Mitsubishi Electronics MR-J2S- A User Manual

General-Purpose AC Servo

J2-Super Series

General-Purpose Interface

MODEL

MR-J2S- A

SERVO AMPLIFIER
INSTRUCTION MANUAL

H

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read
through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents
carefully and can us e th e equ i pment correctly. D o no t us e t he s er vo amplifier and servo motor un ti l you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING
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:

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 . F o r exa mple , grou nd ing is in di cat ed 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 installation guide, always keep it accessible to the operator.

.

.

A - 1

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage

is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the serv o a mpl i fie r and se rvo mot o r to grou nd .
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, you

may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged , stressed, loaded, or pinched. Othe rwi se, you may get an ele ctric shoc k.
During power-on or operation, do not open the front cover of the servo amplifier. You may get 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 or periodic inspection, do not remove the front cover even of the servo amplifier if the

power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.

Otherwise a fire may cause.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous

flow of a large current may cause a fire.

When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a

regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a

burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot
while power is on or for some time after power-off. Their temperatures may be high and you may get burnt
or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their masses.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.

Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The controller and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.

When you keep or use it, please fulfill the following environmental conditions.

Environment

During
Ambient
temperature

Ambient
humidity

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level

(Note)
Vibration

Note. Except the servo motor with reduction gear.

operation

In storage

During

operation

In storage 90%RH or less (non-condensing)

[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing)
[

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
[

] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

90%RH or less (non-condensing) 80%RH or less (non-condensing)

[m/s2] 5.9 or less

2

] 19.4 or less

[ft/s

Servo amplifier Servo motor

Conditions

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

HC-SFS52 to 152
HC-SFS53 to 153

HC-RFS Series

HC-UFS 72
HC-SFS121 201
HC-SFS202
HC-SFS203

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72
HC-SFS121 201
HC-SFS202
HC-SFS203

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

HC-SFS81

HC-SFS81

152

352
353

152

352
353

X

Y : 49

Y : 24.5

X

X : 24.5
Y : 49

X : 24.5
Y : 29.4
X : 11.7
Y : 29.4

X

Y : 161

Y : 80

X

X : 80
Y : 161

X : 80
Y : 96
X : 38
Y : 96

A - 3

CAUTION

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during

operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo

motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder

may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo

motor and servo amplifier.

Connect the outpu t te rminal s (U, V, W) correctly. Otherwise, th e servo mot or w ill op e rate i mprop e rly .

Servo Amplifier

U
V

W

Servo Motor

U

V

W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the emergency stop (EMG) and other protective circuits may not
operate.

Servo
Amplifier

(24VDC)

Control

output

signal

COM

RA

Servo
Amplifier

(24VDC)

Control

output

signal

COM

RA

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

A - 4

(4) Usage

CAUTION

Provide an exter nal emergenc y stop c ircuit to ensure that oper ation c an be sto pped an d power s witched
off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y
electronic equipment used near the servo amplifier.

Use the servo amplifier with the specified servo motor.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.

For such reas ons as servic e life and mec hanical struc ture (e.g. wher e a ballscrew and the s ervo motor
are coupled via a tim ing belt), the electrom agnetic brak e may not ho ld the m otor shaf t. To ensur e safe ty,
install a stoppe r on the machin e si de.

(5) Corrective actions

CAUTION

When it is ass umed that a hazardous c ondition m ay take place a t the occur d ue to a po wer failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prev en ti on .

Configure th e electromagnet ic brake circu it so that it is activated n ot only by t he servo amplifier s ignals
but also by an external emergency stop (EMG).

Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).

Servo motor

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.

When power is restor ed after an inst antaneous power failu re, keep away from the machine because th e
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

Circuit must be
opened during
emergency stop (EMG).

EMGRA

24VDC

A - 5

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn withou t covers and safety guards. W hen the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not

been designed or manufactured to be incorporated in a device or system used in purposes related to

human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,

medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product

where major accidents or losses could occur if the product fails, install appropriate backup or failsafe

functions in the system.

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 and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-R OM du e t o par a mete r set tin g chan ge s
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.

A - 6

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRE C TIVES ?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,

1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE mar king). CE marking applies to machines and equipment
into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and

equipment. This requires the EMC filters to be used with the servo-incorporated machines and

equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to

the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage di re ctiv e

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with

the low voltage directive.

This servo is certified by TUV, third-party assessment orga nization, to comply with the low voltage

directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10A to MR-J2S-22KA

MR-J2S-10A1 to MR-J2S-40A1

Servo motor :HC-KFS

HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Configuration

Control box

Reinforced

(Note)
Reinforced
insulating
transformer

No-fuse
breaker

NFB

Magnetic
contactor

MC M

insulating type

24VDC
power
supply

Servo
amplifier

Servo
motor

Note. The insulating transformer is not required for the 11kW or more servo amplifier.

(3) Environment

Operate the servo amplifier at or above the contaminat ion level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).

A - 7

(4) Power supply

(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set

forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC
or EN standard should be used in the power input section.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in IE60664-1, a reinforced insulating transformer is not required in the power
input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been

insulation-reinforced in I/O.

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked

servo amplifier to the protective earth (PE) of the control box.

(b) Do not co nnect two g round c ables to the same pro tective e arth (PE) terminal. Always c onnect the

cables to the terminals one-to-one.

) of the

PE terminals

PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals

of the servo amplifier must be c onne ct ed t o t h e c orr es pondi n g eart h te rmi nal s.

(6) Wiring

(a) The cables to be connected to the terminal block of the servo amplifier must have crimping

terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard

compliant power connector sets are available from us as options.

A - 8

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in Section 13.2.2.

(b) The sizes of the cable s described in Section 13.2. 1 meet the following req uirements. To meet t he

other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient tempera t ur e: 40 (104 ) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray

(c) Use the EMC filter for noise reduction.

(8) Performing EMC tests

When EMC tests are ru n on a machine/device in to which the servo amplifier has been installed, i t
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specificati ons.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).

A - 9

CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10A to MR-J2S-22KA

MR-J2S-10A1 to MR-J2S-40A1

Servo motor :HC-KFS

HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Installation

3

Install a fan of 100CFM (2.8m
cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.

/min) air flow 4 in (10.16 cm) above the servo amplifier or provide

(4) Capacitor discharge time

The capacitor disc har ge tim e is a s listed belo w. To ensu re safety , do no t touch th e ch arg ing sec tion for
15 minutes after power-off.

Servo amplifier

MR-J2S-10A(1) 20A(1) 1

MR-J2S-40A(1) 60A 2
MR-J2S-70A to 350A 3
MR-J2S-500A 700A 5

MR-J2S-11KA 4
MR-J2S-15KA 6
MR-J2S-22KA 8

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.

(7) About wiring protection

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

Discharge time

[min]

A - 10

<<About the manual s>>

This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u use
the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR­J2S-A safely.

Relevant manuals

Manual name Manual No.

MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010
MELSERVO Servo Motor Instruction Manual SH(NA)3181
EMC Installation Guidelines IB(NA)67310

A - 11

MEMO

A - 12

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-24

1.1 Introduction.............................................................................................................................................. 1- 1

1.2 Function block diagram ..........................................................................................................................1- 2

1.3 Servo amplifier standard specifications................................................................................................1- 5

1.4 Function list.............................................................................................................. ...............................1- 6

1.5 Model code definition ..............................................................................................................................1- 7

1.6 Combination with servo motor............................................................................................... ................1- 9

1.7 Structure..................................................................................................................................................1-10

1.7.1 Parts identification..........................................................................................................................1-10

1.7.2 Removal and reinstallation of the front cover ..............................................................................1-15

1.8 Servo system with auxiliary equipment...............................................................................................1-19

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions.......................................................................................................................2- 1

2.2 Installation direction and clearances ....................................................................................................2- 2

2.3 Keep out foreign materials .....................................................................................................................2- 3

2.4 Cable stress..............................................................................................................................................2- 4

3. SIGNALS AND WIRING 3- 1 to 3- 66

3.1 Standard connection example ................................................................................................................3- 2

3.1.1 Position control mode .......................................................................................................................3- 2

3.1.2 Speed control mode...........................................................................................................................3- 6

3.1.3 Torque control mode.........................................................................................................................3- 8

3.2 Internal connection diagram of servo amplifier ..................................................................................3-10

3.3 I/O signals................................................................................................................................................3-11

3.3.1 Connectors and signal arrangements............................................................................................3-11

3.3.2 Signal explanations .........................................................................................................................3-15

3.4 Detailed description of the signals........................................................................................................3-24

3.4.1 Position control mode ......................................................................................................................3-24

3.4.2 Speed control mode..........................................................................................................................3-29

3.4.3 Torque control mode........................................................................................................................3-31

3.4.4 Position/speed control change mode ..............................................................................................3-34

3.4.5 Speed/torque control change mode.................................................................................................3-36

3.4.6 Torque/position control change mode ............................................................................................3-38

3.5 Alarm occurrence timing chart .............................................................................................................3-39

3.6 Interfaces.................................................................................................................................................3-40

3.6.1 Common line ....................................................................................................................................3-40

3.6.2 Detailed description of the interfaces............................................................................................3-41

3.7 Input power supply circuit.....................................................................................................................3-46

3.7.1 Connection example.........................................................................................................................3-46

3.7.2 Terminals..........................................................................................................................................3-48

3.7.3 Power-on sequence...........................................................................................................................3-49

3.8 Connection of servo amplifier and servo motor...................................................................................3-50

3.8.1 Connection instructions ..................................................................................................................3-50

1

3.8.2 Connection diagram.........................................................................................................................3-50

3.8.3 I/O terminals....................................................................................................................................3-52

3.9 Servo motor with electromagnetic brake .............................................................................................3-54

3.10 Grounding .............................................................................................................................................3-57

3.11 Servo amplifier terminal block (TE2) wiring method.......................................................................3-58

3.11.1 For the servo amplifier produced later than Jan. 2006 ............................................................. 3-58

3.11.2 For the servo amplifier produced earlier than Dec. 2005..........................................................3-60

3.12 Instructions for the 3M connector.......................................................................................................3-61

3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA...............................................................3-62

3.13.1 Connection example ......................................................................................................................3-62

3.13.2 Servo amplifier terminals.............................................................................................................3-63

3.13.3 Servo motor terminals...................................................................................................................3-64

4. OPERATION 4- 1 to 4- 6

4.1 When switching power on for the first time..........................................................................................4- 1

4.2 Startup......................................................................................................................................................4- 2

4.2.1 Selection of control mode..................................................................................................................4- 2

4.2.2 Position control mode .......................................................................................................................4- 2

4.2.3 Speed control mode...........................................................................................................................4- 4

4.2.4 Torque control mode.........................................................................................................................4- 5

4.3 Multidrop communication ......................................................................................................................4- 6

5. PARAMETERS 5- 1 to 5- 34

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

5.1.1 Parameter write inhibit ...................................................................................................................5- 1

5.1.2 Lists....................................................................................................................................................5- 2

5.2 Detailed description ...............................................................................................................................5-26

5.2.1 Electronic gear .................................................................................................................................5-26

5.2.2 Analog monitor.................................................................................................................................5-30

5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern..............................5-33

5.2.4 Alarm history clear..........................................................................................................................5-33

5.2.5 Position smoothing ..........................................................................................................................5-34

6. DISPLAY AND OPERATION 6- 1 to 6-16

6.1 Display flowchart..................................................................................................................................... 6- 1

6.2 Status display ..........................................................................................................................................6- 2

6.2.1 Display examples.............................................................................................................................. 6- 2

6.2.2 Status display list.............................................................................................................................6- 3

6.2.3 Changing the status display screen................................................................................................6- 4

6.3 Diagnostic mode.......................................................................................................................................6- 5

6.4 Alarm mode..............................................................................................................................................6- 7

6.5 Parameter mode ......................................................................................................................................6- 8

6.6 External I/O signal display.....................................................................................................................6- 9

6.7 Output signal (DO) forced output .........................................................................................................6-12

6.8 Test operation mode...............................................................................................................................6-13

6.8.1 Mode change.....................................................................................................................................6-13

6.8.2 Jog operation....................................................................................................................................6-14

2

6.8.3 Positioning operation.......................................................................................................................6-15

6.8.4 Motor-less operation........................................................................................................................6-16

7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12

7.1 Different adjustment methods ...............................................................................................................7- 1

7.1.1 Adjustment on a single servo amplifier..........................................................................................7- 1

7.1.2 Adjustment using MR Configurator (servo configuration software)...........................................7- 2

7.2 Auto tuning ..............................................................................................................................................7- 3

7.2.1 Auto tuning mode .............................................................................................................................7- 3

7.2.2 Auto tuning mode operation............................................................................................................7- 4

7.2.3 Adjustment procedure by auto tuning............................................................................................7- 5

7.2.4 Response level setting in auto tuning mode...................................................................................7- 6

7.3 Manual mode 1 (simple manual adjustment).......................................................................................7- 7

7.3.1 Operation of manual mode 1 ...........................................................................................................7- 7

7.3.2 Adjustment by manual mode 1 .......................................................................................................7- 7

7.4 Interpolation mode .................................................................................................................................7-10

7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super..........................7-11

7.5.1 Response level setting.....................................................................................................................7-11

7.5.2 Auto tuning selection....................................................................................................................... 7-11

8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10

8.1 Function block diagram ..........................................................................................................................8- 1

8.2 Machine resonance suppression filter ...................................................................................................8- 1

8.3 Adaptive vibration suppression control.................................................................................................8- 3

8.4 Low-pass filter .........................................................................................................................................8- 4

8.5 Gain changing function...........................................................................................................................8- 5

8.5.1 Applications....................................................................................................................................... 8- 5

8.5.2 Function block diagram....................................................................................................................8- 5

8.5.3 Parameters........................................................................................................................................8- 6

8.5.4 Gain changing operation..................................................................................................................8- 8

9. INSPECTION 9- 1 to 9- 2

10. TROUBLESHOOTING 10- 1 to 10-14

10.1 Trouble at start-up ..............................................................................................................................10- 1

10.1.1 Position control mode...................................................................................................................10- 1

10.1.2 Speed control mode.......................................................................................................................10- 4

10.1.3 Torque control mode.....................................................................................................................10- 5

10.2 When alarm or warning has occurred...............................................................................................10- 6

10.2.1 Alarms and warning list ..............................................................................................................10- 6

10.2.2 Remedies for alarms.....................................................................................................................10- 7

10.2.3 Remedies for warnings................................................................................................................10-13

11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11-10

11.1 Servo amplifiers...................................................................................................................................11- 1

3

11.2 Connectors............................................................................................................................................11- 8

12. CHARACTERISTICS 12- 1 to 12- 8

12.1 Overload protection characteristics...................................................................................................12- 1

12.2 Power supply equipment capacity and generated loss ....................................................................12- 2

12.3 Dynamic brake characteristics...........................................................................................................12- 5

12.4 Encoder cable flexing life....................................................................................................................12- 7

12.5 Inrush currents at power-on of main circuit and control circuit ....................................................12- 8

13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-54

13.1 Options..................................................................................................................................................13- 1

13.1.1 Regenerative brake options.........................................................................................................13- 1

13.1.2 Brake unit.....................................................................................................................................13-10

13.1.3 Power regeneration converter ....................................................................................................13-12

13.1.4 External dynamic brake..............................................................................................................13-15

13.1.5 Cables and connectors.................................................................................................................13-18

13.1.6 Junction terminal block (MR-TB20)..........................................................................................13-26

13.1.7 Maintenance junction card (MR-J2CN3TM) ............................................................................13-28

13.1.8 Battery (MR-BAT, A6BAT).........................................................................................................13-29

13.1.9 MR Configurator (Servo configurations software) ...................................................................13-30

13.1.10 Power regeneration common converter...................................................................................13-32

13.1.11 Heat sink outside mounting attachment (MR-JACN)...........................................................13-36

13.2 Auxiliary equipment ..........................................................................................................................13-39

13.2.1 Recommended wires....................................................................................................................13-39

13.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................13-42

13.2.3 Power factor improving reactors................................................................................................13-42

13.2.4 Power factor improving DC reactors..........................................................................................13-43

13.2.5 Relays............................................................................................................................................13-44

13.2.6 Surge absorbers ...........................................................................................................................13-44

13.2.7 Noise reduction techniques.........................................................................................................13-44

13.2.8 Leakage current breaker.............................................................................................................13-50

13.2.9 EMC filter.....................................................................................................................................13-52

13.2.10 Setting potentiometers for analog inputs................................................................................13-54

14. COMMUNICATION FUNCTIONS 14- 1 to 14- 28

14.1 Configuration.......................................................................................................................................14- 1

14.1.1 RS-422 configuration....................................................................................................................14- 1

14.1.2 RS-232C configuration.................................................................................................................14- 2

14.2 Communication specifications............................................................................................................14- 3

14.2.1 Communication overview.............................................................................................................14- 3

14.2.2 Parameter setting.........................................................................................................................14- 4

14.3 Protocol.................................................................................................................................................14- 5

14.4 Character codes ...................................................................................................................................14- 7

14.5 Error codes ...........................................................................................................................................14- 8

14.6 Checksum.............................................................................................................................................14- 8

14.7 Time-out operation..............................................................................................................................14- 9

14.8 Retry operation....................................................................................................................................14- 9

4

14.9 Initialization........................................................................................................................................14-10

14.10 Communication procedure example ...............................................................................................14-10

14.11 Command and data No. list.............................................................................................................14-11

14.11.1 Read commands.........................................................................................................................14-11

14.11.2 Write commands........................................................................................................................14-12

14.12 Detailed explanations of commands...............................................................................................14-14

14.12.1 Data processing..........................................................................................................................14-14

14.12.2 Status display ............................................................................................................................14-16

14.12.3 Parameter...................................................................................................................................14-17

14.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................14-19

14.12.5 Disable/enable of external I/O signals (DIO)..........................................................................14-20

14.12.6 External input signal ON/OFF (test operation).....................................................................14-21

14.12.7 Test operation mode..................................................................................................................14-22

14.12.8 Output signal pin ON/OFF output signal (DO) forced output..............................................14-24

14.12.9 Alarm history.............................................................................................................................14-25

14.12.10 Current alarm..........................................................................................................................14-26

14.12.11 Other commands......................................................................................................................14-27

15. ABSOLUTE POSITION DETECTION SYSTEM 15- 1 to 15- 66

15.1 Outline..................................................................................................................................................15- 1

15.1.1 Features.........................................................................................................................................15- 1

15.1.2 Restrictions....................................................................................................................................15- 1

15.2 Specifications.......................................................................................................................................15- 2

15.3 Battery installation procedure...........................................................................................................15- 3

15.4 Standard connection diagram ............................................................................................................15- 4

15.5 Signal explanation...............................................................................................................................15- 5

15.6 Startup procedure................................................................................................................................15- 6

15.7 Absolute position data transfer protocol ...........................................................................................15- 7

15.7.1 Data transfer procedure...............................................................................................................15- 7

15.7.2 Transfer method ...........................................................................................................................15- 8

15.7.3 Home position setting..................................................................................................................15-17

15.7.4 Use of servo motor with electromagnetic brake .......................................................................15-19

15.7.5 How to process the absolute position data at detection of stroke end....................................15-20

15.8 Examples of use..................................................................................................................................15-21

15.8.1 MELSEC-A1S (A1SD71).............................................................................................................15-21

15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG).....................................................................................15-35

15.8.3 MELSEC A1SD75(AD75) ...........................................................................................................15-47

15.9 Confirmation of absolute position detection data............................................................................15-62

15.10 Absolute position data transfer errors ...........................................................................................15-63

15.10.1 Corrective actions......................................................................................................................15-63

15.10.2 Error resetting conditions.........................................................................................................15-65

Appendix App- 1 to App- 4

App 1. Signal arrangement recording sheets.........................................................................................App- 1

App 2. Status display block diagram ......................................................................................................App- 2

App 3. Combination of servo amplifier and servo motor ...................................................................... App- 3

5

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Mo tor Instruc tion Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included
in the Servo Amplifier Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULA TI ON ME TH O DS F OR DES I G NI N G

6

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is ba sed on the MELSERVO-J2
series and has further higher performance and higher functions.
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control.
Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of
machine tools and general industrial machines but also line control and tension control.
As this new series has the RS-232C or RS-422 serial communication function, a MR Conf igurator (servo
configuration software)-installed personal computer or the like can be used to perform parameter setting,
test operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an abso lute position dete ction system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.

(1) Position control mode

An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 131072 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so
a smoother start/stop can be made in response to a sudden position command.
A torque lim it is imposed on th e se rv o amp l if ier by the clamp circuit to p ro te c t the powe r transisto r in
the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque
limit value can be changed to any value with an external analog input or the parameter.

(2) Speed control mode

An external analog speed command (0 to
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external
analog speed command.

(3) Torque control mode

An external an alog torque command (0 to
used to control the torque output by the servo motor.
To protect misoperation under no load, the speed limit function (external or internal setting) is also
available for application to tension control, etc.

10VDC) or parameter-driven internal speed command

8VDC) or parameter-driven internal torque command is

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J2S-350A or less

Regenerative brake option

(Note2)
Power

NFB
supply
3-phase
200 to
230VAC,
1-phase
230VAC or
1-phase
100to120VAC

MC

Servo amplifier

1

L

2

L
L

3

(MR-J2 S-200A or more)

11

L
L

21

Regenerative
brake

Pulse

input

RADS

Control

circuit

power

supply

Model position

control

P

C

CHARGE

lamp

Regene­rative
TR

Fan

Base amplifier

Model speed

control

D

(Note1)

Voltage

detection

Current

detector

Overcurrent

protection

encoder

Virtual

motor

Dynamic

Virtual

brake

Current

detection

U
V
W

CN2

Servo motor

U
V
W

B1
B2

Encoder

M

Electro­magnetic
brake

Model
position

Actual position

control

Model
speed

Actual speed

control

Model
torque

Current

control

RS-232C

A/D

RS-422

D/A

I/F

CN1A CN1B

CN3

Analog monitor
(2 channels)

Controller

RS-422/RS-232C

Analog
(2 channels)

D I/O control
Servo on
Start
Failure, etc.

Note 1. The built-in regenerative brake resistor is not provided for the MR-J2S-10A(1).

2. For 1-phase 230VAC, connect the power supply to L
L

is not provided for a 1-phase 100 to120VAC power supply.

3

and leave L3 open.

1,L2

1 - 2

MR-BAT

CON1

Optional battery
(for absolute position
detection system)

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-500A MR-J2S-700A

Regenerative brake option

Power
supply
3-phase
200 to
230VAC

NFB

Servo amplifier

MC

NCP

1

RADS

L

2

L
L

3

CHARGE

lamp

Regene­rative
TR

Fan

Current

detector

Dynamic

U
V
W

Servo motor

U
V

SM

W

brake

B1
B2

Electro­magnetic
brake

L

11

Control

circuit

L

21

power

supply

Regenerative
brake

Base amplifier

Voltage

detection

Overcurrent

protection

Current

detection

CN2

Encoder

Pulse

input

Model position

control

Model speed

control

Virtual

encoder

Virtual
motor

Analog
(2 channels)

Model
position

Actual position

control

A/D

CN1A CN1B

D I/O control
Servo on
Start
Failure, etc.

Model
speed

Actual speed

control

RS-232C

I/F

RS-422

CN3

Model
torque

Current

control

D/A

Analog monitor
(2 channels)

Controller

RS-422/RS-232C

MR-BAT

CON1

Optional battery
(for absolute position
detection system)

1 - 3

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-11KA or more

Regenerative brake option

Power
supply
3-phase
200 to
230VAC,
1-phase
230VAC

NFB MC

Servo amplifier

DS

L

1

2

L

3

L

11

L

21

L

Regenerative
brake

Position
command
input

CHARGE

Control

power
supply

amplifier

Model position

control

PC

lamp

Fan

Base

Model speed

NP1

detection

control

Regene­rative
TR

Voltage

Overcurrent

protection

Virtual

motor

Current

detecto r

Current

detection

Virtual

encoder

U
V
W

CN2

Servo motor

U
V

SM

W

B1

Electro­magnetic

B2

brake

Encoder

Analog
(2 channels)

Model
position

Actual position

control

A/D

CN1A CN1B

D I/O control
Servo on
Start
Failure, etc.

Actual speed

control

RS-232C

I/F

Model
speed

RS-422 D/A

CN3 CN4

Model
torque

Current

control

Analog monitor
(2 channels)

Controller

RS-422/RS-232C

MR-BAT

CON1

Optional battery
(for absolute position
detection system)

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier

MR-J2S-

Item

Voltage/frequency

Permissible voltage fluctuation

Power supply

Permissible frequency fluctuation Within 5%
Power supply capacity Refer to Section12.2

Inrush current Refer to Section 12.5
Control system Sine-wave PWM control, curr ent c ontr ol syste m
Dynamic brake Built-in External option Built-in

Protective functions

Max. input pulse frequency 500kpps (for differential receiver), 200kpps (for open collector)

10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1

3-phase 200 to 230VAC,
50/60Hz or 1-phase
230VAC, 50/60Hz
3-phase 200 to 230VAC:
170 to 253VAC
1-phase 230VAC: 207 to
253VAC

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
brake error protection, undervoltage, instantaneous power failure protection, overspeed
protection, exces s i v e error protecti on

3-phase 200 to 230VAC, 50/60Hz

3-phase 170 to 253VAC

1-phase 100 to
120VAC
50/60Hz

1-phase
85 to 127VAC

Command pulse multiplying factor Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500

In-position range setting 0 to 10000 pulse (command pulse unit)

Error excessive (Note) 2.5 revolutions

Position control mode

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed co mma n d i nput 0 to 10VDC / Rated speed

0.01% or less (load fluctuation 0 to 100%)

Speed fluctuation ratio

0.2% max.(ambient temperature 25 10 ) for external speed setting only

Speed control m ode

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Torque

control
mode

Structure Self-cooled, open (I P00) Force-cooling, open (IP00 )

Mass

Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B 0 or l ater is

Analog torque command in p ut 0 to 8VDC / Maximum torque (input impedance 10 to 12k )
Speed limit Set by parameter setting or external analog input (0 to

Ambient

temperature

Ambient

humidity

Ambient

Environment

Altitude Max. 1000m (3280ft) above sea level

Vibration

used. When the software version is earlier than B0, the error excessive detection level of that servo ampli fie r is

Operation

Storage
Operation

Storage

[ ]0 to 55 (non-freezing)
[

] 32 to 131 (non-freezing)
[ ] 20 to 65 (non-freezing)
[

] 4 to 149 (non-freezing)

90%RH or less ( non - condensing)
Indoors (no dir ect su nl i gh t )

Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s2] or less

19.4 [ft/s

[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 15 16 16 20 0.7 0.7 1.1

[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 33. 1 35.3 35.3 44.1 1.5 1.5 2.4

2

] or less

0% or less (power fluctuation

10%)

10VDC/Rated speed)

Self-cooled,

open(IP00)

10 revolutions.

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functi ons, refer to the reference field.

Function Description

Position control mode This servo is used as position control servo. P

Speed control mode This servo is used as speed control servo. S

Torque control mode This servo is used as torque control servo. T

Position/speed control cha nge
mode
Speed/torque control change
mode
Torque/position control
change mode

High-resolut ion encoder
Absolute position detection

system

Gain changing function

Adaptive vibration
suppression control

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function
Slight vibration suppression

control
Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No. 3, 4

Auto tuning

Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7
S-pattern acceleration/
deceleration time constant

Regenerative brake option

Brake unit

Using external input signal, control can be switched
between pos i tion control and speed control.
Using external input signal, control can be switched
between speed control and torque control.
Using external input signal, control can be switched
between to rque control a nd position control.
High-resolution encoder of 131072 pulses/rev is used as a
servo motor encoder.
Merely setting a home position once makes home position
return unnecessary at every power-on.
You can switch between gains during rotation and gains
during stop or use an external signal to change gains
during operation.
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 a MR Configurator (servo
configuration) software-installed personal computer and
servo amplifier.
Can simulate machine motions on a personal computer
screen on the basis of the machine analyzer results.
Personal computer changes gains automatically and
searches for overshoot-free gains in a short time.
Suppresses vibration of 1 pulse produced at a servo motor
stop.

Automatically adjusts the gain to optimum value if load
applied to the servo motor shaft varies. Higher in
performance than MR-J2 series servo amplifier.

Speed can be increased and decreased smoothly. S, T Parameter No. 13
Used when the built-in regenerative brake resistor of the

servo amplifier does not have sufficient regenerative
capability for the regenerative power generated.
Used when the regenerative brake option cannot provide
enough regenerative power.
Can be used with the MR-J2S-500A to MR-J2S-22KA.

(Note)

Control mode

Section 3.1.1
Section 3.4.1
Section 4.2.2
Section 3.1.2
Section 3.4.2
Section 4.2.3
Section 3.1.3
Section 3.4.3
Section 4.2.4

P/S Section 3.4.4

S/T Section 3.4.5

T/P Section 3.4.6

P, S, T

PChapter 15

P, S Section 8.5

P, S, T Section 8.3

P, S, T Section 8.4

P

P

P

P Section 7.5

P, S Chapter 7

P, S, T Section 13.1.1

P, S, T Section 13.1.2

Reference

1 - 6

1. FUNCTIONS AND CONFIGURATION

Function Description

(Note)

Control mode

Reference

Used when the regenerative brake option cannot provide

Return conv erter

enough regenerative power.

P, S, T Section 13.1.3

Can be used with the MR-J2S-500A to MR-J2S-22KA.

Alarm history cl ea r Alarm history is cleared. P, S, T Parameter No. 16
Restart after instantaneous

power failure

Command pulse selection

Input signal selection

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

If the input power supply vol tage had reduced to cause an
alarm but has returned to normal, the servo motor can be
restarted by merely switching on the start signal.
Command pulse train form can be selected from among four
different types.
Forward rotation start, reverse rotation start, servo-on
(SON) and other input signals can be assigned to any pins.

S Parameter No. 20

P Parameter No. 21

P, S, T

Parameters
No. 43 to 48
Section 3.4.1 (5)
Parameter No. 28
Section 3.4.3 (3)

Speed limit Servo motor speed can be limited to any value. T

Parameter No. 8
to 10,72 to 75

Status display

External I/O signal display

Output signal (DO)
forced output

Servo status is shown on the 5-digit, 7-segment LED
display
ON/OFF statuses of external I/O signals are shown on the
display.
Output signal can be forced on/off independently of the
servo status.
Use this function for output signal wiring check, etc.

P, S, T Section 6.2

P, S, T Section 6.6

P, S, T Section 6.7

Voltage is automatically offset to stop the servo motor if it

Automatic VC offset

does not come to a stop at the analog speed command (VC)

S, T Section 6.3

or analog speed limit (VLA) of 0V.

Test operati on mode

JOG operation
DO forced output.

positioning operation motor-less operation

P, S, T Section 6.8

Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No. 17
MR Configurator
(Servo configuration software)

Alarm code output

Using a personal computer, parameter setting, test
operation, status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number
is output in 3-bit code.

P, S, T Section 13.1.9

P, S, T Section 10.2.1

Note. P: Position control mode, S: Speed control mode, T: Torque control mode

P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

1.5 Model code definition (1) Rating plate

MITSUBISHI

MODEL

POWER

MR-J2S-60A

POWER :
INPUT :

OUTPUT :
SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

600W

3.2A 3PH 1PH200-230V 50Hz
3PH 1PH200-230V 60Hz

5.5A 1PH 230V 50/60Hz

170V 0-360Hz 3.6A
A5
TC3 AAAAG52

AC SERVO

AC SERVO

PASSED

Model
Capacity

Applicable powe r supply

Rated output current
Serial number

1 - 7

1. FUNCTIONS AND CONFIGURATION

(2) Model

MR–J2S–

A

MR–J2S–100A or less

MR–J2S–200A 350A

Series

Symbol

Symbol MR-J2S-500A

(Note2)

Note 1. 1-phase 230V is supported
by 750W or less.

2. 1-phase 100V to 120V is
supported by 400W or less.

Rated output

Symbol

70

With no regenerative resistor

Description

Indicates a servo amplifier
of 11 to 22kw that does not

PX

use a regenerative resistor
as standard accessory.

Power Supply

Power supply

None

3-phase 200 to 230VAC
(Note1) 1-phase 230VAC

1-phase 100V to 120VAC

1

General-purpose interface

Rated
output [kW]

0.110

0.220

0.440

0.660

0.75
1100

2200

Symbol

11k
15k
22k

Rated
output [kW]

3.5350
5500
7700

11
15
22

Rating plate

Rating plate Rating plate

MR-J2S-11KA 15KA

MR-J2S-22KA

Rating plate

MR-J2S-700A

1 - 8

Rating plateRating plate

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

The following table lists combina tion s of servo amplifie rs and se rvo mo tors. The same combina tions ap ply
to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

MR-J2S-10A(1) 053 13 053 13 13
MR-J2S-20A(1) 23 23 23
MR-J2S-40A(1) 43 43 43

MR-J2S-60A 52 53

MR-J2S-70A (Note1) 73 73 72 73
MR-J2S-100A 81 102 103
MR-J2S-200A 121 201 152 202 153 203 103 153 152
MR-J2S-350A 301 352 353 (Note1)203 (Note1)202

MR-J2S-500A (Note1)502
MR-J2S-700A (Note1)702

HC-KFS

HC-MFS

(Note1)

1000r/min

HC-SFS HC-UFS
2000r/min

(Note1)

3000r/min

HC-RFS

(Note1)

353

503

2000r/min 3000r/min

(Note1)

352 502

Servo motors

Servo amplifier

1000r/min 1500r/min 2000r/min

MR-J2S-60A 52
MR-J2S-100A 102
MR-J2S-200A 152
MR-J2S-350A 202
MR-J2S-500A (Note1)502 302
MR-J2S-700A (Note2)601 (Note2)701M (Note1)702

MR-J2S-11KA 801 12K1 11K1M 11K2
MR-J2S-15KA 15K1 15K1M 15K2
MR-J2S-22KA 20K1 25K1 22K1M 22K2

Note1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to app3.

2. Consult us since the servo amplifier to be used with any of these servo motors is optional.

HA-LFS

(Note1)

HC-LFS

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100A or less

POINT

The servo amplifier is shown without the front cover. For removal of the

front cover, refer to Section 1.7.2.

Name/Application

Battery holder
Contains the battery for absolute position data backup.

Battery connector (CON1)
Used to connect the battery for a bsolute position data
backup.

Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

DOWN

MODE

I/O signal connector (CN1A)
Used to connect digital I/O signals.

UP

SET

Used to se t da ta.

Used to change the
display or data in each
mode.

Used to change the
mode.

Reference

Section15.3

Section15.3

Chapter6

Chapter6

Section3.3

Fixed part(2places)
(For MR-J2S-70A 100A 3 places)

I/O signal connector (CN1B)
Used to connect digital I/O signals.

Communication connector (CN3)
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.

Name plate

Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.

Encoder connector (CN2)
Used to connect the servo motor encoder.

Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.

Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative brake option.

Protective earth (PE) terminal ( )
Ground terminal.

1 - 10

Section3.3

Section3.3
Chapter14

Section13.1.5

Section1.5

Section3.3

Section13.1.5

Section3.7

Section11.1

Section3.7

Section11.1

Section13.1.1

Section3.10
Section11.1

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200A MR-J2S-350A

POINT

The servo amplifier is shown without the front cover. For removal of the

front cover, refer to Section 1.7.2.

Name/Application

Battery hol der
Contains the battery for absolute position data backup.

Battery connector (CON1)
Used to connect the battery for absolute position data
backup.

Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

UP

MODE

I/O signal conn ector (CN1A)
Used to connect digital I/O signals.

DOWN

SET

Used to set data.

Used to change the
display or data in each
mode.

Used to change the
mode.

Reference

Section15.3

Section15.3

Chapter6

Chapter6

Section3.3

Cooling fan

Fixed part
(4 places)

I/O signal conn ector (CN1B)
Used to connect digital I/O signals.

Communication connector (CN3)
Used to connect a command device (RS-422/RS232C)
and output analog monitor data.

Name plate

Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.

Encoder conne cto r ( C N 2)
Used to connect the servo motor encoder.

Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.

Control circuit ter m i na l b lock (TE2)
Used to connect the control circuit power supp l y a nd
regenerative brake option.

Protective earth (PE) terminal ( )
Ground terminal.

Section3.3

Section3.3

Section13.1.5

Chapter14

Section1.5

Section3.3

Section13.1.5

Section3.7

Section11.1

Section3.7

Section11.1

Section13.1.1

Section3.10
Section11.1

1 - 11

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500A

POINT

The servo amplifier is shown without the front cover. For removal of the

front cover, refer to Section 1.7.2.

MODE UP DOWN

SET

Name/Application Reference

Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Battery holder
Contains the battery for absolute position data backup.

Display
The 5-digit, seven-segment LED shows the servo
status and alar m number .

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

Section15.3

Section15.3

Chapter6

Fixed part
(4 places)

Used to set data.

Used to change the
display or data in each
mode.

Used to change the
mode.

I/O signal connector (C N 1A)
Used to connect digital I/O signals.

I/O signal connector (C N 1B)
Used to connect digital I/O signals.

Communication connector (CN3)
Used to connect a command device (RS-422/RS232C)
and output analog monitor data.

Encoder con n e ctor (CN2)
Used to connect the ser v o mo to r en coder.

Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.

Control circ ui t t e rm i nal block (TE2)
Used to connect the control circuit power supply and
regenerative brake option.

Chapter6

Section3.3

Section3.3

Section3.3

Section13.1.5

Chapter14
Section3.3

Section13.1.5

Section3.7

Section11.1.1

Cooling fan

Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.

Name plate Section1.5
Protective earth (PE) terminal ( )

Ground terminal.

Section3.7

Section11.1

Section13.1.1

Section3.10
Section11.1

1 - 12

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700A

POINT

The servo amplifier is shown without the front cover. For removal of the

front cover, refer to next page.

MODE UP DOWN

Name/Application

Battery connector (CON1)
Used to connect the battery for absolute position data
backup.

Battery holder
Contains the battery for absolute position data backup.

Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.

Operation section

SET

Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

Used to set data.

Used to change the
display or data in each
mode.

Used to change the
mode.

I/O signal connector (CN1A)
Used t o connect dig ital I/O signals.

Reference

Section15.3

Section15.3

Chapter6

Chapter6

Section3.3

Cooling fan

Fixed part
(4 places)

I/O signal connector (CN1B)
Used t o connect dig ital I/O signals.

Communication connector (CN3)
Used to connect a command device (RS-422/RS232C)
and output analog monitor data.

Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.

Control circuit terminal block (TE2)
Used to connect the control circuit power supply.

Encoder connector ( C N2 )
Used to connect the servo mot or encoder.

Name plate
Main circuit terminal block (TE1)

Used to connect the input power supply, regen e rative
brake option and servo motor.

Protective earth (PE) terminal ( )
Ground terminal.

Section3.3

Section3.3

Section13.1.5

Chapter14

Section3.7

Section11.1.1

Section3.3

Section13.1.5

Section1.5
Section3.7

Section11.1

Section13.1.1

Section3.10
Section11.1

1 - 13

1. FUNCTIONS AND CONFIGURATION

(5) MR-J2S-11KA or more

POINT

The servo amplifier is shown without the front cover. For removal of the

front cover, refer to section 1. 7. 2.

Name/Application Reference

Battery holder
Contains the battery for absolute position data backup.

Display
The 5-digit, seven-segment LED shows t he se rvo
status and alar m number .

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

Section15.3

Chapter6

Cooling fan

MODE UP DOWN

MODE

SET

Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Monitor output terminal (CN4)

Used to output monitor values as analog signals
for two channels.

Communication connector (CN3)
Used to connect a command device (RS232C)

I/O signal connector (C N 1A)
Used to connect digital I/O signals.

I/O signal connector (C N 1B)
Used to connect digital I/O signals.

Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.

Control circ ui t t e rm i nal block (TE2)
Used to connect the con t ro l ci r cuit power supply.

Encoder con n e ctor (CN2)
Used to connect the servo motor encoder.

Maker adjusting connector (CON2)
Keep this connector open.

UP

DOWN SET

Chapter6

Used to set data.
Used to change the
display or data in each
mode.

Used to change the
mode.

Section15.3

Section3.3

Section11.1

Section3.3

Section13.1.5

Section3.3

Section3.3

Section3.7

Section11.1

Section13.1.1

Section3.3

Section13.1.5

Fixed part
(4 places)

Name plate

Main circuit terminal block (TE1)
Used to connect the input power supply, re gene rative
brake option and servo motor.

Protective earth (PE) terminal ( )
Ground terminal.

1 - 14

Section1.5

Section3.7

Section11.1

Section13.1.1

Section3.10
Section11.1

1. FUNCTIONS AND CONFIGURATION

1.7.2 Removal and reinstallation of the front cover

CAUTION

To avoid the risk of an electric s hock, do not ope n the front co ver while power is

on.

(1) For MR-J2S-350A or less

Removal of the front cover

1)

2)

Front cover

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover

Front cover hook

(2 places)

2)

1)

Front cover socket
(2 places)

1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.

2) Press the front cover against the servo amplifier until the
removing knob clicks.

(2) For MR-J2S-500A

Removal of the front cover

2)

Front cove r

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover

1)

Front cover hook
(2 places)

2)

1)

Front cove r socket
(2 places)

1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.

2) Press the front cover against the servo amplifier until the
removing knob clicks.

1 - 15

1. FUNCTIONS AND CONFIGURATION

(3) For MR-J2S-700A

Removal of the front cover

Reinstallation of the front cover

Front cover
hook
(2 places)

B)

2)

1)

A)

1) Push the removing knob A) or B), and put you
finger into the front hole of the front cover.

2) Pull the front cover toward you.

A)

2)

1)

Front cover socket
(2 places)

1) Insert the two front cover hooks at the bottom into the
sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the
removing knob clicks.

1 - 16

1. FUNCTIONS AND CONFIGURATION

(4) For MR-J2S-11KA or more

Removal of the front cover

Mounting screws (2 places)

Mounting screws
(2 places)

1) Remove the front cover mounting screws (2 places)

and remove the front cover.

3) Remove the front cover by drawing it in the direction of arrow.

2) Remove the front cover mounting screws (2 places).

1 - 17

1. FUNCTIONS AND CONFIGURATION

Reinstallation of the front cover

Mounting screws
(2 places)

1) Insert the front cover in the direction of arrow.

Mounting screws (2 places)

3) Fit the front cover and fix it with the mounting screws (2 places).

2) Fix it with the mounting screws (2 places).

1 - 18

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

WARNING

(1) MR-J2S-100A or less

(a) For 3-phas e 200V t o 230V A C or 1 -p hase 23 0V A C

(Note2)
3-phase 200V
to 230VAC power
supply or
1-phase 230VAC
power supply

No-fuse breaker
(NFB) or fuse

(terminal m ar ked
box.

Options and auxiliary equipment

No-fuse breaker
Magnetic contactor
MR Configurator

(Servo configuration softwa re)

Servo amplifier

) of the servo amplifier to the prot ecti ve earth (P E) of the contr ol

Reference

Section 13.2.2
Section 13.2.2

Section 13.1.9

To CN1A

Options and auxiliary equipment

Regenerative bra ke opti o n
Cables Section 13.2.1

Power factor improving reactor

Command device

Reference

Section 13.1.1

Section 13.2.3

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

Control circuit terminal block

21

L

To CN2

L

1

L

2
3

L

U

CHARGE

VW

D

To CN1B

To CN3

Protective earth(PE) terminal

Junction terminal block

Personal
computer

(Note1)
Encoder cable

(Note1)
Power supply lead

MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)

11

L

Regenerative brake
option

Note 1. The HC-SFS, HC-RFS series have cannon connectors.

2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less.

For 1-phase 230VAC, connect the power supply to L

P

C

1

L2 and leave L3 open.

1 - 19

Servo motor

1. FUNCTIONS AND CONFIGURATION

(b) For 1-phas e 10 0V t o 120V A C

1-phase 100V
to 120VAC
power supply

No-fus e breaker
(NFB) or fuse

Options and auxiliary equipment

No-fuse breaker
Magnetic contactor
MR Configurator

(Servo configuration software)

Servo amplifier

Reference

Section 13.2.2
Section 13.2.2

Section 13.1.9

To CN1A

Options and auxiliary equipment

Regenerative brake option

Reference

Section 13.1.1

Cables Section 13.2.1
Power factor improving reactor Section 13.2.3

Command device

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

Control circuit terminal block

L

21

To CN2

L1

2

L

CHARGE

UVW

D

To CN1B

To CN3

Protective earth(PE) terminal

Junction terminal block

Personal
computer

(Note)
Encoder cable

(Note)
Power supply lead

MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)

L

11

Regenerative brake
option

P

C

Note. The HC-SFS, HC-RFS series have cannon connectors.

Servo motor

1 - 20

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200A MR-J2S-350A or more

3-phase 200V
to 230VAC
power supply

No-fuse
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

Options and auxiliary equipment

No-fuse breaker
Magnetic contactor
MR Configurator

(Servo configuration software)

Servo amplifier

To CN2

L

11

L

21

Reference

Section 13.2.2
Section 13.2.2

Section 13.1.9

Options and auxiliary equipment Reference

Regenerative brake option

Section 13.1.1

Cables Section 13.2.1

Power factor improving reactor Section 13.2.3

Command device

To CN1A

Junction terminal
block

To CN1B

MR Configurator
(Servo

To CN3

Personal
computer

configuration
software
MRZJW3­SETUP151E)

L

1

L

2

L

3

UV

PC

W

Regenerative brake option

1 - 21

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500A

3-phase 200V
to 230VAC
power supply

No-fuse
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

Options and auxiliary equipment

No-fuse breaker
Magnetic contactor
MR Configurator

(Servo configuration software)

Reference

Section 13.2.2
Section 13.2.2

Section 13.1.9

Options and auxiliary equipment

Regenerative brake option

Reference

Section 13.1.1

Cables Section 13.2.1
Power factor improving reactor Section 13.2.3

Power
factor
improving
reactor
(FA-BAL)

(Note)

C
Regenerative brake
option

L

11

21

L

Servo amplifier

Command device

To CN1A

1

L
L

2

L

3

To CN1B

Junction terminal
block

MR Configurator
(Servo
configuration

P

U
V

To CN3

Personal
computer

W

software
MRZJW3­SETUP151E)

To CN2

Note. When using the regenerative brake option, remove the lead wires of the built-in regenerative brake resistor.

1 - 22

1. FUNCTIONS AND CONFIGURATION

r

(4) MR-J2S-700A

3-phase 200V
to 230VAC
power supply

No-fuse
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FA-BAL)

Options and auxiliary equipment

No-fuse breaker
Magnetic contactor
MR Configurator

(Servo configuration software)

Servo amplifier

L

11

21

L

L

3

L

2
1

L

Reference

Section 13.2.2
Section 13.2.2

Section 13.1.9

To CN1A

To CN1B

To CN3

To CN2

U
V

W

Options and auxiliary equipment

Regenerative brake option

Reference

Section 13.1.1

Cables Section 13.2.1
Power factor improving reactor Section 13.2.3

Command device

Junction terminal
block

MR Configurato
(Servo
configuration

Personal
computer

software
MRZJW3­SETUP151E)

C

P

(Note) Regenerative brake
option

Note. When using the regenerative brake option, remove the lead wires of the built-in regenerative brake resistor.

1 - 23

1. FUNCTIONS AND CONFIGURATION

(5) MR-J2S-11KA or more

3-phase 200V
to 230VAC
power supply

No-fuse
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

(Note2)
Power
factor
improving
reactor
(FA-BAL)

Options and auxiliary equipment

No-fus e breaker
Magnetic contactor
MR Configurator

(Servo configuration software)

L

21

L

11

Reference

Section 13.2.2
Section 13.2.2

Section 13.1.9

To CN3

MITSUBISH I

Options and auxiliary equipment

Regenerative brake option

Reference

Section 13.1.1

Cables Section 13.2.1
Power factor improving reactor Section 13.2.3

Power factor improving
DC reactor

Section 13.2.4

MR Configurator
(Servo

configuration
Personal
computer

software

MRZJW3-

SETUP151E)

Analog monitor

To CN4

Command device

To CN1A

L

3

L

2

L

1

To CN1B

To CN2

C

Regenerative brake
option

Junction terminal
block

P

(Note2)
Power factor
improving DC reactor
(FR-BEL)

(Note1)

BW

BV

BU

UVW

Note1. There is no BW when the HA-LFS11K2 is used.

2. Use either t h e F R - BA L or F R- B E L power factor im pr oving reactor .

Servo motor
series

1 - 24

2. INSTALLATION

2. INSTALLATION

CAUTION

Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to

combustibles will led to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual.

Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range.

Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
amplifier.

Do not block the inta ke /e xhau st po rts o f th e se rv o ampl ifier. Otherwis e, a fa ul t may
occur.

Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.

Do not install or operate a faulty servo amplifier.

When the product has been stored for an extended period of time, consult
Mitsubishi.

When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.

2.1 Environmental con dit ions

Environment Conditions

Ambient
temperature

Ambient
humidity

Ambience
Altitude Max. 1000m (3280 ft) above sea level
Vibration

Operation

Storage

Operation
Storage

[ ]0 to 55 (non-freezing)
[

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

] 4 to 149 (non-freezing)

[

90%RH or less (non-condensing)

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

[m/s2] 5.9 [m/s2] or less

2

] 19.4 [ft/s2] or less

[ft/s

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt ma y

CAUTION

(1) Installation of one servo amplifier

10mm
(0.4 in.)
or more

occur.

Leave specified clearances between the servo amplifier and control box inside

walls or other equipment.

Control box Control box

40mm
(1.6 in.)
or more
Servo amplifier

10mm
(0.4 in.)
or more

Wiring clearance
70mm

(2.8 in.)

Top

40mm
(1.6 in.)
or more

Bottom

2 - 2

2. INSTALLATION

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.

Control box

100mm
(4.0 in.)
or more

Servo
amplifier

10mm
(0.4 in.)
or more

30mm
(1.2 in.)
or more

40mm
(1.6 in.)
or more

30mm
(1.2 in.)
or more

(3) Others

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

2.3 Keep out foreign materials

(1) When installin g the unit in a control box, prevent drill ch ips and wire fragmen ts from entering the

servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control

box or a fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an

air purge (force clean air into the control box from outside to make the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.

2 - 3

2. INSTALLATION

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass

stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)

supplied with the servo motor, and flex the optional encoder cable or the power supply and brake
wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and
brake wiring cables within the flexing li fe of the cabl es.

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

or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as

large as possible. Refer to section 12.4 for the flexing life.

2 - 4

3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, switch power off, then wait for more than 15 minutes, and

after the charge lamp has gone off, make sure that the voltage is safe in the tester
or like. Otherwise, you may get an electric shock.

WARNING

CAUTION

Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been

installed. Otherwise, you may get an electric shock.

The cables should not be damaged, stressed excessively, loaded heavily, or

pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may

misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output

should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the emergency stop (EMG) and other protective circuits.

Servo
Amplifier

COM

(24VDC)

Control

output

signal

RA

Servo amplifier

COM

(DC24V)

Control output
signal

RA

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

which may be given to electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF

option) with the power line of the servo motor.

When using the regenerative brake resistor, switch power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative brake
resistor, causing a fire.

Do not modify the equipment.

POINT

CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of

the connectors will lead to a failure. Connect them correctly.

3 - 1

3. SIGNALS AND WIRING

3.1 Standard connection example

POINT

Refer to Section 3.7.1 for the connection of the power supply system and to

Section 3.8 for connection with the servo motor.

3.1.1 Position control mode

(1) FX-10GM

Positioni n g modu l e

FX-10GM

SVRDY

1
2

COM2

12

COM2

SVEND

11
14

COM4

13

PG0

7,17

24

8,18

VC

5

FPO

6

FP

9,19

COM5

16

RP

15

RP0

3

CLR

4

COM3

1

START

ST-

2
3

ZRN
FWD

4

RVS

5

DOG

6
7

LSF
LSR

8

COM1

9,19

(Note 3, 6) Emergency stop

Servo-on
Reset
Proportion control

Torque limit selection

(Note 6) Forward rotation stroke end

Reverse rotation stroke end

Upper limit setting

Analog torque limit

10V/max. torque

(Note 11)
MR Configurator
(Servo configuration
software)

Personal
computer

(Note 10) 2m(6.5ft) max.

10m(32ft) max.

2m(6.5ft) max.

(Note 8)
Communication cable

Servo amplifier

(Note 4, 9) (Note 4)
CN1A CN1B

RD

19

COM

9

INP

18

P15R

4

OP

14

OPC

11

9

COM

PP

3

SG

10

2

NP
CR

8

SG

20

SD

Plate

CN1B

15

EMG

5

SON

14

RES

8

PC

9

TL

16

LSP

17

LSN

SG

10

P15R

11
12

TLA

LG

1

Plate

SD

(Note 4, 9)
CN3

13 COM

18
19 ZSP

(Note 13)

(Note 4, 9)

CN1A

16

17
LG 1

Plate

(Note 4, 9,14)(Note 4, 9)

CN3

14
13

Plate

3

VDD

ALM

6TLC

10m (32ft) or less

6

LA

LAR

7

LB

LBR

515LZ

LZR

SD

4

MO1

3

LG

MO2

LG
SD

(Note 1)

(Note 12)

(Note 2, 5)

RA1

RA2

RA3

A

A

2m (6.5ft) max.

(Note 7)

Trouble
Zero speed
Limiting torque

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common
Encoder Z-phase pulse

(differential line driver)

(Note 8)

10k

Analog monitor
Max. 1mA

10k

Reading in both
directions

3 - 2

3. SIGNALS AND WIRING

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

the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circ uits.

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

4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interf ace desc ri bed in Section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.

6. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)

7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.

8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1. 5.).

9. The pins with the same signal name are connected in the servo amplifier.

10. This length applies to the command pulse train input in the opencollector system. It is 10m (32ft) or less in the differential line

driver system.

11. Use MRZJW3-SETUP 151E.

12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external

power. Refer to Section 3.6.2.

13. Connect to CN1A-10 when using the junction terminal block (MR-TB20).

14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.

10%,

CN4

MO1

1

MO2

2

LG

4

2m (6.5ft) or less

A
A

3 - 3

3. SIGNALS AND WIRING

(2) AD75P (A1SD75P )

Positioning module

AD75P

(A1SD75P )

Ready

COM
INPS

PGO(24V)

PGO(5V)

PGO COM

CLEAR

CLEAR COM

PULSE F
PULSE F
PULSE R
PULSE R

PULSE F

PULSE COM

PULSE R

PULSE COM

DOG

STOP

CHG

START

COM
COM236

(Note 3, 6) Emergency stop

Servo-on
Reset
Proportion control

Torque limit selection

(Note 6) Forward rotation stroke end

Reverse rotation stroke end

Analog torque limit

10V/max. torque

(Note 11)
MR Configurator
(Servo configuration
software)

7

26

8

6
24
25

5
23
21

3
22

4

1

19
20

11
12

FLS
RLS

13
14
15
16
35

Upper limit setting

Personal
computer

(Note 10) 10m(32ft) max.

(Note 13)

DC24V

2m(6.5ft) max.

(Note 8)
Communication cable

RD

COM

INP

LZ

LZR

CR
SG
PG
PP
NG
NP
LG
SD

EMG
SON

RES

PC

TL
LSP
LSN

SG

P15R

TLA

LG

SD

Servo amplifier

(Note 4,9)
CN1A

19

9

18

5

15

8
10
13

3
12

2

1

Plate

(Note 4,9)

(Note 4,9)

CN1B

15

5

14

8

9
16
17
10

(Note 4,9,14)

11
12

1

Plate

(Note 4,9)

CN3

(Note 4)
CN1B

3
13 COM

18
19 ZSP

6TLC

CN1A

6

16

7

17

1

14

4

Plate

CN3

4

3
14
13

Plate

VDD

(Note 2,5)

ALM

10m(32ft) or less

10m(32ft) or less

LA

LAR

LB

LBR

LG
OP

P15R

SD

2m(6.5ft) or less

MO1

LG

MO2

LG
SD

2m(6.5ft) max.

(Note 12)

RA1

RA2

RA3

Control common
Control common

Encoder Z-phase pulse
(open collector)

A

10k

A

10k

(Note 7)

Trouble
Zero speed

Limiting torque

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

(Note 8)
Analog monitor
Max. 1mA
Reading in both
directions

3 - 4

(Note 1)

3. SIGNALS AND WIRING

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

the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circ uits.

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

4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interf ace des cri bed in Section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.

6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotati on stroke end (LSP/LSN). (Normally
closed contacts)

7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the controller should be stopped by the sequence program.

8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1. 5)

9. The pins with the same signal name are connected in the servo amplifier.

10. This length applies to the command pulse train input in the differential line driver system.

It is 2m (6.5ft) or less in the opencollector system.

11. Use MRZJW3-SETUP 151E.

12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external

power. Refer to Section 3.6.2.

13. This connection is not required for the AD75P. Depending on the used positioning module, however, it is recommended to

connect the LG and control common terminals of the servo amplifier to enhance noise immunity.

14. For the 11kW or more servo amplifier, Analog monitor 1 (MO1) and Analog monitor 2 (MO2) are replaced by CN4.

10%,

CN4

MO1

1

MO2

2

LG

4

2m (6.5ft) or less

A
A

3 - 5

3. SIGNALS AND WIRING

3.1.2 Speed control mode

Speed selection 1

(Note 3, 6) Emergency stop

Servo-on
Reset

Speed selection 2
Forward rotation start
Reverse rotation start

(Note 6) Forward rotation stroke end

Reverse rotation stroke end

Upper limit setting

Analog speed command

(Note 13)

(Note 11)
MR Configurator
(Servo conf i gu r at i on
software)

10V/rated speed

Upper limit setting

(Note 10) Analog torque limit

10V/max. torque

Personal
computer

10m(32ft) max.

2m(6.5ft) max.

(Note 8)
Communication cable

Servo amplifier

(Note 4,9)

CN1A

SP1

8

10

SG

(Note 4,9) (Note 4,9)

CN1B

EMG

15

SON

5

RES

14

7SP2

ST1

8

ST2

9

LSP

16

LSN

17

SG

10

P15R

11

2

VC
LG

1

12TLA

Plate

SD

(Note 4,9)

CN3

(Note 4)

CN1B

3 VDD
13

18
19 ZSP

6TLC

CN1A

9COM
18 SA
19

5
15

6
16

7
17

1
14

4

Plate

(Note 4,9,14)

CN3

4

3
14
13

Plate

COM

ALM

RD
LZ

LZR
LA
LAR
LB
LBR

LG
OP
P15R
SD

2m(6.5ft) or less

MO1
LG
MO2
LG
SD

(Note 2,5)

10m(32ft) or less

2m(6.5ft) max.

(Note 12)

RA1

RA2

RA3

RA5

RA4

Control common
Control common

Encoder Z-phase pulse
(open collector)

A

10k

A

10k

(Note 7)

Trouble
Zero speed
Limiting torque

Speed reached
Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

(Note 8)
Analog monitor
Max. 1mA
Reading in
both directions

3 - 6

(Note 1)

3. SIGNALS AND WIRING

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

the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circ uits.

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

4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interf ace desc ri bed in Section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.

6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotati on stroke end (LSP/LSN). (Normally
closed contacts)

7. Trouble (ALM) turns on in normal alarm-free condition.

8. When connecting the personal computer together with Analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1. 5)

9. The pins with the same signal name are connected in the servo amplifier.

10. By setting parameters No.43 to 48 to make TL available, TLA can be used.

11. Use MRZJW3-SETUP 151E.

12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external

power. Refer to Section 3.6.2.

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

14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.

CN4

MO1

1

MO2

2

LG

4

2m (6.5ft) or less

A
A

3 - 7

3. SIGNALS AND WIRING

3.1.3 Torque control mode

Speed selection 1

(Note 3) Emergency stop

Servo-on
Reset

Speed selection 2
Forward rotation start
Reverse rotation start

Upper limit setting

Analog torque command

(Note 11)

(Note 9)
MR Configurator
(Servo configuration
software)

8V/max. torque

Upper limit setting

Analog speed limit

0 to 10V/rated speed

Personal
computer

10m(32ft) max.

2m(6.5ft) max.

(Note 7)
Communication cable

Servo amplifier

(Note 4,8)

CN1A

SP1

8

10

SG

(Note 4,8) (Note 4,8)

CN1B

EMG

15

SON

5

RES

14

7SP2

RS1

9

RS2

8

SG

10

P15R

11
12

TC
LG

1
2VLA

Plate

SD

(Note 4,8)

CN3

(Note 4)

CN1B

3 VDD
13
18
19 ZSP

6VLC

CN1A

9COM

19 RD

5

15

6

16

7

17

1

14

4

Plate

(Note 4,8,12)

CN3

4

3
14
13

Plate

COM

ALM

LZ
LZR
LA
LAR
LB
LBR

LG
OP

P15R

SD

MO1
LG
MO2
LG
SD

(Note 2,5)

10m(32ft) or less

2m(6.5ft) or less

2m(6.5ft) max.

(Note 10)

RA1

RA2

RA3

RA4

Control common
Control common

Encoder Z-phase pulse
(open collector)

A

10k

A

10k

(Note 6)

Trouble
Zero speed

Limiting torque

Ready
Encoder Z-phase pulse

(differential line driver)
Encoder A-phase pulse

(differential line driver)
Encoder B-phase pulse

(differential line driver)

(Note 7)
Analog monitor
Max. 1mA
Reading in both
directions

3 - 8

(Note 1)

3. SIGNALS AND WIRING

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

the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circ uits.

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

4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interf ace desc ri bed in Section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.

6. Trouble (ALM) turns on in normal alarm-free condition.

7. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to Secti on 13.1. 5)

8. The pins with the same signal name are connected in the servo amplifier.

9. Use MRZJW3-SETUP 121E.

10. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external

power. Refer to Section 3.6.2.

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

12. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.

CN4

MO1

1

MO2

2

A
A

LG

4

2m (6.5ft) or less

3 - 9

3. SIGNALS AND WIRING

3.2 Internal connection diagram of servo amplifier

The following is the internal connection diagram where the signal assignment has been made in the
initial status in each control mode.

Servo amplifier

VDD

COM

(Note1)

PS

COM COM COM 9

CR SP1 SP1
SG SG SG810,20

(Note1)

PST

SON SON SON

PC ST1 RS2
TL ST2 RS1

RES

EMG

LSP
LSN

SG

(Note1)

PST

OPC

PG

PP
NG
NP
SD

(Note1)

PST

TLA TC 12

P15R

P15R

LG

LG

SD

SD

T CN1A

SP2 SP257

RES RES

EMG EMG

LSP
LSN

SG SG

SD SD

VC VLA 2

TLA

TLA

P15R

P15R

LG

LG

SD

SD

CN1B

3

13

CN1B

8

9
14
15
16
17

10,20

CN1A

11
13

Approx. 100k

3
12

Approx. 100k Approx. 1.2k

2

Case

CN1B

11

1

Case

CN1A

4P15R

DC24V

DC 15V

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 1.2k

(Note1)

CN1A

INP SA18
RD RD RD19

(Note1)

CN1B

TLC TLC VLC6
ALM ALM ALM18
ZSP ZSP ZSP19
DO14

CN1A

6

LAR

16

7

LBR

17

5

LZR

15

OP

14

1LG

CN3

4MO1

142MO2

RXD
TXD

12

9SDP

19 SDN

5 RDP
15 RDN
PE

PST

PST

DO1 DO1

LA

LB

LZ

(Note2)

Note1. P: Position control mode, S: Speed control mode, T: Torque control mode

2. For the 11kW or more servo amplifier, MO1 is replaced by CN4-1 and MO2 by CN4-2.

3 - 10

3. SIGNALS AND WIRING

3.3 I/O signals

3.3.1 Connectors and signal arrangements POINT

The pin configurations of the connectors are as viewed from the cable

connector wiring section.

Refer to the next page for CN1A and CN1B signal assignment.

(1) MR-J2S-700A or less

CN1A CN1B

1

2

3

4

5

6

7

8

9

10

CN2 CN3

1

2

LG

LG

3

4

5

6

MD

7

8

MR

9

10

BAT

12

14

16

18

20

12

LG

14

16

MDR

18
P5
20
P5

11

13

15

17

19

11

LG

13

15

17

MRR

19

P5

MITSUBISHI
MELSERVO-J2

The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.

2

4

6

8

10

2

RXD

4

MO1

6

8

10

TRE

1

3

5

7

9

1

LG

3

LG

5

RDP

7

9

SDP

12

14

16

18

20

12

TXD

14

MO2

16

18

20
P5

11

13

15

17

19

11
LG
13
LG
15

RDN

17

19

SDN

3 - 11

3. SIGNALS AND WIRING

(2) MR-J2S-11KA or more

CN3

CN1A

Same as the one of the
MR-J2S-700A or less.

CN1B

Same as the one of the
MR-J2S-700A or less.

CN2

1

2

LG

LG

3

4

12
LG
14

11

LG

13

CHARGE

CN4

MITSUBISHI

1

2

1

MO1

2

MO2

4

LG

RXD

4

LG

3

5

6

7

8

9

10

SDP

TRE

12

TXD

14

16

18

20
P5

11

LG

13

15

RDNRDP

17

19

SDN

CON2

For maker adjustment.
Keep this open.

6

MD

8

10

5

7

MR

9

BAT

16

MDR

18
P5
20
P5

15

17

MRR

19

P5

The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.

3 - 12

3. SIGNALS AND WIRING

(3) CN1A and CN1B si gn al assig n men t

The signal assignment of connector changes with the control mode as indicated below;
For the pins which are given parameter No.s in the related parameter column, their signals can be
changed using those parameters.

(Note2)

Connector Pin No.

(Note1)

I/O

P P/S S S/T T T/P

1 LGLGLGLGLGLG
2 I NP NP/
3 I PP PP/
4 P15R P15R/P15R P15R P15R P15R P15R
5 O LZ LZ LZ LZ LZ LZ
6 O LA LA LA LA LA LA
7 O LB LB LB LB LB LB
8 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR No.43 to 48
9 COM COM COM COM COM COM

CN1A

10 SG SG SG SG SG SG
11 OPC OPC/ /OPC
12 I NG NG/ /NG
13 I PG PG/ /PG
14O OPOPOPOPOPOP
15 O LZR LZR LZR LZR LZR LZR
16 O LAR LAR LAR LAR LAR LAR
17 O LBR LBR LBR LBR LBR LBR
18 O INP INP/SA SA SA/ /INP No.49
19O RDRDRDRDRDRDNo.49
20 SG SG SG SG SG SG

1 LGLGLGLGLGLG
2I /VC VC VC/VLA VLA VLA/
3 VDD VDD VDD VDD VDD VDD

(Note 4)

4 O DO1 DO1 DO1 DO1 DO1 DO1
5 I SON SON SON SON SON SON No.43 to 48
6 O TLC TLC TLC TLC/VLC VLC VLC/TLC No.49
7 I LOP SP2 LOP SP2 LOP No.43 to 48
8 I P C PC/ST1 ST1 ST1/RS2 RS2 RS2/PC No.43 to 48
9 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL No.43 to 48

10 SG SG SG SG SG SG

CN1B

11 P15R P15R P15R P15R P15R P15R
12 I TLA

(Note3)

TLA/TLA
13 COM COM COM COM COM COM
14 I RES RES RES RES RES RES No.43 to 48
15 I EMG EMG EMG EMG EMG EMG
16 I LSP LSP LSP LSP/ /LSP
17 I LSN LSN LSN LSN/ /LSN
18 O ALM ALM ALM ALM ALM ALM No.49
19 O ZSP ZSP ZSP ZSP ZSP ZSP No.1, 49
20 SG SG SG SG SG SG

Note 1. I : Input signal, O: Output signal

2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode,
S/T: Speed/torque control change mode, T/P: Torque/position control change mode

3. By setting parameters No. 43 to 48 to make TL available, TLA can be used.

4. CN1B-4 and CN1A-18 output signals are the same. However, this pin may not be used when assigning alarm codes to
CN1A-18.

I/O Signals in control modes

(Note3)

TLA

(Note3)

TLA/TC

/NP
/PP

TC TC/TLA

Related
parameter

3 - 13

3. SIGNALS AND WIRING

(4) Symbols and sig na l na mes

Symbol Signal name Symbol Signal name

SON Servo-on VLC Limiting speed
LSP Forward rotation stroke end RD Ready
LSN Reverse rotation stroke end ZSP Zero speed
CR Clear INP In position
SP1 Speed selection 1 SA Speed reached
SP2 Speed selection 2 ALM Trouble
PC Proportion control WNG Warning
ST1 Forward rotation start BWNG Battery warning
ST2 Reverse rotation start OP Encoder Z-phase pulse (open collector)
TL Torque limit selection MBR Electromagnetic brake interlock
RES Reset LZ
EMG Emergency stop LZR
LOP Control change LA
VC Analog speed command LAR
VLA Analog speed limit LB
TLA Analog torque limit LBR
TC Analog torque command VDD I/F internal power supply
RS1 Forward rotati on selection COM Digital I/F power supply input
RS2 Reverse rotation selection OPC Open collector power input
PP SG Digital I/F common
NP P15R 15VDC power supply
PG LG Control common
NG
TLC Limiting torque

Forward/reverse rotation pulse train

SD Shield

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

3 - 14

3. SIGNALS AND WIRING

3.3.2 Signal explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.6.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode

: Denotes that the signal may be used in the initial setting status.
: Denotes th a t th e signal may be u se d by se t ting the corre spo n d in g pa r ameter among parameters 43 to

49.
The pin No.s in the connector pin No. column are those in the initial status.

(1) Input si gn al s

Connec-

Signal Symbol

Servo-on SON CN1B5Turn SON on to power on the base circuit and make the servo

Reset RES CN1B14Turn RES on for more than 50ms to reset the alarm.

Forward rotation
stroke end

Reverse rotation
stroke end

LSP CN1B

LSN CN1B

tor pin

No.

16

17

Functions/Applications

amplifier ready to operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor
(servo off).
Set "

1" in parameter No. 41 to swit ch thi s signa l on
(keep te rminals connected) automatically in th e servo
amplifier.

Some alarms cannot be deactivated by the reset signal. Refer to
Section 10.2.
Turning RES on in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when "
No. 51.
To start operation, turn LSP/LSN on. Turn it off to bring the
motor to a sudden stop and make it servo-locked.
Set "

1" in parameter No. 22 to make a slow stop.
(Refer to Section 5.2.3.)

(Note) Input signals Operation

LSP LSN

11
01
10
00

Note. 0: off

1: on

Set parameter No. 41 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier:

Parameter No.41 Automatic ON

1 LSP

1 LSN

CCW

directionCWdirection

1 " is set in parameter

I/O

division

DI-1

DI-1

DI-1

Control

mode

PST

3 - 15

3. SIGNALS AND WIRING

Signal Symbol

External torque
limit selection

Internal
torque limit
selection
Forward rotation
start

Reverse rotation
start

Forward rotation
selection

Reverse rotation
selection

Connec-

tor pin

No.

TL CN1B9Turn TL off to make Internal torque limit 1 (parameter No. 28)

valid, or turn it on to make Analog torque limit (TLA) valid.
For details, refer to (5), Section 3.4.1.

TL1 When using this signal, make it usable by making the setting of

parameter No. 43 to 48.
For details, refer to (5), Section 3.4.1.

ST1 CN1B

ST2 CN1B

RS1 CN1B

RS2 CN1B

Used to start the servo motor in any of the following directions:

8

9

9

8

(Note) Input signals

ST2 ST1

0 0 Stop (servo lock)

01 CCW

10 CW

1 1 Stop (servo lock)

Note. 0: off

1: on

If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the
parameter No. 12 setting and servo-locked.
Used to select any of the following servo motor torque generation
directions:

(Note) Input signals

RS2 RS1

0 0 Torque is not generated.

01

10

1 1 Torque is not generated.

Note. 0: off

1: on

Functions/Applications

Servo motor starting direction

Torque generation direction

Forward rotation in driving mode /
reverse rotation in regenerative mode

Reverse rotation in driving mode /
forward rotation in regenerative mode

I/O

division

DI-1

DI-1

DI-1

DI-1

Control

mode

PST

3 - 16

3. SIGNALS AND WIRING

Signal Symbol

Speed selection 1 SP1 CN1A8<Speed control mode >

Speed selection 2 SP2 CN1B

Speed selection 3 SP3

Connec-

tor pin

No.

7

Used to select the command sp e ed f or op era t ion.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.

Setting of

parameter

No. 43 to 48

When speed
selection
(SP3) is not
used
(initial status)

When speed
selection
(SP3) is made
valid

Note. 0: off

1: on

<Torque control mode>

Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.

Setting of

parameter

No. 43 to 48

When speed
selection
(SP3) is not
used
(initial status)

When speed
selection
(SP3) is made
valid

Note. 0: off

1: on

SP3 SP2 SP1

0 0 0 Analog speed command (VC)
001

010
011
100
101
110
111

SP3 SP2 SP1

0 0 0 Analog speed limit (VLA)
001

010
011
100
101
110
111

Functions/Applications

(Note) Input

signals

0 0 Analog speed command (VC)
01

10
11

(Note) Input

signals

0 0 Analog speed limit (VLA)

01
10
11

Speed command

Internal speed command 1
(parameter No. 8)

Internal speed command 2
(parameter No. 9)

Internal speed command 3
(parameter No. 10)

Internal speed command 1
(parameter No. 8)

Internal speed command 2
(parameter No. 9)

Internal speed command 3
(parameter No.10)

Internal speed command 4
(parameter No. 72)

Internal speed command 5
(parameter No. 73)

Internal speed command 6
(parameter No. 74)

Internal speed command 7
(parameter No. 75)

Speed limit

Internal speed command 1
(parameter No. 8)

Internal speed command 2
(parameter No. 9)

Internal speed command 3
(parameter No. 10)

Internal speed command 1
(parameter No. 8)

Internal speed command 2
(parameter No. 9)

Internal speed command 3
(parameter No.10)

Internal speed command 4
(parameter No. 72)

Internal speed command 5
(parameter No. 73)

Internal speed command 6
(parameter No. 74)

Internal speed command 7
(parameter No. 75)

I/O

division

DI-1

DI-1

DI-1

Control

mode

PST

3 - 17

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Proportion
control

Emergency stop EMG CN1B15Turn EMG off (open EMG-common) to bring the motor to an

Clear CR CN1A8Turn CR on to clear the position control counter droop pulses on

Electronic gear
selection 1

Electronic gear
selection 2

Gain changing CDP When using this signal, make it usable by the setting of

PC CN1B8Connect PC-SG to switch the speed amplifier from the

CM1 When using CM1 and CM2, make them usable by the setting of

CM2

tor pin

No.

Functions/Applications

proportional integral type 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 proportion
control (PC) 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
proportion con trol (PC) and torque control (TL) at the same time
to make the torque less than the rated by the analog torque limit.

emergency stop state, in which the base circuit is shut off and the
dynamic brake is operated.
Turn EMG on (short EMG-common) in the emerge ncy stop state
to reset that state.

its leading edge. The pulse width should be 10ms or more.
When the p arameter No . 42 setti ng is "
always cleared while CR is on.

parameters No. 43 to 48.
The combination of CM1 and CM2 gives you a choice of four
different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.

(Note) Input signals

CM2 CM1

00 Parameter No. 3
01 Parameter No. 69
10 Parameter No. 70
11 Parameter No. 71

Note. 0: off

1: on

parameter No. 43 to 48.
Turn CDP on to change the load inertia moment ratio into the
parameter No. 61 s etting an d the gain values into the values
multiplied by the parameter No. 62 to 64 settings.

1 ", the puls e s are

Electronic gear molecule

I/O

division

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

Control

mode

PST

3 - 18

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Control change LOP CN1B

Analog torque
limit

Analog torque
command

Analog speed
command

Analog speed
limit
Forward rotation
pulse train
Reverse rotation
pulse train

TLA To use this signal in the speed control mode, set any of

TC

VC Apply 0 to 10VDC across VC-LG. Speed set in parameter No. 25

VLA

PP

NP

PG

NG

tor pin

No.

7

CN1B

12

CN1B

2

CN1A

3

CN1A

2

CN1A

13

CN1A

12

Functions/Applications

<Position/speed control change mode>
Used to select the control mode in the position/speed control
change mode.

(Note) LOP Control mode

0Position
1 Speed

Note. 0: off

1: on

<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.

(Note) LOP Control mode

0 Speed
1Torque

Note. 0: off

1: on

<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.

(Note) LOP Control mode

0Torque
1Position

Note. 0: off

1: on

parameters No. 43 to 48 to make TL available.
When the analog torque limit (TLA) is valid, torque is limited in
the full servo motor output torque range. Apply 0 to
across TLA-LG. Connect the positive terminal of the power supply
to TLA. Maximum torque is generated at
Section 3.4.1.) Resolution:10bit
Used to control torque in the full servo motor output torque
range.
Apply 0 to
at

8V. (Refer to (1) in Section 3.4.3.)

The torque at

is provided at
Resolution:14bit or equivalent
Apply 0 to 10VDC across VLA-LG. Speed set in parameter No.
25 is provided at
Used to enter a command puls e t ra i n.

In the open collector system (max. input frequency 200kpps):
Forward rotation pulse train across PP-SG
Reverse rotation pulse train across NP-SG
In the differential receiver system (max. input frequency
500kpps):
Forward rotation pulse train across PG-PP

Reverse rotation pulse train across NG-NP
The command pulse train f o rm ca n b e cha nged using
parameter No. 21.

8VDC across TC-LG. Maximum torque is generated

8V input can be changed using parameter No. 26.

10V. (Refer to (1) in Section 3.4.2.)

10V (Refer to (3) in Section 3.4.3.).

10V. (Refer to (5) in

10VDC

I/O

division

DI-1

Analog

input

Analog

input

Analog

input

Analog

input

DI-2

Control

mode

PST

Refer to

Functions/

Appli-

cations.

3 - 19

3. SIGNALS AND WIRING

(2) Output signals

Connec-

Signal Symbol

Trouble ALM CN1B18ALM turns off when power is switched off or the protective circuit

Dynamic brake
interlock

Ready RD CN1A19RD turns on when the servo is switched on and the servo

In position INP INP turns on when the number of droop pulses is in the preset in-

Speed reach ed S A

Limiting speed VLC VLC turns on when speed reaches the value limited using any of

Limiting torque TLC

Zero speed ZSP CN1B19ZSP turns on when the servo motor speed is zero speed (50r/min)

Electromagnetic
brake interlock

Warning WNG To use this signal, assign the connector pin for output using

Battery warning BWNG To use this signal, assign the connector pin for output using

DB This signal can be used with the 11kW or more servo amplifier.

MBR CN1B19Set " 1 " in parameter No. 1 to use this parameter. Note that

tor pin

No.

CN1A

18

CN1B

6

Functions/Applications

is activated to shut off the base circuit.
Without alarm occurring, ALM turns on within about 1s after
power-on.

When using this signal, set "
When the dynamic brake is operated, DB turns off. (Refer to
Section 13.1.4.)

amplifier is ready to operate.

position range. The in-position range can be changed using
parameter No. 5.
When the in-position range is increased, INP-SG may be kept
connected during low-speed rotation.
SA turns off when servo on (SON) turns off or the servomotor
speed has not reached th e preset speed with both forw ard rotation
start (ST1) and reverse rotation start (ST2) turned off. SA turns
on when the servomotor speed has nearly reached the preset
speed. When the preset spee d is 20r/min or les s, SA always turns
on.

the internal speed limits 1 to 7 (parameter No. 8 to 10, 72 to 75)
or the analog speed limit (VLA) in the torque control mode.
VLC turns off when servo on (SON) turns off.
TLC turns on when the torque generated reaches the value set to
the internal torque limit 1 (parameter No. 28) or analog torque
limit (TLA).

or less. Zero speed can be changed using parameter No. 24.

ZSP will be unusable.
MBR turns off when the servo is switched off or an alarm occurs.

parameter No.49. The old signal before assignment will be
unusable.
When warning has occurred, WNG turns on.
When there is no warning, WNG turns off within about 1s after
power-on.

parameter No.49. The old signal before assignment will be
unusable.
BWNG turns on when battery cable breakage warning (AL. 92) or
battery warning (AL. 9F) has occurred.
When there is no battery warning, BWNG turns off within about
1s after power-on.

1 " in parameter No. 1.

I/O

division

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

Control

mode

PST

3 - 20

3. SIGNALS AND WIRING

Signal Symbol

Alarm code ACD 0

ACD 1

ACD 2

Connec-

tor pin

No.

CN1A

19

CN1A

18

CN1B

19

Functions/Applications

To use this signal, set " 1" in parameter No.49.
This signal is output when an alarm occurs. When there is no
alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below:

(Note) Alarm code
CN1B
19 Pin

Note. 0: off

CN1A

CN1A

18 Pin

000

001
010AL.10Undervoltage

011

100

101

110

1: on

19 Pin

Alarm

display

88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error
AL.19 Memory error 3
AL.37 Parameter error

AL.8A
AL.8E Serial communication error

AL.30 Regenerative error
AL.33 Overvoltage

AL.45 Main circuit device
AL.46 Servo motor overheat
AL.50 Overload 1
AL.51 Overload 2
AL.24 Main circuit error
AL.32 Overcurrent
AL.31 Overspeed

AL.35
AL.52 Erro r excessive

AL.16 Encoder error 1
AL.1A Monitor combination error
AL.20 Encoder error 2
AL.25 Absolute position erase

Serial communication
timeout

Command pulse frequency
alarm

Name

I/O

division

DO-1

Control

mode

PST

3 - 21

3. SIGNALS AND WIRING

Connector pin No.

Signal Symbol

Encoder Z-phase
pulse
(Open collector)

Encoder A-phase
pulse
(Differential line
driver)
Encoder B-phase
pulse
(Differential line
driver)
Encoder Z-phase
pulse
(Differential line
driver)
Analog monitor 1 MO1 CN34CN41Used to output the data set in parameter No.17 to across

Analog monitor 2 MO2 CN314CN42Used to output the data set in parameter No.17 to across

7kW or

OP CN1A14CN1A14Outputs the zero-point sign al of the en code r. One pulse is

LA

CN1A

LB

LZ

CN1A

CN1A

CN1A

CN1A

CN1A

LAR

LBR

LZR

less

6

16

7

17

5

15

11kW or

more

CN1A

6

CN1A

16

CN1A

7

CN1A

17

CN1A

5

CN1A

15

output per servo motor revolution. OP turns on when the
zero-point position is reached. (Negative logic)
The minimum pulse width is about 400
position return using this pulse, set the creep speed to
100r/min. or less.
Outputs pulses per servo motor revolution set in
parameter No. 27 in the differential line driver system.
In CCW rotation of the servo motor, the encoder B-phase
pulse lags the encoder A-phase pulse by a phase angle of

/2.
The relationships between rotation direction and phase
difference of the A- and B-phase pulses can be changed
using parameter No. 54.

The same signal as OP is output in the differential line
driver system.

MO1-LG in terms of voltage. Resolution 10 bits

MO2-LG in terms of voltage. Resolution 10 bits

Functions/Applications

s. For home

I/O

division

DO-2

DO-2

DO-2

Analog

output

Analog

output

Control

mode

PST

(3) Communication

Signal Symbol

RS-422 I/F SDP

SDN

RDP

RDN

RS-422
termination

RS-232C I/F RXD

TRE CN310Termination resistor connection terminal of RS-422 interface.

TXD

POINT

Refer to Chapter 14 for the communication function.

Connec-

tor pin

No.

CN3

9

CN3

19

CN3

5

CN3

15

CN3

2

CN3

12

RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.

When the servo amplifier is the termination axis, connect this
terminal to RDN (CN3-15).
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.

Functions/Applications

I/O

division

Control

mode

PST

3 - 22

3. SIGNALS AND WIRING

(4) Power supply

Connector pin No.

Signal Symbol

I/F internal
power supply

Digital I/F power
supply input

Open collector
power input

Digital I/F
common

15VDC power
supply

Control common LG CN1A

Shield SD Plate Plate Connect the external conductor of the shield cable.

VDD CN1B3CN1B3Used to output 24V 10% to across VDD-SG.

COM CN1A

P15R CN1A

7kW or

CN1B

OPC CN1A11CN1A11When inputting a pulse train in the open collector

SG CN1A

CN1B

CN1B

CN1B

less

9

13

10
20

10
20

4

11

1

1
CN3
1, 11
3, 13

11kW or

more

CN1A

9

CN1B

13

CN1A

10
20

CN1B

10
20

CN1A

4

CN1B

11

CN1A

1

CN1B

1
CN3
1, 11
3, 13
CN4

4

When using this power supply for digital interface,
connect it with COM.
Permissible current : 80mA
Used to input 24VDC for input interface.
Connect the positive terminal of the 24VDC external
power supply.
24VDC

system, supply this terminal with the positive (
of 24VDC.
Common terminal for input signals such as SON and
EMG. Pins are connected internally.
Separated from LG.

Outputs 15VDC to across P15R-LG. Available as power
for TC, TLA, VC, VLA.
Permissible current: 30mA

Commo n te rm in al f or TL A, T C, VC, V LA, F PA, F PB, OP
,MO1, MO2 and P15R.
Pins are connecte d internally.

10%

Functions/Applications I/O division

Control

mode

PST

) power

3 - 23

3. SIGNALS AND WIRING

3.4 Detailed description of the signals

3.4.1 Position control mode (1) Pulse trai n inpu t

(a) Input pulse waveform selection

Command pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in parameter No. 21.
Arrow
A- and B-phase pulse trains are imported after they have been multi plied b y 4.

or in the table indicates the timing of importing a pulse train.

Pulse train form

Forward rotation
pulse train
Reverse rotation
pulse train

Pulse train sign

Negative logic

A-phase pulse train
B-phase pulse train

Forward rotation
pulse train
Reverse rotation
pulse train

Pulse train sign

Positive logic

A-phase pulse train
B-phase pulse train

Forward rotation

command

PP

NP

PP

NP
PP

NP

PP

NP

PP
NP

PP

NP

Reverse rotation

command

L

H

H

L

Parameter No. 21

(Command pulse train)

0010

0011

0012

0000

0001

0002

3 - 24

3. SIGNALS AND WIRING

(b) Connections and waveforms

1) Open collector system
Connect as shown below:

The explanation assumes that the input waveform has b een set to the negati ve logi c and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the
table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their
relationships with transistor ON/OFF are as follows:

Forward rotation
pulse train
(transistor)

Reverse rotation
pulse train
(transistor)

Servo amplifier

VDD

OPC

Approx.

PP

NP

SG

SD

(ON)(OFF)

Forward rotation command Reverse rotation command

(ON)(OFF)

(OFF)

1.2k
Approx.

1.2k

(OFF)

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

3 - 25

3. SIGNALS AND WIRING

2) Differential line driver system
Connect as shown below:

The explanation assumes that the input waveform has been set t o the negative l ogic and forward
and reverse rotation pulse trains (parameter No.21 has been set t o 0010 ).
For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line
driver.

Servo amplifier

PP

PG

NP

NG

SD

Forward rotation
pulse train

PP

PG

Reverse rotation
pulse train

NP

NG

Forward rotation command Reverse rotation command

3 - 26

3. SIGNALS AND WIRING

(2) In-position (INP)

PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset
in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is
performed with a large value set as the in-position range.

Servo-on (SON)

ON
OFF

Alarm

Droop pulses

In position (INP)

Yes
No

In-position range

ON
OFF

(3) Ready (RD)

Servo-on (SON)

Alarm

Ready (RD)

ON
OFF

Yes
No

ON
OFF

80ms or less 10ms or less 10ms or less

(4) Electronic gear switching

The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if
any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.

(Note) External input signal

CM2 CM1

00 Parameter No. 3
01 Parameter No. 69
10 Parameter No. 70
11 Parameter No. 71

Note. 0: off

1: on

Electronic gear molecule

3 - 27

3. SIGNALS AND WIRING

(5) Torque limit

CAUTION

If the torque limit is canceled during servo lock, the servomotor may suddenly

rotate according to position deviation in respect to the command position.

(a) Torque limit and torque

By setting param eter No. 28 (intern al torque limit 1), to rque is always limi ted to the maximum
value during operation. A relationship between the limit value and servo motor torque is shown
below.

Max. torque

torque

0

0 100

Torque limit value [%]

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

100

Servo amplifier

TL

5%

Torque limit value [%]

0

0.05

010

TLA application voltage [V]

TLA application voltage vs.

torque limit value

2k

Japan resistor
RRS10 or equivalent

2k

SG

P15R

TLA

LG
SD

(b) Torque limit value selection

Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using
the external torque limi t selection (T L) or the tor que limit mad e valid by the analog to rque limit
(TLA) as indicated below.
When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal
torque limit 2 (paramete r No. 76) can be selected. However, if the p arameter No. 28 v alue is less
than the limit value selected by TL/TL1, the parameter No. 28 value is made valid.

(Note) External input signals

TL1 TL

0 0 Internal torque limit value 1 (parameter No. 28)
01

10

11

Note. 0: off

1: on

Parameter No. 76
Parameter No. 76

Torque limit value made valid

TLA

Parameter No. 28: Parameter No. 28

TLA

Parameter No. 28: TLA
Parameter No. 28: Parameter No. 28
Parameter No. 28: Parameter No. 76

TLA

Parameter No. 76: Parameter No. 76

TLA

Parameter No. 76: TLA

(c) Limiting torque (TLC)

TLC turns on when the servo motor torque reaches the torque limited using the internal torque
limit 1

2 or analog torque limit.

3 - 28

3. SIGNALS AND WIRING

3.4.2 Speed control mode (1) Speed setting

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied
voltage of the analog speed command (VC). A relationship between the analog speed command
(VC) applied voltage and the servo motor speed is shown below:
The maximum speed is achieved at

25.

10V. The speed at 10V can be changed u sing parame ter No.

Speed [r/min]

CW direction

Rated speed [r/min]

CCW direction

10

010

VC applied voltage [V]
Rated speed

Forward rotation (CCW)

Reverse rotation (CW)

The following ta ble indicates the rota tion direction accor ding to forward rotation start ( ST1) and
reverse rotation start (ST2) combination:

(Note 1) External input signals (Note 2) Rotation direction

ST2 ST1

00
0 1 CCW CW CCW

10 CW
11

Note 1. 0: off

1: on

2. If the torque limit is canceled during servo lock, the servomotor may suddenly rotate according t o posi tion devi ation i n
respect to the command position.

Polarity 0V Polarity

Stop

(Servo lock)

Stop

(Servo lock)

Analog speed command (VC)

Stop

(Servo lock)

Stop

(No servo lock)

Stop

(Servo lock)

Stop

(Servo lock)

CCW CW

Stop

(Servo lock)

Internal speed

commands

(Servo lock)

(Servo lock)

Stop

Stop

The forward rotation start (ST1) and reverse rotation start (ST2) can be assigned to any pins of
the connector CN1A, CN1B using parameters No. 43 to 48.
Generally, make connection as shown below:

Servo amplifier

ST1
ST2

SG

2k

Japan resistor
RRS10 or equivalent

2k

P15R

VC
LG
SD

3 - 29

3. SIGNALS AND WIRING

(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value

Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection
1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).

(Note) External input signals

SP2 SP1

0 0 Analog speed command (VC)
0 1 Internal speed command 1 (parameter No. 8)
1 0 Internal speed command 2 (parameter No. 9)
1 1 Internal speed command 3 (parameter No. 10)

Note. 0: off

1: on

By making speed selection 3 (SP3) usable by setting of parameter No. 43 to 48, you can choose
the speed command values of analog speed command (VC) and internal speed commands 1 to 7.

(Note) External input signals

SP3 SP2 SP1

0 0 0 Analog spee d com mand (VC)
0 0 1 Internal speed command 1 (parame t er No. 8)
0 1 0 Internal speed command 2 (parame t er No. 9)
0 1 1 Internal speed command 3 (parame t er No. 10)
1 0 0 Internal speed command 4 (parame t er No. 72)
1 0 1 Internal speed command 5 (parame t er No. 73)
1 1 0 Internal speed command 6 (parame t er No. 74)
1 1 1 Internal speed command 7 (parame t er No. 75)

Note. 0: off

1: on

Speed command value

Speed command value

The speed may be ch anged during rotation. In this case, the value s set in par ameters No. 11 and
12 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.

(2) Speed reached (SA)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.

Internal speed

Set speed selection

Start (ST1,ST2)

Servo motor speed

Speed reached (SA)

Internal speed

command 1

ON
OFF

ON
OFF

command 2

(3) Torque limit

As in Section 3.4.1 (5).

3 - 30

3. SIGNALS AND WIRING

3.4.3 Torque control mode (1) Torque control

(a) Torque command and torque

A relationship between the applied voltage of the analog torque command (TC) and the torque by
the servo motor is shown below.
The maximum torque is generated at
parameter No. 26.

8V. Note th at the to rqu e a t 8V input can be cha nge d wi th

Max. torque
Generated torque

8

0.05

CW direction

CCW direction

0.05 8

TC applied voltage [V]

Max. torque (Note)

Forward rotation (CCW)

Reverse rotation (CW)

Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low (

0.05 to 0.05V) and the actual speed is close to
the limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.

(Note) External input signals Rotation direction

RS2 RS1

0 0 Torque is not generated. Torque is not generated.

CCW (reverse rotation in

01

10

1 1 Torque is not generated.

Note. 0: off

1: on

driving mode/forward
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)

Polarity 0V Polarity

Torque control command (TC)

CW (forward rotation in
driving mode/reverse
rotation in regenerative

Torque is not

generated.

mode)
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
Torque is not generated.

Generally, make connection as shown below:

8 to 8V

Servo amplifier

RS1
RS2

SG

TC
LG
SD

3 - 31

3. SIGNALS AND WIRING

e

(b) Analog torque command offset

Using parameter No. 30, the offset voltage of
voltage as shown below.

Max. torque

Generated torque

999 to 999mV can be added to the TC applied

Parameter No.30 offset rang
999 to 999mV

0

TC applied voltage [V]

8( 8)

(2) Torque limit

By setting param eter No . 28 (inte rnal torqu e limi t 1), t orque is alw ays li mite d to the max imum value
during operation. A relationship between limit value and servo motor torque is as in (5) in section

3.4.1. Note that the analog torque limit (TLA) is unavailable.

(3) Speed limit

(a) Speed limit value and speed

The speed is limite d to the values se t in p a ra m ete rs No. 8 to 10 , 72 to 75 (internal spe e d limits 1 to

7) or the value set in the applied voltage of the analog speed li mit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100r/min greater than the desired speed limit value.

Speed [r/min]

CW direction

Rated speed

CCW direction

10

010

VLA applied voltage [V]

Rated speed

Forward rotation (CCW)

Reverse rotation (CW)

The following table indicates the limit direction according to forward rotation selection (RS1) and
reverse rotation selection (RS2) combination:

(Note) External input signals Speed limit direction

RS1 RS2

1 0 CCW CW CCW
0 1 CW CCW CW

Note. 0: off

1: on

Analog speed limit (VLA)

Polarity Polarity

Internal speed

commands

Generally, make connection as shown below:

Servo amplifier

SP1
SP2

SG

2k

Japan resistor
RRS10 or equivalent

2k

P15R

VC
LG
SD

3 - 32

3. SIGNALS AND WIRING

(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values

Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection
1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed
limit command (VLA), as indicated below.

Setting of parameter

No. 43 to 48

When speed selection
(SP3) is not used
(initial status)

When speed selection
(SP3) is made valid

Note. 0: off

1: on

(Note) Input signals

SP3 SP2 SP1

0 0 Analog speed limit (VLA)
0 1 Internal speed limit 1 (parameter No. 8)
1 0 Internal speed limit 2 (parameter No. 9)

1 1 Internal speed limit 3 (parameter No. 10)
0 0 0 Analog speed limit (VLA)
0 0 1 Internal speed limit 1 (parameter No. 8)
0 1 0 Internal speed limit 2 (parameter No. 9)
0 1 1 Internal speed limit 3 (parameter No. 10)
1 0 0 Internal speed limit 4 (parameter No. 72)
1 0 1 Internal speed limit 5 (parameter No. 73)
1 1 0 Internal speed limit 6 (parameter No. 74)
1 1 1 Internal speed limit 7 (parameter No. 75)

Speed limit value

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

(c) Limiting speed (VLC)

VLC turns on when the servo motor speed reaches the speed limited using any of the internal
speed limits 1 to 7 or the analog speed li mit (VLA).

3 - 33

3. SIGNALS AND WIRING

3.4.4 Position/speed control change mode

Set "0001" in par ameter No. 0 to switch to the position/spee d control change mode. This func tion is not
available in the absolute position detection system.

(1) Control change (LOP)

Use control change (LOP) to switch between the position control mode and the speed control mode
from an external contact. Relationships between LOP and control modes are indicated below:

(Note) LOP Servo control mode

0 Position control mode
1 Speed control mode

Note. 0: off

1: on

The control mode may be changed in the zero-speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are
reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below:

Position

contro l m ode

Speed

contro l m ode

Position

contro l m ode

Zero speed

Servo motor speed

Zero speed (ZSP)

Control change (LOP)

Note: When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.

level

ON

OFF

ON

OFF

(2) Torque limit in position control mode

As in Section 3.4.1 (5).

(Note)

(Note)

3 - 34

3. SIGNALS AND WIRING

2

(3) Speed setting in spee d co nt rol mod e

(a) Speed command and speed

The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the
speed set in the applied voltage of the analog speed command (VC). A relationship between analog
speed command (VC) applied voltage and servo motor speed and the rotation directions determined
by the forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section

3.4.2.
Generally, make connection as shown below:

Servo amplif ier

SP1
SG

k

Japan resistor
RRS10 or equivalent

2k

(b) Speed selection 1 (SP1) and speed command value

Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed command (VC) as indicated in the followi ng table:

(Note) External input signals

SP1

0 Analog speed command (VC)
1 Internal speed command 1 (parameter No. 8)

Note. 0: off

1: on

Speed command value

P15R
VC
LG
SD

By making speed selection 2 (SP2) spee d selection 3 (SP3) usable by se tting of parame ter No. 43
to 48, you can choose the speed command values of analog speed command (VC) and internal
speed commands 1 to 7.

(Note) External input signals

SP3 SP2 SP1

0 0 0 Analog spee d com mand (VC)
0 0 1 Internal speed command 1 (parame t er No. 8)
0 1 0 Internal speed command 2 (parame t er No. 9)
0 1 1 Internal speed command 3 (parame t er No. 10)
1 0 0 Internal speed command 4 (parame t er No. 72)
1 0 1 Internal speed command 5 (parameter No. 73)
1 1 0 Internal speed command 6 (parame t er No. 74)
1 1 1 Internal speed command 7 (parame t er No. 75)

Note. 0: off

1: on

Speed command value

The speed may also be changed during rotation. In this case, it is increased or decreased according
to the value set in parameter No. 11 or 12.
When the internal speed command 1 is used to command the speed, the speed does not vary with
the ambient temperature.

(c) Speed reached (SA)

As in Section 3.4.2 (2).

3 - 35

3. SIGNALS AND WIRING

3.4.5 Speed/torque control change mode

Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.

(1) Control change (LOP)

Use control change (LOP) to switch between the speed control mode and the torque control mode from
an external contact. Relationships between LOP and control modes are indicated below:

(Note) LOP Servo control mode

0 Speed control mode
1 Torque con tr ol mode

Note. 0: off

1: on

The control mode may be changed at any time. A change timing chart is shown below:

Speed

control mode

Control change (LOP)

Servo motor speed

Analog torque
command (TC)

Note: When the start (ST1 ST2) is switched off as soon as the mode is changed to speed control,
the servo motor comes to a stop according to the deceleration time constant.

ON
OFF

10V

0

Torque

control mode

Load torque

Forward rotation in driving mode

Speed

control mode

(Note)

(2) Speed setting in spee d co nt rol mod e

As in Section 3.4.2 (1).

(3) Torque limit in speed control mode

As in Section 3.4.1 (5).

3 - 36

3. SIGNALS AND WIRING

r

(4) Speed limit i n to rque con t rol mod e

(a) Speed limit value and speed

The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value
set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed
limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3.
Generally, make connection as shown below:

Servo amplifie

SP1

SG

2k

Japan resistor
RRS10 or equivalent

2k

(b) Speed selection 1 (SP1) and speed limit value

Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed limit (VLA) as indicat ed in the foll owing tabl e:

(Note) External input signals

SP1

0 Analog speed limit (VLA)
1 Internal speed limit 1 (parameter No. 8)

Note. 0: off

1: on

Speed command value

P15R

VLA

LG
SD

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

(c) Limiting speed (VLC)

As in (c), (3) in section 3.4.3.

(5) Torque control in torque control mode

As in Section 3.4.3 (1).

(6) Torque limit in torque control mode

As in Section 3.4.3 (2).

3 - 37

3. SIGNALS AND WIRING

3.4.6 Torque/position control change mode

Set "0005" in parameter No. 0 to switch to the torque/position control change mode.

(1) Control change (LOP)

Use control change (LOP) to switch between the torque con trol mode and the position control mode
from an external contact. Relationships between LOP and control modes are indicated below:

(Note) LOP Servo control mode

0 Torque con tr ol mode
1 Position control mode

Note. 0: off

1: on

The control mode may be changed in the zero-speed status.
To ensure safety, change control after the servo motor has stopped. When position control mode is
changed to torque control mode, droop pulses are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below:

Speed

control mode

Torque

control mode

Speed

control mode

Servo m o t o r speed

Analog torque
command (TLA)

Zero speed (ZSP)

Control change (LOP)

(2) Speed limit i n to rque con t rol mod e

As in Section 3.4.3 (3).

(3) Torque control in torque control mode

As in Section 3.4.3 (1).

(4) Torque limit in torque control mode

As in Section 3.4.3 (2).

(5) Torque limit in position control mode

As in Section 3.4.1 (5).

Zero speed
level

10V

0V
ON
OFF
ON
OFF

3 - 38

3. SIGNALS AND WIRING

3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation

signal is not being input, ensure safety, and reset the alarm before restarting

CAUTION

When an alarm occurs in the servo amplifier, the base circuit is shut off and the s ervo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the
control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn
the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.

(Note)
Main circuit
control circuit
power sup p l y

Base circuit

Dynamic brake

Invalid

Servo-on
(SON)

Ready
(RD)

Trouble
(ALM)

Reset
(RES)

operation.

As soon as an alarm occurs, turn off Servo-on (SON) and power off the main

circuit.

ON

OFF

ON

OFF

Valid

ON

OFF

ON

OFF

ON

OFF

ON

OFF

1s

about

Alarm occurs.

Brake operation

50ms or more

Remove cause of trouble.

Power off

Brake operation

60ms or more

Power on

Note. Shut off the main circuit power as soon as an alarm occurs.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent
(AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing
its cause, the servo amplifier and servo motor may become faulty due to temperature rise.
Securely remove the cause of the alarm and also allow about 30 minutes for cooling before
resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative
(AL.30) alarm after its occurrence, the external regenerative brake resistor will gener ate heat,
resulting in an accident.

(3) Instantane ou s pow e r fa il ur e

Undervoltage (AL.10) occurs when the input power is in either of the following statuses.

A power failure of the control circuit power supply continues for 60ms or longer and the
control circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J2S- A, or to 158VDC or less for the
MR-J2S-

A1.

(4) In position control mode (incremental)

When an alarm occurs, the home position is lost. When resuming operation after deactivating
the alarm, make a home position return.

3 - 39

3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.

DC24V

ALM .etc

DI-1

(Note)

CN1A
CN1B

VDD
COM

SON, etc.
SG
OPC

PG NG

PP NP

CN1A
CN1B

RA

DO-1

Analog input
( 10V/max. current)

Servo motor

M

SG

15VDC 10%
30mA
P15R

TLA
VC etc.

LG

SD

Isolated

SG

OP
LG

LA etc.

LAR
etc.

LG

SD

MO1
MO2

LG

SDP
SDN

RDP
RDN

LG

SD

TXD

RXD

MR

MRR

LG
SD

CN3

Analog monitor output

RS-232C

Servo motor encoder

CN2

Differential line
driver output
35mA max.

RS-422

Ground

Note. For the open collection pulse train input. Make the following connection for the different line driver
pulse train input.

OPC
PG NG

PP NP
SG

3 - 40

3. SIGNALS AND WIRING

3.6.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
Sections 3.3.2.
Refer to this section and connect the interfaces with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (7) in this section.

For use of internal power supply For use of external power supply

Servo amplifier

Do not connect
VDD-COM.

24VDC
200mA or more

Servo amplifier

VDD

COM

SON, etc.

24VDC

R: Approx. 4.7

(Note)
For a transistor

Approx. 5mA

Switch

VDD

COM

SON, etc.

24VDC

R: Approx. 4.7

SGTR

Switch

V

1.0V

CES

CEO

100 A

I

Note. This also applies to the use of the external power supply.

SG

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less)
(a) Inductive load

For use of internal power supply For use of external power supply

Servo amplifier

24VDC

VDD

COM

ALM, etc.

SG

Load

If the diode is not
connected as shown,
the servo amplifier
will be damaged.

Servo amplifier

24VDC

ALM, etc.

VDD

COM

SG

Do not connect
VDD-COM.

Load

If the diode is not
connected as shown,
the servo amplifier
will be damaged.

24VDC
10%

3 - 41

3. SIGNALS AND WIRING

R

(b) Lamp load

For use of internal power supply For use of external power supply

Servo amplifier

24VDC

VDD

COM

ALM, etc.

SG

(3) Pulse trai n in put int e rfa ce DI -2

Provide a pulse train signal in the open collector or differential line driver system.
(a) Open collector system

1) Interface

For use of internal power supply For use of external power supply

Servo amplifier

VDD

OPC

2m (78.74in) or less

PP, NP

SG

24VDC

Max. input pulse
frequency 200kpps

About 1.2k

Servo amplifier

24VDC

ALM, etc.

Do not connect
VDD-OPC.

2m (78.74in) or less

24VDC

VDD

COM

SG

Do not connect
VDD-COM.

R

Servo amplifier

VDD

OPC

PP, NP

24VDC

Max. input pulse
frequency 200kpps

About 1.2k

24VDC
10%

SD

2) Conditions of the input pulse

0.9

PP

0.1

NP

tc

tc tLH

tHL

3 - 42

SG

SD

tLH tHL 0.2 s
tc 2 s
tF 3 s

tF

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface

10m (393.70in) or less

Servo amplifier

Max. input pulse
frequency 500kpps

PP(NP)

2) Conditions of the input pulse

(4) Encoder pul se outp ut D O- 2

(a) Open collector system

Interface

Max. output current : 35mA
Servo amplifier

OP
LG

Am26LS31 or equivalent

PP PG

NP NG

0.9

0.1

tc tLH

PG(NG)

SD

tHL

tc

About 100

tLH tHL 0.1 s
tc 1 s
tF 3 s

tF

Servo amplifier

OP
LG

5 to 24VDC

Photocoupler

SD

SD

3 - 43

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface
Max. output current: 35mA

Servo amplifier Servo amplifier

LA
(LB, LZ)

LAR
(LBR, LZR)

LG

SD

2) Output pulse

Servo motor CCW rotation

LA

Am26LS32 or equivalent High-speed photocoupler

150

LA
(LB, LZ)

LAR
(LBR, LZR)

SD

100

LAR

LB

LBR

LZ

LZR

OP

T

/2

(5) Analog input

Input impedance 10 to 12k

Upper limit setting 2k

2k

(6) Analog output

Output voltage

10V
Max.1mA
Max. output current
Resolution : 10bit

Servo amplifier

400 s or more

Servo amplifier

P15R
VC‚ etc

Approx.

LG

10k

SD

The time cycle (T) is determined by
the setting of the parameter No. 27 and 54.

15VDC

MO1

(MO2)

LG

SD

10k

Reading in one or
both directions
1mA meter

A

3 - 44

3. SIGNALS AND WIRING

(7) Source input interface

When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.

For use of internal power supply For use of external power supply

Servo amplifier

Servo amplifier

SG

(Note)
For a transistor
Approx. 5mA

Switch

TR

V

1.0V

CES

100 A

I

CEO

Note. This also applies to the use of the external power supply.

COM

SON,
etc.

VDD

R: Approx. 4.7

24VDC

Switch

24VDC

200mA or more

SG

COM

SON,etc.

R: Approx. 4.7

When using the input interface o f source type, all Dl-1 input signals are of source type . Source output
cannot be provided.
For 11kW or more, the source input interface cannot be used with the internal power supply. Always use
the external power supply.

MITSUBISHI

CON2 CON2

CON2

JP11

Note. The jumper, which is shown black for the convenience of explanation, is actually white.

JP11 JP11

Jumper

For sink input (factory setting) For source input

(Note) (Note)

Jumper

3 - 45

3. SIGNALS AND WIRING

3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo

amplifier power side. Continuous flow of a large current may cause a fire.

CAUTION

3.7.1 Connection example

Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as
alarm occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.

Use the trouble signal to switch power off. Otherwise, a regenerative brake

transistor fault or the like may o verheat the r egenerative b rake resist or, causing a
fire.

POINT

For the power line circuit of the MR-J2S-11KA to MR-J2S-22KA, refer to

Section 3.13 where the power line ci rcuit is shown together with th e servo
motor connection diagram.

(1) For 3-phase 200 to 230VAC power supply

RA

NFB MC

3-Phase

200 to 230 VAC

Emergency

stop

Servo-on

Emergency

stop

OFF

L

1

L

2

L

3

11

L

21

L

EMG
SON

SG

ON

MC

Servo amplifier

VDD

COM

ALM RA

MC

SK

Trouble

3 - 46

3. SIGNALS AND WIRING

(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply

RA

Emergency
stop

OFF

ON

MC

MC

SK

Power supply
1-phase 100 to
120VAC or
1-phase 230VAC

NFB MC

Emergency stop

Servo-on

EMG

SON

Note. Not provided for 1-phase 100 to 120VAC.

Servo amplifier

L

1

L

2

(Note)

L

3

11

L

21

L

SG

VDD

COM

ALM RA

Trouble

3 - 47

3. SIGNALS AND WIRING

3.7.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to Section 11.1.

Symbol

Connection Target

(Application)

Supply L1, L2 and L3 with the following power:
For 1-phase 230VAC, connect the power supply to L

Servo amplifier

Power supply

3-phase 200 to 230VAC,

L1, L2, L3Main circuit power supply

50/60Hz
1-phase 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz

U, V, W Servo motor output Connect to the servo motor power supply terminals (U, V, W).

Supply L11 and L12 with the following power.

Servo amplifier

Power supply

L11, L21Control circuit power supply

1-phase 200 to 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz

Description

and leave L3 open.

1/L2

MR-J2S-10A to

70A

L

1L2

L

1L2L3

MR-J2S-100A

to 22kA

MR-J2S-10A1

to 40A1

L

1L2

MR-J2S-10A to 700A MR-J2S-10A1 to 40A1

L

11L21

L

11L21

P, C, D Regenerative brake option

N

Return conv erter

Brake unit

Protective eart h (PE)

1) MR-J2S-350A or less
Wiring is factory-connected across P-D (servo amplifier built-in regenerative
brake resistor).
When using the regenerative bra ke option, alw a y s remove the wiri n g from
across P-D and connect the regenerative brake option across P-C.

2) MR-J2S-500A

700A
Wiring is factory-connected across P-C (servo amplifier built-in regenerative
brake resistor).
When using the regenerative brake option, always remove the wiring from
across P-C and connect the regene rative brake option a cross P-C.

Refer to Section 13.1.1 for details.
When using the return converter or brak e unit, conn e ct it across P-N.
Do not connect it to the servo amplifier of MR-J2S-350A or less.
Refer to Sections 13.1.2 and 13.1.3 for details.

Connect this terminal to the protective earth (PE) terminals of the servo motor
and contro l box for groundi ng.

3 - 48

3. SIGNALS AND WIRING

3.7.3 Power-on sequence (1) Power-on procedure

1) Always wire the power supp ly as shown in above Section 3. 7.1 using the magnetic con tactor with
the main circuit power supply (three-phase 200V: L

1

L

, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm

occurs.

2) Switch on the control circuit power supply L
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 can accept the servo-on (SON) about 1 to 2s af ter the m ain cir cui t power supply
is switched on. Therefore, when SON is switched on simultaneously with the main circuit power
supply, the b ase circu it wi ll sw itch on in a bout 1 to 2s , and the ready (RD ) w ill sw it ch on in fu rthe r
about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section. )

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

(2) Timing chart

Servo-on (SON) accepted

1

, L2, L3, single-phase 230V, single-phase 100V:

11

, L21 simultaneously with the main circuit power

Main circuit
Control circuit
Power supply

Base circuit
Servo-on

(SON)
Reset

(RES)
Ready

(RD)

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

(1 to 2s)

10ms

60ms

10ms20ms

Power-on timing chart

10ms

10ms20ms

60ms

20ms 10ms

(3) Emergency stop

Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop.
When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At
this time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2 ) are on or a pulse train is input
during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an
emergency stop, always shut off the run command.

Servo amplifier

Emergency stop

VDD
COM
EMG

SG

3 - 49

3. SIGNALS AND WIRING

3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric

shock.

Connect the wires to the corr ect phase term inals (U, V, W ) of the servo am plifier

CAUTION

and servo motor. Otherwise, the servo motor will operate improperly.

Do not connect AC power supp ly directly to the servo m otor. Otherwis e, a fault

may occur.

POINT

Do not apply the test lead bars or like of a tester directly to the pins of the

connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.

The connection method differs according to the series and cap acity of the servo mo tor and whe ther or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the

servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo
amplifier

PE terminal

Servo motor

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

3.8.2 Connection diagram

The followin g table lists wiring m ethods accord ing to th e servo motor type s. Use the conn ection diag ram
which conforms to the servo motor used. For cables required for wiring, refer to Section 13.2.1. For
encoder cable connection, refer to Section 13.1.5. For the signal layouts of the connectors, refer to Section

3.8.3.
For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.

POINT

For the connection diagram of the MR-J2S-11KA to MR-J2S-22KA, refer

to Section 3.13 where the connection diagram is shown together with the
power line circuit.

3 - 50

3. SIGNALS AND WIRING

Servo motor Connection diagram

HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)

Servo amplifier

W

CN2

U
V

(Note 1)

24VDC

EMG
To be shut off when servo-off
or Trouble (ALM)

U (Red)
V (White)

W (Black)

(Green)

B1
B2

Servo motor

Motor

(Note 2)

Electromagnetic
brake

HC-SFS121 (B) to 301 (B)
HC-SFS202 (B)
HC-SFS203 (B)

702 (B)

353 (B)
HC-UFS202 (B) to 502 (B)
HC-RFS353 (B) to 503 (B)

Encoder cable

Encoder

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

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier

U

V

W

(Note 1)

24VDC

EMG

To be shut off when servo-off

Servo motor

U
V

Motor

W

B1
B2

Electromagnetic
brake

(Note 2)

or Trouble (ALM)

CN2

Encoder cable

Encoder

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

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

Servo amplifier

U

V

W

Servo motor

U
V

W

Motor

HC-SFS81 (B)
HC-SFS52 (B) to 152 (B)
HC-SFS53 (B) to 153 (B)
HC-RFS103 (B) to 203 (B)
HC-UFS72 (B)

152 (B)

EMG

24VDC

B1
B2

Electromagnetic
brake

(Note 2)

(Note 1)

To be shut off when servo-off
or Trouble (ALM)

CN2

Encoder cable

Encoder

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

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

3 - 51

3. SIGNALS AND WIRING

t

3.8.3 I/O terminals (1) HC-KFS

Power supply
connector
5557-04R-210

HC-MFS HC-UFS3000r/min series

Power supply lead
4-AWG19 0.3m (0.98ft .)

Encoder cable 0.3m (0 .98ft.)
With connector 1-1721 69-9
(Tyco Electronics)

13
24

View b

a

b

Pin

Signal

1

U
2
3
4

V

W

(Earth)

Power supply connector (Molex)
Without electromagnetic brake
5557-04R-210 (receptacle)
5556PBTL (Female termina l)
With electromagnetic brake
5557-06R-210 (receptacle)
5556PBTL (Female termina l)

Power supply
connector
5557-06R-210

1
25
36

View b

Encoder connector signal arrangemen

123

MR

MRR BAT

456

MD

MDR

789

P5

LG SHD

View a

Pin

4

Signal

1
2
3
4
5
6

U

W

(Earth)

(Note)
(Note)

V

B1
B2

Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

3 - 52

3. SIGNALS AND WIRING

t

(2) HC-SFS HC-RFS HC-UFS2000 r/min series

a

Encoder connector

b

Brake connector

c

Power supply connecto r

Servo motor

HC-SFS81(B)
HC-SFS52(B) to 152(B)
HC-SFS53(B) to 153(B)
HC-SFS121(B) to 301(B)
HC-SFS202(B) to 502 (B)
HC-SFS203(B)

HC-SFS702(B)

HC-RFS103(B) to 203 (B)

HC-RFS353(B) 503(B)

HC-UFS72(B) 152(B)

HC-UFS202(B) to 502(B)

353(B)

Servo motor side connectors

For power supply For encoder

CE05-2A22­23PD-B

CE05-2A24­10PD-B

CE05-2A32­17PD-B
CE05-2A22­23PD-B
CE05-2A24­10PD-B
CE05-2A22­23PD-B
CE05-2A24­10PD-B

MS3102A20­29P

Electromagnetic
brake connector

The connector
for power is
shared.

MS3102A10SL­4P

The connector
for power is
shared.

MS3102A10SL­4P

Power supply connector signal arrangement

CE05-2A22-23PD-B

Key

F

A

G

B

H

C

E

D

View c

Pin

A
B
C
D
E
F
G
H

Signal

(Earth)

(Note) B1
(Note) B2

CE05-2A24-10PD-B

U
V

W

Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

Encoder connector signal arrangement

MS3102A20-29P

Key

Signal

Pin

C

E

A

D

MD

B

MDR

MR

C

MRR

D
E

BAT

F

F

LG

G

L

K

J

H

M

A

N

T P

S

G

View a

B

R

F

H

J

Key Key

F

E

G

D

View c

Pin

Signal

A

C

A
B

B

C

D

E
F

U

V

W

(Earth)

(Note) B1
(Note) B2

G

Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

Electromagnetic brake connector signal arrangemen

MS3102A10SL-4P

Key

Signal

Pin

K
L

AB

M

SD

N
P

LG

R

P5

S

View b

T

CE05-2A32-17PD-B

Pin

A

Pin

A
B

A

Signal
(Note)
(Note)

B
C

D

B1
B2

D

CB

Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

Signal

U

V

W

(Earth)

3 - 53