Mitsubishi MR-JE-10A, MR-JE-20A, MR-JE-200A, MR-JE-300A, MR-JE-40A Instruction Manual

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER
INSTRUCTION MANUAL

E

Safety Instructions

Please read the instructions carefully before using the equipment.

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

WARNING

CAUTION

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

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

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

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

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

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

A - 1

1. To prevent electric shock, note the following

WARNING

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

2. To prevent fire, note the following

CAUTION

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

3. To prevent injury, note the following

CAUTION

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

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

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

Ambient
humidity

Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

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

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

Operation

90 %RH or less (non-condensing)

A - 3

r

(2) Wiring

CAUTION

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

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

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

Servo amplifier

DOCOM

Control output
signal

For sink output interface

24 V DC

RA

Servo amplifie

DOCOM

Control output
signal

For source output interface

24 V DC

RA

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

(3) Test run and adjustment

CAUTION

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

A - 4

(4) Usage

CAUTION

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

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

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

Servo motor

B

Electromagnetic brake

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

Contacts must be opened
with the EMG stop switch.

RA

24 V DC

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary
accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years
when it is used in general environment. For replacement, please contact your local sales office.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.

A - 5

(7) General instruction

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

DISPOSAL OF WASTE

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

EEP-ROM life

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

Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes

Compliance with global standards

Refer to appendix 2 for the compliance with global standard.

Using HF-KN series and HF-SN series servo motors

For the combinations and characteristics when using HF-KN series and HF-SN series servo motors, refer to
appendix 5.

«About the manual»

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

Relevant manuals

Manual name Manual No.
MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166
MELSERVO-JE-_A Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030150
MELSERVO-JE-_A Servo Amplifier Instruction Manual (Modbus-RTU Protocol) SH(NA)030177
MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual SH(NA)030135
EMC Installation Guidelines IB(NA)67310

«Cables used for wiring»

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

A - 6

«U.S. customary units»

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

Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

A - 7

MEMO

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-14

1.1 Summary ........................................................................................................................................... 1- 1

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

1.3 Servo amplifier standard specifications ............................................................................................ 1- 4

1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1- 6

1.5 Function list ....................................................................................................................................... 1- 7

1.6 Model designation ............................................................................................................................. 1- 9

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

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

1.8 Configuration including peripheral equipment ................................................................................. 1-12

2. INSTALLATION 2- 1 to 2- 6

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

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

2.3 Encoder cable stress ........................................................................................................................ 2- 4

2.4 Inspection items ................................................................................................................................ 2- 4

2.5 Parts having service lives ................................................................................................................. 2- 5

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

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

3.2 I/O signal connection example .......................................................................................................... 3- 7

3.2.1 Position control mode ................................................................................................................. 3- 7

3.2.2 Speed control mode .................................................................................................................. 3-12

3.2.3 Torque control mode ................................................................................................................. 3-14

3.3 Explanation of power supply system ............................................................................................... 3-16

3.3.1 Signal explanations ................................................................................................................... 3-16

3.3.2 Power-on sequence .................................................................................................................. 3-17

3.3.3 Wiring CNP1 and CNP2 ............................................................................................................ 3-18

3.4 Connectors and pin assignment ...................................................................................................... 3-20

3.5 Signal (device) explanations ............................................................................................................ 3-23

3.6 Detailed explanation of signals ........................................................................................................ 3-31

3.6.1 Position control mode ................................................................................................................ 3-31

3.6.2 Speed control mode .................................................................................................................. 3-36

3.6.3 Torque control mode ................................................................................................................. 3-38

3.6.4 Position/speed control switching mode ..................................................................................... 3-41

3.6.5 Speed/torque control switching mode ....................................................................................... 3-43

3.6.6 Torque/position control switching mode.................................................................................... 3-45

3.7 Forced stop deceleration function ................................................................................................... 3-46

3.7.1 Forced stop deceleration function ............................................................................................. 3-46

3.7.2 Base circuit shut-off delay time function ................................................................................... 3-48

3.7.3 Vertical axis freefall prevention function ................................................................................... 3-49

3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-49

3.8 Alarm occurrence timing chart ......................................................................................................... 3-50

3.8.1 When you use the forced stop deceleration function ................................................................ 3-50

3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-51

1

3.9 Interfaces ......................................................................................................................................... 3-52

3.9.1 Internal connection diagram ...................................................................................................... 3-52

3.9.2 Detailed explanation of interfaces ............................................................................................. 3-54

3.9.3 Source I/O interfaces ................................................................................................................ 3-58

3.10 Servo motor with an electromagnetic brake .................................................................................. 3-60

3.10.1 Safety precautions .................................................................................................................. 3-60

3.10.2 Timing chart ............................................................................................................................ 3-62

3.11 Grounding ...................................................................................................................................... 3-65

4. STARTUP 4- 1 to 4-36

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

4.1.1 Startup procedure ...................................................................................................................... 4- 1

4.1.2 Wiring check ............................................................................................................................... 4- 2

4.1.3 Surrounding environment ........................................................................................................... 4- 3

4.2 Startup in position control mode ....................................................................................................... 4- 4

4.2.1 Power on and off procedures ..................................................................................................... 4- 4

4.2.2 Stop ............................................................................................................................................ 4- 4

4.2.3 Test operation ............................................................................................................................ 4- 5

4.2.4 Parameter setting ....................................................................................................................... 4- 6

4.2.5 Actual operation ......................................................................................................................... 4- 6

4.2.6 Trouble at start-up ...................................................................................................................... 4- 7

4.3 Startup in speed control mode .......................................................................................................... 4- 9

4.3.1 Power on and off procedures ..................................................................................................... 4- 9

4.3.2 Stop ............................................................................................................................................ 4- 9

4.3.3 Test operation ........................................................................................................................... 4-10

4.3.4 Parameter setting ...................................................................................................................... 4-11

4.3.5 Actual operation ........................................................................................................................ 4-12

4.3.6 Trouble at start-up ..................................................................................................................... 4-12

4.4 Startup in torque control mode ........................................................................................................ 4-13

4.4.1 Power on and off procedures .................................................................................................... 4-13

4.4.2 Stop ........................................................................................................................................... 4-13

4.4.3 Test operation ........................................................................................................................... 4-14

4.4.4 Parameter setting ...................................................................................................................... 4-15

4.4.5 Actual operation ........................................................................................................................ 4-15

4.4.6 Trouble at start-up ..................................................................................................................... 4-16

4.5 Display and operation sections ........................................................................................................ 4-17

4.5.1 Summary .................................................................................................................

.................. 4-17

4.5.2 Display flowchart ....................................................................................................................... 4-18

4.5.3 Status display mode .................................................................................................................. 4-19

4.5.4 Diagnostic mode ....................................................................................................................... 4-23

4.5.5 Alarm mode ............................................................................................................................... 4-25

4.5.6 Parameter mode ....................................................................................................................... 4-26

4.5.7 External I/O signal display ......................................................................................................... 4-28

4.5.8 Output signal (DO) forced output .............................................................................................. 4-31

4.5.9 Test operation mode ................................................................................................................. 4-32

5. PARAMETERS 5- 1 to 5-46

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

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

2

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 2

5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 3

5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 5

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 6

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 7

5.2 Detailed list of parameters ................................................................................................................ 5- 8

5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 8

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-17

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-28

5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-39

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-44

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-44

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

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

6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1

6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2

6.2 One-touch tuning .............................................................................................................................. 6- 3

6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 3

6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 5

6.2.3 Caution for one-touch tuning ..................................................................................................... 6-13

6.3 Auto tuning ....................................................................................................................................... 6-14

6.3.1 Auto tuning mode ...................................................................................................................... 6-14

6.3.2 Auto tuning mode basis ............................................................................................................. 6-15

6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-16

6.3.4 Response level setting in auto tuning mode ............................................................................. 6-17

6.4 Manual mode ................................................................................................................................... 6-18

6.5 2 gain adjustment mode .................................................................................................................. 6-22

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-28

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

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 1

7.1.2 Adaptive filter II ........................................................................................................................... 7- 4

7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 6

7.1.4 Low-pass filter ............................................................................................................................ 7- 7

7.1.5 Advanced vibration suppression control II ................................................................................. 7- 7

7.1.6 Command notch filter ................................................................................................................ 7-12

7.2 Gain switching function .................................................................................................................... 7-13

7.2.1 Applications ............................................................................................................................... 7-13

7.2.2 Function block diagram ............................................................................................................. 7-14

7.2.3 Parameter .................................................................................................................................. 7-15

7.2.4 Gain switching procedure ......................................................................................................... 7-17

7.3 Tough drive function ........................................................................................................................ 7-21

7.3.1 Vibration tough drive function.................................................................................................... 7-21

7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-23

7.4 Model adaptive control disabled ...................................................................................................... 7-27

3

8. TROUBLESHOOTING 8- 1 to 8-8

8.1 Explanations of the lists .................................................................................................................... 8- 1

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

8.3 Warning list ....................................................................................................................................... 8- 6

9. DIMENSIONS 9- 1 to 9- 6

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

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

10. CHARACTERISTICS 10- 1 to 10- 6

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

10.2 Power supply capacity and generated loss .................................................................................. 10- 2

10.3 Dynamic brake characteristics ...................................................................................................... 10- 4

10.3.1 Dynamic brake operation ....................................................................................................... 10- 4

10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 5

10.4 Cable bending life ......................................................................................................................... 10- 6

10.5 Inrush current at power-on ........................................................................................................... 10- 6

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-32

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

11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2

11.2 Regenerative option ...................................................................................................................... 11- 4

11.2.1 Combination and regenerative power .................................................................................... 11- 4

11.2.2 Selection of regenerative option ............................................................................................ 11- 5

11.2.3 Parameter setting ................................................................................................................... 11- 6

11.2.4 Selection of regenerative option ............................................................................................ 11- 7

11.2.5 Dimensions ........................................................................................................................... 11-11

11.3 Junction terminal block MR-TB50 ................................................................................................ 11-13

11.4 MR Configurator2 ........................................................................................................................ 11-15

11.4.1 Specifications ........................................................................................................................ 11-15

11.4.2 System requirements ............................................................................................................ 11-15

11.4.3 Precautions for using USB communication function ............................................................. 11-17

11.5 Selection example of wires .......................................................................................................... 11-18

11.6 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-19

11.7 Power factor improving AC reactor .............................................................................................. 11-20

11.8 Relay (recommended) ................................................................................................................. 11-21

11.9 Noise reduction techniques ......................................................................................................... 11-22

11.10 Earth-leakage current breaker ................................................................................................... 11-28

11.11 EMC filter (recommended) ........................................................................................................ 11-30

12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12- 1 to 12-34

12.1 Structure ....................................................................................................................................... 12- 1

12.1.1 Configuration diagram ............................................................................................................ 12- 1

12.1.2 Precautions for using RS422/USB communication function .................................................. 12- 2

12.2 Communication specifications ...................................................................................................... 12- 3

12.2.1 Outline of communication ...................................................................................................... 12- 3

4

12.2.2 Parameter setting ................................................................................................................... 12- 3

12.3 Protocol ......................................................................................................................................... 12- 4

12.3.1 Transmission data configuration ............................................................................................ 12- 4

12.3.2 Character codes ..................................................................................................................... 12- 5

12.3.3 Error codes ............................................................................................................................. 12- 6

12.3.4 Checksum .............................................................................................................................. 12- 6

12.3.5 Time-out processing............................................................................................................... 12- 6

12.3.6 Retry processing .................................................................................................................... 12- 7

12.3.7 Initialization ............................................................................................................................ 12- 7

12.3.8 Communication procedure example ...................................................................................... 12- 8

12.4 Command and data No. list .......................................................................................................... 12- 9

12.4.1 Reading command ................................................................................................................. 12- 9

12.4.2 Writing commands ................................................................................................................ 12-13

12.5 Detailed explanations of commands ............................................................................................ 12-15

12.5.1 Data processing .................................................................................................................... 12-15

12.5.2 Status display mode .............................................................................................................. 12-17

12.5.3 Parameter ............................................................................................................................. 12-18

12.5.4 External I/O signal status (DIO diagnosis) ............................................................................ 12-22

12.5.5 Input device on/off ................................................................................................................. 12-25

12.5.6 Disabling/enabling I/O devices (DIO) .................................................................................... 12-25

12.5.7 Input devices on/off (test operation) ...................................................................................... 12-26

12.5.8 Test operation mode ............................................................................................................. 12-27

12.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................. 12-30

12.5.10 Alarm history ....................................................................................................................... 12-31

12.5.11 Current alarm ...................................................................................................................... 12-32

12.5.12 Software version ................................................................................................................. 12-33

APPENDIX App. - 1 to App. -17

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

App. 2 Compliance with global standards ........................................................................................ App.- 1

App. 3 Analog monitor ..................................................................................................................... App.-11

App. 4 Low-voltage directive ........................................................................................................... App.-14

App. 5 Using HF-KN series and HF-SN series servo motors ......................................................... App.-15

App. 6 When turning on or off the input power supply with DC power supply ................................ App.-17

5

MEMO

6

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

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

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-JE-100A or less

Regenerative

option

(Note 2)
Power
supply

W

RA

24 V DC

Servo motor

U

V

B1

B

B2

Encoder

M

Electromagnetic
brake

P+

Diode

stack

MCMCCB

L1

U

L2

U U

L3

Relay

Position

command

input

Control

circuit
power

Model

position

control

Model position

(Note 1)

+

Regene­rative
TR

CHARGE

lamp

Base

amplifier

Model
speed

control

Model speed Model torque

C

Voltage

detection

Overcurrent

protection

Virtual

motor

brake circuit

detection

Virtual

encoder

Dynamic

Current

encoder

Current

U

V

W

CN2

Analog

(2 channels)

Actual

position

control

CN1

Analog monitor

(2 channels)

RS-422/

RS-485

Actual
speed

control

Controller

RS-422/

RS-485

Current

I/F

D I/O control

Servo-on
Input command pulse.
Start
Malfunction, etc.

control

USBA/D D/A

CN3

Note 1. The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A.

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

Personal

computer

USB

1 - 2

1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

Regenerative

option

(Note 1)
Power
supply

W

RA

24 V DC

Servo motor

U

V

B1

B

B2

Encoder

M

Electromagnetic
brake

N- (Note 2)CDP+

Diode

stack

MCMCCB

L1

U

L2

U U

L3

Relay

Position

command

input

Control

circuit
power

Model

position

control

Model position

+

CHARGE

lamp

Cooling fan

Base

amplifier

Regene­rative
TR

Voltage

detection

Model
speed

control

Model speed Model torque

Overcurrent

protection

Virtual

motor

brake circuit

detection

Virtual

encoder

Dynamic

Current

encoder

Current

U

V

W

CN2

Analog

(2 channels)

Actual

position

control

CN1

Analog monitor

(2 channels)

RS-422/

RS-485

Actual
speed

control

Controller

RS-422/

RS-485

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

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

Current

I/F

D I/O control

Servo-on
Input command pulse.
Start
Malfunction, etc.

control

USBA/D D/A

CN3

Personal

computer

USB

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Model: MR-JE- 10A 20A 40A 70A 100A 200A 300A

Output

Power supply
input

Interface
power supply

Control method Sine-wave PWM control, current control method
Dynamic brake Built-in

Communication function

Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels

Position
control mode

Speed control
mode

Torque
control mode

Positioning mode

Protective functions

Compliance
to global
standards

Structure (IP rating) Natural cooling, open (IP20)

Close
mounting
(Note 2)

Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8 5.8 6.0 11.0 11.0

Voltage/Frequency

Rated current
(Note 5)

Permissible voltage
fluctuation

Permissible frequency
fluctuation

Power supply capacity

[kVA]
Inrush current [A] Refer to section 10.5.
Voltage 24 V DC ± 10%
Current capacity [A] (Note 1) 0.3

Max. input pulse
frequency

Positioning feedback
pulse

Command pulse
multiplying factor

In-position range
setting

Error excessive ±3 revolutions
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed

command input

Speed fluctuation ratio

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

command input
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

CE marking

UL standard UL 508C

3-phase power supply
input

1-phase power supply
input

3-phase or 1-phase 200 V AC to 240 V AC, 50

[A]

0.9 1.5 2.6 3.8 5.0 10.5 14.0

3-phase or 1-phase 170 V AC to 264 V AC

Within ±5%

Refer to section 10.2.

USB: connection to a personal computer or others (MR Configurator2-compatible)

RS-422/RS-485: Connection to controller (1: n communication up to 32 axes) (Note 4, 7)

4 Mpulses/s (for differential receiver) (Note 3), 200 kpulses/s (for open collector)

Encoder resolution (resolution per servo motor revolution): 131072 pulses/rev

Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000

0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)

±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less

(ambient temperature 25 °C ± 10 °C) when using analog speed command

0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ)

Refer to section 1.1 of "MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)"

The positioning mode is available with servo amplifiers with software version B7 or later.

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),

servo motor overheat protection, encoder error protection, regenerative error protection,

undervoltage protection, instantaneous power failure protection, overspeed protection, and

Possible

Possible Impossible

Hz/60 Hz

0 pulse to ±65535 pulses (command pulse unit)

error excessive protection

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

3-phase or 1-phase

200 V AC to 240 V AC,

50 Hz/60 Hz (Note 6)

3-phase or 1-phase

170 V AC to 264 V AC

(Note 6)

Force cooling, open

3-phase

200 V AC to

240 V AC,

50 Hz/60 Hz

3-phase

170 V AC to

264 V AC

(IP20)

1 - 4

1. FUNCTIONS AND CONFIGURATION

/s

Model: MR-JE- 10A 20A 40A 70A 100A 200A 300A

Ambient
temperature

Ambient

Environment

Mass [kg] 0.8 1.5 2.1

humidity

Ambience

Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 °C to 45 °C or at
75% or smaller effective load ratio.

3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4 Mpulses
or lower, change the setting in [Pr. PA13].

4. The RS-422 communication function is supported by servo amplifier manufactured in December 2013 or later. Refer to section

1.6 (1) for the year and month of manufacture.

5. These are current values for 3-phase power supply.

6. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.

7. The RS-485 communication function is available with servo amplifiers manufactured in May 2015 or later. Refer to section 1.6
(1) for the year and month of manufacture.

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

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

Operation

Storage

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

90 %RH or less (non-condensing)

Indoors (no direct sunlight),

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Servo motor
MR-JE-10A HG-KN13_
MR-JE-20A HG-KN23_
MR-JE-40A HG-KN43_
MR-JE-70A HG-KN73_

MR-JE-100A HG-SN102_
MR-JE-200A HG-SN152_

MR-JE-300A HG-SN302_

HG-SN52_

HG-SN202_

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.

Function Description

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

Model adaptive control

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

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

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

Position/speed control switch
mode

Speed/torque control switch
mode

Torque/position control switch
mode

Positioning mode

High-resolution encoder

Gain switching function

Advanced vibration
suppression control II

Machine resonance
suppression filter

Shaft resonance suppression
filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration suppression
control

Electronic gear Input pulses can be multiplied by 1/10 to 4000.

S-pattern
acceleration/deceleration time
constant

Auto tuning

Regenerative option

Alarm history clear Alarm history is cleared. [Pr. PC18]
Output signal selection

(device settings)

response to the command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.4 for disabling this

function. Used by servo amplifiers with software version B4 or later. Check the
software version using MR Configurator2.

Using an input device, control can be switched between position control and speed
control.

Using an input device, control can be switched between speed control and torque
control.

Using an input device, control can be switched between torque control and position
control.

In this mode, MR-JE-_A servo amplifiers are used in with point table or program
method. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual
(Positioning Mode)." The positioning mode is available with servo amplifiers with
software version B7 or later.

High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo
motor compatible with the MELSERVO-JE series.

You can switch gains during rotation and during stop, and can use an input device to
switch gains during operation.

This function suppresses vibration at the arm end or residual vibration. Section 7.1.5

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

When a load is mounted to the servo motor shaft, resonance by shaft torsion during
driving may generate a mechanical vibration at high frequency. The shaft resonance
suppression filter suppresses the vibration.

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

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

Analyzes the frequency characteristic of the mechanical system by simply connecting
an MR Configurator2 installed personal computer and servo amplifier.

MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that

load to motor inertia ratio is high for such as roll send axes.

Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]

Speed can be increased and decreased smoothly. [Pr. PC03]

Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.

Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.

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

Detailed

explanation

Section 3.2.1
Section 3.6.1
Section 4.2
Section 3.2.2
Section 3.6.2
Section 4.3
Section 3.2.3
Section 3.6.3
Section 4.4

Section 3.6.4

Section 3.6.5

Section 3.6.6

MR-JE-_A
Servo
Amplifier
Instruction
Manual
(Positioning
Mode)

Section 7.2

Section 7.1.1

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]

[Pr. PA06]
[Pr. PA07]

Section 6.3

Section 11.2

[Pr. PD03] to
[Pr. PD20]

1 - 7

1. FUNCTIONS AND CONFIGURATION

Function Description

Output signal selection
(device settings)

Output signal (DO) forced
output

Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]

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

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

Status display Servo status is shown on the 5-digit, 7-segment LED display. Section 4.5.3
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7

Automatic VC offset

Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8

Test operation mode

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

MR Configurator2

One-touch tuning

Tough drive function

Drive recorder function

Servo amplifier life diagnosis
function

Power monitoring function

Machine diagnosis function

Modbus-RTU communication
function

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

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

Voltage is automatically offset to stop the servo motor if it does not come to a stop
when VC (Analog speed command) or VLA (Analog speed limit is 0 V.

Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation

MR Configurator2 is required for the positioning operation and program operation.

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

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

This function makes the equipment continue operating even under the condition that
an alarm occurs.

The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.

This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data
on the drive recorder window on MR Configurator2 by clicking the "Graph" button.

However, the drive recorder will not operate on the following conditions.

1. You are using the graph function of MR Configurator2.

2. You are using the machine analyzer function.

3. [Pr. PF21] is set to "-1".
You can check the cumulative energization time and the number of on/off times of the

inrush relay. This function gives an indication of the replacement time for parts of the
servo amplifier including a capacitor and a relay before they malfunction.

MR Configurator2 is necessary for this function.
This function calculates the power running energy and the regenerative power from

the data in the servo amplifier such as speed and current. Power consumption and
others are displayed on MR Configurator2.

From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
machine parts, including a ball screw and bearing.

MR Configurator2 is necessary for this function.

The Modbus protocol uses dedicated message frames for the serial communication
between a master and slaves. The dedicated message frames have functions for
reading and writing data, and users can write parameters from servo amplifiers and
check the operation status of the servo amplifiers by using this function.

Detailed

explanation

[Pr. PD24] to
[Pr. PD28]

Section 4.5.8

Section 3.6.1
(5)

[Pr. PA11]
[Pr. PA12]
Section 3.6.3

(3)
[Pr. PC05] to

[Pr. PC11]

Section 4.5.4

Section 4.5.9

[Pr. PC14],
[Pr. PC15]

Section 11.4

Section 6.2

Section 7.3

[Pr. PA23]

MR-JE-_A
Servo
Amplifier
Instruction
Manual
(Modbus-RTU
Protocol)

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.6 Model designation

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

AC SERVO

SER. S4Y001001

MR-JE-10A

POWER

: 100W

INPUT

: 3AC/200-240V 0.9A/1.5A 50/60Hz

OUTPUT

: 3PH170V 0-360Hz 1.1A
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300194
Max. Surrounding Air Temp.: 55°C
IP20
KCC-REI-MEK-TC300A745G51

TOKYO 100-8310, JAPAN MADE IN JAPAN

DATE: 2014-11

(2) Model

The following describes what each block of a model name indicates.

General-purpose interface

Series

Rated output

Symbol Rated output [kW]

10 0.1
20 0.2
40 0.4

70 0.75
100 1
200 2
300 3

Serial number
Model
Capacity
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating
KC certification number
The year and month of manufacture
Country of origin

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification

(1) MR-JE-100A or less

(1)

(2)

(3)

(7)

Side

(4)

No. Name/Application

(1)

(2)

Display
The 5-digit, 7-segment LED shows the servo status

and the alarm number.
Operation section
Used to perform status display, diagnostic, alarm,

and parameter setting operations. Push the "MODE"
and "SET" buttons at the same time for 3 s or more
to switch to the one-touch tuning mode.

Used to change the mode.
Used to change the

display or data in each
mode.

Used to set data.

Detailed

explanati

on

Section

4.5

Section

4.5

Section

6.2

To the one-touch tuning
mode

Section

11.4

Section

3.2

Section

3.4

Chapter

12

Section

3.4

Section

3.1

Section

3.3

1.6

Section

3.1

Section

3.3

Bottom

(9)

(5)

(8)

(6)

USB communication connector (CN3)

(3)

Connect with the personal computer.
I/O signal connector (CN1)
Digital I/O signal, analog input signal, analog

monitor output signal, and RS-422/RS-485

(4)

communication controller are connected.

Encoder connector (CN2)

(5)

Used to connect the servo motor encoder.
Power connector (CNP1)
Input power supply, built-in regenerative resistor,

(6)

regenerative option, and servo motor are connected.

Rating plate Section

(7)

Charge lamp

(8)

When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.

Protective earth (PE) terminal
Grounding terminal

(9)

1 - 10

1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

(1)

No. Name/Application

(2)

(3)

(1)

(6)

(7)

Side

(4)

(2)

Display
The 5-digit, 7-segment LED shows the servo status

and the alarm number.
Operation section
Used to perform status display, diagnostic, alarm,

and parameter setting operations. Push the "MODE"
and "SET" buttons at the same time for 3 s or more
to switch to the one-touch tuning mode.

Used to change the mode.
Used to change the

display or data in each
mode.

Used to set data.

Detailed

explanati

on

Section

4.5

Section

4.5

Section

6.2

(8)

(9)

(10)

Bottom

(5)

To the one-touch tuning
mode

USB communication connector (CN3)

(3)

Connect with the personal computer.
I/O signal connector (CN1)
Digital I/O signal, analog input signal, analog

monitor output signal, and RS-422/RS-485

(4)

communication controller are connected.

Encoder connector (CN2)

(5)

Used to connect the servo motor encoder.
Power connector (CNP1)
Input power supply and regenerative option are

(6)

connected.

Rating plate Section

(7)

Servo motor power connector (CNP2)
Connect the servo motor.

(8)

Charge lamp

(9)

When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.

Protective earth (PE) terminal
Grounding terminal

(10)

Section

11.4

Section

3.2

Section

3.4

Chapter

12

Section

3.4

Section

3.1

Section

3.3

1.6

Section

3.1

Section

3.3

Section

3.1

Section

3.3

1 - 11

1. FUNCTIONS AND CONFIGURATION

A

1.8 Configuration including peripheral equipment

CAUTION

(1) MR-JE-100A or less

The diagram shows MR-JE-40A.

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

POINT

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

(Note 1)
Power
supply

Molded-case
circuit breaker

(Note 2)
Magnetic
contactor
(MC)

Power factor
improving AC
reactor
(FR-HAL)

Line noise
filter
(FR-BSF01)

RST

Personal
computer

MR Configurator2

CN3

CN1

Junction terminal block

CN2

L1
L2
L3

U
V

W

Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-70A or less. For 1-phase 200 V

C to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section

1.3.

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

Servo motor

1 - 12

1. FUNCTIONS AND CONFIGURATION

(2) MR-JE-200A or more

The diagram shows MR-JE-200A.

(Note 1)
Power
supply

Molded-case
circuit breaker

(Note 2)
Magnetic
contactor
(MC)

Power factor
improving AC
reactor
(FR-HAL)

Line noise
filter
(FR-BSF01)

RS T

CN3

MR Configurator2

Personal
computer

L1
L2
L3

CN1

Junction terminal block

U

V

W

CN2

Servo motor

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

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

1 - 13

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 14

2. INSTALLATION

2. INSTALLATION

WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

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

2 - 1

2. INSTALLATION

2.1 Installation direction and clearances

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

CAUTION

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

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier

10 mm
or more

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

Cabinet Cabinet

40 mm
or more

Servo
amplifier

10 mm
or more

Wiring allowance

80 mm
or more

Top

Bottom

40 mm
or more

2 - 2

2. INSTALLATION

(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible depending on the capacity of the servo amplifier.
Refer to section 1.3 for availability of close mounting.

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

Cabinet

Cabinet

30 mm
or more

100 mm or more

10 mm or more

30 mm
or more

40 mm or more

Leaving clearance Mounting closely

1 mm

100 mm or more

1 mm

40 mm or more

(2) Others

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

2.2 Keep out foreign materials

30 mm
or more

Top

Bottom

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

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

a cooling fan installed on the ceiling.

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force

clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to
prevent such materials from entering the cabinet.

2 - 3

2. INSTALLATION

2.3 Encoder cable stress

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

stress are not applied to the cable connection.

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

brake) with having some slack from the connector connection part of the servo motor to avoid putting
stress on the connector connection part. Use the optional encoder cable within the bending life range.
Use the power supply and brake wiring cables within the bending life of the cables.

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

stamped by workers or vehicles.

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

as possible. Refer to section 10.4 for the bending life.

2.4 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Otherwise, an electric shock may

WARNING

CAUTION

It is recommended that the following points periodically be checked.

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

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating

conditions especially when the servo motor is movable.

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

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

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

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

occur. In addition, when confirming whether the charge lamp is off or not, always
confirm it from the front of the servo amplifier.
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.

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

2 - 4

2. INSTALLATION

2.5 Parts having service lives

Service lives of the following parts are listed below. However, the service life vary depending on operating
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of
their service lives. For parts replacement, please contact your local sales office.

(1) Smoothing capacitor

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

(2) Relays

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

(3) Servo amplifier cooling fan

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

Part name Life guideline

Smoothing capacitor 10 years

Relay

Cooling fan

Number of power-on and forced stop times

by EM1 (Forced stop 1): 100,000 times

50,000 hours to 70,000 hours (7 years to 8

years)

2 - 5

2. INSTALLATION

MEMO

2 - 6

3. SIGNALS AND WIRING

r

3. SIGNALS AND WIRING

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

WARNING

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

Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A,
disconnect the lead wires of the regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other
protective circuits may not operate.

Servo amplifier

DOCOM

24 V DC

Servo amplifie

24 V DC

DOCOM

CAUTION

Control output
signal

For sink output interface

RA

Control output
signal

For source output interface

RA

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

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

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

M

3 - 1

3. SIGNALS AND WIRING

3.1 Input power supply circuit

Always connect a magnetic contactor between the power supply and the power
supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that
shuts down the power supply on the side of the servo amplifier’s power supply. If
a magnetic contactor is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Use ALM (Malfunction) to switch power off. Not doing so may cause a fire when a
regenerative transistor malfunctions or the like may overheat the regenerative
resistor.
Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A,
disconnect the lead wires of the regenerative resistor from the CNP1 connector.

CAUTION

Not doing so may break the lead wires of the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit of the
specification, the servo amplifier will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to
suppress lightning surge. The varistor can break down due to its aged
deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input
power supply.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.
The N- terminal is not a neutral point of the power supply. Incorrect wiring will
cause a burst, damage, etc.

POINT

EM2 has the same function as EM1 in the torque control mode.
When a 1-phase 200 V AC to 240 V AC power supply is used, the connection
destination differs depending on the servo amplifier. Ensure that the connection
destination is correct.

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

3 - 2

3. SIGNALS AND WIRING

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

3-phase
200 V AC to
240 V AC

MCCB

EMG stop switch

(Note 5)

MC

(Note 1)

OFF

Malfunction

Servo amplifier

CNP1

L1

Built-in

L2

regenerative

resistor

L3
P+

C

ON

RA1

W

(Note 7)

CN2

MC

U
V

MC

SK

(Note 4, 7)

(Note 2)

Encoder cable

Servo motor

U
V

W

Encoder

Motor

M

(Note 6)

Power

(Note 3)

Note 1. MR-JE-40A to MR-JE-100A have a built-in regenerative resistor. (factory-wired) When using the regenerative option,

refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HG-KN/HG-SN Servo
Motor Instruction Manual".

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

4. For connecting servo motor power wires, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".

5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.

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

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

8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.

Forced stop 2
Servo-on

supply

24 V DC (Note 8)

CN1

EM2
SON

DICOM

CN1

DOCOM

ALM

24 V DC (Note 8)

RA1

Malfunction

(Note 3)

3 - 3

3. SIGNALS AND WIRING

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

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-JE-200A Servo Amplifier's.

MCCB

1-phase
200 V AC to
240 V AC

EMG stop switch

(Note 5)

MC

(Note 1)

OFF

Malfunction

Servo amplifier

CNP1

L1

Built-in

L2

regenerative

resistor

L3
P+

C

RA1

ON

W

U
V

MC

MC

SK

(Note 4, 7)

Servo motor

U
V

W

Motor

M

(Note 7)

CN2

(Note 6)

Power

(Note 3)

Note 1. MR-JE-40A and MR-JE-70A have a built-in regenerative resistor. (factory-wired) When using the regenerative option,

refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HG-KN/HG-SN Servo
Motor Instruction Manual".

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

4. For connecting servo motor power wires, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".

5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.

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

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

8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.

Forced stop 2
Servo-on

supply

24 V DC (Note 8)

CN1

EM2
SON

DICOM

CN1

DOCOM

ALM

(Note 2)

Encoder cable

24 V DC (Note 8)

RA1

Encoder

Malfunction

(Note 3)

3 - 4

3. SIGNALS AND WIRING

(3) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-200A or MR-JE-300A

3-phase
200 V AC to
240 V AC

MCCB

EMG stop switch

(Note 5)

MC

(Note 1)

OFF

Malfunction

Servo amplifier

CNP1

L1
L2
L3
N-

C
D
P+

RA1

ON

CNP2

U
V

W

MC

MC

SK

(Note 4, 7)

Servo motor

U
V

W

Motor

M

(Note 7)

CN2

(Note 6)

Power

(Note 3)

Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HG-KN/HG-SN Servo
Motor Instruction Manual".

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

4. For connecting servo motor power wires, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".

5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.

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

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

8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.

Forced stop 2
Servo-on

supply

24 V DC (Note 8)

CN1

EM2
SON

DICOM

CN1

DOCOM

ALM

(Note 2)

Encoder cable

24 V DC (Note 8)

RA1

Encoder

Malfunction

(Note 3)

3 - 5

3. SIGNALS AND WIRING

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

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L2. One of
the connecting destinations is different from MR-JE-100A or less Servo
Amplifier's.

1-phase
200 V AC to
240 V AC

MCCB

EMG stop switch

(Note 5)

MC

(Note 1)

OFF

Malfunction

Servo amplifier

CNP1

L1
L2
L3
N-

C
D
P+

RA1

CNP2

ON

W

U
V

MC

MC

SK

(Note 4, 7)

Servo motor

U
V

W

Motor

M

(Note 7)

CN2

(Note 6)

Power

(Note 3)

Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. For cable selection, refer to "HG-KN/HG-SN Servo

3. This is for the sink I/O interface. For source I/O interface, refer to section 3.9.3.

4. For connection of servo motor power wires, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".

5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of

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

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

8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,

Forced stop 2
Servo-on

Motor Instruction Manual".

contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.

they can be configured by one.

supply

24 V DC (Note 8)

CN1

EM2
SON

DICOM

CN1

DOCOM

ALM

(Note 2)

Encoder cable

24 V DC (Note 8)

RA1

Encoder

Malfunction

(Note 3)

3 - 6

3. SIGNALS AND WIRING

r

3.2 I/O signal connection example

3.2.1 Position control mode

(1) When you use a positioning module RD75D

(a) For sink I/O interface

Positioning module

(Note 3, 5)

(Note 5)

Analog torque limit
+10 V/maximum torque

(Note 9)
MR Configurator2

+

RD75D

CLEARCOM

CLEAR

RDYCOM

READY
PULSE F+
PULSE F-

PULSE R+

PULSE R-

PG0

PG0 COM

Forced stop 2
Servo-on
Reset

Forward rotation
stroke end

Reverse rotation
stroke end

Personal
computer

24 V DC (Note 4)

14
13
12
11
15
16
17
18

9

10

(Note 10)

10 m or less (Note 8)

(Note 11)

Power supply

24 V DC (Note 4)

0 V to +10 V

(Note 15)

USB cable (option)

10 m or less

2 m or less

DICOM

DOCOM

CR

RD

PP
PG
NP
NG

LZ

LZR

LG
SD

EM2

SON

RES

LSP

LSN

DICOM

TLA

LG 28
SD

Servo amplifie

(Note 7)

CN1
20
46
41

49
10
11
35
36

8
9
3

Plate

CN1
42
15
19
43
44
21
27

Plate

CN3

CN1

47 DOCOM

48 ALM

23 ZSP

24 INP

34 LG
33

Plate

(Note 7)

CN1

26
30 LG
29

Plate

(Note 7)

(Note 7)

4

LA

5

LAR
6LB
7

LBR

OP
SD

2 m or less

MO1

MO2

SD

2 m or less

(Note 1)

24 V DC (Note 4)

(Note 2)

RA1

RA2

RA3

10 m or less

Control common
Encoder Z-phase pulse

(open collector)

Malfunction (Note 6)

Zero speed detection

In-position

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

± 10 V DC

± 10 V DC

Analog monitor 1

Analog monitor 2

(Note 14)

3 - 7

3. SIGNALS AND WIRING

A

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

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.

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

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end) (normally closed contact).

6.

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

8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector

9. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

10. This connection is not necessary for RD75D. However, to enhance noise tolerance, it is recommended to connect LG of servo

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

12. Plus and minus of the power of source interface are the opposite of those of sink interface.

13. CLEAR and CLEARCOM of source interface are interchanged to sink interface.

14. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position

15. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used

LM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at

occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

type.

amplifier and control common depending on the positioning module.

mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse
be checked.

together.

3 - 8

3. SIGNALS AND WIRING

(b) For source I/O interface

POINT

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

Positioning module

(Note 13)

(Note 3, 5)

(Note 5)

Analog torque limit
+10 V/maximum torque

(Note 9)
MR Configurator2

+

RD75D

CLEAR

CLEARCOM

RDYCOM

READY

PULSE F+

PULSE F­PULSE R+
PULSE R-

PG0

PG0 COM

Forced stop 2
Servo-on
Reset

Forward rotation
stroke end

Reverse rotation
stroke end

Personal
computer

24 V DC (Note 4, 12)

13
14
12
11
15
16
17
18

9

10

(Note 10)

10 m or less (Note 8)

(Note 11)

Power supply

24 V DC (Note 4, 12)

0 V to +10 V

(Note 15)

USB cable (option)

10 m or less

2 m or less

Servo amplifier

(Note 7)

DICOM

DOCOM

CR

RD

PP

PG

NP

NG

LZ

LZR

LG
SD

(Note 7)

CN1
20
46

41

49
10
11
35
36

8
9
3

Plate

CN1

47 DOCOM

48 ALM

23 ZSP

24 INP

4
5
6LB
7

34 LG
33

Plate

24 V DC (Note 4, 12)

(Note 2)

10 m or less

LA

LAR

LBR

OP

SD

2 m or less

RA1

RA2

RA3

Malfunction (Note 6)

Zero speed detection

In-position

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common
Control common
Encoder Z-phase pulse

(open collector)

(Note 14)

(Note 7)

CN1

42
15
19
43
44
21
27

Plate

CN3

(Note 7)

CN1

26 MO1
30 LG
29

Plate

MO2

SD

2 m or less

(Note 1)

± 10 V DC

± 10 V DC

Analog monitor 1

Analog monitor 2

EM2

SON

RES
LSP
LSN

DICOM

TLA

LG 28
SD

3 - 9

3. SIGNALS AND WIRING

(2) When you use a positioning module FX

Programmable controller

FX

-_ _MT/ES (Note 11)

3U

Programmable
controller
power supply

(Note 12)

(Note 13)

(Note 14)

S/S

24 V

0 V

Y000

COM1

Y010

COM3

Y004

COM2

X _ _ _

X _ _ _

X000

2 m or less (Note 8)

L

N

24 V DC

(Note 4)

-_ _MT/ES (For sink I/O interface)

3U

Servo amplifier

(Note 7)

(Note 7)

DICOM

OPC

DOCOM

PP

NP

CN1
20
12
46
10

35

CN1

47 DOCOM

48 ALM

23 ZSP

24 V DC (Note 4)

(Note 2)

RA1

RA2

10 m or less

8LZ

CR

41

9 LZR
4LA
5 LAR

INP 24

49

RD

33

OP

LG

Plate

SD

3

6LB
7 LBR

34 LG

SD

Plate

Malfunction (Note 6)

Zero speed detection

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

(Note 15)

(Note 3, 5)

(Note 5)

Analog torque limit
+10 V/maximum torque

(Note 9)
MR Configurator2

+

Forced stop 2
Servo-on
Reset

Forward rotation
stroke end

Reverse rotation
stroke end

Personal
computer

0 V to +10 V

10 m or less

(Note 10)

Power supply

24 V DC (Note 4)

2 m or less

(Note 16)

USB cable (option)

EM2
SON
RES

LSP
LSN

DICOM

TLA

LG 28
SD

(Note 7)

CN1
42
15
19
43
44
21
27

Plate

CN3

(Note 7)

CN1

26
30 LG
29 MO2

Plate

MO1

SD

2 m or less

(Note 1)

± 10 V DC

± 10 V DC

Analog monitor 1

Analog monitor 2

3 - 10

3. SIGNALS AND WIRING

A

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

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.

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

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end) (normally closed contact).

6.

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

8. Connect them within 2 m because of open-collector type.

9. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

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

11. Select the number of I/O points of the programmable controller depending on your system.

12. It will be COM0 for FX

13. It will be COM4 for FX

14. Select it within X000 to X007.

15. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position

16. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used

LM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at

occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

-16MT/ES.

3U

-16MT/ES.

3U

mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse
be checked.

together.

3 - 11

3. SIGNALS AND WIRING

A

3.2.2 Speed control mode

(1) For sink I/O interface

(Note 10)

(Note 3, 5)

(Note 5)

(Note 8) Analog torque limit

(Note 9)
MR Configurator2

Forced stop 2
Servo-on
Forward rotation start
Reverse rotation start

Forward rotation
stroke end

Reverse rotation
stroke end

Analog speed command
±10 V/rated speed

+10 V/maximum torque

+

Personal
computer

Power supply

24 V DC (Note 4)

-10 V to +10 V

0 V to +10 V

(Note 12)
USB cable (option)

10 m or less

2 m or less

EM2
SON

ST1
ST2

LSP

LSN

DICOM

VC

LG

TLA

SD

Servo amplifier

(Note 7)

CN1

46 DOCOM

47 DOCOM

(Note 7)

CN1
42
15
19
41
43
44
20
21DICOM

2

28

27

Plate

CN3

48

23 ZSP

24

49

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

34
33 OP

Plate

(Note 7)

CN1

26 MO1
30
29

Plate

ALM

SA

RD

LG

SD

2 m or less

LG

MO2

SD

2 m or less

24 V DC (Note 4)

(Note 2)

RA1

RA2

RA3

RA4

10 m or less

Encoder Z-phase pulse
(open collector)

± 10 V DC

± 10 V DC

Malfunction (Note 6)

Zero speed detection

Speed reached

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Analog monitor 1

Analog monitor 2

(Note 1)

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

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.

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

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end) (normally closed contact).

6.

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

8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17],

9. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

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

11. Plus and minus of the power of source interface are the opposite of those of sink interface.

12. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used

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

and [Pr. PD19]. (Refer to section 3.6.1 (5).)

together.

3 - 12

3. SIGNALS AND WIRING

r

(2) For source I/O interface

POINT

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

Servo amplifie

(Note 7)

CN1

46 DOCOM

24 V DC (Note 4, 11)

(Note 3, 5)

(Note 5)

(Note 8) Analog torque limit

(Note 9)
MR Configurator2

Forced stop 2
Servo-on
Forward rotation start
Reverse rotation start

Forward rotation
stroke end

Reverse rotation
stroke end

Analog speed command
±10 V/rated speed

+10 V/maximum torque

+

Personal
computer

10 m or less

(Note 10)

Power supply

24 V DC (Note 4, 11)

-10 V to +10 V

0 V to +10 V

2 m or less

(Note 12)

USB cable (option)

EM2
SON

ST1
ST2
LSP

LSN

DICOM

VC

LG

TLA

SD

(Note 7)

CN1
42
15
19
41
43
44
20
21DICOM

2

28

27

Plate

CN3

47 DOCOM

48

23 ZSP

24 SA

49 RD

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

34 LG
33 OP

Plate

(Note 7)

CN1

26 MO1
30
29

Plate

ALM

SD

2 m or less

LG

MO2

SD

2 m or less

(Note 2)

RA1

RA2

RA3

RA4

10 m or less

Encoder Z-phase pulse
(open collector)

Malfunction (Note 6)

Zero speed detection

Speed reached

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

± 10 V DC

± 10 V DC

Analog monitor 1

Analog monitor 2

(Note 1)

3 - 13

3. SIGNALS AND WIRING

r

A

3.2.3 Torque control mode

POINT

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

(1) For sink I/O interface

(Note 8)

(Note 3)

Analog torque command
±8 V/maximum torque

Analog speed limit
0 to ±10 V/rated speed

(Note 7)
MR Configurator2

+

Forced stop 2
Servo-on
Forward rotation start
Reverse rotation start

Personal
computer

Power supply

24 V DC (Note 4)

-8 V to +8 V

-10 V to +10 V

(Note 10)
USB cable (option)

10 m or less

2 m or less

EM2
SON

RS1
RS2

DICOM

TC
LG

VLA

SD

Servo amplifie

(Note 6)

CN1

46 DOCOM

47 DOCOM

(Note 6)

CN1
42
15
41
19
20
21DICOM

27
28

2

Plate

CN3

48 ALM

23 ZSP

49 RD

8LZ
9
4LA
5 LAR
6LB
7 LBR

34 LG
33 OP

Plate

(Note 6)

CN1

26 MO1
30
29

Plate

LZR

SD

2 m or less

LG

MO2

SD

2 m or less

24 V DC (Note 4)

(Note 2)

RA1

RA2

RA3

10 m or less

Encoder Z-phase pulse
(open collector)

± 10 V DC

± 10 V DC

Malfunction (Note 6)

Zero speed detection

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Analog monitor 1

Analog monitor 2

(Note 1)

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

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.

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

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.

5.

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

7. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

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

9. Plus and minus of the power of source interface are the opposite of those of sink interface.

10. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used

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

together.

3 - 14

3. SIGNALS AND WIRING

r

(2) For source I/O interface

POINT

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

Servo amplifie

(Note 6)

CN1

46 DOCOM

24 V DC (Note 4, 9)

(Note 3)

Analog torque command
±8 V/maximum torque

Analog speed limit
0 to ±10 V/rated speed

(Note 7)
MR Configurator2

+

Forced stop 2
Servo-on
Forward rotation start
Reverse rotation start

24 V DC (Note 4, 9)

-8 V to +8 V

-10 V to +10 V

Personal
computer

10 m or less

(Note 8)

Power supply

2 m or less

(Note 10)
USB cable (option)

EM2
SON
RS1
RS2

DICOM
DICOM

TC
LG

VLA

SD

(Note 6)

CN1
42
15
41
19
20
21

27
28

2

Plate

CN3

47 DOCOM

48 ALM

23 ZSP

49 RD

8LZ
9
4LA
5 LAR
6LB
7 LBR

34 LG
33 OP

Plate

(Note 6)

CN1

26
30 LG
29 MO2

Plate

LZR

SD

2 m or less

MO1

SD

2 m or less

(Note 2)

RA1

RA2

RA3

10 m or less

Encoder Z-phase pulse
(open collector)

Malfunction (Note 5)

Zero speed detection

Ready

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

± 10 V DC

± 10 V DC

Analog monitor 1

Analog monitor 2

(Note 1)

3 - 15

3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

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

Symbol

Connection target

(application)

Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the
power supply to L1 and L3. Leave L2 open.

When using 1-phase 200 V AC to 240 V AC for MR-JE-200A, connect the power supply to L1 and
L2. Leave L3 open.

Description

L1/L2/L3 Power supply

P+/C/D

U/V/W

N-

Regenerative

option

Servo motor

power output

Protective earth

(PE)

Servo amplifier

Power supply

3-phase 200 V AC to 240 V AC,

50 Hz/60 Hz

1-phase 200 V AC to 240 V AC,

50 Hz/60 Hz

1) MR-JE-100A or less
MR-JE-10A to MR-JE-100A do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-wired)
MR-JE-10A and MR-JE-20A do not have a built-in regenerative resistor.
When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative

resistor. And then connect wires of the regenerative option to P+ and C.

2) MR-JE-200A or more
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-wired)
When using a regenerative option, disconnect P+ and D, and connect the regenerative option to

P+ and C.

Refer to section 11.2 for details.
Connect them to the servo motor power supply (U, V, and W). Connect the servo amplifier power

output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic
contactor, etc. intervene. Otherwise, it may cause a malfunction.

This is for manufacturer adjustment.
Leave this open.
MR-JE-10A to MR-JE-100A do not have N-.
Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the

cabinet for grounding.

MR-JE-10A to

MR-JE-100A

L1/L2/L3

L1/L3 L1/L2

MR-JE-200A MR-JE-300A

3 - 16

3. SIGNALS AND WIRING

3.3.2 Power-on sequence

POINT

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

(1) Power-on procedure

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

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

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

(2) Timing chart

SON (Servo-on) accepted

(2.5 s to 3.5 s)

Power supply

Base circuit

SON (Servo-on)

RES (Reset)

RD (Ready)

ALM No alarm
(Malfunction)

No alarm (ON)
Alarm (OFF)

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

2.5 s to 3.5 s

10 ms

10 ms5 ms

95 ms

95 ms

10 ms

10 ms5 ms

5 ms 10 ms

3 - 17

3. SIGNALS AND WIRING

r

3.3.3 Wiring CNP1 and CNP2

POINT

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

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

(1) Connector

(a) MR-JE-10A to MR-JE-100A

Servo amplifie

CNP1

Connector

CNP1 09JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9 J-FAT-OT JST

Receptacle

assembly

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

Connector

CNP1 07JFAT-SAXGFK-XL
CNP2 03JFAT-SAXGFK-XL

Receptacle

assembly

Table 3.1 Connector and applicable wire

Applicable wire

Size Insulator OD

Servo amplifier

CNP1

CNP2

Table 3.2 Connector and applicable wire

Applicable wire

Size Insulator OD

AWG 16 to 10 4.7 mm or shorter 11.5 J-FAT-OT-EXL JST

Stripped

length [mm]

Stripped

length [mm]

Open tool

Open tool

Manu-

facturer

Manu-

facturer

3 - 18

3. SIGNALS AND WIRING

r

(2) Cable connection procedure

(a) Fabrication on cable insulator

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

Twist strands lightly and straighten them as follows.

Insulato

Stripped length

Core

You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following
ferrules and crimp terminal.

MR-JE-200A to

(b) Inserting wire

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

Servo amplifier Wire size

MR-JE-10A to

MR-JE-100A

MR-JE-300A

AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
AWG 14 AI2.5-10BU
AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
AWG 14 AI2.5-10BU AI-TWIN2×2.5-10BU
AWG 12 AI4-10GY

Loose and bent strands Twist and straighten

Ferrule model (Phoenix Contact)

For one For two

1) Push down the open tool.

the strands.

Crimp terminal

(Phoenix Contact)

CRIMPFOX-ZA3

3) Release the open tool to fix the wire.

2) Insert the wire.

3 - 19

3. SIGNALS AND WIRING

3.4 Connectors and pin assignment

POINT

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

Screw

Cable

Screw

Ground plate

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

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

CN3 (USB connector)

CN2

2

LG 8

1

P5

This is a connector of 3M.

4

MRR

3

MR

6

5

10

MDR

9

7

MD

Refer to section 11.4

The frames of the CN1 connector
are connected to the protective earth
terminal in the servo amplifier.

2

4

6

8

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25 50

CN1

1

3

5

7

9

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

3 - 20

3. SIGNALS AND WIRING

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

Pin No.

(Note 7)

(Note 7)

(Note 1)

I/O

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

9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- (Note 5) (Note 5) (Note 5) -/PP Pr. PD43/Pr. PD44 (Note 4)
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13 O SDP SDP SDP SDP SDP SDP
14 O SDN SDN SDN SDN SDN SDN
15 I SON SON SON SON SON SON Pr. PD03/Pr. PD04
16
17
18
19 I RES RES/ST1 ST1 ST1/RS2 RS2 RS2/RES Pr. PD11/Pr. PD12
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22
23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr. PD24
24 O INP INP/SA SA SA/- -/INP Pr. PD25
25
26 O MO1 MO1 MO1 MO1 MO1 MO1 Pr. PC14

27 I TLA

28 LG LG LG LG LG LG
29 O MO2 MO2 MO2 MO2 MO2 MO2 Pr. PC15
30 LG LG LG LG LG LG
31 I TRE TRE TRE TRE TRE TRE
32
33 O OP OP OP OP OP OP
34 LG LG LG LG LG LG
35 I NP NP/- (Note 5) (Note 5) (Note 5) -/NP Pr. PD43/Pr. PD44 (Note 4)
36 I NG NG/- -/NG
37

38

39 I RDP RDP RDP RDP RDP RDP
40 I RDN RDN RDN RDN RDN RDN
41 I CR CR/ST2 ST2 ST2/RS1 RS1 RS1/CR Pr. PD13/Pr. PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP Pr. PD17/Pr. PD18
44 I LSN LSN LSN LSN/- -/LSN Pr. PD19/Pr. PD20
45

I PP2 PP2/- (Note 6) (Note 6) (Note 6) -/PP2 Pr. PD43/Pr. PD44 (Note 4)

I NP2 NP2/- (Note 6) (Note 6) (Note 6) -/NP2 Pr. PD45/Pr. PD46 (Note 4)

(Note 2) I/O signals in control modes

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

(Note 3)

TLA

(Note 3)

TLA

(Note 3)

TLA/TC

TC

(Note 3)
TC/TLA

Related parameter

3 - 21

3. SIGNALS AND WIRING

Pin No.

(Note 1)

I/O

46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD Pr. PD28
50

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

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

3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13],
[Pr. PD17], and [Pr. PD19].

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

5. This is used with sink interface. Input devices are not assigned by default. Assign the input devices with [Pr.
PD43] to [Pr. PD46] as necessary. In addition, supply + of 24 DC V to the CN1-12 pin of OPC (power input for
open-collector sink interface). This is available with servo amplifiers with software version B7 or later.

6. This is used with source interface. Input signals are not assigned by default. Assign the input devices with [Pr.
PD43] to [Pr. PD46] as necessary.

7. These pins are available with servo amplifiers having software version B7 or later, and manufactured in May,
2015 or later.

(Note 2) I/O signals in control modes

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

Related parameter

3 - 22

3. SIGNALS AND WIRING

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode
field of the table
P: position control mode, S: speed control mode, T: torque control mode Torque control mode

: devices used with initial setting status, : devices used by setting [Pr. PA04] and [Pr. PD03] to [Pr.
PD28]
The pin numbers in the connector pin No. column are those in the initial status.

(1) I/O device

(a) Input device

Device Symbol

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

Connector

pin No.

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

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

Function and application

[Pr. PA04]

setting

EM2 or EM1 is off Alarm occurred

0 _ _ _ EM1

2 _ _ _ EM2

EM2 and EM1 are mutually exclusive.
EM2 has the same function as EM1 in the torque control mode.

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

Turn EM1 off (open between commons) to bring the motor to a forced stop
state. The base circuit is shut off, the dynamic brake is operated and
decelerate the servo motor to a stop.

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

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

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

connected) automatically in the servo amplifier.

Reset RES CN1-19 Turn on RES for more than 50 ms to reset the alarm.

Some alarms cannot be deactivated by RES (Reset). Refer to section 8.1.
Turning RES on in an alarm-free status shuts off the base circuit. The base

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

operation.

EM2/EM1

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

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

Deceleration method

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

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

division

I/O

DI-1

DI-1

DI-1

DI-1

Control

mode

P S T

3 - 23

3. SIGNALS AND WIRING

Control

Device Symbol

Forward rotation
stroke
end

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

Connector

pin No.

sudden stop and make it servo-locked.
Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.

Function and application

Reverse rotation
stroke end

1 1
0 1
1 0
0 0

Set [Pr. PD01] as indicated below to switch on the signals (keep terminals

LSN CN1-44 (Note) Input device Operation

Note. 0: Off

connected) automatically in the servo amplifier.

LSP LSN

1: On

CCW

direction

CW

direction

LSP LSN

When LSP or LSN turns off, [AL. 99 Stroke limit warning] occurs, and WNG

(Warning) turns on. When using WNG, enable it by setting [Pr. PD24], [Pr.
PD25] and [Pr. PD28].

External torque
limit selection

Internal torque
limit selection

Forward rotation
start

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

Reverse torque limit], and turning on it will enable TLA (Analog torque
limit). For details, refer to section 3.6.1 (5).

TL1 To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD03] to

[Pr. PD20]. For details, refer to section 3.6.1 (5).

ST1 This is used to start the servo motor.

The following shows the directions.

[Pr. PD01]

_ 4 _ _

_ 8 _ _

_ C _ _

Status

Automatic

on

Automatic

on

Automatic

on

Automatic

on

(Note) Input device

ST2 ST1
0 0 Stop (servo-lock)
0 1 CCW
1 0 CW
1 1 Stop (servo-lock)

Reverse rotation
start

ST2 If both ST1 and ST2 are switched on or off during operation, the servo

Note. 0: Off

1: On

motor will be decelerated to a stop according to the [Pr. PC02] setting and
servo-locked.

When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked
after deceleration to a stop.

Servo motor starting direction

I/O

division

DI-1

DI-1

DI-1

DI-1

mode

PST

3 - 24

3. SIGNALS AND WIRING

Control

Device Symbol

Forward rotation
selection

RS1 Select a servo motor torque generation directions.

Connector

pin No.

The following shows the torque generation directions.

Function and application

(Note) Input device
RS2 RS1
0 0 Torque is not generated.
Reverse rotation

selection

1 1 Torque is not generated.

Speed selection 1 SP1 1. For speed control mode

RS2

0 1

1 0

Note. 0: Off

1: On

Select the command speed for operation.

Torque generation direction

Forward rotation in power

running mode/reverse rotation

in regenerative mode

Reverse rotation in power

running mode/forward rotation

in regenerative mode

Speed selection 2 SP2 (Note) Input device

SP3 SP2 SP1

Speed selection 3 SP3 0 0 0 VC (Analog speed command) DI-1

2. For the torque control mode

Select the limited speed for operation.

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Note. 0: Off

1: On

Speed command

Pr. PC05 Internal speed

command 1

Pr. PC06 Internal speed

command 2

Pr. PC07 Internal speed

command 3

Pr. PC08 Internal speed

command 4

Pr. PC09 Internal speed

command 5

Pr. PC10 Internal speed

command 6

Pr. PC11 Internal speed

command 7

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

Note. 0: Off

1: On

Speed limit

I/O

division

DI-1

DI-1

DI-1

mode

PST

3 - 25

3. SIGNALS AND WIRING

Control

Device Symbol

Proportion
control

Clear CR CN1-41 Turn CR on to clear the position control counter droop pulse on its leading

Electronic gear
selection 1

Connector

pin No.

PC Turn PC on to switch the speed amplifier from the proportional integral type

to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external

factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.

When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit).

edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command

acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on.

CM1 The combination of CM1 and CM2 enables you to select four different

electronic gear numerators set in the parameters.

Function and application

(Note) Input device
CM2 CM1
0 0 Pr. PA06
Electronic gear

selection 2
1 1 Pr. PC34

Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56]

CM2 0 1 Pr. PC32 DI-1

1 0 Pr. PC33

Note. 0: Off

1: On

to [Pr. PB60] as the load to motor inertia ratio and gain values.

Electronic gear numerator

I/O

division

DI-1

DI-1

DI-1

DI-1

mode

PST

3 - 26

3. SIGNALS AND WIRING

Control

Device Symbol

Control switching LOP «Position/speed control switching mode»

Connector

pin No.

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

Function and application

(Note)

LOP
0 Position
1 Speed

«Speed/torque control switch mode»

Note. 0: Off

1: On

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

Control

mode

(Note)

LOP
0 Speed
1 Torque

«Torque/position control switch mode»

Note. 0: Off

1: On

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

Control

mode

(Note)

LOP
0 Torque
1 Position

Second
acceleration/
deceleration
selection

(Note)

0 Pr. PC01 Acceleration time

1 Pr. PC30 Acceleration time

STAB2

Note. 0: Off

1: On

The device allows selection of the acceleration/deceleration time constants
at servo motor rotation in the speed control mode or torque control mode.
The s-pattern acceleration/deceleration time constant is always uniform.

STAB2

Note. 0: Off

1: On

Control

mode

Acceleration/deceleration time

Pr. PC02 Deceleration time

Pr. PC31 Deceleration time

constant

constant

constant

constant 2

constant 2

I/O

division

DI-1 Refer to

DI-1

mode

PST

Function
and
application.

3 - 27

3. SIGNALS AND WIRING

(b) Output device

Device Symbol

Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off.

Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on

In-position INP CN1-24 When the number of droop pulses is in the preset in-position range, INP

Speed reached SA When the servo motor speed reaches the following range, SA will turn on.

Limiting speed VLC VLC turns on when speed reaches a value limited with any of [Pr. PC05

Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of [Pr.

Zero speed
detection

Connector

pin No.

When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after
power-on.

When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.

RD.

will turn on. The in-position range can be changed using [Pr. PA10]. When
the in-position range is increased, INP may be on during low-speed
rotation.

INP turns on when servo-on turns on.

Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the

servo motor speed by the external force reaches the preset speed while
both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.

Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog
speed limit).

This turns off when SON (Servo-on) turns off.

PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).

ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or less.

Zero speed can be changed with [Pr. PC17].

Function and application

Control

I/O

division

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

mode

PST

Forward
rotation
direction

Servo motor
speed

Reverse
rotation
direction

ZSP
(Zero speed
detection)

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)),
and will turn off when the servo motor is accelerated to 70 r/min again (at

2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at

3)), and will turn off when the servo motor speed has reached -70 r/min (at

4)).
The range from the point when the servo motor speed has reached on

level, and ZSP turns on, to the point when it is accelerated again and has
reached off level is called hysteresis width.

Hysteresis width is 20 r/min for this servo amplifier.

Electromagnetic
brake interlock

Warning WNG When warning has occurred, WNG turns on. When a warning is not

MBR When using the device, set operation delay time of the electromagnetic

brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR will turn off.

occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s.

OFF level
70 r/min

ON level
50 r/min

0 r/min

ON level

-50 r/min
OFF level

-70 r/min
ON
OFF

1)

3)

2)

4)

20 r/min
(Hysteresis width)

[Pr. PC17]

[Pr. PC17]

20 r/min
(Hysteresis width)

DO-1

DO-1

3 - 28

3. SIGNALS AND WIRING

Device Symbol

Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34].

ACD1 (CN1-23)

ACD2 (CN1-49)

Variable gain
selection

During tough
drive

Connector

pin No.

This signal is outputted when an alarm occurs.
When an alarm is not occurring, respective ordinary signals are outputted.
For details of the alarm codes, refer to chapter 8.
When you select alarm code output while MBR or ALM is selected for

CN1-23, CN1-24, or CN1-49 pin, [AL. 37 Parameter error] will occur.

CDPS CDPS turns on during gain switching. DO-1

MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous

power failure tough drive will turn on MTTR.

Function and application

division

DO-1

(2) Input signal

Device Symbol

Analog torque
limit

Analog torque
command

Analog speed
command

Analog speed
limit

Forward rotation
pulse train

Reverse rotation
pulse train

Connector

pin No.

TLA CN1-27 To use the signal, enable TL (External torque limit selection) with [Pr.

TC This is used to control torque in the full servo motor output torque range.

VC CN1-2 Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is

VLA Apply 0 V to ±10 V DC between VLA and LG. Speed set in [Pr. PC12] is

PP

CN1-10

NP

CN1-35
PP2
NP2

PG
NG

CN1-37

CN1-38

CN1-11

CN1-36

PD03] to [Pr. PD20].
When TLA is enabled, torque is limited in the full servo motor output torque

range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5).)

If a value equal to or larger than the maximum torque is inputted to TLA,
the value is clamped at the maximum torque.

Resolution: 10 bits

Apply 0 V to ±8 V DC between TC and LG. The maximum torque is
generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be
changed with [Pr. PC13].

If a value equal to or larger than the maximum torque is inputted to TC, the
value is clamped at the maximum torque.

provided at ±10 V. (Refer to section 3.6.2 (1).)
If a value equal to or larger than the permissible speed is inputted to VC,

the value is clamped at the permissible speed.
Resolution: 14 bits or equivalent

provided at ±10 V. (Refer to section 3.6.3 (3).)
If a limited value equal to or larger than the permissible speed is inputted

to VLA, the value is clamped at the permissible speed.
This is used to enter a command pulse train.
The command input pulse train form, pulse train logic, and command input

pulse train filter are changed in [Pr. PA13].
For open-collector type, set [Pr. PA13] to "_ 3 _ _".
For differential receiver type, set [Pr. PA13] depending on the maximum

input frequency.

1) For open-collector type (sink input interface)
The maximum input frequency is 200 kpulses/s. For A-phase/B-phase
pulse train, 200 kpulses/s will be the frequency after multiplication by
four.

a) Sink input interface

Input the forward rotation pulse train between PP and DOCOM.
Input the reverse rotation pulse train between NP and DOCOM.

b) Source input interface

Input the forward rotation pulse train between PP2 and PG.
Input the reverse rotation pulse train between NP2 and NG.

2) For differential receiver type
The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase
pulse train, 4 Mpulses/s will be the frequency after multiplication by
four.
Input the forward rotation pulse train between PG and PP.
Input the reverse rotation pulse train between NG and NP.

Function and application

division

Analog

Analog

Analog

Analog

I/O

DI-1

I/O

input

input

input

input

DI-2

Control

mode

PST

Control

mode

PST

3 - 29

3. SIGNALS AND WIRING

(3) Output signal

Device Symbol

Encoder A­phase pulse

(differential line
driver)

Encoder B­phase pulse

(differential line
driver)

Encoder Z­phase pulse

(differential line
driver)

Encoder Z­phase pulse

(open-collector)
Analog monitor 1 MO1 CN1-26 This is used to output the data set in [Pr. PC14] to between MO1 and LG in

Analog monitor 2 MO2 CN1-29 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in

Connector

pin No.

LA

LAR

LB

LBR

LZ

LZR

OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2

CN1-4
CN1-5

CN1-6
CN1-7

CN1-8
CN1-9

These devices output pulses of encoder output pulse set in [Pr. PA15] in
the differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of π/2.

The relation between rotation direction and phase difference of the A­phase and B-phase pulses can be changed with [Pr. PC19].

The encoder zero-point signal is outputted in the differential line driver
type. One pulse is outputted per servo motor revolution. This turns on
when the zero-point position is reached. (negative logic)

The minimum pulse width is about 400 μs. For home position return using
this pulse, set the creep speed to 100 r/min. or less.

terms of voltage.
Resolution: 10 bits or equivalent

terms of voltage.
Resolution: 10 bits or equivalent

Function and application

division

DO-2

DO-2

Analog

output

Analog

output

(4) Communication

Device Symbol

RS-422/RS-485
I/F

RDP CN1-39
RDN CN1-40
TRE CN1-31

Connector

pin No.

SDP CN1-13 These are terminals for RS-422/RS-485 communication.
SDN CN1-14

Function and application

division

(5) Power supply

Device Symbol

Digital I/F power
supply input

Open-collector
sink interface
power supply
input

Digital I/F
common

Control common LG CN1-3

Shield SD Plate Connect the external conductor of the shielded wire.

DICOM CN1-20

DOCOM CN1-46

Connector

pin No.

Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power

CN1-21

OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface,

CN1-47

CN1-28
CN1-30
CN1-34

supply capacity changes depending on the number of I/O interface points
to be used.

For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.

supply this terminal with the positive (+) power of 24 V DC.

Common terminal of input signal such as EM2 of the servo amplifier. This
is separated from LG.

For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
This is a common terminal for TLA, TC, VC, VLA, OP, MO1, and MO2.

Pins are connected internally.

Function and application

division

Control

I/O

mode

PST

Control

I/O

mode

PST

Control

I/O

mode

PST

3 - 30

3. SIGNALS AND WIRING

3.6 Detailed explanation of signals

3.6.1 Position control mode

POINT

Adjust the logic of a positioning module and command pulse as follows.

MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning
module

Positioning module

Open-collector type

Negative logic Negative logic (_ _ 1 _)

Differential line driver type

Negative logic (Note) Positive logic (_ _ 0 _)

Note. For MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series, the logic means N-side

waveform. Therefore, reverse the input pulse logic of the servo amplifier.

MELSEC-F series positioning module

Open-collector type

Differential line driver type

(1) Pulse train input

(a) Input pulse waveform selection

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

(b) Connection and waveform

1) Open-collector type
Connect as follows.

Servo amplifier

Signal type

Signal type

Command pulse logic setting

MR-JE-_A servo amplifier

Pr. 23 setting

Positive logic Positive logic (_ _ 0 _)

Positive logic (Note) Negative logic (_ _ 1 _)

Command pulse logic setting

Positioning module (fixed)

Negative logic Negative logic (_ _ 1 _)

[Pr. PA13] setting

MR-JE-_A servo amplifier

[Pr. PA13] setting

Servo amplifier

24 V DC

(Note)

OPC

DOCOM

PP

NP

SD

Approximately

1.2 kΩ

Approximately

1.2 kΩ

Approximately

20 mA
VCES ≤ 1.0 V
I

CEO ≤ 100 μA

Approximately

20 mA
VCES ≤ 1.0 V

I

CEO ≤ 100 μA

(Note)

(Note)

24 V DC ± 10%
300 mA

For sink input interface For source input interface

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

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

3 - 31

PG

PP2

NG

NP2

SD

Approximately

1.2 kΩ

Approximately

1.2 kΩ

3. SIGNALS AND WIRING

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

Forward rotation pulse train
(transistor)

Reverse rotation pulse train
(transistor)

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

(ON)

(OFF)

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

(OFF)

Reverse rotation commandForward rotation command

2) Differential line driver type
Connect as follows.

Servo amplifier

Approximately
100Ω

PP

PG

(Note)

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

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

NP

NG

SD

Approximately
100Ω

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

Forward rotation
pulse train

PP

PG

Reverse rotation
pulse train

NP

NG

Forward rotation

Reverse rotation

3 - 32

3. SIGNALS AND WIRING

(2) INP (In-position)

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

SON (Servo-on)

Alarm

ON
OFF

Alarm
No alarm

Droop pulses

INP (In-position)

ON
OFF

In-position range

(3) RD (Ready)

SON (Servo-on)

Alarm

RD (Ready)

ON
OFF

Alarm
No alarm

ON
OFF

100 ms
or shorter

10 ms or shorter

10 ms or shorter

(4) Electronic gear switching

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

(Note) Input device

CM2 CM1

0 0 Pr. PA06
0 1 Pr. PC32
1 0 Pr. PC33
1 1 Pr. PC34

Electronic gear numerator

Note. 0: Off

1: On

3 - 33

3. SIGNALS AND WIRING

r

(5) Torque limit

CAUTION

(a) Torque limit and torque

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

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

Maximum
torque

CCW directionCW direction

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

(b) Torque limit value selection

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

Torque

100

Torque limit value
in [Pr. PA12]

Maximum
torque

Torque

000.05

TLA applied voltage [V]

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

0 100 [%]

Torque limit value
in [Pr. PA11]

±5%

0 V to +10 V

Servo amplifie

24 V DC

Connection exampleTLA applied voltage vs. torque limit value

TL

DICOM

TLA

LG

SD

(Note)

3 - 34

3. SIGNALS AND WIRING

(Note) Input device

TL1 TL

0 0 Pr. PA11 Pr .PA12

TLA >

0 1

TLA <

Pr. PC35 >

1 0

Pr. PC35 <

1 1

Note. 0: Off

1: On

(c) TLC (Limiting torque)

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

TLA > Pr. PC35 Pr. PC35 Pr. PC35
TLA < Pr. PC35 TLA TLA

Limit value status

Pr. PA11
Pr. PA12
Pr. PA11
Pr. PA12
Pr. PA11
Pr. PA12
Pr. PA11
Pr. PA12

Enabled torque limit value

CCW power running/CW

regeneration

Pr. PA11 Pr. PA12

TLA TLA

Pr. PA11 Pr. PA12

Pr. PC35 Pr. PC35

CW power running/CCW

regeneration

3 - 35

3. SIGNALS AND WIRING

r

3.6.2 Speed control mode

(1) Speed setting

(a) Speed command and speed

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

CW
direction

-10

Rated speed [r/min]

Speed
[r/min]

0

VC applied voltage [V]

Rated speed [r/min]

CCW direction

+10

Forward rotation
(CCW)

Reverse rotation
(CW)

The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2
(Reverse rotation start) combination.

(Note 1) Input device (Note 2) Rotation direction

ST2 ST1

0 0

0 1 CCW
1 0 CW CCW CW

1 1

Polarity: + 0 V Polarity: -

Stop

(servo-lock)

Stop

(servo-lock)

VC (Analog speed command)

Stop

(servo-lock)

Stop

(no servo-lock)

Stop

(servo-lock)

Internal speed command

Stop

(servo-lock)

CW CCW

Stop

(servo-lock)

Stop

(servo-lock)

Stop

(servo-lock)

Note 1. 0: Off

1: On

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

Normally, connect as follows.

Servo amplifie

ST1

(Note)

24 V DC

-10 V to +10 V

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

ST2

DICOM

VC
LG
SD

3 - 36

3. SIGNALS AND WIRING

(b) Speed command value selection

To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with

(2) SA (Speed reached)

[Pr. PD03] to [Pr. PD20].

(Note) Input device

SP3 SP2 SP1

0 0 0 VC (Analog speed command)
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7

Note. 0: Off

1: On

Speed command value

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

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

Internal speed

Set speed selection

Internal speed

command 1

command 2

(3) Torque limit

As in section 3.6.1 (5)

ST1 or ST2

Servo motor speed

SA (Speed reached)

ON
OFF

ON
OFF

3 - 37

3. SIGNALS AND WIRING

3.6.3 Torque control mode

(1) Torque limit

(a) Torque command and torque

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

Maximum torque

Torque

-8+8-0.05

CW direction

CCW direction

+0.05
TC applied voltage [V]

Maximum torque

Forward rotation
(CCW)

Reverse rotation
(CW)

Generated torque command values will vary about 5% relative to the voltage depending on products.
The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit
value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by RS1 (Forward rotation
selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.

(Note) Input device Rotation direction

RS2 RS1

0 0 Torque is not generated.

0 1

1 0

1 1 Torque is not generated. Torque is not generated.

Polarity: + 0 V Polarity: -

CCW

(Forward rotation in

power running

mode/reverse rotation in

regenerative mode)

CW

(Reverse rotation in

power running

mode/forward rotation in

regenerative mode)

TC (Analog torque command)

Torque is not generated.

Torque is not generated.

CW

(Reverse rotation in

power running

mode/forward rotation in

regenerative mode)

CCW

(Forward rotation in

power running

mode/reverse rotation in

regenerative mode)

Note. 0: Off

1: On

Normally, connect as follows.

Servo amplifier

RS1

(Note)

24 V DC

-8 V to 8 V

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

RS2

DICOM

TC
LG
SD

3 - 38

3. SIGNALS AND WIRING

(b) Analog torque command offset

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

Maximum torque

Torque

[Pr. PC38]
offset range

-9999 mV to 9999 mV

0 8 (-8)

TC applied voltage [V]

(2) Torque limit

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

(3) Speed limit

(a) Speed limit value and speed

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

CW
direction

-10

Rated speed [r/min]

Speed
[r/min]

0

VLA applied voltage [V]

Rated speed [r/min]

CCW direction

+10

Forward rotation
(CCW)

Reverse rotation
(CW)

The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.

(Note) Input device Speed limit direction

RS1 RS2

1 0 CCW CW CCW
0 1 CW CCW CW

VLA (Analog speed limit)

Polarity: + Polarity: -

Internal speed command

Note. 0: Off

1: On

3 - 39

3. SIGNALS AND WIRING

r

Normally, connect as follows.

Servo amplifie

(b) Speed limit value selection

To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1
(Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD03] to [Pr.
PD20].

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

(c) VLC (Limiting speed)

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

-10 V to +10 V
VLA

LG
SD

(Note) Input device

SP3 SP2 SP1

0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7

Note. 0: Off

1: On

Speed limit

3 - 40

3. SIGNALS AND WIRING

3.6.4 Position/speed control switching mode

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

(1) LOP (control switching)

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

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

(Note)

LOP

0 Position control mode
1 Speed control mode

Note. 0: Off

1: On

Control mode

Position control

mode

Speed control

mode

Position control

mode

Servo motor speed

ZSP
(Zero speed detection)

LOP
(Control switching)

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

(2) Torque limit in position control mode

As in section 3.6.1 (5)

Zero speed
level

ON
OFF
ON
OFF

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

(Note)(Note)

3 - 41

3. SIGNALS AND WIRING

r

(3) Speed setting in speed control mode

(a) Speed command and speed

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

-10 V to +10 V

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

(b) Speed command value selection

To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with
[Pr. PD03] to [Pr. PD20].

SP3 SP2 SP1

Note. 0: Off

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

(c) SA (Speed reached)

As in section 3.6.2 (2)

Servo amplifie

ST1

(Note)

24 V DC

(Note) Input device

0 0 0 VC (Analog speed command)
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7

1: On

ST2

DICOM

VC
LG
SD

Speed command value

3 - 42

3. SIGNALS AND WIRING

3.6.5 Speed/torque control switching mode

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

(1) LOP (control switching)

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

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

(Note)

LOP

0 Speed control mode
1 Torque control mode

Note. 0: Off

1: On

LOP
(Control switching)

Control mode

ON
OFF

Speed control

mode

Torque control

mode

Speed control

mode

Servo motor speed

TC
(Analog torque command)

Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off

(2) Speed setting in speed control mode

As in section 3.6.2 (1)

(3) Torque limit in speed control mode

As in section 3.6.1 (5)

(4) Speed limit in torque control mode

(a) Speed limit value and speed

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

3.6.3 (3) (a).

(Note)

10V

0

as soon as a mode is switched to the speed control, the servo motor comes to a stop
according to the deceleration time constant. A shock may occur at switching control
modes.

Load torque

Forward rotation
in driving mode

3 - 43

3. SIGNALS AND WIRING

r

Normally, connect as follows.

Servo amplifie

-10 V to +10 V

(b) Speed limit value selection

To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1
(Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD03] to [Pr.
PD20].

SP3 SP2 SP1

0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7

Note. 0: Off

1: On

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

(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)

(5) Torque control in torque control mode

As in section 3.6.3 (1)

(6) Torque limit in torque control mode

As in section 3.6.3 (2)

VLA

LG
SD

(Note) Input device

Speed limit

3 - 44

3. SIGNALS AND WIRING

3.6.6 Torque/position control switching mode

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

(1) LOP (control switching)

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

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

(Note)

LOP

0 Torque control mode
1 Position control mode

Note. 0: Off

1: On

Control mode

Position control

mode

Torque control

mode

Position control

mode

Servo motor
speed

TC (Analog
torque command)

ZSP (Zero
speed detection)

LOP
(Control switching)

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

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

(2) Speed limit in torque control mode

As in section 3.6.3 (3)

(3) Torque control in torque control mode

As in section 3.6.3 (1)

(4) Torque limit in torque control mode

As in section 3.6.3 (2)

(5) Torque limit in position control mode

As in section 3.6.1 (5)

Zero speed
level

10 V

0 V

ON

OFF

ON

(Note) (Note)

OFF

3 - 45

3. SIGNALS AND WIRING

3.7 Forced stop deceleration function

POINT

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

3.7.1 Forced stop deceleration function

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

(1) Connection diagram

Servo amplifier

24 V DC

(Note)

Forced stop 2

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

3.9.3.

DICOM

EM2

3 - 46

3. SIGNALS AND WIRING

t

c

(2) Timing chart

POINT

When LSP/LSN is turned on during a forced stop deceleration, the motor will
stop depending on the setting of [Pr. PD30] as follows.

[Pr. PD30] Stop system
_ _ _ 0 Switching to sudden stop
_ _ _ 1 Continuing forced stop deceleration

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

EM2 (Forced stop 2)

Rated speed

ON
OFF (Enabled)

Ordinary

operation

Forced stop

deceleration

Dynamic brake

Electromagnetic brake

+

Servo motor speed

Base circuit
(Energy supply to

he servo motor)

MBR
(Electromagneti
brake interlock)

0 r/min

ON
OFF

ON
OFF (Enabled)

Command

Deceleration time

[Pr. PC51]

Zero speed
([Pr. PC17])

3 - 47

3. SIGNALS AND WIRING

t

3.7.2 Base circuit shut-off delay time function

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

(1) Timing chart

EM2 (Forced stop 2)

Servo motor speed

ON
OFF (Enabled)

0 r/min

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

Base circuit
(Energy supply to

he servo motor)

MBR
(Electromagnetic
brake interlock)

ON
OFF

[Pr. PC16]

ON
OFF (Enabled)

(2) Adjustment

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

3 - 48

3. SIGNALS AND WIRING

A

3.7.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not
avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.

Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].
The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop

2) or by an alarm occurrence.
The base circuit shut-off delay time function is enabled.
EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less.

(1) Timing chart

EM2 (Forced stop 2)

ON
OFF (Enabled)

Position

Base circuit
(Energy supply to
the servo motor)

MBR
(Electromagnetic
brake interlock)

ctual operation of

electromagnetic brake

ON
OFF

ON
OFF (Enabled)

Disabled
Enabled

Travel distance

Set the base circuit shut-off delay time. ([Pr. PC16])

(2) Adjustment

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

3.7.4 Residual risks of the forced stop function (EM2)

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

occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking

distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.

3 - 49

3. SIGNALS AND WIRING

3.8 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation

CAUTION

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

3.8.1 When you use the forced stop deceleration function

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

POINT

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

POINT

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

(1) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

0 r/min

Base circuit
(Energy supply to
the servo motor)

Servo amplifier
display

MBR
(Electromagnetic
brake interlock)

ALM (Malfunction)

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

of the servo motor.

ON
OFF

ON
OFF

ON (no alarm)
OFF (alarm)

Command is not received.

Alarm No.No alarm

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

3 - 50

3. SIGNALS AND WIRING

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

Alarm occurrence

Braking by the dynamic brake

Servo motor speed

0 r/min

Base circuit
(Energy supply to
the servo motor)

Servo amplifier
display

MBR
(Electromagnetic
brake interlock)

ALM (Malfunction)

ON
OFF

No alarm Alarm No.

Operation delay time of the electromagnetic brake

ON
OFF

ON (no alarm)
OFF (alarm)

3.8.2 When you do not use the forced stop deceleration function

POINT

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

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

Dynamic brake
+ Braking by the electromagnetic brake

3 - 51

3. SIGNALS AND WIRING

r

3.9 Interfaces

3.9.1 Internal connection diagram

The following diagram is for sink I/O interface when command pulse train input is differential line driver type.

(Note 3)

(Note 4)
24 V DC

(Note 2)

USB

(Note 1)

PST

SON SON SON

RES ST1

CR ST2 41

EM2
LSP 43LSP
LSN 44

LSN

OPC

DICOM
DICOM

PP

PP2

PG

NP

NP2

NG 36

(Note 1)

TLA TLA TC

(Note 1)

PST

D- 2

D+

GND

CN1

RS2
RS1

CN1PST

CaseSD

CN3

Approx.

6.2 kΩ

15
19

42

Approx.

6.2 kΩ

12
20
21
10
37

Approx.1.2 kΩ

11
35
38

Approx.1.2 kΩ

2VC VLA

27

3LG

3
5

Servo amplifie

100 Ω

Approx.

Approx. 100 Ω

Approx.

1.2 kΩ

Approx.

1.2 kΩ

Insulated

(Note 1)

CN1

46 DOCOM

47

23

24

48

49

CN1

4
5
6
7
8

9
33
34

CN1 P S T

13
14
39
40
28
31

CN1

26

P

DOCOM

ZSP

ZSP

INP

ALM

RD

(Note 1)

P

LAR

LBR

LZR

(Note 1)

SDP
SDN
RDP
RDN

TRE

(Note 1)

P

MO1

ST

ZSP

SA

RD

ST

LA

LB

LZ

OP
LG

LG

ST

RD

(Note 5)

Analog monitor

(Note 4)

24 V DC

RA

RA

Differential line
driver output
(35 mA or lower)

Open-collector
output

RS-422/
RS-485

(Note 3)

29

30

CN2 P S T

7

8

3

4

2

MO2

LG

(Note 1)

MD

MDR

MR

MRR

LG

Servo motor

Encoder

E

± 10 V DC

M

± 10 V DC

3 - 52

3. SIGNALS AND WIRING

Note 1. P: position control mode, S: speed control mode, T: torque control mode

2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.

24 V DC

For sink input interface For source input interface

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

4. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

5. To use the RS-422/RS-485 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to
section 12.1.1.)

DOCOM 46

OPC 12

DICOM

DOCOM

PP 10

PP2 37

PG 11
NP

NP2 38

NG 36

20
47

35

DOCOM 46

24 V DC

OPC 12

DICOM

DOCOM

PP 10

PP2 37

PG 11
NP

NP2 38

NG 36

20
47

35

3 - 53

3. SIGNALS AND WIRING

r

r

3.9.2 Detailed explanation of interfaces

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

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.9.3 for source input.

For transisto

Approximately
5 mA

Switch

TR

V
I

CES

CEO

1.0 V

100 A

24 V DC ± 10%
300 mA

The following shows when the CN1-10 pin and the CN1-35 pin are used as digital input interface:

24 V DC ± 10%
300 mA

10 m or less

Approximately
20 mA

OPC

CN1-10, CN1-35

Servo amplifie

EM2
etc.

Approximately

6.2 kΩ

DICOM

Servo amplifier

Approximately

1.2 k

Ω

DOCOM

V

1.0 V

≤

CES

I

≤

CEO

SD

(2) Digital output interface DO-1

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

Servo amplifier

If polarity of diode is
reversed, servo amplifier

ALM
etc.

DOCOM

Load

(Note) 24 V DC ± 10%

300 mA

will malfunction.

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

voltage (maximum of 26.4 V) from external source.

3 - 54

3. SIGNALS AND WIRING

r

(3) Pulse train input interface DI-2

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

(a) Differential line driver type

1) Interface

Servo amplifie

Max. input pulse
frequency 4 Mpulses/s

10 m or less

(Note 1)

(Note 2)

PP (NP)

Approximalely

PG (NG)

100 Ω

2) Input pulse condition

(b) Open-collector type

1) Interface

Am26LS31 or equivalent

VOH: 2.5 V
V

: 0.5 VV

OL

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

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

2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".

tc tHL

PP PG

NP NG

(Note)

0.9

0.1

tc tLH

24 V DC

2 m or less

SD

tLH = tHL < 50 ns
tc > 75 ns
tF > 3 µs

tF

Servo amplifier

Max. input pulse
frequency 200 kpulses/s

OPC

Approximately

PP, NP

1.2 kΩ

DOCOM

SD

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

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

3 - 55

3. SIGNALS AND WIRING

r

r

2) Input pulse condition

PP

0.9

0.1

tc tHL

tLH = tHL < 0.2 µs
tc > 2 µs
tF > 3 µs

(4) Encoder output pulse DO-2

(a) Open-collector type

Interface
Maximum sink current: 35 mA

Servo amplifier

OP

LG

SD

NP

tc tLH

tF

Servo amplifier

OP

LG

SD

5 V DC to 24 V DC

Photocoupler

(b) Differential line driver type

1) Interface

Maximum output current: 35 mA

Servo amplifie

LA
(LB, LZ)

LAR
(LBR, LZR)

LG

SD

Am26LS32 or equivalent

150 Ω

Servo amplifie

LA
(LB, LZ)

LAR
(LBR, LZR)

SD

100 Ω

High-speed photocoupler

3 - 56

3. SIGNALS AND WIRING

r

2) Output pulse

LA

LAR
LB

LBR

LZ
LZR

(5) Analog input

Input impedance
10 kΩ to 12 kΩ

Servo motor CCW rotation

T

/2

OP

400

s or more

Servo amplifier

Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC19].

(6) Analog output

VC etc.

Approx.

LG

10 kΩ

SD

Servo amplifie

MO1
(MO2)

LG

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

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

3 - 57

3. SIGNALS AND WIRING

r

3.9.3 Source I/O interfaces

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

(1) Digital input interface DI-1

This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.

For transistor

TR

Approximately
5 mA
V

1.0 V

CES

I

100 A

CEO

Switch

DC 24 V ± 10%
300 mA

The following shows when the CN1-37 pin and the CN1-38 pin are used as digital input interface:

Servo amplifie

EM2
etc.

Approximately

6.2 kΩ

DICOM

Servo amplifier

Switch

PG
PP2

(CN1-37)

Approximately

1.2 kΩ

Switch

24 V DC ± 10%
300 mA

NG
NP2

(CN1-38)

SD

Approximately

1.2 kΩ

(2) Digital output interface DO-1

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

Servo amplifier

If polarity of diode is
reversed, servo amplifier

ALM
etc.

DOCOM

Load

(Note) 24 V DC ± 10%

300 mA

will malfunction.

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

voltage (maximum of 26.4 V) from external source.

3 - 58

3. SIGNALS AND WIRING

r

(3) Pulse train input interface DI-2

Give a pulse train signal in the open-collector type.

1) Interface

Approximately

20 mA
VCES ≤ 1.0 V
I

CEO ≤

Approximately

20 mA
VCES ≤ 1.0 V
ICEO ≤

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

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

2) Input pulse condition

PP2

0.9

0.1

(Note)

(Note)

24 V DC ± 10%
300 mA

tc tHL

Servo amplifie

Maximum input pulse

frequency 200 kpulses/s

PG

Approximately

PP2

NG

NP2

SD

tLH = tHL < 0.2 µs
tc > 2 µs
tF > 3 µs

1.2 kΩ

Approximately

1.2 kΩ

NP2

tc tLH

tF

3 - 59

3. SIGNALS AND WIRING

3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

Configure an electromagnetic brake circuit so that it is activated also by an
external EMG stop switch.

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

Electromagnetic brake

Servo motor

B

Contacts must be opened with the
EMG stop switch.

RA

U

24 V DC

CAUTION

for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.
When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for
operating the electromagnetic brake. Operating the electromagnetic brake without
using MBR during deceleration to a stop will saturate servo motor torques at the
maximum value due to brake torques of the electromagnetic brake and can result

The electromagnetic brake is provided for holding purpose and must not be used

in delay of the deceleration to a stop from a set value.

POINT

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

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

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

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

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

3 - 60

3. SIGNALS AND WIRING

r

(1) Connection diagram

Servo amplifie

(Note 2)

24 V DC

DOCOM

MBR

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

24 V DC

RA1

MBR

RA1

(2) Setting

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

(b) In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR

(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in
section 3.10.2 (1).

ALM

(Malfaunction)

(Note 1)

B1

U

B2

Servo motor

B

3 - 61

3. SIGNALS AND WIRING

3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT

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

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

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

Tb [Pr. PC16 Electromagnetic brake sequence output]

Servo motor speed

Base circuit

MBR
(Electromagnetic
brake interlock)

SON (Servo-on)

Position command
(Note 4)

Electromagnetic
brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

2. Electromagnetic brake is released after the release delay time of electromagnetic brake and operation time of external circuit
relay, etc. For the release delay time of electromagnetic brake, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".

3. Give a position command after the electromagnetic brake is released.

4. This is in position control mode.

0 r/min

(Note 1)

0 r/min

Release
Activate

ON
OFF

ON

OFF

ON
OFF

Approx. 95 ms

Approx. 95 ms

(Note 3)

Release delay time and external relay, etc. (Note 2)

Coasting

Operation delay time of
the electromagnetic brake

3 - 62

3. SIGNALS AND WIRING

A

A

(b) Forced stop 2 on/off

POINT

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

Servo motor speed

0 r/min

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

(c) Alarm occurrence

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

(d) Power off

Base circuit
(Energy supply to
the servo motor)

EM2 (Forced stop 2)

MBR
(Electromagnetic
brake interlock)

LM (Malfunction)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

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

ON
OFF

ON
OFF

ON

(Note 1)

OFF

ON (no alarm)
OFF (alarm)

Servo motor speed

Base circuit

MBR
(Electromagnetic
brake interlock)

larm

[AL.10 Undervoltage]

(Note 2)

0 r/min

ON
OFF

ON
OFF

No alarm
Alarm

Approx. 10 ms

(Note 1)

Dynamic brake

Dynamic brake
+ Electromagnetic brake

Electromagnetic brake

Operation delay time of
the electromagnetic brake

Power supply

Note 1. Variable according to the operation status.

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

ON
OFF

3 - 63

3. SIGNALS AND WIRING

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

(Note)

0 r/min

ON
OFF

ON
OFF

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

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

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

POINT

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

Servo motor speed

Base circuit

MBR
(Electromagnetic
brake interlock)

Dynamic brake

Dynamic brake
+ Electromagnetic brake

Electromagnetic brake

Approx. 10 ms

Operation delay time
of the electromagnetic
brake

Electromagnetic brake
has released.

Approx. 210 ms

Approx. 210 ms

(c) Alarm occurrence

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

(d) Power off

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

EM1 (Forced stop)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

Disabled (ON)
Enabled (OFF)

3 - 64

3. SIGNALS AND WIRING

3.11 Grounding

Ground the servo amplifier and servo motor securely.

WARNING

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).

(Note)
Power
supply

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

MCCB

) of the servo amplifier to the protective earth (PE) of the cabinet.

Cabinet

Line filter

MC

Servo amplifier

CN2

L1
L2
L3

Servo motor

Encoder

CN1

Protective earth (PE)

U
V

W

controller

Programmable

Outer
box

U

M

V

W

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

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

3 - 65