O (Note 4) (Note 4) (Note 4) PD47
15 I SON SON SON PD04
16 I MD0 MD0 MD0 PD06
17 I ST1 ST1 ST1 PD08

18 I ST2 ST2

19 I DI0 DI0 DI0 PD12
20 DICOM DICOM DICOM
21 DICOM DICOM DICOM

22 O

23 O (Note 6) ZP (Note 6) ZP (Note 6) ZP PD24

24 or

less

25 O

26

27 I

28 LG LG LG
29
30 LG LG LG
31
32
33 O OP OP OP
34 LG LG LG
35 (Note 8) I (Note 10) (Note 10) (Note 10) PD46 (Note 9)
36 I NG NG NG
37

(Note 12)

38

(Note 12)

39
40
41 I DI1 DI1 DI1 PD14
42 I EM2 EM2 EM2
43 I LSP LSP LSP PD18
44 I LSN LSN LSN PD20
45 I DOG DOG SIG PD22
46 DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM
48 O ALM ALM ALM
49 O RD RD RD PD28
50

(Note 1)

I/O

O INP INP INP PD25

I (Note 11) (Note 11) (Note 11) PD44 (Note 9)

I (Note 11) (Note 11) (Note 11) PD46 (Note 9)

(Note 2) I/O signals in control modes

CP/BCD

(Note 7)

(Note 6)

CPO

(Note 6)

MEND

(Note 3)

TLA

CL PS

(Note 5)

MD1

(Note 6)

CPO

(Note 6)

MEND

(Note 3)

TLA

(Note 6)

CPO

(Note 6)

MEND

(Note 3)

TLA

Related parameter

PD10

PD23

PD26

2 - 17

2. SIGNALS AND WIRING

A

A

A

www.kavrammuhendislik.com.tr

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

2. CP: Positioning mode (point table method)

3. TLA will be available when TL (External torque limit selection) is enabled with [Pr.

4.

5. In the indexer method, assign the following input device to CN1-18 pin with [Pr. PD10].

6.

7. For BCD input, refer to chapter 12.

8. Supply + of 24 V DC to OPC (power input for open-collector sink interface) when using

9. This parameter is available with servo amplifiers with software version B7 or later.

10. This signal is used with sink interface. Input devices are not assigned by default. Assign

11. This signal is used with source interface. Input devices are not assigned by default.

12. These pins are available with servo amplifiers having software version B7 or later, and

BCD: Positioning mode (point table method in the BCD input positioning operation)

This method is available only when the MR-D01 unit is connected. Refer to

chapter 12 for details.

CL: Positioning mode (program method)

PS: Positioning mode (indexer method)

PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr.

PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].

ssign any device with [Pr. PD47].

CN1-18: MD1 (Operation mode selection 2)

ssign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr.

PD23], [Pr. PD24], and [Pr. PD26].

CN1-22: CPO (Rough match)

CN1-23: ZP (Home position return completion)

CN1-25: MEND (Travel completion)

the CN1-10 pin and CN1-35 pin for DI.

the input devices with [Pr. PD44] and [Pr. PD46] as necessary. In addition, supply + of

24 DC V to the CN1-12 pin of OPC (Power input for open-collector sink interface). This

is available with servo amplifiers with software version B7 or later.

ssign the input devices with [Pr. PD44] and [Pr. PD46] as necessary.

manufactured in January 2015 or later.

2 - 18

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

(2) MR-J4-03A6-RJ

For the views of servo amplifiers, connector arrangements, and details, refer to section 18.6 of "MR-J4­_A_(-RJ) Servo Amplifier Instruction Manual".

CN1

CN3 (USB connector)

1A

MR

2A

3A

4A
P5
5A

SHD

CN2

Refer to "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual" section 11.7.

1B

MRR

2B

3B

4B
LG
5B

BAT

CN4
(Battery connector)
Refer to "MR-J4-_A_(-RJ)
Servo Amplifier Instruction
Manual" section 11.8.

The frame of the CN1 connector is connected to the
noiseless grounding terminal in the servo amplifier.

50

48

46

44

42

40

38

36

34

32

30

28

26

49

47

45

43

41

39

37

35

33

31

29

27

25

23

21

19

17

15

13

11

24

22

20

18

16

14

12

10

9

8

7

6

5

4

3

2

1

2 - 19

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

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

Pin No.

(Note 1)

I/O

1 P15R P15R P15R

2 I VC VC

3 LG LG LG

4 O LA LA LA

5 O LAR LAR LAR

6 O LB LB LB

7 O LBR LBR LBR

8 O LZ LZ LZ

9 O LZR LZR LZR

10 (Note 6) I (Note 8) (Note 8) (Note 8) PD44 (Note 7)

11 I PG PG PG

12 OPC OPC OPC

13 O SDP SDP SDP

14 O SDN SDN SDN

15 I SON SON SON PD04

16 I MD0 MD0 MD0 PD06

17 I ST1 ST1 ST1 PD08

18 I ST2 ST2 (Note 4) MD1 PD10

19 I DI0 DI0 DI0 PD12

20 DICOM DICOM DICOM

21 DICOM DICOM DICOM

22 O

23 O (Note 5) ZP (Note 5) ZP (Note 5) ZP PD24

24 O INP INP INP PD25

25 O

26 O MO1 MO1 MO1 PC14

27 I (Note 3) TLA (Note 3) TLA (Note 3) TLA

28 LG LG LG

29 O MO2 MO2 MO2 PC15

30 LG LG LG

31 I TRE TRE TRE

32

33 O OP OP OP

34 LG LG LG

35 (Note 6) I (Note 8) (Note 8) (Note 8) PD46 (Note 7)

36 I NG NG NG

37 I (Note 9) (Note 9) (Note 9) PD44 (Note 7)

38 I (Note 9) (Note 9) (Note 9) PD46 (Note 7)

39 I RDP RDP RDP

40 I RDN RDN RDN

41 I DI1 DI1 DI1 PD14

42 I EM2 EM2 EM2

43 I LSP LSP LSP PD18

44 I LSN LSN LSN PD20

45 I DOG DOG SIG PD22

46 DOCOM DOCOM DOCOM

47 DOCOM DOCOM DOCOM

48 O ALM ALM ALM

49 O RD RD RD PD28

50

(Note 2) I/O signals in control modes

CP CL PS

(Note 5)

CPO

(Note 5)

MEND

(Note 5)

CPO

(Note 5)

MEND

(Note 5)

CPO

(Note 5)

MEND

Related parameter

PD23

PD26

2 - 20

2. SIGNALS AND WIRING

A

www.kavrammuhendislik.com.tr

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

2. CP: Positioning mode (point table method)

3. TLA will be available when TL (External torque limit selection) is enabled with [Pr.

4. In the indexer method, assign the following input device to CN1-18 pin with [Pr. PD10].

5.

6. Supply + of 24 V DC to OPC (power input for open-collector sink interface) when using

7. This is available with servo amplifiers with software version B7 or later.

8. This is used with sink interface. Input devices are not assigned by default. Assign the

9. This is used with source interface. Input devices are not assigned by default. Assign the

CL: Positioning mode (program method)

PS: Positioning mode (indexer method)

PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr.

PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].

CN1-18: MD1 (Operation mode selection 2)

ssign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr.

PD23], [Pr. PD24], and [Pr. PD26].

CN1-22: CPO (Rough match)

CN1-23: ZP (Home position return completion)

CN1-25: MEND (Travel completion)

the CN1-10 and CN1-35 pins for DI.

input devices with [Pr. PD44] and [Pr. PD46] as necessary. In addition, supply + of 24

DC V to the CN1-12 pin of OPC (Power input for open-collector sink interface).

input devices with [Pr. PD44] and [Pr. PD46] as necessary.

2 - 21

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

2.3 Signal (device) explanations

The pin numbers in the connector pin No. column are those in the initial status.
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of "MR-J4-_A_(-RJ)
Servo Amplifier Instruction Manual". The symbols in the control mode field of the table show the followings.
CP: Positioning mode (point table method)
BCD: Positioning mode (point table method in the BCD input positioning operation)

This method is available only when the MR-D01 unit is connected. Refer to chapter 12 for details.
CL: Positioning mode (program method)
PS: Positioning mode (indexer method)
"

" and " " of the table show the followings.
: Usable device by default.
: Usable device by setting the following parameters.

[Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22] to
[Pr. PD26], [Pr. PD28], [Pr. PD44], [Pr. PD46], and [Pr. PD47]

(1) I/O device

(a) Input device

Device Symbol

Connector

pin No.

Function and application

division

I/O

Control

mode

CL

PS

Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a

stop with commands.
Turn EM2 on (short between commons) in the forced stop state to reset

that state.
The following shows the setting of [Pr. PA04].

[Pr. PA04]

setting

EM2 or EM1 is off Alarm occurred

0 _ _ _ EM1

2 _ _ _ EM2

EM2 and EM1 are mutually exclusive.

Forced stop 1 EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1.

When EM1 is turned off (open between commons), the base circuit shuts
off, and the dynamic brake operates to decelerate the servo motor to a
stop.

Turn EM1 on (short between commons) in the forced stop state to reset
that state.

Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo amplifier

ready to operate. (servo-on status)
Turn it off to shut off the base circuit and coast the servo motor.
Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals

connected) automatically in the servo amplifier.

Reset RES Turn on RES for more than 50 ms to reset the alarm.

Some alarms cannot be deactivated by RES (Reset). Refer to chapter 8.
Turning RES on in an alarm-free status shuts off the base circuit. The base

circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30].
This device is not designed to make a stop. Do not turn it on during

operation.

EM2/EM1

MBR (Electromagnetic
brake interlock) turns
off without the forced
stop deceleration.

MBR (Electromagnetic
brake interlock) turns
off after the forced
stop deceleration.

Deceleration method

MBR (Electromagnetic
brake interlock) turns
off without the forced
stop deceleration.

MBR (Electromagnetic
brake interlock) turns
off after the forced
stop deceleration.

CP/BCD

DI-1

DI-1

DI-1

DI-1

2 - 22

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Forward rotation
stroke end

Reverse rotation
stroke end

External torque
limit selection

Internal torque
limit selection

Connector

pin No.

LSP CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a

sudden stop and make it servo-locked.
Setting [Pr. PD30] to " _ _ _ 1" will enable "Slow stop (home position

erased)".

LSN CN1-44 (Note) Input device Operation

1 1

0 1

1 0

0 0

Note. 0: Off

The stop method can be changed with [Pr. PD30].
Set [Pr. PD01] as indicated below to switch on the signals (keep terminals

connected) automatically in the servo amplifier.

LSP LSN

When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs, and
WNG (Warning) turns on. When using WNG, enable it by setting [Pr.
PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].

However, [Pr. PD47] is not available with MR-J4-03A6-RJ servo amplifiers.

TL Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12

Reverse torque limit], and turning on it will enable TLA (Analog torque
limit). For details, refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ) Servo
Amplifier Instruction Manual".

For the indexer method, [Pr. PC35 Internal torque limit 2] will be enabled
automatically depending on operation status. Refer to each timing chart in
section 6.2 and section 6.4.5.

TL1 To select [Pr. PC35 Internal torque limit 2/internal thrust limit 2], enable

TL1 with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr.
PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46]. For
details, refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".

For the indexer method, [Pr. PC35 Internal torque limit 2] will be enabled
automatically depending on operation status. Refer to each timing chart in
section 6.2 and section 6.4.5.

Function and application

LSP LSN

1: On

[Pr. PD01]

_ 4 _ _

_ 8 _ _

_ C _ _

Automatic

Automatic

CCW

direction

Positive

direction

on

on

CW

direction

Negative

direction

Status

Automatic

on

Automatic

on

Control

mode

I/O

division

DI-1

DI-1

DI-1

CL

CP/BCD

PS

2 - 23

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Operation mode
selection 1

Operation mode
selection 2

Connector

pin No.

MD0 CN1-16 Point table method/program method

Turning on MD0 will be automatic operation mode, off will be manual

MD1 DI-1

operation mode. Changing an operation mode during operation will clear
the command remaining distance and the motor will decelerate to stop.

MD1 cannot be used.

Indexer method
Select an operation mode with combinations of MD0 and MD1. Refer to the

following table for combinations.
Changing an operation mode during operation will clear the command

remaining distance and the motor will decelerate to stop.

Device (Note)

MD1 MD0

0 0 Home position return mode

0 1 Manual operation mode

Note. 0: Off

Function and application

Automatic operation mode 1

1 0

1 1

1: On

Automatic operation mode 2

Operation mode

(rotation direction specifying

indexer)

(shortest rotating indexer)

Control

mode

I/O

division

DI-1

CL

CP/BCD

PS

2 - 24

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Forward rotation
start

Reverse rotation
start

Connector

pin No.

ST1 CN1-17 Point table method

1. Absolute value command method
Turning on ST1 during automatic operation will execute one positioning

based on position data set in point tables.
Turning on ST1 during home position return will also start home

position return.
Turning on ST1 during JOG operation will rotate the motor in the

forward rotation direction while it is on.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during JOG operation will stop the servo

motor.

2. Incremental value command method
Turning on ST1 during automatic operation will execute one positioning

in the forward rotation direction based on position data set in point
tables.

Turning on ST1 during home position return will also start home
position return.

Turning on ST1 during JOG operation will rotate the motor in the
forward rotation direction while it is on.

The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during JOG operation will stop the servo

motor.

Program method

1. Automatic operation mode
Turning on ST1 will execute a program operation selected with DI0 to

DI7.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during manual operation mode will stop

the servo motor.

2. Manual operation mode
Turning on ST1 will rotate the motor in the forward rotation direction

while it is on.
The forward rotation means address increasing direction.
Turning on both ST1 and ST2 during manual operation mode will stop

the servo motor.

Indexer method

1. Automatic operation mode 1 or automatic operation mode 2
Turning on ST1 will execute one positioning to the specified station No.

2. Manual operation mode
Turning on ST1 with the station JOG operation will rotate the motor in

the specified direction with SIG only while it is on. Turning off ST1 will
execute a positioning to a station which can be decelerated to a stop.

Turning on ST1 with JOG operation will rotate the motor in the direction
specified with SIG only while it is on. Turning off will decelerate the
motor to a stop regardless of stations.

3. Home position return mode
Turning on ST1 will also start home position return.

ST2 CN1-18 Point table method

Use this device with the incremental value command method. Turning on
ST2 during automatic operation will execute one positioning in the reverse
rotation direction based on position data set in point tables. Turning on ST2
during JOG operation will rotate the motor in the reverse rotation direction
while it is on. Turning on both ST1 and ST2 will stop the servo motor.

Turning on ST2 during in the home position return mode will execute an
automatic positioning to the home position.

The reverse rotation means address decreasing direction.
Turning on both ST1 and ST2 during JOG operation will stop the servo

motor.
Program method
Turning on ST2 with JOG operation in the manual operation mode will

rotate the motor in the reverse rotation direction while it is on. Turning on
both ST1 and ST2 will stop the servo motor.

The reverse rotation means address decreasing direction.
Turning on both ST1 and ST2 during manual operation mode will stop the

servo motor. ST2 will be disabled in the automatic operation mode.
Indexer method
This device is not used.

Function and application

Control

mode

I/O

division

DI-1

DI-1

CL

CP/BCD

PS

2 - 25

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Temporary
stop/restart

Proximity dog DOG CN1-45 Turning off DOG will detect a proximity dog. The polarity for dog detection

External limit/
Rotation
direction
decision/
Automatic speed
selection

Manual pulse
generator
multiplication 1

Manual pulse
generator
multiplication 2

TSTP Turning on TSTP during automatic operation will temporarily stop the

Connector

pin No.

motor.
Turning on TSTP again will restart.
Turning on ST1 (Forward rotation start)/ST2 (Reverse rotation start) during

a temporary stop will not rotate the motor.
Changing the automatic operation mode to manual operation mode during

a temporary stop will erase a travel remaining distance.
The temporary stop/restart input will not function during home position

return/JOG operation.

can be changed with [Pr. PT29].

_ _ _ 0 Detection with off

_ _ _ 1 Detection with on

SIG CN1-45 The function varies depending on the operation mode.

1. Home position return mode (MD1 = 0, MD0 = 0)

You can use SIG as an input device of external limit. This operation
mode is enabled when the home position return type of the torque limit
changing dog type is selected.

2. Manual operation mode (MD1 = 0, MD0 = 1)

You can use this as an input device for specifying a rotation direction of
the servo motor. The rotation direction varies depending on the setting
of [Pr. PA14 Rotation direction selection]. (Refer to section 2.1.)

3. Automatic operation mode 1 (rotation direction specifying indexer) (MD1

= 1, MD0 = 0)

You can use this as an input device for specifying a rotation direction of
the servo motor. The rotation direction varies depending on the setting
of [Pr. PA14 Rotation direction selection]. (Refer to section 2.1.)

4. Automatic operation mode 2 (shortest rotating indexer) (MD1 = 1, MD0 =

1)

You can use SIG as an input device for selecting a speed of the servo
motor.

[Pr. PT29]

Function and application

Polarity for proximity dog

detection

Table 2.1 Rotation direction selection

0 0 CCW direction
0 1 CW direction
1 0 CW direction
1 1 CCW direction

TP0 Select a multiplication of the manual pulse generator.

When a multiplication is not selected, the setting of [Pr. PT03] will be
enabled.

[Pr. PA14] SIG (Note)

Note. 0: Off

1: On

Servo motor

rotation direction

TP1

Device (Note)

TP1 TP0

0 0 [Pr. PT03] setting

0 1 × 1

1 0 × 10

1 1 × 100

Note. 0: Off

1: On

Manual pulse

generator multiplication

DI-1

Control

mode

I/O

division

DI-1

DI-1

DI-1

DI-1

CL

CP/BCD

PS

2 - 26

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Analog override
selection

Teach TCH Use this for teaching. Turning on TCH in the point table method will rewrite

Program input 1 PI1 Turning on PI1 will restart a step which was suspended with the SYNC (1)

Program input 2 PI2 Turning on PI2 will restart a step which was suspended with the SYNC (2)

Program input 3 PI3 Turning on PI3 will restart a step which was suspended with the SYNC (3)

Current position
latch input

Point table
No./program No.
selection 1

Point table
No./program No.
selection 2

Point table
No./program No.
selection 3

Point table
No./program No.
selection 4

Point table
No./program No.
selection 5

Point table
No./program No.
selection 6

Point table
No./program No.
selection 7

Point table
No./program No.
selection 8

Connector

pin No.

OVR

LPS Turning on LPS during execution of the LPOS command will latch a current

DI0 CN1-19 Point table method

Turning on OVR will enable VC (Analog override). DI-1

a position data of the selected point table No. to the current position.

command during programming.

command during programming.

command during programming.

position with its rising edge. The latched current position can be read with
communication commands.

Select point tables and home position return mode with DI0 to DI7.

Function and application

DI1 CN1-41 Device (Note)

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0

0 0 0 0 0 0 0 0 Home position

DI2 CN1-10 0 0 0 0 0 0 0 1 Point table No. 1

0 0 0 0 0 0 1 0 Point table No. 2

DI3 CN1-35

0 0 0 0 0 0 1 1 Point table No. 3

DI4

DI5

DI6

DI7

1 1 1 1 1 1 1 0 Point table No. 254

1 1 1 1 1 1 1 1 Point table No. 255

Note. 0: Off

1: On

Program method
Select program Nos. with DI0 to DI7.

Device (Note)

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0

0 0 0 0 0 0 0 0 Program No. 1

0 0 0 0 0 0 0 1 Program No. 2

0 0 0 0 0 0 1 0 Program No. 3

0 0 0 0 0 0 1 1 Program No. 4

1 1 1 1 1 1 1 0 Program No. 255

1 1 1 1 1 1 1 1 Program No. 256

Note. 0: Off

1: On

Selection contents

return mode

Selection contents

I/O

division

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

Control

mode

CL

CP/BCD

PS

2 - 27

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Next station No.
selection 1

Next station No.
selection 2

Next station No.
selection 3

Next station No.
selection 4

Next station No.
selection 5

Next station No.
selection 6

Next station No.
selection 7

Next station No.
selection 8

Second
acceleration/dec
eleration
selection

Second
acceleration/dec
eleration gain
selection

RTCDP This has two functions of CDP (Gain switching) and RT (Second

Connector

pin No.

DI0 CN1-19 Indexer method

Select next station Nos. with DI0 to DI7.
A setting value at ST1 on will be enabled.

DI1 CN1-41 Device (Note 1)

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0

DI2 CN1-10 0 0 0 0 0 0 0 0 Next station No. 0

DI3 CN1-35 0 0 0 0 0 0 0 1 Next station No. 1

DI4 0 0 0 0 0 0 1 0 Next station No. 2

DI5 0 0 0 0 0 0 1 1 Next station No. 3

DI6

DI7

1 1 1 1 1 1 1 0 Next station No. 254

1 1 1 1 1 1 1 1 Setting inhibited

Note 1. 0: Off

2. [AL. 97.2 Next station position warning] will occur.

RT

Turning on ST1 with RT-off will select acceleration/deceleration time
constants set with [Pr. PC01 Acceleration time constant 1] and [Pr. PC02
Deceleration time constant 1].

Turning on ST1 with RT-on will select acceleration/deceleration time
constants set with [Pr. PC30 Acceleration time constant 2] and [Pr. PC31
Deceleration time constant 2].

RT will not be accepted during operation.

Device (Note) Description

0 [Pr. PC01] [Pr. PC02]

1 [Pr. PC30] [Pr. PC31]

acceleration/deceleration selection).
When RTCDP is off, the servo control gain set with [Pr. PB06], [Pr. PB08]

to [Pr. PB10] will be selected. Turning on ST1 (Forward rotation start) will
select acceleration/deceleration time constants set with [Pr. PC01
Acceleration time constant 1] and [Pr. PC02 Deceleration time constant 1].

When RTCDP is on, the servo control gain set with [Pr. PB29] to [Pr.
PB32] will be selected. Turning on ST1 (Forward rotation start) will select
acceleration/deceleration time constants set with [Pr. PC30 Acceleration
time constant 2] and [Pr. PC31 Deceleration time constant 2].

Function and application

Selection contents

(Note 2)

1: On

RT

Note. 0: Off

1: On

Acceleration time

constant

Deceleration time

constant

division

DI-1

DI-1

DI-1

I/O

Control

mode

CL

CP/BCD

PS

2 - 28

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Digital override
selection 1

Digital override
selection 2

Digital override
selection 3

Digital override
selection 4

Connector

pin No.

OV0 To enable the digital override function, set [Pr. PT38] to "_ _ 1 _".

This signal is for multiplying a command speed by the digital override

OV1

OV2

OV3

(multiplying factor).
A command speed multiplied by the digital override value selected with this

signal will be an actual servo motor speed.
If the servo motor speed multiplied by the digital override value exceeds

the servo motor maximum speed, the speed will be limited at the maximum
speed.

The following table shows an example of setting "50" to [Pr. PT42] and "5"
to [Pr. PT43].

Device (Note)

OV3 OV2 OV1 OV0

0 0 0 0 100 [%] of

0 0 0 1 50 [%] of command

0 0 1 0 55 [%] of command

0 0 1 1 60 [%] of command

0 1 0 0 65 [%] of command

0 1 0 1 70 [%] of command

0 1 1 0 75 [%] of command

0 1 1 1 80 [%] of command

1 0 0 0 85 [%] of command

1 0 0 1 90 [%] of command

1 0 1 0 95 [%] of command

1 0 1 1 100 [%] of

1 1 0 0 105 [%] of

1 1 0 1 110 [%] of

1 1 1 0 115 [%] of

1 1 1 1 0 [%] of command

Note. 0: Off

1: On

Mark detection MSD The current position latch function by sensor input can be used. For the

current position latch function, refer to section 12.2.1. For the current
position latch function, refer to section 12.2.2.

Function and application

Description

command speed

speed

speed

speed

speed

speed

speed

speed

speed

speed

speed

command speed

command speed

command speed

command speed

speed

Control

I/O

division

DI-1

DI-1

mode

CL

CP/BCD

PS

2 - 29

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Proportion
control

Clear

Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56]

Fully closed loop
selection

Motor-side/load­side deviation
counter clear

Cam control
command

Cam position
compensation
request

Clutch command CLTC

Cam No.
selection 0

Cam No.
selection 1

Cam No.
selection 2

Cam No.
selection 3

MECR Turn on MECR to clear the motor-side/load-side position deviation counter

CAMC

CPCD

Connector

pin No.

PC Turn PC on to switch the speed amplifier from the proportional integral type

CR Turn CR on to clear the position control counter droop pulse on its leading

CLD Not used with the positioning mode. DI-1

CI0

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).

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.

to [Pr. PB60] as the load to motor inertia ratio and gain values.

to zero.

It operates during the fully closed loop control.
It does not affect the position control droop pulses.
Turning on this device during the semi closed loop control does not

affect the operation.
Turning on this device while the fully closed loop control error detection

function is disabled in [Pr. PE03] does not affect the operation.
This device is not available with MR-J4-03A6-RJ servo amplifiers.
When using CAMC, set [Pr. PT35] to "_ 1 _ _" to enable it. Turning CAMC
on switches the control from the normal positioning control to the cam
control.

Turning CPCD on compensates the cam axis one cycle current value to be
in the position set in [Cam control data No. 60 - Cam position
compensation target position].

This is used to turning on/off the main shaft clutch command.
This is used when [Cam control data No. 36 - Main shaft clutch control

setting] is set to "_ _ _ 1".
Select cam No.
This is enabled when [Cam control data No. 49 - Cam No.] is set to "0". Set

the cam control data on the cam setting window of MR Configurator2.

Function and application

CI1

CI2

CI3

Device (Note 1)

CI3 CI2 CI1 CI0

0 0 0 0 Linear cam

0 0 0 1 Cam No. 1
0 0 1 0 Cam No. 2

0 0 1 1 Cam No. 3

1 0 0 0 Cam No. 8

1 0 0 1

1 1 1 1

Note 1. 0: Off

1: On

2. [AL. F6.5 Cam No. external error] occurs.

Selection contents

Setting inhibited

(Note 2)

I/O

division

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

Control

mode

CL

CP/BCD

PS

2 - 30

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

(b) Output device

Device Symbol

Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off.

Malfunction/War
ning

Warning WNG When warning has occurred, WNG turns on. When a warning is not

Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL.

AL9F warning BW9F When [AL. 9F Battery warning] occurs, BW9F will turn on. DO-1
Dynamic brake

interlock

Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on

In-position INP CN1-24 When the number of droop pulses is in the preset in-position range, INP

Limiting torque TLC CN1-25 TLC turns on when a generated torque reaches a value set with any of [Pr.

Zero speed
detection

WNG

Connector

pin No.

When an alarm does not occur, ALM will turn on after 4 s to 5 s after
power-on.

When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.

ALM

DB When using the signal, enable it by setting [Pr. PD23] to [Pr. PD26], [Pr.

ZSP CN1-23

When an alarm occurs, ALMWNG will turn off.

When a warning (except [AL. 9F Battery warning]) occurs on and off will be
repeated every 1 s.

When an alarm/warning is not occurring, turning on the power will turn on
ALMWNG after 4 s to 5 s.

occurring, turning on the power will turn off WNG after 4 s to 5 s.

9F Battery warning] has occurred. When the battery warning is not
occurring, turning on the power will turn off BWNG after 4 s to 5 s.

PD28], and [Pr. PD47]. DB turns off when the dynamic brake needs to
operate. When using an external dynamic brake with the servo amplifier of
11 kW or more, this device is required. (Refer to "MR-J4-_A_(-RJ) Servo
Amplifier Instruction Manual" section 11.17.)

For the servo amplifier of 7 kW or less, it is not necessary to use this
device.

RD.

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.

PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).

ZSP turns on when the servo motor speed is zero speed (50 r/min) or less.
Zero speed can be changed with [Pr. PC17].

Function and application

I/O

division

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

Control

mode

CL

CP/BCD

PS

Forward
rotation
direction

Servo motor
speed

Reverse
rotation
direction

ZSP
(Zero speed
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.

OFF level
70 r/min

ON level
50 r/min

0 r/min

ON level

-50 r/min
OFF level

-70 r/min

ON
OFF

1)

3)

2)

20 r/min
(Hysteresis width)

[Pr. PC17]

[Pr. PC17]

20 r/min
(Hysteresis width)

4)

2 - 31

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Electromagnetic
brake interlock

Speed command
reached

Home position
return
completion

Rough match CPO When a command remaining distance is lower than the rough match output

Position range
output

Temporary stop PUS When a deceleration begins for a stop, PUS will be on by TSTP

Travel
completion

Position end PED When the droop pulses are within the position end output range set with

SYNC
synchronous
output

MEND When the droop pulses are within the in-position output range set with [Pr.

SOUT When the status is waiting for input of the program SYNC (1 to 3), SOUT

Connector

pin No.

MBR When using the device, set operation delay time of the electromagnetic

brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR will turn off.

SA When a command speed is within a target speed at servo-on status, SA

will be on.
When the command speed is 0 r/min (mm/s), this will be continuously on.
When the command speed is in acceleration/deceleration or at servo-off

status, SA will be off.

ZP When a home position return completes normally, ZP (Home position

return completion) will be on.
This will be off with the following conditions in the incremental system.

1) SON (Servo-on) is off.

2) EM2 (Forced stop 2) is off.

3) RES (Reset) is on.

4) At alarm occurrence

5) LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end)
is off.

6) Home position return is not being executed.

7) Software limit is being detected.

8) Home position return is in progress.

If once home position return is completed in the absolute position detection
system, ZP (Home position return completion) will be the same output
status as RD (Ready).

However, it will be off with the above 1) to 8) and the following 9) to 14).

9) The home position return is not performed after [AL. 25 Absolute
position erased] or [AL. E3 Absolute position counter warning] occurred.

10) The home position return is not performed after the electronic gear

([Pr. PA06] and [Pr. PA07]) was changed.

11) The home position return is not performed after the setting of [Pr.

PA03 Absolute position detection system selection] was changed from
"Disabled" to "Enabled".

12) [Pr. PA14 Rotation direction selection/travel direction selection] was

changed.

13) [Pr. PA01 Operation mode] was changed.

14) [Pr. PT08 Home position return position data] or [Pr. PT28 Number of

stations per rotation] was changed.

range set with [Pr. PT12], CPO will be on. This is not outputted during base
circuit shut-off. CPO turns on with servo-on.

POT When an actual current position is within the range set with [Pr. PT21] and

[Pr. PT22], POT will be on. This will be off when a home position return
does not complete or base circuit shut-off is in progress.

(Temporary stop/restart). When you enable TSTP (Temporary stop/restart)
again and start operation, PUS will be off.

PA10] and the command remaining distance is "0", MEND will be on.
MEND turns on with servo-on.
MEND is off at servo-off status. However, MEND will not be off in the

indexer method.

[Pr. PA10] and the command remaining distance is "0", PED will be on.
When MEND (Travel completion) is on and ZP (Home position return

completion) is on, PED (Position end) will be on.
When ZP (Home position return completion) is on with servo-on status,

PED will be on.
PED is off at servo-off status.

will be on. When PI1 (Program input 1) to PI3 (Program input 3) turn on,
SOUT will be off.

Function and application

I/O

division

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

Control

mode

CL

CP/BCD

PS

2 - 32

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Program output 1 OUT1 OUT1 will turn on with the OUTON (1) command during programming.

Program output 2 OUT2 OUT2 will turn on with the OUTON (2) command during programming.

Program output 3 OUT3 OUT3 will turn on with the OUTON (3) command during programming.

Point table No.
output 1

Point table No.
output 2

Point table No.
output 3

Point table No.
output 4

Point table No.
output 5

Point table No.
output 6

Point table No.
output 7

Point table No.
output 8

Connector

pin No.

The OUTOF (1) command will turn off OUT1.
You can also set time to off with [Pr. PT23].

The OUTOF (2) command will turn off OUT2.
You can also set time to off with [Pr. PT24].

The OUTOF (3) command will turn off OUT3.
You can also set time to off with [Pr. PT25].

PT0 The signals output point table Nos. in 8 bit code simultaneously with MEND

(Travel completion) on.

Function and application

PT1 Device (Note 1, 2) Description

PT7 PT6 PT5 PT4 PT3 PT2 PT1 PT0

PT2 0 0 0 0 0 0 0 1 Point table No. 1

PT3 0 0 0 0 0 0 1 0 Point table No. 2

PT4 0 0 0 0 0 0 1 1 Point table No. 3

PT5

PT6

PT7

1 1 1 1 1 1 1 0 Point table No. 254

1 1 1 1 1 1 1 1 Point table No. 255

I/O

division

DO-1

DO-1

DO-1

DO-1

Control

mode

CL

CP/BCD

PS

Note 1. 0: Off

2. For MR-J4-03A6-RJ servo amplifiers, up to six points of DO are

Station output 1 PS0 The signals output station Nos. simultaneously with MEND on while an

alarm is not occurring.

1: On

available; therefore, PT0 to PT7 cannot be outputted

simultaneously.

DO-1

Station output 2 PS1 Device (Note 1, 2)

PS7 PS6 PS5 PS4 PS3 PS2 PS1 PS0

Station output 3 PS2 0 0 0 0 0 0 0 0 In-position out of

Station output 4 PS3 1 1 1 1 1 1 1 1 Next station No. 0

Station output 5 PS4 1 1 1 1 1 1 1 0 Next station No. 1

Station output 6 PS5 1 1 1 1 1 1 0 1 Next station No. 2

Station output 7 PS6 1 1 1 1 1 1 0 0 Next station No. 3

Station output 8 PS7

0 0 0 0 0 0 1 0 Next station No. 253

0 0 0 0 0 0 0 1 Next station No. 254

Note 1. 0: Off

2. For MR-J4-03A6-RJ servo amplifiers, up to six points of DO are

1: On

available; therefore, PS0 to PS7 cannot be outputted

simultaneously.

Description

range

2 - 33

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Control

Device Symbol

M code 1 (bit 0) MCD00 This device can be used in the point table method.

M code 2 (bit 1) MCD01 DO-1

M code 3 (bit 2) MCD02 DO-1

M code 4 (bit 3) MCD03 DO-1

M code 5 (bit 4) MCD10 DO-1

M code 6 (bit 5) MCD11 DO-1

M code 7 (bit 6) MCD12 DO-1

M code 8 (bit 7) MCD13 DO-1

Connector

pin No.

Function and application

These signals can be checked with output devices of the communication
function. (Refer to section 10.2 (1).)

To use these signals, set " _ _ 1 _" in [Pr. Po12].
The signals output M code simultaneously with CPO (Rough match) on.
Set M code with point tables.

The code represents one digit of decimal using four digits of binary.
The following shows correspondence of each digit and device.

Second digit First digit

bit3 bit2 bit1 bit0 bit3 bit2 bit1 bit0

MCD00

MCD01

MCD02

MCD03

division

DO-1

I/O

mode

CL

CP/BCD

PS

MCD10

MCD11

MCD12

MCD13

M code Device (Note)

First/second

digit

0 0 0 0 0

1 0 0 0 1

2 0 0 1 0

3 0 0 1 1

4 0 1 0 0

5 0 1 0 1

6 0 1 1 0

7 0 1 1 1

8 1 0 0 0

9 1 0 0 1

Note. 0: Off

1: On

MCD00 to MCD03 and MCD10 to MCD13 will turn off with the following
status.

Power on
Servo-off
Manual operation mode
At alarm occurrence

MCD03/

MCD13

MCD02/

MCD12

MCD01/

MCD11

MCD00/

MCD10

2 - 34

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Mark detection
rising latch
completed

Mark detection
falling latch
completed

Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34].

Variable gain
selection

Absolute position
undetermined

During tough
drive

During fully
closed loop
control

Under cam
control

Cam position
compensation
execution
completed

Clutch on/off
status

Clutch
smoothing status

MSDH Turning on MSD (Mark detection) will turn on MSDH. DO-1

MSDL After MSD (Mark detection) is turned on, turning off MSD will turn on

ACD1 (CN1-23)

ACD2 (CN1-22)

CDPS CDPS turns on during gain switching. DO-1

ABSV ABSV turns on when the absolute position is undetermined. DO-1

MTTR When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous

CLDS CLDS turns on during fully closed loop control.

CAMS It turns on when the control switches to the cam control.

CPCC It turns on when the cam compensation execution is enabled.

CLTS It turns on with clutch-on.

CLTSM It outputs clutch smoothing status.

(2) Input signal

Device Symbol

Connector

pin No.

Connector

pin No.

Function and application

MSDL.

This signal is outputted when an alarm occurs.
When an alarm is not occurring, respective ordinary signals are outputted.
For details of the alarm codes, refer to chapter 8.
When [Pr. PD34] is set to "_ _ _ 1", setting the following will trigger [AL. 37

Parameter error].

"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system

by DIO is selected.

MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24

pin.

power failure tough drive will turn on MTTR.
This device is not available with MR-J4-03A6-RJ servo amplifiers.

This device is not available with MR-J4-03A6-RJ servo amplifiers.

It turns off when the control switches to the normal positioning control.

It turns on when the position compensation is not being executed during
the cam control.

It is always off when [Cam control data No. 36 - Main shaft clutch control
setting] is set to "_ _ _ 0".

The output depends on the setting in [Cam control data No. 42 - Main shaft
clutch smoothing system] as follows:

0: Direct

Always off

1: Time constant method (index)

Always on in clutch-on status
It turns off when the clutch is off and the smoothing is complete.

Function and application

I/O

division

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

I/O

division

Control

mode

CL

CP/BCD

Control

mode

CL

PS

PS

Manual pulse
generator

PP (CN1-10) Connect the manual pulse generator (MR-HDP01).

NP (CN1-35)

When using the signal, enable PP and NP with [Pr. PD44] and [Pr. PD46].

2 - 35

DI-2

CP/BCD

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Device Symbol

Analog torque
limit

Analog override VC CN1-2 The signal controls the servo motor setting speed by applying -10 V to +10

(3) Output signal

(a) MR-J4-_A_-RJ 100 W or more

Device Symbol

Connector

pin No.

TLA CN1-27 When using the signal, enable TL (External torque limit selection) with [Pr.

PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr.
PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].

When TLA is enabled, torque is limited in the full servo motor output torque
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".)

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

V to between VC and LG. The percentage will be 0% with -10 V, 100% with
0 V, and 200% with +10 V to the setting speed of the servo motor.

Resolution: 14 bits or equivalent

For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to "_
_ 1 _" increases the analog input resolution to 16 bits. This function is
available with servo amplifiers manufactured in November 2014 or later.

Connector

pin No.

Function and application

Function and application

I/O

division

Analog

input

Analog

input

I/O

division

Control

mode

CL

CP/BCD

Control

mode

CL

PS

PS

Encoder A­phase pulse

(differential line
driver)

Encoder B­phase pulse

(differential line
driver)

Encoder Z­phase pulse

(differential line
driver)

Encoder Z­phase pulse

(open-collector)

Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in

Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in

LA

LAR

LB

LBR

LZ

LZR

OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2

CN1-4
CN1-5

CN1-6
CN1-7

CN1-8
CN1-9

These devices output pulses of encoder output pulse set in [Pr. PA15] in
the differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of π/2.

The relation between rotation direction and phase difference of the A­phase and B-phase pulses can be changed with [Pr. PC19].

The encoder zero-point signal is outputted in the differential line driver
type. One pulse is outputted per servo motor revolution. This turns on
when the zero-point position is reached. (negative logic)

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.

terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent

terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent

CP/BCD

DO-2

DO-2

Analog

output

Analog

output

2 - 36

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

(b) MR-J4-03A6-RJ

Device Symbol

Encoder A­phase pulse

(differential line
driver)

Encoder B­phase pulse

(differential line
driver)

Encoder Z­phase pulse

(differential line
driver)

Encoder Z­phase 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 monitor 2 MO2 CN1-29 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in

(4) Communication

(a) MR-J4-_A_-RJ 100 W or more

Device Symbol

Connector

pin No.

LA

LAR

LB

LBR

LZ

LZR

OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2

CN1-4
CN1-5

CN1-6
CN1-7

CN1-8
CN1-9

Connector

pin No.

These devices output pulses of encoder output pulse set in [Pr. PA15] in
the differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of π/2.

The relation between rotation direction and phase difference of the A­phase and B-phase pulses can be changed with [Pr. PC19].

The encoder zero-point signal is outputted in the differential line driver
type. One pulse is outputted per servo motor revolution. This turns on
when the zero-point position is reached. (negative logic)

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.

terms of voltage.
Output voltage: 5 V ± 4 V
Resolution: 10 bits or equivalent

terms of voltage.
Output voltage: 5 V ± 4 V
Resolution: 10 bits or equivalent

Function and application

Function and application

Control

I/O

division

DO-2

DO-2

Analog

output

Analog

output

division

mode

CP

Control

mode

I/O

CL

CL

PS

PS

CP/BCD

RS-422/RS-485
I/F

RDP CN3-3

RDN CN3-6

SDP CN3-5 These are terminals for RS-422/RS-485 communication.

SDN CN3-4

(b) MR-J4-03A6-RJ

Device Symbol

RS-422 I/F SDP CN1-13 These are terminals for RS-422 communication.

SDN CN1-14

RDP CN1-39

RDN CN1-40

TRE CN1-31

Connector

pin No.

Function and application

division

I/O

Control

mode

CL

CP

PS

2 - 37

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

2.4 Analog override

POINT

The override function has two types. One is analog override by using analog
voltage input and another is digital override by using parameter settings.

Target method of analog override: Point table method/Program method

Target method of digital override: Indexer method
OVR (Analog override selection) is for the analog override. The digital override
does not depend on OVR (Analog override selection).
Refer to [Pr. PT38], [Pr. PT42], and [Pr. PT43] for the digital override.
When using the analog override in the point table method or program method,
enable OVR (Analog override selection).
The following shows functions whether usable or not with the analog override.
(1) Analog override usable

Automatic operation mode (point table method/program method)
JOG operation in the manual operation mode
Automatic positioning to home position function in the point table method

(2) Analog override unusable

Manual pulse generator operation in the manual operation mode
Home position return mode
Test operation mode using MR Configurator2 (positioning operation/JOG

operation)

You can change the servo motor speed by using VC (Analog override). The following table shows signals
and parameters related to the analog override.

Item Name Remark

Analog input signal VC (Analog override)

Contact input signal OVR (Analog override selection)

Parameter [Pr. PC37 Analog override offset] -9999 to 9999 [mV]

Turning on OVR will enable VC
(Analog override) setting value.

(1) VC (Analog override)

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

[%]
200

100

Percentage of the actual

speed to set speed.

0

-10 0 10 [V]

VC (Analog override voltage) applied voltage

OVR (Analog override selection)

24 V DC

VC (Analog override)

-10 V to +10 V

Servo amplifier

OVR

DICOM

VC

(Note)
LG
SD

Note. This diagram shows sink input interface.

2 - 38

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

(2) OVR (Analog override selection)

Select enabled/disabled of VC (Analog override).

Servo amplifie

Analog

override

Speed
control

OVR (Analog override selection)

VC (Analog override)

-10 V to +10 V

Position

control

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

(Note) External input

signal

0 No change

1

Setting of VC (Analog override) is
enabled.

Speed change value

Note. 0: Off

1: On

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

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

Servo
motor

2 - 39

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

2.5 Internal connection diagram

POINT

For details of interface and source I/O interface, refer to section 3.9 of "MR-J4­_A_(-RJ) Servo Amplifier Instruction Manual".
For the CN8 connector, refer to section 13.3.1 of "MR-J4-_A_(-RJ) Servo
Amplifier Instruction Manual".

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

2 - 40

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

(1) MR-J4-_A_-RJ 100 W or more

CN1

SON

15

MD0

16
ST1 17
ST2

18

DI0

(Note 3)

(Note 2)

(

Note

24 V DC

4)

19

DI1 41

EM2

42
LSP

43
LSN 44

DOG

45

OPC 12

DICOM

20

DICOM

21

DI2 10

DI3 35

CN1

TLA

27

P15R

LG

28LG

30LG

Case

SD

2VC

1

3

Approx.

6.2 kΩ

Approx.

6.2 kΩ

Approx.

100

Ω

Approx.

100

Ω

15 V DC

Servo amplifier

Approx.

1.2 k

Ω

Approx.

1.2 k

Ω

Insulated

CN1

46

47

22

23

24

25

48

49

13

14

CN1

4
5
6
7
8

9
33
34

CN3

5

4

3

6

7

CN6

3

DOCOM

DOCOM

CPO

ZP

INP

MEND

ALM

RD

(Note 1)

(Note 1)

LA

LAR

LB

LBR

LZ

LZR

OP
LG

RS-422/RS-485

SDP
SDN
RDP
RDN

LG

Analog monitor

MO1

(Note 4)

24 V DC

RA

(Note 3)

RA

Differential line
driver output
(35 mA or lower)

Open-collector
output

D-

USB D+

GND

CN5

2
3
5

2 - 41

2

1

CN2

7

8

3

4

2

(Note 5) CN2L

7

8

3

4

2

MO2

LG

MX

MXR

MR

MRR

LG

E

MX2

MXR2

MR2

MRR2

LG

± 10 V DC

± 10 V DC

Servo motor

Encoder

M

External encoder

Encoder

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

Note 1. Output signals are not assigned by default. Assign the output signals with [Pr. PD47] as necessary.

2. Refer to section 9.1 for the connection of manual pulse generator.

3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3 of "MR-J4-_A_(-RJ) Servo Amplifier

Instruction Manual".

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.

5. For the connection with external encoders, refer to table 1.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

2 - 42

2. SIGNALS AND WIRING

r

www.kavrammuhendislik.com.tr

(2) MR-J4-03A6-RJ

CN1

SON

15
16

MD0

ST1 17
ST2

18

DI0

(Note 2)

(Note 1)

(Note 3)
24 V DC

USB D+

19

DI1 41

EM2

42

LSP

43
LSN 44
DOG

45
OPC 12

DICOM

20

DICOM

21

DI2 10

DI3 35

CN1

TLA

27

P15R

LG

CaseSD

CN3

D-

GND

2VC

1

3

2
3
5

Approx.

6.2 kΩ

Approx.

6.2 k

Ω

Approx.

100 Ω

Approx.

100

Ω

15 V DC

Servo amplifie

Approx.

1.2 kΩ

Approx.

1.2 k

Ω

Insulated

CN1

46

47

22

23

24

25

48

49

CN1

4
5
6
7
8

9
33
34

CN1

13
14
39
40
30
31

CN1

26

29

28

CN2

1A
1BMRMRR
4B

CNP1

8

6

DOCOM

DOCOM

CPO

ZP

INP

MEND

ALM

RD

LA

LAR

LB

LBR

LZ

LZR

OP
LG

SDP
SDN
RDP
RDN

LG

TRE

MO1

MO2

LG

LG

E

(Note 3)

24 V DC

RA

RA

Differential line
driver output
(35 mA or lower)

Open-collector
output

RS-422

(Note 4)

Analog monitor

5 V DC
± 4 V DC

Servo motor

Encoder

M

(Note 2)

5 V DC
± 4 V DC

2 - 43

2. SIGNALS AND WIRING

_

www.kavrammuhendislik.com.tr

Note 1. Refer to section 9.1 for the connection of a manual pulse generator.

2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3 of "MR-J4-_A_(-RJ) Servo Amplifier

Instruction Manual".

3. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they

can be configured by one. For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control

circuit power supply.

4. To use the RS-422 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to "MR-J4-

A_(-RJ) Servo Amplifier Instruction Manual" section 18.9.)

2 - 44

2. SIGNALS AND WIRING

A

www.kavrammuhendislik.com.tr

2.6 Power-on sequence

POINT

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

2.6.1 MR-J4-_A_-RJ 100 W or more

(1) Power-on procedure

1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in
section 3.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Configure an external

(2) Timing chart

sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit
power supply or before switching on the main circuit power supply. If the main circuit power
supply is not on, the display shows the corresponding warning. However, by switching on the
main circuit power supply, the warning disappears and the servo amplifier will operate properly.

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

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

Main circuit

power supply

Control circuit

Base circuit

SON (Servo-on)

RES (Reset)

RD (Ready)

LM (Malfunction)

No alarming (ON)
Alarming (OFF)

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

SON (Servo-on) accepted

(Note)

(4 s to 5 s)

4 s to 5 s

10 ms

10 ms5 ms

95 ms

95 ms

10 ms

10 ms5 ms

5 ms 10 ms

Note. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.

2 - 45

2. SIGNALS AND WIRING

www.kavrammuhendislik.com.tr

2.6.2 MR-J4-03A6-RJ

(1) Power-on procedure

1) When wiring the power supply, always use a circuit protector for the power supply (24/PM).

Configure up an external sequence so that the relay connected to PM turns off when an alarm
occurs.

2) Switch on the control circuit power supply (24/0) simultaneously with the main circuit power

supply (PM/0) or before switching on the main circuit power supply. If the main circuit power
supply is not on, the display shows the corresponding warning. However, by switching on the
main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier receives the SON (Servo-on) within 4 s to 5 s after the main circuit power

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

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

(2) Timing chart

SON (Servo-on) accepted

(4 s to 5 s)

Main circuit
Control circuit

Base circuit

SON (Servo-on)

RES (Reset)

RD (Ready)

ALM (Malfunction)

Power supply

No alarming (ON)

Alarming (OFF)

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

4 s to 5 s

10 ms

10 ms5 ms

95 ms

95 ms

10 ms

10 ms5 ms

5 ms 10 ms

2 - 46

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3. DISPLAY AND OPERATION SECTIONS

The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details, refer to each section
indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".

Item

Test operation mode MR-J4-_A_ section 4.5.9 MR-J4-_A_ section 18.5.10

MR-J4-_A_-RJ 100 W

or more

3.1 MR-J4-_A_-RJ 100 W or more

3.1.1 Display sequence

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

Detailed explanation

MR-J4-03A6-RJ

3 - 1

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

Display mode transition Initial screen Function Reference

Servo status display.
For the point table method and program

method, "PoS" is displayed at power-on.

Status display

One-touch tuning

Diagnosis

Alarm

For the indexer method, "C" is displayed.
(Note)
One-touch tuning
Select this when performing the one-touch

tuning.

Sequence display, drive recorder
enabled/disabled display, external I/O signal
display, output signal (DO) forced output, test
operation, software version display, VC
automatic offset, servo motor series ID
display, servo motor type ID display, servo
motor encoder ID display, teaching function

Current alarm display, alarm history display
and parameter error No./point table error No.
display

Section 3.1.2

MR-J4-_A_
(-RJ) Servo

Amplifier

Instruction

Manual

section 6.2

Section 3.1.3

Section 3.1.4

MODE

button

Point table setting

Basic setting

parameters

Gain/filter

parameters

Extension setting

parameters

I/O setting

parameters

Extension setting 2

parameters

Extension setting 3

parameters

Linear/DD motor

setting parameter

Option setting

parameters

Positioning control

parameters

Display and setting of point table data.
The screen is displayed only in the point table

method, and is not displayed in other control
mode.

Display and setting of basic setting
parameters.

Display and setting of gain/filter parameters.

Display and setting of extension setting
parameters.

Display and setting of I/O setting parameters.

Section 3.1.5

Section 3.1.6

Display and setting of extension setting 2
parameters.

Display and setting of extension setting 3
parameters.

Display and setting of linear/DD motor setting
parameters.

Display and setting of option setting
parameters.

Display and setting of positioning control
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.

3 - 2

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.2 Status display

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.

3 - 3

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(a) Standard control mode (rotary servo motor)/DD motor control mode

Main axis one cycle current position

Cumulative feedback
pulses

Servo motor speed/
linear servo motor
speed

Droop pulses

Cumulative command
pulses

Command pulse
frequency

Analog speed command
voltage
Analog speed limit
voltage

Analog torque limit
voltage
Analog torque command
voltage

Regenerative load ratio

Effective load ratio

Number of tough drive
operations

Unit power
consumption 1
(1 W unit)

Unit power
consumption 2
(1 kW unit)

Unit total power
consumption 1
(1 Wh unit)

Unit total power
consumption 2
(100 kWh unit)

Current position

Command position

Command remaining
distance

Point table/program No./
command station position

Peak load ratio

Instantaneous torque

Position within
one-revolution
(1 pulse unit)

Position within
one-revolution
(1000 pulses unit)

ABS counter

Load to motor inertia ratio

Bus voltage

Internal temperature of
encoder

Settling time

Oscillation detection
frequency

UP

DOWN

Step No.

Analog override voltage

Override level

Cam axis one
cycle current
value

Cam standard
position

Cam axis feed
current value

Cam No. in
execution

Cam stroke
amount in
execution

Main axis
current value

Main axis one
cycle current
value

(Note)

Note. Supported by servo amplifiers with software version B7 or later.

Cumulative feedback pulses

3 - 4

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(b) Fully closed loop control mode

Main axis one cycle current value

(Note 1)

Cumulative feedback
pulses

Unit total power
consumption 2
(100 kWh unit)

Load-side encoder cumulative
feedback pulses

Load-side encoder droop pulses

Load-side encoder information 1
(1 pulse unit)

Load-side encoder information 1
(100000 pulses unit)

Load-side encoder information 2

(Note 2)

Current position

Override level

Main axis one cycle
current value

Cumulative feedback pulses

Note 1. The displays in the frames are from the cumulative feedback pulses of positioning

mode to unit total power consumption 2 (100 kWh unit) with some displays

omitted.

2. The displays in the frames are from the current position of positioning mode to

override level with some displays omitted.

3 - 5

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(c) Linear servo motor control mode

Main axis one cycle current value

(Note 1)

Cumulative feedback
pulses

Unit total power
consumption 2
(100 kWh unit)

Z-phase counter low

Z-phase counter high

Cumulative feedback pulses

Electrical angle low

Electrical angle high

(Note 2)

Current position

Override level

Main axis one cycle
current value

Note 1. The displays in the frames are from the cumulative feedback pulses of positioning

mode to unit total power consumption 2 (100 kWh unit) with some displays

omitted.

2. The displays in the frames are from the current position of positioning mode to

override level with some displays omitted.

3 - 6

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(2) Status display list

The following table lists the servo statuses that may be shown.

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
Cumulative feedback
pulses

Servo motor speed/
linear servo motor speed

Droop pulses E pulse

Cumulative command
pulses

Command pulse
frequency

Analog speed command
voltage

Analog speed limit
voltage

Analog torque command
voltage

Analog torque limit
voltage

Regenerative load ratio L %

Effective load ratio J %

Peak load ratio b %

Instantaneous torque T %

Position within
one-revolution

(1 pulse unit)

Position within
one-revolution

(1000 pulses unit)

ABS counter LS rev

Load to motor inertia
ratio

Bus voltage Pn V The voltage of main circuit converter (between P+ and N-) is displayed.

Encoder inside
temperature

C pulse

r r/min

P pulse Not used with the positioning mode. "0" is always displayed.

n kpulse/s Not used with the positioning mode. "0" is always displayed.

F V

U V

Cy1 pulse

Cy2

dC Multiplier

ETh °C Inside temperature of encoder detected by the encoder is displayed.

1000

pulses

shows 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.

The value of minus is indicated by the lit decimal points in the upper

four digits.

The servo motor speed or linear servo motor speed is displayed.

It is displayed rounding off 0.1 r/min (0.1 mm/s) 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 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.

Not used with the positioning mode. An applied voltage to the CN1

connector is displayed.

Not used with the positioning mode. An applied voltage to the CN1

connector is displayed.

Voltage of TLA (Analog torque limit) voltage is displayed.

The ratio of regenerative power to permissible regenerative power is

displayed in %.

The continuous effective load current is displayed.

The effective value in the past 15 s is displayed relative to the rated

current of 100 %.

The maximum occurrence torque is displayed.

The highest value in the past 15 s is displayed relative to the rated

torque of 100 %.

The instantaneous torque is displayed.

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 only the lower five digits of the actual value since the servo

amplifier display is five digits.

When the servo motor rotates in the CCW direction, the value is added.

The within one-revolution position is displayed in 1000 pulse

increments of the encoder.

When the servo motor rotates in the CCW direction, the value is added.

The travel distance from the home position is displayed as multi-

revolution counter value of the absolution position encoder in the

absolution position detection system.

The travel distance from the home position is displayed as load side

multi-revolution counter value in the absolution position detection

system.

The estimated ratio of the load inertia moment to the servo motor shaft

inertia moment is displayed.

Control

mode

(Note 1)

CL

CP/BCD

Operation

mode (Note 3)

PS

Lin.

Full.

Standard

DD

3 - 7

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

Status display Symbol Unit Description

Settling time ST ms

Oscillation detection
frequency

Number of tough drive
operations

Unit power consumption
1 (1 W unit)

Unit power consumption
2 (1 kW unit)

Unit total power
consumption 1
(1 Wh unit)

Unit total power
consumption 2

(100 kWh unit)

Load-side encoder
Cumulative feedback

pulses

Load-side encoder
Droop pulses

Load-side encoder
information 1

(1 pulse unit)

Load-side encoder
information 1

(100000 pulses unit)

Load-side encoder
information 2

Z-phase counter low FCy1 pulse

oF Hz Frequency at the time of oscillation detection is displayed.

Td times The number of tough drive functions activated is displayed.

PC1 W

PC2 kW

TPC1 Wh

TPC2 100 kWh

FC pulse

FE pulse

FCy1 pulse

FCy2 100000 pulses

FL5 rev

Settling time is displayed. When it exceeds 1000 ms, "1000" will
be displayed.

Unit power consumption is displayed by increment of 1 W.
Positive value indicates power running, and negative value
indicates regeneration. The values in excess of ±99999 can be
counted. However, the counter shows only the lower five digits
of the actual value since the servo amplifier display is five digits.

Unit power consumption is displayed by increment of 1 kW.
Positive value indicates power running, and negative value
indicates 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 values in excess of ±99999 can
be counted. However, the counter shows only the lower five
digits of the actual value since the servo amplifier display is five
digits.

Unit total power consumption is displayed by increment of 100
kWh. Positive value is cumulated during power running and
negative value during regeneration.

Feedback pulses from the load-side 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 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.

Droop pulses of the deviation counter between a load-side
encoder and a command are displayed. When the count
exceeds ±99999, it starts from 0.

Negative value is indicated by the lit decimal points in the upper
four digits.

The display shows the average droop pulse value of 128-time
sampling at the rate of 444 [μs].

The Z-phase counter of a load-side encoder is displayed in the
encoder pulse unit.

For an incremental linear encoder, the Z-phase counter is
displayed. The value is counted up from 0 based on the home
position (reference mark). For an absolute position linear
encoder, the encoder absolute position is displayed.

When the count exceeds 99999, it starts from 0.

The Z-phase counter of a load-side encoder is displayed by
increments of 100000 pulses.

For an incremental linear encoder, the Z-phase counter is
displayed. The value is counted up from 0 based on the home
position (reference mark). For an absolute position linear
encoder, the encoder absolute position is displayed.

When the count exceeds 99999, it starts from 0.

When an incremental linear encoder is used as the load-side
encoder, the display shows 0.

When an absolute position linear encoder is used as the load­side encoder, the display shows 0.

When a rotary encoder is used as the load-side encoder, the
display shows the multi-revolution counter value of the encoder.

The Z-phase counter is displayed in the encoder pulse unit.
For an incremental linear encoder, the Z-phase counter is

displayed. The value is counted up from 0 based on the home
position (reference mark). For an absolute position linear
encoder, the encoder absolute position is displayed.

When the count exceeds 99999, it starts from 0.

Control

mode

(Note 1)

CL

CP/BCD

Operation

mode (Note 3)

PS

Full.

Standard

Lin.

DD

3 - 8

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

Status display Symbol Unit Description

The Z-phase counter is displayed by increments of 100000
pulses.

Z-phase counter high FCy2 100000 pulses

Electrical angle low ECy1 pulse The servo motor electrical angle is displayed.

Electrical angle high ECy2 100000 pulses

STM

μm

10

(STM-4)

10

-3

Current position PoS

10

degree

pulse

(Note 2)

STM

μm

10

(STM-4)

10

-3

Command position CPoS

10

degree

pulse

(Note 2)

STM

μm

10

(STM-4)

Command remaining
distance

rn

10

10

-3

degree

pulse

(Note 2)

Point table No./program
No./command station

Pno

position

Step No. Sno

Analog override voltage oru V The analog override voltage is displayed.

Override level or %

STM

10

μm

(STM-4)

Cam axis one cycle
current value

CCyC

10

10

-3

degree

pulse

(Note 4)

STM

μm

10

(STM-4)

10

-3

10

Cam standard position CbAS

degree

pulse

(Note 2)

For an incremental linear encoder, the Z-phase counter is
displayed. The value is counted up from 0 based on the home
position (reference mark). For an absolute position linear
encoder, the encoder absolute position is displayed.

When the count exceeds 99999, it starts from 0.

The servo motor electrical angle is displayed by increments of
100000 pulses.

When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the
current position is displayed as machine home position is 0.

When "_ _ 1 _" (roll feed display) is set in [Pr. PT26], the actual

inch

current position is displayed as start position is 0.
The values in excess of ±99999 can be counted. However, the

counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the
command current position is displayed as machine home
position is 0.

When "_ _ 1 _" (roll feed display) is set in [Pr. PT26], turning on
the start signal starts counting from 0 and a command current
position to the target position is displayed in the automatic

inch

mode.
The command positions of the selected point table are

displayed at a stop. At the manual mode, the command
positions of the selected point table are displayed.

The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Indicates the remaining distance to the command position of the
currently selected point table, program and station.

inch

The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

For the point table method and program method, the point table
and program No. currently being executed are displayed. The
selected number is displayed during a temporary stop or manual
operation.

For the indexer method, the command next station position is
displayed.

The step No. of the program currently being executed is
displayed. At a stop, 0 is displayed.

The setting value of the override is displayed.
When the override is disabled, 100% is displayed.

The current position in one cycle of CAM axis is displayed with
the range of "0 to (cam axis one cycle length - 1)", the cam axis
one cycle current value which is calculated from the travel
distance inputted to the cam axis. When the simple cam

inch

function is disabled, 0 is always displayed.
The values in excess of ±99999 can be counted. However, the

counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Refer to section 12.1.8 for detecting point.

A feed current value which is the standard position of the cam
operation is displayed. When the simple cam function is
disabled, 0 is always displayed.

inch

The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Refer to section 12.1.8 for detecting point.

Control

mode

(Note 1)

CL

CP/BCD

Operation

mode (Note 3)

PS

Full.

Lin.

Standard

DD

3 - 9

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

Control

mode

Status display Symbol Unit Description

STM

10

(STM-4)

Cam axis feed current
value

Cam No. in execution Cno

Cam stroke amount in
execution

Main axis current value MCMd

Main axis one cycle
current value

CCMd

CSTK

MCyC

10

-3

10

degree

pulse

(Note 2)

STM

10

(STM-4)

10

-3

10

degree

pulse

(Note 2)

STM

10

(STM-4)

10

-3

10

degree

pulse

(Note 4)

STM

10

(STM-4)

10

-3

10

degree

pulse

(Note 4)

μm

μm

μm

μm

A feed current value during the cam axis control is displayed.
When the simple cam function is disabled, 0 is always
displayed.

inch

The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Refer to section 12.1.8 for detecting point.

Cam No. in execution is displayed.
When the simple cam function is disabled, 0 is always

displayed.
Refer to section 12.1.8 for detecting point.

Cam stroke amount in execution is displayed. When the simple
cam function is disabled, 0 is always displayed.

inch

The values in excess of ±99999 can be counted. However, the
counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Refer to section 12.1.8 for detecting point.

A current value of the input axis (synchronous encoder axis or
servo input axis) is displayed. Unit is increment of input axis
position. When the simple cam function is disabled, 0 is always

inch

displayed.
The values in excess of ±99999 can be counted. However, the

counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Refer to section 12.1.8 for detecting point.

The input travel amount of the input axis is displayed within the
range of "0 and (cam axis one cycle length setting - 1)". Unit is
an increment of cam axis one cycle. When the simple cam

inch

function is disabled, 0 is always displayed.
The values in excess of ±99999 can be counted. However, the

counter shows only the lower five digits of the actual value since
the servo amplifier display is five digits.

Refer to section 12.1.8 for detecting point.

(Note 1)

CL

CP/BCD

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

BCD: Positioning mode (point table method in the BCD input positioning operation)

This method is available only when the MR-D01 unit is connected. Refer to chapter 12 for details.

CL: Positioning mode (program method)

PS: Positioning mode (indexer method)

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

3. Standard: Standard (semi closed loop system) use of the rotary servo motor

Full.: Fully closed loop system use of the rotary servo motor

Lin.: Linear servo motor use

DD: Direct drive (DD) motor use

4. Depending on the setting of [Cam control data No. 30 Main shaft input axis selection], the parameters used to set the unit and

feed length multiplication will change as follows. For details of each parameter, refer to section 7.2.9 and 12.1.7 (3).

Setting of [Cam control data No. 30] Parameter for the unit setting

"0" or "1" [Pr. PT01] [Pr. PT03]

"2" [Cam control data No. 14] [Cam control data No. 14]

Parameter for the feed length

multiplication setting

Operation

mode (Note 3)

PS

Standard

Full.

Lin.

DD

3 - 10

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(3) 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.

Positioning (point table method/program

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

method)

Positioning (indexer method) Cumulative feedback pulses

Analog torque command voltage/cumulative feedback

pulses

Current position

3 - 11

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.3 Diagnostic mode

The display can show diagnosis contents. Press the "UP" or "DOWN" button to change display data as
desired.

(1) Display transition

Sequence

Drive recorder enabled/
disabled display

External I/O signal display

Output signal (DO)
forced output

JOG operation

Positioning operation

Motor-less operation

Automatic VC offset

Servo motor series ID

Servo motor type ID

Servo motor encoder ID

For manufacturer adjustment

For manufacturer adjustment

UP

DOWN

Teaching function

Machine analyzer
operation

For manufacturer
adjustment

Single-step feed

Software version: lower

Software version: upper

3 - 12

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(2) Diagnosis display list

Name Display Description

Not ready
Indicates that the servo amplifier is being initialized

or an alarm has occurred.

Sequence

Drive recorder enabled/disabled display

External I/O signal display Refer to section 3.1.7.

Output signal (DO) forced output

JOG operation

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
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.

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.

Refer to section 3.1.8 for details.

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

For details, refer to section 4.5.9 (2) of "MR-J4­_A_(-RJ) Servo Amplifier Instruction Manual".

Test operation mode

Positioning operation

Motor-less operation

Machine analyzer
operation

For manufacturer
adjustment

Single-step feed

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

MR Configurator2 is required to perform positioning
operation.

For details, refer to section 4.5.9 (3) of "MR-J4­_A_(-RJ) Servo Amplifier Instruction Manual".

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.

For details, refer to section 4.5.9 (4) of "MR-J4­_A_(-RJ) Servo Amplifier Instruction Manual".

Merely connecting the servo amplifier allows the
resonance point of the mechanical system to be
measured.

MR Configurator2 is required to perform machine
analyzer operation.

For details, refer to section 11.7 of "MR-J4-_A_(-RJ)
Servo Amplifier Instruction Manual".

This is for manufacturer adjustment.

This function is available only in the point table
method and program method. When the positioning
operation is executed in accordance with the point
table or program set by MR Configurator2, the
diagnosis display changes to "d-06" during single­step feed. For other control mode, the display does
not change to "d-06". Refer to section 3.1.9 for
details.

The status will be displayed with the "MODE"
button. The "UP" and "DOWN" buttons are disabled.

3 - 13

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

Name Display Description

Indicates the version of the software.

Software version - Lower

Software version - Upper

Automatic VC offset (Note)

Servo motor series ID

Indicates the system number of the software.

If offset voltages in the analog circuits inside and
outside the servo amplifier cause the servo motor
setting speed not to be the designated value at VC
or OVC of 0 V, a zero-adjustment of offset voltages
will be automatically performed. When using the VC
automatic offset, enable it in the following
procedures.

1) Press the "SET" once.

2) Set the number in the first digit to 1 with
"UP"/"DOWN".

3) Press the "SET".

This function cannot be used if the input voltage of
VC or OVC is -0.4 V or less, or +0.4 V or more.

When the VC automatic offset is enabled, the
following automatic offset voltage is applied
according to the setting of [Pr. Po11].

Pr. Po11

_ _ 0 _

_ _ 1 _

Offset voltage to be

automatically adjusted

Offset voltage set with [Pr. PC37]
(Servo amplifier side)

Offset voltage set with [Pr. Po21]
(MR-D01 side)

Push the "SET" button to show the series ID of the
servo motor currently connected.

For indication details, refer to app. 1 of "Servo Motor
Instruction Manual (Vol. 3)".

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

Servo motor type ID

Servo motor encoder ID

For manufacturer adjustment

For manufacturer adjustment

Teaching function Refer to section 3.1.10.

servo motor currently connected.
For indication details, refer to app. 1 of "Servo Motor

Instruction Manual (Vol. 3)".

Push the "SET" button to show the encoder ID of
the servo motor currently connected.

For indication details, refer to app. 1 of "Servo Motor
Instruction Manual (Vol. 3)".

This is for manufacturer adjustment.

This is for manufacturer adjustment.

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

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

3 - 14

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.4 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display
indicate the alarm number that has occurred or the parameter number in error.

Name Display (Note 1) Description

Indicates no occurrence of an alarm.

Current alarm

Alarm history

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 control
circuit power].

Indicates that there is no tenth alarm in the past.

Indicates that there is no eleventh alarm in the past.

Indicates that there is no twelfth alarm in the past.

Indicates that there is no sixteenth alarm in the past.

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

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

Parameter error No./point
table error No.

(Note 2)

The value of the point table is over the setting range.
The error point table No. (intermediate digit "2") and item (lower digit

"d") are displayed.
The following shows the items.
P: position data, d: motor speed, A: acceleration time constant, b:

deceleration time constant, n: dwell, H: auxiliary function, M: M code

Note 1. If a parameter error and point table error occur simultaneously, the display shows the parameter error.

2. The display shows only when the current alarm is [AL. 37 Parameter error].

3 - 15

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

The following is additional information of alarm occurrence.
(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.

3 - 16

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.5 Point table setting

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

(1) Display transition

Point table transition

Setting item transition

Point table No. 1

Point table No. 2

Point table No. 3

Point table No. 253

Point table No. 254

Point table No. 255

UP

DOWN

SET button

MODE button

Target position

Servo motor speed

Acceleration time
constant

Deceleration time
constant

Dwell

Auxiliary function

M code

UP

DOWN

3 - 17

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(2) Setting list

The following table indicates the point table settings that may be displayed.

Status display Symbol Unit Description

Point table No. Po001

STM

10

(STM-4)

10

-3

Target position PoS

10

degree

pulse

(Note 1)

r/min

Servo motor speed SPd

Acceleration time constant STA ms Set a time until the servo motor rotates at the rated speed. 0 to 20000

Deceleration time constant STb ms

Dwell TLn ms

Auxiliary function H

M code MCd

mm/s

(Note 2)

Specify the point table to set the target position, servo motor speed,
acceleration time constant, deceleration time constant, dwell, auxiliary
function and M code.

μm

inch

Set the travel distance.

Set the command speed of the servo motor for execution of positioning. The
setting value must be within the permissible speed of the servo motor used. If
a value equal to or larger than the permissible speed is set, the value is
clamped at the permissible speed.

Set a time from when the servo motor rotates at the rated speed until when
the motor stops.

This function is enabled when you select the point table by input signal.
To disable the dwell, set "0" or "2" to the auxiliary function. To perform

varying-speed operation, set "1", "3", "8", "9", "10", or "11" to the auxiliary
function and 0 to the dwell. When the dwell is set, the position command of
the selected point table is completed. After the set dwell has elapsed, start
the position command of the next point table.

This function is enabled when you select the point table by input signal.
(1) When using this point table under the absolute value command method
0: Automatic operation is performed in accordance with a single point table

selected.
1: Executes automatic continuous operation without stopping for the next

point table.
8: Automatic continuous operation is performed to the point table selected at

start-up.
9: Automatic continuous operation is performed to point table No. 1.
(2) When using this point table under the incremental value command method
2: Automatic operation is performed in accordance with a single point table

selected.
3: Executes automatic continuous operation without stopping for the next

point table.
10: Automatic continuous operation is performed to the point table selected at

start-up.
11: Automatic continuous operation is performed to point table No. 1.
When a different rotation direction is set, smoothing zero (command output) is

confirmed and then the rotation direction is reversed.
When "1" or "3" is set to the point table No. 255, [AL. 61] will occur at the time

of point table execution.

This is the code output at the completion of positioning.
Outputs the first digit and the second digit of the M code in 4-bit binary

respectively.

Note 1. The unit can be selected from μm/inch/degree/pulse with [Pr. PT01].

2. The unit will be "mm/s" for the linear servo motor control mode.

Indication

range

1 to 255

-999999
to

999999

0

to

Permissible

speed

0 to 20000

0 to 20000

0 to 3, 8 to 11

0 to 99

3 - 18

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(3) Operation method

POINT

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

(a) Setting of 5 or less digits

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

Press the "MODE" button four times.

To the next item setting

A point table No. is displayed.

Press the "UP" or "DOWN" button to select
point table No. 1.

Press the "SET" button once.

Press the "UP" button five times.

Press the "SET" button twice.

The setting value of auxiliary function of specified
point table No. flickers.

Press the "UP" button once.

During flickering, the set value can be changed.

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

Press "SET" to enter.

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

3 - 19

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(b) Setting of 6 or more digits

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

Press the "MODE" button four times.

A point table No. is displayed.

Press the "UP" or "DOWN" button to select
point table No. 1.

Press the "SET" button once.

Press the "SET" button once.

Setting of upper 1 digit

Press the "MODE" button
once.

Setting of lower 4 digits

Press the "SET" button
once.

The screen flickers.

Change the setting with
the "UP" or "DOWN"
button.

Press the "SET" button
once.

Enter the setting.

Press the "MODE" button once.

3 - 20

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.6 Parameter mode

(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or
"DOWN" button changes the display as shown below.

From alarm mode

Basic setting

parameters

To status display
mode

Gain/filter

parameters

Extension setting

parameters

MODE

I/O setting

parameters

Extension setting 2

parameters

Extension setting 3

parameters

Linear/DD motor

setting parameter

Option setting

parameters

Positioning

control parameters

[Pr. PA01]

[Pr. PA02]

[Pr. PA31]

[Pr. PA32]

[Pr. PB01]

[Pr. PB02]

[Pr. PB63]

[Pr. PB64]

[Pr. PC01]

[Pr. PC02]

[Pr. PC79]

[Pr. PC80]

(2) Operation method

(a) Parameters of 5 or less digits

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

[Pr. PD01]

[Pr. PD02]

[Pr. PD47]

[Pr. PD48]

[Pr. PE01]

[Pr. PE02]

[Pr. PE63]

[Pr. PE64]

[Pr. PF01]

[Pr. PF02]

[Pr. PF47]

[Pr. PF48]

The parameter number is displayed.
Press "UP" or "DOWN" to change the number.

[Pr. PL01]

[Pr. PL02]

[Pr. PL47]

[Pr. PL48]

[Pr. Po01]

[Pr. Po02]

[Pr. Po31]

[Pr. Po32]

[Pr. PT01]

[Pr. PT02]

[Pr. PT47]

[Pr. PT48]

Press "SET" twice.

The set value of the specified parameter number flickers.

Press the "UP" button six times.

UP

DOWN

To shift to the next parameter, press the "UP" or "DOWN" button.
When changing the [Pr. PA01] setting, change its setting value, then switch power off once and
switch it on again to enable the new value.

3 - 21

During flickering, the set value can be changed.
Use "UP" or "DOWN".
( _ _ _ 6: Positioning mode (point table method))

Press "SET" to enter.

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(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 the "MODE" button to switch to the basic setting parameter screen.
Press the "UP" or "DOWN" button to select [Pr. PA06].

Press the "SET" button once.

Setting of upper 1 digit

Press the "MODE" button
once.

Press the "SET" button
once.

…… ……

The screen flickers.

Setting of lower 4 digits

Change the setting with
the "UP" or "DOWN"
button.

Press the "SET" button
once.

Enter the setting.

…… …

Press the "MODE" button
once.

3 - 22

3. DISPLAY AND OPERATION SECTIONS

n

A

t

www.kavrammuhendislik.com.tr

3.1.7 External I/O signal display

POINT

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

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

(1) Operation

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

Press the "UP" button twice.

……External I/O signal display scree

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.

CN1-10 (Note 1)/

CN1-37 (Note 2)

CN1-45CN1-42

Input signals

lways li

Output signals

CN1-13CN1-14

Note 1. This pin is available with servo amplifiers having software version B3 or later, and manufactured in

November 2014 or later.

2. This pin is available with servo amplifiers having software version B7 or later, and manufactured in

January 2015 or later.

CN1-35 (Note 1)/
CN1-38 (Note 2)

CN1-18 CN1-17

CN1-33

CN1-16 CN1-41

CN1-22CN1-48

CN1-19 CN1-15 CN1-44 CN1-43

CN1-23CN1-25 CN1-49CN1-24

The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.
For each pin signal in control modes, refer to section 2.2 (1).

Light on: on
Light off: off

3 - 23

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.8 Output signal (DO) forced output

POINT

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

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

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

Press the "UP" button three times.

CN1-14

CN1-13

CN1-33

CN1-48

CN1-22

CN1-23

CN1-25

CN1-24

CN1-49

Press the "SET" button for 2 s or more.

……

Switch on/off the signal below the lit segment.

Always lit

……

Indicates on/off of output signal. Definitions of
on/off are the same as those for the external I/O
signals. (Light on: on, light off: off)

Press the "MODE" button once.

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

……

Press the "UP" button once.

CN1-24 switches on.

……

(Between CN1-24 and DOCOM are connected.)

Press the "DOWN" button once.

CN1-24 switches off.

……

Press the "SET" button for 2 s or more.

3 - 24

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.9 Single-Step feed

The test operation mode is designed for checking servo operation. Do not use it

CAUTION

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

for actual operation.
If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.

POINT

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

(a)

(b)

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

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

Point table operation Program operation

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

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

(2) Forward/reverse the servo motor

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

(3) Pause the servo motor

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

(4) Stop the servo motor

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

3 - 25

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

(5) Forced stop of the servo motor software

Click "Forced Stop" (f) to make an instantaneous stop. When "Forced Stop" is enabled, the servo motor
does not drive even if "Operation Start" is clicked. Click "Forced Stop" again to enable "Operation Start"
to be clicked.

(6) Switch to the normal operation mode

Before switching from the test operation mode to the normal operation mode, turn off the servo amplifier.

3 - 26

3. DISPLAY AND OPERATION SECTIONS

www.kavrammuhendislik.com.tr

3.1.10 Teaching function

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

(1) Teaching preparation

(2) Position data setting method

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

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

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

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

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

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

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

_ _ 0)

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

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

3 - 27