Mitsubishi Electronics MR-J2S- CP User Manual

General-Purpose AC Servo

J2-Super Series

Built-In Positioning Function

MODEL

MR-J2S- CP

SERVO AMPLIFIER
INSTRUCTION MANUAL

G

Safety Instructions

(Always read these instructions before using the equipment.)

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

WARNING

CAUTION

Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical

damage.

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

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

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

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

.

.

A - 1

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.

Connect the servo amplifier and servo motor to ground.

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. Otherwise, you may get an electric shock.

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

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.

Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative 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 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 weights.
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 servo amplifier 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.

Conditions

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

Ambient
temperature

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

Ambient

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

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
HC-KFS Series

HC-SFS81

HC-SFS121 201

(Note)
Vibration

HC-KFS Series

HC-SFS81

HC-SFS121 201

Note. Except the servo motor with reduction gear.

Environment

In
operation

In storage

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

[

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

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

2

[m/s

] 5.9 or less

2

] 19.4 or less

[ft/s

Servo amplifier Servo motor

HC-MFS Series

HC-UFS13 to 73

HC-SFS52 to 152
HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

HC-SFS202
HC-SFS203

HC-UFS202

HC-SFS301

HC-MFS Series

HC-UFS 13 to 73

HC-SFS52 to 152
HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

HC-SFS202
HC-SFS203

HC-UFS202

HC-SFS301

152

352
353

152

352
353

X

X

X : 24.5
Y : 49

X : 24.5
Y : 29.4

X

X

X : 80
Y : 161

X : 80
Y : 96

Y : 49

Y : 24.5

Y : 161

Y : 80

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 output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier

U

V

W

Servo motor

U

V

W

U

M

V

W

Servo motorServo amplifier

U

V

M

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 Servo amplifier

COM

(24VDC)

Control

output

signal

RA

COM

(24VDC)

Control

output

signal

RA

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.

A - 4

(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.

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
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 minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.

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

Use the servo amplifier with the specified servo motor.

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

For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are
coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but
also by an external forced stop (EMG).

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

Servo motor

Circuit must be
opened during
forced stop (EMG).

EMGRA

24VDC

Electromagnetic brake

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

When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

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 without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this 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 underwater 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-ROM due to parameter setting changes

Home position setting in the absolute position detection system

Write to the EEP-ROM due to device changes

Write to the EEP-ROM due to point table 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 DIRECTIVES?

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 marking). 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 directive

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 organization, 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 series :MR-J2S-10CP to MR-J2S-700CP
MR-J2S-10CP1 to MR-J2S40CP1
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Configuration

Control box

Reinforced
insulating type

Reinforced
insulating
transformer

No-fuse
breaker

NFB

Magnetic
contactor

MC

24VDC
power
supply

Servo
amplifier

Servo
motor

M

(3) Environment

Operate the servo amplifier at or above the contamination 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 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.

(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.

) of the

(b) Do not connect two ground cables to the same protective earth (PE) terminal (marked ). Always

connect the cables to the terminals one-to-one.

PE terminals

PE terminals

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

(marked

) of the servo amplifier must be connected to the corresponding earth terminals.

(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. (Refer to section 14.1.4)

(7) Auxiliary equipment and options

(a) The circuit breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in section 14.2.2.

(b) The sizes of the cables described in section 14.2.1 meet the following requirements. To meet the

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

Ambient temperature: 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 run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines (IB(NA)67310).

A - 8

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 series :MR-J2S-10CP to MR-J2S-700CP
MR-J2S-10CP1 to MR-J2S-40CP1
Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Installation

Install a cooling fan of 100CFM (2.8m
provide 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.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.

3

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

Servo amplifier Discharge time [min]

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

MR-J2S-40CP(1) 60CP 2

MR-J2S-70CP to 350CP 3
MR-J2S-500CP 700CP 5

(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.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the MR-J2S-CP for the first time. Always purchase them and use the MR-J2S-CP 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 - 9

MEMO

A - 10

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-26

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

1.1.1 Function block diagram ................................................................................................................... 1- 1

1.1.2 System configuration........................................................................................................................ 1- 4

1.1.3 I/O devices ......................................................................................................................................... 1- 9

1.2 Servo amplifier standard specifications ............................................................................................... 1-10

1.3 Function list ............................................................................................................................................ 1-12

1.4 Model code definition ............................................................................................................................. 1-13

1.5 Combination with servo motor .............................................................................................................. 1-14

1.6 Structure.................................................................................................................................................. 1-15

1.6.1 Part names ....................................................................................................................................... 1-15

1.6.2 Removal and reinstallation of the front cover .............................................................................. 1-19

1.7 Servo system with auxiliary equipment............................................................................................... 1-21

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 3-42

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

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

3.3 I/O signals................................................................................................................................................. 3- 4

3.3.1 Connectors and signal arrangements ............................................................................................. 3- 4

3.3.2 Signal (devices) explanations ..........................................................................................................3- 5

3.4 Detailed description of signals (devices) .............................................................................................. 3-13

3.4.1 Forward rotation start

3.4.2 Movement finish

3.4.3 Override ............................................................................................................................................ 3-16

3.4.4 Torque limit...................................................................................................................................... 3-17

3.5 Alarm occurrence timing chart .............................................................................................................3-19

3.6 Interfaces .................................................................................................................................................3-20

3.6.1 Common line .................................................................................................................................... 3-20

3.6.2 Detailed description of the interfaces ............................................................................................ 3-21

3.7 Input power supply circuit..................................................................................................................... 3-25

3.7.1 Connection example ........................................................................................................................ 3-25

3.7.2 Terminals.......................................................................................................................................... 3-27

3.7.3 Power-on sequence........................................................................................................................... 3-28

3.8 Connection of servo amplifier and servo motor ................................................................................... 3-29

3.8.1 Connection instructions ..................................................................................................................3-29

3.8.2 Connection diagram ........................................................................................................................ 3-29

3.8.3 I/O terminals .................................................................................................................................... 3-31

3.9 Servo motor with electromagnetic brake ............................................................................................. 3-33

Reverse rotation start Temporary stop/restart................................. 3-13

Rough match In position ............................................................................... 3-14

1

3.10 Grounding ............................................................................................................................................. 3-37

3.11 Servo amplifier terminal block (TE2) wiring method....................................................................... 3-38

3.11.1 For the servo amplifier produced later than Jan. 2006 ............................................................. 3-38

3.11.2 For the servo amplifier produced earlier than Dec. 2005 .......................................................... 3-40

3.12 Instructions for the 3M connector....................................................................................................... 3-42

4. OPERATION 4- 1 to 4-46

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

4.1.1 Pre-operation checks ........................................................................................................................ 4- 1

4.1.2 Startup ............................................................................................................................................... 4- 2

4.2 Automatic operation mode...................................................................................................................... 4- 5

4.2.1 What is automatic operation mode? ............................................................................................... 4- 5

4.2.2 Absolute value command system .................................................................................................... 4- 8

4.2.3 Incremental value command system ............................................................................................. 4-10

4.2.4 Absolute value command/incremental value command specifying system ...............................4-12

4.2.5 Automatic operation timing chart.................................................................................................. 4-14

4.2.6 Automatic continuous operation .................................................................................................... 4-15

4.3 Manual operation mode .........................................................................................................................4-22

4.3.1 Jog operation .................................................................................................................................... 4-22

4.3.2 Manual pulse generator operation.................................................................................................4-24

4.4 Manual home position return mode ..................................................................................................... 4-26

4.4.1 Outline of home position return ..................................................................................................... 4-26

4.4.2 Dog type home position return ....................................................................................................... 4-28

4.4.3 Count type home position return ................................................................................................... 4-30

4.4.4 Data setting type home position return ........................................................................................ 4-31

4.4.5 Stopper type home position return ................................................................................................4-32

4.4.6 Home position ignorance (servo-on position defined as home position)..................................... 4-34

4.4.7 Dog type rear end reference home position return....................................................................... 4-35

4.4.8 Count type front end reference home position return.................................................................. 4-36

4.4.9 Dog cradle type home position return ...........................................................................................4-37

4.4.10 Home position return automatic return function....................................................................... 4-38

4.4.11 Automatic positioning function to the home position ................................................................4-39

4.5 Absolute position detection system....................................................................................................... 4-40

4.6 Serial communication operation ........................................................................................................... 4-43

4.6.1 Positioning operation in accordance with point tables ................................................................ 4-43

4.6.2 Positioning operation....................................................................................................................... 4-44

4.6.3 Multidrop system............................................................................................................................. 4-44

4.6.4 Group designation ........................................................................................................................... 4-45

5. PARAMETERS 5- 1 to 5-24

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

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

5.1.2 List ..................................................................................................................................................... 5- 2

5.2 Detailed explanation ..............................................................................................................................5-19

5.2.1 Electronic gear .................................................................................................................................5-19

5.2.2 Changing the status display screen............................................................................................... 5-20

5.2.3 S-pattern acceleration/deceleration ............................................................................................... 5-21

5.2.4 Analog output................................................................................................................................... 5-21

2

5.2.5 Changing the stop pattern using a limit switch ........................................................................... 5-24

5.2.6 Alarm history clear.......................................................................................................................... 5-24

5.2.7 Rough match output ........................................................................................................................ 5-24

5.2.8 Software limit................................................................................................................................... 5-24

6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6- 1 to 6-20

6.1 Specifications ...........................................................................................................................................6- 1

6.2 System configuration............................................................................................................................... 6- 1

6.3 Station setting.......................................................................................................................................... 6- 3

6.4 Parameters ............................................................................................................................................... 6- 4

6.5 Point table ................................................................................................................................................ 6- 6

6.6 Device assignment method ..................................................................................................................... 6- 8

6.7 Test operation .........................................................................................................................................6-12

6.7.1 Jog operation .................................................................................................................................... 6-12

6.7.2 Positioning operation....................................................................................................................... 6-14

6.7.3 Motor-less operation ........................................................................................................................ 6-16

6.7.4 Output signal (DO) forced output ..................................................................................................6-17

6.7.5 Single-step feed ................................................................................................................................ 6-18

6.8 Alarm history ..........................................................................................................................................6-19

7. DISPLAY AND OPERATION 7- 1 to 7-26

7.1 Display flowchart..................................................................................................................................... 7- 1

7.2 Status display .......................................................................................................................................... 7- 2

7.2.1 Display transition ............................................................................................................................. 7- 2

7.2.2 Display examples .............................................................................................................................. 7- 3

7.2.3 Status display list ............................................................................................................................. 7- 4

7.3 Diagnosis mode ........................................................................................................................................ 7- 5

7.3.1 Display transition ............................................................................................................................. 7- 5

7.3.2 Diagnosis mode list........................................................................................................................... 7- 6

7.4 Alarm mode .............................................................................................................................................. 7- 8

7.4.1 Display transition ............................................................................................................................. 7- 8

7.4.2 Alarm mode list................................................................................................................................. 7- 9

7.5 Point table mode ..................................................................................................................................... 7-11

7.5.1 Point table transition ...................................................................................................................... 7-11

7.5.2 Point table mode setting screen sequence..................................................................................... 7-12

7.5.3 Operation method ............................................................................................................................ 7-13

7.6 Parameter mode ..................................................................................................................................... 7-15

7.6.1 Parameter mode transition............................................................................................................. 7-15

7.6.2 Operation example .......................................................................................................................... 7-16

7.7 External I/O signal display.................................................................................................................... 7-18

7.8 Output signal (DO) forced output ......................................................................................................... 7-19

7.9 Test operation mode ............................................................................................................................... 7-20

7.9.1 Mode change..................................................................................................................................... 7-20

7.9.2 Jog operation .................................................................................................................................... 7-21

7.9.3 Positioning operation....................................................................................................................... 7-22

7.9.4 Motor-less operation ........................................................................................................................ 7-23

7.10 Teaching function ................................................................................................................................. 7-24

7.10.1 Preparations for teaching .............................................................................................................7-24

3

7.10.2 Position data setting method........................................................................................................ 7-25

8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12

8.1 Different adjustment methods ............................................................................................................... 8- 1

8.1.1 Adjustment on a single servo amplifier.......................................................................................... 8- 1

8.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 8- 2

8.2 Auto tuning .............................................................................................................................................. 8- 3

8.2.1 Auto tuning mode .............................................................................................................................8- 3

8.2.2 Auto tuning mode operation ............................................................................................................ 8- 4

8.2.3 Adjustment procedure by auto tuning............................................................................................ 8- 5

8.2.4 Response level setting in auto tuning mode .................................................................................. 8- 6

8.3 Manual mode 1 (simple manual adjustment) ....................................................................................... 8- 7

8.3.1 Operation of manual mode 1 ...........................................................................................................8- 7

8.3.2 Adjustment by manual mode 1 ....................................................................................................... 8- 7

8.4 Interpolation mode ................................................................................................................................. 8-10

8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 8-11

8.5.1 Response level setting ..................................................................................................................... 8-11

8.5.2 Auto tuning selection....................................................................................................................... 8-11

9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-10

9.1 Function block diagram .......................................................................................................................... 9- 1

9.2 Machine resonance suppression filter ................................................................................................... 9- 1

9.3 Adaptive vibration suppression control................................................................................................. 9- 3

9.4 Low-pass filter ......................................................................................................................................... 9- 4

9.5 Gain changing function........................................................................................................................... 9- 5

9.5.1 Applications ....................................................................................................................................... 9- 5

9.5.2 Function block diagram ................................................................................................................... 9- 5

9.5.3 Parameters ........................................................................................................................................ 9- 6

9.5.4 Gain changing operation.................................................................................................................. 9- 8

10. INSPECTION 10- 1 to 10- 2

11. TROUBLESHOOTING 11- 1 to 11- 10

11.1 Trouble at start-up ..............................................................................................................................11- 1

11.2 When alarm or warning has occurred ...............................................................................................11- 2

11.2.1 Alarms and warning list .............................................................................................................. 11- 2

11.2.2 Remedies for alarms..................................................................................................................... 11- 3

11.2.3 Remedies for warnings................................................................................................................. 11- 9

11.3 MR-DP60 external digital display error........................................................................................... 11-10

12. OUTLINE DIMENSION DRAWINGS 12- 1 to 12- 8

12.1 Servo amplifiers................................................................................................................................... 12- 1

12.2 Connectors............................................................................................................................................ 12- 6

4

13. CHARACTERISTICS 13- 1 to 13- 8

13.1 Overload protection characteristics ................................................................................................... 13- 1

13.2 Power supply equipment capacity and generated loss .................................................................... 13- 2

13.3 Dynamic brake characteristics........................................................................................................... 13- 4

13.3.1 Dynamic brake operation............................................................................................................. 13- 4

13.3.2 The dynamic brake at the load inertia moment ........................................................................ 13- 6

13.4 Encoder cable flexing life .................................................................................................................... 13- 6

13.5 Inrush currents at power-on of main circuit and control circuit ....................................................13- 7

14. OPTIONS AND AUXILIARY EQUIPMENT 14- 1 to 14-50

14.1 Options.................................................................................................................................................. 14- 1

14.1.1 Regenerative options .................................................................................................................... 14- 1

14.1.2 FR-BU2 brake unit....................................................................................................................... 14- 9

14.1.3 Power regeneration converter ....................................................................................................14-15

14.1.4 Cables and connectors ................................................................................................................. 14-18

14.1.5 Junction terminal block (MR-TB20) .......................................................................................... 14-26

14.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................14-28

14.1.7 External digital display (MR-DP60) .......................................................................................... 14-30

14.1.8 Manual pulse generator (MR-HDP01) ...................................................................................... 14-32

14.1.9 Battery (MR-BAT, A6BAT)......................................................................................................... 14-33

14.2 Auxiliary equipment .......................................................................................................................... 14-34

14.2.1 Recommended wires.................................................................................................................... 14-34

14.2.2 Circuit breakers, fuses, magnetic contactors............................................................................ 14-36

14.2.3 Power factor improving reactors ................................................................................................ 14-36

14.2.4 Relays............................................................................................................................................ 14-37

14.2.5 Surge absorbers ...........................................................................................................................14-37

14.2.6 Noise reduction techniques......................................................................................................... 14-38

14.2.7 Leakage current breaker ............................................................................................................ 14-45

14.2.8 EMC filter.....................................................................................................................................14-47

14.2.9 Setting potentiometers for analog inputs.................................................................................. 14-50

15. COMMUNICATION FUNCTIONS 15- 1 to 15-40

15.1 Configuration ....................................................................................................................................... 15- 1

15.1.1 RS-422 configuration.................................................................................................................... 15- 1

15.1.2 RS-232C configuration ................................................................................................................. 15- 2

15.2 Communication specifications............................................................................................................ 15- 3

15.2.1 Communication overview............................................................................................................. 15- 3

15.2.2 Parameter setting......................................................................................................................... 15- 4

15.3 Protocol ................................................................................................................................................. 15- 5

15.4 Character codes ................................................................................................................................... 15- 7

15.5 Error codes ...........................................................................................................................................15- 8

15.6 Checksum ............................................................................................................................................. 15- 8

15.7 Time-out operation .............................................................................................................................. 15- 9

15.8 Retry operation ....................................................................................................................................15- 9

15.9 Initialization........................................................................................................................................ 15-10

15.10 Communication procedure example ...............................................................................................15-10

5

15.11 Command and data No. list.............................................................................................................15-11

15.11.1 Read commands ......................................................................................................................... 15-11

15.11.2 Write commands ........................................................................................................................ 15-14

15.12 Detailed explanations of commands............................................................................................... 15-17

15.12.1 Data processing.......................................................................................................................... 15-17

15.12.2 Status display ............................................................................................................................ 15-19

15.12.3 Parameter................................................................................................................................... 15-20

15.12.4 External I/O signal statuses..................................................................................................... 15-22

15.12.5 Input devices ON/OFF ..............................................................................................................15-24

15.12.6 Disable/enable of I/O devices (DIO) ......................................................................................... 15-25

15.12.7 Input devices ON/OFF (test operation) ................................................................................... 15-26

15.12.8 Test operation mode .................................................................................................................. 15-27

15.12.9 Output signal pin ON/OFF output signal (DO) forced output ..............................................15-30

15.12.10 Alarm history ...........................................................................................................................15-31

15.12.11 Current alarm.......................................................................................................................... 15-32

15.12.12 Point table ................................................................................................................................ 15-33

15.12.13 Servo amplifier group designation.........................................................................................15-39

15.12.14 Software version ...................................................................................................................... 15-40

APPENDIX App- 1 to App- 4

App 1. Status indication block diagram .................................................................................................App- 1

App 2. Junction terminal block (MR-TB20) terminal block labels ...................................................... App- 2

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

App 4. Change of connector sets to the RoHS compatible products .................................................... App- 4

6

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Motor Instruction 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. CALCULATION METHODS FOR DESIGNING

7

MEMO

8

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The MR-J2S-CP AC servo amplifier with built-in positioning functions is the MR-J2S-A general-purpose
AC servo amplifier which incorporate single-axis positioning functions. These functions perform
positioning operation by merely setting the position data (target positions), servo motor speeds,
acceleration and deceleration time constants, etc. to point tables as if setting them in parameters. The
servo amplifier is the most appropriate to configure a program-free, simple positioning system or to
simplify a system, for example.
There are 3 points of point tables as standard, and they can be increased up to 31 points by using the MR
Configurator (servo configuration software).
You can choose a configuration suitable for your purpose, e.g. simple positioning system using external
I/O signals (DI/O), operation using DI/O and RS-422 serial communication, or multi drop operation using
RS-422 serial communication.
All servo motors are equipped with an absolute position encoder as standard. An absolute position
detection system can be configured by merely adding a battery to the servo amplifier. Once the home
position has been set, home position return is not required at power on, alarm occurrence, etc.
The MR-J2S-CP AC servo amplifier with positioning function is made easier to use and higher in function
by using it with the MR Configurator (servo configuration software).

1.1.1 Function block diagram

The function block diagram of this servo is shown below.

1 - 1

(

)

y

1. FUNCTIONS AND CONFIGURATION

(1) MR-J2S-350CP or less

Regenerative option

Note 2
Power
suppl

NFB

MC

Servo amplifier

L

1

Diode
stack

Relay

L2

L3

L

11

L21

Current
control

Speed
control

Model adaptive control

Position
control

Position
command
creation

PDC

Regenerative
transistor

CHARGE

lamp

(Note 3) Cooling fan

Control

power

supply

amplifier

Position

No.

data

1

1000

2

2000

3

4000

4

500

5

1000

6

2000

7

1000

8

1000

31

2000

A/D

CN1A CN1B

(Note 1)

Base

Acceleration
time

Speed

constant

1000 80
2000
2000
2000
2000
1000
1000

1000

1000
2000

RS-232C

I/F

Voltage

detection

Point table

100

70
60
80
80

80
100
100

80

RS-422

CN3

Current

detector

Overcurrent

protection

Deceleration
time
constant

80

100

60
70
80
80

80
100
100

80

D/A

Dynamic

brake

Current

detection

Dwell

0
0

500

1000

0
0

0
0

0

Auxiliary

0
0
1
1
0

0

0
0
0

0

Servo motor

U

U

V

V

M

W

W

B1

Electro­magnetic

B2

brake

CN2

Encoder

MR-BAT

CON1

Optional battery
(for absolute position
detection system)

Analog monitor
(2 channels)

Controller

RS-422/RS-232C

Analog
(2 channels)

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

To other servo
amplifier

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

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

3. Servo amplifiers MR-J2S-200CP have a cooling fan.

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

3

, L2 and leave L3 open. Refer to section 1.2 for the power supply

1

1 - 2

r

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-500CP

700CP

Regenerative option

(Note)
Power
supply

NFB

MC

Servo amplifier

L

L

Diode

1

2

stack

Relay

L3

L11

L

21

Current
control

Speed
control

Model adaptive control

Position
control

Position
command
creation

PNC

CHARGE

Cooling fan

Control

power
supply

Position

No.

data

1

1000

2

2000

3

4000
4
5

1000
6

2000
7

1000

8

1000

31

2000

A/D

CN1A CN1B

Regenerative
transistor

lamp

Base

amplifier

Speed

1000 80
2000
2000

500

2000
2000
1000
1000

1000

1000
2000

I/F

Voltage

detection

Acceleration
time
constant

100

100
100

RS-232C

RS-422

Point table

70
60
80
80
80

80

CN3

Current

detector

Overcurrent

protection

Deceleration
time
constant

80

100

60
70
80
80

80
100
100

80

D/A

Dynamic

brake

Current

detection

Dwell

0
0

500

1000

0
0

0
0

0

Auxiliary

0
0
1
1
0

0

0
0
0

0

Servo moto

U

U

V

V

M

W

W

B1

Electro­magnetic

B2

brake

CN2

Encoder

MR-BAT

CON1

Optional battery
(for absolute position
detection system)

Analog
(2 channels)

Servo on
Start
Failure, etc.

Note. Refer to section 1.2 for the power supply specification.

D I/O control

To other servo
amplifier

1 - 3

Analog monitor
(2 channels)

Controller

RS-422/RS-232C

1. FUNCTIONS AND CONFIGURATION

1.1.2 System configuration

This section describes operations using this servo.
You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector
pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to
sections 1.1.3 and 3.3.2.) The MR Configurator (servo configuration software) (refer to chapter 6) and
personal computer are required to change or assign devices.
Set the following values to the point table.

Name Setting range Unit

0.001[mm]

Position data 999999 to 999999

Servo motor speed 0 to max. speed [r/min]
Acceleration time constant 0 to 20000 [ms]
Deceleration time constant 0 to 20000 [ms]
Dwell 0 to 20000 [ms]

Auxiliary function

(Refer to section 4.2)

0 to 3

0.01[mm]

0.1[mm]
1[mm]

(1) Operation using external input signals

(a) Description

The following configuration example assumes that external input signals are used to control all
signals (devices).
The I/O signals are as factory-set.

(b) Configuration

The following configuration uses external I/O signals. The personal computer is used with MR
Configurator (servo configuration software) to set, change and monitor the parameters and point
tables.

External I/O
signals

Personal
computer

Servo amplifier

MR Configurator
(Servo configuration
Software)

CN1A CN1B

CN2 CN3

Power supply

RS–232C

Servo motor

1 - 4

1. FUNCTIONS AND CONFIGURATION

(2) Operation using external input signals and communication

(a) Description

Communication can be used to change the point table data, choose the point table, change
parameter values, and confirm monitor data, for example. Enter a forward rotation start (ST1) or
reverse rotation start (ST2) through the external I/O. Use this system when position data/speed
setting or the host personal computer or the like is used to change the parameter values, for
example.

(b) Configuration

1) One servo amplifier is connected with the personal computer by RS-232C.

External I/O
signals

Servo amplifier

Personal
computer

MR Configurator
(Servo configuration
Software)

CN1A CN1B

CN2 CN3

Power supply

RS–232C

Servo motor

1 - 5

1. FUNCTIONS AND CONFIGURATION

2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Use parameter No. 16 to change the communication system.

External I/O
signals

Servo amplifier (axis 1)

Personal
computer

MR Configurator
(Servo configuration
Software)

Power supply

External I/O
signals

Power supply

CN1A CN1B

CN2 CN3

Servo amplifier (axis 2)

CN1A CN1B

CN2 CN3

Servo motor

RS–232C

RS–422

RS–232C/RS-422 converter

(to be prepared by the customer)

RS–422

To the next axis

Servo motor

1 - 6

1. FUNCTIONS AND CONFIGURATION

(3) Operation using communication

(a) Description

Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the
other devices controlled through communication. Also, you can set each point table, choose the
point table, and change or set parameter values, for example. Up to 32 axes may be controlled.

(b) Configuration

1) One servo amplifier is connected with the personal computer by RS-232C.

External I/O
signals

Servo amplifier

Personal
computer

MR Configurator
(Servo configuration
Software)

CN1A CN1B

CN2 CN3

Power supply

RS–232C

Servo motor

1 - 7

1. FUNCTIONS AND CONFIGURATION

2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Use parameter No. 16 to change the communication system.

External I/O
signals

Servo amplifier (axis 1)

Personal
computer

MR Configurator
(Servo configuration
Software)

Power supply

External I/O
signals

Power supply

CN1A CN1B

CN2 CN3

Servo amplifier (axis 2)

CN1A CN1B

CN2 CN3

Servo motor

RS–232C

RS–422

RS–232C/RS-422 converter

(to be prepared by the customer)

RS–422

To the next axis

Servo motor

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.1.3 I/O devices

This servo amplifier allows devices to be allocated to the pins of connector CN1A/CN1B as desired. The
following devices can be allocated. For device details, refer to section 3.3.2.

Input device Symbol

Proximity dog DOG CN1A-8 Home position return completion ZP CN1A-18
Servo-on SON CN1B-15 Rough match CPO CN1B-4
Forward rotation stroke end LSP CN1B-16 Movement finish MEND CN1B-6
Reverse rotation stroke end LSN CN1B-17 Trouble ALM CN1B-18
Forward rotation start ST1 CN1B-8 Ready RD CN1B-19
Reverse rotation start ST2 CN1B-9 Electromagnetic brake interlock MBR
Automatic/manual selection MD0 CN1B-7 Position range output POT
Point table No. selection 1 DI0 CN1B-5 Warning output WNG
Point table No. selection 2 DI1 CN1B-14 Battery warning output BWNG
Point table No. selection 3 DI2 Limiting torque TLC
Point table No. selection 4 DI3 Temporary stop PUS
Point table No. selection 5 DI4 In position INP
Forced stop EMG Point No. output 1 PT0
Reset RES Point No. output 2 PT1
Override selection OVR Point No. output 3 PT2
External torque limit selection TL Point No. output 4 PT3
Internal torque limit selection TL2 Point No. output 5 PT4
Proportion control PC
Temporary stop/restart STP
Manual pulse generator
multiplication 1
Manual pulse generator
multiplication 2
Gain switch CDP
Teach TCH

TP0

TP1

Factory-

allocated pin

Output device Symbol

Factory-

allocated pin

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.2 Servo amplifier standard specifications

Servo amplifier

Item

Voltage/frequency

Permissible voltage fluctuation

Permissible frequency fluctuation Within 5%

Power supply

Power supply capacity Refer to section13.2

Inrush current Refer to section13.5
Control system Sine-wave PWM control, current control system
Dynamic brake Built-in

Protective functions

Operational
specifications
Position command
input
Speed command
input

System

Operational
specifications
Position command
input

Speed command
input

System

Point table

Automatic continuous
operation

Jog

Manual pulse
generator

Dog type

Count type

Data setting type

Stopper type

Command system

Operation mode

Point table

number

input

Position

data input

Automatic

operation

mode

Manual

operation

mode

Manual

home

position

return

mode

MR-J2S-

10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1

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, excessive error protection

Positioning by specifying the point table No. (31 points)

Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]

Set in point table. Acceleration/deceleration time is set in point table.
S-pattern acceleration/deceleration time constant is set in parameter No.14.
Signed absolute value command system, incremental value command system, signed
absolute value command/incremental value command specifying system
Positioning using RS-422 (232C) communication data

Setting through RS-422 (232C) communication
1-point feed length setting range:
Setting through RS-422 (232C) communication
Acceleration/deceleration time is also set through RS-422 (232C) communication.
S-pattern acceleration/deceleration time constant is set in parameter No.14.
Signed absolute value command system, incremental value command system, signed
absolute value command/incremental value command specifying system
Point table number input, position data input system
Positioning operation is performed once in accordance with the position and speed
commands.
Varied speed operation (2 to 31 speeds), automatic continuous positioning operation (2 to
31 points)
Jog operation is performed in accordance with the parameter-set speed command by
contact input or through RS-422 (232C) communication.
Manual feed is made by manual pulse generator.
Command pulse multiplication:
Home position return is made starting with Z-phase pulse after passage of proximity dog.
Home position address may be set. Home position shift distance may be set. Home position
return direction may be selected.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made by counting encoder pulses after contact with proximity dog.
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made without dog.
Home position may be set at any position by manual operation, etc. Home position address
may be set.
Home position return is made by pressing machine part against stroke end.
Home position address may be set. Home position return direction may be set.

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

3-phase 170 to 253VAC

1[ m] to 999.999[mm]

1, 10 or 100 is selected using parameter.

1-phase 100 to
120VAC 50/60Hz

1-phase
85 to 127VAC

1 - 10

1. FUNCTIONS AND CONFIGURATION

Servo amplifier

MR-J2S-

Item

Home position
ignorance
(Servo-on position as
home position)

Manual

home

position

return

mode

Operation mode

Automatic positioning to home

position

Other functions

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

Ambient

temperature

humidity

Ambient

Environment

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

Vibration

Mass

Dog type rear end
reference

Count type front end
reference

Dog cradle type

In Operation

In storage

In Operation Ambient
In storage

10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1

Position where servo-on (SON) is switched on is defined as home position.
Home position address may be set.

Home position return is made with respect to the rear end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog.
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return return/automatic stroke return function
Home position return is made with respect to the front end of a proximity dog by the first
Z-phase pulse.
Home position address may be set. Home position shift value may be set. Home position
return direction may be set.
Automatic at-dog home position return return/automatic stroke return function
High-speed automatic return to a defined home position.

Absolute position detection, backlash function
Overtravel prevention using external limit switch
Software stroke limit, override using external analog signal

Amplifier front button-operated teaching function/external teaching pendant input
signal interface

[ ] 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

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 7.2 0.7 0.7 1.1

[lb]

2

] or less

1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 15.87 1.5 1.5 2.4

Self-cooled,
open (IP00)

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.3 Function list

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

Function Description Reference

Select the required ones from among 31 preset point tables and

Positioning by automatic operation

Varied speed operation

Automatic continuous positioning
operation

Manual home position return

Multidrop communication

High-resolution 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 Vibration of 1 pulse at servo motor stop is suppressed. Parameter No. 20

Electronic gear

Auto tuning

S-pattern acceleration/deceleration time
constant

Regenerative option

Brake unit

Return converter

perform operation in accordance with the set values.
Use the external input signal or communication function to choose
the point tables.
Servo motor speed can be varied continuously until the preset
moving distance is reached. (Max. set speeds: 31 speeds)
By merely choosing one point table and starting operation,
positioning can be executed continuously in accordance with
several point tables.
Dog type, count type, data setting type, stopper type, home
position ignorance, dog type rear end reference, count type front
end reference, dog cradle type
Up to 32 axes of MR-J2S-CP are controllable simultaneously by
RS-422 communication.
High-resolution encoder of 131072 pulses/rev is used as a servo
motor encoder.
By merely setting the home position once, home position return
need not be done at each 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.

The electronic gear is used to make adjustment so that the servo
amplifier setting matches the machine moving distance. Also,
changing the electronic gear value allows the machine to be moved
at any multiplication ratio to the moving distance using the servo
amplifier.
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.

Acceleration/deceleration can be made smoothly. Section 5.2.3

Used when the built-in regenerative resistor of the servo amplifier
does not have sufficient regenerative capability for the
regenerative power generated.
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500CP
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500CP

MR-J2S-700CP.

MR-J2S-700CP.

Section 4.2

Section 4.2.6 (2)

Section 4.2.6 (1)

Section 4.4

Section 4.6.3

Chapter 15

Section 4.5

Section 9.5

Section 9.3

Section 9.4

Section 5.2.1

Chapter 8

Section 14.1.1

Section 14.1.2

Section 14.1.3

1 - 12

1. FUNCTIONS AND CONFIGURATION

Function Description Reference

Analog monitor The servo status is output in terms of voltage in real time. Section 5.2.4

By using the MR Configurator (servo configuration software), the

Alarm history

I/O signal selection (Device setting)

Torque limit

Override (speed limit)

Status display The servo status is displayed. Section 7.2

Test operation mode

Limit switch

Software limit

current alarm and five past alarm numbers are stored and
displayed.
By using the MR Configurator (servo configuration software), any
devices can be assigned to 9 input, 5 output and 1 I/O pins.
Servo motor-torque is limited.
Parameter 2 limit value
Analog input
The servo motor speed is limited by analog input.
The ratio of override to the set speed can be changed between 0 to
200%.

Jog operation, positioning operation, motor-less operation, DO
forced output, 1-step feed
The servo motor travel region can be limited using the forward
rotation stroke end (LSP)/reverse rotation stroke end (LSN).
The travel region is limited using parameters in terms of address.
The function similar to that of a limit switch is limited by
parameter.

1 limit value

Section 6.8

Section 6.6

Section 3.4.4

Section 3.4.3

Section 6.7

Section 5.2.5

Section 5.2.8

1.4 Model code definition

(1) Rating plate

MITSUBISHI

MODEL

POWER

MR-J2S-60CP

POWER :
INPUT :

OUTPUT :
SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

AC SERVO

AC SERVO

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

PASSED

Model

Capacity

Applicable power supply

Rated output current

Serial number

1 - 13

1. FUNCTIONS AND CONFIGURATION

(2) Model

MR–J2S–

CP

MR–J2S–100CP or less

MR–J2S–200CP 350CP

Series

Symbol

None

(Note 2)

1

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

10
20
40
60
70

Power Supply

Power supply

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

1-phase 100V to 120VAC

Built-in positioning functions

Rated

output [W]

100
200
400
600
750

Symbol

Rated

output [W]

1000100
2000200
3500350
5000500
7000700

Rating plate

MR-J2S-500CP

Rating plate

MR-J2S-700CP

Rating plate

Rating plate

1.5 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

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

MR-J2S-60CP 52 53
MR-J2S-70CP 73 73 72 73

MR-J2S-100CP 81 102 103
MR-J2S-200CP 121 201 152 202 153 203 103 153 152
MR-J2S-350CP 301 352 353 203 202
MR-J2S-500CP 502 353 503 352 502
MR-J2S-700CP 702

HC-KFS

HC-MFS

1000r/min 2000r/min 3000r/min

HC-SFS HC-UFS

HC-RFS

2000r/min 3000r/min

Servo motors

Servo amplifier

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

MR-J2S-60CP 52
MR-J2S-100CP 102
MR-J2S-200CP 152
MR-J2S-350CP 202
MR-J2S-500CP 502 302
MR-J2S-700CP (Note 2)601 (Note 2)701M 702

Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to Appendix 3.

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

HA-LFS

(Note 1)

HC-LFS

1 - 14

1. FUNCTIONS AND CONFIGURATION

1.6 Structure

1.6.1 Part names

(1) MR-J2S-100CP or less

MODE

UP DOWN

Name/Application

Battery holder
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,
parameter and point table setting operations.

SET

MODE

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

UP DOWN

SET

Used to set data.

Used to change the
display or data in each
mode.

Used to change the
mode.

Reference

Section4.5

Section4.5

Chapter7

Chapter7

Section3.3

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 option.

Protective earth (PE) terminal ( )
Ground terminal.

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

Section3.3

Chapter6

Chapter15

Section14.1.4

Section1.4

Section3.3

Section14.1.4

Section3.7.2

Section12.1

Section3.7.2

Section12.1

Section14.1.1

Section3.10

1 - 15

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200CP

MR-J2S-350CP

POINT

This servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.6.2.

Name/Application

Reference

MODE UP DOWN

Battery holder
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

SET

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

DOWN

MODE

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

UP

SET

Used to set data.

Used to change the
display or data in each
mode.

Used to change the
mode.

Section4.5

Section4.5

Chapter7

Chapter7

Section3.3

Fixed part (4 places)

Cooling fan

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 option.

Protective earth (PE) terminal ( )
Ground terminal.

Section3.3

Chapter6

Chapter15

Section14.1.4

Section1.4

Section3.3

Section14.1.4

Section3.7.2

Section12.1

Section3.7.2

Section12.1

Section14.1.1

Section3.10

1 - 16

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500CP

POINT

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

front cover, refer to section 1.6.2.

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

MODE

UP DOWN SET

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

Name/Application Reference

Section4.5

Section4.5

Chapter7

Fixed part
(4 places)

MODE

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

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.

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

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 and
regenerative option.

UP

DOWN SET

Used to set data.

Used to change the
display or data in each
mode.

Used to change the
mode.

Chapter7

Section3.3

Section3.3

Chapter6

Chapter15

Section14.1.4

Section3.3

Section14.1.4

Section3.7.2

Section12.1

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

Name plate Section1.4

Cooling fan

Protective earth (PE) terminal ( )
Ground terminal.

Section3.7.2

Section12.1

Section14.1.1

Section3.10

1 - 17

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700CP

POINT

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

front cover, refer to next page.

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

MODE

UP DOWN

SET

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

Name/Application

Reference

Section4.5

Section4.5

Chapter7

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 to connect digital I/O signals.

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.

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.

Chapter7

Section3.3

Section3.3

Chapter6

Chapter15

Section14.1.4

Section3.7.2
Section12.1

Cooling fan

Fixed part
(4 places)

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

Name plate

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

Protective earth (PE) terminal ( )
Ground terminal.

1 - 18

Section3.3

Section14.1.4

Section1.4

Section3.7.2

Section12.1

Section14.1.1

Section3.10

r

1. FUNCTIONS AND CONFIGURATION

1.6.2 Removal and reinstallation of the front cover

Before removing or installing the front cover, turn off the power and wait for 15

minutes or more until the charge lamp turns off. Then, confirm that the voltage

WARNING

between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.

(1) For MR-J2S-200CP or more

Removal of the front cover

1)

Reinstallation of the front cover

2)

Front cove

1) Hold down the removing knob.

2) Pull the front cover toward you.

(2) For MR-J2S-500CP

Removal of the front cover

1)

2)

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.

Reinstallation of the front cover

Front cover hook
(2 places)

2)

1)

Front cover

Front cover socket
(2 places)

1) Hold down the removing knob.

2) Pull the front cover toward you.

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 - 19

r

r

1. FUNCTIONS AND CONFIGURATION

(3) For MR-J2S-700CP

Removal of the front cove

Reinstallation of the front cove

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 - 20

1. FUNCTIONS AND CONFIGURATION

1.7 Servo system with auxiliary equipment

To prevent an electric shock, always connect the protective earth (PE) terminal

WARNING

(terminal marked

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

box.

(1) MR-J2S-100CP or less

(a) For 3-phase 200V to 230VAC or 1-phase 230VAC

(Note 2)
Power supply

Circuit breaker
(NFB) or fuse

Options and auxiliary equipment

Circuit breaker

Magnetic contactor

MR Configurator
(Servo configuration software)

Regenerative option

Servo amplifier

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

To CN1A

Options and auxiliary equipment

Cables

Manual pulse generator

External digital display

Power factor improving reactor

Command device

Junction terminal block

Reference

Section 14.2.1

Section 14.1.8

Section 14.1.7

Section 14.2.3

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

Control circuit terminal block

L

21

To CN2

L

1

L

2

L

3

U

CHARGE

VW

D

To CN1B

To CN3

Protective earth (PE) terminal

Manual pulse generator

External digital display

MR Configurator

Personal
computer

(Note 1)
Encoder cable

(Note 1)
Power supply lead

(Servo configuration
software
MRZJW3-SETUP151E)

L

11

P

Regenerative option

C

Note 1. The HC-SFS, HC-RFS, HC-UFS 2000r/min series have cannon connectors.

2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70CP or less.
For 1-phase 230VAC, connect the power supply to L

specification.

L2 and leave L3 open. Refer to section 1.2 for the power supply

1

Servo motor

1 - 21

1. FUNCTIONS AND CONFIGURATION

(b) For 1-phase 100V to 120VAC

(Note 2)
Power supply

Circuit breaker
(NFB) or fuse

Options and auxiliary equipment

Circuit breaker

Magnetic contactor

MR Configurator
(Servo configuration software)

Regenerative option

Servo amplifier

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

To CN1A

Options and auxiliary equipment

Cables

Manual pulse generator

External digital display

Power factor improving reactor

Command device

Junction terminal block

Reference

Section 14.2.1

Section 14.1.8

Section 14.1.7

Section 14.2.3

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

Control circuit terminal block

L

21

L

11

To CN2

L1

2

L

CHARGE

UVW

D

To CN1B

External digital display

To CN3

Protective earth (PE) terminal

Manual pulse generator

Personal
computer

(Note 1)
Encoder cable

(Note 1)
Power supply lead

MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)

P

Regenerative option

C

Note 1. The HC-SFS, HC-RFS, HC-UFS 2000 r/min series have cannon connectors.

2. Refer to section 1.2 for the power supply specification.

1 - 22

Servo motor

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200CP

(Note)
Power supply

Circuit
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

MR-J2S-350CP

Options and auxiliary equipment

Circuit breaker

Magnetic contactor

MR Configurator
(Servo configuration software)

Regenerative option

To CN2

L

11

L

21

Servo amplifier

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

Options and auxiliary equipment

Cables

Manual pulse generator

External digital display

Power factor improving reactor

Command device

To CN1A

To CN1B

To CN3

External digital display

Personal
computer

Reference

Section 14.2.1

Section 14.1.8

Section 14.1.7

Section 14.2.3

Junction terminal
block

Manual pulse
generator

MR Configurator
(Servo
configuration
software
MRZJW3­SETUP151E)

L

1

L

2

L

3

Note. Refer to section 1.2 for the power supply specification.

CUV

P

W

Regenerative option

1 - 23

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500CP

(Note 2)
Power supply

Circuit
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

(Note 1)
Regenerative option

L11
L

C

P

21

Options and auxiliary equipment

Circuit breaker

Magnetic contactor

MR Configurator
(Servo configuration software)

Regenerative option

Servo amplifier

L1
L

2

L

3

U
V

W

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

To CN1A

To CN1B

To CN3

To CN2

Options and auxiliary equipment

Cables

Manual pulse generator

External digital display

Power factor improving reactor

Command device

Junction terminal
block

Manual pulse
generator

External digital display

Personal
computer

Reference

Section 14.2.1

Section 14.1.8

Section 14.1.7

Section 14.2.3

MR Configurator
(Servo
configuration
software
MRZJW3­SETUP151E)

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.

2. Refer to section 1.2 for the power supply specification.

1 - 24

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700CP

(Note 2)
Power supply

Circuit
breaker
(NFB) or
fuse

Magnetic
contactor
(MC)

Power
factor
improving
reactor
(FR-BAL)

Options and auxiliary equipment

Circuit breaker

Magnetic contactor

MR Configurator
(Servo configuration software)

Regenerative option

Servo amplifier

11

L

L21

L3
L2
L1

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

To CN1A

To CN1B

To CN3

To CN2

U
V
W

Options and auxiliary equipment

Cables

Manual pulse generator

External digital display

Power factor improving reactor

Command device

Junction terminal
block

Manual pulse
generator

External digital display

Personal
computer

Reference

Section 14.2.1

Section 14.1.8

Section 14.1.7

Section 14.2.3

MR Configurator
(Servo
configuration
software
MRZJW3­SETUP151E)

C

(Note 1)
Regenerative option

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.

2. Refer to section 1.2 for the power supply specification.

P

1 - 25

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 26

2. INSTALLATION

2. INSTALLATION

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

combustibles will lead 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. (For the

environmental conditions, refer to section 2.1.)

Provide an adequate protection to prevent screws, metallic detritus and other

CAUTION

2.1 Environmental conditions

conductive matter or oil and other combustible matter from entering the servo
amplifier.

Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault 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.

Environment Conditions

[ ] 0 to 55 (non-freezing) In
Ambient
temperature

Ambient
humidity

Ambience

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

Vibration

operation

In storage

In operation
In storage

[ ] 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

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

may drop.

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

CAUTION

occur.

Leave specified clearances between the servo amplifier and control box inside

walls or other equipment.

(1) Installation of one servo amplifier

Control box Control box

40mm
(1.6 in.)
or more
Servo amplifier

10mm
(0.4 in.)
or more

10mm
(0.4 in.)
or more

Wiring clearance
70mm

(2.8 in.)

Up

Down

40mm
(1.6 in.)
or more

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 cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.

Control box

100mm
(4.0 in.)
or more

30mm
(1.2 in.)
or more

40mm
(1.6 in.)
or more

10mm
(0.4 in.)
or more

30mm
(1.2 in.)
or more

(3) Others

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

2.3 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the

servo amplifier.

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

box or a cooling 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 weight

stress are not applied to the cable connection.

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

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

or stamped by workers or vehicles.

(4) The flexing lives of the cables are shown below. In actuality, provide a little allowance for these values.

For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 13.4 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 wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off

WARNING

or not.

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 forced stop (EMG) and other protective circuits.

Servo amplifier

COM

(24VDC)

Control output
signal

RA

CAUTION

Servo amplifier

COM

(24VDC)

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 resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.

Do not modify the equipment.

During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

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

Proximity dog

10m (32.79ft.) or less

Servo amplifier

(Note 3, 7) (Note 3, 7)

CN1A

DOG

SG810

CN1A

9

18

COM

ZP

(Note 4)

RA5

Home position
return completion

Servo-on

Forward rotation stroke end

(Note 5)

Reverse rotation stroke end

Automatic/manual selection

Point table No. selection 1

Point table No. selection 2

Forward rotation start

Reverse rotation start

Upper limit setting

(Note 8)

Override

Upper limit setting

(Note 9) Analog torque limit

(Note 11)
MR Configurator
(Servo Configuration
software)

Personal
computer

2m (6.56ft.) or less

(Note 10)

Communication cable

(Note 3, 7) (Note 3, 7)
CN1B CN1B

SON

15

16

LSP

17

LSN

7

MD0

DI0

5

14

DI1

8

ST1

9

ST2

SG

10

P15R

11

2

VC

1

LG

12

TLA

Plate

SD

CN3

3

13

4

6

18

19

(Note 3, 7)

CN3

4

3

14

13

Plate

10m (32.81ft.) or less

VDD

COM

(Note 12)

(Note 2, 4)

CPO

MEND

ALM

RD

MO1

LG

MO2

LG

SD

2m (6.56ft.) or less

(Note 1)

RA1

RA2

RA3

RA4

Rough match

Movement finish

Trouble (Note 6)

Ready

A

10k

(Note 10)
Monitor output
Max. 1mA

A

10k

meter
Zero center

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. 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 forced stop and other protective circuits.

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

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from

external.

5. When starting operation, always connect the forward/reverse rotation stroke end (LSN/LSP) with SG. (Normally closed

contacts)

6. Trouble (ALM) is connected with COM in normal alarm-free condition.

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

8. When using override (VC), make the override selection (OVR) device available.

9. When using analog torque limit (TLA), make the external torque limit selection (TL) devices available.

10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-

J2CN3TM). (Refer to section 14.1.6).

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.

3 - 2

3. SIGNALS AND WIRING

3.2 Internal connection diagram of servo amplifier

This section gives the internal connection diagram where the signal assignment is in the initial status.

Servo amplifier

VDD

COM

COM

DOG

SG

DI0

MD0

ST1

ST2

DI1

SON

LSP

LSN

SG

OPC

PG

PP

NG

NP

SD

VC

TLA

P15R

LG

SD

P15R

CN1B

3

13

CN1A

9

8

10, 20

CN1B

5

7

8

9

14

15

16

17

10, 20

CN1A

11

13

3

12

2

Casing

CN1B

2

12

11

1

Casing

CN1A

4

Approx. 100

Approx. 100

24VDC

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

Approx. 1.2k

15VDC

CN1A

18

CN1B

4

6

18

19

CN1A

6

16

7

17

5

15

14

1

CN3

4

14

2

12

9

19

5

15

PE

ZP

CPO

MEND

ALM

RD

LA

LAR

LB

LBR

LZ

LZR

OP

LG

MO1

MO2

RXD

TXD

SDP

SDN

RDP

RDN

3 - 3

A

3. SIGNALS AND WIRING

3.3 I/O signals

3.3.1 Connectors and signal arrangements

(1) Signal arrangement

CN1

1

2

LG

NP

3

4

PP

P15R

5

6

LZ

LA

7

8

LB

DOG

9

10

COM

SG

POINT

The connector pin-outs shown above are viewed from the cable connector
wiring section side.

CN1B

12

14

OP

16

LAR

18

ZP

20

SG

11

OPC

13

15

LZR

17

LBR

19

Servo amplifier

2

VC

4

CPO

6

MEND

8

ST1

10

SG

1

LG

3

VDD

5

DI0

7

MD0

9

ST2

12

TLA

14

DI1

16

LSP

18

ALM

20

SG

11

P15R

13

COM

15

SON

17

LSN

19

RD

CN2 CN3

2

RXD

4

MO1

6

8

10

TRE

1

LG

3

LG

5

RDP

7

9

SDP

12

TXD

14

MO2

16

18

20

P5

11

LG

13

LG

15

RDN

17

19

SDN

LG

MD

10

1

2

LG

3

4

5

6

7

8

MR

9

BAT

12

LG

14

16

MDR

18

P5

20

P5

11

LG

13

15

17

MRR

19

P5

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

3 - 4

3. SIGNALS AND WIRING

3.3.2 Signal (devices) explanations

(1) I/O devices

POINT

The devices not indicated in the Connector Pin No. field of the I/O devices
can be assigned to the connector CN1A/CN1B using the MR Configurator
(servo configuration software).

(a) Pins whose devices can be changed

Refer to section 3.6.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the
corresponding connector pins.

Pin type Connector pin No. I/O division Device in initial status

CN1B-5 Point table No. selection 1 (DI0)

CN1B-14 Point table No. selection 2 (DI1)

CN1A-8 Proximity dog (DOG)

CN1B-15 Servo-on (SON)

Input-only pins

I/O pin CN1A-19 DI-1 or DO-1

Output-only pins

CN1B-16 Forward rotation stroke end (LSP)
CN1B-17 Reverse rotation stroke end (LSN)

CN1B-7 Automatic/manual selection (MD0)
CN1B-8 Forward rotation start (ST1)
CN1B-9

CN1B-4 Rough match (CPO)

CN1B-6 Movement finish (MEND)
CN1B-18 Trouble (ALM)
CN1B-19 Ready (RD)
CN1A-18

DI-1

Reverse rotation start (ST2)
No device has been assigned in the initial
status. You can assign an I/O device using
the MR Configurator (servo configuration
software).

DO-1

Home position return completion(ZP)

(b) Input devices

Device name

Forced stop EMG When EMG-SG are opened, the servo amplifier is placed in the forced stop status,

Servo-on SON CN1B

Reset RES Disconnect RES-SG for more than 50ms to reset the alarm.

Devices

symbol

Connector

pin No.

15

Functions/Applications

the servo switches off, and the dynamic brake is operated to bring the servo motor
to a sudden stop.
Short EMG-SG in the forced stop status to cancel the forced stop status.
Connect SON-SG to switch on the base circuit and make the servo amplifier ready
to operate (servo-on).
Disconnect SON-SG to shut off the base circuit and coast the servo motor (servo­off) .

Some alarms cannot be deactivated by the reset signal. Refer to section 11.2.1
If RES-SG are shorted in no alarm status, the base circuit is not shut off.
Set "

1 " in parameter No. 55 to shut off the base circuit.

Since this device is not designed for stopping. Do not switch it on during operation.

3 - 5

3. SIGNALS AND WIRING

Device name

Forward rotation
stroke end

Reverse rotation stroke
end

Forward rotation start ST1 CN1B 8 1. In the case of the absolute value command system.

Reverse rotation start ST2 CN1B 9 This device is used in the incremental value command system.

Automatic/manual
selection
Proximity dog DOG CN1A

Devices

symbol

LSN CN1B

MD0 CN1B 7 Short MD0-SG to choose the automatic operation mode, or open them to choose the

Connector

pin No.

LSP CN1B

To start operation, short LSP-SG and/or LSN-SG. Open them to bring the motor to
a sudden stop and make it servo-locked.

16

Set "
(Refer to section 5.2.5.)

(Note) Input signal Operation

1 1
0 1

17

1 0
0 0
Note. 0: LSP/LSN-SG off (open)

2. In the case of the incremental value command system.

3. In absolute value command /incremental value command specifying system

When ST2-SG are shorted in the automatic operation mode, positioning is executed
once in the reverse rotation direction on the basis of the position data set to the
point table.
In jog operation mode, the servo motor rotates in the reverse rotation direction
while ST2-SG are shorted.
Reverse rotation denotes the direction in which the address is decremented.
The reverse rotation start (ST2) is also used as the start signal of the function to
perform high-speed positioning to the home position. (Refer to section 4.4.11.)

manual operation mode.
When terminals DOG-SG are shorted, the proximity dog signal is detected. The
polarity of dog detection input can be changed with the parameter.

8

0 (initial value) DOG-SG are opened.
1 DOG-SG are shorted.

Functions/Applications

1" in parameter No. 22 to make a slow stop.

LSP LSN

1: SP/LSN-SG on (short)

When ST1-SG are shorted in the automatic operation mode, positioning is
executed once on the basis of the position data set to the point table.
In home position return mode, home position return starts as soon as ST1-SG
are shorted.
In jog operation mode, the servo motor rotates in the forward rotation direction
while ST1-SG are shorted.

When ST1-SG are shorted in the automatic operation mode, positioning is
executed once on the basis of the position data set to the point table.

In home position return mode, home position return starts as soon as ST1-SG

are shorted.

In jog operation mode, the servo motor rotates in the forward rotation direction

while ST1-SG are shorted.

Forward rotation denotes the direction in which the address is incremented.

When ST1-SG are shorted in the automatic operation mode, positioning is
executed once on the basis of the position data set to the point table.

In home position return mode, home position return starts as soon as ST1-SG

are shorted.

In jog operation mode, the servo motor rotates in the forward rotation direction
while ST1-SG are shorted.

Parameter No.8

CCW

direction

Polarity of proximity dog

detection input

direction

3 - 6

CW

3. SIGNALS AND WIRING

Device name

Point table No.
selection 1

selection 2

selection 3

selection 4
Point table No.

selection 5

Override selection OVR Short OVR-SG to make override (VC) valid.
External torque limit
selection
Internal torque limit
selection

Proportion control PC Connect PC-SG to switch the speed amplifier from the proportional integral type to

Devices

symbol

Connector

pin No.

DI0 CN1B

DI1 CN1B

DI2

DI3

DI4

TL Short TL-SG to make external analog torque limit valid.

TL2 Open TL2-SG to make the torque limit value set in parameter No.28 (TL1) valid, or

The following table lists the point table numbers that may be chosen by the
combinations of DI0, DI1, DI2, DI3 and DI4.

5

14

0 0 0 0 1 1 Point table No.
0 0 0 1 0 2
0 0 0 1 1 3 Point table No.
0 0 1 0 0 4
0 0 1 0 1 5
0 0 1 1 0 6
0 0 1 1 1 7
0 1 0 0 0 8
0 1 0 0 1 9
0 1 0 1 0 10
0 1 0 1 1 11
0 1 1 0 0 12
0 1 1 0 1 13
0 1 1 1 0 14
0 1 1 1 1 15
1 0 0 0 0 16
1 0 0 0 1 17
1 0 0 1 0 18
1 0 0 1 1 19
1 0 1 0 0 20
1 0 1 0 1 21
1 0 1 1 0 22
1 0 1 1 1 23
1 1 0 0 0 24
1 1 0 0 1 25
1 1 0 1 0 26
1 1 0 1 1 27
1 1 1 0 0 28
1 1 1 0 1 29
1 1 1 1 0 30
1 1 1 1 1 31

For more information, refer to section 3.4.4.

short them to make the value set in parameter No.29 (TL2) valid.
For more information, refer to section 3.4.4.

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. In such a case where the axis
will be locked mechanically after Movement finish (MEND) has turned off, turning
Proportion control (PC) on as soon as Movement finish (MEND) turns off can
suppress unnecessary torque that attempts to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the proportion control (PC)
and torque (TL) at the same time to make the torque less than the rated by the
analog torque limit (TLA).

DI4 DI3 DI2 DI1 DI0

0 0 0 0 0

Note. 0: DI0/DI1/DI2/DI3/DI4-SG off (open)

1: DI0/DI1/DI2/DI3/DI4-SG on (short)

(Note)Input signal

Functions/Applications

Point table No.

0 (Manual home
position return)

Point table No.

3 - 7

3. SIGNALS AND WIRING

Device name

Temporary
stop/Restart

Manual pulse
generator
multiplication 1

Manual pulse
generator
multiplication 2

Gain switch CDP Connect CDP-SG to change the load inertia moment ratio into the parameter No.

Teach TCH Used when performing teaching. Shorting TCH-SG in the teaching setting mode

Devices

symbol

Connector

pin No.

STP Short STP-SG during automatic operation to make a temporary stop. Short STP-

TP0 Used to select the multiplication factor of the manual pulse generator.

TP1

SG again to make a restart.
Shorting the forward rotation start (ST1) or reverse rotation start (ST2) during a
temporary stop is ignored. Switching from automatic operation mode to manual
operation mode during a temporary stop clears the remaining moving distance.
During home position return and jog operation, the temporary stop/restart input is
ignored. Refer to section 4.2.6 (3).

When it is not selected, the parameter No.1 setting is made valid.

0 0 Parameter No.1 setting
0 1 1 time
1 0 10 times
1 1 100 times

64 setting and the gain values into the values multiplied by the parameter No. 65
to 67 settings.

chooses this device and changes the position data of the point table No. to the
current position. (Refer to section 7.10.)

(Note) Input signal

TP1 TP0

Note. 0: TP1/TP0-SG open

1: TP1/TP0-SG shorted

Functions/Applications

Manual pulse generator

multiplication factor

3 - 8

3. SIGNALS AND WIRING

(c) Output devices

Device name

Trouble ALM CN1B

Ready RD CN1B

Movement finish MEND CN1B 6 MEND-SG are connected when the in-position device (INP) turns on and the

Rough match CPO CN1B 4 CPO-SG are connected when the remaining command distance falls within the

Home position return
completion

Electromagnetic brake
interlock

Position range POT

Warning WNG When warning has occurred, WNG-SG are connected.

Battery warning BWNG

Limiting torque TLC

Temporary stop PUS

In position INP INP-SG are connected when the number of droop pulses is in the preset in-position

Devices

symbol

MBR

Connector

pin No.

ALM-SG are disconnected when power is switched off or the protective circuit is

18

activated to shut off the base circuit. Without alarm, ALM-SG are connected within
about 1s after power-on.
RD-SG are connected when the servo is switched on and the servo amplifier is

19

ready to operate.

command remaining distance is "0". (Refer to section 3.4.2.)
MEND-SG are connected at servo on.

parameter-set rough match output range.
This signal is not output while the base circuit is off. Servo-on connects CPO-SG.
During home position return and manual operation, CPO-SG are kept connected.

ZP CN1A

ZP-SG are connected on completion of home position return.

18

In the absolute position system, ZP-SG are connected when the servo amplifier is
ready to operate but are disconnected if.

1) SON-SG are opened.

2) EMG-SG are opened.

3) RES-SG are shorted.

4) Alarm occurs.

5) Limit switch opens.

6) Home position return has not been made after the purchase of the product.

7) Home position return has not been made after the occurrence of absolute position

8) Home position return has not been made after the changing of the electronic gear

9) Home position return has not been made after the absolute position system was

10) The ST1 coordinate system (000

11) Software limit is valid.

12) Home position return completion.
If the status is not any of 1) to 12) and the home position setting has already been
completed at least once, home position return completion (ZP) is placed in the same
output status as ready (RD).
In the servo-off or alarm status, MBR-SG are disconnected.
When an alarm occurs, they are disconnected independently of the base circuit

status.
Position range (POT) is on when the current position is within the range set in
parameters No. 50 to 53. If the current position is within the set range, the device
is off when a home position return is not yet
(during servo off, alarm occurrence or alarm reset).

When there is no warning, WNG-SG are disconnected within about 1s after power-

on.

BWNG-SG are connected when battery cable breakage warning (AL.92) or battery

warning (AL.9F) has occurred.

When there is no battery warning, BWNG-SG are disconnected within about 1s

after power-on.

TLC-SG are connected when the torque generated reaches the value set to the

internal torque limit 1 (parameter No. 28), internal torque limit 1 (parameter No.

29) or analog torque limit (TLA).

PUS-SG are connected when deceleration to a stop is started by the temporary stop

signal. PUS-SG is disconnected when operation is resumed by making the

temporary stop signal valid again.

range. The in-position range can be changed using parameter No. 6.

When the in-position range is increased, INP-SG may be kept connected during

low-speed rotation. Servo-on connects INP-SG.

Functions/Applications

erasure (AL. 25) or absolute position counter warning (AL. E3).

value.

made valid.

in parameter No.1) has been changed.

complete or while the base circuit is off

3 - 9

3. SIGNALS AND WIRING

Device name

Point table No. output 1 PT0 As soon as Movement finish (MEND) turns on, the point table No. is output as a 5-

Point table No. output 5 PT4

Devices

symbol

Connector

pin No.

Functions/Applications

bit code.

(Note) Output signal Point table No. output 2 PT1

0 0 0 0 0 Point table No. output 3 PT2
1 0 0 0 0 1
2 0 0 0 1 0 Point table No. output 4 PT3
3 0 0 0 1 1
4 0 0 1 0 0
5 0 0 1 0 1
6 0 0 1 1 0
7 0 0 1 1 1
8 0 1 0 0 0
9 0 1 0 0 1
10 0 1 0 1 0
11 0 1 0 1 1
12 0 1 1 0 0
13 0 1 1 0 1
14 0 1 1 1 0
15 0 1 1 1 1
16 1 0 0 0 0
17 1 0 0 0 1
18 1 0 0 1 0
19 1 0 0 1 1
20 1 0 1 0 0
21 1 0 1 0 1
22 1 0 1 1 0
23 1 0 1 1 1
24 1 1 0 0 0
25 1 1 0 0 1
26 1 1 0 1 0
27 1 1 0 1 1
28 1 1 1 0 0
29 1 1 1 0 1
30 1 1 1 1 0
31 1 1 1 1 1
Note. 0: DI-SG open

In any of the following states, PT0 to PT4-SG are opened.

In any of the following states, PT0 to PT4 maintain the status (shorted/open) prior
to a change.

Point table No.

1: DI-SG shorted

Power on
Servo off
During home position return
Home position return completion

At operation mode changing
When the automatic/manual selection device (MD0) is turned from OFF to ON or
from ON to OFF to switch the operation mode.
During manual operation
During execution of automatic positioning to the home position

PT4 PT3 PT2 PT1 PT0

3 - 10

3. SIGNALS AND WIRING

(2) Input signal

For the input interfaces (symbols in I/O column in the table), refer to section 3.6.2.

Signal

generator

Override VC CN1B-2 10 to 10V is applied to across VC-LG to limit the servo motor speed.

Analog torque limit TLA CN1B

Signal

symbol

Connector

pin No.

PP CN1A-3 Manual pulse

NP CN1A-2

Used to connect the manual pulse generator (MR-HDP01).
For details, refer to section 14.1.8.

Apply
To use this signal, set any of MR Configurator (servo configuration

12

software) to make the external torque limit selection (TL) available.
When the analog torque limit (TLA) is valid, torque is limited in the full
servo motor output torque range. Apply 0 to
Connect the positive terminal of the power supply to TLA. Maximum
torque is generated at

Functions/Applications

10[V] for 0[%] override, 0[V] for 100[%], or 10[V] for 200[%].

10VDC across TLA-LG.

10V. (Refer to in section 3.4.4.) Resolution:10bits

(3) Output signal

For the output interfaces (symbols in I/O column in the table), refer to section 3.6.2.

Signal

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 CN3 4 Used to output the data set in parameter No.17 to across MO1-LG in

Analog monitor 2 MO2 CN3

Signal

symbol

Connector

pin No.

OP CN1A

LA

LAR

LB

LBR

LZ

LZR

CN1A

CN1A

CN1A

CN1A

CN1A

CN1A

Outputs the zero-point signal of the encoder. One pulse is output per

14

servo motor revolution. OP and LG are connected when the zero-point
position is reached. (Negative logic)
The minimum pulse width is about 400
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

6

encoder B-phase pulse lags the encoder A-phase pulse by a phase angle
of

16

The relationships between rotation direction and phase difference of the
A- and B-phase pulses can be changed using parameter No. 58.

7

17

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

5

15

terms of voltage. Resolution 10 bits
Used to output the data set in parameter No.17 to across MO2-LG in

14

terms of voltage. Resolution 10 bits

Functions/Applications

s. For home position return

/2.

I/O

division

Analog

input

Analog

input

I/O

division

DO-2

DO-2

DO-2

DO-2

Analog

output

Analog

output

3 - 11

3. SIGNALS AND WIRING

(4) Communication

POINT

Refer to chapter 15 for the communication function.

Signal

RS-422 I/F SDP

RS-422 termination TRE CN3

RS-232C I/F TXD

Signal

symbol

SDN

RDP

RDN

RXD

Connector

pin No.

CN3

9

CN3

19

CN3

5

CN3

15

10

CN3

2

CN3

12

Functions/Applications

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

Termination resistor connection terminal of RS-422 interface.
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.

(5) Power supply

Signal

I/F internal power
supply

Digital I/F power
supply input

Open collector power
input
Digital I/F common SG CN1A

15VDC power supply P15R CN1A

Control common LG CN1A

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

Signal

symbol

VDD CN1B 3 Used to output 24V 10% to across VDD-SG.

COM CN1A

OPC CN1A

Connector

pin No.

9

CN1B

13

11

10
20

CN1B

10
20

4

CN1B

11

1

CN1B

1
CN3
1, 11
3, 13

Functions/Applications

When using this power supply for digital interface, connect it with COM.
Permissible current : 80mA
Used to input 24VDC (200mA or more) for input interface.
Connect the positive (
24VDC 10%

When you use a manual pulse generator , supply this terminal with the positive ( )
power 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 VC and VLA.
Permissible current: 30mA

Common terminal for TLA, VC, OP, MO1, MO2 and P15R.
Pins are connected internally.

) terminal of the 24VDC external power supply.

3 - 12

3. SIGNALS AND WIRING

3.4 Detailed description of signals (devices)

3.4.1 Forward rotation start

Reverse rotation start Temporary stop/restart

(1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can

be used after the main circuit has been established. These signals are invalid if it is switched on before
the main circuit is established.

Normally, it is interlocked with the ready signal (RD).

(2) A start in the servo amplifier is made when the external start signal changes from OFF to ON. The

delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other signals is
max. 10ms.

3ms or less

Servo motor speed

Forward rotation start (ST1)

or reverse rotation start (ST2)

Temporary stop/Restart (STP)

5ms or more

10ms
or less

3ms or less

(3) When a programmable controller is used, the ON time of the start/stop signal should be 5ms or longer

to prevent a malfunction.

(4) During operation, the forward rotation start (ST1) or reverse rotation start (ST2) is not accepted. The

next operation should always be started after the rough match (CPO) is output with the rough match
output range set to 0 or after the movement finish (MEND) is output.

3 - 13

e

3. SIGNALS AND WIRING

3.4.2 Movement finish

Rough match In position

POINT

If an alarm cause, etc. are removed and servo-on occurs after a stop is
made by servo-off, alarm occurrence or Forced stop (EMG) ON during
automatic operation, Movement finish (MEND), Rough-match, (CPO) and
In position (INP) are turned on. To resume operation, confirm the current
position and the selected point table No. for preventing unexpected
operation.

(1) Movement finish

The following timing charts show the output timing relationships between the position command
generated in the servo amplifier and the movement finished (MEND). This timing can be changed
using parameter No. 6 (in-position range). MEND-SG are connected in the servo-on status.

Forward rotation start (ST1)

or reverse rotation start (ST2)

Position command and

servo motor speed

Movement finish (MEND)

ON

OFF

3ms or less

ON

OFF

Position command

When parameter No. 6 is small

Servo motor speed

In-position range

Forward rotation start (ST1)

or reverse rotation start (ST2)

Position command and

servo motor speed

ON

OFF

3ms or less

Position command

Servo motor speed

In-position range

Movement finish (MEND)

ON

OFF

When parameter No. 6 is large

(2) Rough match

The following timing charts show the relationships between the signal and the position command
generated in the servo amplifier. This timing can be changed using parameter No. 12 (rough match
output range). CPO-SG are connected in the servo-on status.

Forward rotation start
(ST1) or
reverse rotation start
(ST2)

Position command

Rough match (CPO)

When "0" is set in parameter No. 12 When more than "0" is set in parameter No. 12

ON

OFF

3ms or less

ON

OFF

Forward rotation start
(ST1) or
reverse rotation start
(ST2)

Position command

Rough match (CPO)

ON

OFF

3ms or less

ON

OFF

Rough match output rang

3 - 14

3. SIGNALS AND WIRING

(3) In position

The following timing chart shows the relationship between the signal and the feedback pulse of the
servo motor. This timing can be changed using parameter No. 6 (in-position range). INP-SG are
connected in the servo-on status.

Forward rotation start (ST1)

or reverse rotation start (ST2)

Servo motor speed

ON

OFF

3ms or less

In-position range

In position (INP)

ON

OFF

When positioning operation is performed once

Forward rotation start (ST1)

or reverse rotation start (ST2)

Forward
rotation

Servo motor speed

Reverse
rotation

In position (INP)

When servo motor reverses rotation direction during automatic continuous operation

ON

OFF

3ms or less

ON

OFF

In-position range

3 - 15

3. SIGNALS AND WIRING

3.4.3 Override

POINT

When using the override (VC), make the override selection (OVR) device
available.

The override (VC) may be used to change the servo motor speed. The following table lists the signals and
parameter related to the override.

Item Name Remarks

Analog input signal Override (VC)

Contact input signal Override selection (OVR)

Parameter No.25 override offset 999 to 999mV

MR Configurator (servo configuration software)
setting required.

(1) Override (VC)

By applying a voltage (

10 to 10V) to the override (VC) terminal, change values can be set from
outside consecutively. The following graph shows the relationship between the input voltage and the
ratio of actual speed to preset speed.

[%]
200

100

0

Ratio of actual speed to

preset speed

Override (VC) application voltage

10

0

10

Override selection (OVR)

Override (VC)

[V]

10 to 10V

Servo amplifier

OVR
SG
VC
LG
SD

(2) Override selection (OVR)

Used to make the override (VC) valid or invalid.

Servo amplifier

Motor

Override

Override selection
(OVR)

Override (VC)
10 to 10V

Using the override selection (OVR), choose a change value as follows.

(Note)

External input signal

OVR

0 No change
1 Override (VC) setting is made valid.

Note. 0 : Off (open) across OVR-SG

1 : On (shorted) across OVR-SG

Speed change value

(3) Override offset (parameter No.25)

Using parameter No.25, the offset voltage can be set relative to the input voltage for the override (VC).
The setting is between

999 to 999mV.

3 - 16

r

3. SIGNALS AND WIRING

3.4.4 Torque limit

POINT

To use the torque limit, make the external torque limit selection (TL) and
internal torque limit selection (TL2) available.

The following table lists the signals and parameters related to the torque limit.

Item Name Remarks

Analog input signal Analog torque limit (TLA)

Contact input signals

Contact output signal Limiting torque (TLC)

Parameters

External torque limit selection (TL)
Internal torque limit selection (TL2)

No.28 (internal torque limit 1) 0 to 100%
No.29 (internal torque limit 2) 0 to 100%
No.26 (torque limit offset) 999 to 999mV

No.59 (function selection 2)

MR Configurator (servo configuration
software) setting required.

Selection of the rotation direction in which
torque limit is executed

The torque limit is available in two types: internal torque limit set in parameters and analog torque limit
(TLA) using analog input signal. This function limits torque on the assumption that the maximum torque
of the servo motor is 100%.

(1) Internal torque limits 1, 2

Use parameter No.28 and 29 to set the internal torque limit values. The following graph shows the
torque relative to the setting.

Max. torque

Torque

0

0100

Torque limit value [%]

(2) Analog torque limit (TLA)

By applying a voltage (0 to 10V) to the analog torque limit (TLA) terminal, limit values can be set from
outside consecutively. The following graph shows the relationship between input voltage and limit
value.
Depending on the servo amplifier, the limit value has about 5% variations to the input voltage. As this
may not cause torque to be limited sufficiently at less than 0.05V, use this function at the voltage of

0.05V or more.
Refer to the following diagram when using the 15V power output (P15R) of the servo amplifier:

100

5%

0

Torque limit value [%]

010

0.05
TLA application voltage [V]
TLA Application Voltage vs.
Torque Limit Value

2k

Japan Resistor RRS10
or equivalent

2k

Connection Example

Servo amplifie

TL

SG

P15R

TLA

LG

SD

3 - 17

3. SIGNALS AND WIRING

(3) External torque limit selection (TL), internal torque limit selection (TL2)

To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them
available using the MR Configurator (servo configuration software) (refer to chapter 6).
These input signals may be used to choose the torque limit values made valid.

(Note) External input signals

TL2 TL

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

0 1

1 0

1 1

Note. 0: TL/TL2-SG off (open)

1: TL/TL2-SG on (short)

Parameter No. 29
Parameter No. 29

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. 29

TLA

Parameter No. 29: Parameter No. 29

TLA

Parameter No. 29: TLA

(4) External torque limit offset (parameter No.26)

Using parameter No.26, the offset voltage can be set relative to the input voltage of the analog torque
limit (TLA). The setting is between

999 to 999mV.

(5) Selection of rotation direction for torque limit execution (parameter No.59)

Using parameter No.59, the rotation direction for torque limit execution can be selected.

Parameter No.59 setting

0 (initial value)
1
2

Rotation direction for torque limit execution

CCW direction CW direction

For example, when “

1 ” is set in parameter No.59, torque limit is executed in the CCW direction

but not in CW direction.

CCW rotation: Torque limit is executed.

CW rotation: Torque limit is not executed.

3 - 18

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

operation.

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

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo 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 supply

Base circuit

Dynamic brake

Servo-on

(SON)

Ready

Trouble

(ALM)

Reset

(RES)

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

(RD)

ON

OFF

ON

OFF

Valid

Invalid

ON

OFF

ON

OFF

ON

OFF

ON

OFF

1s

Alarm occurs.

Remove cause of trouble.

Brake operation

50ms or more

Power off

Brake operation

60ms or more

Power on

(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 resistor will generate heat,
resulting in an accident.

(3) Instantaneous power failure

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- CP, or to 158VDC or less for the
MR-J2S-

CP1.

(4) Incremental system

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

3 - 19

3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

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

Dl-1

Manual pulse generator
MR-HDP01

5V

A(B)

0V

5V

Analog input
( 10V/max. current)

CN1A
CN1B

VDD

COM

SON,etc.

SG

OPC

PP(NP)

SG

<Isolated>

15VDC 10% 30mA
P15R

TLA
VC,
etc.

LG

SD

24VDC

ALM,etc

LA,etc

SG

OP

LG

LAR,etc

LG
SD

MO1
MO2

LG

SDP
SDN
RDP

RDN

LG
SD

CN1A
CN1B

CN3

RA

DO-1

Differential line driver
output

35mA or less

Analog monitor

RXD
RXD

TXD
TXD
LG

Single-phase
100 to 200VAC

1

L
L

2

E

Servo motor

M

Ground

3 - 20

MR

MRR

SD

CN2

Servo motor encoder

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 (6) of 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. 4.7k

(Note)
For a transistor

Approx. 5mA

Switch

VDD

COM

SON, etc.

24VDC

R: Approx. 4.7k

SGTR

V

CES 1.0V

I

100 A

CEO

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

Switch

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 maximum of 2.6V voltage drop occurs in the servo amplifier.

(a) Inductive load

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

Servo amplifier

24VDC

ALM, etc

VDD

COM

Load

Servo amplifier

24VDC

ALM, etc

VDD

COM

Do not connect
VDD-COM.

(Note)

Load

24VDC
10%

SG

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

Note. If the voltage drop (maximum of 2.6V) interferes with the

relay operation, apply high voltage (up to 26.4V) from
external source.

SG

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

3 - 21

r

A

3. SIGNALS AND WIRING

(b) Lamp load

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

Servo amplifier

24VDC

VDD

COM

ALM, etc

SG

(3) Encoder pulse output DO-2

(a) Open collector system

Interface

Max. output current : 35m
Servo amplifier

OP

LG

Servo amplifier

24VDC

R

VDD

COM

ALM, etc

SG

Note. If the voltage drop (maximum of 2.6V) interferes with the

relay operation, apply high voltage (up to 26.4V) from

external source.

Servo amplifier

OP

LG

Do not connect
VDD-COM.

R

5 to 24VDC

Photocouple

(Note)
24VDC
10%

SD

(b) Differential line driver system

1) Interface

Max. output current: 35mA

Servo amplifier Servo amplifier

LA
(LB, LZ)

LAR
(LBR, LZR)

LG

SD

Am26LS32 or equivalent High-speed photocoupler

150

LA
(LB, LZ)

LAR
(LBR, LZR)

SD

SD

100

3 - 22

r

3. SIGNALS AND WIRING

2) Output pulse

Servo motor CCW rotation

LA

LAR

LB

LBR

LZ

LZR

OP

T

/2

(4) Analog input

Input impedance 10k to 12k

Upper limit setting 2k

2k

(5) Analog output

Output voltage

10V
Max.1mA
Max. output current
Resolution : 10bits

Servo amplifie

400 s or more

Servo amplifier

P15R

VC‚ etc

LG

SD

The time cycle (T) is determined by
the setting of the parameter No. 27 and 58.

15VDC

Approx.
10k

MO1

(MO2)

LG

SD

10k

Reading in one or
both directions
1mA meter

A

3 - 23

3. SIGNALS AND WIRING

(6) 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

SG

R: Approx. 4.7k

24VDC

Switch

COM

SON,
etc.

VDD

(Note)
For a transistor
Approx. 5mA

TR

1.0V

V

CES

100 A

I

CEO

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

Since source output is not provided, make the following circuit.

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

Servo amplifier

24VDC

VDD

Switch

24VDC

200mA or more

Servo amplifier

24VDC

VDD

Servo amplifier

SG

COM

SON,etc.

R: Approx. 4.7k

Do not connect
VDD-COM.

COM

ALM, etc

SG

Load

If the polarity of diode
is not correct, the
servo amplifier will
become faulty.

Note. If the voltage drop (maximum of 2.6V) interferes with the

relay operation, apply high voltage (up to 26.4V) from
external source.

COM

ALM, etc

SG

(Note)

Load

If the polarity of diode
is not correct, the
servo amplifier will
become faulty.

24VDC
10%

3 - 24

3. SIGNALS AND WIRING

3.7 Input power supply circuit

Always connect a magnetic contactor (MC) between the main circuit power supply

1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut

and L
down the power supply on the side of the servo amplifier’s power supply. If a

CAUTION

magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.

Use the trouble signal to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.

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 circuit breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply

RA

Forced

stop

OFF

ON

MC

MC

SK

NFB MC

3-phase
200 to 230 VAC

Forced stop

Servo-on

Servo amplifier

L

1

L2

L3

L

11

L

21

EMG

SON

SG

VDD

COM

ALM RA

Trouble

3 - 25

3. SIGNALS AND WIRING

(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply

RA

Forced
stop

OFF

ON

MC

MC

SK

Power supply
1-phase 100 to
120VAC or
1-phase 230VAC

NFB MC

L

L

L

L

L

Forced stop

Servo-on

Note : Not provided for 1-phase 100 to 120VAC.

EMG

SON

SG

Servo amplifier

1

2

(Note)

3

11

21

VDD

COM

ALM RA

Trouble

3 - 26

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 12.1.

Symbol

L1, L2, L3 Main circuit power supply

U, V, W Servo motor output

L11, L21 Control circuit power supply

P, C, D Regenerative option

N

Connection Target

(Application)

Return converter

Brake unit

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,
50/60Hz
1-phase 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz

Connect to the servo motor power supply terminals (U, V, W).
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

Servo amplifier

Power supply

1-phase 200 to 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz

1) MR-J2S-350CP or less
When using servo amplifier built-in regenerative resistor, connect between P-D
terminals. (Wired by default)
When using regenerative option, disconnect between P-D terminals and
connect regenerative option to P terminal and C terminal.

2) MR-J2S-500CP or 700CP
MR-J2S-500CP and 700CP do not have D terminal.
When using servo amplifier built-in regenerative resistor, connect P terminal
and C terminal. (Wired by default)
When using regenerative option, disconnect P terminal and C terminal and
connect regenerative option to P terminal and C terminal.

Refer to section 14.1.1 for details.
When using brake unit, connect to P terminal and N terminal.
Do not connect to servo amplifier MR-J2S-200CP or less.
For details, refer to section 14.1.2, 14.1.3.

Description

and leave L3 open.

1/L2

MR-J2S-10CP

to 70CP

L

1L2

L

MR-J2S-10CP to

L

MR-J2S-100CP

to 700CP

L

1L2L3

700CP

11 L21

L

MR-J2S-10CP1

to 40CP1

MR-J2S-10CP1 to

40CP1

11 L21

1L2

Protective earth (PE)

Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.

3 - 27

3. SIGNALS AND WIRING

3.7.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L
100V: L

1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an

1, L2, L3, single-phase 230V single-phase

alarm occurs.

2) Switch on the control circuit power supply L

11, L21 simultaneously with the main circuit power

supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power supply
is switched on. Therefore, when servo-on (SON) is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in
further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) of 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

SON accepted

(1 to 2s)

Power supply

ON

OFF

(RD)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

10ms10ms

60ms

20ms 20ms 20ms10ms 10ms

60ms

10ms

Base circuit

Servo-on

(SON)

Reset

(RES)

Ready

(3) Forced stop

Provide an external forced stop circuit to ensure that operation can be stopped and

CAUTION

power switched off immediately.

Forced stop (EMG) can be used by making device setting on the MR Configurator (servo configuration
software).
Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop.
To ensure safety, always install an external forced stop switch across EMG-SG. By disconnecting
EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the
display shows the servo forced stop warning (AL.E6).
During ordinary operation, do not use the external forced stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.

Servo amplifier

Forced stop

VDD

COM

EMG

SG

3 - 28

3. SIGNALS AND WIRING

3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

WARNING

shock.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.

Insulate the connections of the power supply terminals to prevent an electric

CAUTION

Do not connect AC power supply directly to the servo motor. Otherwise, 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 capacity of the servo motor and whether 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

During power-on, do not open or close the motor power line. Otherwise, a

CAUTION

malfunction or faulty may occur.

The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to section 14.2.1. For
encoder cable connection, refer to section 14.1.4. 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.

3 - 29

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

U
V

W

CN2

U (Red)

V (White)

W (Black)

(Green)

EMG

24VDC

B1

B2

(Note 1)

To be shut off when servo-on (SON)
switches off or by Trouble (ALM)

Servo motor

Motor

(Note 2)

Electromagnetic
brake

HC-SFS121 (B) to 301 (B)
HC-SFS202 (B) to 702 (B)
HC-SFS203 (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

CN2

(Note 1)

To be shut off when servo-on (SON)
switches off or by Trouble (ALM)

24VDC

EMG

Encoder cable

Servo motor

U
V

W

B1
B2

Motor

Electromagnetic
brake

Encoder

(Note 2)

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)

(Note 1)

To be shut off when servo-on (SON)
switches off or by Trouble (ALM)

CN2

24VDC

EMG

Encoder cable

B1
B2

Electromagnetic
brake

Encoder

(Note 2)

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 - 30

3. SIGNALS AND WIRING

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.)

Power supply connector (Molex)

Encoder cable 0.3m (0.98ft.)
With connector 1-172169-9
(Tyco Electronics)

Pin

1

a

13

24

View b

2
3
4

Signal

U
V
W

(Earth)

Without electromagnetic brake
5557-04R-210 (receptacle)
5556PBTL (Female terminal)

b

With electromagnetic brake
5557-06R-210 (receptacle)
5556PBTL (Female terminal)

Power supply
connector
5557-06R-210

1

4

25

36

View b

Encoder connector signal arrangement

123

MR

MRR BAT

456

MD

MDR

789

P5

LG SHD

View a

Signal

Pin

1

U

2

V

3

W

4

(Earth)

5

(Note)

B1

6

(Note)

B2

Note:For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

3 - 31

t

3. SIGNALS AND WIRING

(2) HC-SFS

HC-RFS HC-UFS2000 r/min series

a

Encoder connector

b

Brake conn ector Power supply conn ector

c

Power supply connector signal arrangement

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) 353(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)

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

CE05-2A22-23PD-B

F

E

Encoder connector signal arrangement

MS3102A20-29P

L

K

Key

G

H

D

View c

Key

M B

T P

J

S

H

View a

CE05-2A32-17PD-B

U
V

B2

D

CB

A

Pin

A
B
C
D

Signal

U
V
W

(Earth)

Pin

A

B

C

A
B
C
D

Signal

U
V

W

(Earth)
E
F

(Note) B1

G

(Note)

H

B2

Note:For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

CE05-2A24-10PD-B

Key Key

A

F

E

D

B

G

C

View c

Pin

A
B
C
D
E
F

Signal

W

(Earth)

(Note) B1
(Note)

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

Pin

A

C

N

D

E

R

F

G

Signal

A

MD

B

MDR

C

MR

D

MRR

E

F

BAT

F
G

LG

H

Pin

K

L
M
N

P

R

S

T

Signal

AB

SD

View b

LG
P5

J

Pin

A
B

Signal

(Note)B1
(Note)

B2

Note:For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.

3 - 32

3. SIGNALS AND WIRING

3.9 Servo motor with electromagnetic brake

Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external forced stop (EMG).

Contacts must be open when
servo-on (SON) is off or when a trouble (ALM)
is present when a electromagnetic brake
interlock (MBR).

Servo motor

CAUTION

Electromagnetic brake

Circuit must be
opened during
forced stop (EMG).

EMGRA

24VDC

The electromagnetic brake is provided for holding the motor shaft. Do not use it for
ordinary braking.

Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.

POINT

For the power supply capacity, operation delay time and other
specifications of the electromagnetic brake, refer to the Servo Motor
Instruction Manual.

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

1) In the device setting of the MR Configurator (servo configuration software), make the
electromagnetic brake interlock (MBR) available.

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) The brake will operate when the power (24VDC) switches off.

4) While the reset (RES) is on, the base circuit is shut off. When using the servo motor with a vertical
shaft, use the electromagnetic brake interlock (MBR).

5) Turn off the servo-on (SON) after the servo motor has stopped.

(1) Connection diagram

Servo amplifier

VDD

RA

Forced
stop

B1

Servo motor

COM

MBR

RA

24VDC

B2

Z

(2) Setting

1) In the device setting of the MR Configurator (servo configuration software), make the
electromagnetic brake interlock (MBR) available.

2) Using parameter No. 33 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off
from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) of
this section.

3 - 33

3. SIGNALS AND WIRING

(3) Timing charts

(a) Servo-on (SON) command (from controller) ON/OFF

Tb (ms) after servo-on (SON) is switched off, servo lock is released and the servo motor coasts.
If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is
about equal to the electromagnetic brake operation delay time and during which the load will not
drop.

Servo motor speed

Base circuit

Electromagnetic
brake interlock
(MBR)

Servo-on(RYn0)

Forward rotation start
(ST1) or reverse rotation
start (ST2)

Electromagnetic
brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of

external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual.

3. After the electromagnetic brake is released, turn ON the ST1 or ST2.

0 r/min

(Note 1)

Release

Activate

ON

OFF

ON

OFF

ON

OFF

ON

OFF

(60ms)

(80ms)

(Note 3)

Release delay time and external relay (Note 2)

Coasting

Tb

(b) Forced stop (EMG) ON/OFF

Dynamic brake

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic
brake interlock (MBR)

Forced stop (EMG)

Forward
rotation

0r/min

ON

OFF

ON

(Note)

OFF

(ON)

Invalid

Valid (OFF)

(10ms)

Electromagnetic brake

Electromagnetic brake

Electromagnetic brake release

(180ms)

(180ms)

Electromagnetic brake
operation delay time

Electromagnetic
brake operation
delay time

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

3 - 34

3. SIGNALS AND WIRING

(c) Alarm occurrence

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic
brake interlock (MBR)

Trouble (ALM)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

Forward
rotation

0r/min

ON

OFF

ON

(Note)

OFF

(ON)

No

Yes (OFF)

(10ms)

(d) Both main and control circuit power supplies off

(10ms)(10ms)

(Note 1)
15 to 60ms

Servo motor speed

Forward
rotation

0r/min

Dynamic brake
Electromagnetic brake

Electromagnetic brake

Electromagnetic brake
operation delay time

Dynamic brake

Dynamic brake
Electromagnetic brake

Electromagnetic brake

Base circuit

Electromagnetic
brake interlock (MBR)

Trouble (ALM)

Main circuit

Control circuit

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

(Note 2)

power

ON

OFF

ON

OFF

No

(ON)

Yes (OFF)

ON

OFF

Electromagnetic brake
operation delay time

3 - 35

3. SIGNALS AND WIRING

(e) Only main circuit power supply off (control circuit power supply remains on)

Dynamic brake

Dynamic brake
Electromagnetic brake

Electromagnetic brake

Electromagnetic brake
operation delay time
(Note 2)

Servo motor speed

Base circuit

Electromagnetic
brake interlock (MBR)

Trouble (ALM)

Forward
rotation

(Note 3)

No

Yes (OFF)

(10ms)(10ms)

(Note 1)
15 or more

0r/min

ON

OFF

ON

OFF

(ON)

Main circuit
power supply

Note 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (AL.E9) occurs and the trouble

(ALM) does not turn off.

3. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

ON

OFF

3 - 36

3. SIGNALS AND WIRING

3.10 Grounding

Ground the servo amplifier and servo motor securely.

WARNING

To prevent an electric shock, always connect the protective earth (PE) terminal of
the servo amplifier with the protective earth (PE) of the control box.

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

Control box

Servo motor

MC

NFB

(Note)
Power supply

Line filter

Servo amplifier

L

1

L

2

L3

L11
L21

CN1A

CN1B

CN2

Encoder

U

V

W

U

M

V

W

controller

Programmable

Protective earth(PE)

Note. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.

There is no L

3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.

Ensure to connect it to PE
terminal of the servo amplifier.
Do not connect it directly to
the protective earth of
the control panel.

Outer
box

3 - 37

3. SIGNALS AND WIRING

3.11 Servo amplifier terminal block (TE2) wiring method

POINT

Refer to Table 14.1 in section 14.2.1 for the wire sizes used for wiring.

3.11.1 For the servo amplifier produced later than Jan. 2006

(1) Termination of the cables

(a) Solid wire

After the sheath has been stripped, the cable can be used as it is.

Sheath

Approx. 10mm

(b) Twisted wire

1) When the wire is inserted directly
Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the
core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the
wires together.

2) When the wires are put together

Using a bar terminal.

Cable Size Bar Terminal Type

[mm2] AWG For 1 cable For 2 cables

1.25/1.5 16 AI1.5-10BK AI-TWIN 1.5-10BK
2/2.5 14 AI2.5-10BU

Cut the wire running out of bar terminal to less than 0.5mm.

Less than 0.5mm

Core

Crimping Tool Manufacturer

CRIMPFOX ZA 3 Phoenix Contact

When using a bar terminal for two wires, insert the wires in the direction where the
insulation sleeve does not interfere with the next pole and pressure them.

Pressure

Pressure

3 - 38

3. SIGNALS AND WIRING

(2) Termination of the cables

(a) When the wire is inserted directly

Insert the wire to the end pressing the button with a small flat blade screwdriver or the like.

Button

Small flat blade
screwdriver or the like

Twisted wire

When removing the short-circuit bar
from across P-D, press the buttons
of P and D alternately pulling the
short-circuit bar. For the installation,
insert the bar straight to the end.

(b) When the wires are put together using a bar terminal

Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.

Bar terminal for one
wire or solid wire

Bar terminal for two wires

3 - 39

3. SIGNALS AND WIRING

3.11.2 For the servo amplifier produced earlier than Dec. 2005

1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.

Approx. 10mm
(0.39inch)

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take

care to avoid a short caused by the loose wires of the core and the adjacent pole.
Do not solder the core as it may cause a contact fault. Alternatively, a bar
terminal may be used to put the wires together.

Cable size Bar terminal type

[mm2] AWG For 1 cable For 2 cables

1.25/1.5 16

2/2.5 14 AI2.5-10BU

AI1.5-10BK AI-TWIN

2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver
so that the cable does not come off. (Tightening torque: 0.3 to 0.4N
inserting the cable into the opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm

2

or less, two cables may be inserted into one opening.

1.5-10BK

Crimping tool

CRIMPFOX ZA3

or

CRIMPFOX UD 6

Manufacturer

Phoenix Contact

m (2.7 to 3.5Ib in)) Before

3 - 40

3. SIGNALS AND WIRING

Flat-blade screwdriver

Tip thickness 0.4 to 0.6mm (0.016 to 0.024in.)

Overall width 2.5 to 3.5mm (0.098 to 0.138in.)

To loosen.

To tighten.

Cable

Opening

Control circuit terminal block

Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The
following table indicates the recommended products of the torque screwdriver for tightening torque
management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit,
please consult us.

Product Model Manufacturer/Representative

Torque screwdriver N6L TDK Nakamura Seisakusho
Bit for torque screwdriver B-30, flat-blade, H3.5 X 73L Shiro Sangyo

3 - 41

3. SIGNALS AND WIRING

3.12 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the
cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

Screw

Cable

Screw

Ground plate

Pull back the external conductor to cover the sheath

External conductor

SheathCore

3 - 42

4. OPERATION

4. OPERATION

4.1 When switching power on for the first time

4.1.1 Pre-operation checks

Before starting operation, check the following.

(1) Wiring

(a) A correct power supply is connected to the power input terminals (L

amplifier.

(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the

power input terminals (U, V, W) of the servo motor.

(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the

power input terminals (L
(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(e) Note the following when using the regenerative option, brake unit or power regeneration converter.

1) For the MR-J2S-350CP or less, the lead has been removed from across D-P of the control circuit
terminal block, and twisted cables are used for its wiring.

2) For the MR-J2S-500CP or more, the lead has been removed from across P-C of the servo
amplifier built-in regenerative resistor, and twisted cables are used for its wiring.

(f) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during

operation.
(g) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B.
(h) SD and SG of connectors CN1A and CN1B are not shorted.
(i) The wiring cables are free from excessive force.

(2) Environment

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

(3) Machine

(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.
(b) The servo motor and the machine connected with the servo motor can be operated.

1, L2, L3)

of the servo motor.

1, L2, L3, L11, L21) of the servo

4 - 1

4. OPERATION

4.1.2 Startup

WARNING

Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform

unexpected operation.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands

and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,

CAUTION

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.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
For startup reference, a single machine structure will be described. Refer to this section and start up the
machine safely.

(1) Machine conditions

P

Servo amplifier

Reduction ratio

1/n 1/2

Ballscrew

10mm(0.39inch)

P

P

B

B

Position data (P) 200mm(787.40inch)
Speed (V) 2500r/min
Acceleration time constant (Ta) 200ms

V

Deceleration time constant (Tb) 300ms

0r/min

HC-MFS131072pulse/rev

Regenerative
option
MR-RB032

Servo motor

Servo motor
speed

Ta

Point table No. 1

Tb

1) Absolute position detection system used

2) Command resolution: 10

m

3) Command system: Absolute value command system

4) Electronic gear calculation

CMX(pulse)

CDV( m)

32768

CMX

1250

CDV

131072 131072

1

n

1000

P

B

1
2

10

1000

131072

5000

32768

1250

........................................................(4.1)

5) For the device command method, external input signals are used by the point table selection,
forward rotation start (ST1), servo-on (SON) and other commands.

6) Point table No.1 is used to execute automatic operation once.

4 - 2

4. OPERATION

(2) Startup procedure

(a) Power on

1) Switch off the servo-on (SON).

2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears
on the servo amplifier display.

In the absolute position detection system, first power-on results in the absolute position lost

(AL.25) alarm and the servo system cannot be switched on. This is not a failure and takes place
due to the uncharged capacitor in the encoder.

The alarm can be deactivated by keeping power on for a few minutes in the alarm status and

then switching power off once and on again.

Also in the absolute position detection system, if power is switched on at the servo motor speed

of 500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.

(b) Test operation

Using jog operation in the "test operation mode" of the MR Configurator (servo configuration
software), confirm that the servo motor operates at the slowest speed. (Refer to section 6.7.1, 7.9.2)

(c) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5
for the parameter definitions and to sections 6.4 and 7.6 for the setting method.

Parameter Name Setting Description

No.0

Command system, regenerative
option selection

20

Absolute value command system.
MR-RB032 regenerative option is used.

No.1 Feeding function selection

No.2 Function selection 1

No.4 Electronic gear numerator (CMX)
No.5 Electronic gear denominator (CDV)

After setting the above parameters, switch power off once. Then switch power on again to make the
set parameter values valid.

(d) Point table setting

Set the point table according to the operation pattern. Refer to section 4.2 for the point table
definitions and to sections 6.5 and 7.5 for the setting method.

Position data

STM

[

10

m]

20000 2500 200 300 0 0

(e) Servo-on

Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power.

2) Switch on the servo-on (SON).

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked. By using the sequence in the diagnostic mode in section 7.3, the ready status can be shown
on the servo amplifier display. In the operation-ready status, the following screen appears.

Servo motor

speed[r/min]

1

32768 From calculation result of formula (4.1)

1250 From calculation result of formula (4.1)

Acceleration time

constant[ms]

10

When forward rotation start (ST1) is
valid, address is incremented in CCW
direction.
Since command resolution is 10 times,
feed length multiplication factor of 10
times is selected.

Absolute position detection system.

Deceleration time

constant[ms]

Dwell [ms]

Auxiliary
function

4 - 3

4. OPERATION

(f) Home position return

Perform home position return as required. Refer to section 4.4 for home position return types. A
parameter setting example for dog type home position return is given here.

Parameter Name Setting Description

No.8 Home position return type

No.9 Home position return speed 1000 Motion is made up to proximity dog at 1000r/min.
No.10 Creep speed 10 Motion is made up to home position at 10r/min.
No.11 Home position shift distance 0 No home position shift

No.42 Home position return position data

No.43 Moving distance after proximity dog Not used in dog type home position return.

After setting the above parameters, switch power off once. Then switch power on again to make the
set parameter values valid.

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute
home position return.

Device name Symbol ON/OFF Description

Automatic/manual selection MD0 ON
Point table No. selection 1 DI0 OFF
Point table No. selection 2 DI1 OFF
Forward rotation stroke end LSP ON CCW rotation side limit switch is turned on.
Reverse rotation stroke end LSN ON CW rotation side limit switch is turned on.
Servo-on SON ON Servo is switched on.

(g) Automatic operation

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute
automatic operation in accordance with point table No.1.

Device name Symbol ON/OFF Description

Automatic/manual selection MD0 ON Automatic operation mode is selected.
Servo-on SON ON Servo is switched on.
Forward rotation stroke end LSP ON CCW rotation side limit switch is turned on.
Reverse rotation stroke end LSN ON CW rotation side limit switch is turned on.
Point table No. selection 1 DI0 ON
Point table No. selection 2 DI1 OFF

(h) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
When the servo motor used is equipped with an electromagnetic brake, refer to section 3.9 (3). Note
that forward rotation stroke end (LSP), reverse rotation stroke end (LSN) off has the same
stopping pattern as described below.

1) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.

2) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.

3) Forced stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a
sudden stop. Servo forced warning (AL.E6) occurs.

4) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in
the opposite direction.

000

Dog type home position return is selected.
Home position return is started in address
incremented direction.
Proximity dog (DOG) is valid when DOG­SG are opened.

Use to set the current position on completion of home
position return.

Home position return mode is selected.

Point table No.1 is selected.

4 - 4

4. OPERATION

4.2 Automatic operation mode

4.2.1 What is automatic operation mode?

(1) Command system

After selection of preset point tables using the input signals or communication, operation is started by
the forward rotation start (ST1) or reverse rotation start (ST2). Automatic operation has the absolute
value command system, incremental value command system and absolute value
command/incremental value command specifying system.
(a) Absolute value command system

As position data, set the target address to be reached.
Setting range:

999999

999999 to 999999 [ 10

STM

m] (STM feed length multiplication parameter No.1)

999999

Position data setting range

STM

[ 10 m]

(b) Incremental value command system

As position data, set the moving distance from the current address to the target address.
Setting range: 0 to 999999 [

Current address

Position data |target address - current address|

STM

10

m] (STM feed length multiplication parameter No.1)

Target address

(c) Absolute value command/incremental value command specifying system

You can set the absolute value address or incremental value address to each point table as position

data. After the axis has been positioned at the target address, it can be moved a given distance.

4 - 5

4. OPERATION

(2) Point table

(a) Point table setting

Up to 15 point tables may be set. To use point table No.s 4 to 31, however, the point table No.
selection 3 (DI2), point table No. selection 4 (DI3) and point table No. selection 5 (DI4) should be
made valid in "I/O Devices" on the MR Configurator (servo configuration software).
Set the point tables using the MR Configurator (servo configuration software) or the servo
amplifier operation section.
The following table lists what to set. Refer to section 4.2.2, section 4.2.3 and section 4.2.4 for details
of the settings.

Name Description

Position data Set the position data for movement.
Servo motor speed Set the command speed of the servo motor for execution of positioning.
Acceleration time constant Set the acceleration time constant.
Deceleration time constant Set the deceleration time constant.
Dwell Set the waiting time when performing automatic continuous operation.
Auxiliary function Set when performing automatic continuous operation.

(b) Selection of point table

Using the input signal or communication function, select the point table No. with a command from
the command device (controller) such as a personal computer.
The following table lists the point table No. selected in response to the input signals/commands.
Note that when the input signals are used, the point tables used as standard are No.1 to 3. To use
No.4 to 31, the point table No. selection 3 (DI2), point table No. selection 4 (DI3) and point table
No. selection 5 (DI4) should be made valid in "I/O Devices" (Refer to chapter 6) on the MR
Configurator (servo configuration software).
When the communication function is used to select the point tables, refer to chapter 15 for details
of the command transmission method, etc.

4 - 6

4. OPERATION

(Note 1) DI4 (Note 1) DI3 (Note 1) DI2 DI1 DI0

0 0 0 0 0 0 (Manual home position return mode)
0 0 0 0 1 1
0 0 0 1 0 2
0 0 0 1 1 3
0 0 1 0 0 4
0 0 1 0 1 5
0 0 1 1 0 6
0 0 1 1 1 7
0 1 0 0 0 8
0 1 0 0 1 9
0 1 0 1 0 10
0 1 0 1 1 11
0 1 1 0 0 12
0 1 1 0 1 13
0 1 1 1 0 14
0 1 1 1 1 15
1 0 0 0 0 16
1 0 0 0 1 17
1 0 0 1 0 18
1 0 0 1 1 19
1 0 1 0 0 20
1 0 1 0 1 21
1 0 1 1 0 22
1 0 1 1 1 23
1 1 0 0 0 24
1 1 0 0 1 25
1 1 0 1 0 26
1 1 0 1 1 27
1 1 1 0 0 28
1 1 1 0 1 29
1 1 1 1 0 30
1 1 1 1 1 31

Note 1. Make signals valid in "I/O Devices" on the MR Configurator (servo configuration software).

2. "1": short

"0": open

(Note 2) Input signals

Selected point table No.

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4. OPERATION

4.2.2 Absolute value command system

(1) Point table

Set the point table values using the MR Configurator (servo configuration software) or from the
operating section.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and
auxiliary function to the point table. The following table gives a setting example.

Name Setting range Unit Description

Set the target address (absolute value).

Position data 999999 to 999999 [ 10

Motor speed 0 to permissible speed r/min

Acceleration
time constant
Deceleration
time constant

Dwell 0 to 20000 ms

Auxiliary
function

0 to 20000 ms

0 to 20000 ms

0

1

STM

This value can also be set using the teaching function. (Refer to section

7.10.)

m]

The unit can be changed using feed length multiplication factor selection of
parameter No. 1.
Set the command speed of the servo motor for execution of positioning.
The setting should be equal to or less than the instantaneous permissible
speed of the servo motor.
Set the acceleration time constant.
Set the time until the rated speed of the servo motor is reached.
Set the deceleration time constant.
Set the time until the servo motor running at rated speed comes to a stop.
Set the dwell.
Set "0" in the auxiliary function to make the dwell invalid.
Set "1" in the auxiliary function and 0 in the dwell to perform continuous
operation.
When the dwell is set, the position command of the selected point table is
completed, and after the set dwell has elapsed, the position command of the
next point table is started.
Set the auxiliary function.
0: Automatic operation is performed in accordance with a single point table

chosen.

1: Operation is performed in accordance with consecutive point tables

without a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.31 results in an error.

For full information, refer to section 4.2.6.

(2) Parameter setting

Set the following parameters to perform automatic operation.
(a) Command mode selection (parameter No.0)

Select the absolute value command system.

Parameter No. 0

0

Absolute value command system

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4. OPERATION

(b) ST1 coordinate system selection (parameter No.1)

Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is
switched on.

Parameter No. 1 setting

0

1

when forward rotation start (ST1) is switched on

CCW rotation with
CW rotation with
CW rotation with
CCW rotation with

Servo motor rotation direction

CCW

position data

position data

position data

position data

CW

(c) Feed length multiplication selection (parameter No.1)

Set the unit multiplication factor (STM) of position data.

Parameter No.1 setting Position data input range [mm]

0 999.999 to 999.999
1 9999.99 to 9999.99
2 99999.9 to 99999.9
3 999999 to 999999

(3) Operation

Choose the point table using DI0 to DI4 and short ST1-SG to perform positioning to the position data
under the conditions of the preset speed, acceleration time constant and deceleration time constant. At
this time, reverse rotation start (ST2) is invalid.

Item Setting method Description

Automatic operation mode selection Automatic/manual selection (MD0) MD0 is turned on.

Point table No. selection 1 (DI0)
Point table No. selection 2 (DI1)

Point table selection

Start Forward rotation start (ST1) Short ST1-SG (ON) to start.

Point table No. selection 3 (DI2)
Point table No. selection 4 (DI3)
Point table No. selection 5 (DI4)

Refer to section 4.2.1, (2).

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